API Usage
[API]

Only those API functions specifically designated for use from within an ISR should be used from within an ISR.
Tasks and co-routines use different API functions to access queues. A queue cannot be used to communicate between a task and a co-routine or vice versa.
Intertask communication can be achieved using the full featured API functions, the alternative API functions, and the light weight API functions (those with "FromISR" in their name).
Use of the light weight functions outside of an ISR requires special consideration, as described under the heading "Performance tips and tricks - using the light weight API".

A task may call any API function listed in the menu frame on the left other than those under the co-routine specific section.

In addition to the API functions listed under the co-routine specific section, a co-routine may use the following API calls.

taskYIELD() - will yield the task in which the co-routines are running.
taskENTER_CRITICAL().
taskEXIT_CRITICAL().
vTaskStartScheduler() - this is still used to start the RTOS scheduler even if the application only includes co-routines and no tasks.
vTaskSuspendAll() - can still be used to lock the RTOS scheduler.
xTaskResumeAll()
xTaskGetTickCount()
uxTaskGetNumberOfTasks()