From 10cc269d9dd45b606bbc8a6b1a6672d256743bde Mon Sep 17 00:00:00 2001
From: Ken Van Hoeylandt <git@kenvanhoeylandt.net>
Date: Fri, 2 Jan 2026 20:16:43 +0100
Subject: [PATCH] Fixes

---
 .../Include/Tactility/Semaphore.h             |  8 ++++--
 Tests/TactilityFreeRtos/TimerTest.cpp         | 26 +++++++++----------
 2 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/TactilityFreeRtos/Include/Tactility/Semaphore.h b/TactilityFreeRtos/Include/Tactility/Semaphore.h
index 8dc0bc9b..64b25773 100644
--- a/TactilityFreeRtos/Include/Tactility/Semaphore.h
+++ b/TactilityFreeRtos/Include/Tactility/Semaphore.h
@@ -24,8 +24,12 @@ class Semaphore final : public Lock {
         assert(initialAvailable <= maxCount);
 
         if (maxCount == 1U) {
-            assert(initialAvailable == maxCount); // TODO: Consider supporting this deviation
-            return xSemaphoreCreateBinary();
+            auto result = xSemaphoreCreateBinary();
+            if (initialAvailable != 0U) {
+                auto give_result = xSemaphoreGive(result);
+                assert(give_result == pdPASS);
+            }
+            return result;
         } else {
             return xSemaphoreCreateCounting(maxCount, initialAvailable);
         }
diff --git a/Tests/TactilityFreeRtos/TimerTest.cpp b/Tests/TactilityFreeRtos/TimerTest.cpp
index 1c3caf82..4c5ec7f1 100644
--- a/Tests/TactilityFreeRtos/TimerTest.cpp
+++ b/Tests/TactilityFreeRtos/TimerTest.cpp
@@ -5,13 +5,13 @@ using namespace tt;
 
 TEST_CASE("TimerType::Periodic timers can be stopped and restarted") {
     int counter = 0;
-    auto* timer = new Timer(Timer::Type::Periodic, [&counter]() { counter++; });
-    timer->start(1);
+    auto* timer = new Timer(Timer::Type::Periodic, 1, [&counter] { counter++; });
+    CHECK_EQ(timer->start(), true);
     kernel::delayTicks(10);
-    timer->stop();
-    timer->start(1);
+    CHECK_EQ(timer->stop(), true);
+    CHECK_EQ(timer->start(), true);
     kernel::delayTicks(10);
-    timer->stop();
+    CHECK_EQ(timer->stop(), true);
     delete timer;
 
     CHECK_GE(counter, 2);
@@ -20,10 +20,10 @@ TEST_CASE("TimerType::Periodic timers can be stopped and restarted") {
 TEST_CASE("TimerType::Periodic calls the callback periodically") {
     int ticks_to_run = 10;
     int counter = 0;
-    auto* timer = new Timer(Timer::Type::Periodic, [&counter]() { counter++; });
-    timer->start(1);
+    auto* timer = new Timer(Timer::Type::Periodic, 1, [&counter] { counter++; });
+    CHECK_EQ(timer->start(), true);
     kernel::delayTicks(ticks_to_run);
-    timer->stop();
+    CHECK_EQ(timer->stop(), true);
     delete timer;
 
     CHECK_EQ(counter, ticks_to_run);
@@ -31,13 +31,13 @@ TEST_CASE("TimerType::Periodic calls the callback periodically") {
 
 TEST_CASE("restarting TimerType::Once timers calls the callback again") {
     int counter = 0;
-    auto* timer = new Timer(Timer::Type::Once, [&counter]() { counter++; });
-    timer->start(1);
+    auto* timer = new Timer(Timer::Type::Once, 1, [&counter] { counter++; });
+    CHECK_EQ(timer->start(), true);
     kernel::delayTicks(10);
-    timer->stop();
-    timer->start(1);
+    CHECK_EQ(timer->stop(), true);
+    CHECK_EQ(timer->start(), true);
     kernel::delayTicks(10);
-    timer->stop();
+    CHECK_EQ(timer->stop(), true);
     delete timer;
 
     CHECK_EQ(counter, 2);