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diff --git a/nuttx/include/semaphore.h b/nuttx/include/semaphore.h
new file mode 100644
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+++ b/nuttx/include/semaphore.h
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+/****************************************************************************
+ * include/semaphore.h
+ *
+ *   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_SEMAPHORE_H
+#define __INCLUDE_SEMAPHORE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <limits.h>
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Type Declarations
+ ****************************************************************************/
+
+/* This structure contains the holder of a semaphore */
+
+#ifdef CONFIG_PRIORITY_INHERITANCE
+struct semholder_s
+{
+#if CONFIG_SEM_PREALLOCHOLDERS > 0
+  struct semholder_s *flink;    /* Implements singly linked list */
+#endif
+  void   *holder;               /* Holder TCB (actual type is _TCB) */
+  int16_t counts;               /* Number of counts owned by this holder */
+};
+
+#if CONFIG_SEM_PREALLOCHOLDERS > 0
+#  define SEMHOLDER_INITIALIZER {NULL, NULL, 0}
+#else
+#  define SEMHOLDER_INITIALIZER {NULL, 0}
+#endif
+#endif /* CONFIG_PRIORITY_INHERITANCE */
+
+/* This is the generic semaphore structure. */
+
+struct sem_s
+{
+  int16_t semcount;             /* >0 -> Num counts available */
+                                /* <0 -> Num tasks waiting for semaphore */
+#ifdef CONFIG_PRIORITY_INHERITANCE
+  struct semholder_s hlist;     /* List of holders of semaphore counts */
+#endif
+};
+typedef struct sem_s sem_t;
+
+/* Initializers */
+
+#ifdef CONFIG_PRIORITY_INHERITANCE
+#  define SEM_INITIALIZER(c) {(c), SEMHOLDER_INITIALIZER}
+#else
+#  define SEM_INITIALIZER(c) {(c)}
+#endif
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+/* Forward references needed by some prototypes */
+
+struct timespec; /* Defined in time.h */
+
+/* Counting Semaphore Interfaces (based on POSIX APIs) */
+
+EXTERN int        sem_init(FAR sem_t *sem, int pshared, unsigned int value);
+EXTERN int        sem_destroy(FAR sem_t *sem);
+EXTERN FAR sem_t *sem_open(FAR const char *name, int oflag, ...);
+EXTERN int        sem_close(FAR sem_t *sem);
+EXTERN int        sem_unlink(FAR const char *name);
+EXTERN int        sem_wait(FAR sem_t *sem);
+EXTERN int        sem_timedwait(FAR sem_t *sem,
+                                FAR const struct timespec *abstime);
+EXTERN int        sem_trywait(FAR sem_t *sem);
+EXTERN int        sem_post(FAR sem_t *sem);
+EXTERN int        sem_getvalue(FAR sem_t *sem, FAR int *sval);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_SEMAPHORE_H */