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LAUNCHXL-CC1310: Is there any way to switch between TX and RX mode using Tasks?

Part Number: LAUNCHXL-CC1310
Other Parts Discussed in Thread: CC1310

Hello, friends.

I'm implementing a program to CC1310 devices where I need using the TX and RX mode in the same device.

For implement this I'm using two tasks.
One task to perform TX function (create a packet and send it to another node) and another to perform RX function (receive packet and save it in a buffer to be passed on to the next node).
To control the access to the radio by the tasks I create a semaphore, but when I use Semaphore_pend in one of these tasks the program dies.

My question is: Have some form to switch from TX to RX using tasks or I need to make it using a different way?