The function looks fine and there is no limit on how many tasks can call the function. However other than checking that the semaphore is not null, your function just returns what xSemaphoreTake() returns, so why not just call xSemaphoreTake() directly.
>>I have 3 different tasks that try to take this semaphore, it is possible that they come all at the same time.
> 3 different tasks cant access the shared resources at same time.
>>Is there a limit on the number of tasks that are requesting a mutex?
> NO Limit.