anonymous wrote on Tuesday, December 13, 2005:
I thought I would share the following Idle Task hook that returns to main() when all tasks die. Feedback is welcome.
You could turn off the Tick ISR here or when back in main().
This assumes all allocated queues have been freed by the tasks themselves before they are deleted (or delete themselves) with vTaskDelete().
Also assumes this function is compiled as ARM code (say in portISR.c). Untested for return to Thumb code although I think it is correct.
void vApplicationIdleHook(void)
{
__static bool die = false;
_// when only the idle task remains, we may need one last pass of the idle
_// task to free resources of last application task, and then we quit
__if (die)
__{ // return to old context at end of vPortISRStartFirstTask()
____die = false;
____asm volatile ( "msr cpsr_c,#0xD3"); // back to supervisor state
____asm volatile ( "ldmia sp, {r11,sp,lr}"); // restore regs for return
____asm volatile ( "bx lr"); // and return
__}
__else if (uxTaskGetNumberOfTasks()==1)
__{ // only the idle task remains. so
____// die on next pass after all deleted task TCBs are sure to be freed
____die = true;
__}
}
