It looks like very critical resource freeing is done in the idle task. Which is for instance, freeing the resources of a task which is deleted. I, naively, think that the resource freeing should have been done in the vTaskDelete instead. Probably it has been chosen to be this because of making the task deletion more deterministic but it makes a very undeterministic resource freeing.
i.e. I needed to stop a task and start another one. But it sometimes succeeds and sometimes fails. I’ve added `prvCheckTasksWaitingTermination();’ in `vTaskDelete()’ and it looks like working now.
I wonder what were the design choices you’ve made when putting resource freeing in idle task ?