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TMS320C6745: Idle task invoking for terminated task cleaning

Part Number: TMS320C6745
Other Parts Discussed in Thread: SYSBIOS

I'm using sysbios with NDK.

My application has an "always active" task and several semaphored task.

NDK creates 1 TCP Daemon and 1 UDP Daemon.

On any activity on the socket a new task is created, the activity done, and the task set to "Terminated" state.

As "Idle task" is never executed because there is always an active task; the "terminated thread" is not removed by the memory; and after some activities the systems hangs.

To avoid this situation i  need to execute a "Task_sleep" of  minimum 10ms on the active thread to permit the execution of the Idle Task that perform a  sort of "garbage collection"

There is a better way to manage this situation?