add rt_task_join for receive task and timerloop task

diff --git a/drivers/timers_xeno/timers_xeno.c b/drivers/timers_xeno/timers_xeno.c
index 12e61eb31069d137241d6ba9c6bfba6d03c9f285..4d7010ba42bbba38b20ec5fae3153d19daaf712a 100644 (file)
--- a/drivers/timers_xeno/timers_xeno.c
+++ b/drivers/timers_xeno/timers_xeno.c
@@ -66,6 +66,9 @@ void StopTimerLoop(TimerCallback_t exitfunction)
 
 void cleanup_all(void)
 {
+       if (rt_task_join(&timerloop_task) != 0){
+               printf("Failed to join with Timerloop task\n");
+       }
        rt_task_delete(&timerloop_task);
 }
 
@@ -78,6 +81,9 @@ void TimerCleanup(void)
        rt_mutex_delete(&condition_mutex);
        rt_cond_delete(&timer_set);
        rt_sem_delete(&control_task);
+       if (rt_task_join(&timerloop_task) != 0){
+               printf("Failed to join with Timerloop task\n");
+       }
        rt_task_delete(&timerloop_task);
 }
 
@@ -165,7 +171,7 @@ void StartTimerLoop(TimerCallback_t _init_callback)
        snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid());
 
        /* create timerloop_task */
-       ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0);
+       ret = rt_task_create(&timerloop_task, taskname, 0, 50, T_JOINABLE);
        if (ret) {
                printf("Failed to create timerloop_task, code %d\n",errno);
                return;
@@ -199,7 +205,7 @@ void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* Receiv
        id++;
 
        /* create ReceiveLoop_task */
-       ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0);
+       ret = rt_task_create(ReceiveLoop_task,taskname,0,50,T_JOINABLE);
        if (ret) {
                printf("Failed to create ReceiveLoop_task number %d, code %d\n", id, errno);
                return;
@@ -219,6 +225,9 @@ void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* Receiv
  */
 void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)
 {
+       if (rt_task_join(ReceiveLoop_task) != 0){
+               printf("Failed to join with Receive task\n");
+       }
        rt_task_delete(ReceiveLoop_task);
 }