1 files changed, 18 insertions, 2 deletions

diff --git a/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c b/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
index acac53cc..3391bf8a 100644
--- a/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
+++ b/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
@@ -9,6 +9,8 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
+
 /**************************************************************************/
 /**************************************************************************/
 /**                                                                       */
@@ -348,6 +350,7 @@ TaskHandle_t xTaskCreateStatic(TaskFunction_t pxTaskCode,
     ret = tx_thread_create(&pxTaskBuffer->thread, (CHAR *)pcName, txfr_thread_wrapper, (ULONG)pvParameters,
             puxStackBuffer, stack_depth_bytes, prio, prio, 0u, TX_DONT_START);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&pxTaskBuffer->notification_sem);
         TX_FREERTOS_ASSERT_FAIL();
         return NULL;
     }
@@ -356,6 +359,12 @@ TaskHandle_t xTaskCreateStatic(TaskFunction_t pxTaskCode,
 
     ret = tx_thread_resume(&pxTaskBuffer->thread);
     if(ret != TX_SUCCESS) {
+        /* The thread exists but was never started. It has to be terminated
+           before it can be deleted, which is the order the idle task uses when
+           it reaps a deleted task.  */
+        (void)tx_thread_terminate(&pxTaskBuffer->thread);
+        (void)tx_thread_delete(&pxTaskBuffer->thread);
+        (void)tx_semaphore_delete(&pxTaskBuffer->notification_sem);
         TX_FREERTOS_ASSERT_FAIL();
         return NULL;
     }
@@ -643,7 +652,7 @@ void vTaskPrioritySet(TaskHandle_t xTask,
 char *pcTaskGetName(TaskHandle_t xTaskToQuery)
 {
     TX_THREAD *p_thread;
-    char *p_task_name;
+    const char *p_task_name;
     UINT ret;
 
     if(xTaskToQuery == NULL) {
@@ -658,7 +667,8 @@ char *pcTaskGetName(TaskHandle_t xTaskToQuery)
         return 0;
     }
 
-    return p_task_name;
+    /* FreeRTOS exposes task names through a writable pointer type. */
+    return (char *)p_task_name;
 }
 
 
@@ -1487,6 +1497,7 @@ QueueHandle_t xQueueCreateStatic(UBaseType_t uxQueueLength,
 
     ret = tx_semaphore_create(&pxQueueBuffer->write_sem, "", uxQueueLength);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&pxQueueBuffer->read_sem);
         return NULL;
     }
 
@@ -1543,11 +1554,16 @@ QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize)
 
     ret = tx_semaphore_create(&p_queue->read_sem, "", 0u);
     if(ret != TX_SUCCESS) {
+        txfr_free(p_mem);
+        txfr_free(p_queue);
         return NULL;
     }
 
     ret = tx_semaphore_create(&p_queue->write_sem, "", uxQueueLength);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&p_queue->read_sem);
+        txfr_free(p_mem);
+        txfr_free(p_queue);
         return NULL;
     }