tasks.c - vTaskStartScheduler() should clean up state to enable vTask…

…StartScheduler() to be called again

In the posix use case it is possible to repeatedly start and stop the scheduler.

FreeRTOS has no routine for initializing internal state as internal state variables are
initialized at application start up.

For subsequent scheduler starts there were variables left with state that was preventing
the scheduler from starting up.

Re-initialize these before vTaskStartScheduler() exits.

tasks.c

@@ -3734,6 +3734,21 @@ void vTaskStartScheduler( void )
      * from getting optimized out as it is no longer used by the kernel. */
     ( void ) uxTopUsedPriority;
 
+    /* clean up so vTaskStartScheduler can be called again */
+    #if ( configNUMBER_OF_CORES == 1 )
+        pxCurrentTCB = NULL;
+    #else
+    {
+        BaseType_t coreIndex;
+        for( coreIndex = 0; coreIndex < configNUMBER_OF_CORES; coreIndex++ )
+        {
+            pxCurrentTCBs[ coreIndex ] = NULL;
+        }
+    }
+    #endif
+
+    uxCurrentNumberOfTasks = 0;
+
     traceRETURN_vTaskStartScheduler();
 }
 /*-----------------------------------------------------------*/