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Daniel kalu

•Created by Daniel kalu on 8/12/2024 in #middleware-and-os

Resolving Deadlocks in ESP32 Robotic Arm Control with FreeRTOS

Hey guys i'm attempting on working on an ESP32 robotic arm control system using FreeRTOS and MQTT, but the system occasionally freezes. I suspect a deadlock between controlArmTask and sendCommandTask. These tasks manage critical arm control logic, including inverse kinematics,, and motor control.

void controlArmTask(void *pvParameter) {
  while (1) {
    xSemaphoreTake(mutex, portMAX_DELAY);
    // Control arm logic
    xSemaphoreGive(mutex);
    vTaskDelay(pdMS_TO_TICKS(1000));
  }
}

void sendCommandTask(void *pvParameter) {
  while (1) {
    xSemaphoreTake(mutex, portMAX_DELAY);
    // Send command logic
    xSemaphoreGive(mutex);
    vTaskDelay(pdMS_TO_TICKS(10000));
  }
}

void controlArmTask(void *pvParameter) {
  while (1) {
    xSemaphoreTake(mutex, portMAX_DELAY);
    // Control arm logic
    xSemaphoreGive(mutex);
    vTaskDelay(pdMS_TO_TICKS(1000));
  }
}

void sendCommandTask(void *pvParameter) {
  while (1) {
    xSemaphoreTake(mutex, portMAX_DELAY);
    // Send command logic
    xSemaphoreGive(mutex);
    vTaskDelay(pdMS_TO_TICKS(10000));
  }
}

The system randomly freezes and stops responding to troubleshoot, I reviewed the task code and mutex usage, monitored task states, checked for nested locks, and increased the stack size. I need help with Identifying and resolving deadlocks in ESP32 with FreeRTOS.

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