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));
  }
}

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.