Design a FreeRTOS task, queue, and synchronization architecture for an embedded application, covering priorities, stack sizing, inter-task communication, and avoiding priority inversion and races.
## CONTEXT Moving from a bare-metal superloop to FreeRTOS unlocks concurrency but introduces a whole class of subtle bugs that do not exist in single-threaded code: race conditions, priority inversion, stack overflows, deadlocks, and deadline misses. The art of RTOS design on a microcontroller is choosing how to…
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