switching between Teleoperated enabled and Wathcdog notfed

[Mark McLeod]

The parallelism of the two tasks within the loop task has to be taken into account:

• 5ms timer
• 1ms task

The loop task starts
The timer task starts and goes away for 5ms
The 1ms task starts and finishes, then it too goes away
The loop task rests as all it's internal tasks are not yet satisfied, but it has nothing to do
The CPU wakes up the loop task when the 5ms timer expires
The loop task sees that all it's tasks are accomplished and moves on

The timer task only stops itself. It doesn't stop tasks around it. It really sets a timer interrupt.
If the Timer task expires and the loop task is still active because of other independent tasks within it the CPU doesn't have to wake it up and it doesn't get scheduled.