diff --git a/.gitignore b/.gitignore
index 8eae74a..5223671 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,4 +8,5 @@ build
 toolchain
 
 *.orig
-*.debug
\ No newline at end of file
+*.debug
+*.swp
diff --git a/Makefile b/Makefile
index 5760c60..4b90ef9 100644
--- a/Makefile
+++ b/Makefile
@@ -1,12 +1,13 @@
 export INSTALL_PATH := $(PWD)
 
 SDK_VERSION := 2.1.0
-PICOTOOL := $(INSTALL_PATH)/picotool/$(SDK_VERSION)/build/picotool
 
+export PICOTOOL_PATH=$(INSTALL_PATH)/picotool/$(SDK_VERSION)/build
 export PICO_SDK_PATH=$(INSTALL_PATH)/sdk/$(SDK_VERSION)
  # if using a different platform or arch, set it here
 export PICO_PLATFORM=rp2350
 
+picotool = ${PICOTOOL_PATH}/picotool
 # project name, need to be passed as make input (ex: make project name=test)
 name := ""
 
@@ -37,16 +38,16 @@ endif
 	@./scripts/scaffold_project.bash $(name) $(SDK_VERSION)
 
 format: .check-name
-	@test -f "$(shell find /usr/bin/ -name astyle)" && astyle --style=java --indent=spaces=4 -K -xC120 $(name)/*.c
+	@(test -f "$(shell find /usr/bin/ -name astyle)" && astyle --style=java --indent=spaces=4 -K -xC120 $(name)/*.c) || echo "astyle bin formatter not found, skip it"
 
 run-debug: format
 	@rm -f  ${name}/${name}.debug
 	@gcc -std=c99 -o2 ${name}/*.c  -lm -o ${name}/${name}.debug && ./${name}/${name}.debug
 
 compile: format
-	rm -f ${name}/build/CMakeCache.txt
+	@rm -f ${name}/build/CMakeCache.txt
 	@(test -d ${name} && mkdir -p ${name}/build && cd ${name}/build && cmake .. && make -j$(nproc) && echo "project compile successfully") || echo "error: unable to compile project: $(name)"
 
 push: compile
-	@(test -f $(name)/build/$(name).elf && $(PICOTOOL) load -fx -v $(name)/build/$(name).elf) || echo "error: unable to push project $(name) to device"
+	@(test -f $(name)/build/$(name).elf && $(picotool) load -fx -v $(name)/build/$(name).elf) || echo "error: unable to push project $(name) to device"
 
diff --git a/bit_counter/CMakeLists.txt b/bit_counter/CMakeLists.txt
index 575c776..9fa962f 100644
--- a/bit_counter/CMakeLists.txt
+++ b/bit_counter/CMakeLists.txt
@@ -11,6 +11,12 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 
 project(bit_counter C CXX ASM)
 
+# force picotool executable path
+add_executable(picotool IMPORTED GLOBAL)
+set_target_properties(picotool PROPERTIES 
+	IMPORTED_LOCATION "$(PICOTOOL_PATH)/picotool"
+)
+
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
diff --git a/breathing_led/CMakeLists.txt b/breathing_led/CMakeLists.txt
index 025e95e..098d3a6 100644
--- a/breathing_led/CMakeLists.txt
+++ b/breathing_led/CMakeLists.txt
@@ -11,6 +11,13 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 
 project(breathing_led C CXX ASM)
 
+# force picotool executable path
+add_executable(picotool IMPORTED GLOBAL)
+set_target_properties(picotool PROPERTIES 
+	IMPORTED_LOCATION "$(PICOTOOL_PATH)/picotool"
+)
+
+
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
diff --git a/simple_led/CMakeLists.txt b/simple_led/CMakeLists.txt
index 2ea410d..323849c 100644
--- a/simple_led/CMakeLists.txt
+++ b/simple_led/CMakeLists.txt
@@ -10,6 +10,12 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 
 project(simple_led C CXX ASM)
 
+# force picotool executable path
+add_executable(picotool IMPORTED GLOBAL)
+set_target_properties(picotool PROPERTIES 
+	IMPORTED_LOCATION "$(PICOTOOL_PATH)/picotool"
+)
+
 pico_sdk_init()
 
 set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos)
diff --git a/templates/CMakeLists.txt.tpl b/templates/CMakeLists.txt.tpl
index c8db396..b92fb29 100644
--- a/templates/CMakeLists.txt.tpl
+++ b/templates/CMakeLists.txt.tpl
@@ -11,6 +11,12 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 
 project(<project_name> C CXX ASM)
 
+# force picotool executable path
+add_executable(picotool IMPORTED GLOBAL)
+set_target_properties(picotool PROPERTIES 
+	IMPORTED_LOCATION "$(PICOTOOL_PATH)/picotool"
+)
+
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()