fix freertos kernel compatibility

.gitignore

@@ -2,7 +2,9 @@
 
 picotool
 sdk
-freertos
+freertos*
 
 build
-toolchain
+toolchain
+
+*.orig

Makefile

@@ -4,7 +4,7 @@ SDK_VERSION := 2.1.0
 PICOTOOL := $(INSTALL_PATH)/picotool/$(SDK_VERSION)/build/picotool
 
 export PICO_SDK_PATH=$(INSTALL_PATH)/sdk/$(SDK_VERSION)
- # if using a different platform or arch, set ot here
+ # if using a different platform or arch, set it here
 export PICO_PLATFORM=rp2350
 
 # project name, need to be passed as make input (ex: make project name=test)
@@ -13,6 +13,7 @@ name := ""
 install:
 	@./scripts/install_sdk.bash $(SDK_VERSION)
 	@./scripts/install_picotool.bash $(SDK_VERSION)
+	@./scripts/install_freertos.bash
 
 info:
 	@$(PICOTOOL) info -a
@@ -20,7 +21,22 @@ info:
 project:
 	@./scripts/scaffold_project.bash $(name) $(SDK_VERSION)
 
-compile:
+.check-name:
+ifeq ($(strip $(name)), "")
+	@echo "error: project name must be set, ex: name=<project_name>"
+	@false
+endif
+
+ifeq ($(shell test -d $(name) && echo "ok"),)
+	@echo "error: project $(name) does not exist"
+	@false
+endif
+
+format: .check-name
+	@test -f "$(shell find /usr/bin/ -name astyle)" && astyle --style=java --indent=spaces=4 -K -xC120 $(name)/*.c
+
+compile: format
+	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

config/FreeRTOSConfig.h

@@ -13,92 +13,88 @@
  * See http://www.freertos.org/a00110.html.
  *----------------------------------------------------------*/
 
-#define configUSE_PREEMPTION                    1
+// Scheduler Configuration
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_PREEMPTION                    1    // 1: Preemptive scheduler, 0: Cooperative scheduler
-#define configUSE_IDLE_HOOK                     0
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0    // Use optimized task selection if available
-#define configUSE_TICK_HOOK                     0
+#define configUSE_IDLE_HOOK                     0    // 1: Use Idle hook function
-#define configCPU_CLOCK_HZ                      ((unsigned long)150000000) // RP2350 default clock is 150 MHz
+#define configUSE_TICK_HOOK                     0    // 1: Use Tick hook function
-#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configIDLE_SHOULD_YIELD                 1    // 1: Idle task yields to same priority tasks
-#define configMAX_PRIORITIES                    5
-#define configMINIMAL_STACK_SIZE                ( ( unsigned short ) 256 )
-#define configTOTAL_HEAP_SIZE                   ( ( size_t ) ( 16 * 1024 ) )
-#define configMAX_TASK_NAME_LEN                 ( 16 )
-#define configUSE_TRACE_FACILITIES              0
-#define configUSE_16_BIT_TICKS                  0
-#define configIDLE_SHOULD_YIELD                 1
-#define configUSE_MUTEXES                       1
-#define configQUEUE_REGISTRY_SIZE               8
-#define configCHECK_FOR_STACK_OVERFLOW          2
-#define configUSE_RECURSIVE_MUTEXES             1
-#define configUSE_MALLOC_FAILED_HOOK            0
-#define configUSE_APPLICATION_TASK_TAG          0
-#define configUSE_COUNTING_SEMAPHORES           1
-#define configGENERATE_RUN_TIME_STATS           0
 
-#define configSUPPORT_DYNAMIC_ALLOCATION        1
+// System Clock Configuration
+#define configCPU_CLOCK_HZ                      ((unsigned long)150000000) // CPU frequency: 150 MHz for RP2350
+#define configTICK_RATE_HZ                      ((TickType_t)1000)         // RTOS tick frequency (1000 Hz = 1ms tick)
 
-#define configENABLE_FPU                        0
+// Task Configuration
-#define configENABLE_TRUSTZONE                  0
+#define configMAX_PRIORITIES                    5    // Maximum number of priority levels
+#define configMINIMAL_STACK_SIZE                ((unsigned short)256)      // Minimum stack size in words
+#define configMAX_TASK_NAME_LEN                 (16) // Maximum length of task names
 
-/* Co-routine definitions. */
+// Memory Configuration
-#define configUSE_CO_ROUTINES                   0
+#define configTOTAL_HEAP_SIZE                   ((size_t)(16 * 1024)) // Total RTOS heap size (16 KB)
-#define configMAX_CO_ROUTINE_PRIORITIES         ( 2 )
+#define configSUPPORT_DYNAMIC_ALLOCATION        1     // 1: Enable dynamic memory allocation
 
-/* Software timer definitions. */
+// Synchronization Primitives
-#define configUSE_TIMERS                        1
+#define configUSE_MUTEXES                       1    // 1: Enable mutexes
-#define configTIMER_TASK_PRIORITY               ( 2 )
+#define configUSE_RECURSIVE_MUTEXES             1    // 1: Enable recursive mutexes
-#define configTIMER_QUEUE_LENGTH                10
+#define configUSE_COUNTING_SEMAPHORES           1    // 1: Enable counting semaphores
-#define configTIMER_TASK_STACK_DEPTH            ( configMINIMAL_STACK_SIZE * 2 )
+#define configQUEUE_REGISTRY_SIZE               8    // Number of queues/semaphores that can be registered
 
-#define configENABLE_MPU                        0
+// Debugging and Diagnostics
+#define configUSE_TRACE_FACILITIES              0    // 1: Enable trace/debug facilities
+#define configCHECK_FOR_STACK_OVERFLOW          2    // Stack overflow checking method (0=off, 1=method1, 2=method2)
+#define configUSE_MALLOC_FAILED_HOOK            0    // 1: Use memory allocation failure hook
+#define configUSE_APPLICATION_TASK_TAG          0    // 1: Enable task tagging
+#define configGENERATE_RUN_TIME_STATS           0    // 1: Generate run-time statistics
 
-/* Set the following definitions to 1 to include the API function, or zero
+// Timer Configuration
-to exclude the API function. */
+#define configUSE_TIMERS                        1    // 1: Enable software timers
-#define INCLUDE_vTaskPrioritySet                1
+#define configTIMER_TASK_PRIORITY               (2)  // Timer service task priority
-#define INCLUDE_uxTaskPriorityGet               1
+#define configTIMER_QUEUE_LENGTH                10   // Timer command queue length
-#define INCLUDE_vTaskDelete                     1
+#define configTIMER_TASK_STACK_DEPTH            (configMINIMAL_STACK_SIZE * 2) // Timer task stack size
-#define INCLUDE_vTaskCleanUpResources           0
-#define INCLUDE_vTaskSuspend                    1
-#define INCLUDE_vTaskDelayUntil                 1
-#define INCLUDE_vTaskDelay                      1
-#define INCLUDE_xTaskGetSchedulerState          1
-#define INCLUDE_xTaskGetCurrentTaskHandle       1
-#define INCLUDE_uxTaskGetStackHighWaterMark     0
-#define INCLUDE_xTaskGetIdleTaskHandle          0
-#define INCLUDE_eTaskGetState                   0
-#define INCLUDE_xSemaphoreGetMutexHolder        0
-#define INCLUDE_xTimerPendFunctionCall          1
-#define INCLUDE_xQueueGetMutexHolder            0
-#define INCLUDE_xEventGroupSetBitFromISR        1
-#define INCLUDE_xTimerPendFunctionCall          1
 
-/* Cortex-M specific definitions. */
+// Co-routine Configuration
+#define configUSE_CO_ROUTINES                   0    // 1: Enable co-routines
+#define configMAX_CO_ROUTINE_PRIORITIES         (2)  // Maximum co-routine priorities
+
+// Hardware Specific Configuration
+#define configENABLE_FPU                        1    // 1: Enable Floating Point Unit
+#define configENABLE_TRUSTZONE                  0    // 1: Enable TrustZone
+#define configENABLE_MPU                        0    // 1: Enable Memory Protection Unit (defined twice in original)
+#define configRUN_FREERTOS_SECURE_ONLY          1    // 1: Run in secure mode only
+#define configUSE_16_BIT_TICKS                  0    // 0: Use 32-bit ticks, 1: Use 16-bit ticks
+
+// API Inclusion Configuration
+#define INCLUDE_vTaskPrioritySet                1    // Include task priority set API
+#define INCLUDE_uxTaskPriorityGet               1    // Include task priority get API
+#define INCLUDE_vTaskDelete                     1    // Include task delete API
+#define INCLUDE_vTaskCleanUpResources           0    // Include task cleanup API
+#define INCLUDE_vTaskSuspend                    1    // Include task suspend API
+#define INCLUDE_vTaskDelayUntil                 1    // Include delay until API
+#define INCLUDE_vTaskDelay                      1    // Include delay API
+#define INCLUDE_xTaskGetSchedulerState          1    // Include scheduler state API
+#define INCLUDE_xTaskGetCurrentTaskHandle       1    // Include current task handle API
+#define INCLUDE_uxTaskGetStackHighWaterMark     0    // Include stack high water mark API
+#define INCLUDE_xTaskGetIdleTaskHandle          0    // Include idle task handle API
+#define INCLUDE_eTaskGetState                   0    // Include task state API
+#define INCLUDE_xSemaphoreGetMutexHolder        0    // Include mutex holder API
+#define INCLUDE_xTimerPendFunctionCall          1    // Include timer pend function call API (defined twice in original)
+#define INCLUDE_xQueueGetMutexHolder            0    // Include queue mutex holder API
+#define INCLUDE_xEventGroupSetBitFromISR        1    // Include event group set bit from ISR API
+
+// Cortex-M Interrupt Configuration
 #ifdef __NVIC_PRIO_BITS
-    /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+    #define configPRIO_BITS             __NVIC_PRIO_BITS    // Use CMSIS defined priority bits
-    #define configPRIO_BITS             __NVIC_PRIO_BITS
 #else
-    #define configPRIO_BITS             3    /* 7 priority levels */
+    #define configPRIO_BITS             3                   // 7 priority levels (default)
 #endif
 
-/* The lowest interrupt priority that can be used in a call to a "set priority"
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY         0x7    // Lowest interrupt priority
-function. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY    5      // Highest priority for FreeRTOS API calls
-#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY         0x7
 
-/* The highest interrupt priority that can be used by any interrupt service
+#define configKERNEL_INTERRUPT_PRIORITY         (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
-routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
-INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
-PRIORITY THAN THIS! (higher priorities are lower numeric values. */
-#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY    5
 
-/* Interrupt priorities used by the kernel port layer itself.  These are generic
+// Assertion Definition
-to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configASSERT(x) if((x) == 0) { taskDISABLE_INTERRUPTS(); for(;;); } // Basic assert implementation
-#define configKERNEL_INTERRUPT_PRIORITY         ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
-/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
-See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY    ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
-
-/* Normal assert() semantics without relying on the provision of an assert.h
-header file. */
-#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
 
 #endif /* FREERTOS_CONFIG_H */

scripts/install_freertos.bash

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+######################################################
+#
+# Install FreeRTOS Raspberry Pi Kernel.
+# src: https://github.com/raspberrypi/FreeRTOS-Kernel
+#
+# ex: ./install_freertos.bash
+#
+######################################################
+
+if [[ -z ${INSTALL_PATH} ]]
+then
+    INSTALL_PATH=${PWD}
+fi
+
+if [[ ! -d ${INSTALL_PATH}/freertos ]]
+then
+    echo "installing freertos..."
+    git clone https://github.com/raspberrypi/FreeRTOS-Kernel ${INSTALL_PATH}/freertos
+    if [[ $? != 0 ]]
+    then
+        echo "error: unable to clone freertos"
+        exit 1
+    fi
+fi
+
+echo "freertos installation completed"

simple_led/CMakeLists.txt

@@ -12,9 +12,11 @@ project(simple_led C CXX ASM)
 
 pico_sdk_init()
 
-set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos/FreeRTOSv202411.00/FreeRTOS/Source)
+set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos)
 set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
 
+include(${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/FreeRTOS_Kernel_import.cmake)
+
 # add_library(FreeRTOS STATIC
 # 	${FREERTOS_SRC_DIRECTORY}/event_groups.c
 #   ${FREERTOS_SRC_DIRECTORY}/list.c
@@ -31,7 +33,7 @@ set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
 include_directories(
 	${FREERTOS_CONFIG_DIRECTORY}
   ${FREERTOS_SRC_DIRECTORY}/include
-  ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure
+  ${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure
 )
 
 set(FREERTOS_SOURCES
@@ -45,8 +47,9 @@ set(FREERTOS_SOURCES
 )
 
 set(FREERTOS_PORT_FILES
-    ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
+    ${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/port.c
-    ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
+    ${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portasm.c
+    ${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/mpu_wrappers_v2_asm.c
 )
 
 add_executable(simple_led main.c ${FREERTOS_SOURCES} ${FREERTOS_PORT_FILES})
@@ -57,10 +60,11 @@ pico_set_program_version(simple_led "0.1")
 target_link_libraries(
 	simple_led
 	pico_stdlib
+  hardware_exception
   # FreeRTOS
 )
 
-pico_enable_stdio_uart(simple_led 0)
+pico_enable_stdio_uart(simple_led 1)
 pico_enable_stdio_usb(simple_led 1)
 
 pico_add_extra_outputs(simple_led)

simple_led/main.c

@@ -1,92 +1,55 @@
-#include <stdlib.h>
-#include <time.h>
-#include <stdio.h>
-
-#include "pico/stdlib.h"
 #include <FreeRTOS.h>
+#include <pico/printf.h>
+#include <pico/stdlib.h>
+#include <pico/time.h>
+#include <semphr.h>
 #include <task.h>
-#include <queue.h>
-
-#ifndef LED_DELAY_MS
-    #define LED_DELAY_MS 500
-#endif
 
 #define GPIO_15 15
 #define GPIO_13 13
 
-void blink_success(bool in_task) {
+enum status { STOP, RUNNING, FAILED, UNKNOWN };
-    gpio_put(PICO_DEFAULT_LED_PIN, true);
-    if (in_task)
-        vTaskDelay(pdMS_TO_TICKS(500));
-    else
-        sleep_ms(500);
-    gpio_put(PICO_DEFAULT_LED_PIN, false);
-}
-
-void blink_failed(bool in_task) {
-    for (;;) {
-        gpio_put(PICO_DEFAULT_LED_PIN, true);
-        if (in_task)
-            vTaskDelay(pdMS_TO_TICKS(500));
-        else
-            sleep_ms(500);
-
-        gpio_put(PICO_DEFAULT_LED_PIN, false);
-        if (in_task)
-            vTaskDelay(pdMS_TO_TICKS(500));
-        else
-            sleep_ms(500);
-    }
-}
-
-void blink_default_led(void) {
-    #ifdef PICO_DEFAULT_LED_PIN
-        while (true) {
-            gpio_put(PICO_DEFAULT_LED_PIN, true);
-            // sleep_ms(LED_DELAY_MS);
-            vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
-            gpio_put(PICO_DEFAULT_LED_PIN, false);
-            // sleep_ms(1000);
-            vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
-        }
-    #endif
-}
-
-void run_health() {
-    BaseType_t res = xTaskCreate(
-        blink_default_led, 
-        "healthcheck",
-        configMINIMAL_STACK_SIZE,
-        NULL,
-        configMAX_PRIORITIES - 1U,
-        NULL
-    );
-
-    if (res != pdPASS) {
-        printf("error: unable to launch healthcheck task, code error: %d\n", res);
-    }
-        
-    return;
-}
 
+/**
+ * Handle the application state.
+ */
 typedef struct state state;
 struct state {
+    SemaphoreHandle_t lock;
+
     int counter;
-    int bs;
     bool can_incr;
 
-    clock_t push_clock;
+    absolute_time_t push_clock;
     bool on_reset;
     bool is_reset;
+
+    int status;
 };
 
-static state global_state = (state) {
+/**
+ * Parameters available to be passed in task function.
+ */
+typedef struct params params;
+struct params {
+    uint gpio;
+    uint32_t delays_ms;
+    bool in_task;
+    state *s;
+};
+
+static state global_state = {
     .counter = 0,
     .can_incr = true,
     .on_reset = false,
     .is_reset = false,
+    .status = RUNNING,
 };
 
+void init_state(state *s) {
+    s->lock = xSemaphoreCreateMutex();
+}
+
 void incr_counter(state *s) {
     if (s != NULL) {
         if (s->can_incr) {
@@ -112,15 +75,37 @@ void set_push_clock(state *s) {
     if (s != NULL) {
         if (s->push_clock)
             return;
-        s->push_clock = clock();
+        s->push_clock = get_absolute_time();
+    }
+}
+
+void set_status(state *s, int status) {
+    if (s != NULL) {
+        if (xSemaphoreTake(s->lock, (TickType_t)10) == pdTRUE) {
+            s->status = status;
+            xSemaphoreGive(s->lock);
+            return;
+        }
+        blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
+    }
+}
+
+int get_status(state *s) {
+    if (s != NULL) {
+        if (xSemaphoreTake(s->lock, (TickType_t)10) == pdTRUE) {
+            int res = s->status;
+            xSemaphoreGive(s->lock);
+            return res;
+        }
+        blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
     }
 }
 
 bool is_resetting(state *s) {
     if (s != NULL) {
-        clock_t c = clock();
+        absolute_time_t end = get_absolute_time();
-        double exec_time = (double)(c - s->push_clock) / CLOCKS_PER_SEC;
+        uint64_t elapsed_ms = absolute_time_diff_us(s->push_clock, end) / 1000;
-        if (exec_time >= 2)
+        if (elapsed_ms >= 2000)
             return true;
     }
     return false;
@@ -132,76 +117,133 @@ void reset(state *s) {
     s->is_reset = true;
 }
 
-void led_control() {
+void blink_success(uint gpio, uint32_t delay_ms, bool in_task) {
-    while (1) {
+    gpio_put(gpio, true);
+    if (in_task)
+        vTaskDelay(pdMS_TO_TICKS(delay_ms));
+    else
+        sleep_ms(delay_ms);
+    gpio_put(gpio, false);
+}
+
+void blink_failed(uint gpio, uint32_t delay_ms, bool in_task) {
+    for (;;) {
+        gpio_put(gpio, false);
+        if (in_task)
+            vTaskDelay(pdMS_TO_TICKS(delay_ms));
+        else
+            sleep_ms(delay_ms);
+
+        gpio_put(gpio, true);
+        if (in_task)
+            vTaskDelay(pdMS_TO_TICKS(delay_ms));
+        else
+            sleep_ms(delay_ms);
+    }
+}
+
+void healtchheck(void *const vParameters) {
+    params *p = (params *const)vParameters;
+    for (;;) {
+        if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING ||
+                get_status(p->s) != RUNNING)
+            gpio_put(p->gpio, false);
+        else
+            gpio_put(p->gpio, true);
+        vTaskDelay(pdMS_TO_TICKS(p->delays_ms));
+    }
+}
+
+void run_health(state *s) {
+    static params p = {
+        .delays_ms = 50,
+        .gpio = PICO_DEFAULT_LED_PIN,
+        .in_task = true,
+    };
+    p.s = s;
+
+    TaskHandle_t t;
+    BaseType_t res =
+        xTaskCreate(healtchheck, "healthcheck", configMINIMAL_STACK_SIZE,
+                    (void *const)&p, configMAX_PRIORITIES - 1U, &t);
+
+    if (res != pdPASS) {
+        stdio_printf("error: unable to launch healthcheck task, code error: %d\n",
+                     res);
+        blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
+    }
+
+    return;
+}
+
+void led_control(void *const vParameters) {
+    params *p = (params *const)vParameters;
+
+    for (;;) {
         // return low level when the button is pressed
         if (!gpio_get(GPIO_13)) {
-            // sleep_ms(20); // avoid "bounce" phenomenon (buffeting)
+            vTaskDelay(pdMS_TO_TICKS(20)); // avoid "bounce" phenomenon (buffeting)
-            vTaskDelay(20 / portTICK_PERIOD_MS);
             if (!gpio_get(GPIO_13)) {
-                if (global_state.is_reset)
+                if (p->s->is_reset)
                     continue;
 
-                set_push_clock(&global_state);
+                set_push_clock(p->s);
-                if (is_resetting(&global_state)) {
+                if (is_resetting(p->s)) {
-                    gpio_put(GPIO_15, true);
+                    set_status(p->s, STOP);
-                    // sleep_ms(500);
+                    reset(p->s);
-                    vTaskDelay(500 / portTICK_PERIOD_MS);
+                    for (int i = 0; i < 3; i++) {
-                    gpio_put(GPIO_15, false);
+                        gpio_put(GPIO_15, true);
-                    // sleep_ms(500);
+                        vTaskDelay(pdMS_TO_TICKS(200));
-                    vTaskDelay(500 / portTICK_PERIOD_MS);
-                    gpio_put(GPIO_15, true);
-                    // sleep_ms(500);
-                    vTaskDelay(500 / portTICK_PERIOD_MS);
-                    gpio_put(GPIO_15, false);
-                    // sleep_ms(500);
-                    vTaskDelay(500 / portTICK_PERIOD_MS);
-                    gpio_put(GPIO_15, true);
-                    // sleep_ms(500);
-                    vTaskDelay(500 / portTICK_PERIOD_MS);
-                    gpio_put(GPIO_15, false);
 
-                    reset(&global_state);
+                        gpio_put(GPIO_15, false);
+                        vTaskDelay(pdMS_TO_TICKS(200));
+                    }
                     continue;
                 }
 
-                incr_counter(&global_state);
+                incr_counter(p->s);
-                if (can_push(&global_state))
+                if (can_push(p->s))
                     gpio_put(GPIO_15, true);
+                else
+                    set_status(p->s, STOP);
                 continue;
             }
         }
 
-        if (global_state.is_reset) {
+        if (p->s->is_reset) {
-            global_state.on_reset = false;
+            set_status(p->s, RUNNING);
-            global_state.is_reset = false;
+            p->s->on_reset = false;
+            p->s->is_reset = false;
         }
-        global_state.push_clock = 0;
+        p->s->push_clock = 0;
-        set_can_incr(&global_state, true);
+        set_can_incr(p->s, true);
         gpio_put(GPIO_15, false);
     }
 }
 
-void run_led_control() {
+void run_led_control(state *s) {
-    BaseType_t res = xTaskCreate(
+    static params p;
-        led_control, 
+    p.s = s;
-        "led_controller",
+
-        configMINIMAL_STACK_SIZE,
+    BaseType_t res =
-        NULL,
+        xTaskCreate(led_control, "led_controller", configMINIMAL_STACK_SIZE,
-        configMAX_PRIORITIES - 1U,
+                    (void *const)&p, configMAX_PRIORITIES - 1U, NULL);
-        NULL
-    );
 
     if (res != pdPASS) {
-        printf("error: unable to launch led control task, code error: %d\n", res);
+        stdio_printf("error: unable to launch led control task, code error: %d\n",
+                     res);
+        blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
     }
 }
 
+/**
+ * Initialize needed GPIO.
+ */
 void init_gpio() {
-    #ifdef PICO_DEFAULT_LED_PIN
+#ifdef PICO_DEFAULT_LED_PIN
-        gpio_init(PICO_DEFAULT_LED_PIN);
+    gpio_init(PICO_DEFAULT_LED_PIN);
-        gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+    gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
-    #endif
+#endif
 
     gpio_init(GPIO_15);
     gpio_set_dir(GPIO_15, GPIO_OUT);
@@ -210,42 +252,41 @@ void init_gpio() {
     gpio_set_dir(GPIO_13, GPIO_IN);
 }
 
-void check_scheduler_init(void *pvParameters) {
+/**
-    for (;;) {
+ * Callback when unable to initialize task (not enough stask memory).
-        BaseType_t state = xTaskGetSchedulerState();
+ * Increase `uxStackDepth` arg when creating task if needed.
-        if (state == taskSCHEDULER_RUNNING)
+ */
-            blink_success(true);
-        blink_success(true);
-        // vTaskDelay(pdMS_TO_TICKS(500));
-    }
-}
-
 void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
-    blink_failed(false);
+    blink_failed(PICO_DEFAULT_LED_PIN, 100, true);
 }
 
-int main()
+/**
-{
+ * A simple application to play with leds with FreeRTOS.
+ * Yes, FreeRTOS is overkill for this kind of application
+ * but it's cool to see how easyly it can be integrated and
+ * easy to use for concurrent tasks.
+ *
+ * Hardware:
+ * - a push button switch
+ * - a red led
+ * - 2 10k ohm resistors
+ * - 1 200 ohm resistor
+ *
+ * When the Pico is on, the default led is on (acts as a healthcheck).
+ * You can then push the button and see the red led lights on.
+ * After 10 pushed, the red light lights off and the default led too.
+ * To reset the application, holds the button ~2 secs, the red light will
+ * blink two time and the application will be started again.
+ *
+ */
+int main() {
     stdio_init_all();
     init_gpio();
 
-    // TaskHandle_t health_task = run_health();
+    init_state(&global_state);
-    // TaskHandle_t led_task = run_led_control();
 
-    BaseType_t res = xTaskCreate(
+    run_health(&global_state);
-        check_scheduler_init, 
+    run_led_control(&global_state);
-        "check_init",
-        256,
-        NULL,
-        configMAX_PRIORITIES - 1,
-        NULL
-    );
-    if (res != pdPASS)
-        blink_failed(false);
-    else
-        blink_success(false);
 
     vTaskStartScheduler();
-
-    blink_failed(false);
 }