12 files changed, 56 insertions, 81 deletions
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 04e612d..7a0b136 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -21,6 +21,8 @@ add_executable(main
 	sock.c
 	i2c.c
 	mod.c
+	tasks.c
+	blink.c
 	)
 
 pico_enable_stdio_usb(main 1)
diff --git a/main/blink.c b/main/blink.c
new file mode 100644
index 0000000..956e910
--- /dev/null
+++ b/main/blink.c
@@ -0,0 +1,16 @@
+#include <FreeRTOS.h>
+#include <task.h>
+#include <pico/cyw43_arch.h>
+
+#include "blink.h"
+#include "config.h"
+
+void blink_task() {
+	while (true) {
+		cyw43_arch_gpio_put(CFG_LED_PIN, 1);
+		vTaskDelay(50 / portTICK_PERIOD_MS);
+		cyw43_arch_gpio_put(CFG_LED_PIN, 0);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+	}
+}
+
diff --git a/main/blink.h b/main/blink.h
new file mode 100644
index 0000000..51c5f32
--- /dev/null
+++ b/main/blink.h
@@ -0,0 +1,4 @@
+#pragma once
+
+void blink_task();
+
diff --git a/main/i2c.c b/main/i2c.c
index 43d17bf..5db5b61 100644
--- a/main/i2c.c
+++ b/main/i2c.c
@@ -1,14 +1,14 @@
-#include "i2c.h"
-#include "init.h"
-
-#include "pb-mod.h"
-
+#include <FreeRTOS.h>
+#include <task.h>
 #include <stdio.h>
 #include <stddef.h>
 #include <stdint.h>
 #include <pico/stdlib.h>
 #include <hardware/i2c.h>
 
+#include "i2c.h"
+#include "pb-mod.h"
+
 uint8_t* scan_bus(uint8_t *array) {
 	int ret;
 	int i = 0;
@@ -33,8 +33,6 @@ uint8_t* scan_bus(uint8_t *array) {
 void bus_task() {
 	// scan bus for slaves
 	// send updates at regular intervals
-	await_init();
-
 	vTaskDelay(1000 / portTICK_PERIOD_MS);
 	
 	// int i = 0;
diff --git a/main/i2c.h b/main/i2c.h
index e873fae..dcc3997 100644
--- a/main/i2c.h
+++ b/main/i2c.h
@@ -1,12 +1,8 @@
 #pragma once
 // https://github.com/raspberrypi/pico-examples/tree/master/i2c
 
-#include <stddef.h>
-#include <stdint.h>
-#include <hardware/i2c.h>
-
 #define MAX_SLAVES 10
 
-/** \brief looking for slave addresses and requesting updates */
+//! looking for slave addresses and requesting updates
 void bus_task();
 
diff --git a/main/init.c b/main/init.c
index 9297093..1cfec9a 100644
--- a/main/init.c
+++ b/main/init.c
@@ -1,15 +1,13 @@
-#include "config.h"
-#include "init.h"
-#include "drv/rp2040/mod.h"
-
 #include <FreeRTOS.h>
 #include <task.h>
-#include <event_groups.h>
 
 #include <pico/stdio.h>
 #include <pico/cyw43_arch.h>
 
-EventGroupHandle_t init_complete;
+#include "config.h"
+#include "init.h"
+#include "tasks.h"
+#include "drv/rp2040/mod.h"
 
 static void init_stdio() {
 	stdio_init_all();
@@ -46,16 +44,13 @@ static void async_init() {
 #ifndef CFG_NET_DISABLE
 	init_wifi();
 #endif
-
-	xEventGroupSetBits(init_complete, 1);
+	init_tasks();
 
 	// delete self
 	vTaskDelete(NULL);
 }
 
 void init() {
-	init_complete = xEventGroupCreate();
-
 	// used for debug `printf` and `panic` on errors
 	init_stdio();
 
@@ -63,7 +58,3 @@ void init() {
 	xTaskCreate((TaskFunction_t) async_init, "init", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 4, NULL);
 }
 
-void await_init() {
-	xEventGroupWaitBits(init_complete, 1, pdFALSE, pdFALSE, portMAX_DELAY);
-}
-
diff --git a/main/init.h b/main/init.h
index de9023c..73d2773 100644
--- a/main/init.h
+++ b/main/init.h
@@ -1,38 +1,11 @@
 #pragma once
 
-#include <FreeRTOS.h>
-#include <event_groups.h>
-
-/**
- * \brief init function complete event group handle
- *
- * This is required to make sure the main task waits until initialization is
- * complete. Due to the combination of FreeRTOS + lwIP, the initialization
- * should be done while the task scheduler is running. Specifically the
- * cyw43_arch_init functions make the pico hang indefinitely when used while
- * the task scheduler is not running.
- *
- * \note `init_complete` only utilizes LSB, so `uxBitsToWaitFor` should always
- * be set to *1*
- */
-extern EventGroupHandle_t init_complete;
-
 /**
- * \brief initialize all peripherals on the pico
+ * \brief initialize the main controller
  *
  * This function only synchronously initializes the standard input/output (used
  * for `printf` and `panic`), and queues all other types of initialization in
  * the `init` task using FreeRTOS.
- *
- * \note Tasks dependent on the wifi being initialized should use the
- * `init_complete` event group to wait for initialization to complete!
  */
 void init();
 
-/**
- * \brief block task until all initialization is complete
- *
- * utility function, see above comments
- */
-void await_init();
-
diff --git a/main/main.c b/main/main.c
index 5d2abd1..1c615fc 100644
--- a/main/main.c
+++ b/main/main.c
@@ -1,34 +1,10 @@
 #include <FreeRTOS.h>
 #include <task.h>
 
-#include <pico/stdlib.h>
-#include <pico/time.h>
-
-#include "config.h"
 #include "init.h"
-#include "sock.h"
-#include "i2c.h"
-
-void blink_task() {
-	await_init(); // `blink_task` uses GPIO
-
-	while (true) {
-		cyw43_arch_gpio_put(CFG_LED_PIN, 1);
-		vTaskDelay(50 / portTICK_PERIOD_MS);
-		cyw43_arch_gpio_put(CFG_LED_PIN, 0);
-		vTaskDelay(1000 / portTICK_PERIOD_MS);
-	}
-}
 
 int main() {
 	init();
-
-	xTaskCreate((TaskFunction_t) blink_task, "blink", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-#ifndef CFG_SRV_DISABLE
-	xTaskCreate((TaskFunction_t) serve_task, "serve", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-#endif
-	xTaskCreate((TaskFunction_t) bus_task, "bus", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
-
 	vTaskStartScheduler();
 }
 
diff --git a/main/sock.c b/main/sock.c
index dc3d7ea..6a5ff72 100644
--- a/main/sock.c
+++ b/main/sock.c
@@ -79,8 +79,6 @@ void accept_handler(struct netconn* conn) {
 }
 
 void serve_task() {
-	await_init();
-
 	printf("starting server...\n");
 	struct netconn* conn = netconn_new(NETCONN_TCP);
 	netconn_bind(conn, IP_ADDR_ANY, CFG_SRV_PORT);
diff --git a/main/sock.h b/main/sock.h
index f2db35d..61828fb 100644
--- a/main/sock.h
+++ b/main/sock.h
@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stddef.h>
 
-/** \brief start listening for TCP socket requests */
+//! start listening for TCP socket requests
 void serve_task();
 
 void i2c_send(uint16_t addr, const char * data, size_t data_size);
diff --git a/main/tasks.c b/main/tasks.c
new file mode 100644
index 0000000..253c47b
--- /dev/null
+++ b/main/tasks.c
@@ -0,0 +1,17 @@
+#include <FreeRTOS.h>
+#include <task.h>
+
+#include "config.h"
+#include "tasks.h"
+
+#include "blink.h"
+#include "i2c.h"
+#include "sock.h"
+
+void init_tasks() {
+	xTaskCreate((TaskFunction_t) blink_task, "blink", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+#ifndef CFG_SRV_DISABLE
+	xTaskCreate((TaskFunction_t) serve_task, "serve", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+#endif
+	xTaskCreate((TaskFunction_t) bus_task, "bus", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL);
+}
diff --git a/main/tasks.h b/main/tasks.h
new file mode 100644
index 0000000..002f830
--- /dev/null
+++ b/main/tasks.h
@@ -0,0 +1,4 @@
+#pragma once
+
+void init_tasks();
+