From b2a12d091a74758ae1a4eb3d69887c7144546b0a Mon Sep 17 00:00:00 2001
From: coreglitch <mail@s3f.ru>
Date: Wed, 14 Oct 2020 16:21:55 +0600
Subject: [PATCH] Display and UI implementation (#169)

* Menu app. Lib: add mlib submodule.

* Menu: new startup lib dependency definition

* Menu: hierarchy in menu. Cube: fix heap1/4 inconsistency, stack protection.

* GUI: rendering pipeline initial version.

* GUI: layered widget composing, FURI record. Menu: FURI record, api.

* GUI: input dispatching. Menu: switch to input from GUI.

* GUI, MENU: code style cleanup, fix type conversion warnings.

* GUI, Menu: syntax check.

* Makefile: check and reinit submodules, format.

* Menu: lock on event processing. Makefile: proper submodule initialization.

* Menu: fix stack corruption by queue.

* GUI: refactor.

* Makefile: format rule fix, st-util pid.

* GUI, Menu, FURI: format with clang-format.

* GUI, MENU: locks in critical sections, fix stack corruption, ready signaling.

* Makefile: clang format rule cleanup.

* GUI,MENU: migrate to new API.

* Applications: PRODUCTION_HW variable, skip drivers build on local target.

* refactor production build

* add git to dockerfile

* GUI: uncomment lock block

Co-authored-by: Aleksandr Kutuzov <aku@plooks.com>
---
 applications/applications.mk             |  21 ++-
 applications/gui/canvas.c                |  79 +++++++++
 applications/gui/canvas.h                |  24 +++
 applications/gui/canvas_i.h              |  14 ++
 applications/gui/gui.c                   | 176 +++++++++++++++++++
 applications/gui/gui.h                   |  12 ++
 applications/gui/gui_event.c             |  73 ++++++++
 applications/gui/gui_event.h             |  29 +++
 applications/gui/gui_i.h                 |   3 +
 applications/gui/widget.c                |  79 +++++++++
 applications/gui/widget.h                |  22 +++
 applications/gui/widget_i.h              |   7 +
 applications/menu/menu.c                 | 214 +++++++++++++++++++++++
 applications/menu/menu.h                 |  17 ++
 applications/menu/menu_event.c           |  96 ++++++++++
 applications/menu/menu_event.h           |  36 ++++
 applications/menu/menu_item.c            |  89 ++++++++++
 applications/menu/menu_item.h            |  36 ++++
 applications/startup.h                   |   9 +
 core/furi-deprecated.h                   |  11 ++
 docker/Dockerfile                        |  11 +-
 firmware/targets/f2/Inc/FreeRTOSConfig.h |  15 +-
 firmware/targets/f2/Src/freertos.c       |  28 ++-
 firmware/targets/f2/Src/stm32l4xx_it.c   |   4 +-
 firmware/targets/f2/cube.ioc             |   9 +-
 firmware/targets/f2/target.mk            |   2 +-
 lib/lib.mk                               |   1 +
 make/rules.mk                            |  33 ++--
 28 files changed, 1122 insertions(+), 28 deletions(-)
 create mode 100644 applications/gui/canvas.c
 create mode 100644 applications/gui/canvas.h
 create mode 100644 applications/gui/canvas_i.h
 create mode 100644 applications/gui/gui.c
 create mode 100644 applications/gui/gui.h
 create mode 100644 applications/gui/gui_event.c
 create mode 100644 applications/gui/gui_event.h
 create mode 100644 applications/gui/gui_i.h
 create mode 100644 applications/gui/widget.c
 create mode 100644 applications/gui/widget.h
 create mode 100644 applications/gui/widget_i.h
 create mode 100644 applications/menu/menu.c
 create mode 100644 applications/menu/menu.h
 create mode 100644 applications/menu/menu_event.c
 create mode 100644 applications/menu/menu_event.h
 create mode 100644 applications/menu/menu_item.c
 create mode 100644 applications/menu/menu_item.h

diff --git a/applications/applications.mk b/applications/applications.mk
index 71db1d39..906f6690 100644
--- a/applications/applications.mk
+++ b/applications/applications.mk
@@ -5,8 +5,17 @@ CFLAGS		+= -I$(APP_DIR)
 
 APP_RELEASE ?= 0
 ifeq ($(APP_RELEASE), 1)
-APP_DISPLAY = 1
-APP_INPUT = 1
+APP_DISPLAY	= 1
+APP_INPUT	= 1
+APP_MENU = 1
+endif
+
+APP_MENU ?= 0
+ifeq ($(APP_MENU), 1)
+APP_INPUT	= 1
+APP_GUI		= 1
+CFLAGS		+= -DAPP_MENU
+C_SOURCES	+= $(wildcard $(APP_DIR)/menu/*.c)
 endif
 
 APP_TEST	?= 0
@@ -68,6 +77,12 @@ APP_DISPLAY = 1
 endif
 
 # device drivers
+APP_GUI	?= 0
+ifeq ($(APP_GUI), 1)
+APP_DISPLAY	= 1
+CFLAGS		+= -DAPP_GUI
+C_SOURCES	+= $(wildcard $(APP_DIR)/gui/*.c)
+endif
 
 ifeq ($(APP_DISPLAY), 1)
 CFLAGS		+= -DAPP_DISPLAY
@@ -78,4 +93,4 @@ APP_INPUT	?= 0
 ifeq ($(APP_INPUT), 1)
 CFLAGS		+= -DAPP_INPUT
 C_SOURCES	+= $(APP_DIR)/input/input.c
-endif
\ No newline at end of file
+endif
diff --git a/applications/gui/canvas.c b/applications/gui/canvas.c
new file mode 100644
index 00000000..6f137284
--- /dev/null
+++ b/applications/gui/canvas.c
@@ -0,0 +1,79 @@
+#include "canvas.h"
+#include "canvas_i.h"
+
+#include <assert.h>
+#include <flipper.h>
+#include <u8g2.h>
+
+struct Canvas {
+    FuriRecordSubscriber* fb_record;
+    u8g2_t* fb;
+    uint8_t offset_x;
+    uint8_t offset_y;
+    uint8_t width;
+    uint8_t height;
+};
+
+Canvas* canvas_alloc() {
+    Canvas* canvas = furi_alloc(sizeof(Canvas));
+    canvas->fb_record = furi_open_deprecated("u8g2_fb", false, false, NULL, NULL, NULL);
+    assert(canvas->fb_record);
+    return canvas;
+}
+
+void canvas_free(Canvas* canvas) {
+    assert(canvas);
+    free(canvas);
+}
+
+void canvas_commit(Canvas* canvas) {
+    assert(canvas);
+    if(canvas->fb) {
+        furi_commit(canvas->fb_record);
+        canvas->fb = NULL;
+    }
+}
+
+void canvas_frame_set(
+    Canvas* canvas,
+    uint8_t offset_x,
+    uint8_t offset_y,
+    uint8_t width,
+    uint8_t height) {
+    assert(canvas);
+    canvas->offset_x = offset_x;
+    canvas->offset_y = offset_y;
+    canvas->width = width;
+    canvas->height = height;
+}
+
+u8g2_t* canvas_fb(Canvas* canvas) {
+    if(!canvas->fb) {
+        canvas->fb = furi_take(canvas->fb_record);
+        assert(canvas->fb);
+    }
+    return canvas->fb;
+}
+
+void canvas_clear(Canvas* canvas) {
+    u8g2_t* fb = canvas_fb(canvas);
+    u8g2_ClearBuffer(fb);
+}
+
+void canvas_color_set(Canvas* canvas, uint8_t color) {
+    u8g2_t* fb = canvas_fb(canvas);
+    u8g2_SetDrawColor(fb, 1);
+}
+
+void canvas_font_set(Canvas* canvas, font_t font) {
+    u8g2_t* fb = canvas_fb(canvas);
+    u8g2_SetFontMode(fb, 1);
+    u8g2_SetFont(fb, font);
+}
+
+void canvas_str_draw(Canvas* canvas, uint8_t x, uint8_t y, const char* str) {
+    x += canvas->offset_x;
+    y += canvas->offset_y;
+    u8g2_t* fb = canvas_fb(canvas);
+    u8g2_DrawStr(fb, x, y, str);
+}
diff --git a/applications/gui/canvas.h b/applications/gui/canvas.h
new file mode 100644
index 00000000..3b0f547e
--- /dev/null
+++ b/applications/gui/canvas.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <stdint.h>
+#include <u8g2.h>
+
+#define COLOR_WHITE 0x00
+#define COLOR_BLACK 0x01
+
+#define CANVAS_FONT_PRIMARY u8g2_font_Born2bSportyV2_tr
+#define CANVAS_FONT_SECONDARY u8g2_font_HelvetiPixel_tr
+
+typedef struct Canvas Canvas;
+typedef const uint8_t* font_t;
+
+uint8_t canvas_width(Canvas* canvas);
+uint8_t canvas_height(Canvas* canvas);
+
+void canvas_clear(Canvas* canvas);
+
+void canvas_color_set(Canvas* canvas, uint8_t color);
+
+void canvas_font_set(Canvas* canvas, font_t font);
+
+void canvas_str_draw(Canvas* canvas, uint8_t x, uint8_t y, const char* str);
diff --git a/applications/gui/canvas_i.h b/applications/gui/canvas_i.h
new file mode 100644
index 00000000..c24b2102
--- /dev/null
+++ b/applications/gui/canvas_i.h
@@ -0,0 +1,14 @@
+#pragma once
+
+Canvas* canvas_alloc();
+
+void canvas_free(Canvas* canvas);
+
+void canvas_commit(Canvas* canvas);
+
+void canvas_frame_set(
+    Canvas* canvas,
+    uint8_t offset_x,
+    uint8_t offset_y,
+    uint8_t width,
+    uint8_t height);
diff --git a/applications/gui/gui.c b/applications/gui/gui.c
new file mode 100644
index 00000000..ecc314d7
--- /dev/null
+++ b/applications/gui/gui.c
@@ -0,0 +1,176 @@
+#include "gui.h"
+#include "gui_i.h"
+
+#include <flipper.h>
+#include <stdio.h>
+#include <m-array.h>
+
+#include "gui_event.h"
+#include "canvas.h"
+#include "canvas_i.h"
+#include "widget.h"
+#include "widget_i.h"
+
+ARRAY_DEF(WidgetArray, Widget*, M_PTR_OPLIST);
+
+struct GUI {
+    GUIEvent* event;
+    Canvas* canvas;
+    WidgetArray_t widgets_status_bar;
+    WidgetArray_t widgets;
+    WidgetArray_t widgets_fs;
+    WidgetArray_t widgets_dialog;
+};
+
+void gui_widget_status_bar_add(GUI* gui, Widget* widget) {
+    assert(gui);
+    assert(widget);
+
+    gui_event_lock(gui->event);
+    WidgetArray_push_back(gui->widgets_status_bar, widget);
+    widget_gui_set(widget, gui);
+    gui_event_unlock(gui->event);
+
+    gui_update(gui);
+}
+
+void gui_widget_add(GUI* gui, Widget* widget) {
+    assert(gui);
+    assert(widget);
+
+    gui_event_lock(gui->event);
+    WidgetArray_push_back(gui->widgets, widget);
+    widget_gui_set(widget, gui);
+    gui_event_unlock(gui->event);
+
+    gui_update(gui);
+}
+
+void gui_widget_fs_add(GUI* gui, Widget* widget) {
+    assert(gui);
+    assert(widget);
+
+    gui_event_lock(gui->event);
+    WidgetArray_push_back(gui->widgets_fs, widget);
+    widget_gui_set(widget, gui);
+    gui_event_unlock(gui->event);
+
+    gui_update(gui);
+}
+
+void gui_widget_dialog_add(GUI* gui, Widget* widget) {
+    assert(gui);
+    assert(widget);
+
+    gui_event_lock(gui->event);
+    WidgetArray_push_back(gui->widgets_dialog, widget);
+    widget_gui_set(widget, gui);
+    gui_event_unlock(gui->event);
+
+    gui_update(gui);
+}
+
+void gui_update(GUI* gui) {
+    assert(gui);
+    GUIMessage message;
+    message.type = GUIMessageTypeRedraw;
+    gui_event_messsage_send(gui->event, &message);
+}
+
+Widget* gui_widget_find_enabled(WidgetArray_t array) {
+    size_t widgets_count = WidgetArray_size(array);
+    for(size_t i = 0; i < widgets_count; i++) {
+        Widget* widget = *WidgetArray_get(array, widgets_count - i - 1);
+        if(widget_is_enabled(widget)) {
+            return widget;
+        }
+    }
+    return NULL;
+}
+
+bool gui_redraw_fs(GUI* gui) {
+    canvas_frame_set(gui->canvas, 0, 0, 128, 64);
+    Widget* widget = gui_widget_find_enabled(gui->widgets_fs);
+    if(widget) {
+        widget_draw(widget, gui->canvas);
+        return true;
+    } else {
+        return false;
+    }
+}
+
+void gui_redraw_status_bar(GUI* gui) {
+    canvas_frame_set(gui->canvas, 0, 0, 128, 64);
+    Widget* widget = gui_widget_find_enabled(gui->widgets_status_bar);
+    if(widget) widget_draw(widget, gui->canvas);
+}
+
+void gui_redraw_normal(GUI* gui) {
+    canvas_frame_set(gui->canvas, 0, 9, 128, 55);
+    Widget* widget = gui_widget_find_enabled(gui->widgets);
+    if(widget) widget_draw(widget, gui->canvas);
+}
+
+void gui_redraw_dialogs(GUI* gui) {
+    canvas_frame_set(gui->canvas, 10, 20, 118, 44);
+    Widget* widget = gui_widget_find_enabled(gui->widgets_dialog);
+    if(widget) widget_draw(widget, gui->canvas);
+}
+
+void gui_redraw(GUI* gui) {
+    assert(gui);
+
+    if(!gui_redraw_fs(gui)) {
+        gui_redraw_status_bar(gui);
+        gui_redraw_normal(gui);
+    }
+    gui_redraw_dialogs(gui);
+
+    canvas_commit(gui->canvas);
+}
+
+void gui_input(GUI* gui, InputEvent* input_event) {
+    assert(gui);
+
+    Widget* widget = gui_widget_find_enabled(gui->widgets_dialog);
+    if(!widget) widget = gui_widget_find_enabled(gui->widgets_fs);
+    if(!widget) widget = gui_widget_find_enabled(gui->widgets);
+
+    if(widget) {
+        widget_input(widget, input_event);
+    }
+}
+
+GUI* gui_alloc() {
+    GUI* gui = furi_alloc(sizeof(GUI));
+    // Initialize widget arrays
+    WidgetArray_init(gui->widgets_status_bar);
+    WidgetArray_init(gui->widgets);
+    WidgetArray_init(gui->widgets_fs);
+    WidgetArray_init(gui->widgets_dialog);
+    // Event dispatcher
+    gui->event = gui_event_alloc();
+    // Drawing canvas
+    gui->canvas = canvas_alloc();
+
+    return gui;
+}
+
+void gui_task(void* p) {
+    GUI* gui = gui_alloc();
+    // Create FURI record
+    if(!furi_create_deprecated("gui", gui, sizeof(gui))) {
+        printf("[gui_task] cannot create the gui record\n");
+        furiac_exit(NULL);
+    }
+    furiac_ready();
+    // Forever dispatch
+    while(1) {
+        GUIMessage message = gui_event_message_next(gui->event);
+        if(message.type == GUIMessageTypeRedraw) {
+            gui_redraw(gui);
+        } else if(message.type == GUIMessageTypeInput) {
+            gui_input(gui, &message.input);
+        }
+    }
+}
diff --git a/applications/gui/gui.h b/applications/gui/gui.h
new file mode 100644
index 00000000..a95b802c
--- /dev/null
+++ b/applications/gui/gui.h
@@ -0,0 +1,12 @@
+#pragma once
+
+typedef struct Widget Widget;
+typedef struct GUI GUI;
+
+void gui_widget_status_bar_add(GUI* gui, Widget* widget);
+
+void gui_widget_add(GUI* gui, Widget* widget);
+
+void gui_widget_fs_add(GUI* gui, Widget* widget);
+
+void gui_widget_dialog_add(GUI* gui, Widget* widget);
diff --git a/applications/gui/gui_event.c b/applications/gui/gui_event.c
new file mode 100644
index 00000000..1d7caf64
--- /dev/null
+++ b/applications/gui/gui_event.c
@@ -0,0 +1,73 @@
+#include "gui_event.h"
+
+#include <flipper.h>
+#include <assert.h>
+
+#define GUI_EVENT_MQUEUE_SIZE 8
+
+struct GUIEvent {
+    FuriRecordSubscriber* input_event_record;
+    osMessageQueueId_t mqueue;
+    osMutexId_t lock_mutex;
+};
+
+void gui_event_input_events_callback(const void* value, size_t size, void* ctx) {
+    assert(ctx);
+    GUIEvent* gui_event = ctx;
+
+    GUIMessage message;
+    message.type = GUIMessageTypeInput;
+    message.input = *(InputEvent*)value;
+
+    osMessageQueuePut(gui_event->mqueue, &message, 0, 0);
+}
+
+GUIEvent* gui_event_alloc() {
+    GUIEvent* gui_event = furi_alloc(sizeof(GUIEvent));
+    // Allocate message que
+    gui_event->mqueue = osMessageQueueNew(GUI_EVENT_MQUEUE_SIZE, sizeof(GUIMessage), NULL);
+    assert(gui_event->mqueue);
+
+    // Input
+    gui_event->input_event_record =
+        furi_open_deprecated("input_events", false, false, gui_event_input_events_callback, NULL, gui_event);
+    assert(gui_event->input_event_record != NULL);
+    // Lock mutex
+    gui_event->lock_mutex = osMutexNew(NULL);
+    assert(gui_event->lock_mutex);
+    gui_event_lock(gui_event);
+
+    return gui_event;
+}
+
+void gui_event_free(GUIEvent* gui_event) {
+    assert(gui_event);
+    gui_event_unlock(gui_event);
+    assert(osMessageQueueDelete(gui_event->mqueue) == osOK);
+    free(gui_event);
+}
+
+void gui_event_lock(GUIEvent* gui_event) {
+    assert(gui_event);
+    assert(osMutexAcquire(gui_event->lock_mutex, osWaitForever) == osOK);
+}
+
+void gui_event_unlock(GUIEvent* gui_event) {
+    assert(gui_event);
+    assert(osMutexRelease(gui_event->lock_mutex) == osOK);
+}
+
+void gui_event_messsage_send(GUIEvent* gui_event, GUIMessage* message) {
+    assert(gui_event); assert(message);
+    osMessageQueuePut(gui_event->mqueue, message, 0, 0);
+}
+
+GUIMessage gui_event_message_next(GUIEvent* gui_event) {
+    assert(gui_event);
+    GUIMessage message;
+    gui_event_unlock(gui_event);
+    while(osMessageQueueGet(gui_event->mqueue, &message, NULL, osWaitForever) != osOK) {
+    };
+    gui_event_lock(gui_event);
+    return message;
+}
diff --git a/applications/gui/gui_event.h b/applications/gui/gui_event.h
new file mode 100644
index 00000000..c3a47e45
--- /dev/null
+++ b/applications/gui/gui_event.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <stdint.h>
+#include <input/input.h>
+
+typedef enum {
+    GUIMessageTypeRedraw = 0x00,
+    GUIMessageTypeInput = 0x01,
+} GUIMessageType;
+
+typedef struct {
+    GUIMessageType type;
+    InputEvent input;
+    void* data;
+} GUIMessage;
+
+typedef struct GUIEvent GUIEvent;
+
+GUIEvent* gui_event_alloc();
+
+void gui_event_free(GUIEvent* gui_event);
+
+void gui_event_lock(GUIEvent* gui_event);
+
+void gui_event_unlock(GUIEvent* gui_event);
+
+void gui_event_messsage_send(GUIEvent* gui_event, GUIMessage* message);
+
+GUIMessage gui_event_message_next(GUIEvent* gui_event);
diff --git a/applications/gui/gui_i.h b/applications/gui/gui_i.h
new file mode 100644
index 00000000..e12970fc
--- /dev/null
+++ b/applications/gui/gui_i.h
@@ -0,0 +1,3 @@
+#pragma once
+
+void gui_update(GUI* gui);
diff --git a/applications/gui/widget.c b/applications/gui/widget.c
new file mode 100644
index 00000000..bff2a4b9
--- /dev/null
+++ b/applications/gui/widget.c
@@ -0,0 +1,79 @@
+#include "widget.h"
+#include "widget_i.h"
+
+#include <cmsis_os.h>
+#include <flipper.h>
+
+#include "gui.h"
+#include "gui_i.h"
+
+struct Widget {
+    void* gui;
+    bool is_enabled;
+    WidgetDrawCallback draw_callback;
+    void* draw_callback_context;
+    WidgetInputCallback input_callback;
+    void* input_callback_context;
+};
+
+Widget* widget_alloc(WidgetDrawCallback callback, void* callback_context) {
+    Widget* widget = furi_alloc(sizeof(Widget));
+    widget->is_enabled = true;
+    return widget;
+}
+
+void widget_free(Widget* widget) {
+    assert(widget);
+    assert(widget->gui == NULL);
+    free(widget);
+}
+
+void widget_enabled_set(Widget* widget, bool enabled) {
+    assert(widget);
+    widget->is_enabled = enabled;
+    widget_update(widget);
+}
+
+bool widget_is_enabled(Widget* widget) {
+    assert(widget);
+    return widget->is_enabled;
+}
+
+void widget_draw_callback_set(Widget* widget, WidgetDrawCallback callback, void* context) {
+    assert(widget);
+    widget->draw_callback = callback;
+    widget->draw_callback_context = context;
+}
+
+void widget_input_callback_set(Widget* widget, WidgetInputCallback callback, void* context) {
+    assert(widget);
+    widget->input_callback = callback;
+    widget->input_callback_context = context;
+}
+
+void widget_update(Widget* widget) {
+    assert(widget);
+    if(widget->gui) gui_update(widget->gui);
+}
+
+void widget_gui_set(Widget* widget, GUI* gui) {
+    assert(widget);
+    assert(gui);
+    widget->gui = gui;
+}
+
+void widget_draw(Widget* widget, Canvas* canvas) {
+    assert(widget);
+    assert(canvas);
+    assert(widget->gui);
+
+    if(widget->draw_callback) widget->draw_callback(canvas, widget->draw_callback_context);
+}
+
+void widget_input(Widget* widget, InputEvent* event) {
+    assert(widget);
+    assert(event);
+    assert(widget->gui);
+
+    if(widget->input_callback) widget->input_callback(event, widget->input_callback_context);
+}
diff --git a/applications/gui/widget.h b/applications/gui/widget.h
new file mode 100644
index 00000000..b29ade45
--- /dev/null
+++ b/applications/gui/widget.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <input/input.h>
+
+typedef struct GUI GUI;
+typedef struct Canvas Canvas;
+typedef struct Widget Widget;
+
+typedef void (*WidgetDrawCallback)(Canvas* canvas, void* context);
+typedef void (*WidgetInputCallback)(InputEvent* event, void* context);
+
+Widget* widget_alloc();
+void widget_free(Widget* widget);
+
+void widget_enabled_set(Widget* widget, bool enabled);
+bool widget_is_enabled(Widget* widget);
+
+void widget_draw_callback_set(Widget* widget, WidgetDrawCallback callback, void* context);
+void widget_input_callback_set(Widget* widget, WidgetInputCallback callback, void* context);
+
+// emit update signal
+void widget_update(Widget* widget);
diff --git a/applications/gui/widget_i.h b/applications/gui/widget_i.h
new file mode 100644
index 00000000..5c1af22d
--- /dev/null
+++ b/applications/gui/widget_i.h
@@ -0,0 +1,7 @@
+#pragma once
+
+void widget_gui_set(Widget* widget, GUI* gui);
+
+void widget_draw(Widget* widget, Canvas* canvas);
+
+void widget_input(Widget* widget, InputEvent* event);
diff --git a/applications/menu/menu.c b/applications/menu/menu.c
new file mode 100644
index 00000000..f551c6af
--- /dev/null
+++ b/applications/menu/menu.c
@@ -0,0 +1,214 @@
+#include "menu.h"
+#include <cmsis_os.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+#include <flipper.h>
+#include <gui/gui.h>
+#include <gui/canvas.h>
+#include <gui/widget.h>
+
+#include "menu_event.h"
+#include "menu_item.h"
+
+struct Menu {
+    MenuEvent* event;
+    // GUI
+    FuriRecordSubscriber* gui_record;
+    Widget* widget;
+    // State
+    MenuItem* root;
+    MenuItem* settings;
+    MenuItem* current;
+    uint32_t position;
+};
+
+void menu_widget_callback(Canvas* canvas, void* context);
+
+Menu* menu_alloc() {
+    Menu* menu = furi_alloc(sizeof(Menu));
+
+    // Event dispatcher
+    menu->event = menu_event_alloc();
+
+    // Allocate and configure widget
+    menu->widget = widget_alloc();
+    widget_draw_callback_set(menu->widget, menu_widget_callback, menu);
+    widget_input_callback_set(menu->widget, menu_event_input_callback, menu->event);
+
+    // Open GUI and register fullscreen widget
+    menu->gui_record = furi_open_deprecated("gui", false, false, NULL, NULL, NULL);
+    assert(menu->gui_record);
+
+    return menu;
+}
+
+void menu_build_main(Menu* menu) {
+    assert(menu);
+    // Root point
+    menu->root = menu_item_alloc_menu(NULL, NULL);
+
+    menu_item_add(menu, menu_item_alloc_function("Sub 1 gHz", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("125 kHz RFID", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("Infrared", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("I-Button", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("USB", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("Bluetooth", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("GPIO / HW", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("NFC", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("U2F", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("Tamagotchi", NULL, NULL));
+    menu_item_add(menu, menu_item_alloc_function("Plugins", NULL, NULL));
+
+    menu->settings = menu_item_alloc_menu("Setting", NULL);
+    menu_item_subitem_add(menu->settings, menu_item_alloc_function("one", NULL, NULL));
+    menu_item_subitem_add(menu->settings, menu_item_alloc_function("two", NULL, NULL));
+    menu_item_subitem_add(menu->settings, menu_item_alloc_function("three", NULL, NULL));
+
+    menu_item_add(menu, menu->settings);
+}
+
+void menu_item_add(Menu* menu, MenuItem* item) {
+    menu_item_subitem_add(menu->root, item);
+}
+
+void menu_settings_item_add(Menu* menu, MenuItem* item) {
+    menu_item_subitem_add(menu->settings, item);
+}
+
+void menu_widget_callback(Canvas* canvas, void* context) {
+    assert(canvas);
+    assert(context);
+
+    Menu* menu = context;
+
+    menu_event_lock(menu->event);
+
+    if(!menu->current) {
+        canvas_clear(canvas);
+        canvas_color_set(canvas, COLOR_BLACK);
+        canvas_font_set(canvas, CANVAS_FONT_PRIMARY);
+        canvas_str_draw(canvas, 2, 32, "Idle Screen");
+    } else {
+        MenuItemArray_t* items = menu_item_get_subitems(menu->current);
+        canvas_clear(canvas);
+        canvas_color_set(canvas, COLOR_BLACK);
+        canvas_font_set(canvas, CANVAS_FONT_SECONDARY);
+        for(size_t i = 0; i < 5; i++) {
+            size_t shift_position = i + menu->position + MenuItemArray_size(*items) - 2;
+            shift_position = shift_position % (MenuItemArray_size(*items));
+            MenuItem* item = *MenuItemArray_get(*items, shift_position);
+            canvas_str_draw(canvas, 2, 12 * (i + 1), menu_item_get_label(item));
+        }
+    }
+
+    menu_event_unlock(menu->event);
+}
+
+void menu_update(Menu* menu) {
+    assert(menu);
+
+    menu_event_activity_notify(menu->event);
+    widget_update(menu->widget);
+}
+
+void menu_up(Menu* menu) {
+    assert(menu);
+
+    MenuItemArray_t* items = menu_item_get_subitems(menu->current);
+    if(menu->position == 0) menu->position = MenuItemArray_size(*items);
+    menu->position--;
+    menu_update(menu);
+}
+
+void menu_down(Menu* menu) {
+    assert(menu);
+
+    MenuItemArray_t* items = menu_item_get_subitems(menu->current);
+    menu->position++;
+    menu->position = menu->position % MenuItemArray_size(*items);
+    menu_update(menu);
+}
+
+void menu_ok(Menu* menu) {
+    assert(menu);
+
+    if(!menu->current) {
+        menu->current = menu->root;
+        menu_update(menu);
+        return;
+    }
+
+    MenuItemArray_t* items = menu_item_get_subitems(menu->current);
+    MenuItem* item = *MenuItemArray_get(*items, menu->position);
+    MenuItemType type = menu_item_get_type(item);
+
+    if(type == MenuItemTypeMenu) {
+        menu->current = item;
+        menu->position = 0;
+        menu_update(menu);
+    } else if(type == MenuItemTypeFunction) {
+        MenuItemCallback function = menu_item_get_function(item);
+        if(function) function();
+    }
+}
+
+void menu_back(Menu* menu) {
+    assert(menu);
+    MenuItem* parent = menu_item_get_parent(menu->current);
+    if(parent) {
+        menu->current = parent;
+        menu->position = 0;
+        menu_update(menu);
+    } else {
+        menu_exit(menu);
+    }
+}
+
+void menu_exit(Menu* menu) {
+    assert(menu);
+    menu->position = 0;
+    menu->current = NULL;
+    menu_update(menu);
+}
+
+void menu_task(void* p) {
+    Menu* menu = menu_alloc();
+    menu_build_main(menu);
+
+    // Register widget
+    GUI* gui = furi_take(menu->gui_record);
+    assert(gui);
+    gui_widget_fs_add(gui, menu->widget);
+    furi_commit(menu->gui_record);
+
+    if(!furi_create_deprecated("menu", menu, sizeof(menu))) {
+        printf("[menu_task] cannot create the menu record\n");
+        furiac_exit(NULL);
+    }
+    furiac_ready();
+    
+    while(1) {
+        MenuMessage m = menu_event_next(menu->event);
+
+        if(!menu->current && m.type != MenuMessageTypeOk) {
+            continue;
+        } else if(m.type == MenuMessageTypeUp) {
+            menu_up(menu);
+        } else if(m.type == MenuMessageTypeDown) {
+            menu_down(menu);
+        } else if(m.type == MenuMessageTypeOk) {
+            menu_ok(menu);
+        } else if(m.type == MenuMessageTypeLeft) {
+            menu_back(menu);
+        } else if(m.type == MenuMessageTypeRight) {
+            menu_ok(menu);
+        } else if(m.type == MenuMessageTypeBack) {
+            menu_back(menu);
+        } else if(m.type == MenuMessageTypeIdle) {
+            menu_exit(menu);
+        } else {
+            // TODO: fail somehow?
+        }
+    }
+}
diff --git a/applications/menu/menu.h b/applications/menu/menu.h
new file mode 100644
index 00000000..01c68be2
--- /dev/null
+++ b/applications/menu/menu.h
@@ -0,0 +1,17 @@
+#pragma once
+
+typedef struct Menu Menu;
+typedef struct MenuItem MenuItem;
+
+// Add menu item to root menu
+void menu_item_add(Menu* menu, MenuItem* item);
+
+// Add menu item to settings menu
+void menu_settings_item_add(Menu* menu, MenuItem* item);
+
+// Menu controls
+void menu_up(Menu* menu);
+void menu_down(Menu* menu);
+void menu_ok(Menu* menu);
+void menu_back(Menu* menu);
+void menu_exit(Menu* menu);
diff --git a/applications/menu/menu_event.c b/applications/menu/menu_event.c
new file mode 100644
index 00000000..82b32f8f
--- /dev/null
+++ b/applications/menu/menu_event.c
@@ -0,0 +1,96 @@
+#include "menu_event.h"
+
+#include <cmsis_os.h>
+#include <assert.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include <flipper.h>
+
+#define MENU_MESSAGE_MQUEUE_SIZE 8
+
+struct MenuEvent {
+    osMessageQueueId_t mqueue;
+    osTimerId_t timeout_timer;
+    osMutexId_t lock_mutex;
+};
+
+void MenuEventimeout_callback(void* arg) {
+    MenuEvent* menu_event = arg;
+    MenuMessage message;
+    message.type = MenuMessageTypeIdle;
+    osMessageQueuePut(menu_event->mqueue, &message, 0, 0);
+}
+
+MenuEvent* menu_event_alloc() {
+    MenuEvent* menu_event = furi_alloc(sizeof(MenuEvent));
+
+    menu_event->mqueue = osMessageQueueNew(MENU_MESSAGE_MQUEUE_SIZE, sizeof(MenuMessage), NULL);
+    assert(menu_event->mqueue);
+
+    menu_event->timeout_timer =
+        osTimerNew(MenuEventimeout_callback, osTimerOnce, menu_event, NULL);
+    assert(menu_event->timeout_timer);
+
+    menu_event->lock_mutex = osMutexNew(NULL);
+    assert(menu_event->lock_mutex);
+
+    menu_event_lock(menu_event);
+
+    return menu_event;
+}
+
+void menu_event_free(MenuEvent* menu_event) {
+    assert(menu_event);
+    menu_event_unlock(menu_event);
+    assert(osMessageQueueDelete(menu_event->mqueue) == osOK);
+    free(menu_event);
+}
+
+void menu_event_lock(MenuEvent* menu_event) {
+    assert(osMutexAcquire(menu_event->lock_mutex, osWaitForever) == osOK);
+}
+
+void menu_event_unlock(MenuEvent* menu_event) {
+    assert(osMutexRelease(menu_event->lock_mutex) == osOK);
+}
+
+void menu_event_activity_notify(MenuEvent* menu_event) {
+    assert(menu_event);
+    osTimerStart(menu_event->timeout_timer, 60000U); // 1m timeout, return to main
+}
+
+MenuMessage menu_event_next(MenuEvent* menu_event) {
+    assert(menu_event);
+    MenuMessage message;
+    menu_event_unlock(menu_event);
+    while(osMessageQueueGet(menu_event->mqueue, &message, NULL, osWaitForever) != osOK) {
+    };
+    menu_event_lock(menu_event);
+    return message;
+}
+
+void menu_event_input_callback(InputEvent* input_event, void* context) {
+    MenuEvent* menu_event = context;
+    MenuMessage message;
+
+    if(!input_event->state) return;
+
+    if(input_event->input == InputUp) {
+        message.type = MenuMessageTypeUp;
+    } else if(input_event->input == InputDown) {
+        message.type = MenuMessageTypeDown;
+    } else if(input_event->input == InputRight) {
+        message.type = MenuMessageTypeRight;
+    } else if(input_event->input == InputLeft) {
+        message.type = MenuMessageTypeLeft;
+    } else if(input_event->input == InputOk) {
+        message.type = MenuMessageTypeOk;
+    } else if(input_event->input == InputBack) {
+        message.type = MenuMessageTypeBack;
+    } else {
+        message.type = MenuMessageTypeUnknown;
+    }
+
+    osMessageQueuePut(menu_event->mqueue, &message, 0, 0);
+}
diff --git a/applications/menu/menu_event.h b/applications/menu/menu_event.h
new file mode 100644
index 00000000..858dc27b
--- /dev/null
+++ b/applications/menu/menu_event.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <stdint.h>
+#include <input/input.h>
+
+typedef enum {
+    MenuMessageTypeUp = 0x00,
+    MenuMessageTypeDown = 0x01,
+    MenuMessageTypeLeft = 0x02,
+    MenuMessageTypeRight = 0x03,
+    MenuMessageTypeOk = 0x04,
+    MenuMessageTypeBack = 0x05,
+    MenuMessageTypeIdle = 0x06,
+    MenuMessageTypeUnknown = 0xFF,
+} MenuMessageType;
+
+typedef struct {
+    MenuMessageType type;
+    void* data;
+} MenuMessage;
+
+typedef struct MenuEvent MenuEvent;
+
+MenuEvent* menu_event_alloc();
+
+void menu_event_free(MenuEvent* menu_event);
+
+void menu_event_lock(MenuEvent* menu_event);
+
+void menu_event_unlock(MenuEvent* menu_event);
+
+void menu_event_activity_notify(MenuEvent* menu_event);
+
+MenuMessage menu_event_next(MenuEvent* menu_event);
+
+void menu_event_input_callback(InputEvent* input_event, void* context);
diff --git a/applications/menu/menu_item.c b/applications/menu/menu_item.c
new file mode 100644
index 00000000..57072bc2
--- /dev/null
+++ b/applications/menu/menu_item.c
@@ -0,0 +1,89 @@
+#include "menu_item.h"
+#include <stdlib.h>
+#include <assert.h>
+#include <string.h>
+#include <flipper.h>
+
+struct MenuItem {
+    MenuItemType type;
+    const char* label;
+    void* icon;
+    MenuItem* parent;
+    void* data;
+};
+
+MenuItem* menu_item_alloc() {
+    MenuItem* menu_item = furi_alloc(sizeof(MenuItem));
+    return menu_item;
+}
+
+MenuItem* menu_item_alloc_menu(const char* label, void* icon) {
+    MenuItem* menu_item = menu_item_alloc();
+
+    menu_item->type = MenuItemTypeMenu;
+    menu_item->label = label;
+    menu_item->icon = icon;
+
+    MenuItemArray_t* items = furi_alloc(sizeof(MenuItemArray_t));
+    MenuItemArray_init(*items);
+    menu_item->data = items;
+
+    return menu_item;
+}
+
+MenuItem* menu_item_alloc_function(const char* label, void* icon, MenuItemCallback function) {
+    MenuItem* menu_item = menu_item_alloc();
+
+    menu_item->type = MenuItemTypeFunction;
+    menu_item->label = label;
+    menu_item->icon = icon;
+    menu_item->data = function;
+
+    return menu_item;
+}
+
+void menu_item_release(MenuItem* menu_item) {
+    if(menu_item->type == MenuItemTypeMenu) free(menu_item->data);
+    free(menu_item);
+}
+
+MenuItem* menu_item_get_parent(MenuItem* menu_item) {
+    return menu_item->parent;
+}
+
+void menu_item_subitem_add(MenuItem* menu_item, MenuItem* sub_item) {
+    assert(menu_item->type == MenuItemTypeMenu);
+    MenuItemArray_t* items = menu_item->data;
+    sub_item->parent = menu_item;
+    MenuItemArray_push_back(*items, sub_item);
+}
+
+uint8_t menu_item_get_type(MenuItem* menu_item) {
+    return menu_item->type;
+}
+
+void menu_item_set_label(MenuItem* menu_item, const char* label) {
+    menu_item->label = label;
+}
+
+const char* menu_item_get_label(MenuItem* menu_item) {
+    return menu_item->label;
+}
+
+void menu_item_set_icon(MenuItem* menu_item, void* icon) {
+    menu_item->icon = icon;
+}
+
+void* menu_item_get_icon(MenuItem* menu_item) {
+    return menu_item->icon;
+}
+
+MenuItemArray_t* menu_item_get_subitems(MenuItem* menu_item) {
+    assert(menu_item->type == MenuItemTypeMenu);
+    return menu_item->data;
+}
+
+MenuItemCallback menu_item_get_function(MenuItem* menu_item) {
+    assert(menu_item->type == MenuItemTypeFunction);
+    return menu_item->data;
+}
diff --git a/applications/menu/menu_item.h b/applications/menu/menu_item.h
new file mode 100644
index 00000000..57b81124
--- /dev/null
+++ b/applications/menu/menu_item.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <stdint.h>
+#include <m-array.h>
+
+typedef enum {
+    MenuItemTypeMenu = 0x00,
+    MenuItemTypeFunction = 0x01,
+} MenuItemType;
+
+typedef struct MenuItem MenuItem;
+typedef void (*MenuItemCallback)();
+
+ARRAY_DEF(MenuItemArray, MenuItem*, M_PTR_OPLIST);
+
+MenuItem* menu_item_alloc_menu(const char* label, void* icon);
+
+MenuItem* menu_item_alloc_function(const char* label, void* icon, MenuItemCallback function);
+
+void menu_item_release(MenuItem* menu_item);
+
+MenuItem* menu_item_get_parent(MenuItem* menu_item);
+
+void menu_item_subitem_add(MenuItem* menu_item, MenuItem* sub_item);
+
+MenuItemType menu_item_get_type(MenuItem* menu_item);
+
+void menu_item_set_label(MenuItem* menu_item, const char* label);
+const char* menu_item_get_label(MenuItem* menu_item);
+
+void menu_item_set_icon(MenuItem* menu_item, void* icon);
+void* menu_item_get_icon(MenuItem* menu_item);
+
+MenuItemArray_t* menu_item_get_subitems(MenuItem* menu_item);
+
+MenuItemCallback menu_item_get_function(MenuItem* menu_item);
diff --git a/applications/startup.h b/applications/startup.h
index d5c00d48..2f96ce08 100644
--- a/applications/startup.h
+++ b/applications/startup.h
@@ -25,6 +25,7 @@ void coreglitch_demo_0(void* p);
 
 void u8g2_qrcode(void* p);
 void fatfs_list(void* p);
+void gui_task(void* p);
 
 const FlipperStartupApp FLIPPER_STARTUP[] = {
 #ifdef APP_DISPLAY
@@ -35,6 +36,14 @@ const FlipperStartupApp FLIPPER_STARTUP[] = {
     {.app = input_task, .name = "input_task", .libs = {0}},
 #endif
 
+#ifdef APP_GUI
+    {.app = gui_task, .name = "gui_task", .libs = {1, FURI_LIB{"display_u8g2"}}},
+#endif
+
+#ifdef APP_MENU
+    {.app = menu_task, .name = "menu_task", .libs = {1, FURI_LIB{"gui_task"}}},
+#endif
+
 // {.app = coreglitch_demo_0, .name = "coreglitch_demo_0", .libs = ""},
 
 #ifdef APP_TEST
diff --git a/core/furi-deprecated.h b/core/furi-deprecated.h
index 981146fa..5f401bbe 100644
--- a/core/furi-deprecated.h
+++ b/core/furi-deprecated.h
@@ -1,15 +1,26 @@
 #pragma once
 
 #include "cmsis_os.h"
+
 #ifdef HAVE_FREERTOS
 #include <semphr.h>
 #endif
+
 #include <stdbool.h>
+#include <stdlib.h>
 #include <stdint.h>
+#include <string.h>
+#include <assert.h>
 
 #define MAX_TASK_RECORDS 8
 #define MAX_RECORD_SUBSCRIBERS 8
 
+inline static void* furi_alloc(size_t size) {
+    void* p = malloc(size);
+    assert(p);
+    return memset(p, 0, size);
+}
+
 /// application is just a function
 typedef void (*FlipperApplication)(void*);
 
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7da59dee..e6cb146e 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -21,6 +21,7 @@ RUN apt update && \
         libstdc++-arm-none-eabi-newlib \
         libclang-10-dev \
         clang-format-10 \
+        git \
         && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y --profile=minimal --target thumbv7em-none-eabi thumbv7em-none-eabihf && \
@@ -31,11 +32,11 @@ RUN curl https://sh.rustup.rs -sSf | sh -s -- -y --profile=minimal --target thum
 RUN apt update && \
     apt install -y --no-install-recommends \
     gcc build-essential cmake libusb-1.0 libusb-1.0-0-dev libgtk-3-dev pandoc \
-    && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
-RUN wget https://github.com/stlink-org/stlink/archive/v1.5.1.zip
-RUN unzip v1.5.1.zip
-RUN cd stlink-1.5.1 && make clean && make release
-RUN cd stlink-1.5.1/build/Release && make install && ldconfig
+    && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* && \
+    wget https://github.com/stlink-org/stlink/archive/v1.5.1.zip && \
+    unzip v1.5.1.zip && \
+    cd stlink-1.5.1 && make clean && make release && \
+    cd build/Release && make install && ldconfig
 
 COPY entrypoint.sh syntax_check.sh /
 
diff --git a/firmware/targets/f2/Inc/FreeRTOSConfig.h b/firmware/targets/f2/Inc/FreeRTOSConfig.h
index 313a8a5a..7cc5c1aa 100644
--- a/firmware/targets/f2/Inc/FreeRTOSConfig.h
+++ b/firmware/targets/f2/Inc/FreeRTOSConfig.h
@@ -51,6 +51,10 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
+/* USER CODE BEGIN 0 */
+  extern void configureTimerForRunTimeStats(void);
+  extern unsigned long getRunTimeCounterValue(void);
+/* USER CODE END 0 */
 #endif
 #define configENABLE_FPU                         0
 #define configENABLE_MPU                         0
@@ -64,15 +68,18 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)8192)
+#define configTOTAL_HEAP_SIZE                    ((size_t)40960)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           1
 #define configUSE_RECURSIVE_MUTEXES              1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configRECORD_STACK_HIGH_ADDRESS          1
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
 /* Defaults to size_t for backward compatibility, but can be changed
    if lengths will always be less than the number of bytes in a size_t. */
@@ -152,6 +159,12 @@ standard names. */
 
 #define xPortSysTickHandler SysTick_Handler
 
+/* USER CODE BEGIN 2 */
+/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
+#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
+/* USER CODE END 2 */
+
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
 /* USER CODE END Defines */
diff --git a/firmware/targets/f2/Src/freertos.c b/firmware/targets/f2/Src/freertos.c
index 571f95cb..bede73d6 100644
--- a/firmware/targets/f2/Src/freertos.c
+++ b/firmware/targets/f2/Src/freertos.c
@@ -26,7 +26,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include <stdlib.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -75,7 +75,23 @@ extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* Hook prototypes */
+void configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
 void vApplicationIdleHook(void);
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void)
+{
+
+}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+return 0;
+}
+/* USER CODE END 1 */
 
 /* USER CODE BEGIN 2 */
 __weak void vApplicationIdleHook( void )
@@ -92,6 +108,16 @@ __weak void vApplicationIdleHook( void )
 }
 /* USER CODE END 2 */
 
+/* USER CODE BEGIN 4 */
+__weak void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
+{
+   /* Run time stack overflow checking is performed if
+   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+   called if a stack overflow is detected. */
+    exit(255);
+}
+/* USER CODE END 4 */
+
 /**
   * @brief  FreeRTOS initialization
   * @param  None
diff --git a/firmware/targets/f2/Src/stm32l4xx_it.c b/firmware/targets/f2/Src/stm32l4xx_it.c
index 6dfe949a..2a94913e 100644
--- a/firmware/targets/f2/Src/stm32l4xx_it.c
+++ b/firmware/targets/f2/Src/stm32l4xx_it.c
@@ -86,7 +86,9 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
-
+  if ((*(volatile uint32_t *)CoreDebug_BASE) & (1 << 0)) {
+    __asm("bkpt 1");
+  }
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
   {
diff --git a/firmware/targets/f2/cube.ioc b/firmware/targets/f2/cube.ioc
index 82ebbba1..dcabbc67 100644
--- a/firmware/targets/f2/cube.ioc
+++ b/firmware/targets/f2/cube.ioc
@@ -97,6 +97,7 @@ PB14.GPIOParameters=GPIO_Speed,PinState,GPIO_Label,GPIO_ModeDefaultOutputPP
 NVIC.EXTI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 RCC.PLLPoutputFreq_Value=18285714.285714287
 RCC.APB1TimFreq_Value=64000000
+FREERTOS.configGENERATE_RUN_TIME_STATS=1
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 RCC.LPUART1Freq_Value=64000000
 USB_OTG_FS.IPParameters=VirtualMode
@@ -123,6 +124,7 @@ PC13.Locked=true
 ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
 PC13.Signal=GPXTI13
 RCC.SWPMI1Freq_Value=64000000
+FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 PB8.GPIO_PuPd=GPIO_PULLDOWN
 PC6.Signal=GPIO_Output
 PC2.Signal=GPXTI2
@@ -182,8 +184,8 @@ SPI1.Mode=SPI_MODE_MASTER
 Mcu.Pin39=PA15 (JTDI)
 PB3\ (JTDO-TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master
 RCC.RNGFreq_Value=48000000
-VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
 PC2.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
+VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
 Mcu.Pin30=PC8
 PA1.GPIO_Label=BUTTON_DOWN
 Mcu.Pin33=PA9
@@ -310,7 +312,7 @@ PB9.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 Mcu.Pin7=PC2
 Mcu.Pin8=PC3
 Mcu.Pin9=PA0
-FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,HEAP_NUMBER,configUSE_TIMERS,configUSE_IDLE_HOOK,FootprintOK
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,HEAP_NUMBER,configUSE_TIMERS,configUSE_IDLE_HOOK,FootprintOK,configCHECK_FOR_STACK_OVERFLOW,configRECORD_STACK_HIGH_ADDRESS,configGENERATE_RUN_TIME_STATS
 RCC.AHBFreq_Value=64000000
 Mcu.Pin0=PC13
 SPI3.DataSize=SPI_DATASIZE_8BIT
@@ -342,7 +344,7 @@ PB7.Signal=GPIO_Input
 PB8.Locked=true
 PB6.GPIOParameters=GPIO_Speed,GPIO_Label
 PB0.Locked=true
-FREERTOS.configTOTAL_HEAP_SIZE=8192
+FREERTOS.configTOTAL_HEAP_SIZE=40960
 VP_COMP1_VS_VREFINT12.Mode=VREFINT_12
 ProjectManager.ProjectName=cube
 PB1.PinState=GPIO_PIN_SET
@@ -405,6 +407,7 @@ PA9.Mode=Asynchronous
 PB4\ (NJTRST).GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
 NVIC.TIM8_CC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 PB14.PinState=GPIO_PIN_SET
+FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
 ProjectManager.TargetToolchain=Makefile
 PB10.GPIO_Label=DISPLAY_RST
 PB7.GPIOParameters=GPIO_Label
diff --git a/firmware/targets/f2/target.mk b/firmware/targets/f2/target.mk
index c30c0710..f9a5e109 100644
--- a/firmware/targets/f2/target.mk
+++ b/firmware/targets/f2/target.mk
@@ -57,7 +57,7 @@ C_SOURCES		+= \
 	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
 	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/timers.c \
 	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c \
-	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c \
+	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
 	$(CUBE_DIR)/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
 	$(CUBE_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
 	$(CUBE_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \
diff --git a/lib/lib.mk b/lib/lib.mk
index 25a8ec02..f4e3359c 100644
--- a/lib/lib.mk
+++ b/lib/lib.mk
@@ -1,5 +1,6 @@
 LIB_DIR			= $(PROJECT_ROOT)/lib
 
+# TODO: some places use lib/header.h includes, is it ok?
 CFLAGS			+= -I$(LIB_DIR)
 
 # Mlib containers
diff --git a/make/rules.mk b/make/rules.mk
index 1c70fdff..44ab372b 100644
--- a/make/rules.mk
+++ b/make/rules.mk
@@ -14,12 +14,19 @@ DEPS = $(OBJECTS:.o=.d)
 $(shell mkdir -p $(OBJ_DIR))
 
 BUILD_FLAGS_SHELL=\
-	echo -n "$(CFLAGS)" > $(OBJ_DIR)/BUILD_FLAGS.tmp; \
-	diff $(OBJ_DIR)/BUILD_FLAGS $(OBJ_DIR)/BUILD_FLAGS.tmp > /dev/null \
+	echo "$(CFLAGS)" > $(OBJ_DIR)/BUILD_FLAGS.tmp; \
+	diff $(OBJ_DIR)/BUILD_FLAGS $(OBJ_DIR)/BUILD_FLAGS.tmp 2>/dev/null \
 		&& ( echo "CFLAGS ok"; rm $(OBJ_DIR)/BUILD_FLAGS.tmp) \
 		|| ( echo "CFLAGS has been changed"; mv $(OBJ_DIR)/BUILD_FLAGS.tmp $(OBJ_DIR)/BUILD_FLAGS )
 $(info $(shell $(BUILD_FLAGS_SHELL)))
 
+CHECK_AND_REINIT_SUBMODULES_SHELL=\
+	if git submodule status | egrep -q '^[-]|^[+]' ; then \
+		echo "INFO: Need to reinitialize git submodules"; \
+		git submodule update --init; \
+	fi
+$(info $(shell $(CHECK_AND_REINIT_SUBMODULES_SHELL)))
+
 all: $(OBJ_DIR)/$(PROJECT).elf $(OBJ_DIR)/$(PROJECT).hex $(OBJ_DIR)/$(PROJECT).bin
 
 $(OBJ_DIR)/$(PROJECT).elf: $(OBJECTS)
@@ -60,25 +67,18 @@ flash: $(OBJ_DIR)/flash
 upload: $(OBJ_DIR)/upload
 
 debug: flash
-	set -m; st-util -n --semihosting & echo $$! > st-util.PID
-	arm-none-eabi-gdb \
+	set -m; st-util -n --semihosting & echo $$! > $(OBJ_DIR)/st-util.PID
+	arm-none-eabi-gdb-py \
 		-ex "target extended-remote 127.0.0.1:4242" \
 		-ex "set confirm off" \
 		$(OBJ_DIR)/$(PROJECT).elf; \
-	kill `cat st-util.PID`; \
-	rm st-util.PID
+	kill `cat $(OBJ_DIR)/st-util.PID`; \
+	rm $(OBJ_DIR)/st-util.PID
 
 clean:
 	@echo "\tCLEAN\t"
 	@$(RM) $(OBJ_DIR)/*
 
-.PHONY: check-and-reinit-submodules
-check-and-reinit-submodules:
-	@if git submodule status | egrep -q '^[-]|^[+]' ; then \
-		echo "INFO: Need to reinitialize git submodules"; \
-		git submodule update --init; \
-	fi
-
 z: clean
 	$(MAKE) all
 
@@ -88,4 +88,11 @@ zz: clean
 zzz: clean
 	$(MAKE) debug
 
+FORMAT_SOURCES := $(shell find ../applications -iname "*.h" -o -iname "*.c" -o -iname "*.cpp")
+FORMAT_SOURCES += $(shell find ../core -iname "*.h" -o -iname "*.c" -o -iname "*.cpp")
+
+format:
+	@echo "Formatting sources with clang-format"
+	@clang-format -style=file -i $(FORMAT_SOURCES)
+
 -include $(DEPS)