diff --git a/.clang-format b/.clang-format
new file mode 100644
index 00000000..a0e63872
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,6 @@
+Language: Cpp
+IndentWidth: 4
+ColumnLimit: 130
+PointerAlignment: Right
+BreakBeforeBraces: Linux
+AllowShortFunctionsOnASingleLine: Inline
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 54530c2d..43cfd4fd 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -1,5 +1,7 @@
 name: Continuous Integration
-on: push
+on:
+  - push
+  - pull_request
 
 jobs:
   main:
diff --git a/src/CustomRF95.cpp b/src/CustomRF95.cpp
index 9bce33f3..57e094e9 100644
--- a/src/CustomRF95.cpp
+++ b/src/CustomRF95.cpp
@@ -126,8 +126,7 @@ void CustomRF95::handleInterrupt()
                 // parsing was successful, queue for our recipient
                 mp->has_payload = true;
 
-                int res = rxDest.enqueueFromISR(mp, &higherPriWoken); // NOWAIT - fixme, if queue is full, delete older messages
-                assert(res == pdTRUE);
+                assert(rxDest.enqueueFromISR(mp, &higherPriWoken)); // NOWAIT - fixme, if queue is full, delete older messages
             }
 
             clearRxBuf(); // This message accepted and cleared
@@ -185,4 +184,4 @@ void CustomRF95::startSend(MeshPacket *txp)
 
     int res = RH_RF95::send(radiobuf, numbytes);
     assert(res);
-}
\ No newline at end of file
+}
diff --git a/src/MemoryPool.h b/src/MemoryPool.h
index 7b2b6514..2997d26d 100644
--- a/src/MemoryPool.h
+++ b/src/MemoryPool.h
@@ -66,16 +66,14 @@ public:
     /// Return a buffer for use by others
     void release(T *p)
     {
-        int res = dead.enqueue(p, 0);
-        assert(res == pdTRUE);
+        assert(dead.enqueue(p, 0));
         assert(p >= buf && (p - buf) < maxElements); // sanity check to make sure a programmer didn't free something that didn't come from this pool
     }
 
     /// Return a buffer from an ISR, if higherPriWoken is set to true you have some work to do ;-)
     void releaseFromISR(T *p, BaseType_t *higherPriWoken)
     {
-        int res = dead.enqueueFromISR(p, higherPriWoken);
-        assert(res == pdTRUE);
+        assert(dead.enqueueFromISR(p, higherPriWoken));
         assert(p >= buf && (p - buf) < maxElements); // sanity check to make sure a programmer didn't free something that didn't come from this pool
     }
 };
diff --git a/src/MeshService.cpp b/src/MeshService.cpp
index e874685b..51c942d2 100644
--- a/src/MeshService.cpp
+++ b/src/MeshService.cpp
@@ -173,7 +173,7 @@ void MeshService::handleFromRadio(MeshPacket *mp)
             if (d)
                 releaseToPool(d);
         }
-        assert(toPhoneQueue.enqueue(mp, 0) == pdTRUE); // FIXME, instead of failing for full queue, delete the oldest mssages
+        assert(toPhoneQueue.enqueue(mp, 0)); // FIXME, instead of failing for full queue, delete the oldest mssages
 
         if (mp->payload.want_response)
             sendNetworkPing(mp->from);
diff --git a/src/PeriodicTask.cpp b/src/PeriodicTask.cpp
index b9410c69..99115faf 100644
--- a/src/PeriodicTask.cpp
+++ b/src/PeriodicTask.cpp
@@ -1,23 +1,25 @@
 #include "PeriodicTask.h"
 #include "Periodic.h"
 
-PeriodicTask::PeriodicTask(uint32_t initialPeriod) : period(initialPeriod)
-{
-}
+PeriodicTask::PeriodicTask(uint32_t initialPeriod) : period(initialPeriod) {}
 
 /// call this from loop
 void PeriodicTask::loop()
 {
-    uint32_t now = millis();
-    if (period && (now - lastMsec) >= period)
     {
+        meshtastic::LockGuard lg(&lock);
+        uint32_t now = millis();
+        if (!period || (now - lastMsec) < period) {
+            return;
+        }
         lastMsec = now;
-        doTask();
     }
+    // Release the lock in case the task wants to change the period.
+    doTask();
 }
 
 void Periodic::doTask()
 {
     uint32_t p = callback();
     setPeriod(p);
-}
\ No newline at end of file
+}
diff --git a/src/PeriodicTask.h b/src/PeriodicTask.h
index 59659e2d..f4a35a2c 100644
--- a/src/PeriodicTask.h
+++ b/src/PeriodicTask.h
@@ -1,11 +1,12 @@
 #pragma once
 
-#include <Arduino.h>
-#include "configuration.h"
+#include <cstdint>
+
+#include "lock.h"
 
 /**
  * A base class for tasks that want their doTask() method invoked periodically
- * 
+ *
  * FIXME: currently just syntatic sugar for polling in loop (you must call .loop), but eventually
  * generalize with the freertos scheduler so we can save lots of power by having everything either in
  * something like this or triggered off of an irq.
@@ -15,9 +16,10 @@ class PeriodicTask
     uint32_t lastMsec = 0;
     uint32_t period = 1; // call soon after creation
 
-public:
-    uint32_t periodMsec;
+    // Protects the above variables.
+    meshtastic::Lock lock;
 
+  public:
     virtual ~PeriodicTask() {}
 
     PeriodicTask(uint32_t initialPeriod = 1);
@@ -26,8 +28,12 @@ public:
     virtual void loop();
 
     /// Set a new period in msecs (can be called from doTask or elsewhere and the scheduler will cope)
-    void setPeriod(uint32_t p) { period = p; }
+    void setPeriod(uint32_t p)
+    {
+        meshtastic::LockGuard lg(&lock);
+        period = p;
+    }
 
-protected: 
+  protected:
     virtual void doTask() = 0;
 };
diff --git a/src/PointerQueue.h b/src/PointerQueue.h
index 884e523c..5dc57bd5 100644
--- a/src/PointerQueue.h
+++ b/src/PointerQueue.h
@@ -18,7 +18,7 @@ public:
     {
         T *p;
 
-        return this->dequeue(&p, maxWait) == pdTRUE ? p : NULL;
+        return this->dequeue(&p, maxWait) ? p : nullptr;
     }
 
     // returns a ptr or null if the queue was empty
@@ -26,6 +26,6 @@ public:
     {
         T *p;
 
-        return this->dequeueFromISR(&p, higherPriWoken) == pdTRUE ? p : NULL;
+        return this->dequeueFromISR(&p, higherPriWoken) ? p : nullptr;
     }
 };
diff --git a/src/TypedQueue.h b/src/TypedQueue.h
index 36f07fab..57c51eac 100644
--- a/src/TypedQueue.h
+++ b/src/TypedQueue.h
@@ -1,18 +1,22 @@
 #pragma once
 
-#include <Arduino.h>
-#include <assert.h>
+#include <cassert>
+#include <type_traits>
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
 
 /**
- * A wrapper for freertos queues.  Note: each element object must be quite small, so T should be only
- * pointer types or ints
+ * A wrapper for freertos queues.  Note: each element object should be small
+ * and POD (Plain Old Data type) as elements are memcpied by value.
  */
 template <class T>
 class TypedQueue
 {
+    static_assert(std::is_pod<T>::value, "T must be pod");
     QueueHandle_t h;
 
-public:
+  public:
     TypedQueue(int maxElements)
     {
         h = xQueueCreate(maxElements, sizeof(T));
@@ -34,24 +38,22 @@ public:
         return uxQueueMessagesWaiting(h) == 0;
     }
 
-    // pdTRUE for success else failure
-    BaseType_t enqueue(T x, TickType_t maxWait = portMAX_DELAY)
+    bool enqueue(T x, TickType_t maxWait = portMAX_DELAY)
     {
-        return xQueueSendToBack(h, &x, maxWait);
+        return xQueueSendToBack(h, &x, maxWait) == pdTRUE;
     }
 
-    BaseType_t enqueueFromISR(T x, BaseType_t *higherPriWoken)
+    bool enqueueFromISR(T x, BaseType_t *higherPriWoken)
     {
-        return xQueueSendToBackFromISR(h, &x, higherPriWoken);
+        return xQueueSendToBackFromISR(h, &x, higherPriWoken) == pdTRUE;
     }
 
-    // pdTRUE for success else failure
-    BaseType_t dequeue(T *p, TickType_t maxWait = portMAX_DELAY)
+    bool dequeue(T *p, TickType_t maxWait = portMAX_DELAY)
     {
-        return xQueueReceive(h, p, maxWait);
+        return xQueueReceive(h, p, maxWait) == pdTRUE;
     }
 
-    BaseType_t dequeueFromISR(T *p, BaseType_t *higherPriWoken)
+    bool dequeueFromISR(T *p, BaseType_t *higherPriWoken)
     {
         return xQueueReceiveFromISR(h, p, higherPriWoken);
     }