anchor.diff:  
   \ Internal stucture of task memory:
   \  0: Pointer to next task
  -\  4: Task currently active ? (-1 ACTIVE, 0 SLEEPING, 1 WAITING-FOR-INTERRUPT)
  +\  4: Task state (-1 ACTIVE, 0 SLEEPING, 1 WAITING-FOR-INTERRUPT)
   \  8: Saved stack pointer
   \ 12: Handler for Catch/Throw
   \  Parameter stack space
  
positive.code: ;
  
  \ --------------------------------------------------
  \  Convenience fonctions
  \ --------------------------------------------------
  
  : ms ( ms_delay -- ) \ `ms` which allows other tasks to run
    millis swap   ( start ms_delay )
    begin
      wfi pause running \ switch to `wfi` to let lowpower-task go to sleep
  
negative.code: \  Lowpower mode
  \ --------------------------------------------------
  
  : up-alone? ( -- ? ) \ Checks if all other tasks are currently in stopped or waiting for next interrupt
    next-task @ \ Current task is in UP. Start with the next one.
    begin
      dup up @ <> \ Scan the whole round-robin list until back to current task.
  