I've been giving this advice a lot lately, but... If you've recently disconnected the battery for any extended period of time the ECU may have 'forgotten' the idle settings. To see if this is the problem, I would completely disconnect the battery & let it sit for a minute. Then, hook the battery back up & start the truck w/o giving it any gas if you can. It should be able to idle now BUT you need to let it just sit & run for at least 10 minutes without messing with the throttle.

HTH,

Shawn