Using TACOS as submodule

Tacos/.gitignore

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+# IDE settings
+.settings/
+
+# Contain local paths
+.mxproject
+*.launch
+
+# Build artifacts
+Debug/
+Release/
+
+# Doxygen
+docs/html
+docs/latex
+

Tacos/README.md

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+# TACOS
+
+This is the Trajectory Analysis Control OS (TACOS) that serves as a starting point for developing TACOS-based projects, by implementing threads in the App directory. TACOS is a subset of the features provided by ALPAKA. In particular, TACOS consists of the STM32-specific components of sta-core, rtos-2 and rtos2-utils.
+
+## Setting Up TACOS
+
+Add this as a library an existing CubeIDE project using FreeRTOS. Generally, we advise you to add it as a submodule. Make sure that you add the include paths for Tacos, i.e. sta-core and rtos2-utils, to the project with the following steps:    
+``` 
+Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C -> Add... 
+Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C++ -> Add... 
+Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder... 
+```
+
+Create a new thread via the project's IOC and call `startALPAKA()` from this thread. If your thread is called `defaultTask`, the corresponding function `StartDefaultTask` generated in `Core/Src/freertos.c` should look like this:
+```
+void StartDefaultTask(void *argument)
+{
+  /* USER CODE BEGIN StartDefaultTask */
+	extern void startALPAKA(void *);
+	startALPAKA(argument);
+
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END StartDefaultTask */
+}
+```
+
+## Configuring TACOS
+Be sure to add a "config.hpp" to the App/Inc/sta directory. This file could look like this:
+```
+#ifndef INC_STA_CONFIG_HPP_
+#define INC_STA_CONFIG_HPP_
+
+// Use the STM32F411 microprocessor.
+#include <sta/devices/stm32/mcu/STM32F411xE.hpp>
+
+// Doesn't really do too much right now. Has to be added for successful compilation.
+#define STA_PRINTF_USE_STDLIB
+
+// Enable debug serial output and assertions.
+#define STA_ASSERT_FORCE
+#define STA_DEBUGGING_ENABLED
+
+// Activate the timer for microsecond delays.
+// #define STA_STM32_DELAY_ENABLE
+// #define STA_STM32_DELAY_US_TIM htim1
+
+// Settings for the rtos-utils
+#define STA_RTOS_SYSTEM_EVENTS_ENABLE
+// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
+// #define STA_RTOS_WATCHDOG_ENABLE
+
+
+// Settings for TACOS
+#define STA_TACOS_MANAGER_PRIORITY osPriorityNormal
+#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
+
+// Statemachine settings. Here, we only have a single state which is also the initial state.
+#define STA_TACOS_NUM_STATES 3
+#define STA_TACOS_INITIAL_STATE 0
+
+#endif /* INC_STA_CONFIG_HPP_ */
+```