ALPAKA/TACOS
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Merge branch 'update/readme' into feat/documentation

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README.md
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@ -8,7 +8,7 @@ To use TACOS one should implement threads, which fulfill the various roles of th
### Setting up the Project
First one must create a new CubeIDE project with FreeRTOS. To avoid doing that however we recommend using the [ioc-collection](https://git.intern.spaceteamaachen.de/ALPAKA/ioc-collection) to get a preconfigured IOC for the STM microcontroller you are using. From here follow the following steps:
First one must create a new CubeIDE project with FreeRTOS. To avoid doing that however we recommend using the [ioc-collection](https://git.spaceteamaachen.de/ALPAKA/ioc-collection) to get a preconfigured IOC for the STM microcontroller you are using. From here follow the following steps:
1. ```Import -> General -> Import an Existing STM32CubeMX Configuration File (.ioc)```
2. Select the .ioc file from the ioc-collection
@ -84,14 +84,9 @@ In order to use TACOS, you need to provide a configuration file in the path `sta
#ifndef INC_STA_CONFIG_HPP_
#define INC_STA_CONFIG_HPP_
// Using a board with an ASEAG module present.
#define STA_STM32_ASEAG
// Use the STM32F407 microprocessor.
#include <sta/devices/stm32/mcu/STM32F407xx.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_ENABLED
#define STA_DEBUGGING_ENABLED
@ -106,12 +101,34 @@ In order to use TACOS, you need to provide a configuration file in the path `sta
#endif /* INC_STA_CONFIG_HPP_ */
```
PS: For not officially supported chips use this as the include:
> [!WARNING]
> If you want to use debug printing (enabled using the macro `STA_DEBUGGING_ENABLED`) in a TACOS project, you should also enable float formatting under `Project Settings -> C/C++ Build -> MPU/MCU Settings -> Use float with printf from newlib-nano`. This allows you to format print floats using `STA_DEBUG_PRINTF`. If this setting is not enabled, your software will crash when debug printing floats.
The configuration file shown in the example above initializes the project assuming that you are working on a STM32 Nucleo of type F407. Typically, you are using a different microcontroller, however. In this case you can replace the line
```cpp
#include <sta/devices/stm32/mcu/STM32F407xx.hpp>
```
with the include
```cpp
#include <sta/devices/stm32/mcu/STM32_YOUR_MCU_HERE.hpp>
```
So far, only a few chips are officially supported. For not officially supported chips use this as the include:
```cpp
#define STA_STM32_SWD_USART_IDX <IDX OF YOUR UART>
#include <sta/devices/stm32/mcu/common.hpp>
#define STA_MCU_LITTLE_ENDIAN
#define STA_PLATFORM_STM32
```
> [!NOTE]
> The definition of `STA_STM32_SWD_USART_IDX` allows you to specify which UART handle to use for debug printing. If undefined, a default handle for Nucleos will be used. You can also add the macro `STA_STM32_ASEAG` instead if you are a cool kid using ASEAG-based hardware 😎.
> [!WARNING]
> The definition of `STA_STM32_SWD_USART_IDX` has to be placed _before_ the include `cpp #include <sta/devices/stm32/mcu/STM32_YOUR_MCU_HERE.hpp>`
> [!WARNING]
> Make sure you actually enable the UART bus in the under `Pinout & Configuration -> Connectivity` in the IOC.
### Implementing Your Own Threads
@ -143,6 +160,7 @@ This code defines a new thread that inherits from `TacosThread` and implements t
Now create a new file in the `App/Src/tasks` folder called `spam_task.cpp` and add the following code:
```cpp
#include <tasks/spam_task.hpp>
#include <sta/debug/debug.hpp>
namespace tasks {
SpamTask::SpamTask() :