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@ -99,15 +99,34 @@ 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]
> 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`.
> [!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