From c652d230321e8f13eabb0cbb22ae78205c771f29 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Sun, 1 Dec 2024 11:54:36 +0100
Subject: [PATCH 1/3] Added startup() as entry point and added warning for
 thread priorities

---
 README.md | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index d28f2d1..33243a4 100644
--- a/README.md
+++ b/README.md
@@ -162,6 +162,9 @@ namespace tasks {
 } // namespace tasks
 ```
 
+> [!WARNING]  
+> A thread's priority must be strictly lower than the statemachine's priority. Unless manually changed, this is always `osPriorityHigh`.
+
 To start this thread, we first need to fill out the `startup.cpp` file. This file may look like this:
 ```cpp
 #include <sta/tacos.hpp>
@@ -173,11 +176,11 @@ namespace sta
 {
 	namespace tacos
 	{
-		void onStatemachineInit()
+		void startup()
 		{
 			// ###### Register different threads for different states here. ######
-      // Register a "Spam Task" thread for all states except 1 and 2.
-      sta::tacos::addThread<tasks::SpamTask>(ALL_STATES - state_set{1,2});
+      		// Register a "Spam Task" thread for all states except 1 and 2.
+      		sta::tacos::addThread<tasks::SpamTask>(ALL_STATES - state_set{1,2});
 
 			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
 		}
@@ -185,6 +188,8 @@ namespace sta
 } // namespace sta
 ```
 
+The function `startup()` is a weakly implemented function that is executed right before TACOS initializes its statemachine task. It serves as an entry point for the user to initialize all busses, threads and rtos2-utils stuff that is needed for the application to fulfill its purpose.
+
 And that's it! Now you have a thread that prints "Hello World" every second. Simply build the project and flash it to your microcontroller and be amazed by the Spam!
 
 ### Setting up the CAN Bus

From 6087a03c7e577a630813590009ec89d4c0550b26 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Sun, 1 Dec 2024 12:05:59 +0100
Subject: [PATCH 2/3] Added a note for faster include path setting

---
 README.md | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 33243a4..6195cf9 100644
--- a/README.md
+++ b/README.md
@@ -45,15 +45,18 @@ git submodule add https://git.intern.spaceteamaachen.de/ALPAKA/rtos2-utils.git
 ```
 
 Make sure that you add the include paths for TACOS, sta-core and rtos2-utils to the project with the following steps:    
-1. `Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C -> Add...`
+1. Right click your project in the `Project Explorer` and select `Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C -> Add...`
 2. Select `Add to all languages` and `Is a workspace path`
 3. Click on `Workspace` and select a folder from the `YOUR_PROJECT_FOLDER/(Libs|App)` directory
    - Always select the `include` or `Inc` folder for the include paths 
    - If the path you want to add is not in the list, refresh the project with `F5` in the `Project Explorer` and try again
 4. Repeat for TACOS, sta-core, rtos2-utils and the App folder
-5. `Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder...`
+5. Right click your project in the `Project Explorer` and select `Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder...`
    - Add the `App` and `Libs` folders 
 
+> [!NOTE]  
+> You often want to add more submodules during development. Here, a faster way to add the include path for a library is to right click the library's include folder in the `Project Explorer` and select `Add/remove include path`.
+
 ### Starting TACOS
 
 Navigate to the `Core/Src/freertos.c` file and add the following code to the `StartDefaultTask` function:

From 0304bb2a4a8e64ade4c7b0f9d9075b182e2351e1 Mon Sep 17 00:00:00 2001
From: dario <dario@noreply.git.intern.spaceteamaachen.de>
Date: Sun, 1 Dec 2024 12:16:56 +0000
Subject: [PATCH 3/3] Updated some config.hpp explanation

---
 README.md | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 6195cf9..9270b23 100644
--- a/README.md
+++ b/README.md
@@ -93,17 +93,12 @@ In order to use TACOS, you need to provide a configuration file in the path `sta
 #define STA_PRINTF_USE_STDLIB
 
 // Enable debug serial output and assertions.
-#define STA_ASSERT_FORCE
+#define STA_ASSERT_ENABLED
 #define STA_DEBUGGING_ENABLED
 
 // Enable Features
-#define STA_RTOS_SYSTEM_EVENTS_ENABLE
-// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
-// #define STA_RTOS_WATCHDOG_ENABLE
-// #define STA_TACOS_WATCHDOG_FREQUENCY 10000
-#define STA_CAN_BUS_ENABLE
 
-// Statemachine settings.
+// Statemachine settings. How many states does your statemachine have?
 #define STA_TACOS_NUM_STATES 3
 
 // Uses the default configuration for TACOS.