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@ -4,14 +4,14 @@ This is the Trajectory Analysis Control OS (TACOS) that serves as a starting poi
## Setting Up TACOS
Clone the repository using `--recurse-submodules` and then add it to an existing CubeIDE FreeRTOS project. Be sure to add the include paths for Tacos, sta-core and rtos2-utils to the project with the following steps:
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...
```
Under Core/Src/freertos.c you must call startALPAKA() from the default task. It should look like this:
Create a new thread via the project's IOC and call startALPAKA() from this thread. If your thread is called `defaultTask`, the corresponding `StartDefaultTask` generated in `Core/Src/freertos.c` should look like this:
```
void StartDefaultTask(void *argument)
{