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Also, CMSIS is an essential library. It includes a wide range of optimised DSP, math, matrix and statistical functions. CMSIS includes RTOS capabilities, but most people prefer to use a realtime executive like FreeRTOS or Apache NUTTX.

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Eh?? No mention of gdb and how to use it with openocd for debugging.

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Yep, sorry! That part is reasonably well-documented online (e.g., https://engr523.github.io/gdb_instructions.html) and reasonably simple once you figure out the openocd command line in general, so I didn't get into the weeds on debugging.

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