Upgrade to pico SDK 2.0.0

motor-control/firmware/CMakeLists.txt

@@ -8,8 +8,8 @@ else()
     SET(PICO_SDK_PATH "${CMAKE_SOURCE_DIR}/lib/pico-sdk")
 endif()
 
-SET(PICO_TOOLCHAIN_PATH $PICO_SDK_PATH/cmake/preload/toolchains/)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "$<1:${CMAKE_BINARY_DIR}/bin>")
+#SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
 
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
 
@@ -47,12 +47,7 @@ target_include_directories(main PUBLIC
     include/
 )
 
-# Add FreeRTOS
-include(freeRTOS.cmake)
-
-target_include_directories(FreeRTOS PUBLIC
-    ${CMAKE_CURRENT_LIST_DIR}
-)
+include(${PROJECT_SOURCE_DIR}/cmake/tmc2209.cmake)
 
 # Adding PIO
 #pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/dac/dac.pio)
@@ -61,11 +56,8 @@ target_include_directories(FreeRTOS PUBLIC
 target_link_libraries(main 
     pico_stdlib 
     pico_multicore
-    hardware_pio
-    hardware_dma
-    hardware_timer
-    FreeRTOS
-    EEPROMDriver
+    
+    tmc2209_driver
 )