diff --git a/motor-control/firmware/cmake/tmc2209.cmake b/motor-control/firmware/cmake/tmc2209.cmake
new file mode 100644
index 0000000..ea22f65
--- /dev/null
+++ b/motor-control/firmware/cmake/tmc2209.cmake
@@ -0,0 +1,13 @@
+add_library(tmc2209_driver STATIC
+    src/tmc2209/uart_interface.cpp
+)
+
+target_include_directories(tmc2209_driver PRIVATE
+    include/tmc2209/
+)
+
+target_link_libraries(tmc2209_driver
+    pico_stdlib
+    hardware_uart
+)
+