Got Free RTOS 2 work

motor-control/firmware/CMakeLists.txt

@@ -9,9 +9,10 @@ else()
 endif()
 
 #SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
 
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+include(cmake/freeRTOS.cmake)
 
 #include(pico_extras_import_optional.cmake)
 
@@ -45,6 +46,7 @@ add_executable(main
 
 target_include_directories(main PUBLIC 
     include/
+    include/freeRTOS
     build/
 )
 
@@ -56,12 +58,17 @@ pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/tmc2209/pulser.pio)
 # pull in common dependencies
 target_link_libraries(main 
     pico_stdlib
+    pico_time
     pico_multicore
+    pico_stdio_usb
     hardware_pio
 
     tmc2209_driver
+    FreeRTOS
 )
 
+pico_enable_stdio_usb(main 1)
+pico_enable_stdio_uart(main 0)
 
 # create map/bin/hex file etc.
 pico_add_extra_outputs(main)