Merged i2c-helper in Main

motor-control/firmware/CMakeLists.txt

@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 3.12)
+
+# Including the SDK (must be before project)
+
+if (NOT "$ENV{PICO_SDK_PATH_OVERRIDE}" STREQUAL "")
+    SET(PICO_SDK_PATH "$ENV{PICO_SDK_PATH_OVERRIDE}")
+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 "${CMAKE_BINARY_DIR}/bin")
+
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+include(cmake/freeRTOS.cmake)
+
+#include(pico_extras_import_optional.cmake)
+
+project(pico_examples C CXX ASM)
+set(CMAKE_C_STANDARD 23)
+set(CMAKE_CXX_STANDARD 23)
+
+if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
+    message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+endif()
+
+set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
+
+# Initialize the SDK
+pico_sdk_init()
+
+include(example_auto_set_url.cmake)
+
+add_compile_options(-Wall
+        -Wno-format          # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
+        -Wno-unused-function # we have some for the docs that aren't called
+        )
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    add_compile_options(-Wno-maybe-uninitialized)
+endif()
+
+# adding sources files & includes
+add_executable(main
+    src/main.cpp
+)
+
+target_include_directories(main PUBLIC 
+    include/
+    include/freeRTOS
+    build/
+)
+
+include(${PROJECT_SOURCE_DIR}/cmake/tmc2209.cmake)
+
+# Adding PIO
+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)
+
+# add url via pico_set_program_url
+example_auto_set_url(main)