CMakeLists.txt

cmake_minimum_required(VERSION 3.12)

set(INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/micro_ros_motor_ctrl)
set(SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src)
set(SOURCES
    # micro_ros_motor_ctrl.c
    micro_ros_motor_ctrl_multi_threaded.c
    # ${CMAKE_CURRENT_SOURCE_DIR}/examples/multithread_publisher_subscriber/main.c
    ${SRC_DIR}/pwm.c
    ${SRC_DIR}/events.c
    ${SRC_DIR}/bimotor.c
    ${SRC_DIR}/mecanumbot.c
    ${SRC_DIR}/pico_uart_transports.c
    ${INCLUDE_DIR}/pwm.h
    ${INCLUDE_DIR}/events.h
    ${INCLUDE_DIR}/bimotor.h
    ${INCLUDE_DIR}/mecanumbot.h
    ${INCLUDE_DIR}/pico_uart_transports.h
)

include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)

project(micro_ros_motor_ctrl C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)

pico_sdk_init()

link_directories($ENV{MICRO_ROS_PICO_SDK_PATH}/libmicroros)
add_executable(micro_ros_motor_ctrl
    ${SOURCES}
)
target_link_libraries(micro_ros_motor_ctrl
    pico_stdlib
    microros
    pico_multicore
    hardware_pwm
)

target_include_directories(micro_ros_motor_ctrl PUBLIC
    $ENV{MICRO_ROS_PICO_SDK_PATH}/libmicroros/include 
)

target_compile_definitions(micro_ros_motor_ctrl PUBLIC
    PICO_MAX_SHARED_IRQ_HANDLERS=6
    PICO_STDIO_USB_LOW_PRIORITY_IRQ=26
)

SET(CMAKE_C_FLAGS  "${CMAKE_C_FLAGS} -ffunction-sections -fdata-sections")
SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -ffunction-sections -fdata-sections")

# Configure Pico
pico_enable_stdio_usb(micro_ros_motor_ctrl 1)
pico_enable_stdio_uart(micro_ros_motor_ctrl 0)
add_compile_definitions(PICO_UART_ENABLE_CRLF_SUPPORT=0)
add_compile_definitions(PICO_STDIO_ENABLE_CRLF_SUPPORT=0)
add_compile_definitions(PICO_STDIO_DEFAULT_CRLF=0)

# Generate UF2
pico_add_extra_outputs(micro_ros_motor_ctrl)