CMakeLists.txt

# Set minimum required version of CMake
cmake_minimum_required(VERSION 3.12)

# Include build functions from Pico SDK
include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)

# Set name of project (as PROJECT_NAME) and C/C++ standards
project(PicoEKF C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 11)

# Creates a pico-sdk subdirectory in our project for the libraries
pico_sdk_init()

# Tell CMake where to find the executable source file
add_executable(${PROJECT_NAME} 
    src/main.cpp
)

FILE(GLOB FreeRTOS_src FreeRTOS-Kernel/*.c)

add_library( FreeRTOS STATIC
    ${FreeRTOS_src}
    FreeRTOS-Kernel/portable/GCC/ARM_CM0/port.c
    FreeRTOS-Kernel/portable/MemMang/heap_4.c
)

# Create map/bin/hex/uf2 files
pico_add_extra_outputs(${PROJECT_NAME})

#add include directiories
target_include_directories( FreeRTOS PUBLIC
    FreeRTOS-Kernel/include
    include/
    FreeRTOS-Kernel/portable/GCC/ARM_CM0
    
)

target_include_directories(${PROJECT_NAME} PRIVATE
    eigen-3.4.0/
)

# Link to pico_stdlib (gpio, time, etc. functions)
target_link_libraries(${PROJECT_NAME} 
    pico_stdlib
    hardware_i2c
    pico_multicore
    hardware_dma
    FreeRTOS
)

# Enable usb output, disable uart output
pico_enable_stdio_usb(${PROJECT_NAME} 1)
pico_enable_stdio_uart(${PROJECT_NAME} 0)