Add pi pico imu board code
It still uses cmake to build with the pico-sdk
Change-Id: If50d4da16de7436c0eb3fd5763ca45123a03486b
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
diff --git a/frc971/imu/CMakeLists.txt b/frc971/imu/CMakeLists.txt
new file mode 100644
index 0000000..e97ba8d
--- /dev/null
+++ b/frc971/imu/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.12)
+
+# Pull in SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(ADIS16505_communication C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+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()
+
+# Initialize the SDK
+pico_sdk_init()
+
+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
+ -Wno-maybe-uninitialized
+ )
+
+add_executable(pico_imu_board)
+
+pico_generate_pio_header(pico_imu_board ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio)
+
+target_sources(pico_imu_board PRIVATE ADIS16505.cc)
+
+# pull in common dependencies
+target_link_libraries(pico_imu_board
+ pico_stdlib
+ hardware_spi
+ hardware_dma
+ hardware_irq
+ hardware_pwm
+ hardware_pio
+ hardware_timer
+ pico_bootrom
+ pico_double
+ )
+
+# enable usb output, disable uart output
+pico_enable_stdio_usb(pico_imu_board 1)
+pico_enable_stdio_uart(pico_imu_board 1)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(pico_imu_board)