Swerve final

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "Pico",
+      "includePath": [
+        "${workspaceFolder}/**",
+        "${env:PICO_SDK_PATH}/**"
+      ],
+      "defines": [],
+      "compilerPath": "${env:PICO_INSTALL_PATH}/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe",
+      "cStandard": "c11",
+      "cppStandard": "c++11",
+      "intelliSenseMode": "linux-gcc-arm",
+      "configurationProvider": "ms-vscode.cmake-tools"
+    }
+  ],
+  "version": 4
+}

.vscode/cmake-kits.json

@@ -0,0 +1,7 @@
+[
+  {
+    "name": "Pico ARM GCC",
+    "description": "Pico SDK Toolchain with GCC arm-none-eabi",
+    "toolchainFile": "${env:PICO_SDK_PATH}/cmake/preload/toolchains/pico_arm_gcc.cmake"
+  }
+]

.vscode/extensions.json

@@ -0,0 +1,9 @@
+{
+  "recommendations": [
+    "marus25.cortex-debug",
+    "ms-vscode.cmake-tools",
+    "ms-vscode.cpptools",
+    "ms-vscode.cpptools-extension-pack",
+    "ms-vscode.vscode-serial-monitor"
+  ]
+}

.vscode/launch.json

@@ -0,0 +1,58 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "Pico Debug (Cortex-Debug)",
+      "cwd": "${workspaceFolder}",
+      "executable": "${command:cmake.launchTargetPath}",
+      "request": "launch",
+      "type": "cortex-debug",
+      "servertype": "openocd",
+      "gdbPath": "arm-none-eabi-gdb",
+      "device": "RP2040",
+      "configFiles": [
+        "interface/cmsis-dap.cfg",
+        "target/rp2040.cfg"
+      ],
+      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+      "runToEntryPoint": "main",
+      "openOCDLaunchCommands": [
+        "adapter speed 5000"
+      ]
+    },
+    {
+      "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
+      "cwd": "${workspaceFolder}",
+      "executable": "${command:cmake.launchTargetPath}",
+      "request": "launch",
+      "type": "cortex-debug",
+      "servertype": "external",
+      "gdbTarget": "localhost:3333",
+      "gdbPath": "arm-none-eabi-gdb",
+      "device": "RP2040",
+      "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+      "runToEntryPoint": "main"
+    },
+    {
+      "name": "Pico Debug (C++ Debugger)",
+      "type": "cppdbg",
+      "request": "launch",
+      "cwd": "${workspaceFolder}",
+      "program": "${command:cmake.launchTargetPath}",
+      "MIMode": "gdb",
+      "miDebuggerPath": "arm-none-eabi-gdb",
+      "miDebuggerServerAddress": "localhost:3333",
+      "debugServerPath": "openocd",
+      "debugServerArgs": "-f interface/cmsis-dap.cfg -f target/rp2040.cfg -c \"adapter speed 5000\"",
+      "serverStarted": "Listening on port .* for gdb connections",
+      "filterStderr": true,
+      "stopAtEntry": true,
+      "hardwareBreakpoints": {
+        "require": true,
+        "limit": 4
+      },
+      "preLaunchTask": "Flash",
+      "svdPath": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd"
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,32 @@
+{
+  // These settings tweaks to the cmake plugin will ensure
+  // that you debug using cortex-debug instead of trying to launch
+  // a Pico binary on the host
+  "cmake.statusbar.advanced": {
+    "debug": {
+      "visibility": "hidden"
+    },
+    "launch": {
+      "visibility": "hidden"
+    },
+    "build": {
+      "visibility": "hidden"
+    },
+    "buildTarget": {
+      "visibility": "hidden"
+    }
+  },
+  "cmake.buildBeforeRun": true,
+  "cmake.configureOnOpen": true,
+  "cmake.configureSettings": {
+    "CMAKE_MODULE_PATH": "${env:PICO_INSTALL_PATH}/pico-sdk-tools"
+  },
+  "cmake.generator": "Ninja",
+  "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
+  "cmake.sourceDirectory": "C:/Users/arcti/Desktop/githubprojects/modbot/swerve_pico",
+  "files.associations": {
+    "iostream": "cpp",
+    "*.pio": "cpp",
+    "stdexcept": "cpp"
+  }
+}

.vscode/tasks.json

@@ -0,0 +1,29 @@
+{
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "Flash",
+      "type": "shell",
+      "command": "openocd",
+      "args": [
+        "-f",
+        "interface/cmsis-dap.cfg",
+        "-f",
+        "target/rp2040.cfg",
+        "-c",
+        "adapter speed 5000; program {${command:cmake.launchTargetPath}} verify reset exit"
+      ],
+      "problemMatcher": []
+    },
+    {
+      "label": "Build",
+      "type": "cmake",
+      "command": "build",
+      "problemMatcher": "$gcc",
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    }
+  ]
+}

dev/basic_swerve/CMakeLists.txt

@@ -0,0 +1,55 @@
+# Generated Cmake Pico project file
+
+cmake_minimum_required(VERSION 3.5)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+set(PICO_BOARD pico CACHE STRING "Board type")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+if (PICO_SDK_VERSION_STRING VERSION_LESS "1.4.0")
+  message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.4.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+endif()
+
+project(basic_swerve_pico C CXX ASM)
+
+# Initialise the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(basic_swerve_pico basic_swerve_pico.c )
+
+pico_set_program_name(basic_swerve_pico "basic_swerve_pico")
+pico_set_program_version(basic_swerve_pico "0.1")
+
+pico_enable_stdio_uart(basic_swerve_pico 0)
+pico_enable_stdio_usb(basic_swerve_pico 1)
+
+# Add the standard library to the build
+target_link_libraries(basic_swerve_pico
+        pico_stdlib
+        pico_i2c_slave
+        hardware_i2c
+        hardware_pwm
+        )
+
+# Add the standard include files to the build
+target_include_directories(basic_swerve_pico PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+  ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts or any other standard includes, if required
+)
+
+# Add any user requested libraries
+target_link_libraries(basic_swerve_pico 
+        hardware_i2c
+        )
+
+pico_add_extra_outputs(basic_swerve_pico)
+