Update minimum required cmake to 3.16
Earliest tested version that compiles. Failed with version 3.10
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# The following five lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.5)
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cmake_minimum_required(VERSION 3.16)
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set(ENV{IDF_PATH} ${CMAKE_SOURCE_DIR}/esp-idf)
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set(COMPONENTS esptool_py soc driver log main)
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