############################################################################
#
#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

# Need to make sure that the DSP processor on VOXL2
# knows about all parameters since some modules need parameters
# from other modules that are not running on the DSP.
set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)

add_library(drivers_board
	board_config.h
	i2c.cpp
	init.c
	spi.cpp
    )

# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
# SLPI build is self-contained and does not depend on voxl2-default.
set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")

px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")

add_custom_command(
	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
		--lang C --wire-protocol 2.0
		--output ${MAVLINK_LIBRARY_DIR}
		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
		> ${CMAKE_BINARY_DIR}/mavgen_common.log
	DEPENDS
		git_mavlink_v2
		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
	COMMENT "Generating MAVLink common headers for SLPI"
)
add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)

add_library(mavlink_common_headers INTERFACE)
add_dependencies(mavlink_common_headers mavlink_common_generate)
target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
target_include_directories(mavlink_common_headers INTERFACE
	${MAVLINK_LIBRARY_DIR}
	${MAVLINK_LIBRARY_DIR}/common
)

# Add custom drivers for SLPI
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
