# ##############################################################################
# apps/inertial/madgwick/CMakeLists.txt
#
# SPDX-License-Identifier: Apache-2.0
#
# Licensed to the Apache Software Foundation (ASF) under one or more contributor
# license agreements.  See the NOTICE file distributed with this work for
# additional information regarding copyright ownership.  The ASF licenses this
# file to you under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License.  You may obtain a copy of
# the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
# License for the specific language governing permissions and limitations under
# the License.
#
# ##############################################################################

if(CONFIG_LIB_MADGWICK)

  set(MADGWICK_DIR ${CMAKE_CURRENT_LIST_DIR}/fusion)

  if(NOT EXISTS ${MADGWICK_DIR})
    FetchContent_Declare(
      madgwick_fetch
      DOWNLOAD_NAME "libmadgwick.tar.gz"
      DOWNLOAD_DIR ${CMAKE_CURRENT_LIST_DIR}
      URL "https://github.com/xioTechnologies/Fusion/archive/refs/tags/v${CONFIG_LIB_MADGWICK_VER}.tar.gz"
          SOURCE_DIR
          ${MADGWICK_DIR}
          BINARY_DIR
          ${CMAKE_BINARY_DIR}/apps/inertial/madgwick/fusion
      DOWNLOAD_NO_PROGRESS true
      TIMEOUT 30)

    FetchContent_GetProperties(madgwick_fetch)

    if(NOT madgwick_fetch_POPULATED)
      FetchContent_Populate(madgwick_fetch)
    endif()
  endif()

  set(CSRCS
      ${MADGWICK_DIR}/Fusion/FusionAhrs.c
      ${MADGWICK_DIR}/Fusion/FusionCompass.c
      ${MADGWICK_DIR}/Fusion/FusionOffset.c)

  nuttx_add_library(madgwick STATIC)
  target_sources(madgwick PRIVATE ${CSRCS})
  target_include_directories(madgwick PUBLIC ${MADGWICK_DIR})
  target_compile_options(madgwick PRIVATE -Wno-shadow -Wno-strict-prototypes
                                          -Wno-unknown-pragmas)

endif()