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- # Copyright (c) 2023 HPMicro
- # SPDX-License-Identifier: BSD-3-Clause
- sdk_inc_ifdef(CONFIG_MICROROS_FOXY microros_foxy/include)
- include(CheckCSourceCompiles)
- if("${TOOLCHAIN_VARIANT}" STREQUAL "gcc" OR "${TOOLCHAIN_VARIANT}" STREQUAL "zcc")
- sdk_link_libraries_ifdef(CONFIG_MICROROS_FOXY "${CMAKE_CURRENT_SOURCE_DIR}/microros_foxy/libmicroros/libmicroros.a")
- elseif("${TOOLCHAIN_VARIANT}" STREQUAL "nds-gcc")
-
- check_c_source_compiles("
- #if defined (__riscv_float_abi_soft)
- #define MICROROS_SOFT 1
- #else
- #error toolchain not use soft-float
- #endif
- int main(void) { return 0; }" MICROROS_SOFT)
- check_c_source_compiles("
- #if defined (__riscv_float_abi_single)
- #define MICROROS_SINGLE 1
- #else
- #error toolchain not use single-float
- #endif
- int main(void) { return 0; }" MICROROS_SINGLE)
- check_c_source_compiles("
- #if defined (__riscv_float_abi_double)
- #define MICROROS_DOUBLE 1
- #else
- #error toolchain not use double-float
- #endif
- int main(void) { return 0; }" MICROROS_DOUBLE)
- if(MICROROS_SOFT)
- sdk_link_libraries_ifdef(CONFIG_MICROROS_FOXY "${CMAKE_CURRENT_SOURCE_DIR}/microros_foxy/libmicroros/libmicroros.a")
- endif()
- if(MICROROS_SINGLE)
- sdk_link_libraries_ifdef(CONFIG_MICROROS_FOXY "${CMAKE_CURRENT_SOURCE_DIR}/microros_foxy/libmicroros_nds/libmicroros_f.a")
- endif()
- if(MICROROS_DOUBLE)
- sdk_link_libraries_ifdef(CONFIG_MICROROS_FOXY "${CMAKE_CURRENT_SOURCE_DIR}/microros_foxy/libmicroros_nds/libmicroros_d.a")
- endif()
- else()
- message(FATAL_ERROR "No libmicroros lib for this toolchain")
- endif()
-
- add_subdirectory(lib)
- sdk_inc(driver/inc)
- file(GLOB_RECURSE MIRCO_ROS_SRC ${CMAKE_CURRENT_SOURCE_DIR}/driver/src/*.c)
- sdk_src(${MIRCO_ROS_SRC})
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