From 37271d334b9ec4f05bd61391997236d7a0ffdf16 Mon Sep 17 00:00:00 2001
From: Peter van der Perk <peter.vanderperk@nxp.com>
Date: Mon, 8 Mar 2021 12:01:19 +0100
Subject: [PATCH] [UAVCANv1] Initial uavcanconfig menuconfig example

---
 src/drivers/uavcan_v1/CMakeLists.txt | 35 ++++++++++++++++++++++++++++
 src/drivers/uavcan_v1/Kconfig        | 28 ++++++++++++++++++++++
 2 files changed, 63 insertions(+)
 create mode 100644 src/drivers/uavcan_v1/Kconfig

diff --git a/src/drivers/uavcan_v1/CMakeLists.txt b/src/drivers/uavcan_v1/CMakeLists.txt
index 12ba82d19a..26bccdab3b 100644
--- a/src/drivers/uavcan_v1/CMakeLists.txt
+++ b/src/drivers/uavcan_v1/CMakeLists.txt
@@ -31,6 +31,8 @@
 #
 ############################################################################
 
+set(UAVCAN_DEFCONFIG ${PX4_BOARD_DIR}/uavcanconfig CACHE FILEPATH "path to defconfig" FORCE)
+
 set(LIBCANARD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libcanard)
 set(DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/public_regulated_data_types)
 set(LEGACY_DSDL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/legacy_data_types)
@@ -98,3 +100,36 @@ px4_add_module(
 		git_legacy_data_types
 		version
 	)
+
+
+# Use uavcanconfig file for compile definitions
+file(STRINGS ${UAVCAN_DEFCONFIG} lines)
+
+FOREACH(i IN LISTS lines)
+        if(i MATCHES "#")
+        else()
+            string(REPLACE "\n" "" i ${i})
+            SET(uavcan_config "${uavcan_config}${i};")
+        endif()
+ENDFOREACH()
+
+target_compile_definitions(drivers__uavcan_v1 PRIVATE ${uavcan_config})
+
+# UAVCANv1 menuconfig
+add_custom_target(menuconfig_uavcan
+	COMMAND kconfig-mconf Kconfig
+	#DEPENDS nuttx_config_target ${CMAKE_CURRENT_SOURCE_DIR}/.config
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	USES_TERMINAL
+	)
+
+# UAVCANv1 menuconfig + savedefconfig back to PX4
+add_custom_target(uavcanconfig
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	COMMAND ${CMAKE_COMMAND} -E copy ${UAVCAN_DEFCONFIG} ${CMAKE_CURRENT_SOURCE_DIR}/.config
+	COMMAND kconfig-mconf Kconfig
+	COMMENT "Running UAVCAN make menuconfig for ${UAVCAN_DEFCONFIG}"
+	COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/.config ${UAVCAN_DEFCONFIG}
+	COMMENT "Saved config to ${UAVCAN_DEFCONFIG}"
+	USES_TERMINAL
+)
diff --git a/src/drivers/uavcan_v1/Kconfig b/src/drivers/uavcan_v1/Kconfig
new file mode 100644
index 0000000000..563702a1a0
--- /dev/null
+++ b/src/drivers/uavcan_v1/Kconfig
@@ -0,0 +1,28 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+choice
+    prompt "UAVCANv1 Mode"
+    default none
+
+config UAVCAN_V1_FMU
+    bool "Server (FMU)"
+
+config UAVCAN_V1_CLIENT
+    bool "Client (Peripheral)"
+
+endchoice
+
+config UAVCAN_V1_GETINFO_RESPONDER
+	bool "GetInfo1.0 responder"
+	default n
+
+config UAVCAN_V1_EXECUTECOMMAND_RESPONDER
+	bool "ExecuteCommand1.0 responder"
+	default n
+
+config UAVCAN_V1_GNSS_PUBLISHER
+	bool "GNSS Publisher"
+	default n