doc: cmake: improve dependencies section

Group dependencies all together. Some have been simplified, e.g. Sphinx
and others improved, e.g. LaTeX.

Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index b74d725..802758f 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -7,22 +7,27 @@
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE} ..)
 
 file(TO_CMAKE_PATH "${ZEPHYR_BASE}" ZEPHYR_BASE)
-
 message(STATUS "Zephyr base: ${ZEPHYR_BASE}")
 
-include(${ZEPHYR_BASE}/cmake/python.cmake)
+#-------------------------------------------------------------------------------
+# Dependencies
+
 set(DOXYGEN_SKIP_DOT True)
 find_package(Doxygen REQUIRED)
-find_package(LATEX)
 
-find_program(
-  SPHINXBUILD
-  NAMES sphinx-build-3 sphinx-build
-  )
-if(${SPHINXBUILD} STREQUAL SPHINXBUILD-NOTFOUND)
-  message(FATAL_ERROR "The 'sphinx-build' command was not found. Make sure you have Sphinx installed.")
+find_program(SPHINXBUILD sphinx-build)
+if(NOT SPHINXBUILD)
+  message(FATAL_ERROR "The 'sphinx-build' command was not found")
 endif()
 
+find_package(LATEX COMPONENTS PDFLATEX)
+find_program(LATEXMK latexmk)
+if(NOT LATEX_PDFLATEX_FOUND OR NOT LATEXMK)
+  message(WARNING "LaTeX components not found. PDF build will not be available.")
+endif()
+
+include(${ZEPHYR_BASE}/cmake/python.cmake)
+
 # Find west to (optionally) process modules for Kconfig
 find_program(WEST west)
 
@@ -35,16 +40,6 @@
 include(${ZEPHYR_BASE}/cmake/extensions.cmake)
 include(${ZEPHYR_BASE}/cmake/zephyr_module.cmake)
 
-# Note that this won't force fatal error if latexmk is not found.
-# Not having LaTeX tools should not prevent people from generating HTML docs.
-find_program(
-  LATEXMK
-  latexmk
-  )
-if(${LATEXMK} STREQUAL LATEXMK-NOTFOUND)
-  message(WARNING "The 'latexmk' command was not found. Targets to build PDF will not be available.")
-endif()
-
 if(NOT DEFINED SPHINXOPTS)
   set(SPHINXOPTS -j auto)
 else()