fly316/PX4-Autopilot
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Daniel Agar
2022-05-23 21:58:25 -04:00
parent a1fb9fb7c6
commit 27f17d4ad0
1 changed files with 38 additions and 22 deletions
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.ci/Jenkinsfile-hardware
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@@ -94,9 +94,10 @@ pipeline {
steps {
checkoutSCM()
sh 'make cuav_x7pro_bootloader'
sh 'make cuav_x7pro_default'
sh 'make cuav_x7pro_test'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro'
}
post {
always {
@@ -113,15 +114,20 @@ pipeline {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'cuav_x7pro_test'
unstash 'cuav_x7pro'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
// test loading a range of airframes
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
// flash test
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
runTests()
}
}
@@ -163,10 +169,11 @@ pipeline {
}
steps {
checkoutSCM()
sh 'make px4_fmu-v3_default'
sh 'make px4_fmu-v3_default bootloader_elf'
sh 'make px4_fmu-v3_test'
sh 'make px4_fmu-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3'
}
post {
always {
@@ -183,15 +190,20 @@ pipeline {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v3_test'
unstash 'px4_fmu-v3'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
// test loading a range of airframes
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
// flash test
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
runTests()
}
}
@@ -533,9 +545,9 @@ pipeline {
}
}
stage("px4_fmu-v5_test") {
stage("px4_fmu-v5") {
stages {
stage("build px4_fmu-v5_test") {
stage("build px4_fmu-v5") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
@@ -544,10 +556,11 @@ pipeline {
}
steps {
checkoutSCM()
sh 'make px4_fmu-v5_default bootloader_elf'
sh 'make px4_fmu-v5_default'
sh 'make px4_fmu-v5_test'
sh 'make px4_fmu-v5_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5'
}
post {
always {
@@ -564,18 +577,13 @@ pipeline {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
unstash 'px4_fmu-v5'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
@@ -585,6 +593,9 @@ pipeline {
checkStatus()
quickCalibrate()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
// test loading a range of airframes
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
}
}
stage("print topics") {
@@ -592,6 +603,14 @@ pipeline {
printTopics()
}
}
stage("tests") {
steps {
unstash 'px4_fmu-v5'
// flash test
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
runTests()
}
}
}
post {
always {
@@ -793,9 +812,6 @@ void resetParameters() {
void runTests() {
// test loading a range of airframes
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing