Daniel Agar
7 years ago
17 changed files with 264 additions and 112 deletions
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pipeline { |
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agent none |
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stages { |
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stage('Build') { |
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agent { |
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docker { |
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image 'px4io/px4-dev-nuttx:2018-08-05' |
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' |
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} |
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} |
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steps { |
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sh 'export' |
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sh 'make distclean' |
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sh 'ccache -z' |
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sh 'git fetch --tags' |
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sh 'make nuttx_px4fmu-v2_test' |
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sh 'make sizes' |
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sh 'ccache -s' |
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stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test' |
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stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts' |
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sh 'make distclean' |
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} |
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} // stage Build |
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stage('Flash and Run') { |
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agent { |
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label 'px4fmu-v2' |
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} |
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steps { |
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script { |
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try { |
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sh 'export' |
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sh 'find /dev/serial' |
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unstash 'px4fmu-v2_test' |
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sh ''' gdb -nx --batch \ |
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-ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \ |
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-ex "monitor version" \ |
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-ex "monitor connect_srst enable" \ |
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-ex "monitor swdp_scan" \ |
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-ex "attach 1" \ |
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-ex "load" \ |
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-ex "kill" \ |
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build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf |
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''' |
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unstash 'scripts' |
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sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600' |
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`' |
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} catch (Exception err) { |
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// always report passed for now |
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currentBuild.result = 'SUCCESS' |
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} |
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} // script |
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} |
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options { |
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timeout(time: 300, unit: 'SECONDS') |
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} |
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} // stage Flash |
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} // stages |
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environment { |
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CCACHE_DIR = '/tmp/ccache' |
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CI = true |
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} |
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options { |
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buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30')) |
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timeout(time: 60, unit: 'MINUTES') |
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} |
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} |
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@@ -0,0 +1,35 @@
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#! /usr/bin/python |
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import serial, time |
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import subprocess |
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from subprocess import call, Popen |
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from argparse import ArgumentParser |
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import re |
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def monitor_firmware_upload(port, baudrate): |
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databits = serial.EIGHTBITS |
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stopbits = serial.STOPBITS_ONE |
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parity = serial.PARITY_NONE |
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ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100) |
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finished = 0 |
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while finished == 0: |
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serial_line = ser.readline() |
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print(serial_line.replace('\n','')) |
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if "NuttShell (NSH)" in serial_line: |
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finished = 1 |
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time.sleep(0.05) |
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ser.close() |
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def main(): |
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parser = ArgumentParser(description=__doc__) |
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parser.add_argument('--device', "-d", nargs='?', default = None, help='') |
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parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600) |
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args = parser.parse_args() |
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monitor_firmware_upload(args.device, args.baudrate) |
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if __name__ == "__main__": |
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main() |
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@@ -0,0 +1,49 @@
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#! /usr/bin/python |
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import serial, time |
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import subprocess |
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from subprocess import call, Popen |
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from argparse import ArgumentParser |
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import re |
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def do_tests(port, baudrate): |
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databits = serial.EIGHTBITS |
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stopbits = serial.STOPBITS_ONE |
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parity = serial.PARITY_NONE |
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ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100) |
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ser.write('\n\n') |
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finished = 0 |
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while finished == 0: |
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serial_line = ser.readline() |
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print(serial_line.replace('\n','')) |
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if "nsh>" in serial_line: |
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finished = 1 |
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time.sleep(0.05) |
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ser.write('tests perf\n') |
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finished = 0 |
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while finished == 0: |
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serial_line = ser.readline() |
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print(serial_line.replace('\n','')) |
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if "perf PASSED" in serial_line: |
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finished = 1 |
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ser.close() |
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time.sleep(0.05) |
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ser.close() |
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def main(): |
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parser = ArgumentParser(description=__doc__) |
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parser.add_argument('--device', "-d", nargs='?', default = None, help='') |
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parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600) |
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args = parser.parse_args() |
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do_tests(args.device, args.baudrate) |
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if __name__ == "__main__": |
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main() |
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#! /bin/sh |
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JLinkGDBServerCLExe -startserver -USB -device Cortex-M4 -if SWD -speed auto > jlink.log & |
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@ -1,22 +0,0 @@
@@ -1,22 +0,0 @@
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# program a bootable device load on a mavstation |
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# To run type openocd -f mavprogram.cfg |
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source [find interface/olimex-arm-usb-ocd-h.cfg] |
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source [find px4fmu-board.cfg] |
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init |
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halt |
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# Find the flash inside this CPU |
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flash probe 0 |
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# erase it (128 pages) then program and exit |
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#flash erase_sector 0 0 127 |
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# stm32f1x mass_erase 0 |
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# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around |
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#flash write_bank 0 fixed.bin 0 |
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#flash write_image firmware.elf |
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#shutdown |
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@ -1,21 +0,0 @@
@@ -1,21 +0,0 @@
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target remote :3333 |
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# Don't let GDB get confused while stepping |
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define hook-step |
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mon cortex_m maskisr on |
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end |
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define hookpost-step |
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mon cortex_m maskisr off |
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end |
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mon init |
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mon stm32_init |
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# mon reset halt |
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mon poll |
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mon cortex_m maskisr auto |
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set mem inaccessible-by-default off |
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set print pretty |
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source platforms/nuttx/Debug/PX4 |
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echo PX4 resumed, press ctrl-c to interrupt\n |
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continue |
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@ -1,37 +0,0 @@
@@ -1,37 +0,0 @@
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# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu |
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# increase working area to 32KB for faster flash programming |
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set WORKAREASIZE 0x8000 |
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source [find target/stm32f4x.cfg] |
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# needed for px4 |
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reset_config trst_only |
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proc stm32_reset {} { |
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reset halt |
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# FIXME - needed to init periphs on reset |
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# 0x40023800 RCC base |
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# 0x24 RCC_APB2 0x75933 |
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# RCC_APB2 0 |
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} |
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# perform init that is required on each connection to the target |
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proc stm32_init {} { |
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# force jtag to not shutdown during sleep |
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#uint32_t cr = getreg32(STM32_DBGMCU_CR); |
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#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP; |
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#putreg32(cr, STM32_DBGMCU_CR); |
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mww 0xe0042004 00000007 |
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} |
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# if srst is not fitted use SYSRESETREQ to |
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# perform a soft reset |
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cortex_m reset_config sysresetreq |
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# Let GDB directly program elf binaries |
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gdb_memory_map enable |
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# doesn't work yet |
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gdb_flash_program disable |
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@ -1,5 +0,0 @@
@@ -1,5 +0,0 @@
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#!/bin/bash |
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" |
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openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-board.cfg |
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