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Jenkins px4fmu-v2 hardware test

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This commit is contained in:
Daniel Agar
2018-08-04 16:48:47 -04:00
parent a2059acde5
commit 01744a9efc
17 changed files with 264 additions and 112 deletions
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.ci/Jenkinsfile-hardware_px4fmu-v2
+70
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@@ -0,0 +1,70 @@
pipeline {
agent none
stages {
stage('Build') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2018-08-05'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
sh 'make nuttx_px4fmu-v2_test'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts'
sh 'make distclean'
}
} // stage Build
stage('Flash and Run') {
agent {
label 'px4fmu-v2'
}
steps {
script {
try {
sh 'export'
sh 'find /dev/serial'
unstash 'px4fmu-v2_test'
sh ''' gdb -nx --batch \
-ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \
-ex "monitor version" \
-ex "monitor connect_srst enable" \
-ex "monitor swdp_scan" \
-ex "attach 1" \
-ex "load" \
-ex "kill" \
build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf
'''
unstash 'scripts'
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
} catch (Exception err) {
// always report passed for now
currentBuild.result = 'SUCCESS'
}
} // script
}
options {
timeout(time: 300, unit: 'SECONDS')
}
} // stage Flash
} // stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
}
options {
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
timeout(time: 60, unit: 'MINUTES')
}
}
CMakeLists.txt
+1 -5
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@@ -139,8 +139,6 @@ list(GET config_args 0 OS)
list(GET config_args 1 BOARD)
list(GET config_args 2 LABEL)
set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -301,9 +299,7 @@ message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
#=============================================================================
# external libraries
#
px4_os_prebuild_targets(OUT prebuild_targets
BOARD ${BOARD}
THREADS ${THREADS})
px4_os_prebuild_targets(OUT prebuild_targets BOARD ${BOARD})
#=============================================================================
# build flags
Jenkinsfile
Vendored
+1 -1
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@@ -2,7 +2,7 @@ pipeline {
agent none
stages {
stage('Analysis') {
stage('Analysis') {
parallel {
Tools/HIL/monitor_firmware_upload.py
Executable
+35
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@@ -0,0 +1,35 @@
#! /usr/bin/python
import serial, time
import subprocess
from subprocess import call, Popen
from argparse import ArgumentParser
import re
def monitor_firmware_upload(port, baudrate):
databits = serial.EIGHTBITS
stopbits = serial.STOPBITS_ONE
parity = serial.PARITY_NONE
ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100)
finished = 0
while finished == 0:
serial_line = ser.readline()
print(serial_line.replace('\n',''))
if "NuttShell (NSH)" in serial_line:
finished = 1
time.sleep(0.05)
ser.close()
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
args = parser.parse_args()
monitor_firmware_upload(args.device, args.baudrate)
if __name__ == "__main__":
main()
Tools/HIL/run_tests.py
Executable
+49
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@@ -0,0 +1,49 @@
#! /usr/bin/python
import serial, time
import subprocess
from subprocess import call, Popen
from argparse import ArgumentParser
import re
def do_tests(port, baudrate):
databits = serial.EIGHTBITS
stopbits = serial.STOPBITS_ONE
parity = serial.PARITY_NONE
ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100)
ser.write('\n\n')
finished = 0
while finished == 0:
serial_line = ser.readline()
print(serial_line.replace('\n',''))
if "nsh>" in serial_line:
finished = 1
time.sleep(0.05)
ser.write('tests perf\n')
finished = 0
while finished == 0:
serial_line = ser.readline()
print(serial_line.replace('\n',''))
if "perf PASSED" in serial_line:
finished = 1
ser.close()
time.sleep(0.05)
ser.close()
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
args = parser.parse_args()
do_tests(args.device, args.baudrate)
if __name__ == "__main__":
main()
platforms/nuttx/CMakeLists.txt
+87 -4
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@@ -298,11 +298,92 @@ if (BLOATY_PROGRAM)
endif()
# debugger helpers
configure_file(gdbinit.in .gdbinit)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
add_custom_target(debug
COMMAND ${GDB} $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
file(GLOB_RECURSE black_magic_probe_path
FOLLOW_SYMLINKS
/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00
)
file(GLOB_RECURSE black_magic_probe_console_path
FOLLOW_SYMLINKS
/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02
)
if(black_magic_probe_path)
add_custom_target(blackmagic_debug
COMMAND ${GDB} --nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
-ex 'monitor connect_srst enable'
-ex 'monitor swdp_scan'
-ex 'attach 1'
-ex 'load'
-ex 'run'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
add_custom_target(blackmagic_upload
COMMAND ${GDB} --nx --batch
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
-ex 'monitor connect_srst enable'
-ex 'monitor swdp_scan'
-ex 'attach 1'
-ex 'load'
-ex 'kill'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
COMMENT "Uploading with Black Magic Probe"
)
add_custom_target(blackmagic_console
COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1
USES_TERMINAL
)
endif()
add_custom_target(jlink_upload
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
COMMAND ${GDB} --nx --batch
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target remote localhost:2331'
-ex 'monitor reset'
-ex 'load'
-ex 'kill'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
add_custom_target(jlink_debug
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
COMMAND ${GDB} --nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target remote localhost:2331'
-ex 'monitor reset'
-ex 'load'
-ex 'monitor reset'
-ex 'continue'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
@@ -319,7 +400,9 @@ ExternalProject_Add(FlameGraph
)
add_custom_target(profile
COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}" ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh FlameGraph
USES_TERMINAL
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
platforms/nuttx/Debug/PX4
-2
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@@ -1,8 +1,6 @@
#
# Various PX4-specific macros
#
source platforms/nuttx/Debug/NuttX
source platforms/nuttx/Debug/ARMv7M
echo Loading PX4 GDB macros. Use 'help px4' for more information.\n
platforms/nuttx/gdbinit.in → platforms/nuttx/Debug/gdbinit.in
+8 -4
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@@ -2,9 +2,13 @@ source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4
source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/NuttX
source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/ARMv7M
target extended-remote ${DEBUG_PORT}
monitor swdp_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
set print pretty
set pagination off
set history save on
set history size unlimited
set logging on
platforms/nuttx/Debug/jlink.sh
Executable
+3
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@@ -0,0 +1,3 @@
#! /bin/sh
JLinkGDBServerCLExe -startserver -USB -device Cortex-M4 -if SWD -speed auto > jlink.log &
platforms/nuttx/Debug/olimex-px4fmu-debug.cfg
-22
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@@ -1,22 +0,0 @@
# program a bootable device load on a mavstation
# To run type openocd -f mavprogram.cfg
source [find interface/olimex-arm-usb-ocd-h.cfg]
source [find px4fmu-board.cfg]
init
halt
# Find the flash inside this CPU
flash probe 0
# erase it (128 pages) then program and exit
#flash erase_sector 0 0 127
# stm32f1x mass_erase 0
# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
#flash write_bank 0 fixed.bin 0
#flash write_image firmware.elf
#shutdown
platforms/nuttx/Debug/openocd.gdbinit
-21
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@@ -1,21 +0,0 @@
target remote :3333
# Don't let GDB get confused while stepping
define hook-step
mon cortex_m maskisr on
end
define hookpost-step
mon cortex_m maskisr off
end
mon init
mon stm32_init
# mon reset halt
mon poll
mon cortex_m maskisr auto
set mem inaccessible-by-default off
set print pretty
source platforms/nuttx/Debug/PX4
echo PX4 resumed, press ctrl-c to interrupt\n
continue
platforms/nuttx/Debug/poor-mans-profiler.sh
+7 -5
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@@ -18,7 +18,7 @@
#
set -e
root=$(dirname $0)/..
root=$(dirname $0)
function die()
{
@@ -77,7 +77,7 @@ do
shift
done
[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf"
#
# Temporary files
@@ -102,7 +102,8 @@ then
do
if [[ "$taskname" = "" ]]
then
arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
arm-none-eabi-gdb $elf --nx --quiet --batch \
-ex "set print asm-demangle on" \
-ex "target extended /dev/ttyACM0" \
-ex "monitor swdp_scan" \
-ex "attach 1" \
@@ -111,11 +112,12 @@ then
| sed -n 's/\(#.*\)/\1/p' \
>> $stacksfile
else
arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
arm-none-eabi-gdb $elf --nx --quiet --batch \
-ex "set print asm-demangle on" \
-ex "target extended /dev/ttyACM0" \
-ex "monitor swdp_scan" \
-ex "attach 1" \
-ex "source $root/platforms/nuttx/Debug/Nuttx.py" \
-ex "source $root/Nuttx.py" \
-ex "show mybt $taskname" \
2> $gdberrfile \
| sed -n 's/0\.0:\(#.*\)/\1/p' \
platforms/nuttx/Debug/px4fmu-board.cfg
-37
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@@ -1,37 +0,0 @@
# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
# increase working area to 32KB for faster flash programming
set WORKAREASIZE 0x8000
source [find target/stm32f4x.cfg]
# needed for px4
reset_config trst_only
proc stm32_reset {} {
reset halt
# FIXME - needed to init periphs on reset
# 0x40023800 RCC base
# 0x24 RCC_APB2 0x75933
# RCC_APB2 0
}
# perform init that is required on each connection to the target
proc stm32_init {} {
# force jtag to not shutdown during sleep
#uint32_t cr = getreg32(STM32_DBGMCU_CR);
#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
#putreg32(cr, STM32_DBGMCU_CR);
mww 0xe0042004 00000007
}
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m reset_config sysresetreq
# Let GDB directly program elf binaries
gdb_memory_map enable
# doesn't work yet
gdb_flash_program disable
platforms/nuttx/Debug/runopenocd.sh
-5
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@@ -1,5 +0,0 @@
#!/bin/bash
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-board.cfg
platforms/nuttx/cmake/px4_impl_os.cmake
+1 -2
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@@ -226,7 +226,6 @@ endfunction()
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
@@ -237,7 +236,7 @@ endfunction()
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD THREADS
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
platforms/posix/cmake/px4_impl_os.cmake
+1 -2
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@@ -429,7 +429,6 @@ endfunction()
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
@@ -440,7 +439,7 @@ endfunction()
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD THREADS
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
platforms/qurt/cmake/px4_impl_os.cmake
+1 -2
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@@ -224,7 +224,6 @@ endfunction()
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
@@ -235,7 +234,7 @@ endfunction()
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD THREADS
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})