Remove unused buggy FreeRTOS functions #70
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| name: Tests | |
| on: | |
| pull_request: | |
| branches: [master, devel] | |
| push: | |
| branches: [master, devel] | |
| tags: ['fw-v*'] | |
| jobs: | |
| compile: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, windows-latest, macOS-latest] | |
| board_version: [v3.6-56V] | |
| debug: [true] | |
| include: | |
| - {os: ubuntu-latest, board_version: v3.2, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.3, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.4-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.4-48V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.5-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.5-48V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.6-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.6-56V, debug: false} | |
| runs-on: ${{ matrix.os }} | |
| outputs: | |
| channel: ${{ steps.release-info.outputs.channel }} | |
| version: ${{ steps.release-info.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| fetch-depth: 0 # fetch entire history to get version information | |
| - name: Get release name and channel | |
| id: release-info | |
| shell: python | |
| run: | | |
| if "${{ github.event_name == 'push' && startsWith(github.ref, 'refs/tags/fw-v0.5.') }}" == "true": | |
| channel = "master" | |
| version = "${{ github.ref }}"[len("refs/tags/fw-v"):] | |
| else: | |
| channel = "none" | |
| version = "${{ github.sha }}" | |
| print("::set-output name=channel::" + channel) | |
| print("::set-output name=version::" + version) | |
| - name: Install prerequisites (Debian) | |
| if: startsWith(matrix.os, 'ubuntu-') | |
| run: | | |
| DEBIAN_VERSION="$(lsb_release --release --short)" | |
| echo Debian version: $DEBIAN_VERSION | |
| if [ "$DEBIAN_VERSION" == "16.04" ]; then | |
| # Ubuntu 16.04 (Debian 9) is on ARM GCC 4.9 which is too old for us | |
| sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa | |
| sudo apt-get update | |
| sudo apt-get install gcc-arm-embedded | |
| else | |
| sudo apt-get install gcc-arm-none-eabi | |
| fi | |
| if ! (apt-cache search tup | grep "^tup - "); then | |
| sudo add-apt-repository ppa:jonathonf/tup | |
| sudo apt-get update | |
| fi | |
| sudo apt-get install tup | |
| sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema | |
| - name: Install prerequisites (macOS) | |
| if: startsWith(matrix.os, 'macOS-') | |
| run: | | |
| brew install armmbed/formulae/arm-none-eabi-gcc | |
| # See https://github.com/osxfuse/osxfuse/issues/801#issuecomment-833419942 | |
| brew install --cask macfuse | |
| brew install gromgit/fuse/tup-mac | |
| pip3 install PyYAML Jinja2 jsonschema | |
| - name: Cache chocolatey | |
| uses: actions/cache@v2 | |
| if: startsWith(matrix.os, 'windows-') | |
| with: | |
| path: C:\Users\runneradmin\AppData\Local\Temp\chocolatey\gcc-arm-embedded | |
| key: ${{ runner.os }}-gcc-arm-embedded | |
| restore-keys: | | |
| ${{ runner.os }}-gcc-arm-embedded | |
| - name: Install prerequisites (Windows) | |
| if: startsWith(matrix.os, 'windows-') | |
| run: | | |
| Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip" | |
| Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force | |
| echo "$(Resolve-Path .)\tup-latest" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append | |
| choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip | |
| pip install PyYAML Jinja2 jsonschema | |
| - name: Prepare Compilation | |
| run: | | |
| # for debugging | |
| arm-none-eabi-gcc --version | |
| python --version | |
| cd ${{ github.workspace }}/Firmware | |
| echo "CONFIG_BOARD_VERSION=${{ matrix.board_version }}" >> tup.config | |
| echo "CONFIG_STRICT=true" >> tup.config | |
| echo "CONFIG_DEBUG=${{ matrix.debug }}" >> tup.config | |
| mkdir -p autogen | |
| python ../tools/odrive/version.py --output autogen/version.c | |
| cat autogen/version.c | |
| tup init | |
| tup generate ./tup_build.sh | |
| - name: Compile (Unix) | |
| if: "!startsWith(matrix.os, 'windows-')" | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| bash -xe ./tup_build.sh | |
| - name: Compile (Windows) | |
| if: startsWith(matrix.os, 'windows-') | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| mv tup_build.sh tup_build.bat # in reality this is a .bat script on windows | |
| .\tup_build.bat | |
| - name: Upload binary as artifact | |
| if: ${{ matrix.os == 'ubuntu-latest' && matrix.debug == false }} | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: firmware-${{ matrix.board_version }} | |
| path: | | |
| Firmware/build/ODriveFirmware.elf | |
| Firmware/build/ODriveFirmware.bin | |
| Firmware/build/ODriveFirmware.hex | |
| - name: Copy firmware to temp folder | |
| run: | | |
| mkdir ${{ github.workspace }}/out | |
| cp ${{ github.workspace }}/Firmware/build/ODriveFirmware.elf ${{ github.workspace }}/out/firmware.elf | |
| - name: Parse and format matrix.board_version | |
| if: ${{ matrix.os == 'ubuntu-latest' }} | |
| id: format-board-version | |
| run: | | |
| formatted_version=$(echo "${{ matrix.board_version }}" | sed 's/v\([0-9]\+\)\.\([0-9]\+\)-\([0-9]\+\)V/\1.\2.\3/') | |
| echo "Formatted board version: $formatted_version" | |
| echo "::set-output name=formatted_board_version::$formatted_version" | |
| - name: Upload firmware to ODrive release system | |
| if: ${{ steps.release-info.outputs.channel == 'master' && matrix.os == 'ubuntu-latest' && matrix.debug == false && (startsWith(matrix.board_version, 'v3.5-') || startsWith(matrix.board_version, 'v3.6-')) }} | |
| uses: ./.github/actions/upload-release | |
| with: | |
| release_type: firmware | |
| version: ${{ steps.release-info.outputs.version }} | |
| src_dir: out | |
| do_access_key: ${{ secrets.DIGITALOCEAN_ACCESS_KEY }} | |
| do_secret_key: ${{ secrets.DIGITALOCEAN_SECRET_KEY }} | |
| odrive_api_key: ${{ secrets.ODRIVE_API_KEY }} | |
| board: ${{ steps.format-board-version.outputs.formatted_board_version }} | |
| app: default | |
| variant: public | |
| make-release: | |
| needs: [compile] # require all builds to succeed before we actually make the release | |
| if: needs.compile.outputs.channel == 'master' | |
| strategy: | |
| fail-fast: false | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout git repository | |
| uses: actions/checkout@v2 | |
| - name: Install Python dependencies | |
| run: pip install aiohttp appdirs | |
| - name: Add version to release channel | |
| uses: ./.github/actions/add-version-to-channel | |
| with: | |
| release_type: firmware | |
| channel: ${{ needs.compile.outputs.channel }} | |
| version: ${{ needs.compile.outputs.version }} | |
| odrive_api_key: ${{ secrets.ODRIVE_API_KEY }} | |
| code-checks: | |
| strategy: | |
| fail-fast: false | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Check that we're not using std::isnan | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| if grep 'std::isnan' -R .; then | |
| echo "Don't use std::isnan because it's not compatible with '-ffast-math'. Use is_nan() instead." | |
| return 1; | |
| fi | |
| # TODO: | |
| # - check if enums.py is consistent with yaml | |
| # - clang-format check | |
| # - check if interface_generator outputs the same thing with Python 3.5 and Python 3.8 |