pbio/imu: Calibrate acceleration values. #3595
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| name: Build | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| tags-ignore: | |
| - '@pybricks/**' | |
| pull_request: | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| MAKEOPTS: -j2 | |
| jobs: | |
| upload_pr_number: | |
| name: upload pull request number | |
| runs-on: ubuntu-latest | |
| if: github.event_name == 'pull_request' | |
| steps: | |
| - name: Save PR number | |
| env: | |
| PR_NUMBER: ${{ github.event.number }} | |
| run: | | |
| mkdir -p ./pr | |
| echo $PR_NUMBER > ./pr/pr_number | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: pr_number | |
| path: pr/ | |
| mpy_cross: | |
| name: mpy-cross | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Build mpy-cross | |
| run: make $MAKEOPTS -C micropython/mpy-cross | |
| - name: Upload mpy-cross | |
| if: ${{ success() }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build/mpy-cross | |
| unix_coverage: | |
| name: unix coverage | |
| needs: mpy_cross | |
| runs-on: ubuntu-22.04 | |
| env: | |
| PYBRICKS_NO_REDIRECT_STDOUT: 1 | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - name: Build | |
| run: | | |
| cd micropython | |
| make ${MAKEOPTS} -C ports/unix VARIANT=coverage submodules | |
| make ${MAKEOPTS} -C ports/unix VARIANT=coverage deplibs | |
| make ${MAKEOPTS} -C ports/unix VARIANT=coverage | |
| - name: Test | |
| if: ${{ success() }} | |
| run: | | |
| cd micropython | |
| make -C ports/unix VARIANT=coverage test_full | |
| (cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/build-coverage/micropython ./run-multitests.py multi_net/*.py) | |
| - name: List failed tests | |
| if: failure() | |
| run: micropython/tests/run-tests.py --print-failures | |
| ev3dev_stretch: | |
| name: ev3dev-stretch | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Docker login | |
| uses: azure/docker-login@v1 | |
| with: | |
| login-server: docker.pkg.github.com | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Install QEMU | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install qemu-user-static | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| fetch-depth: 0 | |
| - name: Create docker container | |
| run: bricks/ev3dev/docker/setup.sh armel | |
| - name: Build | |
| run: | | |
| docker exec --tty pybricks-ev3dev_armel make -C ../../micropython/mpy-cross CROSS_COMPILE= | |
| docker exec --tty pybricks-ev3dev_armel make | |
| - name: Test | |
| if: ${{ success() }} | |
| run: | | |
| docker exec --tty pybricks-ev3dev_armel make test-ev3dev | |
| - name: List failed tests | |
| if: failure() | |
| run: micropython/tests/run-tests.py --print-failures | |
| - name: Short hash | |
| id: vars | |
| run: echo "short_sha=$(echo ${{ github.sha }} | cut -c1-8)" >> $GITHUB_OUTPUT | |
| - name: Upload pybricks-micropython | |
| if: ${{ success() }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: pybricks-micropython-build-${{ github.run_number }}-git${{ steps.vars.outputs.short_sha }} | |
| path: bricks/ev3dev/build-armel/pybricks-micropython | |
| ev3dev_ubuntu_lts: | |
| name: ev3dev-ubuntu-lts | |
| needs: mpy_cross | |
| runs-on: ubuntu-22.04 | |
| env: | |
| CROSS_COMPILE: "" | |
| steps: | |
| - name: Install rerequisites | |
| run: | | |
| sudo apt-add-repository --update --yes ppa:ev3dev/tools | |
| sudo apt-get install --no-install-recommends --yes \ | |
| alsa-utils \ | |
| espeak \ | |
| ev3dev-media \ | |
| ev3dev-mocks \ | |
| libasound2-plugin-ev3dev \ | |
| libffi-dev \ | |
| libgrx-3.0-dev \ | |
| libi2c-dev \ | |
| libudev-dev \ | |
| libumockdev0 \ | |
| pkg-config \ | |
| uthash-dev \ | |
| xfonts-100dpi | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - name: Build | |
| run: make $MAKEOPTS -C bricks/ev3dev | |
| - name: Test | |
| if: ${{ success() }} | |
| run: | | |
| make $MAKEOPTS -C bricks/ev3dev test | |
| make $MAKEOPTS -C bricks/ev3dev test-ev3dev | |
| - name: List failed tests | |
| if: failure() | |
| run: micropython/tests/run-tests.py --print-failures | |
| firmware: | |
| name: firmware | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| hub: [cityhub, essentialhub, movehub, nxt, primehub, technichub] | |
| needs: [mpy_cross] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Install cross-compiler | |
| run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| fetch-depth: 0 | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - run: pipx install poetry | |
| - run: poetry install --only=stats | |
| - name: Build firmware (pull request) | |
| if: ${{ github.base_ref != null }} | |
| run: poetry run .github/build-each-commit.py ${{ matrix.hub }} ${{ github.sha }} | |
| - name: Build firmware (non-master branch) | |
| if: ${{ github.base_ref == null && github.ref != 'refs/heads/master' }} | |
| env: | |
| STORAGE_ACCOUNT: ${{ secrets.STORAGE_ACCOUNT }} | |
| STORAGE_KEY: ${{ secrets.STORAGE_KEY }} | |
| STORAGE_URL: ${{ secrets.STORAGE_URL }} | |
| FIRMWARE_SIZE_TABLE: ${{ secrets.FIRMWARE_SIZE_TABLE }} | |
| run: poetry run .github/build-each-commit.py ${{ matrix.hub }} ${{ github.ref_name }} | |
| - name: Build firmware (master branch) | |
| if: ${{ github.base_ref == null && github.ref == 'refs/heads/master' }} | |
| run: | | |
| export MICROPY_GIT_TAG=ci-build-${{ github.run_number }}-$(git describe --tags --dirty --always --exclude "@pybricks/*") | |
| export MICROPY_GIT_HASH=$(echo ${{ github.sha }} | cut -c1-8) | |
| make -C bricks/${{ matrix.hub }} | |
| - name: Extract firmware.zip for upload | |
| if: ${{ success()}} | |
| working-directory: bricks/${{ matrix.hub }}/build | |
| run: unzip firmware.zip -d upload | |
| - name: Short hash | |
| id: vars | |
| run: echo "short_sha=$(echo ${{ github.sha }} | cut -c1-8)" >> $GITHUB_OUTPUT | |
| - name: Upload firmware | |
| if: ${{ success()}} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.hub }}-firmware-build-${{ github.run_number }}-git${{ steps.vars.outputs.short_sha }} | |
| path: bricks/${{ matrix.hub }}/build/upload/* | |
| virtualhub: | |
| name: virtual hub | |
| needs: [mpy_cross] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Install depedencies | |
| run: sudo apt-get update && sudo apt-get install lcov python3-numpy --yes | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| fetch-depth: 0 | |
| - name: Checkout submodules | |
| run: | | |
| cd micropython | |
| git submodule update --init --depth 0 lib/axtls | |
| git submodule update --init --depth 0 lib/berkeley-db-1.xx | |
| git submodule update --init --depth 0 lib/libffi | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - name: Build and test | |
| run: COVERAGE=1 ./test-virtualhub.sh | |
| - name: Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| file: bricks/virtualhub/build-coverage/lcov.info | |
| flag-name: virtualhub | |
| parallel: true | |
| ev3rt: | |
| name: ev3rt uImage | |
| needs: [mpy_cross] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Install cross-compiler | |
| run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi ruby u-boot-tools | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| fetch-depth: 0 | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - name: Build | |
| run: make $MAKEOPTS -C bricks/ev3rt | |
| debug: | |
| name: debug firmware | |
| needs: [mpy_cross] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Install cross-compiler | |
| run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| fetch-depth: 0 | |
| - name: Download mpy-cross | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: mpy-cross | |
| path: micropython/mpy-cross/build | |
| - name: Fix file permission | |
| run: chmod +x micropython/mpy-cross/build/mpy-cross | |
| - name: Build | |
| run: make $MAKEOPTS -C bricks/debug build/firmware.dfu | |
| pbio: | |
| name: pbio tests | |
| runs-on: ubuntu-22.04 | |
| env: | |
| PBIO_TEST_RESULTS_DIR: lib/pbio/test/results | |
| steps: | |
| - name: Install prerequisites | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install --yes doxygen graphviz lcov | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Build | |
| run: | | |
| make $MAKEOPTS -C lib/pbio/test | |
| - name: Build docs | |
| run: | | |
| make $MAKEOPTS -C lib/pbio/doc | |
| - name: Build coverage | |
| run: | | |
| make $MAKEOPTS -C lib/pbio/test build-coverage/lcov.info | |
| - name: Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| file: lib/pbio/test/build-coverage/lcov.info | |
| flag-name: PBIO | |
| parallel: true | |
| finish: | |
| needs: [virtualhub, pbio] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| parallel-finished: true | |