path: root/.github/workflows/build_cmake.yml

name: Build CMake

on:
  workflow_dispatch:
  push:
    paths:
      - 'src/**'
      - 'examples/**'
      - 'lib/**'
      - 'hw/**'
      - 'test/hil/**'
      - 'tools/get_deps.py'
      - '.github/workflows/build_cmake.yml'
  pull_request:
    branches: [ master ]
    paths:
      - 'src/**'
      - 'examples/**'
      - 'lib/**'
      - 'hw/**'
      - 'test/hil/**'
      - 'tools/get_deps.py'
      - '.github/workflows/build_cmake.yml'

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # ---------------------------------------
  # Build ARM with GCC
  # ---------------------------------------
  arm-gcc:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        family:
          # Alphabetical order
          - 'broadcom_32bit'
          - 'imxrt'
          - 'kinetis_k kinetis_kl kinetis_k32l2'
          - 'lpc11 lpc13 lpc15'
          - 'lpc17 lpc18 lpc40 lpc43'
          - 'lpc51 lpc54 lpc55'
          - 'mcx'
          - 'msp432e4'
          - 'mm32'
          - 'nrf'
          - 'ra'
          - 'rp2040'
          - 'samd11 samd21 saml2x samd5x_e5x samg'
          - 'stm32f0'
          - 'stm32f1'
          - 'stm32f2'
          - 'stm32f3'
          - 'stm32f4'
          - 'stm32f7'
          - 'stm32g0'
          - 'stm32g4'
          - 'stm32h5'
          - 'stm32h7'
          - 'stm32l4'
          - 'stm32u5'
          - 'stm32wb'
          - 'tm4c'
          - 'xmc4000'
    steps:
    - name: Setup Python
      uses: actions/setup-python@v5
      with:
        python-version: '3.x'

    - name: Install ARM GCC
      uses: carlosperate/arm-none-eabi-gcc-action@v1
      with:
        release: '12.3.Rel1'

    - name: Checkout TinyUSB
      uses: actions/checkout@v4

    - name: Checkout pico-sdk for rp2040
      if: matrix.family == 'rp2040'
      uses: actions/checkout@v4
      with:
        repository: raspberrypi/pico-sdk
        ref: develop
        path: pico-sdk

    - name: Get Dependencies
      run: |
        sudo apt install -y ninja-build
        python3 tools/get_deps.py ${{ matrix.family }}

    - name: Build
      run: python tools/build_cmake.py ${{ matrix.family }}
      env:
        PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk

    - name: Upload Artifacts for Hardware Testing (rp2040)
      if: contains(matrix.family, 'rp2040') && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: raspberry_pi_pico
        path: |
          cmake-build/cmake-build-raspberry_pi_pico/*/*/*.elf

    - name: Upload Artifacts for Hardware Testing (nRF)
      if: contains(matrix.family, 'nrf') && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: feather_nrf52840_express
        path: |
          cmake-build/cmake-build-feather_nrf52840_express/*/*/*.elf

    - name: Upload Artifacts for Hardware Testing (samd51)
      if: contains(matrix.family, 'samd5x_e5x') && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: itsybitsy_m4
        path: |
          cmake-build/cmake-build-itsybitsy_m4/*/*/*.bin

  # ---------------------------------------
  # Build ARM with Clang
  # ---------------------------------------
  arm-clang:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        family:
          # Alphabetical order
          - 'imxrt'
          - 'kinetis_k kinetis_kl'
          - 'lpc17 lpc18 lpc40 lpc43'
          - 'lpc54 lpc55'
          #- 'mcx' not working with gcc anymore, need to fix this first
          - 'nrf'
          #- 'ra' port later
          #- 'rp2040' port later
          - 'samd21'
          - 'samd5x_e5x'
          - 'stm32f0'
          - 'stm32f1'
          - 'stm32f2'
          - 'stm32f3'
          - 'stm32f4'
          - 'stm32f7'
          - 'stm32g0'
          - 'stm32g4'
          - 'stm32h5'
          - 'stm32h7'
          - 'stm32l4'
          - 'stm32u5'
    steps:
      - name: Setup Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.x'

      - name: Checkout TinyUSB
        uses: actions/checkout@v4

      - name: Checkout pico-sdk for rp2040
        if: matrix.family == 'rp2040'
        uses: actions/checkout@v4
        with:
          repository: raspberrypi/pico-sdk
          ref: develop
          path: pico-sdk

      - name: Set Toolchain URL
        run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-17.0.1/LLVMEmbeddedToolchainForArm-17.0.1-Linux-x86_64.tar.xz

      - name: Cache Toolchain
        uses: actions/cache@v4
        id: cache-toolchain
        with:
          path: ~/cache/
          key: ${{ runner.os }}-24-04-17-${{ env.TOOLCHAIN_URL }}

      - name: Install Toolchain
        if: steps.cache-toolchain.outputs.cache-hit != 'true'
        run: |
          mkdir -p ~/cache/toolchain
          wget --progress=dot:mega $TOOLCHAIN_URL -O toolchain.tar.xz
          tar -C ~/cache/toolchain -xaf toolchain.tar.xz

      - name: Prepare to build
        run: |
          echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
          sudo apt install -y ninja-build
          python3 tools/get_deps.py ${{ matrix.family }}

      - name: Build
        run: python tools/build_cmake.py ${{ matrix.family }} -DTOOLCHAIN=clang
        env:
          PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk

  # ---------------------------------------
  # Build MSP430 with GCC
  # ---------------------------------------
  msp430-gcc:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        family:
          # Alphabetical order
          - 'msp430'
    steps:
      - name: Setup Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.x'

      - name: Checkout TinyUSB
        uses: actions/checkout@v4

      - name: Set Toolchain URL
        run: echo >> $GITHUB_ENV TOOLCHAIN_URL=http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2

      - name: Cache Toolchain
        uses: actions/cache@v4
        id: cache-toolchain
        with:
          path: ~/cache/
          key: ${{ runner.os }}-24-04-17-${{ env.TOOLCHAIN_URL }}

      - name: Install Toolchain
        if: steps.cache-toolchain.outputs.cache-hit != 'true'
        run: |
          mkdir -p ~/cache/toolchain
          wget --progress=dot:mega $TOOLCHAIN_URL -O toolchain.tar.bz2
          tar -C ~/cache/toolchain -xaf toolchain.tar.bz2

      - name: Prepare to build
        run: |
          echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
          sudo apt install -y ninja-build
          python3 tools/get_deps.py ${{ matrix.family }}

      - name: Build
        run: python tools/build_cmake.py ${{ matrix.family }}

  # ---------------------------------------
  # Hardware in the loop (HIL)
  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
  # ---------------------------------------
  hil-test:
    # run only with hathach's commit due to limited resource on RPI4
    if: github.repository_owner == 'hathach'
    needs: arm-gcc
    runs-on: [self-hosted, rp2040, nrf52840, hardware-in-the-loop]
    strategy:
      fail-fast: false
      matrix:
        board:
          - 'feather_nrf52840_express'
          - 'itsybitsy_m4'
          - 'raspberry_pi_pico'
    steps:
      - name: Clean workspace
        run: |
          echo "Cleaning up previous run"
          rm -rf "${{ github.workspace }}"
          mkdir -p "${{ github.workspace }}"

        # USB bus on rpi4 is not stable, reset it before testing
      - name: Reset USB bus
        run: |
          lsusb
          lsusb -t
          # reset VIA Labs 2.0 hub
          sudo usbreset 001/002

          # legacy code
          #for port in $(lspci | grep USB | cut -d' ' -f1); do
          #    echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
          #    sleep 0.1;
          #    echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
          #done

      - name: Checkout test/hil
        uses: actions/checkout@v4
        with:
          sparse-checkout: test/hil

      - name: Download Artifacts
        uses: actions/download-artifact@v4
        with:
          name: ${{ matrix.board }}
          path: cmake-build/cmake-build-${{ matrix.board }}

      - name: Test on actual hardware
        run: |
          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json