Continuous Integration

Four workflows live in .github/workflows/. Firmware CI runs the same scripts/build.sh that developers run, inside a container built from Dockerfile.arm-gnu.

What Gets Built

ci.json at the repo root is the build matrix:

[
    "src/tests/serial",
    "src/tests/logger",
    "src/bmc",
    "src/pdlb",
    "src/abs"
]

Each entry is built at both Debug and Release, so ten builds per run, with fail-fast: false.

`ci.yml`

Three jobs, the latter two running inside the arm-gnu container:

Job	What it does
`generate-test-matrix`	reads `ci.json` into a job output
`style`	`uv sync --project tools --locked`, then `./scripts/style.sh --format --lint`
`test-build`	the `dir` x `preset` matrix, calling `./scripts/build.sh`

The style job runs in check-only mode, so formatting problems fail rather than being fixed. Run ./scripts/style.sh --format --lint --fix locally before pushing.

Checkout uses submodules: recursive, which build.sh requires.

`docker.yml`

A reusable workflow that builds and publishes ghcr.io/<repo>/arm-gnu. It rebuilds only when Dockerfile.arm-gnu or the workflow itself changed, and is skipped entirely for fork PRs.

Dockerfile.arm-gnu is the single version pin for two tools:

FROM ghcr.io/astral-sh/uv:0.12.8 AS uv

ENV ARM_GNU_LINK=https://.../arm-gnu-toolchain-14.3.rel1-x86_64-arm-none-eabi.tar.xz

The FROM ... AS uv stage exists specifically so Dependabot, which parses only FROM lines, can bump the uv pin. site.yml greps that same line to keep its setup-uv in sync, and ansible/tasks/uv.yml greps it to converge a developer's uv to the same version.

The image carries cmake, ninja, uv and the ARM toolchain, plus clang-format and shellcheck for the style job. It deliberately has no CubeCLT and no STM32_Programmer_CLI -- CI never flashes.

`release.yml`

Manually triggered with a semver tag. This is the one place CMake is invoked without a preset, because it builds the dbc target for the host rather than the MCU:

cmake -S ./lib/dbc -B ./lib/dbc/build \
  -DVENV_PYTHON=$(pwd)/tools/.venv/bin/python \
  -DTOOLS_DIR=$(pwd)/tools
cmake --build ./lib/dbc/build --target dbc

tools/CMakeLists.txt is never added on this path, so VENV_PYTHON and TOOLS_DIR are injected by hand and lib/dbc/CMakeLists.txt fabricates a no-op python_env_ready target to stand in.

The generated headers are packaged with lib/dbc/release.CMakeLists.txt into mrover_can.tar.gz, so consumers get an INTERFACE target over pre-generated headers with no Python, no cantools and no submodule.

`site.yml`

Builds and deploys these docs. See Maintaining Documentation.