Track .ioc checksums to remove code generation from CI (#1087)

### Summary
<!-- Quick summary of changes, optional -->

We currently re-generate STM32CubeMX code during CI, which is flaky and
slow. This is because the binary builds depend on a checksum of the
`.ioc` files, which are generated during STM32CubeMX code generation.
These are currently git ignored, forcing code regeneration in CI.

However, we can instead track the checksums, and add a new job to verify
the `.ioc` matches the tracked checksum. This gives us the best of both
worlds:
- We can verify that the `.ioc` file is up to date with the code
generated by STM32CubeMX by comparing the checksums. If they don't
match, you will need to re-generate code locally.
- CI is fast.

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->

- Track `.ioc` MD5 checksums
- Add H7 dev board (I forgot to do this before whoops)

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->

### Resolved Issues
<!-- Link any issues that this PR resolved like so: `Resolves #1, #2,
and #5` (Note: Using this format, Github will automatically close the
issue(s) when this PR is merged in). -->

### Checklist
*Please change `[ ]` to `[x]` when you are ready.*
- [x] I have read and followed the code conventions detailed in
[README.md](../README.md) (*This will save time for both you and the
reviewer!*).
- [x] If this pull request is longer then **500** lines, I have provided
*explicit* justification in the summary above explaining why I *cannot*
break this up into multiple pull requests (*Small PR's are faster and
less painful for everyone involved!*).

.github/workflows/ci.yml

@@ -50,6 +50,8 @@ jobs:
             ioc_dir: firmware/thruna/BMS
           - board: f4dev
             ioc_dir: firmware/dev/f4dev/src/cubemx
+          - board: h7dev
+            ioc_dir: firmware/dev/h7dev/src/cubemx
 
     container:
       image: ubcformulaelectric/environment:latest
@@ -66,20 +68,15 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      # xvfb-run is required to prefix any commands that run STM32CubeMX
-      # It fakes out a display, since STM32CubeMX throws an error if it doesn't detect a display
-      - name: Generate code
+      # To ensure that the generated STM32CubeMX code is up to date with the .ioc file, we 
+      # we also generate a checksum from the .ioc file when code is generated during builds.
+      # During CI, we re-generate the checksum. If it matches, then the code is up to date, 
+      # otherwise, you need to re-generate STM32CubeMX code locally.
+      - name: Generate checksum
         run: |
-          echo "test: $GITHUB_WORKSPACE"
-          xvfb-run python3 scripts/utilities/generate_cube_code.py \
-            --board ${{ matrix.board }} \
-            --log4j_properties_output ~/.stm32cubemx/log4j.properties \
-            --ioc $GITHUB_WORKSPACE/${{ matrix.ioc_dir }}/${{ matrix.board }}.ioc \
-            --codegen_output_dir $GITHUB_WORKSPACE/${{ matrix.ioc_dir }} \
-            --cube_bin /usr/local/STM32CubeMX/STM32CubeMX
-
-      - name: Fix formatting
-        run: python3 scripts/clang_format/fix_formatting.py
+          python3 scripts/utilities/generate_md5_checksum.py \
+            $GITHUB_WORKSPACE/${{ matrix.ioc_dir }}/${{ matrix.board }}.ioc \
+            $GITHUB_WORKSPACE/${{ matrix.ioc_dir }}/${{ matrix.board }}.ioc.md5
 
       - name: Check for differences
         run: git --no-pager diff --color --exit-code
@@ -98,6 +95,7 @@ jobs:
           - DCM
           - DIM
           - f4dev
+          - h7dev
     container:
       image: ubcformulaelectric/environment:latest
       credentials:
@@ -133,7 +131,7 @@ jobs:
         password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
-      BUILD_DIR: build_x86
+      BUILD_DIR: build_fw_test
 
     steps:
 
@@ -168,7 +166,7 @@ jobs:
         password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
-      BUILD_DIR: build_x86
+      BUILD_DIR: build_fw_test
 
     steps:
       # Fix to ensure that commands like git status work in child directories 
@@ -202,7 +200,7 @@ jobs:
         password: ${{ secrets.DOCKER_TOKEN }}
 
     env:
-      BUILD_DIR: build_x86
+      BUILD_DIR: build_fw_test
 
     steps:
       # Fix to ensure that commands like git status work in child directories 

.github/workflows/master_cd.yml

@@ -27,6 +27,8 @@ jobs:
             build_dir: firmware/thruna/BMS/BMS.elf
           - board: f4dev
             build_dir: firmware/dev/f4dev/f4dev.elf
+          - board: h7dev
+            build_dir: firmware/dev/f4dev/h7dev.elf
     container:
       image: ubcformulaelectric/environment:latest
       credentials:
@@ -72,7 +74,7 @@ jobs:
         uses: ./.github/actions/push_release
         with:
           # https://github.com/actions/download-artifact#download-all-artifacts
-          files: "FSM.elf/FSM.elf BMS.elf/BMS.elf DCM.elf/DCM.elf DIM.elf/DIM.elf PDM.elf/PDM.elf f4dev.elf/f4dev.elf CanMsgs.dbc/CanMsgs.dbc"
+          files: "FSM.elf/FSM.elf BMS.elf/BMS.elf DCM.elf/DCM.elf DIM.elf/DIM.elf PDM.elf/PDM.elf f4dev.elf/f4dev.elf h7dev.elf/h7dev.elf CanMsgs.dbc/CanMsgs.dbc"
           latest: true
           title: "Stable Binaries and DBCs"
           body: "This release contains the latest stable binaries and DBCs."

.gitignore

@@ -101,7 +101,6 @@ cmake-build-*
 *.l1p
 *.l2p
 *.iex
-*.md5
 
 # STM32CubeMX
 .mxproject

.vscode/cmake-variants.yaml

@@ -1,5 +1,5 @@
 platform:
-    default: arm
+    default: firmware_deploy
     choices:
         firmware_deploy:
             short: Firmware Deploy

firmware/dev/f4dev/src/cubemx/f4dev.ioc.md5

@@ -0,0 +1 @@
+eeda1272ba9532f2df9a7512c39e8643

firmware/dev/h7dev/src/cubemx/Src/main.c

@@ -23,6 +23,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "string.h"
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -109,6 +110,8 @@ int main(void)
     /* USER CODE BEGIN 2 */
     // __HAL_DBGMCU_FREEZE_IWDG();
 
+    hw_hardFaultHandler_handleFault();
+
     // Configure and initialize SEGGER SystemView.
     SEGGER_SYSVIEW_Conf();
     /* USER CODE END 2 */

firmware/dev/h7dev/src/cubemx/Src/stm32h7xx_it.c

@@ -22,7 +22,7 @@
 #include "stm32h7xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -86,7 +86,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
     /* USER CODE BEGIN HardFault_IRQn 0 */
-    Io_SharedHardFaultHandler_HandleHardFault();
+    hw_hardFaultHandler_handleFault();
     /* USER CODE END HardFault_IRQn 0 */
     while (1)
     {

firmware/dev/h7dev/src/cubemx/h7dev.ioc.md5

@@ -0,0 +1 @@
+3c0783d07b4f61d0b1f0c73c7592fcca

firmware/thruna/BMS/BMS.ioc.md5

@@ -0,0 +1 @@
+07584c0edf7569aaf2d92d1a4cfd039c

firmware/thruna/DCM/DCM.ioc.md5

@@ -0,0 +1 @@
+d260ccc38dd514961b5318c4a6b673e3

firmware/thruna/DIM/src/cubemx/DIM.ioc.md5

@@ -0,0 +1 @@
+bb13c45725652542bc8d2e080e9b0a06

firmware/thruna/FSM/FSM.ioc.md5

@@ -0,0 +1 @@
+66b685c1e9c81840c30fa4a2e30cf328

firmware/thruna/PDM/PDM.ioc.md5

@@ -0,0 +1 @@
+4def9a455a9cc19cb897bc45ccee1923