Enable HardFault handler on all boards (#1055)

### Summary
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On ARM cores, when you do something very very bad an interrupt is fired
which is handled by each board's `HardFault_Handler`. When doing so, the
core's registers are pushed to the stack. The previous leads have
written some black magic to get these values viewable via a hooked up
debugger. I enabled this handler callback for all boards, because it was
previously only enabled on the BMS and DCM.

### Changelist 
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you and the reviewer keep this PR within scope. -->

Add hard fault handler to board `stm32f4xx_it.c` files.

### 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. -->

N/A, but this is only changing the PDM, FSM, and DIM with code that has
been on the BMS and DCM for months. Plus, this only caused a change in
behavior after a critical fault, so the risk is low.

### 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!*).

firmware/shared/src/io/Io_SharedHardFaultHandler.c → firmware/shared/src/hw/hw_hardFaultHandler.c

@@ -1,8 +1,8 @@
+#include "hw_hardFaultHandler.h"
 #include "hw_hal.h"
-#include "Io_SharedHardFaultHandler.h"
 #include "Io_SharedMacros.h"
 
-void Io_SharedHardFaultHandler_Init(void)
+void hw_hardFaultHandler_init(void)
 {
     // Div-by-zero exception is disabled by default and must be enabled manually
     SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
@@ -12,7 +12,7 @@ void Io_SharedHardFaultHandler_Init(void)
 // transmit the data over CAN
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
-void                   Io_SharedHardFaultHandler_LogInformation(uint32_t *fault_stack)
+void                   hw_hardFaultHandler_logInfo(uint32_t *fault_stack)
 {
     // Registers pushed onto the stack frame before entering hard fault handler
     volatile uint32_t stacked_r0;

firmware/shared/src/io/Io_SharedHardFaultHandler.h → firmware/shared/src/hw/hw_hardFaultHandler.h

@@ -13,17 +13,17 @@
 // can be stored in either MSP (main stack pointer) or PSP (process stack
 // pointer). The following assembly function determines which stack pointer was
 // used was then hard fault occured, and passes it as an argument to
-// Io_SharedHardFaultHandler_LogInformation().
+// hw_hardFaultHandler_LogInformation().
 //
 // Note: The MSP/PSP architecture is specific to the Cortex-M microcontroller
 //       family.
-#define Io_SharedHardFaultHandler_HandleHardFault()                \
+#define hw_hardFaultHandler_handleFault()                          \
     __asm volatile(" tst lr, #4                                \n" \
                    " ite eq                                    \n" \
                    " mrseq r0, msp                             \n" \
                    " mrsne r0, psp                             \n" \
                    " ldr r1, [r0, #24]                         \n" \
-                   " b Io_SharedHardFaultHandler_LogInformation   \n");
+                   " b hw_hardFaultHandler_logInfo   \n");
 
 /**
  * @brief Add the naked attributes to HardFault_Handler function declaration.
@@ -37,11 +37,11 @@ __attribute__((naked)) void HardFault_Handler(void);
  * @note  Try to call this as early as possible to catch as many exceptions as
  *        possible.
  */
-void Io_SharedHardFaultHandler_Init(void);
+void hw_hardFaultHandler_init(void);
 
 /**
  * @brief Log information that can help us identify what caused the hard fault.
  * @param fault_stack Pointer to the stack that was used when the hard fault
  *        occurred.
  */
-void Io_SharedHardFaultHandler_LogInformation(uint32_t *fault_stack);
+void hw_hardFaultHandler_logInfo(uint32_t *fault_stack);

firmware/thruna/BMS/Src/main.c

@@ -29,7 +29,7 @@
 #include "Io_CanRx.h"
 #include "Io_SharedSoftwareWatchdog.h"
 #include "Io_SharedCan.h"
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 #include "Io_StackWaterMark.h"
 #include "Io_SoftwareWatchdog.h"
 #include "Io_Imd.h"
@@ -267,7 +267,7 @@ int main(void)
     HAL_ADC_Start_DMA(&hadc1, (uint32_t *)Io_Adc_GetRawAdcValues(), hadc1.Init.NbrOfConversion);
     HAL_TIM_Base_Start(&htim13);
 
-    Io_SharedHardFaultHandler_Init();
+    hw_hardFaultHandler_init();
     Io_SharedSoftwareWatchdog_Init(Io_HardwareWatchdog_Refresh, Io_SoftwareWatchdog_TimeoutCallback);
     Io_SharedCan_Init(&hcan1, CanTxQueueOverflowCallBack, CanRxQueueOverflowCallBack);
     Io_CanTx_Init(Io_SharedCan_TxMessageQueueSendtoBack);

firmware/thruna/BMS/Src/stm32f4xx_it.c

@@ -23,7 +23,7 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -87,7 +87,7 @@ 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/thruna/DCM/Src/main.c

@@ -29,7 +29,7 @@
 #include "Io_CanTx.h"
 #include "Io_CanRx.h"
 #include "Io_SharedCan.h"
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 #include "Io_StackWaterMark.h"
 #include "Io_SoftwareWatchdog.h"
 #include "Io_SharedHeartbeatMonitor.h"
@@ -215,7 +215,7 @@ int main(void)
     // Configure and initialize SEGGER SystemView.
     SEGGER_SYSVIEW_Conf();
 
-    Io_SharedHardFaultHandler_Init();
+    hw_hardFaultHandler_init();
     Io_SharedSoftwareWatchdog_Init(Io_HardwareWatchdog_Refresh, Io_SoftwareWatchdog_TimeoutCallback);
     Io_SharedCan_Init(&hcan1, CanTxQueueOverflowCallBack, CanRxQueueOverflowCallBack);
     Io_CanTx_Init(Io_SharedCan_TxMessageQueueSendtoBack);

firmware/thruna/DCM/Src/stm32f4xx_it.c

@@ -23,7 +23,7 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -87,7 +87,7 @@ 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/thruna/DIM/src/cubemx/Src/main.c

@@ -40,7 +40,7 @@
 #include "Io_CanRx.h"
 #include "Io_SharedCan.h"
 #include "Io_SharedErrorHandlerOverride.h"
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 #include "Io_SharedHeartbeatMonitor.h"
 
 #include "io_time.h"
@@ -348,7 +348,7 @@ int main(void)
 
     SEGGER_SYSVIEW_Conf();
 
-    Io_SharedHardFaultHandler_Init();
+    hw_hardFaultHandler_init();
     Io_SharedSoftwareWatchdog_Init(io_watchdogConfig_refresh, io_watchdogConfig_timeoutCallback);
     Io_SharedCan_Init(&hcan1, CanTxQueueOverflowCallBack, CanRxQueueOverflowCallBack);
     Io_CanTx_Init(Io_SharedCan_TxMessageQueueSendtoBack);

firmware/thruna/DIM/src/cubemx/Src/stm32f4xx_it.c

@@ -23,6 +23,7 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -86,7 +87,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
     /* USER CODE BEGIN HardFault_IRQn 0 */
-
+    hw_hardFaultHandler_handleFault();
     /* USER CODE END HardFault_IRQn 0 */
     while (1)
     {

firmware/thruna/FSM/Src/main.c

@@ -35,7 +35,7 @@
 #include "Io_CanRx.h"
 #include "Io_SharedSoftwareWatchdog.h"
 #include "Io_SharedCan.h"
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 #include "Io_StackWaterMark.h"
 #include "Io_SoftwareWatchdog.h"
 #include "Io_Coolant.h"
@@ -248,7 +248,7 @@ int main(void)
     HAL_ADC_Start_DMA(&hadc1, (uint32_t *)Io_Adc_GetRawAdcValues(), hadc1.Init.NbrOfConversion);
     HAL_TIM_Base_Start(&htim3);
 
-    Io_SharedHardFaultHandler_Init();
+    hw_hardFaultHandler_init();
     Io_SharedSoftwareWatchdog_Init(Io_HardwareWatchdog_Refresh, Io_SoftwareWatchdog_TimeoutCallback);
     Io_SharedCan_Init(&hcan1, CanTxQueueOverflowCallBack, CanRxQueueOverflowCallBack);
     Io_CanTx_Init(Io_SharedCan_TxMessageQueueSendtoBack);

firmware/thruna/FSM/Src/stm32f4xx_it.c

@@ -23,6 +23,7 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -89,7 +90,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
     /* USER CODE BEGIN HardFault_IRQn 0 */
-
+    hw_hardFaultHandler_handleFault();
     /* USER CODE END HardFault_IRQn 0 */
     while (1)
     {

firmware/thruna/PDM/Src/main.c

@@ -29,7 +29,7 @@
 #include "Io_CanRx.h"
 #include "Io_SharedSoftwareWatchdog.h"
 #include "Io_SharedCan.h"
-#include "Io_SharedHardFaultHandler.h"
+#include "hw_hardFaultHandler.h"
 #include "Io_StackWaterMark.h"
 #include "Io_SoftwareWatchdog.h"
 #include "Io_VoltageSense.h"
@@ -245,7 +245,7 @@ int main(void)
     HAL_ADC_Start_DMA(&hadc1, (uint32_t *)Io_Adc_GetRawAdcValues(), hadc1.Init.NbrOfConversion);
     HAL_TIM_Base_Start(&htim3);
 
-    Io_SharedHardFaultHandler_Init();
+    hw_hardFaultHandler_init();
     Io_SharedSoftwareWatchdog_Init(Io_HardwareWatchdog_Refresh, Io_SoftwareWatchdog_TimeoutCallback);
     Io_SharedCan_Init(&hcan1, CanTxQueueOverflowCallBack, CanRxQueueOverflowCallBack);
     Io_CanTx_Init(Io_SharedCan_TxMessageQueueSendtoBack);

firmware/thruna/PDM/Src/stm32f4xx_it.c

@@ -23,6 +23,7 @@
 #include "stm32f4xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "hw_hardFaultHandler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -85,7 +86,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
     /* USER CODE BEGIN HardFault_IRQn 0 */
-
+    hw_hardFaultHandler_handleFault();
     /* USER CODE END HardFault_IRQn 0 */
     while (1)
     {