Commit Info for Bootloaders (#1263)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->
- Adds commit info message to bootloader.
- Generates JSONCAN for bootloader
- GraphVIZ configs for CMake

### 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 Tickets
<!-- Link any tickets that this PR resolves. -->

CMakeGraphVizOptions.cmake

@@ -0,0 +1 @@
+set(GRAPHVIZ_CUSTOM_TARGETS TRUE)

can_bus/quadruna/Boot/Boot_tx.json

@@ -1,56 +1,92 @@
 {
-  "VC": {
-    "msg_id": 1219,
-    "cycle_time": 100,
-    "signals": {
-      "VC_Status": {
-        "enum": "BootStatus"
-      }
+    "VC": {
+        "msg_id": 1219,
+        "cycle_time": 100,
+        "signals": {
+            "VC_Hash": {
+                "bits": 32
+            },
+            "VC_Clean": {
+                "bits": 1
+            },
+            "VC_Status": {
+                "enum": "BootStatus"
+            }
+        }
+    },
+    "BMS": {
+        "msg_id": 1209,
+        "cycle_time": 100,
+        "signals": {
+            "BMS_Hash": {
+                "bits": 32
+            },
+            "BMS_Clean": {
+                "bits": 1
+            },
+            "BMS_Status": {
+                "enum": "BootStatus"
+            }
+        }
+    },
+    "RSM": {
+        "msg_id": 1239,
+        "cycle_time": 100,
+        "signals": {
+            "RSM_Hash": {
+                "bits": 32
+            },
+            "RSM_Clean": {
+                "bits": 1
+            },
+            "RSM_Status": {
+                "enum": "BootStatus"
+            }
+        }
+    },
+    "FSM": {
+        "msg_id": 1229,
+        "cycle_time": 100,
+        "signals": {
+            "FSM_Hash": {
+                "bits": 32
+            },
+            "FSM_Clean": {
+                "bits": 1
+            },
+            "FSM_Status": {
+                "enum": "BootStatus"
+            }
+        }
+    },
+    "CRIT": {
+        "msg_id": 1249,
+        "cycle_time": 100,
+        "signals": {
+            "CRIT_Hash": {
+                "bits": 32
+            },
+            "CRIT_Clean": {
+                "bits": 1
+            },
+            "CRIT_Status": {
+                "enum": "BootStatus"
+            }
+        }
+    },
+    "H7Dev": {
+        "msg_id": 1309,
+        "cycle_time": 100,
+        "signals": {
+            "H7Dev_Hash": {
+                "bits": 32
+            },
+            "H7Dev_Clean": {
+                "bits": 1
+            },
+            "H7Dev_Status": {
+                "enum": "BootStatus"
+            }
+        }
     }
-  },
-  "BMS": {
-    "msg_id": 1209,
-    "cycle_time": 100,
-    "signals": {
-      "BMS_Status": {
-        "enum": "BootStatus"
-      }
-    }
-  },
-  "RSM": {
-    "msg_id": 1239,
-    "cycle_time": 100,
-    "signals": {
-      "RSM_Status": {
-        "enum": "BootStatus"
-      }
-    }
-  },
-  "FSM": {
-    "msg_id": 1229,
-    "cycle_time": 100,
-    "signals": {
-      "FSM_Status": {
-        "enum": "BootStatus"
-      }
-    }
-  },
-  "CRIT": {
-    "msg_id": 1249,
-    "cycle_time": 100,
-    "signals": {
-      "CRIT_Status": {
-        "enum": "BootStatus"
-      }
-    }
-  },
-  "H7Dev": {
-    "msg_id": 1309,
-    "cycle_time": 100,
-    "signals": {
-      "H7Dev_Status": {
-        "enum": "BootStatus"
-      }
-    }
-  }
 }

can_bus/quadruna/VC/VC_rx.json

@@ -25,6 +25,7 @@
         "INVR_InternalStates",
         "INVR_MotorPositionInfo",
         "INVR_Temperatures3",
-        "RSM_Vitals"
+        "RSM_Vitals",
+        "Boot_VC"
     ]
 }

firmware/boot/bootloader.c

@@ -13,6 +13,7 @@
 #include "hw_crc.h"
 #include "main.h"
 #include "hw_gpio.h"
+#include "app_commitInfo.h"
 
 extern CRC_HandleTypeDef hcrc;
 extern TIM_HandleTypeDef htim6;
@@ -235,8 +236,12 @@ _Noreturn void bootloader_runTickTask(void)
     for (;;)
     {
         // Broadcast a message at 1Hz so we can check status over CAN.
-        CanMsg status_msg  = { .std_id = STATUS_10HZ_ID, .dlc = 1 };
-        status_msg.data[0] = (uint8_t)verifyAppCodeChecksum();
+        CanMsg status_msg  = { .std_id = STATUS_10HZ_ID, .dlc = 5 };
+        status_msg.data[0] = (uint8_t)((0x000000ff & GIT_COMMIT_HASH) >> 0);
+        status_msg.data[1] = (uint8_t)((0x0000ff00 & GIT_COMMIT_HASH) >> 8);
+        status_msg.data[2] = (uint8_t)((0x00ff0000 & GIT_COMMIT_HASH) >> 16);
+        status_msg.data[3] = (uint8_t)((0xff000000 & GIT_COMMIT_HASH) >> 24);
+        status_msg.data[4] = (uint8_t)(verifyAppCodeChecksum() << 1) | GIT_COMMIT_CLEAN;
         io_can_pushTxMsgToQueue(&status_msg);
 
         bootloader_boardSpecific_tick();

firmware/cmake/shared.cmake

@@ -27,6 +27,7 @@ function(commit_info_library
             "${ARM_CORE}"
             FALSE
         )
+        target_include_directories("${LIB_NAME}" PUBLIC "${COMMIT_INFO_INCLUDE_DIR}")
     elseif("${TARGET}" STREQUAL "test")
         get_filename_component(HEADER_DIR "${HEADER_OUTPUT_PATH}" DIRECTORY)
         add_library(
@@ -35,4 +36,35 @@ function(commit_info_library
         )
         target_include_directories("${LIB_NAME}" PUBLIC "${HEADER_DIR}")
     endif()
+endfunction()
+
+# Generates library ${CAR}_${BOARD}_jsoncan
+function(jsoncan_embedded_library BOARD CAR JSONCAN_DIR ARM_CORE)
+    jsoncan_sources(
+            ${BOARD}
+            ${JSONCAN_DIR}
+            TRUE
+            ${CAR}
+    )
+    embedded_library(
+            "${CAR}_${BOARD}_jsoncan"
+            "${CAN_SRCS}"
+            "${CAN_INCLUDE_DIRS}"
+            "${ARM_CORE}"
+            TRUE
+    )
+endfunction()
+
+function(jsoncan_library BOARD CAR JSONCAN_DIR)
+    jsoncan_sources(
+            ${BOARD}
+            "${JSONCAN_DIR}"
+            FALSE
+            ${CAR}
+    )
+    add_library(
+            "${CAR}_${BOARD}_jsoncan" STATIC
+            "${CAN_SRCS}"
+    )
+    target_include_directories("${CAR}_${BOARD}_jsoncan" PUBLIC "${CAN_INCLUDE_DIRS}")
 endfunction()