Upgrade STM32CubeMX version from 5.3.0 -> 6.9.2

.gitattributes

@@ -1,4 +1,4 @@
 # Set the default behavior, in case people don't have core.autocrlf set.	
 * text=auto
 # The STM32CubeMX installer is >100MB and must be tracked by git lfs
-environment/data/en.STM32CubeMX_v5-3-0.zip filter=lfs diff=lfs merge=lfs -text
+environment/data/en.stm32cubemx-lin-v6-9-2.zip filter=lfs diff=lfs merge=lfs -text

.github/workflows/bin-dbc-gen.yml

@@ -0,0 +1,57 @@
+name: Add Binary and DBC to Releases tab
+on:
+  push:
+    branches:
+      - master
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml # https://github.blog/changelog/2022-01-25-github-actions-reusable-workflows-can-be-referenced-locally/ God is good
+    secrets:
+      docker_token: ${{secrets.DOCKER_TOKEN}}
+    with:
+      upload_artifact: true
+  generate-dbc:
+    name: Generate CAN DBC file
+    runs-on: ubuntu-22.04
+    container:
+      image: ubcformulaelectric/environment:latest
+      credentials:
+        username: ubcformulaelectric
+        password: ${{ secrets.docker_token }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with: # TODO check if submodules are required (can be optimized away)
+          submodules: recursive
+      - name: Generate DBC
+        run: |
+          python3 scripts/code_generation/jsoncan/generate_can_from_json.py --only_dbc --can_data_dir "can_bus/json" --dbc_output "can_bus/dbcs/CanMsgs.dbc"
+      - name: Upload DBC to Artifact
+        uses: actions/upload-artifact@v2
+        with:
+          name: CanMsgs.dbc
+          path: ./can_bus/dbcs/CanMsgs.dbc
+  make-release:
+    name: Add Binaries and DBC to Release Tab
+    runs-on: ubuntu-22.04
+    needs: [build, generate-dbc]
+    steps:
+      - name: Download Binaries and DBC from Artifacts
+        uses: actions/download-artifact@v2
+      - name: Create Release
+        uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: "${{ secrets.GITHUB_TOKEN }}"
+          automatic_release_tag: "latest"
+          title: "Binaries and DBCs"
+          tag: ${{ github.sha }}
+          prerelease: false
+          files: |
+            FSM.elf
+            BMS.elf
+            DCM.elf
+            DIM.elf
+            GSM.elf
+            PDM.elf
+            CanMsgs.dbc

.github/workflows/ci.yml

@@ -68,11 +68,12 @@ jobs:
       # It fakes out a display, since STM32CubeMX throws an error if it doesn't detect a display
       - name: Generate code
         run: |
+          echo "test: $GITHUB_WORKSPACE"
           xvfb-run python3 scripts/utilities/generate_cube_code.py \
             --board ${{ matrix.board }} \
             --log4j_properties_output ~/.stm32cubemx/log4j.properties \
-            --ioc ${{ matrix.ioc_dir }}/${{ matrix.board }}.ioc \
-            --codegen_output_dir ${{ matrix.ioc_dir }} \
+            --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
@@ -86,7 +87,7 @@ jobs:
     name: Build Firmware Binaries
     uses: ./.github/workflows/build.yml # https://github.blog/changelog/2022-01-25-github-actions-reusable-workflows-can-be-referenced-locally/ God is good
     secrets:
-      docker_token: ${{secrets.DOCKER_TOKEN}}
+      docker_token: ${{ secrets.DOCKER_TOKEN }}
 
   test-thruna:
     needs: [ clang-format ]

can_bus/PcanProject.peproj

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<PCANExplorerProject Version="6.0" AppVersion="6.6.1" Name="PcanProject">
+<PCANExplorerProject Version="6.0" AppVersion="6.4.1" Name="PcanProject">
     <Connections AutoReset="0" IgnoreRTRLength="0" ProcessRTR="1">
-        <Connection Name="Connection1" Bus="1" Enabled="1" Protocol="0" SymbolsFileName="CanMsgs.dbc" BitRate="28" Connection="PCAN-USB2@pcan_usb"/>
+        <Connection Name="Connection1" Bus="1" Enabled="1" Protocol="0" SymbolsFileName="CanMsgs.dbc" BitRate="28" Connection="Car@pcan_usb"/>
     </Connections>
     <Files>
         <File RelativePath="dbcs\CanMsgs.dbc"/>

environment/Dockerfile

@@ -6,14 +6,14 @@ FROM ubuntu:22.04
 # pip: For installing python packages
 # git: For pulling external repos, invoked via cmake
 # git-lfs: Large file storage, used for saving zipped STM32CubeMX installer
-# openjdk-11-jdk: Java, required to install and run STM32CubeMX
 # xvfb: Virtual frame buffer service, mocks out a display which doesn't exist on the CI machines
 # (required to run STM32CubeMX without a GUI)
 # libncurses5: Library required by clang-format
 # valgrind: Used to check for memory leaks during x86 tests
-# openocd: Our embedded GDB server of choice
-# usbutils: USB tools (lsusb)
-# nano: Basic Unix text editor
+# libgtk-3-0: Random library required for running STM32CubeMX in container
+# libxi6: Random library required for running STM32CubeMX V6 in container
+# libxtst6: Random library required for running STM32CubeMX V6 in container
+# libxrender1: Random library required for running STM32CubeMX V6 in container
 RUN apt update -y && apt install -y \
     wget \
     unzip \
@@ -23,14 +23,13 @@ RUN apt update -y && apt install -y \
     xvfb \
     libncurses5 \
     valgrind \
+    libgtk-3-0 \
+    libxi6 \
+    libxtst6 \
+    libxrender1
 
 COPY . /root/environment/
 
-# Install SEGGER JLink tools.
-WORKDIR /root/environment/data
-RUN mkdir /opt/SEGGER
-RUN tar -xf JLink_Linux_V792c_x86_64.tgz -C /opt/SEGGER
-
 # Install python package dependencies.
 WORKDIR /root/environment/scripts
 RUN pip3 install -r ../requirements.txt
@@ -39,12 +38,8 @@ RUN pip3 install -r ../requirements.txt
 RUN /bin/sh install_gcc_arm_none_eabi.sh /usr/local
 
 # Install STM32CubeMX for auto-generating code.
-RUN python3 install_stm32cubemx.py --install-dir /usr/local/STM32CubeMX --cube-zip ../data/en.STM32CubeMX_v5-3-0.zip
+RUN python3 install_stm32cubemx.py --install-dir /usr/local/STM32CubeMX --cube-zip ../data/en.stm32cubemx-lin-v6-9-2.zip
 
 # Cleanup copied directory.
 WORKDIR /root/
 RUN rm -rf environment
-
-# Environment variable "force_color_prompt" needs to be set to "yes" to get colored output in shell.
-# Hacky fix since we currently don't volume the bashrc, append the line "force_color_prompt=yes" to the top of root's bashrc.
-RUN sed -i '1s/^/force_color_prompt=yes\n\n/' /root/.bashrc

environment/run_container.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# CI container image.
+IMAGE="ubcformulaelectric/environment:latest"
+
+# Check if the image exists locally.
+if [[ "$(docker images -q ${IMAGE} 2> /dev/null)" == "" ]]; then
+  echo "Image '${IMAGE}' not found locally. Pulling from repository..."
+
+  # Pull the image from the repository.
+  docker pull ${IMAGE}
+
+  # Check if the pull was successful.
+  if [[ $? -eq 0 ]]; then
+    echo "Image pulled successfully."
+  else
+    echo "Failed to pull the image."
+    exit 1
+  fi
+else
+  echo "Image '${IMAGE}' found locally."
+fi
+
+ENVIRONMENT_DIR="$(cd "$(dirname "$0")" && pwd)" # Directory of this script
+REPO_ROOT_DIR="${ENVIRONMENT_DIR}/.." # Path to repo root
+CONTAINER_MOUNT_DIR="/root/Consolidated-Firmware" # Directory in container to mount repo
+
+# Run container, and mount local repo.
+docker run \
+    --rm \
+    -it \
+    --mount type=bind,source=${REPO_ROOT_DIR},target=${CONTAINER_MOUNT_DIR} \
+    ${IMAGE} \
+    bash

environment/scripts/install_stm32cubemx.py

@@ -6,7 +6,7 @@
 import argparse
 import subprocess
 
-CUBE_AUTO_INSTALL_XML = '''\
+CUBE_AUTO_INSTALL_XML = """\
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <AutomatedInstallation langpack="eng">
     <com.st.microxplorer.install.MXHTMLHelloPanel id="readme"/>
@@ -19,14 +19,16 @@
     <com.st.microxplorer.install.MXInstallPanel id="install.panel"/>
     <com.st.microxplorer.install.MXFinishPanel id="finish.panel"/>
 </AutomatedInstallation>
-'''
+"""
+
 
 def _isWindows():
     """
     Check if the operating system is Windows
     :return: True if using Windows, false otherwise
     """
-    return os.name == 'nt'
+    return os.name == "nt"
+
 
 def install_stm32cubemx(install_dir, installer_zip):
     """
@@ -36,58 +38,65 @@ def install_stm32cubemx(install_dir, installer_zip):
     @param installer_zip: STM32CubeMX installer zip file
     """
     # Return early if the installer extension is not we expect
-    installer_extension = '.zip'
+    installer_extension = ".zip"
     if not installer_zip.lower().endswith(installer_extension):
-        raise Exception('Expect: STM32CubeMX installer ({}) => Actual: {}'.format(installer_extension, installer_zip))
+        raise Exception(
+            f"Expect: STM32CubeMX installer ({installer_extension}) => Actual: {installer_zip}"
+        )
+
+    # Extract STM32CubeMX
+    extract_dir = os.path.join("/tmp", "STM32CubeMXSetup")
+    child = subprocess.Popen(["unzip", "-o", installer_zip, "-d", extract_dir])
+    child.wait()
+    if child.returncode != 0:
+        raise Exception(f"Failed to unzip {installer_zip}")
 
-    # Generate output folder if they don't exist already
-    auto_install_xml_dir = os.path.join('.', 'auto_generated')
+    # Generate output folder for autogenerated install XML if it doesn't exist already
+    auto_install_xml_dir = os.path.join(extract_dir, "auto_generated")
     if not os.path.exists(auto_install_xml_dir):
         os.mkdir(auto_install_xml_dir)
 
     # Generate .xml that specifies the STM32CubeMX installation path
-    auto_install_xml = os.path.join(auto_install_xml_dir, 'cube-auto-install.xml')
-    auto_install_xml_f = open(auto_install_xml, 'w')
+    auto_install_xml = os.path.join(auto_install_xml_dir, "cube-auto-install.xml")
+    auto_install_xml_f = open(auto_install_xml, "w")
     auto_install_xml_f.write(CUBE_AUTO_INSTALL_XML.format(CUBE_INSTALL_DIR=install_dir))
     auto_install_xml_f.close()
 
-    # Extract STM32CubeMX
-    extract_dir = os.path.join('/tmp', 'STM32CubeMXSetup')
-    child = subprocess.Popen(['unzip', '-o', installer_zip, '-d', extract_dir])
-    child.wait()
-    if child.returncode is not 0:
-        Exception('Failed to unzip {}'.format(installer_zip))
-
     # Find STM32CubeMX installer
-    cube_installer = ''
-    cube_installer_extension = '.exe'
+    cube_installer = None
     for f in os.listdir(extract_dir):
-        if f.endswith(cube_installer_extension):
+        if f.startswith("SetupSTM32CubeMX"):
             cube_installer = os.path.join(extract_dir, f)
-    if cube_installer == '':
-        Exception('Did not find a STM32CubeMX installer ({})'.format(cube_installer_extension))
+
+    if cube_installer == None:
+        raise Exception(f"Did not find a STM32CubeMX installer ({extract_dir})")
 
     # Run STM32CubeMX installer
-    child = subprocess.Popen(['java', '-jar', cube_installer, auto_install_xml_f.name])
+    installer_dir = os.path.dirname(cube_installer)
+    installer_bin = os.path.basename(cube_installer)
+    child = subprocess.Popen(
+        [f"./{installer_bin}", auto_install_xml_f.name], cwd=installer_dir
+    )
     child.wait()
-    if child.returncode is not 0:
-        Exception('Failed to install {}'.format(installer_zip))
+    if child.returncode != 0:
+        raise Exception(f"Failed to install {installer_zip}")
 
     try:
         if _isWindows():
             subprocess.call(["where", "STM32CubeMX"])
         else:
             subprocess.call(["which", "STM32CubeMX"])
     except OSError as e:
-        Exception('Could not verifiy that STM32CubeMX was installed correctly...' )
+        raise Exception("Could not verifiy that STM32CubeMX was installed correctly...")
+
+    print("Verified that STM32CubeMX was installed correctly!")
 
-    print('Verified that STM32CubeMX was installed correctly!')
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     # Parse arguments
     parser = argparse.ArgumentParser()
-    parser.add_argument('--install-dir', help='STM32CubeMX installation directory')
-    parser.add_argument('--cube-zip', help='STM32CubeMX installer zip')
+    parser.add_argument("--install-dir", help="STM32CubeMX installation directory")
+    parser.add_argument("--cube-zip", help="STM32CubeMX installer zip")
     args = parser.parse_args()
 
     install_stm32cubemx(args.install_dir, args.cube_zip)

firmware/CMakeLists.txt

@@ -6,7 +6,7 @@ if(NOT STM32CUBEMX_BIN_PATH)
     elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
         set(STM32CUBEMX_BIN_PATH "/Applications/STMicroelectronics/STM32CubeMX.app/Contents/MacOs/STM32CubeMX")
     else()
-        set(STM32CUBEMX_BIN_PATH /usr/local/STM32CubeMX/STM32CubeMX)
+        set(STM32CUBEMX_BIN_PATH "/usr/local/STM32CubeMX/STM32CubeMX")
     endif()
 endif()
 

firmware/shared/src/io/Io_SharedHeartbeatMonitor.c

@@ -3,5 +3,5 @@
 
 uint32_t Io_SharedHeartbeatMonitor_GetCurrentMs(void)
 {
-    return osKernelSysTick() * portTICK_RATE_MS;
+    return osKernelGetTickCount() * portTICK_RATE_MS;
 }

firmware/shared/src/io/Io_SharedSoftwareWatchdog.c

@@ -96,7 +96,7 @@ void Io_SharedSoftwareWatchdog_CheckForTimeouts(void)
         if (sw_watchdog_table.watchdogs[i].initialized == false)
             continue;
 
-        if (osKernelSysTick() >= sw_watchdog_table.watchdogs[i].deadline)
+        if (osKernelGetTickCount() >= sw_watchdog_table.watchdogs[i].deadline)
         {
             // Check if the check-in status is set
             if (sw_watchdog_table.watchdogs[i].check_in_status == true)

firmware/shared/src/io/io_time.c

@@ -3,5 +3,5 @@
 
 uint32_t io_time_getCurrentMs(void)
 {
-    return osKernelSysTick() * portTICK_RATE_MS;
+    return osKernelGetTickCount() * portTICK_RATE_MS;
 }