Merge branch 'main' into fix_lightning_sensor

Author: dnakhooda

.github/workflows/format-check.yml

@@ -7,9 +7,7 @@ jobs:
     name: Check format of C
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: recursive
+    - uses: actions/checkout@v6
     - name: Run clang-format style check for C/C++ sources
       uses: Northeastern-Electric-Racing/clang-format-action@main
       with:

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "dev/OpenOCD"]
+	path = dev/OpenOCD
+	url = https://github.com/STMicroelectronics/OpenOCD

dev/.clang-format-ignore

@@ -0,0 +1 @@
+OpenOCD/*

dev/.dockerignore

@@ -0,0 +1 @@
+Dockerfile

dev/Dockerfile

@@ -10,7 +10,6 @@ RUN apt-get update && apt-get install -y \
     build-essential \
     wget \
     curl \
-    openocd \
     git \
     gdb-multiarch \
     minicom \
@@ -26,16 +25,17 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     ruby
 
+
 RUN wget https://github.com/renode/renode/releases/download/v1.15.3/renode-1.15.3.linux-portable.tar.gz
-RUN mkdir renode_portable && tar -xvf renode-*.linux-portable.tar.gz -C renode_portable --strip-components=1
+RUN mkdir renode_portable && tar -xvf renode-*.linux-portable.tar.gz -C renode_portable --strip-components=1 && rm renode-*.linux-portable.tar.gz
 ENV PATH $PATH:/renode_portable
 
 RUN wget https://github.com/ThrowTheSwitch/CMock/archive/refs/tags/v2.6.0.tar.gz -O cmock.tar.gz
-RUN mkdir cmock_portable && tar -xvf cmock.tar.gz -C cmock_portable --strip-components=1
+RUN mkdir cmock_portable && tar -xvf cmock.tar.gz -C cmock_portable --strip-components=1 && rm cmock.tar.gz
 ENV PATH $PATH:/cmock_portable
 
 RUN wget https://github.com/ThrowTheSwitch/Unity/archive/refs/tags/v2.6.1.tar.gz -O unity.tar.gz 
-RUN mkdir -p /cmock_portable/vendor/unity && tar -xvf unity.tar.gz -C /cmock_portable/vendor/unity --strip-components=1
+RUN mkdir -p /cmock_portable/vendor/unity && tar -xvf unity.tar.gz -C /cmock_portable/vendor/unity --strip-components=1 && rm unity.tar.gz
 
 # Set up a development tools directory
 WORKDIR /home/dev
@@ -53,6 +53,13 @@ RUN wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu/11.3.rel1/bi
 
 ENV PATH $PATH:/home/dev/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin
 
+# build and install customized openocd
+RUN apt-get install -y libtool libusb-1.0.0-dev
+RUN git clone https://github.com/STMicroelectronics/OpenOCD
+RUN cd ./OpenOCD && ./bootstrap && ./configure --enable-stlink
+RUN cd ./OpenOCD && make && make install
+RUN rm -r ./OpenOCD
+
 WORKDIR /home/app
 
 # Set up safe directory