Add STM32 CAN drivers and bxCAN transceiver

CMakeLists.txt

@@ -187,6 +187,13 @@ if (BUILD_EXECUTABLE STREQUAL "unitTest")
         add_subdirectory(platforms/posix/bsp/bspEepromDriver/test)
         add_subdirectory(platforms/posix/bsp/socketCanTransceiver/test)
 
+    elseif (OPENBSW_PLATFORM STREQUAL "stm32")
+
+        add_subdirectory(platforms/stm32/unitTest EXCLUDE_FROM_ALL)
+
+        add_subdirectory(platforms/stm32/bsp/bspCan/test)
+        add_subdirectory(platforms/stm32/bsp/bxCanTransceiver/test)
+
     elseif (OPENBSW_PLATFORM STREQUAL "s32k1xx")
 
         add_subdirectory(platforms/s32k1xx/unitTest EXCLUDE_FROM_ALL)

CMakePresets.json

@@ -61,6 +61,32 @@
                 "OPENBSW_PLATFORM": "s32k1xx"
             }
         },
+        {
+            "name": "tests-stm32-debug",
+            "displayName": "Configure for testing STM32 modules (debug)",
+            "description": "Configure for testing STM32 modules (debug)",
+            "inherits": "_config-base",
+            "binaryDir": "${sourceDir}/build/tests/stm32/Debug",
+            "cacheVariables": {
+                "CMAKE_DEFAULT_BUILD_TYPE": "Debug",
+                "CMAKE_CONFIGURATION_TYPES": "Debug",
+                "BUILD_EXECUTABLE": "unitTest",
+                "OPENBSW_PLATFORM": "stm32"
+            }
+        },
+        {
+            "name": "tests-stm32-release",
+            "displayName": "Configure for testing STM32 modules (release)",
+            "description": "Configure for testing STM32 modules (release)",
+            "inherits": "_config-base",
+            "binaryDir": "${sourceDir}/build/tests/stm32/Release",
+            "cacheVariables": {
+                "CMAKE_DEFAULT_BUILD_TYPE": "Release",
+                "CMAKE_CONFIGURATION_TYPES": "Release",
+                "BUILD_EXECUTABLE": "unitTest",
+                "OPENBSW_PLATFORM": "stm32"
+            }
+        },
         {
             "name": "posix-freertos",
             "displayName": "POSIX-FREERTOS compliant configuration",
@@ -228,6 +254,20 @@
             "configurePreset": "tests-s32k1xx-release",
             "configuration": "Release"
         },
+        {
+            "name": "tests-stm32-debug",
+            "displayName": "Build tests of STM32 modules (debug)",
+            "description": "Build tests of STM32 modules (debug)",
+            "configurePreset": "tests-stm32-debug",
+            "configuration": "Debug"
+        },
+        {
+            "name": "tests-stm32-release",
+            "displayName": "Build tests of STM32 modules (release)",
+            "description": "Build tests of STM32 modules (release)",
+            "configurePreset": "tests-stm32-release",
+            "configuration": "Release"
+        },
         {
             "name": "posix-freertos",
             "displayName": "build POSIX-FREERTOS",
@@ -305,6 +345,20 @@
             "description": "Run tests of S32K1XX modules (release)",
             "configuration": "Release",
             "configurePreset": "tests-s32k1xx-release"
+        },
+        {
+            "name": "tests-stm32-debug",
+            "displayName": "Run tests of STM32 modules (debug)",
+            "description": "Run tests of STM32 modules (debug)",
+            "configuration": "Debug",
+            "configurePreset": "tests-stm32-debug"
+        },
+        {
+            "name": "tests-stm32-release",
+            "displayName": "Run tests of STM32 modules (release)",
+            "description": "Run tests of STM32 modules (release)",
+            "configuration": "Release",
+            "configurePreset": "tests-stm32-release"
         }
     ]
 }

NOTICE.md

@@ -47,6 +47,8 @@ We recommend to read their licenses, as their terms may differ from the terms de
 | ThreadX Linux Port        | 6.4.3   | MIT       | ``platforms/posix/3rdparty/threadx/LICENSE.md``                      |
 | CMSIS                     | 6.1.0   | Apache v2 | ``libs/3rdparty/cmsis/LICENSE``                                      |
 | NXP S32K148 Headers       | 1.1a    | BSD-3     | ``platforms/s32k1xx/bsp/bspMcu/include/3rdparty/nxp/*.h``            |
+| ST STM32F4 Device Headers | 2.6.11  | Apache v2 | ``platforms/stm32/bsp/bspMcu/include/3rdparty/st/LICENSE``           |
+| ST STM32G4 Device Headers | 1.2.6   | Apache v2 | ``platforms/stm32/bsp/bspMcu/include/3rdparty/st/LICENSE``           |
 | CodeCoverage              |         | BSD-3     | ``cmake/modules/CodeCoverage.cmake``                                 |
 
 ## MISRA

doc/dev/index.rst

@@ -178,6 +178,7 @@ Eclipse OpenBSW is a trademark of the Eclipse Foundation.
     modules/common
     modules/posix
     modules/s32k1xx
+    modules/stm32
     modules/executables
     modules/mocks
 

doc/dev/modules/stm32.rst

@@ -0,0 +1,22 @@
+..
+   *******************************************************************************
+   Copyright (c) 2026 An Dao
+
+   This program and the accompanying materials are made available under the
+   terms of the Apache License Version 2.0 which is available at
+   https://www.apache.org/licenses/LICENSE-2.0
+
+   SPDX-License-Identifier: Apache-2.0
+   *******************************************************************************
+
+STM32
+=====
+
+BSP
+---
+
+.. toctree::
+    :maxdepth: 1
+    :glob:
+
+    ../../../platforms/stm32/**/doc/index

platforms/stm32/CMakeLists.txt

@@ -0,0 +1,26 @@
+if (NOT BUILD_EXECUTABLE STREQUAL "unitTest")
+    if (NOT DEFINED STM32_CHIP)
+        message(
+            FATAL_ERROR
+                "STM32_CHIP must be defined (e.g., STM32F413ZH or STM32G474RE)")
+    endif ()
+
+    if (STM32_CHIP STREQUAL "STM32F413ZH")
+        include(${CMAKE_CURRENT_LIST_DIR}/cmake/stm32f413zh.cmake)
+    elseif (STM32_CHIP STREQUAL "STM32G474RE")
+        include(${CMAKE_CURRENT_LIST_DIR}/cmake/stm32g474re.cmake)
+    else ()
+        message(
+            FATAL_ERROR
+                "Unsupported STM32_CHIP: ${STM32_CHIP}. Supported: STM32F413ZH, STM32G474RE"
+        )
+    endif ()
+
+    add_subdirectory(bsp)
+
+    # ETL implementation
+    add_subdirectory(etlImpl)
+else ()
+    # Unit-test builds compile the transceivers against mock devices.
+    add_subdirectory(bsp)
+endif ()

platforms/stm32/bsp/CMakeLists.txt

@@ -0,0 +1,32 @@
+if (BUILD_EXECUTABLE STREQUAL "unitTest")
+    # Unit test builds: only compile transceivers (with mock devices). Skip
+    # hardware-dependent modules (bspMcu, bspClock, bspCan, etc.).
+    add_subdirectory(bxCanTransceiver)
+    add_subdirectory(bspUart)
+else ()
+    add_subdirectory(bspMcu)
+    add_subdirectory(bspClock)
+    add_subdirectory(bspInterruptsImpl)
+    add_subdirectory(bspUart)
+    add_subdirectory(bspTimer)
+    add_subdirectory(bspIo)
+    add_subdirectory(bspAdc)
+    add_subdirectory(bspEepromDriver)
+    add_subdirectory(bspCan)
+
+    # CAN transceiver - selected by chip family
+    if (CAN_TYPE STREQUAL "BXCAN")
+        add_subdirectory(bxCanTransceiver)
+    endif ()
+
+    # Aggregated BSP target
+    add_library(socBsp INTERFACE)
+    target_link_libraries(
+        socBsp
+        INTERFACE bspClock
+                  bspInterruptsImpl
+                  bspIo
+                  bspMcu
+                  bspTimer
+                  bspUart)
+endif ()

platforms/stm32/bsp/bspAdc/CMakeLists.txt

@@ -0,0 +1,6 @@
+add_library(bspAdc src/adc/Adc.cpp)
+target_include_directories(bspAdc PUBLIC include)
+target_link_libraries(
+    bspAdc
+    PUBLIC bspMcu
+    PRIVATE platform)

platforms/stm32/bsp/bspAdc/include/adc/Adc.h

@@ -0,0 +1,54 @@
+/********************************************************************************
+ * Copyright (c) 2026 An Dao
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Apache License Version 2.0 which is available at
+ * https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <mcu/mcu.h>
+#include <stdint.h>
+
+namespace bios
+{
+
+enum class AdcResolution : uint8_t
+{
+    BITS_12 = 0U,
+    BITS_10 = 1U,
+    BITS_8  = 2U,
+    BITS_6  = 3U
+};
+
+struct AdcConfig
+{
+    ADC_TypeDef* peripheral;
+    AdcResolution resolution;
+    uint8_t samplingTime; // SMPR code (0-7)
+};
+
+class Adc
+{
+public:
+    explicit Adc(AdcConfig const& config);
+
+    void init();
+    uint16_t readChannel(uint8_t channel);
+    uint16_t readTemperature();
+    uint16_t readVrefint();
+
+private:
+    AdcConfig const fConfig;
+    bool fInitialized;
+
+    void enableClock();
+    void calibrate();
+    void configureChannel(uint8_t channel);
+    uint16_t startAndRead();
+};
+
+} // namespace bios

platforms/stm32/bsp/bspAdc/module.spec

@@ -0,0 +1,2 @@
+maturity: raw
+oss: true