Add STM32 G474RE FreeRTOS board config#418
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Import the STM32F4 and STM32G4 CMSIS device headers from STMicroelectronics' dedicated RIM-tracked repositories. Keep only the F413 and G474 headers needed by the STM32 MCU foundation and record the unused upstream headers as RIM ignores.
Add the STM32 platform entry point, chip CMake files, bspMcu startup code, a software reset wrapper, and the STM32 unit-test presets. The platform reuses the shared CMSIS core from libs/3rdparty/cmsis instead of carrying a local copy.
Add STM32 BSP modules for clock, UART, GPIO, timer, ADC, and EEPROM, plus interrupt handling primitives and the ETL platform glue.
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Add bxCAN and FDCAN device drivers with STM32 CAN tests. Add the bxCAN transceiver adapter and unit-test registration.
Add the FDCAN transceiver implementation and STM32 test coverage. Wire the FDCAN transceiver into the chip-family CMake selection.
Add the STM32 hard fault handler with RAM dump region and the IWDG watchdog driver. Add the G474RE safety manager sources and watchdog unit tests.
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Purpose of this PR
Description
Sixth PR in the STM32 platform series. This is the key integration PR — it produces the first bootable reference app binary for NUCLEO-G474RE.
What's included
port.c,portmacro.h)FreeRTOSConfig.htuned for G474RE (170 MHz, 128 KB SRAM)main.cpp): clock init → UART console → FreeRTOS scheduler startDual-RTOS architecture
OpenBSW supports both FreeRTOS and ThreadX on STM32, selectable at configure time via
BUILD_TARGET_RTOS. This PR adds FreeRTOS; PR 7 adds ThreadX. Themain/directory contains RTOS-specific hooks in separate subdirectories (osHooks/freertos/,osHooks/threadx/).Milestone
cmake --build --preset nucleo-g474re-freertos-gccproduces a bootable ELF (6.5 MB with debug info). Reference app boots on NUCLEO-G474RE with UART console output at 115200 baud.Depends on #417 (PR 5: safety). PR 6 of 10.
Related Issues
Part of STM32 platform port — see #413 for series overview.
Breaking Changes
Test Plan
CC=arm-none-eabi-gcc CXX=arm-none-eabi-g++ cmake --preset nucleo-g474re-freertos-gcc && cmake --build --preset nucleo-g474re-freertos-gccRegression Tests
Have tests been added/updated? [ ] Yes [x] No — this PR enables on-target testing; HIL tests in PR 10