Add STM32 G474RE FreeRTOS board config

.gitattributes

@@ -0,0 +1 @@
+*.riminfo -whitespace

CMakeLists.txt

@@ -187,6 +187,15 @@ 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)
+        add_subdirectory(platforms/stm32/bsp/fdCanTransceiver/test)
+        add_subdirectory(platforms/stm32/safety/safeBspMcuWatchdog/test)
+
     elseif (OPENBSW_PLATFORM STREQUAL "s32k1xx")
 
         add_subdirectory(platforms/s32k1xx/unitTest EXCLUDE_FROM_ALL)

CMakePresets.json

@@ -61,6 +61,52 @@
                 "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": "nucleo-g474re-freertos-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-G474RE FreeRTOS configuration (GCC)",
+            "description": "Configure for NUCLEO-G474RE platform using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${sourceDir}/cmake/toolchains/ArmNoneEabi-gcc.cmake",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_G474RE",
+                "BUILD_TARGET_RTOS": "FREERTOS",
+                "STM32_CHIP": "STM32G474RE",
+                "CMAKE_ASM_FLAGS_RELWITHDEBINFO": "-g3",
+                "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo;Debug;Release",
+                "CMAKE_C_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_CXX_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo"
+            }
+        },
         {
             "name": "posix-freertos",
             "displayName": "POSIX-FREERTOS compliant configuration",
@@ -228,6 +274,26 @@
             "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": "nucleo-g474re-freertos-gcc",
+            "displayName": "NUCLEO-G474RE FreeRTOS build (GCC)",
+            "description": "Build reference application for NUCLEO-G474RE platform with GCC",
+            "configurePreset": "nucleo-g474re-freertos-gcc"
+        },
         {
             "name": "posix-freertos",
             "displayName": "build POSIX-FREERTOS",
@@ -305,6 +371,20 @@
             "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

@@ -42,11 +42,14 @@ We recommend to read their licenses, as their terms may differ from the terms de
 | FreeRTOS Real Time Kernel | 10.6.2  | MIT       | ``platforms/posix/3rdparty/freeRtosPosix/LICENSE.md``                |
 | FreeRTOS Real Time Kernel | 10.6.2  | MIT       | ``platforms/s32k1xx/3rdparty/freertos_cm4_sysTick/LICENSE.md``       |
 | FreeRTOS Real Time Kernel | 10.6.2  | MIT       | ``libs/3rdparty/freeRtos/LICENSE.md``                                |
+| FreeRTOS Real Time Kernel | 10.6.2  | MIT       | ``platforms/stm32/3rdparty/freertos_cm4_sysTick/LICENSE.md``         |
 | ThreadX Kernel            | 6.4.3   | MIT       | ``libs/3rdparty/threadx/LICENSE.md``                                 |
 | ThreadX Cortex M4 Port    | 6.4.3   | MIT       | ``platforms/s32k1xx/3rdparty/threadx/LICENSE.md``                    |
 | 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/executables.rst

@@ -47,6 +47,15 @@ S32K148EVB
 
     ../../../executables/referenceApp/platforms/s32k148evb/**/doc/index
 
+STM32 Nucleo
+++++++++++++
+
+.. toctree::
+    :maxdepth: 1
+    :glob:
+
+    ../../../executables/referenceApp/platforms/nucleo_*/**/doc/index
+
 Safety
 ++++++
 

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

executables/referenceApp/platforms/nucleo_g474re/CMakeLists.txt

@@ -0,0 +1,11 @@
+# NUCLEO-G474RE platform for referenceApp
+
+add_subdirectory(bspConfiguration)
+add_subdirectory(safety)
+add_subdirectory(main)
+
+if (BUILD_TARGET_RTOS STREQUAL "FREERTOS")
+    add_subdirectory(freeRtosCoreConfiguration)
+    add_library(freeRtosPort ALIAS freeRtosCm4SysTickPort)
+    add_library(freeRtosPortImpl ALIAS freeRtosCm4SysTick)
+endif ()

executables/referenceApp/platforms/nucleo_g474re/Options.cmake

@@ -0,0 +1,46 @@
+# *******************************************************************************
+# 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
+# *******************************************************************************
+
+set(OPENBSW_PLATFORM
+    "stm32"
+    CACHE STRING "" FORCE)
+set(STM32_CHIP
+    "STM32G474RE"
+    CACHE STRING "" FORCE)
+set(BUILD_TARGET_RTOS
+    "FREERTOS"
+    CACHE STRING "")
+set(PLATFORM_SUPPORT_CAN
+    ON
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_IO
+    OFF
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_ETHERNET
+    OFF
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_TRANSPORT
+    ON
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_UDS
+    ON
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_WATCHDOG
+    OFF
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_MPU
+    OFF
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_STORAGE
+    OFF
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_ROM_CHECK
+    OFF
+    CACHE BOOL "" FORCE)

executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/CMakeLists.txt

@@ -0,0 +1,9 @@
+add_library(bspConfiguration src/bsp/stdIo/stdIo.cpp
+                             src/bsp/uart/UartConfig.cpp)
+
+target_include_directories(bspConfiguration PUBLIC include)
+
+target_link_libraries(
+    bspConfiguration
+    PUBLIC bspUart
+    PRIVATE bspMcu platform)

executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/index.rst

@@ -0,0 +1,57 @@
+..
+   *******************************************************************************
+   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
+   *******************************************************************************
+
+.. _bspconfig_nucleo_g474re:
+
+bspConfiguration - NUCLEO-G474RE
+================================
+
+Overview
+--------
+
+The ``bspConfiguration`` module contains hardware-specific configuration for the
+NUCLEO-G474RE evaluation board. Driver logic is separated from its configuration
+so that users can customise a project for different boards or pin assignments
+without modifying driver source code.
+
+The STM32G474RE platform exposes a minimal set of BSP peripherals required for
+the CAN reference application:
+
+- **bspUart** - USART2 configuration (ST-LINK Virtual COM Port on PA2/PA3).
+- **bspStdIo** - Standard I/O bridge that routes ``putByteToStdout`` /
+  ``getByteFromStdin`` through the configured UART instance.
+
+.. note::
+
+   Unlike the S32K148EVB reference application, this platform does not include
+   ADC, PWM, or digital I/O configuration modules because the CAN reference
+   application does not require analogue inputs or GPIO-driven outputs.
+   These modules can be added following the same configuration pattern if
+   a future application requires them.
+
+Hardware Summary
+++++++++++++++++
+
+.. csv-table::
+   :widths: 30, 70
+   :width: 100%
+
+   "MCU", "STM32G474RE (Arm Cortex-M4F, 170 MHz, single-precision FPU)"
+   "UART peripheral", "USART2 - routed to ST-LINK/V3 Virtual COM Port"
+   "UART TX pin", "PA2 (AF7)"
+   "UART RX pin", "PA3 (AF7)"
+   "UART baud rate", "115 200 baud (BRR = 1476 at 170 MHz APB1)"
+   "CAN peripheral", "FDCAN1 (configured in CanSystem, not bspConfiguration)"
+
+.. toctree::
+   :hidden:
+
+   user/index

executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/user/bspStdIo.rst

@@ -0,0 +1,34 @@
+..
+   *******************************************************************************
+   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
+   *******************************************************************************
+
+.. _bspConfig_StdIo_G474RE:
+
+bspStdIo
+========
+
+Overview
+--------
+
+The standard I/O bridge implements the ``putByteToStdout`` and
+``getByteFromStdin`` C-linkage functions required by the OpenBSW logging
+framework, routing character-level I/O through the UART ``TERMINAL`` instance
+configured in :ref:`bspConfig_Uart_G474RE`.
+
+``putByteToStdout(uint8_t byte)`` transmits one byte over USART2 TX (PA2),
+blocking by polling until the UART TX register is free.
+
+``getByteFromStdin()`` attempts to read one byte from USART2 RX (PA3) and is
+non-blocking: if ``Uart::read()`` reports that no byte was received, it returns
+``-1`` (POSIX ``getchar()`` convention); otherwise it returns the byte value
+(0-255).
+
+Both functions resolve the UART instance once into a ``static`` local
+reference, avoiding a global constructor ordering dependency.

executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/user/bspUart.rst

@@ -0,0 +1,50 @@
+..
+   *******************************************************************************
+   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
+   *******************************************************************************
+
+.. _bspConfig_Uart_G474RE:
+
+bspUart Configuration
+=====================
+
+Overview
+--------
+
+The UART configuration defines the hardware parameters for the on-board
+ST-LINK Virtual COM Port of the NUCLEO-G474RE. A single UART instance
+(``TERMINAL``) is configured for debug logging and interactive console use.
+
+``UartConfig.h`` declares the ``Uart::Id`` enumeration of available UART
+instances, and ``UartConfig.cpp`` maps each ``Uart::Id`` to its hardware
+parameters and provides the singleton accessor
+``bsp::Uart::getInstance(Uart::Id)``.
+
+Configuration
+-------------
+
+.. csv-table::
+   :header: "Parameter", "Value"
+   :widths: 30, 70
+   :width: 100%
+
+   "Peripheral", "USART2 (APB1)"
+   "TX pin", "PA2, alternate function AF7"
+   "RX pin", "PA3, alternate function AF7"
+   "Baud rate", "115 200 baud"
+   "BRR", "170 000 000 / 115 200 = 1475.69 -> 1476"
+
+The resulting actual baud rate is 170 MHz / 1476 = 115 176 baud (0.021 % error),
+well within the UART tolerance.
+
+.. note::
+
+   The UART driver uses polling mode (no DMA, no interrupts). For high-
+   throughput or latency-sensitive applications, consider extending the
+   ``bspUart`` BSP module with an interrupt-driven or DMA-backed backend.