Add STM32 ThreadX Cortex-M4 support#419
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Add complete board configuration for NUCLEO-F413ZH (STM32F413ZH): - Cortex-M4, 100 MHz, 1.5 MB Flash, 320 KB SRAM - bxCAN peripheral (vs FDCAN on G474RE) - Board-specific BSP configuration, safety manager, FreeRTOS/ThreadX configs - Main application with CAN ISR handlers and lifecycle hooks - Linker script for F413ZH memory layout Both boards now build and boot: - G474RE (FDCAN): `cmake --preset nucleo-g474re-freertos-gcc` - F413ZH (bxCAN): `cmake --preset nucleo-f413zh-freertos-gcc` Milestone: F413ZH builds and produces bootable ELF. Depends on eclipse-openbsw#419 (PR 7: ThreadX). PR 8 of 10.
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Add complete board configuration for NUCLEO-F413ZH (STM32F413ZH): - Cortex-M4, 100 MHz, 1.5 MB Flash, 320 KB SRAM - bxCAN peripheral (vs FDCAN on G474RE) - Board-specific BSP configuration, safety manager, FreeRTOS/ThreadX configs - Main application with CAN ISR handlers and lifecycle hooks - Linker script for F413ZH memory layout Both boards now build and boot: - G474RE (FDCAN): `cmake --preset nucleo-g474re-freertos-gcc` - F413ZH (bxCAN): `cmake --preset nucleo-f413zh-freertos-gcc` Milestone: F413ZH builds and produces bootable ELF. Depends on eclipse-openbsw#419 (PR 7: ThreadX). PR 8 of 10.
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Add complete board configuration for NUCLEO-F413ZH (STM32F413ZH): - Cortex-M4, 100 MHz, 1.5 MB Flash, 320 KB SRAM - bxCAN peripheral (vs FDCAN on G474RE) - Board-specific BSP configuration, safety manager, FreeRTOS/ThreadX configs - Main application with CAN ISR handlers and lifecycle hooks - Linker script for F413ZH memory layout Both boards now build and boot: - G474RE (FDCAN): `cmake --preset nucleo-g474re-freertos-gcc` - F413ZH (bxCAN): `cmake --preset nucleo-f413zh-freertos-gcc` Milestone: F413ZH builds and produces bootable ELF. Depends on eclipse-openbsw#419 (PR 7: ThreadX). PR 8 of 10.
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Add complete board configuration for NUCLEO-F413ZH (STM32F413ZH): - Cortex-M4, 100 MHz, 1.5 MB Flash, 320 KB SRAM - bxCAN peripheral (vs FDCAN on G474RE) - Board-specific BSP configuration, safety manager, FreeRTOS/ThreadX configs - Main application with CAN ISR handlers and lifecycle hooks - Linker script for F413ZH memory layout Both boards now build and boot: - G474RE (FDCAN): `cmake --preset nucleo-g474re-freertos-gcc` - F413ZH (bxCAN): `cmake --preset nucleo-f413zh-freertos-gcc` Milestone: F413ZH builds and produces bootable ELF. Depends on eclipse-openbsw#419 (PR 7: ThreadX). PR 8 of 10.
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Add complete board configuration for NUCLEO-F413ZH (STM32F413ZH): - Cortex-M4, 100 MHz, 1.5 MB Flash, 320 KB SRAM - bxCAN peripheral (vs FDCAN on G474RE) - Board-specific BSP configuration, safety manager, FreeRTOS/ThreadX configs - Main application with CAN ISR handlers and lifecycle hooks - Linker script for F413ZH memory layout Both boards now build and boot: - G474RE (FDCAN): `cmake --preset nucleo-g474re-freertos-gcc` - F413ZH (bxCAN): `cmake --preset nucleo-f413zh-freertos-gcc` Milestone: F413ZH builds and produces bootable ELF. Depends on eclipse-openbsw#419 (PR 7: ThreadX). PR 8 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
Seventh PR in the STM32 platform series. Adds ThreadX as an alternative RTOS alongside FreeRTOS (PR 6).
What's included
Dual-RTOS design
Both FreeRTOS and ThreadX are selectable at configure time:
cmake --preset nucleo-g474re-freertos-gcccmake --preset nucleo-g474re-threadx-gccThe
main/directory (PR 6) already includes ThreadX-specific hooks (tx_initialize_low_level.S,osHooks/threadx/).Milestone
cmake --preset nucleo-g474re-threadx-gccconfigures successfully. Same binary boots with ThreadX scheduler.Depends on #418 (PR 6: FreeRTOS board config). PR 7 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-threadx-gcccmake --build --preset nucleo-g474re-threadx-gccRegression Tests
Have tests been added/updated? [ ] Yes [x] No