Configure STM32 DoCAN addressing and UDS sessions

.gitattributes

@@ -0,0 +1,2 @@
+*.riminfo -whitespace
+platforms/*/3rdparty/threadx/ports/** -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 +61,112 @@
                 "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/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_G474RE",
+                "BUILD_TARGET_RTOS": "FREERTOS",
+                "STM32_CHIP": "STM32G474RE",
+                "CMAKE_ASM_FLAGS_RELWITHDEBINFO": "-g3",
+                "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo;Debug;Release",
+                "CMAKE_C_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_CXX_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo"
+            }
+        },
+        {
+            "name": "nucleo-g474re-threadx-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-G474RE ThreadX configuration (GCC)",
+            "description": "Configure for NUCLEO-G474RE platform using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${sourceDir}/cmake/toolchains/ArmNoneEabi-gcc.cmake",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_G474RE",
+                "BUILD_TARGET_RTOS": "THREADX",
+                "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": "nucleo-f413zh-freertos-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-F413ZH FreeRTOS configuration (GCC)",
+            "description": "Configure for NUCLEO-F413ZH platform using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${sourceDir}/cmake/toolchains/ArmNoneEabi-gcc.cmake",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_F413ZH",
+                "BUILD_TARGET_RTOS": "FREERTOS",
+                "STM32_CHIP": "STM32F413ZH",
+                "CMAKE_ASM_FLAGS_RELWITHDEBINFO": "-g3",
+                "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo;Debug;Release",
+                "CMAKE_C_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_CXX_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo"
+            }
+        },
+        {
+            "name": "nucleo-f413zh-threadx-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-F413ZH ThreadX configuration (GCC)",
+            "description": "Configure for NUCLEO-F413ZH platform using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${sourceDir}/cmake/toolchains/ArmNoneEabi-gcc.cmake",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_F413ZH",
+                "BUILD_TARGET_RTOS": "THREADX",
+                "STM32_CHIP": "STM32F413ZH",
+                "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 +334,44 @@
             "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": "nucleo-g474re-threadx-gcc",
+            "displayName": "NUCLEO-G474RE ThreadX build (GCC)",
+            "description": "Build reference application for NUCLEO-G474RE platform with GCC",
+            "configurePreset": "nucleo-g474re-threadx-gcc"
+        },
+        {
+            "name": "nucleo-f413zh-freertos-gcc",
+            "displayName": "NUCLEO-F413ZH FreeRTOS build (GCC)",
+            "description": "Build reference application for NUCLEO-F413ZH platform with GCC",
+            "configurePreset": "nucleo-f413zh-freertos-gcc"
+        },
+        {
+            "name": "nucleo-f413zh-threadx-gcc",
+            "displayName": "NUCLEO-F413ZH ThreadX build (GCC)",
+            "description": "Build reference application for NUCLEO-F413ZH platform with GCC",
+            "configurePreset": "nucleo-f413zh-threadx-gcc"
+        },
         {
             "name": "posix-freertos",
             "displayName": "build POSIX-FREERTOS",
@@ -305,6 +449,20 @@
             "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 +42,15 @@ 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 Cortex M4 Port    | 6.4.3   | MIT       | ``platforms/stm32/3rdparty/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/application/src/systems/DoCanSystem.cpp

@@ -41,7 +41,11 @@ namespace docan
 {
 
 DoCanSystem::AddressingFilterType::AddressEntryType DoCanSystem::_addresses[]
-    = {{0x02A, 0x0F0U, 0x0F0U, LOGICAL_ADDRESS, 0, 0}};
+#ifdef PLATFORM_SUPPORT_OBD_UDS_ADDRESSING
+    = {{0x7E0U, 0x7E8U, 0x7E8U, LOGICAL_ADDRESS, 0, 0}};
+#else
+    = {{0x02AU, 0x0F0U, 0x0F0U, LOGICAL_ADDRESS, 0, 0}};
+#endif
 
 DoCanSystem::DoCanSystem(
     ::transport::ITransportSystem& transportSystem,

executables/referenceApp/configuration/include/app/appConfig.h

@@ -13,7 +13,11 @@
 #include <async/TaskInitializer.h>
 
 #ifdef PLATFORM_SUPPORT_TRANSPORT
+#ifdef PLATFORM_SUPPORT_OBD_UDS_ADDRESSING
+static constexpr uint16_t LOGICAL_ADDRESS = 0x0600U;
+#else
 static constexpr uint16_t LOGICAL_ADDRESS = 0x002AU;
+#endif
 #endif // PLATFORM_SUPPORT_TRANSPORT
 
 #define safety_task_stackSize 2048U

executables/referenceApp/platforms/nucleo_f413zh/CMakeLists.txt

@@ -0,0 +1,15 @@
+# NUCLEO-F413ZH 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)
+elseif (BUILD_TARGET_RTOS STREQUAL "THREADX")
+    add_subdirectory(threadXCoreConfiguration)
+    add_library(threadXPort ALIAS threadXCortexM4Port)
+    add_library(threadXPortImpl ALIAS threadXCortexM4)
+endif ()

executables/referenceApp/platforms/nucleo_f413zh/Options.cmake

@@ -0,0 +1,55 @@
+# *******************************************************************************
+# 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
+# *******************************************************************************
+
+# NUCLEO-F413ZH platform options
+
+set(OPENBSW_PLATFORM
+    "stm32"
+    CACHE STRING "" FORCE)
+set(STM32_CHIP
+    "STM32F413ZH"
+    CACHE STRING "" FORCE)
+set(BUILD_TARGET_RTOS
+    "FREERTOS"
+    CACHE STRING "Target RTOS: FREERTOS or THREADX")
+
+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_OBD_UDS_ADDRESSING
+    ON
+    CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_PROGRAMMING_SESSION
+    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_f413zh/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)