Add STM32 UDS diagnostic services

.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/CMakeLists.txt

@@ -14,6 +14,17 @@ if (PLATFORM_SUPPORT_TRANSPORT)
     if (PLATFORM_SUPPORT_UDS)
         target_sources(app.referenceApp PRIVATE src/systems/UdsSystem.cpp
                                                 src/uds/ReadIdentifierPot.cpp)
+        if (PLATFORM_SUPPORT_UDS_DEMO_SERVICES)
+            target_sources(
+                app.referenceApp
+                PRIVATE src/uds/Stm32ClearDtc.cpp
+                        src/uds/Stm32ControlDtcSetting.cpp
+                        src/uds/Stm32DemoRoutine.cpp
+                        src/uds/Stm32DtcManager.cpp
+                        src/uds/Stm32ReadDtcInfo.cpp
+                        src/uds/Stm32SecurityAccess.cpp
+                        src/uds/Stm32WriteVin.cpp)
+        endif ()
     endif ()
 endif ()
 

executables/referenceApp/application/include/systems/UdsSystem.h

@@ -1,5 +1,6 @@
 /********************************************************************************
  * Copyright (c) 2024 Accenture
+ * 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
@@ -22,6 +23,19 @@
 #include <uds/async/AsyncDiagJob.h>
 #include <uds/jobs/ReadIdentifierFromMemory.h>
 #include <uds/jobs/WriteIdentifierToMemory.h>
+
+#ifdef PLATFORM_SUPPORT_UDS_DEMO_SERVICES
+#include <uds/Stm32ClearDtc.h>
+#include <uds/Stm32ControlDtcSetting.h>
+#include <uds/Stm32DemoRoutine.h>
+#include <uds/Stm32DtcManager.h>
+#include <uds/Stm32ReadDtcInfo.h>
+#include <uds/Stm32SecurityAccess.h>
+#include <uds/Stm32WriteVin.h>
+#include <uds/services/ecureset/ECUReset.h>
+#include <uds/services/ecureset/HardReset.h>
+#endif
+
 #include <uds/services/communicationcontrol/CommunicationControl.h>
 #include <uds/services/readdata/ReadDataByIdentifier.h>
 #include <uds/services/routinecontrol/RequestRoutineResults.h>
@@ -101,7 +115,28 @@ class UdsSystem
     ReadIdentifierFromMemory _read22Cf01;
     ReadIdentifierPot _read22Cf02;
     WriteIdentifierToMemory _write2eCf03;
+#ifdef PLATFORM_SUPPORT_UDS_DEMO_SERVICES
+    ReadIdentifierFromMemory _readF190;
+    Stm32WriteVin _writeF190;
+    ReadIdentifierFromMemory _readF195;
+    ReadIdentifierFromMemory _readF18C;
+    ReadIdentifierFromMemory _readF193;
+    ReadIdentifierFromMemory _readF18A;
+    ReadIdentifierFromMemory _readF180;
+#endif
     TesterPresent _testerPresent;
+#ifdef PLATFORM_SUPPORT_UDS_DEMO_SERVICES
+    ECUReset _ecuReset;
+    HardReset _hardReset;
+    Stm32SecurityAccess _securityAccess;
+    Stm32DtcManager _dtcManager;
+    Stm32ClearDtc _clearDtc;
+    Stm32ReadDtcInfo _readDtcInfo;
+    Stm32ControlDtcSetting _controlDtcSetting;
+    Stm32DemoRoutine _routineFF00;
+    Stm32DemoRoutine _routineFF01;
+    Stm32DemoRoutine _routineFF02;
+#endif
 
     ::async::ContextType _context;
     ::async::TimeoutType _timeout;

executables/referenceApp/application/include/uds/Stm32ClearDtc.h

@@ -0,0 +1,36 @@
+/********************************************************************************
+ * 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 "uds/Stm32DtcManager.h"
+#include "uds/base/Service.h"
+
+namespace uds
+{
+/**
+ * ClearDiagnosticInformation (SID 0x14).
+ * Accepts 3-byte group-of-DTC. 0xFFFFFF = clear all.
+ */
+class Stm32ClearDtc : public Service
+{
+public:
+    explicit Stm32ClearDtc(Stm32DtcManager& dtcManager);
+
+private:
+    DiagReturnCode::Type process(
+        IncomingDiagConnection& connection,
+        uint8_t const request[],
+        uint16_t requestLength) override;
+
+    Stm32DtcManager& _dtcManager;
+};
+
+} // namespace uds