feat(stm32): MCU foundation — CMSIS, device headers, startup, linker by nhuvaoanh123 · Pull Request #413 · eclipse-openbsw/openbsw

nhuvaoanh123 · 2026-03-30T08:04:45Z

Purpose of this PR

Bugfix
New Feature
Documentation Update
Other

Description

First PR in a 10-part series adding STM32 Cortex-M4 platform support to OpenBSW.

This PR establishes the MCU foundation layer for two STM32 Nucleo boards:

NUCLEO-G474RE (STM32G4, FDCAN, 170 MHz, 512 KB Flash)
NUCLEO-F413ZH (STM32F4, bxCAN, 100 MHz, 1.5 MB Flash)

What's included

ARM CMSIS-Core v6.1 headers (Cortex-M4) — Apache-2.0 licensed
ST CMSIS Device headers for STM32F413xx and STM32G474xx
GNU AS startup files (startup_stm32f413xx.s, startup_stm32g474xx.s)
Linker scripts for both chips
Chip-selection cmake modules (stm32f413zh.cmake, stm32g474re.cmake)
CMakePresets for all four build variants (2 boards × 2 RTOS)
Root CMakeLists.txt integration for STM32 platform detection

Milestone

cmake --preset nucleo-g474re-freertos-gcc configures successfully with ARM GCC cross-compiler.

Series overview

PR	Content	Depends on
1 (this)	MCU foundation	—
2	UART + GPIO + Clock BSP	1
3	bxCAN driver + unit tests	2
4	FDCAN driver + unit tests	2
5	HardFault handler + safety/watchdog	2
6	FreeRTOS board config (G474RE)	1–5
7	ThreadX board config	6
8	Second board (F413ZH)	6
9	CAN system + DoCAN transport	6
10	UDS services + 405 HIL test qualification	9

Related Issues

Continues the STM32 platform port discussed in #408 (closed, now split into reviewable PRs).

Breaking Changes

Yes
No

Test Plan

Configure with ARM GCC: CC=arm-none-eabi-gcc CXX=arm-none-eabi-g++ cmake --preset nucleo-g474re-freertos-gcc
Verify configure completes without errors
Existing posix and S32K builds are unaffected (no libs/bsw/ changes)

Regression Tests

Have tests been added/updated? [ ] Yes [x] No — unit tests come in PRs 3–4

…ker scripts Add the STM32 platform skeleton for OpenBSW, supporting both STM32F4 (bxCAN) and STM32G4 (FDCAN) families via chip selection cmake variables. Contents: - ARM CMSIS-Core headers (Cortex-M4) with Apache-2.0 license - ST device headers for STM32F413ZH and STM32G474RE - GNU AS startup files and linker scripts for both chips - Chip-selection cmake modules (stm32f413zh.cmake, stm32g474re.cmake) - CMakePresets for NUCLEO-G474RE and NUCLEO-F413ZH (FreeRTOS + ThreadX) - Platform integration in root CMakeLists.txt Milestone: `cmake --preset nucleo-g474re-freertos-gcc` configures successfully. This is PR 1 of 10 — subsequent PRs add BSP drivers, RTOS config, and UDS services.

Copilot

Pull request overview

Introduces the initial STM32 Cortex‑M4 platform foundation for OpenBSW (NUCLEO‑G474RE and NUCLEO‑F413ZH), including CMSIS/ST device headers, startup code, linker scripts, and CMake integration/presets for cross-compiling.

Changes:

Adds STM32 platform selection + per-chip CMake configuration modules (STM32F413ZH / STM32G474RE).
Adds bspMcu with CMSIS/ST headers, startup assembly, linker scripts, and a software reset wrapper.
Adds STM32 CMake presets and root build integration for the new STM32 platforms.

Reviewed changes

Copilot reviewed 31 out of 34 changed files in this pull request and generated 14 comments.

Show a summary per file

File	Description
platforms/stm32/CMakeLists.txt	Adds STM32 platform entrypoint and chip selection via `STM32_CHIP`.
platforms/stm32/cmake/stm32g474re.cmake	Defines STM32G474RE chip parameters and paths to startup/linker artifacts.
platforms/stm32/cmake/stm32f413zh.cmake	Defines STM32F413ZH chip parameters and paths to startup/linker artifacts.
platforms/stm32/bsp/CMakeLists.txt	Adds STM32 BSP subtree (currently only `bspMcu`).
platforms/stm32/bsp/bspMcu/startup/startup_stm32g474xx.s	Startup/reset handler + vector table for STM32G474xx.
platforms/stm32/bsp/bspMcu/startup/startup_stm32f413xx.s	Startup/reset handler + vector table for STM32F413xx.
platforms/stm32/bsp/bspMcu/src/reset/softwareSystemReset.cpp	Adds software-triggered system reset wrapper with weak pre-reset hook.
platforms/stm32/bsp/bspMcu/module.spec	Declares module metadata.
platforms/stm32/bsp/bspMcu/linker/STM32G474RExx_FLASH.ld	Linker script for STM32G474RE flash/RAM layout.
platforms/stm32/bsp/bspMcu/linker/STM32F413ZHxx_FLASH.ld	Linker script for STM32F413ZH flash/RAM layout.
platforms/stm32/bsp/bspMcu/include/reset/softwareSystemReset.h	Public header for software reset API.
platforms/stm32/bsp/bspMcu/include/mcu/typedefs.h	Adds NVIC convenience macro mappings.
platforms/stm32/bsp/bspMcu/include/mcu/mcu.h	Single include point for chip headers + platform interrupt macros.
platforms/stm32/bsp/bspMcu/include/3rdparty/st/stm32g4/system_stm32g4xx.h	Imports ST system header for G4 family.
platforms/stm32/bsp/bspMcu/include/3rdparty/st/stm32g4/stm32g4xx.h	Imports ST device-family header for G4.
platforms/stm32/bsp/bspMcu/include/3rdparty/st/stm32f4/system_stm32f4xx.h	Imports ST system header for F4 family.
platforms/stm32/bsp/bspMcu/include/3rdparty/st/stm32f4/stm32f4xx.h	Imports ST device-family header for F4.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/m-profile/cmsis_gcc_m.h	Imports CMSIS compiler support header (GCC, M-profile).
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/m-profile/cmsis_clang_m.h	Imports CMSIS compiler support header (Clang, M-profile).
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/m-profile/armv7m_mpu.h	Imports CMSIS MPU API for Armv7‑M.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/LICENSE	Adds Apache-2.0 license text for CMSIS import.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/cmsis_version.h	Imports CMSIS version header.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/cmsis_gcc.h	Imports CMSIS GCC compiler abstraction header.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/cmsis_compiler.h	Imports CMSIS compiler selection header.
platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/cmsis_clang.h	Imports CMSIS Clang compiler abstraction header.
platforms/stm32/bsp/bspMcu/doc/index.rst	Adds module documentation for the STM32 MCU foundation layer.
platforms/stm32/bsp/bspMcu/CMakeLists.txt	Defines `bspMcu` library and includes/compile defs for STM32.
executables/referenceApp/platforms/nucleo_g474re/Options.cmake	Adds referenceApp options for NUCLEO‑G474RE.
executables/referenceApp/platforms/nucleo_g474re/CMakeLists.txt	Adds placeholder board CMakeLists.
CMakePresets.json	Adds STM32 build/test presets (boards × RTOS).
CMakeLists.txt	Adds STM32 platform detection for selecting `platforms/stm32` and Rust target.

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- Change .fpu softvfp → fpv4-sp-d16 in both startup files to match the toolchain's -mfloat-abi=hard -mfpu=fpv4-sp-d16 flags. The mismatch produced conflicting ELF float ABI attributes. - Add FPU CP10/CP11 enable block to F413 startup (was only in G474). Both are Cortex-M4F; ThreadX needs early FPU access since it does not enable the FPU in its port (unlike FreeRTOS port.c). - Add OPENBSW_PLATFORM=stm32 branch to root CMakeLists.txt so the tests-stm32-debug preset no longer hits FATAL_ERROR at configure. Add platforms/stm32/unitTest/ stub (mirrors s32k1xx pattern). - Add ST BSD-3-Clause LICENSE file under 3rdparty/st/ for vendor header compliance — the headers reference a LICENSE file that was missing. - Remove dead bspMcu/linker/ scripts and STM32_LINKER_SCRIPT cmake variables. The real linker scripts live in each board's referenceApp/platforms/*/main/linkerscript/application.ld, wired via PROP_LINKER_SCRIPT on the startUp INTERFACE library. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

rolandreichweinbmw · 2026-04-15T20:23:16Z

 | 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 | ``platforms/s32k1xx/bsp/bspMcu/include/3rdparty/cmsis/LICENSE``      |
+| CMSIS                     | 6.1.0   | Apache v2 | ``platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/LICENSE``        |


Is this another copy of the same Cortex-M CMSIS as in s32k1xx? Shouldn't it be factored out, then? E.g. to libs/3rdparty ?

rolandreichweinbmw · 2026-04-15T20:44:24Z

+            }
+        },
+        {
+            "name": "nucleo-f413zh-freertos-gcc",


cmake --preset nucleo-f412zh-freertos-gcc -DCMAKE_CXX_STANDARD=17 cmake --build --preset nucleo-f413zh-freertos-gcc --verbose

gives me:

CMake Error at CMakeLists.txt:41 (include): include could not find requested file: executables/referenceApp/platforms/nucleo_f413zh/Options.cmake

I understand that you intend to add this other board in another PR. Consider merging them to make it testable. Or better refactor between the PRs.

rolandreichweinbmw · 2026-04-15T20:46:41Z

+            }
+        },
+        {
+            "name": "nucleo-g474re-freertos-gcc",


cmake --preset nucleo-g474re-freertos-gcc -DCMAKE_CXX_STANDARD=17 cmake --build --preset nucleo-g474re-freertos-gcc --verbose

gives me:

In file included from /home/rr/openbsw/libs/3rdparty/freeRtos/include/FreeRTOS.h:64, from /home/rr/openbsw/libs/3rdparty/freeRtos/src/croutine.c:29: /home/rr/openbsw/libs/bsw/asyncFreeRtos/freeRtosConfiguration/FreeRTOSConfig.h:82:10: fatal error: os/FreeRtosPlatformConfig.h: No such file or directory 82 | #include "os/FreeRtosPlatformConfig.h" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Add restructured PR split plan addressing reviewer feedback: - CMSIS shared library as separate prep PR - Presets ship only with their scaffolding - Tests CMake-registered in the PR that introduces them - HIL boot-smoke gates for PRs 6-8 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

nhuvaoanh123 · 2026-04-16T08:45:30Z

Thank you for the review.

CMSIS duplication: moving to libs/3rdparty/cmsis/ as a separate prep PR, shared by s32k1xx and stm32. Both copies are CMSIS 6.1.0 — 6 of 9 files byte-identical, 3 differ only in Doxygen comment style. Impact is 6 files: one CMakeLists path change per platform, one #include path fix in s32k1xx mcu.h, one module.spec glob update, one NOTICE.md consolidation. Nothing outside platforms/ uses CMSIS-Core. Full impact analysis in the strategy doc.
F413ZH preset fails: removing all board presets from this PR. They'll ship in the PR that provides the full board directory.
G474RE FreeRTOS build fails: same — FreeRTOS preset moves to the PR that provides the port, config, and main.cpp.

Full restructured plan: docs/stm32-pr-strategy.md

We'll rebase the series to match and update the PRs.

- PR 0 now includes full impact analysis: 6 files touched, what changes, what doesn't, dead code path identified - Fix test coverage table: current vs target state - Fix cross-doc consistency for transceiver and safety test registration Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

rolandreichweinbmw · 2026-04-21T12:59:41Z

Are you still planning to provide the PR 0, and update the others, as documented there?

OTOH, you can also convert the PRs to "draft" for now, and in the beginning of collaboration in this project, first work on one of the smaller tasks under "issues".

nhuvaoanh123 · 2026-04-22T06:39:14Z

Yes, sticking with the plan. Starting with PR 0 (CMSIS move to libs/3rdparty/cmsis/). Will update the series once that lands.

nhuvaoanh123 · 2026-05-01T19:17:35Z

Hi @rolandreichweinbmw — PR 0 is now open as #445 (cmake-format CI cleared via 473d0713). On the earlier NOTICE.md ask: this branch already includes new entries for CMSIS at platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/LICENSE and ST STM32 Device Headers at .../st/LICENSE. Once #445 lands, the stack will be rebased to consume libs/3rdparty/cmsis/ and drop the duplicate stm32 CMSIS row.

Marking #414–422 as draft for now while #445 is in review, per your suggestion.

nhuvaoanh123 force-pushed the stm32-pr-1 branch from b993d73 to 21c4538 Compare March 30, 2026 09:02

nhuvaoanh123 force-pushed the stm32-pr-1 branch from 21c4538 to 2818dbf Compare March 30, 2026 09:40

christian-schilling requested a review from Copilot March 31, 2026 09:48

Copilot started reviewing on behalf of christian-schilling March 31, 2026 09:49 View session

Copilot AI reviewed Mar 31, 2026

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nhuvaoanh123 force-pushed the stm32-pr-1 branch from 76aa238 to 8dfaa91 Compare March 31, 2026 14:50

rolandreichweinbmw reviewed Apr 14, 2026

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Comment thread platforms/stm32/bsp/bspMcu/include/3rdparty/cmsis/m-profile/armv7m_mpu.h

fix(stm32): address foundation PR feedback

f28459d

rolandreichweinbmw reviewed Apr 15, 2026

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nhuvaoanh123 mentioned this pull request Apr 22, 2026

refactor: extract shared CMSIS to libs/3rdparty/cmsis #445

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nhuvaoanh123 commented Mar 30, 2026

Purpose of this PR

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Related Issues

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