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feat(stm32): bxCAN/FDCAN device drivers and CAN transceiver#415

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feat(stm32): bxCAN/FDCAN device drivers and CAN transceiver#415
nhuvaoanh123 wants to merge 4 commits into
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@nhuvaoanh123 nhuvaoanh123 commented Mar 30, 2026

Purpose of this PR

  • Bugfix
  • New Feature
  • Documentation Update
  • Other

Description

Third PR in the STM32 platform series. Adds CAN peripheral device drivers and the bxCAN transceiver adapter.

Modules added

Module Purpose
bspCan Low-level CAN device drivers — BxCanDevice (F4) and FdCanDevice (G4)
bxCanTransceiver OpenBSW ICanTransceiver adapter for bxCAN peripheral
unitTest STM32-specific unit test cmake infrastructure

Architecture

  • bspCan/CMakeLists.txt uses CAN_TYPE to select the correct driver at compile time
  • BxCanDevice: 3 TX mailboxes, 28 filter banks, hardware FIFO with overrun detection
  • FdCanDevice: 3 TX FIFO slots, 28 standard + 8 extended filters, FD frame support
  • Unit tests use mock register headers (test/include/mcu/mcu.h) for host-based verification

Milestone

cmake --preset tests-stm32-debug configures successfully. Unit tests (BxCanDeviceTest, BxCanTransceiverTest) run in CI Docker environment.

Depends on #414 (PR 2: BSP drivers). PR 3 of 10.

Related Issues

Part of STM32 platform port — see #413 for series overview.

Breaking Changes

  • Yes
  • No

Test Plan

  1. Configure unit tests: cmake --preset tests-stm32-debug
  2. Build and run: cmake --build --preset tests-stm32-debug && ctest --preset tests-stm32-debug
  3. Tests: BxCanDeviceTest, BxCanTransceiverTest, BxCanTransceiverIntegrationTest

Regression Tests

Have tests been added/updated? [x] Yes — BxCanDeviceTest, FdCanDeviceTest, BxCanTransceiverTest [ ] No

nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
@nhuvaoanh123
feat(stm32): add FDCAN transceiver adapter
81f2625 
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for
STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but
supports FD frames (up to 64-byte payload) and extended filter banks.

- FdCanTransceiver: ICanTransceiver implementation for FDCAN
- Unit tests with mock FdCanDevice headers for host verification
- Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection

Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers.
Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
This was referenced Mar 30, 2026
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nhuvaoanh123 pushed a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
feat(stm32): add FDCAN transceiver adapter
733a108 
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for
STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but
supports FD frames (up to 64-byte payload) and extended filter banks.

- FdCanTransceiver: ICanTransceiver implementation for FDCAN
- Unit tests with mock FdCanDevice headers for host verification
- Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection

Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers.
Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
@nhuvaoanh123
feat(stm32): add MCU foundation — CMSIS, device headers, startup, lin…
2818dbf 
…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.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
@nhuvaoanh123
feat(stm32): add FDCAN transceiver adapter
f839e14 
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for
STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but
supports FD frames (up to 64-byte payload) and extended filter banks.

- FdCanTransceiver: ICanTransceiver implementation for FDCAN
- Unit tests with mock FdCanDevice headers for host verification
- Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection

Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers.
Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add FDCAN transceiver adapter
8a177ed 
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for
STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but
supports FD frames (up to 64-byte payload) and extended filter banks.

- FdCanTransceiver: ICanTransceiver implementation for FDCAN
- Unit tests with mock FdCanDevice headers for host verification
- Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection

Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers.
Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
nhuvaoanh123 and others added 3 commits March 31, 2026 14:26
@nhuvaoanh123 @claude
fix(stm32): address Copilot review — FPU, unit tests, linker, license
8dfaa91 
- 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>
@nhuvaoanh123
feat(stm32): add UART, GPIO, clock, timer, and peripheral BSP drivers
7e28e69 
Add the complete low-level BSP layer for STM32F4/G4 platforms:

- bspClock: Clock configuration for F4 (100 MHz HSE) and G4 (170 MHz PLL)
- bspUart: USART2 driver with DMA-ready ring buffer, VCP console output
- bspIo: GPIO driver with pin configuration (AF, push-pull, speed)
- bspTimer: SysTick-based system timer for RTOS tick and delays
- bspInterruptsImpl: NVIC interrupt enable/disable (FreeRTOS + ThreadX variants)
- bspAdc: ADC driver for analog inputs
- bspEepromDriver: Flash-based EEPROM emulation
- etlImpl: ETL clock and print backends for STM32
- bspConfiguration: NUCLEO-G474RE board pin mappings (UART, LED, etc.)

Milestone: cmake configures with all BSP modules. Boots to UART console with PR 6 (RTOS).
Depends on PR 1 (MCU foundation). PR 2 of 10.
@nhuvaoanh123
feat(stm32): add bxCAN and FDCAN device drivers with CAN transceiver
82d0759 
Add CAN peripheral drivers for both STM32 CAN controller variants:

- BxCanDevice: Basic Extended CAN controller (STM32F4 family)
- FdCanDevice: Flexible Data-rate CAN controller (STM32G4 family)
- BxCanTransceiver: OpenBSW CAN transceiver adapter for bxCAN
- Unit test infrastructure (unitTest CMakeLists, mock device headers)

The bspCan module uses compile-time chip selection (CAN_TYPE=BXCAN|FDCAN)
to build only the relevant driver. Tests use mock register headers for
host-based verification.

Milestone: `cmake --preset tests-stm32-debug` configures. Tests run in CI Docker.
Depends on eclipse-openbsw#414 (PR 2: BSP drivers). PR 3 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add FDCAN transceiver adapter
899021b 
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for
STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but
supports FD frames (up to 64-byte payload) and extended filter banks.

- FdCanTransceiver: ICanTransceiver implementation for FDCAN
- Unit tests with mock FdCanDevice headers for host verification
- Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection

Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers.
Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
@nhuvaoanh123 nhuvaoanh123 marked this pull request as draft May 1, 2026 19:16
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