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feat(stm32): FDCAN transceiver adapter for STM32G4#416

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feat(stm32): FDCAN transceiver adapter for STM32G4#416
nhuvaoanh123 wants to merge 5 commits intoeclipse-openbsw:mainfrom
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@nhuvaoanh123 nhuvaoanh123 commented Mar 30, 2026

Purpose of this PR

  • Bugfix
  • New Feature
  • Documentation Update
  • Other

Description

Fourth PR in the STM32 platform series. Adds the FDCAN transceiver adapter, completing CAN support for both STM32 families.

Module added

Module Purpose
fdCanTransceiver OpenBSW ICanTransceiver adapter for STM32G4 FDCAN peripheral

Mirrors the bxCAN transceiver (PR 3) but supports FD frames with up to 64-byte payload and extended filter configuration.

Milestone

Both CAN transceiver variants (bxCAN + FDCAN) now available. Tests: FdCanTransceiverTest, FdCanTransceiverIntegrationTest.

Depends on #415 (PR 3: CAN drivers). PR 4 of 10.

Related Issues

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

Breaking Changes

  • Yes
  • No

Test Plan

  1. Configure: cmake --preset tests-stm32-debug
  2. Build and run: cmake --build --preset tests-stm32-debug && ctest --preset tests-stm32-debug
  3. Tests: FdCanTransceiverTest, FdCanTransceiverIntegrationTest

Regression Tests

Have tests been added/updated? [x] Yes [ ] No

nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
@nhuvaoanh123
feat(stm32): add HardFault handler and IWDG watchdog safety module
07f5a04 
Add fault handling and watchdog safety infrastructure:

- hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures
  register state (R0-R12, LR, PC, PSR) for post-mortem analysis
- safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable
  timeout, kick interface, and reset-reason detection
- SafetyManager: Board-level safety lifecycle integration for G474RE

Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS).
Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 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 HardFault handler and IWDG watchdog safety module
a2ef49a 
Add fault handling and watchdog safety infrastructure:

- hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures
  register state (R0-R12, LR, PC, PSR) for post-mortem analysis
- safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable
  timeout, kick interface, and reset-reason detection
- SafetyManager: Board-level safety lifecycle integration for G474RE

Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS).
Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 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 HardFault handler and IWDG watchdog safety module
5f8d82c 
Add fault handling and watchdog safety infrastructure:

- hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures
  register state (R0-R12, LR, PC, PSR) for post-mortem analysis
- safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable
  timeout, kick interface, and reset-reason detection
- SafetyManager: Board-level safety lifecycle integration for G474RE

Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS).
Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add HardFault handler and IWDG watchdog safety module
bf188ef 
Add fault handling and watchdog safety infrastructure:

- hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures
  register state (R0-R12, LR, PC, PSR) for post-mortem analysis
- safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable
  timeout, kick interface, and reset-reason detection
- SafetyManager: Board-level safety lifecycle integration for G474RE

Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS).
Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 of 10.
nhuvaoanh123 and others added 4 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
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 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add HardFault handler and IWDG watchdog safety module
9d91c4b 
Add fault handling and watchdog safety infrastructure:

- hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures
  register state (R0-R12, LR, PC, PSR) for post-mortem analysis
- safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable
  timeout, kick interface, and reset-reason detection
- SafetyManager: Board-level safety lifecycle integration for G474RE

Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS).
Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 of 10.
@nhuvaoanh123 nhuvaoanh123 marked this pull request as draft May 1, 2026 19:17
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