eclipse-openbsw · nhuvaoanh123 · Mar 30, 2026 · Mar 31, 2026 · Mar 30, 2026 · Mar 30, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -93,6 +93,11 @@ if (BUILD_RUST)
         set(Rust_CARGO_TARGET
             "thumbv7em-none-eabihf"
             CACHE STRING "Rust target triple")
+    elseif (BUILD_TARGET_PLATFORM STREQUAL "NUCLEO_F413ZH"
+            OR BUILD_TARGET_PLATFORM STREQUAL "NUCLEO_G474RE")
+        set(Rust_CARGO_TARGET
+            "thumbv7em-none-eabihf"
+            CACHE STRING "Rust target triple")
     endif ()
 
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/libs/3rdparty/corrosion)
@@ -120,6 +125,10 @@ if (BUILD_EXECUTABLE STREQUAL "referenceApp")
     if (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB")
         set(OPENBSW_PLATFORM_DIR
             "${CMAKE_CURRENT_SOURCE_DIR}/platforms/s32k1xx")
+    elseif (BUILD_TARGET_PLATFORM STREQUAL "NUCLEO_F413ZH"
+            OR BUILD_TARGET_PLATFORM STREQUAL "NUCLEO_G474RE")
+        set(OPENBSW_PLATFORM_DIR
+            "${CMAKE_CURRENT_SOURCE_DIR}/platforms/stm32")
     else ()
         set(OPENBSW_PLATFORM_DIR "${CMAKE_CURRENT_SOURCE_DIR}/platforms/posix")
     endif ()
@@ -186,6 +195,13 @@ 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/bxCanTransceiver/test)
+        add_subdirectory(platforms/stm32/bsp/bspUart/test)
+
     elseif (OPENBSW_PLATFORM STREQUAL "s32k1xx")
 
         add_subdirectory(platforms/s32k1xx/unitTest EXCLUDE_FROM_ALL)

diff --git a/CMakePresets.json b/CMakePresets.json
@@ -22,6 +22,99 @@
                 "OPENBSW_PLATFORM": "posix"
             }
         },
+        {
+            "name": "tests-stm32-debug",
+            "displayName": "Configure for testing STM32 modules (debug)",
+            "description": "Configure for testing STM32 modules (debug)",
+            "inherits": "_config-base",
+            "binaryDir": "${sourceDir}/build/tests/stm32/Debug",
+            "cacheVariables": {
+                "CMAKE_DEFAULT_BUILD_TYPE": "Debug",
+                "CMAKE_CONFIGURATION_TYPES": "Debug",
+                "BUILD_EXECUTABLE": "unitTest",
+                "OPENBSW_PLATFORM": "stm32"
+            }
+        },
+        {
+            "name": "nucleo-f413zh-freertos-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-F413ZH FreeRTOS configuration (GCC)",
+            "description": "Configure for NUCLEO-F413ZH platform using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${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-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/${presetName}",
+            "cacheVariables": {
+                "BUILD_EXECUTABLE": "referenceApp",
+                "BUILD_TARGET_PLATFORM": "NUCLEO_G474RE",
+                "BUILD_TARGET_RTOS": "FREERTOS",
+                "STM32_CHIP": "STM32G474RE",
+                "CMAKE_ASM_FLAGS_RELWITHDEBINFO": "-g3",
+                "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo;Debug;Release",
+                "CMAKE_C_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_CXX_FLAGS_RELWITHDEBINFO": "-g3 -O2 -DNDEBUG",
+                "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo"
+            }
+        },
+        {
+            "name": "nucleo-f413zh-threadx-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-F413ZH ThreadX configuration (GCC)",
+            "description": "Configure for NUCLEO-F413ZH platform with ThreadX using ARM GCC toolchain",
+            "inherits": "_config-base",
+            "toolchainFile": "${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": "nucleo-g474re-threadx-gcc",
+            "generator": "Ninja Multi-Config",
+            "displayName": "NUCLEO-G474RE ThreadX configuration (GCC)",
+            "description": "Configure for NUCLEO-G474RE platform with ThreadX 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": "tests-posix-release",
             "displayName": "Configure for testing POSIX and generic modules (release)",
@@ -200,6 +293,37 @@
         }
     ],
     "buildPresets": [
+        {
+            "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": "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-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-f413zh-threadx-gcc",
+            "displayName": "NUCLEO-F413ZH ThreadX build (GCC)",
+            "description": "Build reference application for NUCLEO-F413ZH platform with ThreadX using GCC",
+            "configurePreset": "nucleo-f413zh-threadx-gcc"
+        },
+        {
+            "name": "nucleo-g474re-threadx-gcc",
+            "displayName": "NUCLEO-G474RE ThreadX build (GCC)",
+            "description": "Build reference application for NUCLEO-G474RE platform with ThreadX using GCC",
+            "configurePreset": "nucleo-g474re-threadx-gcc"
+        },
         {
             "name": "tests-posix-debug",
             "displayName": "Build tests of POSIX and generic modules (debug)",
@@ -278,6 +402,13 @@
         }
     ],
     "testPresets": [
+        {
+            "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-posix-debug",
             "displayName": "Run tests of POSIX and generic modules (debug)",

diff --git a/executables/referenceApp/platforms/nucleo_g474re/CMakeLists.txt b/executables/referenceApp/platforms/nucleo_g474re/CMakeLists.txt
@@ -0,0 +1 @@
+# Minimal board configuration — expanded in subsequent PRs
diff --git a/executables/referenceApp/platforms/nucleo_g474re/Options.cmake b/executables/referenceApp/platforms/nucleo_g474re/Options.cmake
@@ -0,0 +1,12 @@
+set(OPENBSW_PLATFORM "stm32" CACHE STRING "" FORCE)
+set(STM32_CHIP "STM32G474RE" CACHE STRING "" FORCE)
+set(BUILD_TARGET_RTOS "FREERTOS" CACHE STRING "")
+set(PLATFORM_SUPPORT_CAN OFF CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_IO OFF CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_ETHERNET OFF CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_TRANSPORT OFF CACHE BOOL "" FORCE)
+set(PLATFORM_SUPPORT_UDS OFF 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)
diff --git a/executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/CMakeLists.txt b/executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/CMakeLists.txt
@@ -0,0 +1,12 @@
+# Copyright 2024 Contributors to the Eclipse Foundation
+#
+# SPDX-License-Identifier: EPL-2.0
+
+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)
diff --git a/executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/index.rst b/executables/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/index.rst
@@ -0,0 +1,57 @@
+.. _bspconfig_nucleo_g474re:
+
+bspConfiguration - NUCLEO-G474RE
+================================
+
+Overview
+--------
+
+The ``bspConfiguration`` module contains hardware-specific configuration for the
+NUCLEO-G474RE evaluation board. Driver logic is separated from its configuration
+so that users can customise a project for different boards or pin assignments
+without modifying driver source code.
+
+The STM32G474RE platform exposes a minimal set of BSP peripherals required for
+the CAN reference application:
+
+- **bspUart** — USART2 configuration (ST-LINK Virtual COM Port on PA2/PA3).
+- **bspStdIo** — Standard I/O bridge that routes ``putByteToStdout`` /
+  ``getByteFromStdin`` through the configured UART instance.
+
+.. note::
+
+   Unlike the S32K148EVB reference application, this platform does not include
+   ADC, PWM, or digital I/O configuration modules because the CAN reference
+   application does not require analogue inputs or GPIO-driven outputs.
+   These modules can be added following the same configuration pattern if
+   a future application requires them.
+
+Hardware Summary
+^^^^^^^^^^^^^^^^
+
+.. csv-table::
+   :widths: 30, 70
+   :width: 100%
+
+   "MCU", "STM32G474RE (Arm Cortex-M4F, 170 MHz, single-precision FPU)"
+   "UART peripheral", "USART2 — routed to ST-LINK/V3 Virtual COM Port"
+   "UART TX pin", "PA2 (AF7)"
+   "UART RX pin", "PA3 (AF7)"
+   "UART baud rate", "115 200 baud (BRR = 1476 at 170 MHz APB1)"
+   "CAN peripheral", "FDCAN1 (configured in CanSystem, not bspConfiguration)"
+
+Build Integration
+^^^^^^^^^^^^^^^^^
+
+The CMake target ``bspConfiguration`` is a static library that compiles:
+
+- ``src/bsp/stdIo/stdIo.cpp``
+- ``src/bsp/uart/UartConfig.cpp``
+
+It publicly exposes its ``include/`` directory and links against ``bspUart``,
+``bspMcu``, and ``platform``.
+
+.. toctree::
+   :hidden:
+
+   user/index
diff --git a/...les/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/user/bspStdIo.rst b/...les/referenceApp/platforms/nucleo_g474re/bspConfiguration/doc/user/bspStdIo.rst
@@ -0,0 +1,80 @@
+.. _bspConfig_StdIo_G474RE:
+
+bspStdIo
+========
+
+Overview
+--------
+
+The standard I/O bridge provides the ``putByteToStdout`` and
+``getByteFromStdin`` C-linkage functions required by the OpenBSW logging
+framework. These functions route character-level I/O through the UART
+``TERMINAL`` instance configured in :ref:`bspConfig_Uart_G474RE`.
+
+Implementation
+--------------
+
+``stdIo.cpp`` implements two ``extern "C"`` functions that the OpenBSW
+``logger`` module calls for character output and input:
+
+.. code-block:: cpp
+
+   extern "C" void putByteToStdout(uint8_t const byte)
+   {
+       static bsp::Uart& uart
+           = bsp::Uart::getInstance(bsp::Uart::Id::TERMINAL);
+       uart.write(etl::span<uint8_t const>(&byte, 1U));
+   }
+
+   extern "C" int32_t getByteFromStdin()
+   {
+       static bsp::Uart& uart
+           = bsp::Uart::getInstance(bsp::Uart::Id::TERMINAL);
+       uint8_t dataByte = 0;
+       etl::span<uint8_t> data(&dataByte, 1U);
+       uart.read(data);
+       if (data.size() == 0)
+       {
+           return -1;
+       }
+       return data[0];
+   }
+
+Function Reference
+^^^^^^^^^^^^^^^^^^
+
+.. csv-table::
+   :header: "Function", "Description"
+   :widths: 35, 65
+   :width: 100%
+
+   "``putByteToStdout(uint8_t byte)``", "Transmits one byte over USART2 TX (PA2). Called by the logger framework for each character of a log message. Uses polling — blocks until the UART TX register is free."
+   "``getByteFromStdin() → int32_t``", "Attempts to read one byte from USART2 RX (PA3). Returns the byte value (0–255) on success, or ``-1`` if no data is available. Non-blocking."
+
+Design Decisions
+----------------
+
+**Lazy singleton initialisation**
+   Both functions use a ``static`` local reference to the UART instance.
+   The reference is resolved once on the first call and cached for all
+   subsequent calls, avoiding a global constructor ordering dependency.
+
+**Polling mode**
+   Character I/O uses the polling UART backend. This is adequate for debug
+   logging at 115 200 baud but would need to be replaced with a DMA or
+   interrupt-driven backend for production telemetry.
+
+**Return value convention**
+   ``getByteFromStdin`` follows the POSIX ``getchar()`` convention: a
+   non-negative value represents a valid byte, and ``-1`` signals that no
+   input is available.
+
+Dependencies
+------------
+
+.. csv-table::
+   :widths: 40, 60
+   :width: 100%
+
+   "``bsp/uart/UartConfig.h``", "Provides ``Uart::Id::TERMINAL`` to select the correct UART instance"
+   "``platform/estdint.h``", "Fixed-width integer types (``uint8_t``, ``int32_t``)"
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		# Minimal board configuration — expanded in subsequent PRs