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

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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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" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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.

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.

rolandreichweinbmw · 2026-05-26T12:48:21Z

Now that #445 is merged, you can pick up this PR, resolve conflicts and remove the redundant CMSIS copy.

nhuvaoanh123 · 2026-06-01T07:17:36Z

Thanks, this is done now. I rebased the branch, resolved the conflict, removed the redundant STM32 CMSIS copy, and CI is green.

rolandreichweinbmw · 2026-06-01T14:21:22Z

+Additional definitions in ``mcu.h``:
+
+``INCLUDE_CORE_CM4_IN_MCU_H``
+    Guard required by the OpenBSW-patched ``core_cm4.h``.


Can you please explain what was patched here?

I just noticed that in libs/3rdparty/cmsis/.riminfo there are actually more files listed as "ignores" than actually exist under libs/3rdparty/cmsis/. Can you please clarify how this can be?

rolandreichweinbmw · 2026-06-01T14:27:35Z

@@ -0,0 +1,301 @@
+/**


Can you put the files under 3rdparty/st/* also under RIM control?

Import the STM32F4 and STM32G4 CMSIS device headers from STMicroelectronics' dedicated RIM-tracked repositories. Keep only the F413 and G474 headers needed by the STM32 MCU foundation and record the unused upstream headers as RIM ignores.

Add the STM32 platform entry point, chip CMake files, bspMcu startup code, reset wrapper, and the STM32 unit-test preset. Keep the change self-contained by excluding board application presets and PR-process documentation from the repository.

nhuvaoanh123 force-pushed the stm32-pr-1 branch 2 times, most recently 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 Outdated

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

Merged

4 tasks

nhuvaoanh123 force-pushed the stm32-pr-1 branch from 4b207f4 to ec9c1c5 Compare June 1, 2026 06:44

rolandreichweinbmw reviewed Jun 1, 2026

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Add STM32 device headers via RIM

915118c

Import the STM32F4 and STM32G4 CMSIS device headers from STMicroelectronics' dedicated RIM-tracked repositories. Keep only the F413 and G474 headers needed by the STM32 MCU foundation and record the unused upstream headers as RIM ignores.

nhuvaoanh123 force-pushed the stm32-pr-1 branch from ec9c1c5 to e5ab109 Compare June 1, 2026 16:16

Add STM32 MCU foundation

71a2b34

Add the STM32 platform entry point, chip CMake files, bspMcu startup code, reset wrapper, and the STM32 unit-test preset. Keep the change self-contained by excluding board application presets and PR-process documentation from the repository.

nhuvaoanh123 force-pushed the stm32-pr-1 branch from e5ab109 to 71a2b34 Compare June 2, 2026 06:01

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nhuvaoanh123 commented Mar 30, 2026

Purpose of this PR

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Milestone

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Related Issues

Breaking Changes

Test Plan

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