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Add STM32 fault handler and watchdog safety#417

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nhuvaoanh123 wants to merge 6 commits into
eclipse-openbsw:mainfrom
nhuvaoanh123:stm32-pr-5
Draft

Add STM32 fault handler and watchdog safety#417
nhuvaoanh123 wants to merge 6 commits into
eclipse-openbsw:mainfrom
nhuvaoanh123:stm32-pr-5

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@nhuvaoanh123

@nhuvaoanh123 nhuvaoanh123 commented Mar 30, 2026

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Purpose of this PR

  • Bugfix
  • New Feature
  • Documentation Update
  • Other

Description

Fifth PR in the STM32 platform series. Adds fault handling and watchdog safety modules.

Modules added

Module Purpose
hardFaultHandler Cortex-M4 HardFault handler — captures R0–R12, LR, PC, PSR in assembly
safeBspMcuWatchdog IWDG driver with configurable timeout and kick interface
safeLifecycle Board-level SafetyManager for NUCLEO-G474RE

Milestone

CMake configures with safety modules. Watchdog kicks and HardFault handler activates when combined with PR 6 (FreeRTOS board config).

Depends on #416 (PR 4: FDCAN transceiver). PR 5 of 10.

Related Issues

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

Breaking Changes

  • Yes
  • No

Test Plan

  1. Configure: CC=arm-none-eabi-gcc CXX=arm-none-eabi-g++ cmake --preset nucleo-g474re-freertos-gcc
  2. Tests: WatchdogTest, WatchdogStressTest, SafetyManagerTest (in test sources)

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 FreeRTOS board config — first bootable G474RE binary
c421f80 
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration,
producing the first bootable reference app binary for STM32.

- FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F
- FreeRTOS core configuration (FreeRTOSConfig.h for G474RE)
- Board main: startup, clock init, UART console, task creation
- StaticBsp: lifecycle hooks for BSP init/shutdown
- CAN system integration (ISR handlers, CanSystem task)
- Application linker script for G474RE (512 KB Flash, 128 KB SRAM)
- Full Options.cmake with platform feature flags

OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7),
selectable at configure time via BUILD_TARGET_RTOS.

Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF.
Reference app boots on NUCLEO-G474RE with UART console output.
Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
This was referenced Mar 30, 2026
Draft
Draft
nhuvaoanh123 pushed a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
feat(stm32): add FreeRTOS board config — first bootable G474RE binary
cd8d7c7 
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration,
producing the first bootable reference app binary for STM32.

- FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F
- FreeRTOS core configuration (FreeRTOSConfig.h for G474RE)
- Board main: startup, clock init, UART console, task creation
- StaticBsp: lifecycle hooks for BSP init/shutdown
- CAN system integration (ISR handlers, CanSystem task)
- Application linker script for G474RE (512 KB Flash, 128 KB SRAM)
- Full Options.cmake with platform feature flags

OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7),
selectable at configure time via BUILD_TARGET_RTOS.

Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF.
Reference app boots on NUCLEO-G474RE with UART console output.
Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 30, 2026
@nhuvaoanh123
feat(stm32): add FreeRTOS board config — first bootable G474RE binary
e8eec9d 
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration,
producing the first bootable reference app binary for STM32.

- FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F
- FreeRTOS core configuration (FreeRTOSConfig.h for G474RE)
- Board main: startup, clock init, UART console, task creation
- StaticBsp: lifecycle hooks for BSP init/shutdown
- CAN system integration (ISR handlers, CanSystem task)
- Application linker script for G474RE (512 KB Flash, 128 KB SRAM)
- Full Options.cmake with platform feature flags

OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7),
selectable at configure time via BUILD_TARGET_RTOS.

Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF.
Reference app boots on NUCLEO-G474RE with UART console output.
Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add FreeRTOS board config — first bootable G474RE binary
2fc5895 
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration,
producing the first bootable reference app binary for STM32.

- FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F
- FreeRTOS core configuration (FreeRTOSConfig.h for G474RE)
- Board main: startup, clock init, UART console, task creation
- StaticBsp: lifecycle hooks for BSP init/shutdown
- CAN system integration (ISR handlers, CanSystem task)
- Application linker script for G474RE (512 KB Flash, 128 KB SRAM)
- Full Options.cmake with platform feature flags

OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7),
selectable at configure time via BUILD_TARGET_RTOS.

Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF.
Reference app boots on NUCLEO-G474RE with UART console output.
Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
nhuvaoanh123 added a commit to nhuvaoanh123/openbsw that referenced this pull request Mar 31, 2026
@nhuvaoanh123
feat(stm32): add FreeRTOS board config — first bootable G474RE binary
5f537d3 
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration,
producing the first bootable reference app binary for STM32.

- FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F
- FreeRTOS core configuration (FreeRTOSConfig.h for G474RE)
- Board main: startup, clock init, UART console, task creation
- StaticBsp: lifecycle hooks for BSP init/shutdown
- CAN system integration (ISR handlers, CanSystem task)
- Application linker script for G474RE (512 KB Flash, 128 KB SRAM)
- Full Options.cmake with platform feature flags

OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7),
selectable at configure time via BUILD_TARGET_RTOS.

Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF.
Reference app boots on NUCLEO-G474RE with UART console output.
Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
@nhuvaoanh123 nhuvaoanh123 marked this pull request as draft May 1, 2026 19:17
@nhuvaoanh123 nhuvaoanh123 changed the title feat(stm32): HardFault handler and IWDG watchdog safety Add STM32 fault handler and watchdog safety Jun 2, 2026
@nhuvaoanh123 nhuvaoanh123 deleted the stm32-pr-5 branch June 2, 2026 07:48
@nhuvaoanh123 nhuvaoanh123 reopened this Jun 2, 2026
@nhuvaoanh123 nhuvaoanh123 force-pushed the stm32-pr-5 branch 3 times, most recently from 794d1df to 5ddad8c Compare June 2, 2026 08:23
@nhuvaoanh123
Add STM32 device headers via RIM
79bb2e8 
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
Add STM32 MCU foundation
6406aef 
Add the STM32 platform entry point, chip CMake files, bspMcu startup
code, a software reset wrapper, and the STM32 unit-test presets. The
platform reuses the shared CMSIS core from libs/3rdparty/cmsis
instead of carrying a local copy.
@nhuvaoanh123
Add STM32 BSP peripheral drivers
e5a7dd9 
Add STM32 BSP modules for clock, UART, GPIO, timer, ADC, and EEPROM,
plus interrupt handling primitives and the ETL platform glue.
@nhuvaoanh123 nhuvaoanh123 force-pushed the stm32-pr-5 branch 2 times, most recently from 9c45d95 to f7c71d1 Compare June 11, 2026 00:09
@nhuvaoanh123
Add STM32 CAN drivers and bxCAN transceiver
494ae78 
Add bxCAN and FDCAN device drivers with STM32 CAN tests.

Add the bxCAN transceiver adapter and unit-test registration.
@nhuvaoanh123
Add STM32 FDCAN transceiver adapter
40c0cc6 
Add the FDCAN transceiver implementation and STM32 test coverage.

Wire the FDCAN transceiver into the chip-family CMake selection.
@nhuvaoanh123
Add STM32 fault handler and watchdog safety
6ffb562 
Add the STM32 hard fault handler with RAM dump region and the IWDG
watchdog driver. Add the G474RE safety manager sources and watchdog
unit tests.
@nhuvaoanh123 nhuvaoanh123 reopened this Jun 11, 2026
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