Configure STM32 DoCAN addressing and UDS sessions#421
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Add full UDS (Unified Diagnostic Services) implementation for STM32: Services: - DiagnosticSessionControl (0x10) — default, extended, programming sessions - SecurityAccess (0x27) — seed/key authentication - TesterPresent (0x3E) — keep-alive - ClearDiagnosticInformation (0x14) — DTC clearing - ReadDtcInformation (0x19) — DTC status and snapshot reads - ControlDtcSetting (0x85) — DTC recording on/off - RoutineControl (0x31) — demo routine for HIL testing - WriteDataByIdentifier (0x2E) — VIN write support - DTC Manager — centralized fault code lifecycle Architecture: - All services compile conditionally (PLATFORM_SUPPORT_UDS=ON) - UdsSystem task manages service registration and lifecycle - Stm32-prefixed files are STM32-specific implementations - Existing posix/S32K UDS services are unmodified Qualification: 405 HIL tests passing across 5 test suites on NUCLEO-G474RE. Test dashboard: https://nhuvaoanh123.github.io/openbsw/ Depends on eclipse-openbsw#421 (PR 9: DoCAN transport). PR 10 of 10.
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Add full UDS (Unified Diagnostic Services) implementation for STM32: Services: - DiagnosticSessionControl (0x10) — default, extended, programming sessions - SecurityAccess (0x27) — seed/key authentication - TesterPresent (0x3E) — keep-alive - ClearDiagnosticInformation (0x14) — DTC clearing - ReadDtcInformation (0x19) — DTC status and snapshot reads - ControlDtcSetting (0x85) — DTC recording on/off - RoutineControl (0x31) — demo routine for HIL testing - WriteDataByIdentifier (0x2E) — VIN write support - DTC Manager — centralized fault code lifecycle Architecture: - All services compile conditionally (PLATFORM_SUPPORT_UDS=ON) - UdsSystem task manages service registration and lifecycle - Stm32-prefixed files are STM32-specific implementations - Existing posix/S32K UDS services are unmodified Qualification: 405 HIL tests passing across 5 test suites on NUCLEO-G474RE. Test dashboard: https://nhuvaoanh123.github.io/openbsw/ Depends on eclipse-openbsw#421 (PR 9: DoCAN transport). PR 10 of 10.
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Add full UDS (Unified Diagnostic Services) implementation for STM32: Services: - DiagnosticSessionControl (0x10) — default, extended, programming sessions - SecurityAccess (0x27) — seed/key authentication - TesterPresent (0x3E) — keep-alive - ClearDiagnosticInformation (0x14) — DTC clearing - ReadDtcInformation (0x19) — DTC status and snapshot reads - ControlDtcSetting (0x85) — DTC recording on/off - RoutineControl (0x31) — demo routine for HIL testing - WriteDataByIdentifier (0x2E) — VIN write support - DTC Manager — centralized fault code lifecycle Architecture: - All services compile conditionally (PLATFORM_SUPPORT_UDS=ON) - UdsSystem task manages service registration and lifecycle - Stm32-prefixed files are STM32-specific implementations - Existing posix/S32K UDS services are unmodified Qualification: 405 HIL tests passing across 5 test suites on NUCLEO-G474RE. Test dashboard: https://nhuvaoanh123.github.io/openbsw/ Depends on eclipse-openbsw#421 (PR 9: DoCAN transport). PR 10 of 10.
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Add full UDS (Unified Diagnostic Services) implementation for STM32: Services: - DiagnosticSessionControl (0x10) — default, extended, programming sessions - SecurityAccess (0x27) — seed/key authentication - TesterPresent (0x3E) — keep-alive - ClearDiagnosticInformation (0x14) — DTC clearing - ReadDtcInformation (0x19) — DTC status and snapshot reads - ControlDtcSetting (0x85) — DTC recording on/off - RoutineControl (0x31) — demo routine for HIL testing - WriteDataByIdentifier (0x2E) — VIN write support - DTC Manager — centralized fault code lifecycle Architecture: - All services compile conditionally (PLATFORM_SUPPORT_UDS=ON) - UdsSystem task manages service registration and lifecycle - Stm32-prefixed files are STM32-specific implementations - Existing posix/S32K UDS services are unmodified Qualification: 405 HIL tests passing across 5 test suites on NUCLEO-G474RE. Test dashboard: https://nhuvaoanh123.github.io/openbsw/ Depends on eclipse-openbsw#421 (PR 9: DoCAN transport). PR 10 of 10.
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Add full UDS (Unified Diagnostic Services) implementation for STM32: Services: - DiagnosticSessionControl (0x10) — default, extended, programming sessions - SecurityAccess (0x27) — seed/key authentication - TesterPresent (0x3E) — keep-alive - ClearDiagnosticInformation (0x14) — DTC clearing - ReadDtcInformation (0x19) — DTC status and snapshot reads - ControlDtcSetting (0x85) — DTC recording on/off - RoutineControl (0x31) — demo routine for HIL testing - WriteDataByIdentifier (0x2E) — VIN write support - DTC Manager — centralized fault code lifecycle Architecture: - All services compile conditionally (PLATFORM_SUPPORT_UDS=ON) - UdsSystem task manages service registration and lifecycle - Stm32-prefixed files are STM32-specific implementations - Existing posix/S32K UDS services are unmodified Qualification: 405 HIL tests passing across 5 test suites on NUCLEO-G474RE. Test dashboard: https://nhuvaoanh123.github.io/openbsw/ Depends on eclipse-openbsw#421 (PR 9: DoCAN transport). PR 10 of 10.
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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, 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.
Add STM32 BSP modules for clock, UART, GPIO, timer, ADC, and EEPROM, plus interrupt handling primitives and the ETL platform glue.
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Add bxCAN and FDCAN device drivers with STM32 CAN tests. Add the bxCAN transceiver adapter and unit-test registration.
Add the FDCAN transceiver implementation and STM32 test coverage. Wire the FDCAN transceiver into the chip-family CMake selection.
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.
Add the NUCLEO-F413ZH reference application board: BSP configuration, board main with FreeRTOS and ThreadX variants, bxCAN CAN system, and the board presets.
Introduce two feature flags set by the STM32 board options: PLATFORM_SUPPORT_OBD_UDS_ADDRESSING selects 0x7E0/0x7E8 tester CAN IDs and logical address 0x0600, and PLATFORM_SUPPORT_PROGRAMMING_SESSION adds an application-level programming session. The BSW ProgrammingSession disables the UDS dispatcher on entry (bootloader handover), so the application session keeps the dispatcher alive and uses session index 0x02 to avoid matching PROGRAMMING_SESSION() in switchSession().
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Purpose of this PR
Description
Ninth PR in the STM32 platform series. Configures the DoCAN transport layer for standard UDS diagnostics over CAN bus.
Changes
AppProgrammingSession— uses programming-session response byte (0x02) without triggering the bootloader shutdown sequence, keeping the UDS dispatcher alive for service-level programming operationsCross-platform impact
The DiagSession change modifies shared code but only activates when
PLATFORM_SUPPORT_UDS=ON. Existing S32K and POSIX builds are unaffected — they use different session configurations and don't register this session type.Milestone
With PR 10 (UDS services), TesterPresent (0x3E) works end-to-end over CAN bus.
Depends on #420 (PR 8: F413ZH). PR 9 of 10.
Related Issues
Part of STM32 platform port — see #413 for series overview.
Breaking Changes
Test Plan
Regression Tests
Have tests been added/updated? [ ] Yes [x] No — integration tests via CAN bus in PR 10