Some indications :
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In STM32CubeMX: File> New Project> Board selector> NUCLEO-F746ZG
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Enable USARTx and select TX and RX pins (for this board the ST-Link connector is associated with USART3)
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Enable USARTx global interrupt
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In DMA setting: Enable DMA for USARTx and set their priority to HIGH
Adding ROS libraries in your projet:
First you must have ROS installed on your computer (this project was made with the ROS-Noetic version and Ubuntu 20.04)
add rosserial_stm32 package to your ROS workspace. Ex.: cd ~/catkin_ws/src
git clone https://github.com/yoneken/rosserial_stm32.git
Then: cd .. and catkin_make
source /devel/setup.bash
Generate code
$cd /your_projet_folder (it should contain /Inc and /Scr directories)
rosrun rosserial_stm32 make_libraries.py .
Finally, you should:
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You go back to your project in STM32IDE, right click > Convert your stm32 project to C ++ (Because ROS libraries are written in C++)
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Rename main.c to main.cpp
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Set header files to be compiled with g++ : Right click on your project -> Properties > C/C++ generals > File Types
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Use project settings > New.. > Pattern: *.h Type: C++ Header File
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Modify the file STM32Hardware.h according to your board.
Reference:
https://github.com/yoneken/rosserial_stm32
https://github.com/LearnEmbeddedSystemsWithGeorge/chatter_example_stm32_rosserial