diff --git a/microros_example_stm32f446re/.project b/microros_example_stm32f446re/.project
new file mode 100644
index 0000000000000000000000000000000000000000..5e0540ae26fbf61ba48b741fb1d4e4389bdfbe63
--- /dev/null
+++ b/microros_example_stm32f446re/.project
@@ -0,0 +1,11 @@
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+<projectDescription>
+ <name>microros_example_stm32f446re</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ </buildSpec>
+ <natures>
+ </natures>
+</projectDescription>
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.cproject b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.cproject
index 2890e1cdf5bddb47e3637f64517a5ea225f718ab..c881cc20197e2089643b563fb4e7352d7fe373ea 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.cproject
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.cproject
@@ -1,502 +1,255 @@
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+ <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.786258413" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="../Core/Inc"/>
+ <listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
+ <listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
+ <listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
+ <listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+ </option>
+ <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1770012394" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
+ </tool>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.2106903643" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
+ <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.165314717" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+ <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1888759023" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+ <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.2139366965" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="../Core/Inc"/>
+ <listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
+ <listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
+ <listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
+ <listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
+ <listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+ </option>
+ <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1184213949" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
+ <listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
+ <listOptionValue builtIn="false" value="STM32F446xx"/>
+ </option>
+ <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.1855011938" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
+ </tool>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.394036407" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
+ <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.877172866" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld}" valueType="string"/>
+ <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1243127876" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
+ <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+ <additionalInput kind="additionalinput" paths="$(LIBS)"/>
+ </inputType>
+ </tool>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.1700378431" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
+ <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.139987958" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld}" valueType="string"/>
+ <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.959348030" name="System calls" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.systemcalls.value.minimalimplementation" valueType="enumerated"/>
+ <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.1163722966" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input">
+ <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+ <additionalInput kind="additionalinput" paths="$(LIBS)"/>
+ </inputType>
+ </tool>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.49659731" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.810658407" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.1259540112" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.1220281275" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1950929835" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1037100647" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.1259839475" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec"/>
+ <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.344631909" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
+ </toolChain>
+ </folderInfo>
+ <sourceEntries>
+ <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
+ <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+ <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
+ </sourceEntries>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+ </cconfiguration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <project id="MicroROS-CubeMX-Test.null.1748344171" name="MicroROS-CubeMX-Test"/>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+ <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+ <storageModule moduleId="refreshScope" versionNumber="2">
+ <configuration configurationName="Debug">
+ <resource resourceType="PROJECT" workspacePath="/MicroROS-CubeMX-Test"/>
+ </configuration>
+ <configuration configurationName="Release">
+ <resource resourceType="PROJECT" workspacePath="/MicroROS-CubeMX-Test"/>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="scannerConfiguration">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ <scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.718894815;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.85588544">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.826025852;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1866989293">
+ <autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.2078611536;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1770012394">
+ <autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.2106903643;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.1855011938">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ </storageModule>
+</cproject>
\ No newline at end of file
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/language.settings.xml b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/language.settings.xml
index 2b44f01537f433c8e8fa96d71a8a7c9526f1996f..4df56062e27bd300e524a89ee2025ca35792889f 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/language.settings.xml
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/language.settings.xml
@@ -1,52 +1,26 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
-
- <configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849" name="Debug">
-
- <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-
- <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-
- <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-
- <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-
- <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-
- <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="36570772086210837" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
-
- <language-scope id="org.eclipse.cdt.core.gcc"/>
-
- <language-scope id="org.eclipse.cdt.core.g++"/>
-
- </provider>
-
- </extension>
-
- </configuration>
-
- <configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763" name="Release">
-
- <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-
- <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-
- <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-
- <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-
- <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-
- <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="36570772086210837" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
-
- <language-scope id="org.eclipse.cdt.core.gcc"/>
-
- <language-scope id="org.eclipse.cdt.core.g++"/>
-
- </provider>
-
- </extension>
-
- </configuration>
-
-</project>
+ <configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.352501849" name="Debug">
+ <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+ <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+ <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+ <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1372096215987044528" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <language-scope id="org.eclipse.cdt.core.gcc"/>
+ <language-scope id="org.eclipse.cdt.core.g++"/>
+ </provider>
+ </extension>
+ </configuration>
+ <configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.789367763" name="Release">
+ <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+ <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+ <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+ <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+ <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1372096215987044528" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <language-scope id="org.eclipse.cdt.core.gcc"/>
+ <language-scope id="org.eclipse.cdt.core.g++"/>
+ </provider>
+ </extension>
+ </configuration>
+</project>
\ No newline at end of file
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/stm32cubeide.project.prefs b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/stm32cubeide.project.prefs
index 6292f974cae95b2c8d092ef39000f5e8f9e28f63..656e9765216d300d7a43b126825ba9435183323b 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/stm32cubeide.project.prefs
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=8C33B7723A85FAD5BE91511CFBE4DC18
66BE74F758C12D739921AEA421D593D3=2
-8DF89ED150041C4CBC7CB9A9CAA90856=539CFDB7045B0B9DAC94C0A0AD1DC4E8
-DC22A860405A8BF2F2C095E5B6529F12=539CFDB7045B0B9DAC94C0A0AD1DC4E8
+8DF89ED150041C4CBC7CB9A9CAA90856=C8091767193DD37F7328B919E0077725
+DC22A860405A8BF2F2C095E5B6529F12=C8091767193DD37F7328B919E0077725
eclipse.preferences.version=1
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/main.h b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/main.h
index 88eb250a25d2fae8f97db2a0565c4cf3ad190e81..7f11153760fb9fc82160085eaab2580acedc94b5 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/main.h
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/main.h
@@ -72,6 +72,7 @@ void Error_Handler(void);
#define TCK_GPIO_Port GPIOA
#define SWO_Pin GPIO_PIN_3
#define SWO_GPIO_Port GPIOB
+
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
@@ -81,5 +82,3 @@ void Error_Handler(void);
#endif
#endif /* __MAIN_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_hal_conf.h b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_hal_conf.h
index f92334c15ca964c886496aedc9357eefb07b5907..2cc157c051f45c579a36f70148c13b12c0da931b 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_hal_conf.h
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_hal_conf.h
@@ -1,3 +1,4 @@
+/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_conf_template.h
@@ -8,16 +9,16 @@
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2017 STMicroelectronics.
- * All rights reserved.</center></h2>
+ * Copyright (c) 2017 STMicroelectronics.
+ * All rights reserved.
*
- * This software component is licensed by ST under BSD 3-Clause license,
- * the "License"; You may not use this file except in compliance with the
- * License. You may obtain a copy of the License at:
- * opensource.org/licenses/BSD-3-Clause
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
+/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CONF_H
@@ -36,50 +37,49 @@
*/
#define HAL_MODULE_ENABLED
- /* #define HAL_ADC_MODULE_ENABLED */
-/* #define HAL_CRYP_MODULE_ENABLED */
-/* #define HAL_CAN_MODULE_ENABLED */
-/* #define HAL_CRC_MODULE_ENABLED */
-/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
-/* #define HAL_CRYP_MODULE_ENABLED */
-/* #define HAL_DAC_MODULE_ENABLED */
-/* #define HAL_DCMI_MODULE_ENABLED */
-/* #define HAL_DMA2D_MODULE_ENABLED */
-/* #define HAL_ETH_MODULE_ENABLED */
-/* #define HAL_NAND_MODULE_ENABLED */
-/* #define HAL_NOR_MODULE_ENABLED */
-/* #define HAL_PCCARD_MODULE_ENABLED */
-/* #define HAL_SRAM_MODULE_ENABLED */
-/* #define HAL_SDRAM_MODULE_ENABLED */
-/* #define HAL_HASH_MODULE_ENABLED */
-/* #define HAL_I2C_MODULE_ENABLED */
-/* #define HAL_I2S_MODULE_ENABLED */
-/* #define HAL_IWDG_MODULE_ENABLED */
-/* #define HAL_LTDC_MODULE_ENABLED */
-/* #define HAL_RNG_MODULE_ENABLED */
-/* #define HAL_RTC_MODULE_ENABLED */
-/* #define HAL_SAI_MODULE_ENABLED */
-/* #define HAL_SD_MODULE_ENABLED */
-/* #define HAL_MMC_MODULE_ENABLED */
-/* #define HAL_SPI_MODULE_ENABLED */
+ /* #define HAL_CRYP_MODULE_ENABLED */
+/* #define HAL_ADC_MODULE_ENABLED */
+/* #define HAL_CAN_MODULE_ENABLED */
+/* #define HAL_CRC_MODULE_ENABLED */
+/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
+/* #define HAL_DAC_MODULE_ENABLED */
+/* #define HAL_DCMI_MODULE_ENABLED */
+/* #define HAL_DMA2D_MODULE_ENABLED */
+/* #define HAL_ETH_MODULE_ENABLED */
+/* #define HAL_NAND_MODULE_ENABLED */
+/* #define HAL_NOR_MODULE_ENABLED */
+/* #define HAL_PCCARD_MODULE_ENABLED */
+/* #define HAL_SRAM_MODULE_ENABLED */
+/* #define HAL_SDRAM_MODULE_ENABLED */
+/* #define HAL_HASH_MODULE_ENABLED */
+/* #define HAL_I2C_MODULE_ENABLED */
+/* #define HAL_I2S_MODULE_ENABLED */
+/* #define HAL_IWDG_MODULE_ENABLED */
+/* #define HAL_LTDC_MODULE_ENABLED */
+/* #define HAL_RNG_MODULE_ENABLED */
+/* #define HAL_RTC_MODULE_ENABLED */
+/* #define HAL_SAI_MODULE_ENABLED */
+/* #define HAL_SD_MODULE_ENABLED */
+/* #define HAL_MMC_MODULE_ENABLED */
+/* #define HAL_SPI_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
-/* #define HAL_USART_MODULE_ENABLED */
-/* #define HAL_IRDA_MODULE_ENABLED */
-/* #define HAL_SMARTCARD_MODULE_ENABLED */
-/* #define HAL_SMBUS_MODULE_ENABLED */
-/* #define HAL_WWDG_MODULE_ENABLED */
-/* #define HAL_PCD_MODULE_ENABLED */
-/* #define HAL_HCD_MODULE_ENABLED */
-/* #define HAL_DSI_MODULE_ENABLED */
-/* #define HAL_QSPI_MODULE_ENABLED */
-/* #define HAL_QSPI_MODULE_ENABLED */
-/* #define HAL_CEC_MODULE_ENABLED */
-/* #define HAL_FMPI2C_MODULE_ENABLED */
-/* #define HAL_FMPSMBUS_MODULE_ENABLED */
-/* #define HAL_SPDIFRX_MODULE_ENABLED */
-/* #define HAL_DFSDM_MODULE_ENABLED */
-/* #define HAL_LPTIM_MODULE_ENABLED */
+/* #define HAL_USART_MODULE_ENABLED */
+/* #define HAL_IRDA_MODULE_ENABLED */
+/* #define HAL_SMARTCARD_MODULE_ENABLED */
+/* #define HAL_SMBUS_MODULE_ENABLED */
+/* #define HAL_WWDG_MODULE_ENABLED */
+/* #define HAL_PCD_MODULE_ENABLED */
+/* #define HAL_HCD_MODULE_ENABLED */
+/* #define HAL_DSI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_CEC_MODULE_ENABLED */
+/* #define HAL_FMPI2C_MODULE_ENABLED */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED */
+/* #define HAL_SPDIFRX_MODULE_ENABLED */
+/* #define HAL_DFSDM_MODULE_ENABLED */
+/* #define HAL_LPTIM_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
@@ -213,7 +213,7 @@
#define MAC_ADDR5 0U
/* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
+#define ETH_RX_BUF_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
@@ -488,5 +488,3 @@
#endif
#endif /* __STM32F4xx_HAL_CONF_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_it.h b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_it.h
index 306bb29666305fff135931e17a8cf74d05d7aeb7..520dc8c0e9e205e2ffad5fe94621ce8185c9d323 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_it.h
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Inc/stm32f4xx_it.h
@@ -66,5 +66,3 @@ void TIM6_DAC_IRQHandler(void);
#endif
#endif /* __STM32F4xx_IT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/freertos.c b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/freertos.c
index e20729ff9faf56508a30f804778f56c2280b2a89..3bbda398e43bd80ce309364d9660e691cf0da11b 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/freertos.c
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/freertos.c
@@ -58,4 +58,3 @@
/* USER CODE END Application */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/main.c b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/main.c
index b831c77b8eaec07037d8c037fa1231d4f8377324..e9b985249e46b6bb610d9036a26dfff328577cba 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/main.c
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/main.c
@@ -173,6 +173,7 @@ void SystemClock_Config(void)
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
+
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
@@ -190,6 +191,7 @@ void SystemClock_Config(void)
{
Error_Handler();
}
+
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
@@ -385,7 +387,7 @@ void StartDefaultTask(void *argument)
/* USER CODE END 5 */
}
- /**
+/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
@@ -437,5 +439,3 @@ void assert_failed(uint8_t *file, uint32_t line)
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_msp.c b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_msp.c
index 4bc3e8e7fbd6fb0a34b03d4909d195eee9a9d454..c96316137bfcbe8d3c88a2d2edc142db34b8be4a 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_msp.c
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_msp.c
@@ -196,5 +196,3 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_timebase_tim.c b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_timebase_tim.c
index 52e51b331b55344d1da96ef34e22cbaf4963c8de..8a34f2ee16f12627a73b922ae4a2511d6cd9040d 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_timebase_tim.c
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_hal_timebase_tim.c
@@ -42,22 +42,30 @@ TIM_HandleTypeDef htim6;
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
- uint32_t uwTimclock = 0;
- uint32_t uwPrescalerValue = 0;
+ uint32_t uwTimclock, uwAPB1Prescaler = 0U;
+
+ uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
- /*Configure the TIM6 IRQ priority */
- HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority ,0);
+ HAL_StatusTypeDef status;
- /* Enable the TIM6 global Interrupt */
- HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* Enable TIM6 clock */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+ /* Get APB1 prescaler */
+ uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM6 clock */
- uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
+ if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+ {
+ uwTimclock = HAL_RCC_GetPCLK1Freq();
+ }
+ else
+ {
+ uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+ }
+
/* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
@@ -74,14 +82,33 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
htim6.Init.Prescaler = uwPrescalerValue;
htim6.Init.ClockDivision = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
- if(HAL_TIM_Base_Init(&htim6) == HAL_OK)
+ htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+ status = HAL_TIM_Base_Init(&htim6);
+ if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
- return HAL_TIM_Base_Start_IT(&htim6);
+ status = HAL_TIM_Base_Start_IT(&htim6);
+ if (status == HAL_OK)
+ {
+ /* Enable the TIM6 global Interrupt */
+ HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+ /* Configure the SysTick IRQ priority */
+ if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+ {
+ /* Configure the TIM IRQ priority */
+ HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+ uwTickPrio = TickPriority;
+ }
+ else
+ {
+ status = HAL_ERROR;
+ }
+ }
}
- /* Return function status */
- return HAL_ERROR;
+ /* Return function status */
+ return status;
}
/**
@@ -108,4 +135,3 @@ void HAL_ResumeTick(void)
__HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_it.c b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_it.c
index 969b10e82cb5134b8a25b1c79e2e89d98dd81bee..0e2b287b07862ca05d440fb989c071e3ca4b6ba7 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_it.c
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/Core/Src/stm32f4xx_it.c
@@ -222,4 +222,3 @@ void TIM6_DAC_IRQHandler(void)
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/MicroROS-CubeMX-Test.ioc b/microros_example_stm32f446re/MicroROS-CubeMX-Test/MicroROS-CubeMX-Test.ioc
index 7dc72596131968f8cdd558f8171f0833dcce6fa4..0e3fc9b36376211f8192746070ffdec5902e1ee5 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/MicroROS-CubeMX-Test.ioc
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/MicroROS-CubeMX-Test.ioc
@@ -1,217 +1,221 @@
#MicroXplorer Configuration settings - do not modify
-Mcu.Family=STM32F4
-ProjectManager.MainLocation=Core/Src
-PH0-OSC_IN.Locked=true
-PH0-OSC_IN.Signal=RCC_OSC_IN
-VP_SYS_VS_tim6.Mode=TIM6
-USART2.IPParameters=VirtualMode,BaudRate,OverSampling
-RCC.CortexFreq_Value=84000000
-Dma.USART2_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-ProjectManager.KeepUserCode=true
-Mcu.UserName=STM32F446RETx
-NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-RCC.PLLCLKFreq_Value=84000000
-PA14.GPIO_Label=TCK
-RCC.PLLQCLKFreq_Value=168000000
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_USART2_UART_Init-USART2-false-HAL-true
-RCC.RTCFreq_Value=32000
-PA3.GPIOParameters=GPIO_Label
-RCC.PLLI2SRCLKFreq_Value=96000000
-PC13.GPIO_Label=B1 [Blue PushButton]
-RCC.SAIAFreq_Value=96000000
-PA2.GPIOParameters=GPIO_Label
-PinOutPanel.RotationAngle=0
-Dma.USART2_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+Dma.Request0=USART2_TX
+Dma.Request1=USART2_RX
+Dma.RequestsNb=2
+Dma.USART2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_RX.1.Instance=DMA1_Stream5
Dma.USART2_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-ProjectManager.StackSize=0x400
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-SH.GPXTI13.0=GPIO_EXTI13
+Dma.USART2_RX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.1.Mode=DMA_CIRCULAR
+Dma.USART2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.1.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_TX.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART2_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_TX.0.Instance=DMA1_Stream6
+Dma.USART2_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_TX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART2_TX.0.Mode=DMA_NORMAL
+Dma.USART2_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_TX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_TX.0.Priority=DMA_PRIORITY_VERY_HIGH
Dma.USART2_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Mcu.IP4=SYS
-RCC.FCLKCortexFreq_Value=84000000
-Mcu.IP5=USART2
-Mcu.IP2=NVIC
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
-Mcu.IP3=RCC
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,FootprintOK
+FREERTOS.Tasks01=defaultTask,24,3000,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+File.Version=6
+KeepUserPlacement=false
+Mcu.CPN=STM32F446RET6
+Mcu.Family=STM32F4
Mcu.IP0=DMA
-Dma.USART2_TX.0.Priority=DMA_PRIORITY_VERY_HIGH
Mcu.IP1=FREERTOS
-Mcu.UserConstants=
-SH.GPXTI13.ConfNb=1
-Mcu.ThirdPartyNb=0
-RCC.SDIOFreq_Value=168000000
-RCC.HCLKFreq_Value=84000000
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=SYS
+Mcu.IP5=USART2
Mcu.IPNb=6
-RCC.I2SClocksFreq_Value=96000000
-ProjectManager.PreviousToolchain=
-RCC.APB2TimFreq_Value=84000000
-RCC.SPDIFRXFreq_Value=168000000
-RCC.VcooutputI2S=96000000
-Dma.USART2_RX.1.PeriphInc=DMA_PINC_DISABLE
-Mcu.Pin6=PA3
-Mcu.Pin7=PA5
-Mcu.Pin8=PB2
-Mcu.Pin9=PA13
-RCC.VCOSAIOutputFreq_Value=192000000
-Dma.USART2_RX.1.MemInc=DMA_MINC_ENABLE
-FREERTOS.IPParameters=Tasks01,FootprintOK
-RCC.AHBFreq_Value=84000000
-PH0-OSC_IN.Mode=HSE-External-Oscillator
+Mcu.Name=STM32F446R(C-E)Tx
+Mcu.Package=LQFP64
Mcu.Pin0=PC13
Mcu.Pin1=PC14-OSC32_IN
+Mcu.Pin10=PA14
+Mcu.Pin11=PB3
+Mcu.Pin12=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin13=VP_SYS_VS_tim6
Mcu.Pin2=PC15-OSC32_OUT
Mcu.Pin3=PH0-OSC_IN
Mcu.Pin4=PH1-OSC_OUT
Mcu.Pin5=PA2
-ProjectManager.ProjectBuild=false
-Dma.USART2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-RCC.HSE_VALUE=8000000
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-PB2.Signal=GPIO_Output
-NVIC.SysTick_IRQn=true\:15\:0\:true\:false\:false\:true\:true\:true
-USART2.OverSampling=UART_OVERSAMPLING_16
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.26.1
-MxDb.Version=DB.6.0.21
-ProjectManager.BackupPrevious=false
-PC14-OSC32_IN.Mode=LSE-External-Oscillator
-RCC.VCOInputFreq_Value=1000000
-PA14.Mode=Serial_Wire
-File.Version=6
-PH1-OSC_OUT.Locked=true
-PB3.GPIOParameters=GPIO_Label
-RCC.PLLRCLKFreq_Value=168000000
-Dma.USART2_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
-Dma.USART2_TX.0.Direction=DMA_MEMORY_TO_PERIPH
-Dma.RequestsNb=2
-Dma.USART2_TX.0.Instance=DMA1_Stream6
-ProjectManager.HalAssertFull=false
-ProjectManager.ProjectName=MicroROS-CubeMX-Test
-RCC.FLatency-AdvancedSettings=FLASH_LATENCY_2
-PA13.GPIOParameters=GPIO_Label
-PH1-OSC_OUT.Mode=HSE-External-Oscillator
-RCC.MCO2PinFreq_Value=84000000
-Mcu.Package=LQFP64
-PA5.Locked=true
+Mcu.Pin6=PA3
+Mcu.Pin7=PA5
+Mcu.Pin8=PB2
+Mcu.Pin9=PA13
+Mcu.PinsNb=14
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32F446RETx
+MxCube.Version=6.7.0
+MxDb.Version=DB.6.0.70
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
+NVIC.SavedPendsvIrqHandlerGenerated=true
+NVIC.SavedSvcallIrqHandlerGenerated=true
+NVIC.SavedSystickIrqHandlerGenerated=true
+NVIC.SysTick_IRQn=true\:15\:0\:true\:false\:false\:true\:true\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_DAC_IRQn
-USART2.VirtualMode=VM_ASYNC
+NVIC.TimeBaseIP=TIM6
+NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
+PA13.GPIOParameters=GPIO_Label
+PA13.GPIO_Label=TMS
+PA13.Locked=true
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.GPIOParameters=GPIO_Label
+PA14.GPIO_Label=TCK
PA14.Locked=true
-ProjectManager.ToolChainLocation=
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
+PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=USART_TX
-RCC.LSI_VALUE=32000
-NVIC.TimeBaseIP=TIM6
-FREERTOS.FootprintOK=true
-PA5.GPIOParameters=GPIO_Label
-Dma.USART2_TX.0.Mode=DMA_NORMAL
-RCC.CECFreq_Value=32786.88524590164
-Dma.Request1=USART2_RX
-RCC.APB1TimFreq_Value=84000000
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-Dma.USART2_RX.1.Mode=DMA_CIRCULAR
-RCC.SAIBFreq_Value=96000000
-NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
-Dma.Request0=USART2_TX
-ProjectManager.CustomerFirmwarePackage=
-PC14-OSC32_IN.Locked=true
-RCC.PLLSAIQCLKFreq_Value=96000000
-PB3.Locked=true
-PA3.Signal=USART2_RX
PA2.Locked=true
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.GPIOParameters=GPIO_Label
+PA3.GPIO_Label=USART_RX
+PA3.Locked=true
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
+PA5.GPIOParameters=GPIO_Label
+PA5.GPIO_Label=LD2 [Green Led]
+PA5.Locked=true
+PA5.Signal=GPIO_Output
+PB2.Locked=true
+PB2.Signal=GPIO_Output
+PB3.GPIOParameters=GPIO_Label
PB3.GPIO_Label=SWO
-PC15-OSC32_OUT.Mode=LSE-External-Oscillator
-ProjectManager.ProjectFileName=MicroROS-CubeMX-Test.ioc
-Dma.USART2_RX.1.Priority=DMA_PRIORITY_VERY_HIGH
-FREERTOS.Tasks01=defaultTask,24,3000,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
-Dma.USART2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_TX.0.MemInc=DMA_MINC_ENABLE
-Mcu.PinsNb=14
-ProjectManager.NoMain=false
+PB3.Locked=true
+PB3.Signal=SYS_JTDO-SWO
+PC13.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
+PC13.GPIO_Label=B1 [Blue PushButton]
+PC13.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC13.Locked=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
PC13.Signal=GPXTI13
-RCC.FMPI2C1Freq_Value=42000000
-RCC.VCOI2SInputFreq_Value=1000000
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-RCC.APB1CLKDivider=RCC_HCLK_DIV2
+PC14-OSC32_IN.Locked=true
+PC14-OSC32_IN.Mode=LSE-External-Oscillator
PC14-OSC32_IN.Signal=RCC_OSC32_IN
-boardIOC=true
-NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
-USART2.BaudRate=115200
-RCC.FamilyName=M
-PA13.Signal=SYS_JTMS-SWDIO
-PA3.Mode=Asynchronous
PC15-OSC32_OUT.Locked=true
-ProjectManager.TargetToolchain=STM32CubeIDE
-NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
-RCC.VCOInputMFreq_Value=1000000
-ProjectManager.RegisterCallBack=
-RCC.USBFreq_Value=168000000
+PC15-OSC32_OUT.Mode=LSE-External-Oscillator
PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
-Dma.USART2_RX.1.Instance=DMA1_Stream5
-RCC.VCOI2SOutputFreq_Value=192000000
-Dma.USART2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
-PA5.Signal=GPIO_Output
-Dma.USART2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-RCC.PLLSAIPCLKFreq_Value=96000000
-board=NUCLEO-F446RE
-RCC.VCOOutputFreq_Value=336000000
-ProjectManager.LastFirmware=true
-VP_SYS_VS_tim6.Signal=SYS_VS_tim6
-NVIC.SavedSystickIrqHandlerGenerated=true
-RCC.APB2Freq_Value=84000000
-MxCube.Version=6.2.1
-RCC.PLLI2SPCLKFreq_Value=96000000
-PC13.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
-RCC.EthernetFreq_Value=84000000
+PH0-OSC_IN.Locked=true
+PH0-OSC_IN.Mode=HSE-External-Oscillator
+PH0-OSC_IN.Signal=RCC_OSC_IN
+PH1-OSC_OUT.Locked=true
+PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-PA13.Mode=Serial_Wire
-ProjectManager.FreePins=false
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FLatency-AdvancedSettings,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLN,PLLP,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PWRFreq_Value,RTCFreq_Value,RTCHSEDivFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOInputMFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value,VcooutputI2S
+PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
-Mcu.Name=STM32F446R(C-E)Tx
-RCC.PLLI2SQCLKFreq_Value=96000000
-NVIC.SavedPendsvIrqHandlerGenerated=true
-RCC.RTCHSEDivFreq_Value=4000000
-PA13.GPIO_Label=TMS
-PA2.Signal=USART2_TX
-ProjectManager.UnderRoot=true
-PB2.Locked=true
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-RCC.VCOSAIInputFreq_Value=1000000
-ProjectManager.CoupleFile=false
-RCC.48MHZClocksFreq_Value=84000000
-PB3.Signal=SYS_JTDO-SWO
-RCC.SYSCLKFreq_VALUE=84000000
-PA3.Locked=true
-Dma.USART2_TX.0.PeriphInc=DMA_PINC_DISABLE
-PA5.GPIO_Label=LD2 [Green Led]
-NVIC.ForceEnableDMAVector=true
-KeepUserPlacement=false
-PC13.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
-PA14.GPIOParameters=GPIO_Label
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-PA13.Locked=true
+ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
-PA14.Signal=SYS_JTCK-SWCLK
-ProjectManager.HeapSize=0x200
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-Mcu.Pin13=VP_SYS_VS_tim6
ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=false
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=true
+ProjectManager.DeviceId=STM32F446RETx
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
+ProjectManager.FreePins=false
+ProjectManager.HalAssertFull=false
+ProjectManager.HeapSize=0x200
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=true
+ProjectManager.LibraryCopy=1
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=MicroROS-CubeMX-Test.ioc
+ProjectManager.ProjectName=MicroROS-CubeMX-Test
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x400
+ProjectManager.TargetToolchain=STM32CubeIDE
+ProjectManager.ToolChainLocation=
+ProjectManager.UnderRoot=true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_USART2_UART_Init-USART2-false-HAL-true
+RCC.48MHZClocksFreq_Value=84000000
+RCC.AHBFreq_Value=84000000
+RCC.APB1CLKDivider=RCC_HCLK_DIV2
+RCC.APB1Freq_Value=42000000
+RCC.APB1TimFreq_Value=84000000
+RCC.APB2Freq_Value=84000000
+RCC.APB2TimFreq_Value=84000000
+RCC.CECFreq_Value=32786.88524590164
+RCC.CortexFreq_Value=84000000
+RCC.EthernetFreq_Value=84000000
+RCC.FCLKCortexFreq_Value=84000000
+RCC.FLatency-AdvancedSettings=FLASH_LATENCY_2
+RCC.FMPI2C1Freq_Value=42000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=84000000
+RCC.HSE_VALUE=8000000
RCC.HSI_VALUE=16000000
-RCC.PLLP=RCC_PLLP_DIV4
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-Mcu.Pin11=PB3
-Mcu.Pin12=VP_FREERTOS_VS_CMSIS_V2
+RCC.I2SClocksFreq_Value=96000000
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FLatency-AdvancedSettings,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLN,PLLP,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PWRFreq_Value,RTCFreq_Value,RTCHSEDivFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOInputMFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value,VcooutputI2S
+RCC.LSI_VALUE=32000
+RCC.MCO2PinFreq_Value=84000000
+RCC.PLLCLKFreq_Value=84000000
+RCC.PLLI2SPCLKFreq_Value=96000000
+RCC.PLLI2SQCLKFreq_Value=96000000
+RCC.PLLI2SRCLKFreq_Value=96000000
RCC.PLLN=336
-Mcu.Pin10=PA14
-PA2.Mode=Asynchronous
+RCC.PLLP=RCC_PLLP_DIV4
+RCC.PLLQCLKFreq_Value=168000000
+RCC.PLLRCLKFreq_Value=168000000
+RCC.PLLSAIPCLKFreq_Value=96000000
+RCC.PLLSAIQCLKFreq_Value=96000000
RCC.PWRFreq_Value=84000000
-RCC.APB1Freq_Value=42000000
-ProjectManager.DeviceId=STM32F446RETx
-ProjectManager.LibraryCopy=1
-PA3.GPIO_Label=USART_RX
+RCC.RTCFreq_Value=32000
+RCC.RTCHSEDivFreq_Value=4000000
+RCC.SAIAFreq_Value=96000000
+RCC.SAIBFreq_Value=96000000
+RCC.SDIOFreq_Value=168000000
+RCC.SPDIFRXFreq_Value=168000000
+RCC.SYSCLKFreq_VALUE=84000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.USBFreq_Value=168000000
+RCC.VCOI2SInputFreq_Value=1000000
+RCC.VCOI2SOutputFreq_Value=192000000
+RCC.VCOInputFreq_Value=1000000
+RCC.VCOInputMFreq_Value=1000000
+RCC.VCOOutputFreq_Value=336000000
+RCC.VCOSAIInputFreq_Value=1000000
+RCC.VCOSAIOutputFreq_Value=192000000
+RCC.VcooutputI2S=96000000
+SH.GPXTI13.0=GPIO_EXTI13
+SH.GPXTI13.ConfNb=1
+USART2.BaudRate=115200
+USART2.IPParameters=VirtualMode,BaudRate,OverSampling
+USART2.OverSampling=UART_OVERSAMPLING_16
+USART2.VirtualMode=VM_ASYNC
+VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
+VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
+board=NUCLEO-F446RE
+boardIOC=true
isbadioc=false
diff --git a/microros_example_stm32f446re/MicroROS-CubeMX-Test/STM32F446RETX_FLASH.ld b/microros_example_stm32f446re/MicroROS-CubeMX-Test/STM32F446RETX_FLASH.ld
index 24f919fbccdc60a9558d6cda35fb24a2f9c1f86a..158a4e01a4f639c1a01a15b07fb1fabf3b496ba1 100644
--- a/microros_example_stm32f446re/MicroROS-CubeMX-Test/STM32F446RETX_FLASH.ld
+++ b/microros_example_stm32f446re/MicroROS-CubeMX-Test/STM32F446RETX_FLASH.ld
@@ -30,8 +30,8 @@ ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
-_Min_Heap_Size = 0x200 ; /* required amount of heap */
-_Min_Stack_Size = 0x400 ; /* required amount of stack */
+_Min_Heap_Size = 0x200; /* required amount of heap */
+_Min_Stack_Size = 0x400; /* required amount of stack */
/* Memories definition */
MEMORY