请帮我生成ros和stm32串口通信的代码

很高兴为您服务。这里有一些参考代码，可以帮助您实现ros和stm32串口通信：#include "stm32f4xx.h"void USART_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
USART_InitTypeDef USART_InitStruct; // enable APB2 peripheral clock for USART1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
// enable clock for the USART1 GPIOs
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); /* This sequence sets up the TX and RX pins
* so they work correctly with the USART1 peripheral
*/
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; // Pins 9 (TX) and 10 (RX) are used
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; // the pins are configured as alternate function so the USART peripheral has access to them
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; // this defines the IO speed and has nothing to do with the baudrate!
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; // this defines the output type as push pull mode (as opposed to open drain)
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP; // this activates the pullup resistors on the IO pins
GPIO_Init(GPIOA, &GPIO_InitStruct); // now all the values are passed to the GPIO_Init() function which sets the GPIO registers /* The RX and TX pins are now connected to their AF
* so that the USART1 can take over control of the
* pins
*/
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1); //
GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1); /* Now the USART_InitStruct is used to define the
* properties of USART1
*/
USART_InitStruct.USART_BaudRate = 9600; // the baudrate is set to the value we passed into this init function
USART_InitStruct.USART_WordLength = USART_WordLength_8b;// we want the data frame size to be 8 bits (standard)
USART_InitStruct.USART_StopBits = USART_StopBits_1; // we want 1 stop bit (standard)
USART_InitStruct.USART_Parity = USART_Parity_No; // we don't want a parity bit (standard)
USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; // we don't want flow control (standard)
USART_InitStruct.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; // we want to enable the transmitter and the receiver
USART_Init(USART1, &USART_InitStruct); // again all the properties are passed to the USART_Init function which takes care of all the bit setting