This Repository contains the firmware used in Nereo's navigator board. The board packs an STM32F469VIT6 microcontroller, and the project is configured using STM32CUBEMX, and later on compiled with arm-none-eabi.
The uROS library is used to communicate with the microcontroller, in fact it should be connected with serial to a microROS Agent. You can find all the instructions on how to use microROS on any STM32 MCU on uROS website, as I did.
This project has been designed to run on an STM32F469VIT6 MCU, yet it could in theory run (with proper adjustments) on any STM32 MCU: be careful tho, as it needs more than 300kB of SRAM for running, so consider using external SRAM.