JBE

/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2018 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f0xx_hal.h"

/* USER CODE BEGIN Includes */
#include 
#include 
#include 
#include 
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
#define _NOP() asm("NOP")

#define RxBufferSize   0x40

char RxBuffer1[RxBufferSize];
uint16_t RxCounter1 = 0;

char key_value[2];

uint16_t sensor_flag = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
                                    
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                                

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
#ifdef __GNUC__
  /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
     set to 'Yes') calls __io_putchar() */
  #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */

int _write(int file, char *ptr, int len)
{
  int DataIdx;
  for (DataIdx = 0; DataIdx < len; DataIdx++){ __io_putchar( *ptr++ );}
  return len;
}

PUTCHAR_PROTOTYPE
{
  /* Place your implementation of fputc here */
  /* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
  HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 1);

  return ch;
}

uint32_t UART1_get_Number(void){
  uint32_t KeyIn, i;
  uint8_t key_value;
  uint8_t L6470_RxBuffer[8], L6470_TxBuffer[8];
  /* Receive a string (Max RxBufferSize bytes) from the Hyperterminal ended by '\r' (Enter key) */
  do
  {
    if((HAL_UART_GetState(&huart1) != HAL_UART_STATE_ERROR)&&(RxCounter1 < RxBufferSize))
    {
      //key_value = USART_ReceiveData(USART1);
      while(HAL_UART_Receive(&huart1, (uint8_t *)&key_value, 1, 1) != HAL_OK){
        //_NOP();
        if(sensor_flag){
          switch(sensor_flag){
            case 1<<13:
              printf("Sensor 0\r\n");
              L6470_TxBuffer[0] = 0xB8;
              L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
              break;
            case 1<<10:
              printf("Sensor 1\r\n");
              L6470_TxBuffer[0] = 0xB8;
              L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
              break;
            case 1<<9:
              printf("Sensor 2\r\n");
              break;
            case 1<<8:
              printf("Sensor 3\r\n");
              break;
          }
        }
      }
      //USART_SendData(USART1, key_value);
      HAL_UART_Transmit(&huart1, (uint8_t *)&key_value, 1, 1);
      if(key_value == '\r'){
        RxBuffer1[RxCounter1]='\0';
        printf("\n");
        KeyIn = atoi(RxBuffer1);

        RxCounter1 = 0;
        for(i = 0; i < RxBufferSize; i++)
          RxBuffer1[i] = 0;

        //USART_ReceiveData(USART1);
        HAL_UART_Receive(&huart1, (uint8_t *)&key_value, 1, 1);
        return KeyIn;
      }
      else{
        RxBuffer1[RxCounter1++] = key_value;
      }
    }
  }while((key_value != '\r')&&(RxCounter1 != RxBufferSize));
  return -1;
}

void L6470_DRV(uint8_t DRV_num, uint8_t *wp, uint8_t *rp, uint8_t param_num){
  uint8_t i;
  GPIO_TypeDef * L_SCS_Port;
  uint16_t L_SCS_Pin;
 
  if(DRV_num == 0){//Rotation Axis
    L_SCS_Port = SCS_GPIO_Port;
    L_SCS_Pin = SCS_Pin;
  }

  for(i=0;i    HAL_GPIO_WritePin(L_SCS_Port, L_SCS_Pin, GPIO_PIN_RESET);
    HAL_SPI_TransmitReceive(&hspi1, wp+i, rp+i, 1, 1000);
    while (__HAL_SPI_GET_FLAG(&hspi1, SPI_FLAG_BSY) != 0);
    HAL_GPIO_WritePin(L_SCS_Port, L_SCS_Pin, GPIO_PIN_SET);
    HAL_Delay(1);
  }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  *
  * @retval None
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  uint16_t KeyIn = 0;
  uint8_t cnt_newline = 0;

  uint8_t L6470_RxBuffer[8], L6470_TxBuffer[8];
  uint8_t L6470_Axis, L6470_Param, L6470_Value0, L6470_Value1, L6470_Value2, L6470_tmp;
  uint8_t L6470_Run_Dir;
  uint32_t L6470_Run_Spd, L6470_step, L6470_Axis01_0ffset, L6470_Axis02_0ffset;
  uint8_t L6470_StepClock_Dir;
  uint8_t L6470_Move_Dir;
  uint32_t  L6470_Move_N_STEP;
  uint32_t L6470_GoTo_ABS_POS;
  uint8_t L6470_GoTo_DIR_Dir;
  uint32_t L6470_GoTo_DIR_ABS_POS;
  uint8_t L6470_GoUntil_ACT, L6470_GoUntil_DIR;
  uint32_t L6470_GoUntil_SPD;
  uint8_t L6470_ReleaseSW_ACT, L6470_ReleaseSW_DIR;
  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SPI1_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_GPIO_WritePin(SR_GPIO_Port, SR_Pin, GPIO_PIN_RESET); 
  HAL_Delay(100);
  HAL_GPIO_WritePin(SR_GPIO_Port, SR_Pin, GPIO_PIN_SET);
  HAL_Delay(100);

  L6470_TxBuffer[0] = 0xA8; 
  L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
  HAL_Delay(10);

  L6470_TxBuffer[0] = 0x18;
  L6470_TxBuffer[1] = 0x2e;
  L6470_TxBuffer[2] = 0x8B;
  L6470_TxBuffer[3] = 0;
  L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
  HAL_Delay(10);

  printf("\r\n\r\ntest_LAZAREV V001 FW Ver 0.0.1 Start -->\r\n");
  printf("1. HELP : Show menu explanation\r\n");
  printf("2. L6470 Reset reset\r\n");
  printf("3. L6470 Reset set\r\n");
  printf("4. L6470 SetParam : Transmit and Receive SPI\r\n");
  printf("5. L6470 GetParam : Transmit and Receive SPI\r\n");
  printf("6. L6470 Run(DIR, SPD) : Transmit and Receive SPI\r\n");
  printf("7. L6470 StepClock(DIR) : Transmit and Receive SPI\r\n");
  printf("8. L6470 Move(DIR, N_STEP) : Transmit and Receive SPI\r\n");
  printf("9. L6470 GoTo(ABS_POS) : Transmit and Receive SPI\r\n");
  printf("10. L6470 GoTo_DIR(DIR, ABS_POS) : Transmit and Receive SPI\r\n");
  printf("11. L6470 GoUntil(ACT, DIR, SPD) : Transmit and Receive SPI\r\n");
  printf("12. L6470 ReleaseSW(ACT, DIR) : Transmit and Receive SPI\r\n");
  printf("13. L6470 GoHome : Transmit and Receive SPI\r\n");
  printf("14. L6470 GoMark : Transmit and Receive SPI\r\n");
  printf("15. L6470 ResetPos : Transmit and Receive SPI\r\n");
  printf("16. L6470 ResetDevice : Transmit and Receive SPI\r\n");
  printf("17. L6470 SoftStop : Transmit and Receive SPI\r\n");
  printf("18. L6470 HardStop : Transmit and Receive SPI\r\n");
  printf("19. L6470 SoftHiZ : Transmit and Receive SPI\r\n");
  printf("21. L6470 HardHiZ : Transmit and Receive SPI\r\n");
  printf("21. L6470 GeStatus : Transmit and Receive SPI\r\n");
  printf("22. L6470 Search Home\r\n");
  printf("JBElec>");
  fflush(stdout);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    PHASE1:
      KeyIn = UART1_get_Number();
        switch(KeyIn){
          case 1:
            printf("1. HELP : Show menu explanation\r\n");
            printf("2. L6470 Reset reset\r\n");
            printf("3. L6470 Reset set\r\n");
            printf("4. L6470 SetParam : Transmit and Receive SPI\r\n");
            printf("5. L6470 GetParam : Transmit and Receive SPI\r\n");
            printf("6. L6470 Run(DIR, SPD) : Transmit and Receive SPI\r\n");
            printf("7. L6470 StepClock(DIR) : Transmit and Receive SPI\r\n");
            printf("8. L6470 Move(DIR, N_STEP) : Transmit and Receive SPI\r\n");
            printf("9. L6470 GoTo(ABS_POS) : Transmit and Receive SPI\r\n");
            printf("10. L6470 GoTo_DIR(DIR, ABS_POS) : Transmit and Receive SPI\r\n");
            printf("11. L6470 GoUntil(ACT, DIR, SPD) : Transmit and Receive SPI\r\n");
            printf("12. L6470 ReleaseSW(ACT, DIR) : Transmit and Receive SPI\r\n");
            printf("13. L6470 GoHome : Transmit and Receive SPI\r\n");
            printf("14. L6470 GoMark : Transmit and Receive SPI\r\n");
            printf("15. L6470 ResetPos : Transmit and Receive SPI\r\n");
            printf("16. L6470 ResetDevice : Transmit and Receive SPI\r\n");
            printf("17. L6470 SoftStop : Transmit and Receive SPI\r\n");
            printf("18. L6470 HardStop : Transmit and Receive SPI\r\n");
            printf("19. L6470 SoftHiZ : Transmit and Receive SPI\r\n");
            printf("20. L6470 HardHiZ : Transmit and Receive SPI\r\n");
            printf("21. L6470 GeStatus : Transmit and Receive SPI\r\n");
            printf("22. L6470 Search Home\r\n");

            break;
          case 2:
            printf("2. L6470 Reset reset\r\n");
            HAL_GPIO_WritePin(SR_GPIO_Port, SR_Pin, GPIO_PIN_RESET);
     
            break;
          case 3:
            printf("3. L6470 Reset set\r\n");
            HAL_GPIO_WritePin(SR_GPIO_Port, SR_Pin, GPIO_PIN_SET);
     
            break;
          case 4:
            printf("4. L6470 SetParam : Transmit and Receive SPI\r\n");
          
            SetParam_axis:
              printf("    Input Axis[1:0] >");fflush(stdout);
              L6470_Axis = UART1_get_Number();
              if(L6470_Axis < 0 || L6470_Axis > 1){
                printf("Invalid input value\r\n");
                goto SetParam_axis;
              }
            
            SetParam_param:
              printf("    Input Param[27:0] >");fflush(stdout);
              L6470_Param = UART1_get_Number();
              if(L6470_Param < 0 || L6470_Param > 27){
                printf("Invalid input value\r\n");
                goto SetParam_param;
              }
            
            SetParam_value2:
              printf("    Input Value2[255:0] >");fflush(stdout);
              L6470_Value2 = UART1_get_Number();
              if(L6470_Value2 < 0 || L6470_Value2 > 255){
                printf("Invalid input value\r\n");
                goto SetParam_value2;
              }
            
          SetParam_value1:
            printf("    Input Value1[255:0] >");fflush(stdout);
            L6470_Value1 = UART1_get_Number();
            if(L6470_Value1 < 0 || L6470_Value1 > 255){
              printf("Invalid input value\r\n");
              goto SetParam_value1;
            }
          
          SetParam_value0:
            printf("    Input Value0[255:0] >");fflush(stdout);
            L6470_Value0 = UART1_get_Number();
            if(L6470_Value0 < 0 || L6470_Value0 > 255){
              printf("Invalid input value\r\n");
              goto SetParam_value0;
            }
              
          L6470_TxBuffer[0] = L6470_Param;
          L6470_TxBuffer[1] = L6470_Value2;
          L6470_TxBuffer[2] = L6470_Value1;
          L6470_TxBuffer[3] = L6470_Value0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
            
          break;
        case 5:
          printf("5. L6470 GetParam : Transmit and Receive SPI\r\n");
          
          GetParam_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GetParam_axis;
            }
          
          GetParam_param:
            printf("    Input Param[27:0] >");fflush(stdout);
            L6470_Param = UART1_get_Number();
            if(L6470_Param < 0 || L6470_Param > 27){
              printf("Invalid input value\r\n");
              goto GetParam_param;
            }
          
          L6470_TxBuffer[0] = 0x20 | L6470_Param;
          L6470_TxBuffer[1] = 0;
          L6470_TxBuffer[2] = 0;
          L6470_TxBuffer[3] = 0;
          
          L6470_RxBuffer[0] = 0;
          L6470_RxBuffer[1] = 0;
          L6470_RxBuffer[2] = 0;
          L6470_RxBuffer[3] = 0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
          
          printf("%x address Byte2 : %x, Byte1 : %x, Byte0 : %x\r\n", L6470_Param, L6470_RxBuffer[1], L6470_RxBuffer[2], L6470_RxBuffer[3]);
          
          break;
        case 6:
          printf("6. L6470 Run(DIR, SPD) : Transmit and Receive SPI\r\n");
          
          Run_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto Run_axis;
            }
            
          Run_dir:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_Run_Dir = UART1_get_Number();
            if(L6470_Run_Dir < 0 || L6470_Run_Dir > 1){
              printf("Invalid input value\r\n");
              goto Run_dir;
            }
            
          Run_spd:
            printf("    Input SPD[1048575:0] >");fflush(stdout);
            L6470_Run_Spd = UART1_get_Number();
            if(L6470_Run_Spd < 0 || L6470_Run_Spd > 1048575){
              printf("Invalid input value\r\n");
              goto Run_spd;
            }
              
          L6470_TxBuffer[0] = 0x50 | L6470_Run_Dir;
          L6470_TxBuffer[1] = L6470_Run_Spd >> 16;
          L6470_TxBuffer[2] = L6470_Run_Spd >> 8;
          L6470_TxBuffer[3] = L6470_Run_Spd;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
            
          break;
        case 7:
          printf("7. L6470 StepClock(DIR) : Transmit and Receive SPI\r\n");
            
          StepClock_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto StepClock_axis;
            }
              
          StepClock_dir:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_StepClock_Dir = UART1_get_Number();
            if(L6470_StepClock_Dir < 0 || L6470_StepClock_Dir > 1){
              printf("Invalid input value\r\n");
              goto StepClock_dir;
            }
                      
          L6470_TxBuffer[0] = 0x58 | L6470_StepClock_Dir;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
              
          break;
        case 8:
          printf("8. L6470 Move(DIR, N_STEP) : Transmit and Receive SPI\r\n");
              
          Move_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto Move_axis;
            }
                
          Move_dir:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_Move_Dir = UART1_get_Number();
            if(L6470_Move_Dir < 0 || L6470_Move_Dir > 1){
              printf("Invalid input value\r\n");
              goto Move_dir;
            }
                
          Move_N_STEP:
            printf("    Input N_STEP[4194303:0] >");fflush(stdout);
            L6470_Move_N_STEP = UART1_get_Number();
            if(L6470_Move_N_STEP < 0 || L6470_Move_N_STEP > 4194303){
              printf("Invalid input value\r\n");
              goto Move_N_STEP;
            }
                  
          L6470_TxBuffer[0] = 0x40 | L6470_Move_Dir;
          L6470_TxBuffer[1] = L6470_Move_N_STEP >> 16;
          L6470_TxBuffer[2] = L6470_Move_N_STEP >> 8;
          L6470_TxBuffer[3] = L6470_Move_N_STEP;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
                
          break;
        case 9:
          printf("9. L6470 GoTo(ABS_POS) : Transmit and Receive SPI\r\n");
                
          GoTo_ABS_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GoTo_ABS_axis;
            }
                  
          GoTo_ABS_POS:
            printf("    Input ABS_POS[4194303:0] >");fflush(stdout);
            L6470_GoTo_ABS_POS = UART1_get_Number();
            if(L6470_GoTo_ABS_POS < 0 || L6470_GoTo_ABS_POS > 4194303){
              printf("Invalid input value\r\n");
              goto GoTo_ABS_POS;
            }
                    
          L6470_TxBuffer[0] = 0x60;
          L6470_TxBuffer[1] = L6470_GoTo_ABS_POS >> 16;
          L6470_TxBuffer[2] = L6470_GoTo_ABS_POS >> 8;
          L6470_TxBuffer[3] = L6470_GoTo_ABS_POS;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
                  
          break;
        case 10:
          printf("10. L6470 GoTo_DIR(DIR, ABS_POS) : Transmit and Receive SPI\r\n");
                  
          GoTo_DIR_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GoTo_DIR_axis;
            }
                    
          GoTo_DIR_dir:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_GoTo_DIR_Dir = UART1_get_Number();
            if(L6470_GoTo_DIR_Dir < 0 || L6470_GoTo_DIR_Dir > 1){
              printf("Invalid input value\r\n");
              goto GoTo_DIR_dir;
            }
                    
          GoTo_DIR_ABS_POS:
            printf("    Input ABS_POS[4194303:0] >");fflush(stdout);
            L6470_GoTo_DIR_ABS_POS = UART1_get_Number();
            if(L6470_GoTo_DIR_ABS_POS < 0 || L6470_GoTo_DIR_ABS_POS > 4194303){
              printf("Invalid input value\r\n");
              goto GoTo_DIR_ABS_POS;
            }
                      
          L6470_TxBuffer[0] = 0x68 | L6470_GoTo_DIR_Dir;
          L6470_TxBuffer[1] = L6470_GoTo_DIR_ABS_POS >> 16;
          L6470_TxBuffer[2] = L6470_GoTo_DIR_ABS_POS >> 8;
          L6470_TxBuffer[3] = L6470_GoTo_DIR_ABS_POS;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
                    
          break;
        case 11:
          printf("11. L6470 GoUntil(ACT, DIR, SPD) : Transmit and Receive SPI\r\n");
                    
          GoUntil_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GoUntil_axis;
            }
                      
          GoUntil_ACT:
            printf("    Input ACT[1:0] >");fflush(stdout);
            L6470_GoUntil_ACT = UART1_get_Number();
            if(L6470_GoUntil_ACT < 0 || L6470_GoUntil_ACT > 1){
              printf("Invalid input value\r\n");
              goto GoUntil_ACT;
            }
                    
          GoUntil_DIR:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_GoUntil_DIR = UART1_get_Number();
            if(L6470_GoUntil_DIR < 0 || L6470_GoUntil_DIR > 1){
              printf("Invalid input value\r\n");
              goto GoUntil_DIR;
            }
                      
          GoUntil_SPD:
            printf("    Input SPD[1048575:0] >");fflush(stdout);
            L6470_GoUntil_SPD = UART1_get_Number();
            if(L6470_GoUntil_SPD < 0 || L6470_GoUntil_SPD > 1048575){
              printf("Invalid input value\r\n");
              goto GoUntil_SPD;
            }
                        
          L6470_TxBuffer[0] = 0x82 | L6470_GoUntil_ACT << 3 | L6470_GoUntil_DIR;
          L6470_TxBuffer[1] = L6470_GoUntil_SPD >> 16;
          L6470_TxBuffer[2] = L6470_GoUntil_SPD >> 8;
          L6470_TxBuffer[3] = L6470_GoUntil_SPD;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
                      
          break;
        case 12:
          printf("12. L6470 ReleaseSW(ACT, DIR) : Transmit and Receive SPI\r\n");
                      
          ReleaseSW_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto ReleaseSW_axis;
            }
                        
          ReleaseSW_ACT:
            printf("    Input ACT[1:0] >");fflush(stdout);
            L6470_ReleaseSW_ACT = UART1_get_Number();
            if(L6470_ReleaseSW_ACT < 0 || L6470_ReleaseSW_ACT > 1){
              printf("Invalid input value\r\n");
              goto ReleaseSW_ACT;
            }
                      
          ReleaseSW_DIR:
            printf("    Input DIR[1:0] >");fflush(stdout);
            L6470_ReleaseSW_DIR = UART1_get_Number();
            if(L6470_ReleaseSW_DIR < 0 || L6470_ReleaseSW_DIR > 1){
              printf("Invalid input value\r\n");
              goto ReleaseSW_DIR;
            }
                          
          L6470_TxBuffer[0] = 0x92 | L6470_ReleaseSW_ACT << 3 | L6470_ReleaseSW_DIR;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                        
          break;
        case 13:
          printf("13. L6470 GoHome : Transmit and Receive SPI\r\n");
                          
          GoHome_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GoHome_axis;
            }
                                  
          L6470_TxBuffer[0] = 0x70;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                          
          break;
        case 14:
          printf("14. L6470 GoMark : Transmit and Receive SPI\r\n");
                        
          GoMark_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GoMark_axis;
            }
                                  
          L6470_TxBuffer[0] = 0x78;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                          
          break;
        case 15:
          printf("15. L6470 ResetPos : Transmit and Receive SPI\r\n");
                        
          ResetPos_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto ResetPos_axis;
            }
                                  
          L6470_TxBuffer[0] = 0xD8;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                          
          break;
        case 16:
          printf("16. L6470 ResetDevice : Transmit and Receive SPI\r\n");
                          
          ResetDevice_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto ResetDevice_axis;
            }
                            
          L6470_TxBuffer[0] = 0xC0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                            
          break;
        case 17:
          printf("17. L6470 SoftStop : Transmit and Receive SPI\r\n");
                          
          SoftStop_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto SoftStop_axis;
            }
                          
          L6470_TxBuffer[0] = 0xB0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                            
          break;
        case 18:
          printf("18. L6470 HardStop : Transmit and Receive SPI\r\n");
                          
          HardStop_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto HardStop_axis;
            }
                          
          L6470_TxBuffer[0] = 0xB8;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                            
          break;
        case 19:
          printf("19. L6470 SoftHiZ : Transmit and Receive SPI\r\n");
                            
          SoftHiZ_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto SoftHiZ_axis;
            }
                            
          L6470_TxBuffer[0] = 0xA0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                              
          break;
        case 20:
          printf("20. L6470 HardHiZ : Transmit and Receive SPI\r\n");
                            
          HardHiZ_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto HardHiZ_axis;
            }
                                      
          L6470_TxBuffer[0] = 0xA8;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 1);
                              
          break;
        case 21:
          printf("21. L6470 GeStatus : Transmit and Receive SPI\r\n");
                              
          GeStatus_axis:
            printf("    Input Axis[1:0] >");fflush(stdout);
            L6470_Axis = UART1_get_Number();
            if(L6470_Axis < 0 || L6470_Axis > 1){
              printf("Invalid input value\r\n");
              goto GeStatus_axis;
            }
                              
          L6470_TxBuffer[0] = 0xD0;
          L6470_TxBuffer[1] = 0;
          L6470_TxBuffer[2] = 0;
          L6470_TxBuffer[3] = 0;
                                
          L6470_RxBuffer[0] = 0;
          L6470_RxBuffer[1] = 0;
          L6470_RxBuffer[2] = 0;
          L6470_RxBuffer[3] = 0;
          L6470_DRV(L6470_Axis, L6470_TxBuffer, L6470_RxBuffer, 4);
                                
          printf("STATUS Byte2 : %x, Byte1 : %x, Byte0 : %x\r\n", L6470_RxBuffer[1], L6470_RxBuffer[2], L6470_RxBuffer[3]);
                              
          break;
        case 22:
          printf("22. L6470 Search Home\r\n");
                                
          if(sensor_flag == (1<<10)){
            sensor_flag = 0;
            L6470_Run_Dir = 1;
            L6470_Run_Spd = 10000;
                                                  
            L6470_TxBuffer[0] = 0x50 | L6470_Run_Dir;
            L6470_TxBuffer[1] = L6470_Run_Spd >> 16;
            L6470_TxBuffer[2] = L6470_Run_Spd >> 8;
            L6470_TxBuffer[3] = L6470_Run_Spd;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);      
                                
            while(sensor_flag != (1<<10));
            L6470_TxBuffer[0] = 0xB8;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
            sensor_flag = 0;

            HAL_Delay(500);
                                
            L6470_Run_Dir = 0;
            L6470_Run_Spd = 10000;
                                                  
            L6470_TxBuffer[0] = 0x50 | L6470_Run_Dir;
            L6470_TxBuffer[1] = L6470_Run_Spd >> 16;
            L6470_TxBuffer[2] = L6470_Run_Spd >> 8;
            L6470_TxBuffer[3] = L6470_Run_Spd;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);      
                                
            while(sensor_flag != (1<<10));
            L6470_TxBuffer[0] = 0xB8;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
            sensor_flag = 0;
          }
          else{
            L6470_Run_Dir = 0;
            L6470_Run_Spd = 10000;
                                      
            L6470_TxBuffer[0] = 0x50 | L6470_Run_Dir;
            L6470_TxBuffer[1] = L6470_Run_Spd >> 16;
            L6470_TxBuffer[2] = L6470_Run_Spd >> 8;
            L6470_TxBuffer[3] = L6470_Run_Spd;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);        
                                      
            while(sensor_flag != (1<<10));
            L6470_TxBuffer[0] = 0xB8;
            L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
            sensor_flag = 0;
          }
                                    
          L6470_TxBuffer[0] = 0xB8;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
                                    
          HAL_Delay(500);
                                    
          L6470_Run_Dir = 1;
          L6470_Run_Spd = 2000;
                                    
          L6470_TxBuffer[0] = 0x50 | L6470_Run_Dir;
          L6470_TxBuffer[1] = L6470_Run_Spd >> 16;
          L6470_TxBuffer[2] = L6470_Run_Spd >> 8;
          L6470_TxBuffer[3] = L6470_Run_Spd;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);        
                                    
          while(sensor_flag != (1<<10));
  L6470_TxBuffer[0] = 0xB8;
  L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
  sensor_flag = 0;
                                    
          L6470_TxBuffer[0] = 0xB8;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
                                    
          HAL_Delay(2000);
                                    
          L6470_Move_Dir = 1;
          L6470_Move_N_STEP = 10000;
                                    
          L6470_TxBuffer[0] = 0x40 | L6470_Move_Dir;
          L6470_TxBuffer[1] = L6470_Move_N_STEP >> 16;
          L6470_TxBuffer[2] = L6470_Move_N_STEP >> 8;
          L6470_TxBuffer[3] = L6470_Move_N_STEP;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
                                      
          while(HAL_GPIO_ReadPin(BS_GPIO_Port, BS_Pin) == 0);
                                      
          //0(R) Axiz : ResetPos
          L6470_TxBuffer[0] = 0xD8;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 1);
                                
          L6470_TxBuffer[0] = 0x05;
          L6470_TxBuffer[1] = 0x00;
          L6470_TxBuffer[2] = 0x14;
          L6470_TxBuffer[3] = 0x00;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
          HAL_Delay(10);
                                
          L6470_TxBuffer[0] = 0x06;
          L6470_TxBuffer[1] = 0x00;
          L6470_TxBuffer[2] = 0x14;
          L6470_TxBuffer[3] = 0x00;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
          HAL_Delay(10);
                                
          L6470_TxBuffer[0] = 0x07;
          L6470_TxBuffer[1] = 0x00;
          L6470_TxBuffer[2] = 0x14;
          L6470_TxBuffer[3] = 0x00;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
          HAL_Delay(10);
                                
          L6470_TxBuffer[0] = 0x08;
          L6470_TxBuffer[1] = 0x00;
          L6470_TxBuffer[2] = 0x05;
          L6470_TxBuffer[3] = 0x00;
          L6470_DRV(0, L6470_TxBuffer, L6470_RxBuffer, 4);
          HAL_Delay(10);
                                    
          printf("HomeSearch end\r\n");
                                    
          break;
                                
        default:
          printf("Invalid input value\r\n");
          break;
      }
      printf("JBElec>");
      fflush(stdout);
                                
      goto PHASE1;
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_PeriphCLKInitTypeDef PeriphClkInit;

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* SPI1 init function */
static void MX_SPI1_Init(void)
{

  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/* TIM3 init function */
static void MX_TIM3_Init(void)
{

  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  HAL_TIM_MspPostInit(&htim3);

}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(DIR_485_GPIO_Port, DIR_485_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, STATUS_2_Pin|STATUS_3_Pin|SCS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, SR_Pin|SW_Pin|STATUS_0_Pin|STATUS_1_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPO_1_Pin|GPO_0_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : DIR_485_Pin */
  GPIO_InitStruct.Pin = DIR_485_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(DIR_485_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : STATUS_2_Pin STATUS_3_Pin SCS_Pin */
  GPIO_InitStruct.Pin = STATUS_2_Pin|STATUS_3_Pin|SCS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : FLAG_Pin BS_Pin */
  GPIO_InitStruct.Pin = FLAG_Pin|BS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : SR_Pin SW_Pin GPO_1_Pin GPO_0_Pin 
                           STATUS_0_Pin STATUS_1_Pin */
  GPIO_InitStruct.Pin = SR_Pin|SW_Pin|GPO_1_Pin|GPO_0_Pin 
                          |STATUS_0_Pin|STATUS_1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : SENSOR_3_Pin SENSOR_2_Pin SENSOR_1_Pin SENSOR_0_Pin */
  GPIO_InitStruct.Pin = SENSOR_3_Pin|SENSOR_2_Pin|SENSOR_1_Pin|SENSOR_0_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  switch(GPIO_Pin)
  {
    case GPIO_PIN_8: //SENSOR_3
      sensor_flag = 1 << 8;
      break;
    case GPIO_PIN_9: //SENSOR_2
      sensor_flag = 1 << 9;
      break;
    case GPIO_PIN_10: //SENSOR_1
      sensor_flag = 1 << 10;
      break;
    case GPIO_PIN_13: //SENSOR_0
      sensor_flag = 1 << 13;
      break;
  }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  file: The file name as string.
  * @param  line: The line in file as a number.
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t* file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/