text: 
  /**
    ******************************************************************************
    * @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 "stm32f1xx_hal.h"
  
  /* USER CODE BEGIN Includes */
  #include "movement.h"
  /* USER CODE END Includes */
  
  /* Private variables ---------------------------------------------------------*/
  SPI_HandleTypeDef hspi1;
  
  /* USER CODE BEGIN PV */
  /* Private variables ---------------------------------------------------------*/
  uint8_t  buffer[5];
  /* USER CODE END PV */
  
  /* Private function prototypes -----------------------------------------------*/
  void SystemClock_Config(void);
  static void MX_GPIO_Init(void);
  static void MX_SPI1_Init(void);
  
  /* USER CODE BEGIN PFP */
  /* Private function prototypes -----------------------------------------------*/
  enum Code {
      MOVE_X=0x15,
      MOVE_Y=0x25,
      MOVE_Z=0x35
  };
  /* USER CODE END PFP */
  
  /* USER CODE BEGIN 0 */
  uint8_t newCmd=0;
  enum Code Cmd;
  int16_t displacement=0;
  
  /* USER CODE END 0 */
  
  /**
    * @brief  The application entry point.
    *
    * @retval None
    */
  int main(void)
  {
    /* USER CODE BEGIN 1 */
  
    /* 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();
    /* USER CODE BEGIN 2 */
  
    /* USER CODE END 2 */
  
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    HAL_SPI_Receive_IT(&hspi1,buffer,4);
    zero();
    while (1)
    {
        if (newCmd){
            newCmd = 0;
            switch(Cmd){
                case MOVE_X:
                    moveX(displacement);
                    break;
                case MOVE_Y:
                    moveY(displacement);
                    break;
                case MOVE_Z:
                    moveZ(displacement);
                    break;
            }
            HAL_SPI_Receive_IT(&hspi1,buffer,4);
        }
        /* USER CODE END WHILE */
  
    /* USER CODE BEGIN 3 */
  
    }
    /* USER CODE END 3 */
  
  }
  
  void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
      Cmd = buffer[0];
      displacement = buffer[3];
      displacement <<= 8;
      displacement += buffer[2];
      newCmd = 1;
  
  }
  
  
  /**
    * @brief System Clock Configuration
    * @retval None
    */
  void SystemClock_Config(void)
  {
  
    RCC_OscInitTypeDef RCC_OscInitStruct;
    RCC_ClkInitTypeDef RCC_ClkInitStruct;
  
      /**Initializes the CPU, AHB and APB busses clocks 
      */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    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_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != 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_SLAVE;
    hspi1.Init.Direction = SPI_DIRECTION_2LINES;
    hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
    hspi1.Init.NSS = SPI_NSS_SOFT;
    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
    hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi1.Init.CRCPolynomial = 10;
    if (HAL_SPI_Init(&hspi1) != 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_GPIOD_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, Z_DIR_Pin|Z_STEP_Pin|Z_MS1_Pin|Z_MS2_Pin 
                            |Y_STEP_Pin|Y_DIR_Pin|Y_MS3_Pin|Y_MS2_Pin 
                            |Y_MS1_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOB, X_DIR_Pin|X_STEP_Pin|X_MS1_Pin|X_MS2_Pin 
                            |X_MS3_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pins : Z_DIR_Pin Z_STEP_Pin Z_MS1_Pin Z_MS2_Pin 
                             Y_STEP_Pin Y_DIR_Pin Y_MS3_Pin Y_MS2_Pin 
                             Y_MS1_Pin */
    GPIO_InitStruct.Pin = Z_DIR_Pin|Z_STEP_Pin|Z_MS1_Pin|Z_MS2_Pin 
                            |Y_STEP_Pin|Y_DIR_Pin|Y_MS3_Pin|Y_MS2_Pin 
                            |Y_MS1_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 : X_DIR_Pin X_STEP_Pin X_MS1_Pin X_MS2_Pin 
                             X_MS3_Pin */
    GPIO_InitStruct.Pin = X_DIR_Pin|X_STEP_Pin|X_MS1_Pin|X_MS2_Pin 
                            |X_MS3_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);
  
  }
  
  /* USER CODE BEGIN 4 */
  
  /* 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,
      ex: 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****/
  