add code

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "i2c.h"
+#include "i2s.h"
+#include "spi.h"
+#include "tim.h"
+#include "usart.h"
+#include "usb_host.h"
+#include "gpio.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <stdbool.h>
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+bool distance_flag = false;
+int grab_mode = 0;
+
+uint8_t rx3_data = 0;
+
+
+uint8_t tmp_num1 = 1;
+uint8_t tmp_num2 = 2;
+uint8_t tmp_num3 = 3;
+uint8_t tmp_num4 = 4;
+uint8_t tmp_num5 = 5;
+uint8_t tmp_num6 = 6;
+uint8_t tmp_num11 = 11;
+uint8_t tmp_num12 = 12;
+uint8_t tmp_num13 = 13;
+int MOTOR_PWM[5];
+int MOTOR_PWM_MEAN[5];
+int MOTOR_PWM_MAX[5];
+int MOTOR_PWM_MIN[5];
+int mode[5]={1,1,1,1,1};
+char direction;
+char response;
+
+volatile uint32_t distance;
+#define Delay_ms     HAL_Delay
+#define millis()     HAL_GetTick()
+#define SYS_CLOCK    168
+#define SYSTICK_LOAD 167999
+__IO uint32_t uwTick=0;
+extern __IO uint32_t uwTick;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_NVIC_Init(void);
+void MX_USB_HOST_Process(void);
+
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+uint32_t micros() {
+  return (uwTick&0x3FFFFF)*1000 + (SYSTICK_LOAD-SysTick->VAL)/SYS_CLOCK;
+}
+
+void Delay_us(uint32_t us) {
+  uint32_t temp = micros();
+  uint32_t comp = temp + us;
+  uint8_t  flag = 0;
+  while(comp > temp){
+    if(((uwTick&0x3FFFFF)==0)&&(flag==0)){
+      flag = 1;
+    }
+    if(flag) temp = micros() + 0x400000UL * 1000;
+    else     temp = micros();
+  }
+}
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) //External interrupt for Sonar
+{
+	static uint32_t ss=0;
+	uint32_t temp = GPIOC->IDR & 0x0002;//PC1이니까 2^(1)=2
+	switch (temp) {
+	  case 0x0002:
+		 ss = micros();
+		 break;
+
+	  case 0x0000 :
+		 distance = (micros() - ss) / 58;
+		 if(distance <= 3){
+			 distance_flag = true;
+		 }
+		 break;
+	}
+}
+
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+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_I2C1_Init();
+  MX_I2S3_Init();
+  MX_SPI1_Init();
+  MX_TIM3_Init();
+  MX_TIM12_Init();
+  MX_USB_HOST_Init();
+  MX_TIM1_Init();
+  MX_USART2_UART_Init();
+  MX_USART3_UART_Init();
+
+  /* Initialize interrupts */
+  MX_NVIC_Init();
+  /* USER CODE BEGIN 2 */
+
+  //raspberryPi to robotArm
+  HAL_UART_Receive_IT(&huart3,&rx3_data,1);
+
+  //Robot Arm
+  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_2);
+
+  //SONAR
+  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
+
+
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1)
+    {
+  	  TIM3->CCR3= 300; // 1 top
+  	  TIM12->CCR1= 600;//2 숫자 높을수록 올라옴
+  	  TIM12->CCR2= 450; // 3
+  	  TIM3->CCR2= 450; //4
+  	  TIM3->CCR1 = 620; // 5 숫자 커질수록 왼
+  	  if(rx3_data == 1){
+
+  		  HAL_UART_Transmit(&huart2, &tmp_num1, 1, 100);
+
+  	  }else if(rx3_data == 2){
+  		  HAL_UART_Transmit(&huart2, &tmp_num2, 1, 100);
+  	  }
+  	  /*
+  	  else if(rx3_data == 3){
+  		  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  		  while(1){
+  			  if(distance_flag){
+  				  HAL_UART_Transmit(&huart2, &tmp_num5, 1, 100);
+  				  TIM3->CCR3=400;
+  				  break;
+  			  }
+
+  			  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  		  }
+
+
+  	  }*/
+
+  	  else if(rx3_data == 3){
+  			  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  	  }
+
+  	  else if(rx3_data == 6){
+  		  HAL_UART_Transmit(&huart2, &tmp_num6, 1, 100);
+  	  }
+  	  /*
+  	  else if(rx3_data == 11){
+  		  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  		  HAL_Delay(2000);
+  		  TIM3->CCR3=300;
+  	  }
+  	  else if(rx3_data == 12){
+  		  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  		  HAL_Delay(2000);
+  		  TIM3->CCR3=300;
+  	  }
+  	  else if(rx3_data == 13){
+  		  HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  		  HAL_Delay(2000);
+  		  TIM3->CCR3=300;
+  	  }
+  */
+  	  if(distance_flag){
+  		  HAL_UART_Transmit(&huart2, &tmp_num5, 1, 100);
+  		  TIM3->CCR3=400;
+  		  HAL_Delay(5000);
+  		  //HAL_UART_Transmit(&huart2, &tmp_num3, 1, 100);
+  	  }
+  	  distance_flag =false;
+  	  rx3_data = 0;
+
+      /* USER CODE END WHILE */
+      MX_USB_HOST_Process();
+
+      /* USER CODE BEGIN 3 */
+    }
+
+
+    /* USER CODE END 3 */
+  }
+
+
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = 8;
+  RCC_OscInitStruct.PLL.PLLN = 336;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = 7;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Initializes the CPU, AHB and APB buses 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_DIV4;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2S;
+  PeriphClkInitStruct.PLLI2S.PLLI2SN = 192;
+  PeriphClkInitStruct.PLLI2S.PLLI2SR = 2;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief NVIC Configuration.
+  * @retval None
+  */
+static void MX_NVIC_Init(void)
+{
+  /* EXTI1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI1_IRQn);
+  /* USART3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(USART3_IRQn);
+}
+
+/* USER CODE BEGIN 4 */
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+  if(huart->Instance==USART3){
+	  HAL_UART_Receive_IT(&huart3,&rx3_data,1);
+  }
+}
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+
+  /* 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****/