BE_VOILIER/Pilotes/Sources/MyPWM.c

#include "stm32f10x.h"
#include "MyTimer.h"
#include "DriverGPIO.h"
#include <stdlib.h> 

void My_PWM_Channel_Config(TIM_TypeDef* Timer , char channel){
	switch (channel) {
        case 1:
            // Configuration de CC1
            Timer->CCMR1 &= ~TIM_CCMR1_CC1S; // Output
            Timer->CCMR1 |= TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1; // Mode PWM 1 (0b110)
            Timer->CCMR1 |= TIM_CCMR1_OC1PE; // Preload Enable
            Timer->CCR1 = 0;
            Timer->CCER |= TIM_CCER_CC1E; // Output Enable
            break; // <<-- AJOUTER LE BREAK
            
        case 2:
            // Configuration de CC2 (vos registres dans le code initial étaient incohérents)
            Timer->CCMR1 &= ~TIM_CCMR1_CC2S; // Output
            Timer->CCMR1 |= TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1; // Mode PWM 1 (0b110)
            Timer->CCMR1 |= TIM_CCMR1_OC2PE; // Preload Enable
            Timer->CCR2 = 0;
            Timer->CCER |= TIM_CCER_CC2E; // Output Enable
            break;}
	
		Timer->CR1 |= TIM_CR1_ARPE;   // Auto-Reload Preload
    Timer->BDTR |= TIM_BDTR_MOE; // Main Output Enable (pour les timers avancés TIM1/8)
    Timer->EGR |= TIM_EGR_UG;
    Timer->CR1 |= TIM_CR1_CEN;
	
};
	
	
	
void MyTimer_PWM(TIM_TypeDef * Timer , int Channel){
		int pwrmd;
		#if POWERMODE //Powermode 1
				pwrmd = 0b110;
		#else
				pwrmd = 0b110; //Powermode 2
		#endif
	
					if (Channel 		== 1){
						Timer->CCMR1 	&= ~(0b111<<4); //On clear les trois bits qui sont de pwm
						Timer->CCMR1 	|= (pwrmd<<4); //On affecte le powermode au bits de lecture pour le µ-controlleur
						Timer->CCMR1 	|= TIM_CCMR1_OC1PE; //Update preload, il n'affecte pas le valeur avant que la prochaine cycle
						Timer->CCER 	= TIM_CCER_CC1E; //Enable le pin voulu basculer
					}
					else if (Channel == 2){
						Timer->CCMR1 		&= ~(0b111<<12); //Le TIMx_CCMR1 configure deux channels, de bit [6:4] CH1, [14:12] CH2 (OC2M = Output Channel 2 )
						Timer->CCMR1 		|= (pwrmd<<12); 
						Timer->CCMR1 		|= TIM_CCMR1_OC2PE; 
						Timer->CCER 		|= TIM_CCER_CC2E; 
					}
					else if (Channel == 3){
						Timer->CCMR1 		&= ~(0b111<<4);
						Timer->CCMR2 		|= (pwrmd<<4); 
						Timer->CCMR2 		|= TIM_CCMR2_OC3PE; 
						Timer->CCER 		|= TIM_CCER_CC3E; 
					}
					else if (Channel == 4){
						Timer->CCMR1		&= ~(0b111<<12);
						Timer->CCMR2 		|= (pwrmd<<12);
						Timer->CCMR2 		|= TIM_CCMR2_OC4PE;
						Timer->CCER 		|= TIM_CCER_CC4E; 
					}
					
					//En dessous d'ici, on a l'aide du plus gentil chat que je connais
				  // Enable auto-reload preload -- //Ensures that your initial configuration — PWM mode, duty cycle, period — actually takes effect before the timer starts counting.	
					Timer->CR1 |= TIM_CR1_ARPE;
					// Force update event to load ARR and CCR values immediately
					Timer->EGR |= TIM_EGR_UG;
					// Start the timer
					Timer->CR1 |= TIM_CR1_CEN;
					
					switch (Channel) {
						case 1:
							if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<0*4); GPIOA->CRH |= (0xA<<0*4); TIM1->BDTR |= 1<<15; }
							if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<0*4); GPIOA->CRL |= (0xA<<0*4);}
							if (Timer == TIM3){GPIOA->CRL &= ~(0xF<<6*4); GPIOA->CRL |= (0xA<<6*4);}
							if (Timer == TIM4){GPIOB->CRL &= ~(0xF<<5*4); GPIOB->CRL |= (0xA<<5*4);}
							break;
						case 2:
							if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<1*4); GPIOA->CRL |= (0xA<<1*4); TIM1->BDTR |= 1<<15;}
							if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<1*4); GPIOA->CRL |= (0xA<<1*4);}
							if (Timer == TIM3){GPIOA->CRL &= ~(0xF<<7*4); GPIOA->CRL |= (0xA<<7*4);}
							if (Timer == TIM4){GPIOB->CRL &= ~(0xF<<7*4); GPIOB->CRL |= (0xA<<7*4);}
							break;
						case 3:
							if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<2*4); GPIOA->CRH |= (0xA<<2*4); TIM1->BDTR |= 1<<15;}
							if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<2*4); GPIOA->CRL |= (0xA<<2*4);}
							if (Timer == TIM3){GPIOB->CRL &= ~(0xF<<0*4); GPIOB->CRL |= (0xA<<0*4);}
							if (Timer == TIM4){GPIOB->CRH &= ~(0xF<<0*4); GPIOB->CRH |= (0xA<<0*4);}
							break;
						case 4:
							if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<3*4); GPIOA->CRH |= (0xA<<3*4); TIM1->BDTR |= 1<<15;}
							if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<3*4); GPIOA->CRL |= (0xA<<3*4);}
							if (Timer == TIM3){GPIOB->CRL &= ~(0xF<<1*4); GPIOB->CRL |= (0xA<<1*4);}
							if (Timer == TIM4){GPIOB->CRH &= ~(0xF<<1*4); GPIOB->CRH |= (0xA<<1*4);}
							
						}
	}

	
	//Une fonction qui met le bon PWM volue
	int Set_DutyCycle_PWM(TIM_TypeDef *Timer, int Channel, int DutyC){
    int CCR_VAL = (Timer->ARR + 1) * DutyC / 100;
    switch (Channel){
        case 1:
            Timer->CCR1 = CCR_VAL;
            break;
        case 2:
            Timer->CCR2 = CCR_VAL;
            break;
        case 3:
            
						Timer->CCR3 = CCR_VAL;
            break;
        case 4:
            Timer->CCR4 = CCR_VAL;
            break;
        default:
            return -1; // channel invalide
    }
    Timer->EGR |= TIM_EGR_UG; // update event
    return 0;
}

		
void initPlato(TIM_TypeDef * Timer, int Channel){ // Config du moteur servo
	
	MyGPIO_Init(GPIOB, 5, AltOut_Ppull); //config pin de direction 0 ou 1
  if (Timer == TIM3) {
    EnableTimer(TIM3);
		MyTimer_Base_Init(TIM3, 159, 17); // Pour obtenir fréq de 20kHZ
    if (Channel == 3){
      MyGPIO_Init(GPIOB, 0, AltOut_Ppull); // Outut push pull alternate, config pin de consigne entre -100 et 100
      MyTimer_PWM(TIM3, 3); //TIM3 CH3
    }
    else{
      //printf("Ce pilote n'existe pas");
    }
  }
  else{
    //printf("Ce pilote n'existe pas");
  }
}
	

		void Update_Motor_PWM(int Consigne, TIM_TypeDef * Timer, int Channel) {
    
			int duty_cycle;
					
			if (Consigne>=0){
			MYGPIO_PinOn(GPIOB, 5);
				duty_cycle = Consigne;
		};
		
		if (Consigne<0){
			MYGPIO_PinOff(GPIOB,5);
			duty_cycle = -Consigne;
		};
		
		Set_DutyCycle_PWM(Timer, Channel, duty_cycle);

}