From 6be256a1356f7f819706ec082750a9a987a8ce00 Mon Sep 17 00:00:00 2001
From: but0n <but0n@icloud.com>
Date: Fri, 30 Sep 2016 23:31:15 +0800
Subject: [PATCH] [MOD]: 4 Channels PWM

---
 README.md                                     |  1 +
 .../STM32F10x_StdPeriph_Driver/inc/motor.h    | 12 +++++++++--
 .../STM32F10x_StdPeriph_Driver/src/motor.c    | 20 +++++++++++++++----
 src/main.c                                    | 16 ++++++++++-----
 4 files changed, 38 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index cfadaf4..a7f6d51 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,7 @@
 
 [UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion &amp; Euler Angles Compute - PID Controller
 
+
 # GPIO List
 MPU6050 			| BLDC 			| Wi-Fi | GPS
 :----:				|:----:			|:----: |:---:
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
index 5f77417..0bc4be7 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
@@ -3,8 +3,10 @@
 #define MOTOR_H_
 
 
-#define MOTOR1 TIM3->CCR2
-#define MOTOR2 TIM3->CCR1
+#define MOTOR1 TIM3->CCR1
+#define MOTOR2 TIM3->CCR2
+#define MOTOR3 TIM3->CCR3
+#define MOTOR4 TIM3->CCR4
 
 #define MOTOR_MAX (unsigned short)27360
 #define MOTOR_MIN (unsigned short)10080
@@ -12,8 +14,14 @@
 #define MOTOR_SETTING() {\
     motor_PWM_Init(28800,5);\
     MOTOR1 = MOTOR_MAX;\
+    MOTOR2 = MOTOR_MAX;\
+    MOTOR3 = MOTOR_MAX;\
+    MOTOR4 = MOTOR_MAX;\
     delay(3000);\
     MOTOR1 = MOTOR_MIN;\
+    MOTOR2 = MOTOR_MIN;\
+    MOTOR3 = MOTOR_MIN;\
+    MOTOR4 = MOTOR_MIN;\
     delay(8000);\
 }
 
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
index 4a8fda4..15b64c5 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
@@ -8,22 +8,34 @@ void motor_PWM_Init(unsigned short arr, unsigned short psc) {
 
     RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;   //TIM3 Enable
     RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;   //IO Port A Enable
+    RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
 
     GPIOA->CRL &= 0x00FFFFFF;   //Clean
     GPIOA->CRL |= 0xBB000000;   //复用推挽输出
     GPIOA->ODR |= 1<<7;     //CH2 GPIO Config
     GPIOA->ODR |= 1<<6;     //CH1 GPIO Config
 
+    GPIOB->CRL &= 0xFFFFFF00;
+    GPIOB->CRL |= 0x000000BB;
+    GPIOB->ODR |= 1;
+    GPIOB->ODR |= 1<<1;
+
     TIM3->ARR = arr - 1;
     TIM3->PSC = psc - 1;
 
+    TIM3->CCMR1 |= 6<<4;    //CH1 Set OC1M[2:0]: PWM Mode
+    TIM3->CCMR1 |= 1<<3;    //CH1 Set OC1PE: Enable
     TIM3->CCMR1 |= 6<<12;   //CH2 Set OC2M[2:0]: PWM Mode
-    TIM3->CCMR1 |= 1<<11;   //CH2 Set OC2PF: Enable
-    TIM3->CCMR1 |= 7<<4;    //CH1 Set OC2M[2:0]: PWM Mode
-    TIM3->CCMR1 |= 1<<3;    //CH1 Set OC2PF: Enable
+    TIM3->CCMR1 |= 1<<11;   //CH2 Set OC2PE: Enable
+    TIM3->CCMR2 |= 6<<4;    //CH3 Set OC3M[2:0]: PWM Mode
+    TIM3->CCMR2 |= 1<<3;    //CH3
+    TIM3->CCMR2 |= 6<<12;   //CH4
+    TIM3->CCMR2 |= 1<<11;
 
-    TIM3->CCER |= 1<<4;     //CH2 Output Enable
     TIM3->CCER |= 1;        //CH1 Output Enable
+    TIM3->CCER |= 1<<4;     //CH2 Output Enable
+    TIM3->CCER |= 1<<8;
+    TIM3->CCER |= 1<<12;
 
     TIM3->CR1 = 0x80;       //APRE Enable
     TIM3->CR1 |= 1;         //Set CEN, Allow to Count
diff --git a/src/main.c b/src/main.c
index e471a4b..36a94b7 100644
--- a/src/main.c
+++ b/src/main.c
@@ -30,11 +30,17 @@ void pid(float setPoint, float d) {
 
     short resu = (short)(g_iErro * K_P + g_sumErro * K_I + d * K_D);  //PID输出
 
-    if((MOTOR1 + resu) > MOTOR_MAX)
-        MOTOR1 = MOTOR_MAX;
-    else if((MOTOR1 + resu) < MOTOR_LOW)
-        MOTOR1 = MOTOR_LOW;
-    else MOTOR1 += resu;
+    if((MOTOR2 + resu) > MOTOR_MAX)
+        MOTOR2 = MOTOR_MAX;
+    else if((MOTOR2 + resu) < MOTOR_LOW)
+        MOTOR2 = MOTOR_LOW;
+    else MOTOR2 += resu;
+
+    if((MOTOR4 + resu) > MOTOR_MAX)
+        MOTOR4 = MOTOR_MAX;
+    else if((MOTOR4 + resu) < MOTOR_LOW)
+        MOTOR4 = MOTOR_LOW;
+    else MOTOR4 += resu;
 }
 
 //ms