Enable PWM outputs.

1 files changed, 23 insertions, 0 deletions

diff --git a/main.cpp b/main.cpp
index a227a39..91b3dd6 100644
--- a/main.cpp
+++ b/main.cpp
@@ -10,6 +10,8 @@
 
 #include <i2c/i2c.h>
 
+#include <timer/timer.h>
+
 #include "lsm303dlm.h"
 #include "l3gd20.h"
 
@@ -33,6 +35,9 @@ static Pin& i2c_sda = PB11;
 static Pin& cs_pressure = PB4;
 static Pin& cs_gyro = PB5;
 
+static Pin& esc_power = PA1;
+static Pin pwm_outputs[] = {PC6, PC7, PC8, PC9};
+
 auto dev_desc = device_desc(0x200, 0, 0, 0, 64, 0x1234, 0x5678, 0, 0, 0, 0, 1);
 auto conf_desc = configuration_desc(3, 1, 0, 0xc0, 0,
 	interface_desc(0, 0, 1, 0xff, 0x00, 0x00, 0,
@@ -214,6 +219,24 @@ int main() {
 	PA0.set_af(1);
 	ppmsum.enable();
 	
+	for(Pin& p : pwm_outputs) {
+		p.set_af(3);
+		p.set_mode(Pin::AF);
+	}
+	
+	RCC.enable(RCC.TIM8);
+	TIM8.PSC = 168 - 1;
+	TIM8.ARR = 2500;
+	TIM8.CCER = 0x1111;
+	TIM8.CCMR1 = 0x6868;
+	TIM8.CCMR2 = 0x6868;
+	TIM8.BDTR = (1 << 15);
+	TIM8.CCR1 = 1000;
+	TIM8.CCR2 = 1000;
+	TIM8.CCR3 = 1000;
+	TIM8.CCR4 = 1000;
+	TIM8.CR1 = 0x05;
+	
 	while(1) {
 		led_error.toggle();
 		Time::sleep(10);