some changes to make work centeraligned

Author: oganigl

Inc/HALAL/Services/PWM/PWM/PWM.hpp

@@ -20,6 +20,7 @@ class PWM {
 	float duty_cycle;
 	uint32_t frequency;
 	bool is_on = false;
+	bool is_phased = false;
 	static constexpr float CLOCK_FREQ_MHZ_WITHOUT_PRESCALER = 275;
 	static constexpr float clock_period_ns = (1/CLOCK_FREQ_MHZ_WITHOUT_PRESCALER)*1'000;
 	bool is_initialized = false;

Src/HALAL/Models/TimerPeripheral/TimerPeripheral.cpp

@@ -47,17 +47,19 @@ void TimerPeripheral::init() {
 		handle->Instance = handle_to_timer[handle];
 		handle->Init.Prescaler = init_data.prescaler;
 		handle->Init.CounterMode = TIM_COUNTERMODE_UP;
-		for (PWMData pwm_data : init_data.pwm_channels) {
+    	handle->Init.Period = init_data.period;
+        handle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+        handle->Init.RepetitionCounter = 0;
+        handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+        for (PWMData pwm_data : init_data.pwm_channels) {
 			if (pwm_data.mode == PHASED) {
-				handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
-				break;
+				handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
+				handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+			    break;
 			}
 		}
-		handle->Init.Period = init_data.period;
-		handle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-		handle->Init.RepetitionCounter = 0;
-		handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-
+		
+		
 		if (init_data.type == BASE) {
 			if (HAL_TIM_Base_Init(handle) != HAL_OK){
 				ErrorHandler("Unable to init base timer on %d", name.c_str());
@@ -111,8 +113,7 @@ void TimerPeripheral::init() {
 			sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
 
 			if (pwm_data.mode == PHASED) {
-				//ASSYMETRIC_MODE_1 means one output per pair of registers (CCR1 - CCR2) for example
-				sConfigOC.OCMode = TIM_OCMODE_ASSYMETRIC_PWM1;
+				sConfigOC.OCMode = TIM_OCMODE_PWM1;
 				if (HAL_TIM_PWM_ConfigChannel(handle, &sConfigOC, pwm_data.channel) != HAL_OK) {
 					ErrorHandler("Unable to configure a PWM channel on %d", name.c_str());
 				}

Src/HALAL/Services/PWM/PWM/PWM.cpp

@@ -19,7 +19,8 @@ PWM::PWM(Pin& pin) {
 	TimerPeripheral& timer = TimerPeripheral::available_pwm.at(pin).first;
 	TimerPeripheral::PWMData& pwm_data = TimerPeripheral::available_pwm.at(pin).second;
 
-	if (pwm_data.mode != TimerPeripheral::PWM_MODE::NORMAL) {
+    if (pwm_data.mode != TimerPeripheral::PWM_MODE::NORMAL) {
+		is_phased = true;
 		ErrorHandler("Pin %s is not registered as a NORMAL PWM", pin.to_string());
 	}
 
@@ -59,9 +60,12 @@ void PWM::set_duty_cycle(float duty_cycle) {
 }
 
 void PWM::set_frequency(uint32_t frequency) {
+	if(is_phased){
+		frequency = 2*frequency;
+	}
 	this->frequency = frequency;
 	TIM_TypeDef& timer = *peripheral->handle->Instance;
-	timer.ARR = (HAL_RCC_GetPCLK1Freq()*2 / (timer.PSC+1)) / frequency;
+    timer.ARR = (HAL_RCC_GetPCLK1Freq() * 2 / (timer.PSC + 1)) / frequency;
 	set_duty_cycle(duty_cycle);
 }