Driver/bsp_pwm.c

+#include "tim.h"
+#include "bsp_pwm.h"
+
+void PWM_init(void){
+	/* Open 4 sets of PWM waves respectively */
+		/**TIM2 GPIO Configuration    
+	PA8     ------> TIM2_CH1
+	PA9     ------> TIM2_CH2
+	PA10    ------> TIM2_CH3
+	PA11    ------> TIM2_CH4 
+	*/
+	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
+	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
+	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
+	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);
+}
+
+void PWM_SetDuty(TIM_HandleTypeDef *tim,uint32_t tim_channel,float duty){
+	
+	switch(tim_channel){	
+		case TIM_CHANNEL_1: tim->Instance->CCR1 = (PWM_RESOLUTION*duty) - 1;break;
+		case TIM_CHANNEL_2: tim->Instance->CCR2 = (PWM_RESOLUTION*duty) - 1;break;
+		case TIM_CHANNEL_3: tim->Instance->CCR3 = (PWM_RESOLUTION*duty) - 1;break;
+		case TIM_CHANNEL_4: tim->Instance->CCR4 = (PWM_RESOLUTION*duty) - 1;break;
+	}
+	
+}
+

Driver/bsp_pwm.h

+#ifndef __BSP_PWM
+#define __BSP_PWM
+
+#include "main.h"
+
+void PWM_SetDuty(TIM_HandleTypeDef *tim,uint32_t tim_channel,float duty);
+void PWM_init(void);
+#endif