Trying to get all 16 pwm outputs on a stm32f103rb

main.c

/**
 * Trying to get all 16 pwm outputs on a stm32f103rb
 */

#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/f1/gpio.h>
#include <libopencm3/stm32/f1/timer.h>

#define MOTOR1_PHASE_A1 GPIO8 // PA8 fixed
#define MOTOR1_PHASE_A2 GPIO9 // PA9 fixed
#define MOTOR1_PHASE_B1 GPIO10 // PA10 fixed 
#define MOTOR1_PHASE_B2 GPIO11 // PA11 fixed

#define MOTOR2_PHASE_A1 GPIO0 // PA0 ok
#define MOTOR2_PHASE_A2 GPIO1 // PA1 ok
#define MOTOR2_PHASE_B1 GPIO2 // PA2
#define MOTOR2_PHASE_B2 GPIO3 // PA3

#define MOTOR3_PHASE_A1 GPIO6 // PC6 ok
#define MOTOR3_PHASE_A2 GPIO7 // PC7 ok
#define MOTOR3_PHASE_B1 GPIO8 // PC8 ok
#define MOTOR3_PHASE_B2 GPIO9 // PC9 ok

#define MOTOR4_PHASE_A1 GPIO6 // PB6 ok
#define MOTOR4_PHASE_A2 GPIO7 // PB7 ok
#define MOTOR4_PHASE_B1 GPIO8 // PB8 ok
#define MOTOR4_PHASE_B2 GPIO9 // PB9 ok

/**
 * Helper function for setting PWM timers
 * @param port_clken
 * @param tim_clken
 * @param timer_peripheral
 * @param prescaler
 * @param period
 */
void pwm_init_timer(enum rcc_periph_clken port_clken, enum rcc_periph_clken tim_clken, uint32_t timer_peripheral,
                    uint32_t prescaler,
                    uint32_t period) {
    rcc_periph_clock_enable(port_clken);
    rcc_periph_clock_enable(tim_clken);

    timer_reset(timer_peripheral);

    timer_set_mode(timer_peripheral,
                   TIM_CR1_CKD_CK_INT,
                   TIM_CR1_CMS_EDGE,
                   TIM_CR1_DIR_UP);

    timer_set_prescaler(timer_peripheral, prescaler);
    timer_enable_preload(timer_peripheral);
    timer_continuous_mode(timer_peripheral);
    timer_set_period(timer_peripheral, period);
}

/**
 * Helper function for setting PWM channels
 * @param timer_peripheral
 * @param gpio_reg
 * @param gpio_en
 * @param gpio_port
 * @param gpio_pin
 * @param cnf
 */
void pwm_init_output_channel(uint32_t timer_peripheral,
                             uint32_t gpio_port, uint16_t gpio_pin,
                             uint8_t cnf) {
    timer_generate_event(timer_peripheral, TIM_EGR_UG);

    timer_enable_counter(timer_peripheral);

    gpio_set_mode(gpio_port, GPIO_MODE_OUTPUT_50_MHZ,
                  cnf,
                  gpio_pin);


    /* Enable all 4 peripherals*/
    timer_set_oc_mode(timer_peripheral, TIM_OC1, TIM_OCM_PWM1);
    timer_enable_oc_output(timer_peripheral, TIM_OC1);

    timer_set_oc_mode(timer_peripheral, TIM_OC2, TIM_OCM_PWM1);
    timer_enable_oc_output(timer_peripheral, TIM_OC2);

    timer_set_oc_mode(timer_peripheral, TIM_OC3, TIM_OCM_PWM1);
    timer_enable_oc_output(timer_peripheral, TIM_OC3);

    timer_set_oc_mode(timer_peripheral, TIM_OC4, TIM_OCM_PWM1);
    timer_enable_oc_output(timer_peripheral, TIM_OC4);
}


void motor_setup(void) {
    pwm_init_timer(RCC_GPIOA, RCC_TIM1, TIM1, 72, 2000);
    pwm_init_timer(RCC_GPIOA, RCC_TIM2, TIM2, 72, 2000);
    pwm_init_timer(RCC_GPIOC, RCC_TIM3, TIM3, 72, 2000);
    pwm_init_timer(RCC_GPIOB, RCC_TIM4, TIM4, 72, 2000);



    /* Set PWM motor output pins. */
    pwm_init_output_channel(TIM1, GPIOA,
                            MOTOR1_PHASE_A1 | MOTOR1_PHASE_A2 | MOTOR1_PHASE_B1 | MOTOR1_PHASE_B2,
                            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL);
    pwm_init_output_channel(TIM2, GPIOA,
                            MOTOR2_PHASE_A1 | MOTOR2_PHASE_A2 | MOTOR2_PHASE_B1 | MOTOR2_PHASE_B2,
                            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL);
    pwm_init_output_channel(TIM3,  GPIOC,
                            MOTOR3_PHASE_A1 | MOTOR3_PHASE_A2 | MOTOR3_PHASE_B1 | MOTOR3_PHASE_B2,
                            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL);
    pwm_init_output_channel(TIM4, GPIOB,
                            MOTOR4_PHASE_A1 | MOTOR4_PHASE_A2 | MOTOR4_PHASE_B1 | MOTOR4_PHASE_B2,
                            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL);

    timer_set_oc_value(TIM1, TIM_OC1, 400);
    timer_set_oc_value(TIM1, TIM_OC2, 500);
    timer_set_oc_value(TIM1, TIM_OC3, 600);
    timer_set_oc_value(TIM1, TIM_OC4, 700);

    timer_set_oc_value(TIM2, TIM_OC1, 800);
    timer_set_oc_value(TIM2, TIM_OC2, 900);
    timer_set_oc_value(TIM2, TIM_OC3, 1000);
    timer_set_oc_value(TIM2, TIM_OC4, 1100);

    timer_set_oc_value(TIM3, TIM_OC1, 1200);
    timer_set_oc_value(TIM3, TIM_OC2, 1300);
    timer_set_oc_value(TIM3, TIM_OC3, 1400);
    timer_set_oc_value(TIM3, TIM_OC4, 1500);

    timer_set_oc_value(TIM4, TIM_OC1, 1600);
    timer_set_oc_value(TIM4, TIM_OC2, 1700);
    timer_set_oc_value(TIM4, TIM_OC3, 1800);
    timer_set_oc_value(TIM4, TIM_OC4, 1900);

}


int main() {
    rcc_clock_setup_in_hse_8mhz_out_72mhz();

    rcc_periph_clock_enable(RCC_AFIO); // Needed for remapping to work.
    gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON,
                       AFIO_MAPR_TIM3_REMAP_FULL_REMAP | AFIO_MAPR_TIM2_REMAP_NO_REMAP | AFIO_MAPR_TIM1_REMAP_NO_REMAP);

    motor_setup(); 
    timer_enable_break_main_output(TIM1); // Needed for TIM1 output

    while (1) {
        asm("NOP");
    }
    return 0;

}