From 03b05051aab8b758fe244b32a0f851db3e3f0e9e Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Sun, 15 Mar 2026 23:44:58 +0300
Subject: [PATCH] PWM works

---
 F0:F030,F042,F072/usbcan_gpio/gpio.c          | 111 +++++-------
 F0:F030,F042,F072/usbcan_gpio/gpio.h          |  11 --
 F0:F030,F042,F072/usbcan_gpio/gpioproto.cpp   | 134 +++++++--------
 F0:F030,F042,F072/usbcan_gpio/hardware.c      |   4 +-
 F0:F030,F042,F072/usbcan_gpio/pwm.c           | 161 +++++++++++++++++-
 F0:F030,F042,F072/usbcan_gpio/pwm.h           |  28 +++
 F0:F030,F042,F072/usbcan_gpio/usbcangpio.bin  | Bin 24872 -> 25700 bytes
 .../usbcan_gpio/usbcangpio.creator.user       |   2 +-
 F0:F030,F042,F072/usbcan_gpio/version.inc     |   2 +-
 9 files changed, 292 insertions(+), 161 deletions(-)

diff --git a/F0:F030,F042,F072/usbcan_gpio/gpio.c b/F0:F030,F042,F072/usbcan_gpio/gpio.c
index ad1edf9..0dd658f 100644
--- a/F0:F030,F042,F072/usbcan_gpio/gpio.c
+++ b/F0:F030,F042,F072/usbcan_gpio/gpio.c
@@ -22,6 +22,7 @@
 #include "adc.h"
 #include "flash.h"
 #include "gpio.h"
+#include "pwm.h"
 #include "usart.h"
 
 static uint16_t monitor_mask[2] = {0}; // pins to monitor == 1 (ONLY GPIO and ADC)
@@ -80,56 +81,6 @@ static const pinprops_t pin_props[2][16] = {
 #undef _S
 #undef _I
 
-#if 0
-PWM (start - collisions):
-PxN XY (XY: TIMX_CHY)
-PA1  22 *
-PA2  23 **
-PA3  24 ***
-PA6  161
-PA7  141
-PA9  12
-PA10 13
-PB0  33
-PB1  34
-PB3  22 *
-PB4  31
-PB5  32
-PB10 23 **
-PB11 24 ***
--> need to set up timers / channels
-TIM1 / 2 3
-TIM2 / 2 3 4
-TIM3 / 1 2 3 4
-TIM14 / 1
-TIM16 / 1
-#endif
-
-#define PT(t, ch)               {.tim = t, .chidx = ch}
-#define PTC(t, ch, P, p)     {.tim = t, .chidx = ch, .collision = 1, .collport = P, .collpin = p}
-static const pwmtimer_t timer_map[2][16] = {
-    [0] = {
-        [1]  = PTC(TIM2, 1, 1, 3),
-        [2]  = PTC(TIM2, 2, 1, 10),
-        [3]  = PTC(TIM2, 3, 1, 11),
-        [6]  = PT(TIM16, 0),
-        [7]  = PT(TIM14, 0),
-        [9]  = PT(TIM1, 1),
-        [10] = PT(TIM1, 2)
-    },
-    [1] = {
-        [0]  = PT(TIM3, 2),
-        [1]  = PT(TIM3, 3),
-        [3]  = PTC(TIM2, 1, 0, 1),
-        [4]  = PT(TIM3, 0),
-        [5]  = PT(TIM3, 1),
-        [10] = PTC(TIM2, 2, 0, 2),
-        [11] = PTC(TIM2, 3, 0, 3)
-    }
-};
-#undef PT
-#undef PTC
-
 typedef struct{
     uint8_t isrx : 1;
     uint8_t istx : 1;
@@ -244,6 +195,21 @@ int chkpinconf(){
                         if(cfg->monitor) UC.monitor = 1;
                     }
                         break;
+                    case FUNC_PWM:{
+                        pwmtimer_t pwm;
+                        if(!canPWM(port, pin, &pwm)){
+                            DBG("Can't PWM\n");
+                            defconfig(cfg);
+                            ret = FALSE;
+                            break;
+                        }
+                        if(pwm.collision && pinconfig[pwm.collport][pwm.collpin].af == FUNC_PWM){
+                            DBG("Found collision -> remove\n");
+                            defconfig(&pinconfig[pwm.collport][pwm.collpin]); // set later collision to defaults
+                            ret = FALSE;
+                            break;
+                        }
+                    }
                     default: break; // later fill other functions
                     }
                 }
@@ -252,9 +218,11 @@ int chkpinconf(){
     }
     // now check USART configuration
     if(active_usart != -1){
+        DBG("Got active USART\n");
         UC.idx = active_usart;
         if(!chkusartconf(&UC)) ret = FALSE;
     }else{
+        DBG("No active USARTs\n");
         get_defusartconf(&UC); // clear global configuration
         the_conf.usartconfig = UC;
     }
@@ -361,7 +329,7 @@ int gpio_reinit(){
             gpio->OSPEEDR = (gpio->OSPEEDR & ~(3 << shift2)) | (cfg->speed << shift2);
             gpio->PUPDR = (gpio->PUPDR & ~(3 << shift2)) | (cfg->pull << shift2);
             if(pin < 8){
-                int shift4 = pin << 4;
+                int shift4 = pin << 2;
                 gpio->AFR[0] = (gpio->AFR[0] & ~(0xf << shift4)) | (cfg->afno << shift4);
             }else{
                 int shift4 = (pin - 8) << 2;
@@ -380,6 +348,18 @@ int gpio_reinit(){
                     oldstates[port][pin] = (gpio->IDR >> pin) & 1;
                 }
             }
+            // start/stop PWM on this pin
+            if(cfg->mode == MODE_AF && cfg->af == FUNC_PWM){
+                if(!startPWM(port, pin)) ret = FALSE;
+            }else{ // check for collisions
+                pwmtimer_t t;
+                if(canPWM(port, pin, &t)){
+                    if(t.collision){ // stop PWM only if "earlier" channel don't set on this
+                        if((t.collport < port || t.collpin < pin) && (pinconfig[t.collport][t.collpin].af != FUNC_PWM))
+                            stopPWM(port, pin);
+                    }else stopPWM(port, pin);
+                }
+            }
         }
     }
     // if all OK, copy to the_conf
@@ -390,7 +370,7 @@ int gpio_reinit(){
     if(get_curusartconf(&usc) && (usc.RXen | usc.TXen)){
         if(!usart_config(NULL)) ret = FALSE;
         else if(!usart_start()) ret = FALSE;
-    }
+    }else usart_stop();
     return ret;
 }
 
@@ -434,12 +414,18 @@ int16_t pin_in(uint8_t port, uint8_t pin){
     case MODE_OUTPUT:
         if(GPIOx->IDR & (1<<pin)) val = 1;
         else val = 0;
-    break;
+        break;
     case MODE_ANALOG:{
         int8_t chan = get_adc_channel(port, pin);
-        if(chan >= 0){
-            return (int16_t)getADCval(chan); // getADCval возвращает uint16_t
-        }
+        if(chan >= 0)
+            val = (int16_t) getADCval(chan);
+    }
+        break;
+    case MODE_AF:{
+        pinconfig_t curconf;
+        if(!get_curpinconf(port, pin, &curconf)) return -1;
+        if(curconf.af == FUNC_PWM)
+            val = getPWM(port, pin);
     }
         break;
     default:
@@ -487,16 +473,3 @@ uint16_t gpio_alert(uint8_t port){
     return alert;
 }
 
-/**
- * @brief canPWM - check if pin have PWM ability
- * @param port - port (0/1 for GPIOA/GPIOB)
- * @param pin - pin (0..15)
- * @param t (o) - struct for pin's PWM timer
- * @return TRUE if can, FALSE if no
- */
-int canPWM(uint8_t port, uint8_t pin, pwmtimer_t *t){
-    if(port > 1 || pin > 15) return 0;
-    if(t) *t = timer_map[port][pin];
-    if(timer_map[port][pin].tim) return TRUE;
-    return FALSE;
-}
diff --git a/F0:F030,F042,F072/usbcan_gpio/gpio.h b/F0:F030,F042,F072/usbcan_gpio/gpio.h
index 826471e..2893c68 100644
--- a/F0:F030,F042,F072/usbcan_gpio/gpio.h
+++ b/F0:F030,F042,F072/usbcan_gpio/gpio.h
@@ -91,15 +91,6 @@ typedef struct{
     uint16_t threshold;  // threshold for ADC measurement
 } pinconfig_t;
 
-// Timers for PWM
-typedef struct{
-    volatile TIM_TypeDef *tim;  // timer
-    uint8_t chidx : 2;          // channel index (0..3)
-    uint8_t collision : 1;      // have collision with other channel (1)
-    uint8_t collport : 1;       // collision port index (0 - GPIOA, 1 - GPIOB)
-    uint8_t collpin : 4;        // collision pin index (0..15)
-} pwmtimer_t;
-
 /*
 typedef struct{
     uint32_t speed;
@@ -121,5 +112,3 @@ int gpio_reinit();
 int pin_out(uint8_t port, uint8_t pin, uint8_t newval);
 int16_t pin_in(uint8_t port, uint8_t pin);
 uint16_t gpio_alert(uint8_t port);
-
-int canPWM(uint8_t port, uint8_t pin, pwmtimer_t *t);
diff --git a/F0:F030,F042,F072/usbcan_gpio/gpioproto.cpp b/F0:F030,F042,F072/usbcan_gpio/gpioproto.cpp
index 9cde6ca..03d8255 100644
--- a/F0:F030,F042,F072/usbcan_gpio/gpioproto.cpp
+++ b/F0:F030,F042,F072/usbcan_gpio/gpioproto.cpp
@@ -27,6 +27,7 @@ extern "C"{
 #include "flash.h"
 #include "gpio.h"
 #include "gpioproto.h"
+#include "pwm.h"
 #include "usart.h"
 #undef USBIF
 #define USBIF   IGPIO
@@ -46,7 +47,8 @@ static uint8_t hex_input_mode = 0; // ==0 for text input, 1 for HEX + text in qu
 #define COMMAND_TABLE \
     COMMAND(canspeed,   "CAN bus speed setter/getter (kBaud, 10..1000)") \
     COMMAND(curcanspeed,"current CAN bus speed (interface speed, not settings)") \
-    COMMAND(dumpconf,   "dump current configuration") \
+    COMMAND(curpinconf, "dump current (maybe wrong) pin configuration") \
+    COMMAND(dumpconf,   "dump global configuration") \
     COMMAND(eraseflash, "erase full flash storage") \
     COMMAND(help,       "show this help") \
     COMMAND(hexinput,   "input is text (0) or hex + text in quotes (1)") \
@@ -127,6 +129,7 @@ KW(AIN) \
     KW(SPEED) \
     KW(TEXT) \
     KW(HEX) \
+    KW(PWM) \
 
     enum{ // indexes of string keywords
 #define KW(k) STR_ ## k,
@@ -155,6 +158,7 @@ static const Keyword keywords[] = {
     KEY(USART, GROUP_FUNC,  FUNC_USART)
     KEY(SPI, GROUP_FUNC,  FUNC_SPI)
     KEY(I2C, GROUP_FUNC, FUNC_I2C)
+    KEY(PWM, GROUP_FUNC, FUNC_PWM)
     KEY(MONITOR, GROUP_MISC,  MISC_MONITOR)
     KEY(THRESHOLD, GROUP_MISC,  MISC_THRESHOLD)
     KEY(SPEED, GROUP_MISC, MISC_SPEED)
@@ -177,10 +181,10 @@ static const char* errtxt[ERR_AMOUNT] = {
 
 static const char *pinhelp =
     "Pin settings: PXx = MODE PULL OTYPE FUNC MISC (in any sequence), where\n"
-    "  MODE: AIN, IN or OUT (analog in, digital in, output)\n"
+    "  MODE: AIN, IN or OUT (analog in, digital in, output), also AF (automatically set when AF selected)\n"
     "  PULL: PU, PD or FL (pullup, pulldown, no pull - floating)\n"
     "  OTYPE: PP or OD (push-pull or open-drain)\n"
-    "  FUNC: USART or SPI (enable alternate function and configure peripheal)\n"
+    "  FUNC: USART, SPI, I2C or PWM (enable alternate function and configure peripheal)\n"
     "  MISC: MONITOR - send data by USB as only state changed\n"
     "        THRESHOLD (ADC only) - monitoring threshold, ADU\n"
     "        SPEED - interface speed/frequency\n"
@@ -294,16 +298,27 @@ static void pin_getter(uint8_t port, uint8_t pin){
 // `port` and `pin` are checked in `parse_pin_command`
 // set GPIO values (if *setter is 0/1) or configure it
 static errcodes_t pin_setter(uint8_t port, uint8_t pin, char *setter){
-    char _1st = *setter;
-    if(_1st == '0' || _1st == '1'){ // just set/clear pin state; throw out all text after "1"/"0"
-        DBG("set pin\n");
-        if(pin_out(port, pin, _1st - '0')) return ERR_OK;
-        return ERR_CANTRUN;
-    }
     if(strncmp(setter, "help", 4) == 0){ // send PIN help
         SENDn(pinhelp);
         return ERR_AMOUNT;
     }
+    pinconfig_t curconf;
+    if(!get_curpinconf(port, pin, &curconf)) return ERR_BADVAL; // copy current config
+    uint32_t U32;
+    char *end = getnum(setter, &U32);
+    if(end != setter && *end == 0){ // number -> set pin/PWM value
+        if(U32 > 0xff) return ERR_BADVAL;
+        uint8_t val = (uint8_t) U32;
+        if(curconf.mode == MODE_OUTPUT){ // set/clear pin
+            if(U32 > 1) U32 = 1;
+            DBG("set pin\n");
+            if(pin_out(port, pin, val)) return ERR_OK;
+            return ERR_CANTRUN;
+        }else if(curconf.mode == MODE_AF && curconf.af == FUNC_PWM){
+            if(setPWM(port, pin, val)) return ERR_OK;
+            return ERR_CANTRUN;
+        }
+    }
     // complex setter: parse properties
     uint8_t mode_set = 0xFF, pull_set = 0xFF, otype_set = 0xFF, func_set = 0xFF;
     bool monitor = false;
@@ -311,14 +326,12 @@ static errcodes_t pin_setter(uint8_t port, uint8_t pin, char *setter){
     uint32_t *pending_u32 = NULL; // -//- for uint32_t
     usartconf_t UsartConf;
     if(!get_curusartconf(&UsartConf)) return ERR_CANTRUN;
-    pinconfig_t curconf;
-    if(!get_curpinconf(port, pin, &curconf)) return ERR_BADVAL; // copy current config
 #define DELIM_  " ,"
     char *saveptr, *token = strtok_r(setter, DELIM_, &saveptr);
     while(token){
         if(pending_u16){
             uint32_t val;
-            char *end = getnum(token, &val);
+            end = getnum(token, &val);
             if(end == token || val > 0xFFFF) return ERR_BADVAL;
             *pending_u16 = (uint16_t)val;
             pending_u16 = NULL;  // reset
@@ -327,7 +340,7 @@ static errcodes_t pin_setter(uint8_t port, uint8_t pin, char *setter){
         }
         if(pending_u32){
             uint32_t val;
-            char *end = getnum(token, &val);
+            end = getnum(token, &val);
             if(end == token) return ERR_BADVAL;
             *pending_u32 = val;
             pending_u32 = NULL;
@@ -468,31 +481,22 @@ static errcodes_t cmd_curcanspeed(const char *cmd, char _U_ *args){
     return ERR_AMOUNT;
 }
 
-static errcodes_t cmd_dumpconf(const char _U_ *cmd, char _U_ *args){
-    SEND("userconf_sz="); SEND(u2str(the_conf.userconf_sz));
-    SEND("\ncurrentconfidx="); SENDn(i2str(currentconfidx));
-    for(int i = 0; i < InterfacesAmount; ++i){
-        SEND("interface"); PUTCHAR('0' + i);
-        PUTCHAR('=');
-        int l = the_conf.iIlengths[i] / 2;
-        char *ptr = (char*) the_conf.iInterface[i];
-        for(int j = 0; j < l; ++j){
-            PUTCHAR(*ptr);
-            ptr += 2;
-        }
-        NL();
-    }
-    SEND("canspeed="); SENDn(u2str(the_conf.CANspeed));
-    SEND("Pin configuration:\n");
+// dump global pin config (current == 0) or current (==1)
+static void dumppinconf(int current){
+    if(current) SEND("Current p");
+    else PUTCHAR('P');
+    SEND("in configuration:\n");
+#define S(k)  SEND(str_keywords[STR_ ## k])
+#define SP(k) do{PUTCHAR(' '); S(k);}while(0)
     for(int port = 0; port < 2; port++){
         char port_letter = (port == 0) ? 'A' : 'B';
         for(int pin = 0; pin < 16; pin++){
-            pinconfig_t *p = &the_conf.pinconfig[port][pin];
+            pinconfig_t cur, *p = &cur;
+            if(current && !get_curpinconf(port, pin, &cur)) continue; // local
+            if(!current) p = &the_conf.pinconfig[port][pin]; // global
             if(!p->enable) continue;
             PUTCHAR('P'); PUTCHAR(port_letter); SEND(i2str(pin)); SEND(EQ);
             switch(p->mode){
-#define S(k)  SEND(str_keywords[STR_ ## k])
-#define SP(k) do{PUTCHAR(' '); S(k);}while(0)
             case MODE_INPUT:
                 S(IN);
                 if(p->pull == PULL_UP) SP(PU);
@@ -519,6 +523,7 @@ static errcodes_t cmd_dumpconf(const char _U_ *cmd, char _U_ *args){
                 case FUNC_USART: S(USART); break;
                 case FUNC_SPI: S(SPI); break;
                 case FUNC_I2C: S(I2C); break;
+                case FUNC_PWM: S(PWM); break;
                 default: SEND("UNKNOWN_AF");
                 }
                 break;
@@ -537,6 +542,33 @@ static errcodes_t cmd_dumpconf(const char _U_ *cmd, char _U_ *args){
             NL();
         }
     }
+#undef S
+#undef SP
+}
+
+static errcodes_t cmd_curpinconf(const char _U_ *cmd, char _U_ *args){
+    dumppinconf(TRUE);
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_dumpconf(const char _U_ *cmd, char _U_ *args){
+    SEND("userconf_sz="); SEND(u2str(the_conf.userconf_sz));
+    SEND("\ncurrentconfidx="); SENDn(i2str(currentconfidx));
+    for(int i = 0; i < InterfacesAmount; ++i){
+        SEND("interface"); PUTCHAR('0' + i);
+        PUTCHAR('=');
+        int l = the_conf.iIlengths[i] / 2;
+        char *ptr = (char*) the_conf.iInterface[i];
+        for(int j = 0; j < l; ++j){
+            PUTCHAR(*ptr);
+            ptr += 2;
+        }
+        NL();
+    }
+    SEND("canspeed="); SENDn(u2str(the_conf.CANspeed));
+    dumppinconf(FALSE); // global pin config
+#define S(k)  SEND(str_keywords[STR_ ## k])
+#define SP(k) do{PUTCHAR(' '); S(k);}while(0)
     usartconf_t U = the_conf.usartconfig;
     if(U.RXen || U.TXen){ // USART enabled -> tell config
         S(USART); SEND(EQ);
@@ -547,44 +579,9 @@ static errcodes_t cmd_dumpconf(const char _U_ *cmd, char _U_ *args){
         else if(!U.TXen && U.RXen) SEND(" RXONLY");
         NL();
     }
-    // here are usart/spi/i2c configurations
-#if 0
-    bool usart_enabled = false;
-    for (int port = 0; port < 2 && !usart_enabled; port++) {
-        for (int pin = 0; pin < 16; pin++) {
-            pinconfig_t *p = &the_conf.pinconfig[port][pin];
-            if (p->enable && p->mode == MODE_AF && p->af == FUNC_USART) {
-                usart_enabled = true;
-                break;
-            }
-        }
-    }
-    if (usart_enabled) {
-        SEND("usart=");
-        // usart_config (baud, bits, parity, stopbits)
-        // e.g: SEND(u2str(usart_config.baudrate)); SEND(" ");
-        // SEND(i2str(usart_config.databits)); PUTCHAR(usart_config.parity); SEND(i2str(usart_config.stopbits));
-        NL();
-    }
-    bool spi_enabled = false;
-    for(int port = 0; port < 2 && !spi_enabled; port++){
-        for (int pin = 0; pin < 16; pin++) {
-            pinconfig_t *p = &the_conf.pinconfig[port][pin];
-            if (p->enable && p->mode == MODE_AF && p->af == FUNC_SPI) {
-                spi_enabled = true;
-                break;
-            }
-        }
-    }
-    if (spi_enabled) {
-        SEND("spi=");
-        // spi_config (speed, mode)
-        NL();
-    }
-#endif
-    return ERR_AMOUNT;
 #undef S
 #undef SP
+    return ERR_AMOUNT;
 }
 
 static errcodes_t cmd_setiface(const char* cmd, char *args){
@@ -801,6 +798,7 @@ void GPIO_process(){
 // starting init by flash settings
 void GPIO_init(){
     gpio_reinit();
+    pwm_setup();
     usartconf_t usc;
     if(get_curusartconf(&usc)) usart_text = usc.textproto;
 }
diff --git a/F0:F030,F042,F072/usbcan_gpio/hardware.c b/F0:F030,F042,F072/usbcan_gpio/hardware.c
index d225182..8728d16 100644
--- a/F0:F030,F042,F072/usbcan_gpio/hardware.c
+++ b/F0:F030,F042,F072/usbcan_gpio/hardware.c
@@ -35,8 +35,8 @@ TRUE_INLINE void pins_setup(){ // setup some common GPIO
 void hardware_setup(){
     // enable all active GPIO clocking
     RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_DMA1EN;
-    RCC->APB2ENR |= RCC_APB2ENR_USART1EN | RCC_APB2ENR_SYSCFGEN;
-    RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+    RCC->APB2ENR |= RCC_APB2ENR_USART1EN | RCC_APB2ENR_SYSCFGEN | RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM16EN;
+    RCC->APB1ENR |= RCC_APB1ENR_USART2EN | RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN;
     pins_setup();
     adc_setup();
     GPIO_init();
diff --git a/F0:F030,F042,F072/usbcan_gpio/pwm.c b/F0:F030,F042,F072/usbcan_gpio/pwm.c
index 4e45470..2b0d208 100644
--- a/F0:F030,F042,F072/usbcan_gpio/pwm.c
+++ b/F0:F030,F042,F072/usbcan_gpio/pwm.c
@@ -16,17 +16,160 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <stm32f0.h>
+#include <string.h>
+
 #include "pwm.h"
 
-/*
- * initial setup of all available PWM timers / channels:
- * TIM1 / 2 3
- * TIM2 / 2 3 4
- * TIM3 / 1 2 3 4
- * TIM14 / 1
- * TIM16 / 1
- */
+static volatile TIM_TypeDef * const timers[TIMERS_AMOUNT] = {
+    [TIM1_IDX]  = TIM1,
+    [TIM2_IDX]  = TIM2,
+    [TIM3_IDX]  = TIM3,
+    [TIM14_IDX] = TIM14,
+    [TIM16_IDX] = TIM16,
+};
+
+#if 0
+PWM (start - collisions):
+PxN XY (XY: TIMX_CHY)
+PA1  22 *
+PA2  23 **
+PA3  24 ***
+PA6  161
+PA7  141
+PA9  12
+PA10 13
+PB0  33
+PB1  34
+PB3  22 *
+PB4  31
+PB5  32
+PB10 23 **
+PB11 24 ***
+-> need to set up timers / channels
+TIM1 / 2 3
+TIM2 / 2 3 4
+TIM3 / 1 2 3 4
+TIM14 / 1
+TIM16 / 1
+#endif
+
+#define PT(i, ch)           {.timidx = i, .chidx = ch}
+#define PTC(i, ch, P, p)    {.timidx = i, .chidx = ch, .collision = 1, .collport = P, .collpin = p}
+static const pwmtimer_t timer_map[2][16] = {
+    [0] = {
+        [1]  = PTC(TIM2_IDX, 1, 1, 3),
+        [2]  = PTC(TIM2_IDX, 2, 1, 10),
+        [3]  = PTC(TIM2_IDX, 3, 1, 11),
+        [6]  = PT(TIM16_IDX, 0),
+        [7]  = PT(TIM14_IDX, 0),
+        [9]  = PT(TIM1_IDX, 1),
+        [10] = PT(TIM1_IDX, 2)
+    },
+    [1] = {
+        [0]  = PT(TIM3_IDX, 2),
+        [1]  = PT(TIM3_IDX, 3),
+        [3]  = PTC(TIM2_IDX, 1, 0, 1),
+        [4]  = PT(TIM3_IDX, 0),
+        [5]  = PT(TIM3_IDX, 1),
+        [10] = PTC(TIM2_IDX, 2, 0, 2),
+        [11] = PTC(TIM2_IDX, 3, 0, 3)
+    }
+};
+#undef PT
+#undef PTC
+
+// counter of used channels (0 - timer OFF)
+static uint8_t channel_counter[TIMERS_AMOUNT] = {0};
 
 void pwm_setup(){
-    ;
+    // setup; start/stop only by user request
+    for(int i = 1; i < TIMERS_AMOUNT; ++i){ // start from 1 as 0 forbidden
+        volatile TIM_TypeDef *timer = timers[i];
+        timer->CR1 = 0;
+        timer->PSC = 7; // 6MHz for 23.4kHz PWM
+        timer->ARR = 254; // 255 == 100%
+        // PWM mode 1, preload enable
+        timer->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE |
+                       TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE;
+        timer->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE |
+                       TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4PE;
+        timer->BDTR |= TIM_BDTR_MOE; // enable main output (need for some timers)
+        timer->EGR |= TIM_EGR_UG; // force update generation
+    }
+    bzero(channel_counter, sizeof(channel_counter));
+}
+
+/**
+ * @brief canPWM - check if pin have PWM ability
+ * @param port - port (0/1 for GPIOA/GPIOB)
+ * @param pin - pin (0..15)
+ * @param t (o) - struct for pin's PWM timer
+ * @return TRUE if can, FALSE if no
+ */
+int canPWM(uint8_t port, uint8_t pin, pwmtimer_t *t){
+    if(port > 1 || pin > 15) return 0;
+    if(t) *t = timer_map[port][pin];
+    if(timer_map[port][pin].timidx == TIM_UNSUPPORTED) return FALSE;
+    return TRUE;
+}
+
+/**
+ * @brief startPWM - run PWM on given port/pin
+ * @param port
+ * @param pin
+ * @return FALSE if unsupported
+ */
+int startPWM(uint8_t port, uint8_t pin){
+    timidx_t idx = timer_map[port][pin].timidx;
+    if(idx == TIM_UNSUPPORTED) return FALSE;
+    volatile TIM_TypeDef *timer = timers[idx];
+    uint8_t chidx = timer_map[port][pin].chidx;
+    uint32_t chen = TIM_CCER_CC1E << (chidx<<2);
+    if(0 == (timer->CCER & chen)){
+        if(0 == channel_counter[idx]++) timer->CR1 |= TIM_CR1_CEN; // start timer if need
+        timer->CCER |= chen; // enable channel
+    }
+    return TRUE;
+}
+
+// stop given PWM channel and stop timer if there's no used channels
+void stopPWM(uint8_t port, uint8_t pin){
+    timidx_t idx = timer_map[port][pin].timidx;
+    if(idx == TIM_UNSUPPORTED) return;
+    volatile TIM_TypeDef *timer = timers[idx];
+    uint8_t chidx = timer_map[port][pin].chidx;
+    uint32_t chen = TIM_CCER_CC1E << (chidx<<2);
+    if(timer->CCER & chen){
+        if(0 == --channel_counter[idx]) timer->CR1 &= ~TIM_CR1_CEN; // stop timer
+        timer->CCER &= ~chen;
+    }
+}
+
+/**
+ * @brief setPWM - set PWM value for given pin on given port
+ * @param port
+ * @param pin
+ * @param val - 0..255
+ * @return  FALSE if pin can't PWM
+ */
+int setPWM(uint8_t port, uint8_t pin, uint8_t val){
+    timidx_t idx = timer_map[port][pin].timidx;
+    if(idx == TIM_UNSUPPORTED) return FALSE;
+    volatile uint32_t *CCR = &timers[idx]->CCR1 + timer_map[port][pin].chidx;
+    *CCR = val;
+    return TRUE;
+}
+
+/**
+ * @brief getPWM - get PWM value for given pin on given port
+ * @param port
+ * @param pin
+ * @return -1 if there's no PWM on that pin
+ */
+int16_t getPWM(uint8_t port, uint8_t pin){
+    timidx_t idx = timer_map[port][pin].timidx;
+    if(idx == TIM_UNSUPPORTED) return -1;
+    volatile uint32_t *CCR = &timers[idx]->CCR1 + timer_map[port][pin].chidx;
+    return (int16_t) *CCR;
 }
diff --git a/F0:F030,F042,F072/usbcan_gpio/pwm.h b/F0:F030,F042,F072/usbcan_gpio/pwm.h
index 1a04315..7fc5218 100644
--- a/F0:F030,F042,F072/usbcan_gpio/pwm.h
+++ b/F0:F030,F042,F072/usbcan_gpio/pwm.h
@@ -18,4 +18,32 @@
 
 #pragma once
 
+#include <stdint.h>
+
+// used timers
+typedef enum{
+    TIM_UNSUPPORTED = 0,
+    TIM1_IDX,
+    TIM2_IDX,
+    TIM3_IDX,
+    TIM14_IDX,
+    TIM16_IDX,
+    TIMERS_AMOUNT
+}timidx_t;
+
+// Timers for PWM
+typedef struct{
+    timidx_t timidx : 3;        // timer index from array of timers used
+    uint8_t chidx : 2;          // channel index (0..3)
+    uint8_t collision : 1;      // have collision with other channel (1)
+    uint8_t collport : 1;       // collision port index (0 - GPIOA, 1 - GPIOB)
+    uint8_t collpin : 4;        // collision pin index (0..15)
+} pwmtimer_t;
+
+
 void pwm_setup();
+int canPWM(uint8_t port, uint8_t pin, pwmtimer_t *t);
+int startPWM(uint8_t port, uint8_t pin);
+void stopPWM(uint8_t port, uint8_t pin);
+int setPWM(uint8_t port, uint8_t pin, uint8_t val);
+int16_t getPWM(uint8_t port, uint8_t pin);
diff --git a/F0:F030,F042,F072/usbcan_gpio/usbcangpio.bin b/F0:F030,F042,F072/usbcan_gpio/usbcangpio.bin
index 25457cc09da79fa5c0b9657bc89d1fda25f8d4ff..b58d71185b03451f489b2be6a5bb16226abafc5b 100755
GIT binary patch
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m;D(d`w&?$XlLAgW#ox8#lj;~*x&+Y<%vaZ`PL$Ur;{OBrdeNf*

diff --git a/F0:F030,F042,F072/usbcan_gpio/usbcangpio.creator.user b/F0:F030,F042,F072/usbcan_gpio/usbcangpio.creator.user
index 765e6fb..efeb3e1 100644
--- a/F0:F030,F042,F072/usbcan_gpio/usbcangpio.creator.user
+++ b/F0:F030,F042,F072/usbcan_gpio/usbcangpio.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.2, 2026-03-15T02:24:04. -->
+<!-- Written by QtCreator 18.0.2, 2026-03-15T23:41:05. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/F0:F030,F042,F072/usbcan_gpio/version.inc b/F0:F030,F042,F072/usbcan_gpio/version.inc
index 951c9c1..34e7d71 100644
--- a/F0:F030,F042,F072/usbcan_gpio/version.inc
+++ b/F0:F030,F042,F072/usbcan_gpio/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "192"
+#define BUILD_NUMBER "207"
 #define BUILD_DATE "2026-03-15"