#define GPIOAEN    (1U<<0)
#define TIM2EN     (1U<<0)
#define CR1_CEN    (1U<<0)

void tim2_pa0_pa1_pwm_init(void)
{
    /**********GPIO Configuration**********/
    /*Enable clock access to GPIOA*/
    RCC->AHB1ENR |= GPIOAEN;

    /*Set PA0 and PA1 mode to alternate function mode*/
    /*PA0*/
    GPIOA->MODER &= ~(1U<<0);
    GPIOA->MODER |=  (1U<<1);

    /*PA1*/
    GPIOA->MODER &= ~(1U<<2);
    GPIOA->MODER |=  (1U<<3);

    /*Set alternate function type to TIM2 (AF01)*/
    /*PA0*/
    GPIOA->AFR[0] |=  (1U<<0);
    GPIOA->AFR[0] &= ~(1U<<1);
    GPIOA->AFR[0] &= ~(1U<<2);
    GPIOA->AFR[0] &= ~(1U<<3);

    /*PA1*/
    GPIOA->AFR[0] |=  (1U<<4);
    GPIOA->AFR[0] &= ~(1U<<5);
    GPIOA->AFR[0] &= ~(1U<<6);
    GPIOA->AFR[0] &= ~(1U<<7);

    /**********TIM2 Configuration**********/
    /*Enable clock access to TIM2*/
    RCC->APB1ENR |= TIM2EN;

    /*Set timer Prescaler*/
    TIM2->PSC = 10; // 16 000 000 no divider = 16 000 000 (the default clock is 16mhz in stm32))

    /*Set auto-reload value*/
    TIM2->ARR = 1000 - 1; // 16 000 000 / 1000 = 16kHz

    /*Reset the timer count*/
    TIM2->CNT = 0;

    /*Set PA1 (ch2) and PA0 (ch1) to 110 : PWM mode 1*/
    /*ch1*/
    TIM2->CCMR1 &= ~(1U<<4);
    TIM2->CCMR1 |=  (1U<<5);
    TIM2->CCMR1 |=  (1U<<6);

    /*ch2*/
    TIM2->CCMR1 &= ~(1U<<12);
    TIM2->CCMR1 |=  (1U<<13);
    TIM2->CCMR1 |=  (1U<<14);

    /*Enable ch1 and ch2*/
    /*ch1*/
    TIM2->CCER |= (1U<<0);

    /*ch2*/
    TIM2->CCER |= (1U<<4);

    /*Enable timer*/
    TIM2->CR1 |= CR1_CEN;
    
 }
 

// Function to set PWM duty cycle for TIM2 channels on PA0 and PA1
void tim2_pa0_pa1_pwm_set_dutycycle(uint8_t ch, uint32_t dutycycle)
{
    /*Select channel*/
    switch(ch)
    {
        /*Set dutycycle*/
        case 1:
            TIM2->CCR1 = dutycycle;
            break;
        case 2:
            TIM2->CCR2 = dutycycle;
            break;
        default:
            break;
    }
}

int main(void)
{
    /*Init pwm at pa0 and pa1*/
    tim2_pa0_pa1_pwm_init();
    tim2_pa0_pa1_pwm_set_dutycycle(1, 100);
    tim2_pa0_pa1_pwm_set_dutycycle(2, 1);

    while(1)
    {
    }
}

result:

PWM WITH DMA