标准库PWM模式配置

static void PWMGPIOInit(void)
{
	GPIO_InitTypeDef GPIO_Initstructure;

	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA|RCC_AHBPeriph_GPIOB, ENABLE);
	//引脚复用功能配置
	GPIO_PinAFConfig(GPIOB, GPIO_PinSource14, GPIO_AF_9);
	GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_9);
	//引脚复用功能配置
	GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);
	GPIO_PinAFConfig(GPIOA, GPIO_PinSource15, GPIO_AF_1);
	
	//引脚配置
	GPIO_Initstructure.GPIO_Pin = GPIO_Pin_14 | GPIO_Pin_15;
	GPIO_Initstructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_Initstructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Initstructure.GPIO_OType = GPIO_OType_PP;
	GPIO_Initstructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
	GPIO_Init(GPIOB, &GPIO_Initstructure);

		//引脚配置
	GPIO_Initstructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_15;
	GPIO_Init(GPIOA, &GPIO_Initstructure);
}

PWM定时器2的配置

static void InitTim2(void)
{
	 /*结构体变量定义*/
	 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	 TIM_OCInitTypeDef TIM_OCInitBaseStructure;

	 /*开启time2时钟*/
	 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	 
	 /*time2时基单元配置*/
	 TIM_TimeBaseStructure.TIM_Prescaler = 3;
	 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	 TIM_TimeBaseStructure.TIM_Period = 1000;
	 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;		//不分屏
	 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
	 
	 /*CH1 PWM1模式配置ccr*/
	 TIM_OCInitBaseStructure.TIM_OCMode = TIM_OCMode_PWM1;
	 TIM_OCInitBaseStructure.TIM_OutputState = TIM_OutputState_Enable;
	 TIM_OCInitBaseStructure.TIM_Pulse = 0;
	 TIM_OCInitBaseStructure.TIM_OCPolarity = TIM_OCPolarity_High;		//极性输出
	 TIM_OC1Init(TIM2, &TIM_OCInitBaseStructure);				//通道初始化	OC表示通道

//如果用了一个定时器的两个通道在加一下两行即可
		/*
		TIM_OC2Init(TIM2, &TIM_OCInitBaseStructure);	//通道初始化   OCX表示通道       x表示的是通道几
		TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);	   //自动重装载值
		*/

	 TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);		//自动重装载值
	 TIM_ARRPreloadConfig(TIM2, ENABLE);					//自动重装载值
	 TIM_Cmd(TIM2, ENABLE);									//开总的定时器
}

电机PWM电机启动 调用这个函数启动即可 MotorPWMSet（）

void MotorPWMSet(uint16_t pwm1, uint16_t pwm2, uint16_t pwm3, uint16_t pwm4)
{
	/*条件判断 占空比最大为1000，最小为0*/
	if(pwm1 >= PWM_MAX) 	pwm1 = PWM_MAX;
	if(pwm1 <= PWM_MIN) 	pwm1 = PWM_MIN;
	
	if(pwm2 >= PWM_MAX) 	pwm2 = PWM_MAX;
	if(pwm2 <= PWM_MIN) 	pwm2 = PWM_MIN;
	
	if(pwm3 >= PWM_MAX) 	pwm3 = PWM_MAX;
	if(pwm3 <= PWM_MIN) 	pwm3 = PWM_MIN;
	
	if(pwm4 >= PWM_MAX) 	pwm4 = PWM_MAX;
	if(pwm4 <= PWM_MIN) 	pwm4 = PWM_MIN;

		
	TIM12->CCR1 = pwm1;
	TIM12->CCR2 = pwm2;
	TIM2->CCR1 = pwm3;
	TIM5->CCR1 = pwm4;
}