void Motor_TIM1_NVIC_Configuration(void)
{
    NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure_E;

//定時器時鐘使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);


//使能GPIO時鐘
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE|RCC_AHB1Periph_GPIOD, ENABLE);


//GPIO配置: TIM1 CH3 (PE13,PE14) SV_A,SV_B
GPIO_InitStructure_E.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14;
GPIO_InitStructure_E.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure_E.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure_E.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure_E.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOE, &GPIO_InitStructure_E);


//連接 TIM1 引腳到 AF2 
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_TIM1);


NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);


    //配置定時器中斷
    NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}


vu16 CCR3_Val = 8192;
vu16 CCR4_Val = 4096;


void Motor_Pwm_Init(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDefTIM_OCInitStructure;
TIM_ICInitTypeDef  TIM_ICInitStructure;


Motor_TIM1_NVIC_Configuration();


/* -----------------------------------------------------------------------
TIM4 配置產(chǎn)生4路不同占空比的信號:
TIM4CLK 頻率設(shè)置成 SystemCoreClock / 2(Hz), 
為了使定時器4獲得20Mhz的頻率，計算如下
- Prescaler = (TIM4CLK / TIM4 counter clock) - 1
SystemCoreClock 是120Mhz


TIM4 頻率 = TIM4 counter clock/(ARR + 1)
 = 20 MHz / (19999+1) = 1 KHz
TIM4 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
TIM4 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
TIM4 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
TIM4 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%




ARR和TIM3_ARR即TIM_Period值


----------------------------------------------------------------------- */


//計算預(yù)分頻值
PrescalerValue = (unsigned short) ((SystemCoreClock)/30000000) - 1;


//定時器基本配置
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); 


/* Prescaler configuration */
TIM_PrescalerConfig(TIM1, PrescalerValue, TIM_PSCReloadMode_Immediate);//對TIM1進(jìn)行分頻  


//PWM模式配置: 通道3,4
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //輸出極性
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; //互補(bǔ)端的極性 
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;


TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Disable);


TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Disable);


// TIM_ARRPreloadConfig(TIM1, ENABLE);


//使能定時器1
TIM_Cmd(TIM1, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_CC3 | TIM_IT_CC4, ENABLE);


//高級定時器要添加，而TIM2，TIM3等定時器不用添加
TIM_CtrlPWMOutputs(TIM1, ENABLE);


while(1);
}

//注意定時器1中斷函數(shù)名為TIM1_CC_IRQHandler
void TIM1_CC_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_CC3) != RESET)
{
u16 capture = 0;
TIM_ClearITPendingBit(TIM1, TIM_IT_CC3);
capture = TIM_GetCapture3(TIM1);
TIM_SetCompare3(TIM1, capture + CCR3_Val);
}


if (TIM_GetITStatus(TIM1, TIM_IT_CC4) != RESET)
{
u16 capture = 0;
TIM_ClearITPendingBit(TIM1, TIM_IT_CC4);
capture = TIM_GetCapture4(TIM1);
TIM_SetCompare4(TIM1, capture + CCR4_Val);
}

}

其他定時器如TIM2等，要

（1）將TIM_CtrlPWMOutputs(TIM1, ENABLE);去掉

（2）將TIM1換成TIM2

（3）TIM1_CC_IRQn換成TIM2_IRQn

（4）定時器中斷函數(shù)換成TIM2_IRQHandler

（5）換對應(yīng)的引腳