void TIM_Encoder_Config(u16 PPS)//设置编码器的4路相差90度的PWM信号
{
double temp = 4000;
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
temp = temp*72/PPS -1;
TIM_TimeBaseStructure.TIM_Period = (u16)temp - 1; //总周期长度
TIM_TimeBaseStructure.TIM_Prescaler = 124; // TIMCLK
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up ;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;//输出比较模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
//TIM4_OC2模块设置（设置2通道相位）
TIM_OCInitStructure.TIM_Pulse = (u16)(temp/2-1);//1/4总周期长度
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
//TIM4_OC3模块设置（设置3通道相位）
TIM_OCInitStructure.TIM_Pulse = (u16)(temp-1);//1/2总周期长度
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
//TIM4_OC4模块设置（设置4通道相位）
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;//输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_Pulse = (u16)(temp/2-1);//3/4总周期长度
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
//死区设置
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 70; //这里调整死区大小0-0xff
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM4, &TIM_BDTRInitStructure);
/* TIM4 counter enable */
TIM_Cmd(TIM4, ENABLE);
/* TIM4 Main Output Enable */
TIM_CtrlPWMOutputs(TIM4, ENABLE);
}