用PWM的互补通道写出stm32G431的驱动电机，实现电机正转和反转的代码

以下是一个简单的示例代码，使用PWM的互补通道控制STM32G431的驱动电机实现正转和反转：

#include "stm32g4xx_hal.h"

#define PWM_PERIOD 1000 // PWM周期

TIM_HandleTypeDef htim1;

void MX_TIM1_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = PWM_PERIOD;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim1);
}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *tim_pwmHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if (tim_pwmHandle->Instance == TIM1)
  {
    __HAL_RCC_GPIOE_CLK_ENABLE();
    /**TIM1 GPIO Configuration    
    PE8     ------> TIM1_CH1
    PE9     ------> TIM1_CH1N
    PE10     ------> TIM1_CH2
    PE11     ------> TIM1_CH2N
    PE12     ------> TIM1_CH3
    PE13     ------> TIM1_CH3N
    PE14     ------> TIM1_CH4
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
  }
}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *tim_pwmHandle)
{
  if (tim_pwmHandle->Instance == TIM1)
  {
    __HAL_RCC_TIM1_CLK_DISABLE();
    /**TIM1 GPIO Configuration    
    PE8     ------> TIM1_CH1
    PE9     ------> TIM1_CH1N
    PE10     ------> TIM1_CH2
    PE11     ------> TIM1_CH2N
    PE12     ------> TIM1_CH3
    PE13     ------> TIM1_CH3N
    PE14     ------> TIM1_CH4
    */
    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14);
  }
}

void motor_forward(void)
{
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
}

void motor_backward(void)
{
  HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
}

void motor_stop(void)
{
  HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
}

int main(void)
{
  HAL_Init();
  MX_TIM1_Init();

  while (1)
  {
    motor_forward();
    HAL_Delay(1000);
    motor_backward();
    HAL_Delay(1000);
    motor_stop();
    HAL_Delay(1000);
  }
}

这个代码使用了STM32G431的TIM1模块，通过PWM输出控制电机的正转和反转。在这个例子中，我们使用了PWM的互补通道，即TIM1_CH1和TIM1_CH1N控制电机的正转，TIM1_CH2和TIM1_CH2N控制电机的反转。我们可以通过调整PWM的占空比来控制电机的转速。