做飞控时输出4路PWM波，同时有ppm，进行输入捕获，小弟配置好输入捕获以后原来输出的四路PWM波就无法输出，不知哪位大侠能伸出援手代码如下
        void Motor_Config( void )
{
  GPIO_InitTypeDef GPIO_InitStruct;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
  TIM_OCInitTypeDef TIM_OCInitStruct;
 
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC, ENABLE);
  RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);


  GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);

  /* TIM2 PWM3  A0 */ /* TIM2 PWM4  A1 */ /* TIM2 PWM5  A2 */ /* TIM2 PWM8  A3 */
  /* TIM3 PWM9  A6 */ /* TIM3 PWM10 PA7 */
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOA, &GPIO_InitStruct);
  /* TIM3 PWM11 PB0 */ /* TIM3 PWM12 PB1 */ /* TIM4 PWM1  B6 */ /* TIM4 PWM2  B7 */
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_8 | GPIO_Pin_7;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOB, &GPIO_InitStruct);
  /* TIM8 PWM7  C6 */ /* TIM8 PWM6  C7 */
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOC, &GPIO_InitStruct);

  TIM_DeInit(TIM3);
  TIM_DeInit(TIM4);
  TIM_DeInit(TIM8);

  /************************** PWM Output **************************************/
  /* 設定 TIM2 TIM3 TIM4 Time Base */
  TIM_TimeBaseStruct.TIM_Period = (u16)(2500-1);              // 週期 = 2.5ms, 400Hz
  TIM_TimeBaseStruct.TIM_Prescaler = (u16)(84-1);             // 除頻84 = 1M ( 1us )
  TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // 上數
 // TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStruct);
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStruct);
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStruct);
  /* 設定TIM8 Time Base */
  TIM_TimeBaseStruct.TIM_Period = (u16)(2500-1); // 週期 = 2.5ms, 400kHz
  TIM_TimeBaseStruct.TIM_Prescaler = (u16)(168-1); // 除頻42 = 1M ( 1us )
  TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // 上數
  TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStruct);

  /* 設定 TIM2 TIM3 TIM4 TIM8 OC */
  TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; // 配置為 PWM1 模式
  TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; // 致能 OC
  TIM_OCInitStruct.TIM_Pulse = PWM_MOTOR_MAX; // 設置跳變值
  TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; // 當計數值小於 PWM_MOTOR_MIN 時為高電平

  TIM_OC1Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC1
  TIM_OC2Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC2
  TIM_OC3Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC3
  TIM_OC4Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC4
  TIM_OC1Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC1
  TIM_OC2Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC2
  TIM_OC1Init(TIM8, &TIM_OCInitStruct); // 初始化 TIM8 OC1
  TIM_OC2Init(TIM8, &TIM_OCInitStruct); // 初始化 TIM8 OC2

  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC1 預裝載
  TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC2 預裝載
  TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC3 預裝載
  TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC4 預裝載
  TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC1 預裝載
  TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC2 預裝載
  TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable); // 致能 TIM8 OC1 預裝載
  TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable); // 致能 TIM8 OC2 預裝載

  /* 啟動 */
  TIM_ARRPreloadConfig(TIM3, ENABLE); // 致能 TIM3 重載寄存器ARR
  TIM_ARRPreloadConfig(TIM4, ENABLE); // 致能 TIM4 重載寄存器ARR
  TIM_ARRPreloadConfig(TIM8, ENABLE); // 致能 TIM8 重載寄存器ARR
//  TIM_Cmd(TIM2, ENABLE); // 致能 TIM2
  TIM_Cmd(TIM3, ENABLE); // 致能 TIM3
  TIM_Cmd(TIM4, ENABLE); // 致能 TIM4
  TIM_Cmd(TIM8, ENABLE); // 致能 TIM8
}

下面是输入捕获的代码
void PWM_IN_Config( void )
{
GPIO_InitTypeDef GPIO_InitStruct;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStruct;
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);


/*配置输入捕获TIM2 上升沿触发 允许中断 */   /*配置输入捕获TIM2 上升沿触发 允许中断 */ /*配置输入捕获TIM2 上升沿触发 允许中断 */
/*PWM输入捕获配置*//* PA0 PA1 PA2 PA3 */
GPIO_InitStruct.GPIO_Pin =  GPIO_Pin_0 | GPIO_Pin_1| GPIO_Pin_2| GPIO_Pin_3;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;//复用功能
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;//速度100M hz
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;//推挽复用输出
  GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_DOWN;//下拉
GPIO_Init(GPIOA, &GPIO_InitStruct);

GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_TIM2);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_TIM2);

TIM_TimeBaseStruct.TIM_Prescaler=83;  //
TIM_TimeBaseStruct.TIM_CounterMode=TIM_CounterMode_Up; //
TIM_TimeBaseStruct.TIM_Period=0XFFFF;   //
TIM_TimeBaseStruct.TIM_ClockDivision=TIM_CKD_DIV1; 
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStruct);

  
//配置TIM2输入捕获参数
TIM2_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 ?????????? IC1??????TI1??
  TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
  TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上 不理解?
  TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //不分频 
  TIM2_ICInitStructure.TIM_ICFilter = 0x00;//不滤波
  TIM_ICInit(TIM2, &TIM2_ICInitStructure);
TIM_ITConfig(TIM2,TIM_IT_Update|TIM_Channel_1,ENABLE);//允许中断更新允许捕获中断

TIM2_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 ?????????? IC1??????TI1??
  TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
  TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上 不理解?
  TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //不分频 
  TIM2_ICInitStructure.TIM_ICFilter = 0x00;//不滤波
  TIM_ICInit(TIM2, &TIM2_ICInitStructure);
TIM_ITConfig(TIM2,TIM_IT_Update|TIM_Channel_2,ENABLE);//允许中断更新允许捕获中断

TIM2_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 ?????????? IC1??????TI1??
  TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
  TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上 不理解?
  TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //不分频 
  TIM2_ICInitStructure.TIM_ICFilter = 0x00;//不滤波
  TIM_ICInit(TIM2, &TIM2_ICInitStructure);
TIM_ITConfig(TIM2,TIM_IT_Update|TIM_Channel_3,ENABLE);//允许中断更新允许捕获中断

TIM2_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 ?????????? IC1??????TI1??
TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上 不理解?
TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //不分频 
TIM2_ICInitStructure.TIM_ICFilter = 0x00;//不滤波
TIM_ICInit(TIM2, &TIM2_ICInitStructure);
TIM_ITConfig(TIM2,TIM_IT_Update|TIM_Channel_4,ENABLE);//允许中断更新允许捕获中断

TIM_Cmd(TIM2,ENABLE ); //使能定时器2
//配置中断
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority =1; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ中断使能
  NVIC_Init(&NVIC_InitStructure); //初始化中断寄存器


/*配置输入捕获TIM2 上升沿触发 允许中断 */ /*配置输入捕获TIM2 上升沿触发 允许中断 */ /*配置输入捕获TIM2 上升沿触发 允许中断 */
}
 
这是主函数
int main()
{
SystemInit();
uart_init(9600);                                                                                                 
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
  PWM_IN_Config();
Motor_Config();
while(1){
printf("success");
Delay_10ms(1);
Motor_Control(1500,1500,1580,1500);
}
}