TIM_TimeBaseInitTypeDef TIM_BaseStruct;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);    // Enable bus clock

TIM_BaseStruct.TIM_Prescaler = 0;   // Set prescaler (frequency divider)
TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_CenterAligned1;    // Set counting mode (up, down, center-aligned) to center aligned for better motor control
TIM_BaseStruct.TIM_Period = 4000; // Set timer period (timer reset/change direction value)
TIM_BaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_BaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM4, &TIM_BaseStruct);    // Initialize timer with chosen settings
TIM_Cmd(TIM4, ENABLE);  // Start timer

GPIO_InitTypeDef GPIO_InitStruct;

/* Clock for GPIOD */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

/* Alternating functions for pins */
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);

/* Set pins */
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;

GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOD, &GPIO_InitStruct);

TIM_OCInitTypeDef TIM_OCStruct;

TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;

TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCStruct.TIM_Pulse = 1999;
TIM_OC1Init(TIM4, &TIM_OCStruct);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);

TIM_TimeBaseInitTypeDef TIM_BaseStruct;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);    // Enable bus clock

TIM_BaseStruct.TIM_Prescaler = 1;   // Set prescaler (frequency divider)
TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_CenterAligned1;    // Set counting mode (up, down, center-aligned) to center aligned for better motor control
TIM_BaseStruct.TIM_Period = 4000; // Set timer period (timer reset/change direction value)
TIM_BaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_BaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_BaseStruct);    // Initialize timer with chosen settings
TIM_Cmd(TIM1, ENABLE);  // Start timer

GPIO_InitTypeDef GPIO_InitStruct;

/* Clock for GPIOE */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);

/* Alternating functions for pins */
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_TIM1);

/* Set pins */
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOE, &GPIO_InitStruct);

TIM_OCInitTypeDef TIM_OCStruct;

TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;

TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCStruct.TIM_Pulse = 1999;
TIM_OC1Init(TIM1, &TIM_OCStruct);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);

TIM_BDTRInitTypeDef TIM_BDTRInitStruct;
TIM_BDTRStructInit(&TIM_BDTRInitStruct);
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStruct);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);