注意需要配置hal，不然tim句柄找不到

#ifndef __TIM_H__
#define __TIM_H__

#ifdef __cplusplus
extern "C" {
#endif

#include "main.h"

/* 外部变量声明 */
extern TIM_HandleTypeDef htim2;

/* PWM基础函数声明 */
void MX_TIM2_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

/* PWM控制函数声明 */
void PWM_Start(void);
void PWM_Stop(void);
void PWM_Set_Pulse_Value(uint16_t pulse);
void PWM_Set_DutyCycle_Percent(float duty_percent);
uint16_t PWM_Get_Current_Pulse(void);
float PWM_Get_Current_DutyCycle_Percent(void);

#ifdef __cplusplus
}
#endif

#endif /* __TIM_H__ */

#include "tim.h"
#include "stdio.h"

TIM_HandleTypeDef htim2;

/* 您已有的初始化函数保持不变 */
void MX_TIM2_Init(void)
{
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};

    /* TIM2基本配置 */
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 71; // 72MHz / (71+1) = 1MHz
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 999; // 1MHz / (999+1) = 1KHz PWM频率
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

    if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
    {
        Error_Handler();
    }

    /* 时钟源配置 */
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }

    /* PWM初始化 */
    if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
    {
        Error_Handler();
    }

    /* 主从模式配置 */
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }

    /* PWM通道1配置 */
    sConfigOC.OCMode = TIM_OCMODE_PWM1; // PWM模式1
    sConfigOC.Pulse = 0;                // 初始占空比为0
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
        Error_Handler();
    }

    /* GPIO配置 */
    HAL_TIM_MspPostInit(&htim2);
	
	// 开启PWM
	PWM_Start();
}

/* 您已有的MSP函数保持不变 */
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *tim_baseHandle)
{
    if (tim_baseHandle->Instance == TIM2)
    {
        __HAL_RCC_TIM2_CLK_ENABLE();
    }
}

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *timHandle)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if (timHandle->Instance == TIM2)
    {
      __HAL_RCC_GPIOA_CLK_ENABLE();
      GPIO_InitStruct.Pin = GPIO_PIN_0;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *tim_baseHandle)
{
    if (tim_baseHandle->Instance == TIM2)
    {
        __HAL_RCC_TIM2_CLK_DISABLE();
        HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0);
    }
}

/* ========================================================================== */
/* PWM控制函数 */

void PWM_Start(void)
{
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
}

void PWM_Stop(void)
{
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
}

void PWM_Set_Pulse_Value(uint16_t pulse)
{
    if (pulse > 999)
        pulse = 999;
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pulse);
}

uint16_t PWM_Get_Current_Pulse(void)
{
    return __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_1);
}

/* ========================================================================== */
/* 补充的PWM控制函数 */

/**
 * @brief 设置PWM占空比（百分比）
 * @param duty_percent: 占空比百分比 0.0-100.0
 */
void PWM_Set_DutyCycle_Percent(float duty_percent)
{
    if (duty_percent < 0)
        duty_percent = 0;
    if (duty_percent > 100)
        duty_percent = 100;

    uint16_t pulse = (uint16_t)(duty_percent * 999.0f / 100.0f);
	printf("pulse:%d\r\n",pulse);
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pulse);
}

/**
 * @brief 获取当前PWM占空比百分比
 * @return 当前占空比百分比 0.0-100.0
 */
float PWM_Get_Current_DutyCycle_Percent(void)
{
    uint16_t pulse = __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_1);
    return (float)pulse * 100.0f / 999.0f;
}