Need Help for BLDC CLOSED LOOP CONTROL

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#include <stm32f10x.h>
 #include<stdio.h>
 GPIOSpeed_TypeDef gpio_speed;
 GPIOMode_TypeDef gpio_mode;
 GPIO_InitTypeDef gpio_init;
 TIM_TimeBaseInitTypeDef time_init;
 TIM_OCInitTypeDef timer_output_compare;
 uint16_t Capture = 0;
 volatile uint16_t TIM5Freq = 0;
 uint16_t CCR1_Val= 232;
 
void gpio()
 {
 //Configure GPIOD Pin 12 as Input 
gpio_init.GPIO_Pin = GPIO_Pin_12;
 gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
 gpio_init.GPIO_Speed = GPIO_Speed_50MHz; 
GPIO_Init(GPIOD, &gpio_init);
 //Configure GPIOA Pin 6 as pwm o/p 
gpio_init.GPIO_Pin = GPIO_Pin_6;
 gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
 GPIO_Init(GPIOA, &gpio_init);
 }
 
 
 
void rcc()
 {
 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_APB 1Periph_TIM3, ENABLE);
 
/* GPIOA and GPIOD clock enable */
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD|RCC_AP B2Periph_GPIOA |RCC_APB2Periph_AFIO , ENABLE);
 
}
 void timer3 () //PORT A //PIN6
 {
 
time_init.TIM_Period = 400;
 time_init.TIM_Prescaler = (uint16_t) (36000000 /4000000) - 1;
 time_init.TIM_ClockDivision = 0;
 time_init.TIM_CounterMode = TIM_CounterMode_Up;
 
 
TIM_TimeBaseInit(TIM3, &time_init);
 
 
 
 
/* PWM1 Mode configuration: Channel1 */
 timer_output_compare.TIM_OCMode = TIM_OCMode_PWM1;
 timer_output_compare.TIM_OutputState = TIM_OutputState_Enable;
 timer_output_compare.TIM_Pulse = CCR1_Val;
 timer_output_compare.TIM_OCPolarity = TIM_OCPolarity_High;
 
TIM_OC1Init(TIM3, &timer_output_compare);
 
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
 
TIM_ARRPreloadConfig(TIM3, ENABLE);
 /* TIM3 enable counter */
 TIM_Cmd(TIM3, ENABLE);
 }
 
 
void timer4 () // for running a free timer to count how many no. of pulse passed in high & low of motor o/p signal to calculate its frequency
 {
 TIM_TimeBaseStructInit(&time_init);
 time_init.TIM_Prescaler =((uint16_t) (36000000 /1000000) - 1);
 time_init.TIM_Period =65535;
 time_init.TIM_ClockDivision = 0;
 time_init.TIM_CounterMode = TIM_CounterMode_Up;
 
TIM_TimeBaseInit(TIM4, &time_init);
 
TIM_Cmd(TIM4, ENABLE);
 }
 
 
int main()
 {
 uint16_t tim1,tim2;
 uint8_t count1=0;
 uint16_t gpiocheck;
 rcc();
 gpio();
 timer3();
 timer4();
 TIM_OC1Init(TIM3, &timer_output_compare);
 
while(1)
 
gpiocheck=GPIOD->IDR & 0X1000;
 if((gpiocheck==0X1000)&& count1==0)
 {
 tim1=TIM4->CNT;
 count1=1;
 }
 else if ((gpiocheck==0X0000)&&count1==1 ) 
{
 tim2 = TIM4->CNT;
 
if (tim2 > tim1)
 {
 Capture = (tim2 - tim1); 
}
 else
 Capture = ((0xFFFF - tim1) + tim2); 
TIM5Freq = (uint32_t) 1000000 / Capture;
 count1=0;
 
} 
if(TIM5Freq<420)
 {
 volatile uint16_t difference=0;
 if(TIM5Freq<440)
 difference=(440-TIM5Freq);
 else
 difference=(TIM5Freq-440);
 if(difference>=50)
 { timer_output_compare.TIM_Pulse = 400;
 TIM_OC1Init(TIM3, &timer_output_compare);
 }
 }
 }
 }