From 6151b968a5e85325e1e6c7786be84762ddfb6f1f Mon Sep 17 00:00:00 2001
From: Wolfgang Hottgenroth <wolfgang@hottgenroth.net>
Date: Mon, 24 Oct 2016 17:07:50 +0200
Subject: [PATCH] sine works

---
 cubemx/output/inverter2/Inc/mxconstants.h     |   4 +
 .../output/inverter2/Inc/stm32f1xx_hal_conf.h |   2 +-
 cubemx/output/inverter2/Inc/stm32f1xx_it.h    |   2 +
 cubemx/output/inverter2/Src/main.c            | 165 ++++++++++++++---
 .../output/inverter2/Src/stm32f1xx_hal_msp.c  | 118 +++++++++++-
 cubemx/output/inverter2/Src/stm32f1xx_it.c    |  30 ++++
 cubemx/output/inverter2/inverter2.ioc         | 104 +++++++----
 include/mxconstants.h                         |   4 +
 include/stm32f1xx_hal_conf.h                  |   2 +-
 include/stm32f1xx_it.h                        |   2 +
 my_src/main2.c                                |  68 +++++--
 my_src/main2.h                                |   1 +
 src/main.c                                    | 168 +++++++++++++++---
 src/main.c-bak                                | 165 ++++++++++++++---
 src/stm32f1xx_hal_msp.c                       | 118 +++++++++++-
 src/stm32f1xx_it.c                            |  30 ++++
 tools/insertMyCode.pl                         |   1 +
 17 files changed, 864 insertions(+), 120 deletions(-)

diff --git a/cubemx/output/inverter2/Inc/mxconstants.h b/cubemx/output/inverter2/Inc/mxconstants.h
index ff1a158..56c883d 100644
--- a/cubemx/output/inverter2/Inc/mxconstants.h
+++ b/cubemx/output/inverter2/Inc/mxconstants.h
@@ -49,6 +49,10 @@
 #define LED4_PIN_GPIO_Port GPIOE
 #define LED_PIN_Pin GPIO_PIN_13
 #define LED_PIN_GPIO_Port GPIOC
+#define BridgePolarity_Pin GPIO_PIN_0
+#define BridgePolarity_GPIO_Port GPIOC
+#define ERROR_PIN_Pin GPIO_PIN_10
+#define ERROR_PIN_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
diff --git a/cubemx/output/inverter2/Inc/stm32f1xx_hal_conf.h b/cubemx/output/inverter2/Inc/stm32f1xx_hal_conf.h
index a3c1293..180f1d8 100644
--- a/cubemx/output/inverter2/Inc/stm32f1xx_hal_conf.h
+++ b/cubemx/output/inverter2/Inc/stm32f1xx_hal_conf.h
@@ -56,7 +56,7 @@
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_DMA_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
 /*#define HAL_ETH_MODULE_ENABLED   */
 /*#define HAL_FLASH_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
diff --git a/cubemx/output/inverter2/Inc/stm32f1xx_it.h b/cubemx/output/inverter2/Inc/stm32f1xx_it.h
index 8b7b204..4fd5431 100644
--- a/cubemx/output/inverter2/Inc/stm32f1xx_it.h
+++ b/cubemx/output/inverter2/Inc/stm32f1xx_it.h
@@ -54,7 +54,9 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel5_IRQHandler(void);
 void TIM1_CC_IRQHandler(void);
+void TIM2_IRQHandler(void);
 
 #ifdef __cplusplus
 }
diff --git a/cubemx/output/inverter2/Src/main.c b/cubemx/output/inverter2/Src/main.c
index 593b997..d4b2000 100644
--- a/cubemx/output/inverter2/Src/main.c
+++ b/cubemx/output/inverter2/Src/main.c
@@ -42,6 +42,9 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+DMA_HandleTypeDef hdma_tim2_ch1;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -52,9 +55,12 @@ TIM_HandleTypeDef htim2;
 void SystemClock_Config(void);
 void Error_Handler(void);
 static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
 static void MX_RTC_Init(void);
 static void MX_TIM1_Init(void);
 static void MX_TIM2_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_TIM4_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -85,9 +91,12 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
+  MX_TIM3_Init();
+  MX_TIM4_Init();
 
   /* USER CODE BEGIN 2 */
 
@@ -241,7 +250,7 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
   sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
@@ -280,7 +289,7 @@ static void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 72;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 1000;
+  htim2.Init.Period = 5000;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
@@ -293,7 +302,7 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
   {
     Error_Handler();
   }
@@ -305,23 +314,11 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
-  sConfigOC.Pulse = 0;
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_ACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
@@ -330,6 +327,119 @@ static void MX_TIM2_Init(void)
 
 }
 
+/* TIM3 init function */
+static void MX_TIM3_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 72;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 5000;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/* TIM4 init function */
+static void MX_TIM4_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 72;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 5000;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/** 
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void) 
+{
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+
+}
+
 /** Configure pins as 
         * Analog 
         * Input 
@@ -346,12 +456,17 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOE, LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED_PIN_GPIO_Port, LED_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : LED2_PIN_Pin LED3_PIN_Pin LED4_PIN_Pin */
   GPIO_InitStruct.Pin = LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin;
@@ -359,11 +474,17 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : LED_PIN_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin;
+  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
+  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ERROR_PIN_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
 
 }
 
diff --git a/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c b/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
index c458d56..375a46e 100644
--- a/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
+++ b/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
@@ -34,6 +34,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f1xx_hal.h"
 
+extern DMA_HandleTypeDef hdma_tim2_ch1;
+
 extern void Error_Handler(void);
 /* USER CODE BEGIN 0 */
 
@@ -138,10 +140,53 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM2_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM2_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim2_ch1.Instance = DMA1_Channel5;
+    hdma_tim2_ch1.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim2_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim2_ch1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim2_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim2_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim2_ch1.Init.Mode = DMA_CIRCULAR;
+    hdma_tim2_ch1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim2_ch1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC1],hdma_tim2_ch1);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspInit 1 */
 
   /* USER CODE END TIM2_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
 
 }
 
@@ -177,11 +222,9 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
   /* USER CODE END TIM2_MspPostInit 0 */
   
     /**TIM2 GPIO Configuration    
-    PA0-WKUP     ------> TIM2_CH1
-    PA1     ------> TIM2_CH2
-    PA2     ------> TIM2_CH3 
+    PA0-WKUP     ------> TIM2_CH1 
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2;
+    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);
@@ -190,6 +233,44 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM2_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+  
+    /**TIM3 GPIO Configuration    
+    PA6     ------> TIM3_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+  
+    /**TIM4 GPIO Configuration    
+    PD12     ------> TIM4_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    __HAL_AFIO_REMAP_TIM4_ENABLE();
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
 
 }
 
@@ -218,10 +299,39 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM2_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM2_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC1]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
+
   /* USER CODE BEGIN TIM2_MspDeInit 1 */
 
   /* USER CODE END TIM2_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
 
 }
 
diff --git a/cubemx/output/inverter2/Src/stm32f1xx_it.c b/cubemx/output/inverter2/Src/stm32f1xx_it.c
index 5380e5b..97c547f 100644
--- a/cubemx/output/inverter2/Src/stm32f1xx_it.c
+++ b/cubemx/output/inverter2/Src/stm32f1xx_it.c
@@ -40,7 +40,9 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_tim2_ch1;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 
 /******************************************************************************/
 /*            Cortex-M3 Processor Interruption and Exception Handlers         */ 
@@ -184,6 +186,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+* @brief This function handles DMA1 channel5 global interrupt.
+*/
+void DMA1_Channel5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim2_ch1);
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 1 */
+}
+
 /**
 * @brief This function handles TIM1 capture compare interrupt.
 */
@@ -198,6 +214,20 @@ void TIM1_CC_IRQHandler(void)
   /* USER CODE END TIM1_CC_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM2 global interrupt.
+*/
+void TIM2_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM2_IRQn 0 */
+
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
+
+  /* USER CODE END TIM2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/cubemx/output/inverter2/inverter2.ioc b/cubemx/output/inverter2/inverter2.ioc
index 0df615a..f71432a 100644
--- a/cubemx/output/inverter2/inverter2.ioc
+++ b/cubemx/output/inverter2/inverter2.ioc
@@ -1,40 +1,59 @@
 #MicroXplorer Configuration settings - do not modify
+Dma.Request0=TIM2_CH1
+Dma.RequestsNb=1
+Dma.TIM2_CH1.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.TIM2_CH1.0.Instance=DMA1_Channel5
+Dma.TIM2_CH1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.TIM2_CH1.0.MemInc=DMA_MINC_ENABLE
+Dma.TIM2_CH1.0.Mode=DMA_CIRCULAR
+Dma.TIM2_CH1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.TIM2_CH1.0.PeriphInc=DMA_PINC_DISABLE
+Dma.TIM2_CH1.0.Priority=DMA_PRIORITY_LOW
+Dma.TIM2_CH1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F1
-Mcu.IP0=NVIC
-Mcu.IP1=RCC
-Mcu.IP2=RTC
-Mcu.IP3=SYS
-Mcu.IP4=TIM1
-Mcu.IP5=TIM2
-Mcu.IPNb=6
+Mcu.IP0=DMA
+Mcu.IP1=NVIC
+Mcu.IP2=RCC
+Mcu.IP3=RTC
+Mcu.IP4=SYS
+Mcu.IP5=TIM1
+Mcu.IP6=TIM2
+Mcu.IP7=TIM3
+Mcu.IP8=TIM4
+Mcu.IPNb=9
 Mcu.Name=STM32F103V(C-D-E)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE4
 Mcu.Pin1=PE5
 Mcu.Pin10=PE11
 Mcu.Pin11=PE13
-Mcu.Pin12=PA13
-Mcu.Pin13=PA14
-Mcu.Pin14=VP_RTC_No_RTC_Output
-Mcu.Pin15=VP_SYS_VS_Systick
-Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin12=PB10
+Mcu.Pin13=PD12
+Mcu.Pin14=PA13
+Mcu.Pin15=PA14
+Mcu.Pin16=VP_RTC_No_RTC_Output
+Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin18=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin2=PE6
+Mcu.Pin20=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin21=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin3=PC13-TAMPER-RTC
 Mcu.Pin4=OSC_IN
 Mcu.Pin5=OSC_OUT
-Mcu.Pin6=PA0-WKUP
-Mcu.Pin7=PA1
-Mcu.Pin8=PA2
+Mcu.Pin6=PC0
+Mcu.Pin7=PA0-WKUP
+Mcu.Pin8=PA6
 Mcu.Pin9=PE9
-Mcu.PinsNb=18
+Mcu.PinsNb=22
 Mcu.UserConstants=
 Mcu.UserName=STM32F103VCTx
 MxCube.Version=4.16.1
 MxDb.Version=DB.4.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true
+NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true
@@ -44,6 +63,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true
 NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true
 NVIC.TIM1_CC_IRQn=true\:0\:0\:false\:false\:true
+NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true
 OSC_IN.Mode=HSE-External-Oscillator
 OSC_IN.Signal=RCC_OSC_IN
@@ -51,12 +71,19 @@ OSC_OUT.Mode=HSE-External-Oscillator
 OSC_OUT.Signal=RCC_OSC_OUT
 PA0-WKUP.Locked=true
 PA0-WKUP.Signal=S_TIM2_CH1_ETR
-PA1.Signal=S_TIM2_CH2
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA2.Signal=S_TIM2_CH3
+PA6.Signal=S_TIM3_CH1
+PB10.GPIOParameters=GPIO_Label
+PB10.GPIO_Label=ERROR_PIN
+PB10.Locked=true
+PB10.Signal=GPIO_Output
+PC0.GPIOParameters=GPIO_Label
+PC0.GPIO_Label=BridgePolarity
+PC0.Locked=true
+PC0.Signal=GPIO_Output
 PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
 PC13-TAMPER-RTC.GPIO_Label=LED_PIN
 PC13-TAMPER-RTC.Locked=true
@@ -70,6 +97,7 @@ PCC.Seq0=0
 PCC.Series=STM32F1
 PCC.Temperature=25
 PCC.Vdd=3.3
+PD12.Signal=S_TIM4_CH1
 PE11.Signal=S_TIM1_CH2
 PE13.Signal=S_TIM1_CH3
 PE4.GPIOParameters=GPIO_Label
@@ -107,7 +135,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=SW4STM32
 ProjectManager.ToolChainLocation=/home/wn/workspace-stm32/inverter2/cubemx/output/inverter2
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false,2-MX_RTC_Init-RTC-false,3-MX_TIM1_Init-TIM1-false,4-MX_TIM2_Init-TIM2-false
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false,2-MX_DMA_Init-DMA-false,3-MX_RTC_Init-RTC-false,4-MX_TIM1_Init-TIM1-false,5-MX_TIM2_Init-TIM2-false,6-MX_TIM3_Init-TIM3-false,7-MX_TIM4_Init-TIM4-false
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -143,18 +171,18 @@ SH.S_TIM1_CH2.0=TIM1_CH2,Output Compare2 CH2
 SH.S_TIM1_CH2.ConfNb=1
 SH.S_TIM1_CH3.0=TIM1_CH3,Output Compare3 CH3
 SH.S_TIM1_CH3.ConfNb=1
-SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Output Compare1 CH1
+SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.ConfNb=1
-SH.S_TIM2_CH2.0=TIM2_CH2,Forced Output2 CH2
-SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM2_CH3.0=TIM2_CH3,Forced Output3 CH3
-SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
+SH.S_TIM4_CH1.ConfNb=1
 TIM1.Channel-Output\ Compare2\ CH2=TIM_CHANNEL_2
 TIM1.Channel-Output\ Compare3\ CH3=TIM_CHANNEL_3
 TIM1.IPParameters=TIM_MasterOutputTrigger,TIM_MasterSlaveMode,Channel-Output Compare2 CH2,Channel-Output Compare3 CH3,Prescaler,Period,OCMode_1,Pulse-Output Compare1 CH1,OCMode_2,Pulse-Output Compare2 CH2,OCMode_3,Pulse-Output Compare3 CH3
-TIM1.OCMode_1=TIM_OCMODE_TIMING
-TIM1.OCMode_2=TIM_OCMODE_TIMING
-TIM1.OCMode_3=TIM_OCMODE_TIMING
+TIM1.OCMode_1=TIM_OCMODE_TOGGLE
+TIM1.OCMode_2=TIM_OCMODE_TOGGLE
+TIM1.OCMode_3=TIM_OCMODE_TOGGLE
 TIM1.Period=10000
 TIM1.Prescaler=36
 TIM1.Pulse-Output\ Compare1\ CH1=1000
@@ -162,12 +190,18 @@ TIM1.Pulse-Output\ Compare2\ CH2=2000
 TIM1.Pulse-Output\ Compare3\ CH3=3000
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
 TIM1.TIM_MasterSlaveMode=TIM_MASTERSLAVEMODE_DISABLE
-TIM2.Channel-Forced\ Output2\ CH2=TIM_CHANNEL_2
-TIM2.Channel-Forced\ Output3\ CH3=TIM_CHANNEL_3
-TIM2.IPParameters=Channel-Forced Output2 CH2,Prescaler,Period,Channel-Forced Output3 CH3,OCMode_forced-Forced Output3 CH3
-TIM2.OCMode_forced-Forced\ Output3\ CH3=TIM_OCMODE_FORCED_INACTIVE
-TIM2.Period=1000
+TIM2.IPParameters=Prescaler,Period,Pulse-PWM Generation1 CH1
+TIM2.Period=5000
 TIM2.Prescaler=72
+TIM2.Pulse-PWM\ Generation1\ CH1=1000
+TIM3.IPParameters=Prescaler,Period,Pulse-PWM Generation1 CH1
+TIM3.Period=5000
+TIM3.Prescaler=72
+TIM3.Pulse-PWM\ Generation1\ CH1=2000
+TIM4.IPParameters=Prescaler,Period,Pulse-PWM Generation1 CH1
+TIM4.Period=5000
+TIM4.Prescaler=72
+TIM4.Pulse-PWM\ Generation1\ CH1=3000
 VP_RTC_No_RTC_Output.Mode=RTC_OUT_NO
 VP_RTC_No_RTC_Output.Signal=RTC_No_RTC_Output
 VP_SYS_VS_Systick.Mode=SysTick
@@ -176,4 +210,8 @@ VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 board=inverter2
diff --git a/include/mxconstants.h b/include/mxconstants.h
index ff1a158..56c883d 100644
--- a/include/mxconstants.h
+++ b/include/mxconstants.h
@@ -49,6 +49,10 @@
 #define LED4_PIN_GPIO_Port GPIOE
 #define LED_PIN_Pin GPIO_PIN_13
 #define LED_PIN_GPIO_Port GPIOC
+#define BridgePolarity_Pin GPIO_PIN_0
+#define BridgePolarity_GPIO_Port GPIOC
+#define ERROR_PIN_Pin GPIO_PIN_10
+#define ERROR_PIN_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
diff --git a/include/stm32f1xx_hal_conf.h b/include/stm32f1xx_hal_conf.h
index a3c1293..180f1d8 100644
--- a/include/stm32f1xx_hal_conf.h
+++ b/include/stm32f1xx_hal_conf.h
@@ -56,7 +56,7 @@
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_DMA_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
 /*#define HAL_ETH_MODULE_ENABLED   */
 /*#define HAL_FLASH_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
diff --git a/include/stm32f1xx_it.h b/include/stm32f1xx_it.h
index 8b7b204..4fd5431 100644
--- a/include/stm32f1xx_it.h
+++ b/include/stm32f1xx_it.h
@@ -54,7 +54,9 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel5_IRQHandler(void);
 void TIM1_CC_IRQHandler(void);
+void TIM2_IRQHandler(void);
 
 #ifdef __cplusplus
 }
diff --git a/my_src/main2.c b/my_src/main2.c
index c06b060..dfce584 100644
--- a/my_src/main2.c
+++ b/my_src/main2.c
@@ -15,35 +15,74 @@
 
 
 #include <stdlib.h>
+#include <math.h>
 #include <PontCoopScheduler.h>
 #include "stm32f1xx_hal.h"
 
 
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
 
 
+#define NUM_OF_SINE_SLOT 30
+uint16_t freqOut = 100;
+const uint32_t FREQ_IN = 72E6;
+const float PI = 3.14159;
+float slotAngle = 180.0 / NUM_OF_SINE_SLOT;
+float sineValues[NUM_OF_SINE_SLOT];
+uint16_t IV[NUM_OF_SINE_SLOT];
+volatile uint8_t slotCnt;
+
 void blink(void *handle) {
 	HAL_GPIO_TogglePin(LED_PIN_GPIO_Port, LED_PIN_Pin);
-
 }
 
 void my_setup_1() {
+	for (uint8_t i = 0; i < NUM_OF_SINE_SLOT; i++) {
+		float angle = i * slotAngle;
+		sineValues[i] = sinf(angle / 180 * PI);
+	}
+
 	schInit();
 	schAdd(blink, NULL, 0, 100);
 }
 
+
+
 void my_setup_2() {
-	  HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_1);
-	  HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_2);
-	  HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_3);
+	uint16_t myArr = (FREQ_IN / (freqOut * NUM_OF_SINE_SLOT * 4));
 
-	  HAL_TIM_OC_Start(&htim2, TIM_CHANNEL_1);
-	  HAL_TIM_OC_Start(&htim2, TIM_CHANNEL_2);
-	  HAL_TIM_OC_Start(&htim2, TIM_CHANNEL_3);
+	HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_1);
+	HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_2);
+	HAL_TIM_OC_Start_IT(&htim1, TIM_CHANNEL_3);
 
-	  HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
-	  HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+	HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
+	HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+
+	__HAL_TIM_SET_AUTORELOAD(&htim3, myArr);
+	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+	HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+
+
+	uint16_t slotWidth = __HAL_TIM_GET_AUTORELOAD(&htim2);
+	for (uint8_t i = 0; i < NUM_OF_SINE_SLOT; i++) {
+		IV[i] = (uint16_t)(sineValues[i] * 0.9 * slotWidth);
+	}
+	slotCnt = 0;
+	__HAL_TIM_SET_AUTORELOAD(&htim2, myArr);
+	HAL_GPIO_WritePin(BridgePolarity_GPIO_Port, BridgePolarity_Pin, GPIO_PIN_RESET);
+	HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+
+	__HAL_TIM_ENABLE_IT(&htim2, TIM_IT_UPDATE);
+	HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+	HAL_NVIC_EnableIRQ(TIM2_IRQn);
+
+}
+
+void my_errorHandler() {
+	HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_SET);
 }
 
 void my_loop() {
@@ -52,10 +91,19 @@ void my_loop() {
 
 
 void HAL_SYSTICK_Callback() {
-	//HAL_GPIO_TogglePin(LED_PIN_GPIO_Port, LED_PIN_Pin);
 	schUpdate();
 }
 
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
+	if (htim->Instance == TIM2) {
+		slotCnt++;
+		if (slotCnt == NUM_OF_SINE_SLOT + 2) {
+			slotCnt = 2;
+			HAL_GPIO_TogglePin(BridgePolarity_GPIO_Port, BridgePolarity_Pin);
+		}
+	}
+}
+
 void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef * htim) {
 	if (htim->Instance == TIM1) {
 		if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
diff --git a/my_src/main2.h b/my_src/main2.h
index cc0f2e1..b40184e 100644
--- a/my_src/main2.h
+++ b/my_src/main2.h
@@ -12,6 +12,7 @@
 void my_setup_1();
 void my_setup_2();
 void my_loop();
+void my_errorHandler();
 
 
 #endif /* MAIN2_H_ */
diff --git a/src/main.c b/src/main.c
index 9655cb9..7860a47 100644
--- a/src/main.c
+++ b/src/main.c
@@ -43,6 +43,9 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+DMA_HandleTypeDef hdma_tim2_ch1;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -53,9 +56,12 @@ TIM_HandleTypeDef htim2;
 void SystemClock_Config(void);
 void Error_Handler(void);
 static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
 static void MX_RTC_Init(void);
 static void MX_TIM1_Init(void);
 static void MX_TIM2_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_TIM4_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -87,9 +93,12 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
+  MX_TIM3_Init();
+  MX_TIM4_Init();
 
   /* USER CODE BEGIN 2 */
   my_setup_2();
@@ -245,7 +254,7 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
   sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
@@ -282,9 +291,9 @@ static void MX_TIM2_Init(void)
   TIM_OC_InitTypeDef sConfigOC;
 
   htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 72;
+  htim2.Init.Prescaler = 1;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 1000;
+  htim2.Init.Period = 5000;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
@@ -297,7 +306,7 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
   {
     Error_Handler();
   }
@@ -309,23 +318,11 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
-  sConfigOC.Pulse = 0;
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_ACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
@@ -334,6 +331,119 @@ static void MX_TIM2_Init(void)
 
 }
 
+/* TIM3 init function */
+static void MX_TIM3_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 1;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 5000;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/* TIM4 init function */
+static void MX_TIM4_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 72;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 5000;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/** 
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void) 
+{
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+
+}
+
 /** Configure pins as 
         * Analog 
         * Input 
@@ -350,12 +460,17 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOE, LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED_PIN_GPIO_Port, LED_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : LED2_PIN_Pin LED3_PIN_Pin LED4_PIN_Pin */
   GPIO_InitStruct.Pin = LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin;
@@ -363,11 +478,17 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : LED_PIN_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin;
+  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
+  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ERROR_PIN_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
 
 }
 
@@ -383,6 +504,7 @@ static void MX_GPIO_Init(void)
 void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler */
+  my_errorHandler();
   /* User can add his own implementation to report the HAL error return state */
   while(1) 
   {
diff --git a/src/main.c-bak b/src/main.c-bak
index 593b997..d4b2000 100644
--- a/src/main.c-bak
+++ b/src/main.c-bak
@@ -42,6 +42,9 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+DMA_HandleTypeDef hdma_tim2_ch1;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -52,9 +55,12 @@ TIM_HandleTypeDef htim2;
 void SystemClock_Config(void);
 void Error_Handler(void);
 static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
 static void MX_RTC_Init(void);
 static void MX_TIM1_Init(void);
 static void MX_TIM2_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_TIM4_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -85,9 +91,12 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
+  MX_TIM3_Init();
+  MX_TIM4_Init();
 
   /* USER CODE BEGIN 2 */
 
@@ -241,7 +250,7 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
   sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
@@ -280,7 +289,7 @@ static void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 72;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 1000;
+  htim2.Init.Period = 5000;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
@@ -293,7 +302,7 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
   {
     Error_Handler();
   }
@@ -305,23 +314,11 @@ static void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
-  sConfigOC.Pulse = 0;
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_ACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
-  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
@@ -330,6 +327,119 @@ static void MX_TIM2_Init(void)
 
 }
 
+/* TIM3 init function */
+static void MX_TIM3_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 72;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 5000;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/* TIM4 init function */
+static void MX_TIM4_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 72;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 5000;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/** 
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void) 
+{
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+
+}
+
 /** Configure pins as 
         * Analog 
         * Input 
@@ -346,12 +456,17 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOE, LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED_PIN_GPIO_Port, LED_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : LED2_PIN_Pin LED3_PIN_Pin LED4_PIN_Pin */
   GPIO_InitStruct.Pin = LED2_PIN_Pin|LED3_PIN_Pin|LED4_PIN_Pin;
@@ -359,11 +474,17 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : LED_PIN_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin;
+  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
+  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ERROR_PIN_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
 
 }
 
diff --git a/src/stm32f1xx_hal_msp.c b/src/stm32f1xx_hal_msp.c
index c458d56..375a46e 100644
--- a/src/stm32f1xx_hal_msp.c
+++ b/src/stm32f1xx_hal_msp.c
@@ -34,6 +34,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f1xx_hal.h"
 
+extern DMA_HandleTypeDef hdma_tim2_ch1;
+
 extern void Error_Handler(void);
 /* USER CODE BEGIN 0 */
 
@@ -138,10 +140,53 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM2_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM2_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim2_ch1.Instance = DMA1_Channel5;
+    hdma_tim2_ch1.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim2_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim2_ch1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim2_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim2_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim2_ch1.Init.Mode = DMA_CIRCULAR;
+    hdma_tim2_ch1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim2_ch1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC1],hdma_tim2_ch1);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspInit 1 */
 
   /* USER CODE END TIM2_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
 
 }
 
@@ -177,11 +222,9 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
   /* USER CODE END TIM2_MspPostInit 0 */
   
     /**TIM2 GPIO Configuration    
-    PA0-WKUP     ------> TIM2_CH1
-    PA1     ------> TIM2_CH2
-    PA2     ------> TIM2_CH3 
+    PA0-WKUP     ------> TIM2_CH1 
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2;
+    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);
@@ -190,6 +233,44 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM2_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+  
+    /**TIM3 GPIO Configuration    
+    PA6     ------> TIM3_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+  
+    /**TIM4 GPIO Configuration    
+    PD12     ------> TIM4_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    __HAL_AFIO_REMAP_TIM4_ENABLE();
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
 
 }
 
@@ -218,10 +299,39 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM2_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM2_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC1]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
+
   /* USER CODE BEGIN TIM2_MspDeInit 1 */
 
   /* USER CODE END TIM2_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
 
 }
 
diff --git a/src/stm32f1xx_it.c b/src/stm32f1xx_it.c
index 5380e5b..97c547f 100644
--- a/src/stm32f1xx_it.c
+++ b/src/stm32f1xx_it.c
@@ -40,7 +40,9 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_tim2_ch1;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 
 /******************************************************************************/
 /*            Cortex-M3 Processor Interruption and Exception Handlers         */ 
@@ -184,6 +186,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+* @brief This function handles DMA1 channel5 global interrupt.
+*/
+void DMA1_Channel5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim2_ch1);
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 1 */
+}
+
 /**
 * @brief This function handles TIM1 capture compare interrupt.
 */
@@ -198,6 +214,20 @@ void TIM1_CC_IRQHandler(void)
   /* USER CODE END TIM1_CC_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM2 global interrupt.
+*/
+void TIM2_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM2_IRQn 0 */
+
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
+
+  /* USER CODE END TIM2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/tools/insertMyCode.pl b/tools/insertMyCode.pl
index 83949bc..fccdeb4 100755
--- a/tools/insertMyCode.pl
+++ b/tools/insertMyCode.pl
@@ -6,6 +6,7 @@ while (<>) {
 	print "  my_setup_1();\n" if m/USER CODE BEGIN 1/;
 	print "  my_setup_2();\n" if m/USER CODE BEGIN 2/;
 	print "    my_loop();\n" if m/USER CODE BEGIN 3/;
+	print "  my_errorHandler();\n" if m/USER CODE BEGIN Error_Handler/;
 }