diff --git a/cubemx/output/inverter2/Inc/mxconstants.h b/cubemx/output/inverter2/Inc/mxconstants.h
index 56c883d..1fdcbe9 100644
--- a/cubemx/output/inverter2/Inc/mxconstants.h
+++ b/cubemx/output/inverter2/Inc/mxconstants.h
@@ -41,18 +41,24 @@
 
 /* Private define ------------------------------------------------------------*/
 
-#define LED2_PIN_Pin GPIO_PIN_4
-#define LED2_PIN_GPIO_Port GPIOE
-#define LED3_PIN_Pin GPIO_PIN_5
-#define LED3_PIN_GPIO_Port GPIOE
-#define LED4_PIN_Pin GPIO_PIN_6
-#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 LED0_Pin GPIO_PIN_4
+#define LED0_GPIO_Port GPIOE
+#define LED1_Pin GPIO_PIN_5
+#define LED1_GPIO_Port GPIOE
+#define LED2_Pin GPIO_PIN_6
+#define LED2_GPIO_Port GPIOE
+#define LED_Pin GPIO_PIN_13
+#define LED_GPIO_Port GPIOC
+#define BridgePolarity0_Pin GPIO_PIN_0
+#define BridgePolarity0_GPIO_Port GPIOC
+#define BridgePolarity1_Pin GPIO_PIN_1
+#define BridgePolarity1_GPIO_Port GPIOC
+#define BridgePolarity2_Pin GPIO_PIN_2
+#define BridgePolarity2_GPIO_Port GPIOC
 #define ERROR_PIN_Pin GPIO_PIN_10
 #define ERROR_PIN_GPIO_Port GPIOB
+#define Sync_Pin GPIO_PIN_3
+#define Sync_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
diff --git a/cubemx/output/inverter2/Inc/stm32f1xx_it.h b/cubemx/output/inverter2/Inc/stm32f1xx_it.h
index 4fd5431..7bc7632 100644
--- a/cubemx/output/inverter2/Inc/stm32f1xx_it.h
+++ b/cubemx/output/inverter2/Inc/stm32f1xx_it.h
@@ -54,9 +54,13 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel1_IRQHandler(void);
 void DMA1_Channel5_IRQHandler(void);
-void TIM1_CC_IRQHandler(void);
+void TIM1_UP_IRQHandler(void);
 void TIM2_IRQHandler(void);
+void TIM4_IRQHandler(void);
+void TIM5_IRQHandler(void);
+void DMA2_Channel4_5_IRQHandler(void);
 
 #ifdef __cplusplus
 }
diff --git a/cubemx/output/inverter2/Src/main.c b/cubemx/output/inverter2/Src/main.c
index d4b2000..bb9f381 100644
--- a/cubemx/output/inverter2/Src/main.c
+++ b/cubemx/output/inverter2/Src/main.c
@@ -42,9 +42,11 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
-TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
 DMA_HandleTypeDef hdma_tim2_ch1;
+DMA_HandleTypeDef hdma_tim4_ch1;
+DMA_HandleTypeDef hdma_tim5_ch2;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -59,8 +61,8 @@ 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);
+static void MX_TIM5_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -95,8 +97,8 @@ int main(void)
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
-  MX_TIM3_Init();
   MX_TIM4_Init();
+  MX_TIM5_Init();
 
   /* USER CODE BEGIN 2 */
 
@@ -206,13 +208,11 @@ static void MX_TIM1_Init(void)
 
   TIM_ClockConfigTypeDef sClockSourceConfig;
   TIM_MasterConfigTypeDef sMasterConfig;
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
-  TIM_OC_InitTypeDef sConfigOC;
 
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 36;
+  htim1.Init.Prescaler = 72;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 10000;
+  htim1.Init.Period = 5000;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
@@ -226,11 +226,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
@@ -238,44 +233,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 2000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 3000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  HAL_TIM_MspPostInit(&htim1);
-
 }
 
 /* TIM2 init function */
@@ -327,55 +284,6 @@ 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)
 {
@@ -413,7 +321,7 @@ static void MX_TIM4_Init(void)
   }
 
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 3000;
+  sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
@@ -425,6 +333,55 @@ static void MX_TIM4_Init(void)
 
 }
 
+/* TIM5 init function */
+static void MX_TIM5_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 72;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 5000;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim5);
+
+}
+
 /** 
   * Enable DMA controller clock
   */
@@ -432,11 +389,18 @@ static void MX_DMA_Init(void)
 {
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
   /* DMA1_Channel5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+  /* DMA2_Channel4_5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel4_5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
 
 }
 
@@ -460,31 +424,31 @@ static void MX_GPIO_Init(void)
   __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);
+  HAL_GPIO_WritePin(GPIOE, LED0_Pin|LED1_Pin|LED2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, ERROR_PIN_Pin|Sync_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;
+  /*Configure GPIO pins : LED0_Pin LED1_Pin LED2_Pin */
+  GPIO_InitStruct.Pin = LED0_Pin|LED1_Pin|LED2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
+  /*Configure GPIO pins : LED_Pin BridgePolarity0_Pin BridgePolarity1_Pin BridgePolarity2_Pin */
+  GPIO_InitStruct.Pin = LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : ERROR_PIN_Pin */
-  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  /*Configure GPIO pins : ERROR_PIN_Pin Sync_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin|Sync_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 }
 
diff --git a/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c b/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
index 375a46e..276f213 100644
--- a/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
+++ b/cubemx/output/inverter2/Src/stm32f1xx_hal_msp.c
@@ -36,6 +36,10 @@
 
 extern DMA_HandleTypeDef hdma_tim2_ch1;
 
+extern DMA_HandleTypeDef hdma_tim4_ch1;
+
+extern DMA_HandleTypeDef hdma_tim5_ch2;
+
 extern void Error_Handler(void);
 /* USER CODE BEGIN 0 */
 
@@ -127,8 +131,8 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     /* Peripheral clock enable */
     __HAL_RCC_TIM1_CLK_ENABLE();
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+    HAL_NVIC_SetPriority(TIM1_UP_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
   /* USER CODE BEGIN TIM1_MspInit 1 */
 
   /* USER CODE END TIM1_MspInit 1 */
@@ -165,17 +169,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* 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 */
@@ -183,10 +176,63 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM4_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM4_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim4_ch1.Instance = DMA1_Channel1;
+    hdma_tim4_ch1.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim4_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim4_ch1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim4_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim4_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim4_ch1.Init.Mode = DMA_CIRCULAR;
+    hdma_tim4_ch1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim4_ch1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC1],hdma_tim4_ch1);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM4_IRQn);
   /* USER CODE BEGIN TIM4_MspInit 1 */
 
   /* USER CODE END TIM4_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspInit 0 */
+
+  /* USER CODE END TIM5_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim5_ch2.Instance = DMA2_Channel4;
+    hdma_tim5_ch2.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim5_ch2.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim5_ch2.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim5_ch2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim5_ch2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim5_ch2.Init.Mode = DMA_CIRCULAR;
+    hdma_tim5_ch2.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim5_ch2) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC2],hdma_tim5_ch2);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM5_IRQn);
+  /* USER CODE BEGIN TIM5_MspInit 1 */
+
+  /* USER CODE END TIM5_MspInit 1 */
+  }
 
 }
 
@@ -194,33 +240,11 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct;
-  if(htim->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspPostInit 0 */
-
-  /* USER CODE END TIM1_MspPostInit 0 */
-    /**TIM1 GPIO Configuration    
-    PE9     ------> TIM1_CH1
-    PE11     ------> TIM1_CH2
-    PE13     ------> TIM1_CH3 
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
-
-    __HAL_AFIO_REMAP_TIM1_ENABLE();
-
-  /* USER CODE BEGIN TIM1_MspPostInit 1 */
-
-  /* USER CODE END TIM1_MspPostInit 1 */
-  }
-  else if(htim->Instance==TIM2)
+  if(htim->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspPostInit 0 */
 
   /* USER CODE END TIM2_MspPostInit 0 */
-  
     /**TIM2 GPIO Configuration    
     PA0-WKUP     ------> TIM2_CH1 
     */
@@ -233,24 +257,6 @@ 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 */
@@ -271,6 +277,24 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM4_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspPostInit 0 */
+
+  /* USER CODE END TIM5_MspPostInit 0 */
+  
+    /**TIM5 GPIO Configuration    
+    PA1     ------> TIM5_CH2 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM5_MspPostInit 1 */
+
+  /* USER CODE END TIM5_MspPostInit 1 */
+  }
 
 }
 
@@ -286,7 +310,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     __HAL_RCC_TIM1_CLK_DISABLE();
 
     /* Peripheral interrupt DeInit*/
-    HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
+    HAL_NVIC_DisableIRQ(TIM1_UP_IRQn);
 
   /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
@@ -310,17 +334,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* 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 */
@@ -328,10 +341,35 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM4_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM4_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC1]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM4_IRQn);
+
   /* USER CODE BEGIN TIM4_MspDeInit 1 */
 
   /* USER CODE END TIM4_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+  /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC2]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM5_IRQn);
+
+  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+  /* USER CODE END TIM5_MspDeInit 1 */
+  }
 
 }
 
diff --git a/cubemx/output/inverter2/Src/stm32f1xx_it.c b/cubemx/output/inverter2/Src/stm32f1xx_it.c
index 97c547f..120b2da 100644
--- a/cubemx/output/inverter2/Src/stm32f1xx_it.c
+++ b/cubemx/output/inverter2/Src/stm32f1xx_it.c
@@ -41,8 +41,12 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_tim2_ch1;
+extern DMA_HandleTypeDef hdma_tim4_ch1;
+extern DMA_HandleTypeDef hdma_tim5_ch2;
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim4;
+extern TIM_HandleTypeDef htim5;
 
 /******************************************************************************/
 /*            Cortex-M3 Processor Interruption and Exception Handlers         */ 
@@ -186,6 +190,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+* @brief This function handles DMA1 channel1 global interrupt.
+*/
+void DMA1_Channel1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim4_ch1);
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 1 */
+}
+
 /**
 * @brief This function handles DMA1 channel5 global interrupt.
 */
@@ -201,17 +219,17 @@ void DMA1_Channel5_IRQHandler(void)
 }
 
 /**
-* @brief This function handles TIM1 capture compare interrupt.
+* @brief This function handles TIM1 update interrupt.
 */
-void TIM1_CC_IRQHandler(void)
+void TIM1_UP_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM1_CC_IRQn 0 */
+  /* USER CODE BEGIN TIM1_UP_IRQn 0 */
 
-  /* USER CODE END TIM1_CC_IRQn 0 */
+  /* USER CODE END TIM1_UP_IRQn 0 */
   HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_CC_IRQn 1 */
+  /* USER CODE BEGIN TIM1_UP_IRQn 1 */
 
-  /* USER CODE END TIM1_CC_IRQn 1 */
+  /* USER CODE END TIM1_UP_IRQn 1 */
 }
 
 /**
@@ -228,6 +246,48 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM4 global interrupt.
+*/
+void TIM4_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM4_IRQn 0 */
+
+  /* USER CODE END TIM4_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim4);
+  /* USER CODE BEGIN TIM4_IRQn 1 */
+
+  /* USER CODE END TIM4_IRQn 1 */
+}
+
+/**
+* @brief This function handles TIM5 global interrupt.
+*/
+void TIM5_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM5_IRQn 0 */
+
+  /* USER CODE END TIM5_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim5);
+  /* USER CODE BEGIN TIM5_IRQn 1 */
+
+  /* USER CODE END TIM5_IRQn 1 */
+}
+
+/**
+* @brief This function handles DMA2 channel4 and channel5 global interrupts.
+*/
+void DMA2_Channel4_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Channel4_5_IRQn 0 */
+
+  /* USER CODE END DMA2_Channel4_5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim5_ch2);
+  /* USER CODE BEGIN DMA2_Channel4_5_IRQn 1 */
+
+  /* USER CODE END DMA2_Channel4_5_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 f71432a..0c0db72 100644
--- a/cubemx/output/inverter2/inverter2.ioc
+++ b/cubemx/output/inverter2/inverter2.ioc
@@ -1,15 +1,35 @@
 #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
+Dma.Request0=TIM4_CH1
+Dma.Request1=TIM5_CH2
+Dma.Request2=TIM2_CH1
+Dma.RequestsNb=3
+Dma.TIM2_CH1.2.Direction=DMA_MEMORY_TO_PERIPH
+Dma.TIM2_CH1.2.Instance=DMA1_Channel5
+Dma.TIM2_CH1.2.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.TIM2_CH1.2.MemInc=DMA_MINC_ENABLE
+Dma.TIM2_CH1.2.Mode=DMA_CIRCULAR
+Dma.TIM2_CH1.2.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.TIM2_CH1.2.PeriphInc=DMA_PINC_DISABLE
+Dma.TIM2_CH1.2.Priority=DMA_PRIORITY_LOW
+Dma.TIM2_CH1.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.TIM4_CH1.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.TIM4_CH1.0.Instance=DMA1_Channel1
+Dma.TIM4_CH1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.TIM4_CH1.0.MemInc=DMA_MINC_ENABLE
+Dma.TIM4_CH1.0.Mode=DMA_CIRCULAR
+Dma.TIM4_CH1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.TIM4_CH1.0.PeriphInc=DMA_PINC_DISABLE
+Dma.TIM4_CH1.0.Priority=DMA_PRIORITY_LOW
+Dma.TIM4_CH1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.TIM5_CH2.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.TIM5_CH2.1.Instance=DMA2_Channel4
+Dma.TIM5_CH2.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.TIM5_CH2.1.MemInc=DMA_MINC_ENABLE
+Dma.TIM5_CH2.1.Mode=DMA_CIRCULAR
+Dma.TIM5_CH2.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.TIM5_CH2.1.PeriphInc=DMA_PINC_DISABLE
+Dma.TIM5_CH2.1.Priority=DMA_PRIORITY_LOW
+Dma.TIM5_CH2.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F1
@@ -20,40 +40,42 @@ Mcu.IP3=RTC
 Mcu.IP4=SYS
 Mcu.IP5=TIM1
 Mcu.IP6=TIM2
-Mcu.IP7=TIM3
-Mcu.IP8=TIM4
+Mcu.IP7=TIM4
+Mcu.IP8=TIM5
 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=PB10
-Mcu.Pin13=PD12
-Mcu.Pin14=PA13
-Mcu.Pin15=PA14
+Mcu.Pin10=PA1
+Mcu.Pin11=PB10
+Mcu.Pin12=PD12
+Mcu.Pin13=PA13
+Mcu.Pin14=PA14
+Mcu.Pin15=PB3
 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.Pin20=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin21=VP_TIM5_VS_ClockSourceINT
 Mcu.Pin3=PC13-TAMPER-RTC
 Mcu.Pin4=OSC_IN
 Mcu.Pin5=OSC_OUT
 Mcu.Pin6=PC0
-Mcu.Pin7=PA0-WKUP
-Mcu.Pin8=PA6
-Mcu.Pin9=PE9
+Mcu.Pin7=PC1
+Mcu.Pin8=PC2
+Mcu.Pin9=PA0-WKUP
 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_Channel1_IRQn=true\:0\:0\:false\:false\:true
 NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true
+NVIC.DMA2_Channel4_5_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
@@ -62,8 +84,10 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true
 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.TIM1_UP_IRQn=true\:0\:0\:false\:false\:true
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true
+NVIC.TIM4_IRQn=true\:0\:0\:false\:false\:true
+NVIC.TIM5_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
@@ -71,23 +95,35 @@ 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_TIM5_CH2
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA6.Signal=S_TIM3_CH1
 PB10.GPIOParameters=GPIO_Label
 PB10.GPIO_Label=ERROR_PIN
 PB10.Locked=true
 PB10.Signal=GPIO_Output
+PB3.GPIOParameters=GPIO_Label
+PB3.GPIO_Label=Sync
+PB3.Locked=true
+PB3.Signal=GPIO_Output
 PC0.GPIOParameters=GPIO_Label
-PC0.GPIO_Label=BridgePolarity
+PC0.GPIO_Label=BridgePolarity0
 PC0.Locked=true
 PC0.Signal=GPIO_Output
+PC1.GPIOParameters=GPIO_Label
+PC1.GPIO_Label=BridgePolarity1
+PC1.Locked=true
+PC1.Signal=GPIO_Output
 PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
-PC13-TAMPER-RTC.GPIO_Label=LED_PIN
+PC13-TAMPER-RTC.GPIO_Label=LED
 PC13-TAMPER-RTC.Locked=true
 PC13-TAMPER-RTC.Signal=GPIO_Output
+PC2.GPIOParameters=GPIO_Label
+PC2.GPIO_Label=BridgePolarity2
+PC2.Locked=true
+PC2.Signal=GPIO_Output
 PCC.Checker=false
 PCC.Line=STM32F103
 PCC.MCU=STM32F103V(C-D-E)Tx
@@ -98,21 +134,18 @@ 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
-PE4.GPIO_Label=LED2_PIN
+PE4.GPIO_Label=LED0
 PE4.Locked=true
 PE4.Signal=GPIO_Output
 PE5.GPIOParameters=GPIO_Label
-PE5.GPIO_Label=LED3_PIN
+PE5.GPIO_Label=LED1
 PE5.Locked=true
 PE5.Signal=GPIO_Output
 PE6.GPIOParameters=GPIO_Label
-PE6.GPIO_Label=LED4_PIN
+PE6.GPIO_Label=LED2
 PE6.Locked=true
 PE6.Signal=GPIO_Output
-PE9.Signal=S_TIM1_CH1
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=2
@@ -135,7 +168,7 @@ 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_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
+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_TIM4_Init-TIM4-false,7-MX_TIM5_Init-TIM5-false
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -165,43 +198,28 @@ RCC.USBFreq_Value=72000000
 RCC.VCOOutput2Freq_Value=8000000
 RTC.Format=RTC_FORMAT_BIN
 RTC.IPParameters=Format
-SH.S_TIM1_CH1.0=TIM1_CH1,Output Compare1 CH1
-SH.S_TIM1_CH1.ConfNb=1
-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,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.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_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
-TIM1.Pulse-Output\ Compare2\ CH2=2000
-TIM1.Pulse-Output\ Compare3\ CH3=3000
+SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
+SH.S_TIM5_CH2.ConfNb=1
+TIM1.IPParameters=TIM_MasterOutputTrigger,TIM_MasterSlaveMode,Prescaler,Period
+TIM1.Period=5000
+TIM1.Prescaler=72
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
 TIM1.TIM_MasterSlaveMode=TIM_MASTERSLAVEMODE_DISABLE
 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.IPParameters=Prescaler,Period
 TIM4.Period=5000
 TIM4.Prescaler=72
-TIM4.Pulse-PWM\ Generation1\ CH1=3000
+TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM5.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
+TIM5.Period=5000
+TIM5.Prescaler=72
 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
@@ -210,8 +228,8 @@ 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
+VP_TIM5_VS_ClockSourceINT.Mode=Internal
+VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
 board=inverter2
diff --git a/include/mxconstants.h b/include/mxconstants.h
index 56c883d..1fdcbe9 100644
--- a/include/mxconstants.h
+++ b/include/mxconstants.h
@@ -41,18 +41,24 @@
 
 /* Private define ------------------------------------------------------------*/
 
-#define LED2_PIN_Pin GPIO_PIN_4
-#define LED2_PIN_GPIO_Port GPIOE
-#define LED3_PIN_Pin GPIO_PIN_5
-#define LED3_PIN_GPIO_Port GPIOE
-#define LED4_PIN_Pin GPIO_PIN_6
-#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 LED0_Pin GPIO_PIN_4
+#define LED0_GPIO_Port GPIOE
+#define LED1_Pin GPIO_PIN_5
+#define LED1_GPIO_Port GPIOE
+#define LED2_Pin GPIO_PIN_6
+#define LED2_GPIO_Port GPIOE
+#define LED_Pin GPIO_PIN_13
+#define LED_GPIO_Port GPIOC
+#define BridgePolarity0_Pin GPIO_PIN_0
+#define BridgePolarity0_GPIO_Port GPIOC
+#define BridgePolarity1_Pin GPIO_PIN_1
+#define BridgePolarity1_GPIO_Port GPIOC
+#define BridgePolarity2_Pin GPIO_PIN_2
+#define BridgePolarity2_GPIO_Port GPIOC
 #define ERROR_PIN_Pin GPIO_PIN_10
 #define ERROR_PIN_GPIO_Port GPIOB
+#define Sync_Pin GPIO_PIN_3
+#define Sync_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
diff --git a/include/stm32f1xx_it.h b/include/stm32f1xx_it.h
index 4fd5431..7bc7632 100644
--- a/include/stm32f1xx_it.h
+++ b/include/stm32f1xx_it.h
@@ -54,9 +54,13 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel1_IRQHandler(void);
 void DMA1_Channel5_IRQHandler(void);
-void TIM1_CC_IRQHandler(void);
+void TIM1_UP_IRQHandler(void);
 void TIM2_IRQHandler(void);
+void TIM4_IRQHandler(void);
+void TIM5_IRQHandler(void);
+void DMA2_Channel4_5_IRQHandler(void);
 
 #ifdef __cplusplus
 }
diff --git a/my_src/inverter.c b/my_src/inverter.c
index 67e8b45..756c561 100644
--- a/my_src/inverter.c
+++ b/my_src/inverter.c
@@ -15,28 +15,31 @@
 
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
-extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
+extern TIM_HandleTypeDef htim5;
 
 
 #define NUM_OF_SINE_SLOT 30
 uint16_t freqOut = 100;
-const uint32_t FREQ_IN = 72E6;
+const uint32_t FREQ_IN = 1E6;
 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 uint32_t timer1Cnt;
 
 typedef struct {
 	uint8_t slotCnt;
 	bool running;
 	GPIO_TypeDef *bridgePolarityPort;
 	uint16_t bridgePolarityPin;
+	IRQn_Type irqType;
 	TIM_HandleTypeDef *handle;
+	uint32_t channel;
 } timerSupport_t;
 
 #define NUM_OF_TIMER 3
-timerSupport_t timerSupport[NUM_OF_TIMER];
+volatile timerSupport_t timerSupport[NUM_OF_TIMER];
 
 
 
@@ -46,29 +49,27 @@ void inverterBegin() {
 		sineValues[i] = sinf(angle / 180 * PI);
 	}
 
-	// TODO Configure pins for all three bridges
 	timerSupport[0].handle = &htim2;
 	timerSupport[0].running = false;
 	timerSupport[0].slotCnt = 0;
-	timerSupport[1].handle = &htim3;
+	timerSupport[0].bridgePolarityPort = BridgePolarity0_GPIO_Port;
+	timerSupport[0].bridgePolarityPin = BridgePolarity0_Pin;
+	timerSupport[0].irqType = TIM2_IRQn;
+	timerSupport[0].channel = TIM_CHANNEL_1;
+	timerSupport[1].handle = &htim5;
 	timerSupport[1].running = false;
 	timerSupport[1].slotCnt = 0;
+	timerSupport[1].bridgePolarityPort = BridgePolarity1_GPIO_Port;
+	timerSupport[1].bridgePolarityPin = BridgePolarity1_Pin;
+	timerSupport[1].irqType = TIM5_IRQn;
+	timerSupport[1].channel = TIM_CHANNEL_2;
 	timerSupport[2].handle = &htim4;
 	timerSupport[2].running = false;
 	timerSupport[2].slotCnt = 0;
-
-	__HAL_TIM_ENABLE_IT(&htim2, TIM_IT_UPDATE);
-	HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
-	HAL_NVIC_EnableIRQ(TIM2_IRQn);
-	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
-	HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
-	HAL_NVIC_EnableIRQ(TIM3_IRQn);
-	__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);
-	HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
-	HAL_NVIC_EnableIRQ(TIM4_IRQn);
-
-	HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
-	HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+	timerSupport[2].bridgePolarityPort = BridgePolarity2_GPIO_Port;
+	timerSupport[2].bridgePolarityPin = BridgePolarity2_Pin;
+	timerSupport[2].irqType = TIM4_IRQn;
+	timerSupport[2].channel = TIM_CHANNEL_1;
 }
 
 void inverterSetFrequency(uint8_t freqOut) {
@@ -77,12 +78,13 @@ void inverterSetFrequency(uint8_t freqOut) {
 		IV[i] = (uint16_t)(sineValues[i] * 0.9 * slotWidth);
 	}
 
-	HAL_TIM_OC_Stop_IT(&htim1, TIM_CHANNEL_1);
-	HAL_TIM_OC_Stop_IT(&htim1, TIM_CHANNEL_2);
-	HAL_TIM_OC_Stop_IT(&htim1, TIM_CHANNEL_3);
+	HAL_TIM_Base_Stop(&htim1);
+	__HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
+
 
 	for (uint8_t i = 0; i < NUM_OF_TIMER; i++){
-		HAL_TIM_PWM_Stop_DMA(timerSupport[i].handle, TIM_CHANNEL_1);
+		HAL_TIM_PWM_Stop_DMA(timerSupport[i].handle, timerSupport[i].channel);
+		__HAL_TIM_DISABLE_IT(timerSupport[i].handle, TIM_IT_UPDATE);
 
 		timerSupport[i].slotCnt = 0;
 		timerSupport[i].running = false;
@@ -90,10 +92,14 @@ void inverterSetFrequency(uint8_t freqOut) {
 		__HAL_TIM_SET_AUTORELOAD(timerSupport[i].handle, slotWidth);
 	}
 
-	// TODO Set the 120° values for the channels
-	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_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
+	HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
+	HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+	timer1Cnt = 0;
+	__HAL_TIM_SET_AUTORELOAD(&htim1, slotWidth);
+	HAL_TIM_Base_Start_IT(&htim1);
+	__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
 }
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
@@ -106,28 +112,32 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 			}
 		}
 	}
-}
-
-void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef * htim) {
-	if (htim->Instance == TIM1) {
-		if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
-			HAL_GPIO_TogglePin(LED2_PIN_GPIO_Port, LED2_PIN_Pin);
+	if (htim == &htim1) {
+		HAL_GPIO_TogglePin(Sync_GPIO_Port, Sync_Pin);
+		if (timer1Cnt == 0) {
 			if (! timerSupport[0].running) {
+				HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_SET);
 				timerSupport[0].running = true;
-				HAL_TIM_PWM_Start_DMA(timerSupport[0].handle, TIM_CHANNEL_1, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+				__HAL_TIM_ENABLE_IT(timerSupport[0].handle, TIM_IT_UPDATE);
+				HAL_TIM_PWM_Start_DMA(timerSupport[0].handle, timerSupport[0].channel, (uint32_t*)IV, NUM_OF_SINE_SLOT);
 			}
-		} else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
-			HAL_GPIO_TogglePin(LED3_PIN_GPIO_Port, LED3_PIN_Pin);
+		} else if (timer1Cnt == ((NUM_OF_SINE_SLOT * 2) / 3)) {
 			if (! timerSupport[1].running) {
+				HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
 				timerSupport[1].running = true;
-				HAL_TIM_PWM_Start_DMA(timerSupport[1].handle, TIM_CHANNEL_1, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+				HAL_TIM_PWM_Start_DMA(timerSupport[1].handle, timerSupport[1].channel, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+				__HAL_TIM_ENABLE_IT(timerSupport[1].handle, TIM_IT_UPDATE);
 			}
-		} else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
-			HAL_GPIO_TogglePin(LED4_PIN_GPIO_Port, LED4_PIN_Pin);
+		} else if (timer1Cnt == ((NUM_OF_SINE_SLOT * 2) * 2 / 3)) {
 			if (! timerSupport[2].running) {
+				HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
 				timerSupport[2].running = true;
-				HAL_TIM_PWM_Start_DMA(timerSupport[2].handle, TIM_CHANNEL_1, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+				HAL_TIM_PWM_Start_DMA(timerSupport[2].handle, timerSupport[2].channel, (uint32_t*)IV, NUM_OF_SINE_SLOT);
+				__HAL_TIM_ENABLE_IT(timerSupport[2].handle, TIM_IT_UPDATE);
 			}
 		}
+
+		timer1Cnt++;
 	}
 }
+
diff --git a/my_src/inverter.h b/my_src/inverter.h
index d456ebf..89bc7e1 100644
--- a/my_src/inverter.h
+++ b/my_src/inverter.h
@@ -9,7 +9,7 @@
 #define INVERTER_H_
 
 
-void inverterInit();
+void inverterBegin();
 void inverterSetFrequency(uint8_t freqOut);
 
 
diff --git a/my_src/main2.c b/my_src/main2.c
index 9a80c43..675c32c 100644
--- a/my_src/main2.c
+++ b/my_src/main2.c
@@ -24,7 +24,7 @@
 
 
 void blink(void *handle) {
-	HAL_GPIO_TogglePin(LED_PIN_GPIO_Port, LED_PIN_Pin);
+	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
 }
 
 void my_setup_1() {
@@ -44,8 +44,20 @@ void my_errorHandler() {
 	HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_SET);
 }
 
+void testSwitchFrequency1(void *handle) {
+	inverterSetFrequency(100);
+}
+void testSwitchFrequency2(void *handle) {
+	inverterSetFrequency(50);
+}
+
 void my_setup_2() {
 	inverterBegin();
+
+	inverterSetFrequency(50);
+	schAdd(testSwitchFrequency1, NULL, 5000, 0);
+	schAdd(testSwitchFrequency2, NULL, 10000, 0);
+	schAdd(testSwitchFrequency1, NULL, 15000, 0);
 }
 
 
diff --git a/src/main.c b/src/main.c
index 7860a47..ccd2d98 100644
--- a/src/main.c
+++ b/src/main.c
@@ -43,9 +43,11 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
-TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
 DMA_HandleTypeDef hdma_tim2_ch1;
+DMA_HandleTypeDef hdma_tim4_ch1;
+DMA_HandleTypeDef hdma_tim5_ch2;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -60,8 +62,8 @@ 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);
+static void MX_TIM5_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -97,8 +99,8 @@ int main(void)
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
-  MX_TIM3_Init();
   MX_TIM4_Init();
+  MX_TIM5_Init();
 
   /* USER CODE BEGIN 2 */
   my_setup_2();
@@ -210,13 +212,11 @@ static void MX_TIM1_Init(void)
 
   TIM_ClockConfigTypeDef sClockSourceConfig;
   TIM_MasterConfigTypeDef sMasterConfig;
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
-  TIM_OC_InitTypeDef sConfigOC;
 
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 36;
+  htim1.Init.Prescaler = 72;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 10000;
+  htim1.Init.Period = 5000;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
@@ -230,11 +230,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
@@ -242,44 +237,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 2000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 3000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  HAL_TIM_MspPostInit(&htim1);
-
 }
 
 /* TIM2 init function */
@@ -291,7 +248,7 @@ static void MX_TIM2_Init(void)
   TIM_OC_InitTypeDef sConfigOC;
 
   htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 1;
+  htim2.Init.Prescaler = 72;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim2.Init.Period = 5000;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
@@ -331,55 +288,6 @@ 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)
 {
@@ -417,7 +325,7 @@ static void MX_TIM4_Init(void)
   }
 
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 3000;
+  sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
@@ -429,6 +337,55 @@ static void MX_TIM4_Init(void)
 
 }
 
+/* TIM5 init function */
+static void MX_TIM5_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 72;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 5000;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim5);
+
+}
+
 /** 
   * Enable DMA controller clock
   */
@@ -436,11 +393,18 @@ static void MX_DMA_Init(void)
 {
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
   /* DMA1_Channel5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+  /* DMA2_Channel4_5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel4_5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
 
 }
 
@@ -464,31 +428,31 @@ static void MX_GPIO_Init(void)
   __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);
+  HAL_GPIO_WritePin(GPIOE, LED0_Pin|LED1_Pin|LED2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, ERROR_PIN_Pin|Sync_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;
+  /*Configure GPIO pins : LED0_Pin LED1_Pin LED2_Pin */
+  GPIO_InitStruct.Pin = LED0_Pin|LED1_Pin|LED2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
+  /*Configure GPIO pins : LED_Pin BridgePolarity0_Pin BridgePolarity1_Pin BridgePolarity2_Pin */
+  GPIO_InitStruct.Pin = LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : ERROR_PIN_Pin */
-  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  /*Configure GPIO pins : ERROR_PIN_Pin Sync_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin|Sync_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 }
 
diff --git a/src/main.c-bak b/src/main.c-bak
index d4b2000..bb9f381 100644
--- a/src/main.c-bak
+++ b/src/main.c-bak
@@ -42,9 +42,11 @@ RTC_HandleTypeDef hrtc;
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
-TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
 DMA_HandleTypeDef hdma_tim2_ch1;
+DMA_HandleTypeDef hdma_tim4_ch1;
+DMA_HandleTypeDef hdma_tim5_ch2;
 
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
@@ -59,8 +61,8 @@ 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);
+static void MX_TIM5_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                 
@@ -95,8 +97,8 @@ int main(void)
   MX_RTC_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
-  MX_TIM3_Init();
   MX_TIM4_Init();
+  MX_TIM5_Init();
 
   /* USER CODE BEGIN 2 */
 
@@ -206,13 +208,11 @@ static void MX_TIM1_Init(void)
 
   TIM_ClockConfigTypeDef sClockSourceConfig;
   TIM_MasterConfigTypeDef sMasterConfig;
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
-  TIM_OC_InitTypeDef sConfigOC;
 
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 36;
+  htim1.Init.Prescaler = 72;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 10000;
+  htim1.Init.Period = 5000;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
@@ -226,11 +226,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
@@ -238,44 +233,6 @@ static void MX_TIM1_Init(void)
     Error_Handler();
   }
 
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 2000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  sConfigOC.Pulse = 3000;
-  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  HAL_TIM_MspPostInit(&htim1);
-
 }
 
 /* TIM2 init function */
@@ -327,55 +284,6 @@ 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)
 {
@@ -413,7 +321,7 @@ static void MX_TIM4_Init(void)
   }
 
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 3000;
+  sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
@@ -425,6 +333,55 @@ static void MX_TIM4_Init(void)
 
 }
 
+/* TIM5 init function */
+static void MX_TIM5_Init(void)
+{
+
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 72;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 5000;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim5);
+
+}
+
 /** 
   * Enable DMA controller clock
   */
@@ -432,11 +389,18 @@ static void MX_DMA_Init(void)
 {
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
   /* DMA1_Channel5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+  /* DMA2_Channel4_5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel4_5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
 
 }
 
@@ -460,31 +424,31 @@ static void MX_GPIO_Init(void)
   __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);
+  HAL_GPIO_WritePin(GPIOE, LED0_Pin|LED1_Pin|LED2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, LED_PIN_Pin|BridgePolarity_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ERROR_PIN_GPIO_Port, ERROR_PIN_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, ERROR_PIN_Pin|Sync_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;
+  /*Configure GPIO pins : LED0_Pin LED1_Pin LED2_Pin */
+  GPIO_InitStruct.Pin = LED0_Pin|LED1_Pin|LED2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : LED_PIN_Pin BridgePolarity_Pin */
-  GPIO_InitStruct.Pin = LED_PIN_Pin|BridgePolarity_Pin;
+  /*Configure GPIO pins : LED_Pin BridgePolarity0_Pin BridgePolarity1_Pin BridgePolarity2_Pin */
+  GPIO_InitStruct.Pin = LED_Pin|BridgePolarity0_Pin|BridgePolarity1_Pin|BridgePolarity2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : ERROR_PIN_Pin */
-  GPIO_InitStruct.Pin = ERROR_PIN_Pin;
+  /*Configure GPIO pins : ERROR_PIN_Pin Sync_Pin */
+  GPIO_InitStruct.Pin = ERROR_PIN_Pin|Sync_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(ERROR_PIN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 }
 
diff --git a/src/stm32f1xx_hal_msp.c b/src/stm32f1xx_hal_msp.c
index 375a46e..276f213 100644
--- a/src/stm32f1xx_hal_msp.c
+++ b/src/stm32f1xx_hal_msp.c
@@ -36,6 +36,10 @@
 
 extern DMA_HandleTypeDef hdma_tim2_ch1;
 
+extern DMA_HandleTypeDef hdma_tim4_ch1;
+
+extern DMA_HandleTypeDef hdma_tim5_ch2;
+
 extern void Error_Handler(void);
 /* USER CODE BEGIN 0 */
 
@@ -127,8 +131,8 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     /* Peripheral clock enable */
     __HAL_RCC_TIM1_CLK_ENABLE();
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+    HAL_NVIC_SetPriority(TIM1_UP_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
   /* USER CODE BEGIN TIM1_MspInit 1 */
 
   /* USER CODE END TIM1_MspInit 1 */
@@ -165,17 +169,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* 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 */
@@ -183,10 +176,63 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM4_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM4_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim4_ch1.Instance = DMA1_Channel1;
+    hdma_tim4_ch1.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim4_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim4_ch1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim4_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim4_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim4_ch1.Init.Mode = DMA_CIRCULAR;
+    hdma_tim4_ch1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim4_ch1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC1],hdma_tim4_ch1);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM4_IRQn);
   /* USER CODE BEGIN TIM4_MspInit 1 */
 
   /* USER CODE END TIM4_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspInit 0 */
+
+  /* USER CODE END TIM5_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+
+    /* Peripheral DMA init*/
+  
+    hdma_tim5_ch2.Instance = DMA2_Channel4;
+    hdma_tim5_ch2.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim5_ch2.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim5_ch2.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim5_ch2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_tim5_ch2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_tim5_ch2.Init.Mode = DMA_CIRCULAR;
+    hdma_tim5_ch2.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_tim5_ch2) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC2],hdma_tim5_ch2);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM5_IRQn);
+  /* USER CODE BEGIN TIM5_MspInit 1 */
+
+  /* USER CODE END TIM5_MspInit 1 */
+  }
 
 }
 
@@ -194,33 +240,11 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct;
-  if(htim->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspPostInit 0 */
-
-  /* USER CODE END TIM1_MspPostInit 0 */
-    /**TIM1 GPIO Configuration    
-    PE9     ------> TIM1_CH1
-    PE11     ------> TIM1_CH2
-    PE13     ------> TIM1_CH3 
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
-
-    __HAL_AFIO_REMAP_TIM1_ENABLE();
-
-  /* USER CODE BEGIN TIM1_MspPostInit 1 */
-
-  /* USER CODE END TIM1_MspPostInit 1 */
-  }
-  else if(htim->Instance==TIM2)
+  if(htim->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspPostInit 0 */
 
   /* USER CODE END TIM2_MspPostInit 0 */
-  
     /**TIM2 GPIO Configuration    
     PA0-WKUP     ------> TIM2_CH1 
     */
@@ -233,24 +257,6 @@ 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 */
@@ -271,6 +277,24 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM4_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspPostInit 0 */
+
+  /* USER CODE END TIM5_MspPostInit 0 */
+  
+    /**TIM5 GPIO Configuration    
+    PA1     ------> TIM5_CH2 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM5_MspPostInit 1 */
+
+  /* USER CODE END TIM5_MspPostInit 1 */
+  }
 
 }
 
@@ -286,7 +310,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     __HAL_RCC_TIM1_CLK_DISABLE();
 
     /* Peripheral interrupt DeInit*/
-    HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
+    HAL_NVIC_DisableIRQ(TIM1_UP_IRQn);
 
   /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
@@ -310,17 +334,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* 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 */
@@ -328,10 +341,35 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM4_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM4_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC1]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM4_IRQn);
+
   /* USER CODE BEGIN TIM4_MspDeInit 1 */
 
   /* USER CODE END TIM4_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+  /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+
+    /* Peripheral DMA DeInit*/
+    HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC2]);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM5_IRQn);
+
+  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+  /* USER CODE END TIM5_MspDeInit 1 */
+  }
 
 }
 
diff --git a/src/stm32f1xx_it.c b/src/stm32f1xx_it.c
index 97c547f..120b2da 100644
--- a/src/stm32f1xx_it.c
+++ b/src/stm32f1xx_it.c
@@ -41,8 +41,12 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_tim2_ch1;
+extern DMA_HandleTypeDef hdma_tim4_ch1;
+extern DMA_HandleTypeDef hdma_tim5_ch2;
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim4;
+extern TIM_HandleTypeDef htim5;
 
 /******************************************************************************/
 /*            Cortex-M3 Processor Interruption and Exception Handlers         */ 
@@ -186,6 +190,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+* @brief This function handles DMA1 channel1 global interrupt.
+*/
+void DMA1_Channel1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim4_ch1);
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 1 */
+}
+
 /**
 * @brief This function handles DMA1 channel5 global interrupt.
 */
@@ -201,17 +219,17 @@ void DMA1_Channel5_IRQHandler(void)
 }
 
 /**
-* @brief This function handles TIM1 capture compare interrupt.
+* @brief This function handles TIM1 update interrupt.
 */
-void TIM1_CC_IRQHandler(void)
+void TIM1_UP_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM1_CC_IRQn 0 */
+  /* USER CODE BEGIN TIM1_UP_IRQn 0 */
 
-  /* USER CODE END TIM1_CC_IRQn 0 */
+  /* USER CODE END TIM1_UP_IRQn 0 */
   HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_CC_IRQn 1 */
+  /* USER CODE BEGIN TIM1_UP_IRQn 1 */
 
-  /* USER CODE END TIM1_CC_IRQn 1 */
+  /* USER CODE END TIM1_UP_IRQn 1 */
 }
 
 /**
@@ -228,6 +246,48 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM4 global interrupt.
+*/
+void TIM4_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM4_IRQn 0 */
+
+  /* USER CODE END TIM4_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim4);
+  /* USER CODE BEGIN TIM4_IRQn 1 */
+
+  /* USER CODE END TIM4_IRQn 1 */
+}
+
+/**
+* @brief This function handles TIM5 global interrupt.
+*/
+void TIM5_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM5_IRQn 0 */
+
+  /* USER CODE END TIM5_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim5);
+  /* USER CODE BEGIN TIM5_IRQn 1 */
+
+  /* USER CODE END TIM5_IRQn 1 */
+}
+
+/**
+* @brief This function handles DMA2 channel4 and channel5 global interrupts.
+*/
+void DMA2_Channel4_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Channel4_5_IRQn 0 */
+
+  /* USER CODE END DMA2_Channel4_5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_tim5_ch2);
+  /* USER CODE BEGIN DMA2_Channel4_5_IRQn 1 */
+
+  /* USER CODE END DMA2_Channel4_5_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */