diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 5222767..7ccc257 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1427909152422737123" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="247534021813489542" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-1310271733897593549" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="365171440338633116" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/cubemx/output/inverter2/.mxproject b/cubemx/output/inverter2/.mxproject
index ed989a3..a9116c0 100644
--- a/cubemx/output/inverter2/.mxproject
+++ b/cubemx/output/inverter2/.mxproject
@@ -5,7 +5,7 @@ SourcePath=/home/wn/workspace-stm32/inverter2/cubemx/output/inverter2/Src
 SourceFiles=stm32f1xx_it.h;stm32f1xx_hal_conf.h;mxconstants.h;stm32f1xx_it.c;stm32f1xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101x6.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xg.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102x6.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f105xc.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xg.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f107xc.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103x6.h;
+LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103x6.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xg.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101x6.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f107xc.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102x6.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xg.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f105xc.h;
 
 [PreviousUsedRideFiles]
 SourceFiles=../Src/main.c;../Src/stm32f1xx_it.c;../Src/stm32f1xx_hal_msp.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f103xe.s;
diff --git a/cubemx/output/inverter2/inverter2.ioc b/cubemx/output/inverter2/inverter2.ioc
index 5aebb33..b5295b1 100644
--- a/cubemx/output/inverter2/inverter2.ioc
+++ b/cubemx/output/inverter2/inverter2.ioc
@@ -3,27 +3,27 @@ CAN.CalculateTimeBit=1333
 CAN.CalculateTimeQuantum=444.44444444444446
 CAN.IPParameters=CalculateTimeQuantum,CalculateTimeBit
 Dma.Request0=TIM5_CH2
-Dma.Request1=TIM2_CH1
-Dma.Request2=TIM4_CH1
+Dma.Request1=TIM4_CH1
+Dma.Request2=TIM2_CH1
 Dma.RequestsNb=3
-Dma.TIM2_CH1.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.TIM2_CH1.1.Instance=DMA1_Channel5
-Dma.TIM2_CH1.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
-Dma.TIM2_CH1.1.MemInc=DMA_MINC_ENABLE
-Dma.TIM2_CH1.1.Mode=DMA_CIRCULAR
-Dma.TIM2_CH1.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
-Dma.TIM2_CH1.1.PeriphInc=DMA_PINC_DISABLE
-Dma.TIM2_CH1.1.Priority=DMA_PRIORITY_LOW
-Dma.TIM2_CH1.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
-Dma.TIM4_CH1.2.Direction=DMA_MEMORY_TO_PERIPH
-Dma.TIM4_CH1.2.Instance=DMA1_Channel1
-Dma.TIM4_CH1.2.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
-Dma.TIM4_CH1.2.MemInc=DMA_MINC_ENABLE
-Dma.TIM4_CH1.2.Mode=DMA_CIRCULAR
-Dma.TIM4_CH1.2.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
-Dma.TIM4_CH1.2.PeriphInc=DMA_PINC_DISABLE
-Dma.TIM4_CH1.2.Priority=DMA_PRIORITY_LOW
-Dma.TIM4_CH1.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+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_CH1.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.TIM4_CH1.1.Instance=DMA1_Channel1
+Dma.TIM4_CH1.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.TIM4_CH1.1.MemInc=DMA_MINC_ENABLE
+Dma.TIM4_CH1.1.Mode=DMA_CIRCULAR
+Dma.TIM4_CH1.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.TIM4_CH1.1.PeriphInc=DMA_PINC_DISABLE
+Dma.TIM4_CH1.1.Priority=DMA_PRIORITY_LOW
+Dma.TIM4_CH1.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 Dma.TIM5_CH2.0.Direction=DMA_MEMORY_TO_PERIPH
 Dma.TIM5_CH2.0.Instance=DMA2_Channel4
 Dma.TIM5_CH2.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
diff --git a/my_src/main2.c b/my_src/main2.c
index 9ed0f95..4ae6f9b 100644
--- a/my_src/main2.c
+++ b/my_src/main2.c
@@ -59,11 +59,11 @@ void testSwitchFrequency3(void *handle) {
 void my_setup_2() {
 	inverterBegin();
 
-	inverterStart(1, CLOCKWISE);
+	inverterStart(25, CLOCKWISE);
 //	schAdd(testSwitchFrequency1, NULL, 5000, 0);
 //	schAdd(testSwitchFrequency2, NULL, 10000, 0);
 //	schAdd(testSwitchFrequency1, NULL, 15000, 0);
-	schAdd(testSwitchFrequency3, NULL, 0, 5000);
+//	schAdd(testSwitchFrequency3, NULL, 0, 1000);
 }