diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fe8490c2e..c784b2310 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -22,16 +22,8 @@ jobs:
           lfs: "true"
           # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
           path: "src/mrover"
-      - name: Ensure Python Requirements
-        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]"
       - name: Style Check
         run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
-      - name: Update ROS APT
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep update
-      - name: Ensure ROS APT Requirements
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic
       - name: Copy Catkin Profiles
         if: github.event.pull_request.draft == false
         run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
@@ -42,7 +34,7 @@ jobs:
         if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
       - name: Build With Clang Tidy
-        if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
+        if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
       - name: Test
         if: github.event.pull_request.draft == false
diff --git a/.gitmodules b/.gitmodules
index 4416faa01..a5bd0ee01 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,18 +1,8 @@
-[submodule "deps/libde265"]
-	path = deps/libde265
-	url = https://github.com/strukturag/libde265.git
-	shallow = true
-	branch = v1.0.15
 [submodule "deps/dawn"]
 	path = deps/dawn
 	url = https://dawn.googlesource.com/dawn
 	shallow = true
-	branch = chromium/6108
-[submodule "deps/emsdk"]
-	path = deps/emsdk
-	url = git@github.com:emscripten-core/emsdk.git
-	shallow = true
-	branch = 3.1.53
+	branch = chromium/6376
 [submodule "deps/manif"]
 	path = deps/manif
 	url = https://github.com/artivis/manif.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac179ac15..7c68974f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,42 +143,40 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
-if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus deps/mjbots)
-    mrover_add_header_only_library(can_device src/esw/can_device)
-    mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
-    target_link_libraries(motor_library PUBLIC can_device moteus)
-
-    if (NetLink_FOUND AND NetLinkRoute_FOUND)
-        mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
-        mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
-        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
-    endif ()
-
-    macro(mrover_add_esw_bridge_node name sources)
-        mrover_add_node(${name} ${sources})
-        target_link_libraries(${name} PRIVATE can_device motor_library)
-    endmacro()
-
-    mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
-    mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
-    mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
-    mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
-    mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
-    mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
-    mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
-    #    mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+mrover_add_vendor_header_only_library(moteus deps/mjbots)
+mrover_add_header_only_library(can_device src/esw/can_device)
+mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
+target_link_libraries(motor_library PUBLIC can_device moteus)
+
+if (NetLink_FOUND AND NetLinkRoute_FOUND)
+    mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
+    mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+    mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
 endif ()
 
+macro(mrover_add_esw_bridge_node name sources)
+    mrover_add_node(${name} ${sources})
+    target_link_libraries(${name} PRIVATE can_device motor_library)
+endmacro()
+
+mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
+mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
+mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
+mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
+mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
+mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_test_bridge src/esw/science_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+
 ## Perception
 
 mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)
diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml
index bc8d866b6..6d91a9651 100644
--- a/ansible/roles/build/tasks/main.yml
+++ b/ansible/roles/build/tasks/main.yml
@@ -96,6 +96,7 @@
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      - vainfo
 
 - name: Install Local APT Packages
   become: True
@@ -205,3 +206,8 @@
       - "{{ catkin_workspace }}/src/mrover[dev]"
     virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
     virtualenv_command: /usr/bin/python3.10 -m venv
+
+- name: Install Chromium
+  become: True
+  snap:
+    name: chromium
diff --git a/ansible/roles/dev/files/home/.zshrc b/ansible/roles/dev/files/home/.zshrc
index 9f5ba8429..6cf4f05bd 100644
--- a/ansible/roles/dev/files/home/.zshrc
+++ b/ansible/roles/dev/files/home/.zshrc
@@ -70,7 +70,7 @@ ZSH_THEME="mrover"
 # Custom plugins may be added to $ZSH_CUSTOM/plugins/
 # Example format: plugins=(rails git textmate ruby lighthouse)
 # Add wisely, as too many plugins slow down shell startup.
-plugins=(git virtualenvwrapper fzf)
+plugins=(git virtualenvwrapper fzf zsh-autosuggestions zsh-syntax-highlighting)
 
 source $ZSH/oh-my-zsh.sh
 
diff --git a/ansible/roles/dev/tasks/main.yml b/ansible/roles/dev/tasks/main.yml
index 641a81aad..e064a2571 100644
--- a/ansible/roles/dev/tasks/main.yml
+++ b/ansible/roles/dev/tasks/main.yml
@@ -13,6 +13,16 @@
     dest: ~/
     recursive: true
 
+- name: ZSH Automatic Suggestions Plugin
+  git:
+    repo: https://github.com/zsh-users/zsh-autosuggestions
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-autosuggestions
+
+- name: ZSH Syntax Highlighting Plugin
+  git:
+    repo: https://github.com/zsh-users/zsh-syntax-highlighting
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting
+
 - name: Use ZSH as a default shell
   become: true
   command: chsh --shell /usr/bin/zsh {{ ansible_user_id }}
diff --git a/ansible/roles/esw/tasks/main.yml b/ansible/roles/esw/tasks/main.yml
index c734c770b..f9a81d7a5 100644
--- a/ansible/roles/esw/tasks/main.yml
+++ b/ansible/roles/esw/tasks/main.yml
@@ -13,6 +13,13 @@
   become: true
   command: udevadm trigger --subsystem-match=tty
 
+- name: Install fdcanusb Binary
+  become: true
+  copy:
+    src: files/bin/fdcanusb_daemon
+    dest: /usr/local/bin/
+    mode: 0755
+
 - name: Install Moteus GUI
   pip:
     name: moteus_gui
diff --git a/ansible/roles/jetson_build/tasks/main.yml b/ansible/roles/jetson_build/tasks/main.yml
index e4258e594..9736001c0 100644
--- a/ansible/roles/jetson_build/tasks/main.yml
+++ b/ansible/roles/jetson_build/tasks/main.yml
@@ -23,17 +23,17 @@
     state: latest
     name:
       - zstd # Required to unpack ZED installer
-      - cuda
+      - cuda-12-3
       - nvidia-jetpack
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed
diff --git a/ansible/roles/jetson_services/files/99-usb-serial.rules b/ansible/roles/jetson_services/files/99-usb-serial.rules
deleted file mode 100644
index dfdc52298..000000000
--- a/ansible/roles/jetson_services/files/99-usb-serial.rules
+++ /dev/null
@@ -1,2 +0,0 @@
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", SYMLINK+="raman"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", SYMLINK+="auton_led"
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service
deleted file mode 100644
index 7480d3f85..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 0
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service
deleted file mode 100644
index 1032633da..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 1
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5001 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service
deleted file mode 100644
index deb6543dc..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 2
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5002 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service
deleted file mode 100644
index 06be0fc58..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 3
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5003 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/bun.lockb b/bun.lockb
deleted file mode 100755
index ec15adb6b..000000000
Binary files a/bun.lockb and /dev/null differ
diff --git a/cmake/deps.cmake b/cmake/deps.cmake
index 89bf0dd88..b73637ce8 100644
--- a/cmake/deps.cmake
+++ b/cmake/deps.cmake
@@ -1,3 +1,9 @@
+# The simulator will only be built if Dawn (low-level graphics API) is found:
+# 1) Installed system-wide with the .deb package in the pkg/ folder. This is ONLY for Ubuntu 20
+#    If this is the case then "find_package" will set "dawn_FOUND" to true
+# 2) Built from source with the build_dawn.sh script. This is for all other systems (non-Ubuntu, macOS, etc.)
+#    If this is the case libwebgpu_dawn.* will be found in deps/dawn/out/Release and "dawn_FOUND" will be set to true
+
 find_package(dawn QUIET)
 if (dawn_FOUND)
     message(STATUS "Using Dawn system install")
@@ -43,6 +49,7 @@ find_package(OpenCV REQUIRED)
 find_package(ZED QUIET)
 find_package(Eigen3 REQUIRED)
 
+# Same idea as dawn, ideally installed via a package, but if not then build from source
 find_package(manif QUIET)
 if (NOT manif_FOUND)
     if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/../deps/manif/include/manif)
@@ -55,6 +62,8 @@ if (NOT manif_FOUND)
     endif ()
 endif ()
 
+# These are old packages so they do not support "find_package" and must be found with pkg-config
+# Thankfully CMake has a built-in module for this
 find_package(PkgConfig REQUIRED)
 pkg_search_module(NetLink libnl-3.0 QUIET)
 pkg_search_module(NetLinkRoute libnl-route-3.0 QUIET)
diff --git a/config/esw.yaml b/config/esw.yaml
index ab80e6d2c..cff8e0030 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -11,6 +11,12 @@ gps:
 
 can:
   devices:
+    - name: "jetson"
+      bus: 0
+      id: 0x10
+    - name: "jetson"
+      bus: 1
+      id: 0x10
     - name: "jetson"
       bus: 2
       id: 0x10
@@ -33,28 +39,28 @@ can:
       bus: 2
       id: 0x16
     - name: "back_right"
-      bus: 3
+      bus: 2
       id: 0x15
     - name: "joint_a"
-      bus: 3
+      bus: 1
       id: 0x20
     - name: "joint_b"
-      bus: 3
+      bus: 1
       id: 0x21
     - name: "joint_c"
-      bus: 3
+      bus: 1
       id: 0x22
     - name: "joint_de_0"
-      bus: 3
+      bus: 1
       id: 0x23
     - name: "joint_de_1"
-      bus: 3
+      bus: 1
       id: 0x24
     - name: "allen_key"
-      bus: 3
+      bus: 1
       id: 0x25
     - name: "gripper"
-      bus: 3
+      bus: 1
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
@@ -63,22 +69,22 @@ can:
       bus: 3
       id: 0x27
     - name: "sa_x"
-      bus: 3
+      bus: 1
       id: 0x29
     - name: "sa_y"
-      bus: 3
+      bus: 1
       id: 0x30
     - name: "sa_z"
-      bus: 3
+      bus: 1
       id: 0x31
     - name: "sampler"
-      bus: 3
+      bus: 1
       id: 0x32
     - name: "sensor_actuator"
-      bus: 3
+      bus: 1
       id: 0x33
     - name: "cache"
-      bus: 3
+      bus: 2
       id: 0x34
     - name: "pdlb"
       bus: 3
@@ -89,36 +95,37 @@ can:
 
 brushless_motors:
   controllers:
+    # TODO(quintin): These units are in terms of the rotor revolutions, not the output shaft.
+    #                At some point we should modify the moteus firmware to set the rotor to output ratio.
     front_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     front_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     middle_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     middle_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     back_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     back_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -20.0
+      max_velocity: 20.0
+      max_torque: 5.0
     joint_a:
-      velocity_multiplier: 1.0
-      min_velocity: -100.0
-      max_velocity: 100.0
-      is_linear: true
-      rad_to_meters_ratio: 1236.8475 # 5.0 = 5 motor radians -> 1 meter
+      # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s. 
+      # gear ratio is currently at 0.005080 revolutions = 1 meter
+      min_velocity: -0.10  # this means -0.10 meters per second.
+      max_velocity: 0.10
       limit_0_present: true
       limit_1_present: true
       limit_0_enabled: true
@@ -129,32 +136,34 @@ brushless_motors:
       limit_1_is_active_high: false
       limit_0_used_for_readjustment: true
       limit_1_used_for_readjustment: true
-      limit_0_readjust_position: 0.0 # radians TODO
-      limit_1_readjust_position: 494.739 # radians
+      limit_0_readjust_position: 0.4
+      limit_1_readjust_position: 0.0
       limit_max_forward_pos: true
       limit_max_backward_pos: true
       max_forward_pos: 0.4
       max_backward_pos: 0.0
+      max_torque: 20.0
     joint_c:
-      velocity_multiplier: -1.0
-      min_velocity: -3.0 # gear ratio: 484:1
-      max_velocity: 3.0
-      min_position: 0.0
-      max_position: 3.8 # 220 degrees of motion
+      min_velocity: -0.08 # in terms of output
+      max_velocity: 0.08 # max output shaft speed: 5 rpm (for now)
+      min_position: -0.125
+      max_position: 0.30 # 220 degrees of motion is the entire range
+      max_torque: 20.0
     joint_de_0:
-      velocity_multiplier: 1.0
-      min_velocity: -67.0
-      max_velocity: 67.0
+      min_velocity: -5.0
+      max_velocity: 5.0
+      min_position: -10000.0
+      max_position: 10000.0
+      max_torque: 20.0
     joint_de_1:
-      velocity_multiplier: 1.0
-      min_velocity: -67.0
-      max_velocity: 67.0
+      min_velocity: -5.0
+      max_velocity: 5.0
+      min_position: -10000.0
+      max_position: 10000.0
+      max_torque: 20.0
     sa_z:
-      velocity_multiplier: 1.0
-      min_velocity: -100.0
-      max_velocity: 100.0
-      is_linear: true
-      rad_to_meters_ratio: 157.48 #rad/m
+      min_velocity: -0.05
+      max_velocity: 0.05
       limit_0_present: false
       limit_1_present: false
       limit_0_enabled: true
@@ -167,10 +176,7 @@ brushless_motors:
       limit_1_used_for_readjustment: true
       limit_0_readjust_position: 0.0 # radians TODO
       limit_1_readjust_position: 0.0 # radians TODO
-      max_torque: 0.5
-joint_de:
-  pitch_offset: 0.0
-  roll_offset: 0.0
+      max_torque: 30.0
 
 brushed_motors:
   controllers:
@@ -215,16 +221,15 @@ brushed_motors:
     #   max_backward_pos: 0.0
     #   calibration_throttle: 5.0
     joint_b:
-      velocity_multiplier: 1.0
+      is_inverted: False
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_0_enabled: true
       limit_0_is_active_high: false
       limit_0_limits_fwd: false
-      limit_0_used_for_readjustment: true
+      limit_0_used_for_readjustment: false
       abs_present: true
       abs_is_fwd_polarity: true
-      limit_0_readjust_position: -0.7853981633974483 # radians
       abs_ratio: 1.0 # encoder ratio compared to motor
       abs_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
       driver_voltage: 12.0 # used to calculate max pwm
@@ -236,7 +241,6 @@ brushed_motors:
       max_velocity: 1.0
       calibration_throttle: 0.5  # throttle during calibration
     allen_key:
-      velocity_multiplier: 1.0
       gear_ratio: 30.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_1_present: true
@@ -255,9 +259,8 @@ brushed_motors:
       quad_ratio: 1.0 # encoder ratio compared to motor
       driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
-      calibration_throttle: 0.5  # throttle during calibration
+      calibration_throttle: 0.9  # throttle during calibration, does not move unless close to max voltage
     gripper:
-      velocity_multiplier: 1.0
       gear_ratio: 47.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       quad_present: false
       quad_is_fwd_polarity: true
@@ -268,19 +271,15 @@ brushed_motors:
       motor_max_voltage: 12.0 # used to calculate max pwm
       calibration_throttle: 0.5  # throttle during calibration
     mast_gimbal_y:
-      velocity_multiplier: 1.0
       gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
     mast_gimbal_z:
-      velocity_multiplier: 1.0
       gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
     sa_x:
-      velocity_multiplier: 1.0
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      is_linear: true
       rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
       limit_0_present: false
       limit_1_present: false
@@ -308,12 +307,10 @@ brushed_motors:
       max_velocity: 1.0
       calibration_throttle: 0.5  # throttle during calibration
     sa_y:
-      velocity_multiplier: -1.0
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      is_linear: true
       rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
-      limit_0_present: false
-      limit_1_present: false
+      limit_0_present: true
+      limit_1_present: true
       limit_0_enabled: true
       limit_1_enabled: true
       limit_0_is_active_high: false
@@ -334,7 +331,6 @@ brushed_motors:
       calibration_throttle: 0.5  # throttle during calibration
     sampler:
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      is_linear: true
       rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
       limit_0_present: false
       limit_1_present: false
@@ -355,7 +351,6 @@ brushed_motors:
       motor_max_voltage: 6.0 # used to calculate max pwm
       calibration_throttle: 0.5  # throttle during calibration
     sensor_actuator:
-      velocity_multiplier: 1.0
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: false
       limit_1_present: false
@@ -372,7 +367,6 @@ brushed_motors:
       driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
     cache:
-      velocity_multiplier: 1.0
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: false
       limit_1_present: false
@@ -514,7 +508,7 @@ cameras:
 rover:
   length: 0.86
   width: 0.86
-  max_speed: 2.0
+  max_speed: 1.25
 
 wheel:
   gear_ratio: 50.0
@@ -534,24 +528,25 @@ motors_group:
     - "mast_gimbal_z"
   cache:
     - "cache_motor"
-  sa_hw:
+  sa:
     - "sa_x"
     - "sa_y"
     - "sa_z"
     - "sampler"
     - "sensor_actuator"
-  drive:
+  drive_left:
     - "front_left"
-    - "front_right"
     - "middle_left"
-    - "middle_right"
     - "back_left"
+  drive_right:
+    - "front_right"
+    - "middle_right"
     - "back_right"
 
 motors:
   controllers:
     joint_a:
-      type: "brushless"
+      type: "brushless_linear"
     joint_b:
       type: "brushed"
     joint_c:
@@ -598,3 +593,6 @@ default_network_iface: "enp0s31f6"
 auton_led_driver:
   port: "/dev/ttyACM0"
   baud: 115200
+
+science:
+  shutoff_temp: 50.0f
\ No newline at end of file
diff --git a/config/moteus/back_left.cfg b/config/moteus/back_left.cfg
new file mode 100644
index 000000000..ad86539b4
--- /dev/null
+++ b/config/moteus/back_left.cfg
@@ -0,0 +1,1397 @@
+uuid.uuid.0 149
+uuid.uuid.1 226
+uuid.uuid.2 10
+uuid.uuid.3 140
+uuid.uuid.4 38
+uuid.uuid.5 208
+uuid.uuid.6 66
+uuid.uuid.7 69
+uuid.uuid.8 174
+uuid.uuid.9 196
+uuid.uuid.10 56
+uuid.uuid.11 198
+uuid.uuid.12 118
+uuid.uuid.13 164
+uuid.uuid.14 192
+uuid.uuid.15 153
+clock.hsitrim 64
+aux1.i2c.i2c_hz 400000
+aux1.i2c.i2c_mode 1
+aux1.i2c.pullup 0
+aux1.i2c.devices.0.type 0
+aux1.i2c.devices.0.address 64
+aux1.i2c.devices.0.poll_ms 10
+aux1.i2c.devices.1.type 0
+aux1.i2c.devices.1.address 64
+aux1.i2c.devices.1.poll_ms 10
+aux1.i2c.devices.2.type 0
+aux1.i2c.devices.2.address 64
+aux1.i2c.devices.2.poll_ms 10
+aux1.spi.mode 1
+aux1.spi.rate_hz 12000000
+aux1.spi.filter_us 64
+aux1.spi.bct 0
+aux1.uart.mode 0
+aux1.uart.baud_rate 115200
+aux1.uart.poll_rate_us 100
+aux1.uart.rs422 0
+aux1.uart.cui_amt21_address 84
+aux1.quadrature.enabled 0
+aux1.quadrature.cpr 16384
+aux1.hall.enabled 1
+aux1.hall.polarity 0
+aux1.index.enabled 0
+aux1.sine_cosine.enabled 0
+aux1.sine_cosine.common 1700
+aux1.i2c_startup_delay_ms 30
+aux1.pins.0.mode 6
+aux1.pins.0.pull 1
+aux1.pins.1.mode 6
+aux1.pins.1.pull 1
+aux1.pins.2.mode 6
+aux1.pins.2.pull 1
+aux1.pins.3.mode 0
+aux1.pins.3.pull 0
+aux1.pins.4.mode 0
+aux1.pins.4.pull 0
+aux2.i2c.i2c_hz 400000
+aux2.i2c.i2c_mode 1
+aux2.i2c.pullup 0
+aux2.i2c.devices.0.type 0
+aux2.i2c.devices.0.address 64
+aux2.i2c.devices.0.poll_ms 10
+aux2.i2c.devices.1.type 0
+aux2.i2c.devices.1.address 64
+aux2.i2c.devices.1.poll_ms 10
+aux2.i2c.devices.2.type 0
+aux2.i2c.devices.2.address 64
+aux2.i2c.devices.2.poll_ms 10
+aux2.spi.mode 1
+aux2.spi.rate_hz 12000000
+aux2.spi.filter_us 64
+aux2.spi.bct 0
+aux2.uart.mode 0
+aux2.uart.baud_rate 115200
+aux2.uart.poll_rate_us 100
+aux2.uart.rs422 0
+aux2.uart.cui_amt21_address 84
+aux2.quadrature.enabled 0
+aux2.quadrature.cpr 16384
+aux2.hall.enabled 1
+aux2.hall.polarity 0
+aux2.index.enabled 0
+aux2.sine_cosine.enabled 0
+aux2.sine_cosine.common 1700
+aux2.i2c_startup_delay_ms 30
+aux2.pins.0.mode 6
+aux2.pins.0.pull 1
+aux2.pins.1.mode 6
+aux2.pins.1.pull 1
+aux2.pins.2.mode 6
+aux2.pins.2.pull 1
+aux2.pins.3.mode 0
+aux2.pins.3.pull 0
+aux2.pins.4.mode 0
+aux2.pins.4.pull 0
+motor_position.sources.0.aux_number 1
+motor_position.sources.0.type 4
+motor_position.sources.0.i2c_device 0
+motor_position.sources.0.incremental_index -1
+motor_position.sources.0.cpr 84
+motor_position.sources.0.offset -3.000000
+motor_position.sources.0.sign 1
+motor_position.sources.0.debug_override -1
+motor_position.sources.0.reference 0
+motor_position.sources.0.pll_filter_hz 80.000000
+motor_position.sources.0.compensation_table.0 0.000000
+motor_position.sources.0.compensation_table.1 0.000000
+motor_position.sources.0.compensation_table.2 0.000000
+motor_position.sources.0.compensation_table.3 0.000000
+motor_position.sources.0.compensation_table.4 0.000000
+motor_position.sources.0.compensation_table.5 0.000000
+motor_position.sources.0.compensation_table.6 0.000000
+motor_position.sources.0.compensation_table.7 0.000000
+motor_position.sources.0.compensation_table.8 0.000000
+motor_position.sources.0.compensation_table.9 0.000000
+motor_position.sources.0.compensation_table.10 0.000000
+motor_position.sources.0.compensation_table.11 0.000000
+motor_position.sources.0.compensation_table.12 0.000000
+motor_position.sources.0.compensation_table.13 0.000000
+motor_position.sources.0.compensation_table.14 0.000000
+motor_position.sources.0.compensation_table.15 0.000000
+motor_position.sources.0.compensation_table.16 0.000000
+motor_position.sources.0.compensation_table.17 0.000000
+motor_position.sources.0.compensation_table.18 0.000000
+motor_position.sources.0.compensation_table.19 0.000000
+motor_position.sources.0.compensation_table.20 0.000000
+motor_position.sources.0.compensation_table.21 0.000000
+motor_position.sources.0.compensation_table.22 0.000000
+motor_position.sources.0.compensation_table.23 0.000000
+motor_position.sources.0.compensation_table.24 0.000000
+motor_position.sources.0.compensation_table.25 0.000000
+motor_position.sources.0.compensation_table.26 0.000000
+motor_position.sources.0.compensation_table.27 0.000000
+motor_position.sources.0.compensation_table.28 0.000000
+motor_position.sources.0.compensation_table.29 0.000000
+motor_position.sources.0.compensation_table.30 0.000000
+motor_position.sources.0.compensation_table.31 0.000000
+motor_position.sources.1.aux_number 1
+motor_position.sources.1.type 0
+motor_position.sources.1.i2c_device 0
+motor_position.sources.1.incremental_index -1
+motor_position.sources.1.cpr 16384
+motor_position.sources.1.offset 0.000000
+motor_position.sources.1.sign 1
+motor_position.sources.1.debug_override -1
+motor_position.sources.1.reference 0
+motor_position.sources.1.pll_filter_hz 400.000000
+motor_position.sources.1.compensation_table.0 0.000000
+motor_position.sources.1.compensation_table.1 0.000000
+motor_position.sources.1.compensation_table.2 0.000000
+motor_position.sources.1.compensation_table.3 0.000000
+motor_position.sources.1.compensation_table.4 0.000000
+motor_position.sources.1.compensation_table.5 0.000000
+motor_position.sources.1.compensation_table.6 0.000000
+motor_position.sources.1.compensation_table.7 0.000000
+motor_position.sources.1.compensation_table.8 0.000000
+motor_position.sources.1.compensation_table.9 0.000000
+motor_position.sources.1.compensation_table.10 0.000000
+motor_position.sources.1.compensation_table.11 0.000000
+motor_position.sources.1.compensation_table.12 0.000000
+motor_position.sources.1.compensation_table.13 0.000000
+motor_position.sources.1.compensation_table.14 0.000000
+motor_position.sources.1.compensation_table.15 0.000000
+motor_position.sources.1.compensation_table.16 0.000000
+motor_position.sources.1.compensation_table.17 0.000000
+motor_position.sources.1.compensation_table.18 0.000000
+motor_position.sources.1.compensation_table.19 0.000000
+motor_position.sources.1.compensation_table.20 0.000000
+motor_position.sources.1.compensation_table.21 0.000000
+motor_position.sources.1.compensation_table.22 0.000000
+motor_position.sources.1.compensation_table.23 0.000000
+motor_position.sources.1.compensation_table.24 0.000000
+motor_position.sources.1.compensation_table.25 0.000000
+motor_position.sources.1.compensation_table.26 0.000000
+motor_position.sources.1.compensation_table.27 0.000000
+motor_position.sources.1.compensation_table.28 0.000000
+motor_position.sources.1.compensation_table.29 0.000000
+motor_position.sources.1.compensation_table.30 0.000000
+motor_position.sources.1.compensation_table.31 0.000000
+motor_position.sources.2.aux_number 1
+motor_position.sources.2.type 0
+motor_position.sources.2.i2c_device 0
+motor_position.sources.2.incremental_index -1
+motor_position.sources.2.cpr 16384
+motor_position.sources.2.offset 0.000000
+motor_position.sources.2.sign 1
+motor_position.sources.2.debug_override -1
+motor_position.sources.2.reference 0
+motor_position.sources.2.pll_filter_hz 400.000000
+motor_position.sources.2.compensation_table.0 0.000000
+motor_position.sources.2.compensation_table.1 0.000000
+motor_position.sources.2.compensation_table.2 0.000000
+motor_position.sources.2.compensation_table.3 0.000000
+motor_position.sources.2.compensation_table.4 0.000000
+motor_position.sources.2.compensation_table.5 0.000000
+motor_position.sources.2.compensation_table.6 0.000000
+motor_position.sources.2.compensation_table.7 0.000000
+motor_position.sources.2.compensation_table.8 0.000000
+motor_position.sources.2.compensation_table.9 0.000000
+motor_position.sources.2.compensation_table.10 0.000000
+motor_position.sources.2.compensation_table.11 0.000000
+motor_position.sources.2.compensation_table.12 0.000000
+motor_position.sources.2.compensation_table.13 0.000000
+motor_position.sources.2.compensation_table.14 0.000000
+motor_position.sources.2.compensation_table.15 0.000000
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+motor_position.sources.2.compensation_table.24 0.000000
+motor_position.sources.2.compensation_table.25 0.000000
+motor_position.sources.2.compensation_table.26 0.000000
+motor_position.sources.2.compensation_table.27 0.000000
+motor_position.sources.2.compensation_table.28 0.000000
+motor_position.sources.2.compensation_table.29 0.000000
+motor_position.sources.2.compensation_table.30 0.000000
+motor_position.sources.2.compensation_table.31 0.000000
+motor_position.commutation_source 0
+motor_position.output.source 0
+motor_position.output.offset 0.000000
+motor_position.output.sign -1
+motor_position.output.reference_source -1
+motor_position.rotor_to_output_ratio 1.000000
+motor.poles 28
+motor.phase_invert 0
+motor.resistance_ohm 0.258464
+motor.v_per_hz 0.409335
+motor.offset.0 0.000000
+motor.offset.1 0.000000
+motor.offset.2 0.000000
+motor.offset.3 0.000000
+motor.offset.4 0.000000
+motor.offset.5 0.000000
+motor.offset.6 0.000000
+motor.offset.7 0.000000
+motor.offset.8 0.000000
+motor.offset.9 0.000000
+motor.offset.10 0.000000
+motor.offset.11 0.000000
+motor.offset.12 0.000000
+motor.offset.13 0.000000
+motor.offset.14 0.000000
+motor.offset.15 0.000000
+motor.offset.16 0.000000
+motor.offset.17 0.000000
+motor.offset.18 0.000000
+motor.offset.19 0.000000
+motor.offset.20 0.000000
+motor.offset.21 0.000000
+motor.offset.22 0.000000
+motor.offset.23 0.000000
+motor.offset.24 0.000000
+motor.offset.25 0.000000
+motor.offset.26 0.000000
+motor.offset.27 0.000000
+motor.offset.28 0.000000
+motor.offset.29 0.000000
+motor.offset.30 0.000000
+motor.offset.31 0.000000
+motor.offset.32 0.000000
+motor.offset.33 0.000000
+motor.offset.34 0.000000
+motor.offset.35 0.000000
+motor.offset.36 0.000000
+motor.offset.37 0.000000
+motor.offset.38 0.000000
+motor.offset.39 0.000000
+motor.offset.40 0.000000
+motor.offset.41 0.000000
+motor.offset.42 0.000000
+motor.offset.43 0.000000
+motor.offset.44 0.000000
+motor.offset.45 0.000000
+motor.offset.46 0.000000
+motor.offset.47 0.000000
+motor.offset.48 0.000000
+motor.offset.49 0.000000
+motor.offset.50 0.000000
+motor.offset.51 0.000000
+motor.offset.52 0.000000
+motor.offset.53 0.000000
+motor.offset.54 0.000000
+motor.offset.55 0.000000
+motor.offset.56 0.000000
+motor.offset.57 0.000000
+motor.offset.58 0.000000
+motor.offset.59 0.000000
+motor.offset.60 0.000000
+motor.offset.61 0.000000
+motor.offset.62 0.000000
+motor.offset.63 0.000000
+motor.rotation_current_cutoff_A 10000.000000
+motor.rotation_current_scale 0.050000
+motor.rotation_torque_scale 14.700000
+motor.cogging_dq_scale 0.000000
+motor.cogging_dq_comp.0 0
+motor.cogging_dq_comp.1 0
+motor.cogging_dq_comp.2 0
+motor.cogging_dq_comp.3 0
+motor.cogging_dq_comp.4 0
+motor.cogging_dq_comp.5 0
+motor.cogging_dq_comp.6 0
+motor.cogging_dq_comp.7 0
+motor.cogging_dq_comp.8 0
+motor.cogging_dq_comp.9 0
+motor.cogging_dq_comp.10 0
+motor.cogging_dq_comp.11 0
+motor.cogging_dq_comp.12 0
+motor.cogging_dq_comp.13 0
+motor.cogging_dq_comp.14 0
+motor.cogging_dq_comp.15 0
+motor.cogging_dq_comp.16 0
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+drv8323_conf.otw_rep 0
+drv8323_conf.pwm_mode 1
+drv8323_conf.pwm_1x_asynchronous 0
+drv8323_conf.pwm_1x_dir 0
+drv8323_conf.idrivep_hs_ma 100
+drv8323_conf.idriven_hs_ma 200
+drv8323_conf.cbc 1
+drv8323_conf.tdrive_ns 1000
+drv8323_conf.idrivep_ls_ma 100
+drv8323_conf.idriven_ls_ma 200
+drv8323_conf.tretry 0
+drv8323_conf.dead_time_ns 50
+drv8323_conf.ocp_mode 0
+drv8323_conf.ocp_deg_us 4
+drv8323_conf.vds_lvl_mv 700
+drv8323_conf.csa_fet 0
+drv8323_conf.vref_div 1
+drv8323_conf.ls_ref 0
+drv8323_conf.csa_gain 20
+drv8323_conf.dis_sen 0
+drv8323_conf.sen_lvl_mv 500
+servo.pwm_rate_hz 30000
+servo.i_gain 20.000000
+servo.current_sense_ohm 0.000500
+servo.pwm_comp_off 0.027000
+servo.pwm_comp_mag 0.005000
+servo.pwm_scale 1.000000
+servo.max_voltage 46.000000
+servo.max_power_W 450.000000
+servo.derate_temperature 50.000000
+servo.fault_temperature 75.000000
+servo.enable_motor_temperature 0
+servo.motor_derate_temperature 50.000000
+servo.motor_fault_temperature nan
+servo.velocity_threshold 0.000000
+servo.position_derate 0.020000
+servo.adc_cur_cycles 2
+servo.adc_aux_cycles 47
+servo.pid_dq.kp 0.234858
+servo.pid_dq.ki 162.397873
+servo.pid_position.kp 0.500000
+servo.pid_position.ki 0.000000
+servo.pid_position.kd 0.050000
+servo.pid_position.iratelimit -1.000000
+servo.pid_position.ilimit 0.000000
+servo.pid_position.max_desired_rate 0.000000
+servo.pid_position.sign -1
+servo.current_feedforward 1.000000
+servo.bemf_feedforward 1.000000
+servo.default_velocity_limit nan
+servo.default_accel_limit nan
+servo.voltage_mode_control 0
+servo.fixed_voltage_mode 0
+servo.fixed_voltage_control_V 0.000000
+servo.max_position_slip 10.000000
+servo.default_timeout_s 0.100000
+servo.timeout_max_torque_Nm 5.000000
+servo.timeout_mode 12
+servo.flux_brake_min_voltage 43.500000
+servo.flux_brake_resistance_ohm 0.025000
+servo.max_current_A 7.500000
+servo.derate_current_A -20.000000
+servo.max_velocity 500.000000
+servo.max_velocity_derate 2.000000
+servo.cooldown_cycles 256
+servo.velocity_zero_capture_threshold 0.050000
+servo.emit_debug 0
+servopos.position_min nan
+servopos.position_max nan
+id.id 22
+can.prefix 0
+
diff --git a/config/moteus/back_right.cfg b/config/moteus/back_right.cfg
new file mode 100644
index 000000000..920c0382b
--- /dev/null
+++ b/config/moteus/back_right.cfg
@@ -0,0 +1,350 @@
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+drv8323_conf.idrivep_hs_ma 100
+drv8323_conf.idriven_hs_ma 200
+drv8323_conf.cbc 1
+drv8323_conf.tdrive_ns 1000
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+drv8323_conf.idriven_ls_ma 200
+drv8323_conf.tretry 0
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+drv8323_conf.ocp_mode 0
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+drv8323_conf.vds_lvl_mv 700
+drv8323_conf.csa_fet 0
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+drv8323_conf.csa_gain 20
+drv8323_conf.dis_sen 0
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+servo.pwm_rate_hz 30000
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+servo.adc_cur_cycles 2
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+servo.pid_dq.kp 0.200000
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+servo.default_velocity_limit nan
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+servo.max_position_slip 10.000000
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+servo.timeout_max_torque_Nm 5.000000
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+servo.flux_brake_min_voltage 43.500000
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+servo.max_current_A 4.000000
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+servo.cooldown_cycles 256
+servo.velocity_zero_capture_threshold 0.050000
+servo.emit_debug 0
+servopos.position_min nan
+servopos.position_max nan
+id.id 21
+can.prefix 0
+
diff --git a/config/moteus/front_left.cfg b/config/moteus/front_left.cfg
new file mode 100644
index 000000000..21c7f1cfd
--- /dev/null
+++ b/config/moteus/front_left.cfg
@@ -0,0 +1,1397 @@
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+uuid.uuid.15 48
+clock.hsitrim 64
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+aux1.i2c.devices.2.type 0
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+aux1.pins.0.mode 6
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diff --git a/config/moteus/front_right.cfg b/config/moteus/front_right.cfg
new file mode 100644
index 000000000..658a54eb5
--- /dev/null
+++ b/config/moteus/front_right.cfg
@@ -0,0 +1,1397 @@
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+drv8323_conf.idriven_hs_ma 200
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+drv8323_conf.idriven_ls_ma 200
+drv8323_conf.tretry 0
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+drv8323_conf.vds_lvl_mv 700
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+servo.pwm_rate_hz 30000
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+servo.adc_cur_cycles 2
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+servo.pid_position.sign -1
+servo.current_feedforward 1.000000
+servo.bemf_feedforward 1.000000
+servo.default_velocity_limit nan
+servo.default_accel_limit nan
+servo.voltage_mode_control 0
+servo.fixed_voltage_mode 0
+servo.fixed_voltage_control_V 0.000000
+servo.max_position_slip 10.000000
+servo.default_timeout_s 0.100000
+servo.timeout_max_torque_Nm 5.000000
+servo.timeout_mode 12
+servo.flux_brake_min_voltage 43.500000
+servo.flux_brake_resistance_ohm 0.025000
+servo.max_current_A 4.000000
+servo.derate_current_A -20.000000
+servo.max_velocity 500.000000
+servo.max_velocity_derate 2.000000
+servo.cooldown_cycles 256
+servo.velocity_zero_capture_threshold 0.050000
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+servopos.position_max nan
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+
diff --git a/config/moteus/joint_a.cfg b/config/moteus/joint_a.cfg
new file mode 100644
index 000000000..aaab74389
--- /dev/null
+++ b/config/moteus/joint_a.cfg
@@ -0,0 +1,1399 @@
+uuid.uuid.0 55
+uuid.uuid.1 182
+uuid.uuid.2 228
+uuid.uuid.3 110
+uuid.uuid.4 120
+uuid.uuid.5 156
+uuid.uuid.6 75
+uuid.uuid.7 137
+uuid.uuid.8 129
+uuid.uuid.9 230
+uuid.uuid.10 178
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+uuid.uuid.12 154
+uuid.uuid.13 163
+uuid.uuid.14 21
+uuid.uuid.15 188
+clock.hsitrim 64
+aux1.i2c.i2c_hz 400000
+aux1.i2c.i2c_mode 1
+aux1.i2c.pullup 0
+aux1.i2c.devices.0.type 0
+aux1.i2c.devices.0.address 64
+aux1.i2c.devices.0.poll_rate_us 1000
+aux1.i2c.devices.1.type 0
+aux1.i2c.devices.1.address 64
+aux1.i2c.devices.1.poll_rate_us 1000
+aux1.i2c.devices.2.type 0
+aux1.i2c.devices.2.address 64
+aux1.i2c.devices.2.poll_rate_us 1000
+aux1.spi.mode 1
+aux1.spi.rate_hz 12000000
+aux1.spi.filter_us 64
+aux1.spi.bct 0
+aux1.uart.mode 0
+aux1.uart.baud_rate 115200
+aux1.uart.poll_rate_us 100
+aux1.uart.rs422 0
+aux1.uart.cui_amt21_address 84
+aux1.quadrature.enabled 0
+aux1.quadrature.cpr 16384
+aux1.hall.enabled 1
+aux1.hall.polarity 0
+aux1.index.enabled 0
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+aux1.sine_cosine.common 1700
+aux1.i2c_startup_delay_ms 30
+aux1.pins.0.mode 0
+aux1.pins.0.pull 0
+aux1.pins.1.mode 6
+aux1.pins.1.pull 1
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+aux2.i2c.i2c_hz 400000
+aux2.i2c.i2c_mode 1
+aux2.i2c.pullup 0
+aux2.i2c.devices.0.type 0
+aux2.i2c.devices.0.address 64
+aux2.i2c.devices.0.poll_rate_us 1000
+aux2.i2c.devices.1.type 0
+aux2.i2c.devices.1.address 64
+aux2.i2c.devices.1.poll_rate_us 1000
+aux2.i2c.devices.2.type 0
+aux2.i2c.devices.2.address 64
+aux2.i2c.devices.2.poll_rate_us 1000
+aux2.spi.mode 1
+aux2.spi.rate_hz 12000000
+aux2.spi.filter_us 64
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+aux2.uart.cui_amt21_address 84
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+aux2.i2c_startup_delay_ms 30
+aux2.pins.0.mode 14
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+aux2.pins.1.mode 14
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+motor_position.sources.0.aux_number 1
+motor_position.sources.0.type 4
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diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
new file mode 100644
index 000000000..c475f8708
--- /dev/null
+++ b/config/moteus/joint_c.cfg
@@ -0,0 +1,1398 @@
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diff --git a/config/moteus/joint_de_0.cfg b/config/moteus/joint_de_0.cfg
new file mode 100644
index 000000000..c116946d8
--- /dev/null
+++ b/config/moteus/joint_de_0.cfg
@@ -0,0 +1,1399 @@
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+
diff --git a/config/moteus/joint_de_1.cfg b/config/moteus/joint_de_1.cfg
new file mode 100644
index 000000000..68c5e7f78
--- /dev/null
+++ b/config/moteus/joint_de_1.cfg
@@ -0,0 +1,1399 @@
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+
diff --git a/config/moteus/middle_left.cfg b/config/moteus/middle_left.cfg
new file mode 100644
index 000000000..6b0689bc5
--- /dev/null
+++ b/config/moteus/middle_left.cfg
@@ -0,0 +1,1397 @@
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+drv8323_conf.idriven_hs_ma 200
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+drv8323_conf.idriven_ls_ma 200
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+servo.adc_cur_cycles 2
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+servo.timeout_max_torque_Nm 5.000000
+servo.timeout_mode 12
+servo.flux_brake_min_voltage 43.500000
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+servo.max_current_A 7.500000
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+servo.max_velocity 45.000000
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+servo.cooldown_cycles 256
+servo.velocity_zero_capture_threshold 0.050000
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+
diff --git a/config/moteus/middle_right.cfg b/config/moteus/middle_right.cfg
new file mode 100644
index 000000000..c8a4cf73c
--- /dev/null
+++ b/config/moteus/middle_right.cfg
@@ -0,0 +1,1397 @@
+uuid.uuid.0 105
+uuid.uuid.1 13
+uuid.uuid.2 118
+uuid.uuid.3 61
+uuid.uuid.4 27
+uuid.uuid.5 255
+uuid.uuid.6 74
+uuid.uuid.7 237
+uuid.uuid.8 130
+uuid.uuid.9 123
+uuid.uuid.10 70
+uuid.uuid.11 92
+uuid.uuid.12 86
+uuid.uuid.13 59
+uuid.uuid.14 11
+uuid.uuid.15 26
+clock.hsitrim 64
+aux1.i2c.i2c_hz 400000
+aux1.i2c.i2c_mode 1
+aux1.i2c.pullup 0
+aux1.i2c.devices.0.type 0
+aux1.i2c.devices.0.address 64
+aux1.i2c.devices.0.poll_ms 10
+aux1.i2c.devices.1.type 0
+aux1.i2c.devices.1.address 64
+aux1.i2c.devices.1.poll_ms 10
+aux1.i2c.devices.2.type 0
+aux1.i2c.devices.2.address 64
+aux1.i2c.devices.2.poll_ms 10
+aux1.spi.mode 1
+aux1.spi.rate_hz 12000000
+aux1.spi.filter_us 64
+aux1.spi.bct 0
+aux1.uart.mode 0
+aux1.uart.baud_rate 115200
+aux1.uart.poll_rate_us 100
+aux1.uart.rs422 0
+aux1.uart.cui_amt21_address 84
+aux1.quadrature.enabled 0
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+aux1.hall.enabled 1
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+aux1.index.enabled 0
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+aux1.sine_cosine.common 1700
+aux1.i2c_startup_delay_ms 30
+aux1.pins.0.mode 6
+aux1.pins.0.pull 1
+aux1.pins.1.mode 6
+aux1.pins.1.pull 1
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+aux1.pins.2.pull 1
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+aux2.i2c.i2c_hz 400000
+aux2.i2c.i2c_mode 1
+aux2.i2c.pullup 0
+aux2.i2c.devices.0.type 0
+aux2.i2c.devices.0.address 64
+aux2.i2c.devices.0.poll_ms 10
+aux2.i2c.devices.1.type 0
+aux2.i2c.devices.1.address 64
+aux2.i2c.devices.1.poll_ms 10
+aux2.i2c.devices.2.type 0
+aux2.i2c.devices.2.address 64
+aux2.i2c.devices.2.poll_ms 10
+aux2.spi.mode 0
+aux2.spi.rate_hz 12000000
+aux2.spi.filter_us 64
+aux2.spi.bct 0
+aux2.uart.mode 0
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+aux2.uart.poll_rate_us 100
+aux2.uart.rs422 0
+aux2.uart.cui_amt21_address 84
+aux2.quadrature.enabled 0
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+aux2.hall.enabled 0
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+aux2.index.enabled 0
+aux2.sine_cosine.enabled 0
+aux2.sine_cosine.common 1700
+aux2.i2c_startup_delay_ms 30
+aux2.pins.0.mode 0
+aux2.pins.0.pull 0
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+aux2.pins.1.pull 0
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+aux2.pins.2.pull 0
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+aux2.pins.3.pull 0
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+aux2.pins.4.pull 0
+motor_position.sources.0.aux_number 1
+motor_position.sources.0.type 4
+motor_position.sources.0.i2c_device 0
+motor_position.sources.0.incremental_index -1
+motor_position.sources.0.cpr 84
+motor_position.sources.0.offset -5.000000
+motor_position.sources.0.sign 1
+motor_position.sources.0.debug_override -1
+motor_position.sources.0.reference 0
+motor_position.sources.0.pll_filter_hz 60.370068
+motor_position.sources.0.compensation_table.0 0.000000
+motor_position.sources.0.compensation_table.1 0.000000
+motor_position.sources.0.compensation_table.2 0.000000
+motor_position.sources.0.compensation_table.3 0.000000
+motor_position.sources.0.compensation_table.4 0.000000
+motor_position.sources.0.compensation_table.5 0.000000
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diff --git a/config/moteus/sa_z.cfg b/config/moteus/sa_z.cfg
new file mode 100644
index 000000000..b0654bd1c
--- /dev/null
+++ b/config/moteus/sa_z.cfg
@@ -0,0 +1,1399 @@
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+drv8323_conf.dis_cpuv 0
+drv8323_conf.dis_gdf 0
+drv8323_conf.otw_rep 0
+drv8323_conf.pwm_mode 1
+drv8323_conf.pwm_1x_asynchronous 0
+drv8323_conf.pwm_1x_dir 0
+drv8323_conf.idrivep_hs_ma 100
+drv8323_conf.idriven_hs_ma 200
+drv8323_conf.cbc 1
+drv8323_conf.tdrive_ns 1000
+drv8323_conf.idrivep_ls_ma 100
+drv8323_conf.idriven_ls_ma 200
+drv8323_conf.tretry 0
+drv8323_conf.dead_time_ns 50
+drv8323_conf.ocp_mode 0
+drv8323_conf.ocp_deg_us 4
+drv8323_conf.vds_lvl_mv 700
+drv8323_conf.csa_fet 0
+drv8323_conf.vref_div 1
+drv8323_conf.ls_ref 0
+drv8323_conf.csa_gain 20
+drv8323_conf.dis_sen 0
+drv8323_conf.sen_lvl_mv 500
+servo.pwm_rate_hz 30000
+servo.i_gain 20.000000
+servo.current_sense_ohm 0.000500
+servo.pwm_comp_off 0.027000
+servo.pwm_comp_mag 0.005000
+servo.pwm_scale 1.000000
+servo.max_voltage 46.000000
+servo.max_power_W 450.000000
+servo.derate_temperature 50.000000
+servo.fault_temperature 75.000000
+servo.enable_motor_temperature 0
+servo.motor_derate_temperature 50.000000
+servo.motor_fault_temperature nan
+servo.velocity_threshold 0.000000
+servo.position_derate 0.020000
+servo.adc_cur_cycles 2
+servo.adc_aux_cycles 47
+servo.pid_dq.kp 1.341388
+servo.pid_dq.ki 2513.487549
+servo.pid_position.kp 1500.000000
+servo.pid_position.ki 0.000000
+servo.pid_position.kd 0.000000
+servo.pid_position.iratelimit -1.000000
+servo.pid_position.ilimit 0.000000
+servo.pid_position.max_desired_rate 0.000000
+servo.pid_position.sign -1
+servo.current_feedforward 1.000000
+servo.bemf_feedforward 1.000000
+servo.default_velocity_limit 0.050000
+servo.default_accel_limit 0.200000
+servo.voltage_mode_control 0
+servo.fixed_voltage_mode 0
+servo.fixed_voltage_control_V 0.000000
+servo.max_position_slip nan
+servo.max_velocity_slip nan
+servo.default_timeout_s 0.100000
+servo.timeout_max_torque_Nm 5.000000
+servo.timeout_mode 12
+servo.flux_brake_min_voltage 43.500000
+servo.flux_brake_resistance_ohm 0.025000
+servo.max_current_A 100.000000
+servo.derate_current_A -20.000000
+servo.max_velocity 0.100000
+servo.max_velocity_derate 2.000000
+servo.cooldown_cycles 256
+servo.velocity_zero_capture_threshold 0.050000
+servo.timing_fault 0
+servo.emit_debug 0
+servopos.position_min nan
+servopos.position_max nan
+id.id 49
+can.prefix 0
+
diff --git a/config/teleop.yaml b/config/teleop.yaml
index 2158f1ef4..8c05ad09a 100644
--- a/config/teleop.yaml
+++ b/config/teleop.yaml
@@ -4,54 +4,48 @@ teleop:
   ra_names: ["joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"]
   ra_controls:
     joint_a:
-      multiplier: 1
+      multiplier: -1
       slow_mode_multiplier: 0.5
-      invert: False
+      invert: True
       xbox_index: 0
     joint_b:
-      multiplier: -1
+      multiplier: 1
       slow_mode_multiplier: 1
-      invert: True
+      invert: False
       xbox_index: 1
     joint_c:
       multiplier: -1
       slow_mode_multiplier: 0.6
-      invert: True
+      invert: False
       xbox_index: 3
     joint_de_pitch:
       multiplier: 0.5
       slow_mode_multiplier: 1
-      invert: False
-      xbox_index_left: 4
-      xbox_index_right: 5
+      invert: True
     joint_de_roll:
-      multiplier: 0.5
+      multiplier: -0.5
       slow_mode_multiplier: 1
-      invert: False
-      xbox_index_left: 4
-      xbox_index_right: 5
+      invert: True
     allen_key:
       multiplier: 1
       slow_mode_multiplier: 1
       invert: False
-      # xbox_index: 7
     gripper:
       multiplier: 1
       slow_mode_multiplier: 1
-      invert: False
-      # xbox_index: 7
+      invert: True
 
   sa_controls:
     sa_x:
       multiplier: 1
-      slow_mode_multiplier: 0.5
+      slow_mode_multiplier: 1.0 # 0.5
       xbox_index: 1
     sa_y:
       multiplier: -1
-      slow_mode_multiplier: 0.5
+      slow_mode_multiplier: 1.0 # 0.5
       xbox_index: 0
     sa_z:
-      multiplier: -1
+      multiplier: 1
       slow_mode_multiplier: 0.5
       xbox_index: 4
     sampler:
@@ -80,20 +74,18 @@ teleop:
     left_js_y: 1
     right_js_x: 2
     right_js_y: 3
-    left_trigger: 4
-    right_trigger: 5
+    left_trigger: 6
+    right_trigger: 7
     a: 0
     b: 1
-    x: 3
-    y: 2
+    x: 2
+    y: 3
     left_bumper: 4
     right_bumper: 5
-    d_pad_x: 6
-    d_pad_y: 7
 
   joystick_mappings:
-    left_right: 1
-    forward_back: 0
+    left_right: 0
+    forward_back: 1
     twist: 2
     dampen: 3
     pan: 4
diff --git a/deps/dawn b/deps/dawn
index 5096820bf..e12af2be9 160000
--- a/deps/dawn
+++ b/deps/dawn
@@ -1 +1 @@
-Subproject commit 5096820bfc553c002ab97c05002b3c22c00a7f8f
+Subproject commit e12af2be97514e32ccc0d2d1ec1995bec7201c97
diff --git a/deps/imgui/backends/imgui_impl_wgpu.cpp b/deps/imgui/backends/imgui_impl_wgpu.cpp
index f41b8c8d5..94caded3a 100644
--- a/deps/imgui/backends/imgui_impl_wgpu.cpp
+++ b/deps/imgui/backends/imgui_impl_wgpu.cpp
@@ -16,6 +16,10 @@
 
 // CHANGELOG
 // (minor and older changes stripped away, please see git history for details)
+//  2024-01-22: Added configurable PipelineMultisampleState struct. (#7240)
+//  2024-01-22: (Breaking) ImGui_ImplWGPU_Init() now takes a ImGui_ImplWGPU_InitInfo structure instead of variety of parameters, allowing for easier further changes.
+//  2024-01-22: Fixed pipeline layout leak. (#7245)
+//  2024-01-17: Explicitly fill all of WGPUDepthStencilState since standard removed defaults.
 //  2023-07-13: Use WGPUShaderModuleWGSLDescriptor's code instead of source. use WGPUMipmapFilterMode_Linear instead of WGPUFilterMode_Linear. (#6602)
 //  2023-04-11: Align buffer sizes. Use WGSL shaders instead of precompiled SPIR-V.
 //  2023-04-11: Reorganized backend to pull data from a single structure to facilitate usage with multiple-contexts (all g_XXXX access changed to bd->XXXX).
@@ -72,16 +76,17 @@ struct Uniforms
 
 struct ImGui_ImplWGPU_Data
 {
-    WGPUDevice          wgpuDevice = nullptr;
-    WGPUQueue           defaultQueue = nullptr;
-    WGPUTextureFormat   renderTargetFormat = WGPUTextureFormat_Undefined;
-    WGPUTextureFormat   depthStencilFormat = WGPUTextureFormat_Undefined;
-    WGPURenderPipeline  pipelineState = nullptr;
-
-    RenderResources     renderResources;
-    FrameResources*     pFrameResources = nullptr;
-    unsigned int        numFramesInFlight = 0;
-    unsigned int        frameIndex = UINT_MAX;
+    ImGui_ImplWGPU_InitInfo initInfo;
+    WGPUDevice              wgpuDevice = nullptr;
+    WGPUQueue               defaultQueue = nullptr;
+    WGPUTextureFormat       renderTargetFormat = WGPUTextureFormat_Undefined;
+    WGPUTextureFormat       depthStencilFormat = WGPUTextureFormat_Undefined;
+    WGPURenderPipeline      pipelineState = nullptr;
+
+    RenderResources         renderResources;
+    FrameResources*         pFrameResources = nullptr;
+    unsigned int            numFramesInFlight = 0;
+    unsigned int            frameIndex = UINT_MAX;
 };
 
 // Backend data stored in io.BackendRendererUserData to allow support for multiple Dear ImGui contexts
@@ -187,6 +192,12 @@ static void SafeRelease(WGPUBuffer& res)
         wgpuBufferRelease(res);
     res = nullptr;
 }
+static void SafeRelease(WGPUPipelineLayout& res)
+{
+    if (res)
+        wgpuPipelineLayoutRelease(res);
+    res = nullptr;
+}
 static void SafeRelease(WGPURenderPipeline& res)
 {
     if (res)
@@ -573,9 +584,7 @@ bool ImGui_ImplWGPU_CreateDeviceObjects()
     graphics_pipeline_desc.primitive.stripIndexFormat = WGPUIndexFormat_Undefined;
     graphics_pipeline_desc.primitive.frontFace = WGPUFrontFace_CW;
     graphics_pipeline_desc.primitive.cullMode = WGPUCullMode_None;
-    graphics_pipeline_desc.multisample.count = 1;
-    graphics_pipeline_desc.multisample.mask = UINT_MAX;
-    graphics_pipeline_desc.multisample.alphaToCoverageEnabled = false;
+    graphics_pipeline_desc.multisample = bd->initInfo.PipelineMultisampleState;
 
     // Bind group layouts
     WGPUBindGroupLayoutEntry common_bg_layout_entries[2] = {};
@@ -667,7 +676,13 @@ bool ImGui_ImplWGPU_CreateDeviceObjects()
     depth_stencil_state.depthWriteEnabled = false;
     depth_stencil_state.depthCompare = WGPUCompareFunction_Always;
     depth_stencil_state.stencilFront.compare = WGPUCompareFunction_Always;
+    depth_stencil_state.stencilFront.failOp = WGPUStencilOperation_Keep;
+    depth_stencil_state.stencilFront.depthFailOp = WGPUStencilOperation_Keep;
+    depth_stencil_state.stencilFront.passOp = WGPUStencilOperation_Keep;
     depth_stencil_state.stencilBack.compare = WGPUCompareFunction_Always;
+    depth_stencil_state.stencilBack.failOp = WGPUStencilOperation_Keep;
+    depth_stencil_state.stencilBack.depthFailOp = WGPUStencilOperation_Keep;
+    depth_stencil_state.stencilBack.passOp = WGPUStencilOperation_Keep;
 
     // Configure disabled depth-stencil state
     graphics_pipeline_desc.depthStencil = (bd->depthStencilFormat == WGPUTextureFormat_Undefined) ? nullptr :  &depth_stencil_state;
@@ -697,6 +712,7 @@ bool ImGui_ImplWGPU_CreateDeviceObjects()
 
     SafeRelease(vertex_shader_desc.module);
     SafeRelease(pixel_shader_desc.module);
+    SafeRelease(graphics_pipeline_desc.layout);
     SafeRelease(bg_layouts[0]);
 
     return true;
@@ -718,7 +734,7 @@ void ImGui_ImplWGPU_InvalidateDeviceObjects()
         SafeRelease(bd->pFrameResources[i]);
 }
 
-bool ImGui_ImplWGPU_Init(WGPUDevice device, int num_frames_in_flight, WGPUTextureFormat rt_format, WGPUTextureFormat depth_format)
+bool ImGui_ImplWGPU_Init(ImGui_ImplWGPU_InitInfo* init_info)
 {
     ImGuiIO& io = ImGui::GetIO();
     IM_ASSERT(io.BackendRendererUserData == nullptr && "Already initialized a renderer backend!");
@@ -729,11 +745,12 @@ bool ImGui_ImplWGPU_Init(WGPUDevice device, int num_frames_in_flight, WGPUTextur
     io.BackendRendererName = "imgui_impl_webgpu";
     io.BackendFlags |= ImGuiBackendFlags_RendererHasVtxOffset;  // We can honor the ImDrawCmd::VtxOffset field, allowing for large meshes.
 
-    bd->wgpuDevice = device;
+    bd->initInfo = *init_info;
+    bd->wgpuDevice = init_info->Device;
     bd->defaultQueue = wgpuDeviceGetQueue(bd->wgpuDevice);
-    bd->renderTargetFormat = rt_format;
-    bd->depthStencilFormat = depth_format;
-    bd->numFramesInFlight = num_frames_in_flight;
+    bd->renderTargetFormat = init_info->RenderTargetFormat;
+    bd->depthStencilFormat = init_info->DepthStencilFormat;
+    bd->numFramesInFlight = init_info->NumFramesInFlight;
     bd->frameIndex = UINT_MAX;
 
     bd->renderResources.FontTexture = nullptr;
@@ -746,8 +763,8 @@ bool ImGui_ImplWGPU_Init(WGPUDevice device, int num_frames_in_flight, WGPUTextur
     bd->renderResources.ImageBindGroupLayout = nullptr;
 
     // Create buffers with a default size (they will later be grown as needed)
-    bd->pFrameResources = new FrameResources[num_frames_in_flight];
-    for (int i = 0; i < num_frames_in_flight; i++)
+    bd->pFrameResources = new FrameResources[bd->numFramesInFlight];
+    for (int i = 0; i < bd->numFramesInFlight; i++)
     {
         FrameResources* fr = &bd->pFrameResources[i];
         fr->IndexBuffer = nullptr;
diff --git a/deps/imgui/backends/imgui_impl_wgpu.h b/deps/imgui/backends/imgui_impl_wgpu.h
index 14d9fccc1..57ddd78fc 100644
--- a/deps/imgui/backends/imgui_impl_wgpu.h
+++ b/deps/imgui/backends/imgui_impl_wgpu.h
@@ -20,7 +20,24 @@
 
 #include <webgpu/webgpu.h>
 
-IMGUI_IMPL_API bool ImGui_ImplWGPU_Init(WGPUDevice device, int num_frames_in_flight, WGPUTextureFormat rt_format, WGPUTextureFormat depth_format = WGPUTextureFormat_Undefined);
+// Initialization data, for ImGui_ImplWGPU_Init()
+struct ImGui_ImplWGPU_InitInfo
+{
+    WGPUDevice              Device;
+    int                     NumFramesInFlight = 3;
+    WGPUTextureFormat       RenderTargetFormat = WGPUTextureFormat_Undefined;
+    WGPUTextureFormat       DepthStencilFormat = WGPUTextureFormat_Undefined;
+    WGPUMultisampleState    PipelineMultisampleState = {};
+
+    ImGui_ImplWGPU_InitInfo()
+    {
+        PipelineMultisampleState.count = 1;
+        PipelineMultisampleState.mask = UINT32_MAX;
+        PipelineMultisampleState.alphaToCoverageEnabled = false;
+    }
+};
+
+IMGUI_IMPL_API bool ImGui_ImplWGPU_Init(ImGui_ImplWGPU_InitInfo* init_info);
 IMGUI_IMPL_API void ImGui_ImplWGPU_Shutdown();
 IMGUI_IMPL_API void ImGui_ImplWGPU_NewFrame();
 IMGUI_IMPL_API void ImGui_ImplWGPU_RenderDrawData(ImDrawData* draw_data, WGPURenderPassEncoder pass_encoder);
@@ -29,4 +46,4 @@ IMGUI_IMPL_API void ImGui_ImplWGPU_RenderDrawData(ImDrawData* draw_data, WGPURen
 IMGUI_IMPL_API void ImGui_ImplWGPU_InvalidateDeviceObjects();
 IMGUI_IMPL_API bool ImGui_ImplWGPU_CreateDeviceObjects();
 
-#endif // #ifndef IMGUI_DISABLE
+#endif // #ifndef IMGUI_DISABLE
\ No newline at end of file
diff --git a/deps/webgpuhpp/webgpu.hpp b/deps/webgpuhpp/webgpu.hpp
index 9cb503b0f..7fc8a2478 100644
--- a/deps/webgpuhpp/webgpu.hpp
+++ b/deps/webgpuhpp/webgpu.hpp
@@ -3,7 +3,7 @@
  *   https://github.com/eliemichel/LearnWebGPU
  *
  * MIT License
- * Copyright (c) 2022 Elie Michel
+ * Copyright (c) 2022-2024 Elie Michel
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -59,6 +59,7 @@ class Type { \
 public: \
 	typedef Type S; /* S == Self */ \
 	typedef WGPU ## Type W; /* W == WGPU Type */ \
+	Type() : m_raw(nullptr) {} \
 	Type(const W& w) : m_raw(w) {} \
 	operator W&() { return m_raw; } \
 	operator const W&() const { return m_raw; } \
@@ -118,35 +119,50 @@ private: \
 
 #define END };
 
-
+constexpr static uint32_t kDepthSliceUndefined = std::numeric_limits<uint32_t>::max();
 
 // Other type aliases
 using Flags = uint32_t;
 using Bool = uint32_t;
 using BufferUsageFlags = WGPUFlags;
 using ColorWriteMaskFlags = WGPUFlags;
+using HeapPropertyFlags = WGPUFlags;
 using MapModeFlags = WGPUFlags;
 using ShaderStageFlags = WGPUFlags;
 using TextureUsageFlags = WGPUFlags;
 
 // Enumerations
+ENUM(WGSLFeatureName)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(ReadonlyAndReadwriteStorageTextures, 0x00000001)
+	ENUM_ENTRY(Packed4x8IntegerDotProduct, 0x00000002)
+	ENUM_ENTRY(UnrestrictedPointerParameters, 0x00000003)
+	ENUM_ENTRY(PointerCompositeAccess, 0x00000004)
+	ENUM_ENTRY(ChromiumTestingUnimplemented, 0x000003E8)
+	ENUM_ENTRY(ChromiumTestingUnsafeExperimental, 0x000003E9)
+	ENUM_ENTRY(ChromiumTestingExperimental, 0x000003EA)
+	ENUM_ENTRY(ChromiumTestingShippedWithKillswitch, 0x000003EB)
+	ENUM_ENTRY(ChromiumTestingShipped, 0x000003EC)
+	ENUM_ENTRY(Force32, 0x7FFFFFFF)
+END
 ENUM(AdapterType)
-	ENUM_ENTRY(DiscreteGPU, 0x00000000)
-	ENUM_ENTRY(IntegratedGPU, 0x00000001)
-	ENUM_ENTRY(CPU, 0x00000002)
-	ENUM_ENTRY(Unknown, 0x00000003)
+	ENUM_ENTRY(DiscreteGPU, 0x00000001)
+	ENUM_ENTRY(IntegratedGPU, 0x00000002)
+	ENUM_ENTRY(CPU, 0x00000003)
+	ENUM_ENTRY(Unknown, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(AddressMode)
-	ENUM_ENTRY(Repeat, 0x00000000)
-	ENUM_ENTRY(MirrorRepeat, 0x00000001)
-	ENUM_ENTRY(ClampToEdge, 0x00000002)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(ClampToEdge, 0x00000001)
+	ENUM_ENTRY(Repeat, 0x00000002)
+	ENUM_ENTRY(MirrorRepeat, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(AlphaMode)
-	ENUM_ENTRY(Premultiplied, 0x00000000)
-	ENUM_ENTRY(Unpremultiplied, 0x00000001)
-	ENUM_ENTRY(Opaque, 0x00000002)
+	ENUM_ENTRY(Opaque, 0x00000001)
+	ENUM_ENTRY(Premultiplied, 0x00000002)
+	ENUM_ENTRY(Unpremultiplied, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(BackendType)
@@ -162,31 +178,33 @@ ENUM(BackendType)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(BlendFactor)
-	ENUM_ENTRY(Zero, 0x00000000)
-	ENUM_ENTRY(One, 0x00000001)
-	ENUM_ENTRY(Src, 0x00000002)
-	ENUM_ENTRY(OneMinusSrc, 0x00000003)
-	ENUM_ENTRY(SrcAlpha, 0x00000004)
-	ENUM_ENTRY(OneMinusSrcAlpha, 0x00000005)
-	ENUM_ENTRY(Dst, 0x00000006)
-	ENUM_ENTRY(OneMinusDst, 0x00000007)
-	ENUM_ENTRY(DstAlpha, 0x00000008)
-	ENUM_ENTRY(OneMinusDstAlpha, 0x00000009)
-	ENUM_ENTRY(SrcAlphaSaturated, 0x0000000A)
-	ENUM_ENTRY(Constant, 0x0000000B)
-	ENUM_ENTRY(OneMinusConstant, 0x0000000C)
-	ENUM_ENTRY(Src1, 0x0000000D)
-	ENUM_ENTRY(OneMinusSrc1, 0x0000000E)
-	ENUM_ENTRY(Src1Alpha, 0x0000000F)
-	ENUM_ENTRY(OneMinusSrc1Alpha, 0x00000010)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(Zero, 0x00000001)
+	ENUM_ENTRY(One, 0x00000002)
+	ENUM_ENTRY(Src, 0x00000003)
+	ENUM_ENTRY(OneMinusSrc, 0x00000004)
+	ENUM_ENTRY(SrcAlpha, 0x00000005)
+	ENUM_ENTRY(OneMinusSrcAlpha, 0x00000006)
+	ENUM_ENTRY(Dst, 0x00000007)
+	ENUM_ENTRY(OneMinusDst, 0x00000008)
+	ENUM_ENTRY(DstAlpha, 0x00000009)
+	ENUM_ENTRY(OneMinusDstAlpha, 0x0000000A)
+	ENUM_ENTRY(SrcAlphaSaturated, 0x0000000B)
+	ENUM_ENTRY(Constant, 0x0000000C)
+	ENUM_ENTRY(OneMinusConstant, 0x0000000D)
+	ENUM_ENTRY(Src1, 0x0000000E)
+	ENUM_ENTRY(OneMinusSrc1, 0x0000000F)
+	ENUM_ENTRY(Src1Alpha, 0x00000010)
+	ENUM_ENTRY(OneMinusSrc1Alpha, 0x00000011)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(BlendOperation)
-	ENUM_ENTRY(Add, 0x00000000)
-	ENUM_ENTRY(Subtract, 0x00000001)
-	ENUM_ENTRY(ReverseSubtract, 0x00000002)
-	ENUM_ENTRY(Min, 0x00000003)
-	ENUM_ENTRY(Max, 0x00000004)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(Add, 0x00000001)
+	ENUM_ENTRY(Subtract, 0x00000002)
+	ENUM_ENTRY(ReverseSubtract, 0x00000003)
+	ENUM_ENTRY(Min, 0x00000004)
+	ENUM_ENTRY(Max, 0x00000005)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(BufferBindingType)
@@ -198,20 +216,21 @@ ENUM(BufferBindingType)
 END
 ENUM(BufferMapAsyncStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(ValidationError, 0x00000001)
-	ENUM_ENTRY(Unknown, 0x00000002)
-	ENUM_ENTRY(DeviceLost, 0x00000003)
-	ENUM_ENTRY(DestroyedBeforeCallback, 0x00000004)
-	ENUM_ENTRY(UnmappedBeforeCallback, 0x00000005)
-	ENUM_ENTRY(MappingAlreadyPending, 0x00000006)
-	ENUM_ENTRY(OffsetOutOfRange, 0x00000007)
-	ENUM_ENTRY(SizeOutOfRange, 0x00000008)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(ValidationError, 0x00000002)
+	ENUM_ENTRY(Unknown, 0x00000003)
+	ENUM_ENTRY(DeviceLost, 0x00000004)
+	ENUM_ENTRY(DestroyedBeforeCallback, 0x00000005)
+	ENUM_ENTRY(UnmappedBeforeCallback, 0x00000006)
+	ENUM_ENTRY(MappingAlreadyPending, 0x00000007)
+	ENUM_ENTRY(OffsetOutOfRange, 0x00000008)
+	ENUM_ENTRY(SizeOutOfRange, 0x00000009)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(BufferMapState)
-	ENUM_ENTRY(Unmapped, 0x00000000)
-	ENUM_ENTRY(Pending, 0x00000001)
-	ENUM_ENTRY(Mapped, 0x00000002)
+	ENUM_ENTRY(Unmapped, 0x00000001)
+	ENUM_ENTRY(Pending, 0x00000002)
+	ENUM_ENTRY(Mapped, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(CallbackMode)
@@ -224,40 +243,43 @@ ENUM(CompareFunction)
 	ENUM_ENTRY(Undefined, 0x00000000)
 	ENUM_ENTRY(Never, 0x00000001)
 	ENUM_ENTRY(Less, 0x00000002)
-	ENUM_ENTRY(LessEqual, 0x00000003)
-	ENUM_ENTRY(Greater, 0x00000004)
-	ENUM_ENTRY(GreaterEqual, 0x00000005)
-	ENUM_ENTRY(Equal, 0x00000006)
-	ENUM_ENTRY(NotEqual, 0x00000007)
+	ENUM_ENTRY(Equal, 0x00000003)
+	ENUM_ENTRY(LessEqual, 0x00000004)
+	ENUM_ENTRY(Greater, 0x00000005)
+	ENUM_ENTRY(NotEqual, 0x00000006)
+	ENUM_ENTRY(GreaterEqual, 0x00000007)
 	ENUM_ENTRY(Always, 0x00000008)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(CompilationInfoRequestStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(Error, 0x00000001)
-	ENUM_ENTRY(DeviceLost, 0x00000002)
-	ENUM_ENTRY(Unknown, 0x00000003)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(Error, 0x00000002)
+	ENUM_ENTRY(DeviceLost, 0x00000003)
+	ENUM_ENTRY(Unknown, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(CompilationMessageType)
-	ENUM_ENTRY(Error, 0x00000000)
-	ENUM_ENTRY(Warning, 0x00000001)
-	ENUM_ENTRY(Info, 0x00000002)
+	ENUM_ENTRY(Error, 0x00000001)
+	ENUM_ENTRY(Warning, 0x00000002)
+	ENUM_ENTRY(Info, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(CreatePipelineAsyncStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(ValidationError, 0x00000001)
-	ENUM_ENTRY(InternalError, 0x00000002)
-	ENUM_ENTRY(DeviceLost, 0x00000003)
-	ENUM_ENTRY(DeviceDestroyed, 0x00000004)
-	ENUM_ENTRY(Unknown, 0x00000005)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(ValidationError, 0x00000002)
+	ENUM_ENTRY(InternalError, 0x00000003)
+	ENUM_ENTRY(DeviceLost, 0x00000004)
+	ENUM_ENTRY(DeviceDestroyed, 0x00000005)
+	ENUM_ENTRY(Unknown, 0x00000006)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(CullMode)
-	ENUM_ENTRY(None, 0x00000000)
-	ENUM_ENTRY(Front, 0x00000001)
-	ENUM_ENTRY(Back, 0x00000002)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(None, 0x00000001)
+	ENUM_ENTRY(Front, 0x00000002)
+	ENUM_ENTRY(Back, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(DeviceLostReason)
@@ -266,9 +288,9 @@ ENUM(DeviceLostReason)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(ErrorFilter)
-	ENUM_ENTRY(Validation, 0x00000000)
-	ENUM_ENTRY(OutOfMemory, 0x00000001)
-	ENUM_ENTRY(Internal, 0x00000002)
+	ENUM_ENTRY(Validation, 0x00000001)
+	ENUM_ENTRY(OutOfMemory, 0x00000002)
+	ENUM_ENTRY(Internal, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(ErrorType)
@@ -303,7 +325,6 @@ ENUM(FeatureName)
 	ENUM_ENTRY(DawnInternalUsages, 0x000003EA)
 	ENUM_ENTRY(DawnMultiPlanarFormats, 0x000003EB)
 	ENUM_ENTRY(DawnNative, 0x000003EC)
-	ENUM_ENTRY(ChromiumExperimentalDp4a, 0x000003ED)
 	ENUM_ENTRY(ChromiumExperimentalTimestampQueryInsidePasses, 0x000003EE)
 	ENUM_ENTRY(ImplicitDeviceSynchronization, 0x000003EF)
 	ENUM_ENTRY(SurfaceCapabilities, 0x000003F0)
@@ -314,7 +335,6 @@ ENUM(FeatureName)
 	ENUM_ENTRY(ANGLETextureSharing, 0x000003F5)
 	ENUM_ENTRY(ChromiumExperimentalSubgroups, 0x000003F6)
 	ENUM_ENTRY(ChromiumExperimentalSubgroupUniformControlFlow, 0x000003F7)
-	ENUM_ENTRY(ChromiumExperimentalReadWriteStorageTexture, 0x000003F8)
 	ENUM_ENTRY(PixelLocalStorageCoherent, 0x000003F9)
 	ENUM_ENTRY(PixelLocalStorageNonCoherent, 0x000003FA)
 	ENUM_ENTRY(Norm16TextureFormats, 0x000003FB)
@@ -322,6 +342,15 @@ ENUM(FeatureName)
 	ENUM_ENTRY(MultiPlanarFormatP010, 0x000003FD)
 	ENUM_ENTRY(HostMappedPointer, 0x000003FE)
 	ENUM_ENTRY(MultiPlanarRenderTargets, 0x000003FF)
+	ENUM_ENTRY(MultiPlanarFormatNv12a, 0x00000400)
+	ENUM_ENTRY(FramebufferFetch, 0x00000401)
+	ENUM_ENTRY(BufferMapExtendedUsages, 0x00000402)
+	ENUM_ENTRY(AdapterPropertiesMemoryHeaps, 0x00000403)
+	ENUM_ENTRY(AdapterPropertiesD3D, 0x00000404)
+	ENUM_ENTRY(AdapterPropertiesVk, 0x00000405)
+	ENUM_ENTRY(R8UnormStorage, 0x00000406)
+	ENUM_ENTRY(FormatCapabilities, 0x00000407)
+	ENUM_ENTRY(DrmFormatCapabilities, 0x00000408)
 	ENUM_ENTRY(SharedTextureMemoryVkDedicatedAllocation, 0x0000044C)
 	ENUM_ENTRY(SharedTextureMemoryAHardwareBuffer, 0x0000044D)
 	ENUM_ENTRY(SharedTextureMemoryDmaBuf, 0x0000044E)
@@ -336,16 +365,20 @@ ENUM(FeatureName)
 	ENUM_ENTRY(SharedFenceVkSemaphoreZirconHandle, 0x000004B2)
 	ENUM_ENTRY(SharedFenceDXGISharedHandle, 0x000004B3)
 	ENUM_ENTRY(SharedFenceMTLSharedEvent, 0x000004B4)
+	ENUM_ENTRY(SharedBufferMemoryD3D12Resource, 0x000004B5)
+	ENUM_ENTRY(StaticSamplers, 0x000004B6)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(FilterMode)
-	ENUM_ENTRY(Nearest, 0x00000000)
-	ENUM_ENTRY(Linear, 0x00000001)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(Nearest, 0x00000001)
+	ENUM_ENTRY(Linear, 0x00000002)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(FrontFace)
-	ENUM_ENTRY(CCW, 0x00000000)
-	ENUM_ENTRY(CW, 0x00000001)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(CCW, 0x00000001)
+	ENUM_ENTRY(CW, 0x00000002)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(IndexFormat)
@@ -361,15 +394,21 @@ ENUM(LoadOp)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(LoggingType)
-	ENUM_ENTRY(Verbose, 0x00000000)
-	ENUM_ENTRY(Info, 0x00000001)
-	ENUM_ENTRY(Warning, 0x00000002)
-	ENUM_ENTRY(Error, 0x00000003)
+	ENUM_ENTRY(Verbose, 0x00000001)
+	ENUM_ENTRY(Info, 0x00000002)
+	ENUM_ENTRY(Warning, 0x00000003)
+	ENUM_ENTRY(Error, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(MipmapFilterMode)
-	ENUM_ENTRY(Nearest, 0x00000000)
-	ENUM_ENTRY(Linear, 0x00000001)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(Nearest, 0x00000001)
+	ENUM_ENTRY(Linear, 0x00000002)
+	ENUM_ENTRY(Force32, 0x7FFFFFFF)
+END
+ENUM(PopErrorScopeStatus)
+	ENUM_ENTRY(Success, 0x00000000)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(PowerPreference)
@@ -379,42 +418,46 @@ ENUM(PowerPreference)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(PresentMode)
-	ENUM_ENTRY(Fifo, 0x00000000)
-	ENUM_ENTRY(Immediate, 0x00000002)
-	ENUM_ENTRY(Mailbox, 0x00000003)
+	ENUM_ENTRY(Fifo, 0x00000001)
+	ENUM_ENTRY(Immediate, 0x00000003)
+	ENUM_ENTRY(Mailbox, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(PrimitiveTopology)
-	ENUM_ENTRY(PointList, 0x00000000)
-	ENUM_ENTRY(LineList, 0x00000001)
-	ENUM_ENTRY(LineStrip, 0x00000002)
-	ENUM_ENTRY(TriangleList, 0x00000003)
-	ENUM_ENTRY(TriangleStrip, 0x00000004)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(PointList, 0x00000001)
+	ENUM_ENTRY(LineList, 0x00000002)
+	ENUM_ENTRY(LineStrip, 0x00000003)
+	ENUM_ENTRY(TriangleList, 0x00000004)
+	ENUM_ENTRY(TriangleStrip, 0x00000005)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(QueryType)
-	ENUM_ENTRY(Occlusion, 0x00000000)
-	ENUM_ENTRY(Timestamp, 0x00000001)
+	ENUM_ENTRY(Occlusion, 0x00000001)
+	ENUM_ENTRY(Timestamp, 0x00000002)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(QueueWorkDoneStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(Error, 0x00000001)
-	ENUM_ENTRY(Unknown, 0x00000002)
-	ENUM_ENTRY(DeviceLost, 0x00000003)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(Error, 0x00000002)
+	ENUM_ENTRY(Unknown, 0x00000003)
+	ENUM_ENTRY(DeviceLost, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(RequestAdapterStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(Unavailable, 0x00000001)
-	ENUM_ENTRY(Error, 0x00000002)
-	ENUM_ENTRY(Unknown, 0x00000003)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(Unavailable, 0x00000002)
+	ENUM_ENTRY(Error, 0x00000003)
+	ENUM_ENTRY(Unknown, 0x00000004)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(RequestDeviceStatus)
 	ENUM_ENTRY(Success, 0x00000000)
-	ENUM_ENTRY(Error, 0x00000001)
-	ENUM_ENTRY(Unknown, 0x00000002)
+	ENUM_ENTRY(InstanceDropped, 0x00000001)
+	ENUM_ENTRY(Error, 0x00000002)
+	ENUM_ENTRY(Unknown, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(SType)
@@ -434,6 +477,7 @@ ENUM(SType)
 	ENUM_ENTRY(SurfaceDescriptorFromWindowsSwapChainPanel, 0x0000000E)
 	ENUM_ENTRY(RenderPassDescriptorMaxDrawCount, 0x0000000F)
 	ENUM_ENTRY(DepthStencilStateDepthWriteDefinedDawn, 0x00000010)
+	ENUM_ENTRY(TextureBindingViewDimensionDescriptor, 0x00000011)
 	ENUM_ENTRY(DawnTextureInternalUsageDescriptor, 0x000003E8)
 	ENUM_ENTRY(DawnEncoderInternalUsageDescriptor, 0x000003EB)
 	ENUM_ENTRY(DawnInstanceDescriptor, 0x000003EC)
@@ -451,6 +495,13 @@ ENUM(SType)
 	ENUM_ENTRY(PipelineLayoutPixelLocalStorage, 0x000003F8)
 	ENUM_ENTRY(BufferHostMappedPointer, 0x000003F9)
 	ENUM_ENTRY(DawnExperimentalSubgroupLimits, 0x000003FA)
+	ENUM_ENTRY(AdapterPropertiesMemoryHeaps, 0x000003FB)
+	ENUM_ENTRY(AdapterPropertiesD3D, 0x000003FC)
+	ENUM_ENTRY(AdapterPropertiesVk, 0x000003FD)
+	ENUM_ENTRY(DawnComputePipelineFullSubgroups, 0x000003FE)
+	ENUM_ENTRY(DawnWireWGSLControl, 0x000003FF)
+	ENUM_ENTRY(DawnWGSLBlocklist, 0x00000400)
+	ENUM_ENTRY(DrmFormatCapabilities, 0x00000401)
 	ENUM_ENTRY(SharedTextureMemoryVkImageDescriptor, 0x0000044C)
 	ENUM_ENTRY(SharedTextureMemoryVkDedicatedAllocationDescriptor, 0x0000044D)
 	ENUM_ENTRY(SharedTextureMemoryAHardwareBufferDescriptor, 0x0000044E)
@@ -475,6 +526,7 @@ ENUM(SType)
 	ENUM_ENTRY(SharedFenceDXGISharedHandleExportInfo, 0x000004BB)
 	ENUM_ENTRY(SharedFenceMTLSharedEventDescriptor, 0x000004BC)
 	ENUM_ENTRY(SharedFenceMTLSharedEventExportInfo, 0x000004BD)
+	ENUM_ENTRY(SharedBufferMemoryD3D12ResourceDescriptor, 0x000004BE)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(SamplerBindingType)
@@ -494,14 +546,15 @@ ENUM(SharedFenceType)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(StencilOperation)
-	ENUM_ENTRY(Keep, 0x00000000)
-	ENUM_ENTRY(Zero, 0x00000001)
-	ENUM_ENTRY(Replace, 0x00000002)
-	ENUM_ENTRY(Invert, 0x00000003)
-	ENUM_ENTRY(IncrementClamp, 0x00000004)
-	ENUM_ENTRY(DecrementClamp, 0x00000005)
-	ENUM_ENTRY(IncrementWrap, 0x00000006)
-	ENUM_ENTRY(DecrementWrap, 0x00000007)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(Keep, 0x00000001)
+	ENUM_ENTRY(Zero, 0x00000002)
+	ENUM_ENTRY(Replace, 0x00000003)
+	ENUM_ENTRY(Invert, 0x00000004)
+	ENUM_ENTRY(IncrementClamp, 0x00000005)
+	ENUM_ENTRY(DecrementClamp, 0x00000006)
+	ENUM_ENTRY(IncrementWrap, 0x00000007)
+	ENUM_ENTRY(DecrementWrap, 0x00000008)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(StorageTextureAccess)
@@ -518,17 +571,20 @@ ENUM(StoreOp)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(TextureAspect)
-	ENUM_ENTRY(All, 0x00000000)
-	ENUM_ENTRY(StencilOnly, 0x00000001)
-	ENUM_ENTRY(DepthOnly, 0x00000002)
-	ENUM_ENTRY(Plane0Only, 0x00000003)
-	ENUM_ENTRY(Plane1Only, 0x00000004)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(All, 0x00000001)
+	ENUM_ENTRY(StencilOnly, 0x00000002)
+	ENUM_ENTRY(DepthOnly, 0x00000003)
+	ENUM_ENTRY(Plane0Only, 0x00000004)
+	ENUM_ENTRY(Plane1Only, 0x00000005)
+	ENUM_ENTRY(Plane2Only, 0x00000006)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(TextureDimension)
-	ENUM_ENTRY(_1D, 0x00000000)
-	ENUM_ENTRY(_2D, 0x00000001)
-	ENUM_ENTRY(_3D, 0x00000002)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(_1D, 0x00000001)
+	ENUM_ENTRY(_2D, 0x00000002)
+	ENUM_ENTRY(_3D, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(TextureFormat)
@@ -636,6 +692,7 @@ ENUM(TextureFormat)
 	ENUM_ENTRY(RGBA16Snorm, 0x00000065)
 	ENUM_ENTRY(R8BG8Biplanar420Unorm, 0x00000066)
 	ENUM_ENTRY(R10X6BG10X6Biplanar420Unorm, 0x00000067)
+	ENUM_ENTRY(R8BG8A8Triplanar420Unorm, 0x00000068)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(TextureSampleType)
@@ -693,9 +750,10 @@ ENUM(VertexFormat)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(VertexStepMode)
-	ENUM_ENTRY(Vertex, 0x00000000)
-	ENUM_ENTRY(Instance, 0x00000001)
-	ENUM_ENTRY(VertexBufferNotUsed, 0x00000002)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(VertexBufferNotUsed, 0x00000001)
+	ENUM_ENTRY(Vertex, 0x00000002)
+	ENUM_ENTRY(Instance, 0x00000003)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
 ENUM(WaitStatus)
@@ -730,6 +788,15 @@ ENUM(ColorWriteMask)
 	ENUM_ENTRY(All, 0x0000000F)
 	ENUM_ENTRY(Force32, 0x7FFFFFFF)
 END
+ENUM(HeapProperty)
+	ENUM_ENTRY(Undefined, 0x00000000)
+	ENUM_ENTRY(DeviceLocal, 0x00000001)
+	ENUM_ENTRY(HostVisible, 0x00000002)
+	ENUM_ENTRY(HostCoherent, 0x00000004)
+	ENUM_ENTRY(HostUncached, 0x00000008)
+	ENUM_ENTRY(HostCached, 0x00000010)
+	ENUM_ENTRY(Force32, 0x7FFFFFFF)
+END
 ENUM(MapMode)
 	ENUM_ENTRY(None, 0x00000000)
 	ENUM_ENTRY(Read, 0x00000001)
@@ -764,6 +831,14 @@ STRUCT(ChainedStructOut)
 	void setDefault();
 END
 
+STRUCT(AdapterPropertiesD3D)
+	void setDefault();
+END
+
+STRUCT(AdapterPropertiesVk)
+	void setDefault();
+END
+
 STRUCT(BlendComponent)
 	void setDefault();
 END
@@ -781,6 +856,10 @@ STRUCT(ComputePassTimestampWrites)
 	void setDefault();
 END
 
+STRUCT(DawnWGSLBlocklist)
+	void setDefault();
+END
+
 STRUCT(DawnAdapterPropertiesPowerPreference)
 	void setDefault();
 END
@@ -793,6 +872,10 @@ STRUCT(DawnCacheDeviceDescriptor)
 	void setDefault();
 END
 
+STRUCT(DawnComputePipelineFullSubgroups)
+	void setDefault();
+END
+
 STRUCT(DawnEncoderInternalUsageDescriptor)
 	void setDefault();
 END
@@ -821,10 +904,18 @@ STRUCT(DawnTogglesDescriptor)
 	void setDefault();
 END
 
+STRUCT(DawnWireWGSLControl)
+	void setDefault();
+END
+
 STRUCT(DepthStencilStateDepthWriteDefinedDawn)
 	void setDefault();
 END
 
+STRUCT(DrmFormatProperties)
+	void setDefault();
+END
+
 STRUCT(Extent2D)
 	void setDefault();
 END
@@ -850,6 +941,10 @@ STRUCT(Limits)
 	void setDefault();
 END
 
+STRUCT(MemoryHeapInfo)
+	void setDefault();
+END
+
 STRUCT(Origin2D)
 	void setDefault();
 END
@@ -923,23 +1018,23 @@ STRUCT(SharedFenceVkSemaphoreZirconHandleExportInfo)
 	void setDefault();
 END
 
-STRUCT(SharedTextureMemoryAHardwareBufferDescriptor)
+STRUCT(SharedTextureMemoryDXGISharedHandleDescriptor)
 	void setDefault();
 END
 
-STRUCT(SharedTextureMemoryDmaBufDescriptor)
+STRUCT(SharedTextureMemoryEGLImageDescriptor)
 	void setDefault();
 END
 
-STRUCT(SharedTextureMemoryDXGISharedHandleDescriptor)
+STRUCT(SharedTextureMemoryIOSurfaceDescriptor)
 	void setDefault();
 END
 
-STRUCT(SharedTextureMemoryEGLImageDescriptor)
+STRUCT(SharedTextureMemoryAHardwareBufferDescriptor)
 	void setDefault();
 END
 
-STRUCT(SharedTextureMemoryIOSurfaceDescriptor)
+STRUCT(SharedTextureMemoryDmaBufPlane)
 	void setDefault();
 END
 
@@ -983,11 +1078,11 @@ STRUCT(SurfaceDescriptorFromWaylandSurface)
 	void setDefault();
 END
 
-STRUCT(SurfaceDescriptorFromWindowsCoreWindow)
+STRUCT(SurfaceDescriptorFromWindowsHWND)
 	void setDefault();
 END
 
-STRUCT(SurfaceDescriptorFromWindowsHWND)
+STRUCT(SurfaceDescriptorFromWindowsCoreWindow)
 	void setDefault();
 END
 
@@ -999,14 +1094,28 @@ STRUCT(SurfaceDescriptorFromXlibWindow)
 	void setDefault();
 END
 
+STRUCT(TextureBindingViewDimensionDescriptor)
+	void setDefault();
+END
+
 STRUCT(VertexAttribute)
 	void setDefault();
 END
 
+STRUCT(AdapterPropertiesMemoryHeaps)
+	void setDefault();
+	void freeMembers();
+END
+
 STRUCT(BlendState)
 	void setDefault();
 END
 
+STRUCT(DrmFormatCapabilities)
+	void setDefault();
+	void freeMembers();
+END
+
 STRUCT(FutureWaitInfo)
 	void setDefault();
 END
@@ -1015,6 +1124,10 @@ STRUCT(PipelineLayoutPixelLocalStorage)
 	void setDefault();
 END
 
+STRUCT(SharedTextureMemoryDmaBufDescriptor)
+	void setDefault();
+END
+
 STRUCT(SharedTextureMemoryVkImageDescriptor)
 	void setDefault();
 END
@@ -1058,6 +1171,10 @@ DESCRIPTOR(CommandEncoderDescriptor)
 	void setDefault();
 END
 
+DESCRIPTOR(CompilationInfoCallbackInfo)
+	void setDefault();
+END
+
 DESCRIPTOR(CompilationMessage)
 	void setDefault();
 END
@@ -1070,6 +1187,18 @@ DESCRIPTOR(CopyTextureForBrowserOptions)
 	void setDefault();
 END
 
+DESCRIPTOR(CreateComputePipelineAsyncCallbackInfo)
+	void setDefault();
+END
+
+DESCRIPTOR(CreateRenderPipelineAsyncCallbackInfo)
+	void setDefault();
+END
+
+DESCRIPTOR(FormatCapabilities)
+	void setDefault();
+END
+
 DESCRIPTOR(InstanceFeatures)
 	void setDefault();
 END
@@ -1086,6 +1215,10 @@ DESCRIPTOR(PipelineLayoutStorageAttachment)
 	void setDefault();
 END
 
+DESCRIPTOR(PopErrorScopeCallbackInfo)
+	void setDefault();
+END
+
 DESCRIPTOR(PrimitiveState)
 	void setDefault();
 END
@@ -1110,10 +1243,18 @@ DESCRIPTOR(RenderBundleEncoderDescriptor)
 	void setDefault();
 END
 
+DESCRIPTOR(RequestAdapterCallbackInfo)
+	void setDefault();
+END
+
 DESCRIPTOR(RequestAdapterOptions)
 	void setDefault();
 END
 
+DESCRIPTOR(RequestDeviceCallbackInfo)
+	void setDefault();
+END
+
 DESCRIPTOR(SamplerBindingLayout)
 	void setDefault();
 END
@@ -1126,6 +1267,23 @@ DESCRIPTOR(ShaderModuleDescriptor)
 	void setDefault();
 END
 
+DESCRIPTOR(SharedBufferMemoryBeginAccessDescriptor)
+	void setDefault();
+END
+
+DESCRIPTOR(SharedBufferMemoryDescriptor)
+	void setDefault();
+END
+
+DESCRIPTOR(SharedBufferMemoryEndAccessState)
+	void setDefault();
+	void freeMembers();
+END
+
+DESCRIPTOR(SharedBufferMemoryProperties)
+	void setDefault();
+END
+
 DESCRIPTOR(SharedFenceDescriptor)
 	void setDefault();
 END
@@ -1293,6 +1451,7 @@ class RenderPassEncoder;
 class RenderPipeline;
 class Sampler;
 class ShaderModule;
+class SharedBufferMemory;
 class SharedFence;
 class SharedTextureMemory;
 class Surface;
@@ -1308,6 +1467,7 @@ using CreateRenderPipelineAsyncCallback = std::function<void(CreatePipelineAsync
 using DeviceLostCallback = std::function<void(DeviceLostReason reason, char const * message)>;
 using ErrorCallback = std::function<void(ErrorType type, char const * message)>;
 using LoggingCallback = std::function<void(LoggingType type, char const * message)>;
+using PopErrorScopeCallback = std::function<void(PopErrorScopeStatus status, ErrorType type, char const * message)>;
 using QueueWorkDoneCallback = std::function<void(QueueWorkDoneStatus status)>;
 using RequestAdapterCallback = std::function<void(RequestAdapterStatus status, Adapter adapter, char const * message)>;
 using RequestDeviceCallback = std::function<void(RequestDeviceStatus status, Device device, char const * message)>;
@@ -1320,11 +1480,13 @@ HANDLE(Adapter)
 	Device createDevice(const DeviceDescriptor& descriptor);
 	Device createDevice();
 	size_t enumerateFeatures(FeatureName * features);
+	Bool getFormatCapabilities(TextureFormat format, FormatCapabilities * capabilities);
 	Instance getInstance();
 	Bool getLimits(SupportedLimits * limits);
 	void getProperties(AdapterProperties * properties);
 	Bool hasFeature(FeatureName feature);
 	std::unique_ptr<RequestDeviceCallback> requestDevice(const DeviceDescriptor& descriptor, RequestDeviceCallback&& callback);
+	Future requestDeviceF(const DeviceDescriptor& options, RequestDeviceCallbackInfo callbackInfo);
 	void reference();
 	void release();
 	Device requestDevice(const DeviceDescriptor& descriptor);
@@ -1350,6 +1512,7 @@ HANDLE(Buffer)
 	uint64_t getSize();
 	BufferUsageFlags getUsage();
 	std::unique_ptr<BufferMapCallback> mapAsync(MapModeFlags mode, size_t offset, size_t size, BufferMapCallback&& callback);
+	Future mapAsyncF(MapModeFlags mode, size_t offset, size_t size, BufferMapCallbackInfo callbackInfo);
 	void setLabel(char const * label);
 	void unmap();
 	void reference();
@@ -1417,6 +1580,7 @@ HANDLE(Device)
 	CommandEncoder createCommandEncoder();
 	ComputePipeline createComputePipeline(const ComputePipelineDescriptor& descriptor);
 	std::unique_ptr<CreateComputePipelineAsyncCallback> createComputePipelineAsync(const ComputePipelineDescriptor& descriptor, CreateComputePipelineAsyncCallback&& callback);
+	Future createComputePipelineAsyncF(const ComputePipelineDescriptor& descriptor, CreateComputePipelineAsyncCallbackInfo callbackInfo);
 	Buffer createErrorBuffer(const BufferDescriptor& descriptor);
 	ExternalTexture createErrorExternalTexture();
 	ShaderModule createErrorShaderModule(const ShaderModuleDescriptor& descriptor, char const * errorMessage);
@@ -1427,6 +1591,7 @@ HANDLE(Device)
 	RenderBundleEncoder createRenderBundleEncoder(const RenderBundleEncoderDescriptor& descriptor);
 	RenderPipeline createRenderPipeline(const RenderPipelineDescriptor& descriptor);
 	std::unique_ptr<CreateRenderPipelineAsyncCallback> createRenderPipelineAsync(const RenderPipelineDescriptor& descriptor, CreateRenderPipelineAsyncCallback&& callback);
+	Future createRenderPipelineAsyncF(const RenderPipelineDescriptor& descriptor, CreateRenderPipelineAsyncCallbackInfo callbackInfo);
 	Sampler createSampler(const SamplerDescriptor& descriptor);
 	Sampler createSampler();
 	ShaderModule createShaderModule(const ShaderModuleDescriptor& descriptor);
@@ -1440,10 +1605,11 @@ HANDLE(Device)
 	Queue getQueue();
 	TextureUsageFlags getSupportedSurfaceUsage(Surface surface);
 	Bool hasFeature(FeatureName feature);
+	SharedBufferMemory importSharedBufferMemory(const SharedBufferMemoryDescriptor& descriptor);
 	SharedFence importSharedFence(const SharedFenceDescriptor& descriptor);
 	SharedTextureMemory importSharedTextureMemory(const SharedTextureMemoryDescriptor& descriptor);
 	void injectError(ErrorType type, char const * message);
-	std::unique_ptr<ErrorCallback> popErrorScope(ErrorCallback&& callback);
+	Future popErrorScopeF(PopErrorScopeCallbackInfo callbackInfo);
 	void pushErrorScope(ErrorFilter filter);
 	std::unique_ptr<DeviceLostCallback> setDeviceLostCallback(DeviceLostCallback&& callback);
 	void setLabel(char const * label);
@@ -1466,8 +1632,11 @@ END
 
 HANDLE(Instance)
 	Surface createSurface(const SurfaceDescriptor& descriptor);
+	size_t enumerateWGSLLanguageFeatures(WGSLFeatureName * features);
+	Bool hasWGSLLanguageFeature(WGSLFeatureName feature);
 	void processEvents();
 	std::unique_ptr<RequestAdapterCallback> requestAdapter(const RequestAdapterOptions& options, RequestAdapterCallback&& callback);
+	Future requestAdapterF(const RequestAdapterOptions& options, RequestAdapterCallbackInfo callbackInfo);
 	WaitStatus waitAny(size_t futureCount, FutureWaitInfo * futures, uint64_t timeoutNS);
 	void reference();
 	void release();
@@ -1577,6 +1746,19 @@ END
 
 HANDLE(ShaderModule)
 	std::unique_ptr<CompilationInfoCallback> getCompilationInfo(CompilationInfoCallback&& callback);
+	Future getCompilationInfoF(CompilationInfoCallbackInfo callbackInfo);
+	void setLabel(char const * label);
+	void reference();
+	void release();
+END
+
+HANDLE(SharedBufferMemory)
+	Bool beginAccess(Buffer buffer, const SharedBufferMemoryBeginAccessDescriptor& descriptor);
+	Buffer createBuffer(const BufferDescriptor& descriptor);
+	Buffer createBuffer();
+	Bool endAccess(Buffer buffer, SharedBufferMemoryEndAccessState * descriptor);
+	void getProperties(SharedBufferMemoryProperties * properties);
+	Bool isDeviceLost();
 	void setLabel(char const * label);
 	void reference();
 	void release();
@@ -1594,12 +1776,14 @@ HANDLE(SharedTextureMemory)
 	Texture createTexture();
 	Bool endAccess(Texture texture, SharedTextureMemoryEndAccessState * descriptor);
 	void getProperties(SharedTextureMemoryProperties * properties);
+	Bool isDeviceLost();
 	void setLabel(char const * label);
 	void reference();
 	void release();
 END
 
 HANDLE(Surface)
+	TextureFormat getPreferredFormat(Adapter adapter);
 	void reference();
 	void release();
 END
@@ -1613,6 +1797,8 @@ HANDLE(SwapChain)
 END
 
 HANDLE(Texture)
+	TextureView createErrorView(const TextureViewDescriptor& descriptor);
+	TextureView createErrorView();
 	TextureView createView(const TextureViewDescriptor& descriptor);
 	TextureView createView();
 	void destroy();
@@ -1667,6 +1853,20 @@ void AdapterProperties::freeMembers() {
 }
 
 
+// Methods of AdapterPropertiesD3D
+void AdapterPropertiesD3D::setDefault() {
+	((ChainedStructOut*)&chain)->setDefault();
+	chain.sType = SType::AdapterPropertiesD3D;
+}
+
+
+// Methods of AdapterPropertiesVk
+void AdapterPropertiesVk::setDefault() {
+	((ChainedStructOut*)&chain)->setDefault();
+	chain.sType = SType::AdapterPropertiesVk;
+}
+
+
 // Methods of BindGroupEntry
 void BindGroupEntry::setDefault() {
 	offset = 0;
@@ -1722,6 +1922,11 @@ void CommandEncoderDescriptor::setDefault() {
 }
 
 
+// Methods of CompilationInfoCallbackInfo
+void CompilationInfoCallbackInfo::setDefault() {
+}
+
+
 // Methods of CompilationMessage
 void CompilationMessage::setDefault() {
 }
@@ -1742,6 +1947,23 @@ void CopyTextureForBrowserOptions::setDefault() {
 }
 
 
+// Methods of CreateComputePipelineAsyncCallbackInfo
+void CreateComputePipelineAsyncCallbackInfo::setDefault() {
+}
+
+
+// Methods of CreateRenderPipelineAsyncCallbackInfo
+void CreateRenderPipelineAsyncCallbackInfo::setDefault() {
+}
+
+
+// Methods of DawnWGSLBlocklist
+void DawnWGSLBlocklist::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::DawnWGSLBlocklist;
+}
+
+
 // Methods of DawnAdapterPropertiesPowerPreference
 void DawnAdapterPropertiesPowerPreference::setDefault() {
 	powerPreference = PowerPreference::Undefined;
@@ -1764,6 +1986,13 @@ void DawnCacheDeviceDescriptor::setDefault() {
 }
 
 
+// Methods of DawnComputePipelineFullSubgroups
+void DawnComputePipelineFullSubgroups::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::DawnComputePipelineFullSubgroups;
+}
+
+
 // Methods of DawnEncoderInternalUsageDescriptor
 void DawnEncoderInternalUsageDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -1813,6 +2042,13 @@ void DawnTogglesDescriptor::setDefault() {
 }
 
 
+// Methods of DawnWireWGSLControl
+void DawnWireWGSLControl::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::DawnWireWGSLControl;
+}
+
+
 // Methods of DepthStencilStateDepthWriteDefinedDawn
 void DepthStencilStateDepthWriteDefinedDawn::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -1820,6 +2056,11 @@ void DepthStencilStateDepthWriteDefinedDawn::setDefault() {
 }
 
 
+// Methods of DrmFormatProperties
+void DrmFormatProperties::setDefault() {
+}
+
+
 // Methods of Extent2D
 void Extent2D::setDefault() {
 }
@@ -1846,6 +2087,11 @@ void ExternalTextureBindingLayout::setDefault() {
 }
 
 
+// Methods of FormatCapabilities
+void FormatCapabilities::setDefault() {
+}
+
+
 // Methods of Future
 void Future::setDefault() {
 }
@@ -1892,6 +2138,11 @@ void Limits::setDefault() {
 }
 
 
+// Methods of MemoryHeapInfo
+void MemoryHeapInfo::setDefault() {
+}
+
+
 // Methods of MultisampleState
 void MultisampleState::setDefault() {
 	count = 1;
@@ -1924,6 +2175,11 @@ void PipelineLayoutStorageAttachment::setDefault() {
 }
 
 
+// Methods of PopErrorScopeCallbackInfo
+void PopErrorScopeCallbackInfo::setDefault() {
+}
+
+
 // Methods of PrimitiveDepthClipControl
 void PrimitiveDepthClipControl::setDefault() {
 	unclippedDepth = false;
@@ -1994,6 +2250,11 @@ void RenderPassTimestampWrites::setDefault() {
 }
 
 
+// Methods of RequestAdapterCallbackInfo
+void RequestAdapterCallbackInfo::setDefault() {
+}
+
+
 // Methods of RequestAdapterOptions
 void RequestAdapterOptions::setDefault() {
 	powerPreference = PowerPreference::Undefined;
@@ -2002,6 +2263,11 @@ void RequestAdapterOptions::setDefault() {
 }
 
 
+// Methods of RequestDeviceCallbackInfo
+void RequestDeviceCallbackInfo::setDefault() {
+}
+
+
 // Methods of SamplerBindingLayout
 void SamplerBindingLayout::setDefault() {
 	type = SamplerBindingType::Filtering;
@@ -2022,11 +2288,6 @@ void SamplerDescriptor::setDefault() {
 }
 
 
-// Methods of ShaderModuleDescriptor
-void ShaderModuleDescriptor::setDefault() {
-}
-
-
 // Methods of ShaderModuleSPIRVDescriptor
 void ShaderModuleSPIRVDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -2041,8 +2302,31 @@ void ShaderModuleWGSLDescriptor::setDefault() {
 }
 
 
-// Methods of SharedFenceDescriptor
-void SharedFenceDescriptor::setDefault() {
+// Methods of ShaderModuleDescriptor
+void ShaderModuleDescriptor::setDefault() {
+}
+
+
+// Methods of SharedBufferMemoryBeginAccessDescriptor
+void SharedBufferMemoryBeginAccessDescriptor::setDefault() {
+}
+
+
+// Methods of SharedBufferMemoryDescriptor
+void SharedBufferMemoryDescriptor::setDefault() {
+}
+
+
+// Methods of SharedBufferMemoryEndAccessState
+void SharedBufferMemoryEndAccessState::setDefault() {
+}
+void SharedBufferMemoryEndAccessState::freeMembers() {
+	return wgpuSharedBufferMemoryEndAccessStateFreeMembers(*this);
+}
+
+
+// Methods of SharedBufferMemoryProperties
+void SharedBufferMemoryProperties::setDefault() {
 }
 
 
@@ -2060,12 +2344,6 @@ void SharedFenceDXGISharedHandleExportInfo::setDefault() {
 }
 
 
-// Methods of SharedFenceExportInfo
-void SharedFenceExportInfo::setDefault() {
-	type = SharedFenceType::Undefined;
-}
-
-
 // Methods of SharedFenceMTLSharedEventDescriptor
 void SharedFenceMTLSharedEventDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -2080,6 +2358,17 @@ void SharedFenceMTLSharedEventExportInfo::setDefault() {
 }
 
 
+// Methods of SharedFenceDescriptor
+void SharedFenceDescriptor::setDefault() {
+}
+
+
+// Methods of SharedFenceExportInfo
+void SharedFenceExportInfo::setDefault() {
+	type = SharedFenceType::Undefined;
+}
+
+
 // Methods of SharedFenceVkSemaphoreOpaqueFDDescriptor
 void SharedFenceVkSemaphoreOpaqueFDDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -2122,41 +2411,46 @@ void SharedFenceVkSemaphoreZirconHandleExportInfo::setDefault() {
 }
 
 
-// Methods of SharedTextureMemoryAHardwareBufferDescriptor
-void SharedTextureMemoryAHardwareBufferDescriptor::setDefault() {
+// Methods of SharedTextureMemoryDXGISharedHandleDescriptor
+void SharedTextureMemoryDXGISharedHandleDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SharedTextureMemoryAHardwareBufferDescriptor;
+	chain.sType = SType::SharedTextureMemoryDXGISharedHandleDescriptor;
 }
 
 
-// Methods of SharedTextureMemoryBeginAccessDescriptor
-void SharedTextureMemoryBeginAccessDescriptor::setDefault() {
+// Methods of SharedTextureMemoryEGLImageDescriptor
+void SharedTextureMemoryEGLImageDescriptor::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::SharedTextureMemoryEGLImageDescriptor;
 }
 
 
-// Methods of SharedTextureMemoryDescriptor
-void SharedTextureMemoryDescriptor::setDefault() {
+// Methods of SharedTextureMemoryIOSurfaceDescriptor
+void SharedTextureMemoryIOSurfaceDescriptor::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::SharedTextureMemoryIOSurfaceDescriptor;
 }
 
 
-// Methods of SharedTextureMemoryDmaBufDescriptor
-void SharedTextureMemoryDmaBufDescriptor::setDefault() {
+// Methods of SharedTextureMemoryAHardwareBufferDescriptor
+void SharedTextureMemoryAHardwareBufferDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SharedTextureMemoryDmaBufDescriptor;
+	chain.sType = SType::SharedTextureMemoryAHardwareBufferDescriptor;
 }
 
 
-// Methods of SharedTextureMemoryDXGISharedHandleDescriptor
-void SharedTextureMemoryDXGISharedHandleDescriptor::setDefault() {
-	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SharedTextureMemoryDXGISharedHandleDescriptor;
+// Methods of SharedTextureMemoryBeginAccessDescriptor
+void SharedTextureMemoryBeginAccessDescriptor::setDefault() {
 }
 
 
-// Methods of SharedTextureMemoryEGLImageDescriptor
-void SharedTextureMemoryEGLImageDescriptor::setDefault() {
-	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SharedTextureMemoryEGLImageDescriptor;
+// Methods of SharedTextureMemoryDescriptor
+void SharedTextureMemoryDescriptor::setDefault() {
+}
+
+
+// Methods of SharedTextureMemoryDmaBufPlane
+void SharedTextureMemoryDmaBufPlane::setDefault() {
 }
 
 
@@ -2168,13 +2462,6 @@ void SharedTextureMemoryEndAccessState::freeMembers() {
 }
 
 
-// Methods of SharedTextureMemoryIOSurfaceDescriptor
-void SharedTextureMemoryIOSurfaceDescriptor::setDefault() {
-	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SharedTextureMemoryIOSurfaceDescriptor;
-}
-
-
 // Methods of SharedTextureMemoryOpaqueFDDescriptor
 void SharedTextureMemoryOpaqueFDDescriptor::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
@@ -2260,17 +2547,17 @@ void SurfaceDescriptorFromWaylandSurface::setDefault() {
 }
 
 
-// Methods of SurfaceDescriptorFromWindowsCoreWindow
-void SurfaceDescriptorFromWindowsCoreWindow::setDefault() {
+// Methods of SurfaceDescriptorFromWindowsHWND
+void SurfaceDescriptorFromWindowsHWND::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SurfaceDescriptorFromWindowsCoreWindow;
+	chain.sType = SType::SurfaceDescriptorFromWindowsHWND;
 }
 
 
-// Methods of SurfaceDescriptorFromWindowsHWND
-void SurfaceDescriptorFromWindowsHWND::setDefault() {
+// Methods of SurfaceDescriptorFromWindowsCoreWindow
+void SurfaceDescriptorFromWindowsCoreWindow::setDefault() {
 	((ChainedStruct*)&chain)->setDefault();
-	chain.sType = SType::SurfaceDescriptorFromWindowsHWND;
+	chain.sType = SType::SurfaceDescriptorFromWindowsCoreWindow;
 }
 
 
@@ -2302,6 +2589,14 @@ void TextureBindingLayout::setDefault() {
 }
 
 
+// Methods of TextureBindingViewDimensionDescriptor
+void TextureBindingViewDimensionDescriptor::setDefault() {
+	textureBindingViewDimension = TextureViewDimension::Undefined;
+	((ChainedStruct*)&chain)->setDefault();
+	chain.sType = SType::TextureBindingViewDimensionDescriptor;
+}
+
+
 // Methods of TextureDataLayout
 void TextureDataLayout::setDefault() {
 }
@@ -2323,6 +2618,16 @@ void VertexAttribute::setDefault() {
 }
 
 
+// Methods of AdapterPropertiesMemoryHeaps
+void AdapterPropertiesMemoryHeaps::setDefault() {
+	((ChainedStructOut*)&chain)->setDefault();
+	chain.sType = SType::AdapterPropertiesMemoryHeaps;
+}
+void AdapterPropertiesMemoryHeaps::freeMembers() {
+	return wgpuAdapterPropertiesMemoryHeapsFreeMembers(*this);
+}
+
+
 // Methods of BindGroupDescriptor
 void BindGroupDescriptor::setDefault() {
 }
@@ -2372,6 +2677,16 @@ void DepthStencilState::setDefault() {
 }
 
 
+// Methods of DrmFormatCapabilities
+void DrmFormatCapabilities::setDefault() {
+	((ChainedStructOut*)&chain)->setDefault();
+	chain.sType = SType::DrmFormatCapabilities;
+}
+void DrmFormatCapabilities::freeMembers() {
+	return wgpuDrmFormatCapabilitiesFreeMembers(*this);
+}
+
+
 // Methods of ExternalTextureDescriptor
 void ExternalTextureDescriptor::setDefault() {
 	((Origin2D*)&visibleOrigin)->setDefault();
@@ -2446,6 +2761,14 @@ void RequiredLimits::setDefault() {
 }
 
 
+// Methods of SharedTextureMemoryDmaBufDescriptor
+void SharedTextureMemoryDmaBufDescriptor::setDefault() {
+	((ChainedStruct*)&chain)->setDefault();
+	((Extent3D*)&size)->setDefault();
+	chain.sType = SType::SharedTextureMemoryDmaBufDescriptor;
+}
+
+
 // Methods of SharedTextureMemoryProperties
 void SharedTextureMemoryProperties::setDefault() {
 	format = TextureFormat::Undefined;
@@ -2546,6 +2869,9 @@ Device Adapter::createDevice() {
 size_t Adapter::enumerateFeatures(FeatureName * features) {
 	return wgpuAdapterEnumerateFeatures(m_raw, reinterpret_cast<WGPUFeatureName *>(features));
 }
+Bool Adapter::getFormatCapabilities(TextureFormat format, FormatCapabilities * capabilities) {
+	return wgpuAdapterGetFormatCapabilities(m_raw, static_cast<WGPUTextureFormat>(format), capabilities);
+}
 Instance Adapter::getInstance() {
 	return wgpuAdapterGetInstance(m_raw);
 }
@@ -2567,6 +2893,9 @@ std::unique_ptr<RequestDeviceCallback> Adapter::requestDevice(const DeviceDescri
 	wgpuAdapterRequestDevice(m_raw, &descriptor, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future Adapter::requestDeviceF(const DeviceDescriptor& options, RequestDeviceCallbackInfo callbackInfo) {
+	return wgpuAdapterRequestDeviceF(m_raw, &options, callbackInfo);
+}
 void Adapter::reference() {
 	return wgpuAdapterReference(m_raw);
 }
@@ -2627,6 +2956,9 @@ std::unique_ptr<BufferMapCallback> Buffer::mapAsync(MapModeFlags mode, size_t of
 	wgpuBufferMapAsync(m_raw, mode, offset, size, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future Buffer::mapAsyncF(MapModeFlags mode, size_t offset, size_t size, BufferMapCallbackInfo callbackInfo) {
+	return wgpuBufferMapAsyncF(m_raw, mode, offset, size, callbackInfo);
+}
 void Buffer::setLabel(char const * label) {
 	return wgpuBufferSetLabel(m_raw, label);
 }
@@ -2804,6 +3136,9 @@ std::unique_ptr<CreateComputePipelineAsyncCallback> Device::createComputePipelin
 	wgpuDeviceCreateComputePipelineAsync(m_raw, &descriptor, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future Device::createComputePipelineAsyncF(const ComputePipelineDescriptor& descriptor, CreateComputePipelineAsyncCallbackInfo callbackInfo) {
+	return wgpuDeviceCreateComputePipelineAsyncF(m_raw, &descriptor, callbackInfo);
+}
 Buffer Device::createErrorBuffer(const BufferDescriptor& descriptor) {
 	return wgpuDeviceCreateErrorBuffer(m_raw, &descriptor);
 }
@@ -2840,6 +3175,9 @@ std::unique_ptr<CreateRenderPipelineAsyncCallback> Device::createRenderPipelineA
 	wgpuDeviceCreateRenderPipelineAsync(m_raw, &descriptor, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future Device::createRenderPipelineAsyncF(const RenderPipelineDescriptor& descriptor, CreateRenderPipelineAsyncCallbackInfo callbackInfo) {
+	return wgpuDeviceCreateRenderPipelineAsyncF(m_raw, &descriptor, callbackInfo);
+}
 Sampler Device::createSampler(const SamplerDescriptor& descriptor) {
 	return wgpuDeviceCreateSampler(m_raw, &descriptor);
 }
@@ -2879,6 +3217,9 @@ TextureUsageFlags Device::getSupportedSurfaceUsage(Surface surface) {
 Bool Device::hasFeature(FeatureName feature) {
 	return wgpuDeviceHasFeature(m_raw, static_cast<WGPUFeatureName>(feature));
 }
+SharedBufferMemory Device::importSharedBufferMemory(const SharedBufferMemoryDescriptor& descriptor) {
+	return wgpuDeviceImportSharedBufferMemory(m_raw, &descriptor);
+}
 SharedFence Device::importSharedFence(const SharedFenceDescriptor& descriptor) {
 	return wgpuDeviceImportSharedFence(m_raw, &descriptor);
 }
@@ -2888,14 +3229,8 @@ SharedTextureMemory Device::importSharedTextureMemory(const SharedTextureMemoryD
 void Device::injectError(ErrorType type, char const * message) {
 	return wgpuDeviceInjectError(m_raw, static_cast<WGPUErrorType>(type), message);
 }
-std::unique_ptr<ErrorCallback> Device::popErrorScope(ErrorCallback&& callback) {
-	auto handle = std::make_unique<ErrorCallback>(callback);
-	static auto cCallback = [](WGPUErrorType type, char const * message, void * userdata) -> void {
-		ErrorCallback& callback = *reinterpret_cast<ErrorCallback*>(userdata);
-		callback(static_cast<ErrorType>(type), message);
-	};
-	wgpuDevicePopErrorScope(m_raw, cCallback, reinterpret_cast<void*>(handle.get()));
-	return handle;
+Future Device::popErrorScopeF(PopErrorScopeCallbackInfo callbackInfo) {
+	return wgpuDevicePopErrorScopeF(m_raw, callbackInfo);
 }
 void Device::pushErrorScope(ErrorFilter filter) {
 	return wgpuDevicePushErrorScope(m_raw, static_cast<WGPUErrorFilter>(filter));
@@ -2969,6 +3304,12 @@ void ExternalTexture::release() {
 Surface Instance::createSurface(const SurfaceDescriptor& descriptor) {
 	return wgpuInstanceCreateSurface(m_raw, &descriptor);
 }
+size_t Instance::enumerateWGSLLanguageFeatures(WGSLFeatureName * features) {
+	return wgpuInstanceEnumerateWGSLLanguageFeatures(m_raw, reinterpret_cast<WGPUWGSLFeatureName *>(features));
+}
+Bool Instance::hasWGSLLanguageFeature(WGSLFeatureName feature) {
+	return wgpuInstanceHasWGSLLanguageFeature(m_raw, static_cast<WGPUWGSLFeatureName>(feature));
+}
 void Instance::processEvents() {
 	return wgpuInstanceProcessEvents(m_raw);
 }
@@ -2981,6 +3322,9 @@ std::unique_ptr<RequestAdapterCallback> Instance::requestAdapter(const RequestAd
 	wgpuInstanceRequestAdapter(m_raw, &options, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future Instance::requestAdapterF(const RequestAdapterOptions& options, RequestAdapterCallbackInfo callbackInfo) {
+	return wgpuInstanceRequestAdapterF(m_raw, &options, callbackInfo);
+}
 WaitStatus Instance::waitAny(size_t futureCount, FutureWaitInfo * futures, uint64_t timeoutNS) {
 	return static_cast<WaitStatus>(wgpuInstanceWaitAny(m_raw, futureCount, futures, timeoutNS));
 }
@@ -3263,6 +3607,9 @@ std::unique_ptr<CompilationInfoCallback> ShaderModule::getCompilationInfo(Compil
 	wgpuShaderModuleGetCompilationInfo(m_raw, cCallback, reinterpret_cast<void*>(handle.get()));
 	return handle;
 }
+Future ShaderModule::getCompilationInfoF(CompilationInfoCallbackInfo callbackInfo) {
+	return wgpuShaderModuleGetCompilationInfoF(m_raw, callbackInfo);
+}
 void ShaderModule::setLabel(char const * label) {
 	return wgpuShaderModuleSetLabel(m_raw, label);
 }
@@ -3274,6 +3621,36 @@ void ShaderModule::release() {
 }
 
 
+// Methods of SharedBufferMemory
+Bool SharedBufferMemory::beginAccess(Buffer buffer, const SharedBufferMemoryBeginAccessDescriptor& descriptor) {
+	return wgpuSharedBufferMemoryBeginAccess(m_raw, buffer, &descriptor);
+}
+Buffer SharedBufferMemory::createBuffer(const BufferDescriptor& descriptor) {
+	return wgpuSharedBufferMemoryCreateBuffer(m_raw, &descriptor);
+}
+Buffer SharedBufferMemory::createBuffer() {
+	return wgpuSharedBufferMemoryCreateBuffer(m_raw, nullptr);
+}
+Bool SharedBufferMemory::endAccess(Buffer buffer, SharedBufferMemoryEndAccessState * descriptor) {
+	return wgpuSharedBufferMemoryEndAccess(m_raw, buffer, descriptor);
+}
+void SharedBufferMemory::getProperties(SharedBufferMemoryProperties * properties) {
+	return wgpuSharedBufferMemoryGetProperties(m_raw, properties);
+}
+Bool SharedBufferMemory::isDeviceLost() {
+	return wgpuSharedBufferMemoryIsDeviceLost(m_raw);
+}
+void SharedBufferMemory::setLabel(char const * label) {
+	return wgpuSharedBufferMemorySetLabel(m_raw, label);
+}
+void SharedBufferMemory::reference() {
+	return wgpuSharedBufferMemoryReference(m_raw);
+}
+void SharedBufferMemory::release() {
+	return wgpuSharedBufferMemoryRelease(m_raw);
+}
+
+
 // Methods of SharedFence
 void SharedFence::exportInfo(SharedFenceExportInfo * info) {
 	return wgpuSharedFenceExportInfo(m_raw, info);
@@ -3302,6 +3679,9 @@ Bool SharedTextureMemory::endAccess(Texture texture, SharedTextureMemoryEndAcces
 void SharedTextureMemory::getProperties(SharedTextureMemoryProperties * properties) {
 	return wgpuSharedTextureMemoryGetProperties(m_raw, properties);
 }
+Bool SharedTextureMemory::isDeviceLost() {
+	return wgpuSharedTextureMemoryIsDeviceLost(m_raw);
+}
 void SharedTextureMemory::setLabel(char const * label) {
 	return wgpuSharedTextureMemorySetLabel(m_raw, label);
 }
@@ -3314,6 +3694,9 @@ void SharedTextureMemory::release() {
 
 
 // Methods of Surface
+TextureFormat Surface::getPreferredFormat(Adapter adapter) {
+	return static_cast<TextureFormat>(wgpuSurfaceGetPreferredFormat(m_raw, adapter));
+}
 void Surface::reference() {
 	return wgpuSurfaceReference(m_raw);
 }
@@ -3341,6 +3724,12 @@ void SwapChain::release() {
 
 
 // Methods of Texture
+TextureView Texture::createErrorView(const TextureViewDescriptor& descriptor) {
+	return wgpuTextureCreateErrorView(m_raw, &descriptor);
+}
+TextureView Texture::createErrorView() {
+	return wgpuTextureCreateErrorView(m_raw, nullptr);
+}
 TextureView Texture::createView(const TextureViewDescriptor& descriptor) {
 	return wgpuTextureCreateView(m_raw, &descriptor);
 }
diff --git a/launch/basestation.launch b/launch/basestation.launch
index fc32e47fa..b5039bcbe 100644
--- a/launch/basestation.launch
+++ b/launch/basestation.launch
@@ -11,6 +11,7 @@
 
   <node name="gui_frontend" pkg="mrover" type="gui_frontend.sh" cwd="node" required="true" />
   <node name="gui_backend" pkg="mrover" type="gui_backend.sh" cwd="node" required="true" />
+  <node name="gui_chromium" pkg="mrover" type="gui_chromium.sh" />
 
   <group if="$(arg run_rviz)">
     <arg name="rvizconfig" default="$(find mrover)/config/rviz/basestation.rviz" />
diff --git a/launch/esw_base.launch b/launch/esw_base.launch
index c5fb90cb5..e2ccf7d2d 100644
--- a/launch/esw_base.launch
+++ b/launch/esw_base.launch
@@ -2,34 +2,52 @@
       <rosparam command="load" file="$(find mrover)/config/esw.yaml" />
 
       <!-- Bridges between ROS and SocketCAN -->
-      <node name="can_driver_0" pkg="mrover" type="can_driver"
+      <!-- <node name="can_driver_0" pkg="mrover" type="can_driver"
+            respawn="true" respawn_delay="2"
+            output="screen">
+            <param name="interface" value="can0" />
+      </node> -->
+      <node name="can_driver_1" pkg="mrover" type="can_driver"
+            respawn="true" respawn_delay="2"
+            output="screen">
+            <param name="interface" value="can1" />
+      </node>
+      <node name="can_driver_2" pkg="mrover" type="can_driver"
             respawn="true" respawn_delay="2"
             output="screen">
             <param name="interface" value="can2" />
       </node>
-      <node name="can_driver_1" pkg="mrover" type="can_driver"
-          respawn="true" respawn_delay="2"
-          output="screen">
-        <param name="interface" value="can3"/>
-    </node>
-<!-- 
+      <!-- <node name="can_driver_3" pkg="mrover" type="can_driver"
+            respawn="true" respawn_delay="2"
+            output="screen">
+            <param name="interface" value="can3" />
+      </node> -->
+
+      <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
+            output="screen">
+            <param name="image_topic" value="/camera/left/image" />
+            <param name="port" value="8081" />
+            <param name="width" value="1280" />
+            <param name="height" value="720" />
+      </node> -->
+
       <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
             output="screen">
             <param name="device" value="/dev/video0" />
             <param name="port" value="8081" />
-            <param name="width" value="640" />
-            <param name="height" value="480" />
+            <param name="width" value="1280" />
+            <param name="height" value="720" />
       </node>
 
       <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_1"
             output="screen">
             <param name="device" value="/dev/video2" />
             <param name="port" value="8082" />
-            <param name="width" value="640" />
-            <param name="height" value="480" />
+            <param name="width" value="1280" />
+            <param name="height" value="720" />
       </node>
 
-      <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
+      <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
             output="screen">
             <param name="device" value="/dev/video4" />
             <param name="port" value="8083" />
@@ -56,4 +74,4 @@
             output="screen" />
 
       <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" output="screen" />
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/esw_science.launch b/launch/esw_science.launch
index 587d4add4..07e1dbd37 100644
--- a/launch/esw_science.launch
+++ b/launch/esw_science.launch
@@ -2,13 +2,11 @@
 
     <!-- NOTE(quintin): this was failing an assert so I commented it out -->
     <!-- <node name="cache_bridge" pkg="mrover" type="cache_bridge" /> -->
-    <node name="sa_hw_bridge" pkg="mrover" type="sa_hw_bridge" />
-    <node name="sa_translator_bridge" pkg="mrover" type="sa_translator_bridge" />
-    <!-- <node name="science_bridge" pkg="mrover" type="science_bridge" /> -->
+    <node name="sa_bridge" pkg="mrover" type="sa_bridge" />
+    <node name="science_bridge" pkg="mrover" type="science_bridge" />
 
-    <!-- TODO(guthrie): FIGURE OUT HOW TO ADD THE DIRT SENSOR NODE -->
-    <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
+    <!-- <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
         <param name="port" type="string" value="/dev/ttyACM0" />
         <param name="baud" type="int" value="57600" />
-    </node>
+    </node> -->
 </launch>
\ No newline at end of file
diff --git a/msg/MotorsAdjust.msg b/msg/MotorsAdjust.msg
new file mode 100644
index 000000000..93ddff782
--- /dev/null
+++ b/msg/MotorsAdjust.msg
@@ -0,0 +1,2 @@
+string[] names # names of joints
+float32[] values # position should be in radians for the joints
\ No newline at end of file
diff --git a/msg/Spectral.msg b/msg/Spectral.msg
index e03372eb4..4c0376ddb 100644
--- a/msg/Spectral.msg
+++ b/msg/Spectral.msg
@@ -1,3 +1,3 @@
 uint8 site
-float64[6] data
+float32[6] data
 bool error
\ No newline at end of file
diff --git a/msg/SpectralGroup.msg b/msg/SpectralGroup.msg
deleted file mode 100644
index 015dc773a..000000000
--- a/msg/SpectralGroup.msg
+++ /dev/null
@@ -1 +0,0 @@
-Spectral[3] spectrals
\ No newline at end of file
diff --git a/pkg/libdawn-dev.deb b/pkg/libdawn-dev.deb
index 950699c32..98a82d987 100644
--- a/pkg/libdawn-dev.deb
+++ b/pkg/libdawn-dev.deb
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:252984a13ad2dfa510c4414720044fc1f9148d27f27796fbdcbcbc37276bbe7e
-size 5208066
+oid sha256:a71d028745d79b179b6f1fab01bb87bccef31326c7656e3298ca6ba163ebb5f6
+size 4385188
diff --git a/pyproject.toml b/pyproject.toml
index bc40a70bd..beb9da872 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,7 +21,7 @@ dependencies = [
     "pyarrow==15.0.0",
     "shapely==2.0.1",
     "pyserial==3.5",
-    "moteus==0.3.59",
+    "moteus==0.3.67",
     "pymap3d==3.0.1",
     "aenum==3.1.15",
     "daphne==4.0.0",
diff --git a/science-spectral.zip b/science-spectral.zip
new file mode 100644
index 000000000..6576025c2
Binary files /dev/null and b/science-spectral.zip differ
diff --git a/scripts/moteusConfigManage.py b/scripts/moteusConfigManage.py
new file mode 100755
index 000000000..1886ec1f9
--- /dev/null
+++ b/scripts/moteusConfigManage.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+# \/\/\/\/ Help displayed below: \/\/\/\/
+help = """
+moteusConfigConvert: a script to help with saving and retrieving past moteus configs
+
+How to use:
+
+To save a config: 
+    ./scripts/moteusConfigConvert save
+
+To list configs saved:
+    ./scripts/moteusConfigConvert list
+
+To flash a saved config onto the moteus:
+    ./scripts/moteusConfigConvert flash
+
+Then, follow the provided instructions.
+
+To retrieve a saved config:
+
+"""
+import sys
+import shutil
+import os
+import subprocess
+from pathlib import Path
+
+MOTEUS_SAVE_DIR = str(Path.cwd()) + "/config/moteus/"  # Need to change this for other laptops.
+
+
+def list_cfgs():
+    files = os.listdir(MOTEUS_SAVE_DIR)
+    print("Saved configs:\n\t")
+    print(*files, sep="\n\t")
+
+
+def main():
+    command: str
+    if len(sys.argv) >= 2:
+        command = sys.argv[1]
+    else:
+        command = input("Please enter a command {save, flash, list}: ")
+
+    if command == "save":
+        saveFName = input("Please enter name for saved config: ")
+        if not saveFName.endswith("cfg"):
+            saveFName += ".cfg"
+        id = int(input("Please enter ID of moteus: "))
+
+        print("Saving config - this may ~30 seconds")
+        result = subprocess.run(["moteus_tool", "-t", str(id), "--dump-config"], capture_output=True)
+        if result.returncode != 0:
+            print(
+                "Moteus_tool returned an error trying to load config from moteus. Check moteus is correctly connected and that you chose the correct ID"
+            )
+            print("Moteus_tool stdout: ", result.stdout.decode())
+            print("Moteus_tool stderr: ", result.stderr.decode())
+            return
+
+        saveFile = open(MOTEUS_SAVE_DIR + saveFName, "w")
+        saveFile.write(result.stdout.decode())
+        saveFile.close()
+
+        print(f"Saved config {saveFName}")
+
+    elif command == "list":
+        list_cfgs()
+
+    elif command == "flash":
+        list_cfgs()
+        storedConfigName = input("Please enter name for config to flash: ")
+        id = int(input("Please enter ID of moteus: "))
+
+        files = os.listdir(MOTEUS_SAVE_DIR)
+        if storedConfigName not in files:
+            print("Error: given config name not in saved configs")
+            return
+        print("Flashing config - this may ~30 seconds")
+        result = subprocess.run(
+            ["moteus_tool", "-t", str(id), "--restore-config", MOTEUS_SAVE_DIR + storedConfigName], capture_output=True
+        )
+        if result.returncode != 0:
+            print(
+                "Moteus_tool returned an error trying to save config to moteus. Check moteus is correctly connected and that you chose the correct ID"
+            )
+            print("Moteus_tool stdout: ", result.stdout.decode())
+            print("Moteus_tool stderr: ", result.stderr.decode())
+            return
+
+        print("Wrote config to moteus")
+
+    else:
+        print("Unknown command entered -  \/please see usage\/")
+        print(help)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/moteusConfigConvert.py b/scripts/moteus_config_tool.py
similarity index 98%
rename from scripts/moteusConfigConvert.py
rename to scripts/moteus_config_tool.py
index 6503829ce..e33a1e056 100644
--- a/scripts/moteusConfigConvert.py
+++ b/scripts/moteus_config_tool.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 """
 Script for converting moteus config into a writable format.
 Takes in file generated from:
diff --git a/scripts/plot_bdcmc_debug_messages.py b/scripts/plot_bdcmc_debug_messages.py
index 72937d3c2..d8cfaffdd 100644
--- a/scripts/plot_bdcmc_debug_messages.py
+++ b/scripts/plot_bdcmc_debug_messages.py
@@ -9,6 +9,8 @@
 import pyqtgraph as pg
 from pyqtgraph.Qt import QtCore
 
+from math import pi
+
 if __name__ == "__main__":
     app = pg.mkQApp()
 
@@ -24,12 +26,12 @@
     # curve3 = plot.plot(pen='r')
 
     plot.enableAutoRange("xy", True)
-    plot.setYRange(0, 1 << 14)
+    plot.setYRange(-pi, pi)
 
     xs = np.zeros(40)
     ys = np.zeros((40, 4))
 
-    with can.interface.Bus(channel="vcan0", interface="socketcan", fd=True) as bus:
+    with can.interface.Bus(channel="can1", interface="socketcan", fd=True) as bus:
 
         def update():
             message = bus.recv()
diff --git a/src/esw/arm_hw_bridge/main.cpp b/src/esw/arm_hw_bridge/main.cpp
index 7a3762427..28480cc13 100644
--- a/src/esw/arm_hw_bridge/main.cpp
+++ b/src/esw/arm_hw_bridge/main.cpp
@@ -13,7 +13,6 @@ auto armLaserCallback(std_srvs::SetBool::Request& req, std_srvs::SetBool::Respon
 }
 
 auto main(int argc, char** argv) -> int {
-    // Initialize the ROS node
     ros::init(argc, argv, "arm_hw_bridge");
     ros::NodeHandle nh;
 
@@ -23,7 +22,6 @@ auto main(int argc, char** argv) -> int {
 
     ros::ServiceServer armLaserService = nh.advertiseService("enable_arm_laser", armLaserCallback);
 
-    // Enter the ROS event loop
     ros::spin();
 
     return EXIT_SUCCESS;
diff --git a/src/esw/arm_position_test_bridge/arm_position.cpp b/src/esw/arm_position_test_bridge/arm_position.cpp
index 32dc61d23..8229c70b5 100644
--- a/src/esw/arm_position_test_bridge/arm_position.cpp
+++ b/src/esw/arm_position_test_bridge/arm_position.cpp
@@ -2,135 +2,73 @@
 #include "ros/ros.h"
 #include "std_srvs/SetBool.h"
 #include <mrover/LED.h>
-#include <mrover/Position.h>
-#include <sensor_msgs/JointState.h>
 
 #include <chrono>
 #include <stdexcept>
 #include <thread>
 
 void sleep(int ms);
-void set_arm_position(ros::Publisher& publisher, std::vector<float> positions, int delay);
+void set_arm_position(ros::Publisher& publisher, float position);
 
-std::vector<double> position_data;
+float position_data[7] = {0, 0, 0, 0, 0, 0, 0};
 
-auto arm_position_callback(sensor_msgs::JointState::ConstPtr const& msg) {
-    ROS_INFO(";)");
+auto arm_position_callback(Position::ConstPtr const& msg) {
     position_data = msg->position;
-    ROS_INFO("hey");
 }
 
-void reset_pos(ros::Publisher armPublisher, int delay) {
-    set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0}, delay);
-}
-
-void de_roll(float position, ros::Publisher armPublisher, int delay = 5000) {
-    set_arm_position(armPublisher, {0, 0, 0, 0, 0, position, 0}, delay);
-    ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
-    reset_pos(armPublisher, delay);
-}
-
-void de_pitch(float position, ros::Publisher armPublisher, int delay = 5000) {
-    set_arm_position(armPublisher, {0, 0, 0, position, 0, 0, 0}, delay);
-    ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
-    reset_pos(armPublisher, delay);
-}
-
-auto main(int argc, char** argv) -> int {
-    // Delay between operations
-    int delay = 5000;
-    position_data.resize(7);
-
+int main(int argc, char** argv) {
     ros::init(argc, argv, "arm_position_test_bridge");
     ros::NodeHandle nh;
     ros::Rate rate(10);
 
-    ros::Publisher armPublisher = nh.advertise<mrover::Position>("arm_position_cmd", 1);
-    ros::Subscriber armSubscriber = nh.subscribe<sensor_msgs::JointState>("arm_joint_data", 10, arm_position_callback);
-
     while (ros::ok()) {
         /* Arm Position Test */
-        ROS_INFO("****BEGIN BASIC AUTON ARM POSITION TEST****");
-
-
-        // ROS_INFO("MOVE A");
-
-        // set_arm_position(armPublisher, {0.4, 0, 0, 0, 0, 0, 0}, delay);
-        // ROS_INFO("Joint_A: %f", position_data[0]);
-        //reset_pos(armPublisher, delay);
-
-        // Test forwards limit switch
-        //set_arm_position(armPublisher, {1, 0, 0, 0, 0, 0, 0}, delay);
-        //ROS_INFO("Joint_A: %f", position_data[0]);
-        //reset_pos(armPublisher, delay);
-
-        // Test backwards limit switch
-        //set_arm_position(armPublisher, {-0.4, 0, 0, 0, 0, 0, 0}, delay);
-        //ROS_INFO("Joint_A: %f", position_data[0]);
-        //reset_pos(armPublisher, delay);
-
-
-        // ROS_INFO("MOVE B");
-        // set_arm_position(armPublisher, {0, -0.70, 0, 0, 0, 0, 0}, delay);
-        // ROS_INFO("Joint_B: %f", position_data[1]);
-        // reset_pos(armPublisher, delay);
+        ROS_INFO("****BEGIN AUTON ARM POSITION TEST****");
+        ros::Publisher armPublisher = nh.advertise<mrover::Position>("arm_position_cmd", 1);
+        ros::Subscriber armSubscriber = nh.subscribe<mrover::Position>("arm_joint_data", 10, arm_position_callback);
+        
+        ROS_INFO("MOVE A");
+        set_arm_position(armPublisher, {0.4, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_A: %f", position_data[0]);
+        sleep(5000);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_A: %f", position_data[0]);
+        sleep(5000);
+
+        ROS_INFO("MOVE B");
+        set_arm_position(armPublisher, {0, -0.78, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_B: %f", position_data[1]);
+        sleep(5000);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_B: %f", position_data[1]);
+        sleep(5000);
 
         ROS_INFO("MOVE C");
-        set_arm_position(armPublisher, {0, 0, 2, 0, 0, 0, 0}, delay);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
         ROS_INFO("Joint_C: %f", position_data[2]);
-        reset_pos(armPublisher, delay);
-
-        // set_arm_position(armPublisher, {0, 0, 1.7, 0, 0, 0, 0}, delay);
-        // ROS_INFO("Joint_C: %f", position_data[2]);
-        // reset_pos(armPublisher, delay);
-
-        // ROS_INFO("MOVE DE PITCH");
-        // float test_de_pitch_positions[4] = {2.35, -2.35, 1.17, -1.17};
-        // for(float value : test_de_pitch_positions) {
-        //     de_pitch(value, armPublisher);
-        // }
-
-        // ROS_INFO("MOVE DE ROLL");
-        // float test_de_roll_positions[4] = {6.28, -6.28, 3.14, -3.14};
-        // for(float value : test_de_roll_positions){
-        //     de_roll(value, armPublisher);
-        // }
-        ROS_INFO("****END BASIC ARM POSITION TEST****");
-        //     ROS_INFO("****BEGIN COMPLEX AUTON ARM POSITION TEST****");
-
-        //     ROS_INFO("BOTH DE");
-        //     for(int i = 0; i < 4; i++){
-        //         set_arm_position(armPublisher, {0,0,0,0,test_de_pitch_positions[i],test_de_roll_positions[i],0}, delay);
-        //         ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
-        //         ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
-        //         reset_pos(armPublisher, delay);
-        //     }
-
-        //     // Joint A: [0.0, 1.0]
-        //     // Joint B: [-0.78540, 0.0]
-        //     // Joint C: [-2.094, 1.745] 220 degrees of motion
-        //     // Joint DE-Pitch: [-2.268, 2.268]
-        //     // Joint DE-Roll: [-inf,inf]
-        //     ROS_INFO("A,B,C");
-        //     //min position
-        //     set_arm_position(armPublisher, {0,-0.78,-2.0,0,0,0,0}, delay);
-        //     ROS_INFO("Joint_A: %f", position_data[0]);
-        //     ROS_INFO("Joint_B: %f", position_data[1]);
-        //     ROS_INFO("Joint_C: %f", position_data[2]);
-        //     reset_pos(armPublisher, delay);
-
-        //     // max position
-        //     set_arm_position(armPublisher, {0.9,0.0,1.7,0,0,0,0}, delay);
-        //     ROS_INFO("Joint_A: %f", position_data[0]);
-        //     ROS_INFO("Joint_B: %f", position_data[1]);
-        //     ROS_INFO("Joint_C: %f", position_data[2]);
-        //     reset_pos(armPublisher, delay);
-
-        //     set_arm_position(armPublisher, {0.3,-0.32,-1.2,0,0,0,0}, delay);
-        //     ROS_INFO("Joint_A: %f", position_data[0]);
-        //     ROS_INFO("Joint_B: %f", position_data[1]);
-        //     ROS_INFO("Joint_C: %f", position_data[2]);
-        //     ROS_INFO("****END COMPLEX AUTON ARM POSITION TEST****");
+        sleep(5000);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_C: %f", position_data[2]);
+        sleep(5000);
+
+        ROS_INFO("MOVE DE PITCH");
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
+        sleep(5000);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
+        sleep(5000);
+
+        ROS_INFO("MOVE DE ROLL");
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
+        sleep(5000);
+        set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+        ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
+
+        ROS_INFO("****END ARM POSITION TEST****");
+
+        nh.spinOnce();
     }
 
     return 0;
@@ -140,15 +78,10 @@ void sleep(int ms) {
     std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }
 
-void set_arm_position(ros::Publisher& publisher, std::vector<float> positions, int delay) {
+void set_arm_position(ros::Publisher& publisher, float positions_arr[7]) {
     mrover::Position armMsg;
     // TODO: figure out how to set allen_key and gripper to nan
     armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
-    armMsg.positions = std::move(positions);
-    ROS_INFO("[0]: %f, [1]: %f, [2]: %f", armMsg.positions[0], armMsg.positions[1], armMsg.positions[2]);
-
-    for (int i = 0; i < delay; i += 50) {
-        sleep(50);
-        publisher.publish(armMsg);
-    }
+    armMsg.positions = positions_arr;
+    publisher.publish(armMsg);
 }
diff --git a/src/esw/arm_translator_bridge/arm_translator.cpp b/src/esw/arm_translator_bridge/arm_translator.cpp
index 058ac7128..0be5f66fe 100644
--- a/src/esw/arm_translator_bridge/arm_translator.cpp
+++ b/src/esw/arm_translator_bridge/arm_translator.cpp
@@ -1,318 +1,171 @@
 #include "arm_translator.hpp"
 
-#include "joint_de_translation.hpp"
-#include "linear_joint_translation.hpp"
+#include <ros/duration.h>
 
-#include <units/units.hpp>
 #include <params_utils.hpp>
+#include <units/units.hpp>
+#include <units/units_eigen.hpp>
 
 namespace mrover {
 
-    ArmTranslator::ArmTranslator(ros::NodeHandle& nh) {
-        assert(mJointDEPitchIndex == mJointDE0Index);
-        assert(mJointDERollIndex == mJointDE1Index);
-        assert(mArmHWNames.size() == mRawArmNames.size());
-        ROS_INFO("hi");
-        for (std::size_t i = 0; i < mRawArmNames.size(); ++i) {
-            if (i != mJointDEPitchIndex && i != mJointDERollIndex) {
-                assert(mArmHWNames.at(i) == mRawArmNames.at(i));
-            }
-            {
-                auto rawName = static_cast<std::string>(mRawArmNames[i]);
-                [[maybe_unused]] auto [_, was_inserted] = mAdjustServersByRawArmNames.try_emplace(rawName, nh.advertiseService(std::format("{}_adjust", rawName), &ArmTranslator::adjustServiceCallback, this));
-                assert(was_inserted);
-            }
-            {
-                auto hwName = static_cast<std::string>(mArmHWNames[i]);
-                [[maybe_unused]] auto [_, was_inserted] = mAdjustClientsByArmHWNames.try_emplace(hwName, nh.serviceClient<AdjustMotor>(std::format("{}_adjust", hwName)));
-                assert(was_inserted);
-            }
-        }
-
-        mJointDEPitchOffset = requireParamAsUnit<Radians>(nh, "joint_de/pitch_offset");
-        mJointDERollOffset = requireParamAsUnit<Radians>(nh, "joint_de/roll_offset");
-
-        mMinRadPerSecDE0 = requireParamAsUnit<RadiansPerSecond>(nh, "brushless_motors/controllers/joint_de_0/min_velocity");
-        mMaxRadPerSecDE0 = requireParamAsUnit<RadiansPerSecond>(nh, "brushless_motors/controllers/joint_de_0/max_velocity");
-        mMinRadPerSecDE1 = requireParamAsUnit<RadiansPerSecond>(nh, "brushless_motors/controllers/joint_de_1/min_velocity");
-        mMaxRadPerSecDE1 = requireParamAsUnit<RadiansPerSecond>(nh, "brushless_motors/controllers/joint_de_1/max_velocity");
+    // Maps pitch and roll values to the DE0 and DE1 motors outputs
+    // For example when only pitching the motor, both controllers should be moving in the same direction
+    // When rolling, the controllers should move in opposite directions
+    auto static const PITCH_ROLL_TO_0_1 = (Matrix2<Dimensionless>{} << -1, -1, -1, 1).finished();
+    Dimensionless static constexpr PITCH_ROLL_TO_01_SCALE{40};
 
-        mJointDEPitchPosSub = nh.subscribe<std_msgs::Float32>("joint_de_pitch_raw_position_data", 1, &ArmTranslator::processPitchRawPositionData, this);
-        mJointDERollPosSub = nh.subscribe<std_msgs::Float32>("joint_de_roll_raw_position_data", 1, &ArmTranslator::processRollRawPositionData, this);
+    // How often we send an adjust command to the DE motors
+    // This corrects the HALL-effect motor source on the Moteus based on the absolute encoder readings
+    double static constexpr DE_OFFSET_TIMER_PERIOD = 1;
 
-        mJointALinMult = requireParamAsUnit<RadiansPerMeter>(nh, "brushless_motors/controllers/joint_a/rad_to_meters_ratio");
+    ArmTranslator::ArmTranslator(ros::NodeHandle& nh) {
+        for (std::string const& hwName: mArmHWNames) {
+            [[maybe_unused]] auto [_, was_inserted] = mAdjustClientsByArmHwNames.try_emplace(hwName, nh.serviceClient<AdjustMotor>(std::format("{}_adjust", hwName)));
+            assert(was_inserted);
+        }
 
         mThrottleSub = nh.subscribe<Throttle>("arm_throttle_cmd", 1, &ArmTranslator::processThrottleCmd, this);
         mVelocitySub = nh.subscribe<Velocity>("arm_velocity_cmd", 1, &ArmTranslator::processVelocityCmd, this);
         mPositionSub = nh.subscribe<Position>("arm_position_cmd", 1, &ArmTranslator::processPositionCmd, this);
-        mArmHWJointDataSub = nh.subscribe<sensor_msgs::JointState>("arm_hw_joint_data", 1, &ArmTranslator::processArmHWJointData, this);
+        mJointDataSub = nh.subscribe<sensor_msgs::JointState>("arm_hw_joint_data", 1, &ArmTranslator::processJointState, this);
 
         mThrottlePub = std::make_unique<ros::Publisher>(nh.advertise<Throttle>("arm_hw_throttle_cmd", 1));
         mVelocityPub = std::make_unique<ros::Publisher>(nh.advertise<Velocity>("arm_hw_velocity_cmd", 1));
         mPositionPub = std::make_unique<ros::Publisher>(nh.advertise<Position>("arm_hw_position_cmd", 1));
         mJointDataPub = std::make_unique<ros::Publisher>(nh.advertise<sensor_msgs::JointState>("arm_joint_data", 1));
+
+        mDeOffsetTimer = nh.createTimer(ros::Duration{DE_OFFSET_TIMER_PERIOD}, &ArmTranslator::updateDeOffsets, this);
     }
 
-    // void ArmTranslator::clampValues(float& val1, float& val2, float minValue1, float maxValue1, float minValue2, float maxValue2) {
-    // val1 = (val1 - (-80)) / (maxValue1 - minValue1) * ();
-    // val2 if (val1 < minValue1) {
-    //     float const ratio = minValue1 / val1;
-    //     val1 *= ratio;
-    //     val2 *= ratio;
-    // }
-    // if (maxValue1 < val1) {
-    //     float const ratio = maxValue1 / val1;
-    //     val1 *= ratio;
-    //     val2 *= ratio;
-    // }
-    // if (val2 < minValue2) {
-    //     float const ratio = minValue2 / val2;
-    //     val1 *= ratio;
-    //     val2 *= ratio;
-    // }
-    // if (maxValue2 < val2) {
-    //     float const ratio = maxValue2 / val2;
-    //     val1 *= ratio;
-    //     val2 *= ratio;
-    // }
-    // }
-
-    auto ArmTranslator::mapValue(float& val, float inputMinValue, float inputMaxValue, float outputMinValue, float outputMaxValue) -> void {
-        val = (val - inputMinValue) / (inputMaxValue - inputMinValue) * (outputMaxValue - outputMinValue) + outputMinValue;
+    auto findJointByName(std::vector<std::string> const& names, std::string const& name) -> std::optional<std::size_t> {
+        auto it = std::ranges::find(names, name);
+        return it == names.end() ? std::nullopt : std::make_optional(std::distance(names.begin(), it));
     }
 
     auto ArmTranslator::processThrottleCmd(Throttle::ConstPtr const& msg) const -> void {
-        if (mRawArmNames != msg->names || mRawArmNames.size() != msg->throttles.size()) {
-            ROS_ERROR("Throttle requests for arm is ignored!");
+        if (msg->names.size() != msg->throttles.size()) {
+            ROS_ERROR("Name count and value count mismatched!");
             return;
         }
 
         Throttle throttle = *msg;
-        ROS_INFO("pitch throttle: %f    roll throttle: %f", msg->throttles.at(mJointDEPitchIndex), msg->throttles.at(mJointDERollIndex));
-
-        auto [joint_de_0_throttle, joint_de_1_throttle] = transformPitchRollToMotorOutputs(
-                msg->throttles.at(mJointDEPitchIndex),
-                msg->throttles.at(mJointDERollIndex));
-
-        ROS_INFO("pre-mapped values: de_0 %f   de_1 %f", joint_de_0_throttle, joint_de_1_throttle);
 
-        mapValue(
-                joint_de_0_throttle,
-                -80.0f,
-                80.0f,
-                -1.0f,
-                1.0f);
+        // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+        std::optional<std::size_t> jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+        if (jointDePitchIndex && jointDeRollIndex) {
 
-        mapValue(
-                joint_de_1_throttle,
-                -80.0f,
-                80.0f,
-                -1.0f,
-                1.0f);
+            std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
 
-        throttle.names.at(mJointDEPitchIndex) = "joint_de_0";
-        throttle.names.at(mJointDERollIndex) = "joint_de_1";
-        throttle.throttles.at(mJointDEPitchIndex) = joint_de_0_throttle;
-        throttle.throttles.at(mJointDERollIndex) = joint_de_1_throttle;
+            Vector2<Dimensionless> pitchRollThrottles{msg->throttles.at(pitchIndex), msg->throttles.at(rollIndex)};
+            Vector2<Dimensionless> motorThrottles = PITCH_ROLL_TO_0_1 * pitchRollThrottles;
 
-        ROS_INFO("post-mapped values: de_0 %f   de_1 %f", joint_de_0_throttle, joint_de_1_throttle);
+            throttle.names[pitchIndex] = "joint_de_0";
+            throttle.names[rollIndex] = "joint_de_1";
+            throttle.throttles[pitchIndex] = motorThrottles[0].get();
+            throttle.throttles[rollIndex] = motorThrottles[1].get();
+        }
 
         mThrottlePub->publish(throttle);
     }
 
-    auto ArmTranslator::jointDEIsCalibrated() const -> bool {
-        return mJointDE0PosOffset.has_value() && mJointDE1PosOffset.has_value();
-    }
-
-    auto ArmTranslator::updatePositionOffsets() -> void {
-        if (!mCurrentRawJointDEPitch.has_value() || !mCurrentRawJointDERoll.has_value() || !mCurrentRawJointDE0Position.has_value() || !mCurrentRawJointDE1Position.has_value()) {
+    auto ArmTranslator::processVelocityCmd(Velocity::ConstPtr const& msg) -> void {
+        if (msg->names.size() != msg->velocities.size()) {
+            ROS_ERROR("Name count and value count mismatched!");
             return;
         }
 
-        std::pair<float, float> expected_motor_outputs = transformPitchRollToMotorOutputs(mCurrentRawJointDEPitch->get(), mCurrentRawJointDERoll->get());
-        if (mCurrentRawJointDE0Position.has_value()) {
-            mJointDE0PosOffset = *mCurrentRawJointDE0Position - Radians{expected_motor_outputs.first};
-        }
-        if (mCurrentRawJointDE1Position.has_value()) {
-            mJointDE1PosOffset = *mCurrentRawJointDE1Position - Radians{expected_motor_outputs.second};
-        }
-    }
+        Velocity velocity = *msg;
 
-    auto ArmTranslator::processPitchRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void {
-        mCurrentRawJointDEPitch = Radians{msg->data};
-        updatePositionOffsets();
-    }
+        // TODO(quintin): Decrease code duplication
+        // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+        std::optional<std::size_t> jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+        if (jointDePitchIndex && jointDeRollIndex) {
+            std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
 
-    auto ArmTranslator::processRollRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void {
-        mCurrentRawJointDERoll = Radians{msg->data};
-        updatePositionOffsets();
-    }
+            Vector2<RadiansPerSecond> pitchRollVelocities{msg->velocities.at(pitchIndex), msg->velocities.at(rollIndex)};
+            Vector2<RadiansPerSecond> motorVelocities = PITCH_ROLL_TO_0_1 * pitchRollVelocities;
 
-    auto ArmTranslator::processVelocityCmd(Velocity::ConstPtr const& msg) -> void {
-        if (mRawArmNames != msg->names || mRawArmNames.size() != msg->velocities.size()) {
-            ROS_ERROR("Velocity requests for arm is ignored!");
-            return;
+            velocity.names[pitchIndex] = "joint_de_0";
+            velocity.names[rollIndex] = "joint_de_1";
+            velocity.velocities[pitchIndex] = motorVelocities[0].get();
+            velocity.velocities[rollIndex] = motorVelocities[1].get();
         }
 
-        Velocity velocity = *msg;
-
-        auto [joint_de_0_vel, joint_de_1_vel] = transformPitchRollToMotorOutputs(
-                msg->velocities.at(mJointDEPitchIndex),
-                msg->velocities.at(mJointDERollIndex));
-
-        mapValue(
-                joint_de_0_vel,
-                -800.0,
-                800.0,
-                mMinRadPerSecDE1.get(),
-                mMaxRadPerSecDE1.get());
-
-        mapValue(
-                joint_de_1_vel,
-                -800.0,
-                800.0,
-                mMinRadPerSecDE1.get(),
-                mMaxRadPerSecDE1.get());
-
-        velocity.names.at(mJointDEPitchIndex) = "joint_de_0";
-        velocity.names.at(mJointDERollIndex) = "joint_de_1";
-        velocity.velocities.at(mJointDEPitchIndex) = joint_de_0_vel;
-        velocity.velocities.at(mJointDERollIndex) = joint_de_1_vel;
-
-        // joint a convert linear velocity (meters/s) to revolution/s
-        auto joint_a_vel = convertLinVel(msg->velocities.at(mJointAIndex), static_cast<float>(mJointALinMult.get()));
-        velocity.velocities.at(mJointAIndex) = joint_a_vel;
-        ROS_INFO("joint a velocity after conversion: %f", joint_a_vel);
-
         mVelocityPub->publish(velocity);
     }
 
     auto ArmTranslator::processPositionCmd(Position::ConstPtr const& msg) -> void {
-        ROS_INFO("msg: %f", msg->positions[0]);
-        if (mRawArmNames != msg->names || mRawArmNames.size() != msg->positions.size()) {
-            ROS_ERROR("Position requests for arm is ignored!");
-            return;
-        }
-
-        if (!jointDEIsCalibrated()) {
-            ROS_ERROR("Position requests for arm is ignored because jointDEIsNotCalibrated!");
+        if (msg->names.size() != msg->positions.size()) {
+            ROS_ERROR("Name count and value count mismatched!");
             return;
         }
 
         Position position = *msg;
 
-        auto [joint_de_0_raw_pos, joint_de_1_raw_pos] = transformPitchRollToMotorOutputs(
-                msg->positions.at(mJointDEPitchIndex),
-                msg->positions.at(mJointDERollIndex));
+        // TODO(quintin): Decrease code duplication
+        // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+        std::optional<std::size_t> jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+        if (jointDePitchIndex && jointDeRollIndex) {
+            std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
 
-        float joint_de_0_pos = joint_de_0_raw_pos + mJointDE0PosOffset->get();
-        float joint_de_1_pos = joint_de_1_raw_pos + mJointDE1PosOffset->get();
+            Vector2<RadiansPerSecond> pitchRoll{msg->positions.at(pitchIndex), msg->positions.at(rollIndex)};
+            Vector2<RadiansPerSecond> motorPositions = PITCH_ROLL_TO_01_SCALE * PITCH_ROLL_TO_0_1 * pitchRoll;
 
-        position.names.at(mJointDEPitchIndex) = "joint_de_0";
-        position.names.at(mJointDERollIndex) = "joint_de_1";
-        position.positions.at(mJointDEPitchIndex) = joint_de_0_pos;
-        position.positions.at(mJointDERollIndex) = joint_de_1_pos;
+            position.names[pitchIndex] = "joint_de_0";
+            position.names[rollIndex] = "joint_de_1";
+            position.positions[pitchIndex] = motorPositions[0].get();
+            position.positions[rollIndex] = motorPositions[1].get();
+        }
 
-        // joint a convert linear position (meters) to radians
-        auto joint_a_pos = convertLinPos(msg->positions.at(mJointAIndex), mJointALinMult.get());
-        position.positions.at(mJointAIndex) = joint_a_pos;
-        
         mPositionPub->publish(position);
     }
 
-    auto ArmTranslator::processArmHWJointData(sensor_msgs::JointState::ConstPtr const& msg) -> void {
+    auto wrapAngle(float angle) -> float {
+        constexpr float pi = std::numbers::pi_v<float>;
+        constexpr float tau = 2 * pi;
+        return std::fmod(angle + pi, tau) - pi;
+    }
+
+    auto ArmTranslator::processJointState(sensor_msgs::JointState::ConstPtr const& msg) -> void {
         if (mArmHWNames != msg->name || mArmHWNames.size() != msg->position.size() || mArmHWNames.size() != msg->velocity.size() || mArmHWNames.size() != msg->effort.size()) {
             ROS_ERROR("Forwarding joint data for arm is ignored!");
             return;
         }
 
-        // Convert joint state of joint a from radians/revolutions to meters
-        auto jointALinVel = convertLinVel(static_cast<float>(msg->velocity.at(mJointAIndex)), mJointALinMult.get());
-        auto jointALinPos = convertLinPos(static_cast<float>(msg->position.at(mJointAIndex)), mJointALinMult.get());
-
-
         sensor_msgs::JointState jointState = *msg;
 
-        auto [jointDEPitchVel, jointDERollVel] = transformMotorOutputsToPitchRoll(
-                static_cast<float>(msg->velocity.at(mJointDE0Index)),
-                static_cast<float>(msg->velocity.at(mJointDE1Index)));
-
-        [[maybe_unused]] auto [jointDEPitchPos, jointDERollPos] = transformMotorOutputsToPitchRoll(
-                static_cast<float>(msg->position.at(mJointDE0Index)),
-                static_cast<float>(msg->position.at(mJointDE1Index)));
-
-        auto [jointDEPitchEff, jointDERollEff] = transformMotorOutputsToPitchRoll(
-                static_cast<float>(msg->effort.at(mJointDE0Index)),
-                static_cast<float>(msg->effort.at(mJointDE1Index)));
-
-        mCurrentRawJointDE0Position = Radians{msg->position.at(mJointDE0Index)};
-        mCurrentRawJointDE1Position = Radians{msg->position.at(mJointDE1Index)};
-
-        jointState.name.at(mJointDE0Index) = "joint_de_0";
-        jointState.name.at(mJointDE1Index) = "joint_de_1";
-        jointState.velocity.at(mJointDE0Index) = jointDEPitchVel;
-        jointState.velocity.at(mJointDE1Index) = jointDERollVel;
-        jointState.position.at(mJointDE0Index) = jointDEPitchVel;
-        jointState.position.at(mJointDE1Index) = jointDERollVel;
-        jointState.effort.at(mJointDE0Index) = jointDEPitchEff;
-        jointState.effort.at(mJointDE1Index) = jointDERollEff;
-
-        jointState.velocity.at(mJointAIndex) = jointALinVel;
-        jointState.position.at(mJointAIndex) = jointALinPos;
+        std::optional<std::size_t> jointDe0Index = findJointByName(msg->name, "joint_de_0"), jointDe1Index = findJointByName(msg->name, "joint_de_1");
+        if (jointDe0Index && jointDe1Index) {
+            // The Moteus reports auxiliary motor positions in the range [0, tau) instead of [-pi, pi)
+            // Wrap to better align with IK conventions
+            auto pitchWrapped = wrapAngle(static_cast<float>(msg->position.at(jointDe0Index.value())));
+            auto rollWrapped = wrapAngle(static_cast<float>(msg->position.at(jointDe1Index.value())));
+            mJointDePitchRoll = {pitchWrapped, rollWrapped};
+            jointState.name[jointDe0Index.value()] = "joint_de_pitch";
+            jointState.name[jointDe1Index.value()] = "joint_de_roll";
+            jointState.position[jointDe0Index.value()] = pitchWrapped;
+            jointState.position[jointDe1Index.value()] = rollWrapped;
+        }
 
         mJointDataPub->publish(jointState);
     }
 
-    auto ArmTranslator::adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) -> bool {
-
-        if (req.name == "joint_de_roll") {
-            mJointDERollAdjust = req.value;
-        } else if (req.name == "joint_de_pitch") {
-            mJointDEPitchAdjust = req.value;
-        } else if (req.name == "joint_a") {
-            AdjustMotor::Request controllerReq;
-            AdjustMotor::Response controllerRes = res;
-            controllerReq.value = convertLinPos(static_cast<float>(req.value), mJointALinMult.get());
-
-            mAdjustClientsByArmHWNames[req.name].call(controllerReq, controllerRes);
-            res.success = controllerRes.success;
-        } else {
-            AdjustMotor::Request controllerReq = req;
-            AdjustMotor::Response controllerRes = res;
-            mAdjustClientsByArmHWNames[req.name].call(controllerReq, controllerRes);
-            res.success = controllerRes.success;
-        }
+    auto ArmTranslator::updateDeOffsets(ros::TimerEvent const&) -> void {
+        if (!mJointDePitchRoll) return;
 
-        if (mJointDEPitchAdjust && mJointDERollAdjust) {
-            // convert DE_roll and DE_pitch into DE_0 and DE_1 (outgoing message to arm_hw_bridge)
-            auto [joint_de_0_raw_value, joint_de_1_raw_value] = transformPitchRollToMotorOutputs(
-                    mJointDEPitchAdjust.value(),
-                    mJointDERollAdjust.value());
-            mJointDEPitchAdjust = std::nullopt;
-            mJointDERollAdjust = std::nullopt;
-
-            float joint_de_0_value = joint_de_0_raw_value + mJointDE0PosOffset->get();
-            float joint_de_1_value = joint_de_1_raw_value + mJointDE1PosOffset->get();
-
-            AdjustMotor::Response controllerResDE0;
-            AdjustMotor::Request controllerReqDE0;
-            controllerReqDE0.name = "joint_de_0";
-            controllerReqDE0.value = joint_de_0_value;
-            mAdjustClientsByArmHWNames[controllerReqDE0.name].call(controllerResDE0, controllerReqDE0);
-
-            AdjustMotor::Response controllerResDE1;
-            AdjustMotor::Request controllerReqDE1;
-            controllerReqDE1.name = "joint_de_1";
-            controllerReqDE1.value = joint_de_1_value;
-            mAdjustClientsByArmHWNames[controllerReqDE1.name].call(controllerReqDE1, controllerResDE1);
-
-            res.success = controllerResDE0.success && controllerResDE1.success;
-        } else {
-            // adjust service was for de, but both de joints have not adjusted yet
-            res.success = false;
+        Vector2<Radians> motorPositions = PITCH_ROLL_TO_01_SCALE * PITCH_ROLL_TO_0_1 * mJointDePitchRoll.value();
+        {
+            AdjustMotor adjust;
+            adjust.request.name = "joint_de_0";
+            adjust.request.value = motorPositions[0].get();
+            mAdjustClientsByArmHwNames["joint_de_0"].call(adjust);
+        }
+        {
+            AdjustMotor adjust;
+            adjust.request.name = "joint_de_1";
+            adjust.request.value = motorPositions[1].get();
+            mAdjustClientsByArmHwNames["joint_de_1"].call(adjust);
         }
-        return true;
     }
 
-
-} // namespace mrover
\ No newline at end of file
+} // namespace mrover
diff --git a/src/esw/arm_translator_bridge/arm_translator.hpp b/src/esw/arm_translator_bridge/arm_translator.hpp
index 14beae37e..cbab3a91a 100644
--- a/src/esw/arm_translator_bridge/arm_translator.hpp
+++ b/src/esw/arm_translator_bridge/arm_translator.hpp
@@ -1,12 +1,13 @@
 #pragma once
 
-#include "joint_de_translation.hpp"
-#include "matrix_helper.hpp"
-
+#include <algorithm>
+#include <cmath>
 #include <format>
 #include <memory>
+#include <unordered_map>
 
 #include <XmlRpcValue.h>
+#include <ros/duration.h>
 #include <ros/ros.h>
 
 #include <mrover/AdjustMotor.h>
@@ -14,23 +15,33 @@
 #include <mrover/Position.h>
 #include <mrover/Throttle.h>
 #include <mrover/Velocity.h>
+#include <ros/timer.h>
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float32.h>
 
+#include <Eigen/Dense>
+
 #include <units/units.hpp>
-#include <linear_joint_translation.hpp>
 
 namespace mrover {
 
+    template<typename E>
+    using Vector2 = Eigen::Matrix<E, 2, 1>;
+
+    template<typename E>
+    using Matrix2 = Eigen::Matrix<E, 2, 2>;
+
     class ArmTranslator {
     public:
         ArmTranslator() = default;
 
-        explicit ArmTranslator(ros::NodeHandle& nh);
+        ArmTranslator(ArmTranslator const&) = delete;
+        ArmTranslator(ArmTranslator&&) = delete;
 
-        auto processPitchRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void;
+        auto operator=(ArmTranslator const&) -> ArmTranslator& = delete;
+        auto operator=(ArmTranslator&&) -> ArmTranslator& = delete;
 
-        auto processRollRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void;
+        explicit ArmTranslator(ros::NodeHandle& nh);
 
         auto processVelocityCmd(Velocity::ConstPtr const& msg) -> void;
 
@@ -38,66 +49,28 @@ namespace mrover {
 
         auto processThrottleCmd(Throttle::ConstPtr const& msg) const -> void;
 
-        auto processArmHWJointData(sensor_msgs::JointState::ConstPtr const& msg) -> void;
+        auto processJointState(sensor_msgs::JointState::ConstPtr const& msg) -> void;
 
-        auto adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) -> bool;
+        auto updateDeOffsets(ros::TimerEvent const&) -> void;
 
     private:
-        // static void clampValues(float& val1, float& val2, float minValue1, float maxValue1, float minValue2, float maxValue2);
-        
-        static void mapValue(float& val, float inputMinValue, float inputMaxValue, float outputMinValue, float outputMaxValue);
-
-        [[nodiscard]] auto jointDEIsCalibrated() const -> bool;
+        std::vector<std::string> const mArmHWNames{"joint_a", "joint_b", "joint_c", "joint_de_0", "joint_de_1", "allen_key", "gripper"};
 
-        auto updatePositionOffsets() -> void;
-
-        const std::vector<std::string> mRawArmNames{"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
-        const std::vector<std::string> mArmHWNames{"joint_a", "joint_b", "joint_c", "joint_de_0", "joint_de_1", "allen_key", "gripper"};
         std::unique_ptr<ros::Publisher> mThrottlePub;
         std::unique_ptr<ros::Publisher> mVelocityPub;
         std::unique_ptr<ros::Publisher> mPositionPub;
         std::unique_ptr<ros::Publisher> mJointDataPub;
-        size_t const mJointDEPitchIndex = std::find(mRawArmNames.begin(), mRawArmNames.end(), "joint_de_pitch") - mRawArmNames.begin();
-        size_t const mJointDERollIndex = std::find(mRawArmNames.begin(), mRawArmNames.end(), "joint_de_roll") - mRawArmNames.begin();
-        size_t const mJointDE0Index = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_de_0") - mArmHWNames.begin();
-        size_t const mJointDE1Index = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_de_1") - mArmHWNames.begin();
-
-        size_t const mJointAIndex = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_a") - mArmHWNames.begin();
-        std::optional<Radians> mJointDE0PosOffset = Radians{0};
-        std::optional<Radians> mJointDE1PosOffset = Radians{0};
-
-        Radians mJointDEPitchOffset;
-        Radians mJointDERollOffset;
-
-        std::optional<Radians> mCurrentRawJointDEPitch;
-        std::optional<Radians> mCurrentRawJointDERoll;
-        std::optional<Radians> mCurrentRawJointDE0Position;
-        std::optional<Radians> mCurrentRawJointDE1Position;
 
-        RadiansPerSecond mMinRadPerSecDE0{};
-        RadiansPerSecond mMinRadPerSecDE1{};
-        RadiansPerSecond mMaxRadPerSecDE0{};
-        RadiansPerSecond mMaxRadPerSecDE1{};
+        ros::Timer mDeOffsetTimer;
 
-        RadiansPerMeter mJointALinMult{}; // TODO: need to be rev/meter for velocity....
-
-        ros::Subscriber mJointDEPitchPosSub;
-        ros::Subscriber mJointDERollPosSub;
+        std::optional<Vector2<Radians>> mJointDePitchRoll;
 
         ros::Subscriber mThrottleSub;
         ros::Subscriber mVelocitySub;
         ros::Subscriber mPositionSub;
-        ros::Subscriber mArmHWJointDataSub;
-
-        // TODO:(owen) unique_ptr servers? unique_ptr clients? Both? Neither? The world may never know. (try to learn)
-        std::unordered_map<std::string, ros::ServiceServer> mAdjustServersByRawArmNames;
-        // std::unordered_map<std::string, std::unique_ptr<ros::ServiceServer> > mCalibrateServer;
-
-        std::unordered_map<std::string, ros::ServiceClient> mAdjustClientsByArmHWNames;
-        // std::unique_ptr<ros::ServiceClient> mCalibrateClient;
+        ros::Subscriber mJointDataSub;
 
-        std::optional<float> mJointDEPitchAdjust;
-        std::optional<float> mJointDERollAdjust;
+        std::unordered_map<std::string, ros::ServiceClient> mAdjustClientsByArmHwNames;
     };
 
 } // namespace mrover
diff --git a/src/esw/arm_translator_bridge/joint_de_translation.hpp b/src/esw/arm_translator_bridge/joint_de_translation.hpp
deleted file mode 100644
index 3108c321d..000000000
--- a/src/esw/arm_translator_bridge/joint_de_translation.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include "matrix_helper.hpp"
-#include <array>
-
-namespace mrover {
-
-    constexpr std::array<std::array<float, 2>, 2> CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX = {{{{40, 40}},
-                                                                                          {{40, -40}}}};
-
-    constexpr std::array<std::array<float, 2>, 2> CONVERT_MOTORS_TO_PITCH_ROLL_MATRIX = inverseMatrix(CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX);
-
-    [[maybe_unused]] static auto transformMotorOutputsToPitchRoll(float motor_0, float motor_1) -> std::pair<float, float> {
-
-        std::array<float, 2> motorsVector = {motor_0, motor_1};
-
-        // Perform matrix multiplication
-        auto [pitch, roll] = multiplyMatrixByVector(motorsVector, CONVERT_MOTORS_TO_PITCH_ROLL_MATRIX);
-
-        return std::make_pair(pitch, roll);
-    }
-
-    // Function to transform coordinates
-    [[maybe_unused]] static auto transformPitchRollToMotorOutputs(float pitch, float roll) -> std::pair<float, float> {
-        // Create the input vector
-        std::array<float, 2> pitchRollVector = {pitch, roll};
-
-        // Perform matrix multiplication
-        auto [m1, m2] = multiplyMatrixByVector(pitchRollVector, CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX);
-
-        return std::make_pair(m1, m2);
-    }
-} // namespace mrover
diff --git a/src/esw/arm_translator_bridge/matrix_helper.hpp b/src/esw/arm_translator_bridge/matrix_helper.hpp
deleted file mode 100644
index 3b893861e..000000000
--- a/src/esw/arm_translator_bridge/matrix_helper.hpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#pragma once
-
-#include <array>
-
-namespace mrover {
-
-    constexpr std::array<std::array<float, 2>, 2> inverseMatrix(std::array<std::array<float, 2>, 2> const& matrix) {
-        float determinant = matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
-        float invDet = 1.0f / determinant;
-
-        std::array<std::array<float, 2>, 2> result = {{{matrix[1][1] * invDet, -matrix[0][1] * invDet},
-                                                       {-matrix[1][0] * invDet, matrix[0][0] * invDet}}};
-
-        return result;
-    }
-
-    static std::array<float, 2> multiplyMatrixByVector(std::array<float, 2> const& vector, std::array<std::array<float, 2>, 2> const& matrix) {
-        std::array<float, 2> result = {
-                matrix[0][0] * vector[0] + matrix[0][1] * vector[1],
-                matrix[1][0] * vector[0] + matrix[1][1] * vector[1]};
-        return result;
-    }
-
-} // namespace mrover
diff --git a/src/esw/brushless_test_bridge/brushless_test_bridge.cpp b/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
index 74eabdcfd..b8b615121 100644
--- a/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
+++ b/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
@@ -1,3 +1,4 @@
+#include <ros/node_handle.h>
 #include <ros/rate.h>
 #include <ros/ros.h>
 
@@ -5,6 +6,27 @@
 #include <motors_group.hpp>
 #include <units/units.hpp>
 
+
+// void test_joint_de(ros::NodeHandle& nh) {
+
+//     auto brushlessController_de0 = std::make_unique<mrover::BrushlessController>(nh, "jetson", "joint_de_0");
+//     auto brushlessController_de1 = std::make_unique<mrover::BrushlessController>(nh, "jetson", "joint_de_1");
+
+//     brushlessController_de0->setStop();
+//     brushlessController_de1->setStop();
+
+//     ros::Rate rate{20};
+//     while (ros::ok()) {
+//         brushlessController_de0->setDesiredVelocity(mrover::RadiansPerSecond{60.0});
+//         brushlessController_de1->setDesiredVelocity(mrover::RadiansPerSecond{60.0});
+
+//         ros::spinOnce();
+//         rate.sleep();
+//     }
+
+
+// }
+
 auto main(int argc, char** argv) -> int {
     // Initialize the ROS node
     ros::init(argc, argv, "brushless_test_bridge");
@@ -24,44 +46,64 @@ auto main(int argc, char** argv) -> int {
 
     // auto brushlessController_de0 = std::make_unique<mrover::BrushlessController>(nh, "jetson", "joint_de_0");
     // auto brushlessController_de1 = std::make_unique<mrover::BrushlessController>(nh, "jetson", "joint_de_1");
-    
+
     // fake DE publisher:
 
-    auto DEPub = std::make_unique<ros::Publisher>(nh.advertise<mrover::Velocity>("arm_velocity_cmd", 1));
-    auto SAPub = std::make_unique<ros::Publisher>(nh.advertise<mrover::Velocity>("sa_velocity_cmd", 1));
+    // auto DEPub = std::make_unique<ros::Publisher>(nh.advertise<mrover::Velocity>("arm_velocity_cmd", 1));
+    // auto SAPub = std::make_unique<ros::Publisher>(nh.advertise<mrover::Velocity>("sa_velocity_cmd", 1));
 
+    auto dePub = nh.advertise<mrover::Position>("arm_position_cmd", 1);
 
-    mrover::Velocity armMsg;
-    mrover::Velocity saMsg;
+    mrover::Position armMsg;
     armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
-    armMsg.velocities = {0, 0, 0, 20, 20, 0, 0};
+    armMsg.positions = {0, 0, 0, 0, 0, 0, 0};
+
+    std::size_t index = 0;
+    auto timer = ros::Timer(nh.createTimer(ros::Duration{10}, [&](ros::TimerEvent const&) {
+        armMsg.positions[3] = std::array<float, 7>{-1, 1, 0, 0, 0, 0, -1}[index];
+        armMsg.positions[4] = std::array<float, 7>{0, 0, 0, -3.14, 3.14, 0, 3.14}[index];
+        index = (index + 1) % 7;
+    }));
+
+    ros::Rate rate{20};
+    while (ros::ok()) {
+        dePub.publish(armMsg);
+        ros::spinOnce();
+        rate.sleep();
+    }
+
+    // mrover::Velocity armMsg;
+    // mrover::Velocity saMsg;
+    // armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
+    // armMsg.velocities = {0, 0, 0, 0, -10, 0, 0};
 
-    saMsg.names = {"sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"};
-    saMsg.velocities = {0, 0, 0.07,0, 0};
+    // saMsg.names = {"sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"};
+    // saMsg.velocities = {0, 0, 0.07,0, 0};
 
     // brushlessController_de0->setStop();
     // brushlessController_de1->setStop();
 
-    ros::Rate rate{15};
-
-    int count = 0;
-
-    while(ros::ok()){
-        // publish DE velocity:
-        DEPub->publish(armMsg);
-        SAPub->publish(saMsg);
-        count++;
+    // ros::Rate rate{15};
+    //
+    // int count = 0;
+    //
+    //
+    // while (ros::ok()) {
+    //     // publish DE velocity:
+    //     DEPub->publish(armMsg);
+    //     // SAPub->publish(saMsg);
+    //     count++;
+    //
+    //     if (count > 100) {
+    //         armMsg.velocities[3] *= -1;
+    //         armMsg.velocities[4] *= -1;
+    //         count = 0;
+    //     }
+    //
+    //     ros::spinOnce();
+    //     rate.sleep();
+    // }
 
-        if(count > 100) {
-            armMsg.velocities[3] *= -1;
-            armMsg.velocities[4] *= -1;
-            count = 0;
-        }   
-
-        ros::spinOnce();
-        rate.sleep();
-    }
 
     return EXIT_SUCCESS;
 }
-
diff --git a/src/esw/can_device/can_device.hpp b/src/esw/can_device/can_device.hpp
index 9c966deca..464d80bf2 100644
--- a/src/esw/can_device/can_device.hpp
+++ b/src/esw/can_device/can_device.hpp
@@ -11,7 +11,6 @@
 
 #include <mrover/CAN.h>
 
-#define CANFD_FDF 0x04
 #include <moteus/moteus.h>
 
 namespace mrover {
diff --git a/src/esw/drive_bridge/main.cpp b/src/esw/drive_bridge/main.cpp
index 7a895dd21..9e836e462 100644
--- a/src/esw/drive_bridge/main.cpp
+++ b/src/esw/drive_bridge/main.cpp
@@ -5,45 +5,38 @@
 #include <motors_group.hpp>
 #include <params_utils.hpp>
 
+/*
+ *  Converts from a Twist (linear and angular velocity) to the individual wheel velocities
+ */
+
 using namespace mrover;
 
 void moveDrive(geometry_msgs::Twist::ConstPtr const& msg);
 
-std::unique_ptr<MotorsGroup> driveManager;
-std::vector<std::string> driveNames{"front_left", "front_right", "middle_left", "middle_right", "back_left", "back_right"};
+ros::Publisher leftVelocityPub, rightVelocityPub;
 
 Meters WHEEL_DISTANCE_INNER;
-Meters WHEEL_DISTANCE_OUTER;
 compound_unit<Radians, inverse<Meters>> WHEEL_LINEAR_TO_ANGULAR;
-RadiansPerSecond MAX_MOTOR_SPEED;
 
 auto main(int argc, char** argv) -> int {
-    // Initialize the ROS node
     ros::init(argc, argv, "drive_bridge");
     ros::NodeHandle nh;
 
-    // Load rover dimensions and other parameters from the ROS parameter server
     auto roverWidth = requireParamAsUnit<Meters>(nh, "rover/width");
-    auto roverLength = requireParamAsUnit<Meters>(nh, "rover/length");
     WHEEL_DISTANCE_INNER = roverWidth / 2;
-    WHEEL_DISTANCE_OUTER = sqrt(((roverWidth / 2) * (roverWidth / 2)) + ((roverLength / 2) * (roverLength / 2)));
 
     auto ratioMotorToWheel = requireParamAsUnit<Dimensionless>(nh, "wheel/gear_ratio");
     auto wheelRadius = requireParamAsUnit<Meters>(nh, "wheel/radius");
-    // TODO(quintin) is dividing by ratioMotorToWheel right?
     WHEEL_LINEAR_TO_ANGULAR = Radians{1} / wheelRadius * ratioMotorToWheel;
 
-    auto maxLinearSpeed = requireParamAsUnit<MetersPerSecond>(nh, "rover/max_speed");
-    assert(maxLinearSpeed > 0_mps);
-
-    MAX_MOTOR_SPEED = maxLinearSpeed * WHEEL_LINEAR_TO_ANGULAR;
+    auto leftGroup = std::make_unique<MotorsGroup>(nh, "drive_left");
+    auto rightGroup = std::make_unique<MotorsGroup>(nh, "drive_right");
 
-    driveManager = std::make_unique<MotorsGroup>(nh, "drive");
+    leftVelocityPub = nh.advertise<Velocity>("drive_left_velocity_cmd", 1);
+    rightVelocityPub = nh.advertise<Velocity>("drive_right_velocity_cmd", 1);
 
-    // Subscribe to the ROS topic for drive commands
-    ros::Subscriber moveDriveSubscriber = nh.subscribe<geometry_msgs::Twist>("cmd_vel", 1, moveDrive);
+    auto twistSubscriber = nh.subscribe<geometry_msgs::Twist>("cmd_vel", 1, moveDrive);
 
-    // Enter the ROS event loop
     ros::spin();
 
     return 0;
@@ -59,16 +52,17 @@ void moveDrive(geometry_msgs::Twist::ConstPtr const& msg) {
     RadiansPerSecond left = (forward - delta) * WHEEL_LINEAR_TO_ANGULAR;
     RadiansPerSecond right = (forward + delta) * WHEEL_LINEAR_TO_ANGULAR;
 
-    std::unordered_map<std::string, RadiansPerSecond> driveCommandVelocities{
-            {"front_left", left},
-            {"front_right", right},
-            {"middle_left", left},
-            {"middle_right", right},
-            {"back_left", left},
-            {"back_right", right},
-    };
-
-    for (auto [name, angularVelocity]: driveCommandVelocities) {
-        driveManager->getController(name).setDesiredVelocity(angularVelocity);
+    {
+        Velocity leftVelocity;
+        leftVelocity.names = {"front_left", "middle_left", "back_left"};
+        leftVelocity.velocities.resize(leftVelocity.names.size(), left.get());
+        leftVelocity.velocities.resize(leftVelocity.names.size(), left.get());
+        leftVelocityPub.publish(leftVelocity);
+    }
+    {
+        Velocity rightVelocity;
+        rightVelocity.names = {"front_right", "middle_right", "back_right"};
+        rightVelocity.velocities.resize(rightVelocity.names.size(), right.get());
+        rightVelocityPub.publish(rightVelocity);
     }
 }
diff --git a/src/esw/fw/bdcmc/.mxproject b/src/esw/fw/bdcmc/.mxproject
index 39d7f8d4a..4f2334bec 100644
--- a/src/esw/fw/bdcmc/.mxproject
+++ b/src/esw/fw/bdcmc/.mxproject
@@ -1,25 +1,25 @@
 [PreviousLibFiles]
-LibFiles=Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g431xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/system_stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/cmsis_armclang.h;
+LibFiles=Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_fdcan.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_tim.h;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_fdcan.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_tim.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g431xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\system_stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
 
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core/Src/main.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;
-HeaderPath=Drivers/STM32G4xx_HAL_Driver/Inc;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32G4xx/Include;Drivers/CMSIS/Include;Core/Inc;
+SourceFiles=Core\Src\main.c;Core\Src\stm32g4xx_it.c;Core\Src\stm32g4xx_hal_msp.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;;;
+HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;Core\Inc;
 CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
-HeaderFiles#0=../Core/Inc/stm32g4xx_it.h
-HeaderFiles#1=../Core/Inc/stm32g4xx_hal_conf.h
-HeaderFiles#2=../Core/Inc/main.h
+HeaderFiles#0=..\Core\Inc\stm32g4xx_it.h
+HeaderFiles#1=..\Core\Inc\stm32g4xx_hal_conf.h
+HeaderFiles#2=..\Core\Inc\main.h
 HeaderFolderListSize=1
-HeaderPath#0=../Core/Inc
+HeaderPath#0=..\Core\Inc
 HeaderFiles=;
 SourceFileListSize=3
-SourceFiles#0=../Core/Src/stm32g4xx_it.c
-SourceFiles#1=../Core/Src/stm32g4xx_hal_msp.c
-SourceFiles#2=../Core/Src/main.c
+SourceFiles#0=..\Core\Src\stm32g4xx_it.c
+SourceFiles#1=..\Core\Src\stm32g4xx_hal_msp.c
+SourceFiles#2=..\Core\Src\main.c
 SourceFolderListSize=1
-SourcePath#0=../Core/Src
+SourcePath#0=..\Core\Src
 SourceFiles=;
 
diff --git a/src/esw/fw/bdcmc/Core/Inc/common.hpp b/src/esw/fw/bdcmc/Core/Inc/common.hpp
new file mode 100644
index 000000000..c51dcca6a
--- /dev/null
+++ b/src/esw/fw/bdcmc/Core/Inc/common.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <units/units.hpp>
+
+namespace mrover {
+
+    constexpr auto TAU_F = 2 * std::numbers::pi_v<float>;
+
+    constexpr auto CLOCK_FREQ = Hertz{140000000};
+
+    // Counts (ticks) per radian (NOT per rotation)
+    using CountsPerRad = compound_unit<Ticks, inverse<Radians>>;
+
+    constexpr auto RELATIVE_CPR = CountsPerRad{3355 / TAU_F};      // Measured empirically from the devboard
+    constexpr auto ABSOLUTE_CPR = CountsPerRad{(1 << 14) / TAU_F}; // Corresponds to the AS5048B
+
+    // NOTE: Change This For Each Motor Controller
+    constexpr static std::uint8_t DEVICE_ID = 0x21; // currently set for joint_b
+
+    // Usually this is the Jetson
+    constexpr static std::uint8_t DESTINATION_DEVICE_ID = 0x10;
+
+} // namespace mrover
diff --git a/src/esw/fw/bdcmc/Core/Inc/controller.hpp b/src/esw/fw/bdcmc/Core/Inc/controller.hpp
index 104cd6ea5..4d8d6902d 100644
--- a/src/esw/fw/bdcmc/Core/Inc/controller.hpp
+++ b/src/esw/fw/bdcmc/Core/Inc/controller.hpp
@@ -11,6 +11,7 @@
 #include <pidf.hpp>
 #include <units/units.hpp>
 
+#include "common.hpp"
 #include "encoders.hpp"
 #include "hbridge.hpp"
 #include "testing.hpp"
@@ -35,6 +36,8 @@ namespace mrover {
         bool m_watchdog_enabled{};
         TIM_HandleTypeDef* m_encoder_timer{};
         TIM_HandleTypeDef* m_encoder_elapsed_timer{};
+        TIM_HandleTypeDef* m_throttle_timer{};
+        TIM_HandleTypeDef* m_pidf_timer{};
         I2C_HandleTypeDef* m_absolute_encoder_i2c{};
         std::optional<QuadratureEncoderReader> m_relative_encoder;
         std::optional<AbsoluteEncoderReader> m_absolute_encoder;
@@ -45,9 +48,16 @@ namespace mrover {
         // "Desired" since it may be overridden.
         // For example if we are trying to drive into a limit switch it will be overriden to zero.
         Percent m_desired_output;
+        // Actual output after throttling.
+        // Changing the output quickly can result in back-EMF which can damage the board.
+        // This is a temporary fix until EHW adds TVS diodes.
+        Percent m_throttled_output;
+        using PercentPerSecond = compound_unit<Percent, inverse<Seconds>>;
+        PercentPerSecond m_throttle_rate{100};
         std::optional<Radians> m_uncalib_position;
         std::optional<RadiansPerSecond> m_velocity;
         BDCMCErrorInfo m_error = BDCMCErrorInfo::DEFAULT_START_UP_NOT_CONFIGURED;
+        std::size_t m_missed_absolute_encoder_reads{0};
 
         struct StateAfterConfig {
             Dimensionless gear_ratio;
@@ -85,8 +95,8 @@ namespace mrover {
                 m_uncalib_position = position;
                 m_velocity = velocity;
             } else {
-                m_uncalib_position = std::nullopt;
-                m_velocity = std::nullopt;
+                m_uncalib_position.reset();
+                m_velocity.reset();
             }
         }
 
@@ -114,14 +124,12 @@ namespace mrover {
 
             if (m_state_after_config) {
                 // TODO: verify this is correct
-                bool limit_forward = m_desired_output > 0_percent && (
-                                         std::ranges::any_of(m_limit_switches, &LimitSwitch::limit_forward)
-                                         //|| m_uncalib_position > m_state_after_config->max_position
-                                     );
-                bool limit_backward = m_desired_output < 0_percent && (
-                                          std::ranges::any_of(m_limit_switches, &LimitSwitch::limit_backward)
-                                          //|| m_uncalib_position < m_state_after_config->min_position
-                                      );
+                bool limit_forward = m_desired_output > 0_percent && (std::ranges::any_of(m_limit_switches, &LimitSwitch::limit_forward)
+                                                                      //|| m_uncalib_position > m_state_after_config->max_position
+                                                                     );
+                bool limit_backward = m_desired_output < 0_percent && (std::ranges::any_of(m_limit_switches, &LimitSwitch::limit_backward)
+                                                                       //|| m_uncalib_position < m_state_after_config->min_position
+                                                                      );
                 if (limit_forward || limit_backward) {
                     m_error = BDCMCErrorInfo::OUTPUT_SET_TO_ZERO_SINCE_EXCEEDING_LIMITS;
                 } else {
@@ -129,7 +137,27 @@ namespace mrover {
                 }
             }
 
-            m_motor_driver.write(output.value_or(0_percent));
+            Percent output_after_limit = output.value_or(0_percent);
+            Percent delta = output_after_limit - m_throttled_output;
+
+            Seconds dt = cycle_time(m_throttle_timer, CLOCK_FREQ);
+
+            Percent applied_delta = m_throttle_rate * dt;
+
+            if (signum(output_after_limit) != signum(m_throttled_output)) {
+                // If we are changing directions, go straight to zero
+                // This also includes when going to zero from a non-zero value (since signum(0) == 0), helpful for when you want to stop moving quickly on input release
+                m_throttled_output = 0_percent;
+            }
+
+            if (abs(delta) < applied_delta) {
+                // We are very close to the desired output, just set it
+                m_throttled_output = output_after_limit;
+            } else {
+                m_throttled_output += applied_delta * signum(delta);
+            }
+
+            m_motor_driver.write(m_throttled_output);
         }
 
         auto process_command(AdjustCommand const& message) -> void {
@@ -142,24 +170,23 @@ namespace mrover {
         }
 
         auto process_command(ConfigCommand const& message) -> void {
-            // Initialize values
             StateAfterConfig config{.gear_ratio = message.gear_ratio};
 
             if (message.enc_info.quad_present) {
-                Ratio multiplier = (message.enc_info.quad_is_forward_polarity ? 1 : -1) * message.enc_info.quad_ratio;
-                if (!m_relative_encoder) m_relative_encoder.emplace(m_encoder_timer, multiplier, m_encoder_elapsed_timer);
+                if (!m_relative_encoder) m_relative_encoder.emplace(m_encoder_timer, message.enc_info.quad_ratio, m_encoder_elapsed_timer);
             }
             if (message.enc_info.abs_present) {
-                Ratio multiplier = (message.enc_info.abs_is_forward_polarity ? 1 : -1) * message.enc_info.abs_ratio;
-                if (!m_absolute_encoder) m_absolute_encoder.emplace(AbsoluteEncoderReader::AS5048B_Bus{m_absolute_encoder_i2c}, message.enc_info.abs_offset, multiplier, m_encoder_elapsed_timer);
+                if (!m_absolute_encoder) m_absolute_encoder.emplace(AbsoluteEncoderReader::AS5048B_Bus{m_absolute_encoder_i2c}, message.enc_info.abs_offset, message.enc_info.abs_ratio, m_encoder_elapsed_timer);
             }
 
             m_motor_driver.change_max_pwm(message.max_pwm);
+            m_motor_driver.change_inverted(message.is_inverted);
 
             config.min_position = message.min_position;
             config.max_position = message.max_position;
 
-            // TODO: verify this is correct
+            // Boolean configs are stored as bitfields so we have to extract them carefully
+
             for (std::size_t i = 0; i < m_limit_switches.size(); ++i) {
                 if (GET_BIT_AT_INDEX(message.limit_switch_info.present, i)) {
                     bool enabled = GET_BIT_AT_INDEX(message.limit_switch_info.enabled, i);
@@ -181,7 +208,6 @@ namespace mrover {
         }
 
         auto process_command(IdleCommand const&) -> void {
-            // TODO - what is the expected behavior? just afk?
             if (!m_state_after_config) {
                 m_error = BDCMCErrorInfo::RECEIVING_COMMANDS_WHEN_NOT_CONFIGURED;
                 return;
@@ -219,14 +245,13 @@ namespace mrover {
             mode.pidf.with_d(message.d);
             mode.pidf.with_ff(message.ff);
             mode.pidf.with_output_bound(-1.0, 1.0);
-            // TODO(quintin): Use timer for dt
-            m_desired_output = mode.pidf.calculate(input, target, Seconds{0.01});
+            m_desired_output = mode.pidf.calculate(input, target, cycle_time(m_pidf_timer, CLOCK_FREQ));
             m_error = BDCMCErrorInfo::NO_ERROR;
 
-            m_fdcan.broadcast(OutBoundMessage{DebugState{
-                    .f1 = m_velocity.value().get(),
-                    .f2 = message.velocity.get(),
-            }});
+            // m_fdcan.broadcast(OutBoundMessage{DebugState{
+            //         .f1 = m_velocity.value().get(),
+            //         .f2 = message.velocity.get(),
+            // }});
         }
 
         auto process_command(PositionCommand const& message, PositionMode& mode) -> void {
@@ -250,8 +275,7 @@ namespace mrover {
             // mode.pidf.with_i(message.i);
             mode.pidf.with_d(message.d);
             mode.pidf.with_output_bound(-1.0, 1.0);
-            // TODO(quintin): Use timer for dt
-            m_desired_output = mode.pidf.calculate(input, target, Seconds{0.01});
+            m_desired_output = mode.pidf.calculate(input, target, cycle_time(m_pidf_timer, CLOCK_FREQ));
             m_error = BDCMCErrorInfo::NO_ERROR;
         }
 
@@ -279,14 +303,22 @@ namespace mrover {
     public:
         Controller() = default;
 
-        Controller(TIM_HandleTypeDef* hbridge_output, Pin hbridge_forward_pin, Pin hbridge_backward_pin, FDCAN<InBoundMessage> const& fdcan, TIM_HandleTypeDef* watchdog_timer, TIM_HandleTypeDef* encoder_tick_timer, TIM_HandleTypeDef* encoder_elapsed_timer, I2C_HandleTypeDef* absolute_encoder_i2c, std::array<LimitSwitch, 4> const& limit_switches)
+        Controller(TIM_HandleTypeDef* hbridge_output, Pin hbridge_forward_pin, Pin hbridge_backward_pin,
+                   FDCAN<InBoundMessage> const& fdcan, TIM_HandleTypeDef* watchdog_timer,
+                   TIM_HandleTypeDef* encoder_tick_timer,
+                   TIM_HandleTypeDef* encoder_elapsed_timer, TIM_HandleTypeDef* throttle_timer, TIM_HandleTypeDef* pid_timer,
+                   I2C_HandleTypeDef* absolute_encoder_i2c,
+                   std::array<LimitSwitch, 4> const& limit_switches)
             : m_fdcan{fdcan},
               m_motor_driver{HBridge(hbridge_output, hbridge_forward_pin, hbridge_backward_pin)},
               m_watchdog_timer{watchdog_timer},
               m_encoder_timer{encoder_tick_timer},
               m_encoder_elapsed_timer{encoder_elapsed_timer},
+              m_throttle_timer{throttle_timer},
+              m_pidf_timer{pid_timer},
               m_absolute_encoder_i2c{absolute_encoder_i2c},
-              m_limit_switches{limit_switches} {}
+              m_limit_switches{limit_switches} {
+        }
 
         template<typename Command>
         auto process_command(Command const& command) -> void {
@@ -423,10 +455,17 @@ namespace mrover {
             update();
         }
 
+        // Max hits before we remove the calibration state
+        constexpr static std::size_t MAX_MISSED_ABSOLUTE_ENCODER_READS = 32;
+
         auto request_absolute_encoder_data() -> void {
             // Only read the encoder if we are configured
             if (m_absolute_encoder) {
                 m_absolute_encoder->request_raw_angle();
+                // TODO(quintin): No magic numbers
+                if (m_missed_absolute_encoder_reads++ > MAX_MISSED_ABSOLUTE_ENCODER_READS) {
+                    m_state_after_calib.reset();
+                }
             }
         }
 
@@ -436,6 +475,9 @@ namespace mrover {
             }
         }
 
+        /**
+         * Called after a successful I2C transaction
+         */
         auto update_absolute_encoder() -> void {
             if (!m_absolute_encoder) return;
 
@@ -443,18 +485,20 @@ namespace mrover {
                 auto const& [position, velocity] = reading.value();
                 if (!m_state_after_calib) m_state_after_calib.emplace();
 
+                m_missed_absolute_encoder_reads = 0;
+
                 // TODO(quintin): This is pretty stupid
                 m_state_after_calib->offset_position = -position;
 
-                m_fdcan.broadcast(OutBoundMessage{DebugState{
-                        .f1 = position.get(),
-                }});
+                // m_fdcan.broadcast(OutBoundMessage{DebugState{
+                //         .f1 = position.get(),
+                // }});
 
                 m_uncalib_position.emplace(); // Reset to zero
                 m_velocity = velocity;
             } else {
-                m_uncalib_position = std::nullopt;
-                m_velocity = std::nullopt;
+                m_uncalib_position.reset();
+                m_velocity.reset();
             }
         }
     };
diff --git a/src/esw/fw/bdcmc/Core/Inc/encoders.hpp b/src/esw/fw/bdcmc/Core/Inc/encoders.hpp
index 275085eb2..fcb24e25d 100644
--- a/src/esw/fw/bdcmc/Core/Inc/encoders.hpp
+++ b/src/esw/fw/bdcmc/Core/Inc/encoders.hpp
@@ -8,19 +8,11 @@
 #include <hardware_i2c.hpp>
 #include <units/units.hpp>
 
+#include "common.hpp"
 #include "filtering.hpp"
 
 namespace mrover {
 
-    constexpr auto tau = 2 * std::numbers::pi_v<float>;
-
-    // Counts (ticks) per radian (NOT per rotation)
-    using CountsPerRad = compound_unit<Ticks, inverse<Radians>>;
-
-    constexpr auto RELATIVE_CPR = CountsPerRad{3355 / tau}; // Measured empirically
-    constexpr auto ABSOLUTE_CPR = CountsPerRad{(1 << 14) / tau};
-    auto const CLOCK_FREQ = Hertz{HAL_RCC_GetHCLKFreq()};
-
     struct EncoderReading {
         Radians position;
         RadiansPerSecond velocity;
diff --git a/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp b/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
index c759ff1bf..e01f59fa4 100644
--- a/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
+++ b/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
@@ -7,25 +7,28 @@
 
 namespace mrover {
 
-    struct HBridge {
+    class HBridge {
+        Pin m_positive_pin{};
+        Pin m_negative_pin{};
+        TIM_HandleTypeDef* m_timer{};
+        std::uint32_t m_channel = TIM_CHANNEL_1;
+        Percent m_max_pwm{};
+        bool m_is_inverted = false;
+
+    public:
         HBridge() = default;
 
-        explicit HBridge(TIM_HandleTypeDef* timer, Pin forward_pin, Pin reverse_pin);
+        explicit HBridge(TIM_HandleTypeDef* timer, Pin positive_pin, Pin negative_pin);
 
-        void write(Percent output) const;
+        auto write(Percent output) const -> void;
 
-        void change_max_pwm(Percent max_pwm);
+        auto set_direction_pins(Percent duty_cycle) const -> void;
 
-    private:
-        void set_direction_pins(Percent duty_cycle) const;
+        auto set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const -> void;
 
-        void set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const;
+        auto change_max_pwm(Percent max_pwm) -> void;
 
-        Pin m_forward_pins{};
-        Pin m_reverse_pins{};
-        TIM_HandleTypeDef* m_timer{};
-        std::uint32_t m_channel = TIM_CHANNEL_1;
-        Percent m_max_pwm{};
+        auto change_inverted(bool inverted) -> void;
     };
 
 } // namespace mrover
diff --git a/src/esw/fw/bdcmc/Core/Inc/main.h b/src/esw/fw/bdcmc/Core/Inc/main.h
index 10cf7d765..0814ce08a 100644
--- a/src/esw/fw/bdcmc/Core/Inc/main.h
+++ b/src/esw/fw/bdcmc/Core/Inc/main.h
@@ -89,14 +89,8 @@ void HAL_PostInit();
 #define MOTOR_0_DIR_GPIO_Port GPIOB
 #define MOTOR_1_DIR_Pin GPIO_PIN_6
 #define MOTOR_1_DIR_GPIO_Port GPIOC
-#define MOTOR_1_PWM_Pin GPIO_PIN_8
-#define MOTOR_1_PWM_GPIO_Port GPIOA
 #define CAN_STANDBY_Pin GPIO_PIN_15
 #define CAN_STANDBY_GPIO_Port GPIOA
-#define QUAD_0_A_Pin GPIO_PIN_6
-#define QUAD_0_A_GPIO_Port GPIOB
-#define QUAD_0_B_Pin GPIO_PIN_7
-#define QUAD_0_B_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 
diff --git a/src/esw/fw/bdcmc/Core/Inc/stm32g4xx_it.h b/src/esw/fw/bdcmc/Core/Inc/stm32g4xx_it.h
index cc9b4bf35..df1ee310e 100644
--- a/src/esw/fw/bdcmc/Core/Inc/stm32g4xx_it.h
+++ b/src/esw/fw/bdcmc/Core/Inc/stm32g4xx_it.h
@@ -63,6 +63,7 @@ void TIM1_TRG_COM_TIM17_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
 void I2C1_ER_IRQHandler(void);
+void TIM6_DAC_IRQHandler(void);
 void TIM7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/src/esw/fw/bdcmc/Core/Src/controller.cpp b/src/esw/fw/bdcmc/Core/Src/controller.cpp
index fa8445833..248f0bccb 100644
--- a/src/esw/fw/bdcmc/Core/Src/controller.cpp
+++ b/src/esw/fw/bdcmc/Core/Src/controller.cpp
@@ -13,40 +13,35 @@ extern I2C_HandleTypeDef hi2c1;
 #define ABSOLUTE_I2C &hi2c1
 
 /**
- * For each timer, the update rate is determined by the .ioc file.
+ * For each repeating timer, the update rate is determined by the .ioc file.
  *
  * Specifically the ARR value. You can use the following equation: ARR = (MCU Clock Speed) / (Update Rate) / (Prescaler + 1) - 1
  * For the STM32G4 we have a 140 MHz clock speed configured.
  *
- * You must also set auto reload to true so the interurpt gets called on a cycle.
+ * You must also set auto reload to true so the interrupt gets called on a cycle.
  */
 
 extern TIM_HandleTypeDef htim2;
-extern TIM_HandleTypeDef htim4;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim7;
+extern TIM_HandleTypeDef htim8;
 extern TIM_HandleTypeDef htim15;
 extern TIM_HandleTypeDef htim16;
 extern TIM_HandleTypeDef htim17;
 
-#define QUADRATURE_TICK_TIMER_1 &htim3 // Special encoder timer which externally reads quadrature encoder ticks
+#define QUADRATURE_TICK_TIMER_1 &htim3      // Special encoder timer which externally reads quadrature encoder ticks
 // #define QUADRATURE_TIMER_2 &htim4
-#define QUADRATURE_ELAPSED_TIMER_1 &htim17 // Measures time since the lsat quadrature tick reading
-#define ABSOLUTE_ENCODER_TIMER &htim2
-// #define UPDATE_TIMER &htim6
-#define SEND_TIMER &htim7            // 20 Hz FDCAN repeating timer
-#define PWM_TIMER_1 &htim15          // H-Bridge PWM
-#define FDCAN_WATCHDOG_TIMER &htim16 // FDCAN watchdog timer that needs to be reset every time a message is received
+#define QUADRATURE_ELAPSED_TIMER_1 &htim17  // Measures time since the lsat quadrature tick reading
+#define ABSOLUTE_ENCODER_TIMER &htim2       // 20 Hz repeating timer to kick off I2C transactions with the absolute encoder
+#define THROTTLE_LIMIT_TIMER &htim6         // Measures time since the last throttle command
+#define SEND_TIMER &htim7                   // 20 Hz FDCAN repeating timer
+#define PIDF_TIMER &htim8                   // Measures time since the last PIDF update, used for the "D" term
+#define PWM_TIMER_1 &htim15                 // H-Bridge PWM
+#define FDCAN_WATCHDOG_TIMER &htim16        // FDCAN watchdog timer that needs to be reset every time a message is received
 
 namespace mrover {
 
-    // NOTE: Change This For Each Motor Controller
-    constexpr static std::uint8_t DEVICE_ID = 0x21; // currently set for joint_b
-
-    // Usually this is the Jetson
-    constexpr static std::uint8_t DESTINATION_DEVICE_ID = 0x10;
-
     FDCAN<InBoundMessage> fdcan_bus;
     Controller controller;
 
@@ -60,6 +55,8 @@ namespace mrover {
                 FDCAN_WATCHDOG_TIMER,
                 QUADRATURE_TICK_TIMER_1,
                 QUADRATURE_ELAPSED_TIMER_1,
+                THROTTLE_LIMIT_TIMER,
+                PIDF_TIMER,
                 ABSOLUTE_I2C,
                 {
                         LimitSwitch{Pin{LIMIT_0_0_GPIO_Port, LIMIT_0_0_Pin}},
@@ -71,7 +68,8 @@ namespace mrover {
 
         // TODO: these should probably be in the controller / encoders themselves
         // Necessary for the timer interrupt to work
-        // check(HAL_TIM_Base_Start_IT(UPDATE_TIMER) == HAL_OK, Error_Handler);
+        check(HAL_TIM_Base_Start(THROTTLE_LIMIT_TIMER) == HAL_OK, Error_Handler);
+        check(HAL_TIM_Base_Start(PIDF_TIMER) == HAL_OK, Error_Handler);
         check(HAL_TIM_Base_Start_IT(SEND_TIMER) == HAL_OK, Error_Handler);
         check(HAL_TIM_Base_Start_IT(ABSOLUTE_ENCODER_TIMER) == HAL_OK, Error_Handler);
     }
@@ -155,7 +153,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
     } else if (htim == ABSOLUTE_ENCODER_TIMER) {
         mrover::request_absolute_encoder_data_callback();
     }
-    // TODO: check for slow update timer and call on controller to send out i2c frame
 }
 
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef* htim) {
@@ -176,13 +173,13 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo0ITs)
     }
 }
 
-// TODO: implement
+// TODO(quintin): Error handling
 
 void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef* hfdcan) {}
 
 void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef* hfdcan, uint32_t ErrorStatusITs) {}
 
-// TODO DMA receive callback, this should eventually call a function on the controller with most up to date info
+// TODO(quintin): Do we need these two callbacks?
 
 void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef* hi2c) {}
 
diff --git a/src/esw/fw/bdcmc/Core/Src/encoders/absolute_encoder.cpp b/src/esw/fw/bdcmc/Core/Src/encoders/absolute_encoder.cpp
index e6bbece34..404fec1a0 100644
--- a/src/esw/fw/bdcmc/Core/Src/encoders/absolute_encoder.cpp
+++ b/src/esw/fw/bdcmc/Core/Src/encoders/absolute_encoder.cpp
@@ -52,22 +52,27 @@ namespace mrover {
         return angle;
     }
 
-    auto wrapAngle(Radians angle) -> Radians {
-        constexpr Radians pi{std::numbers::pi};
-        return Radians{fmod(angle + pi, tau) - pi};
+    /**
+     * \return Wrapped angle in the range [-𝜏/2, 𝜏/2), same as [-π, π)
+     */
+    auto wrap_angle(Radians angle) -> Radians {
+        constexpr Radians PI_F{std::numbers::pi};
+        return fmod(angle + PI_F, TAU_F) - PI_F;
     }
 
     [[nodiscard]] auto AbsoluteEncoderReader::read() -> std::optional<EncoderReading> {
         if (std::optional<std::uint64_t> count = try_read_buffer()) {
-            std::uint32_t elapsed_count = std::exchange(__HAL_TIM_GetCounter(m_elapsed_timer), 0);
-            Seconds elapsed_time = 1 / CLOCK_FREQ * elapsed_count;
+            Seconds elapsed_time = cycle_time(m_elapsed_timer, CLOCK_FREQ);
 
-            m_position = wrapAngle(m_multiplier * Ticks{count.value()} / ABSOLUTE_CPR + m_offset);
-            m_velocity_filter.add_reading((m_position - m_position_prev) / elapsed_time);
+            // Absolute encoder returns [0, COUNTS_PER_REVOLUTION)
+            // We need to convert this to [-𝜏/2, 𝜏/2)
+            // Angles always need to be wrapped after addition/subtraction
+            m_position = wrap_angle(m_multiplier * Ticks{count.value()} / ABSOLUTE_CPR + m_offset);
+            m_velocity_filter.add_reading(wrap_angle(m_position - m_position_prev) / elapsed_time);
             m_position_prev = m_position;
         }
 
         return std::make_optional<EncoderReading>(m_position, m_velocity_filter.get_filtered());
     }
 
-} // namespace mrover
\ No newline at end of file
+} // namespace mrover
diff --git a/src/esw/fw/bdcmc/Core/Src/encoders/quadrature_encoder.cpp b/src/esw/fw/bdcmc/Core/Src/encoders/quadrature_encoder.cpp
index 31cd7a42f..635f5593d 100644
--- a/src/esw/fw/bdcmc/Core/Src/encoders/quadrature_encoder.cpp
+++ b/src/esw/fw/bdcmc/Core/Src/encoders/quadrature_encoder.cpp
@@ -30,14 +30,14 @@ namespace mrover {
         std::uint32_t now = __HAL_TIM_GetCounter(timer);
         std::uint32_t max_value = __HAL_TIM_GetAutoreload(timer);
 
-        // adapted from: https://electronics.stackexchange.com/questions/605278/how-to-increase-stm32-timer-encoder-mode-counter-value
-        // handle when timer wraps around
-        std::int64_t c64 = static_cast<std::int64_t>(now) - max_value / 2; // remove half period to determine (+/-) sign of the wrap
+        // Adapted from: https://electronics.stackexchange.com/questions/605278/how-to-increase-stm32-timer-encoder-mode-counter-value
+        // Handles when the timer wraps around
+        std::int64_t c64 = static_cast<std::int64_t>(now) - max_value / 2; // Remove half period to determine (+/-) sign of the wrap
         std::int64_t dif = c64 - store;                                    // prev + (current - prev) = current
 
-        // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+        // Wrap difference from -HALF_PERIOD to HALF_PERIOD. The modulo prevents differences after the wrap from having an incorrect result
         std::int64_t mod_dif = (dif + max_value / 2) % max_value - max_value / 2;
-        if (dif < -max_value / 2) mod_dif += max_value; // account for mod of negative number behavior in C
+        if (dif < -max_value / 2) mod_dif += max_value; // Account for the behavior of the modulo operator with negative numbers in C++
 
         std::int64_t unwrapped = store + mod_dif;
         store = unwrapped;
@@ -51,18 +51,13 @@ namespace mrover {
     }
 
     auto QuadratureEncoderReader::update() -> void {
-        std::uint32_t elapsed_count = std::exchange(__HAL_TIM_GetCounter(m_elapsed_timer), 0);
+        Seconds elapsed_time = cycle_time(m_elapsed_timer, CLOCK_FREQ);
         std::int64_t delta_ticks = count_delta(m_counts_unwrapped_prev, m_tick_timer);
-
-        // if (delta_ticks == 0 || elapsed_count == 0) return;
-
         Radians delta_angle = m_multiplier * Ticks{delta_ticks} / RELATIVE_CPR;
-        Seconds elapsed_time = 1 / CLOCK_FREQ * elapsed_count;
 
         m_position += delta_angle;
         // m_velocity = delta_angle / elapsed_time;
         m_velocity_filter.add_reading(delta_angle / elapsed_time);
     }
 
-
 } // namespace mrover
diff --git a/src/esw/fw/bdcmc/Core/Src/hbridge.cpp b/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
index 2ca1e595a..3e5f48e2c 100644
--- a/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
+++ b/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
@@ -5,9 +5,9 @@
 
 namespace mrover {
 
-    HBridge::HBridge(TIM_HandleTypeDef* timer, Pin forward_pin, Pin reverse_pin)
-        : m_forward_pins{forward_pin},
-          m_reverse_pins{reverse_pin},
+    HBridge::HBridge(TIM_HandleTypeDef* timer, Pin positive_pin, Pin negative_pin)
+        : m_positive_pin{positive_pin},
+          m_negative_pin{negative_pin},
           m_timer{timer},
           m_max_pwm{0_percent} {
 
@@ -16,18 +16,22 @@ namespace mrover {
         HAL_TIM_PWM_Start(m_timer, m_channel);
     }
 
-    void HBridge::write(Percent output) const {
+    auto HBridge::write(Percent output) const -> void {
         // Set direction pins/duty cycle
         set_direction_pins(output);
         set_duty_cycle(output, m_max_pwm);
     }
 
-    void HBridge::set_direction_pins(Percent duty_cycle) const {
-        m_forward_pins.write(duty_cycle < 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET);
-        m_reverse_pins.write(duty_cycle > 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET);
+    auto HBridge::set_direction_pins(Percent duty_cycle) const -> void {
+        // TODO(quintin): Guthrie says only one of these pins is actually used?
+        GPIO_PinState positive_state = duty_cycle > 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET;
+        GPIO_PinState negative_state = duty_cycle < 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET;
+        if (m_is_inverted) std::swap(positive_state, negative_state);
+        m_positive_pin.write(positive_state);
+        m_negative_pin.write(negative_state);
     }
 
-    void HBridge::set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const {
+    auto HBridge::set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const -> void {
         // Clamp absolute value of the duty cycle to the supported range
         duty_cycle = std::clamp(abs(duty_cycle), 0_percent, max_duty_cycle);
 
@@ -39,8 +43,12 @@ namespace mrover {
         // TODO(quintin) we should error if the registers are null pointers
     }
 
-    void HBridge::change_max_pwm(Percent max_pwm) {
+    auto HBridge::change_max_pwm(Percent max_pwm) -> void {
         m_max_pwm = max_pwm;
     }
 
+    auto HBridge::change_inverted(bool inverted) -> void {
+        m_is_inverted = inverted;
+    }
+
 } // namespace mrover
\ No newline at end of file
diff --git a/src/esw/fw/bdcmc/Core/Src/main.c b/src/esw/fw/bdcmc/Core/Src/main.c
index f97d32762..f0f572550 100644
--- a/src/esw/fw/bdcmc/Core/Src/main.c
+++ b/src/esw/fw/bdcmc/Core/Src/main.c
@@ -47,11 +47,11 @@ I2C_HandleTypeDef hi2c1;
 DMA_HandleTypeDef hdma_i2c1_rx;
 DMA_HandleTypeDef hdma_i2c1_tx;
 
-TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
-TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim6;
 TIM_HandleTypeDef htim7;
+TIM_HandleTypeDef htim8;
 TIM_HandleTypeDef htim15;
 TIM_HandleTypeDef htim16;
 TIM_HandleTypeDef htim17;
@@ -67,13 +67,13 @@ static void MX_DMA_Init(void);
 static void MX_FDCAN1_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_TIM15_Init(void);
-static void MX_TIM4_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_TIM7_Init(void);
 static void MX_TIM16_Init(void);
 static void MX_TIM2_Init(void);
-static void MX_TIM1_Init(void);
 static void MX_TIM17_Init(void);
+static void MX_TIM6_Init(void);
+static void MX_TIM8_Init(void);
 /* USER CODE BEGIN PFP */
 void HAL_PostInit();
 /* USER CODE END PFP */
@@ -89,7 +89,6 @@ void HAL_PostInit();
   */
 int main(void)
 {
-
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
@@ -144,13 +143,13 @@ int main(void)
   MX_FDCAN1_Init();
   MX_I2C1_Init();
   MX_TIM15_Init();
-  MX_TIM4_Init();
   MX_TIM3_Init();
   MX_TIM7_Init();
   MX_TIM16_Init();
   MX_TIM2_Init();
-  MX_TIM1_Init();
   MX_TIM17_Init();
+  MX_TIM6_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
   HAL_PostInit();
 
@@ -245,7 +244,7 @@ static void MX_FDCAN1_Init(void)
   hfdcan1.Init.DataTimeSeg1 = 14;
   hfdcan1.Init.DataTimeSeg2 = 13;
   hfdcan1.Init.StdFiltersNbr = 0;
-  hfdcan1.Init.ExtFiltersNbr = 0;
+  hfdcan1.Init.ExtFiltersNbr = 1;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
   {
@@ -273,7 +272,7 @@ static void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x20B0CCFF;
+  hi2c1.Init.Timing = 0x00D04BFF;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -305,78 +304,6 @@ static void MX_I2C1_Init(void)
 
 }
 
-/**
-  * @brief TIM1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM1_Init(void)
-{
-
-  /* USER CODE BEGIN TIM1_Init 0 */
-
-  /* USER CODE END TIM1_Init 0 */
-
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
-
-  /* USER CODE BEGIN TIM1_Init 1 */
-
-  /* USER CODE END TIM1_Init 1 */
-  htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 0;
-  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 65535;
-  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim1.Init.RepetitionCounter = 0;
-  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_TIMING;
-  sConfigOC.Pulse = 0;
-  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();
-  }
-  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.BreakFilter = 0;
-  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
-  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
-  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
-  sBreakDeadTimeConfig.Break2Filter = 0;
-  sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM1_Init 2 */
-
-  /* USER CODE END TIM1_Init 2 */
-  HAL_TIM_MspPostInit(&htim1);
-
-}
-
 /**
   * @brief TIM2 Initialization Function
   * @param None
@@ -472,51 +399,40 @@ static void MX_TIM3_Init(void)
 }
 
 /**
-  * @brief TIM4 Initialization Function
+  * @brief TIM6 Initialization Function
   * @param None
   * @retval None
   */
-static void MX_TIM4_Init(void)
+static void MX_TIM6_Init(void)
 {
 
-  /* USER CODE BEGIN TIM4_Init 0 */
+  /* USER CODE BEGIN TIM6_Init 0 */
 
-  /* USER CODE END TIM4_Init 0 */
+  /* USER CODE END TIM6_Init 0 */
 
-  TIM_Encoder_InitTypeDef sConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
 
-  /* USER CODE BEGIN TIM4_Init 1 */
+  /* USER CODE BEGIN TIM6_Init 1 */
 
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
-  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
-  sConfig.IC1Filter = 0;
-  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
-  sConfig.IC2Filter = 0;
-  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
+  /* USER CODE END TIM6_Init 1 */
+  htim6.Instance = TIM6;
+  htim6.Init.Prescaler = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.Period = 65535;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
   {
     Error_Handler();
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN TIM4_Init 2 */
+  /* USER CODE BEGIN TIM6_Init 2 */
 
-  /* USER CODE END TIM4_Init 2 */
+  /* USER CODE END TIM6_Init 2 */
 
 }
 
@@ -558,6 +474,53 @@ static void MX_TIM7_Init(void)
 
 }
 
+/**
+  * @brief TIM8 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 0;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+
+}
+
 /**
   * @brief TIM15 Initialization Function
   * @param None
@@ -767,13 +730,13 @@ static void MX_GPIO_Init(void)
   /*Configure GPIO pins : LIMIT_0_0_Pin LIMIT_0_1_Pin LIMIT_0_2_Pin LIMIT_1_0_Pin */
   GPIO_InitStruct.Pin = LIMIT_0_0_Pin|LIMIT_0_1_Pin|LIMIT_0_2_Pin|LIMIT_1_0_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
   /*Configure GPIO pin : LIMIT_0_3_Pin */
   GPIO_InitStruct.Pin = LIMIT_0_3_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(LIMIT_0_3_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pins : DEBUG_LED_0_Pin DEBUG_LED_1_Pin DEBUG_LED_2_Pin CAN_STANDBY_Pin */
@@ -786,7 +749,7 @@ static void MX_GPIO_Init(void)
   /*Configure GPIO pins : LIMIT_1_1_Pin LIMIT_1_2_Pin LIMIT_1_3_Pin */
   GPIO_InitStruct.Pin = LIMIT_1_1_Pin|LIMIT_1_2_Pin|LIMIT_1_3_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /*Configure GPIO pin : MOTOR_0_DIR_Pin */
diff --git a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
index 58f0e8501..eb37487cb 100644
--- a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
+++ b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
@@ -62,12 +63,11 @@ extern DMA_HandleTypeDef hdma_i2c1_tx;
 /* USER CODE END 0 */
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                                        /**
+                    /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
 {
-
   /* USER CODE BEGIN MspInit 0 */
 
   /* USER CODE END MspInit 0 */
@@ -204,6 +204,10 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
     GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
+
+    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
+
     /* Peripheral clock enable */
     __HAL_RCC_I2C1_CLK_ENABLE();
 
@@ -292,33 +296,6 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 
 }
 
-/**
-* @brief TIM_OC MSP Initialization
-* This function configures the hardware resources used in this example
-* @param htim_oc: TIM_OC handle pointer
-* @retval None
-*/
-void HAL_TIM_OC_MspInit(TIM_HandleTypeDef* htim_oc)
-{
-  if(htim_oc->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspInit 0 */
-
-  /* USER CODE END TIM1_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_TIM1_CLK_ENABLE();
-    /* TIM1 interrupt Init */
-    HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 1, 0);
-    HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
-    HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM17_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM17_IRQn);
-  /* USER CODE BEGIN TIM1_MspInit 1 */
-
-  /* USER CODE END TIM1_MspInit 1 */
-  }
-
-}
-
 /**
 * @brief TIM_Base MSP Initialization
 * This function configures the hardware resources used in this example
@@ -341,6 +318,20 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM2_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspInit 0 */
+
+  /* USER CODE END TIM6_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM6_CLK_ENABLE();
+    /* TIM6 interrupt Init */
+    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  /* USER CODE BEGIN TIM6_MspInit 1 */
+
+  /* USER CODE END TIM6_MspInit 1 */
+  }
   else if(htim_base->Instance==TIM7)
   {
   /* USER CODE BEGIN TIM7_MspInit 0 */
@@ -355,6 +346,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM7_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
   else if(htim_base->Instance==TIM16)
   {
   /* USER CODE BEGIN TIM16_MspInit 0 */
@@ -419,30 +421,6 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
 
   /* USER CODE END TIM3_MspInit 1 */
   }
-  else if(htim_encoder->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspInit 0 */
-
-  /* USER CODE END TIM4_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_TIM4_CLK_ENABLE();
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**TIM4 GPIO Configuration
-    PB6     ------> TIM4_CH1
-    PB7     ------> TIM4_CH2
-    */
-    GPIO_InitStruct.Pin = QUAD_0_A_Pin|QUAD_0_B_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM4_MspInit 1 */
-
-  /* USER CODE END TIM4_MspInit 1 */
-  }
 
 }
 
@@ -471,27 +449,7 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(htim->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspPostInit 0 */
-
-  /* USER CODE END TIM1_MspPostInit 0 */
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**TIM1 GPIO Configuration
-    PA8     ------> TIM1_CH1
-    */
-    GPIO_InitStruct.Pin = MOTOR_1_PWM_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
-    HAL_GPIO_Init(MOTOR_1_PWM_GPIO_Port, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM1_MspPostInit 1 */
-
-  /* USER CODE END TIM1_MspPostInit 1 */
-  }
-  else if(htim->Instance==TIM15)
+  if(htim->Instance==TIM15)
   {
   /* USER CODE BEGIN TIM15_MspPostInit 0 */
 
@@ -514,46 +472,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
   }
 
 }
-/**
-* @brief TIM_OC MSP De-Initialization
-* This function freeze the hardware resources used in this example
-* @param htim_oc: TIM_OC handle pointer
-* @retval None
-*/
-void HAL_TIM_OC_MspDeInit(TIM_HandleTypeDef* htim_oc)
-{
-  if(htim_oc->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspDeInit 0 */
-
-  /* USER CODE END TIM1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM1_CLK_DISABLE();
-
-    /* TIM1 interrupt DeInit */
-  /* USER CODE BEGIN TIM1:TIM1_UP_TIM16_IRQn disable */
-    /**
-    * Uncomment the line below to disable the "TIM1_UP_TIM16_IRQn" interrupt
-    * Be aware, disabling shared interrupt may affect other IPs
-    */
-    /* HAL_NVIC_DisableIRQ(TIM1_UP_TIM16_IRQn); */
-  /* USER CODE END TIM1:TIM1_UP_TIM16_IRQn disable */
-
-  /* USER CODE BEGIN TIM1:TIM1_TRG_COM_TIM17_IRQn disable */
-    /**
-    * Uncomment the line below to disable the "TIM1_TRG_COM_TIM17_IRQn" interrupt
-    * Be aware, disabling shared interrupt may affect other IPs
-    */
-    /* HAL_NVIC_DisableIRQ(TIM1_TRG_COM_TIM17_IRQn); */
-  /* USER CODE END TIM1:TIM1_TRG_COM_TIM17_IRQn disable */
-
-  /* USER CODE BEGIN TIM1_MspDeInit 1 */
-
-  /* USER CODE END TIM1_MspDeInit 1 */
-  }
-
-}
-
 /**
 * @brief TIM_Base MSP De-Initialization
 * This function freeze the hardware resources used in this example
@@ -576,6 +494,20 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM2_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspDeInit 0 */
+
+  /* USER CODE END TIM6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM6_CLK_DISABLE();
+
+    /* TIM6 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
+  /* USER CODE BEGIN TIM6_MspDeInit 1 */
+
+  /* USER CODE END TIM6_MspDeInit 1 */
+  }
   else if(htim_base->Instance==TIM7)
   {
   /* USER CODE BEGIN TIM7_MspDeInit 0 */
@@ -590,6 +522,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM7_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
   else if(htim_base->Instance==TIM16)
   {
   /* USER CODE BEGIN TIM16_MspDeInit 0 */
@@ -599,14 +542,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     __HAL_RCC_TIM16_CLK_DISABLE();
 
     /* TIM16 interrupt DeInit */
-  /* USER CODE BEGIN TIM16:TIM1_UP_TIM16_IRQn disable */
-    /**
-    * Uncomment the line below to disable the "TIM1_UP_TIM16_IRQn" interrupt
-    * Be aware, disabling shared interrupt may affect other IPs
-    */
-    /* HAL_NVIC_DisableIRQ(TIM1_UP_TIM16_IRQn); */
-  /* USER CODE END TIM16:TIM1_UP_TIM16_IRQn disable */
-
+    HAL_NVIC_DisableIRQ(TIM1_UP_TIM16_IRQn);
   /* USER CODE BEGIN TIM16_MspDeInit 1 */
 
   /* USER CODE END TIM16_MspDeInit 1 */
@@ -620,14 +556,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     __HAL_RCC_TIM17_CLK_DISABLE();
 
     /* TIM17 interrupt DeInit */
-  /* USER CODE BEGIN TIM17:TIM1_TRG_COM_TIM17_IRQn disable */
-    /**
-    * Uncomment the line below to disable the "TIM1_TRG_COM_TIM17_IRQn" interrupt
-    * Be aware, disabling shared interrupt may affect other IPs
-    */
-    /* HAL_NVIC_DisableIRQ(TIM1_TRG_COM_TIM17_IRQn); */
-  /* USER CODE END TIM17:TIM1_TRG_COM_TIM17_IRQn disable */
-
+    HAL_NVIC_DisableIRQ(TIM1_TRG_COM_TIM17_IRQn);
   /* USER CODE BEGIN TIM17_MspDeInit 1 */
 
   /* USER CODE END TIM17_MspDeInit 1 */
@@ -661,24 +590,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
 
   /* USER CODE END TIM3_MspDeInit 1 */
   }
-  else if(htim_encoder->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspDeInit 0 */
-
-  /* USER CODE END TIM4_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM4_CLK_DISABLE();
-
-    /**TIM4 GPIO Configuration
-    PB6     ------> TIM4_CH1
-    PB7     ------> TIM4_CH2
-    */
-    HAL_GPIO_DeInit(GPIOB, QUAD_0_A_Pin|QUAD_0_B_Pin);
-
-  /* USER CODE BEGIN TIM4_MspDeInit 1 */
-
-  /* USER CODE END TIM4_MspDeInit 1 */
-  }
 
 }
 
diff --git a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_it.c b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_it.c
index 1fafa705a..eabb9dc4f 100644
--- a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_it.c
+++ b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_it.c
@@ -59,8 +59,8 @@ extern FDCAN_HandleTypeDef hfdcan1;
 extern DMA_HandleTypeDef hdma_i2c1_rx;
 extern DMA_HandleTypeDef hdma_i2c1_tx;
 extern I2C_HandleTypeDef hi2c1;
-extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim7;
 extern TIM_HandleTypeDef htim16;
 extern TIM_HandleTypeDef htim17;
@@ -256,7 +256,6 @@ void TIM1_UP_TIM16_IRQHandler(void)
   /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 0 */
 
   /* USER CODE END TIM1_UP_TIM16_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
   HAL_TIM_IRQHandler(&htim16);
   /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 1 */
 
@@ -271,7 +270,6 @@ void TIM1_TRG_COM_TIM17_IRQHandler(void)
   /* USER CODE BEGIN TIM1_TRG_COM_TIM17_IRQn 0 */
 
   /* USER CODE END TIM1_TRG_COM_TIM17_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
   HAL_TIM_IRQHandler(&htim17);
   /* USER CODE BEGIN TIM1_TRG_COM_TIM17_IRQn 1 */
 
@@ -320,6 +318,20 @@ void I2C1_ER_IRQHandler(void)
   /* USER CODE END I2C1_ER_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC3 channel underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM7 global interrupt.
   */
diff --git a/src/esw/fw/bdcmc/bdcmc.ioc b/src/esw/fw/bdcmc/bdcmc.ioc
index 8cc6a75ca..df4ab75e2 100644
--- a/src/esw/fw/bdcmc/bdcmc.ioc
+++ b/src/esw/fw/bdcmc/bdcmc.ioc
@@ -47,22 +47,24 @@ FDCAN1.DataPrescaler=1
 FDCAN1.DataSyncJumpWidth=13
 FDCAN1.DataTimeSeg1=14
 FDCAN1.DataTimeSeg2=13
+FDCAN1.ExtFiltersNbr=1
 FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,AutoRetransmission
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,AutoRetransmission,ExtFiltersNbr
 FDCAN1.Mode=FDCAN_MODE_NORMAL
 FDCAN1.NominalPrescaler=1
 FDCAN1.NominalSyncJumpWidth=19
 FDCAN1.NominalTimeSeg1=120
 FDCAN1.NominalTimeSeg2=19
 File.Version=6
-I2C1.IPParameters=Timing
-I2C1.Timing=0x20B0CCFF
+I2C1.I2C_Speed_Mode=I2C_Fast
+I2C1.IPParameters=Timing,I2C_Speed_Mode
+I2C1.Timing=0x00D04BFF
 KeepUserPlacement=false
 Mcu.CPN=STM32G431CBU3
 Mcu.Family=STM32G4
 Mcu.IP0=DMA
 Mcu.IP1=FDCAN1
-Mcu.IP10=TIM7
+Mcu.IP10=TIM8
 Mcu.IP11=TIM15
 Mcu.IP12=TIM16
 Mcu.IP13=TIM17
@@ -70,10 +72,10 @@ Mcu.IP2=I2C1
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
 Mcu.IP5=SYS
-Mcu.IP6=TIM1
-Mcu.IP7=TIM2
-Mcu.IP8=TIM3
-Mcu.IP9=TIM4
+Mcu.IP6=TIM2
+Mcu.IP7=TIM3
+Mcu.IP8=TIM6
+Mcu.IP9=TIM7
 Mcu.IPNb=14
 Mcu.Name=STM32G431C(6-8-B)Ux
 Mcu.Package=UFQFPN48
@@ -85,37 +87,36 @@ Mcu.Pin12=PB2
 Mcu.Pin13=PB14
 Mcu.Pin14=PB15
 Mcu.Pin15=PC6
-Mcu.Pin16=PA8
-Mcu.Pin17=PA11
-Mcu.Pin18=PA12
-Mcu.Pin19=PA13
+Mcu.Pin16=PA11
+Mcu.Pin17=PA12
+Mcu.Pin18=PA13
+Mcu.Pin19=PA14
 Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=PA14
-Mcu.Pin21=PA15
-Mcu.Pin22=PB6
-Mcu.Pin23=PB7
-Mcu.Pin24=PB8-BOOT0
-Mcu.Pin25=PB9
-Mcu.Pin26=VP_SYS_VS_Systick
-Mcu.Pin27=VP_SYS_VS_DBSignals
-Mcu.Pin28=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin29=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin20=PA15
+Mcu.Pin21=PB8-BOOT0
+Mcu.Pin22=PB9
+Mcu.Pin23=VP_SYS_VS_Systick
+Mcu.Pin24=VP_SYS_VS_DBSignals
+Mcu.Pin25=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin28=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin29=VP_TIM16_VS_ClockSourceINT
 Mcu.Pin3=PF0-OSC_IN
-Mcu.Pin30=VP_TIM16_VS_ClockSourceINT
-Mcu.Pin31=VP_TIM17_VS_ClockSourceINT
-Mcu.Pin32=VP_TIM17_VS_no_output1
+Mcu.Pin30=VP_TIM17_VS_ClockSourceINT
+Mcu.Pin31=VP_TIM17_VS_no_output1
 Mcu.Pin4=PA1
 Mcu.Pin5=PA2
 Mcu.Pin6=PA3
 Mcu.Pin7=PA4
 Mcu.Pin8=PA6
 Mcu.Pin9=PC4
-Mcu.PinsNb=33
+Mcu.PinsNb=32
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431CBUx
-MxCube.Version=6.11.0
-MxDb.Version=DB.6.0.110
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
@@ -134,6 +135,7 @@ NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:false
 NVIC.TIM1_TRG_COM_TIM17_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM1_UP_TIM16_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
+NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM7_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.GPIOParameters=GPIO_Label
@@ -171,15 +173,14 @@ PA4.Signal=S_TIM3_CH2
 PA6.GPIOParameters=GPIO_Label
 PA6.GPIO_Label=QUAD 1 A
 PA6.Signal=S_TIM3_CH1
-PA8.GPIOParameters=GPIO_Label
-PA8.GPIO_Label=MOTOR 1 PWM
-PA8.Signal=S_TIM1_CH1
-PB0.GPIOParameters=GPIO_Label
+PB0.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB0.GPIO_Label=LIMIT 1-1
+PB0.GPIO_PuPd=GPIO_PULLUP
 PB0.Locked=true
 PB0.Signal=GPIO_Input
-PB1.GPIOParameters=GPIO_Label
+PB1.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB1.GPIO_Label=LIMIT 1-2
+PB1.GPIO_PuPd=GPIO_PULLUP
 PB1.Locked=true
 PB1.Signal=GPIO_Input
 PB14.GPIOParameters=GPIO_Label
@@ -190,49 +191,51 @@ PB15.GPIOParameters=GPIO_Label
 PB15.GPIO_Label=MOTOR 0 DIR
 PB15.Locked=true
 PB15.Signal=GPIO_Output
-PB2.GPIOParameters=GPIO_Label
+PB2.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB2.GPIO_Label=LIMIT 1-3
+PB2.GPIO_PuPd=GPIO_PULLUP
 PB2.Locked=true
 PB2.Signal=GPIO_Input
-PB6.GPIOParameters=GPIO_Label
-PB6.GPIO_Label=QUAD 0 A
-PB6.Signal=S_TIM4_CH1
-PB7.GPIOParameters=GPIO_Label
-PB7.GPIO_Label=QUAD 0 B
-PB7.Signal=S_TIM4_CH2
-PB8-BOOT0.GPIOParameters=GPIO_Speed,GPIO_Pu
+PB8-BOOT0.GPIOParameters=GPIO_Speed,GPIO_FM8,GPIO_Pu
+PB8-BOOT0.GPIO_FM8=SYSCFG_FASTMODEPLUS_PB8
 PB8-BOOT0.GPIO_Pu=GPIO_NOPULL
 PB8-BOOT0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PB8-BOOT0.Locked=true
 PB8-BOOT0.Mode=I2C
 PB8-BOOT0.Signal=I2C1_SCL
-PB9.GPIOParameters=GPIO_Speed,GPIO_Pu
+PB9.GPIOParameters=GPIO_Speed,GPIO_Pu,GPIO_FM9
+PB9.GPIO_FM9=SYSCFG_FASTMODEPLUS_PB9
 PB9.GPIO_Pu=GPIO_NOPULL
 PB9.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PB9.Mode=I2C
 PB9.Signal=I2C1_SDA
-PC13.GPIOParameters=GPIO_Label
+PC13.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC13.GPIO_Label=LIMIT 0-0
+PC13.GPIO_PuPd=GPIO_PULLUP
 PC13.Locked=true
 PC13.Signal=GPIO_Input
-PC14-OSC32_IN.GPIOParameters=GPIO_Label
+PC14-OSC32_IN.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC14-OSC32_IN.GPIO_Label=LIMIT 0-1
+PC14-OSC32_IN.GPIO_PuPd=GPIO_PULLUP
 PC14-OSC32_IN.Locked=true
 PC14-OSC32_IN.Signal=GPIO_Input
-PC15-OSC32_OUT.GPIOParameters=GPIO_Label
+PC15-OSC32_OUT.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC15-OSC32_OUT.GPIO_Label=LIMIT 0-2
+PC15-OSC32_OUT.GPIO_PuPd=GPIO_PULLUP
 PC15-OSC32_OUT.Locked=true
 PC15-OSC32_OUT.Signal=GPIO_Input
-PC4.GPIOParameters=GPIO_Label
+PC4.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC4.GPIO_Label=LIMIT 1-0
+PC4.GPIO_PuPd=GPIO_PULLUP
 PC4.Locked=true
 PC4.Signal=GPIO_Input
 PC6.GPIOParameters=GPIO_Label
 PC6.GPIO_Label=MOTOR 1 DIR
 PC6.Locked=true
 PC6.Signal=GPIO_Output
-PF0-OSC_IN.GPIOParameters=GPIO_Label
+PF0-OSC_IN.GPIOParameters=GPIO_PuPd,GPIO_Label
 PF0-OSC_IN.GPIO_Label=LIMIT 0-3
+PF0-OSC_IN.GPIO_PuPd=GPIO_PULLUP
 PF0-OSC_IN.Locked=true
 PF0-OSC_IN.Signal=GPIO_Input
 PinOutPanel.RotationAngle=0
@@ -266,7 +269,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_TIM15_Init-TIM15-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_TIM7_Init-TIM7-false-HAL-true,10-MX_TIM16_Init-TIM16-false-HAL-true,11-MX_TIM2_Init-TIM2-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_TIM17_Init-TIM17-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_TIM15_Init-TIM15-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_TIM16_Init-TIM16-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,11-MX_TIM17_Init-TIM17-false-HAL-true,12-MX_TIM6_Init-TIM6-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true
 RCC.ADC12Freq_Value=140000000
 RCC.AHBFreq_Value=140000000
 RCC.APB1Freq_Value=140000000
@@ -313,18 +316,10 @@ RCC.VCOInputFreq_Value=8000000
 RCC.VCOOutputFreq_Value=280000000
 SH.S_TIM15_CH1.0=TIM15_CH1,PWM Generation1 CH1
 SH.S_TIM15_CH1.ConfNb=1
-SH.S_TIM1_CH1.0=TIM1_CH1,Output Compare1 CH1
-SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
 SH.S_TIM3_CH1.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
 SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
-SH.S_TIM4_CH1.ConfNb=1
-SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
-SH.S_TIM4_CH2.ConfNb=1
-TIM1.Channel-Output\ Compare1\ CH1=TIM_CHANNEL_1
-TIM1.IPParameters=Channel-Output Compare1 CH1
 TIM15.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM15.IPParameters=Prescaler,PeriodNoDither,Channel-PWM Generation1 CH1
 TIM15.PeriodNoDither=99
@@ -354,7 +349,11 @@ VP_TIM17_VS_no_output1.Mode=Output Compare1 No Output
 VP_TIM17_VS_no_output1.Signal=TIM17_VS_no_output1
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
+VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
 VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=custom
 isbadioc=false
diff --git a/src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino b/src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino
index da8cbf0b0..b6b227b0b 100644
--- a/src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino
+++ b/src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino
@@ -1,5 +1,5 @@
-#include <DFRobot_SHT20.h>
 #include <ros.h>
+#include <DFRobot_SHT20.h>
 #include <sensor_msgs/Temperature.h>
 #include <sensor_msgs/RelativeHumidity.h>
 
@@ -14,11 +14,11 @@ ros::Publisher humidity_pub("sa_humidity_data", &humidity_data);
 DFRobot_SHT20 sht20(&Wire, SHT20_I2C_ADDR);
 
 void setup(){
-
+  nh.getHardware()->setBaud(57600); // Have to set this parameter
   nh.initNode();
   nh.advertise(temperature_pub);
   nh.advertise(humidity_pub);
-
+  //Serial.begin(9600);
   sht20.initSHT20();
   delay(100);
 }
@@ -27,6 +27,12 @@ void loop(){
 
   float temp = sht20.readTemperature();
   float humidity = sht20.readHumidity() / 100.0;
+/*
+  Serial.print(temp);
+  Serial.print("   ");
+  Serial.print(humidity);
+  Serial.print("\n");
+  */
 
   temperature_data.temperature = temp;
   temperature_pub.publish(&temperature_data);
diff --git a/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp b/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
index 151f77556..39e9ccd85 100644
--- a/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
+++ b/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
@@ -9,6 +9,8 @@
 #include <string.h>
 #include <memory>
 
+// TMP6431DECR
+
 namespace mrover {
 
     class DiagTempSensor {
diff --git a/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp b/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
index 8c7bcd597..f3f2a4c95 100644
--- a/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
+++ b/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
@@ -5,6 +5,8 @@
 
 #include <diag_temp_sensor.hpp>
 
+// TMP6431DECR
+
 namespace mrover {
 
     constexpr static float DIAG_TEMP_COEFFICIENT = 0.0064f;
@@ -23,6 +25,7 @@ namespace mrover {
     void DiagTempSensor::update_temp() {
     	uint16_t adc_val = m_adc_sensor->get_raw_channel_value(m_channel);
     	float measured_volts = (adc_val * 3.3f) / 4096.0f;
+
     	m_temp = (THRM_A4 * powf(measured_volts,4)) + (THRM_A3 * powf(measured_volts,3)) + (THRM_A2 * powf(measured_volts,2)) + (THRM_A1 *  measured_volts) + THRM_A0;
     }
 
diff --git a/src/esw/fw/pdlb/Core/Src/main.c b/src/esw/fw/pdlb/Core/Src/main.c
index 10d641360..98a6fe28c 100644
--- a/src/esw/fw/pdlb/Core/Src/main.c
+++ b/src/esw/fw/pdlb/Core/Src/main.c
@@ -205,6 +205,7 @@ int main(void)
 
   /* Start scheduler */
   osKernelStart();
+
   /* We should never get here as control is now taken by the scheduler */
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
@@ -317,7 +318,7 @@ static void MX_ADC1_Init(void)
   */
   sConfig.Channel = ADC_CHANNEL_1;
   sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  sConfig.SamplingTime = ADC_SAMPLETIME_12CYCLES_5;
   sConfig.SingleDiff = ADC_SINGLE_ENDED;
   sConfig.OffsetNumber = ADC_OFFSET_NONE;
   sConfig.Offset = 0;
@@ -457,7 +458,7 @@ static void MX_ADC2_Init(void)
   */
   sConfig.Channel = ADC_CHANNEL_10;
   sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  sConfig.SamplingTime = ADC_SAMPLETIME_640CYCLES_5;
   sConfig.SingleDiff = ADC_SINGLE_ENDED;
   sConfig.OffsetNumber = ADC_OFFSET_NONE;
   sConfig.Offset = 0;
@@ -511,7 +512,7 @@ static void MX_FDCAN1_Init(void)
   hfdcan1.Init.DataTimeSeg1 = 14;
   hfdcan1.Init.DataTimeSeg2 = 13;
   hfdcan1.Init.StdFiltersNbr = 0;
-  hfdcan1.Init.ExtFiltersNbr = 0;
+  hfdcan1.Init.ExtFiltersNbr = 1;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
   {
@@ -624,7 +625,7 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 
 void SendCurrentTemperature(void* argument) {
 	for(;;) {
-		uint32_t tick = osKernelGetTickCount() + osKernelGetTickFreq(); // 1 Hz
+		uint32_t tick = osKernelGetTickCount() + (osKernelGetTickFreq() / 10.0); // 10 Hz
 
 		update_and_send_current_temp();
 		osDelayUntil(tick);
diff --git a/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c b/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
index e8a63291c..4685060eb 100644
--- a/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
+++ b/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
@@ -152,8 +153,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
     hdma_adc1.Init.Mode = DMA_NORMAL;
     hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
     if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
@@ -211,8 +212,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     hdma_adc2.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_adc2.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_adc2.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
     hdma_adc2.Init.Mode = DMA_NORMAL;
     hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
     if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
diff --git a/src/esw/fw/pdlb/pdlb.ioc b/src/esw/fw/pdlb/pdlb.ioc
index 7d0bf72af..90d1e4a67 100644
--- a/src/esw/fw/pdlb/pdlb.ioc
+++ b/src/esw/fw/pdlb/pdlb.ioc
@@ -33,16 +33,16 @@ ADC1.Rank-6\#ChannelRegularConversion=7
 ADC1.Rank-7\#ChannelRegularConversion=8
 ADC1.Rank-8\#ChannelRegularConversion=9
 ADC1.Rank-9\#ChannelRegularConversion=10
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-9\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-9\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
 ADC1.master=1
 ADC2.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_10
 ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
@@ -54,18 +54,18 @@ ADC2.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
 ADC2.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
 ADC2.Rank-0\#ChannelRegularConversion=1
 ADC2.Rank-1\#ChannelRegularConversion=2
-ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_640CYCLES_5
+ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_640CYCLES_5
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.EventEnable=DISABLE
 Dma.ADC1.0.Instance=DMA1_Channel1
-Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
 Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
 Dma.ADC1.0.Mode=DMA_NORMAL
-Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_WORD
 Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
 Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
 Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
@@ -79,10 +79,10 @@ Dma.ADC1.0.SyncSignalID=NONE
 Dma.ADC2.1.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC2.1.EventEnable=DISABLE
 Dma.ADC2.1.Instance=DMA1_Channel2
-Dma.ADC2.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC2.1.MemDataAlignment=DMA_MDATAALIGN_WORD
 Dma.ADC2.1.MemInc=DMA_MINC_ENABLE
 Dma.ADC2.1.Mode=DMA_NORMAL
-Dma.ADC2.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC2.1.PeriphDataAlignment=DMA_PDATAALIGN_WORD
 Dma.ADC2.1.PeriphInc=DMA_PINC_DISABLE
 Dma.ADC2.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
 Dma.ADC2.1.Priority=DMA_PRIORITY_LOW
@@ -104,8 +104,9 @@ FDCAN1.DataPrescaler=5
 FDCAN1.DataSyncJumpWidth=13
 FDCAN1.DataTimeSeg1=14
 FDCAN1.DataTimeSeg2=13
+FDCAN1.ExtFiltersNbr=1
 FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,DataSyncJumpWidth,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,NominalPrescaler,DataTimeSeg1,DataTimeSeg2,TransmitPause,AutoRetransmission,DataPrescaler
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,DataSyncJumpWidth,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,NominalPrescaler,DataTimeSeg1,DataTimeSeg2,TransmitPause,AutoRetransmission,DataPrescaler,ExtFiltersNbr
 FDCAN1.NominalPrescaler=1
 FDCAN1.NominalSyncJumpWidth=19
 FDCAN1.NominalTimeSeg1=120
@@ -157,8 +158,8 @@ Mcu.PinsNb=24
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431CBUx
-MxCube.Version=6.8.1
-MxDb.Version=DB.6.0.81
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Channel2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -276,7 +277,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
diff --git a/src/esw/fw/science/.cproject b/src/esw/fw/science/.cproject
index 6902faf68..5dbf61419 100644
--- a/src/esw/fw/science/.cproject
+++ b/src/esw/fw/science/.cproject
@@ -37,7 +37,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.396546704" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.277478093" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1828333568" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1828333568" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.309418606" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
diff --git a/src/esw/fw/science/.mxproject b/src/esw/fw/science/.mxproject
index 2619f6e4c..a1515608f 100644
--- a/src/esw/fw/science/.mxproject
+++ b/src/esw/fw/science/.mxproject
@@ -1,27 +1,27 @@
 [PreviousLibFiles]
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
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core\Src\main.c;Core\Src\app_freertos.c;Core\Src\stm32g4xx_it.c;Core\Src\stm32g4xx_hal_msp.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_adc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_adc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
-HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;Core\Inc;
+SourceFiles=Core/Src/main.c;Core/Src/app_freertos.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32G4xx_HAL_Driver/Inc;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32G4xx/Include;Drivers/CMSIS/Include;Core/Inc;
 CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=4
-HeaderFiles#0=..\Core\Inc\FreeRTOSConfig.h
-HeaderFiles#1=..\Core\Inc\stm32g4xx_it.h
-HeaderFiles#2=..\Core\Inc\stm32g4xx_hal_conf.h
-HeaderFiles#3=..\Core\Inc\main.h
+HeaderFiles#0=../Core/Inc/FreeRTOSConfig.h
+HeaderFiles#1=../Core/Inc/stm32g4xx_it.h
+HeaderFiles#2=../Core/Inc/stm32g4xx_hal_conf.h
+HeaderFiles#3=../Core/Inc/main.h
 HeaderFolderListSize=1
-HeaderPath#0=..\Core\Inc
+HeaderPath#0=../Core/Inc
 HeaderFiles=;
 SourceFileListSize=4
-SourceFiles#0=..\Core\Src\app_freertos.c
-SourceFiles#1=..\Core\Src\stm32g4xx_it.c
-SourceFiles#2=..\Core\Src\stm32g4xx_hal_msp.c
-SourceFiles#3=..\Core\Src\main.c
+SourceFiles#0=../Core/Src/app_freertos.c
+SourceFiles#1=../Core/Src/stm32g4xx_it.c
+SourceFiles#2=../Core/Src/stm32g4xx_hal_msp.c
+SourceFiles#3=../Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=..\Core\Src
+SourcePath#0=../Core/Src
 SourceFiles=;
 
diff --git a/src/esw/fw/science/Core/Inc/heater.hpp b/src/esw/fw/science/Core/Inc/heater.hpp
index 60b8fc62b..6cab4eab9 100644
--- a/src/esw/fw/science/Core/Inc/heater.hpp
+++ b/src/esw/fw/science/Core/Inc/heater.hpp
@@ -11,6 +11,8 @@
 
 namespace mrover {
 
+	constexpr static float DEFAULT_MAX_HEATER_TEMP = 50.0f;
+
     class Heater {
     public:
     	Heater() = default;
@@ -27,6 +29,7 @@ namespace mrover {
 
         void turn_off_if_watchdog_not_fed();
 
+        void change_shutoff_temp(float shutoff_temp);
 
         void set_auto_shutoff(bool enable);
 
@@ -37,7 +40,8 @@ namespace mrover {
         Pin m_heater_pin;
         bool m_state {};
         bool m_auto_shutoff_enabled {};
-        float m_last_time_received_message {};
+        uint32_t m_last_time_received_message {};
+        float m_max_heater_temp {DEFAULT_MAX_HEATER_TEMP};
     };
 
 } // namespace mrover
diff --git a/src/esw/fw/science/Core/Inc/science.hpp b/src/esw/fw/science/Core/Inc/science.hpp
index a2c4ba5ca..cf5149ccb 100644
--- a/src/esw/fw/science/Core/Inc/science.hpp
+++ b/src/esw/fw/science/Core/Inc/science.hpp
@@ -76,6 +76,12 @@ namespace mrover {
         	}
         }
 
+		void feed(ConfigThermistorAutoShutOffCommand const& message) {
+			for (int i = 0; i < 6; ++i) {
+				m_heaters.at(i).change_shutoff_temp(message.shutoff_temp);
+			}
+		}
+
     public:
         Science() = default;
 
@@ -104,7 +110,6 @@ namespace mrover {
         }
 
         void reboot_i2c() {
-        	//m_spectral_sensors.at(0).reboot();
         	m_i2c_bus->reboot();
         }
 
@@ -117,9 +122,7 @@ namespace mrover {
 				spectral_data.error =
 						m_spectral_sensors.at(i).is_error();
 				if (spectral_data.error) {
-
-//					reboot_i2c(); // This causes a crash
-
+//					reboot_i2c(); // Does this still cause crashes? yes
 				}
         		for (int j = 0; j < 6; ++j) {
 					spectral_data.data.at(j) =
@@ -164,4 +167,4 @@ namespace mrover {
 
     };
 
-} // namespace mrover
\ No newline at end of file
+} // namespace mrover
diff --git a/src/esw/fw/science/Core/Inc/spectral.hpp b/src/esw/fw/science/Core/Inc/spectral.hpp
index ee6d61b51..15b6e6196 100644
--- a/src/esw/fw/science/Core/Inc/spectral.hpp
+++ b/src/esw/fw/science/Core/Inc/spectral.hpp
@@ -26,9 +26,10 @@ namespace mrover {
         	READ,
 			WRITE
         };
+
         void poll_status_reg(I2C_OP rw);
 
-    	void update_channel_data(); // updates all of the channels
+    	void update_channel_data();
 
     	float get_channel_data(uint8_t channel);
 
@@ -39,7 +40,7 @@ namespace mrover {
         void init();
 
         void virtual_write(uint8_t virtual_reg, uint8_t data);
-        uint8_t virtual_read(uint8_t virtual_reg);// -> std::optional<uint16_t>;
+        uint8_t virtual_read(uint8_t virtual_reg);
 
         constexpr static std::uint16_t SPECTRAL_7b_ADDRESS = 0x49;
         constexpr static std::uint8_t I2C_AS72XX_SLAVE_STATUS_REG = 0x00;
@@ -59,9 +60,6 @@ namespace mrover {
         uint8_t m_i2c_mux_channel;
         constexpr static std::uint8_t CHANNEL_DATA_LENGTH = 6;
         std::array<float, CHANNEL_DATA_LENGTH> channel_data {};
-        // Sensor Raw Data Registers Start, 6 channels, 2 bytes each.
-        // See pg. 22 of datasheet for more info.
-//        constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
         // Sensor Calibrated Data Registers Start (p. 23 on datasheet)
         constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
         constexpr static std::uint8_t CHANNEL_V_CAL = 0x14;
diff --git a/src/esw/fw/science/Core/Inc/stm32g4xx_hal_conf.h b/src/esw/fw/science/Core/Inc/stm32g4xx_hal_conf.h
index cf5a208d0..a73c442d8 100644
--- a/src/esw/fw/science/Core/Inc/stm32g4xx_hal_conf.h
+++ b/src/esw/fw/science/Core/Inc/stm32g4xx_hal_conf.h
@@ -62,7 +62,7 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 /*#define HAL_UART_MODULE_ENABLED   */
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */
diff --git a/src/esw/fw/science/Core/Src/heater.cpp b/src/esw/fw/science/Core/Src/heater.cpp
index c72444a56..6cfeb20e8 100644
--- a/src/esw/fw/science/Core/Src/heater.cpp
+++ b/src/esw/fw/science/Core/Src/heater.cpp
@@ -5,16 +5,18 @@
 
 #include "heater.hpp"
 
+
+
+
 namespace mrover {
 
-    constexpr static float MAX_HEATER_TEMP = 50.0f;
     constexpr static int MAX_HEATER_WATCHDOG_TICK = 1000;
 
     Heater::Heater(DiagTempSensor const& diag_temp_sensor, Pin const& heater_pin)
     	: m_diag_temp_sensor(std::move(diag_temp_sensor)),
 		  m_heater_pin(std::move(heater_pin)),
 		  m_state(false),
-		  m_auto_shutoff_enabled(true),
+		  m_auto_shutoff_enabled(true),  // TODO - may want to make true if thermistors work
 		  m_last_time_received_message(0)
 	   {}
 
@@ -27,7 +29,7 @@ namespace mrover {
     }
 
     void Heater::enable_if_possible(bool enable) {
-    	if (enable && m_auto_shutoff_enabled && get_temp() >= MAX_HEATER_TEMP) {
+    	if (enable && m_auto_shutoff_enabled && get_temp() >= m_max_heater_temp) {
     		// The only time you don't service the request is if auto_shutoff is enabled
     		// and they want to turn it on when past the heater temp
 			m_state = false;
@@ -43,7 +45,7 @@ namespace mrover {
 
     void Heater::update_temp_and_auto_shutoff_if_applicable() {
     	m_diag_temp_sensor.update_science_temp();
-    	if (m_state && m_auto_shutoff_enabled && (get_temp() >= MAX_HEATER_TEMP)) {
+    	if (m_state && m_auto_shutoff_enabled && (get_temp() >= m_max_heater_temp)) {
 			m_state = false;
 			m_heater_pin.write(GPIO_PIN_RESET);
 		}
@@ -59,6 +61,10 @@ namespace mrover {
     	}
     }
 
+    void Heater::change_shutoff_temp(float shutoff_temp) {
+    	m_max_heater_temp = shutoff_temp;
+    }
+
     void Heater::feed_watchdog() {
     	m_last_time_received_message = HAL_GetTick();
     }
diff --git a/src/esw/fw/science/Core/Src/i2c_mux.cpp b/src/esw/fw/science/Core/Src/i2c_mux.cpp
index ca292b503..4760ceced 100644
--- a/src/esw/fw/science/Core/Src/i2c_mux.cpp
+++ b/src/esw/fw/science/Core/Src/i2c_mux.cpp
@@ -14,10 +14,10 @@ namespace mrover {
     		current_channel = go_to_channel;
     	}
     	else{
+			// Reset mux. Disables all downstream I2C Channels
     		m_reset_pin.write(GPIO_PIN_RESET);
     		osDelay(50);
     		m_reset_pin.write(GPIO_PIN_SET);
-    		// Error handling
     	}
     }
 } // namespace mrover
diff --git a/src/esw/fw/science/Core/Src/main.c b/src/esw/fw/science/Core/Src/main.c
index d1bc0af35..bb49a2534 100644
--- a/src/esw/fw/science/Core/Src/main.c
+++ b/src/esw/fw/science/Core/Src/main.c
@@ -49,6 +49,8 @@ FDCAN_HandleTypeDef hfdcan1;
 
 I2C_HandleTypeDef hi2c1;
 
+TIM_HandleTypeDef htim16;
+
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
@@ -81,6 +83,7 @@ static void MX_DMA_Init(void);
 static void MX_FDCAN1_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_ADC1_Init(void);
+static void MX_TIM16_Init(void);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -156,6 +159,7 @@ int main(void)
   MX_FDCAN1_Init();
   MX_I2C1_Init();
   MX_ADC1_Init();
+  MX_TIM16_Init();
   /* USER CODE BEGIN 2 */
 
   init();
@@ -183,11 +187,10 @@ int main(void)
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-//  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
 
-  // TODO - Using spectral causes a hardfault!!!
   SpectralTaskHandle = osThreadNew(SpectralTask, NULL, &SpectralTask_attributes);
   ThermistorAndAutoShutoffTaskHandle = osThreadNew(ThermistorAndAutoShutoffTask, NULL, &ThermistorAndAutoShutoffTask_attributes);
 
@@ -464,6 +467,38 @@ static void MX_I2C1_Init(void)
 
 }
 
+/**
+  * @brief TIM16 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM16_Init(void)
+{
+
+  /* USER CODE BEGIN TIM16_Init 0 */
+
+  /* USER CODE END TIM16_Init 0 */
+
+  /* USER CODE BEGIN TIM16_Init 1 */
+
+  /* USER CODE END TIM16_Init 1 */
+  htim16.Instance = TIM16;
+  htim16.Init.Prescaler = 0;
+  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim16.Init.Period = 65535;
+  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim16.Init.RepetitionCounter = 0;
+  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM16_Init 2 */
+
+  /* USER CODE END TIM16_Init 2 */
+
+}
+
 /**
   * Enable DMA controller clock
   */
@@ -546,12 +581,11 @@ void SpectralTask(void *argument) {
 	for(;;) {
 		tick = osKernelGetTickCount() + osKernelGetTickFreq(); // 1 Hz
 
-		// finish
-//		poll_spectral_status();
 		update_and_send_spectral();
 		osDelayUntil(tick);
 	}
 }
+
 void ThermistorAndAutoShutoffTask(void *argument) {
 	uint32_t tick = osKernelGetTickCount();
 	for(;;) {
@@ -614,4 +648,4 @@ void assert_failed(uint8_t *file, uint32_t line)
      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
   /* USER CODE END 6 */
 }
-#endif /* USE_FULL_ASSERT */
\ No newline at end of file
+#endif /* USE_FULL_ASSERT */
diff --git a/src/esw/fw/science/Core/Src/science.cpp b/src/esw/fw/science/Core/Src/science.cpp
index bd7caf132..80c9db563 100644
--- a/src/esw/fw/science/Core/Src/science.cpp
+++ b/src/esw/fw/science/Core/Src/science.cpp
@@ -130,8 +130,26 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo0ITs)
     }
 }
 
+//void HAL_I2C_MasterTXCpltCallback(I2C_HandleTypeDef *hi2c) {
+//	HAL_I2C_Master_Receive_IT(hi2c, (mrover::Spectral::SPECTRAL_7b_ADDRESS << 1 | 1), (uint8_t*)spectral_status_buffer, sizeof(spectral_status_buffer));
+//}
+//
+//void HAL_I2C_MasterRXCpltCallback(I2C_HandleTypeDef *hi2c) {
+//	// If we want to use this for anything else than checking spectral status reg,
+//	// then this function needs additional logic
+//
+//	if ((spectral_status_buffer[0] & mrover::Spectral::I2C_AS72XX_SLAVE_TX_VALID) == 0) {
+//		osSemaphoreRelease(spectral_write_status);
+//	}
+//
+//	if ((spectral_status_buffer[0] & mrover::Spectral::I2C_AS72XX_SLAVE_RX_VALID) == 0) {
+//		osSemaphoreRelease(spectral_read_status);
+//	}
+//
+//}
+
 void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
 	// Something is most likely wrong with the I2C bus
 	// if we get to this point
 	mrover::science.reboot_i2c();
-}
\ No newline at end of file
+}
diff --git a/src/esw/fw/science/Core/Src/spectral.cpp b/src/esw/fw/science/Core/Src/spectral.cpp
index af5edc8e1..410ee8f20 100644
--- a/src/esw/fw/science/Core/Src/spectral.cpp
+++ b/src/esw/fw/science/Core/Src/spectral.cpp
@@ -21,7 +21,6 @@ namespace mrover {
     }
 
     void Spectral::poll_status_reg(I2C_OP rw){
-    	m_i2c_mux->set_channel(m_i2c_mux_channel);
     	for(int i = 0; i < 100; ++i){
 			auto status = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_SLAVE_STATUS_REG);
 
@@ -42,11 +41,13 @@ namespace mrover {
 			else {
 				m_error = true;
 				m_initialized = false;
+//				return;
 			}
 
 			osDelay(5); // Non blocking delay
     	}
 
+    	//throw mrover::I2CRuntimeError("SPECTRAL");
     	m_error = true;
     	m_initialized = false;
     }
@@ -64,6 +65,8 @@ namespace mrover {
 		// DATA_RDY is 0 and RSVD is 0
 		virtual_write(CONTROL_SETUP_REG, control_data);
 		osDelay(50);
+//		virtual_write(CONTROL_SETUP_REG, control_data);
+//		osDelay(50);
 
 		// Integration time = 2.8ms & 0xFF
 		uint8_t int_time_multiplier = 0xFF; //0xFF;
@@ -79,7 +82,6 @@ namespace mrover {
     void Spectral::update_channel_data() {
     	if (!m_initialized) {
     		init();
-    		// If it is still not initialized, just return.
 			if (!m_initialized) {
 				return;
 			}
@@ -111,27 +113,32 @@ namespace mrover {
     	return channel_data.at(channel);
     }
 
-    void Spectral::virtual_write(uint8_t virtual_reg, uint8_t data){
+    void Spectral::virtual_write(uint8_t virtual_reg, uint8_t data) {
 		poll_status_reg(I2C_OP::WRITE);
 		uint8_t buf[2];
 		buf[0] = I2C_AS72XX_WRITE_REG;
 		buf[1] = (virtual_reg | 0x80);
+//		m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
+		// How to send multiple bytes?
     	HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
 
 		poll_status_reg(I2C_OP::WRITE);
-		buf[0] = I2C_AS72XX_WRITE_REG;
 		buf[1] = data;
+//		m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
 
 		HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
 
     }
 
-    uint8_t Spectral::virtual_read(uint8_t virtual_reg){// -> std::optional<uint16_t>{
-    	// Read status register may not work quite how it is described in the datasheet
-
+    uint8_t Spectral::virtual_read(uint8_t virtual_reg) {
+		// *IMPORTANT*
+		// This is necessary to clear the READ register.
+		// Otherwise the status bit will not change properly to 
+		// indicate new data is available
     	auto status = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_SLAVE_STATUS_REG);
 
     	if (status.has_value()) {
+			
 			if ((status.value() & I2C_AS72XX_SLAVE_RX_VALID) != 0) {
 				auto not_used = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
 			}
@@ -141,6 +148,7 @@ namespace mrover {
     		m_initialized = false;
     		return 0;
     	}
+		// *IMPORTANT*
 
     	poll_status_reg(I2C_OP::WRITE);
 
@@ -151,6 +159,10 @@ namespace mrover {
 		buf[0] = I2C_AS72XX_WRITE_REG;
 		buf[1] = virtual_reg;
 		HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
+		// UNABLE TO USE this format because TSend is 1 byte, need to double up
+		// TODO resolve this somehow...
+//		m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
+
 
 		poll_status_reg(I2C_OP::READ);
 
@@ -159,6 +171,8 @@ namespace mrover {
 		}
 
 		auto result = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
+//		m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
+//		auto result = m_i2c_bus->blocking_receive(SPECTRAL_7b_ADDRESS);
 		if(!result.has_value()){
 			m_error = true;
 			return 0;
@@ -170,4 +184,4 @@ namespace mrover {
     bool Spectral::is_error() {
     	return m_error;
     }
-} // namespace mrover
\ No newline at end of file
+} // namespace mrover
diff --git a/src/esw/fw/science/Core/Src/stm32g4xx_hal_msp.c b/src/esw/fw/science/Core/Src/stm32g4xx_hal_msp.c
index 96fa26e1d..d6eed489d 100644
--- a/src/esw/fw/science/Core/Src/stm32g4xx_hal_msp.c
+++ b/src/esw/fw/science/Core/Src/stm32g4xx_hal_msp.c
@@ -360,6 +360,50 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 
 }
 
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspInit 0 */
+
+  /* USER CODE END TIM16_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM16_CLK_ENABLE();
+  /* USER CODE BEGIN TIM16_MspInit 1 */
+
+  /* USER CODE END TIM16_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspDeInit 0 */
+
+  /* USER CODE END TIM16_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM16_CLK_DISABLE();
+  /* USER CODE BEGIN TIM16_MspDeInit 1 */
+
+  /* USER CODE END TIM16_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
-/* USER CODE END 1 */
\ No newline at end of file
+/* USER CODE END 1 */
diff --git a/src/esw/fw/science/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h b/src/esw/fw/science/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h
new file mode 100644
index 000000000..d42f1587d
--- /dev/null
+++ b/src/esw/fw/science/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h
@@ -0,0 +1,6716 @@
+/**
+  ******************************************************************************
+  * @file    stm32g4xx_ll_tim.h
+  * @author  MCD Application Team
+  * @brief   Header file of TIM LL module.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2019 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32G4xx_LL_TIM_H
+#define __STM32G4xx_LL_TIM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32g4xx.h"
+
+/** @addtogroup STM32G4xx_LL_Driver
+  * @{
+  */
+
+#if defined (TIM1) || defined (TIM2) || defined (TIM3) || defined (TIM4) || defined (TIM5) || defined (TIM6) || defined (TIM7) || defined (TIM8) || defined (TIM15) || defined (TIM16) || defined (TIM17) || defined (TIM20)
+
+/** @defgroup TIM_LL TIM
+  * @{
+  */
+
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup TIM_LL_Private_Variables TIM Private Variables
+  * @{
+  */
+static const uint8_t OFFSET_TAB_CCMRx[] =
+{
+  0x00U,   /* 0: TIMx_CH1  */
+  0x00U,   /* 1: TIMx_CH1N */
+  0x00U,   /* 2: TIMx_CH2  */
+  0x00U,   /* 3: TIMx_CH2N */
+  0x04U,   /* 4: TIMx_CH3  */
+  0x04U,   /* 5: TIMx_CH3N */
+  0x04U,   /* 6: TIMx_CH4  */
+  0x04U,   /* 7: TIMx_CH4N */
+  0x38U,   /* 8: TIMx_CH5  */
+  0x38U    /* 9: TIMx_CH6  */
+
+};
+
+static const uint8_t SHIFT_TAB_OCxx[] =
+{
+  0U,            /* 0: OC1M, OC1FE, OC1PE */
+  0U,            /* 1: - NA */
+  8U,            /* 2: OC2M, OC2FE, OC2PE */
+  0U,            /* 3: - NA */
+  0U,            /* 4: OC3M, OC3FE, OC3PE */
+  0U,            /* 5: - NA */
+  8U,            /* 6: OC4M, OC4FE, OC4PE */
+  0U,            /* 7: - NA */
+  0U,            /* 8: OC5M, OC5FE, OC5PE */
+  8U             /* 9: OC6M, OC6FE, OC6PE */
+};
+
+static const uint8_t SHIFT_TAB_ICxx[] =
+{
+  0U,            /* 0: CC1S, IC1PSC, IC1F */
+  0U,            /* 1: - NA */
+  8U,            /* 2: CC2S, IC2PSC, IC2F */
+  0U,            /* 3: - NA */
+  0U,            /* 4: CC3S, IC3PSC, IC3F */
+  0U,            /* 5: - NA */
+  8U,            /* 6: CC4S, IC4PSC, IC4F */
+  0U,            /* 7: - NA */
+  0U,            /* 8: - NA */
+  0U             /* 9: - NA */
+};
+
+static const uint8_t SHIFT_TAB_CCxP[] =
+{
+  0U,            /* 0: CC1P */
+  2U,            /* 1: CC1NP */
+  4U,            /* 2: CC2P */
+  6U,            /* 3: CC2NP */
+  8U,            /* 4: CC3P */
+  10U,           /* 5: CC3NP */
+  12U,           /* 6: CC4P */
+  14U,           /* 7: CC4NP */
+  16U,           /* 8: CC5P */
+  20U            /* 9: CC6P */
+};
+
+static const uint8_t SHIFT_TAB_OISx[] =
+{
+  0U,            /* 0: OIS1 */
+  1U,            /* 1: OIS1N */
+  2U,            /* 2: OIS2 */
+  3U,            /* 3: OIS2N */
+  4U,            /* 4: OIS3 */
+  5U,            /* 5: OIS3N */
+  6U,            /* 6: OIS4 */
+  7U,            /* 7: OIS4N */
+  8U,            /* 8: OIS5 */
+  10U            /* 9: OIS6 */
+};
+/**
+  * @}
+  */
+
+/* Private constants ---------------------------------------------------------*/
+/** @defgroup TIM_LL_Private_Constants TIM Private Constants
+  * @{
+  */
+
+/* Defines used for the bit position in the register and perform offsets */
+#define TIM_POSITION_BRK_SOURCE            (POSITION_VAL(Source) & 0x1FUL)
+
+/* Generic bit definitions for TIMx_AF1 register */
+#define TIMx_AF1_BKINP     TIM1_AF1_BKINP     /*!< BRK BKIN input polarity */
+#define TIMx_AF1_ETRSEL    TIM1_AF1_ETRSEL    /*!< TIMx ETR source selection */
+
+
+/* Mask used to set the TDG[x:0] of the DTG bits of the TIMx_BDTR register */
+#define DT_DELAY_1 ((uint8_t)0x7F)
+#define DT_DELAY_2 ((uint8_t)0x3F)
+#define DT_DELAY_3 ((uint8_t)0x1F)
+#define DT_DELAY_4 ((uint8_t)0x1F)
+
+/* Mask used to set the DTG[7:5] bits of the DTG bits of the TIMx_BDTR register */
+#define DT_RANGE_1 ((uint8_t)0x00)
+#define DT_RANGE_2 ((uint8_t)0x80)
+#define DT_RANGE_3 ((uint8_t)0xC0)
+#define DT_RANGE_4 ((uint8_t)0xE0)
+
+/** Legacy definitions for compatibility purpose
+@cond 0
+  */
+/**
+@endcond
+  */
+
+#define OCREF_CLEAR_SELECT_Pos (28U)
+#define OCREF_CLEAR_SELECT_Msk (0x1U << OCREF_CLEAR_SELECT_Pos)                /*!< 0x10000000 */
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup TIM_LL_Private_Macros TIM Private Macros
+  * @{
+  */
+/** @brief  Convert channel id into channel index.
+  * @param  __CHANNEL__ This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval none
+  */
+#define TIM_GET_CHANNEL_INDEX( __CHANNEL__) \
+  (((__CHANNEL__) == LL_TIM_CHANNEL_CH1) ? 0U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH1N) ? 1U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH2) ? 2U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH2N) ? 3U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH3) ? 4U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH3N) ? 5U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH4) ? 6U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH4N) ? 7U :\
+   ((__CHANNEL__) == LL_TIM_CHANNEL_CH5) ? 8U : 9U)
+
+/** @brief  Calculate the deadtime sampling period(in ps).
+  * @param  __TIMCLK__ timer input clock frequency (in Hz).
+  * @param  __CKD__ This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV1
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV2
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV4
+  * @retval none
+  */
+#define TIM_CALC_DTS(__TIMCLK__, __CKD__)                                                        \
+  (((__CKD__) == LL_TIM_CLOCKDIVISION_DIV1) ? ((uint64_t)1000000000000U/(__TIMCLK__))         : \
+   ((__CKD__) == LL_TIM_CLOCKDIVISION_DIV2) ? ((uint64_t)1000000000000U/((__TIMCLK__) >> 1U)) : \
+   ((uint64_t)1000000000000U/((__TIMCLK__) >> 2U)))
+/**
+  * @}
+  */
+
+
+/* Exported types ------------------------------------------------------------*/
+#if defined(USE_FULL_LL_DRIVER)
+/** @defgroup TIM_LL_ES_INIT TIM Exported Init structure
+  * @{
+  */
+
+/**
+  * @brief  TIM Time Base configuration structure definition.
+  */
+typedef struct
+{
+  uint16_t Prescaler;         /*!< Specifies the prescaler value used to divide the TIM clock.
+                                   This parameter can be a number between Min_Data=0x0000 and Max_Data=0xFFFF.
+
+                                   This feature can be modified afterwards using unitary function
+                                   @ref LL_TIM_SetPrescaler().*/
+
+  uint32_t CounterMode;       /*!< Specifies the counter mode.
+                                   This parameter can be a value of @ref TIM_LL_EC_COUNTERMODE.
+
+                                   This feature can be modified afterwards using unitary function
+                                   @ref LL_TIM_SetCounterMode().*/
+
+  uint32_t Autoreload;        /*!< Specifies the auto reload value to be loaded into the active
+                                   Auto-Reload Register at the next update event.
+                                   This parameter must be a number between Min_Data=0x0000 and Max_Data=0xFFFF.
+                                   Some timer instances may support 32 bits counters. In that case this parameter must
+                                   be a number between 0x0000 and 0xFFFFFFFF.
+
+                                   This feature can be modified afterwards using unitary function
+                                   @ref LL_TIM_SetAutoReload().*/
+
+  uint32_t ClockDivision;     /*!< Specifies the clock division.
+                                   This parameter can be a value of @ref TIM_LL_EC_CLOCKDIVISION.
+
+                                   This feature can be modified afterwards using unitary function
+                                   @ref LL_TIM_SetClockDivision().*/
+
+  uint32_t RepetitionCounter;  /*!< Specifies the repetition counter value. Each time the RCR downcounter
+                                   reaches zero, an update event is generated and counting restarts
+                                   from the RCR value (N).
+                                   This means in PWM mode that (N+1) corresponds to:
+                                      - the number of PWM periods in edge-aligned mode
+                                      - the number of half PWM period in center-aligned mode
+                                   GP timers: this parameter must be a number between Min_Data = 0x00 and
+                                   Max_Data = 0xFF.
+                                   Advanced timers: this parameter must be a number between Min_Data = 0x0000 and
+                                   Max_Data = 0xFFFF.
+
+                                   This feature can be modified afterwards using unitary function
+                                   @ref LL_TIM_SetRepetitionCounter().*/
+} LL_TIM_InitTypeDef;
+
+/**
+  * @brief  TIM Output Compare configuration structure definition.
+  */
+typedef struct
+{
+  uint32_t OCMode;        /*!< Specifies the output mode.
+                               This parameter can be a value of @ref TIM_LL_EC_OCMODE.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_OC_SetMode().*/
+
+  uint32_t OCState;       /*!< Specifies the TIM Output Compare state.
+                               This parameter can be a value of @ref TIM_LL_EC_OCSTATE.
+
+                               This feature can be modified afterwards using unitary functions
+                               @ref LL_TIM_CC_EnableChannel() or @ref LL_TIM_CC_DisableChannel().*/
+
+  uint32_t OCNState;      /*!< Specifies the TIM complementary Output Compare state.
+                               This parameter can be a value of @ref TIM_LL_EC_OCSTATE.
+
+                               This feature can be modified afterwards using unitary functions
+                               @ref LL_TIM_CC_EnableChannel() or @ref LL_TIM_CC_DisableChannel().*/
+
+  uint32_t CompareValue;  /*!< Specifies the Compare value to be loaded into the Capture Compare Register.
+                               This parameter can be a number between Min_Data=0x0000 and Max_Data=0xFFFF.
+
+                               This feature can be modified afterwards using unitary function
+                               LL_TIM_OC_SetCompareCHx (x=1..6).*/
+
+  uint32_t OCPolarity;    /*!< Specifies the output polarity.
+                               This parameter can be a value of @ref TIM_LL_EC_OCPOLARITY.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_OC_SetPolarity().*/
+
+  uint32_t OCNPolarity;   /*!< Specifies the complementary output polarity.
+                               This parameter can be a value of @ref TIM_LL_EC_OCPOLARITY.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_OC_SetPolarity().*/
+
+
+  uint32_t OCIdleState;   /*!< Specifies the TIM Output Compare pin state during Idle state.
+                               This parameter can be a value of @ref TIM_LL_EC_OCIDLESTATE.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_OC_SetIdleState().*/
+
+  uint32_t OCNIdleState;  /*!< Specifies the TIM Output Compare pin state during Idle state.
+                               This parameter can be a value of @ref TIM_LL_EC_OCIDLESTATE.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_OC_SetIdleState().*/
+} LL_TIM_OC_InitTypeDef;
+
+/**
+  * @brief  TIM Input Capture configuration structure definition.
+  */
+
+typedef struct
+{
+
+  uint32_t ICPolarity;    /*!< Specifies the active edge of the input signal.
+                               This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_IC_SetPolarity().*/
+
+  uint32_t ICActiveInput; /*!< Specifies the input.
+                               This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_IC_SetActiveInput().*/
+
+  uint32_t ICPrescaler;   /*!< Specifies the Input Capture Prescaler.
+                               This parameter can be a value of @ref TIM_LL_EC_ICPSC.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_IC_SetPrescaler().*/
+
+  uint32_t ICFilter;      /*!< Specifies the input capture filter.
+                               This parameter can be a value of @ref TIM_LL_EC_IC_FILTER.
+
+                               This feature can be modified afterwards using unitary function
+                               @ref LL_TIM_IC_SetFilter().*/
+} LL_TIM_IC_InitTypeDef;
+
+
+/**
+  * @brief  TIM Encoder interface configuration structure definition.
+  */
+typedef struct
+{
+  uint32_t EncoderMode;     /*!< Specifies the encoder resolution (x2 or x4).
+                                 This parameter can be a value of @ref TIM_LL_EC_ENCODERMODE.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_SetEncoderMode().*/
+
+  uint32_t IC1Polarity;     /*!< Specifies the active edge of TI1 input.
+                                 This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetPolarity().*/
+
+  uint32_t IC1ActiveInput;  /*!< Specifies the TI1 input source
+                                 This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetActiveInput().*/
+
+  uint32_t IC1Prescaler;    /*!< Specifies the TI1 input prescaler value.
+                                 This parameter can be a value of @ref TIM_LL_EC_ICPSC.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetPrescaler().*/
+
+  uint32_t IC1Filter;       /*!< Specifies the TI1 input filter.
+                                 This parameter can be a value of @ref TIM_LL_EC_IC_FILTER.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetFilter().*/
+
+  uint32_t IC2Polarity;      /*!< Specifies the active edge of TI2 input.
+                                 This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetPolarity().*/
+
+  uint32_t IC2ActiveInput;  /*!< Specifies the TI2 input source
+                                 This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetActiveInput().*/
+
+  uint32_t IC2Prescaler;    /*!< Specifies the TI2 input prescaler value.
+                                 This parameter can be a value of @ref TIM_LL_EC_ICPSC.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetPrescaler().*/
+
+  uint32_t IC2Filter;       /*!< Specifies the TI2 input filter.
+                                 This parameter can be a value of @ref TIM_LL_EC_IC_FILTER.
+
+                                 This feature can be modified afterwards using unitary function
+                                 @ref LL_TIM_IC_SetFilter().*/
+
+} LL_TIM_ENCODER_InitTypeDef;
+
+/**
+  * @brief  TIM Hall sensor interface configuration structure definition.
+  */
+typedef struct
+{
+
+  uint32_t IC1Polarity;        /*!< Specifies the active edge of TI1 input.
+                                    This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY.
+
+                                    This feature can be modified afterwards using unitary function
+                                    @ref LL_TIM_IC_SetPolarity().*/
+
+  uint32_t IC1Prescaler;       /*!< Specifies the TI1 input prescaler value.
+                                    Prescaler must be set to get a maximum counter period longer than the
+                                    time interval between 2 consecutive changes on the Hall inputs.
+                                    This parameter can be a value of @ref TIM_LL_EC_ICPSC.
+
+                                    This feature can be modified afterwards using unitary function
+                                    @ref LL_TIM_IC_SetPrescaler().*/
+
+  uint32_t IC1Filter;          /*!< Specifies the TI1 input filter.
+                                    This parameter can be a value of
+                                    @ref TIM_LL_EC_IC_FILTER.
+
+                                    This feature can be modified afterwards using unitary function
+                                    @ref LL_TIM_IC_SetFilter().*/
+
+  uint32_t CommutationDelay;   /*!< Specifies the compare value to be loaded into the Capture Compare Register.
+                                    A positive pulse (TRGO event) is generated with a programmable delay every time
+                                    a change occurs on the Hall inputs.
+                                    This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF.
+
+                                    This feature can be modified afterwards using unitary function
+                                    @ref LL_TIM_OC_SetCompareCH2().*/
+} LL_TIM_HALLSENSOR_InitTypeDef;
+
+/**
+  * @brief  BDTR (Break and Dead Time) structure definition
+  */
+typedef struct
+{
+  uint32_t OSSRState;            /*!< Specifies the Off-State selection used in Run mode.
+                                      This parameter can be a value of @ref TIM_LL_EC_OSSR
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_SetOffStates()
+
+                                      @note This bit-field cannot be modified as long as LOCK level 2 has been
+                                       programmed. */
+
+  uint32_t OSSIState;            /*!< Specifies the Off-State used in Idle state.
+                                      This parameter can be a value of @ref TIM_LL_EC_OSSI
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_SetOffStates()
+
+                                      @note This bit-field cannot be modified as long as LOCK level 2 has been
+                                      programmed. */
+
+  uint32_t LockLevel;            /*!< Specifies the LOCK level parameters.
+                                      This parameter can be a value of @ref TIM_LL_EC_LOCKLEVEL
+
+                                      @note The LOCK bits can be written only once after the reset. Once the TIMx_BDTR
+                                      register has been written, their content is frozen until the next reset.*/
+
+  uint8_t DeadTime;              /*!< Specifies the delay time between the switching-off and the
+                                      switching-on of the outputs.
+                                      This parameter can be a number between Min_Data = 0x00 and Max_Data = 0xFF.
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_OC_SetDeadTime()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1, 2 or 3 has been
+                                       programmed. */
+
+  uint16_t BreakState;           /*!< Specifies whether the TIM Break input is enabled or not.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK_ENABLE
+
+                                      This feature can be modified afterwards using unitary functions
+                                      @ref LL_TIM_EnableBRK() or @ref LL_TIM_DisableBRK()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t BreakPolarity;        /*!< Specifies the TIM Break Input pin polarity.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK_POLARITY
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_ConfigBRK()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t BreakFilter;          /*!< Specifies the TIM Break Filter.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK_FILTER
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_ConfigBRK()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t BreakAFMode;           /*!< Specifies the alternate function mode of the break input.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK_AFMODE
+
+                                      This feature can be modified afterwards using unitary functions
+                                      @ref LL_TIM_ConfigBRK()
+
+                                      @note Bidirectional break input is only supported by advanced timers instances.
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t Break2State;          /*!< Specifies whether the TIM Break2 input is enabled or not.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK2_ENABLE
+
+                                      This feature can be modified afterwards using unitary functions
+                                      @ref LL_TIM_EnableBRK2() or @ref LL_TIM_DisableBRK2()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t Break2Polarity;        /*!< Specifies the TIM Break2 Input pin polarity.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK2_POLARITY
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_ConfigBRK2()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t Break2Filter;          /*!< Specifies the TIM Break2 Filter.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK2_FILTER
+
+                                      This feature can be modified afterwards using unitary function
+                                      @ref LL_TIM_ConfigBRK2()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t Break2AFMode;          /*!< Specifies the alternate function mode of the break2 input.
+                                      This parameter can be a value of @ref TIM_LL_EC_BREAK2_AFMODE
+
+                                      This feature can be modified afterwards using unitary functions
+                                      @ref LL_TIM_ConfigBRK2()
+
+                                      @note Bidirectional break input is only supported by advanced timers instances.
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+
+  uint32_t AutomaticOutput;      /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
+                                      This parameter can be a value of @ref TIM_LL_EC_AUTOMATICOUTPUT_ENABLE
+
+                                      This feature can be modified afterwards using unitary functions
+                                      @ref LL_TIM_EnableAutomaticOutput() or @ref LL_TIM_DisableAutomaticOutput()
+
+                                      @note This bit-field can not be modified as long as LOCK level 1 has been
+                                      programmed. */
+} LL_TIM_BDTR_InitTypeDef;
+
+/**
+  * @}
+  */
+#endif /* USE_FULL_LL_DRIVER */
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup TIM_LL_Exported_Constants TIM Exported Constants
+  * @{
+  */
+
+/** @defgroup TIM_LL_EC_GET_FLAG Get Flags Defines
+  * @brief    Flags defines which can be used with LL_TIM_ReadReg function.
+  * @{
+  */
+#define LL_TIM_SR_UIF                          TIM_SR_UIF           /*!< Update interrupt flag */
+#define LL_TIM_SR_CC1IF                        TIM_SR_CC1IF         /*!< Capture/compare 1 interrupt flag */
+#define LL_TIM_SR_CC2IF                        TIM_SR_CC2IF         /*!< Capture/compare 2 interrupt flag */
+#define LL_TIM_SR_CC3IF                        TIM_SR_CC3IF         /*!< Capture/compare 3 interrupt flag */
+#define LL_TIM_SR_CC4IF                        TIM_SR_CC4IF         /*!< Capture/compare 4 interrupt flag */
+#define LL_TIM_SR_CC5IF                        TIM_SR_CC5IF         /*!< Capture/compare 5 interrupt flag */
+#define LL_TIM_SR_CC6IF                        TIM_SR_CC6IF         /*!< Capture/compare 6 interrupt flag */
+#define LL_TIM_SR_COMIF                        TIM_SR_COMIF         /*!< COM interrupt flag */
+#define LL_TIM_SR_TIF                          TIM_SR_TIF           /*!< Trigger interrupt flag */
+#define LL_TIM_SR_BIF                          TIM_SR_BIF           /*!< Break interrupt flag */
+#define LL_TIM_SR_B2IF                         TIM_SR_B2IF          /*!< Second break interrupt flag */
+#define LL_TIM_SR_CC1OF                        TIM_SR_CC1OF         /*!< Capture/Compare 1 overcapture flag */
+#define LL_TIM_SR_CC2OF                        TIM_SR_CC2OF         /*!< Capture/Compare 2 overcapture flag */
+#define LL_TIM_SR_CC3OF                        TIM_SR_CC3OF         /*!< Capture/Compare 3 overcapture flag */
+#define LL_TIM_SR_CC4OF                        TIM_SR_CC4OF         /*!< Capture/Compare 4 overcapture flag */
+#define LL_TIM_SR_SBIF                         TIM_SR_SBIF          /*!< System Break interrupt flag  */
+#define LL_TIM_SR_IDXF                         TIM_SR_IDXF          /*!< Index interrupt flag  */
+#define LL_TIM_SR_DIRF                         TIM_SR_DIRF          /*!< Direction Change interrupt flag  */
+#define LL_TIM_SR_IERRF                        TIM_SR_IERRF         /*!< Index Error flag  */
+#define LL_TIM_SR_TERRF                        TIM_SR_TERRF         /*!< Transition Error flag  */
+/**
+  * @}
+  */
+
+#if defined(USE_FULL_LL_DRIVER)
+/** @defgroup TIM_LL_EC_BREAK_ENABLE Break Enable
+  * @{
+  */
+#define LL_TIM_BREAK_DISABLE            0x00000000U             /*!< Break function disabled */
+#define LL_TIM_BREAK_ENABLE             TIM_BDTR_BKE            /*!< Break function enabled */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK2_ENABLE Break2 Enable
+  * @{
+  */
+#define LL_TIM_BREAK2_DISABLE            0x00000000U              /*!< Break2 function disabled */
+#define LL_TIM_BREAK2_ENABLE             TIM_BDTR_BK2E            /*!< Break2 function enabled */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_AUTOMATICOUTPUT_ENABLE Automatic output enable
+  * @{
+  */
+#define LL_TIM_AUTOMATICOUTPUT_DISABLE         0x00000000U             /*!< MOE can be set only by software */
+#define LL_TIM_AUTOMATICOUTPUT_ENABLE          TIM_BDTR_AOE            /*!< MOE can be set by software or automatically at the next update event */
+/**
+  * @}
+  */
+#endif /* USE_FULL_LL_DRIVER */
+
+/** @defgroup TIM_LL_EC_IT IT Defines
+  * @brief    IT defines which can be used with LL_TIM_ReadReg and  LL_TIM_WriteReg functions.
+  * @{
+  */
+#define LL_TIM_DIER_UIE                        TIM_DIER_UIE         /*!< Update interrupt enable */
+#define LL_TIM_DIER_CC1IE                      TIM_DIER_CC1IE       /*!< Capture/compare 1 interrupt enable */
+#define LL_TIM_DIER_CC2IE                      TIM_DIER_CC2IE       /*!< Capture/compare 2 interrupt enable */
+#define LL_TIM_DIER_CC3IE                      TIM_DIER_CC3IE       /*!< Capture/compare 3 interrupt enable */
+#define LL_TIM_DIER_CC4IE                      TIM_DIER_CC4IE       /*!< Capture/compare 4 interrupt enable */
+#define LL_TIM_DIER_COMIE                      TIM_DIER_COMIE       /*!< COM interrupt enable */
+#define LL_TIM_DIER_TIE                        TIM_DIER_TIE         /*!< Trigger interrupt enable */
+#define LL_TIM_DIER_BIE                        TIM_DIER_BIE         /*!< Break interrupt enable */
+#define LL_TIM_DIER_IDXIE                      TIM_DIER_IDXIE       /*!< Index interrupt enable */
+#define LL_TIM_DIER_DIRIE                      TIM_DIER_DIRIE       /*!< Direction Change interrupt enable */
+#define LL_TIM_DIER_IERRIE                     TIM_DIER_IERRIE      /*!< Index Error interrupt enable */
+#define LL_TIM_DIER_TERRIE                     TIM_DIER_TERRIE      /*!< Transition Error interrupt enable */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_UPDATESOURCE Update Source
+  * @{
+  */
+#define LL_TIM_UPDATESOURCE_REGULAR            0x00000000U          /*!< Counter overflow/underflow, Setting the UG bit or Update generation through the slave mode controller generates an update request */
+#define LL_TIM_UPDATESOURCE_COUNTER            TIM_CR1_URS          /*!< Only counter overflow/underflow generates an update request */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ONEPULSEMODE One Pulse Mode
+  * @{
+  */
+#define LL_TIM_ONEPULSEMODE_SINGLE             TIM_CR1_OPM          /*!< Counter stops counting at the next update event */
+#define LL_TIM_ONEPULSEMODE_REPETITIVE         0x00000000U          /*!< Counter is not stopped at update event */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_COUNTERMODE Counter Mode
+  * @{
+  */
+#define LL_TIM_COUNTERMODE_UP                  0x00000000U          /*!<Counter used as upcounter */
+#define LL_TIM_COUNTERMODE_DOWN                TIM_CR1_DIR          /*!< Counter used as downcounter */
+#define LL_TIM_COUNTERMODE_CENTER_DOWN         TIM_CR1_CMS_0        /*!< The counter counts up and down alternatively. Output compare interrupt flags of output channels  are set only when the counter is counting down. */
+#define LL_TIM_COUNTERMODE_CENTER_UP           TIM_CR1_CMS_1        /*!<The counter counts up and down alternatively. Output compare interrupt flags of output channels  are set only when the counter is counting up */
+#define LL_TIM_COUNTERMODE_CENTER_UP_DOWN      TIM_CR1_CMS          /*!< The counter counts up and down alternatively. Output compare interrupt flags of output channels  are set only when the counter is counting up or down. */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_CLOCKDIVISION Clock Division
+  * @{
+  */
+#define LL_TIM_CLOCKDIVISION_DIV1              0x00000000U          /*!< tDTS=tCK_INT */
+#define LL_TIM_CLOCKDIVISION_DIV2              TIM_CR1_CKD_0        /*!< tDTS=2*tCK_INT */
+#define LL_TIM_CLOCKDIVISION_DIV4              TIM_CR1_CKD_1        /*!< tDTS=4*tCK_INT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_COUNTERDIRECTION Counter Direction
+  * @{
+  */
+#define LL_TIM_COUNTERDIRECTION_UP             0x00000000U          /*!< Timer counter counts up */
+#define LL_TIM_COUNTERDIRECTION_DOWN           TIM_CR1_DIR          /*!< Timer counter counts down */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_CCUPDATESOURCE Capture Compare  Update Source
+  * @{
+  */
+#define LL_TIM_CCUPDATESOURCE_COMG_ONLY        0x00000000U          /*!< Capture/compare control bits are updated by setting the COMG bit only */
+#define LL_TIM_CCUPDATESOURCE_COMG_AND_TRGI    TIM_CR2_CCUS         /*!< Capture/compare control bits are updated by setting the COMG bit or when a rising edge occurs on trigger input (TRGI) */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_CCDMAREQUEST Capture Compare DMA Request
+  * @{
+  */
+#define LL_TIM_CCDMAREQUEST_CC                 0x00000000U          /*!< CCx DMA request sent when CCx event occurs */
+#define LL_TIM_CCDMAREQUEST_UPDATE             TIM_CR2_CCDS         /*!< CCx DMA requests sent when update event occurs */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_LOCKLEVEL Lock Level
+  * @{
+  */
+#define LL_TIM_LOCKLEVEL_OFF                   0x00000000U          /*!< LOCK OFF - No bit is write protected */
+#define LL_TIM_LOCKLEVEL_1                     TIM_BDTR_LOCK_0      /*!< LOCK Level 1 */
+#define LL_TIM_LOCKLEVEL_2                     TIM_BDTR_LOCK_1      /*!< LOCK Level 2 */
+#define LL_TIM_LOCKLEVEL_3                     TIM_BDTR_LOCK        /*!< LOCK Level 3 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_CHANNEL Channel
+  * @{
+  */
+#define LL_TIM_CHANNEL_CH1                     TIM_CCER_CC1E     /*!< Timer input/output channel 1 */
+#define LL_TIM_CHANNEL_CH1N                    TIM_CCER_CC1NE    /*!< Timer complementary output channel 1 */
+#define LL_TIM_CHANNEL_CH2                     TIM_CCER_CC2E     /*!< Timer input/output channel 2 */
+#define LL_TIM_CHANNEL_CH2N                    TIM_CCER_CC2NE    /*!< Timer complementary output channel 2 */
+#define LL_TIM_CHANNEL_CH3                     TIM_CCER_CC3E     /*!< Timer input/output channel 3 */
+#define LL_TIM_CHANNEL_CH3N                    TIM_CCER_CC3NE    /*!< Timer complementary output channel 3 */
+#define LL_TIM_CHANNEL_CH4                     TIM_CCER_CC4E     /*!< Timer input/output channel 4 */
+#define LL_TIM_CHANNEL_CH4N                    TIM_CCER_CC4NE     /*!< Timer complementary output channel 4 */
+#define LL_TIM_CHANNEL_CH5                     TIM_CCER_CC5E     /*!< Timer output channel 5 */
+#define LL_TIM_CHANNEL_CH6                     TIM_CCER_CC6E     /*!< Timer output channel 6 */
+/**
+  * @}
+  */
+
+#if defined(USE_FULL_LL_DRIVER)
+/** @defgroup TIM_LL_EC_OCSTATE Output Configuration State
+  * @{
+  */
+#define LL_TIM_OCSTATE_DISABLE                 0x00000000U             /*!< OCx is not active */
+#define LL_TIM_OCSTATE_ENABLE                  TIM_CCER_CC1E           /*!< OCx signal is output on the corresponding output pin */
+/**
+  * @}
+  */
+#endif /* USE_FULL_LL_DRIVER */
+
+/** @defgroup TIM_LL_EC_OCMODE Output Configuration Mode
+  * @{
+  */
+#define LL_TIM_OCMODE_FROZEN                   0x00000000U                                              /*!<The comparison between the output compare register TIMx_CCRy and the counter TIMx_CNT has no effect on the output channel level */
+#define LL_TIM_OCMODE_ACTIVE                   TIM_CCMR1_OC1M_0                                         /*!<OCyREF is forced high on compare match*/
+#define LL_TIM_OCMODE_INACTIVE                 TIM_CCMR1_OC1M_1                                         /*!<OCyREF is forced low on compare match*/
+#define LL_TIM_OCMODE_TOGGLE                   (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0)                    /*!<OCyREF toggles on compare match*/
+#define LL_TIM_OCMODE_FORCED_INACTIVE          TIM_CCMR1_OC1M_2                                         /*!<OCyREF is forced low*/
+#define LL_TIM_OCMODE_FORCED_ACTIVE            (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0)                    /*!<OCyREF is forced high*/
+#define LL_TIM_OCMODE_PWM1                     (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1)                    /*!<In upcounting, channel y is active as long as TIMx_CNT<TIMx_CCRy else inactive.  In downcounting, channel y is inactive as long as TIMx_CNT>TIMx_CCRy else active.*/
+#define LL_TIM_OCMODE_PWM2                     (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0) /*!<In upcounting, channel y is inactive as long as TIMx_CNT<TIMx_CCRy else active.  In downcounting, channel y is active as long as TIMx_CNT>TIMx_CCRy else inactive*/
+#define LL_TIM_OCMODE_RETRIG_OPM1              TIM_CCMR1_OC1M_3                                         /*!<Retrigerrable OPM mode 1*/
+#define LL_TIM_OCMODE_RETRIG_OPM2              (TIM_CCMR1_OC1M_3 | TIM_CCMR1_OC1M_0)                    /*!<Retrigerrable OPM mode 2*/
+#define LL_TIM_OCMODE_COMBINED_PWM1            (TIM_CCMR1_OC1M_3 | TIM_CCMR1_OC1M_2)                    /*!<Combined PWM mode 1*/
+#define LL_TIM_OCMODE_COMBINED_PWM2            (TIM_CCMR1_OC1M_3 | TIM_CCMR1_OC1M_0 | TIM_CCMR1_OC1M_2) /*!<Combined PWM mode 2*/
+#define LL_TIM_OCMODE_ASSYMETRIC_PWM1          (TIM_CCMR1_OC1M_3 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2) /*!<Asymmetric PWM mode 1*/
+#define LL_TIM_OCMODE_ASSYMETRIC_PWM2          (TIM_CCMR1_OC1M_3 | TIM_CCMR1_OC1M)                      /*!<Asymmetric PWM mode 2*/
+#define LL_TIM_OCMODE_PULSE_ON_COMPARE         (TIM_CCMR2_OC3M_3 | TIM_CCMR2_OC3M_1)                    /*!<Pulse on Compare mode */
+#define LL_TIM_OCMODE_DIRECTION_OUTPUT         (TIM_CCMR2_OC3M_3 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_0) /*!<Direction output mode */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_OCPOLARITY Output Configuration Polarity
+  * @{
+  */
+#define LL_TIM_OCPOLARITY_HIGH                 0x00000000U                 /*!< OCxactive high*/
+#define LL_TIM_OCPOLARITY_LOW                  TIM_CCER_CC1P               /*!< OCxactive low*/
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_OCIDLESTATE Output Configuration Idle State
+  * @{
+  */
+#define LL_TIM_OCIDLESTATE_LOW                 0x00000000U             /*!<OCx=0 (after a dead-time if OC is implemented) when MOE=0*/
+#define LL_TIM_OCIDLESTATE_HIGH                TIM_CR2_OIS1            /*!<OCx=1 (after a dead-time if OC is implemented) when MOE=0*/
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_GROUPCH5 GROUPCH5
+  * @{
+  */
+#define LL_TIM_GROUPCH5_NONE                   0x00000000U           /*!< No effect of OC5REF on OC1REFC, OC2REFC and OC3REFC */
+#define LL_TIM_GROUPCH5_OC1REFC                TIM_CCR5_GC5C1        /*!< OC1REFC is the logical AND of OC1REFC and OC5REF */
+#define LL_TIM_GROUPCH5_OC2REFC                TIM_CCR5_GC5C2        /*!< OC2REFC is the logical AND of OC2REFC and OC5REF */
+#define LL_TIM_GROUPCH5_OC3REFC                TIM_CCR5_GC5C3        /*!< OC3REFC is the logical AND of OC3REFC and OC5REF */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ACTIVEINPUT Active Input Selection
+  * @{
+  */
+#define LL_TIM_ACTIVEINPUT_DIRECTTI            (TIM_CCMR1_CC1S_0 << 16U) /*!< ICx is mapped on TIx */
+#define LL_TIM_ACTIVEINPUT_INDIRECTTI          (TIM_CCMR1_CC1S_1 << 16U) /*!< ICx is mapped on TIy */
+#define LL_TIM_ACTIVEINPUT_TRC                 (TIM_CCMR1_CC1S << 16U)   /*!< ICx is mapped on TRC */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ICPSC Input Configuration Prescaler
+  * @{
+  */
+#define LL_TIM_ICPSC_DIV1                      0x00000000U                    /*!< No prescaler, capture is done each time an edge is detected on the capture input */
+#define LL_TIM_ICPSC_DIV2                      (TIM_CCMR1_IC1PSC_0 << 16U)    /*!< Capture is done once every 2 events */
+#define LL_TIM_ICPSC_DIV4                      (TIM_CCMR1_IC1PSC_1 << 16U)    /*!< Capture is done once every 4 events */
+#define LL_TIM_ICPSC_DIV8                      (TIM_CCMR1_IC1PSC << 16U)      /*!< Capture is done once every 8 events */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_IC_FILTER Input Configuration Filter
+  * @{
+  */
+#define LL_TIM_IC_FILTER_FDIV1                 0x00000000U                                                        /*!< No filter, sampling is done at fDTS */
+#define LL_TIM_IC_FILTER_FDIV1_N2              (TIM_CCMR1_IC1F_0 << 16U)                                          /*!< fSAMPLING=fCK_INT, N=2 */
+#define LL_TIM_IC_FILTER_FDIV1_N4              (TIM_CCMR1_IC1F_1 << 16U)                                          /*!< fSAMPLING=fCK_INT, N=4 */
+#define LL_TIM_IC_FILTER_FDIV1_N8              ((TIM_CCMR1_IC1F_1 | TIM_CCMR1_IC1F_0) << 16U)                     /*!< fSAMPLING=fCK_INT, N=8 */
+#define LL_TIM_IC_FILTER_FDIV2_N6              (TIM_CCMR1_IC1F_2 << 16U)                                          /*!< fSAMPLING=fDTS/2, N=6 */
+#define LL_TIM_IC_FILTER_FDIV2_N8              ((TIM_CCMR1_IC1F_2 | TIM_CCMR1_IC1F_0) << 16U)                     /*!< fSAMPLING=fDTS/2, N=8 */
+#define LL_TIM_IC_FILTER_FDIV4_N6              ((TIM_CCMR1_IC1F_2 | TIM_CCMR1_IC1F_1) << 16U)                     /*!< fSAMPLING=fDTS/4, N=6 */
+#define LL_TIM_IC_FILTER_FDIV4_N8              ((TIM_CCMR1_IC1F_2 | TIM_CCMR1_IC1F_1 | TIM_CCMR1_IC1F_0) << 16U)  /*!< fSAMPLING=fDTS/4, N=8 */
+#define LL_TIM_IC_FILTER_FDIV8_N6              (TIM_CCMR1_IC1F_3 << 16U)                                          /*!< fSAMPLING=fDTS/8, N=6 */
+#define LL_TIM_IC_FILTER_FDIV8_N8              ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_0) << 16U)                     /*!< fSAMPLING=fDTS/8, N=8 */
+#define LL_TIM_IC_FILTER_FDIV16_N5             ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_1) << 16U)                     /*!< fSAMPLING=fDTS/16, N=5 */
+#define LL_TIM_IC_FILTER_FDIV16_N6             ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_1 | TIM_CCMR1_IC1F_0) << 16U)  /*!< fSAMPLING=fDTS/16, N=6 */
+#define LL_TIM_IC_FILTER_FDIV16_N8             ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_2) << 16U)                     /*!< fSAMPLING=fDTS/16, N=8 */
+#define LL_TIM_IC_FILTER_FDIV32_N5             ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_2 | TIM_CCMR1_IC1F_0) << 16U)  /*!< fSAMPLING=fDTS/32, N=5 */
+#define LL_TIM_IC_FILTER_FDIV32_N6             ((TIM_CCMR1_IC1F_3 | TIM_CCMR1_IC1F_2 | TIM_CCMR1_IC1F_1) << 16U)  /*!< fSAMPLING=fDTS/32, N=6 */
+#define LL_TIM_IC_FILTER_FDIV32_N8             (TIM_CCMR1_IC1F << 16U)                                            /*!< fSAMPLING=fDTS/32, N=8 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_IC_POLARITY Input Configuration Polarity
+  * @{
+  */
+#define LL_TIM_IC_POLARITY_RISING              0x00000000U                      /*!< The circuit is sensitive to TIxFP1 rising edge, TIxFP1 is not inverted */
+#define LL_TIM_IC_POLARITY_FALLING             TIM_CCER_CC1P                    /*!< The circuit is sensitive to TIxFP1 falling edge, TIxFP1 is inverted */
+#define LL_TIM_IC_POLARITY_BOTHEDGE            (TIM_CCER_CC1P | TIM_CCER_CC1NP) /*!< The circuit is sensitive to both TIxFP1 rising and falling edges, TIxFP1 is not inverted */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_CLOCKSOURCE Clock Source
+  * @{
+  */
+#define LL_TIM_CLOCKSOURCE_INTERNAL            0x00000000U                                          /*!< The timer is clocked by the internal clock provided from the RCC */
+#define LL_TIM_CLOCKSOURCE_EXT_MODE1           (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0)   /*!< Counter counts at each rising or falling edge on a selected input*/
+#define LL_TIM_CLOCKSOURCE_EXT_MODE2           TIM_SMCR_ECE                                         /*!< Counter counts at each rising or falling edge on the external trigger input ETR */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ENCODERMODE Encoder Mode
+  * @{
+  */
+#define LL_TIM_ENCODERMODE_X2_TI1                     TIM_SMCR_SMS_0                                                     /*!< Quadrature encoder mode 1, x2 mode - Counter counts up/down on TI1FP1 edge depending on TI2FP2 level */
+#define LL_TIM_ENCODERMODE_X2_TI2                     TIM_SMCR_SMS_1                                                     /*!< Quadrature encoder mode 2, x2 mode - Counter counts up/down on TI2FP2 edge depending on TI1FP1 level */
+#define LL_TIM_ENCODERMODE_X4_TI12                   (TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0)                                   /*!< Quadrature encoder mode 3, x4 mode - Counter counts up/down on both TI1FP1 and TI2FP2 edges depending on the level of the other input */
+#define LL_TIM_ENCODERMODE_CLOCKPLUSDIRECTION_X2     (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_1)                                   /*!< Encoder mode: Clock plus direction - x2 mode */
+#define LL_TIM_ENCODERMODE_CLOCKPLUSDIRECTION_X1     (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0)                  /*!< Encoder mode: Clock plus direction, x1 mode, TI2FP2 edge sensitivity is set by CC2P */
+#define LL_TIM_ENCODERMODE_DIRECTIONALCLOCK_X2       (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_2)                                   /*!< Encoder mode: Directional Clock, x2 mode */
+#define LL_TIM_ENCODERMODE_DIRECTIONALCLOCK_X1_TI12  (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_2 | TIM_SMCR_SMS_0)                  /*!< Encoder mode: Directional Clock, x1 mode, TI1FP1 and TI2FP2 edge sensitivity is set by CC1P and CC2P */
+#define LL_TIM_ENCODERMODE_X1_TI1                    (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1)                  /*!< Quadrature encoder mode: x1 mode, counting on TI1FP1 edges only, edge sensitivity is set by CC1P */
+#define LL_TIM_ENCODERMODE_X1_TI2                    (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0) /*!< Quadrature encoder mode: x1 mode, counting on TI2FP2 edges only, edge sensitivity is set by CC1P */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TRGO Trigger Output
+  * @{
+  */
+#define LL_TIM_TRGO_RESET                      0x00000000U                                     /*!< UG bit from the TIMx_EGR register is used as trigger output */
+#define LL_TIM_TRGO_ENABLE                     TIM_CR2_MMS_0                                   /*!< Counter Enable signal (CNT_EN) is used as trigger output */
+#define LL_TIM_TRGO_UPDATE                     TIM_CR2_MMS_1                                   /*!< Update event is used as trigger output */
+#define LL_TIM_TRGO_CC1IF                      (TIM_CR2_MMS_1 | TIM_CR2_MMS_0)                 /*!< CC1 capture or a compare match is used as trigger output */
+#define LL_TIM_TRGO_OC1REF                     TIM_CR2_MMS_2                                   /*!< OC1REF signal is used as trigger output */
+#define LL_TIM_TRGO_OC2REF                     (TIM_CR2_MMS_2 | TIM_CR2_MMS_0)                 /*!< OC2REF signal is used as trigger output */
+#define LL_TIM_TRGO_OC3REF                     (TIM_CR2_MMS_2 | TIM_CR2_MMS_1)                 /*!< OC3REF signal is used as trigger output */
+#define LL_TIM_TRGO_OC4REF                     (TIM_CR2_MMS_2 | TIM_CR2_MMS_1 | TIM_CR2_MMS_0) /*!< OC4REF signal is used as trigger output */
+#define LL_TIM_TRGO_ENCODERCLK                 TIM_CR2_MMS_3                                   /*!< Encoder clock signal is used as trigger output */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TRGO2 Trigger Output 2
+  * @{
+  */
+#define LL_TIM_TRGO2_RESET                     0x00000000U                                                         /*!< UG bit from the TIMx_EGR register is used as trigger output 2 */
+#define LL_TIM_TRGO2_ENABLE                    TIM_CR2_MMS2_0                                                      /*!< Counter Enable signal (CNT_EN) is used as trigger output 2 */
+#define LL_TIM_TRGO2_UPDATE                    TIM_CR2_MMS2_1                                                      /*!< Update event is used as trigger output 2 */
+#define LL_TIM_TRGO2_CC1F                      (TIM_CR2_MMS2_1 | TIM_CR2_MMS2_0)                                   /*!< CC1 capture or a compare match is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC1                       TIM_CR2_MMS2_2                                                      /*!< OC1REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC2                       (TIM_CR2_MMS2_2 | TIM_CR2_MMS2_0)                                   /*!< OC2REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC3                       (TIM_CR2_MMS2_2 | TIM_CR2_MMS2_1)                                   /*!< OC3REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC4                       (TIM_CR2_MMS2_2 | TIM_CR2_MMS2_1 | TIM_CR2_MMS2_0)                  /*!< OC4REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC5                       TIM_CR2_MMS2_3                                                      /*!< OC5REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC6                       (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_0)                                   /*!< OC6REF signal is used as trigger output 2 */
+#define LL_TIM_TRGO2_OC4_RISINGFALLING         (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_1)                                   /*!< OC4REF rising or falling edges are used as trigger output 2 */
+#define LL_TIM_TRGO2_OC6_RISINGFALLING         (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_1 | TIM_CR2_MMS2_0)                  /*!< OC6REF rising or falling edges are used as trigger output 2 */
+#define LL_TIM_TRGO2_OC4_RISING_OC6_RISING     (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_2)                                   /*!< OC4REF or OC6REF rising edges are used as trigger output 2 */
+#define LL_TIM_TRGO2_OC4_RISING_OC6_FALLING    (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_2 | TIM_CR2_MMS2_0)                  /*!< OC4REF rising or OC6REF falling edges are used as trigger output 2 */
+#define LL_TIM_TRGO2_OC5_RISING_OC6_RISING     (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_2 |TIM_CR2_MMS2_1)                   /*!< OC5REF or OC6REF rising edges are used as trigger output 2 */
+#define LL_TIM_TRGO2_OC5_RISING_OC6_FALLING    (TIM_CR2_MMS2_3 | TIM_CR2_MMS2_2 | TIM_CR2_MMS2_1 | TIM_CR2_MMS2_0) /*!< OC5REF rising or OC6REF falling edges are used as trigger output 2 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_SLAVEMODE Slave Mode
+  * @{
+  */
+#define LL_TIM_SLAVEMODE_DISABLED              0x00000000U                         /*!< Slave mode disabled */
+#define LL_TIM_SLAVEMODE_RESET                 TIM_SMCR_SMS_2                      /*!< Reset Mode - Rising edge of the selected trigger input (TRGI) reinitializes the counter */
+#define LL_TIM_SLAVEMODE_GATED                 (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_0)   /*!< Gated Mode - The counter clock is enabled when the trigger input (TRGI) is high */
+#define LL_TIM_SLAVEMODE_TRIGGER               (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1)   /*!< Trigger Mode - The counter starts at a rising edge of the trigger TRGI */
+#define LL_TIM_SLAVEMODE_COMBINED_RESETTRIGGER TIM_SMCR_SMS_3                      /*!< Combined reset + trigger mode - Rising edge of the selected trigger input (TRGI)  reinitializes the counter, generates an update of the registers and starts the counter */
+#define LL_TIM_SLAVEMODE_COMBINED_GATEDRESET   (TIM_SMCR_SMS_3 | TIM_SMCR_SMS_0)   /*!< Combined gated + reset mode - The counter clock is enabled when the trigger input (TRGI) is high. The counter stops and is reset) as soon as the trigger becomes low.Both startand stop of
+                                                                                        the counter are controlled. */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_SMS_PRELOAD_SOURCE SMS Preload Source
+  * @{
+  */
+#define LL_TIM_SMSPS_TIMUPDATE                 0x00000000U                         /*!< The SMS preload transfer is triggered by the Timer's Update event */
+#define LL_TIM_SMSPS_INDEX                     TIM_SMCR_SMSPS                      /*!< The SMS preload transfer is triggered by the Index event */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TS Trigger Selection
+  * @{
+  */
+#define LL_TIM_TS_ITR0                         0x00000000U                                                     /*!< Internal Trigger 0 (ITR0) is used as trigger input */
+#define LL_TIM_TS_ITR1                         TIM_SMCR_TS_0                                                   /*!< Internal Trigger 1 (ITR1) is used as trigger input */
+#define LL_TIM_TS_ITR2                         TIM_SMCR_TS_1                                                   /*!< Internal Trigger 2 (ITR2) is used as trigger input */
+#define LL_TIM_TS_ITR3                         (TIM_SMCR_TS_0 | TIM_SMCR_TS_1)                                 /*!< Internal Trigger 3 (ITR3) is used as trigger input */
+#define LL_TIM_TS_TI1F_ED                      TIM_SMCR_TS_2                                                   /*!< TI1 Edge Detector (TI1F_ED) is used as trigger input */
+#define LL_TIM_TS_TI1FP1                       (TIM_SMCR_TS_2 | TIM_SMCR_TS_0)                                 /*!< Filtered Timer Input 1 (TI1FP1) is used as trigger input */
+#define LL_TIM_TS_TI2FP2                       (TIM_SMCR_TS_2 | TIM_SMCR_TS_1)                                 /*!< Filtered Timer Input 2 (TI12P2) is used as trigger input */
+#define LL_TIM_TS_ETRF                         (TIM_SMCR_TS_2 | TIM_SMCR_TS_1 | TIM_SMCR_TS_0)                 /*!< Filtered external Trigger (ETRF) is used as trigger input */
+#define LL_TIM_TS_ITR4                         TIM_SMCR_TS_3                                                   /*!< Internal Trigger 4 (ITR4) is used as trigger input */
+#define LL_TIM_TS_ITR5                         (TIM_SMCR_TS_3 | TIM_SMCR_TS_0)                                 /*!< Internal Trigger 5 (ITR5) is used as trigger input */
+#define LL_TIM_TS_ITR6                         (TIM_SMCR_TS_3 | TIM_SMCR_TS_1)                                 /*!< Internal Trigger 6 (ITR6) is used as trigger input */
+#define LL_TIM_TS_ITR7                         (TIM_SMCR_TS_3 | TIM_SMCR_TS_1 | TIM_SMCR_TS_0)                 /*!< Internal Trigger 7 (ITR7) is used as trigger input */
+#define LL_TIM_TS_ITR8                         (TIM_SMCR_TS_3 | TIM_SMCR_TS_2)                                 /*!< Internal Trigger 8 (ITR8) is used as trigger input */
+#define LL_TIM_TS_ITR9                         (TIM_SMCR_TS_3 | TIM_SMCR_TS_2 | TIM_SMCR_TS_0)                 /*!< Internal Trigger 9 (ITR9) is used as trigger input */
+#define LL_TIM_TS_ITR10                        (TIM_SMCR_TS_3 | TIM_SMCR_TS_2 | TIM_SMCR_TS_1)                 /*!< Internal Trigger 10 (ITR10) is used as trigger input */
+#define LL_TIM_TS_ITR11                        (TIM_SMCR_TS_3 | TIM_SMCR_TS_2 | TIM_SMCR_TS_1 | TIM_SMCR_TS_0) /*!< Internal Trigger 11 (ITR11) is used as trigger input */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ETR_POLARITY External Trigger Polarity
+  * @{
+  */
+#define LL_TIM_ETR_POLARITY_NONINVERTED        0x00000000U             /*!< ETR is non-inverted, active at high level or rising edge */
+#define LL_TIM_ETR_POLARITY_INVERTED           TIM_SMCR_ETP            /*!< ETR is inverted, active at low level or falling edge */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ETR_PRESCALER External Trigger Prescaler
+  * @{
+  */
+#define LL_TIM_ETR_PRESCALER_DIV1              0x00000000U             /*!< ETR prescaler OFF */
+#define LL_TIM_ETR_PRESCALER_DIV2              TIM_SMCR_ETPS_0         /*!< ETR frequency is divided by 2 */
+#define LL_TIM_ETR_PRESCALER_DIV4              TIM_SMCR_ETPS_1         /*!< ETR frequency is divided by 4 */
+#define LL_TIM_ETR_PRESCALER_DIV8              TIM_SMCR_ETPS           /*!< ETR frequency is divided by 8 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_ETR_FILTER External Trigger Filter
+  * @{
+  */
+#define LL_TIM_ETR_FILTER_FDIV1                0x00000000U                                          /*!< No filter, sampling is done at fDTS */
+#define LL_TIM_ETR_FILTER_FDIV1_N2             TIM_SMCR_ETF_0                                       /*!< fSAMPLING=fCK_INT, N=2 */
+#define LL_TIM_ETR_FILTER_FDIV1_N4             TIM_SMCR_ETF_1                                       /*!< fSAMPLING=fCK_INT, N=4 */
+#define LL_TIM_ETR_FILTER_FDIV1_N8             (TIM_SMCR_ETF_1 | TIM_SMCR_ETF_0)                    /*!< fSAMPLING=fCK_INT, N=8 */
+#define LL_TIM_ETR_FILTER_FDIV2_N6             TIM_SMCR_ETF_2                                       /*!< fSAMPLING=fDTS/2, N=6 */
+#define LL_TIM_ETR_FILTER_FDIV2_N8             (TIM_SMCR_ETF_2 | TIM_SMCR_ETF_0)                    /*!< fSAMPLING=fDTS/2, N=8 */
+#define LL_TIM_ETR_FILTER_FDIV4_N6             (TIM_SMCR_ETF_2 | TIM_SMCR_ETF_1)                    /*!< fSAMPLING=fDTS/4, N=6 */
+#define LL_TIM_ETR_FILTER_FDIV4_N8             (TIM_SMCR_ETF_2 | TIM_SMCR_ETF_1 | TIM_SMCR_ETF_0)   /*!< fSAMPLING=fDTS/4, N=8 */
+#define LL_TIM_ETR_FILTER_FDIV8_N6             TIM_SMCR_ETF_3                                       /*!< fSAMPLING=fDTS/8, N=8 */
+#define LL_TIM_ETR_FILTER_FDIV8_N8             (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_0)                    /*!< fSAMPLING=fDTS/16, N=5 */
+#define LL_TIM_ETR_FILTER_FDIV16_N5            (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_1)                    /*!< fSAMPLING=fDTS/16, N=6 */
+#define LL_TIM_ETR_FILTER_FDIV16_N6            (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_1 | TIM_SMCR_ETF_0)   /*!< fSAMPLING=fDTS/16, N=8 */
+#define LL_TIM_ETR_FILTER_FDIV16_N8            (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_2)                    /*!< fSAMPLING=fDTS/16, N=5 */
+#define LL_TIM_ETR_FILTER_FDIV32_N5            (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_2 | TIM_SMCR_ETF_0)   /*!< fSAMPLING=fDTS/32, N=5 */
+#define LL_TIM_ETR_FILTER_FDIV32_N6            (TIM_SMCR_ETF_3 | TIM_SMCR_ETF_2 | TIM_SMCR_ETF_1)   /*!< fSAMPLING=fDTS/32, N=6 */
+#define LL_TIM_ETR_FILTER_FDIV32_N8            TIM_SMCR_ETF                                         /*!< fSAMPLING=fDTS/32, N=8 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM1_ETRSOURCE External Trigger Source TIM1
+  * @{
+  */
+#define LL_TIM_TIM1_ETRSOURCE_GPIO        0x00000000U                                                  /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM1_ETRSOURCE_COMP1       TIM1_AF1_ETRSEL_0                                            /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM1_ETRSOURCE_COMP2       TIM1_AF1_ETRSEL_1                                            /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM1_ETRSOURCE_COMP3       (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM1_ETRSOURCE_COMP4       TIM1_AF1_ETRSEL_2                                            /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM1_ETRSOURCE_COMP5       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM1_ETRSOURCE_COMP6       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                      /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM1_ETRSOURCE_COMP7       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM1_ETRSOURCE_ADC1_AWD1   TIM1_AF1_ETRSEL_3                                            /*!< ADC1 analog watchdog 1 */
+#define LL_TIM_TIM1_ETRSOURCE_ADC1_AWD2   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                      /*!< ADC1 analog watchdog 2 */
+#define LL_TIM_TIM1_ETRSOURCE_ADC1_AWD3   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1)                      /*!< ADC1 analog watchdog 3 */
+#if defined(ADC4)
+#define LL_TIM_TIM1_ETRSOURCE_ADC4_AWD1   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ADC4 analog watchdog 1 */
+#define LL_TIM_TIM1_ETRSOURCE_ADC4_AWD2   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2)                      /*!< ADC4 analog watchdog 2 */
+#define LL_TIM_TIM1_ETRSOURCE_ADC4_AWD3   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)  /*!< ADC4 analog watchdog 3 */
+#endif /* ADC4 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM2_ETRSOURCE External Trigger Source TIM2
+  * @{
+  */
+#define LL_TIM_TIM2_ETRSOURCE_GPIO         0x00000000U                                                 /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM2_ETRSOURCE_COMP1        TIM1_AF1_ETRSEL_0                                           /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM2_ETRSOURCE_COMP2        TIM1_AF1_ETRSEL_1                                           /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM2_ETRSOURCE_COMP3        (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM2_ETRSOURCE_COMP4        TIM1_AF1_ETRSEL_2                                           /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM2_ETRSOURCE_COMP5        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM2_ETRSOURCE_COMP6        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                     /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM2_ETRSOURCE_COMP7        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM2_ETRSOURCE_TIM3_ETR     TIM1_AF1_ETRSEL_3                                           /*!< ETR input is connected to TIM3 ETR */
+#define LL_TIM_TIM2_ETRSOURCE_TIM4_ETR     (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to TIM4 ETR */
+#if defined(TIM5)
+#define LL_TIM_TIM2_ETRSOURCE_TIM5_ETR     (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1)                     /*!< ETR input is connected to TIM5 ETR */
+#endif /* TIM5 */
+#define LL_TIM_TIM2_ETRSOURCE_LSE          (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ETR input is connected to LSE */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM3_ETRSOURCE External Trigger Source TIM3
+  * @{
+  */
+#define LL_TIM_TIM3_ETRSOURCE_GPIO         0x00000000U                                                 /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM3_ETRSOURCE_COMP1        TIM1_AF1_ETRSEL_0                                           /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM3_ETRSOURCE_COMP2        TIM1_AF1_ETRSEL_1                                           /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM3_ETRSOURCE_COMP3        (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM3_ETRSOURCE_COMP4        TIM1_AF1_ETRSEL_2                                           /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM3_ETRSOURCE_COMP5        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM3_ETRSOURCE_COMP6        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                     /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM3_ETRSOURCE_COMP7        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM3_ETRSOURCE_TIM2_ETR     TIM1_AF1_ETRSEL_3                                           /*!< ETR input is connected to TIM2 ETR */
+#define LL_TIM_TIM3_ETRSOURCE_TIM4_ETR     (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to TIM4 ETR */
+#define LL_TIM_TIM3_ETRSOURCE_ADC2_AWD1    (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ADC2 analog watchdog 1 */
+#define LL_TIM_TIM3_ETRSOURCE_ADC2_AWD2    (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2)                     /*!< ADC2 analog watchdog 2 */
+#define LL_TIM_TIM3_ETRSOURCE_ADC2_AWD3    (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0) /*!< ADC2 analog watchdog 3 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM4_ETRSOURCE External Trigger Source TIM4
+  * @{
+  */
+#define LL_TIM_TIM4_ETRSOURCE_GPIO         0x00000000U                                                 /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM4_ETRSOURCE_COMP1        TIM1_AF1_ETRSEL_0                                           /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM4_ETRSOURCE_COMP2        TIM1_AF1_ETRSEL_1                                           /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM4_ETRSOURCE_COMP3        (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM4_ETRSOURCE_COMP4        TIM1_AF1_ETRSEL_2                                           /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM4_ETRSOURCE_COMP5        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM4_ETRSOURCE_COMP6        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                     /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM4_ETRSOURCE_COMP7        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM4_ETRSOURCE_TIM3_ETR     TIM1_AF1_ETRSEL_3                                           /*!< ETR input is connected to TIM3 ETR */
+#if defined(TIM5)
+#define LL_TIM_TIM4_ETRSOURCE_TIM5_ETR     (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to TIM5 ETR */
+#endif /* TIM5 */
+/**
+  * @}
+  */
+
+#if defined(TIM5)
+/** @defgroup TIM_LL_EC_TIM5_ETRSOURCE External Trigger Source TIM5
+  * @{
+  */
+#define LL_TIM_TIM5_ETRSOURCE_GPIO         0x00000000U                                                 /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM5_ETRSOURCE_COMP1        TIM1_AF1_ETRSEL_0                                           /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM5_ETRSOURCE_COMP2        TIM1_AF1_ETRSEL_1                                           /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM5_ETRSOURCE_COMP3        (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM5_ETRSOURCE_COMP4        TIM1_AF1_ETRSEL_2                                           /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM5_ETRSOURCE_COMP5        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM5_ETRSOURCE_COMP6        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                     /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM5_ETRSOURCE_COMP7        (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0) /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM5_ETRSOURCE_TIM2_ETR     TIM1_AF1_ETRSEL_3                                           /*!< ETR input is connected to TIM2 ETR */
+#define LL_TIM_TIM5_ETRSOURCE_TIM3_ETR     (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                     /*!< ETR input is connected to TIM3 ETR */
+/**
+  * @}
+  */
+#endif /* TIM5 */
+
+/** @defgroup TIM_LL_EC_TIM8_ETRSOURCE External Trigger Source TIM8
+  * @{
+  */
+#define LL_TIM_TIM8_ETRSOURCE_GPIO        0x00000000U                                                  /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM8_ETRSOURCE_COMP1       TIM1_AF1_ETRSEL_0                                            /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM8_ETRSOURCE_COMP2       TIM1_AF1_ETRSEL_1                                            /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM8_ETRSOURCE_COMP3       (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM8_ETRSOURCE_COMP4       TIM1_AF1_ETRSEL_2                                            /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM8_ETRSOURCE_COMP5       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM8_ETRSOURCE_COMP6       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                      /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM8_ETRSOURCE_COMP7       (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#define LL_TIM_TIM8_ETRSOURCE_ADC2_AWD1   TIM1_AF1_ETRSEL_3                                            /*!< ADC2 analog watchdog 1 */
+#define LL_TIM_TIM8_ETRSOURCE_ADC2_AWD2   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                      /*!< ADC2 analog watchdog 2 */
+#define LL_TIM_TIM8_ETRSOURCE_ADC2_AWD3   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1)                      /*!< ADC2 analog watchdog 3 */
+#if defined(ADC3)
+#define LL_TIM_TIM8_ETRSOURCE_ADC3_AWD1   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ADC3 analog watchdog 1 */
+#define LL_TIM_TIM8_ETRSOURCE_ADC3_AWD2   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2)                      /*!< ADC3 analog watchdog 2 */
+#define LL_TIM_TIM8_ETRSOURCE_ADC3_AWD3   (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)  /*!< ADC3 analog watchdog 3 */
+#endif /* ADC3 */
+/**
+  * @}
+  */
+
+#if defined(TIM20)
+/** @defgroup TIM_LL_EC_TIM20_ETRSOURCE External Trigger Source TIM20
+  * @{
+  */
+#define LL_TIM_TIM20_ETRSOURCE_GPIO       0x00000000U                                                  /*!< ETR input is connected to GPIO */
+#define LL_TIM_TIM20_ETRSOURCE_COMP1      TIM1_AF1_ETRSEL_0                                            /*!< ETR input is connected to COMP1_OUT */
+#define LL_TIM_TIM20_ETRSOURCE_COMP2      TIM1_AF1_ETRSEL_1                                            /*!< ETR input is connected to COMP2_OUT */
+#define LL_TIM_TIM20_ETRSOURCE_COMP3      (TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP3_OUT */
+#define LL_TIM_TIM20_ETRSOURCE_COMP4      TIM1_AF1_ETRSEL_2                                            /*!< ETR input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM20_ETRSOURCE_COMP5      (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)                      /*!< ETR input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM20_ETRSOURCE_COMP6      (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1)                      /*!< ETR input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM20_ETRSOURCE_COMP7      (TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ETR input is connected to COMP7_OUT */
+#endif /* COMP7 */
+#if defined(ADC3)
+#define LL_TIM_TIM20_ETRSOURCE_ADC3_AWD1  TIM1_AF1_ETRSEL_3                                            /*!< ADC3 analog watchdog 1 */
+#define LL_TIM_TIM20_ETRSOURCE_ADC3_AWD2  (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_0)                      /*!< ADC3 analog watchdog 2 */
+#define LL_TIM_TIM20_ETRSOURCE_ADC3_AWD3  (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1)                      /*!< ADC3 analog watchdog 3 */
+#endif /* ADC3 */
+#if defined(ADC5)
+#define LL_TIM_TIM20_ETRSOURCE_ADC5_AWD1  (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_1 | TIM1_AF1_ETRSEL_0)  /*!< ADC5 analog watchdog 1 */
+#define LL_TIM_TIM20_ETRSOURCE_ADC5_AWD2  (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2)                      /*!< ADC5 analog watchdog 2 */
+#define LL_TIM_TIM20_ETRSOURCE_ADC5_AWD3  (TIM1_AF1_ETRSEL_3 | TIM1_AF1_ETRSEL_2 | TIM1_AF1_ETRSEL_0)  /*!< ADC5 analog watchdog 3 */
+#endif /* ADC5 */
+/**
+  * @}
+  */
+#endif /* TIM20 */
+
+/** @defgroup TIM_LL_EC_BREAK_POLARITY break polarity
+  * @{
+  */
+#define LL_TIM_BREAK_POLARITY_LOW              0x00000000U               /*!< Break input BRK is active low */
+#define LL_TIM_BREAK_POLARITY_HIGH             TIM_BDTR_BKP              /*!< Break input BRK is active high */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK_FILTER break filter
+  * @{
+  */
+#define LL_TIM_BREAK_FILTER_FDIV1              0x00000000U   /*!< No filter, BRK acts asynchronously */
+#define LL_TIM_BREAK_FILTER_FDIV1_N2           0x00010000U   /*!< fSAMPLING=fCK_INT, N=2 */
+#define LL_TIM_BREAK_FILTER_FDIV1_N4           0x00020000U   /*!< fSAMPLING=fCK_INT, N=4 */
+#define LL_TIM_BREAK_FILTER_FDIV1_N8           0x00030000U   /*!< fSAMPLING=fCK_INT, N=8 */
+#define LL_TIM_BREAK_FILTER_FDIV2_N6           0x00040000U   /*!< fSAMPLING=fDTS/2, N=6 */
+#define LL_TIM_BREAK_FILTER_FDIV2_N8           0x00050000U   /*!< fSAMPLING=fDTS/2, N=8 */
+#define LL_TIM_BREAK_FILTER_FDIV4_N6           0x00060000U   /*!< fSAMPLING=fDTS/4, N=6 */
+#define LL_TIM_BREAK_FILTER_FDIV4_N8           0x00070000U   /*!< fSAMPLING=fDTS/4, N=8 */
+#define LL_TIM_BREAK_FILTER_FDIV8_N6           0x00080000U   /*!< fSAMPLING=fDTS/8, N=6 */
+#define LL_TIM_BREAK_FILTER_FDIV8_N8           0x00090000U   /*!< fSAMPLING=fDTS/8, N=8 */
+#define LL_TIM_BREAK_FILTER_FDIV16_N5          0x000A0000U   /*!< fSAMPLING=fDTS/16, N=5 */
+#define LL_TIM_BREAK_FILTER_FDIV16_N6          0x000B0000U   /*!< fSAMPLING=fDTS/16, N=6 */
+#define LL_TIM_BREAK_FILTER_FDIV16_N8          0x000C0000U   /*!< fSAMPLING=fDTS/16, N=8 */
+#define LL_TIM_BREAK_FILTER_FDIV32_N5          0x000D0000U   /*!< fSAMPLING=fDTS/32, N=5 */
+#define LL_TIM_BREAK_FILTER_FDIV32_N6          0x000E0000U   /*!< fSAMPLING=fDTS/32, N=6 */
+#define LL_TIM_BREAK_FILTER_FDIV32_N8          0x000F0000U   /*!< fSAMPLING=fDTS/32, N=8 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK2_POLARITY BREAK2 POLARITY
+  * @{
+  */
+#define LL_TIM_BREAK2_POLARITY_LOW             0x00000000U             /*!< Break input BRK2 is active low */
+#define LL_TIM_BREAK2_POLARITY_HIGH            TIM_BDTR_BK2P           /*!< Break input BRK2 is active high */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK2_FILTER BREAK2 FILTER
+  * @{
+  */
+#define LL_TIM_BREAK2_FILTER_FDIV1             0x00000000U   /*!< No filter, BRK acts asynchronously */
+#define LL_TIM_BREAK2_FILTER_FDIV1_N2          0x00100000U   /*!< fSAMPLING=fCK_INT, N=2 */
+#define LL_TIM_BREAK2_FILTER_FDIV1_N4          0x00200000U   /*!< fSAMPLING=fCK_INT, N=4 */
+#define LL_TIM_BREAK2_FILTER_FDIV1_N8          0x00300000U   /*!< fSAMPLING=fCK_INT, N=8 */
+#define LL_TIM_BREAK2_FILTER_FDIV2_N6          0x00400000U   /*!< fSAMPLING=fDTS/2, N=6 */
+#define LL_TIM_BREAK2_FILTER_FDIV2_N8          0x00500000U   /*!< fSAMPLING=fDTS/2, N=8 */
+#define LL_TIM_BREAK2_FILTER_FDIV4_N6          0x00600000U   /*!< fSAMPLING=fDTS/4, N=6 */
+#define LL_TIM_BREAK2_FILTER_FDIV4_N8          0x00700000U   /*!< fSAMPLING=fDTS/4, N=8 */
+#define LL_TIM_BREAK2_FILTER_FDIV8_N6          0x00800000U   /*!< fSAMPLING=fDTS/8, N=6 */
+#define LL_TIM_BREAK2_FILTER_FDIV8_N8          0x00900000U   /*!< fSAMPLING=fDTS/8, N=8 */
+#define LL_TIM_BREAK2_FILTER_FDIV16_N5         0x00A00000U   /*!< fSAMPLING=fDTS/16, N=5 */
+#define LL_TIM_BREAK2_FILTER_FDIV16_N6         0x00B00000U   /*!< fSAMPLING=fDTS/16, N=6 */
+#define LL_TIM_BREAK2_FILTER_FDIV16_N8         0x00C00000U   /*!< fSAMPLING=fDTS/16, N=8 */
+#define LL_TIM_BREAK2_FILTER_FDIV32_N5         0x00D00000U   /*!< fSAMPLING=fDTS/32, N=5 */
+#define LL_TIM_BREAK2_FILTER_FDIV32_N6         0x00E00000U   /*!< fSAMPLING=fDTS/32, N=6 */
+#define LL_TIM_BREAK2_FILTER_FDIV32_N8         0x00F00000U   /*!< fSAMPLING=fDTS/32, N=8 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_OSSI OSSI
+  * @{
+  */
+#define LL_TIM_OSSI_DISABLE                    0x00000000U             /*!< When inactive, OCx/OCxN outputs are disabled */
+#define LL_TIM_OSSI_ENABLE                     TIM_BDTR_OSSI           /*!< When inactive, OxC/OCxN outputs are first forced with their inactive level then forced to their idle level after the deadtime */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_OSSR OSSR
+  * @{
+  */
+#define LL_TIM_OSSR_DISABLE                    0x00000000U             /*!< When inactive, OCx/OCxN outputs are disabled */
+#define LL_TIM_OSSR_ENABLE                     TIM_BDTR_OSSR           /*!< When inactive, OC/OCN outputs are enabled with their inactive level as soon as CCxE=1 or CCxNE=1 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK_INPUT BREAK INPUT
+  * @{
+  */
+#define LL_TIM_BREAK_INPUT_BKIN                0x00000000U  /*!< TIMx_BKIN input */
+#define LL_TIM_BREAK_INPUT_BKIN2               0x00000004U  /*!< TIMx_BKIN2 input */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BKIN_SOURCE BKIN SOURCE
+  * @{
+  */
+#define LL_TIM_BKIN_SOURCE_BKIN                TIM1_AF1_BKINE      /*!< BKIN input from AF controller */
+#define LL_TIM_BKIN_SOURCE_BKCOMP1             TIM1_AF1_BKCMP1E    /*!< internal signal: COMP1 output */
+#define LL_TIM_BKIN_SOURCE_BKCOMP2             TIM1_AF1_BKCMP2E    /*!< internal signal: COMP2 output */
+#define LL_TIM_BKIN_SOURCE_BKCOMP3             TIM1_AF1_BKCMP3E    /*!< internal signal: COMP3 output */
+#define LL_TIM_BKIN_SOURCE_BKCOMP4             TIM1_AF1_BKCMP4E    /*!< internal signal: COMP4 output */
+#if defined(COMP5)
+#define LL_TIM_BKIN_SOURCE_BKCOMP5             TIM1_AF1_BKCMP5E    /*!< internal signal: COMP5 output */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_BKIN_SOURCE_BKCOMP6             TIM1_AF1_BKCMP6E    /*!< internal signal: COMP6 output */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_BKIN_SOURCE_BKCOMP7             TIM1_AF1_BKCMP7E    /*!< internal signal: COMP7 output */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BKIN_POLARITY BKIN POLARITY
+  * @{
+  */
+#define LL_TIM_BKIN_POLARITY_LOW               TIM1_AF1_BKINP           /*!< BRK BKIN input is active low */
+#define LL_TIM_BKIN_POLARITY_HIGH              0x00000000U              /*!< BRK BKIN input is active high */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK_AFMODE BREAK AF MODE
+  * @{
+  */
+#define LL_TIM_BREAK_AFMODE_INPUT              0x00000000U              /*!< Break input BRK in input mode */
+#define LL_TIM_BREAK_AFMODE_BIDIRECTIONAL      TIM_BDTR_BKBID           /*!< Break input BRK in bidirectional mode */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_BREAK2_AFMODE BREAK2 AF MODE
+  * @{
+  */
+#define LL_TIM_BREAK2_AFMODE_INPUT             0x00000000U             /*!< Break2 input BRK2 in input mode */
+#define LL_TIM_BREAK2_AFMODE_BIDIRECTIONAL     TIM_BDTR_BK2BID         /*!< Break2 input BRK2 in bidirectional mode */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_DMABURST_BASEADDR DMA Burst Base Address
+  * @{
+  */
+#define LL_TIM_DMABURST_BASEADDR_CR1           0x00000000U                                                      /*!< TIMx_CR1 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CR2           TIM_DCR_DBA_0                                                    /*!< TIMx_CR2 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_SMCR          TIM_DCR_DBA_1                                                    /*!< TIMx_SMCR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_DIER          (TIM_DCR_DBA_1 |  TIM_DCR_DBA_0)                                 /*!< TIMx_DIER register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_SR            TIM_DCR_DBA_2                                                    /*!< TIMx_SR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_EGR           (TIM_DCR_DBA_2 | TIM_DCR_DBA_0)                                  /*!< TIMx_EGR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCMR1         (TIM_DCR_DBA_2 | TIM_DCR_DBA_1)                                  /*!< TIMx_CCMR1 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCMR2         (TIM_DCR_DBA_2 | TIM_DCR_DBA_1 | TIM_DCR_DBA_0)                  /*!< TIMx_CCMR2 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCER          TIM_DCR_DBA_3                                                    /*!< TIMx_CCER register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CNT           (TIM_DCR_DBA_3 | TIM_DCR_DBA_0)                                  /*!< TIMx_CNT register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_PSC           (TIM_DCR_DBA_3 | TIM_DCR_DBA_1)                                  /*!< TIMx_PSC register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_ARR           (TIM_DCR_DBA_3 | TIM_DCR_DBA_1 | TIM_DCR_DBA_0)                  /*!< TIMx_ARR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_RCR           (TIM_DCR_DBA_3 | TIM_DCR_DBA_2)                                  /*!< TIMx_RCR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR1          (TIM_DCR_DBA_3 | TIM_DCR_DBA_2 | TIM_DCR_DBA_0)                  /*!< TIMx_CCR1 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR2          (TIM_DCR_DBA_3 | TIM_DCR_DBA_2 | TIM_DCR_DBA_1)                  /*!< TIMx_CCR2 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR3          (TIM_DCR_DBA_3 | TIM_DCR_DBA_2 | TIM_DCR_DBA_1 | TIM_DCR_DBA_0)  /*!< TIMx_CCR3 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR4          TIM_DCR_DBA_4                                                    /*!< TIMx_CCR4 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_BDTR          (TIM_DCR_DBA_4 | TIM_DCR_DBA_0)                                  /*!< TIMx_BDTR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR5          (TIM_DCR_DBA_4 | TIM_DCR_DBA_1)                                  /*!< TIMx_CCR5 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCR6          (TIM_DCR_DBA_4 | TIM_DCR_DBA_1 | TIM_DCR_DBA_0)                  /*!< TIMx_CCR6 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_CCMR3         (TIM_DCR_DBA_4 | TIM_DCR_DBA_2)                                  /*!< TIMx_CCMR3 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_DTR2          (TIM_DCR_DBA_4 | TIM_DCR_DBA_2 | TIM_DCR_DBA_0)                  /*!< TIMx_DTR2 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_ECR           (TIM_DCR_DBA_4 | TIM_DCR_DBA_2 | TIM_DCR_DBA_1)                  /*!< TIMx_ECR register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_TISEL         (TIM_DCR_DBA_4 | TIM_DCR_DBA_2 | TIM_DCR_DBA_1 | TIM_DCR_DBA_0)  /*!< TIMx_TISEL register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_AF1           (TIM_DCR_DBA_4 | TIM_DCR_DBA_3)                                  /*!< TIMx_AF1 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_AF2           (TIM_DCR_DBA_4 | TIM_DCR_DBA_3 | TIM_DCR_DBA_0)                  /*!< TIMx_AF2 register is the DMA base address for DMA burst */
+#define LL_TIM_DMABURST_BASEADDR_OR            (TIM_DCR_DBA_4 | TIM_DCR_DBA_3 | TIM_DCR_DBA_1)                  /*!< TIMx_OR register is the DMA base address for DMA burst */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_DMABURST_LENGTH DMA Burst Length
+  * @{
+  */
+#define LL_TIM_DMABURST_LENGTH_1TRANSFER       0x00000000U                                                     /*!< Transfer is done to 1 register starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_2TRANSFERS      TIM_DCR_DBL_0                                                   /*!< Transfer is done to 2 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_3TRANSFERS      TIM_DCR_DBL_1                                                   /*!< Transfer is done to 3 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_4TRANSFERS      (TIM_DCR_DBL_1 |  TIM_DCR_DBL_0)                                /*!< Transfer is done to 4 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_5TRANSFERS      TIM_DCR_DBL_2                                                   /*!< Transfer is done to 5 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_6TRANSFERS      (TIM_DCR_DBL_2 | TIM_DCR_DBL_0)                                 /*!< Transfer is done to 6 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_7TRANSFERS      (TIM_DCR_DBL_2 | TIM_DCR_DBL_1)                                 /*!< Transfer is done to 7 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_8TRANSFERS      (TIM_DCR_DBL_2 | TIM_DCR_DBL_1 | TIM_DCR_DBL_0)                 /*!< Transfer is done to 1 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_9TRANSFERS      TIM_DCR_DBL_3                                                   /*!< Transfer is done to 9 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_10TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_0)                                 /*!< Transfer is done to 10 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_11TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_1)                                 /*!< Transfer is done to 11 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_12TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_1 | TIM_DCR_DBL_0)                 /*!< Transfer is done to 12 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_13TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_2)                                 /*!< Transfer is done to 13 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_14TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_2 | TIM_DCR_DBL_0)                 /*!< Transfer is done to 14 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_15TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_2 | TIM_DCR_DBL_1)                 /*!< Transfer is done to 15 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_16TRANSFERS     (TIM_DCR_DBL_3 | TIM_DCR_DBL_2 | TIM_DCR_DBL_1 | TIM_DCR_DBL_0) /*!< Transfer is done to 16 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_17TRANSFERS     TIM_DCR_DBL_4                                                   /*!< Transfer is done to 17 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_18TRANSFERS     (TIM_DCR_DBL_4 |  TIM_DCR_DBL_0)                                /*!< Transfer is done to 18 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_19TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_1)                                 /*!< Transfer is done to 19 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_20TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_1 | TIM_DCR_DBL_0)                 /*!< Transfer is done to 20 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_21TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_2)                                 /*!< Transfer is done to 21 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_22TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_2 | TIM_DCR_DBL_0)                 /*!< Transfer is done to 22 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_23TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_2 | TIM_DCR_DBL_1)                 /*!< Transfer is done to 23 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_24TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_2 | TIM_DCR_DBL_1 | TIM_DCR_DBL_0) /*!< Transfer is done to 24 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_25TRANSFERS     (TIM_DCR_DBL_4 | TIM_DCR_DBL_3)                                 /*!< Transfer is done to 25 registers starting from the DMA burst base address */
+#define LL_TIM_DMABURST_LENGTH_26TRANSFERS     (TIM_DCR_DBL_4 |  TIM_DCR_DBL_3 |  TIM_DCR_DBL_0)               /*!< Transfer is done to 26 registers starting from the DMA burst base address */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM1_TI1_RMP  TIM1 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM1_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM1 input 1 is connected to GPIO */
+#define LL_TIM_TIM1_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_0                                /*!< TIM1 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM1_TI1_RMP_COMP2  TIM_TISEL_TI1SEL_1                                /*!< TIM1 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM1_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM1 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM1_TI1_RMP_COMP4  TIM_TISEL_TI1SEL_2                                /*!< TIM1 input 1 is connected to COMP4_OUT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM2_TI1_RMP  TIM2 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM2_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM2 input 1 is connected to GPIO */
+#define LL_TIM_TIM2_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_0                                /*!< TIM2 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM2_TI1_RMP_COMP2  TIM_TISEL_TI1SEL_1                                /*!< TIM2 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM2_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM2 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM2_TI1_RMP_COMP4  TIM_TISEL_TI1SEL_2                                /*!< TIM2 input 1 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM2_TI1_RMP_COMP5  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)         /*!< TIM2 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM2_TI2_RMP  TIM2 Timer Input Ch2 Remap
+  * @{
+  */
+#define LL_TIM_TIM2_TI2_RMP_GPIO   0x00000000U                                       /*!< TIM2 input 2 is connected to GPIO */
+#define LL_TIM_TIM2_TI2_RMP_COMP1  TIM_TISEL_TI2SEL_0                                /*!< TIM2 input 2 is connected to COMP1_OUT */
+#define LL_TIM_TIM2_TI2_RMP_COMP2  TIM_TISEL_TI2SEL_1                                /*!< TIM2 input 2 is connected to COMP2_OUT */
+#define LL_TIM_TIM2_TI2_RMP_COMP3  (TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)         /*!< TIM2 input 2 is connected to COMP3_OUT */
+#define LL_TIM_TIM2_TI2_RMP_COMP4  TIM_TISEL_TI2SEL_2                                /*!< TIM2 input 2 is connected to COMP4_OUT */
+#if defined(COMP6)
+#define LL_TIM_TIM2_TI2_RMP_COMP6  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_0)         /*!< TIM2 input 2 is connected to COMP6_OUT */
+#endif /* COMP6 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM2_TI3_RMP  TIM2 Timer Input Ch3 Remap
+  * @{
+  */
+#define LL_TIM_TIM2_TI3_RMP_GPIO   0x00000000U                                       /*!< TIM2 input 3 is connected to GPIO */
+#define LL_TIM_TIM2_TI3_RMP_COMP4  TIM_TISEL_TI3SEL_0                                /*!< TIM2 input 3 is connected to COMP4_OUT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM2_TI4_RMP  TIM2 Timer Input Ch4 Remap
+  * @{
+  */
+#define LL_TIM_TIM2_TI4_RMP_GPIO   0x00000000U                                       /*!< TIM2 input 4 is connected to GPIO */
+#define LL_TIM_TIM2_TI4_RMP_COMP1  TIM_TISEL_TI4SEL_0                                /*!< TIM2 input 4 is connected to COMP1_OUT */
+#define LL_TIM_TIM2_TI4_RMP_COMP2  TIM_TISEL_TI4SEL_1                                /*!< TIM2 input 4 is connected to COMP2_OUT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM3_TI1_RMP  TIM3 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM3_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM3 input 1 is connected to GPIO */
+#define LL_TIM_TIM3_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_0                                /*!< TIM3 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM3_TI1_RMP_COMP2  TIM_TISEL_TI1SEL_1                                /*!< TIM3 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM3_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM3 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM3_TI1_RMP_COMP4  TIM_TISEL_TI1SEL_2                                /*!< TIM3 input 1 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM3_TI1_RMP_COMP5  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)         /*!< TIM3 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM3_TI1_RMP_COMP6  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1)         /*!< TIM3 input 1 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM3_TI1_RMP_COMP7  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)   /*!< TIM3 input 1 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM3_TI2_RMP  TIM3 Timer Input Ch2 Remap
+  * @{
+  */
+#define LL_TIM_TIM3_TI2_RMP_GPIO   0x00000000U                                       /*!< TIM3 input 2 is connected to GPIO */
+#define LL_TIM_TIM3_TI2_RMP_COMP1  TIM_TISEL_TI2SEL_0                                /*!< TIM3 input 2 is connected to COMP1_OUT */
+#define LL_TIM_TIM3_TI2_RMP_COMP2  TIM_TISEL_TI2SEL_1                                /*!< TIM3 input 2 is connected to COMP2_OUT */
+#define LL_TIM_TIM3_TI2_RMP_COMP3  (TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)         /*!< TIM3 input 2 is connected to COMP3_OUT */
+#define LL_TIM_TIM3_TI2_RMP_COMP4  TIM_TISEL_TI2SEL_2                                /*!< TIM3 input 2 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM3_TI2_RMP_COMP5  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_0)         /*!< TIM3 input 2 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM3_TI2_RMP_COMP6  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1)         /*!< TIM3 input 2 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM3_TI2_RMP_COMP7  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)   /*!< TIM3 input 2 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM3_TI3_RMP  TIM3 Timer Input Ch3 Remap
+  * @{
+  */
+#define LL_TIM_TIM3_TI3_RMP_GPIO   0x00000000U                                       /*!< TIM3 input 3 is connected to GPIO */
+#define LL_TIM_TIM3_TI3_RMP_COMP3  TIM_TISEL_TI3SEL_0                                /*!< TIM3 input 3 is connected to COMP3_OUT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM4_TI1_RMP  TIM4 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM4_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM4 input 1 is connected to GPIO */
+#define LL_TIM_TIM4_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_0                                /*!< TIM4 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM4_TI1_RMP_COMP2  TIM_TISEL_TI1SEL_1                                /*!< TIM4 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM4_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM4 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM4_TI1_RMP_COMP4  TIM_TISEL_TI1SEL_2                                /*!< TIM4 input 1 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM4_TI1_RMP_COMP5  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)         /*!< TIM4 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM4_TI1_RMP_COMP6  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1)         /*!< TIM4 input 1 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM4_TI1_RMP_COMP7  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)   /*!< TIM4 input 1 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM4_TI2_RMP  TIM4 Timer Input Ch2 Remap
+  * @{
+  */
+#define LL_TIM_TIM4_TI2_RMP_GPIO   0x00000000U                                       /*!< TIM4 input 2 is connected to GPIO */
+#define LL_TIM_TIM4_TI2_RMP_COMP1  TIM_TISEL_TI2SEL_0                                /*!< TIM4 input 2 is connected to COMP1_OUT */
+#define LL_TIM_TIM4_TI2_RMP_COMP2  TIM_TISEL_TI2SEL_1                                /*!< TIM4 input 2 is connected to COMP2_OUT */
+#define LL_TIM_TIM4_TI2_RMP_COMP3  (TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)         /*!< TIM4 input 2 is connected to COMP3_OUT */
+#define LL_TIM_TIM4_TI2_RMP_COMP4  TIM_TISEL_TI2SEL_2                                /*!< TIM4 input 2 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM4_TI2_RMP_COMP5  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_0)         /*!< TIM4 input 2 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM4_TI2_RMP_COMP6  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1)         /*!< TIM4 input 2 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM4_TI2_RMP_COMP7  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)   /*!< TIM4 input 2 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM4_TI3_RMP  TIM4 Timer Input Ch3 Remap
+  * @{
+  */
+#define LL_TIM_TIM4_TI3_RMP_GPIO   0x00000000U                                       /*!< TIM4 input 3 is connected to GPIO */
+#if defined(COMP5)
+#define LL_TIM_TIM4_TI3_RMP_COMP5  TIM_TISEL_TI3SEL_0                                /*!< TIM4 input 3 is connected to COMP5_OUT */
+#endif /* COMP5 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM4_TI4_RMP  TIM4 Timer Input Ch4 Remap
+  * @{
+  */
+#define LL_TIM_TIM4_TI4_RMP_GPIO   0x00000000U                                       /*!< TIM4 input 4 is connected to GPIO */
+#if defined(COMP6)
+#define LL_TIM_TIM4_TI4_RMP_COMP6  TIM_TISEL_TI4SEL_0                                /*!< TIM4 input 4 is connected to COMP6_OUT */
+#endif /* COMP6 */
+/**
+  * @}
+  */
+
+#if defined(TIM5)
+/** @defgroup TIM_LL_EC_TIM5_TI1_RMP  TIM5 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM5_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM5 input 1 is connected to GPIO */
+#define LL_TIM_TIM5_TI1_RMP_LSI    TIM_TISEL_TI1SEL_0                                /*!< TIM5 input 1 is connected to LSI */
+#define LL_TIM_TIM5_TI1_RMP_LSE    TIM_TISEL_TI1SEL_1                                /*!< TIM5 input 1 is connected to LSE */
+#define LL_TIM_TIM5_TI1_RMP_RTC_WK (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM5 input 1 is connected to RTC_WAKEUP */
+#define LL_TIM_TIM5_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_2                                /*!< TIM5 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM5_TI1_RMP_COMP2  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)         /*!< TIM5 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM5_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1)         /*!< TIM5 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM5_TI1_RMP_COMP4  (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)   /*!< TIM5 input 1 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM5_TI1_RMP_COMP5  TIM_TISEL_TI1SEL_3                                /*!< TIM5 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM5_TI1_RMP_COMP6  (TIM_TISEL_TI1SEL_3 | TIM_TISEL_TI1SEL_0)         /*!< TIM5 input 1 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM5_TI1_RMP_COMP7  (TIM_TISEL_TI1SEL_3 | TIM_TISEL_TI1SEL_1)         /*!< TIM5 input 1 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM5_TI2_RMP  TIM5 Timer Input Ch2 Remap
+  * @{
+  */
+#define LL_TIM_TIM5_TI2_RMP_GPIO   0x00000000U                                       /*!< TIM5 input 2 is connected to GPIO */
+#define LL_TIM_TIM5_TI2_RMP_COMP1  TIM_TISEL_TI2SEL_0                                /*!< TIM5 input 2 is connected to COMP1_OUT */
+#define LL_TIM_TIM5_TI2_RMP_COMP2  TIM_TISEL_TI2SEL_1                                /*!< TIM5 input 2 is connected to COMP2_OUT */
+#define LL_TIM_TIM5_TI2_RMP_COMP3  (TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)         /*!< TIM5 input 2 is connected to COMP3_OUT */
+#define LL_TIM_TIM5_TI2_RMP_COMP4  TIM_TISEL_TI2SEL_2                                /*!< TIM5 input 2 is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM5_TI2_RMP_COMP5  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_0)         /*!< TIM5 input 2 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_TIM5_TI2_RMP_COMP6  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1)         /*!< TIM5 input 2 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM5_TI2_RMP_COMP7  (TIM_TISEL_TI2SEL_2 | TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)   /*!< TIM5 input 2 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+#endif /* TIM5 */
+
+/** @defgroup TIM_LL_EC_TIM8_TI1_RMP  TIM8 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM8_TI1_RMP_GPIO   0x00000000U                                       /*!< TIM8 input 1 is connected to GPIO */
+#define LL_TIM_TIM8_TI1_RMP_COMP1  TIM_TISEL_TI1SEL_0                                /*!< TIM8 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM8_TI1_RMP_COMP2  TIM_TISEL_TI1SEL_1                                /*!< TIM8 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM8_TI1_RMP_COMP3  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM8 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM8_TI1_RMP_COMP4  TIM_TISEL_TI1SEL_2                                /*!< TIM8 input 1 is connected to COMP4_OUT */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM15_TI1_RMP  TIM15 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM15_TI1_RMP_GPIO  0x00000000U                                       /*!< TIM15 input 1 is connected to GPIO */
+#define LL_TIM_TIM15_TI1_RMP_LSE   TIM_TISEL_TI1SEL_0                                /*!< TIM15 input 1 is connected to LSE */
+#define LL_TIM_TIM15_TI1_RMP_COMP1 TIM_TISEL_TI1SEL_1                                /*!< TIM15 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM15_TI1_RMP_COMP2 (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)         /*!< TIM15 input 1 is connected to COMP2_OUT */
+#if defined(COMP5)
+#define LL_TIM_TIM15_TI1_RMP_COMP5 TIM_TISEL_TI1SEL_2                                /*!< TIM15 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP7)
+#define LL_TIM_TIM15_TI1_RMP_COMP7 (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)         /*!< TIM15 input 1 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM15_TI2_RMP  TIM15 Timer Input Ch2 Remap
+  * @{
+  */
+#define LL_TIM_TIM15_TI2_RMP_GPIO  0x00000000U                                       /*!< TIM15 input 2 is connected to GPIO */
+#define LL_TIM_TIM15_TI2_RMP_COMP2 TIM_TISEL_TI2SEL_0                                /*!< TIM15 input 2 is connected to COMP2_OUT */
+#define LL_TIM_TIM15_TI2_RMP_COMP3 TIM_TISEL_TI2SEL_1                                /*!< TIM15 input 2 is connected to COMP3_OUT */
+#if defined(COMP6)
+#define LL_TIM_TIM15_TI2_RMP_COMP6 (TIM_TISEL_TI2SEL_1 | TIM_TISEL_TI2SEL_0)         /*!< TIM15 input 2 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_TIM15_TI2_RMP_COMP7 TIM_TISEL_TI2SEL_2                                /*!< TIM15 input 2 is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM16_TI1_RMP  TIM16 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM16_TI1_RMP_GPIO    0x00000000U                                     /*!< TIM16 input 1 is connected to GPIO */
+#if defined(COMP6)
+#define LL_TIM_TIM16_TI1_RMP_COMP6   TIM_TISEL_TI1SEL_0                              /*!< TIM16 input 1 is connected to COMP6_OUT */
+#endif /* COMP6 */
+#define LL_TIM_TIM16_TI1_RMP_MCO     TIM_TISEL_TI1SEL_1                              /*!< TIM16 input 1 is connected to MCO */
+#define LL_TIM_TIM16_TI1_RMP_HSE_32  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)       /*!< TIM16 input 1 is connected to HSE/32 */
+#define LL_TIM_TIM16_TI1_RMP_RTC_WK  TIM_TISEL_TI1SEL_2                              /*!< TIM16 input 1 is connected to RTC_WAKEUP */
+#define LL_TIM_TIM16_TI1_RMP_LSE     (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)       /*!< TIM16 input 1 is connected to LSE */
+#define LL_TIM_TIM16_TI1_RMP_LSI     (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1)       /*!< TIM16 input 1 is connected to LSI */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_TIM17_TI1_RMP  TIM17 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM17_TI1_RMP_GPIO    0x00000000U                                     /*!< TIM17 input 1 is connected to GPIO */
+#if defined(COMP5)
+#define LL_TIM_TIM17_TI1_RMP_COMP5   TIM_TISEL_TI1SEL_0                              /*!< TIM17 input 1 is connected to COMP5_OUT */
+#endif /* COMP5 */
+#define LL_TIM_TIM17_TI1_RMP_MCO     TIM_TISEL_TI1SEL_1                              /*!< TIM17 input 1 is connected to MCO */
+#define LL_TIM_TIM17_TI1_RMP_HSE_32  (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)       /*!< TIM17 input 1 is connected to HSE/32 */
+#define LL_TIM_TIM17_TI1_RMP_RTC_WK  TIM_TISEL_TI1SEL_2                              /*!< TIM17 input 1 is connected to RTC_WAKEUP */
+#define LL_TIM_TIM17_TI1_RMP_LSE     (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_0)       /*!< TIM17 input 1 is connected to LSE */
+#define LL_TIM_TIM17_TI1_RMP_LSI     (TIM_TISEL_TI1SEL_2 | TIM_TISEL_TI1SEL_1)       /*!< TIM17 input 1 is connected to LSI */
+/**
+  * @}
+  */
+
+#if defined(TIM20)
+/** @defgroup TIM_LL_EC_TIM20_TI1_RMP  TIM20 Timer Input Ch1 Remap
+  * @{
+  */
+#define LL_TIM_TIM20_TI1_RMP_GPIO  0x00000000U                                      /*!< TIM20 input 1 is connected to GPIO */
+#define LL_TIM_TIM20_TI1_RMP_COMP1 TIM_TISEL_TI1SEL_0                               /*!< TIM20 input 1 is connected to COMP1_OUT */
+#define LL_TIM_TIM20_TI1_RMP_COMP2 TIM_TISEL_TI1SEL_1                               /*!< TIM20 input 1 is connected to COMP2_OUT */
+#define LL_TIM_TIM20_TI1_RMP_COMP3 (TIM_TISEL_TI1SEL_1 | TIM_TISEL_TI1SEL_0)        /*!< TIM20 input 1 is connected to COMP3_OUT */
+#define LL_TIM_TIM20_TI1_RMP_COMP4 TIM_TISEL_TI1SEL_2                               /*!< TIM20 input 1 is connected to COMP4_OUT */
+/**
+  * @}
+  */
+#endif /* TIM20 */
+
+/** @defgroup TIM_LL_EC_OCREF_CLR_INT OCREF clear input selection
+  * @{
+  */
+#define LL_TIM_OCREF_CLR_INT_ETR         OCREF_CLEAR_SELECT_Msk                   /*!< OCREF_CLR_INT is connected to ETRF */
+#define LL_TIM_OCREF_CLR_INT_COMP1       0x00000000U                              /*!< OCREF clear input is connected to COMP1_OUT */
+#define LL_TIM_OCREF_CLR_INT_COMP2       TIM1_AF2_OCRSEL_0                        /*!< OCREF clear input is connected to COMP2_OUT */
+#define LL_TIM_OCREF_CLR_INT_COMP3       TIM1_AF2_OCRSEL_1                        /*!< OCREF clear input is connected to COMP3_OUT */
+#define LL_TIM_OCREF_CLR_INT_COMP4       (TIM1_AF2_OCRSEL_1 | TIM1_AF2_OCRSEL_0)  /*!< OCREF clear input is connected to COMP4_OUT */
+#if defined(COMP5)
+#define LL_TIM_OCREF_CLR_INT_COMP5       TIM1_AF2_OCRSEL_2                        /*!< OCREF clear input is connected to COMP5_OUT */
+#endif /* COMP5 */
+#if defined(COMP6)
+#define LL_TIM_OCREF_CLR_INT_COMP6       (TIM1_AF2_OCRSEL_2 | TIM1_AF2_OCRSEL_0)  /*!< OCREF clear input is connected to COMP6_OUT */
+#endif /* COMP6 */
+#if defined(COMP7)
+#define LL_TIM_OCREF_CLR_INT_COMP7       (TIM1_AF2_OCRSEL_2 | TIM1_AF2_OCRSEL_1)  /*!< OCREF clear input is connected to COMP7_OUT */
+#endif /* COMP7 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_INDEX_DIR index direction selection
+  * @{
+  */
+#define LL_TIM_INDEX_UP_DOWN     0x00000000U         /*!< Index resets the counter whatever the direction */
+#define LL_TIM_INDEX_UP          TIM_ECR_IDIR_0      /*!< Index resets the counter when up-counting only */
+#define LL_TIM_INDEX_DOWN        TIM_ECR_IDIR_1      /*!< Index resets the counter when down-counting only */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_INDEX_POSITION index positioning selection
+  * @{
+  */
+#define LL_TIM_INDEX_POSITION_DOWN_DOWN    0x00000000U                           /*!< Index resets the counter when AB = 00 */
+#define LL_TIM_INDEX_POSITION_DOWN_UP      TIM_ECR_IPOS_0                        /*!< Index resets the counter when AB = 01 */
+#define LL_TIM_INDEX_POSITION_UP_DOWN      TIM_ECR_IPOS_1                        /*!< Index resets the counter when AB = 10 */
+#define LL_TIM_INDEX_POSITION_UP_UP        (TIM_ECR_IPOS_1 | TIM_ECR_IPOS_0)     /*!< Index resets the counter when AB = 11 */
+#define LL_TIM_INDEX_POSITION_DOWN         0x00000000U                           /*!< Index resets the counter when clock is 0 */
+#define LL_TIM_INDEX_POSITION_UP           TIM_ECR_IPOS_0                        /*!< Index resets the counter when clock is 1 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_FIRST_INDEX first index selection
+  * @{
+  */
+#define LL_TIM_INDEX_ALL           0x00000000U                           /*!< Index is always active */
+#define LL_TIM_INDEX_FIRST_ONLY    TIM_ECR_FIDX                          /*!< The first Index only resets the counter */
+/**
+  * @}
+  */
+/** @defgroup TIM_LL_EC_PWPRSC Pulse on compare pulse width prescaler
+  * @{
+  */
+#define LL_TIM_PWPRSC_X1     0x00000000U                                              /*!< Pulse on compare pulse width prescaler 1 */
+#define LL_TIM_PWPRSC_X2     TIM_ECR_PWPRSC_0                                         /*!< Pulse on compare pulse width prescaler 2 */
+#define LL_TIM_PWPRSC_X4     TIM_ECR_PWPRSC_1                                         /*!< Pulse on compare pulse width prescaler 4 */
+#define LL_TIM_PWPRSC_X8     (TIM_ECR_PWPRSC_1 | TIM_ECR_PWPRSC_0)                    /*!< Pulse on compare pulse width prescaler 8 */
+#define LL_TIM_PWPRSC_X16    TIM_ECR_PWPRSC_2                                         /*!< Pulse on compare pulse width prescaler 16 */
+#define LL_TIM_PWPRSC_X32    (TIM_ECR_PWPRSC_2 | TIM_ECR_PWPRSC_0)                    /*!< Pulse on compare pulse width prescaler 32 */
+#define LL_TIM_PWPRSC_X64    (TIM_ECR_PWPRSC_2 | TIM_ECR_PWPRSC_1)                    /*!< Pulse on compare pulse width prescaler 64 */
+#define LL_TIM_PWPRSC_X128   (TIM_ECR_PWPRSC_2 | TIM_ECR_PWPRSC_1 | TIM_ECR_PWPRSC_0) /*!< Pulse on compare pulse width prescaler 128 */
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EC_HSE_32_REQUEST Clock HSE/32 request
+  * @{
+  */
+#define LL_TIM_HSE_32_NOT_REQUEST     0x00000000U            /*!< Clock HSE/32 not requested */
+#define LL_TIM_HSE_32_REQUEST         TIM_OR_HSE32EN         /*!< Clock HSE/32 requested for TIM16/17 TI1SEL remap */
+/**
+  * @}
+  */
+
+/** Legacy definitions for compatibility purpose
+@cond 0
+  */
+#define LL_TIM_BKIN_SOURCE_DFBK  LL_TIM_BKIN_SOURCE_DF1BK
+/**
+@endcond
+  */
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup TIM_LL_Exported_Macros TIM Exported Macros
+  * @{
+  */
+
+/** @defgroup TIM_LL_EM_WRITE_READ Common Write and read registers Macros
+  * @{
+  */
+/**
+  * @brief  Write a value in TIM register.
+  * @param  __INSTANCE__ TIM Instance
+  * @param  __REG__ Register to be written
+  * @param  __VALUE__ Value to be written in the register
+  * @retval None
+  */
+#define LL_TIM_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG((__INSTANCE__)->__REG__, (__VALUE__))
+
+/**
+  * @brief  Read a value in TIM register.
+  * @param  __INSTANCE__ TIM Instance
+  * @param  __REG__ Register to be read
+  * @retval Register value
+  */
+#define LL_TIM_ReadReg(__INSTANCE__, __REG__) READ_REG((__INSTANCE__)->__REG__)
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EM_Exported_Macros Exported_Macros
+  * @{
+  */
+
+/**
+  * @brief  HELPER macro retrieving the UIFCPY flag from the counter value.
+  * @note ex: @ref __LL_TIM_GETFLAG_UIFCPY (@ref LL_TIM_GetCounter ());
+  * @note  Relevant only if UIF flag remapping has been enabled  (UIF status bit is copied
+  *        to TIMx_CNT register bit 31)
+  * @param  __CNT__ Counter value
+  * @retval UIF status bit
+  */
+#define __LL_TIM_GETFLAG_UIFCPY(__CNT__)  \
+  (READ_BIT((__CNT__), TIM_CNT_UIFCPY) >> TIM_CNT_UIFCPY_Pos)
+
+/**
+  * @brief  HELPER macro calculating DTG[0:7] in the TIMx_BDTR register to achieve the requested dead time duration.
+  * @note ex: @ref __LL_TIM_CALC_DEADTIME (80000000, @ref LL_TIM_GetClockDivision (), 120);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __CKD__ This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV1
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV2
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV4
+  * @param  __DT__ deadtime duration (in ns)
+  * @retval DTG[0:7]
+  */
+#define __LL_TIM_CALC_DEADTIME(__TIMCLK__, __CKD__, __DT__)  \
+  ( (((uint64_t)((__DT__)*1000U)) < ((DT_DELAY_1+1U) * TIM_CALC_DTS((__TIMCLK__), (__CKD__))))    ?  \
+    (uint8_t)(((uint64_t)((__DT__)*1000U) / TIM_CALC_DTS((__TIMCLK__), (__CKD__)))  & DT_DELAY_1) :      \
+    (((uint64_t)((__DT__)*1000U)) < ((64U + (DT_DELAY_2+1U)) * 2U * TIM_CALC_DTS((__TIMCLK__), (__CKD__))))  ?  \
+    (uint8_t)(DT_RANGE_2 | ((uint8_t)((uint8_t)((((uint64_t)((__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__),   \
+                                                 (__CKD__))) >> 1U) - (uint8_t) 64) & DT_DELAY_2)) :\
+    (((uint64_t)((__DT__)*1000U)) < ((32U + (DT_DELAY_3+1U)) * 8U * TIM_CALC_DTS((__TIMCLK__), (__CKD__))))  ?  \
+    (uint8_t)(DT_RANGE_3 | ((uint8_t)((uint8_t)(((((uint64_t)(__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__),  \
+                                                 (__CKD__))) >> 3U) - (uint8_t) 32) & DT_DELAY_3)) :\
+    (((uint64_t)((__DT__)*1000U)) < ((32U + (DT_DELAY_4+1U)) * 16U * TIM_CALC_DTS((__TIMCLK__), (__CKD__)))) ?  \
+    (uint8_t)(DT_RANGE_4 | ((uint8_t)((uint8_t)(((((uint64_t)(__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__),  \
+                                                 (__CKD__))) >> 4U) - (uint8_t) 32) & DT_DELAY_4)) :\
+    0U)
+
+/**
+  * @brief  HELPER macro calculating the prescaler value to achieve the required counter clock frequency.
+  * @note ex: @ref __LL_TIM_CALC_PSC (80000000, 1000000);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __CNTCLK__ counter clock frequency (in Hz)
+  * @retval Prescaler value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_PSC(__TIMCLK__, __CNTCLK__)   \
+  (((__TIMCLK__) >= (__CNTCLK__)) ? (uint32_t)(((__TIMCLK__)/(__CNTCLK__)) - 1U) : 0U)
+
+/**
+  * @brief  HELPER macro calculating the auto-reload value to achieve the required output signal frequency.
+  * @note ex: @ref __LL_TIM_CALC_ARR (1000000, @ref LL_TIM_GetPrescaler (), 10000);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __FREQ__ output signal frequency (in Hz)
+  * @retval  Auto-reload value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_ARR(__TIMCLK__, __PSC__, __FREQ__) \
+  ((((__TIMCLK__)/((__PSC__) + 1U)) >= (__FREQ__)) ? (((__TIMCLK__)/((__FREQ__) * ((__PSC__) + 1U))) - 1U) : 0U)
+
+/**
+  * @brief  HELPER macro calculating the auto-reload value, with dithering feature enabled, to achieve the required
+  *         output signal frequency.
+  * @note ex: @ref __LL_TIM_CALC_ARR_DITHER (1000000, @ref LL_TIM_GetPrescaler (), 10000);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __FREQ__ output signal frequency (in Hz)
+  * @retval  Auto-reload value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_ARR_DITHER(__TIMCLK__, __PSC__, __FREQ__) \
+  ((((__TIMCLK__)/((__PSC__) + 1U)) >= (__FREQ__)) ? \
+   (uint32_t)((((uint64_t)(__TIMCLK__) * 16U/((__FREQ__) * ((__PSC__) + 1U))) - 16U)) : 0U)
+
+/**
+  * @brief  HELPER macro calculating the compare value required to achieve the required timer output compare
+  *         active/inactive delay.
+  * @note ex: @ref __LL_TIM_CALC_DELAY (1000000, @ref LL_TIM_GetPrescaler (), 10);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __DELAY__ timer output compare active/inactive delay (in us)
+  * @retval Compare value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_DELAY(__TIMCLK__, __PSC__, __DELAY__)  \
+  ((uint32_t)(((uint64_t)(__TIMCLK__) * (uint64_t)(__DELAY__)) \
+              / ((uint64_t)1000000U * (uint64_t)((__PSC__) + 1U))))
+
+/**
+  * @brief  HELPER macro calculating the compare value, with dithering feature enabled, to achieve the required timer
+  *         output compare active/inactive delay.
+  * @note ex: @ref __LL_TIM_CALC_DELAY_DITHER (1000000, @ref LL_TIM_GetPrescaler (), 10);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __DELAY__ timer output compare active/inactive delay (in us)
+  * @retval Compare value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_DELAY_DITHER(__TIMCLK__, __PSC__, __DELAY__)  \
+  ((uint32_t)(((uint64_t)(__TIMCLK__) * (uint64_t)(__DELAY__) * 16U) \
+              / ((uint64_t)1000000U * (uint64_t)((__PSC__) + 1U))))
+
+/**
+  * @brief  HELPER macro calculating the auto-reload value to achieve the required pulse duration
+  *         (when the timer operates in one pulse mode).
+  * @note ex: @ref __LL_TIM_CALC_PULSE (1000000, @ref LL_TIM_GetPrescaler (), 10, 20);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __DELAY__ timer output compare active/inactive delay (in us)
+  * @param  __PULSE__ pulse duration (in us)
+  * @retval Auto-reload value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_PULSE(__TIMCLK__, __PSC__, __DELAY__, __PULSE__)  \
+  ((uint32_t)(__LL_TIM_CALC_DELAY((__TIMCLK__), (__PSC__), (__PULSE__)) \
+              + __LL_TIM_CALC_DELAY((__TIMCLK__), (__PSC__), (__DELAY__))))
+
+/**
+  * @brief  HELPER macro calculating the auto-reload value, with dithering feature enabled, to achieve the required
+  *         pulse duration (when the timer operates in one pulse mode).
+  * @note ex: @ref __LL_TIM_CALC_PULSE_DITHER (1000000, @ref LL_TIM_GetPrescaler (), 10, 20);
+  * @param  __TIMCLK__ timer input clock frequency (in Hz)
+  * @param  __PSC__ prescaler
+  * @param  __DELAY__ timer output compare active/inactive delay (in us)
+  * @param  __PULSE__ pulse duration (in us)
+  * @retval Auto-reload value  (between Min_Data=0 and Max_Data=65535)
+  */
+#define __LL_TIM_CALC_PULSE_DITHER(__TIMCLK__, __PSC__, __DELAY__, __PULSE__)  \
+  ((uint32_t)(__LL_TIM_CALC_DELAY_DITHER((__TIMCLK__), (__PSC__), (__PULSE__)) \
+              + __LL_TIM_CALC_DELAY_DITHER((__TIMCLK__), (__PSC__), (__DELAY__))))
+
+/**
+  * @brief  HELPER macro retrieving the ratio of the input capture prescaler
+  * @note ex: @ref __LL_TIM_GET_ICPSC_RATIO (@ref LL_TIM_IC_GetPrescaler ());
+  * @param  __ICPSC__ This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ICPSC_DIV1
+  *         @arg @ref LL_TIM_ICPSC_DIV2
+  *         @arg @ref LL_TIM_ICPSC_DIV4
+  *         @arg @ref LL_TIM_ICPSC_DIV8
+  * @retval Input capture prescaler ratio (1, 2, 4 or 8)
+  */
+#define __LL_TIM_GET_ICPSC_RATIO(__ICPSC__)  \
+  ((uint32_t)(0x01U << (((__ICPSC__) >> 16U) >> TIM_CCMR1_IC1PSC_Pos)))
+
+
+/**
+  * @}
+  */
+
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @defgroup TIM_LL_Exported_Functions TIM Exported Functions
+  * @{
+  */
+
+/** @defgroup TIM_LL_EF_Time_Base Time Base configuration
+  * @{
+  */
+/**
+  * @brief  Enable timer counter.
+  * @rmtoll CR1          CEN           LL_TIM_EnableCounter
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableCounter(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR1, TIM_CR1_CEN);
+}
+
+/**
+  * @brief  Disable timer counter.
+  * @rmtoll CR1          CEN           LL_TIM_DisableCounter
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableCounter(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR1, TIM_CR1_CEN);
+}
+
+/**
+  * @brief  Indicates whether the timer counter is enabled.
+  * @rmtoll CR1          CEN           LL_TIM_IsEnabledCounter
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledCounter(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->CR1, TIM_CR1_CEN) == (TIM_CR1_CEN)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable update event generation.
+  * @rmtoll CR1          UDIS          LL_TIM_EnableUpdateEvent
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableUpdateEvent(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR1, TIM_CR1_UDIS);
+}
+
+/**
+  * @brief  Disable update event generation.
+  * @rmtoll CR1          UDIS          LL_TIM_DisableUpdateEvent
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableUpdateEvent(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR1, TIM_CR1_UDIS);
+}
+
+/**
+  * @brief  Indicates whether update event generation is enabled.
+  * @rmtoll CR1          UDIS          LL_TIM_IsEnabledUpdateEvent
+  * @param  TIMx Timer instance
+  * @retval Inverted state of bit (0 or 1).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledUpdateEvent(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->CR1, TIM_CR1_UDIS) == (uint32_t)RESET) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set update event source
+  * @note Update event source set to LL_TIM_UPDATESOURCE_REGULAR: any of the following events
+  *       generate an update interrupt or DMA request if enabled:
+  *        - Counter overflow/underflow
+  *        - Setting the UG bit
+  *        - Update generation through the slave mode controller
+  * @note Update event source set to LL_TIM_UPDATESOURCE_COUNTER: only counter
+  *       overflow/underflow generates an update interrupt or DMA request if enabled.
+  * @rmtoll CR1          URS           LL_TIM_SetUpdateSource
+  * @param  TIMx Timer instance
+  * @param  UpdateSource This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_UPDATESOURCE_REGULAR
+  *         @arg @ref LL_TIM_UPDATESOURCE_COUNTER
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetUpdateSource(TIM_TypeDef *TIMx, uint32_t UpdateSource)
+{
+  MODIFY_REG(TIMx->CR1, TIM_CR1_URS, UpdateSource);
+}
+
+/**
+  * @brief  Get actual event update source
+  * @rmtoll CR1          URS           LL_TIM_GetUpdateSource
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_UPDATESOURCE_REGULAR
+  *         @arg @ref LL_TIM_UPDATESOURCE_COUNTER
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetUpdateSource(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_URS));
+}
+
+/**
+  * @brief  Set one pulse mode (one shot v.s. repetitive).
+  * @rmtoll CR1          OPM           LL_TIM_SetOnePulseMode
+  * @param  TIMx Timer instance
+  * @param  OnePulseMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ONEPULSEMODE_SINGLE
+  *         @arg @ref LL_TIM_ONEPULSEMODE_REPETITIVE
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetOnePulseMode(TIM_TypeDef *TIMx, uint32_t OnePulseMode)
+{
+  MODIFY_REG(TIMx->CR1, TIM_CR1_OPM, OnePulseMode);
+}
+
+/**
+  * @brief  Get actual one pulse mode.
+  * @rmtoll CR1          OPM           LL_TIM_GetOnePulseMode
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_ONEPULSEMODE_SINGLE
+  *         @arg @ref LL_TIM_ONEPULSEMODE_REPETITIVE
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetOnePulseMode(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_OPM));
+}
+
+/**
+  * @brief  Set the timer counter counting mode.
+  * @note Macro IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx) can be used to
+  *       check whether or not the counter mode selection feature is supported
+  *       by a timer instance.
+  * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse)
+  *       requires a timer reset to avoid unexpected direction
+  *       due to DIR bit readonly in center aligned mode.
+  * @rmtoll CR1          DIR           LL_TIM_SetCounterMode\n
+  *         CR1          CMS           LL_TIM_SetCounterMode
+  * @param  TIMx Timer instance
+  * @param  CounterMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_COUNTERMODE_UP
+  *         @arg @ref LL_TIM_COUNTERMODE_DOWN
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_UP
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_DOWN
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_UP_DOWN
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetCounterMode(TIM_TypeDef *TIMx, uint32_t CounterMode)
+{
+  MODIFY_REG(TIMx->CR1, (TIM_CR1_DIR | TIM_CR1_CMS), CounterMode);
+}
+
+/**
+  * @brief  Get actual counter mode.
+  * @note Macro IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx) can be used to
+  *       check whether or not the counter mode selection feature is supported
+  *       by a timer instance.
+  * @rmtoll CR1          DIR           LL_TIM_GetCounterMode\n
+  *         CR1          CMS           LL_TIM_GetCounterMode
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_COUNTERMODE_UP
+  *         @arg @ref LL_TIM_COUNTERMODE_DOWN
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_UP
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_DOWN
+  *         @arg @ref LL_TIM_COUNTERMODE_CENTER_UP_DOWN
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetCounterMode(TIM_TypeDef *TIMx)
+{
+  uint32_t counter_mode;
+
+  counter_mode = (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_CMS));
+
+  if (counter_mode == 0U)
+  {
+    counter_mode = (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_DIR));
+  }
+
+  return counter_mode;
+}
+
+/**
+  * @brief  Enable auto-reload (ARR) preload.
+  * @rmtoll CR1          ARPE          LL_TIM_EnableARRPreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableARRPreload(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR1, TIM_CR1_ARPE);
+}
+
+/**
+  * @brief  Disable auto-reload (ARR) preload.
+  * @rmtoll CR1          ARPE          LL_TIM_DisableARRPreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableARRPreload(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR1, TIM_CR1_ARPE);
+}
+
+/**
+  * @brief  Indicates whether auto-reload (ARR) preload is enabled.
+  * @rmtoll CR1          ARPE          LL_TIM_IsEnabledARRPreload
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledARRPreload(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->CR1, TIM_CR1_ARPE) == (TIM_CR1_ARPE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set the division ratio between the timer clock  and the sampling clock used by the dead-time generators
+  *         (when supported) and the digital filters.
+  * @note Macro IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx) can be used to check
+  *       whether or not the clock division feature is supported by the timer
+  *       instance.
+  * @rmtoll CR1          CKD           LL_TIM_SetClockDivision
+  * @param  TIMx Timer instance
+  * @param  ClockDivision This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV1
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV2
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV4
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetClockDivision(TIM_TypeDef *TIMx, uint32_t ClockDivision)
+{
+  MODIFY_REG(TIMx->CR1, TIM_CR1_CKD, ClockDivision);
+}
+
+/**
+  * @brief  Get the actual division ratio between the timer clock  and the sampling clock used by the dead-time
+  *         generators (when supported) and the digital filters.
+  * @note Macro IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx) can be used to check
+  *       whether or not the clock division feature is supported by the timer
+  *       instance.
+  * @rmtoll CR1          CKD           LL_TIM_GetClockDivision
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV1
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV2
+  *         @arg @ref LL_TIM_CLOCKDIVISION_DIV4
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetClockDivision(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_CKD));
+}
+
+/**
+  * @brief  Set the counter value.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note If dithering is activated, pay attention to the Counter value interpretation
+  * @rmtoll CNT          CNT           LL_TIM_SetCounter
+  * @param  TIMx Timer instance
+  * @param  Counter Counter value (between Min_Data=0 and Max_Data=0xFFFF or 0xFFFFFFFF)
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetCounter(TIM_TypeDef *TIMx, uint32_t Counter)
+{
+  WRITE_REG(TIMx->CNT, Counter);
+}
+
+/**
+  * @brief  Get the counter value.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note If dithering is activated, pay attention to the Counter value interpretation
+  * @rmtoll CNT          CNT           LL_TIM_GetCounter
+  * @param  TIMx Timer instance
+  * @retval Counter value (between Min_Data=0 and Max_Data=0xFFFF or 0xFFFFFFFF)
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetCounter(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CNT));
+}
+
+/**
+  * @brief  Get the current direction of the counter
+  * @rmtoll CR1          DIR           LL_TIM_GetDirection
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_COUNTERDIRECTION_UP
+  *         @arg @ref LL_TIM_COUNTERDIRECTION_DOWN
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetDirection(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_DIR));
+}
+
+/**
+  * @brief  Set the prescaler value.
+  * @note The counter clock frequency CK_CNT is equal to fCK_PSC / (PSC[15:0] + 1).
+  * @note The prescaler can be changed on the fly as this control register is buffered. The new
+  *       prescaler ratio is taken into account at the next update event.
+  * @note Helper macro @ref __LL_TIM_CALC_PSC can be used to calculate the Prescaler parameter
+  * @rmtoll PSC          PSC           LL_TIM_SetPrescaler
+  * @param  TIMx Timer instance
+  * @param  Prescaler between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetPrescaler(TIM_TypeDef *TIMx, uint32_t Prescaler)
+{
+  WRITE_REG(TIMx->PSC, Prescaler);
+}
+
+/**
+  * @brief  Get the prescaler value.
+  * @rmtoll PSC          PSC           LL_TIM_GetPrescaler
+  * @param  TIMx Timer instance
+  * @retval  Prescaler value between Min_Data=0 and Max_Data=65535
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetPrescaler(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->PSC));
+}
+
+/**
+  * @brief  Set the auto-reload value.
+  * @note The counter is blocked while the auto-reload value is null.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Helper macro @ref __LL_TIM_CALC_ARR can be used to calculate the AutoReload parameter
+  *       In case dithering is activated,macro __LL_TIM_CALC_ARR_DITHER can be used instead, to calculate the AutoReload
+  *       parameter.
+  * @rmtoll ARR          ARR           LL_TIM_SetAutoReload
+  * @param  TIMx Timer instance
+  * @param  AutoReload between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetAutoReload(TIM_TypeDef *TIMx, uint32_t AutoReload)
+{
+  WRITE_REG(TIMx->ARR, AutoReload);
+}
+
+/**
+  * @brief  Get the auto-reload value.
+  * @rmtoll ARR          ARR           LL_TIM_GetAutoReload
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note If dithering is activated, pay attention to the returned value interpretation
+  * @param  TIMx Timer instance
+  * @retval Auto-reload value
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetAutoReload(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->ARR));
+}
+
+/**
+  * @brief  Set the repetition counter value.
+  * @note For advanced timer instances RepetitionCounter can be up to 65535.
+  * @note Macro IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a repetition counter.
+  * @rmtoll RCR          REP           LL_TIM_SetRepetitionCounter
+  * @param  TIMx Timer instance
+  * @param  RepetitionCounter between Min_Data=0 and Max_Data=255 or 65535 for advanced timer.
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetRepetitionCounter(TIM_TypeDef *TIMx, uint32_t RepetitionCounter)
+{
+  WRITE_REG(TIMx->RCR, RepetitionCounter);
+}
+
+/**
+  * @brief  Get the repetition counter value.
+  * @note Macro IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a repetition counter.
+  * @rmtoll RCR          REP           LL_TIM_GetRepetitionCounter
+  * @param  TIMx Timer instance
+  * @retval Repetition counter value
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetRepetitionCounter(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->RCR));
+}
+
+/**
+  * @brief  Force a continuous copy of the update interrupt flag (UIF) into the timer counter register (bit 31).
+  * @note This allows both the counter value and a potential roll-over condition signalled by the UIFCPY flag to be read
+  *       in an atomic way.
+  * @rmtoll CR1          UIFREMAP      LL_TIM_EnableUIFRemap
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableUIFRemap(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR1, TIM_CR1_UIFREMAP);
+}
+
+/**
+  * @brief  Disable update interrupt flag (UIF) remapping.
+  * @rmtoll CR1          UIFREMAP      LL_TIM_DisableUIFRemap
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableUIFRemap(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR1, TIM_CR1_UIFREMAP);
+}
+
+/**
+  * @brief  Indicate whether update interrupt flag (UIF) copy is set.
+  * @param  Counter Counter value
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveUIFCPY(uint32_t Counter)
+{
+  return (((Counter & TIM_CNT_UIFCPY) == (TIM_CNT_UIFCPY)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable dithering.
+  * @note Macro IS_TIM_DITHERING_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides dithering.
+  * @rmtoll CR1          DITHEN          LL_TIM_EnableDithering
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDithering(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR1, TIM_CR1_DITHEN);
+}
+
+/**
+  * @brief  Disable dithering.
+  * @note Macro IS_TIM_DITHERING_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides dithering.
+  * @rmtoll CR1          DITHEN          LL_TIM_DisableDithering
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDithering(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR1, TIM_CR1_DITHEN);
+}
+
+/**
+  * @brief  Indicates whether dithering is activated.
+  * @note Macro IS_TIM_DITHERING_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides dithering.
+  * @rmtoll CR1          DITHEN          LL_TIM_IsEnabledDithering
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDithering(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->CR1, TIM_CR1_DITHEN) == (TIM_CR1_DITHEN)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Capture_Compare Capture Compare configuration
+  * @{
+  */
+/**
+  * @brief  Enable  the capture/compare control bits (CCxE, CCxNE and OCxM) preload.
+  * @note CCxE, CCxNE and OCxM bits are preloaded, after having been written,
+  *       they are updated only when a commutation event (COM) occurs.
+  * @note Only on channels that have a complementary output.
+  * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance is able to generate a commutation event.
+  * @rmtoll CR2          CCPC          LL_TIM_CC_EnablePreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_EnablePreload(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR2, TIM_CR2_CCPC);
+}
+
+/**
+  * @brief  Disable  the capture/compare control bits (CCxE, CCxNE and OCxM) preload.
+  * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance is able to generate a commutation event.
+  * @rmtoll CR2          CCPC          LL_TIM_CC_DisablePreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_DisablePreload(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR2, TIM_CR2_CCPC);
+}
+
+/**
+  * @brief  Set the updated source of the capture/compare control bits (CCxE, CCxNE and OCxM).
+  * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance is able to generate a commutation event.
+  * @rmtoll CR2          CCUS          LL_TIM_CC_SetUpdate
+  * @param  TIMx Timer instance
+  * @param  CCUpdateSource This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CCUPDATESOURCE_COMG_ONLY
+  *         @arg @ref LL_TIM_CCUPDATESOURCE_COMG_AND_TRGI
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_SetUpdate(TIM_TypeDef *TIMx, uint32_t CCUpdateSource)
+{
+  MODIFY_REG(TIMx->CR2, TIM_CR2_CCUS, CCUpdateSource);
+}
+
+/**
+  * @brief  Set the trigger of the capture/compare DMA request.
+  * @rmtoll CR2          CCDS          LL_TIM_CC_SetDMAReqTrigger
+  * @param  TIMx Timer instance
+  * @param  DMAReqTrigger This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CCDMAREQUEST_CC
+  *         @arg @ref LL_TIM_CCDMAREQUEST_UPDATE
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_SetDMAReqTrigger(TIM_TypeDef *TIMx, uint32_t DMAReqTrigger)
+{
+  MODIFY_REG(TIMx->CR2, TIM_CR2_CCDS, DMAReqTrigger);
+}
+
+/**
+  * @brief  Get actual trigger of the capture/compare DMA request.
+  * @rmtoll CR2          CCDS          LL_TIM_CC_GetDMAReqTrigger
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_CCDMAREQUEST_CC
+  *         @arg @ref LL_TIM_CCDMAREQUEST_UPDATE
+  */
+__STATIC_INLINE uint32_t LL_TIM_CC_GetDMAReqTrigger(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CR2, TIM_CR2_CCDS));
+}
+
+/**
+  * @brief  Set the lock level to freeze the
+  *         configuration of several capture/compare parameters.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       the lock mechanism is supported by a timer instance.
+  * @rmtoll BDTR         LOCK          LL_TIM_CC_SetLockLevel
+  * @param  TIMx Timer instance
+  * @param  LockLevel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_LOCKLEVEL_OFF
+  *         @arg @ref LL_TIM_LOCKLEVEL_1
+  *         @arg @ref LL_TIM_LOCKLEVEL_2
+  *         @arg @ref LL_TIM_LOCKLEVEL_3
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_SetLockLevel(TIM_TypeDef *TIMx, uint32_t LockLevel)
+{
+  MODIFY_REG(TIMx->BDTR, TIM_BDTR_LOCK, LockLevel);
+}
+
+/**
+  * @brief  Enable capture/compare channels.
+  * @rmtoll CCER         CC1E          LL_TIM_CC_EnableChannel\n
+  *         CCER         CC1NE         LL_TIM_CC_EnableChannel\n
+  *         CCER         CC2E          LL_TIM_CC_EnableChannel\n
+  *         CCER         CC2NE         LL_TIM_CC_EnableChannel\n
+  *         CCER         CC3E          LL_TIM_CC_EnableChannel\n
+  *         CCER         CC3NE         LL_TIM_CC_EnableChannel\n
+  *         CCER         CC4E          LL_TIM_CC_EnableChannel\n
+  *         CCER         CC4NE         LL_TIM_CC_EnableChannel\n
+  *         CCER         CC5E          LL_TIM_CC_EnableChannel\n
+  *         CCER         CC6E          LL_TIM_CC_EnableChannel
+  * @param  TIMx Timer instance
+  * @param  Channels This parameter can be a combination of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_EnableChannel(TIM_TypeDef *TIMx, uint32_t Channels)
+{
+  SET_BIT(TIMx->CCER, Channels);
+}
+
+/**
+  * @brief  Disable capture/compare channels.
+  * @rmtoll CCER         CC1E          LL_TIM_CC_DisableChannel\n
+  *         CCER         CC1NE         LL_TIM_CC_DisableChannel\n
+  *         CCER         CC2E          LL_TIM_CC_DisableChannel\n
+  *         CCER         CC2NE         LL_TIM_CC_DisableChannel\n
+  *         CCER         CC3E          LL_TIM_CC_DisableChannel\n
+  *         CCER         CC3NE         LL_TIM_CC_DisableChannel\n
+  *         CCER         CC4E          LL_TIM_CC_DisableChannel\n
+  *         CCER         CC4NE         LL_TIM_CC_DisableChannel\n
+  *         CCER         CC5E          LL_TIM_CC_DisableChannel\n
+  *         CCER         CC6E          LL_TIM_CC_DisableChannel
+  * @param  TIMx Timer instance
+  * @param  Channels This parameter can be a combination of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_CC_DisableChannel(TIM_TypeDef *TIMx, uint32_t Channels)
+{
+  CLEAR_BIT(TIMx->CCER, Channels);
+}
+
+/**
+  * @brief  Indicate whether channel(s) is(are) enabled.
+  * @rmtoll CCER         CC1E          LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC1NE         LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC2E          LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC2NE         LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC3E          LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC3NE         LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC4E          LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC4NE         LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC5E          LL_TIM_CC_IsEnabledChannel\n
+  *         CCER         CC6E          LL_TIM_CC_IsEnabledChannel
+  * @param  TIMx Timer instance
+  * @param  Channels This parameter can be a combination of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_CC_IsEnabledChannel(TIM_TypeDef *TIMx, uint32_t Channels)
+{
+  return ((READ_BIT(TIMx->CCER, Channels) == (Channels)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Output_Channel Output channel configuration
+  * @{
+  */
+/**
+  * @brief  Configure an output channel.
+  * @rmtoll CCMR1        CC1S          LL_TIM_OC_ConfigOutput\n
+  *         CCMR1        CC2S          LL_TIM_OC_ConfigOutput\n
+  *         CCMR2        CC3S          LL_TIM_OC_ConfigOutput\n
+  *         CCMR2        CC4S          LL_TIM_OC_ConfigOutput\n
+  *         CCMR3        CC5S          LL_TIM_OC_ConfigOutput\n
+  *         CCMR3        CC6S          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC1P          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC2P          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC3P          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC4P          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC5P          LL_TIM_OC_ConfigOutput\n
+  *         CCER         CC6P          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS1          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS2          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS3          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS4          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS5          LL_TIM_OC_ConfigOutput\n
+  *         CR2          OIS6          LL_TIM_OC_ConfigOutput
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @param  Configuration This parameter must be a combination of all the following values:
+  *         @arg @ref LL_TIM_OCPOLARITY_HIGH or @ref LL_TIM_OCPOLARITY_LOW
+  *         @arg @ref LL_TIM_OCIDLESTATE_LOW or @ref LL_TIM_OCIDLESTATE_HIGH
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_ConfigOutput(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Configuration)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  CLEAR_BIT(*pReg, (TIM_CCMR1_CC1S << SHIFT_TAB_OCxx[iChannel]));
+  MODIFY_REG(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel]),
+             (Configuration & TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]);
+  MODIFY_REG(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel]),
+             (Configuration & TIM_CR2_OIS1) << SHIFT_TAB_OISx[iChannel]);
+}
+
+/**
+  * @brief  Define the behavior of the output reference signal OCxREF from which
+  *         OCx and OCxN (when relevant) are derived.
+  * @rmtoll CCMR1        OC1M          LL_TIM_OC_SetMode\n
+  *         CCMR1        OC2M          LL_TIM_OC_SetMode\n
+  *         CCMR2        OC3M          LL_TIM_OC_SetMode\n
+  *         CCMR2        OC4M          LL_TIM_OC_SetMode\n
+  *         CCMR3        OC5M          LL_TIM_OC_SetMode\n
+  *         CCMR3        OC6M          LL_TIM_OC_SetMode
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @param  Mode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OCMODE_FROZEN
+  *         @arg @ref LL_TIM_OCMODE_ACTIVE
+  *         @arg @ref LL_TIM_OCMODE_INACTIVE
+  *         @arg @ref LL_TIM_OCMODE_TOGGLE
+  *         @arg @ref LL_TIM_OCMODE_FORCED_INACTIVE
+  *         @arg @ref LL_TIM_OCMODE_FORCED_ACTIVE
+  *         @arg @ref LL_TIM_OCMODE_PWM1
+  *         @arg @ref LL_TIM_OCMODE_PWM2
+  *         @arg @ref LL_TIM_OCMODE_RETRIG_OPM1
+  *         @arg @ref LL_TIM_OCMODE_RETRIG_OPM2
+  *         @arg @ref LL_TIM_OCMODE_COMBINED_PWM1
+  *         @arg @ref LL_TIM_OCMODE_COMBINED_PWM2
+  *         @arg @ref LL_TIM_OCMODE_ASSYMETRIC_PWM1
+  *         @arg @ref LL_TIM_OCMODE_ASSYMETRIC_PWM2
+  *         @arg @ref LL_TIM_OCMODE_PULSE_ON_COMPARE   (for channel 3 or channel 4 only)
+  *         @arg @ref LL_TIM_OCMODE_DIRECTION_OUTPUT   (for channel 3 or channel 4 only)
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetMode(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Mode)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  MODIFY_REG(*pReg, ((TIM_CCMR1_OC1M  | TIM_CCMR1_CC1S) << SHIFT_TAB_OCxx[iChannel]), Mode << SHIFT_TAB_OCxx[iChannel]);
+}
+
+/**
+  * @brief  Get the output compare mode of an output channel.
+  * @rmtoll CCMR1        OC1M          LL_TIM_OC_GetMode\n
+  *         CCMR1        OC2M          LL_TIM_OC_GetMode\n
+  *         CCMR2        OC3M          LL_TIM_OC_GetMode\n
+  *         CCMR2        OC4M          LL_TIM_OC_GetMode\n
+  *         CCMR3        OC5M          LL_TIM_OC_GetMode\n
+  *         CCMR3        OC6M          LL_TIM_OC_GetMode
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_OCMODE_FROZEN
+  *         @arg @ref LL_TIM_OCMODE_ACTIVE
+  *         @arg @ref LL_TIM_OCMODE_INACTIVE
+  *         @arg @ref LL_TIM_OCMODE_TOGGLE
+  *         @arg @ref LL_TIM_OCMODE_FORCED_INACTIVE
+  *         @arg @ref LL_TIM_OCMODE_FORCED_ACTIVE
+  *         @arg @ref LL_TIM_OCMODE_PWM1
+  *         @arg @ref LL_TIM_OCMODE_PWM2
+  *         @arg @ref LL_TIM_OCMODE_RETRIG_OPM1
+  *         @arg @ref LL_TIM_OCMODE_RETRIG_OPM2
+  *         @arg @ref LL_TIM_OCMODE_COMBINED_PWM1
+  *         @arg @ref LL_TIM_OCMODE_COMBINED_PWM2
+  *         @arg @ref LL_TIM_OCMODE_ASSYMETRIC_PWM1
+  *         @arg @ref LL_TIM_OCMODE_ASSYMETRIC_PWM2
+  *         @arg @ref LL_TIM_OCMODE_PULSE_ON_COMPARE   (for channel 3 or channel 4 only)
+  *         @arg @ref LL_TIM_OCMODE_DIRECTION_OUTPUT   (for channel 3 or channel 4 only)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetMode(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  return (READ_BIT(*pReg, ((TIM_CCMR1_OC1M | TIM_CCMR1_CC1S) << SHIFT_TAB_OCxx[iChannel])) >> SHIFT_TAB_OCxx[iChannel]);
+}
+
+/**
+  * @brief  Set the polarity of an output channel.
+  * @rmtoll CCER         CC1P          LL_TIM_OC_SetPolarity\n
+  *         CCER         CC1NP         LL_TIM_OC_SetPolarity\n
+  *         CCER         CC2P          LL_TIM_OC_SetPolarity\n
+  *         CCER         CC2NP         LL_TIM_OC_SetPolarity\n
+  *         CCER         CC3P          LL_TIM_OC_SetPolarity\n
+  *         CCER         CC3NP         LL_TIM_OC_SetPolarity\n
+  *         CCER         CC4P          LL_TIM_OC_SetPolarity\n
+  *         CCER         CC4NP         LL_TIM_OC_SetPolarity\n
+  *         CCER         CC5P          LL_TIM_OC_SetPolarity\n
+  *         CCER         CC6P          LL_TIM_OC_SetPolarity
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @param  Polarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OCPOLARITY_HIGH
+  *         @arg @ref LL_TIM_OCPOLARITY_LOW
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetPolarity(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Polarity)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  MODIFY_REG(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel]),  Polarity << SHIFT_TAB_CCxP[iChannel]);
+}
+
+/**
+  * @brief  Get the polarity of an output channel.
+  * @rmtoll CCER         CC1P          LL_TIM_OC_GetPolarity\n
+  *         CCER         CC1NP         LL_TIM_OC_GetPolarity\n
+  *         CCER         CC2P          LL_TIM_OC_GetPolarity\n
+  *         CCER         CC2NP         LL_TIM_OC_GetPolarity\n
+  *         CCER         CC3P          LL_TIM_OC_GetPolarity\n
+  *         CCER         CC3NP         LL_TIM_OC_GetPolarity\n
+  *         CCER         CC4P          LL_TIM_OC_GetPolarity\n
+  *         CCER         CC4NP         LL_TIM_OC_GetPolarity\n
+  *         CCER         CC5P          LL_TIM_OC_GetPolarity\n
+  *         CCER         CC6P          LL_TIM_OC_GetPolarity
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_OCPOLARITY_HIGH
+  *         @arg @ref LL_TIM_OCPOLARITY_LOW
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetPolarity(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  return (READ_BIT(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel])) >> SHIFT_TAB_CCxP[iChannel]);
+}
+
+/**
+  * @brief  Set the IDLE state of an output channel
+  * @note This function is significant only for the timer instances
+  *       supporting the break feature. Macro IS_TIM_BREAK_INSTANCE(TIMx)
+  *       can be used to check whether or not a timer instance provides
+  *       a break input.
+  * @rmtoll CR2         OIS1          LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS2N         LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS2          LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS2N         LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS3          LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS3N         LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS4          LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS4N         LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS5          LL_TIM_OC_SetIdleState\n
+  *         CR2         OIS6          LL_TIM_OC_SetIdleState
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @param  IdleState This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OCIDLESTATE_LOW
+  *         @arg @ref LL_TIM_OCIDLESTATE_HIGH
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetIdleState(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t IdleState)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  MODIFY_REG(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel]),  IdleState << SHIFT_TAB_OISx[iChannel]);
+}
+
+/**
+  * @brief  Get the IDLE state of an output channel
+  * @rmtoll CR2         OIS1          LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS2N         LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS2          LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS2N         LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS3          LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS3N         LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS4          LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS4N         LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS5          LL_TIM_OC_GetIdleState\n
+  *         CR2         OIS6          LL_TIM_OC_GetIdleState
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH1N
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH2N
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH3N
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH4N
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_OCIDLESTATE_LOW
+  *         @arg @ref LL_TIM_OCIDLESTATE_HIGH
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetIdleState(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  return (READ_BIT(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel])) >> SHIFT_TAB_OISx[iChannel]);
+}
+
+/**
+  * @brief  Enable fast mode for the output channel.
+  * @note Acts only if the channel is configured in PWM1 or PWM2 mode.
+  * @rmtoll CCMR1        OC1FE          LL_TIM_OC_EnableFast\n
+  *         CCMR1        OC2FE          LL_TIM_OC_EnableFast\n
+  *         CCMR2        OC3FE          LL_TIM_OC_EnableFast\n
+  *         CCMR2        OC4FE          LL_TIM_OC_EnableFast\n
+  *         CCMR3        OC5FE          LL_TIM_OC_EnableFast\n
+  *         CCMR3        OC6FE          LL_TIM_OC_EnableFast
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_EnableFast(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  SET_BIT(*pReg, (TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel]));
+
+}
+
+/**
+  * @brief  Disable fast mode for the output channel.
+  * @rmtoll CCMR1        OC1FE          LL_TIM_OC_DisableFast\n
+  *         CCMR1        OC2FE          LL_TIM_OC_DisableFast\n
+  *         CCMR2        OC3FE          LL_TIM_OC_DisableFast\n
+  *         CCMR2        OC4FE          LL_TIM_OC_DisableFast\n
+  *         CCMR3        OC5FE          LL_TIM_OC_DisableFast\n
+  *         CCMR3        OC6FE          LL_TIM_OC_DisableFast
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_DisableFast(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  CLEAR_BIT(*pReg, (TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel]));
+
+}
+
+/**
+  * @brief  Indicates whether fast mode is enabled for the output channel.
+  * @rmtoll CCMR1        OC1FE          LL_TIM_OC_IsEnabledFast\n
+  *         CCMR1        OC2FE          LL_TIM_OC_IsEnabledFast\n
+  *         CCMR2        OC3FE          LL_TIM_OC_IsEnabledFast\n
+  *         CCMR2        OC4FE          LL_TIM_OC_IsEnabledFast\n
+  *         CCMR3        OC5FE          LL_TIM_OC_IsEnabledFast\n
+  *         CCMR3        OC6FE          LL_TIM_OC_IsEnabledFast
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledFast(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  uint32_t bitfield = TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel];
+  return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable compare register (TIMx_CCRx) preload for the output channel.
+  * @rmtoll CCMR1        OC1PE          LL_TIM_OC_EnablePreload\n
+  *         CCMR1        OC2PE          LL_TIM_OC_EnablePreload\n
+  *         CCMR2        OC3PE          LL_TIM_OC_EnablePreload\n
+  *         CCMR2        OC4PE          LL_TIM_OC_EnablePreload\n
+  *         CCMR3        OC5PE          LL_TIM_OC_EnablePreload\n
+  *         CCMR3        OC6PE          LL_TIM_OC_EnablePreload
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_EnablePreload(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  SET_BIT(*pReg, (TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel]));
+}
+
+/**
+  * @brief  Disable compare register (TIMx_CCRx) preload for the output channel.
+  * @rmtoll CCMR1        OC1PE          LL_TIM_OC_DisablePreload\n
+  *         CCMR1        OC2PE          LL_TIM_OC_DisablePreload\n
+  *         CCMR2        OC3PE          LL_TIM_OC_DisablePreload\n
+  *         CCMR2        OC4PE          LL_TIM_OC_DisablePreload\n
+  *         CCMR3        OC5PE          LL_TIM_OC_DisablePreload\n
+  *         CCMR3        OC6PE          LL_TIM_OC_DisablePreload
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_DisablePreload(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  CLEAR_BIT(*pReg, (TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel]));
+}
+
+/**
+  * @brief  Indicates whether compare register (TIMx_CCRx) preload is enabled for the output channel.
+  * @rmtoll CCMR1        OC1PE          LL_TIM_OC_IsEnabledPreload\n
+  *         CCMR1        OC2PE          LL_TIM_OC_IsEnabledPreload\n
+  *         CCMR2        OC3PE          LL_TIM_OC_IsEnabledPreload\n
+  *         CCMR2        OC4PE          LL_TIM_OC_IsEnabledPreload\n
+  *         CCMR3        OC5PE          LL_TIM_OC_IsEnabledPreload\n
+  *         CCMR3        OC6PE          LL_TIM_OC_IsEnabledPreload
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledPreload(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  uint32_t bitfield = TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel];
+  return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable clearing the output channel on an external event.
+  * @note This function can only be used in Output compare and PWM modes. It does not work in Forced mode.
+  * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance can clear the OCxREF signal on an external event.
+  * @rmtoll CCMR1        OC1CE          LL_TIM_OC_EnableClear\n
+  *         CCMR1        OC2CE          LL_TIM_OC_EnableClear\n
+  *         CCMR2        OC3CE          LL_TIM_OC_EnableClear\n
+  *         CCMR2        OC4CE          LL_TIM_OC_EnableClear\n
+  *         CCMR3        OC5CE          LL_TIM_OC_EnableClear\n
+  *         CCMR3        OC6CE          LL_TIM_OC_EnableClear
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_EnableClear(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  SET_BIT(*pReg, (TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel]));
+}
+
+/**
+  * @brief  Disable clearing the output channel on an external event.
+  * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance can clear the OCxREF signal on an external event.
+  * @rmtoll CCMR1        OC1CE          LL_TIM_OC_DisableClear\n
+  *         CCMR1        OC2CE          LL_TIM_OC_DisableClear\n
+  *         CCMR2        OC3CE          LL_TIM_OC_DisableClear\n
+  *         CCMR2        OC4CE          LL_TIM_OC_DisableClear\n
+  *         CCMR3        OC5CE          LL_TIM_OC_DisableClear\n
+  *         CCMR3        OC6CE          LL_TIM_OC_DisableClear
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_DisableClear(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  CLEAR_BIT(*pReg, (TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel]));
+}
+
+/**
+  * @brief  Indicates clearing the output channel on an external event is enabled for the output channel.
+  * @note This function enables clearing the output channel on an external event.
+  * @note This function can only be used in Output compare and PWM modes. It does not work in Forced mode.
+  * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance can clear the OCxREF signal on an external event.
+  * @rmtoll CCMR1        OC1CE          LL_TIM_OC_IsEnabledClear\n
+  *         CCMR1        OC2CE          LL_TIM_OC_IsEnabledClear\n
+  *         CCMR2        OC3CE          LL_TIM_OC_IsEnabledClear\n
+  *         CCMR2        OC4CE          LL_TIM_OC_IsEnabledClear\n
+  *         CCMR3        OC5CE          LL_TIM_OC_IsEnabledClear\n
+  *         CCMR3        OC6CE          LL_TIM_OC_IsEnabledClear
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  *         @arg @ref LL_TIM_CHANNEL_CH5
+  *         @arg @ref LL_TIM_CHANNEL_CH6
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledClear(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  uint32_t bitfield = TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel];
+  return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set the dead-time delay (delay inserted between the rising edge of the OCxREF signal and the rising edge of
+  *         the Ocx and OCxN signals).
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       dead-time insertion feature is supported by a timer instance.
+  * @note Helper macro @ref __LL_TIM_CALC_DEADTIME can be used to calculate the DeadTime parameter
+  * @rmtoll BDTR         DTG           LL_TIM_OC_SetDeadTime
+  * @param  TIMx Timer instance
+  * @param  DeadTime between Min_Data=0 and Max_Data=255
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetDeadTime(TIM_TypeDef *TIMx, uint32_t DeadTime)
+{
+  MODIFY_REG(TIMx->BDTR, TIM_BDTR_DTG, DeadTime);
+}
+
+/**
+  * @brief  Set compare value for output channel 1 (TIMx_CCR1).
+  * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 1 is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR1         CCR1          LL_TIM_OC_SetCompareCH1
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH1(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  WRITE_REG(TIMx->CCR1, CompareValue);
+}
+
+/**
+  * @brief  Set compare value for output channel 2 (TIMx_CCR2).
+  * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 2 is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR2         CCR2          LL_TIM_OC_SetCompareCH2
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH2(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  WRITE_REG(TIMx->CCR2, CompareValue);
+}
+
+/**
+  * @brief  Set compare value for output channel 3 (TIMx_CCR3).
+  * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR3         CCR3          LL_TIM_OC_SetCompareCH3
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH3(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  WRITE_REG(TIMx->CCR3, CompareValue);
+}
+
+/**
+  * @brief  Set compare value for output channel 4 (TIMx_CCR4).
+  * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 4 is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR4         CCR4          LL_TIM_OC_SetCompareCH4
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH4(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  WRITE_REG(TIMx->CCR4, CompareValue);
+}
+
+/**
+  * @brief  Set compare value for output channel 5 (TIMx_CCR5).
+  * @note Macro IS_TIM_CC5_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 5 is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR5         CCR5          LL_TIM_OC_SetCompareCH5
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH5(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  MODIFY_REG(TIMx->CCR5, TIM_CCR5_CCR5, CompareValue);
+}
+
+/**
+  * @brief  Set compare value for output channel 6 (TIMx_CCR6).
+  * @note Macro IS_TIM_CC6_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 6 is supported by a timer instance.
+  * @note If dithering is activated, CompareValue can be calculated with macro @ref __LL_TIM_CALC_DELAY_DITHER .
+  * @rmtoll CCR6         CCR6          LL_TIM_OC_SetCompareCH6
+  * @param  TIMx Timer instance
+  * @param  CompareValue between Min_Data=0 and Max_Data=65535
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetCompareCH6(TIM_TypeDef *TIMx, uint32_t CompareValue)
+{
+  WRITE_REG(TIMx->CCR6, CompareValue);
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR1) set for  output channel 1.
+  * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 1 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR1         CCR1          LL_TIM_OC_GetCompareCH1
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH1(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR1));
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR2) set for  output channel 2.
+  * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 2 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR2         CCR2          LL_TIM_OC_GetCompareCH2
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH2(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR2));
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR3) set for  output channel 3.
+  * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 3 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR3         CCR3          LL_TIM_OC_GetCompareCH3
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH3(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR3));
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR4) set for  output channel 4.
+  * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 4 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR4         CCR4          LL_TIM_OC_GetCompareCH4
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH4(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR4));
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR5) set for  output channel 5.
+  * @note Macro IS_TIM_CC5_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 5 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR5         CCR5          LL_TIM_OC_GetCompareCH5
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH5(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->CCR5, TIM_CCR5_CCR5));
+}
+
+/**
+  * @brief  Get compare value (TIMx_CCR6) set for  output channel 6.
+  * @note Macro IS_TIM_CC6_INSTANCE(TIMx) can be used to check whether or not
+  *       output channel 6 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR6         CCR6          LL_TIM_OC_GetCompareCH6
+  * @param  TIMx Timer instance
+  * @retval CompareValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH6(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR6));
+}
+
+/**
+  * @brief  Select on which reference signal the OC5REF is combined to.
+  * @note Macro IS_TIM_COMBINED3PHASEPWM_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the combined 3-phase PWM mode.
+  * @rmtoll CCR5         GC5C3          LL_TIM_SetCH5CombinedChannels\n
+  *         CCR5         GC5C2          LL_TIM_SetCH5CombinedChannels\n
+  *         CCR5         GC5C1          LL_TIM_SetCH5CombinedChannels
+  * @param  TIMx Timer instance
+  * @param  GroupCH5 This parameter can be a combination of the following values:
+  *         @arg @ref LL_TIM_GROUPCH5_NONE
+  *         @arg @ref LL_TIM_GROUPCH5_OC1REFC
+  *         @arg @ref LL_TIM_GROUPCH5_OC2REFC
+  *         @arg @ref LL_TIM_GROUPCH5_OC3REFC
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetCH5CombinedChannels(TIM_TypeDef *TIMx, uint32_t GroupCH5)
+{
+  MODIFY_REG(TIMx->CCR5, (TIM_CCR5_GC5C3 | TIM_CCR5_GC5C2 | TIM_CCR5_GC5C1), GroupCH5);
+}
+
+/**
+  * @brief  Set the pulse on compare pulse width prescaler.
+  * @note Macro IS_TIM_PULSEONCOMPARE_INSTANCE(TIMx) can be used to check
+  *       whether or not the pulse on compare feature is supported by the timer
+  *       instance.
+  * @rmtoll ECR          PWPRSC           LL_TIM_OC_SetPulseWidthPrescaler
+  * @param  TIMx Timer instance
+  * @param  PulseWidthPrescaler This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_PWPRSC_X1
+  *         @arg @ref LL_TIM_PWPRSC_X2
+  *         @arg @ref LL_TIM_PWPRSC_X4
+  *         @arg @ref LL_TIM_PWPRSC_X8
+  *         @arg @ref LL_TIM_PWPRSC_X16
+  *         @arg @ref LL_TIM_PWPRSC_X32
+  *         @arg @ref LL_TIM_PWPRSC_X64
+  *         @arg @ref LL_TIM_PWPRSC_X128
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetPulseWidthPrescaler(TIM_TypeDef *TIMx, uint32_t PulseWidthPrescaler)
+{
+  MODIFY_REG(TIMx->ECR, TIM_ECR_PWPRSC, PulseWidthPrescaler);
+}
+
+/**
+  * @brief  Get the pulse on compare pulse width prescaler.
+  * @note Macro IS_TIM_PULSEONCOMPARE_INSTANCE(TIMx) can be used to check
+  *       whether or not the pulse on compare feature is supported by the timer
+  *       instance.
+  * @rmtoll ECR          PWPRSC           LL_TIM_OC_GetPulseWidthPrescaler
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_PWPRSC_X1
+  *         @arg @ref LL_TIM_PWPRSC_X2
+  *         @arg @ref LL_TIM_PWPRSC_X4
+  *         @arg @ref LL_TIM_PWPRSC_X8
+  *         @arg @ref LL_TIM_PWPRSC_X16
+  *         @arg @ref LL_TIM_PWPRSC_X32
+  *         @arg @ref LL_TIM_PWPRSC_X64
+  *         @arg @ref LL_TIM_PWPRSC_X128
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetPulseWidthPrescaler(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->ECR, TIM_ECR_PWPRSC));
+}
+
+/**
+  * @brief  Set the pulse on compare pulse width duration.
+  * @note Macro IS_TIM_PULSEONCOMPARE_INSTANCE(TIMx) can be used to check
+  *       whether or not the pulse on compare feature is supported by the timer
+  *       instance.
+  * @rmtoll ECR          PW           LL_TIM_OC_SetPulseWidth
+  * @param  TIMx Timer instance
+  * @param  PulseWidth This parameter can be between Min_Data=0 and Max_Data=255
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_OC_SetPulseWidth(TIM_TypeDef *TIMx, uint32_t PulseWidth)
+{
+  MODIFY_REG(TIMx->ECR, TIM_ECR_PW, PulseWidth << TIM_ECR_PW_Pos);
+}
+
+/**
+  * @brief  Get the pulse on compare pulse width duration.
+  * @note Macro IS_TIM_PULSEONCOMPARE_INSTANCE(TIMx) can be used to check
+  *       whether or not the pulse on compare feature is supported by the timer
+  *       instance.
+  * @rmtoll ECR          PW           LL_TIM_OC_GetPulseWidth
+  * @param  TIMx Timer instance
+  * @retval Returned value can be between Min_Data=0 and Max_Data=255:
+  */
+__STATIC_INLINE uint32_t LL_TIM_OC_GetPulseWidth(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->ECR, TIM_ECR_PW));
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Input_Channel Input channel configuration
+  * @{
+  */
+/**
+  * @brief  Configure input channel.
+  * @rmtoll CCMR1        CC1S          LL_TIM_IC_Config\n
+  *         CCMR1        IC1PSC        LL_TIM_IC_Config\n
+  *         CCMR1        IC1F          LL_TIM_IC_Config\n
+  *         CCMR1        CC2S          LL_TIM_IC_Config\n
+  *         CCMR1        IC2PSC        LL_TIM_IC_Config\n
+  *         CCMR1        IC2F          LL_TIM_IC_Config\n
+  *         CCMR2        CC3S          LL_TIM_IC_Config\n
+  *         CCMR2        IC3PSC        LL_TIM_IC_Config\n
+  *         CCMR2        IC3F          LL_TIM_IC_Config\n
+  *         CCMR2        CC4S          LL_TIM_IC_Config\n
+  *         CCMR2        IC4PSC        LL_TIM_IC_Config\n
+  *         CCMR2        IC4F          LL_TIM_IC_Config\n
+  *         CCER         CC1P          LL_TIM_IC_Config\n
+  *         CCER         CC1NP         LL_TIM_IC_Config\n
+  *         CCER         CC2P          LL_TIM_IC_Config\n
+  *         CCER         CC2NP         LL_TIM_IC_Config\n
+  *         CCER         CC3P          LL_TIM_IC_Config\n
+  *         CCER         CC3NP         LL_TIM_IC_Config\n
+  *         CCER         CC4P          LL_TIM_IC_Config\n
+  *         CCER         CC4NP         LL_TIM_IC_Config
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @param  Configuration This parameter must be a combination of all the following values:
+  *         @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI or @ref LL_TIM_ACTIVEINPUT_INDIRECTTI or @ref LL_TIM_ACTIVEINPUT_TRC
+  *         @arg @ref LL_TIM_ICPSC_DIV1 or ... or @ref LL_TIM_ICPSC_DIV8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1 or ... or @ref LL_TIM_IC_FILTER_FDIV32_N8
+  *         @arg @ref LL_TIM_IC_POLARITY_RISING or @ref LL_TIM_IC_POLARITY_FALLING or @ref LL_TIM_IC_POLARITY_BOTHEDGE
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_Config(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Configuration)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  MODIFY_REG(*pReg, ((TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC | TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel]),
+             ((Configuration >> 16U) & (TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC | TIM_CCMR1_CC1S))                \
+             << SHIFT_TAB_ICxx[iChannel]);
+  MODIFY_REG(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]),
+             (Configuration & (TIM_CCER_CC1NP | TIM_CCER_CC1P)) << SHIFT_TAB_CCxP[iChannel]);
+}
+
+/**
+  * @brief  Set the active input.
+  * @rmtoll CCMR1        CC1S          LL_TIM_IC_SetActiveInput\n
+  *         CCMR1        CC2S          LL_TIM_IC_SetActiveInput\n
+  *         CCMR2        CC3S          LL_TIM_IC_SetActiveInput\n
+  *         CCMR2        CC4S          LL_TIM_IC_SetActiveInput
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @param  ICActiveInput This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI
+  *         @arg @ref LL_TIM_ACTIVEINPUT_INDIRECTTI
+  *         @arg @ref LL_TIM_ACTIVEINPUT_TRC
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_SetActiveInput(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICActiveInput)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  MODIFY_REG(*pReg, ((TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel]), (ICActiveInput >> 16U) << SHIFT_TAB_ICxx[iChannel]);
+}
+
+/**
+  * @brief  Get the current active input.
+  * @rmtoll CCMR1        CC1S          LL_TIM_IC_GetActiveInput\n
+  *         CCMR1        CC2S          LL_TIM_IC_GetActiveInput\n
+  *         CCMR2        CC3S          LL_TIM_IC_GetActiveInput\n
+  *         CCMR2        CC4S          LL_TIM_IC_GetActiveInput
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI
+  *         @arg @ref LL_TIM_ACTIVEINPUT_INDIRECTTI
+  *         @arg @ref LL_TIM_ACTIVEINPUT_TRC
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetActiveInput(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  return ((READ_BIT(*pReg, ((TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U);
+}
+
+/**
+  * @brief  Set the prescaler of input channel.
+  * @rmtoll CCMR1        IC1PSC        LL_TIM_IC_SetPrescaler\n
+  *         CCMR1        IC2PSC        LL_TIM_IC_SetPrescaler\n
+  *         CCMR2        IC3PSC        LL_TIM_IC_SetPrescaler\n
+  *         CCMR2        IC4PSC        LL_TIM_IC_SetPrescaler
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @param  ICPrescaler This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ICPSC_DIV1
+  *         @arg @ref LL_TIM_ICPSC_DIV2
+  *         @arg @ref LL_TIM_ICPSC_DIV4
+  *         @arg @ref LL_TIM_ICPSC_DIV8
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_SetPrescaler(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICPrescaler)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  MODIFY_REG(*pReg, ((TIM_CCMR1_IC1PSC) << SHIFT_TAB_ICxx[iChannel]), (ICPrescaler >> 16U) << SHIFT_TAB_ICxx[iChannel]);
+}
+
+/**
+  * @brief  Get the current prescaler value acting on an  input channel.
+  * @rmtoll CCMR1        IC1PSC        LL_TIM_IC_GetPrescaler\n
+  *         CCMR1        IC2PSC        LL_TIM_IC_GetPrescaler\n
+  *         CCMR2        IC3PSC        LL_TIM_IC_GetPrescaler\n
+  *         CCMR2        IC4PSC        LL_TIM_IC_GetPrescaler
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_ICPSC_DIV1
+  *         @arg @ref LL_TIM_ICPSC_DIV2
+  *         @arg @ref LL_TIM_ICPSC_DIV4
+  *         @arg @ref LL_TIM_ICPSC_DIV8
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetPrescaler(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  return ((READ_BIT(*pReg, ((TIM_CCMR1_IC1PSC) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U);
+}
+
+/**
+  * @brief  Set the input filter duration.
+  * @rmtoll CCMR1        IC1F          LL_TIM_IC_SetFilter\n
+  *         CCMR1        IC2F          LL_TIM_IC_SetFilter\n
+  *         CCMR2        IC3F          LL_TIM_IC_SetFilter\n
+  *         CCMR2        IC4F          LL_TIM_IC_SetFilter
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @param  ICFilter This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N2
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N4
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV2_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV2_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV4_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV4_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV8_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV8_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N5
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N5
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N8
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_SetFilter(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICFilter)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  MODIFY_REG(*pReg, ((TIM_CCMR1_IC1F) << SHIFT_TAB_ICxx[iChannel]), (ICFilter >> 16U) << SHIFT_TAB_ICxx[iChannel]);
+}
+
+/**
+  * @brief  Get the input filter duration.
+  * @rmtoll CCMR1        IC1F          LL_TIM_IC_GetFilter\n
+  *         CCMR1        IC2F          LL_TIM_IC_GetFilter\n
+  *         CCMR2        IC3F          LL_TIM_IC_GetFilter\n
+  *         CCMR2        IC4F          LL_TIM_IC_GetFilter
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N2
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N4
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV1_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV2_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV2_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV4_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV4_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV8_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV8_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N5
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV16_N8
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N5
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N6
+  *         @arg @ref LL_TIM_IC_FILTER_FDIV32_N8
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetFilter(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel]));
+  return ((READ_BIT(*pReg, ((TIM_CCMR1_IC1F) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U);
+}
+
+/**
+  * @brief  Set the input channel polarity.
+  * @rmtoll CCER         CC1P          LL_TIM_IC_SetPolarity\n
+  *         CCER         CC1NP         LL_TIM_IC_SetPolarity\n
+  *         CCER         CC2P          LL_TIM_IC_SetPolarity\n
+  *         CCER         CC2NP         LL_TIM_IC_SetPolarity\n
+  *         CCER         CC3P          LL_TIM_IC_SetPolarity\n
+  *         CCER         CC3NP         LL_TIM_IC_SetPolarity\n
+  *         CCER         CC4P          LL_TIM_IC_SetPolarity\n
+  *         CCER         CC4NP         LL_TIM_IC_SetPolarity
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @param  ICPolarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_IC_POLARITY_RISING
+  *         @arg @ref LL_TIM_IC_POLARITY_FALLING
+  *         @arg @ref LL_TIM_IC_POLARITY_BOTHEDGE
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_SetPolarity(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICPolarity)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  MODIFY_REG(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]),
+             ICPolarity << SHIFT_TAB_CCxP[iChannel]);
+}
+
+/**
+  * @brief  Get the current input channel polarity.
+  * @rmtoll CCER         CC1P          LL_TIM_IC_GetPolarity\n
+  *         CCER         CC1NP         LL_TIM_IC_GetPolarity\n
+  *         CCER         CC2P          LL_TIM_IC_GetPolarity\n
+  *         CCER         CC2NP         LL_TIM_IC_GetPolarity\n
+  *         CCER         CC3P          LL_TIM_IC_GetPolarity\n
+  *         CCER         CC3NP         LL_TIM_IC_GetPolarity\n
+  *         CCER         CC4P          LL_TIM_IC_GetPolarity\n
+  *         CCER         CC4NP         LL_TIM_IC_GetPolarity
+  * @param  TIMx Timer instance
+  * @param  Channel This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CHANNEL_CH1
+  *         @arg @ref LL_TIM_CHANNEL_CH2
+  *         @arg @ref LL_TIM_CHANNEL_CH3
+  *         @arg @ref LL_TIM_CHANNEL_CH4
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_IC_POLARITY_RISING
+  *         @arg @ref LL_TIM_IC_POLARITY_FALLING
+  *         @arg @ref LL_TIM_IC_POLARITY_BOTHEDGE
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetPolarity(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+  uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel);
+  return (READ_BIT(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel])) >>
+          SHIFT_TAB_CCxP[iChannel]);
+}
+
+/**
+  * @brief  Connect the TIMx_CH1, CH2 and CH3 pins  to the TI1 input (XOR combination).
+  * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an XOR input.
+  * @rmtoll CR2          TI1S          LL_TIM_IC_EnableXORCombination
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_EnableXORCombination(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->CR2, TIM_CR2_TI1S);
+}
+
+/**
+  * @brief  Disconnect the TIMx_CH1, CH2 and CH3 pins  from the TI1 input.
+  * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an XOR input.
+  * @rmtoll CR2          TI1S          LL_TIM_IC_DisableXORCombination
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_IC_DisableXORCombination(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->CR2, TIM_CR2_TI1S);
+}
+
+/**
+  * @brief  Indicates whether the TIMx_CH1, CH2 and CH3 pins are connectected to the TI1 input.
+  * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not
+  * a timer instance provides an XOR input.
+  * @rmtoll CR2          TI1S          LL_TIM_IC_IsEnabledXORCombination
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_IsEnabledXORCombination(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->CR2, TIM_CR2_TI1S) == (TIM_CR2_TI1S)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Get captured value for input channel 1.
+  * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not
+  *       input channel 1 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR1         CCR1          LL_TIM_IC_GetCaptureCH1
+  * @param  TIMx Timer instance
+  * @retval CapturedValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH1(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR1));
+}
+
+/**
+  * @brief  Get captured value for input channel 2.
+  * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not
+  *       input channel 2 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR2         CCR2          LL_TIM_IC_GetCaptureCH2
+  * @param  TIMx Timer instance
+  * @retval CapturedValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH2(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR2));
+}
+
+/**
+  * @brief  Get captured value for input channel 3.
+  * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not
+  *       input channel 3 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR3         CCR3          LL_TIM_IC_GetCaptureCH3
+  * @param  TIMx Timer instance
+  * @retval CapturedValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH3(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR3));
+}
+
+/**
+  * @brief  Get captured value for input channel 4.
+  * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF.
+  * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports a 32 bits counter.
+  * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not
+  *       input channel 4 is supported by a timer instance.
+  * @note If dithering is activated, pay attention to the returned value interpretation.
+  * @rmtoll CCR4         CCR4          LL_TIM_IC_GetCaptureCH4
+  * @param  TIMx Timer instance
+  * @retval CapturedValue (between Min_Data=0 and Max_Data=65535)
+  */
+__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH4(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_REG(TIMx->CCR4));
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Clock_Selection Counter clock selection
+  * @{
+  */
+/**
+  * @brief  Enable external clock mode 2.
+  * @note When external clock mode 2 is enabled the counter is clocked by any active edge on the ETRF signal.
+  * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports external clock mode2.
+  * @rmtoll SMCR         ECE           LL_TIM_EnableExternalClock
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableExternalClock(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->SMCR, TIM_SMCR_ECE);
+}
+
+/**
+  * @brief  Disable external clock mode 2.
+  * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports external clock mode2.
+  * @rmtoll SMCR         ECE           LL_TIM_DisableExternalClock
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableExternalClock(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->SMCR, TIM_SMCR_ECE);
+}
+
+/**
+  * @brief  Indicate whether external clock mode 2 is enabled.
+  * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports external clock mode2.
+  * @rmtoll SMCR         ECE           LL_TIM_IsEnabledExternalClock
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledExternalClock(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SMCR, TIM_SMCR_ECE) == (TIM_SMCR_ECE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set the clock source of the counter clock.
+  * @note when selected clock source is external clock mode 1, the timer input
+  *       the external clock is applied is selected by calling the @ref LL_TIM_SetTriggerInput()
+  *       function. This timer input must be configured by calling
+  *       the @ref LL_TIM_IC_Config() function.
+  * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports external clock mode1.
+  * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports external clock mode2.
+  * @rmtoll SMCR         SMS           LL_TIM_SetClockSource\n
+  *         SMCR         ECE           LL_TIM_SetClockSource
+  * @param  TIMx Timer instance
+  * @param  ClockSource This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_CLOCKSOURCE_INTERNAL
+  *         @arg @ref LL_TIM_CLOCKSOURCE_EXT_MODE1
+  *         @arg @ref LL_TIM_CLOCKSOURCE_EXT_MODE2
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetClockSource(TIM_TypeDef *TIMx, uint32_t ClockSource)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS | TIM_SMCR_ECE, ClockSource);
+}
+
+/**
+  * @brief  Set the encoder interface mode.
+  * @note Macro IS_TIM_ENCODER_INTERFACE_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the encoder mode.
+  * @rmtoll SMCR         SMS           LL_TIM_SetEncoderMode
+  * @param  TIMx Timer instance
+  * @param  EncoderMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ENCODERMODE_X2_TI1
+  *         @arg @ref LL_TIM_ENCODERMODE_X2_TI2
+  *         @arg @ref LL_TIM_ENCODERMODE_X4_TI12
+  *         @arg @ref LL_TIM_ENCODERMODE_CLOCKPLUSDIRECTION_X2
+  *         @arg @ref LL_TIM_ENCODERMODE_CLOCKPLUSDIRECTION_X1
+  *         @arg @ref LL_TIM_ENCODERMODE_DIRECTIONALCLOCK_X2
+  *         @arg @ref LL_TIM_ENCODERMODE_DIRECTIONALCLOCK_X1_TI12
+  *         @arg @ref LL_TIM_ENCODERMODE_X1_TI1
+  *         @arg @ref LL_TIM_ENCODERMODE_X1_TI2
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetEncoderMode(TIM_TypeDef *TIMx, uint32_t EncoderMode)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS, EncoderMode);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Timer_Synchronization Timer synchronisation configuration
+  * @{
+  */
+/**
+  * @brief  Set the trigger output (TRGO) used for timer synchronization .
+  * @note Macro IS_TIM_MASTER_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance can operate as a master timer.
+  * @rmtoll CR2          MMS           LL_TIM_SetTriggerOutput
+  * @param  TIMx Timer instance
+  * @param  TimerSynchronization This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_TRGO_RESET
+  *         @arg @ref LL_TIM_TRGO_ENABLE
+  *         @arg @ref LL_TIM_TRGO_UPDATE
+  *         @arg @ref LL_TIM_TRGO_CC1IF
+  *         @arg @ref LL_TIM_TRGO_OC1REF
+  *         @arg @ref LL_TIM_TRGO_OC2REF
+  *         @arg @ref LL_TIM_TRGO_OC3REF
+  *         @arg @ref LL_TIM_TRGO_OC4REF
+  *         @arg @ref LL_TIM_TRGO_ENCODERCLK
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetTriggerOutput(TIM_TypeDef *TIMx, uint32_t TimerSynchronization)
+{
+  MODIFY_REG(TIMx->CR2, TIM_CR2_MMS, TimerSynchronization);
+}
+
+/**
+  * @brief  Set the trigger output 2 (TRGO2) used for ADC synchronization .
+  * @note Macro IS_TIM_TRGO2_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance can be used for ADC synchronization.
+  * @rmtoll CR2          MMS2          LL_TIM_SetTriggerOutput2
+  * @param  TIMx Timer Instance
+  * @param  ADCSynchronization This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_TRGO2_RESET
+  *         @arg @ref LL_TIM_TRGO2_ENABLE
+  *         @arg @ref LL_TIM_TRGO2_UPDATE
+  *         @arg @ref LL_TIM_TRGO2_CC1F
+  *         @arg @ref LL_TIM_TRGO2_OC1
+  *         @arg @ref LL_TIM_TRGO2_OC2
+  *         @arg @ref LL_TIM_TRGO2_OC3
+  *         @arg @ref LL_TIM_TRGO2_OC4
+  *         @arg @ref LL_TIM_TRGO2_OC5
+  *         @arg @ref LL_TIM_TRGO2_OC6
+  *         @arg @ref LL_TIM_TRGO2_OC4_RISINGFALLING
+  *         @arg @ref LL_TIM_TRGO2_OC6_RISINGFALLING
+  *         @arg @ref LL_TIM_TRGO2_OC4_RISING_OC6_RISING
+  *         @arg @ref LL_TIM_TRGO2_OC4_RISING_OC6_FALLING
+  *         @arg @ref LL_TIM_TRGO2_OC5_RISING_OC6_RISING
+  *         @arg @ref LL_TIM_TRGO2_OC5_RISING_OC6_FALLING
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetTriggerOutput2(TIM_TypeDef *TIMx, uint32_t ADCSynchronization)
+{
+  MODIFY_REG(TIMx->CR2, TIM_CR2_MMS2, ADCSynchronization);
+}
+
+/**
+  * @brief  Set the synchronization mode of a slave timer.
+  * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance can operate as a slave timer.
+  * @rmtoll SMCR         SMS           LL_TIM_SetSlaveMode
+  * @param  TIMx Timer instance
+  * @param  SlaveMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_SLAVEMODE_DISABLED
+  *         @arg @ref LL_TIM_SLAVEMODE_RESET
+  *         @arg @ref LL_TIM_SLAVEMODE_GATED
+  *         @arg @ref LL_TIM_SLAVEMODE_TRIGGER
+  *         @arg @ref LL_TIM_SLAVEMODE_COMBINED_RESETTRIGGER
+  *         @arg @ref LL_TIM_SLAVEMODE_COMBINED_GATEDRESET
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetSlaveMode(TIM_TypeDef *TIMx, uint32_t SlaveMode)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS, SlaveMode);
+}
+
+/**
+  * @brief  Set the selects the trigger input to be used to synchronize the counter.
+  * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance can operate as a slave timer.
+  * @rmtoll SMCR         TS            LL_TIM_SetTriggerInput
+  * @param  TIMx Timer instance
+  * @param  TriggerInput This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_TS_ITR0
+  *         @arg @ref LL_TIM_TS_ITR1
+  *         @arg @ref LL_TIM_TS_ITR2
+  *         @arg @ref LL_TIM_TS_ITR3
+  *         @arg @ref LL_TIM_TS_TI1F_ED
+  *         @arg @ref LL_TIM_TS_TI1FP1
+  *         @arg @ref LL_TIM_TS_TI2FP2
+  *         @arg @ref LL_TIM_TS_ETRF
+  *         @arg @ref LL_TIM_TS_ITR4
+  *         @arg @ref LL_TIM_TS_ITR5
+  *         @arg @ref LL_TIM_TS_ITR6
+  *         @arg @ref LL_TIM_TS_ITR7
+  *         @arg @ref LL_TIM_TS_ITR8
+  *         @arg @ref LL_TIM_TS_ITR9
+  *         @arg @ref LL_TIM_TS_ITR10
+  *         @arg @ref LL_TIM_TS_ITR11
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetTriggerInput(TIM_TypeDef *TIMx, uint32_t TriggerInput)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_TS, TriggerInput);
+}
+
+/**
+  * @brief  Enable the Master/Slave mode.
+  * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance can operate as a slave timer.
+  * @rmtoll SMCR         MSM           LL_TIM_EnableMasterSlaveMode
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableMasterSlaveMode(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->SMCR, TIM_SMCR_MSM);
+}
+
+/**
+  * @brief  Disable the Master/Slave mode.
+  * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance can operate as a slave timer.
+  * @rmtoll SMCR         MSM           LL_TIM_DisableMasterSlaveMode
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableMasterSlaveMode(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->SMCR, TIM_SMCR_MSM);
+}
+
+/**
+  * @brief Indicates whether the Master/Slave mode is enabled.
+  * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not
+  * a timer instance can operate as a slave timer.
+  * @rmtoll SMCR         MSM           LL_TIM_IsEnabledMasterSlaveMode
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledMasterSlaveMode(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SMCR, TIM_SMCR_MSM) == (TIM_SMCR_MSM)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Configure the external trigger (ETR) input.
+  * @note Macro IS_TIM_ETR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an external trigger input.
+  * @rmtoll SMCR         ETP           LL_TIM_ConfigETR\n
+  *         SMCR         ETPS          LL_TIM_ConfigETR\n
+  *         SMCR         ETF           LL_TIM_ConfigETR
+  * @param  TIMx Timer instance
+  * @param  ETRPolarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ETR_POLARITY_NONINVERTED
+  *         @arg @ref LL_TIM_ETR_POLARITY_INVERTED
+  * @param  ETRPrescaler This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ETR_PRESCALER_DIV1
+  *         @arg @ref LL_TIM_ETR_PRESCALER_DIV2
+  *         @arg @ref LL_TIM_ETR_PRESCALER_DIV4
+  *         @arg @ref LL_TIM_ETR_PRESCALER_DIV8
+  * @param  ETRFilter This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV1
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV1_N2
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV1_N4
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV1_N8
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV2_N6
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV2_N8
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV4_N6
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV4_N8
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV8_N6
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV8_N8
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV16_N5
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV16_N6
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV16_N8
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV32_N5
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV32_N6
+  *         @arg @ref LL_TIM_ETR_FILTER_FDIV32_N8
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ConfigETR(TIM_TypeDef *TIMx, uint32_t ETRPolarity, uint32_t ETRPrescaler,
+                                      uint32_t ETRFilter)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_ETP | TIM_SMCR_ETPS | TIM_SMCR_ETF, ETRPolarity | ETRPrescaler | ETRFilter);
+}
+
+/**
+  * @brief  Select the external trigger (ETR) input source.
+  * @note Macro IS_TIM_ETRSEL_INSTANCE(TIMx) can be used to check whether or
+  *       not a timer instance supports ETR source selection.
+  * @rmtoll AF1          ETRSEL        LL_TIM_SetETRSource
+  * @param  TIMx Timer instance
+  * @param  ETRSource This parameter can be one of the following values:
+  *
+  *         TIM1: any combination of ETR_RMP where
+  *
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_GPIO
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP1
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP2
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP3
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP4
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC1_AWD1
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC1_AWD2
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC1_AWD3
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC4_AWD1   (*)
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC4_AWD2   (*)
+  *            @arg @ref LL_TIM_TIM1_ETRSOURCE_ADC4_AWD3   (*)
+  *
+  *         TIM2: any combination of ETR_RMP where
+  *
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_GPIO
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP1
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP2
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP3
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP4
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_TIM3_ETR
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_TIM4_ETR
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_TIM5_ETR    (*)
+  *            @arg @ref LL_TIM_TIM2_ETRSOURCE_LSE
+  *
+  *         TIM3: any combination of ETR_RMP where
+  *
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_GPIO
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP1
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP2
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP3
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP4
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_TIM2_ETR
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_TIM4_ETR
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_ADC2_AWD1
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_ADC2_AWD2
+  *            @arg @ref LL_TIM_TIM3_ETRSOURCE_ADC2_AWD3
+  *
+  *         TIM4: any combination of ETR_RMP where
+  *
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_GPIO
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP1
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP2
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP3
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP4
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_TIM3_ETR
+  *            @arg @ref LL_TIM_TIM4_ETRSOURCE_TIM5_ETR    (*)
+  *
+  *         TIM5: any combination of ETR_RMP where       (**)
+  *
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_GPIO        (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP1       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP2       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP3       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP4       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_TIM2_ETR    (*)
+  *            @arg @ref LL_TIM_TIM5_ETRSOURCE_TIM3_ETR    (*)
+  *
+  *         TIM8: any combination of ETR_RMP where
+  *
+  *            . . ETR_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_GPIO
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP1
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP2
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP3
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP4
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP5       (*)
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP6       (*)
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_COMP7       (*)
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC2_AWD1
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC2_AWD2
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC2_AWD3
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC3_AWD1   (*)
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC3_AWD2   (*)
+  *            @arg @ref LL_TIM_TIM8_ETRSOURCE_ADC3_AWD3   (*)
+  *
+  *         TIM20: any combination of ETR_RMP where       (**)
+  *
+  *            . . ETR_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_GPIO       (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP1      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP2      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP3      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP4      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP5      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP6      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_COMP7      (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC3_AWD1  (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC3_AWD2  (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC3_AWD3  (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC5_AWD1  (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC5_AWD2  (*)
+  *            @arg @ref LL_TIM_TIM20_ETRSOURCE_ADC5_AWD3  (*)
+  *
+  *         (*)  Value not defined in all devices. \n
+  *         (**) Register not available in all devices.
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetETRSource(TIM_TypeDef *TIMx, uint32_t ETRSource)
+{
+  MODIFY_REG(TIMx->AF1, TIMx_AF1_ETRSEL, ETRSource);
+}
+
+/**
+  * @brief  Enable SMS preload.
+  * @note Macro IS_TIM_SMS_PRELOAD_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the preload of SMS field in SMCR register.
+  * @rmtoll SMCR         SMSPE           LL_TIM_EnableSMSPreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableSMSPreload(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->SMCR, TIM_SMCR_SMSPE);
+}
+
+/**
+  * @brief  Disable SMS preload.
+  * @note Macro IS_TIM_SMS_PRELOAD_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the preload of SMS field in SMCR register.
+  * @rmtoll SMCR         SMSPE           LL_TIM_DisableSMSPreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableSMSPreload(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->SMCR, TIM_SMCR_SMSPE);
+}
+
+/**
+  * @brief  Indicate whether  SMS preload is enabled.
+  * @note Macro IS_TIM_SMS_PRELOAD_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the preload of SMS field in SMCR register.
+  * @rmtoll SMCR         SMSPE           LL_TIM_IsEnabledSMSPreload
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledSMSPreload(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SMCR, TIM_SMCR_SMSPE) == (TIM_SMCR_SMSPE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set the preload source of SMS.
+  * @note Macro IS_TIM_SMS_PRELOAD_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the preload of SMS field in SMCR register.
+  * @rmtoll SMCR         SMSPS        LL_TIM_SetSMSPreloadSource\n
+  * @param  TIMx Timer instance
+  * @param  PreloadSource This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_SMSPS_TIMUPDATE
+  *         @arg @ref LL_TIM_SMSPS_INDEX
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetSMSPreloadSource(TIM_TypeDef *TIMx, uint32_t PreloadSource)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMSPS, PreloadSource);
+}
+
+/**
+  * @brief  Get the preload source of SMS.
+  * @note Macro IS_TIM_SMS_PRELOAD_INSTANCE(TIMx) can be used to check
+  *       whether or not a timer instance supports the preload of SMS field in SMCR register.
+  * @rmtoll SMCR         SMSPS        LL_TIM_GetSMSPreloadSource\n
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_SMSPS_TIMUPDATE
+  *         @arg @ref LL_TIM_SMSPS_INDEX
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetSMSPreloadSource(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->SMCR, TIM_SMCR_SMSPS));
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Break_Function Break function configuration
+  * @{
+  */
+/**
+  * @brief  Enable the break function.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         BKE           LL_TIM_EnableBRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableBRK(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_BKE);
+}
+
+/**
+  * @brief  Disable the break function.
+  * @rmtoll BDTR         BKE           LL_TIM_DisableBRK
+  * @param  TIMx Timer instance
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableBRK(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_BKE);
+}
+
+/**
+  * @brief  Configure the break input.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @note Bidirectional mode is only supported by advanced timer instances.
+  *       Macro IS_TIM_ADVANCED_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance is an advanced-control timer.
+  * @note In bidirectional mode (BKBID bit set), the Break input is configured both
+  *        in input mode and in open drain output mode. Any active Break event will
+  *        assert a low logic level on the Break input to indicate an internal break
+  *        event to external devices.
+  * @note When bidirectional mode isn't supported, BreakAFMode must be set to
+  *       LL_TIM_BREAK_AFMODE_INPUT.
+  * @rmtoll BDTR         BKP           LL_TIM_ConfigBRK\n
+  *         BDTR         BKF           LL_TIM_ConfigBRK\n
+  *         BDTR         BKBID         LL_TIM_ConfigBRK
+  * @param  TIMx Timer instance
+  * @param  BreakPolarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_POLARITY_LOW
+  *         @arg @ref LL_TIM_BREAK_POLARITY_HIGH
+  * @param  BreakFilter This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV1
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV1_N2
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV1_N4
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV1_N8
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV2_N6
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV2_N8
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV4_N6
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV4_N8
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV8_N6
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV8_N8
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV16_N5
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV16_N6
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV16_N8
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV32_N5
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV32_N6
+  *         @arg @ref LL_TIM_BREAK_FILTER_FDIV32_N8
+  * @param  BreakAFMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_AFMODE_INPUT
+  *         @arg @ref LL_TIM_BREAK_AFMODE_BIDIRECTIONAL
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ConfigBRK(TIM_TypeDef *TIMx, uint32_t BreakPolarity, uint32_t BreakFilter,
+                                      uint32_t BreakAFMode)
+{
+  MODIFY_REG(TIMx->BDTR, TIM_BDTR_BKP | TIM_BDTR_BKF | TIM_BDTR_BKBID, BreakPolarity | BreakFilter | BreakAFMode);
+}
+
+/**
+  * @brief  Disarm the break input (when it operates in bidirectional mode).
+  * @note  The break input can be disarmed only when it is configured in
+  *        bidirectional mode and when when MOE is reset.
+  * @note  Purpose is to be able to have the input voltage back to high-state,
+  *        whatever the time constant on the output .
+  * @rmtoll BDTR         BKDSRM        LL_TIM_DisarmBRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisarmBRK(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_BKDSRM);
+}
+
+/**
+  * @brief  Re-arm the break input (when it operates in bidirectional mode).
+  * @note  The Break input is automatically armed as soon as MOE bit is set.
+  * @rmtoll BDTR         BKDSRM        LL_TIM_ReArmBRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ReArmBRK(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_BKDSRM);
+}
+
+/**
+  * @brief  Enable the break 2 function.
+  * @note Macro IS_TIM_BKIN2_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a second break input.
+  * @rmtoll BDTR         BK2E          LL_TIM_EnableBRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableBRK2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_BK2E);
+}
+
+/**
+  * @brief  Disable the break  2 function.
+  * @note Macro IS_TIM_BKIN2_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a second break input.
+  * @rmtoll BDTR         BK2E          LL_TIM_DisableBRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableBRK2(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_BK2E);
+}
+
+/**
+  * @brief  Configure the break 2 input.
+  * @note Macro IS_TIM_BKIN2_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a second break input.
+  * @note Bidirectional mode is only supported by advanced timer instances.
+  *       Macro IS_TIM_ADVANCED_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance is an advanced-control timer.
+  * @note In bidirectional mode (BK2BID bit set), the Break 2 input is configured both
+  *        in input mode and in open drain output mode. Any active Break event will
+  *        assert a low logic level on the Break 2 input to indicate an internal break
+  *        event to external devices.
+  * @note When bidirectional mode isn't supported, Break2AFMode must be set to
+  *       LL_TIM_BREAK2_AFMODE_INPUT.
+  * @rmtoll BDTR         BK2P          LL_TIM_ConfigBRK2\n
+  *         BDTR         BK2F          LL_TIM_ConfigBRK2\n
+  *         BDTR         BK2BID        LL_TIM_ConfigBRK2
+  * @param  TIMx Timer instance
+  * @param  Break2Polarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK2_POLARITY_LOW
+  *         @arg @ref LL_TIM_BREAK2_POLARITY_HIGH
+  * @param  Break2Filter This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV1
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV1_N2
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV1_N4
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV1_N8
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV2_N6
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV2_N8
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV4_N6
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV4_N8
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV8_N6
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV8_N8
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV16_N5
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV16_N6
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV16_N8
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV32_N5
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV32_N6
+  *         @arg @ref LL_TIM_BREAK2_FILTER_FDIV32_N8
+  * @param  Break2AFMode This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK2_AFMODE_INPUT
+  *         @arg @ref LL_TIM_BREAK2_AFMODE_BIDIRECTIONAL
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ConfigBRK2(TIM_TypeDef *TIMx, uint32_t Break2Polarity, uint32_t Break2Filter,
+                                       uint32_t Break2AFMode)
+{
+  MODIFY_REG(TIMx->BDTR, TIM_BDTR_BK2P | TIM_BDTR_BK2F | TIM_BDTR_BK2BID, Break2Polarity | Break2Filter | Break2AFMode);
+}
+
+/**
+  * @brief  Disarm the break 2 input (when it operates in bidirectional mode).
+  * @note  The break 2 input can be disarmed only when it is configured in
+  *        bidirectional mode and when when MOE is reset.
+  * @note  Purpose is to be able to have the input voltage back to high-state,
+  *        whatever the time constant on the output.
+  * @rmtoll BDTR         BK2DSRM       LL_TIM_DisarmBRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisarmBRK2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_BK2DSRM);
+}
+
+/**
+  * @brief  Re-arm the break 2 input (when it operates in bidirectional mode).
+  * @note  The Break 2 input is automatically armed as soon as MOE bit is set.
+  * @rmtoll BDTR         BK2DSRM       LL_TIM_ReArmBRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ReArmBRK2(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_BK2DSRM);
+}
+
+/**
+  * @brief  Select the outputs off state (enabled v.s. disabled) in Idle and Run modes.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         OSSI          LL_TIM_SetOffStates\n
+  *         BDTR         OSSR          LL_TIM_SetOffStates
+  * @param  TIMx Timer instance
+  * @param  OffStateIdle This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OSSI_DISABLE
+  *         @arg @ref LL_TIM_OSSI_ENABLE
+  * @param  OffStateRun This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OSSR_DISABLE
+  *         @arg @ref LL_TIM_OSSR_ENABLE
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetOffStates(TIM_TypeDef *TIMx, uint32_t OffStateIdle, uint32_t OffStateRun)
+{
+  MODIFY_REG(TIMx->BDTR, TIM_BDTR_OSSI | TIM_BDTR_OSSR, OffStateIdle | OffStateRun);
+}
+
+/**
+  * @brief  Enable automatic output (MOE can be set by software or automatically when a break input is active).
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         AOE           LL_TIM_EnableAutomaticOutput
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableAutomaticOutput(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_AOE);
+}
+
+/**
+  * @brief  Disable automatic output (MOE can be set only by software).
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         AOE           LL_TIM_DisableAutomaticOutput
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableAutomaticOutput(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_AOE);
+}
+
+/**
+  * @brief  Indicate whether automatic output is enabled.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         AOE           LL_TIM_IsEnabledAutomaticOutput
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledAutomaticOutput(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->BDTR, TIM_BDTR_AOE) == (TIM_BDTR_AOE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable the outputs (set the MOE bit in TIMx_BDTR register).
+  * @note The MOE bit in TIMx_BDTR register allows to enable /disable the outputs by
+  *       software and is reset in case of break or break2 event
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         MOE           LL_TIM_EnableAllOutputs
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableAllOutputs(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->BDTR, TIM_BDTR_MOE);
+}
+
+/**
+  * @brief  Disable the outputs (reset the MOE bit in TIMx_BDTR register).
+  * @note The MOE bit in TIMx_BDTR register allows to enable /disable the outputs by
+  *       software and is reset in case of break or break2 event.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         MOE           LL_TIM_DisableAllOutputs
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableAllOutputs(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->BDTR, TIM_BDTR_MOE);
+}
+
+/**
+  * @brief  Indicates whether outputs are enabled.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides a break input.
+  * @rmtoll BDTR         MOE           LL_TIM_IsEnabledAllOutputs
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledAllOutputs(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->BDTR, TIM_BDTR_MOE) == (TIM_BDTR_MOE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable the signals connected to the designated timer break input.
+  * @note Macro IS_TIM_BREAKSOURCE_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance allows for break input selection.
+  * @rmtoll AF1          BKINE         LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP1E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP2E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP3E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP4E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP5E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP6E       LL_TIM_EnableBreakInputSource\n
+  *         AF1          BKCMP7E       LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2NE         LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP1E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP2E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP3E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP4E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP5E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP6E      LL_TIM_EnableBreakInputSource\n
+  *         AF2          BK2CMP7E      LL_TIM_EnableBreakInputSource
+  * @param  TIMx Timer instance
+  * @param  BreakInput This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN2
+  * @param  Source This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKIN
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP1
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP2
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP3
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP4
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP5 (*)
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP6 (*)
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP7 (*)
+  *
+  *         (*)  Value not defined in all devices.
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableBreakInputSource(TIM_TypeDef *TIMx, uint32_t BreakInput, uint32_t Source)
+{
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->AF1) + BreakInput));
+  SET_BIT(*pReg, Source);
+}
+
+/**
+  * @brief  Disable the signals connected to the designated timer break input.
+  * @note Macro IS_TIM_BREAKSOURCE_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance allows for break input selection.
+  * @rmtoll AF1          BKINE         LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP1E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP2E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP3E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP4E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP5E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP6E       LL_TIM_DisableBreakInputSource\n
+  *         AF1          BKCMP7E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKINE         LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP1E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP2E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP3E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP4E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP5E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP6E       LL_TIM_DisableBreakInputSource\n
+  *         AF2          BKCMP7E       LL_TIM_DisableBreakInputSource
+  * @param  TIMx Timer instance
+  * @param  BreakInput This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN2
+  * @param  Source This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKIN
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP1
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP2
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP3
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP4
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP5 (*)
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP6 (*)
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP7 (*)
+  *
+  *         (*)  Value not defined in all devices.
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableBreakInputSource(TIM_TypeDef *TIMx, uint32_t BreakInput, uint32_t Source)
+{
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->AF1) + BreakInput));
+  CLEAR_BIT(*pReg, Source);
+}
+
+/**
+  * @brief  Set the polarity of the break signal for the timer break input.
+  * @note Macro IS_TIM_BREAKSOURCE_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance allows for break input selection.
+  * @rmtoll AF1          BKINP         LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF1          BKCMP1P       LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF1          BKCMP2P       LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF1          BKCMP3P       LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF1          BKCMP4P       LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF2          BK2INP        LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF2          BK2CMP1P      LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF2          BK2CMP2P      LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF2          BK2CMP3P      LL_TIM_SetBreakInputSourcePolarity\n
+  *         AF2          BK2CMP4P      LL_TIM_SetBreakInputSourcePolarity
+  * @param  TIMx Timer instance
+  * @param  BreakInput This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN
+  *         @arg @ref LL_TIM_BREAK_INPUT_BKIN2
+  * @param  Source This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKIN
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP1
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP2
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP3
+  *         @arg @ref LL_TIM_BKIN_SOURCE_BKCOMP4
+  * @param  Polarity This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_BKIN_POLARITY_LOW
+  *         @arg @ref LL_TIM_BKIN_POLARITY_HIGH
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetBreakInputSourcePolarity(TIM_TypeDef *TIMx, uint32_t BreakInput, uint32_t Source,
+                                                        uint32_t Polarity)
+{
+  __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->AF1) + BreakInput));
+  MODIFY_REG(*pReg, (TIMx_AF1_BKINP << TIM_POSITION_BRK_SOURCE), (Polarity << TIM_POSITION_BRK_SOURCE));
+}
+/**
+  * @brief  Enable asymmetrical deadtime.
+  * @note Macro IS_TIM_DEADTIME_ASYMMETRICAL_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides asymmetrical deadtime.
+  * @rmtoll DTR2          DTAE          LL_TIM_EnableAsymmetricalDeadTime
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableAsymmetricalDeadTime(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DTR2, TIM_DTR2_DTAE);
+}
+
+/**
+  * @brief  Disable asymmetrical dead-time.
+  * @note Macro IS_TIM_DEADTIME_ASYMMETRICAL_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides asymmetrical deadtime.
+  * @rmtoll DTR2          DTAE          LL_TIM_DisableAsymmetricalDeadTime
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableAsymmetricalDeadTime(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DTR2, TIM_DTR2_DTAE);
+}
+
+/**
+  * @brief  Indicates whether asymmetrical deadtime is activated.
+  * @note Macro IS_TIM_DEADTIME_ASYMMETRICAL_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides asymmetrical deadtime.
+  * @rmtoll DTR2          DTAE          LL_TIM_IsEnabledAsymmetricalDeadTime
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledAsymmetricalDeadTime(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DTR2, TIM_DTR2_DTAE) == (TIM_DTR2_DTAE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set the falling edge dead-time delay (delay inserted between the falling edge of the OCxREF signal and the
+  *         rising edge of OCxN signals).
+  * @note Macro IS_TIM_DEADTIME_ASYMMETRICAL_INSTANCE(TIMx) can be used to check whether or not
+  *       asymmetrical dead-time insertion feature is supported by a timer instance.
+  * @note Helper macro @ref __LL_TIM_CALC_DEADTIME can be used to calculate the DeadTime parameter
+  * @note This bit-field can not be modified as long as LOCK level 1, 2 or 3 has been programmed
+  *       (LOCK bits in TIMx_BDTR register).
+  * @rmtoll DTR2         DTGF           LL_TIM_SetFallingDeadTime
+  * @param  TIMx Timer instance
+  * @param  DeadTime between Min_Data=0 and Max_Data=255
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetFallingDeadTime(TIM_TypeDef *TIMx, uint32_t DeadTime)
+{
+  MODIFY_REG(TIMx->DTR2, TIM_DTR2_DTGF, DeadTime);
+}
+
+/**
+  * @brief  Get the falling edge dead-time delay (delay inserted between the falling edge of the OCxREF signal and
+  *         the rising edge of OCxN signals).
+  * @note Macro IS_TIM_DEADTIME_ASYMMETRICAL_INSTANCE(TIMx) can be used to check whether or not
+  *       asymmetrical dead-time insertion feature is supported by a timer instance.
+  * @note This bit-field can not be modified as long as LOCK level 1, 2 or 3 has been programmed
+  *       (LOCK bits in TIMx_BDTR register).
+  * @rmtoll DTR2          DTGF           LL_TIM_GetFallingDeadTime
+  * @param  TIMx Timer instance
+  * @retval Returned value can be between Min_Data=0 and Max_Data=255:
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetFallingDeadTime(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->DTR2, TIM_DTR2_DTGF));
+}
+
+/**
+  * @brief  Enable deadtime preload.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides deadtime preload.
+  * @rmtoll DTR2          DTPE          LL_TIM_EnableDeadTimePreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDeadTimePreload(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DTR2, TIM_DTR2_DTPE);
+}
+
+/**
+  * @brief  Disable dead-time preload.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides deadtime preload.
+  * @rmtoll DTR2          DTPE          LL_TIM_DisableDeadTimePreload
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDeadTimePreload(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DTR2, TIM_DTR2_DTPE);
+}
+
+/**
+  * @brief  Indicates whether deadtime preload is activated.
+  * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides deadtime preload.
+  * @rmtoll DTR2          DTPE          LL_TIM_IsEnabledDeadTimePreload
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDeadTimePreload(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DTR2, TIM_DTR2_DTPE) == (TIM_DTR2_DTPE)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_DMA_Burst_Mode DMA burst mode configuration
+  * @{
+  */
+/**
+  * @brief  Configures the timer DMA burst feature.
+  * @note Macro IS_TIM_DMABURST_INSTANCE(TIMx) can be used to check whether or
+  *       not a timer instance supports the DMA burst mode.
+  * @rmtoll DCR          DBL           LL_TIM_ConfigDMABurst\n
+  *         DCR          DBA           LL_TIM_ConfigDMABurst
+  * @param  TIMx Timer instance
+  * @param  DMABurstBaseAddress This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CR1
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CR2
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_SMCR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_DIER
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_SR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_EGR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCMR1
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCMR2
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCER
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CNT
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_PSC
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_ARR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_RCR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR1
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR2
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR3
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR4
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_BDTR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCMR3
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR5
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_CCR6
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_DTR2
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_ECR
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_TISEL
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_AF1
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_AF2
+  *         @arg @ref LL_TIM_DMABURST_BASEADDR_OR
+  * @param  DMABurstLength This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_1TRANSFER
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_2TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_3TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_4TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_5TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_6TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_7TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_8TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_9TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_10TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_11TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_12TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_13TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_14TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_15TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_16TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_17TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_18TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_19TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_20TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_21TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_22TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_23TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_24TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_25TRANSFERS
+  *         @arg @ref LL_TIM_DMABURST_LENGTH_26TRANSFERS
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ConfigDMABurst(TIM_TypeDef *TIMx, uint32_t DMABurstBaseAddress, uint32_t DMABurstLength)
+{
+  MODIFY_REG(TIMx->DCR, (TIM_DCR_DBL | TIM_DCR_DBA), (DMABurstBaseAddress | DMABurstLength));
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Encoder Encoder configuration
+  * @{
+  */
+
+/**
+  * @brief  Enable encoder index.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR         IE           LL_TIM_EnableEncoderIndex
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableEncoderIndex(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->ECR, TIM_ECR_IE);
+}
+
+/**
+  * @brief  Disable encoder index.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR         IE           LL_TIM_DisableEncoderIndex
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableEncoderIndex(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->ECR, TIM_ECR_IE);
+}
+
+/**
+  * @brief  Indicate whether encoder index is enabled.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR         IE           LL_TIM_IsEnabledEncoderIndex
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledEncoderIndex(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->ECR, TIM_ECR_IE) == (TIM_ECR_IE)) ? 1U : 0U);
+}
+
+/**
+  * @brief  Set index direction
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          IDIR           LL_TIM_SetIndexDirection
+  * @param  TIMx Timer instance
+  * @param  IndexDirection This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_INDEX_UP_DOWN
+  *         @arg @ref LL_TIM_INDEX_UP
+  *         @arg @ref LL_TIM_INDEX_DOWN
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetIndexDirection(TIM_TypeDef *TIMx, uint32_t IndexDirection)
+{
+  MODIFY_REG(TIMx->ECR, TIM_ECR_IDIR, IndexDirection);
+}
+
+/**
+  * @brief  Get actual index direction
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          IDIR           LL_TIM_GetIndexDirection
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_INDEX_UP_DOWN
+  *         @arg @ref LL_TIM_INDEX_UP
+  *         @arg @ref LL_TIM_INDEX_DOWN
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetIndexDirection(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->ECR, TIM_ECR_IDIR));
+}
+
+/**
+  * @brief  Enable first index.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          FIDX          LL_TIM_EnableFirstIndex
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableFirstIndex(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->ECR, TIM_ECR_FIDX);
+}
+
+/**
+  * @brief  Disable first index.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          FIDX          LL_TIM_DisableFirstIndex
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableFirstIndex(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->ECR, TIM_ECR_FIDX);
+}
+
+/**
+  * @brief  Indicates whether first index is enabled.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          FIDX          LL_TIM_IsEnabledFirstIndex
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledFirstIndex(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->ECR, TIM_ECR_FIDX) == (TIM_ECR_FIDX)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Set index positioning
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          IPOS           LL_TIM_SetIndexPositionning
+  * @param  TIMx Timer instance
+  * @param  IndexPositionning This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN_UP
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP_UP
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetIndexPositionning(TIM_TypeDef *TIMx, uint32_t IndexPositionning)
+{
+  MODIFY_REG(TIMx->ECR, TIM_ECR_IPOS, IndexPositionning);
+}
+
+/**
+  * @brief  Get actual index positioning
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          IPOS           LL_TIM_GetIndexPositionning
+  * @param  TIMx Timer instance
+  * @retval Returned value can be one of the following values:
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN_UP
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP_UP
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN
+  *         @arg @ref LL_TIM_INDEX_POSITION_UP
+  */
+__STATIC_INLINE uint32_t LL_TIM_GetIndexPositionning(TIM_TypeDef *TIMx)
+{
+  return (uint32_t)(READ_BIT(TIMx->ECR, TIM_ECR_IPOS));
+}
+
+/**
+  * @brief  Configure encoder index.
+  * @note Macro IS_TIM_INDEX_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides an index input.
+  * @rmtoll ECR          IDIR          LL_TIM_ConfigIDX\n
+  *         ECR          FIDX          LL_TIM_ConfigIDX\n
+  *         ECR          IPOS          LL_TIM_ConfigIDX
+  * @param  TIMx Timer instance
+  * @param  Configuration This parameter must be a combination of all the following values:
+  *         @arg @ref LL_TIM_INDEX_UP or @ref LL_TIM_INDEX_DOWN or @ref LL_TIM_INDEX_UP_DOWN
+  *         @arg @ref LL_TIM_INDEX_ALL or @ref LL_TIM_INDEX_FIRST_ONLY
+  *         @arg @ref LL_TIM_INDEX_POSITION_DOWN_DOWN or ... or @ref LL_TIM_INDEX_POSITION_UP
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ConfigIDX(TIM_TypeDef *TIMx, uint32_t Configuration)
+{
+  MODIFY_REG(TIMx->ECR, TIM_ECR_IDIR | TIM_ECR_FIDX | TIM_ECR_IPOS, Configuration);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_Timer_Inputs_Remapping Timer input remapping
+  * @{
+  */
+/**
+  * @brief  Remap TIM inputs (input channel, internal/external triggers).
+  * @note Macro IS_TIM_REMAP_INSTANCE(TIMx) can be used to check whether or not
+  *       a some timer inputs can be remapped.
+  * @rmtoll TIM1_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM2_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM2_TISEL    TI2SEL      LL_TIM_SetRemap\n
+  *         TIM2_TISEL    TI3SEL      LL_TIM_SetRemap\n
+  *         TIM2_TISEL    TI4SEL      LL_TIM_SetRemap\n
+  *         TIM3_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM3_TISEL    TI2SEL      LL_TIM_SetRemap\n
+  *         TIM3_TISEL    TI3SEL      LL_TIM_SetRemap\n
+  *         TIM4_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM4_TISEL    TI2SEL      LL_TIM_SetRemap\n
+  *         TIM4_TISEL    TI3SEL      LL_TIM_SetRemap\n
+  *         TIM4_TISEL    TI4SEL      LL_TIM_SetRemap\n
+  *         TIM5_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM5_TISEL    TI2SEL      LL_TIM_SetRemap\n
+  *         TIM8_TISEL    TI1SEL      LL_TIM_SetRemap\n
+  *         TIM15_TISEL   TI1SEL      LL_TIM_SetRemap\n
+  *         TIM15_TISEL   TI2SEL      LL_TIM_SetRemap\n
+  *         TIM16_TISEL   TI1SEL      LL_TIM_SetRemap\n
+  *         TIM17_TISEL   TI1SEL      LL_TIM_SetRemap\n
+  *         TIM20_TISEL   TI1SEL      LL_TIM_SetRemap
+  * @param  TIMx Timer instance
+  * @param  Remap Remap param depends on the TIMx. Description available only
+  *         in CHM version of the User Manual (not in .pdf).
+  *         Otherwise see Reference Manual description of TISEL registers.
+  *
+  *         Below description summarizes "Timer Instance" and "Remap" param combinations:
+  *
+  *         TIM1: one of the following values
+  *
+  *            @arg @ref LL_TIM_TIM1_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM1_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM1_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM1_TI1_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM1_TI1_RMP_COMP4
+  *
+  *         TIM2: any combination of TI1_RMP, TI2_RMP, TI3_RMP and TI4_RMP where
+  *
+  *            . . TI1_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM2_TI1_RMP_COMP5 (*)
+  *
+  *            . . TI2_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM2_TI2_RMP_COMP6 (*)
+  *
+  *            . . TI3_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM2_TI3_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM2_TI3_RMP_COMP4
+  *
+  *            . . TI4_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM2_TI4_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM2_TI4_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM2_TI4_RMP_COMP2
+  *
+  *         TIM3: any combination of TI1_RMP and TI2_RMP where
+  *
+  *            . . TI1_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM3_TI1_RMP_COMP7 (*)
+  *
+  *            . . TI2_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM3_TI2_RMP_COMP7 (*)
+  *
+  *            . . TI3_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM3_TI3_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM3_TI3_RMP_COMP3
+  *
+  *         TIM4: any combination of TI1_RMP, TI2_RMP, TI3_RMP and TI4_RMP where
+  *
+  *            . . TI1_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM4_TI1_RMP_COMP7 (*)
+  *
+  *            . . TI2_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP4
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM4_TI2_RMP_COMP7 (*)
+  *
+  *            . . TI3_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM4_TI3_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM4_TI3_RMP_COMP5 (*)
+  *
+  *            . . TI4_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM4_TI4_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM4_TI4_RMP_COMP6 (*)
+  *
+  *         TIM5: any combination of TI1_RMP and TI2_RMP where (**)
+  *
+  *            . . TI1_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_GPIO   (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_LSI    (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_LSE    (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_RTC_WK (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP1  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP2  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP3  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP4  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP5  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP6  (*)
+  *            @arg @ref LL_TIM_TIM5_TI1_RMP_COMP7  (*)
+  *
+  *            . . TI2_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_GPIO  (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP1 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP2 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP3 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP4 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM5_TI2_RMP_COMP7 (*)
+  *
+  *         TIM8: one of the following values
+  *
+  *            @arg @ref LL_TIM_TIM8_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM8_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM8_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM8_TI1_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM8_TI1_RMP_COMP4
+  *
+  *         TIM15: any combination of TI1_RMP and TI2_RMP where
+  *
+  *            . . TI1_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_LSE
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_COMP1
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM15_TI1_RMP_COMP7 (*)
+  *
+  *            . . TI2_RMP can be one of the following values
+  *            @arg @ref LL_TIM_TIM15_TI2_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM15_TI2_RMP_COMP2
+  *            @arg @ref LL_TIM_TIM15_TI2_RMP_COMP3
+  *            @arg @ref LL_TIM_TIM15_TI2_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM15_TI2_RMP_COMP7 (*)
+  *
+  *         TIM16: one of the following values
+  *
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_COMP6 (*)
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_MCO
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_HSE_32
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_RTC_WK
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_LSE
+  *            @arg @ref LL_TIM_TIM16_TI1_RMP_LSI
+  *
+  *         TIM17: one of the following values
+  *
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_GPIO
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_COMP5 (*)
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_MCO
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_HSE_32
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_RTC_WK
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_LSE
+  *            @arg @ref LL_TIM_TIM17_TI1_RMP_LSI
+  *
+  *         TIM20: one of the following values (**)
+  *
+  *            @arg @ref LL_TIM_TIM20_TI1_RMP_GPIO  (*)
+  *            @arg @ref LL_TIM_TIM20_TI1_RMP_COMP1 (*)
+  *            @arg @ref LL_TIM_TIM20_TI1_RMP_COMP2 (*)
+  *            @arg @ref LL_TIM_TIM20_TI1_RMP_COMP3 (*)
+  *            @arg @ref LL_TIM_TIM20_TI1_RMP_COMP4 (*)
+  *
+  *         (*)  Value not defined in all devices. \n
+  *         (**) Register not available in all devices.
+  *
+  *
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetRemap(TIM_TypeDef *TIMx, uint32_t Remap)
+{
+  MODIFY_REG(TIMx->TISEL, (TIM_TISEL_TI1SEL | TIM_TISEL_TI2SEL | TIM_TISEL_TI3SEL | TIM_TISEL_TI4SEL), Remap);
+}
+
+/**
+  * @brief  Enable request for HSE/32 clock used for TISEL remap.
+  * @note Only TIM16 and TIM17 support HSE/32 remap
+  * @rmtoll OR         HSE32EN           LL_TIM_EnableHSE32
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableHSE32(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->OR, TIM_OR_HSE32EN);
+}
+
+/**
+  * @brief  Disable request for HSE/32 clock used for TISEL remap.
+  * @note Only TIM16 and TIM17 support HSE/32 remap
+  * @rmtoll OR         HSE32EN           LL_TIM_DisableHSE32
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableHSE32(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->OR, TIM_OR_HSE32EN);
+}
+
+/**
+  * @brief  Indicate whether request for HSE/32 clock is enabled.
+  * @note Only TIM16 and TIM17 support HSE/32 remap
+  * @rmtoll OR         HSE32EN           LL_TIM_IsEnabledHSE32
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledHSE32(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->OR, TIM_OR_HSE32EN) == (TIM_OR_HSE32EN)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_OCREF_Clear OCREF_Clear_Management
+  * @{
+  */
+/**
+  * @brief  Set the OCREF clear input source
+  * @note The OCxREF signal of a given channel can be cleared when a high level is applied on the OCREF_CLR_INPUT
+  * @note This function can only be used in Output compare and PWM modes.
+  * @note Macro IS_TIM_OCCS_INSTANCE(TIMx) can be used to check whether
+  *       or not a timer instance can configure OCREF clear input source.
+  * @rmtoll SMCR          OCCS                LL_TIM_SetOCRefClearInputSource
+  * @rmtoll AF2           OCRSEL              LL_TIM_SetOCRefClearInputSource
+  * @param  TIMx Timer instance
+  * @param  OCRefClearInputSource This parameter can be one of the following values:
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_ETR
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP1
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP2
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP3
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP4
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP5 (*)
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP6 (*)
+  *         @arg @ref LL_TIM_OCREF_CLR_INT_COMP7 (*)
+  *
+  *         (*)  Value not defined in all devices. \n
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_SetOCRefClearInputSource(TIM_TypeDef *TIMx, uint32_t OCRefClearInputSource)
+{
+  MODIFY_REG(TIMx->SMCR, TIM_SMCR_OCCS,
+             ((OCRefClearInputSource & OCREF_CLEAR_SELECT_Msk) >> OCREF_CLEAR_SELECT_Pos) << TIM_SMCR_OCCS_Pos);
+  MODIFY_REG(TIMx->AF2, TIM1_AF2_OCRSEL, OCRefClearInputSource);
+}
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_FLAG_Management FLAG-Management
+  * @{
+  */
+/**
+  * @brief  Clear the update interrupt flag (UIF).
+  * @rmtoll SR           UIF           LL_TIM_ClearFlag_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_UPDATE(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_UIF));
+}
+
+/**
+  * @brief  Indicate whether update interrupt flag (UIF) is set (update interrupt is pending).
+  * @rmtoll SR           UIF           LL_TIM_IsActiveFlag_UPDATE
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_UPDATE(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_UIF) == (TIM_SR_UIF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 1 interrupt flag (CC1F).
+  * @rmtoll SR           CC1IF         LL_TIM_ClearFlag_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC1(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC1IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 1 interrupt flag (CC1F) is set (Capture/Compare 1 interrupt is pending).
+  * @rmtoll SR           CC1IF         LL_TIM_IsActiveFlag_CC1
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC1(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC1IF) == (TIM_SR_CC1IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 2 interrupt flag (CC2F).
+  * @rmtoll SR           CC2IF         LL_TIM_ClearFlag_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC2(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC2IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 2 interrupt flag (CC2F) is set (Capture/Compare 2 interrupt is pending).
+  * @rmtoll SR           CC2IF         LL_TIM_IsActiveFlag_CC2
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC2(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC2IF) == (TIM_SR_CC2IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 3 interrupt flag (CC3F).
+  * @rmtoll SR           CC3IF         LL_TIM_ClearFlag_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC3(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC3IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 3 interrupt flag (CC3F) is set (Capture/Compare 3 interrupt is pending).
+  * @rmtoll SR           CC3IF         LL_TIM_IsActiveFlag_CC3
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC3(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC3IF) == (TIM_SR_CC3IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 4 interrupt flag (CC4F).
+  * @rmtoll SR           CC4IF         LL_TIM_ClearFlag_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC4(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC4IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 4 interrupt flag (CC4F) is set (Capture/Compare 4 interrupt is pending).
+  * @rmtoll SR           CC4IF         LL_TIM_IsActiveFlag_CC4
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC4(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC4IF) == (TIM_SR_CC4IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 5 interrupt flag (CC5F).
+  * @rmtoll SR           CC5IF         LL_TIM_ClearFlag_CC5
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC5(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC5IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 5 interrupt flag (CC5F) is set (Capture/Compare 5 interrupt is pending).
+  * @rmtoll SR           CC5IF         LL_TIM_IsActiveFlag_CC5
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC5(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC5IF) == (TIM_SR_CC5IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 6 interrupt flag (CC6F).
+  * @rmtoll SR           CC6IF         LL_TIM_ClearFlag_CC6
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC6(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC6IF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 6 interrupt flag (CC6F) is set (Capture/Compare 6 interrupt is pending).
+  * @rmtoll SR           CC6IF         LL_TIM_IsActiveFlag_CC6
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC6(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC6IF) == (TIM_SR_CC6IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the commutation interrupt flag (COMIF).
+  * @rmtoll SR           COMIF         LL_TIM_ClearFlag_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_COM(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_COMIF));
+}
+
+/**
+  * @brief  Indicate whether commutation interrupt flag (COMIF) is set (commutation interrupt is pending).
+  * @rmtoll SR           COMIF         LL_TIM_IsActiveFlag_COM
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_COM(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_COMIF) == (TIM_SR_COMIF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the trigger interrupt flag (TIF).
+  * @rmtoll SR           TIF           LL_TIM_ClearFlag_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_TRIG(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_TIF));
+}
+
+/**
+  * @brief  Indicate whether trigger interrupt flag (TIF) is set (trigger interrupt is pending).
+  * @rmtoll SR           TIF           LL_TIM_IsActiveFlag_TRIG
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_TRIG(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_TIF) == (TIM_SR_TIF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the break interrupt flag (BIF).
+  * @rmtoll SR           BIF           LL_TIM_ClearFlag_BRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_BRK(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_BIF));
+}
+
+/**
+  * @brief  Indicate whether break interrupt flag (BIF) is set (break interrupt is pending).
+  * @rmtoll SR           BIF           LL_TIM_IsActiveFlag_BRK
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_BRK(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_BIF) == (TIM_SR_BIF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the break 2 interrupt flag (B2IF).
+  * @rmtoll SR           B2IF          LL_TIM_ClearFlag_BRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_BRK2(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_B2IF));
+}
+
+/**
+  * @brief  Indicate whether break 2 interrupt flag (B2IF) is set (break 2 interrupt is pending).
+  * @rmtoll SR           B2IF          LL_TIM_IsActiveFlag_BRK2
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_BRK2(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_B2IF) == (TIM_SR_B2IF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 1 over-capture interrupt flag (CC1OF).
+  * @rmtoll SR           CC1OF         LL_TIM_ClearFlag_CC1OVR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC1OVR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC1OF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 1 over-capture interrupt flag (CC1OF) is set
+  *         (Capture/Compare 1 interrupt is pending).
+  * @rmtoll SR           CC1OF         LL_TIM_IsActiveFlag_CC1OVR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC1OVR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC1OF) == (TIM_SR_CC1OF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 2 over-capture interrupt flag (CC2OF).
+  * @rmtoll SR           CC2OF         LL_TIM_ClearFlag_CC2OVR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC2OVR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC2OF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 2 over-capture interrupt flag (CC2OF) is set
+  *         (Capture/Compare 2 over-capture interrupt is pending).
+  * @rmtoll SR           CC2OF         LL_TIM_IsActiveFlag_CC2OVR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC2OVR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC2OF) == (TIM_SR_CC2OF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 3 over-capture interrupt flag (CC3OF).
+  * @rmtoll SR           CC3OF         LL_TIM_ClearFlag_CC3OVR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC3OVR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC3OF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 3 over-capture interrupt flag (CC3OF) is set
+  *         (Capture/Compare 3 over-capture interrupt is pending).
+  * @rmtoll SR           CC3OF         LL_TIM_IsActiveFlag_CC3OVR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC3OVR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC3OF) == (TIM_SR_CC3OF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the Capture/Compare 4 over-capture interrupt flag (CC4OF).
+  * @rmtoll SR           CC4OF         LL_TIM_ClearFlag_CC4OVR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_CC4OVR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_CC4OF));
+}
+
+/**
+  * @brief  Indicate whether Capture/Compare 4 over-capture interrupt flag (CC4OF) is set
+  *         (Capture/Compare 4 over-capture interrupt is pending).
+  * @rmtoll SR           CC4OF         LL_TIM_IsActiveFlag_CC4OVR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC4OVR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_CC4OF) == (TIM_SR_CC4OF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the system break interrupt flag (SBIF).
+  * @rmtoll SR           SBIF          LL_TIM_ClearFlag_SYSBRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_SYSBRK(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_SBIF));
+}
+
+/**
+  * @brief  Indicate whether system break interrupt flag (SBIF) is set (system break interrupt is pending).
+  * @rmtoll SR           SBIF          LL_TIM_IsActiveFlag_SYSBRK
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_SYSBRK(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_SBIF) == (TIM_SR_SBIF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the transition error interrupt flag (TERRF).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll SR           TERRF           LL_TIM_ClearFlag_TERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_TERR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_TERRF));
+}
+
+/**
+  * @brief  Indicate whether transition error interrupt flag (TERRF) is set (transition error interrupt is pending).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll SR           TERRF           LL_TIM_IsActiveFlag_TERR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_TERR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_TERRF) == (TIM_SR_TERRF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the index error interrupt flag (IERRF).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll SR           IERRF           LL_TIM_ClearFlag_IERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_IERR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_IERRF));
+}
+
+/**
+  * @brief  Indicate whether index error interrupt flag (IERRF) is set (index error interrupt is pending).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll SR           IERRF           LL_TIM_IsActiveFlag_IERR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_IERR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_IERRF) == (TIM_SR_IERRF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the direction change interrupt flag (DIRF).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll SR           DIRF           LL_TIM_ClearFlag_DIR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_DIR(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_DIRF));
+}
+
+/**
+  * @brief  Indicate whether direction change interrupt flag (DIRF) is set (direction change interrupt is pending).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll SR           DIRF           LL_TIM_IsActiveFlag_DIR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_DIR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_DIRF) == (TIM_SR_DIRF)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Clear the index interrupt flag (IDXF).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll SR           IDXF           LL_TIM_ClearFlag_IDX
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_ClearFlag_IDX(TIM_TypeDef *TIMx)
+{
+  WRITE_REG(TIMx->SR, ~(TIM_SR_IDXF));
+}
+
+/**
+  * @brief  Indicate whether index interrupt flag (IDXF) is set (index interrupt is pending).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll SR           IDXF           LL_TIM_IsActiveFlag_IDX
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_IDX(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->SR, TIM_SR_IDXF) == (TIM_SR_IDXF)) ? 1UL : 0UL);
+}
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_IT_Management IT-Management
+  * @{
+  */
+/**
+  * @brief  Enable update interrupt (UIE).
+  * @rmtoll DIER         UIE           LL_TIM_EnableIT_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_UPDATE(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_UIE);
+}
+
+/**
+  * @brief  Disable update interrupt (UIE).
+  * @rmtoll DIER         UIE           LL_TIM_DisableIT_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_UPDATE(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_UIE);
+}
+
+/**
+  * @brief  Indicates whether the update interrupt (UIE) is enabled.
+  * @rmtoll DIER         UIE           LL_TIM_IsEnabledIT_UPDATE
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_UPDATE(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_UIE) == (TIM_DIER_UIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 1 interrupt (CC1IE).
+  * @rmtoll DIER         CC1IE         LL_TIM_EnableIT_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_CC1(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC1IE);
+}
+
+/**
+  * @brief  Disable capture/compare 1  interrupt (CC1IE).
+  * @rmtoll DIER         CC1IE         LL_TIM_DisableIT_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_CC1(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC1IE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 1 interrupt (CC1IE) is enabled.
+  * @rmtoll DIER         CC1IE         LL_TIM_IsEnabledIT_CC1
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC1(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC1IE) == (TIM_DIER_CC1IE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 2 interrupt (CC2IE).
+  * @rmtoll DIER         CC2IE         LL_TIM_EnableIT_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_CC2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC2IE);
+}
+
+/**
+  * @brief  Disable capture/compare 2  interrupt (CC2IE).
+  * @rmtoll DIER         CC2IE         LL_TIM_DisableIT_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_CC2(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC2IE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 2 interrupt (CC2IE) is enabled.
+  * @rmtoll DIER         CC2IE         LL_TIM_IsEnabledIT_CC2
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC2(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC2IE) == (TIM_DIER_CC2IE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 3 interrupt (CC3IE).
+  * @rmtoll DIER         CC3IE         LL_TIM_EnableIT_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_CC3(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC3IE);
+}
+
+/**
+  * @brief  Disable capture/compare 3  interrupt (CC3IE).
+  * @rmtoll DIER         CC3IE         LL_TIM_DisableIT_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_CC3(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC3IE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 3 interrupt (CC3IE) is enabled.
+  * @rmtoll DIER         CC3IE         LL_TIM_IsEnabledIT_CC3
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC3(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC3IE) == (TIM_DIER_CC3IE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 4 interrupt (CC4IE).
+  * @rmtoll DIER         CC4IE         LL_TIM_EnableIT_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_CC4(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC4IE);
+}
+
+/**
+  * @brief  Disable capture/compare 4  interrupt (CC4IE).
+  * @rmtoll DIER         CC4IE         LL_TIM_DisableIT_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_CC4(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC4IE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 4 interrupt (CC4IE) is enabled.
+  * @rmtoll DIER         CC4IE         LL_TIM_IsEnabledIT_CC4
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC4(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC4IE) == (TIM_DIER_CC4IE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable commutation interrupt (COMIE).
+  * @rmtoll DIER         COMIE         LL_TIM_EnableIT_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_COM(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_COMIE);
+}
+
+/**
+  * @brief  Disable commutation interrupt (COMIE).
+  * @rmtoll DIER         COMIE         LL_TIM_DisableIT_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_COM(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_COMIE);
+}
+
+/**
+  * @brief  Indicates whether the commutation interrupt (COMIE) is enabled.
+  * @rmtoll DIER         COMIE         LL_TIM_IsEnabledIT_COM
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_COM(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_COMIE) == (TIM_DIER_COMIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable trigger interrupt (TIE).
+  * @rmtoll DIER         TIE           LL_TIM_EnableIT_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_TRIG(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_TIE);
+}
+
+/**
+  * @brief  Disable trigger interrupt (TIE).
+  * @rmtoll DIER         TIE           LL_TIM_DisableIT_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_TRIG(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_TIE);
+}
+
+/**
+  * @brief  Indicates whether the trigger interrupt (TIE) is enabled.
+  * @rmtoll DIER         TIE           LL_TIM_IsEnabledIT_TRIG
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_TRIG(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_TIE) == (TIM_DIER_TIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable break interrupt (BIE).
+  * @rmtoll DIER         BIE           LL_TIM_EnableIT_BRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_BRK(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_BIE);
+}
+
+/**
+  * @brief  Disable break interrupt (BIE).
+  * @rmtoll DIER         BIE           LL_TIM_DisableIT_BRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_BRK(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_BIE);
+}
+
+/**
+  * @brief  Indicates whether the break interrupt (BIE) is enabled.
+  * @rmtoll DIER         BIE           LL_TIM_IsEnabledIT_BRK
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_BRK(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_BIE) == (TIM_DIER_BIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable transition error interrupt (TERRIE).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         TERRIE           LL_TIM_EnableIT_TERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_TERR(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_TERRIE);
+}
+
+/**
+  * @brief  Disable transition error interrupt (TERRIE).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         TERRIE           LL_TIM_DisableIT_TERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_TERR(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_TERRIE);
+}
+
+/**
+  * @brief  Indicates whether the transition error interrupt (TERRIE) is enabled.
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         TERRIE           LL_TIM_IsEnabledIT_TERR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_TERR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_TERRIE) == (TIM_DIER_TERRIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable index error interrupt (IERRIE).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         IERRIE           LL_TIM_EnableIT_IERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_IERR(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_IERRIE);
+}
+
+/**
+  * @brief  Disable index error interrupt (IERRIE).
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         IERRIE           LL_TIM_DisableIT_IERR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_IERR(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_IERRIE);
+}
+
+/**
+  * @brief  Indicates whether the index error interrupt (IERRIE) is enabled.
+  * @note Macro IS_TIM_ENCODER_ERROR_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder error management.
+  * @rmtoll DIER         IERRIE           LL_TIM_IsEnabledIT_IERR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_IERR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_IERRIE) == (TIM_DIER_IERRIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable direction change interrupt (DIRIE).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         DIRIE           LL_TIM_EnableIT_DIR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_DIR(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_DIRIE);
+}
+
+/**
+  * @brief  Disable direction change interrupt (DIRIE).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         DIRIE           LL_TIM_DisableIT_DIR
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_DIR(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_DIRIE);
+}
+
+/**
+  * @brief  Indicates whether the direction change interrupt (DIRIE) is enabled.
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         DIRIE           LL_TIM_IsEnabledIT_DIR
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_DIR(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_DIRIE) == (TIM_DIER_DIRIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable index interrupt (IDXIE).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         IDXIE           LL_TIM_EnableIT_IDX
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableIT_IDX(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_IDXIE);
+}
+
+/**
+  * @brief  Disable index interrupt (IDXIE).
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         IDXIE           LL_TIM_DisableIT_IDX
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableIT_IDX(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_IDXIE);
+}
+
+/**
+  * @brief  Indicates whether the index interrupt (IDXIE) is enabled.
+  * @note Macro IS_TIM_FUNCTINONAL_ENCODER_INTERRUPT_INSTANCE(TIMx) can be used to check whether or not
+  *       a timer instance provides encoder interrupt management.
+  * @rmtoll DIER         IDXIE           LL_TIM_IsEnabledIT_IDX
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_IDX(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_IDXIE) == (TIM_DIER_IDXIE)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_DMA_Management DMA Management
+  * @{
+  */
+/**
+  * @brief  Enable update DMA request (UDE).
+  * @rmtoll DIER         UDE           LL_TIM_EnableDMAReq_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_UPDATE(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_UDE);
+}
+
+/**
+  * @brief  Disable update DMA request (UDE).
+  * @rmtoll DIER         UDE           LL_TIM_DisableDMAReq_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_UPDATE(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_UDE);
+}
+
+/**
+  * @brief  Indicates whether the update DMA request  (UDE) is enabled.
+  * @rmtoll DIER         UDE           LL_TIM_IsEnabledDMAReq_UPDATE
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_UPDATE(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_UDE) == (TIM_DIER_UDE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 1 DMA request (CC1DE).
+  * @rmtoll DIER         CC1DE         LL_TIM_EnableDMAReq_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_CC1(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC1DE);
+}
+
+/**
+  * @brief  Disable capture/compare 1  DMA request (CC1DE).
+  * @rmtoll DIER         CC1DE         LL_TIM_DisableDMAReq_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_CC1(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC1DE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 1 DMA request (CC1DE) is enabled.
+  * @rmtoll DIER         CC1DE         LL_TIM_IsEnabledDMAReq_CC1
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC1(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC1DE) == (TIM_DIER_CC1DE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 2 DMA request (CC2DE).
+  * @rmtoll DIER         CC2DE         LL_TIM_EnableDMAReq_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_CC2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC2DE);
+}
+
+/**
+  * @brief  Disable capture/compare 2  DMA request (CC2DE).
+  * @rmtoll DIER         CC2DE         LL_TIM_DisableDMAReq_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_CC2(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC2DE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 2 DMA request (CC2DE) is enabled.
+  * @rmtoll DIER         CC2DE         LL_TIM_IsEnabledDMAReq_CC2
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC2(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC2DE) == (TIM_DIER_CC2DE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 3 DMA request (CC3DE).
+  * @rmtoll DIER         CC3DE         LL_TIM_EnableDMAReq_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_CC3(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC3DE);
+}
+
+/**
+  * @brief  Disable capture/compare 3  DMA request (CC3DE).
+  * @rmtoll DIER         CC3DE         LL_TIM_DisableDMAReq_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_CC3(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC3DE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 3 DMA request (CC3DE) is enabled.
+  * @rmtoll DIER         CC3DE         LL_TIM_IsEnabledDMAReq_CC3
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC3(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC3DE) == (TIM_DIER_CC3DE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable capture/compare 4 DMA request (CC4DE).
+  * @rmtoll DIER         CC4DE         LL_TIM_EnableDMAReq_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_CC4(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_CC4DE);
+}
+
+/**
+  * @brief  Disable capture/compare 4  DMA request (CC4DE).
+  * @rmtoll DIER         CC4DE         LL_TIM_DisableDMAReq_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_CC4(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_CC4DE);
+}
+
+/**
+  * @brief  Indicates whether the capture/compare 4 DMA request (CC4DE) is enabled.
+  * @rmtoll DIER         CC4DE         LL_TIM_IsEnabledDMAReq_CC4
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC4(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_CC4DE) == (TIM_DIER_CC4DE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable commutation DMA request (COMDE).
+  * @rmtoll DIER         COMDE         LL_TIM_EnableDMAReq_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_COM(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_COMDE);
+}
+
+/**
+  * @brief  Disable commutation DMA request (COMDE).
+  * @rmtoll DIER         COMDE         LL_TIM_DisableDMAReq_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_COM(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_COMDE);
+}
+
+/**
+  * @brief  Indicates whether the commutation DMA request (COMDE) is enabled.
+  * @rmtoll DIER         COMDE         LL_TIM_IsEnabledDMAReq_COM
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_COM(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_COMDE) == (TIM_DIER_COMDE)) ? 1UL : 0UL);
+}
+
+/**
+  * @brief  Enable trigger interrupt (TDE).
+  * @rmtoll DIER         TDE           LL_TIM_EnableDMAReq_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_EnableDMAReq_TRIG(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->DIER, TIM_DIER_TDE);
+}
+
+/**
+  * @brief  Disable trigger interrupt (TDE).
+  * @rmtoll DIER         TDE           LL_TIM_DisableDMAReq_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_DisableDMAReq_TRIG(TIM_TypeDef *TIMx)
+{
+  CLEAR_BIT(TIMx->DIER, TIM_DIER_TDE);
+}
+
+/**
+  * @brief  Indicates whether the trigger interrupt (TDE) is enabled.
+  * @rmtoll DIER         TDE           LL_TIM_IsEnabledDMAReq_TRIG
+  * @param  TIMx Timer instance
+  * @retval State of bit (1 or 0).
+  */
+__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_TRIG(TIM_TypeDef *TIMx)
+{
+  return ((READ_BIT(TIMx->DIER, TIM_DIER_TDE) == (TIM_DIER_TDE)) ? 1UL : 0UL);
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup TIM_LL_EF_EVENT_Management EVENT-Management
+  * @{
+  */
+/**
+  * @brief  Generate an update event.
+  * @rmtoll EGR          UG            LL_TIM_GenerateEvent_UPDATE
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_UPDATE(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_UG);
+}
+
+/**
+  * @brief  Generate Capture/Compare 1 event.
+  * @rmtoll EGR          CC1G          LL_TIM_GenerateEvent_CC1
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_CC1(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_CC1G);
+}
+
+/**
+  * @brief  Generate Capture/Compare 2 event.
+  * @rmtoll EGR          CC2G          LL_TIM_GenerateEvent_CC2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_CC2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_CC2G);
+}
+
+/**
+  * @brief  Generate Capture/Compare 3 event.
+  * @rmtoll EGR          CC3G          LL_TIM_GenerateEvent_CC3
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_CC3(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_CC3G);
+}
+
+/**
+  * @brief  Generate Capture/Compare 4 event.
+  * @rmtoll EGR          CC4G          LL_TIM_GenerateEvent_CC4
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_CC4(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_CC4G);
+}
+
+/**
+  * @brief  Generate commutation event.
+  * @rmtoll EGR          COMG          LL_TIM_GenerateEvent_COM
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_COM(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_COMG);
+}
+
+/**
+  * @brief  Generate trigger event.
+  * @rmtoll EGR          TG            LL_TIM_GenerateEvent_TRIG
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_TRIG(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_TG);
+}
+
+/**
+  * @brief  Generate break event.
+  * @rmtoll EGR          BG            LL_TIM_GenerateEvent_BRK
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_BRK(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_BG);
+}
+
+/**
+  * @brief  Generate break 2 event.
+  * @rmtoll EGR          B2G           LL_TIM_GenerateEvent_BRK2
+  * @param  TIMx Timer instance
+  * @retval None
+  */
+__STATIC_INLINE void LL_TIM_GenerateEvent_BRK2(TIM_TypeDef *TIMx)
+{
+  SET_BIT(TIMx->EGR, TIM_EGR_B2G);
+}
+
+/**
+  * @}
+  */
+
+#if defined(USE_FULL_LL_DRIVER)
+/** @defgroup TIM_LL_EF_Init Initialisation and deinitialisation functions
+  * @{
+  */
+
+ErrorStatus LL_TIM_DeInit(TIM_TypeDef *TIMx);
+void LL_TIM_StructInit(LL_TIM_InitTypeDef *TIM_InitStruct);
+ErrorStatus LL_TIM_Init(TIM_TypeDef *TIMx, LL_TIM_InitTypeDef *TIM_InitStruct);
+void LL_TIM_OC_StructInit(LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct);
+ErrorStatus LL_TIM_OC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct);
+void LL_TIM_IC_StructInit(LL_TIM_IC_InitTypeDef *TIM_ICInitStruct);
+ErrorStatus LL_TIM_IC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_IC_InitTypeDef *TIM_IC_InitStruct);
+void LL_TIM_ENCODER_StructInit(LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct);
+ErrorStatus LL_TIM_ENCODER_Init(TIM_TypeDef *TIMx, LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct);
+void LL_TIM_HALLSENSOR_StructInit(LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct);
+ErrorStatus LL_TIM_HALLSENSOR_Init(TIM_TypeDef *TIMx, LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct);
+void LL_TIM_BDTR_StructInit(LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct);
+ErrorStatus LL_TIM_BDTR_Init(TIM_TypeDef *TIMx, LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct);
+/**
+  * @}
+  */
+#endif /* USE_FULL_LL_DRIVER */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* TIM1 || TIM2 || TIM3 || TIM4 || TIM5 || TIM6 || TIM7 || TIM8 || TIM15 || TIM16 || TIM17 || TIM20 */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32G4xx_LL_TIM_H */
diff --git a/src/esw/fw/science/science.ioc b/src/esw/fw/science/science.ioc
index e3a2afbd5..ad5c92c0f 100644
--- a/src/esw/fw/science/science.ioc
+++ b/src/esw/fw/science/science.ioc
@@ -1,338 +1,342 @@
-#MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
-ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_10
-ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_11
-ADC1.Channel-3\#ChannelRegularConversion=ADC_CHANNEL_12
-ADC1.Channel-4\#ChannelRegularConversion=ADC_CHANNEL_14
-ADC1.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_15
-ADC1.CommonPathInternal=null|null|null|null
-ADC1.DiscontinuousConvMode=DISABLE
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,NbrOfConversionFlag,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,OffsetNumber-2\#ChannelRegularConversion,Rank-3\#ChannelRegularConversion,Channel-3\#ChannelRegularConversion,SamplingTime-3\#ChannelRegularConversion,OffsetNumber-3\#ChannelRegularConversion,Rank-4\#ChannelRegularConversion,Channel-4\#ChannelRegularConversion,SamplingTime-4\#ChannelRegularConversion,OffsetNumber-4\#ChannelRegularConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,OffsetNumber-5\#ChannelRegularConversion,NbrOfConversion,DiscontinuousConvMode,master,CommonPathInternal
-ADC1.NbrOfConversion=6
-ADC1.NbrOfConversionFlag=1
-ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-2\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-3\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-4\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-5\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.Rank-1\#ChannelRegularConversion=2
-ADC1.Rank-2\#ChannelRegularConversion=3
-ADC1.Rank-3\#ChannelRegularConversion=4
-ADC1.Rank-4\#ChannelRegularConversion=5
-ADC1.Rank-5\#ChannelRegularConversion=6
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
-ADC1.master=1
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
-Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.ADC1.0.EventEnable=DISABLE
-Dma.ADC1.0.Instance=DMA1_Channel1
-Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
-Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
-Dma.ADC1.0.Mode=DMA_CIRCULAR
-Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_WORD
-Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
-Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
-Dma.ADC1.0.RequestNumber=1
-Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.ADC1.0.SignalID=NONE
-Dma.ADC1.0.SyncEnable=DISABLE
-Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.ADC1.0.SyncRequestNumber=1
-Dma.ADC1.0.SyncSignalID=NONE
-Dma.Request0=ADC1
-Dma.RequestsNb=1
-FDCAN1.AutoRetransmission=ENABLE
-FDCAN1.CalculateBaudRateNominal=1000000
-FDCAN1.CalculateTimeBitNominal=1000
-FDCAN1.CalculateTimeQuantumNominal=7.142857142857143
-FDCAN1.DataPrescaler=5
-FDCAN1.DataSyncJumpWidth=13
-FDCAN1.DataTimeSeg1=14
-FDCAN1.DataTimeSeg2=13
-FDCAN1.ExtFiltersNbr=1
-FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,AutoRetransmission,TransmitPause,FrameFormat,ExtFiltersNbr
-FDCAN1.NominalPrescaler=1
-FDCAN1.NominalSyncJumpWidth=19
-FDCAN1.NominalTimeSeg1=120
-FDCAN1.NominalTimeSeg2=19
-FDCAN1.TransmitPause=ENABLE
-FREERTOS.IPParameters=Tasks01
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
-File.Version=6
-I2C1.IPParameters=Timing
-I2C1.Timing=0x20B0CCFF
-KeepUserPlacement=false
-Mcu.CPN=STM32G431CBU3
-Mcu.Family=STM32G4
-Mcu.IP0=ADC1
-Mcu.IP1=DMA
-Mcu.IP2=FDCAN1
-Mcu.IP3=FREERTOS
-Mcu.IP4=I2C1
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=SYS
-Mcu.IPNb=8
-Mcu.Name=STM32G431C(6-8-B)Ux
-Mcu.Package=UFQFPN48
-Mcu.Pin0=PC13
-Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=PC4
-Mcu.Pin11=PB0
-Mcu.Pin12=PB1
-Mcu.Pin13=PB11
-Mcu.Pin14=PB12
-Mcu.Pin15=PB13
-Mcu.Pin16=PB14
-Mcu.Pin17=PB15
-Mcu.Pin18=PC6
-Mcu.Pin19=PA8
-Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=PA9
-Mcu.Pin21=PA11
-Mcu.Pin22=PA12
-Mcu.Pin23=PA13
-Mcu.Pin24=PA14
-Mcu.Pin25=PA15
-Mcu.Pin26=PB7
-Mcu.Pin27=PB8-BOOT0
-Mcu.Pin28=PB9
-Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin3=PF0-OSC_IN
-Mcu.Pin30=VP_SYS_VS_Systick
-Mcu.Pin31=VP_SYS_VS_DBSignals
-Mcu.Pin4=PA0
-Mcu.Pin5=PA1
-Mcu.Pin6=PA2
-Mcu.Pin7=PA3
-Mcu.Pin8=PA6
-Mcu.Pin9=PA7
-Mcu.PinsNb=32
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32G431CBUx
-MxCube.Version=6.10.0
-MxDb.Version=DB.6.0.100
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA0.GPIOParameters=GPIO_Label
-PA0.GPIO_Label=UV LED 0
-PA0.Locked=true
-PA0.Signal=GPIO_Output
-PA1.GPIOParameters=GPIO_Label
-PA1.GPIO_Label=UV LED 1
-PA1.Locked=true
-PA1.Signal=GPIO_Output
-PA11.Mode=FDCAN_Activate
-PA11.Signal=FDCAN1_RX
-PA12.Locked=true
-PA12.Mode=FDCAN_Activate
-PA12.Signal=FDCAN1_TX
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
-PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA15.GPIOParameters=GPIO_Label
-PA15.GPIO_Label=CAN STANDBY
-PA15.Locked=true
-PA15.Signal=GPIO_Output
-PA2.GPIOParameters=GPIO_Label
-PA2.GPIO_Label=UV LED 2
-PA2.Locked=true
-PA2.Signal=GPIO_Output
-PA3.GPIOParameters=GPIO_Label
-PA3.GPIO_Label=THERM B0
-PA3.Locked=true
-PA3.Mode=IN4-Single-Ended
-PA3.Signal=ADC1_IN4
-PA6.GPIOParameters=GPIO_Label
-PA6.GPIO_Label=WHITE LED 0
-PA6.Locked=true
-PA6.Signal=GPIO_Output
-PA7.GPIOParameters=GPIO_Label
-PA7.GPIO_Label=WHITE LED 1
-PA7.Locked=true
-PA7.Signal=GPIO_Output
-PA8.GPIOParameters=GPIO_Label
-PA8.GPIO_Label=HEATER B2
-PA8.Locked=true
-PA8.Signal=GPIO_Output
-PA9.GPIOParameters=GPIO_Label
-PA9.GPIO_Label=HEATER N2
-PA9.Locked=true
-PA9.Signal=GPIO_Output
-PB0.GPIOParameters=GPIO_Label
-PB0.GPIO_Label=THERM N2
-PB0.Locked=true
-PB0.Mode=IN15-Single-Ended
-PB0.Signal=ADC1_IN15
-PB1.GPIOParameters=GPIO_Label
-PB1.GPIO_Label=THERM N1
-PB1.Locked=true
-PB1.Mode=IN12-Single-Ended
-PB1.Signal=ADC1_IN12
-PB11.GPIOParameters=GPIO_Label
-PB11.GPIO_Label=THERM B0
-PB11.Locked=true
-PB11.Mode=IN14-Single-Ended
-PB11.Signal=ADC1_IN14
-PB12.GPIOParameters=GPIO_Label
-PB12.GPIO_Label=THERM B1
-PB12.Locked=true
-PB12.Mode=IN11-Single-Ended
-PB12.Signal=ADC1_IN11
-PB13.GPIOParameters=GPIO_Label
-PB13.GPIO_Label=HEATER B0
-PB13.Locked=true
-PB13.Signal=GPIO_Output
-PB14.GPIOParameters=GPIO_Label
-PB14.GPIO_Label=HEATER N0
-PB14.Locked=true
-PB14.Signal=GPIO_Output
-PB15.GPIOParameters=GPIO_Label
-PB15.GPIO_Label=HEATER B1
-PB15.Locked=true
-PB15.Signal=GPIO_Output
-PB7.GPIOParameters=GPIO_Label
-PB7.GPIO_Label=I2C MUX RST
-PB7.Locked=true
-PB7.Signal=GPIO_Output
-PB8-BOOT0.Locked=true
-PB8-BOOT0.Mode=I2C
-PB8-BOOT0.Signal=I2C1_SCL
-PB9.Mode=I2C
-PB9.Signal=I2C1_SDA
-PC13.GPIOParameters=GPIO_Label
-PC13.GPIO_Label=DEBUG LED 0
-PC13.Locked=true
-PC13.Signal=GPIO_Output
-PC14-OSC32_IN.GPIOParameters=GPIO_Label
-PC14-OSC32_IN.GPIO_Label=DEBUG LED 1
-PC14-OSC32_IN.Locked=true
-PC14-OSC32_IN.Signal=GPIO_Output
-PC15-OSC32_OUT.GPIOParameters=GPIO_Label
-PC15-OSC32_OUT.GPIO_Label=DEBUG LED 2
-PC15-OSC32_OUT.Locked=true
-PC15-OSC32_OUT.Signal=GPIO_Output
-PC4.GPIOParameters=GPIO_Label
-PC4.GPIO_Label=WHITE LED 2
-PC4.Locked=true
-PC4.Signal=GPIO_Output
-PC6.GPIOParameters=GPIO_Label
-PC6.GPIO_Label=HEATER N1
-PC6.Locked=true
-PC6.Signal=GPIO_Output
-PF0-OSC_IN.GPIOParameters=GPIO_Label
-PF0-OSC_IN.GPIO_Label=THERM N0
-PF0-OSC_IN.Locked=true
-PF0-OSC_IN.Mode=IN10-Single-Ended
-PF0-OSC_IN.Signal=ADC1_IN10
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=false
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32G431CBUx
-ProjectManager.FirmwarePackage=STM32Cube FW_G4 V1.5.1
-ProjectManager.FreePins=false
-ProjectManager.HalAssertFull=false
-ProjectManager.HeapSize=0x200
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
-ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Core/Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=science.ioc
-ProjectManager.ProjectName=science
-ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=STM32CubeIDE
-ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_ADC1_Init-ADC1-false-HAL-true
-RCC.ADC12Freq_Value=140000000
-RCC.AHBFreq_Value=140000000
-RCC.APB1Freq_Value=140000000
-RCC.APB1TimFreq_Value=140000000
-RCC.APB2Freq_Value=140000000
-RCC.APB2TimFreq_Value=140000000
-RCC.CRSFreq_Value=48000000
-RCC.CortexFreq_Value=140000000
-RCC.EXTERNAL_CLOCK_VALUE=12288000
-RCC.FCLKCortexFreq_Value=140000000
-RCC.FDCANFreq_Value=140000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=140000000
-RCC.HSE_VALUE=8000000
-RCC.HSI48_VALUE=48000000
-RCC.HSI_VALUE=16000000
-RCC.I2C1Freq_Value=140000000
-RCC.I2C2Freq_Value=140000000
-RCC.I2C3Freq_Value=140000000
-RCC.I2SFreq_Value=140000000
-RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLM,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
-RCC.LPTIM1Freq_Value=140000000
-RCC.LPUART1Freq_Value=140000000
-RCC.LSCOPinFreq_Value=32000
-RCC.LSE_VALUE=32768
-RCC.LSI_VALUE=32000
-RCC.MCO1PinFreq_Value=16000000
-RCC.PLLM=RCC_PLLM_DIV2
-RCC.PLLN=35
-RCC.PLLPoutputFreq_Value=140000000
-RCC.PLLQoutputFreq_Value=140000000
-RCC.PLLRCLKFreq_Value=140000000
-RCC.PWRFreq_Value=140000000
-RCC.RNGFreq_Value=140000000
-RCC.SAI1Freq_Value=140000000
-RCC.SYSCLKFreq_VALUE=140000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.USART1Freq_Value=140000000
-RCC.USART2Freq_Value=140000000
-RCC.USART3Freq_Value=140000000
-RCC.USBFreq_Value=140000000
-RCC.VCOInputFreq_Value=8000000
-RCC.VCOOutputFreq_Value=280000000
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
-VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
-board=custom
-rtos.0.ip=FREERTOS
-isbadioc=false
+#MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
+ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_10
+ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_11
+ADC1.Channel-3\#ChannelRegularConversion=ADC_CHANNEL_12
+ADC1.Channel-4\#ChannelRegularConversion=ADC_CHANNEL_14
+ADC1.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_15
+ADC1.CommonPathInternal=null|null|null|null
+ADC1.DiscontinuousConvMode=DISABLE
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,NbrOfConversionFlag,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,OffsetNumber-2\#ChannelRegularConversion,Rank-3\#ChannelRegularConversion,Channel-3\#ChannelRegularConversion,SamplingTime-3\#ChannelRegularConversion,OffsetNumber-3\#ChannelRegularConversion,Rank-4\#ChannelRegularConversion,Channel-4\#ChannelRegularConversion,SamplingTime-4\#ChannelRegularConversion,OffsetNumber-4\#ChannelRegularConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,OffsetNumber-5\#ChannelRegularConversion,NbrOfConversion,DiscontinuousConvMode,master,CommonPathInternal
+ADC1.NbrOfConversion=6
+ADC1.NbrOfConversionFlag=1
+ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-2\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-3\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-4\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-5\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.Rank-1\#ChannelRegularConversion=2
+ADC1.Rank-2\#ChannelRegularConversion=3
+ADC1.Rank-3\#ChannelRegularConversion=4
+ADC1.Rank-4\#ChannelRegularConversion=5
+ADC1.Rank-5\#ChannelRegularConversion=6
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_92CYCLES_5
+ADC1.master=1
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.ADC1.0.EventEnable=DISABLE
+Dma.ADC1.0.Instance=DMA1_Channel1
+Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
+Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
+Dma.ADC1.0.Mode=DMA_CIRCULAR
+Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_WORD
+Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
+Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
+Dma.ADC1.0.RequestNumber=1
+Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.ADC1.0.SignalID=NONE
+Dma.ADC1.0.SyncEnable=DISABLE
+Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.ADC1.0.SyncRequestNumber=1
+Dma.ADC1.0.SyncSignalID=NONE
+Dma.Request0=ADC1
+Dma.RequestsNb=1
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
+FDCAN1.CalculateTimeQuantumNominal=7.142857142857143
+FDCAN1.DataPrescaler=5
+FDCAN1.DataSyncJumpWidth=13
+FDCAN1.DataTimeSeg1=14
+FDCAN1.DataTimeSeg2=13
+FDCAN1.ExtFiltersNbr=1
+FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,AutoRetransmission,TransmitPause,FrameFormat,ExtFiltersNbr
+FDCAN1.NominalPrescaler=1
+FDCAN1.NominalSyncJumpWidth=19
+FDCAN1.NominalTimeSeg1=120
+FDCAN1.NominalTimeSeg2=19
+FDCAN1.TransmitPause=ENABLE
+FREERTOS.IPParameters=Tasks01
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+File.Version=6
+I2C1.IPParameters=Timing
+I2C1.Timing=0x20B0CCFF
+KeepUserPlacement=false
+Mcu.CPN=STM32G431CBU3
+Mcu.Family=STM32G4
+Mcu.IP0=ADC1
+Mcu.IP1=DMA
+Mcu.IP2=FDCAN1
+Mcu.IP3=FREERTOS
+Mcu.IP4=I2C1
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=SYS
+Mcu.IP8=TIM16
+Mcu.IPNb=9
+Mcu.Name=STM32G431C(6-8-B)Ux
+Mcu.Package=UFQFPN48
+Mcu.Pin0=PC13
+Mcu.Pin1=PC14-OSC32_IN
+Mcu.Pin10=PC4
+Mcu.Pin11=PB0
+Mcu.Pin12=PB1
+Mcu.Pin13=PB11
+Mcu.Pin14=PB12
+Mcu.Pin15=PB13
+Mcu.Pin16=PB14
+Mcu.Pin17=PB15
+Mcu.Pin18=PC6
+Mcu.Pin19=PA8
+Mcu.Pin2=PC15-OSC32_OUT
+Mcu.Pin20=PA9
+Mcu.Pin21=PA11
+Mcu.Pin22=PA12
+Mcu.Pin23=PA13
+Mcu.Pin24=PA14
+Mcu.Pin25=PA15
+Mcu.Pin26=PB7
+Mcu.Pin27=PB8-BOOT0
+Mcu.Pin28=PB9
+Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin3=PF0-OSC_IN
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_SYS_VS_DBSignals
+Mcu.Pin32=VP_TIM16_VS_ClockSourceINT
+Mcu.Pin4=PA0
+Mcu.Pin5=PA1
+Mcu.Pin6=PA2
+Mcu.Pin7=PA3
+Mcu.Pin8=PA6
+Mcu.Pin9=PA7
+Mcu.PinsNb=33
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32G431CBUx
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
+NVIC.SavedPendsvIrqHandlerGenerated=true
+NVIC.SavedSvcallIrqHandlerGenerated=true
+NVIC.SavedSystickIrqHandlerGenerated=true
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA0.GPIOParameters=GPIO_Label
+PA0.GPIO_Label=UV LED 0
+PA0.Locked=true
+PA0.Signal=GPIO_Output
+PA1.GPIOParameters=GPIO_Label
+PA1.GPIO_Label=UV LED 1
+PA1.Locked=true
+PA1.Signal=GPIO_Output
+PA11.Mode=FDCAN_Activate
+PA11.Signal=FDCAN1_RX
+PA12.Locked=true
+PA12.Mode=FDCAN_Activate
+PA12.Signal=FDCAN1_TX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
+PA15.GPIOParameters=GPIO_Label
+PA15.GPIO_Label=CAN STANDBY
+PA15.Locked=true
+PA15.Signal=GPIO_Output
+PA2.GPIOParameters=GPIO_Label
+PA2.GPIO_Label=UV LED 2
+PA2.Locked=true
+PA2.Signal=GPIO_Output
+PA3.GPIOParameters=GPIO_Label
+PA3.GPIO_Label=THERM B0
+PA3.Locked=true
+PA3.Mode=IN4-Single-Ended
+PA3.Signal=ADC1_IN4
+PA6.GPIOParameters=GPIO_Label
+PA6.GPIO_Label=WHITE LED 0
+PA6.Locked=true
+PA6.Signal=GPIO_Output
+PA7.GPIOParameters=GPIO_Label
+PA7.GPIO_Label=WHITE LED 1
+PA7.Locked=true
+PA7.Signal=GPIO_Output
+PA8.GPIOParameters=GPIO_Label
+PA8.GPIO_Label=HEATER B2
+PA8.Locked=true
+PA8.Signal=GPIO_Output
+PA9.GPIOParameters=GPIO_Label
+PA9.GPIO_Label=HEATER N2
+PA9.Locked=true
+PA9.Signal=GPIO_Output
+PB0.GPIOParameters=GPIO_Label
+PB0.GPIO_Label=THERM N2
+PB0.Locked=true
+PB0.Mode=IN15-Single-Ended
+PB0.Signal=ADC1_IN15
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=THERM N1
+PB1.Locked=true
+PB1.Mode=IN12-Single-Ended
+PB1.Signal=ADC1_IN12
+PB11.GPIOParameters=GPIO_Label
+PB11.GPIO_Label=THERM B0
+PB11.Locked=true
+PB11.Mode=IN14-Single-Ended
+PB11.Signal=ADC1_IN14
+PB12.GPIOParameters=GPIO_Label
+PB12.GPIO_Label=THERM B1
+PB12.Locked=true
+PB12.Mode=IN11-Single-Ended
+PB12.Signal=ADC1_IN11
+PB13.GPIOParameters=GPIO_Label
+PB13.GPIO_Label=HEATER B0
+PB13.Locked=true
+PB13.Signal=GPIO_Output
+PB14.GPIOParameters=GPIO_Label
+PB14.GPIO_Label=HEATER N0
+PB14.Locked=true
+PB14.Signal=GPIO_Output
+PB15.GPIOParameters=GPIO_Label
+PB15.GPIO_Label=HEATER B1
+PB15.Locked=true
+PB15.Signal=GPIO_Output
+PB7.GPIOParameters=GPIO_Label
+PB7.GPIO_Label=I2C MUX RST
+PB7.Locked=true
+PB7.Signal=GPIO_Output
+PB8-BOOT0.Locked=true
+PB8-BOOT0.Mode=I2C
+PB8-BOOT0.Signal=I2C1_SCL
+PB9.Mode=I2C
+PB9.Signal=I2C1_SDA
+PC13.GPIOParameters=GPIO_Label
+PC13.GPIO_Label=DEBUG LED 0
+PC13.Locked=true
+PC13.Signal=GPIO_Output
+PC14-OSC32_IN.GPIOParameters=GPIO_Label
+PC14-OSC32_IN.GPIO_Label=DEBUG LED 1
+PC14-OSC32_IN.Locked=true
+PC14-OSC32_IN.Signal=GPIO_Output
+PC15-OSC32_OUT.GPIOParameters=GPIO_Label
+PC15-OSC32_OUT.GPIO_Label=DEBUG LED 2
+PC15-OSC32_OUT.Locked=true
+PC15-OSC32_OUT.Signal=GPIO_Output
+PC4.GPIOParameters=GPIO_Label
+PC4.GPIO_Label=WHITE LED 2
+PC4.Locked=true
+PC4.Signal=GPIO_Output
+PC6.GPIOParameters=GPIO_Label
+PC6.GPIO_Label=HEATER N1
+PC6.Locked=true
+PC6.Signal=GPIO_Output
+PF0-OSC_IN.GPIOParameters=GPIO_Label
+PF0-OSC_IN.GPIO_Label=THERM N0
+PF0-OSC_IN.Locked=true
+PF0-OSC_IN.Mode=IN10-Single-Ended
+PF0-OSC_IN.Signal=ADC1_IN10
+PinOutPanel.RotationAngle=0
+ProjectManager.AskForMigrate=true
+ProjectManager.BackupPrevious=false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=false
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=true
+ProjectManager.DeviceId=STM32G431CBUx
+ProjectManager.FirmwarePackage=STM32Cube FW_G4 V1.5.1
+ProjectManager.FreePins=false
+ProjectManager.HalAssertFull=false
+ProjectManager.HeapSize=0x200
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=false
+ProjectManager.LibraryCopy=1
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=science.ioc
+ProjectManager.ProjectName=science
+ProjectManager.ProjectStructure=
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x400
+ProjectManager.TargetToolchain=STM32CubeIDE
+ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
+ProjectManager.UnderRoot=true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_ADC1_Init-ADC1-false-HAL-true,7-MX_TIM17_Init-TIM17-false-HAL-true
+RCC.ADC12Freq_Value=140000000
+RCC.AHBFreq_Value=140000000
+RCC.APB1Freq_Value=140000000
+RCC.APB1TimFreq_Value=140000000
+RCC.APB2Freq_Value=140000000
+RCC.APB2TimFreq_Value=140000000
+RCC.CRSFreq_Value=48000000
+RCC.CortexFreq_Value=140000000
+RCC.EXTERNAL_CLOCK_VALUE=12288000
+RCC.FCLKCortexFreq_Value=140000000
+RCC.FDCANFreq_Value=140000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=140000000
+RCC.HSE_VALUE=8000000
+RCC.HSI48_VALUE=48000000
+RCC.HSI_VALUE=16000000
+RCC.I2C1Freq_Value=140000000
+RCC.I2C2Freq_Value=140000000
+RCC.I2C3Freq_Value=140000000
+RCC.I2SFreq_Value=140000000
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLM,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+RCC.LPTIM1Freq_Value=140000000
+RCC.LPUART1Freq_Value=140000000
+RCC.LSCOPinFreq_Value=32000
+RCC.LSE_VALUE=32768
+RCC.LSI_VALUE=32000
+RCC.MCO1PinFreq_Value=16000000
+RCC.PLLM=RCC_PLLM_DIV2
+RCC.PLLN=35
+RCC.PLLPoutputFreq_Value=140000000
+RCC.PLLQoutputFreq_Value=140000000
+RCC.PLLRCLKFreq_Value=140000000
+RCC.PWRFreq_Value=140000000
+RCC.RNGFreq_Value=140000000
+RCC.SAI1Freq_Value=140000000
+RCC.SYSCLKFreq_VALUE=140000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.USART1Freq_Value=140000000
+RCC.USART2Freq_Value=140000000
+RCC.USART3Freq_Value=140000000
+RCC.USBFreq_Value=140000000
+RCC.VCOInputFreq_Value=8000000
+RCC.VCOOutputFreq_Value=280000000
+VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
+VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
+VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
+VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM16_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM16_VS_ClockSourceINT.Signal=TIM16_VS_ClockSourceINT
+board=custom
+rtos.0.ip=FREERTOS
+isbadioc=false
diff --git a/src/esw/gst_websocket_streamer/gst_websocket_streamer.cpp b/src/esw/gst_websocket_streamer/gst_websocket_streamer.cpp
index ac7af10d8..a1430549b 100644
--- a/src/esw/gst_websocket_streamer/gst_websocket_streamer.cpp
+++ b/src/esw/gst_websocket_streamer/gst_websocket_streamer.cpp
@@ -61,39 +61,22 @@ namespace mrover {
                 launch = std::format(
                         "appsrc name=imageSource is-live=true "
                         "! video/x-raw,format=BGRA,width={},height={},framerate=30/1 "
-                        "! videoconvert "
                         "! nvh265enc name=encoder "
                         "! appsink name=streamSink sync=false",
                         mImageWidth, mImageHeight);
             }
         } else {
             if constexpr (IS_JETSON) {
-                // TODO(quintin): I had to apply this patch: https://forums.developer.nvidia.com/t/macrosilicon-usb/157777/4
-                //                nvv4l2camerasrc only supports UYUV by default, but our cameras are YUY2 (YUYV)
                 // ReSharper disable once CppDFAUnreachableCode
 
-                // launch = std::format(
-                //         "nvv4l2camerasrc device={} "
-                //         "! video/x-raw(memory:NVMM),format=YUY2,width={},height={},framerate={}/1 "
-                //         "! nvvidconv "
-                //         "! video/x-raw(memory:NVMM),format=I420 "
-                //         "! nvv4l2h265enc name=encoder bitrate={} iframeinterval=300 vbv-size=33333 insert-sps-pps=true control-rate=constant_bitrate profile=Main num-B-Frames=0 ratecontrol-enable=true preset-level=UltraFastPreset EnableTwopassCBR=false maxperf-enable=true "
-                //         "! appsink name=streamSink sync=false",
-                //         mCaptureDevice, mImageWidth, mImageHeight, mImageFramerate, mBitrate);
+                // TODO(quintin): I had to apply this patch: https://forums.developer.nvidia.com/t/macrosilicon-usb/157777/4
+                //                nvv4l2camerasrc only supports UYUV by default, but our cameras are YUY2 (YUYV)
 
                 launch = std::format(
-                    "v4l2src device={} "
-                    "! image/jpeg,width={},height={},framerate={}/1 "
-                    "! nvv4l2decoder mjpeg=1 "
-                    "! nvvidconv "
-                    "! video/x-raw(memory:NVMM),format=NV12 "
-                    "! nvv4l2h265enc name=encoder bitrate={} iframeinterval=300 vbv-size=33333 insert-sps-pps=true control-rate=constant_bitrate profile=Main num-B-Frames=0 ratecontrol-enable=true preset-level=UltraFastPreset EnableTwopassCBR=false maxperf-enable=true "
-                    "! appsink name=streamSink sync=false",
-                    mCaptureDevice, mImageWidth, mImageHeight, mImageFramerate, mBitrate);
-            } else {
-                launch = std::format(
+                        // "nvv4l2camerasrc device={} "
+
                         "v4l2src device={} "
-                        
+
                         // "! video/x-raw(memory:NVMM),format=YUY2,width={},height={},framerate={}/1 "
                         "! image/jpeg,width={},height={},framerate={}/1 "
                         "! nvv4l2decoder mjpeg=1 "
@@ -103,6 +86,15 @@ namespace mrover {
                         "! nvv4l2h265enc name=encoder bitrate={} iframeinterval=300 vbv-size=33333 insert-sps-pps=true control-rate=constant_bitrate profile=Main num-B-Frames=0 ratecontrol-enable=true preset-level=UltraFastPreset EnableTwopassCBR=false maxperf-enable=true "
                         "! appsink name=streamSink sync=false",
                         mCaptureDevice, mImageWidth, mImageHeight, mImageFramerate, mBitrate);
+            } else {
+                // ReSharper disable once CppDFAUnreachableCode
+                launch = std::format(
+                        "v4l2src device={}  "
+                        "! video/x-raw,format=YUY2,width={},height={},framerate=30/1 "
+                        "! videoconvert "
+                        "! nvh265enc name=encoder "
+                        "! appsink name=streamSink sync=false",
+                        mCaptureDevice, mImageWidth, mImageHeight);
             }
         }
 
diff --git a/src/esw/led/main.cpp b/src/esw/led/main.cpp
index 55a9a2a0a..8e1220683 100644
--- a/src/esw/led/main.cpp
+++ b/src/esw/led/main.cpp
@@ -13,7 +13,7 @@ enum class LEDMode {
     Blue = 4
 };
 
-static constexpr std::string DONE_STATE = "DoneState";
+static constexpr std::string_view DONE_STATE = "DoneState";
 
 ros::Publisher led_publisher;
 
diff --git a/src/esw/mast_gimbal_bridge/main.cpp b/src/esw/mast_gimbal_bridge/main.cpp
index 3a7d7bad2..8dcc84b01 100644
--- a/src/esw/mast_gimbal_bridge/main.cpp
+++ b/src/esw/mast_gimbal_bridge/main.cpp
@@ -8,7 +8,7 @@ auto main(int argc, char** argv) -> int {
     ros::NodeHandle nh;
 
     // Load motor controllers configuration from the ROS parameter server
-    [[maybe_unused]] auto mastGimbalManager = std::make_unique<mrover::MotorsGroup>(nh, "mast_gimbal");
+    mrover::MotorsGroup group{nh, "mast_gimbal"};
 
     // Enter the ROS event loop
     ros::spin();
diff --git a/src/esw/motor_library/brushed.cpp b/src/esw/motor_library/brushed.cpp
index 9f7448fbb..46d84f085 100644
--- a/src/esw/motor_library/brushed.cpp
+++ b/src/esw/motor_library/brushed.cpp
@@ -2,19 +2,14 @@
 
 namespace mrover {
 
-    BrushedController::BrushedController(ros::NodeHandle const& nh, std::string name, std::string controllerName)
-        : Controller{nh, std::move(name), std::move(controllerName)} {
+    BrushedController::BrushedController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName)
+        : ControllerBase{nh, std::move(masterName), std::move(controllerName)} {
 
         XmlRpc::XmlRpcValue brushedMotorData;
         assert(mNh.hasParam(std::format("brushed_motors/controllers/{}", mControllerName)));
         mNh.getParam(std::format("brushed_motors/controllers/{}", mControllerName), brushedMotorData);
         assert(brushedMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
 
-        mVelocityMultiplier = Dimensionless{xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "velocity_multiplier", 1.0)};
-        if (mVelocityMultiplier.get() == 0) {
-            throw std::runtime_error("Velocity multiplier can't be 0!");
-        }
-
         mConfigCommand.gear_ratio = xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "gear_ratio");
 
         for (std::size_t i = 0; i < 4; ++i) {
@@ -26,12 +21,12 @@ namespace mrover {
             mConfigCommand.limit_switch_info.limit_readj_pos.at(i) = Radians{static_cast<double>(brushedMotorData[std::format("limit_{}_readjust_position", i)])};
         }
 
+        mConfigCommand.is_inverted = xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, "is_inverted", false);
+
         mConfigCommand.enc_info.quad_present = xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, "quad_present", false);
-        mConfigCommand.enc_info.quad_is_forward_polarity = xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, "quad_is_fwd_polarity", false);
         mConfigCommand.enc_info.quad_ratio = xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "quad_ratio", 1.0);
 
         mConfigCommand.enc_info.abs_present = xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, "abs_present", false);
-        mConfigCommand.enc_info.abs_is_forward_polarity = xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, "abs_is_fwd_polarity", false);
         mConfigCommand.enc_info.abs_ratio = xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "abs_ratio", 1.0);
         mConfigCommand.enc_info.abs_offset = Radians{xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "abs_offset", 0.0)};
 
@@ -62,7 +57,7 @@ namespace mrover {
         mVelocityGains.ff = xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "velocity_ff", 0.0);
 
         for (int i = 0; i < 4; ++i) {
-            mhasLimit |= xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, std::format("limit_{}_enabled", i), false);
+            mHasLimit |= xmlRpcValueToTypeOrDefault<bool>(brushedMotorData, std::format("limit_{}_enabled", i), false);
         }
         mCalibrationThrottle = Percent{xmlRpcValueToTypeOrDefault<double>(brushedMotorData, "calibration_throttle", 0.0)};
         mErrorState = "Unknown";
@@ -104,8 +99,6 @@ namespace mrover {
 
         assert(velocity >= mConfigCommand.min_velocity && velocity <= mConfigCommand.max_velocity);
 
-        velocity = velocity * mVelocityMultiplier;
-
         mDevice.publish_message(InBoundMessage{VelocityCommand{
                 .velocity = velocity,
                 .p = static_cast<float>(mVelocityGains.p),
@@ -134,7 +127,7 @@ namespace mrover {
 
     auto BrushedController::processMessage(ControllerDataState const& state) -> void {
         mCurrentPosition = state.position;
-        mCurrentVelocity = state.velocity / mVelocityMultiplier;
+        mCurrentVelocity = state.velocity;
         ConfigCalibErrorInfo configCalibErrInfo = state.config_calib_error_data;
         mIsConfigured = configCalibErrInfo.configured;
         mIsCalibrated = configCalibErrInfo.calibrated;
@@ -152,7 +145,7 @@ namespace mrover {
 
     auto BrushedController::processCANMessage(CAN::ConstPtr const& msg) -> void {
         assert(msg->source == mControllerName);
-        assert(msg->destination == mName);
+        assert(msg->destination == mMasterName);
 
         OutBoundMessage const& message = *reinterpret_cast<OutBoundMessage const*>(msg->data.data());
 
@@ -184,14 +177,14 @@ namespace mrover {
     }
 
     auto BrushedController::calibrateServiceCallback([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool {
-        if (!mhasLimit) {
+        if (!mHasLimit) {
             res.success = false;
-            res.message = mControllerName + " does not have limit switches, cannot calibrate";
+            res.message = std::format("{} does not have limit switches, cannot calibrate", mControllerName);
             return true;
         }
         if (mIsCalibrated) {
             res.success = false;
-            res.message = mControllerName + " already calibrated";
+            res.message = std::format("{} already calibrated", mControllerName);
             return true;
         }
         // sends throttle command until a limit switch is hit
diff --git a/src/esw/motor_library/brushed.hpp b/src/esw/motor_library/brushed.hpp
index 9b1339ed3..a7dd59629 100644
--- a/src/esw/motor_library/brushed.hpp
+++ b/src/esw/motor_library/brushed.hpp
@@ -15,32 +15,35 @@ namespace mrover {
         double p{}, i{}, d{}, ff{};
     };
 
-    class BrushedController : public Controller {
+    // For now only revolute joints are supported => hardcode to Radians
+    class BrushedController final : public ControllerBase<Radians, BrushedController> {
     public:
-        void setDesiredThrottle(Percent throttle) override; // from -1.0 to 1.0
-        void setDesiredVelocity(RadiansPerSecond velocity) override;
-        void setDesiredPosition(Radians position) override;
-        void adjust(Radians position) override;
+        BrushedController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName);
 
-        void processCANMessage(CAN::ConstPtr const& msg) override;
+        auto setDesiredThrottle(Percent throttle) -> void; // from -1.0 to 1.0
 
-        void processMessage(ControllerDataState const& state);
+        auto setDesiredPosition(Radians position) -> void;
 
-        void processMessage(DebugState const&) {}
+        auto setDesiredVelocity(RadiansPerSecond velocity) -> void;
 
-        void sendConfiguration();
+        auto adjust(Radians position) -> void;
 
-        double getEffort() override;
+        auto processCANMessage(CAN::ConstPtr const& msg) -> void;
 
-        BrushedController(ros::NodeHandle const& nh, std::string name, std::string controllerName);
-        ~BrushedController() override = default;
+        auto processMessage(ControllerDataState const& state) -> void;
 
-        bool calibrateServiceCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+        auto processMessage(DebugState const&) -> void {}
+
+        auto sendConfiguration() -> void;
+
+        auto getEffort() -> double;
+
+        auto calibrateServiceCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool;
 
     private:
-        static std::string errorToString(BDCMCErrorInfo errorCode);
+        static auto errorToString(BDCMCErrorInfo errorCode) -> std::string;
 
-        bool mIsConfigured = false;
+        bool mIsConfigured{false};
         ConfigCommand mConfigCommand;
 
         Gains mPositionGains;
diff --git a/src/esw/motor_library/brushless.cpp b/src/esw/motor_library/brushless.cpp
deleted file mode 100644
index 070e250c7..000000000
--- a/src/esw/motor_library/brushless.cpp
+++ /dev/null
@@ -1,302 +0,0 @@
-#include "brushless.hpp"
-#include "moteus/moteus_protocol.h"
-#include <moteus/moteus_multiplex.h>
-#include <units/units.hpp>
-
-namespace mrover {
-
-    BrushlessController::BrushlessController(ros::NodeHandle const& nh, std::string name, std::string controllerName)
-        : Controller{nh, std::move(name), std::move(controllerName)} {
-
-        XmlRpc::XmlRpcValue brushlessMotorData;
-        assert(mNh.hasParam(std::format("brushless_motors/controllers/{}", mControllerName)));
-        mNh.getParam(std::format("brushless_motors/controllers/{}", mControllerName), brushlessMotorData);
-        assert(brushlessMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
-
-        mVelocityMultiplier = Dimensionless{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "velocity_multiplier", 1.0)};
-        if (mVelocityMultiplier.get() == 0) {
-            throw std::runtime_error("Velocity multiplier can't be 0!");
-        }
-
-        mMinVelocity = RadiansPerSecond{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "min_velocity", -0.01)};
-        mMaxVelocity = RadiansPerSecond{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_velocity", 0.01)};
-
-        mMinPosition = Radians{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "min_position", -1.0)};
-        mMaxPosition = Radians{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_position", 1.0)};
-
-        mMaxTorque = xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_torque", 0.3);
-        mWatchdogTimeout = xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "watchdog_timeout", 0.1);
-
-        limitSwitch0Present = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_present", false);
-        limitSwitch1Present = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_present", false);
-        limitSwitch0Enabled = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_enabled", true);
-        limitSwitch1Enabled = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_enabled", true);
-        limitSwitch0LimitsFwd = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_limits_fwd", false);
-        limitSwitch1LimitsFwd = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_limits_fwd", false);
-        limitSwitch0ActiveHigh = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_is_active_high", true);
-        limitSwitch1ActiveHigh = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_is_active_high", true);
-        limitSwitch0UsedForReadjustment = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_used_for_readjustment", false);
-        limitSwitch1UsedForReadjustment = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_used_for_readjustment", false);
-        limitSwitch0ReadjustPosition = Radians{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "limit_0_readjust_position", 0.0)};
-        limitSwitch1ReadjustPosition = Radians{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "limit_1_readjust_position", 0.0)};
-
-    }
-
-    auto BrushlessController::setDesiredThrottle(Percent throttle) -> void {
-        setDesiredVelocity(mapThrottleToVelocity(throttle));
-    }
-
-    auto BrushlessController::setDesiredPosition(Radians position) -> void {
-        // only check for limit switches if at least one limit switch exists and is enabled
-        if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
-            sendQuery();
-
-            MoteusLimitSwitchInfo limitSwitchInfo = getPressedLimitSwitchInfo();
-            if ((mCurrentPosition < position && limitSwitchInfo.isFwdPressed) || (mCurrentPosition > position && limitSwitchInfo.isBwdPressed)) {
-                setBrake();
-                return;
-            }
-        }
-
-        Revolutions position_revs = std::clamp(position, mMinPosition, mMaxPosition);
-        moteus::PositionMode::Command command{
-                .position = position_revs.get(),
-                .velocity = 0.0,
-                .maximum_torque = mMaxTorque,
-                .watchdog_timeout = mWatchdogTimeout,
-        };
-        moteus::CanFdFrame positionFrame = mController.MakePosition(command);
-        mDevice.publish_moteus_frame(positionFrame);
-    }
-
-    // Position     Velocity
-    // Nan          2.0         = spin at 2 rev/s
-    // 1.0          0.0         = Stay put at 1 rev round
-    // Nan          0.0         = Don't move
-
-    auto BrushlessController::setDesiredVelocity(RadiansPerSecond velocity) -> void {
-        // only check for limit switches if at least one limit switch exists and is enabled
-        if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
-            sendQuery();
-
-            MoteusLimitSwitchInfo limitSwitchInfo = getPressedLimitSwitchInfo();
-            if ((velocity > Radians{0} && limitSwitchInfo.isFwdPressed) || (velocity < Radians{0} && limitSwitchInfo.isBwdPressed)) {
-                setBrake();
-                return;
-            }
-        }
-        
-
-        velocity = velocity * mVelocityMultiplier;
-
-        RevolutionsPerSecond velocity_rev_s = std::clamp(velocity, mMinVelocity, mMaxVelocity);
-        if (abs(velocity_rev_s).get() < 1e-5) {
-            setBrake();
-        } else {
-            moteus::PositionMode::Command command{
-                    .position = std::numeric_limits<double>::quiet_NaN(),
-                    .velocity = velocity_rev_s.get(),
-                    .maximum_torque = mMaxTorque,
-                    .watchdog_timeout = mWatchdogTimeout,
-            };
-
-            moteus::CanFdFrame positionFrame = mController.MakePosition(command);
-            mDevice.publish_moteus_frame(positionFrame);
-        }
-    }
-
-    auto BrushlessController::setStop() -> void {
-        moteus::CanFdFrame setStopFrame = mController.MakeStop();
-        mDevice.publish_moteus_frame(setStopFrame);
-    }
-
-    auto BrushlessController::setBrake() -> void {
-        moteus::CanFdFrame setBrakeFrame = mController.MakeBrake();
-        mDevice.publish_moteus_frame(setBrakeFrame);
-    }
-
-    auto BrushlessController::getPressedLimitSwitchInfo() -> MoteusLimitSwitchInfo {
-        /*
-        Testing 2/9:
-        - Connected limit switch (common is input(black), NC to ground)
-        - Configured moteus to have all pins set as digital_input and pull_up
-        - When limit switch not pressed, aux2 = 0xD
-        - When limit switch pressed, aux1 = 0xF
-        - Note: has to be active high, so in this scenario we have to flip this bit round.
-        - This was connected to just one moteus board, not the one with a motor on it.
-
-        Stuff for Limit Switches (from Guthrie)
-        - Read from config about limit switch settings
-        - Either 1 or 0 not forward/backward
-
-        - Add a member variable in Brushless.hpp to store limit switch value. Update this limit
-          switch variable every round in ProcessCANMessage.
-        */
-        // TODO - implement this
-        MoteusLimitSwitchInfo result{};
-    
-        result.isFwdPressed = false;
-        result.isBwdPressed = false;
-
-        // TODO do both switch0 and switch1 use aux2?
-        if (limitSwitch0Present && limitSwitch0Enabled) {
-            int bitMask = 2; // 0b0010
-            bool gpioState = bitMask & moteusAux1Info;
-            mLimitHit.at(0) = gpioState == limitSwitch0ActiveHigh;
-        }
-        if (limitSwitch1Present && limitSwitch1Enabled) {
-            int bitMask = 2; // 0b0010
-            bool gpioState = bitMask & moteusAux2Info;
-            mLimitHit.at(1) = gpioState == limitSwitch1ActiveHigh;
-        }
-
-        result.isFwdPressed = (mLimitHit.at(0) && limitSwitch0LimitsFwd) || (mLimitHit.at(1) && limitSwitch1LimitsFwd);
-        result.isBwdPressed = (mLimitHit.at(0) && !limitSwitch0LimitsFwd) || (mLimitHit.at(1) && !limitSwitch1LimitsFwd);
-
-        if (result.isFwdPressed) {
-            adjust(limitSwitch0ReadjustPosition);
-        }
-        else if (result.isBwdPressed) {
-            adjust(limitSwitch1ReadjustPosition);
-        }
-
-        return result;
-    }
-
-    auto BrushlessController::adjust(Radians commandedPosition) -> void {
-        Revolutions commandedPosition_rev = std::clamp(commandedPosition, mMinPosition, mMaxPosition);
-        moteus::OutputExact::Command command{
-                .position = commandedPosition_rev.get(),
-        };
-        moteus::OutputExact::Command outputExactCmd{command};
-        moteus::CanFdFrame setPositionFrame = mController.MakeOutputExact(outputExactCmd);
-        mDevice.publish_moteus_frame(setPositionFrame);
-    }
-
-    auto BrushlessController::sendQuery() -> void {
-        moteus::Query::Format qFormat{};
-        qFormat.aux1_gpio = moteus::kInt8;
-        qFormat.aux2_gpio = moteus::kInt8;
-        moteus::CanFdFrame queryFrame = mController.MakeQuery(&qFormat);
-        mDevice.publish_moteus_frame(queryFrame);
-    }
-
-    auto BrushlessController::processCANMessage(CAN::ConstPtr const& msg) -> void {
-        assert(msg->source == mControllerName);
-        assert(msg->destination == mName);
-        auto result = moteus::Query::Parse(msg->data.data(), msg->data.size());
-        // ROS_INFO("controller: %s    %3d p/a/v/t=(%7.3f,%7.3f,%7.3f,%7.3f)  v/t/f=(%5.1f,%5.1f,%3d) GPIO: Aux1-%X , Aux2-%X",
-        //          mControllerName.c_str(),
-        //          result.mode,
-        //          result.position,
-        //          result.abs_position,
-        //          result.velocity,
-        //          result.torque,
-        //          result.voltage,
-        //          result.temperature,
-        //          result.fault,
-        //          result.aux1_gpio,
-        //          result.aux2_gpio
-        //          );
-
-        mCurrentPosition = mrover::Revolutions{result.position}; // moteus stores position in revolutions.
-        mCurrentVelocity = mrover::RevolutionsPerSecond{result.velocity} / mVelocityMultiplier; // moteus stores position in revolutions.
-
-        mErrorState = moteusErrorCodeToErrorState(result.mode, static_cast<ErrorCode>(result.fault));
-        mState = moteusModeToState(result.mode);
-
-        moteusAux1Info = (result.aux1_gpio) ? result.aux1_gpio : moteusAux1Info;
-        moteusAux2Info = (result.aux1_gpio) ? result.aux2_gpio : moteusAux2Info;
-
-        if (result.mode == moteus::Mode::kPositionTimeout || result.mode == moteus::Mode::kFault) {
-            setStop();
-            ROS_WARN("Position timeout hit");
-        }
-    }
-
-    auto BrushlessController::getEffort() -> double {
-        // TODO - need to properly set mMeasuredEFfort elsewhere.
-        // (Art Boyarov): return quiet_Nan, same as Brushed Controller
-        return std::numeric_limits<double>::quiet_NaN();
-    }
-
-    auto BrushlessController::mapThrottleToVelocity(Percent throttle) const -> RadiansPerSecond {
-        std::clamp(throttle, -1_percent, 1_percent);
-
-        // Map the throttle to the velocity range
-        return RadiansPerSecond{(throttle.get() + 1.0f) / 2.0f * (mMaxVelocity.get() - mMinVelocity.get()) + mMinVelocity.get()};
-    }
-
-    auto BrushlessController::moteusErrorCodeToErrorState(moteus::Mode motor_mode, ErrorCode motor_error_code) -> std::string {
-        if (motor_mode != moteus::Mode::kFault) return "No Error";
-        switch (motor_error_code) {
-            case ErrorCode::DmaStreamTransferError:
-                return "DMA Stream Transfer Error";
-            case ErrorCode::DmaStreamFifiError:
-                return "DMA Stream FIFO Error";
-            case ErrorCode::UartOverrunError:
-                return "UART Overrun Error";
-            case ErrorCode::UartFramingError:
-                return "UART Framing Error";
-            case ErrorCode::UartNoiseError:
-                return "UART Noise Error";
-            case ErrorCode::UartBufferOverrunError:
-                return "UART Buffer Overrun Error";
-            case ErrorCode::UartParityError:
-                return "UART Parity Error";
-            case ErrorCode::CalibrationFault:
-                return "Calibration Fault";
-            case ErrorCode::MotorDriverFault:
-                return "Motor Driver Fault";
-            case ErrorCode::OverVoltage:
-                return "Over Voltage";
-            case ErrorCode::EncoderFault:
-                return "Encoder Fault";
-            case ErrorCode::MotorNotConfigured:
-                return "Motor Not Configured";
-            case ErrorCode::PwmCycleOverrun:
-                return "PWM Cycle Overrun";
-            case ErrorCode::OverTemperature:
-                return "Over Temperature";
-            case ErrorCode::StartOutsideLimit:
-                return "Start Outside Limit";
-            case ErrorCode::UnderVoltage:
-                return "Under Voltage";
-            case ErrorCode::ConfigChanged:
-                return "Configuration Changed";
-            case ErrorCode::ThetaInvalid:
-                return "Theta Invalid";
-            case ErrorCode::PositionInvalid:
-                return "Position Invalid";
-            default:
-                return "Unknown Error";
-        }
-    }
-
-    auto BrushlessController::moteusModeToState(moteus::Mode motor_mode) -> std::string {
-        switch (motor_mode) {
-            case moteus::Mode::kStopped:
-                return "Motor Stopped";
-            case moteus::Mode::kFault:
-                return "Motor Fault";
-            case moteus::Mode::kPwm:
-                return "PWM Operating Mode";
-            case moteus::Mode::kVoltage:
-                return "Voltage Operating Mode";
-            case moteus::Mode::kVoltageFoc:
-                return "Voltage FOC Operating Mode";
-            case moteus::Mode::kVoltageDq:
-                return "Voltage DQ Operating Mode";
-            case moteus::Mode::kCurrent:
-                return "Current Operating Mode";
-            case moteus::Mode::kPosition:
-                return "Position Operating Mode";
-            case moteus::Mode::kPositionTimeout:
-                return "Position Timeout";
-            case moteus::Mode::kZeroVelocity:
-                return "Zero Velocity";
-            default:
-                return "Unknown Mode";
-        }
-    }
-} // namespace mrover
diff --git a/src/esw/motor_library/brushless.hpp b/src/esw/motor_library/brushless.hpp
index eeb036084..a7c1175ea 100644
--- a/src/esw/motor_library/brushless.hpp
+++ b/src/esw/motor_library/brushless.hpp
@@ -1,16 +1,10 @@
 #pragma once
 
-#include "params_utils.hpp"
-#include <iostream>
-#include <optional>
-#include <unistd.h>
-
-// TODO(quintin) this is not defined in my system can header for some reason, but moteus needs it? Is this the correct value?
-#define CANFD_FDF 0x04
 #include <moteus/moteus.h>
 
 #include <can_device.hpp>
 #include <controller.hpp>
+#include <moteus/moteus_multiplex.h>
 
 namespace mrover {
 
@@ -58,55 +52,347 @@ namespace mrover {
     };
 
     struct MoteusLimitSwitchInfo {
-        bool isFwdPressed;
-        bool isBwdPressed;
+        bool isForwardPressed{};
+        bool isBackwardPressed{};
     };
 
-    class BrushlessController : public Controller {
+    template<IsUnit TOutputPosition>
+    class BrushlessController final : public ControllerBase<TOutputPosition, BrushlessController<TOutputPosition>> {
+        using Base = ControllerBase<TOutputPosition, BrushlessController>;
+
+        // TODO(quintin): this is actually so dumb
+        using OutputPosition = typename Base::OutputPosition;
+        using OutputVelocity = typename Base::OutputVelocity;
+
+        using Base::mControllerName;
+        using Base::mCurrentPosition;
+        using Base::mCurrentVelocity;
+        using Base::mDevice;
+        using Base::mErrorState;
+        using Base::mLimitHit;
+        using Base::mMasterName;
+        using Base::mNh;
+        using Base::mState;
+
     public:
-        BrushlessController(ros::NodeHandle const& nh, std::string name, std::string controllerName);
-        ~BrushlessController() override = default;
-
-        void setDesiredThrottle(Percent throttle) override;
-        void setDesiredVelocity(RadiansPerSecond velocity) override;
-        void setDesiredPosition(Radians position) override;
-        void processCANMessage(CAN::ConstPtr const& msg) override;
-        auto getEffort() -> double override;
-        void setStop();
-        void setBrake();
-        auto getPressedLimitSwitchInfo() -> MoteusLimitSwitchInfo;
-        void adjust(Radians position) override;
-        void sendQuery();
+        BrushlessController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName)
+            : Base{nh, std::move(masterName), std::move(controllerName)} {
+
+            XmlRpc::XmlRpcValue brushlessMotorData;
+            assert(mNh.hasParam(std::format("brushless_motors/controllers/{}", mControllerName)));
+            mNh.getParam(std::format("brushless_motors/controllers/{}", mControllerName), brushlessMotorData);
+            assert(brushlessMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
+
+            mMinVelocity = OutputVelocity{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "min_velocity", -1.0)};
+            mMaxVelocity = OutputVelocity{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_velocity", 1.0)};
+
+            mMinPosition = OutputPosition{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "min_position", -1.0)};
+            mMaxPosition = OutputPosition{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_position", 1.0)};
+
+            mMaxTorque = xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "max_torque", 0.3);
+            mWatchdogTimeout = xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "watchdog_timeout", 0.1);
+
+            limitSwitch0Present = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_present", false);
+            limitSwitch1Present = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_present", false);
+            limitSwitch0Enabled = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_enabled", true);
+            limitSwitch1Enabled = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_enabled", true);
+
+            limitSwitch0LimitsFwd = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_limits_fwd", false);
+            limitSwitch1LimitsFwd = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_limits_fwd", false);
+            limitSwitch0ActiveHigh = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_is_active_high", true);
+            limitSwitch1ActiveHigh = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_is_active_high", true);
+            limitSwitch0UsedForReadjustment = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_0_used_for_readjustment", false);
+            limitSwitch1UsedForReadjustment = xmlRpcValueToTypeOrDefault<bool>(brushlessMotorData, "limit_1_used_for_readjustment", false);
+            limitSwitch0ReadjustPosition = OutputPosition{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "limit_0_readjust_position", 0.0)};
+            limitSwitch1ReadjustPosition = OutputPosition{xmlRpcValueToTypeOrDefault<double>(brushlessMotorData, "limit_1_readjust_position", 0.0)};
+
+            // if active low, we want to make the default value make it believe that
+            // the limit switch is NOT pressed.
+            // This is because we may not receive the newest query message from the moteus
+            // as a result of either testing or startup.
+            if (limitSwitch0Present && !limitSwitch0ActiveHigh) {
+                mMoteusAux2Info |= 0b01;
+            }
+            if (limitSwitch1Present) {
+                mMoteusAux2Info |= 0b10;
+            }
+
+            moteus::Controller::Options options;
+            moteus::Query::Format queryFormat{};
+            queryFormat.aux1_gpio = moteus::kInt8;
+            queryFormat.aux2_gpio = moteus::kInt8;
+            if (this->isJointDe()) {
+                // DE0 and DE1 have absolute encoders
+                // They are not used for their internal control loops
+                // Instead we request them at the ROS level and send adjust commands periodically
+                // Therefore we do not get them as part of normal messages and must request them explicitly
+                queryFormat.extra[0] = moteus::Query::ItemFormat{
+                        .register_number = moteus::Register::kEncoder1Position,
+                        .resolution = moteus::kFloat,
+                };
+                queryFormat.extra[1] = moteus::Query::ItemFormat{
+                        .register_number = moteus::Register::kEncoder1Velocity,
+                        .resolution = moteus::kFloat,
+                };
+            }
+            options.query_format = queryFormat;
+            mMoteus.emplace(options);
+        }
+
+        auto setDesiredThrottle(Percent throttle) -> void {
+            setDesiredVelocity(mapThrottleToVelocity(throttle));
+        }
+
+        auto setDesiredPosition(OutputPosition position) -> void {
+            // Only check for limit switches if at least one limit switch exists and is enabled
+            if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
+                sendQuery();
+
+                if (auto [isFwdPressed, isBwdPressed] = getPressedLimitSwitchInfo();
+                    (mCurrentPosition < position && isFwdPressed) ||
+                    (mCurrentPosition > position && isBwdPressed)) {
+                    setBrake();
+                    return;
+                }
+            }
+
+            position = std::clamp(position, mMinPosition, mMaxPosition);
+
+            moteus::PositionMode::Command command{
+                    .position = position.get(),
+                    .velocity = 0.0,
+                    .maximum_torque = mMaxTorque,
+                    .watchdog_timeout = mWatchdogTimeout,
+            };
+            moteus::CanFdFrame positionFrame = mMoteus->MakePosition(command);
+            mDevice.publish_moteus_frame(positionFrame);
+        }
+
+        auto processCANMessage(CAN::ConstPtr const& msg) -> void {
+            assert(msg->source == mControllerName);
+            assert(msg->destination == mMasterName);
+            auto result = moteus::Query::Parse(msg->data.data(), msg->data.size());
+            // if (this->isJointDe()) {
+            //     ROS_INFO("controller: %s    %3d p/a/v/t=(%7.3f,%7.3f,%7.3f,%7.3f)  v/t/f=(%5.1f,%5.1f,%3d) GPIO: Aux1-%X , Aux2-%X",
+            //              mControllerName.c_str(),
+            //              result.mode,
+            //              result.position,
+            //              result.abs_position,
+            //              result.velocity,
+            //              result.torque,
+            //              result.voltage,
+            //              result.temperature,
+            //              result.fault,
+            //              result.aux1_gpio,
+            //              result.aux2_gpio);
+            // }
+
+            if (this->isJointDe()) {
+                mCurrentPosition = OutputPosition{result.extra[0].value}; // Get value of absolute encoder if its joint_de0/1
+                mCurrentVelocity = OutputVelocity{result.extra[1].value};
+            } else {
+                mCurrentPosition = OutputPosition{result.position};
+                mCurrentVelocity = OutputVelocity{result.velocity};
+            }
+            mCurrentEffort = result.torque;
+
+            mErrorState = moteusErrorCodeToErrorState(result.mode, static_cast<ErrorCode>(result.fault));
+            mState = moteusModeToState(result.mode);
+
+            mMoteusAux1Info = result.aux1_gpio;
+            mMoteusAux2Info = result.aux2_gpio;
+
+            if (result.mode == moteus::Mode::kPositionTimeout || result.mode == moteus::Mode::kFault) {
+                setStop();
+                ROS_WARN("Position timeout hit");
+            }
+        }
+
+        auto setDesiredVelocity(OutputVelocity velocity) -> void {
+            // Only check for limit switches if at least one limit switch exists and is enabled
+            if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
+                sendQuery();
+
+                if (auto [isFwdPressed, isBwdPressed] = getPressedLimitSwitchInfo();
+                    (velocity > OutputVelocity{0} && isFwdPressed) ||
+                    (velocity < OutputVelocity{0} && isBwdPressed)) {
+                    setBrake();
+                    return;
+                }
+            }
+
+            velocity = std::clamp(velocity, mMinVelocity, mMaxVelocity);
+
+            if (abs(velocity) < OutputVelocity{1e-5}) {
+                setBrake();
+            } else {
+                moteus::PositionMode::Command command{
+                        .position = std::numeric_limits<double>::quiet_NaN(),
+                        .velocity = velocity.get(),
+                        .maximum_torque = mMaxTorque,
+                        .watchdog_timeout = mWatchdogTimeout,
+                };
+
+                moteus::CanFdFrame positionFrame = mMoteus->MakePosition(command);
+                mDevice.publish_moteus_frame(positionFrame);
+            }
+        }
+
+        [[nodiscard]] auto getEffort() const -> double {
+            return mCurrentEffort;
+        }
+
+        auto setStop() -> void {
+            moteus::CanFdFrame setStopFrame = mMoteus->MakeStop();
+            mDevice.publish_moteus_frame(setStopFrame);
+        }
+
+        auto setBrake() -> void {
+            moteus::CanFdFrame setBrakeFrame = mMoteus->MakeBrake();
+            mDevice.publish_moteus_frame(setBrakeFrame);
+        }
+
+        auto getPressedLimitSwitchInfo() -> MoteusLimitSwitchInfo {
+            if (limitSwitch0Present && limitSwitch0Enabled) {
+                bool gpioState = 0b01 & mMoteusAux2Info;
+                mLimitHit[0] = gpioState == limitSwitch0ActiveHigh;
+            }
+            if (limitSwitch1Present && limitSwitch1Enabled) {
+                bool gpioState = 0b10 & mMoteusAux2Info;
+                mLimitHit[1] = gpioState == limitSwitch1ActiveHigh;
+            }
+
+            MoteusLimitSwitchInfo result{
+                    .isForwardPressed = (mLimitHit[0] && limitSwitch0LimitsFwd) || (mLimitHit[1] && limitSwitch1LimitsFwd),
+                    .isBackwardPressed = (mLimitHit[0] && !limitSwitch0LimitsFwd) || (mLimitHit[1] && !limitSwitch1LimitsFwd),
+            };
+
+            if (result.isForwardPressed) {
+                adjust(limitSwitch0ReadjustPosition);
+            } else if (result.isBackwardPressed) {
+                adjust(limitSwitch1ReadjustPosition);
+            }
+
+            return result;
+        }
+
+        auto adjust(OutputPosition position) -> void {
+            position = std::clamp(position, mMinPosition, mMaxPosition);
+            moteus::OutputExact::Command command{
+                    .position = position.get(),
+            };
+            moteus::OutputExact::Command outputExactCmd{command};
+            moteus::CanFdFrame setPositionFrame = mMoteus->MakeOutputExact(outputExactCmd);
+            mDevice.publish_moteus_frame(setPositionFrame);
+        }
+
+        auto sendQuery() -> void {
+            moteus::CanFdFrame queryFrame = mMoteus->MakeQuery();
+            mDevice.publish_moteus_frame(queryFrame);
+        }
 
     private:
-        moteus::Controller mController{moteus::Controller::Options{}};
+        std::optional<moteus::Controller> mMoteus;
         bool limitSwitch0Present{};
         bool limitSwitch1Present{};
-        bool limitSwitch0Enabled{true};
-        bool limitSwitch1Enabled{true};
-        bool limitSwitch0LimitsFwd{false};
-        bool limitSwitch1LimitsFwd{false};
-        bool limitSwitch0ActiveHigh{true};
-        bool limitSwitch1ActiveHigh{true};
+        bool limitSwitch0Enabled{};
+        bool limitSwitch1Enabled{};
+        bool limitSwitch0LimitsFwd{};
+        bool limitSwitch1LimitsFwd{};
+        bool limitSwitch0ActiveHigh{};
+        bool limitSwitch1ActiveHigh{};
         bool limitSwitch0UsedForReadjustment{};
         bool limitSwitch1UsedForReadjustment{};
-        Radians limitSwitch0ReadjustPosition{};
-        Radians limitSwitch1ReadjustPosition{};
+        OutputPosition limitSwitch0ReadjustPosition{};
+        OutputPosition limitSwitch1ReadjustPosition{};
 
-        double mMaxTorque{0.3};
+        double mMaxTorque{0.5};
         double mWatchdogTimeout{0.1};
 
-        int8_t moteusAux1Info{0};
-        int8_t moteusAux2Info{0};
+        std::int8_t mMoteusAux1Info{}, mMoteusAux2Info{};
 
-        Radians mMinPosition, mMaxPosition;
-        RadiansPerSecond mMinVelocity, mMaxVelocity;
+        OutputPosition mMinPosition, mMaxPosition;
+        OutputVelocity mMinVelocity, mMaxVelocity;
+        double mCurrentEffort{std::numeric_limits<double>::quiet_NaN()};
+
+        [[nodiscard]] auto mapThrottleToVelocity(Percent throttle) const -> OutputVelocity {
+            throttle = std::clamp(throttle, -1_percent, 1_percent);
+            return abs(throttle) * (throttle > 0_percent ? mMaxVelocity : mMinVelocity);
+        }
 
-        // Function to map throttle to velocity
-        [[nodiscard]] auto mapThrottleToVelocity(Percent throttle) const -> RadiansPerSecond;
         // Converts moteus error codes and mode codes to std::string descriptions
-        static auto moteusErrorCodeToErrorState(moteus::Mode motor_mode, ErrorCode motor_error_code) -> std::string;
-        static auto moteusModeToState(moteus::Mode motor_mode) -> std::string;
+        static auto moteusErrorCodeToErrorState(moteus::Mode motor_mode, ErrorCode motor_error_code) -> std::string {
+            if (motor_mode != moteus::Mode::kFault) return "No Error";
+            switch (motor_error_code) {
+                case ErrorCode::DmaStreamTransferError:
+                    return "DMA Stream Transfer Error";
+                case ErrorCode::DmaStreamFifiError:
+                    return "DMA Stream FIFO Error";
+                case ErrorCode::UartOverrunError:
+                    return "UART Overrun Error";
+                case ErrorCode::UartFramingError:
+                    return "UART Framing Error";
+                case ErrorCode::UartNoiseError:
+                    return "UART Noise Error";
+                case ErrorCode::UartBufferOverrunError:
+                    return "UART Buffer Overrun Error";
+                case ErrorCode::UartParityError:
+                    return "UART Parity Error";
+                case ErrorCode::CalibrationFault:
+                    return "Calibration Fault";
+                case ErrorCode::MotorDriverFault:
+                    return "Motor Driver Fault";
+                case ErrorCode::OverVoltage:
+                    return "Over Voltage";
+                case ErrorCode::EncoderFault:
+                    return "Encoder Fault";
+                case ErrorCode::MotorNotConfigured:
+                    return "Motor Not Configured";
+                case ErrorCode::PwmCycleOverrun:
+                    return "PWM Cycle Overrun";
+                case ErrorCode::OverTemperature:
+                    return "Over Temperature";
+                case ErrorCode::StartOutsideLimit:
+                    return "Start Outside Limit";
+                case ErrorCode::UnderVoltage:
+                    return "Under Voltage";
+                case ErrorCode::ConfigChanged:
+                    return "Configuration Changed";
+                case ErrorCode::ThetaInvalid:
+                    return "Theta Invalid";
+                case ErrorCode::PositionInvalid:
+                    return "Position Invalid";
+                default:
+                    return "Unknown Error";
+            }
+        }
+
+        static auto moteusModeToState(moteus::Mode motor_mode) -> std::string {
+            switch (motor_mode) {
+                case moteus::Mode::kStopped:
+                    return "Motor Stopped";
+                case moteus::Mode::kFault:
+                    return "Motor Fault";
+                case moteus::Mode::kPwm:
+                    return "PWM Operating Mode";
+                case moteus::Mode::kVoltage:
+                    return "Voltage Operating Mode";
+                case moteus::Mode::kVoltageFoc:
+                    return "Voltage FOC Operating Mode";
+                case moteus::Mode::kVoltageDq:
+                    return "Voltage DQ Operating Mode";
+                case moteus::Mode::kCurrent:
+                    return "Current Operating Mode";
+                case moteus::Mode::kPosition:
+                    return "Position Operating Mode";
+                case moteus::Mode::kPositionTimeout:
+                    return "Position Timeout";
+                case moteus::Mode::kZeroVelocity:
+                    return "Zero Velocity";
+                default:
+                    return "Unknown Mode";
+            }
+        }
     };
 
 } // namespace mrover
diff --git a/src/esw/motor_library/controller.hpp b/src/esw/motor_library/controller.hpp
index c19fc0049..3e14043b2 100644
--- a/src/esw/motor_library/controller.hpp
+++ b/src/esw/motor_library/controller.hpp
@@ -7,10 +7,12 @@
 #include <can_device.hpp>
 #include <chrono>
 #include <iostream>
+#include <params_utils.hpp>
 #include <units/units.hpp>
 
 #include <mrover/AdjustMotor.h>
 #include <mrover/ControllerState.h>
+#include <mrover/MotorsAdjust.h>
 #include <mrover/Position.h>
 #include <mrover/Throttle.h>
 #include <mrover/Velocity.h>
@@ -18,74 +20,88 @@
 
 namespace mrover {
 
-    class Controller {
+    // This uses CRTP to allow for static polymorphism
+    // See: https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern
+    template<IsUnit TOutputPosition, typename Derived>
+    class ControllerBase {
     public:
-        Controller(ros::NodeHandle const& nh, std::string name, std::string controllerName)
+        using OutputPosition = TOutputPosition;
+        using OutputVelocity = compound_unit<OutputPosition, inverse<Seconds>>;
+
+        ControllerBase(ros::NodeHandle const& nh, std::string masterName, std::string controllerName)
             : mNh{nh},
-              mName{std::move(name)},
+              mMasterName{std::move(masterName)},
               mControllerName{std::move(controllerName)},
-              mDevice{nh, mName, mControllerName},
-              mIncomingCANSub{
-                      mNh.subscribe<CAN>(
-                              std::format("can/{}/in", mControllerName), 16, &Controller::processCANMessage, this)} {
-            // Subscribe to the ROS topic for commands
-            mMoveThrottleSub = mNh.subscribe<Throttle>(std::format("{}_throttle_cmd", mControllerName), 1, &Controller::moveMotorsThrottle, this);
-            mMoveVelocitySub = mNh.subscribe<Velocity>(std::format("{}_velocity_cmd", mControllerName), 1, &Controller::moveMotorsVelocity, this);
-            mMovePositionSub = mNh.subscribe<Position>(std::format("{}_position_cmd", mControllerName), 1, &Controller::moveMotorsPosition, this);
+              mDevice{mNh, mMasterName, mControllerName},
+              mIncomingCANSub{mNh.subscribe<CAN>(std::format("can/{}/in", mControllerName), 16, &ControllerBase::processCANMessage, this)},
+              mMoveThrottleSub{mNh.subscribe<Throttle>(std::format("{}_throttle_cmd", mControllerName), 1, &ControllerBase::setDesiredThrottle, this)},
+              mMoveVelocitySub{mNh.subscribe<Velocity>(std::format("{}_velocity_cmd", mControllerName), 1, &ControllerBase::setDesiredVelocity, this)},
+              mMovePositionSub{mNh.subscribe<Position>(std::format("{}_position_cmd", mControllerName), 1, &ControllerBase::setDesiredPosition, this)},
+              mJointDataPub{mNh.advertise<sensor_msgs::JointState>(std::format("{}_joint_data", mControllerName), 1)},
+              mControllerDataPub{mNh.advertise<ControllerState>(std::format("{}_controller_data", mControllerName), 1)},
+              mPublishDataTimer{mNh.createTimer(ros::Duration{0.1}, &ControllerBase::publishDataCallback, this)},
+              mAdjustServer{mNh.advertiseService(std::format("{}_adjust", mControllerName), &ControllerBase::adjustServiceCallback, this)} {
+        }
 
-            mJointDataPub = mNh.advertise<sensor_msgs::JointState>(std::format("{}_joint_data", mControllerName), 1);
-            mControllerDataPub = mNh.advertise<ControllerState>(std::format("{}_controller_data", mControllerName), 1);
+        ControllerBase(ControllerBase const&) = delete;
+        ControllerBase(ControllerBase&&) = delete;
 
-            mPublishDataTimer = mNh.createTimer(ros::Duration(0.1), &Controller::publishDataCallback, this);
+        auto operator=(ControllerBase const&) -> ControllerBase& = delete;
+        auto operator=(ControllerBase&&) -> ControllerBase& = delete;
 
-            mAdjustServer = mNh.advertiseService(std::format("{}_adjust", mControllerName), &Controller::adjustServiceCallback, this);
+        // TODO(quintin): Why can't I bind directly to &Derived::processCANMessage?
+        auto processCANMessage(CAN::ConstPtr const& msg) -> void {
+            static_cast<Derived*>(this)->processCANMessage(msg);
         }
 
-        virtual ~Controller() = default;
-
-        virtual void setDesiredThrottle(Percent throttle) = 0;          // from -1.0 to 1.0
-        virtual void setDesiredVelocity(RadiansPerSecond velocity) = 0; // joint output
-        virtual void setDesiredPosition(Radians position) = 0;          // joint output
-        virtual void processCANMessage(CAN::ConstPtr const& msg) = 0;
-        virtual double getEffort() = 0;
-        virtual void adjust(Radians position) = 0;
-
-        void moveMotorsThrottle(Throttle::ConstPtr const& msg) {
+        auto setDesiredThrottle(Throttle::ConstPtr const& msg) -> void {
             if (msg->names.size() != 1 || msg->names.at(0) != mControllerName || msg->throttles.size() != 1) {
                 ROS_ERROR("Throttle request at topic for %s ignored!", msg->names.at(0).c_str());
                 return;
             }
 
-            setDesiredThrottle(msg->throttles.at(0));
+            static_cast<Derived*>(this)->setDesiredThrottle(msg->throttles.front());
         }
 
-
-        void moveMotorsVelocity(Velocity::ConstPtr const& msg) {
+        auto setDesiredVelocity(Velocity::ConstPtr const& msg) -> void {
             if (msg->names.size() != 1 || msg->names.at(0) != mControllerName || msg->velocities.size() != 1) {
                 ROS_ERROR("Velocity request at topic for %s ignored!", msg->names.at(0).c_str());
                 return;
             }
 
-            setDesiredVelocity(RadiansPerSecond{msg->velocities.at(0)});
+            // ROS message will always be in SI units with no conversions
+            using Velocity = typename detail::strip_conversion<OutputVelocity>::type;
+            OutputVelocity velocity = Velocity{msg->velocities.front()};
+            static_cast<Derived*>(this)->setDesiredVelocity(velocity);
         }
 
-        void moveMotorsPosition(Position::ConstPtr const& msg) {
+        auto setDesiredPosition(Position::ConstPtr const& msg) -> void {
             if (msg->names.size() != 1 || msg->names.at(0) != mControllerName || msg->positions.size() != 1) {
                 ROS_ERROR("Position request at topic for %s ignored!", msg->names.at(0).c_str());
                 return;
             }
 
-            setDesiredPosition(Radians{msg->positions.at(0)});
+            // ROS message will always be in SI units with no conversions
+            using Position = typename detail::strip_conversion<OutputPosition>::type;
+            OutputPosition position = Position{msg->positions.front()};
+            static_cast<Derived*>(this)->setDesiredPosition(position);
+        }
+
+        [[nodiscard]] auto isJointDe() const -> bool {
+            return mControllerName == "joint_de_0" || mControllerName == "joint_de_1";
         }
 
         auto publishDataCallback(ros::TimerEvent const&) -> void {
             {
+                using Position = typename detail::strip_conversion<OutputPosition>::type;
+                using Velocity = typename detail::strip_conversion<OutputVelocity>::type;
+
                 sensor_msgs::JointState jointState;
                 jointState.header.stamp = ros::Time::now();
                 jointState.name = {mControllerName};
-                jointState.position = {mCurrentPosition.get()};
-                jointState.velocity = {mCurrentVelocity.get()};
-                jointState.effort = {getEffort()};
+                jointState.position = {Position{mCurrentPosition}.get()};
+                jointState.velocity = {Velocity{mCurrentVelocity}.get()};
+                jointState.effort = {static_cast<Derived*>(this)->getEffort()};
                 mJointDataPub.publish(jointState);
             }
             {
@@ -103,28 +119,30 @@ namespace mrover {
             }
         }
 
-        bool adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) {
+        auto adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) -> bool {
             if (req.name != mControllerName) {
                 ROS_ERROR("Adjust request at server for %s ignored", req.name.c_str());
                 res.success = false;
                 return true;
             }
-            adjust(Radians{req.value});
+
+            using Position = typename detail::strip_conversion<OutputPosition>::type;
+            OutputPosition position = Position{req.value};
+            static_cast<Derived*>(this)->adjust(position);
             res.success = true;
             return true;
         }
 
     protected:
-        Dimensionless mVelocityMultiplier;
         ros::NodeHandle mNh;
-        std::string mName, mControllerName;
+        std::string mMasterName, mControllerName;
         CanDevice mDevice;
         ros::Subscriber mIncomingCANSub;
-        Radians mCurrentPosition{};
-        RadiansPerSecond mCurrentVelocity{};
+        OutputPosition mCurrentPosition{};
+        OutputVelocity mCurrentVelocity{};
         Percent mCalibrationThrottle{};
         bool mIsCalibrated{};
-        bool mhasLimit{};
+        bool mHasLimit{};
         std::string mErrorState;
         std::string mState;
         std::array<bool, 4> mLimitHit{};
@@ -132,6 +150,7 @@ namespace mrover {
         ros::Subscriber mMoveThrottleSub;
         ros::Subscriber mMoveVelocitySub;
         ros::Subscriber mMovePositionSub;
+        ros::Subscriber mAdjustEncoderSub;
         ros::Publisher mJointDataPub;
         ros::Publisher mControllerDataPub;
         ros::Timer mPublishDataTimer;
diff --git a/src/esw/motor_library/linear_joint_translation.hpp b/src/esw/motor_library/linear_joint_translation.hpp
deleted file mode 100644
index 1d7924ec3..000000000
--- a/src/esw/motor_library/linear_joint_translation.hpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <units/units.hpp>
-
-namespace mrover {
-
-    auto inline convertLinVel(float velocity, float multiplier) {
-        return velocity * multiplier;
-    }
-
-    auto inline convertLinPos(float position, float multiplier) {
-        return position * multiplier;
-    }
-
-} // namespace mrover
diff --git a/src/esw/motor_library/motors_group.cpp b/src/esw/motor_library/motors_group.cpp
index 97a26ba88..2594d4edc 100644
--- a/src/esw/motor_library/motors_group.cpp
+++ b/src/esw/motor_library/motors_group.cpp
@@ -52,19 +52,27 @@ namespace mrover {
 
         for (std::string const& name: mControllerNames) {
             if (!controllersRoot.hasMember(name)) {
-                ROS_ERROR("There is a mismatch in the config - motor %s doesn't exist!", name.c_str());
+                ROS_ERROR_STREAM(std::format("There is a mismatch in the config - motor {} doesn't exist!", name));
                 throw;
             }
 
             auto type = xmlRpcValueToTypeOrDefault<std::string>(controllersRoot[name], "type");
-            assert(type == "brushed" || type == "brushless");
+            if (!(type == "brushed" || type == "brushless" || type == "brushless_linear")) {
+                ROS_ERROR_STREAM(std::format("Unknown motor type %s!", type));
+                throw;
+            }
 
             // TODO: avoid hard coding Jetson here - can move into constructor of MotorsGroup
             // and let the bridge nodes hardcode as jetson.
             if (type == "brushed") {
-                mControllers.emplace(name, std::make_unique<BrushedController>(mNh, "jetson", name));
+                mControllers.try_emplace(name, std::in_place_type<BrushedController>, mNh, "jetson", name);
             } else if (type == "brushless") {
-                mControllers.emplace(name, std::make_unique<BrushlessController>(mNh, "jetson", name));
+                mControllers.try_emplace(name, std::in_place_type<BrushlessController<Revolutions>>, mNh, "jetson", name);
+            } else if (type == "brushless_linear") {
+                mControllers.try_emplace(name, std::in_place_type<BrushlessController<Meters>>, mNh, "jetson", name);
+            } else {
+                ROS_ERROR_STREAM(std::format("Unknown motor type %s!", type));
+                throw;
             }
         }
 
@@ -76,8 +84,8 @@ namespace mrover {
         mJointDataPub = mNh.advertise<sensor_msgs::JointState>(std::format("{}_joint_data", mGroupName), 1);
     }
 
-    auto MotorsGroup::getController(std::string const& name) const -> Controller& {
-        return *mControllers.at(name);
+    auto MotorsGroup::getController(std::string const& name) -> Controller& {
+        return mControllers.at(name);
     }
 
     auto MotorsGroup::moveMotorsThrottle(Throttle::ConstPtr const& msg) -> void {
diff --git a/src/esw/motor_library/motors_group.hpp b/src/esw/motor_library/motors_group.hpp
index 1f9f1a3ed..edec2dbaf 100644
--- a/src/esw/motor_library/motors_group.hpp
+++ b/src/esw/motor_library/motors_group.hpp
@@ -5,22 +5,32 @@
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 
-#include <controller.hpp>
+#include <brushed.hpp>
+#include <brushless.hpp>
 
 #include <mrover/ControllerState.h>
 #include <mrover/Position.h>
 #include <mrover/Throttle.h>
 #include <mrover/Velocity.h>
+#include <mrover/MotorsAdjust.h>
 
 namespace mrover {
 
+    using Controller = std::variant<BrushedController, BrushlessController<Revolutions>, BrushlessController<Meters>>;
+
     class MotorsGroup {
     public:
         MotorsGroup() = default;
 
+        MotorsGroup(MotorsGroup const&) = delete;
+        MotorsGroup(MotorsGroup&&) = delete;
+
+        auto operator=(MotorsGroup const&) -> MotorsGroup& = delete;
+        auto operator=(MotorsGroup&&) -> MotorsGroup& = delete;
+
         MotorsGroup(ros::NodeHandle const& nh, std::string groupName);
 
-        auto getController(std::string const& name) const -> Controller&;
+        auto getController(std::string const& name) -> Controller&;
 
         auto moveMotorsThrottle(Throttle::ConstPtr const& msg) -> void;
 
@@ -38,6 +48,7 @@ namespace mrover {
         ros::Subscriber mMoveThrottleSub;
         ros::Subscriber mMoveVelocitySub;
         ros::Subscriber mMovePositionSub;
+
         ros::Publisher mJointDataPub;
         ros::Publisher mControllerDataPub;
 
@@ -46,9 +57,10 @@ namespace mrover {
         std::unordered_map<std::string, ros::Publisher> mPositionPubsByName;
         std::unordered_map<std::string, ros::Subscriber> mJointDataSubsByName;
         std::unordered_map<std::string, ros::Subscriber> mControllerDataSubsByName;
+        
         std::unordered_map<std::string, size_t> mIndexByName;
 
-        std::unordered_map<std::string, std::unique_ptr<Controller>> mControllers;
+        std::map<std::string, Controller> mControllers;
         std::string mGroupName;
         std::vector<std::string> mControllerNames;
 
diff --git a/src/esw/sa_hw_bridge/main.cpp b/src/esw/sa_bridge/main.cpp
similarity index 94%
rename from src/esw/sa_hw_bridge/main.cpp
rename to src/esw/sa_bridge/main.cpp
index 0027684d0..ddfd6a01e 100644
--- a/src/esw/sa_hw_bridge/main.cpp
+++ b/src/esw/sa_bridge/main.cpp
@@ -9,7 +9,7 @@ auto main(int argc, char** argv) -> int {
     ros::NodeHandle nh;
 
     // Load motor controllers configuration from the ROS parameter server
-    [[maybe_unused]] auto SAManager = std::make_unique<mrover::MotorsGroup>(nh, "sa_hw");
+    [[maybe_unused]] auto SAManager = std::make_unique<mrover::MotorsGroup>(nh, "sa");
     // Enter the ROS event loop
     ros::spin();
 
diff --git a/src/esw/sa_translator_bridge/main.cpp b/src/esw/sa_translator_bridge/main.cpp
deleted file mode 100644
index 3f2eb58f3..000000000
--- a/src/esw/sa_translator_bridge/main.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "sa_translator.hpp"
-
-#include <ros/ros.h>
-
-#include <memory>
-
-auto main(int argc, char** argv) -> int {
-    // Initialize the ROS node
-    ros::init(argc, argv, "sa_translator_bridge");
-    ros::NodeHandle nh;
-
-    [[maybe_unused]] auto saTranslator = std::make_unique<mrover::SATranslator>(nh);
-
-    // Enter the ROS event loop
-    ros::spin();
-
-    return EXIT_SUCCESS;
-}
\ No newline at end of file
diff --git a/src/esw/sa_translator_bridge/sa_translator.cpp b/src/esw/sa_translator_bridge/sa_translator.cpp
deleted file mode 100644
index b146c5930..000000000
--- a/src/esw/sa_translator_bridge/sa_translator.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-
-#include "sa_translator.hpp"
-
-namespace mrover {
-
-    SATranslator::SATranslator(ros::NodeHandle& nh) {
-
-
-        mXAxisMult = requireParamAsUnit<RadiansPerMeter>(nh, "brushed_motors/controllers/sa_x/rad_to_meters_ratio");
-        mYAxisMult = requireParamAsUnit<RadiansPerMeter>(nh, "brushed_motors/controllers/sa_y/rad_to_meters_ratio");
-        mZAxisMult = requireParamAsUnit<RadiansPerMeter>(nh, "brushless_motors/controllers/sa_z/rad_to_meters_ratio");
-
-        mThrottleSub = nh.subscribe<Throttle>("sa_throttle_cmd", 1, &SATranslator::processThrottleCmd, this);
-        mVelocitySub = nh.subscribe<Velocity>("sa_velocity_cmd", 1, &SATranslator::processVelocityCmd, this);
-        mPositionSub = nh.subscribe<Position>("sa_position_cmd", 1, &SATranslator::processPositionCmd, this);
-        mSAHWJointDataSub = nh.subscribe<sensor_msgs::JointState>("sa_hw_joint_data", 1, &SATranslator::processSAHWJointData, this);
-
-        mThrottlePub = std::make_unique<ros::Publisher>(nh.advertise<Throttle>("sa_hw_throttle_cmd", 1));
-        mVelocityPub = std::make_unique<ros::Publisher>(nh.advertise<Velocity>("sa_hw_velocity_cmd", 1));
-        mPositionPub = std::make_unique<ros::Publisher>(nh.advertise<Position>("sa_hw_position_cmd", 1));
-        mJointDataPub = std::make_unique<ros::Publisher>(nh.advertise<sensor_msgs::JointState>("sa_joint_data", 1));
-    }
-
-
-    void SATranslator::processThrottleCmd(Throttle::ConstPtr const& msg) {
-        mThrottlePub->publish(*msg);
-    }
-
-
-    void SATranslator::processVelocityCmd(Velocity::ConstPtr const& msg) {
-        if (mSAHWNames != msg->names || mSAHWNames.size() != msg->velocities.size()) {
-            ROS_ERROR("Velocity requests for SA is ignored!");
-            return;
-        }
-
-        Velocity velocity = *msg;
-
-        // joint a convert linear velocity (meters/s) to revolution/s
-        auto x_axis_vel = convertLinVel(msg->velocities.at(mXAxisIndex), mXAxisMult.get());
-        velocity.velocities.at(mXAxisIndex) = x_axis_vel;
-
-        auto y_axis_vel = convertLinVel(msg->velocities.at(mYAxisIndex), mYAxisMult.get());
-        velocity.velocities.at(mYAxisIndex) = y_axis_vel;
-
-        auto z_axis_vel = convertLinVel(msg->velocities.at(mZAxisIndex), mZAxisMult.get());
-        velocity.velocities.at(mZAxisIndex) = z_axis_vel;
-
-        mVelocityPub->publish(velocity);
-    }
-
-
-    void SATranslator::processPositionCmd(Position::ConstPtr const& msg) {
-        if (mSAHWNames != msg->names || mSAHWNames.size() != msg->positions.size()) {
-            ROS_ERROR("Position requests for SA is ignored!");
-            return;
-        }
-
-        Position position = *msg;
-
-        // joint a convert linear velocity (meters/s) to revolution/s
-        auto x_axis_pos = convertLinPos(msg->positions.at(mXAxisIndex), mXAxisMult.get());
-        position.positions.at(mXAxisIndex) = x_axis_pos;
-
-        auto y_axis_pos = convertLinPos(msg->positions.at(mYAxisIndex), mYAxisMult.get());
-        position.positions.at(mYAxisIndex) = y_axis_pos;
-
-        auto z_axis_pos = convertLinPos(msg->positions.at(mZAxisIndex), mZAxisMult.get());
-        position.positions.at(mZAxisIndex) = z_axis_pos;
-
-        mPositionPub->publish(position);
-    }
-
-    void SATranslator::processSAHWJointData(sensor_msgs::JointState::ConstPtr const& msg) {
-        if (mSAHWNames != msg->name || mSAHWNames.size() != msg->position.size() || mSAHWNames.size() != msg->velocity.size() || mSAHWNames.size() != msg->effort.size()) {
-            ROS_ERROR("Position requests for SA is ignored!");
-            return;
-        }
-
-        // Convert joint  state of joint a from radians/revolutions to meters
-        auto xAxisLinVel = convertLinVel(static_cast<float>(msg->velocity.at(mXAxisIndex)), mXAxisMult.get());
-        auto xAxisLinPos = convertLinPos(static_cast<float>(msg->position.at(mXAxisIndex)), mXAxisMult.get());
-
-        auto yAxisLinVel = convertLinVel(static_cast<float>(msg->velocity.at(mYAxisIndex)), mYAxisMult.get());
-        auto yAxisLinPos = convertLinPos(static_cast<float>(msg->position.at(mYAxisIndex)), mYAxisMult.get());
-
-        auto zAxisLinVel = convertLinVel(static_cast<float>(msg->velocity.at(mZAxisIndex)), mZAxisMult.get());
-        auto zAxisLinPos = convertLinPos(static_cast<float>(msg->position.at(mZAxisIndex)), mZAxisMult.get());
-
-        sensor_msgs::JointState jointState = *msg;
-        jointState.velocity.at(mXAxisIndex) = xAxisLinVel;
-        jointState.position.at(mXAxisIndex) = xAxisLinPos;
-        jointState.velocity.at(mXAxisIndex) = yAxisLinVel;
-        jointState.position.at(mXAxisIndex) = yAxisLinPos;
-        jointState.velocity.at(mXAxisIndex) = zAxisLinVel;
-        jointState.position.at(mXAxisIndex) = zAxisLinPos;
-
-
-        mJointDataPub->publish(jointState);
-    }
-
-} // namespace mrover
diff --git a/src/esw/sa_translator_bridge/sa_translator.hpp b/src/esw/sa_translator_bridge/sa_translator.hpp
deleted file mode 100644
index 86c7925bc..000000000
--- a/src/esw/sa_translator_bridge/sa_translator.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-#pragma once
-
-#include <format>
-#include <memory>
-
-#include <XmlRpcValue.h>
-#include <ros/ros.h>
-
-#include "units/units.hpp"
-
-#include <params_utils.hpp>
-#include <linear_joint_translation.hpp>
-#include <mrover/AdjustMotor.h>
-#include <mrover/ControllerState.h>
-#include <mrover/Position.h>
-#include <mrover/Throttle.h>
-#include <mrover/Velocity.h>
-#include <sensor_msgs/JointState.h>
-#include <std_msgs/Float32.h>
-#include <std_srvs/Trigger.h>
-
-
-namespace mrover {
-
-    class SATranslator {
-    public:
-        SATranslator() = default;
-
-        SATranslator(ros::NodeHandle& nh);
-
-        void processVelocityCmd(Velocity::ConstPtr const& msg);
-
-        void processPositionCmd(Position::ConstPtr const& msg);
-
-        void processThrottleCmd(Throttle::ConstPtr const& msg);
-
-        void processSAHWJointData(sensor_msgs::JointState::ConstPtr const& msg);
-
-    private:
-
-        const std::vector<std::string> mSAHWNames = {"sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"};
-        std::unique_ptr<ros::Publisher> mThrottlePub;
-        std::unique_ptr<ros::Publisher> mVelocityPub;
-        std::unique_ptr<ros::Publisher> mPositionPub;
-        std::unique_ptr<ros::Publisher> mJointDataPub;
-       
-        const size_t mXAxisIndex = std::find(mSAHWNames.begin(), mSAHWNames.end(), "sa_x") - mSAHWNames.begin();
-        const size_t mYAxisIndex = std::find(mSAHWNames.begin(), mSAHWNames.end(), "sa_y") - mSAHWNames.begin();
-        const size_t mZAxisIndex = std::find(mSAHWNames.begin(), mSAHWNames.end(), "sa_z") - mSAHWNames.begin();
-
-        RadiansPerMeter mXAxisMult{};
-        RadiansPerMeter mYAxisMult{};
-        RadiansPerMeter mZAxisMult{};
-
-        ros::Subscriber mThrottleSub;
-        ros::Subscriber mVelocitySub;
-        ros::Subscriber mPositionSub;
-        ros::Subscriber mSAHWJointDataSub;
-
-    };
-
-} // namespace mrover
diff --git a/src/esw/science_bridge/main.cpp b/src/esw/science_bridge/main.cpp
index 1d76ed47c..7f64f9472 100644
--- a/src/esw/science_bridge/main.cpp
+++ b/src/esw/science_bridge/main.cpp
@@ -8,6 +8,7 @@
 #include <mrover/Spectral.h>
 #include <ros/ros.h>
 #include <unordered_map>
+#include "params_utils.hpp"
 
 std::unique_ptr<mrover::CanDevice> scienceCanDevice;
 
@@ -28,11 +29,15 @@ auto enableScienceDeviceCallback(std_srvs::SetBool::Request& req, std_srvs::SetB
     scienceCanDevice->publish_message(mrover::InBoundScienceMessage{mrover::EnableScienceDeviceCommand{.science_device = scienceDevice, .enable = static_cast<bool>(req.data)}});
     res.success = true;
     res.message = "DONE";
+
+    ROS_INFO("Turning on device");
     return true;
 }
 
 void processMessage(mrover::HeaterStateData const& message) {
+    // ROS_ERROR("heater!");
     mrover::HeaterData heaterData;
+    // TODO - this crashes program!
     heaterData.state.resize(6);
     for (int i = 0; i < 6; ++i) {
         heaterData.state.at(i) = GET_BIT_AT_INDEX(message.heater_state_info.on, i);
@@ -52,6 +57,7 @@ void processMessage(mrover::SpectralData const& message) {
 }
 
 void processMessage(mrover::ThermistorData const& message) {
+    // ROS_ERROR("Thermistors!");
     mrover::ScienceThermistors scienceThermistors;
     scienceThermistors.temps.resize(6);
     for (int i = 0; i < 6; ++i) {
@@ -62,6 +68,8 @@ void processMessage(mrover::ThermistorData const& message) {
 
 void processCANData(mrover::CAN::ConstPtr const& msg) {
 
+    // TODO - fix in future
+    // ROS_ERROR("Source: %s Destination: %s", msg->source.c_str(), msg->destination.c_str());
     assert(msg->source == "science");
     assert(msg->destination == "jetson");
 
@@ -93,6 +101,15 @@ auto main(int argc, char** argv) -> int {
     };
 
     scienceCanDevice = std::make_unique<mrover::CanDevice>(nh, "jetson", "science");
+
+
+    float shutoff_temp = 50.0f;  // DEFAULT 
+    if (nh.hasParam("science/shutoff_temp")) {
+        nh.getParam("science/shutoff_temp", shutoff_temp);
+    }
+
+    scienceCanDevice->publish_message(mrover::InBoundScienceMessage{mrover::ConfigThermistorAutoShutOffCommand{.shutoff_temp = shutoff_temp}});
+
     std::vector<ros::ServiceServer> services;
     services.reserve(scienceDeviceByName.size() + 1);
 
diff --git a/src/esw/science_test_bridge/science_test_bridge.cpp b/src/esw/science_test_bridge/science_test_bridge.cpp
new file mode 100644
index 000000000..82d987277
--- /dev/null
+++ b/src/esw/science_test_bridge/science_test_bridge.cpp
@@ -0,0 +1,59 @@
+#include <ros/ros.h>
+#include <std_srvs/SetBool.h>
+#include <vector>
+#include <string>
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "science_test_bridge");
+    ros::NodeHandle nh;
+
+    // List of heater names
+    std::vector<std::string> heater_names = {"heater_b0", "heater_n0", "heater_b1", "heater_n1", "heater_b2", "heater_n2",
+        "uv_led_0", "uv_led_1", "uv_led_2", "white_led_0", "white_led_1", "white_led_2",
+    };
+
+    // Create a service message
+    std_srvs::SetBool srv;
+
+    // Iterate through each heater name and call the service
+    for (const auto& heater_name : heater_names) {
+        // Create a ROS service client for the current heater
+        ros::ServiceClient client = nh.serviceClient<std_srvs::SetBool>("science_enable_" + heater_name);
+
+        // Wait for the service to become available
+        ros::service::waitForService("science_enable_" + heater_name);
+
+
+        float incrementing_time = 0.25f;
+        float time = 0.0f;
+        ROS_INFO_STREAM(heater_name << " CAN message sent to turn on. \n\nNow waiting 3 seconds. \n" << heater_name << " should automatically turn off after 1 second in watchdog.\n");
+        while (time < 6.0f) {
+            // Turn the heater on
+            srv.request.data = true;
+            client.call(srv);
+
+            ros::Duration(incrementing_time).sleep();
+            time += incrementing_time;
+
+        }
+
+        ROS_INFO_STREAM(heater_name << " should have turned off!! \n");
+
+        // Wait for a few seconds
+        ros::Duration(3.0).sleep();
+
+        // Turn the heater off
+        srv.request.data = false;
+        if (client.call(srv)) {
+            ROS_INFO_STREAM(heater_name << " CAN message sent to turn off");
+        } else {
+            ROS_ERROR_STREAM("Failed to call service to turn " << heater_name << " off");
+            return 1;
+        }
+
+        ROS_INFO_STREAM("Waiting 2 seconds before starting again. \n");
+        ros::Duration(2.0).sleep();
+    }
+
+    return 0;
+}
diff --git a/src/localization/gps_driver.py b/src/localization/gps_driver.py
deleted file mode 100755
index 1ad8dff3b..000000000
--- a/src/localization/gps_driver.py
+++ /dev/null
@@ -1,137 +0,0 @@
-#!/usr/bin/env python3
-"""
-Reads and parses NMEA messages from the onboard GPS to provide
-location data to the rover over LCM (/gps). Subscribes to
-/rtcm and passes RTCM messages to the onboard gps to
-acquire an RTK fix.
-"""
-import serial
-import asyncio
-import rospy
-import threading
-import numpy as np
-from os import getenv
-
-import rospy
-
-# from rover_msgs import GPS, RTCM
-from pyubx2 import UBXReader, UBX_PROTOCOL, RTCM3_PROTOCOL, protocol, UBXMessage
-from std_msgs.msg import Header
-from sensor_msgs.msg import NavSatFix
-
-# from rtcm_msgs.msg import Message
-# from mrover.msg import rtkStatus
-import datetime
-
-
-class GPS_Driver:
-    def __init__(self):
-        rospy.init_node("gps_driver")
-        self.port = "/dev/gps"
-        self.baud = 115200
-        # self.base_station_sub = rospy.Subscriber("/rtcm", Message, self.process_rtcm)
-        self.gps_pub = rospy.Publisher("fix", NavSatFix, queue_size=1)
-        # self.rtk_fix_pub = rospy.Publisher("rtk_fix_status", rtkStatus, queue_size=1)
-
-        self.lock = threading.Lock()
-        self.valid_offset = False
-        self.time_offset = -1
-
-    def connect(self):
-        # open connection to rover GPS
-        self.ser = serial.Serial(self.port, self.baud)
-        self.reader = UBXReader(self.ser, protfilter=(UBX_PROTOCOL | RTCM3_PROTOCOL))
-
-        return self
-
-    def exit(self) -> None:
-        # close connection
-        self.ser.close()
-
-    # def process_rtcm(self, data) -> None:
-    #     print("processing RTCM")
-    #     with self.lock:
-    #         # rtcm_data = RTCM.decode(data)
-    #         self.ser.write(data.message)
-
-    def parse_rover_gps_data(self, rover_gps_data) -> None:
-        msg = rover_gps_data
-        # skip if message could not be parsed
-        if not msg:
-            return
-
-        if rover_gps_data.identity == "RXM-RTCM":
-            rospy.loginfo("RXM")
-            msg_used = msg.msgUsed
-
-            if msg_used == 0:
-                rospy.logwarn("RTCM Usage unknown\n")
-            elif msg_used == 1:
-                rospy.logwarn("RTCM message not used\n")
-            elif msg_used == 2:
-                rospy.loginfo("RTCM message successfully used by receiver\n")
-
-            # rospy.loginfo(vars(rover_gps_data))
-
-        if rover_gps_data.identity == "NAV-PVT":
-            rospy.loginfo("PVT")
-            parsed_latitude = msg.lat
-            parsed_longitude = msg.lon
-            parsed_altitude = msg.hMSL
-            time = datetime.datetime(year=msg.year, month=msg.month, day=msg.day, hour=msg.hour, second=msg.second)
-            time = rospy.Time(secs=time.timestamp() + (msg.nano / 1e6))
-            if not self.valid_offset:
-                self.time_offset = rospy.Time.now() - time
-                self.valid_offset = True
-
-            time = time + self.time_offset
-
-            rospy.loginfo_throttle(3, f"{time} {rospy.Time.now()} {time-rospy.Time.now()} {self.time_offset}")
-
-            message_header = Header(stamp=time, frame_id="base_link")
-
-            self.gps_pub.publish(
-                NavSatFix(
-                    header=message_header,
-                    latitude=parsed_latitude,
-                    longitude=parsed_longitude,
-                    altitude=parsed_altitude,
-                )
-            )
-            # self.rtk_fix_pub.publish(rtkStatus(msg_used))
-
-            if msg.difSoln == 1:
-                rospy.loginfo_throttle(3, "Differential correction applied")
-
-            # publidh to navsatstatus in navsatfix
-            if msg.carrSoln == 0:
-                rospy.logwarn_throttle(3, "No RTK")
-            elif msg.carrSoln == 1:
-                rospy.loginfo_throttle(3, "Floating RTK Fix")
-            elif msg.carrSoln == 2:
-                rospy.loginfo_throttle(3, "RTK FIX")
-
-        if rover_gps_data.identity == "NAV-STATUS":
-            pass
-
-    def gps_data_thread(self) -> None:
-        # TODO: add more message checks if needed
-        while not rospy.is_shutdown():
-            with self.lock:
-                if self.ser.in_waiting:
-                    raw, rover_gps_data = self.reader.read()
-                    parsed_gps_data = self.parse_rover_gps_data(rover_gps_data)
-
-
-def main():
-    # change values
-    rtk_manager = GPS_Driver()
-    rtk_manager.connect()
-    # rover_gps_thread = threading.Thread(rtk_manager.gps_data_thread)
-    # rover_gps_thread.start()
-    rtk_manager.gps_data_thread()
-    rtk_manager.exit()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/src/preload/format b/src/preload/format
index 3176bfefe..b05dc0169 100644
--- a/src/preload/format
+++ b/src/preload/format
@@ -1,9 +1,10 @@
 #pragma once
 
+#ifdef __APPLE__
+
 // macOS does not have std::format yet
 // So we define it and redirect it to fmt::format
 
-#ifdef __APPLE__
 #include <fmt/core.h>
 
 namespace std {
@@ -12,6 +13,9 @@ namespace std {
         return fmt::format(fmt, std::forward<T>(args)...);
     }
 } // namespace std
+
 #else
+
 #include_next <format>
+
 #endif
diff --git a/src/preload/linux/can.h b/src/preload/linux/can.h
new file mode 100644
index 000000000..b4387146a
--- /dev/null
+++ b/src/preload/linux/can.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#ifndef __APPLE__
+
+// These are just stubs to make the code compile (NOT WORK) on macOS
+
+#include_next <linux/can.h>
+
+#endif
diff --git a/src/preload/linux/can/raw.h b/src/preload/linux/can/raw.h
new file mode 100644
index 000000000..800b140e0
--- /dev/null
+++ b/src/preload/linux/can/raw.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#ifndef __APPLE__
+
+// These are just stubs to make the code compile (NOT WORK) on macOS
+
+#include_next <linux/can/raw.h>
+
+#endif
\ No newline at end of file
diff --git a/src/preload/linux/serial.h b/src/preload/linux/serial.h
new file mode 100644
index 000000000..eca28ec26
--- /dev/null
+++ b/src/preload/linux/serial.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#ifdef __APPLE__
+
+// These are just stubs to make the code compile (NOT WORK) on macOS
+
+struct serial_struct {
+    int type;
+    int line;
+    unsigned int port;
+    int irq;
+    int flags;
+    int xmit_fifo_size;
+    int custom_divisor;
+    int baud_base;
+    unsigned short close_delay;
+    char io_type;
+    char reserved_char[1];
+    int hub6;
+    unsigned short closing_wait;  /* time to wait before closing */
+    unsigned short closing_wait2; /* no longer used... */
+    unsigned char* iomem_base;
+    unsigned short iomem_reg_shift;
+    unsigned int port_high;
+    unsigned long iomap_base; /* cookie passed into ioremap */
+};
+
+constexpr int TIOCGSERIAL = 0x0000541E;
+constexpr int TIOCSSERIAL = 0x0000541F;
+
+constexpr int ASYNC_LOW_LATENCY = 0x00000020;
+
+#else
+
+#include_next <linux/serial.h>
+
+#endif
\ No newline at end of file
diff --git a/src/preload/poll.h b/src/preload/poll.h
new file mode 100644
index 000000000..450530360
--- /dev/null
+++ b/src/preload/poll.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include_next <poll.h>
+
+#ifdef __APPLE__
+
+// These are just stubs to make the code compile (NOT WORK) on macOS
+
+inline auto ppoll(pollfd*, nfds_t, timespec const*, sigset_t const*) -> int {
+    throw std::runtime_error("ppoll is not implemented on macOS");
+}
+
+#endif
diff --git a/src/simulator/mrover_logo.png b/src/simulator/mrover_logo.png
new file mode 100644
index 000000000..fd775c037
--- /dev/null
+++ b/src/simulator/mrover_logo.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:035377f84792de3a3627d02dbbdc00277b96cad383202a7a7a3af28e380d7aee
+size 51577
diff --git a/src/simulator/simulator.controls.cpp b/src/simulator/simulator.controls.cpp
index b4436e740..f46cff1df 100644
--- a/src/simulator/simulator.controls.cpp
+++ b/src/simulator/simulator.controls.cpp
@@ -81,7 +81,6 @@ namespace mrover {
             if (key == mToggleCameraLockKey) {
                 if (mCameraInRoverTarget) {
                     mCameraInRoverTarget = std::nullopt;
-
                     Eigen::Matrix3d rotationMatrix = mCameraInWorld.transform().block<3, 3>(0, 0);
 
                     Eigen::Vector3d left = rotationMatrix.col(1);
diff --git a/src/simulator/simulator.cpp b/src/simulator/simulator.cpp
index f7014f3cb..09cbefee9 100644
--- a/src/simulator/simulator.cpp
+++ b/src/simulator/simulator.cpp
@@ -22,6 +22,7 @@ namespace mrover {
         mMotorStatusPub = mNh.advertise<MotorsStatus>("/drive_status", 1);
         mDriveControllerStatePub = mNh.advertise<ControllerState>("/drive_controller_data", 1);
         mArmControllerStatePub = mNh.advertise<ControllerState>("/arm_controller_data", 1);
+        mArmJointStatePub = mNh.advertise<sensor_msgs::JointState>("/arm_joint_states", 1);
 
         mIkTargetPub = mNh.advertise<IK>("/arm_ik", 1);
 
diff --git a/src/simulator/simulator.hpp b/src/simulator/simulator.hpp
index c0b3efd07..9565c14db 100644
--- a/src/simulator/simulator.hpp
+++ b/src/simulator/simulator.hpp
@@ -215,6 +215,7 @@ namespace mrover {
         ros::Publisher mMotorStatusPub;
         ros::Publisher mDriveControllerStatePub;
         ros::Publisher mArmControllerStatePub;
+        ros::Publisher mArmJointStatePub;
 
         tf2_ros::Buffer mTfBuffer;
         tf2_ros::TransformListener mTfListener{mTfBuffer};
@@ -354,6 +355,12 @@ namespace mrover {
 
         ~SimulatorNodelet() override;
 
+        SimulatorNodelet(SimulatorNodelet const&) = delete;
+        SimulatorNodelet(SimulatorNodelet&&) = delete;
+
+        auto operator=(SimulatorNodelet const&) -> SimulatorNodelet& = delete;
+        auto operator=(SimulatorNodelet&&) -> SimulatorNodelet& = delete;
+
         auto initWindow() -> void;
 
         auto initRender() -> void;
diff --git a/src/simulator/simulator.render.cpp b/src/simulator/simulator.render.cpp
index cd17d2991..ce2bf2247 100644
--- a/src/simulator/simulator.render.cpp
+++ b/src/simulator/simulator.render.cpp
@@ -59,7 +59,13 @@ namespace mrover {
         depthStencil.depthWriteEnabled = true;
         depthStencil.format = DEPTH_FORMAT;
         depthStencil.stencilFront.compare = wgpu::CompareFunction::Always;
+        depthStencil.stencilFront.failOp = wgpu::StencilOperation::Keep;
+        depthStencil.stencilFront.depthFailOp = wgpu::StencilOperation::Keep;
+        depthStencil.stencilFront.passOp = wgpu::StencilOperation::Keep;
         depthStencil.stencilBack.compare = wgpu::CompareFunction::Always;
+        depthStencil.stencilBack.failOp = wgpu::StencilOperation::Keep;
+        depthStencil.stencilBack.depthFailOp = wgpu::StencilOperation::Keep;
+        depthStencil.stencilBack.passOp = wgpu::StencilOperation::Keep;
         descriptor.depthStencil = &depthStencil;
 
 
@@ -345,7 +351,12 @@ namespace mrover {
             IMGUI_CHECKVERSION();
             ImGui::CreateContext();
             ImGui_ImplGlfw_InitForOther(mWindow.get(), true);
-            ImGui_ImplWGPU_Init(mDevice, 1, COLOR_FORMAT, DEPTH_FORMAT);
+            ImGui_ImplWGPU_InitInfo initInfo;
+            initInfo.DepthStencilFormat = DEPTH_FORMAT;
+            initInfo.RenderTargetFormat = COLOR_FORMAT;
+            initInfo.Device = mDevice;
+            initInfo.NumFramesInFlight = 1;
+            ImGui_ImplWGPU_Init(&initInfo);
 
             int x, y, w, h;
             glfwGetMonitorWorkarea(glfwGetPrimaryMonitor(), &x, &y, &w, &h);
@@ -652,9 +663,11 @@ namespace mrover {
         colorAttachment.loadOp = wgpu::LoadOp::Clear;
         colorAttachment.storeOp = wgpu::StoreOp::Store;
         colorAttachment.clearValue = {mSkyColor.x(), mSkyColor.y(), mSkyColor.z(), mSkyColor.w()};
+        colorAttachment.depthSlice = wgpu::kDepthSliceUndefined;
         normalAttachment.loadOp = wgpu::LoadOp::Clear;
         normalAttachment.storeOp = wgpu::StoreOp::Store;
         normalAttachment.clearValue = {0, 0, 0, 0};
+        normalAttachment.depthSlice = wgpu::kDepthSliceUndefined;
 
         wgpu::RenderPassDepthStencilAttachment depthStencilAttachment;
         depthStencilAttachment.depthClearValue = 1.0f;
diff --git a/src/simulator/simulator.sensors.cpp b/src/simulator/simulator.sensors.cpp
index b093c72a0..187ad89ea 100644
--- a/src/simulator/simulator.sensors.cpp
+++ b/src/simulator/simulator.sensors.cpp
@@ -258,6 +258,16 @@ namespace mrover {
                 armControllerState.limit_hit.push_back(limitSwitches);
             }
             mArmControllerStatePub.publish(armControllerState);
+
+            sensor_msgs::JointState jointState;
+            jointState.header.stamp = ros::Time::now();
+            for (auto& linkName: {"arm_a_link", "arm_b_link", "arm_c_link", "arm_d_link", "arm_e_link"}) {
+                jointState.name.push_back(armMsgToUrdf.backward(linkName).value());
+                jointState.position.push_back(rover.physics->getJointPos(rover.linkNameToMeta.at(linkName).index));
+                jointState.velocity.push_back(rover.physics->getJointVel(rover.linkNameToMeta.at(linkName).index));
+                jointState.effort.push_back(rover.physics->getJointTorque(rover.linkNameToMeta.at(linkName).index));
+            }
+            mArmJointStatePub.publish(jointState);
         }
     }
 
diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index c025a3fa1..1b83fdea9 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -1,20 +1,19 @@
 import csv
-from datetime import datetime
 import json
 import os
-import pytz
-from math import copysign
-from math import pi
-from tf.transformations import euler_from_quaternion
 import threading
+from datetime import datetime
+from math import copysign, pi
 
+import pytz
 from channels.generic.websocket import JsonWebsocketConsumer
+
 import rospy
 import tf2_ros
-import cv2
+from backend.models import AutonWaypoint, BasicWaypoint
+from geometry_msgs.msg import Twist, Pose, Point, Quaternion, Vector3
 
 # from cv_bridge import CvBridge
-from geometry_msgs.msg import Twist
 from mrover.msg import (
     PDLB,
     ControllerState,
@@ -33,32 +32,32 @@
     ScienceThermistors,
     HeaterData,
 )
-from mrover.srv import EnableAuton, AdjustMotor, ChangeCameras, CapturePanorama  # , CapturePhoto
-from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity, Image
-from std_msgs.msg import String, Bool
+from mrover.srv import EnableAuton, AdjustMotor, ChangeCameras, CapturePanorama
+from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity
+from std_msgs.msg import String
 from std_srvs.srv import SetBool, Trigger
-from geometry_msgs.msg import Twist, Pose, Point, Quaternion
-
+from tf.transformations import euler_from_quaternion
 from util.SE3 import SE3
 
-from backend.models import AutonWaypoint, BasicWaypoint
-
-
 DEFAULT_ARM_DEADZONE = 0.15
 
 
-# If below threshold, make output zero
-def deadzone(magnitude: float, threshold: float) -> float:
-    temp_mag = abs(magnitude)
-    if temp_mag <= threshold:
-        temp_mag = 0
-    else:
-        temp_mag = (temp_mag - threshold) / (1 - threshold)
-    return copysign(temp_mag, magnitude)
+def deadzone(signal: float, threshold: float) -> float:
+    """
+    Values lower than the threshold will be clipped to zero.
+    Those above will be remapped to [0, 1] linearly.
+    """
+    magnitude = abs(signal)
+    magnitude = 0 if magnitude < threshold else (magnitude - threshold) / (1 - threshold)
+    return copysign(magnitude, signal)
 
 
-def quadratic(val: float) -> float:
-    return copysign(val**2, val)
+def quadratic(signal: float) -> float:
+    """
+    Use to allow more control near low inputs values by squaring the magnitude.
+    For example using a joystick to control drive.
+    """
+    return copysign(signal**2, signal)
 
 
 class GUIConsumer(JsonWebsocketConsumer):
@@ -104,6 +103,7 @@ def connect(self):
                 "/science_heater_state", HeaterData, self.ish_heater_state_callback
             )
             self.science_spectral = rospy.Subscriber("/science_spectral", Spectral, self.science_spectral_callback)
+            self.cmd_vel = rospy.Subscriber("/cmd_vel", Twist, self.cmd_vel_callback)
 
             # Services
             self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
@@ -115,14 +115,14 @@ def connect(self):
             self.change_cameras_srv = rospy.ServiceProxy("change_cameras", ChangeCameras)
             self.capture_panorama_srv = rospy.ServiceProxy("capture_panorama", CapturePanorama)
             self.heater_auto_shutoff_srv = rospy.ServiceProxy("science_change_heater_auto_shutoff_state", SetBool)
-            # self.capture_photo_srv = rospy.ServiceProxy("capture_photo", CapturePhoto)
 
             # ROS Parameters
             self.mappings = rospy.get_param("teleop/joystick_mappings")
             self.drive_config = rospy.get_param("teleop/drive_controls")
             self.max_wheel_speed = rospy.get_param("rover/max_speed")
             self.wheel_radius = rospy.get_param("wheel/radius")
-            self.max_angular_speed = self.max_wheel_speed / self.wheel_radius
+            self.rover_width = rospy.get_param("rover/width")
+            self.max_angular_speed = self.max_wheel_speed / (self.rover_width / 2)
             self.ra_config = rospy.get_param("teleop/ra_controls")
             self.ik_names = rospy.get_param("teleop/ik_multipliers")
             self.RA_NAMES = rospy.get_param("teleop/ra_names")
@@ -259,9 +259,9 @@ def handle_controls_message(self, msg):
         SA_NAMES = ["sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"]
         RA_NAMES = self.RA_NAMES
         ra_slow_mode = False
-        raw_left_trigger = msg["axes"][self.xbox_mappings["left_trigger"]]
+        raw_left_trigger = msg["buttons"][self.xbox_mappings["left_trigger"]]
         left_trigger = raw_left_trigger if raw_left_trigger > 0 else 0
-        raw_right_trigger = msg["axes"][self.xbox_mappings["right_trigger"]]
+        raw_right_trigger = msg["buttons"][self.xbox_mappings["right_trigger"]]
         right_trigger = raw_right_trigger if raw_right_trigger > 0 else 0
         arm_pubs = [self.arm_position_cmd_pub, self.arm_velocity_cmd_pub, self.arm_throttle_cmd_pub, self.arm_ik_pub]
         sa_pubs = [self.sa_position_cmd_pub, self.sa_velocity_cmd_pub, self.sa_throttle_cmd_pub]
@@ -368,8 +368,6 @@ def handle_controls_message(self, msg):
                     * self.filter_xbox_button(msg["buttons"], "right_bumper", "left_bumper")
                 ]
             elif msg["type"] == "arm_values":
-                # print(msg["buttons"])
-
                 # d_pad_x = msg["axes"][self.xbox_mappings["d_pad_x"]]
                 # if d_pad_x > 0.5:
                 #     ra_slow_mode = True
@@ -380,10 +378,10 @@ def handle_controls_message(self, msg):
                     self.filter_xbox_axis(msg["axes"][self.ra_config["joint_a"]["xbox_index"]]),
                     self.filter_xbox_axis(msg["axes"][self.ra_config["joint_b"]["xbox_index"]]),
                     self.filter_xbox_axis(msg["axes"][self.ra_config["joint_c"]["xbox_index"]]),
-                    self.filter_xbox_axis(msg["axes"][self.ra_config["joint_de_pitch"]["xbox_index_right"]] - msg["axes"][self.ra_config["joint_de_pitch"]["xbox_index_left"]]),
-                    self.filter_xbox_axis(msg["buttons"][self.ra_config["joint_de_roll"]["xbox_index_right"]] - msg["buttons"][self.ra_config["joint_de_roll"]["xbox_index_left"]]),
+                    self.filter_xbox_button(msg["buttons"], "right_trigger", "left_trigger"),
+                    self.filter_xbox_button(msg["buttons"], "left_bumper", "right_bumper"),
                     self.ra_config["allen_key"]["multiplier"] * self.filter_xbox_button(msg["buttons"], "y", "a"),
-                    self.ra_config["gripper"]["multiplier"] * self.filter_xbox_button(msg["buttons"], "b", "x"),
+                    self.ra_config["gripper"]["multiplier"] * self.filter_xbox_button(msg["buttons"], "x", "b"),
                 ]
 
                 for i, name in enumerate(self.RA_NAMES):
@@ -404,8 +402,8 @@ def handle_controls_message(self, msg):
                 fast_mode_activated = msg["buttons"][self.xbox_mappings["a"]] or msg["buttons"][self.xbox_mappings["b"]]
                 if not fast_mode_activated:
                     for i, name in enumerate(SA_NAMES):
-                        # When going up (vel > 0) with SA joint 2, we DON'T want slow mode.
-                        if not (name == "sa_y" and throttle_cmd.throttles[i] > 0):
+                        # When going up (vel < 0) with SA joint 2, we DON'T want slow mode.
+                        if not (name == "sa_z" and throttle_cmd.throttles[i] < 0):
                             throttle_cmd.throttles[i] *= self.sa_config[name]["slow_mode_multiplier"]
             publishers[2].publish(throttle_cmd)
 
@@ -413,47 +411,42 @@ def handle_joystick_message(self, msg):
         # Tiny deadzone so we can safely e-stop with dampen switch
         dampen = deadzone(msg["axes"][self.mappings["dampen"]], 0.01)
 
-        # Makes dampen [0,1] instead of [-1,1]
-        # negative sign required to drive forward by default instead of backward
-        # (-1*dampen) because the top of the dampen switch is -1.0
+        # Makes dampen [0,1] instead of [-1,1].
+        # Negative sign required to drive forward by default instead of backward.
+        # (-1*dampen) because the top of the dampen switch is -1.
         dampen = -1 * ((-1 * dampen) + 1) / 2
 
-        linear = deadzone(
-            msg["axes"][self.mappings["forward_back"]] * self.drive_config["forward_back"]["multiplier"], 0.05
-        )
-
-        # Convert from [0,1] to [0, self_max_wheel_speed] and apply dampen
-        linear *= self.max_wheel_speed * dampen
-
-        # Deadzones for each axis
-        left_right = (
-            deadzone(msg["axes"][self.mappings["left_right"]] * self.drive_config["left_right"]["multiplier"], 0.4)
-            if self.drive_config["left_right"]["enabled"]
-            else 0
+        def get_axes_input(
+            mapping_name: str, deadzone_threshold: float = 0.05, apply_quadratic: bool = False, scale: float = 1.0
+        ) -> float:
+            signal = msg["axes"][self.mappings[mapping_name]]
+            signal *= self.drive_config[mapping_name]["multiplier"]
+            signal = deadzone(signal, deadzone_threshold)
+            if apply_quadratic:
+                signal = quadratic(signal)
+            signal *= scale
+            return signal
+
+        linear = get_axes_input("forward_back", 0.02, True, self.max_wheel_speed * dampen)
+        # Note(quintin): I prefer using solely the twist axis for turning...
+        # angular_from_lateral = get_axes_input("left_right", 0.4, True)
+        angular = get_axes_input("twist", 0.03, True, self.max_angular_speed * dampen)
+
+        self.twist_pub.publish(
+            Twist(
+                linear=Vector3(x=linear),
+                angular=Vector3(z=angular),
+            )
         )
-        twist = quadratic(deadzone(msg["axes"][self.mappings["twist"]] * self.drive_config["twist"]["multiplier"], 0.1))
-
-        angular = twist + left_right
-
-        # Same as linear but for angular speed
-        angular *= self.max_angular_speed * dampen
-        # Clamp if both twist and left_right are used at the same time
-        if abs(angular) > self.max_angular_speed:
-            angular = copysign(self.max_angular_speed, angular)
-        twist_msg = Twist()
-        twist_msg.linear.x = linear
-        twist_msg.angular.z = angular
-
-        self.twist_pub.publish(twist_msg)
 
         self.send(
             text_data=json.dumps(
                 {
                     "type": "joystick",
-                    "left_right": left_right,
+                    "left_right": msg["axes"][self.mappings["left_right"]],
                     "forward_back": msg["axes"][self.mappings["forward_back"]],
-                    "twist": twist,
-                    "dampen": dampen,
+                    "twist": msg["axes"][self.mappings["twist"]],
+                    "dampen": msg["axes"][self.mappings["dampen"]],
                     "pan": msg["axes"][self.mappings["pan"]],
                     "tilt": msg["axes"][self.mappings["tilt"]],
                 }
@@ -598,6 +591,9 @@ def drive_status_callback(self, msg):
             )
         )
 
+    def cmd_vel_callback(self, msg):
+        self.send(text_data=json.dumps({"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}))
+
     def gps_fix_callback(self, msg):
         self.send(
             text_data=json.dumps(
diff --git a/src/teleoperation/frontend/src/components/AminoBenedict.vue b/src/teleoperation/frontend/src/components/AminoBenedict.vue
index 9d73155d7..a55e288ee 100644
--- a/src/teleoperation/frontend/src/components/AminoBenedict.vue
+++ b/src/teleoperation/frontend/src/components/AminoBenedict.vue
@@ -37,11 +37,6 @@
         :show_name="true"
       />
     </div>
-    <div class="capture sample picture">
-      <div class="d-flex justify-content-end">
-        <button class="btn btn-primary btn-lg cutstom-btn" @click="capturePhoto()">Capture Photo</button>
-      </div>
-    </div>
   </div>
 </template>
 
diff --git a/src/teleoperation/frontend/src/components/ArmControls.vue b/src/teleoperation/frontend/src/components/ArmControls.vue
index f086e00fd..5a0bf132f 100644
--- a/src/teleoperation/frontend/src/components/ArmControls.vue
+++ b/src/teleoperation/frontend/src/components/ArmControls.vue
@@ -98,7 +98,7 @@ import MotorAdjust from './MotorAdjust.vue'
 import LimitSwitch from './LimitSwitch.vue'
 
 // In seconds
-const updateRate = 0.01
+const updateRate = 0.05
 let interval: number | undefined
 
 export default defineComponent({
diff --git a/src/teleoperation/frontend/src/components/AutonRoverMap.vue b/src/teleoperation/frontend/src/components/AutonRoverMap.vue
index 7eb0a26ea..e5d1f41e0 100644
--- a/src/teleoperation/frontend/src/components/AutonRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/AutonRoverMap.vue
@@ -206,6 +206,7 @@ export default {
 
 .wrap {
   align-items: center;
+  width: 100%;
   height: 100%;
   display: grid;
   overflow: hidden;
@@ -218,22 +219,6 @@ export default {
     'controls';
 }
 
-/* .custom-tooltip {
->>>>>>> 467f453fc814fb83532e90412d432c5622b2afcf
-  display: inline-block;
-  margin: 10px 20px;
-  opacity: 1;
-  position: relative;
-}
-
-.custom-tooltip .tooltip-inner {
-  background: #0088cc;
-}
-
-.custom-tooltip.top .tooltip-arrow {
-  border-top-color: #0088cc;
-} */
-
 /* Grid area declarations */
 .map {
   height: 100%;
diff --git a/src/teleoperation/frontend/src/components/AutonTask.vue b/src/teleoperation/frontend/src/components/AutonTask.vue
index 39e0957b0..35018caa2 100644
--- a/src/teleoperation/frontend/src/components/AutonTask.vue
+++ b/src/teleoperation/frontend/src/components/AutonTask.vue
@@ -16,13 +16,13 @@
     </div>
     <div :class="['shadow p-3 rounded data', ledColor]">
       <h2>Nav State: {{ navState }}</h2>
-      <!-- <div style="display: inline-block">
-        <CameraFeed></CameraFeed>
-      </div> -->
       <div style="display: inline-block; vertical-align: top">
         <p style="margin-top: 6px">Joystick Values</p>
         <JoystickValues />
       </div>
+      <div class="d-flex justify-content-end">
+        <CameraFeed :mission="'ZED'" :id="0" :name="'ZED'"></CameraFeed>
+      </div>
       <OdometryReading :odom="odom" />
     </div>
     <div class="shadow p-3 rounded map">
@@ -47,7 +47,7 @@
       </div>
     </div>
     <div class="shadow p-3 rounded cameras">
-      <Cameras :primary="true" :isSA="false"/>
+      <Cameras :primary="true" :isSA="false" :mission="'auton'"/>
     </div>
     <div class="shadow p-3 rounded moteus">
       <DriveMoteusStateTable :moteus-state-data="moteusState" />
@@ -61,8 +61,8 @@ import { mapActions, mapState, mapGetters } from 'vuex'
 import DriveMoteusStateTable from './DriveMoteusStateTable.vue'
 import AutonRoverMap from './AutonRoverMap.vue'
 import AutonWaypointEditor from './AutonWaypointEditor.vue'
-import CameraFeed from './CameraFeed.vue'
 import Cameras from './Cameras.vue'
+import CameraFeed from './CameraFeed.vue'
 import MotorsStatusTable from './MotorsStatusTable.vue'
 import OdometryReading from './OdometryReading.vue'
 import JoystickValues from './JoystickValues.vue'
@@ -78,8 +78,8 @@ export default defineComponent({
     DriveMoteusStateTable,
     AutonRoverMap,
     AutonWaypointEditor,
-    CameraFeed,
     Cameras,
+    CameraFeed,
     MotorsStatusTable,
     OdometryReading,
     JoystickValues,
@@ -87,8 +87,6 @@ export default defineComponent({
     MastGimbalControls
   },
 
-  // add prop where map has the center property and autontask sends it once it gets it
-
   data() {
     return {
       // Default coordinates are at MDRS
@@ -192,15 +190,15 @@ export default defineComponent({
 .wrapper {
   display: grid;
   grid-gap: 10px;
-  grid-template-columns: 40% 20% auto;
+  grid-template-columns: 60% 40%;
   grid-template-rows: repeat(6, auto);
   grid-template-areas:
-    'header header header'
-    'map map waypoints'
-    'data data waypoints'
-    'data data conditions'
-    'moteus moteus moteus'
-    'cameras cameras cameras';
+    'header header'
+    'map waypoints'
+    'data waypoints'
+    'data conditions'
+    'moteus moteus'
+    'cameras cameras';
 
   font-family: sans-serif;
   height: auto;
diff --git a/src/teleoperation/frontend/src/components/AutonWaypointEditor.vue b/src/teleoperation/frontend/src/components/AutonWaypointEditor.vue
index fc8c760c9..f40ba77a9 100644
--- a/src/teleoperation/frontend/src/components/AutonWaypointEditor.vue
+++ b/src/teleoperation/frontend/src/components/AutonWaypointEditor.vue
@@ -71,7 +71,6 @@
           <button class="btn btn-primary" @click="addWaypoint(formatted_odom)">
             Drop Waypoint
           </button>
-          <button class="btn btn-primary" @click="openModal">Competition Waypoint Entry</button>
         </div>
       </div>
       <div class="box">
@@ -80,103 +79,33 @@
           <button class="btn btn-primary" @click="clearWaypoint">Clear Waypoints</button>
         </div>
         <div class="waypoints">
-          <!-- <draggable
-            v-model="storedWaypoints"
-            class="dragArea"
-            draggable=".item'"
-          > -->
           <WaypointItem v-for="(waypoint, i) in storedWaypoints" :key="i" :waypoint="waypoint" :in_route="false"
-            :index="i" @delete="deleteItem($event)" @togglePost="togglePost($event)" @add="addItem($event)" />
-          <!-- </draggable> -->
+            :index="i" @delete="deleteItem($event)"  @add="addItem($event)" />
         </div>
       </div>
     </div>
     <div class="col-wrap" style="left: 50%">
-      <!-- <div class="auton-check"> -->
-      <AutonModeCheckbox ref="autonCheckbox" class="auton-checkbox" :name="autonButtonText" :color="autonButtonColor"
+      <div class="datagrid">
+        <AutonModeCheckbox ref="autonCheckbox" class="auton-checkbox" :name="autonButtonText" :color="autonButtonColor"
         @toggle="toggleAutonMode($event)" />
       <div class="stats">
         <VelocityCommand />
       </div>
       <Checkbox ref="teleopCheckbox" class="teleop-checkbox" :name="'Teleop Controls'"
         @toggle="toggleTeleopMode($event)" />
-      <!-- </div> -->
-      <Checkbox class="stuck-checkbox" name="Stuck" @toggle="roverStuck = !roverStuck"></Checkbox>
-      <h4 class="waypoint-headers">Current Course</h4>
+        </div>
+      <h4 class="waypoint-headers my-3">Current Course</h4>
       <div class="box route">
-        <!-- <draggable v-model="route" class="dragArea" draggable=".item'"> -->
         <WaypointItem v-for="(waypoint, i) in route" :id="id" :key="i" :waypoint="waypoint" :in_route="true" :index="i"
-          :name="name" @delete="deleteItem($event)" @togglePost="togglePost($event)" @add="addItem($event)" />
-        <!-- </draggable> -->
+          :name="name" @delete="deleteItem($event)" @add="addItem($event)" />
       </div>
     </div>
-
-    <div v-if="showModal" @close="showModal = false">
-      <transition name="modal-fade">
-        <div class="modal-backdrop">
-          <div class="modal" role="dialog">
-            <header id="modalTitle" class="modal-header">
-              <h4>Enter your waypoints:</h4>
-              <button type="button" class="btn-close" @click="showModal = false">x</button>
-            </header>
-
-            <section id="modalDescription" class="modal-body">
-              <slot name="body">
-                <div class="modal-odom-format">
-                  <h5>Waypoint format:</h5>
-                  <div class="form-check form-check-inline">
-                    <input v-model="odom_format_in" class="form-check-input" type="radio" id="radioD" value="D" />
-                    <label class="form-check-label" for="radioD">D</label>
-                  </div>
-                  <div class="form-check form-check-inline">
-                    <input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDM" value="DM" />
-                    <label class="form-check-label" for="radioDM">DM</label>
-                  </div>
-                  <div class="form-check form-check-inline">
-                    <input v-model="odom_format_in" class="form-check-input" type="radio" id="radioDMS" value="DMS" />
-                    <label class="form-check-label" for="radioDMS">DMS</label>
-                  </div>
-                </div>
-                <div v-for="(header, index) in compModalHeaders" :key="header" class="comp-modal-inputs">
-                  <h5>{{ header }}</h5>
-                  <input id="lat_deg" v-model.number="compModalLatDeg[index]" type="number" min="-90" max="90" />
-                  <label>º</label>
-                  <input v-if="min_enabled" id="lat_min" v-model.number="compModalLatMin[index]" type="number" min="0"
-                    max="60" />
-                  <label v-if="min_enabled">'</label>
-                  <input v-if="sec_enabled" id="lat_sec" v-model.number="compModalLatSec[index]" type="number" min="0"
-                    max="3600" />
-                  <label v-if="sec_enabled">"</label>
-                  <label>N &nbsp; &nbsp;</label>
-                  <input id="lon_deg" v-model.number="compModalLonDeg[index]" type="number" min="-180" max="180" />
-                  <label>º</label>
-                  <input v-if="min_enabled" id="lon_min" v-model.number="compModalLonMin[index]" type="number" min="0"
-                    max="60" />
-                  <label v-if="min_enabled">'</label>
-                  <input v-if="sec_enabled" id="lon_sec" v-model.number="compModalLonSec[index]" type="number" min="0"
-                    max="3600" />
-                  <label v-if="sec_enabled">"</label>
-                  <label>E</label>
-                </div>
-              </slot>
-            </section>
-
-            <footer class="modal-footer">
-              <button type="button" :disabled="!comp_modal_able_to_submit" @click="submitModal()">
-                Submit
-              </button>
-            </footer>
-          </div>
-        </div>
-      </transition>
-    </div>
   </div>
 </template>
 
 <script lang="ts">
 import AutonModeCheckbox from './AutonModeCheckbox.vue'
 import Checkbox from './Checkbox.vue'
-import draggable from 'vuedraggable'
 import { convertDMS } from '../utils.js'
 import VelocityCommand from './VelocityCommand.vue'
 import WaypointItem from './AutonWaypointItem.vue'
@@ -188,7 +117,6 @@ let stuck_interval: number, auton_publish_interval: number
 
 export default {
   components: {
-    draggable,
     WaypointItem,
     AutonModeCheckbox,
     Checkbox,
@@ -221,24 +149,6 @@ export default {
         }
       },
 
-      showModal: false,
-      compModalHeaders: [
-        'Start',
-        'Waypoint 1',
-        'Waypoint 2',
-        'Post 1',
-        'Post 2',
-        'Post 3',
-        'Mallet',
-        'Water Bottle'
-      ],
-      compModalLatDeg: Array(8).fill(0),
-      compModalLatMin: Array(8).fill(0),
-      compModalLatSec: Array(8).fill(0),
-      compModalLonDeg: Array(8).fill(0),
-      compModalLonMin: Array(8).fill(0),
-      compModalLonSec: Array(8).fill(0),
-
       teleopEnabledCheck: false,
 
       nav_status: {
@@ -268,18 +178,6 @@ export default {
       odom_format: 'odomFormat'
     }),
 
-    comp_modal_able_to_submit: function () {
-      // Ensure that all inputs in modal are valid before submitting
-      return (
-        this.compModalLatDeg.every((val: unknown) => Number.isFinite(val)) &&
-        this.compModalLatMin.every((val: unknown) => Number.isFinite(val)) &&
-        this.compModalLatSec.every((val: unknown) => Number.isFinite(val)) &&
-        this.compModalLonDeg.every((val: unknown) => Number.isFinite(val)) &&
-        this.compModalLonMin.every((val: unknown) => Number.isFinite(val)) &&
-        this.compModalLonSec.every((val: unknown) => Number.isFinite(val))
-      )
-    },
-
     formatted_odom: function () {
       return {
         lat: convertDMS({ d: this.odom.latitude_deg, m: 0, s: 0 }, this.odom_format),
@@ -391,9 +289,6 @@ export default {
     }, 250)
   },
 
-  // mounted: function () {
-  // },
-
   methods: {
     ...mapActions('websocket', ['sendMessage']),
 
@@ -435,79 +330,6 @@ export default {
       }
     },
 
-    openModal: function () {
-      this.showModal = true
-      // Reset compModal Arrays
-      this.compModalLatDeg = Array(8).fill(0)
-      this.compModalLatMin = Array(8).fill(0)
-      this.compModalLatSec = Array(8).fill(0)
-      this.compModalLonDeg = Array(8).fill(0)
-      this.compModalLonMin = Array(8).fill(0)
-      this.compModalLonSec = Array(8).fill(0)
-    },
-
-    submitModal: function () {
-      // TODO: Update this for 2024 Auton Mission Format
-      this.showModal = false
-      // Create lat/lon objects from comp modal arrays
-      const coordinates = this.compModalLatDeg.map((deg: any, i: string | number) => {
-        return {
-          lat: {
-            d: deg,
-            m: this.compModalLatMin[i],
-            s: this.compModalLatSec[i]
-          },
-          lon: {
-            d: this.compModalLonDeg[i],
-            m: this.compModalLonMin[i],
-            s: this.compModalLonSec[i]
-          }
-        }
-      })
-
-      let coord_num = 0
-      let tag_id = 0
-
-      // Start AR tag is always 0.
-      this.storedWaypoints.push({
-        name: 'Start',
-        id: tag_id,
-        lat: convertDMS(coordinates[coord_num].lat, 'D').d,
-        lon: convertDMS(coordinates[coord_num].lon, 'D').d,
-        type: 0,
-        post: false
-      })
-
-      ++coord_num
-      ++tag_id
-
-      // Add Waypoints, which we set as sentinel value -1.
-      for (; coord_num < 4; ++coord_num) {
-        this.storedWaypoints.push({
-          name: 'Waypoint ' + coord_num,
-          id: -1,
-          lat: convertDMS(coordinates[coord_num].lat, 'D').d,
-          lon: convertDMS(coordinates[coord_num].lon, 'D').d,
-          type: 0,
-          post: false
-        })
-      }
-
-      // Add AR Tag Posts with IDs 1-3
-      for (; coord_num < 7; ++coord_num) {
-        this.storedWaypoints.push({
-          name: 'AR Tag Post ' + tag_id,
-          id: tag_id,
-          lat: convertDMS(coordinates[coord_num].lat, 'D').d,
-          lon: convertDMS(coordinates[coord_num].lon, 'D').d,
-          type: 1,
-          post: true
-        })
-
-        ++tag_id
-      }
-    },
-
     deleteItem: function (waypoint: { index: any; in_route: boolean }) {
       if (this.highlightedWaypoint == waypoint.index) {
         this.setHighlightedWaypoint(-1)
@@ -536,14 +358,6 @@ export default {
       }
     },
 
-    togglePost: function (waypoint: { in_route: boolean; index: number }) {
-      if (!waypoint.in_route) {
-        this.storedWaypoints[waypoint.index].post = !this.storedWaypoints[waypoint.index].post
-      } else if (waypoint.in_route) {
-        this.route[waypoint.index].post = !this.route[waypoint.index].post
-      }
-    },
-
     addWaypoint: function (coord: { lat: any; lon: any }) {
       if (this.type == 1 && !this.checkWaypointIDUnique(this.id)) {
         alert('Waypoint ID must be unique')
@@ -588,6 +402,7 @@ export default {
   position: relative;
   display: flex;
   flex-direction: row;
+  width: 100%;
   height: 100%;
   margin: auto;
 }
@@ -611,15 +426,13 @@ export default {
   grid-template-rows: auto auto;
   grid-template-areas:
     'auton-check stats'
-    'teleop-check stuck-check';
+    'teleop-check stats';
   font-family: sans-serif;
-  /* min-height: 16.3vh; */
 }
 
 .waypoint-header {
   display: inline-flex;
   align-items: center;
-  /* height: 100%; */
 }
 
 .waypoint-header button {
@@ -645,46 +458,17 @@ export default {
 }
 
 /* Grid Area Definitions */
-.auton-check {
-  align-content: center;
-  grid-area: auton-check;
-}
-
 .teleop-checkbox {
   grid-area: teleop-check;
-  /* margin-top: -40px; */
-  width: 50%;
-  float: left;
-  clear: both;
+  width: 100%;
 }
 
 .stats {
-  /* margin-top: 10px; */
   grid-area: stats;
-  float: right;
-  width: 50%;
-}
-
-/* .teleop-stuck-btns {
-    width: 100%;
-    clear:both;
-  } */
-
-.stuck-checkbox {
-  /* align-content: center; */
-  grid-area: stuck-check;
-  /* padding-inline: 20px; */
-  width: 50%;
-  float: right;
 }
 
-/* .stuck-check .stuck-checkbox {
-    transform: scale(1.5);
-  } */
-
 .auton-checkbox {
-  float: left;
-  width: 50%;
+  grid-area: auton-check;
 }
 
 .odom {
@@ -699,93 +483,4 @@ export default {
 .add-drop button {
   margin: 10px;
 }
-
-/* Modal Classes */
-/* TODO: Make Modal a Component or set up a package for modals */
-.modal-backdrop {
-  position: fixed;
-  top: 0;
-  bottom: 0;
-  left: 0;
-  right: 0;
-  background-color: rgba(0, 0, 0, 0.3);
-  display: flex;
-  justify-content: center;
-  align-items: center;
-  z-index: 100000;
-}
-
-.modal {
-  background: #ffffff;
-  box-shadow: 2px 2px 20px 1px;
-  overflow-x: auto;
-  display: flex;
-  flex-direction: column;
-  z-index: 10000;
-}
-
-.modal-header,
-.modal-footer {
-  padding: 5px;
-  display: flex;
-}
-
-.modal-header {
-  position: relative;
-  border-bottom: 1px solid #eeeeee;
-  justify-content: space-between;
-}
-
-.modal-footer {
-  border-top: 1px solid #eeeeee;
-  flex-direction: column;
-}
-
-.modal-body {
-  display: flex;
-  flex-direction: column;
-  position: relative;
-  padding: 20px 10px;
-}
-
-.btn-close {
-  position: absolute;
-  top: 0;
-  right: 0;
-  border: none;
-  font-size: 20px;
-  padding: 10px;
-  cursor: pointer;
-  font-weight: bold;
-  color: #4aae9b;
-  background: transparent;
-}
-
-.btn-green {
-  color: white;
-  background: #4aae9b;
-  border: 1px solid #4aae9b;
-  border-radius: 2px;
-}
-
-.modal-fade-enter,
-.modal-fade-leave-to {
-  opacity: 0;
-}
-
-.modal-fade-enter-active,
-.modal-fade-leave-active {
-  transition: opacity 0.5s ease;
-}
-
-.modal-odom-format {
-  display: flex;
-  flex-direction: row;
-  justify-content: center;
-  align-items: center;
-}
-
-.comp-modal-inputs input {
-  width: 150px;
-}
 </style>
diff --git a/src/teleoperation/frontend/src/components/AutonWaypointItem.vue b/src/teleoperation/frontend/src/components/AutonWaypointItem.vue
index f5d1fb65c..139da11e5 100644
--- a/src/teleoperation/frontend/src/components/AutonWaypointItem.vue
+++ b/src/teleoperation/frontend/src/components/AutonWaypointItem.vue
@@ -5,7 +5,7 @@
     </div>
     <div class="row">
       <div class="col text-center">
-        <button class="btn btn-danger" @click="$emit('add', { in_route: in_route, index: index })">
+        <button v-if="!in_route" class="btn btn-danger" @click="$emit('add', { in_route: in_route, index: index })">
           Add
         </button>
         <button
diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index c59f54152..dc88bd1ed 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -221,5 +221,6 @@ export default {
   display: flex;
   align-items: center;
   height: 100%;
+  width: 100%;
 }
 </style>
diff --git a/src/teleoperation/frontend/src/components/CacheControls.vue b/src/teleoperation/frontend/src/components/CacheControls.vue
index d4bf491d3..f346b87d4 100644
--- a/src/teleoperation/frontend/src/components/CacheControls.vue
+++ b/src/teleoperation/frontend/src/components/CacheControls.vue
@@ -124,17 +124,6 @@ export default defineComponent({
       this.positions = Object.values(this.temp_positions).map(
         (obj: any) => (Number(obj.value) * Math.PI) / 180
       )
-
-
-
-
-      //   this.sendMessage({
-      //       type: 'cache_values',
-      //       axes: axes,
-      //       buttons: buttons,
-      //       arm_mode: "position",
-      //       positions: positions
-      //     })
     },
     publishJoystickMessage: function (axes: any, buttons: any, arm_mode: any, positions: any) {
       if (arm_mode != 'arm_disabled') {
diff --git a/src/teleoperation/frontend/src/components/CameraDisplay.vue b/src/teleoperation/frontend/src/components/CameraDisplay.vue
index 961696f3b..532d7b1d5 100644
--- a/src/teleoperation/frontend/src/components/CameraDisplay.vue
+++ b/src/teleoperation/frontend/src/components/CameraDisplay.vue
@@ -1,66 +1,86 @@
 <template>
-    <div class="wrap">
-        <div class="grid-container">
-            <div v-for="i in 4" :key="i" :class="'feed'+i">
-                <div v-if="i <= numStreams">
-                    <CameraFeed :id="streamOrder[i-1]"></CameraFeed>
-                </div>
-            </div>
+  <div class="wrap">
+    <div class="grid-container">
+      <div v-for="i in 4" :key="i" :class="'feed' + i">
+        <div v-if="i <= numStreams">
+          <CameraFeed :mission="mission" :id="getID(i)" :name="names[getID(i)]"></CameraFeed>
         </div>
+      </div>
     </div>
-  </template>
-  
-  <script lang="ts">
-  import { defineComponent } from 'vue'
-  import CameraFeed from '../components/CameraFeed.vue'
-  
-  export default defineComponent({
-    components: {
-        CameraFeed
-    },
-    props: {
-        streamOrder: { //array of camera indices to stream. -1 indicates not used
-            type: Array,
-            required: true
-        }
+  </div>
+</template>
+
+<script lang="ts">
+import { defineComponent } from 'vue'
+import CameraFeed from './CameraFeed.vue'
+
+export default defineComponent({
+  components: {
+    CameraFeed
+  },
+  props: {
+    names: {
+      type: Array,
+      required: true
     },
-    data() {
-      return {
-        numStreams: 0
-      }
+    streamOrder: {
+      //array of camera indices to stream. -1 indicates not used
+      type: Array,
+      required: true
     },
+    mission: {
+      type: String, // {'sa', 'ik', 'auton'}
+      required: true
+    }
+  },
+  data() {
+    return {
+      numStreams: 0
+    }
+  },
+
+  computed: {
+    
+  },
 
-    watch: {
-        streamOrder: {
-            handler: function() {
-                this.numStreams = this.streamOrder.filter((num) => num != -1).length;
-            },
-            deep: true
-        }
+  methods: {
+    getID(i: number) {
+      return this.streamOrder[i - 1]
     },
-  })
-  </script>
-  
-  <style scoped>
-    .grid-container {
-        display: grid;
-        grid-template-columns: repeat(2, 1fr);
-        grid-template-rows: repeat(2, 1fr);
-        grid-gap: 10px; 
-        grid-template-areas: 'feed1 feed2'
-                             'feed3 feed4';
-    }
+  },
 
-    .feed1 {
-        grid-area: feed1;
-    }
-    .feed2 {
-        grid-area: feed2;
-    }
-    .feed3 {
-        grid-area: feed3;
+  watch: {
+    streamOrder: {
+      handler: function () {
+        this.numStreams = this.streamOrder.filter((num) => num != -1).length
+      },
+      deep: true
     }
-    .feed4 {
-        grid-area: feed4;
-    }
-  </style>
\ No newline at end of file
+  }
+})
+</script>
+
+<style scoped>
+.grid-container {
+  display: grid;
+  grid-template-columns: repeat(2, 1fr);
+  grid-template-rows: repeat(2, 1fr);
+  grid-gap: 10px;
+  grid-template-areas:
+    'feed1 feed2'
+    'feed3 feed4';
+}
+
+.feed1 {
+  grid-area: feed1;
+}
+.feed2 {
+  grid-area: feed2;
+}
+.feed3 {
+  grid-area: feed3;
+}
+.feed4 {
+  grid-area: feed4;
+}
+</style>
diff --git a/src/teleoperation/frontend/src/components/CameraFeed.vue b/src/teleoperation/frontend/src/components/CameraFeed.vue
index 098c43a9d..efbce30af 100644
--- a/src/teleoperation/frontend/src/components/CameraFeed.vue
+++ b/src/teleoperation/frontend/src/components/CameraFeed.vue
@@ -1,49 +1,113 @@
 <template>
   <div class="wrap">
-    <canvas :id="'stream-' + id"></canvas>
+    <canvas :id="'stream-' + id" v-on:click="handleClick"></canvas>
+    <div v-if="mission != 'ZED'">
+      <p>{{ name }} • ID: {{ id }}</p>
+      <div class="form-group col-md-4">
+          <label for="quality">Quality:</label>
+          <select
+            v-model="quality"
+            min="0"
+            max="4"
+            class="form-control"
+            id="quality"
+            @change="changeQuality()"
+          >
+            <option v-for="i in 5" :key="i">{{ i - 1 }}</option>
+          </select>
+        </div>
+      <Checkbox v-if="mission === 'ik'" :name="'IK Camera'" v-on:toggle="toggleIKMode" />
+    </div>
   </div>
 </template>
 
 <script lang="ts">
 import { defineComponent } from 'vue'
+import { mapActions } from 'vuex'
+import Checkbox from './Checkbox.vue'
 
 export default defineComponent({
   props: {
+    name: {
+      type: String,
+      required: true
+    },
     id: {
       type: Number,
       required: true
     },
+    mission: {
+      type: String, // {'sa', 'ik', 'auton'}
+      required: true
+    }
   },
+  components: {
+    Checkbox
+  },
+
   data() {
     return {
       ws: null as WebSocket | null,
       isUnmounted: false,
+
+      // IK Mode
+      IKCam: false,
+
+      quality: 2
     }
   },
 
   beforeUnmount: function () {
-    if (this.ws) this.ws.close();
-    this.isUnmounted = true;
+    if (this.ws) this.ws.close()
+    this.isUnmounted = true
   },
 
   mounted: function () {
     this.startStream(this.id)
+    // this.$nextTick(() => {
+    //   const canvas: HTMLCanvasElement = document.getElementById(
+    //     'stream-' + this.id
+    //   ) as HTMLCanvasElement
+    //   const context = canvas.getContext('2d') ?? new CanvasRenderingContext2D()
+    //   context.fillStyle = 'black'
+    //   context.fillRect(0, 0, canvas.width, canvas.height)
+    // })
   },
 
   methods: {
+    ...mapActions('websocket', ['sendMessage']),
+
+    handleClick: function (event: MouseEvent) {
+      if (this.IKCam && this.mission === 'ik') {
+        this.sendMessage({ type: 'start_click_ik', data: { x: event.offsetX, y: event.offsetY } })
+      }
+    },
+    changeQuality: function () {
+      this.sendMessage({
+        type: 'sendCameras',
+        primary: this.mission === 'sa',
+        device: this.id,
+        resolution: parseInt(this.quality)
+      })
+    },
+    
+    toggleIKMode: function () {
+      this.IKCam = !this.IKCam
+    },
+
     startStream(number: Number) {
       // This function is called as a retry when the websocket closes
       // If our component goes away (unmounts) we should stop trying to reconnect
       // Otherwise it may preempt a new stream that already connected
-      if (this.isUnmounted) return;
+      if (this.isUnmounted) return
 
       // Corresponds to H.265
       // I can't figure out what the other values are for... obtained via guess and check
-      const STREAM_CODEC = 'hvc1.1.2.L90.90';
-      const STREAM_WIDTH = 1280;
-      const STREAM_HEIGHT = 720;
-      const STREAM_FPS = 30;
-      const RECONNECT_TIMEOUT_MS = 3000;
+      const STREAM_CODEC = 'hvc1.1.2.L90.90'
+      const STREAM_WIDTH = 1280
+      const STREAM_HEIGHT = 720
+      const STREAM_FPS = 30
+      const RECONNECT_TIMEOUT_MS = 3000
 
       const vertexShaderSource = `
     attribute vec2 xy;
@@ -56,7 +120,7 @@ export default defineComponent({
         // UV coordinates are Y-flipped relative to vertex coordinates.
         uv = vec2((1.0 + xy.x) / 2.0, (1.0 - xy.y) / 2.0);
     }
-    `;
+    `
 
       const fragmentShaderSource = `
     varying highp vec2 uv;
@@ -66,125 +130,134 @@ export default defineComponent({
     void main(void) {
         gl_FragColor = texture2D(texture, uv);
     }
-    `;
+    `
 
-      const canvas = document.getElementById(`stream-${number}`) as HTMLCanvasElement;
-      if (!canvas) return;
+      const canvas = document.getElementById(`stream-${number}`) as HTMLCanvasElement
+      if (!canvas) return
 
       // This WebGL stuff seems like a lot, but it's just setting up a shader that can render a texture
       // This texture is uploaded to whenever we get a frame from the decoder
       // More complex than just using a 2D canvas but *may* have lower latency
 
-      const gl = canvas.getContext('webgl2') as WebGL2RenderingContext;
+      const gl = canvas.getContext('webgl2') as WebGL2RenderingContext
 
-      const vertexShader = gl.createShader(gl.VERTEX_SHADER);
-      if (!vertexShader) throw new Error("Failed to create vertex shader");
+      const vertexShader = gl.createShader(gl.VERTEX_SHADER)
+      if (!vertexShader) throw new Error('Failed to create vertex shader')
 
-      gl.shaderSource(vertexShader, vertexShaderSource);
-      gl.compileShader(vertexShader);
+      gl.shaderSource(vertexShader, vertexShaderSource)
+      gl.compileShader(vertexShader)
       if (!gl.getShaderParameter(vertexShader, gl.COMPILE_STATUS)) {
-        throw gl.getShaderInfoLog(vertexShader);
+        throw gl.getShaderInfoLog(vertexShader)
       }
 
-      const fragmentShader = gl.createShader(gl.FRAGMENT_SHADER);
-      if (!fragmentShader) throw new Error("Failed to create fragment shader");
+      const fragmentShader = gl.createShader(gl.FRAGMENT_SHADER)
+      if (!fragmentShader) throw new Error('Failed to create fragment shader')
 
-      gl.shaderSource(fragmentShader, fragmentShaderSource);
-      gl.compileShader(fragmentShader);
+      gl.shaderSource(fragmentShader, fragmentShaderSource)
+      gl.compileShader(fragmentShader)
       if (!gl.getShaderParameter(fragmentShader, gl.COMPILE_STATUS)) {
-        throw gl.getShaderInfoLog(fragmentShader);
+        throw gl.getShaderInfoLog(fragmentShader)
       }
 
-      const shaderProgram = gl.createProgram();
-      if (!shaderProgram) throw new Error("Failed to create shader program");
+      const shaderProgram = gl.createProgram()
+      if (!shaderProgram) throw new Error('Failed to create shader program')
 
-      gl.attachShader(shaderProgram, vertexShader);
-      gl.attachShader(shaderProgram, fragmentShader);
-      gl.linkProgram(shaderProgram);
+      gl.attachShader(shaderProgram, vertexShader)
+      gl.attachShader(shaderProgram, fragmentShader)
+      gl.linkProgram(shaderProgram)
       if (!gl.getProgramParameter(shaderProgram, gl.LINK_STATUS)) {
-        throw gl.getProgramInfoLog(shaderProgram);
+        throw gl.getProgramInfoLog(shaderProgram)
       }
-      gl.useProgram(shaderProgram);
+      gl.useProgram(shaderProgram)
 
       // Vertex coordinates, clockwise from bottom-left
-      const vertexBuffer = gl.createBuffer();
-      gl.bindBuffer(gl.ARRAY_BUFFER, vertexBuffer);
-      gl.bufferData(gl.ARRAY_BUFFER, new Float32Array([
-        -1.0, -1.0,
-        -1.0, +1.0,
-        +1.0, +1.0,
-        +1.0, -1.0,
-      ]), gl.STATIC_DRAW);
-
-      const xyLocation = gl.getAttribLocation(shaderProgram, "xy");
-      gl.vertexAttribPointer(xyLocation, 2, gl.FLOAT, false, 0, 0);
-      gl.enableVertexAttribArray(xyLocation);
-
-      const texture = gl.createTexture();
-      gl.bindTexture(gl.TEXTURE_2D, texture);
-      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
-      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
-      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
-      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
+      const vertexBuffer = gl.createBuffer()
+      gl.bindBuffer(gl.ARRAY_BUFFER, vertexBuffer)
+      gl.bufferData(
+        gl.ARRAY_BUFFER,
+        new Float32Array([-1.0, -1.0, -1.0, +1.0, +1.0, +1.0, +1.0, -1.0]),
+        gl.STATIC_DRAW
+      )
+
+      const xyLocation = gl.getAttribLocation(shaderProgram, 'xy')
+      gl.vertexAttribPointer(xyLocation, 2, gl.FLOAT, false, 0, 0)
+      gl.enableVertexAttribArray(xyLocation)
+
+      const texture = gl.createTexture()
+      gl.bindTexture(gl.TEXTURE_2D, texture)
+      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST)
+      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST)
+      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE)
+      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE)
 
       const decoder = new VideoDecoder({
         output(frame) {
-          canvas.width = frame.displayWidth;
-          canvas.height = frame.displayHeight;
+          canvas.width = frame.displayWidth
+          canvas.height = frame.displayHeight
           // Upload the frame to the texture
-          gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA, gl.RGBA, gl.UNSIGNED_BYTE, frame);
+          gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA, gl.RGBA, gl.UNSIGNED_BYTE, frame)
           // Close immediately to free up resources
           // Otherwise the stream will halt
-          frame.close();
+          frame.close()
 
-          gl.viewport(0, 0, canvas.width, canvas.height);
-          gl.clearColor(0, 0, 0, 1);
-          gl.clear(gl.COLOR_BUFFER_BIT);
+          gl.viewport(0, 0, canvas.width, canvas.height)
+          gl.clearColor(0, 0, 0, 1)
+          gl.clear(gl.COLOR_BUFFER_BIT)
 
-          gl.drawArrays(gl.TRIANGLE_FAN, 0, 4);
+          gl.drawArrays(gl.TRIANGLE_FAN, 0, 4)
         },
         error(e) {
-          throw e;
-        } 
-      });
+          throw e
+        }
+      })
       // TODO(quintin): Need to know the size ahead of time. Perhaps put in a packet
       decoder.configure({
         codec: STREAM_CODEC,
         codedWidth: STREAM_WIDTH,
-        codedHeight: STREAM_HEIGHT,
+        codedHeight: STREAM_HEIGHT
       })
 
       // TODO(quintin): Set IP too
-      this.ws = new WebSocket(`ws://10.1.0.10:808${1 + this.id}`);
-      this.ws.binaryType = 'arraybuffer';
+      this.ws = new WebSocket(`ws://10.1.0.10:808${1 + this.id}`)
+      this.ws.binaryType = 'arraybuffer'
       this.ws.onopen = () => {
-        console.log(`Connected to server for stream ${number}`);
-      };
+        console.log(`Connected to server for stream ${number}`)
+      }
       this.ws.onclose = () => {
-        console.log(`Disconnected from server for stream ${number}`);
-        decoder.close();
+        console.log(`Disconnected from server for stream ${number}`)
+        decoder.close()
         // This recursive-ness stops after the canvas element is removed
-        setTimeout(() => this.startStream(number), RECONNECT_TIMEOUT_MS);
-      };
+        setTimeout(() => this.startStream(number), RECONNECT_TIMEOUT_MS)
+      }
       this.ws.onerror = () => {
         if (this.ws) this.ws.close()
-      };
+      }
       this.ws.onmessage = (event) => {
         // TODO(quintin): Should the values besides "data" be set better? Parsed from the packet?
-        decoder.decode(new EncodedVideoChunk({
-          type: "key",
-          timestamp: performance.now(),
-          duration: 1000 / STREAM_FPS,
-          data: event.data,
-        }));
-      };
+        decoder.decode(
+          new EncodedVideoChunk({
+            type: 'key',
+            timestamp: performance.now(),
+            duration: 1000 / STREAM_FPS,
+            data: event.data
+          })
+        )
+      }
     }
   }
 })
 </script>
-
-<style scoped>
+<style>
 .wrap {
   width: fit-content;
+  display: flex;
+  flex-direction: column;
+  gap: 5px;
+}
+
+canvas {
+  width:640px;
+  height:480px;
 }
 </style>
+
diff --git a/src/teleoperation/frontend/src/components/CameraInfo.vue b/src/teleoperation/frontend/src/components/CameraInfo.vue
deleted file mode 100644
index 645cc7e3d..000000000
--- a/src/teleoperation/frontend/src/components/CameraInfo.vue
+++ /dev/null
@@ -1,99 +0,0 @@
-<template>
-  <div class="shadow my-1 p-3 rounded">
-    <p>{{ name }} • ID: {{ id }}</p>
-    <div class="row justify-content-md-left">
-      <div class="form-group col-md-4">
-        Stream:
-        <input
-          v-model="selectedStream"
-          type="number"
-          min="0"
-          max="3"
-          class="form-control"
-          @change="swapStream"
-        />
-        <!-- <button class="box" @click="swapStream()">Change stream</button> -->
-      </div>
-      <div class="form-group col-md-4">
-        <label for="quality">Quality:</label>
-        <select
-          v-model="selectedQuality"
-          type="number"
-          min="0"
-          max="4"
-          class="form-control"
-          id="quality"
-          @change="changeQuality()"
-        >
-          <option v-for="i in numQuality" :key="i">{{ i - 1 }}</option>
-        </select>
-      </div>
-    </div>
-  </div>
-</template>
-
-<script lang="ts">
-import { mapActions, mapState } from 'vuex'
-
-export default {
-  props: {
-    name: {
-      type: String,
-      required: true
-    },
-    id: {
-      type: Number,
-      required: true
-    },
-    stream: {
-      type: Number,
-      required: true
-    }
-  },
-  data() {
-    return {
-      selectedQuality: '2',
-      selectedStream: this.stream,
-      prevStream: this.stream,
-      numQuality: 5
-    }
-  },
-
-  watch: {
-    message(msg) {
-      if (msg.type == 'max_resolution') {
-        this.numQuality = msg.res
-      }
-    },
-    stream: function () {
-      this.prevStream = this.stream
-      this.selectedStream = this.stream
-    }
-  },
-
-  computed: {
-    ...mapState('websocket', ['message'])
-  },
-
-  methods: {
-    ...mapActions('websocket', ['sendMessage']),
-
-    changeQuality: function () {
-      this.$emit('newQuality', {
-        index: this.id,
-        value: parseInt(this.selectedQuality)
-      })
-    },
-
-    swapStream() {
-      this.$emit('swapStream', {
-        prev: this.prevStream,
-        newest: this.selectedStream
-      })
-      this.prevStream = this.selectedStream
-    }
-  }
-}
-</script>
-
-<style scoped></style>
diff --git a/src/teleoperation/frontend/src/components/Cameras.vue b/src/teleoperation/frontend/src/components/Cameras.vue
index cc9723947..786f7b60b 100644
--- a/src/teleoperation/frontend/src/components/Cameras.vue
+++ b/src/teleoperation/frontend/src/components/Cameras.vue
@@ -5,45 +5,52 @@
       <div class="row justify-content-md-left">
         <div class="form-group col-md-4">
           <label for="Camera Name">Camera name</label>
-          <input v-model="cameraName" type="message" class="form-control" id="CameraName" placeholder="Enter Camera Name" />
+          <input
+            v-model="cameraName"
+            type="message"
+            class="form-control"
+            id="CameraName"
+            placeholder="Enter Camera Name"
+          />
           <small id="cameraDescrip" class="form-text text-muted"></small>
         </div>
         <div class="form-group col-md-4">
           <label for="Camera ID">Camera ID</label>
-          <input v-model="cameraIdx" type="number" min="0" max="8" class="form-control" id="CameraIdx"
-            placeholder="Camera ID" />
+          <input
+            v-model="cameraIdx"
+            type="number"
+            min="0"
+            max="8"
+            class="form-control"
+            id="CameraIdx"
+            placeholder="Camera ID"
+          />
         </div>
         <button class="btn btn-primary custom-btn" @click="addCameraName()">Change Name</button>
       </div>
       <div class="cameraselection">
-        <CameraSelection :cams-enabled="camsEnabled" :names="names" :capacity="capacity" @cam_index="setCamIndex($event)" />
+        <CameraSelection
+          :cams-enabled="camsEnabled"
+          :names="names"
+          :capacity="capacity"
+          @cam_index="setCamIndex($event)"
+        />
       </div>
     </div>
     <div class="col">
       <h3>All Cameras</h3>
-      Capacity:
-      <div class="row justify-content-md-left">
-        <div class="form-group col-md-4">
-          <input v-model="capacity" type="number" :min="2" :max="streamOrder.length" class="form-control" />
-        </div>
-      </div>
-      <div class="info">
-      <template v-for="i in camsEnabled.length" :key="i">
-        <CameraInfo v-if="camsEnabled[i - 1]" :id="i - 1" :name="names[i - 1]" :stream="getStreamNum(i - 1)"
-          @newQuality="changeQuality($event)" @swapStream="swapStream($event)"></CameraInfo>
-      </template>
-      </div>
       <div class="d-flex justify-content-end" v-if="isSA">
-        <button class="btn btn-primary btn-lg custom-btn" @click="takePanorama()">Take Panorama</button>
+        <button class="btn btn-primary btn-lg custom-btn" @click="takePanorama()">
+          Take Panorama
+        </button>
       </div>
     </div>
-    <CameraDisplay :streamOrder="streamOrder"></CameraDisplay>
+    <CameraDisplay :streamOrder="streamOrder" :mission="mission" :names="names" :qualities="qualities"></CameraDisplay>
   </div>
 </template>
 
 <script lang="ts">
 import CameraSelection from '../components/CameraSelection.vue'
-import CameraInfo from '../components/CameraInfo.vue'
 import CameraDisplay from './CameraDisplay.vue'
 import { mapActions, mapState } from 'vuex'
 import { reactive } from 'vue'
@@ -51,7 +58,6 @@ import { reactive } from 'vue'
 export default {
   components: {
     CameraSelection,
-    CameraInfo,
     CameraDisplay
   },
 
@@ -63,6 +69,10 @@ export default {
     isSA: {
       type: Boolean,
       required: true
+    },
+    mission: {
+      type: String, // {'sa', 'ik', 'other'}
+      required: true
     }
   },
   data() {
@@ -71,7 +81,7 @@ export default {
       names: reactive(Array.from({ length: 9 }, (_, i) => 'Camera: ' + i)),
       cameraIdx: 0,
       cameraName: '',
-      capacity: 2,
+      capacity: 4,
       qualities: reactive(new Array(9).fill(-1)),
       streamOrder: reactive([]),
 
@@ -111,8 +121,6 @@ export default {
     ...mapActions('websocket', ['sendMessage']),
 
     setCamIndex: function (index: number) {
-      console.log(typeof index)
-      console.log(this.camsEnabled[index])
       // every time a button is pressed, it changes cam status and adds/removes from stream
       this.camsEnabled[index] = !this.camsEnabled[index]
       if (this.camsEnabled[index]) this.qualities[index] = 2 //if enabling camera, turn on medium quality
@@ -132,18 +140,6 @@ export default {
       this.names[this.cameraIdx] = this.cameraName
     },
 
-    changeQuality({ index, value }) {
-      this.qualities[index] = value
-      this.sendCameras(index)
-    },
-
-    swapStream({ prev, newest }) {
-      var temp = this.streamOrder[prev]
-      // Vue.set(this.streamOrder, prev, this.streamOrder[newest]);
-      this.streamOrder[prev] = this.streamOrder[newest]
-      this.streamOrder[newest] = temp
-    },
-
     changeStream(index: number) {
       const found = this.streamOrder.includes(index)
       if (found) {
@@ -154,13 +150,8 @@ export default {
       this.sendCameras(index)
     },
 
-    getStreamNum(index: number) {
-      //TODO: check this out
-      return this.streamOrder.indexOf(index)
-    },
-
     takePanorama() {
-      this.sendMessage({ type: "takePanorama" });
+      this.sendMessage({ type: 'takePanorama' })
     }
   }
 }
diff --git a/src/teleoperation/frontend/src/components/Chlorophyll.vue b/src/teleoperation/frontend/src/components/Chlorophyll.vue
index 75860471f..2a47d632d 100644
--- a/src/teleoperation/frontend/src/components/Chlorophyll.vue
+++ b/src/teleoperation/frontend/src/components/Chlorophyll.vue
@@ -19,12 +19,12 @@
         <thead>
           <tr class="table-primary">
             <th>Wavelength</th>
-            <th>610nm</th>
-            <th>680nm</th>
-            <th>730nm</th>
-            <th>760nm</th>
-            <th>810nm</th>
-            <th>860nm</th>
+            <th>450nm - V</th>
+            <th>500nm - B</th>
+            <th>550nm - G</th>
+            <th>570nm - Y</th>
+            <th>600nm - O</th>
+            <th>650nm - R</th>
           </tr>
         </thead>
         <tbody>
@@ -49,7 +49,7 @@
 </template>
 
 <script lang="ts">
-import html2canvas from "html2canvas";
+// import html2canvas from "html2canvas";
 import ToggleButton from "./ToggleButton.vue";
 import { mapState, mapActions } from 'vuex'
 
@@ -90,11 +90,13 @@ export default {
 
     toggle_whiteLEDS: function () {
       this.whiteLEDs_active = !this.whiteLEDs_active;
+      if(this.uvLEDs_active && this.whiteLEDs_active) this.toggle_uvLEDS(); 
       this.sendMessage({ type: 'enable_white_leds', data: this.whiteLEDs_active })
     },
 
     toggle_uvLEDS: function () {
       this.uvLEDs_active = !this.uvLEDs_active;
+      if(this.uvLEDs_active && this.whiteLEDs_active) this.toggle_whiteLEDS(); 
       this.sendMessage({ type: 'enable_uv_leds', data: this.uvLEDs_active })
     },
 
diff --git a/src/teleoperation/frontend/src/components/DMESTask.vue b/src/teleoperation/frontend/src/components/DMESTask.vue
index c8a393a38..b83e5ff9b 100644
--- a/src/teleoperation/frontend/src/components/DMESTask.vue
+++ b/src/teleoperation/frontend/src/components/DMESTask.vue
@@ -22,7 +22,7 @@
     </div>
 
     <div class="shadow p-3 rounded cameras">
-      <Cameras :primary="true" :isSA="false"/>
+      <Cameras :primary="true" :isSA="false" :mission="'ik'" />
     </div>
     <div v-if="type === 'DM'" class="shadow p-3 rounded odom">
       <OdometryReading :odom="odom" />
@@ -69,6 +69,7 @@ import MotorsStatusTable from './MotorsStatusTable.vue'
 import OdometryReading from './OdometryReading.vue'
 import DriveControls from './DriveControls.vue'
 import MastGimbalControls from './MastGimbalControls.vue'
+import type ArmMoteusStateTableVue from './ArmMoteusStateTable.vue'
 
 export default defineComponent({
   components: {
@@ -82,8 +83,8 @@ export default defineComponent({
     MotorsStatusTable,
     OdometryReading,
     DriveControls,
-    MastGimbalControls,
-},
+    MastGimbalControls
+  },
 
   props: {
     type: {
@@ -106,7 +107,8 @@ export default defineComponent({
         name: [] as string[],
         error: [] as string[],
         state: [] as string[],
-        limit_hit: [] as boolean[] /* Each motor stores an array of 4 indicating which limit switches are hit */
+        limit_hit:
+          [] as boolean[] /* Each motor stores an array of 4 indicating which limit switches are hit */
       },
 
       motorData: {
@@ -138,8 +140,7 @@ export default defineComponent({
         this.moteusDrive.state = msg.state
         this.moteusDrive.error = msg.error
         this.moteusDrive.limit_hit = msg.limit_hit
-      } 
-      else if (msg.type == "center_map") {
+      } else if (msg.type == 'center_map') {
         this.odom.latitude_deg = msg.latitude
         this.odom.longitude_deg = msg.longitude
       }
@@ -147,13 +148,21 @@ export default defineComponent({
   },
 
   methods: {
-    ...mapActions('websocket', ['sendMessage'])
+    ...mapActions('websocket', ['sendMessage']),
+    cancelIK: function () {
+      this.sendMessage({ type: 'cancel_click_ik' })
+    }
   },
 
   created: function () {
     window.setTimeout(() => {
-      this.sendMessage({ "type": "center_map" });
+      this.sendMessage({ type: 'center_map' })
     }, 250)
+    window.addEventListener('keydown', (event: KeyboardEvent) => {
+      if (event.key === ' ') {
+        this.cancelIK(event)
+      }
+    })
   }
 })
 </script>
@@ -225,8 +234,8 @@ export default defineComponent({
   cursor: pointer;
 }
 
-.help:hover~.helpscreen,
-.help:hover~.helpimages {
+.help:hover ~ .helpscreen,
+.help:hover ~ .helpimages {
   visibility: visible;
 }
 
diff --git a/src/teleoperation/frontend/src/components/DriveMoteusStateTable.vue b/src/teleoperation/frontend/src/components/DriveMoteusStateTable.vue
index ba1a3800c..632f0f9d5 100644
--- a/src/teleoperation/frontend/src/components/DriveMoteusStateTable.vue
+++ b/src/teleoperation/frontend/src/components/DriveMoteusStateTable.vue
@@ -1,5 +1,5 @@
 <template>
-  <div class="wrap">
+  <div class="wrap mx-2">
     <div>
       <h3>Drive Moteus States</h3>
     </div>
diff --git a/src/teleoperation/frontend/src/components/ISHTask.vue b/src/teleoperation/frontend/src/components/ISHTask.vue
index 1588a798a..8be0a6a1c 100644
--- a/src/teleoperation/frontend/src/components/ISHTask.vue
+++ b/src/teleoperation/frontend/src/components/ISHTask.vue
@@ -9,41 +9,45 @@
         <img src="/help.png" alt="Help" title="Help" width="48" height="48" />
       </div>
       <div class="helpscreen"></div>
-      <div class="helpimages" style="display: flex; align-items: center; justify-content: space-evenly">
-        <img src="/joystick.png" alt="Joystick" title="Joystick Controls"
-          style="width: auto; height: 70%; display: inline-block" />
+      <div
+        class="helpimages"
+        style="display: flex; align-items: center; justify-content: space-evenly"
+      >
+        <img
+          src="/joystick.png"
+          alt="Joystick"
+          title="Joystick Controls"
+          style="width: auto; height: 70%; display: inline-block"
+        />
       </div>
     </div>
     <div class="shadow p-3 rounded siteSelect">
-        <SelectSite @site="onSiteChange" />
+      <SelectSite @site="onSiteChange" />
     </div>
     <div class="shadow p-3 rounded cameras">
-      <Cameras :primary="primary" :isSA="false"/>
+      <Cameras :primary="primary" :isSA="false" :mission="'sa'" />
     </div>
     <div class="shadow p-3 rounded benedicts">
-        <AminoBenedict :site="site" :isAmino="false"/>
-      </div>
-    <div class="shadow p-3 rounded cameras">
-      <Cameras :primary="primary" :isSA="false"/>
+      <AminoBenedict :site="site" :isAmino="false" />
     </div>
     <div class="shadow p-3 rounded cache">
-        <Cache />
+      <Cache />
     </div>
     <div class="shadow p-3 rounded chlorophyll">
-        <Chlorophyll/>
-      </div>
+      <Chlorophyll />
+    </div>
     <div class="shadow p-3 rounded amino">
-        <AminoBenedict :site="site" :isAmino="true"/>
+      <AminoBenedict :site="site" :isAmino="true" />
     </div>
   </div>
 </template>
 
 <script lang="ts">
-  import SelectSite from "./SelectSite.vue";
+import SelectSite from './SelectSite.vue'
 //   import Raman from "./Raman.vue";
-import Cache from "./CacheControls.vue";
-import Chlorophyll from "./Chlorophyll.vue";
-import AminoBenedict from "./AminoBenedict.vue";
+import Cache from './CacheControls.vue'
+import Chlorophyll from './Chlorophyll.vue'
+import AminoBenedict from './AminoBenedict.vue'
 import Cameras from './Cameras.vue'
 //   import CommReadout from "./CommReadout.vue";
 //   import MCUReset from "./MCUReset.vue"
@@ -66,7 +70,6 @@ export default {
     }
   },
 
-
   methods: {
     onSiteChange(value: string) {
       this.site = parseInt(value)
@@ -79,13 +82,14 @@ export default {
 .wrapper {
   display: grid;
   grid-gap: 10px;
-  grid-template-columns: repeat(3, auto);
-  grid-template-rows: repeat(4, auto);
+  grid-template-columns: repeat(2, auto);
+  grid-template-rows: repeat(5, auto);
   grid-template-areas:
-    'header header header'
-    'cameras cameras siteSelect'
-    'cameras cameras benedicts'
-    'chlorophyll cache amino';
+    'header header'
+    'cache siteSelect'
+    'cache benedicts'
+    'chlorophyll amino'
+    'cameras cameras';
   font-family: sans-serif;
   height: auto;
 }
@@ -130,8 +134,8 @@ export default {
   cursor: pointer;
 }
 
-.help:hover~.helpscreen,
-.help:hover~.helpimages {
+.help:hover ~ .helpscreen,
+.help:hover ~ .helpimages {
   visibility: visible;
 }
 
@@ -166,4 +170,4 @@ export default {
 .amino {
   grid-area: amino;
 }
-</style>
\ No newline at end of file
+</style>
diff --git a/src/teleoperation/frontend/src/components/MotorsStatusTable.vue b/src/teleoperation/frontend/src/components/MotorsStatusTable.vue
index a8d347d79..0fe70f4f7 100644
--- a/src/teleoperation/frontend/src/components/MotorsStatusTable.vue
+++ b/src/teleoperation/frontend/src/components/MotorsStatusTable.vue
@@ -1,5 +1,5 @@
 <template>
-  <div class="wrap">
+  <div class="wrap mx-2">
     <div v-if="vertical">
       <div>
         <h3>Motor Data</h3>
diff --git a/src/teleoperation/frontend/src/components/SATask.vue b/src/teleoperation/frontend/src/components/SATask.vue
index 87e041229..45af1e6fa 100644
--- a/src/teleoperation/frontend/src/components/SATask.vue
+++ b/src/teleoperation/frontend/src/components/SATask.vue
@@ -28,7 +28,7 @@
       <BasicWaypointEditor :odom="odom" />
     </div>
     <div class="shadow p-3 rounded cameras">
-      <Cameras :primary="true" :isSA="true" />
+      <Cameras :primary="true" :isSA="true" :mission="'sa'" />
     </div>
     <div class="shadow p-3 rounded soildata">
       <SoilData />
@@ -164,7 +164,7 @@ export default {
   },
 
   computed: {
-    ...mapState('websocket', ['message']),
+    ...mapState('websocket', ['message'])
   },
 
   watch: {
@@ -181,13 +181,11 @@ export default {
         this.moteusState.state = msg.state
         this.moteusState.error = msg.error
         this.moteusState.limit_hit = msg.limit_hit
-      } 
+      }
     }
   },
 
-  created: function () {
-
-  }
+  created: function () {}
 }
 </script>
 
diff --git a/src/teleoperation/frontend/src/components/VelocityCommand.vue b/src/teleoperation/frontend/src/components/VelocityCommand.vue
index 2387e8969..537bb06ed 100644
--- a/src/teleoperation/frontend/src/components/VelocityCommand.vue
+++ b/src/teleoperation/frontend/src/components/VelocityCommand.vue
@@ -7,6 +7,7 @@
 </template>
 
 <script lang="ts">
+import { mapState } from 'vuex'
 export default {
   data() {
     return {
@@ -15,17 +16,17 @@ export default {
     }
   },
 
-  created: function () {
-    //   (this.cmd_vel_sub = new ROSLIB.Topic({
-    //     ros: this.$ros,
-    //     name: "cmd_vel",
-    //     messageType: "geometry_msgs/Twist",
-    //   })),
-    //     this.cmd_vel_sub.subscribe((msg) => {
-    //       // Only use linear x and angular z
-    //       this.linear_x = msg.linear.x;
-    //       this.angular_z = msg.angular.z;
-    //     });
+  computed: {
+    ...mapState('websocket', ['message'])
+  },
+
+  watch: {
+    message(msg) {
+      if(msg.type == 'cmd_vel') {
+        this.linear_x = msg.linear_x;
+        this.angular_z = msg.angular_z;
+      }
+    }
   }
 }
 </script>
diff --git a/src/teleoperation/gui_chromium.sh b/src/teleoperation/gui_chromium.sh
new file mode 100755
index 000000000..3f5e50061
--- /dev/null
+++ b/src/teleoperation/gui_chromium.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+# Our stream is encoded with the HVEC (H.265) codec
+# Chromium currently only supports this when using VA-API hardware acceleration
+# It uses the WebCodecs API to decode
+# You can easily test if your setup works with this URL: https://w3c.github.io/webcodecs/samples/video-decode-display/
+chromium --enable-features=VaapiVideoDecodeLinuxGL --app=http://localhost:8080
diff --git a/src/util/hardware.hpp b/src/util/hardware.hpp
index 29f8d1011..0606545e0 100644
--- a/src/util/hardware.hpp
+++ b/src/util/hardware.hpp
@@ -7,6 +7,7 @@
 #include <cstdint>
 #include <optional>
 #include <type_traits>
+#include <utility>
 
 #include <units/units.hpp>
 
@@ -139,7 +140,7 @@ namespace mrover {
         explicit FDCAN(std::uint8_t source, std::uint8_t destination, FDCAN_HandleTypeDef* fdcan)
             : m_fdcan{fdcan}, m_source{source}, m_destination{destination} {
 
-            // configure_filter();
+            configure_filter();
 
             check(HAL_FDCAN_ActivateNotification(m_fdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) == HAL_OK, Error_Handler);
             check(HAL_FDCAN_Start(m_fdcan) == HAL_OK, Error_Handler);
@@ -150,11 +151,8 @@ namespace mrover {
          * We have limited queue space, so we want to filter out messages that are not intended for us.
          */
         auto configure_filter() const -> void {
-            std::bitset<16> source_bits{m_source};
-            std::bitset<16> destinationBits{m_destination};
-            std::bitset<16> filter = source_bits << 8 | destinationBits;
-
-            std::bitset<15> mask; // 15 lowestc bits set for source and destination, 16th (reply bit) and above should be ignored
+            std::bitset<8> filter{m_source};
+            std::bitset<8> mask; // Check lowest 8 bits to see if destination of message is our source
             mask.set();
 
             FDCAN_FilterTypeDef filter_config{
@@ -162,10 +160,11 @@ namespace mrover {
                     .FilterIndex = 0,
                     .FilterType = FDCAN_FILTER_MASK, // Classic filter: FilterID1 = filter, FilterID2 = mask
                     .FilterConfig = FDCAN_FILTER_TO_RXFIFO0,
-                    .FilterID1 = filter.to_ulong(), // Choose which bits to examine from the incoming ID
-                    .FilterID2 = mask.to_ulong(),   // Ensure that bits that survive the filter match the mask
+                    .FilterID1 = filter.to_ulong(), // Ensure that bits that survive the mask match the filter
+                    .FilterID2 = mask.to_ulong(),   // Mask out bits from the message ID
             };
             check(HAL_FDCAN_ConfigFilter(m_fdcan, &filter_config) == HAL_OK, Error_Handler);
+            check(HAL_FDCAN_ConfigGlobalFilter(m_fdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) == HAL_OK, Error_Handler);
         }
 
         /**
@@ -246,4 +245,8 @@ namespace mrover {
         std::uint8_t m_source{}, m_destination{};
     };
 
+    inline auto cycle_time(TIM_HandleTypeDef* timer, Hertz clock_freq) -> Seconds {
+        return 1 / clock_freq * std::exchange(__HAL_TIM_GetCounter(timer), 0);
+    }
+
 } // namespace mrover
diff --git a/src/util/hardware_adc.hpp b/src/util/hardware_adc.hpp
index 046a6bf71..39c3d82a8 100644
--- a/src/util/hardware_adc.hpp
+++ b/src/util/hardware_adc.hpp
@@ -27,15 +27,13 @@ namespace mrover {
         }
 
         void update() {
-
             HAL_ADC_Start_DMA(m_hadc, reinterpret_cast<uint32_t*>(m_values.data()), m_channels);
-            //			HAL_ADC_Start_DMA(m_hadc, reinterpret_cast<uint32_t*>(m_values.data()), m_channels / (sizeof(uint32_t) / sizeof(uint16_t)));
         }
 
     private:
         ADC_HandleTypeDef* m_hadc;
         uint8_t m_channels;
-        std::vector<uint16_t> m_values;
+        std::vector<uint32_t> m_values;
     };
 
 } // namespace mrover
diff --git a/src/util/hardware_i2c.hpp b/src/util/hardware_i2c.hpp
index e2c4031f1..af1a57945 100644
--- a/src/util/hardware_i2c.hpp
+++ b/src/util/hardware_i2c.hpp
@@ -5,12 +5,14 @@
 
 #include "hardware.hpp"
 
+
 namespace mrover {
 
     constexpr static std::size_t I2C_MAX_FRAME_SIZE = 32;
 
     template<typename T>
-    concept IsI2CSerializable = IsSerializable<T> && sizeof(T) <= I2C_MAX_FRAME_SIZE;
+    concept IsI2CSerializable = IsSerializable<T> &&
+                                sizeof(T) <= I2C_MAX_FRAME_SIZE;
 
     template<IsI2CSerializable TSend, IsI2CSerializable TReceive>
     class SMBus {
@@ -19,8 +21,7 @@ namespace mrover {
     public:
         SMBus() = default;
 
-        explicit SMBus(I2C_HandleTypeDef* hi2c)
-            : m_i2c{hi2c} {}
+        explicit SMBus(I2C_HandleTypeDef* hi2c) : m_i2c{hi2c} {}
 
         void reboot() const {
             HAL_I2C_DeInit(m_i2c);
@@ -28,25 +29,32 @@ namespace mrover {
             HAL_I2C_Init(m_i2c);
         }
 
-        auto blocking_transmit(std::uint16_t address, TSend const& send) -> void {
-            HAL_I2C_Master_Transmit(m_i2c, address << 1, address_of<std::uint8_t>(send), sizeof(send), I2C_TIMEOUT);
+        template<IsI2CSerializable ImmediateTSend = TSend>
+        auto blocking_transmit(std::uint16_t address, ImmediateTSend send) -> void {
+            HAL_I2C_Master_Transmit(m_i2c, address << 1, send,
+                                    sizeof(send), I2C_TIMEOUT);
         }
 
-        auto blocking_receive(std::uint16_t address) -> TReceive {
+        auto blocking_receive(std::uint16_t address) -> std::optional<TReceive> {
             // TODO(quintin): Error handling? Shouldn't this return an optional
-            if (TReceive receive{}; HAL_I2C_Master_Receive(m_i2c, address << 1 | 1, address_of<std::uint8_t>(receive), sizeof(receive), I2C_TIMEOUT) == HAL_OK) {
+            if (TReceive receive{}; HAL_I2C_Master_Receive(m_i2c, address << 1 | 1, address_of<std::uint8_t>(receive), sizeof(receive), I2C_TIMEOUT) != HAL_OK) {
+                return std::nullopt;
+            } else {
                 return receive;
             }
         }
 
         auto blocking_transact(std::uint16_t address, TSend const& send) -> std::optional<TReceive> {
             if (HAL_I2C_Master_Transmit(m_i2c, address << 1, address_of<std::uint8_t>(send), sizeof(send), I2C_TIMEOUT) != HAL_OK) {
-                reboot();
+                // reboot();
                 return std::nullopt;
             }
 
-            //reads from address sent above
-            if (TReceive receive{}; HAL_I2C_Master_Receive(m_i2c, address << 1 | 0b1, address_of<std::uint8_t>(receive), sizeof(receive), I2C_TIMEOUT) != HAL_OK) {
+            // reads from address sent above
+            if (TReceive receive{};
+                HAL_I2C_Master_Receive(m_i2c, address << 1 | 0b1,
+                                       address_of<TReceive>(receive), sizeof(receive),
+                                       I2C_TIMEOUT) != HAL_OK) {
                 reboot();
                 return std::nullopt;
             } else {
@@ -54,19 +62,26 @@ namespace mrover {
             }
         }
 
-        auto async_transmit(const std::uint16_t address, TSend const& send) -> void {
+        auto async_transmit(std::uint16_t const address, TSend send) -> void {
             // TODO: make sure actually sends to absolute encoder
-            check(HAL_I2C_Master_Transmit_DMA(m_i2c, address << 1, address_of<std::uint8_t>(send), sizeof(send)) == HAL_OK, Error_Handler);
+            check(HAL_I2C_Master_Transmit_DMA(m_i2c, address << 1,
+                                              address_of<uint8_t>(send),
+                                              sizeof(send)) == HAL_OK,
+                  Error_Handler);
             while (HAL_I2C_GetState(m_i2c) != HAL_I2C_STATE_READY) {
             }
         }
 
-        auto async_receive(const std::uint16_t address) -> void {
+        auto async_receive(std::uint16_t const address) -> void {
             m_receive_buffer = TReceive{};
-            check(HAL_I2C_Master_Receive_DMA(m_i2c, address << 1 | 1, address_of<std::uint8_t>(m_receive_buffer), sizeof(m_receive_buffer)) == HAL_OK, Error_Handler);
+            check(HAL_I2C_Master_Receive_DMA(m_i2c, address << 1 | 1,
+                                             address_of<uint8_t>(m_receive_buffer),
+                                             sizeof(m_receive_buffer)) == HAL_OK,
+                  Error_Handler);
         }
 
-        // breaks science code: error: 'const class std::any' has no member named 'type'
+        // breaks science code: error: 'const class std::any' has no member named
+        // 'type'
         auto get_buffer() const -> std::optional<TReceive> {
             return m_receive_buffer;
         }
@@ -75,4 +90,5 @@ namespace mrover {
         I2C_HandleTypeDef* m_i2c{};
         TReceive m_receive_buffer{};
     };
+
 } // namespace mrover
diff --git a/src/util/messaging.hpp b/src/util/messaging.hpp
index d3b8bc3cc..3f272c445 100644
--- a/src/util/messaging.hpp
+++ b/src/util/messaging.hpp
@@ -24,9 +24,9 @@ namespace mrover {
     struct ConfigEncoderInfo {
         [[maybe_unused]] std::uint8_t _ignore : 4 {}; // 8 bits - (4 meaningful bits) = 4 ignored bits
         std::uint8_t quad_present : 1 {};
-        std::uint8_t quad_is_forward_polarity : 1 {};
+        std::uint8_t _quad_is_forward_polarity : 1 {};
         std::uint8_t abs_present : 1 {};
-        std::uint8_t abs_is_forward_polarity : 1 {};
+        std::uint8_t _abs_is_forward_polarity : 1 {};
         Ratio quad_ratio;
         Ratio abs_ratio;
         Radians abs_offset;
@@ -65,6 +65,8 @@ namespace mrover {
         ConfigLimitSwitchInfo limit_switch_info;
         ConfigEncoderInfo enc_info;
         Percent max_pwm;
+        [[maybe_unused]] std::uint8_t _ignore : 7 {};
+        std::uint8_t is_inverted : 1 {};
         Radians min_position, max_position;
         RadiansPerSecond min_velocity, max_velocity;
     };
@@ -158,6 +160,10 @@ namespace mrover {
         bool enable_auto_shutoff{};
     };
 
+    struct ConfigThermistorAutoShutOffCommand : BaseCommand {
+        float shutoff_temp{};
+    };
+
     struct HeaterStateInfo {
         [[maybe_unused]] std::uint8_t _ignore : 2 {};
         std::uint8_t on : 6 {};
@@ -183,7 +189,7 @@ namespace mrover {
     };
 
     using InBoundScienceMessage = std::variant<
-            EnableScienceDeviceCommand, HeaterAutoShutOffCommand>;
+            EnableScienceDeviceCommand, HeaterAutoShutOffCommand, ConfigThermistorAutoShutOffCommand>;
 
     using OutBoundScienceMessage = std::variant<
             HeaterStateData, SpectralData, ThermistorData>;
diff --git a/src/util/params_utils.hpp b/src/util/params_utils.hpp
index 5ccafff5c..2a3911fe4 100644
--- a/src/util/params_utils.hpp
+++ b/src/util/params_utils.hpp
@@ -12,6 +12,8 @@
 
 #include "units/units.hpp"
 
+#include "units/units.hpp"
+
 namespace mrover {
 
     // Define a function template for type conversion with a default value
diff --git a/src/util/units/units.hpp b/src/util/units/units.hpp
index 191dd2ce0..29128c3ac 100644
--- a/src/util/units/units.hpp
+++ b/src/util/units/units.hpp
@@ -109,14 +109,14 @@ namespace mrover {
         constexpr Unit(U const& other)
             requires AreExponentsSame<Unit, U>
         {
-            rep = other.get();
+            rep = other.rep;
         }
 
         template<IsUnit U>
         constexpr auto operator=(U const& rhs) -> Unit&
             requires AreExponentsSame<Unit, U>
         {
-            rep = rhs.get();
+            rep = rhs.rep;
             return *this;
         }
     };
@@ -171,6 +171,13 @@ namespace mrover {
     //  Static Operations
     //
 
+    template<IsUnit U>
+    static auto constexpr make_no_conversion(IsArithmetic auto const& other) -> U {
+        U result;
+        result.rep = static_cast<typename U::rep_t>(other);
+        return result;
+    }
+
     namespace detail {
 
         template<IsUnit U, IsRatio Ratio>
@@ -214,6 +221,20 @@ namespace mrover {
             using type = typename compound<typename exp_add<U1, U2>::type, Us...>::type;
         };
 
+        template<IsUnit U>
+        struct strip_conversion {
+            using type = Unit<typename U::rep_t,
+                              std::ratio<1>,
+                              typename U::meter_exp_t,
+                              typename U::kilogram_exp_t,
+                              typename U::second_exp_t,
+                              typename U::radian_exp_t,
+                              typename U::ampere_exp_t,
+                              typename U::kelvin_exp_t,
+                              typename U::byte_exp_t,
+                              typename U::tick_exp_t>;
+        };
+
     } // namespace detail
 
     template<IsUnit U1, IsUnit U2>
@@ -234,59 +255,59 @@ namespace mrover {
 
     template<IsUnit U>
     constexpr auto operator*(IsArithmetic auto const& n, U const& u) {
-        return U{static_cast<typename U::rep_t>(n) * u.rep};
+        return make_no_conversion<U>(n * u.rep);
     }
 
     template<IsUnit U>
     constexpr auto operator*(U const& u, IsArithmetic auto const& n) {
-        return U{u.rep * static_cast<typename U::rep_t>(n)};
+        return make_no_conversion<U>(u.rep * n);
     }
 
     template<IsUnit U1, IsUnit U2>
     constexpr auto operator*(U1 const& u1, U2 const& u2) {
-        return multiply<U1, U2>{u1.rep * u2.rep};
+        return make_no_conversion<multiply<U1, U2>>(u1.rep * u2.rep);
     }
 
     template<IsUnit U>
     constexpr auto operator*=(U& u, IsArithmetic auto const& n) {
-        return u = u * static_cast<typename U::rep_t>(n);
+        return u = u * n;
     }
 
     template<IsUnit U>
     constexpr auto operator/(U const& u, IsArithmetic auto const& n) {
-        return U{u.rep / static_cast<typename U::rep_t>(n)};
+        return make_no_conversion<U>(u.rep / n);
     }
 
     template<IsUnit U>
     constexpr auto operator/(IsArithmetic auto const& n, U const& u) {
-        return inverse<U>{static_cast<typename U::rep_t>(n) / u.rep};
+        return make_no_conversion<inverse<U>>(n / u.rep);
     }
 
     template<IsUnit U1, IsUnit U2>
     constexpr auto operator/(U1 const& u1, U2 const& u2) {
-        return multiply<U1, inverse<U2>>{u1.rep / u2.rep};
+        return make_no_conversion<multiply<U1, inverse<U2>>>(u1.rep / u2.rep);
     }
 
     template<IsUnit U>
     constexpr auto operator/=(U& u, IsArithmetic auto const& n) {
-        return u = u / static_cast<typename U::rep_t>(n);
+        return u = u / n;
     }
 
     template<IsUnit U>
     constexpr auto operator-(U const& u) {
-        return U{-u.rep};
+        return make_no_conversion<U>(-u.rep);
     }
 
     template<IsUnit U1, IsUnit U2>
         requires AreExponentsSame<U1, U2>
     constexpr auto operator+(U1 const& u1, U2 const& u2) {
-        return U1{u1.rep + u2.rep};
+        return make_no_conversion<U1>(u1.rep + u2.rep);
     }
 
     template<IsUnit U1, IsUnit U2>
         requires AreExponentsSame<U1, U2>
     constexpr auto operator-(U1 const& u1, U2 const& u2) {
-        return U1{u1.rep - u2.rep};
+        return make_no_conversion<U1>(u1.rep - u2.rep);
     }
 
     constexpr auto operator+=(IsUnit auto& u1, IsUnit auto const& u2) {
@@ -303,17 +324,24 @@ namespace mrover {
 
     template<IsUnit U>
     constexpr auto sqrt(U const& u) {
-        return root<U>{std::sqrt(u.rep)};
+        return make_no_conversion<root<U>>(std::sqrt(u.rep));
     }
 
     template<IsUnit U>
     constexpr auto abs(U const& u) {
-        return U{std::fabs(u.rep)};
+        return make_no_conversion<U>(std::fabs(u.rep));
+    }
+
+    template<IsUnit U>
+    constexpr auto signum(U const& u) -> int {
+        bool is_zero = std::fabs(u.rep) < std::numeric_limits<typename U::rep_t>::epsilon();
+        return is_zero ? 0 : std::signbit(u.rep) ? -1
+                                                 : 1;
     }
 
     template<IsUnit U>
     constexpr auto fmod(U const& u, typename U::rep_t n) {
-        return U{std::fmod(u.rep, n)};
+        return make_no_conversion<U>(std::fmod(u.rep, n));
     }
 
     //
diff --git a/src/util/units/units_eigen.hpp b/src/util/units/units_eigen.hpp
new file mode 100644
index 000000000..5b1faad7a
--- /dev/null
+++ b/src/util/units/units_eigen.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include "units.hpp"
+
+#include <Eigen/Core>
+
+namespace Eigen {
+
+    template<
+            typename Rep1, typename Conversion1, typename MeterExp1, typename KilogramExp1, typename SecondExp1, typename RadianExp1, typename AmpereExp1, typename KelvinExp1, typename ByteExp1, typename TickExp1,
+            typename Rep2, typename Conversion2, typename MeterExp2, typename KilogramExp2, typename SecondExp2, typename RadianExp2, typename AmpereExp2, typename KelvinExp2, typename ByteExp2, typename TickExp2>
+    struct ScalarBinaryOpTraits<
+            mrover::Unit<Rep1, Conversion1, MeterExp1, KilogramExp1, SecondExp1, RadianExp1, AmpereExp1, KelvinExp1, ByteExp1, TickExp1>,
+            mrover::Unit<Rep2, Conversion2, MeterExp2, KilogramExp2, SecondExp2, RadianExp2, AmpereExp2, KelvinExp2, ByteExp2, TickExp2>,
+            internal::scalar_product_op<
+                    mrover::Unit<Rep1, Conversion1, MeterExp1, KilogramExp1, SecondExp1, RadianExp1, AmpereExp1, KelvinExp1, ByteExp1, TickExp1>,
+                    mrover::Unit<Rep2, Conversion2, MeterExp2, KilogramExp2, SecondExp2, RadianExp2, AmpereExp2, KelvinExp2, ByteExp2, TickExp2>>> {
+        using U1 = mrover::Unit<Rep1, Conversion1, MeterExp1, KilogramExp1, SecondExp1, RadianExp1, AmpereExp1, KelvinExp1, ByteExp1, TickExp1>;
+        using U2 = mrover::Unit<Rep2, Conversion2, MeterExp2, KilogramExp2, SecondExp2, RadianExp2, AmpereExp2, KelvinExp2, ByteExp2, TickExp2>;
+        using ReturnType = mrover::multiply<U1, U2>;
+    };
+
+    template<>
+    struct ScalarBinaryOpTraits<
+            mrover::Dimensionless,
+            mrover::Dimensionless,
+            internal::scalar_product_op<mrover::Dimensionless>> {
+        using ReturnType = mrover::Dimensionless;
+    };
+
+} // namespace Eigen