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hello Scott, it’s been a while since I spent some time on this, I added a module for pwm/dir generation, I’ve done some tests and it works quite well, I’ve used the code from your SpindlePwm module, according to the rt1052 reference manual the four channels of timer3 can be mapped to 4 pins of the GPIO1 port so 4 pwmgen instances can be performed, I’ve done tests and it works well, I’ve only viewed waveforms with the oscilloscope because I’m waiting for an h bridge, it should arrive tomorrow hahaha, I hope so hahaha. I don’t think it’s necessary to use DMA but as always tell me what you think, I really appreciate your comments, greetings.