Index: firmware/App/Controllers/Heaters.c
===================================================================
diff -u
--- firmware/App/Controllers/Heaters.c	(revision 0)
+++ firmware/App/Controllers/Heaters.c	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -0,0 +1,233 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file Heaters.c
+ *
+ *  @date 21-Apr-2020
+ *  @author Dara Navaei
+ *
+ *  @brief DG heaters controller
+ *
+ **************************************************************************/
+
+#include "etpwm.h"
+
+// TODO for testing only remove
+#include "mibspi.h"
+// TODO for testing only remove
+
+#include "AlarmMgmt.h"
+#include "Common.h"
+#include "Heaters.h"
+#include "TemperatureSensors.h"
+#include "PIControllers.h"
+
+#define MAIN_PRIMARY_HEATER_MAX_DUTY_CYCLE 0.795 ///< Main primary heater (heater A) max duty cycle (79.5%)
+#define SMALL_PRIMAY_HEATER_MAX_DUTY_CYCLE 0.25    ///< Small Primary heater (heater B) max duty cycle (25%)
+#define TRIMMER_HEATER_MAX_DUTY_CYCLE 0.25         ///< Trimmer heater max duty cycle (25%)
+#define HEATERS_MIN_DUTY_CYCLE 0.00              ///< Primary and trimmer heaters min duty cycle (0.00%)
+
+#define PRIMARY_HEATERS_P_COEFFICIENT 0.005
+#define PRIMARY_HEATERS_I_COEFFICIENT 0.001
+
+#define TRIMMER_HEATER_P_COEFFICIENT 0.003
+#define TRIMMER_HEATER_I_COEFFICIENT 0.001
+
+// TODO make these macros functions
+#define INITIAL_DUTY_CYCLE_MAIN_PRIMARY_HEATER  0.50
+#define INITIAL_DUTY_CYCLE_SMALL_PRIMARY_HEATER 0.10
+#define INITIAL_DUTY_CYCLE_TRIMMER_HEATER 0.10
+
+typedef enum heaters_self_tesst_states
+{
+    HEATERS_SELF_TEST_START = 0,
+    HEATERS_SELF_TEST_START_SMALL_PRIMARY_AND_TRIMMER,
+    HEATERS_SELF_TEST_START_MAIN_PRIMARY,
+    HEATERS_SELF_TEST_COMPLETE,
+    NUM_OF_HEATERS_SELF_TEST_STATES
+} HEATERS_SELF_TEST_STATES_T ;
+
+typedef enum primary_heaters_exec_states
+{
+    PRIMARY_HEATERS_EXEC_STATE_OFF = 0,
+    PRIMARY_HEATERS_EXEC_STATE_CONTROL_TO_TARGET,
+    NUM_OF_PRIMARY_HEATERS_EXEC_STATES
+} PRIMARY_HEATERS_EXEC_STATES_T;
+
+typedef enum trimmer_heater_exec_states
+{
+    TRIMMER_HEATER_EXEC_STATE_OFF = 0,
+    TRIMMER_HEATER_EXEC_STATE_CONTROL_TO_TARGET,
+    NUM_OF_TRIMMER_HEATER_EXEC_STATES
+} TRIMMER_HEATER_EXEC_STATES_T;
+
+// Private variables
+
+static SELF_TEST_STATUS_T         heatersSelfTestResult;
+static HEATERS_SELF_TEST_STATES_T heatersSelfTestState;
+static PRIMARY_HEATERS_EXEC_STATES_T      primaryHeatersExecState;
+static TRIMMER_HEATER_EXEC_STATES_T trimmerHeaterExecState;
+static F32 smallPrimaryHeaterPWMDutyCycle;
+static F32 mainPrimaryHeaterPWMDutyCycle;
+static F32 trimmerHeaterPWMDutyCycle;
+
+// private functions prototypes
+
+static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateOff ( void );
+static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateControlToTarget ( void );
+
+static void setMainPrimaryHeaterPWM( F32 pwm );
+static void setSmallPrimaryHeaterPWM ( F32 pwm );
+static void setTrimmerHeaterPWM( F32 pwm );
+
+// TODo GPIO for enabling the primary heater
+#define PRIMARY_HEATER_MIBSPI1_PORT_MASK     0x00000002  // (CS1 - re-purposed as input GPIO)
+#define TOGGLEPRIMAYHEATER()                 ( ( mibspiREG1->PC2 & PRIMARY_HEATER_MIBSPI1_PORT_MASK ) != 0 )
+
+// Public functions
+
+void initHeaters ( void )
+{
+    heatersSelfTestResult   = SELF_TEST_STATUS_IN_PROGRESS;
+    heatersSelfTestState    = HEATERS_SELF_TEST_START;
+    primaryHeatersExecState = PRIMARY_HEATERS_EXEC_STATE_OFF;
+    trimmerHeaterExecState  = TRIMMER_HEATER_EXEC_STATE_OFF;
+    smallPrimaryHeaterPWMDutyCycle = 0.0;
+    mainPrimaryHeaterPWMDutyCycle = 0.0;
+    trimmerHeaterPWMDutyCycle = 0.0;
+}
+
+void startPrimaryHeater ( void )
+{
+    setMainPrimaryHeaterPWM ( 0.5 );
+    setSmallPrimaryHeaterPWM ( 0.25 );
+}
+
+void startTrimmerHeater ( void )
+{
+    setTrimmerHeaterPWM ( INITIAL_DUTY_CYCLE_MAIN_PRIMARY_HEATER );
+}
+
+void stopPrimaryHeater ( void )
+{
+    setMainPrimaryHeaterPWM ( 0.0 );
+    setSmallPrimaryHeaterPWM ( 0.0 );
+}
+
+SELF_TEST_STATUS_T execHeatersSelfTest ( void )
+{
+    switch ( heatersSelfTestState )
+    {
+        case HEATERS_SELF_TEST_START:
+
+            break;
+        case HEATERS_SELF_TEST_START_SMALL_PRIMARY_AND_TRIMMER:
+
+            break;
+        case HEATERS_SELF_TEST_START_MAIN_PRIMARY:
+
+            break;
+        case HEATERS_SELF_TEST_COMPLETE:
+
+            break;
+
+        default:
+
+            SET_ALARM_WITH_2_U32_DATA ( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_HEATERS_SELF_TEST_INVALID_STATE,
+                                        heatersSelfTestState );
+            heatersSelfTestState = HEATERS_SELF_TEST_COMPLETE;
+            break;
+    }
+
+    return heatersSelfTestResult;
+}
+
+
+void execPrimaryHeaters ( void )
+{
+    switch ( primaryHeatersExecState )
+    {
+        case PRIMARY_HEATERS_EXEC_STATE_OFF:
+
+            primaryHeatersExecState = handlePrimaryHeaterStateOff();
+            break;
+
+        case PRIMARY_HEATERS_EXEC_STATE_CONTROL_TO_TARGET:
+
+            primaryHeatersExecState = handlePrimaryHeaterStateControlToTarget();
+            break;
+
+        default:
+
+            SET_ALARM_WITH_2_U32_DATA ( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_HEATERS_PRIMARY_HEATER_EXEC_INVALID_STATE,
+                                        primaryHeatersExecState );
+            primaryHeatersExecState = PRIMARY_HEATERS_EXEC_STATE_CONTROL_TO_TARGET;
+            break;
+    }
+}
+
+void execTrimmerHeater ( void )
+{
+    switch ( trimmerHeaterExecState )
+    {
+        case TRIMMER_HEATER_EXEC_STATE_OFF:
+
+            break;
+
+        case TRIMMER_HEATER_EXEC_STATE_CONTROL_TO_TARGET:
+
+            break;
+
+        default:
+
+            SET_ALARM_WITH_2_U32_DATA ( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_HEATERS_TRIMMER_HEATER_EXEC_INVALID_STATE,
+                                        trimmerHeaterExecState );
+            trimmerHeaterExecState = TRIMMER_HEATER_EXEC_STATE_CONTROL_TO_TARGET;
+            break;
+    }
+}
+
+static void setMainPrimaryHeaterPWM( F32 pwm )
+{
+    etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( pwm * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+}
+
+static void setSmallPrimaryHeaterPWM ( F32 pwm )
+{
+    etpwmSetCmpB( etpwmREG1, (U32)( (S32)( ( pwm * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+}
+static void setTrimmerHeaterPWM( F32 pwm )
+{
+    etpwmSetCmpA( etpwmREG3, (U32)( (S32)( ( pwm * (F32)(etpwmREG3->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+}
+
+static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateOff ( void )
+{
+    PRIMARY_HEATERS_EXEC_STATES_T state = PRIMARY_HEATERS_EXEC_STATE_CONTROL_TO_TARGET;
+
+    return state;
+}
+static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateControlToTarget ( void )
+{
+    PRIMARY_HEATERS_EXEC_STATES_T state = PRIMARY_HEATERS_EXEC_STATE_CONTROL_TO_TARGET;
+
+    // TODO remove this code for testing
+    if ( TOGGLEPRIMAYHEATER() )
+    {
+        startPrimaryHeater();
+    }
+
+    if ( !TOGGLEPRIMAYHEATER() )
+    {
+        stopPrimaryHeater();
+    }
+    // TODO remove this code for testing
+
+
+    return state;
+}
+
Index: firmware/App/Controllers/Heaters.h
===================================================================
diff -u
--- firmware/App/Controllers/Heaters.h	(revision 0)
+++ firmware/App/Controllers/Heaters.h	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -0,0 +1,42 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file Heaters.h
+ *
+ *  @date 21-Apr-2020
+ *  @author Dara Navaei
+ *
+ *  @brief DG heaters controller
+ *
+ **************************************************************************/
+
+#ifndef _HEATERS_H_
+#define _HEATERS_H_
+
+void initHeaters ( void );
+
+void setPrimaryHeaterTargetTemperature ( F32 targetTemp );
+void setTrimmerHeaterTargetTemperature ( F32 targetTemp );
+
+void startPrimaryHeater ( void );
+void startTrimmerHeater ( void );
+
+void stopPrimaryHeater ( void );
+void stopTrimmerHeater ( void );
+
+void execHeatersMonitor ( void ); // Todo decide the functionality
+
+SELF_TEST_STATUS_T execHeatersSelfTest ( void );
+
+void execPrimaryHeaters ( void );
+
+void execTrimmerHeater ( void );
+
+
+
+
+#endif
Index: firmware/App/Controllers/TemperatureSensors.c
===================================================================
diff -u -rdc45f2e844dd200ecde6c3a90196d40354676712 -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/Controllers/TemperatureSensors.c	(.../TemperatureSensors.c)	(revision dc45f2e844dd200ecde6c3a90196d40354676712)
+++ firmware/App/Controllers/TemperatureSensors.c	(.../TemperatureSensors.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -359,7 +359,7 @@
 static void processADCRead (U32 sensorIndex, U32 adc, U32 fpgaError, U32 fpgaCount  )
 {
     U32 error;
-    U32 heatersInternalTemperature;
+    U32 heatersTemperature;
     BOOL isADCValid = FALSE;
     F32 temperature;
 
@@ -415,9 +415,8 @@
             // If the fault is 1, should we check the individuals?
         }
 
-        // Mask off the thermocouple section
-        heatersInternalTemperature = adc &  MASK_OFF_MSW;
-        heatersInternalTemperature = heatersInternalTemperature & MASK_OFF_NIBBLE_LSB;
+        heatersTemperature = adc & 0xFF05;
+        heatersTemperature = (heatersTemperature & 0x7FFF) >> 2;
     }
 
     U32 previousReadCount = readAndErrorCounts [ sensorIndex ] [ READ_AND_ERROR_PREV_FPGA_COUNT_INDEX ];
@@ -486,7 +485,6 @@
         temperatureValues [ sensorIndex ] = temperature;
     }
 }
-
 /*************************************************************************
  * @brief handleSelfTestStart
  * The handleSelfTestStart function waits for the ADC read array to be
Index: firmware/App/DGCommon.h
===================================================================
diff -u -re7f256098e5c23cc621af73b17160a247d40559c -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/DGCommon.h	(.../DGCommon.h)	(revision e7f256098e5c23cc621af73b17160a247d40559c)
+++ firmware/App/DGCommon.h	(.../DGCommon.h)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -28,7 +28,7 @@
 // ********** build switches **********
 
 #ifndef _VECTORCAST_
-//    #define RM46_EVAL_BOARD_TARGET          1
+ //   #define RM46_EVAL_BOARD_TARGET          1
 //    #define SIMULATE_UI                     1
 
     #ifdef DEBUG_ENABLED
Index: firmware/App/Drivers/SafetyShutdown.c
===================================================================
diff -u -rb64c49fdcf2b6d95e61e63f8e258c4e600935bbd -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/Drivers/SafetyShutdown.c	(.../SafetyShutdown.c)	(revision b64c49fdcf2b6d95e61e63f8e258c4e600935bbd)
+++ firmware/App/Drivers/SafetyShutdown.c	(.../SafetyShutdown.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -1,57 +1,54 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
- *
- *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
- *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
- *
- *  @file SafetyShutdown.c
- *
- *  @date 20-Sep-2019
- *  @author S. Nash
- *
- *  @brief Controller for the safety shutdown signal.
- *
- **************************************************************************/
-
-#include "gio.h"
-
-#include "SafetyShutdown.h"
-
-// ********** private definitions **********
-
-// GIO port A pin assignments for pins connected to CPLD
-#define SAFETY_GIO_PORT_PIN         3U
-
-// CPLD pin I/O macros
-#define SET_SAFETY_SHUTDOWN()       gioSetBit( gioPORTB, SAFETY_GIO_PORT_PIN, PIN_SIGNAL_HIGH )
-#define CLR_SAFETY_SHUTDOWN()       gioSetBit( gioPORTB, SAFETY_GIO_PORT_PIN, PIN_SIGNAL_LOW )
-
-/*************************************************************************
- * @brief initSafetyShutdown
- * The initSafetyShutdown function initializes the Buttons module.
- * @details
- * Inputs : none
- * Outputs : Safety Shutdown module signal output set to initial state.
- * @param none
- * @return none
- *************************************************************************/
-void initSafetyShutdown( void )
-{
-    CLR_SAFETY_SHUTDOWN();
-}
-
-/*************************************************************************
- * @brief activateSafetyShutdown
- * The activateSafetyShutdown function activates the safety shutdown signal.
- * @details
- * Inputs : none
- * Outputs : Safety Shutdown signal output set to active state.
- * @param none
- * @return none
- *************************************************************************/
-void activateSafetyShutdown( void )
-{
-    SET_SAFETY_SHUTDOWN();
-}
-
+/**************************************************************************
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file SafetyShutdown.c
+ *
+ *  @date 20-Sep-2019
+ *  @author S. Nash
+ *
+ *  @brief Controller for the safety shutdown signal.
+ *
+ **************************************************************************/
+
+#include "mibspi.h"
+
+#include "SafetyShutdown.h"
+
+// ********** private definitions **********
+
+// pin I/O macros
+#define SAFETY_SPI1_PORT_MASK       0x00000010  // (CS[4] - re-purposed as output GPIO)
+#define SET_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 |= SAFETY_SPI1_PORT_MASK;}
+#define CLR_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 &= ~SAFETY_SPI1_PORT_MASK;}
+
+/*************************************************************************
+ * @brief initSafetyShutdown
+ * The initSafetyShutdown function initializes the Buttons module.
+ * @details
+ * Inputs : none
+ * Outputs : Safety Shutdown module signal output set to initial state.
+ * @param none
+ * @return none
+ *************************************************************************/
+void initSafetyShutdown( void )
+{
+    CLR_SAFETY_SHUTDOWN();
+}
+
+/*************************************************************************
+ * @brief activateSafetyShutdown
+ * The activateSafetyShutdown function activates the safety shutdown signal.
+ * @details
+ * Inputs : none
+ * Outputs : Safety Shutdown signal output set to active state.
+ * @param none
+ * @return none
+ *************************************************************************/
+void activateSafetyShutdown( void )
+{
+    SET_SAFETY_SHUTDOWN();
+}
Index: firmware/App/Drivers/SafetyShutdown.h
===================================================================
diff -u -rb64c49fdcf2b6d95e61e63f8e258c4e600935bbd -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/Drivers/SafetyShutdown.h	(.../SafetyShutdown.h)	(revision b64c49fdcf2b6d95e61e63f8e258c4e600935bbd)
+++ firmware/App/Drivers/SafetyShutdown.h	(.../SafetyShutdown.h)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -1,27 +1,27 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
- *
- *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
- *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
- *
- *  @file SafetyShutdown.h
- *
- *  @date 20-Sep-2019
- *  @author S. Nash
- *
- *  @brief Header file for Safety Shutdown Controller.
- *
- **************************************************************************/
-
-#ifndef __SAFETY_SHUTDOWN_H__
-#define __SAFETY_SHUTDOWN_H__
-
-#include "DGCommon.h"
-
-// ********** public function prototypes **********
-
-void initSafetyShutdown( void );
-void activateSafetyShutdown( void );
-
-#endif
+/**************************************************************************
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file SafetyShutdown.h
+ *
+ *  @date 20-Sep-2019
+ *  @author S. Nash
+ *
+ *  @brief Header file for Safety Shutdown Controller.
+ *
+ **************************************************************************/
+
+#ifndef __SAFETY_SHUTDOWN_H__
+#define __SAFETY_SHUTDOWN_H__
+
+#include "DGCommon.h"
+
+// ********** public function prototypes **********
+
+void initSafetyShutdown( void );
+void activateSafetyShutdown( void );
+
+#endif
Index: firmware/App/Services/AlarmMgmt.h
===================================================================
diff -u -r4ed5e33f4bb86748661754208699e66eca184792 -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision 4ed5e33f4bb86748661754208699e66eca184792)
+++ firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -126,6 +126,9 @@
     SW_FAULT_ID_NVDATAMGMT_INVALID_SELF_TEST_STATE,
     SW_FAULT_ID_TEMPERATURE_SENSORS_INVALID_SELF_TEST_STATE,
     SW_FAULT_ID_TEMPERATURE_SENSORS_EXEC_INVALID_STATE,
+    SW_FAULT_ID_HEATERS_SELF_TEST_INVALID_STATE,
+    SW_FAULT_ID_HEATERS_PRIMARY_HEATER_EXEC_INVALID_STATE,
+    SW_FAULT_ID_HEATERS_TRIMMER_HEATER_EXEC_INVALID_STATE,
     NUM_OF_SW_FAULT_IDS
 } SW_FAULT_ID_T;
 
Index: firmware/App/Tasks/TaskGeneral.c
===================================================================
diff -u -rf267c42c91fd6e22db80e19039b8993582de51e9 -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision f267c42c91fd6e22db80e19039b8993582de51e9)
+++ firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -48,6 +48,8 @@
     // manage data to be transmitted to other sub-systems
     execSystemCommTx();
 
+    execPrimaryHeaters();
+
     // toggle GPIO to indicate general task has executed
 //    gioToggleBit( gioPORTB, 1 );
 }
Index: firmware/DG.dil
===================================================================
diff -u -re7f256098e5c23cc621af73b17160a247d40559c -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/DG.dil	(.../DG.dil)	(revision e7f256098e5c23cc621af73b17160a247d40559c)
+++ firmware/DG.dil	(.../DG.dil)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -1,4 +1,4 @@
-# RM46L852PGE 04/16/20 12:41:08
+# RM46L852PGE 04/23/20 15:20:51
 # 
 ARCH=RM46L852PGE
 # 
@@ -9348,10 +9348,10 @@
 DRIVER.PMM.VAR.PMM_PWR_DOMAIN4_ENABLE.VALUE=0
 DRIVER.PMM.VAR.PMM_PWR_DOMAIN2_ENABLE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_OSHT_WIDTH.VALUE=100
-DRIVER.ETPWM.VAR.ETPWM3_PWMA_PERIOD_REG.VALUE=6888
+DRIVER.ETPWM.VAR.ETPWM3_PWMA_PERIOD_REG.VALUE=64583
 DRIVER.ETPWM.VAR.ETPWM2_PWMA_COMPARE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_PERIOD.VALUE=100.000
-DRIVER.ETPWM.VAR.ETPWM3_PWMA_ACTUALPERIOD.VALUE=66666.667
+DRIVER.ETPWM.VAR.ETPWM3_PWMA_ACTUALPERIOD.VALUE=1250004.839
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_DUTY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD.VALUE=1000
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DEADBAND_OUT.VALUE=0
@@ -9387,10 +9387,10 @@
 DRIVER.ETPWM.VAR.ETPWM1_OSHT4.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_OSHT_WIDTH_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_OSHT5.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM1_PWMA_PERIOD_REG.VALUE=6888
+DRIVER.ETPWM.VAR.ETPWM1_PWMA_PERIOD_REG.VALUE=10333
 DRIVER.ETPWM.VAR.ETPWM1_OSHT6.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_PERIOD.VALUE=100.000
-DRIVER.ETPWM.VAR.ETPWM1_PWMB_PERIOD.VALUE=66667
+DRIVER.ETPWM.VAR.ETPWM1_PWMB_PERIOD.VALUE=100000
 DRIVER.ETPWM.VAR.ETPWM2_CBC.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_ENA.VALUE=1
@@ -9446,7 +9446,7 @@
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM4_CHOPPER_MODE.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM3_CLKDIV_REG.VALUE=0
+DRIVER.ETPWM.VAR.ETPWM3_CLKDIV_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_TB_FREQUENCY.VALUE=110.000
 DRIVER.ETPWM.VAR.ETPWM4_CBC.VALUE=0x0000
@@ -9503,7 +9503,7 @@
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_COMPARE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_OSHT5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM3_DEADBAND_OUTPUT.VALUE=PWMA_PWMB_NIL
-DRIVER.ETPWM.VAR.ETPWM3_PWMB_ACTUALPERIOD.VALUE=66666.667
+DRIVER.ETPWM.VAR.ETPWM3_PWMB_ACTUALPERIOD.VALUE=1250004.839
 DRIVER.ETPWM.VAR.ETPWM2_OSHT6.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM6_CBC.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_DUTYTIME.VALUE=0.000
@@ -9545,7 +9545,7 @@
 DRIVER.ETPWM.VAR.ETPWM2_CBC4.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_OST.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_ACTUALPERIOD.VALUE=77.418
-DRIVER.ETPWM.VAR.ETPWM1_PWMA_ACTUALPERIOD.VALUE=66666.667
+DRIVER.ETPWM.VAR.ETPWM1_PWMA_ACTUALPERIOD.VALUE=100004.839
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_DUTYTIME.VALUE=0.000
 DRIVER.ETPWM.VAR.ETPWM3_FDELAY_SOURCE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_CBC5.VALUE=0x0000
@@ -9562,7 +9562,7 @@
 DRIVER.ETPWM.VAR.ETPWM6_ENABLE_SOCB.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_PWMB_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_ACTUALPERIOD.VALUE=77.418
-DRIVER.ETPWM.VAR.ETPWM3_PWMB_PERIOD.VALUE=66667
+DRIVER.ETPWM.VAR.ETPWM3_PWMB_PERIOD.VALUE=1250000
 DRIVER.ETPWM.VAR.ETPWM1_DEADBAND_OUTPUT.VALUE=PWMA_PWMB_NIL
 DRIVER.ETPWM.VAR.ETPWM4_TB_ACTUALFREQUENCY.VALUE=103.335
 DRIVER.ETPWM.VAR.ETPWM2_OSHT_WIDTH_REG.VALUE=0
@@ -9701,16 +9701,16 @@
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_FALLING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM6_DEADBAND_OUTPUT.VALUE=PWMA_PWMB_NIL
 DRIVER.ETPWM.VAR.ETPWM3_INTERRUPT_PERIOD.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM1_PWMA_PERIOD.VALUE=66667
+DRIVER.ETPWM.VAR.ETPWM1_PWMA_PERIOD.VALUE=100000
 DRIVER.ETPWM.VAR.ETPWM7_RDELAY_SOURCE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_DUTYTIME.VALUE=0.000
 DRIVER.ETPWM.VAR.ETPWM1_TB_FREQUENCY.VALUE=110.000
-DRIVER.ETPWM.VAR.ETPWM3_CLKDIV.VALUE=0
+DRIVER.ETPWM.VAR.ETPWM3_CLKDIV.VALUE=2
 DRIVER.ETPWM.VAR.ETPWM2_PWMA_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_PERIOD_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_CLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM4_SOCA_PERIOD.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM1_PWMB_ACTUALPERIOD.VALUE=66666.667
+DRIVER.ETPWM.VAR.ETPWM1_PWMB_ACTUALPERIOD.VALUE=100004.839
 DRIVER.ETPWM.VAR.ETPWM5_CBC1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_PWMB_RISING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM5_CBC2.VALUE=0x0000
@@ -9769,7 +9769,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_DCBEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CHOPPER_PERIOD.VALUE=100.000
 DRIVER.ETPWM.VAR.ETPWM1_DCBEVT2.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM3_TB_ACTUALFREQUENCY.VALUE=103.335
+DRIVER.ETPWM.VAR.ETPWM3_TB_ACTUALFREQUENCY.VALUE=51.667
 DRIVER.ETPWM.VAR.ETPWM2_ENABLE_SOCA.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_ENABLE_SOCB.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_HSPCLKDIV.VALUE=0
@@ -9799,7 +9799,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_CLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_CHOPPER_DUTY.VALUE=50
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_POLARITY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM3_PWMB_PERIOD_REG.VALUE=6888
+DRIVER.ETPWM.VAR.ETPWM3_PWMB_PERIOD_REG.VALUE=64583
 DRIVER.ETPWM.VAR.ETPWM4_PWMB_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_FDELAY_SOURCE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM4_RDELAY_SOURCE.VALUE=0
@@ -9847,7 +9847,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_COMPARE.VALUE=52
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_PERIOD_REG.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM1_PWMB_PERIOD_REG.VALUE=6888
+DRIVER.ETPWM.VAR.ETPWM1_PWMB_PERIOD_REG.VALUE=10333
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_FALLING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_RISING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM6_BASE.VALUE=0xFCF79100
@@ -9870,7 +9870,7 @@
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_HSPCLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_CHOPPER_DUTY_NEW.VALUE=50.0
-DRIVER.ETPWM.VAR.ETPWM3_PWMA_PERIOD.VALUE=66667
+DRIVER.ETPWM.VAR.ETPWM3_PWMA_PERIOD.VALUE=1250000
 DRIVER.ETPWM.VAR.ETPWM2_TB_FREQUENCY.VALUE=110.000
 DRIVER.ETPWM.VAR.ETPWM6_DCAEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_POLARITY.VALUE=0
Index: firmware/include/etpwm.h
===================================================================
diff -u -re7f256098e5c23cc621af73b17160a247d40559c -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/include/etpwm.h	(.../etpwm.h)	(revision e7f256098e5c23cc621af73b17160a247d40559c)
+++ firmware/include/etpwm.h	(.../etpwm.h)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -468,7 +468,7 @@
 
 #define ETPWM1_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
 #define ETPWM1_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM1_TBPRD_CONFIGVALUE          6888U
+#define ETPWM1_TBPRD_CONFIGVALUE          10333U
 #define ETPWM1_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM1_CMPA_CONFIGVALUE           0U
 #define ETPWM1_CMPB_CONFIGVALUE           0U
@@ -518,9 +518,9 @@
 #define ETPWM2_DCFWINDOW_CONFIGVALUE      0x00000000U
 #define ETPWM2_DCFWINDOWCNT_CONFIGVALUE   0x00000000U
 
-#define ETPWM3_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
+#define ETPWM3_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)1U << 10U))
 #define ETPWM3_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM3_TBPRD_CONFIGVALUE          6888U
+#define ETPWM3_TBPRD_CONFIGVALUE          64583U
 #define ETPWM3_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM3_CMPA_CONFIGVALUE           0U
 #define ETPWM3_CMPB_CONFIGVALUE           0U
Index: firmware/source/etpwm.c
===================================================================
diff -u -re7f256098e5c23cc621af73b17160a247d40559c -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/source/etpwm.c	(.../etpwm.c)	(revision e7f256098e5c23cc621af73b17160a247d40559c)
+++ firmware/source/etpwm.c	(.../etpwm.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -82,7 +82,7 @@
     etpwmREG1->TBCTL |= (uint16)((uint16)0U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG1->TBPRD = 6888U;
+    etpwmREG1->TBPRD = 10333U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG1->CMPA = 0U;
@@ -269,10 +269,10 @@
     etpwmREG3->TBCTL = (uint16)0U << 7U;
 
     /** - Sets time-base clock prescale bits */
-    etpwmREG3->TBCTL |= (uint16)((uint16)0U << 10U);
+    etpwmREG3->TBCTL |= (uint16)((uint16)1U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG3->TBPRD = 6888U;
+    etpwmREG3->TBPRD = 64583U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG3->CMPA = 0U;
Index: firmware/source/sys_main.c
===================================================================
diff -u -r4ed5e33f4bb86748661754208699e66eca184792 -ref5ef16518466c92687b869cabfa16eaf3365dc0
--- firmware/source/sys_main.c	(.../sys_main.c)	(revision 4ed5e33f4bb86748661754208699e66eca184792)
+++ firmware/source/sys_main.c	(.../sys_main.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
@@ -137,6 +137,7 @@
         etpwmSetCmpA( etpwmREG3, 0 );
         etpwmSetCmpA( etpwmREG6, 0 );
         etpwmSetCmpB( etpwmREG6, 0 );
+        etpwmStartTBCLK();
     canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
     sciInit();      // SCI1 used for PC serial interface, SCI2 used for FPGA serial interface
     dmaEnable();    // enable DMA