// Init PWM drive
static void MotorControlPwmInit(void)
{
    GPIO_InitTypeDef   GPIO_InitStruct;
    TIM_OC_InitTypeDef pwmAConfig;
    TIM_OC_InitTypeDef pwmBConfig;
    TIM_OC_InitTypeDef iMeasureConfig;

    // Enable clocks
    __GPIOA_CLK_ENABLE();
    __GPIOB_CLK_ENABLE();
    __TIM1_CLK_ENABLE();

    // First, start by configuring the 4 GPIOs

    // Configure common GPIO settings
    GPIO_InitStruct.Mode  = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull  = GPIO_PULLDOWN;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;

    // TIM1_CH1 GPIO Config
    // PA8
    GPIO_InitStruct.Alternate       = GPIO_AF2_TIM1;
    GPIO_InitStruct.Pin                 = GPIO_PIN_8;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    // TIM1_CH1N GPIO Config
    // PA7
    GPIO_InitStruct.Alternate       = GPIO_AF2_TIM1;
    GPIO_InitStruct.Pin                 = GPIO_PIN_7;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    // TIM1_CH2 GPIO Config
    // PA9
    GPIO_InitStruct.Alternate       = GPIO_AF2_TIM1;
    GPIO_InitStruct.Pin                 = GPIO_PIN_9;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    // TIM1_CH2N GPIO Config
    // PB0
    GPIO_InitStruct.Alternate       = GPIO_AF2_TIM1;
    GPIO_InitStruct.Pin                 = GPIO_PIN_0;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    // Configure the timer
    pwmOutTimer.Instance                = TIM1;

    pwmOutTimer.Init.ClockDivision  = TIM_CLOCKDIVISION_DIV1;
    pwmOutTimer.Init.CounterMode        = TIM_COUNTERMODE_UP;
    pwmOutTimer.Init.Period                 = MOTOR_CONTROL_PWM_PERIOD;

    // Commit the timer
    HAL_TIM_PWM_Init(&pwmOutTimer);

    // Now, start configuring the two PWM channels

    // PWM A
    pwmAConfig.OCMode                   = TIM_OCMODE_PWM1;
    pwmAConfig.OCFastMode           = TIM_OCFAST_DISABLE;
    pwmAConfig.OCIdleState      = TIM_OCIDLESTATE_SET;
    pwmAConfig.OCNIdleState     = TIM_OCNIDLESTATE_RESET;
    pwmAConfig.OCPolarity           = TIM_OCPOLARITY_HIGH;
    pwmAConfig.OCNPolarity      = TIM_OCNPOLARITY_HIGH;
    pwmAConfig.Pulse                    = 0;

    // PWM B
    pwmBConfig.OCMode                   = TIM_OCMODE_PWM1;
    pwmBConfig.OCFastMode           = TIM_OCFAST_DISABLE;
    pwmBConfig.OCIdleState      = TIM_OCIDLESTATE_SET;
    pwmBConfig.OCNIdleState     = TIM_OCNIDLESTATE_RESET;
    pwmBConfig.OCPolarity           = TIM_OCPOLARITY_HIGH;
    pwmBConfig.OCNPolarity      = TIM_OCNPOLARITY_HIGH;
    pwmBConfig.Pulse                    = 0;

    // i measure
    iMeasureConfig.OCMode               = TIM_OCMODE_PWM1;
    iMeasureConfig.OCFastMode       = TIM_OCFAST_DISABLE;
    iMeasureConfig.OCIdleState  = TIM_OCIDLESTATE_SET;
    iMeasureConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
    iMeasureConfig.OCPolarity       = TIM_OCPOLARITY_HIGH;
    iMeasureConfig.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
    iMeasureConfig.Pulse                = 0;

    // Commit pwmA config
    HAL_TIM_PWM_ConfigChannel(&pwmOutTimer, &pwmAConfig, TIM_CHANNEL_1);

    // Commit pwmB config
    HAL_TIM_PWM_ConfigChannel(&pwmOutTimer, &pwmBConfig, TIM_CHANNEL_2);

    // Commit imeasure config
    HAL_TIM_PWM_ConfigChannel(&pwmOutTimer, &iMeasureConfig, TIM_CHANNEL_4);

    // Configure for deadtime
    TIM_BreakDeadTimeConfigTypeDef TIM_BreakDeadTimeConfig;

    TIM_BreakDeadTimeConfig.BreakState       = TIM_BREAK_DISABLE;
    TIM_BreakDeadTimeConfig.DeadTime         = 50; // Rob recommends 50
    TIM_BreakDeadTimeConfig.OffStateRunMode  = TIM_OSSR_ENABLE;
    TIM_BreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
    TIM_BreakDeadTimeConfig.LockLevel        = TIM_LOCKLEVEL_1;
    TIM_BreakDeadTimeConfig.BreakPolarity    = TIM_BREAKPOLARITY_HIGH;
    TIM_BreakDeadTimeConfig.AutomaticOutput  = TIM_AUTOMATICOUTPUT_ENABLE;

    // Commit the break/deadtime config
    HAL_TIMEx_ConfigBreakDeadTime(&pwmOutTimer, &TIM_BreakDeadTimeConfig);
}