diff --git a/STM32/CM7/Core/Inc/main.h b/STM32/CM7/Core/Inc/main.h
index 7cc1344..6792b7c 100644
--- a/STM32/CM7/Core/Inc/main.h
+++ b/STM32/CM7/Core/Inc/main.h
@@ -43,7 +43,7 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
 extern volatile global_state_t state_g;
-
+extern TIM_HandleTypeDef htim2;
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -51,6 +51,8 @@ extern volatile global_state_t state_g;
 
 /* USER CODE END EM */
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
 
diff --git a/STM32/CM7/Core/Src/main.c b/STM32/CM7/Core/Src/main.c
index b8be124..12f8b09 100644
--- a/STM32/CM7/Core/Src/main.c
+++ b/STM32/CM7/Core/Src/main.c
@@ -330,6 +330,7 @@ static void MX_TIM2_Init(void)
   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_IC_InitTypeDef sConfigIC = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
 
   /* USER CODE BEGIN TIM2_Init 1 */
 
@@ -353,6 +354,10 @@ static void MX_TIM2_Init(void)
   {
     Error_Handler();
   }
+  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
@@ -372,10 +377,20 @@ static void MX_TIM2_Init(void)
   {
     Error_Handler();
   }
+  sConfigOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
   /* USER CODE BEGIN TIM2_Init 2 */
   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
   /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
 
 }
 
diff --git a/STM32/CM7/Core/Src/stm32h7xx_hal_msp.c b/STM32/CM7/Core/Src/stm32h7xx_hal_msp.c
index c190f68..8e721c5 100644
--- a/STM32/CM7/Core/Src/stm32h7xx_hal_msp.c
+++ b/STM32/CM7/Core/Src/stm32h7xx_hal_msp.c
@@ -56,7 +56,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                    /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -117,6 +119,32 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
 }
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM2)
+  {
+    /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+    /* USER CODE END TIM2_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA2     ------> TIM2_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+    /* USER CODE END TIM2_MspPostInit 1 */
+  }
+
+}
 /**
   * @brief TIM_Base MSP De-Initialization
   * This function freeze the hardware resources used in this example
@@ -134,10 +162,11 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     __HAL_RCC_TIM2_CLK_DISABLE();
 
     /**TIM2 GPIO Configuration
+    PA2     ------> TIM2_CH3
     PA1     ------> TIM2_CH2
     PA0     ------> TIM2_CH1
     */
-    HAL_GPIO_DeInit(GPIOA, TIM2_CAM_Pin|TIM2_CRANK_Pin);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|TIM2_CAM_Pin|TIM2_CRANK_Pin);
 
     /* TIM2 interrupt DeInit */
     HAL_NVIC_DisableIRQ(TIM2_IRQn);
diff --git a/STM32/CM7/Core/Src/tasks/crank.c b/STM32/CM7/Core/Src/tasks/crank.c
index 8d74158..c18613c 100644
--- a/STM32/CM7/Core/Src/tasks/crank.c
+++ b/STM32/CM7/Core/Src/tasks/crank.c
@@ -8,9 +8,16 @@
 #include "macros.h"
 #include "main.h"
 #include "ring_buffer.h"
+#include "stm32h747xx.h"
+#include "stm32h7xx.h"
+#include "stm32h7xx_hal_tim.h"
 #include "tasks.h"
 #include <stdint.h>
 
+static inline void TIM2_CH3_SetOCMode(uint32_t oc_mode) {
+  MODIFY_REG(TIM2->CCMR2, TIM_CCMR2_OC3M | TIM_CCMR2_OC3M_3, oc_mode);
+}
+
 void crankHandler(void *argument) {
   for (;;) {
     osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
@@ -18,10 +25,10 @@ void crankHandler(void *argument) {
               ringBufferRead(&state_g.crank_RB, 0));
     // FILTER
     float delta_percentage = ((float)(D1A - D1B)) / D1B;
-    if ( delta_percentage> 0.4||delta_percentage < -0.4) {
-        state_g.sync_state = SYNC_NOT_OK;
-        state_g.crank_state = CYCLE_UNKNOWN;
-        continue;
+    if (delta_percentage > 0.4 || delta_percentage < -0.4) {
+      state_g.sync_state = SYNC_NOT_OK;
+      state_g.crank_state = CYCLE_UNKNOWN;
+      continue;
     }
     // INCREMENT SWITCH
     switch (state_g.crank_state) {
@@ -72,6 +79,8 @@ void crankHandler(void *argument) {
       uint32_t d_spark = d1a * (45 - SPARK_ADVANCE) / 180;
       uint32_t t_spark = CRANK(0) + d_spark;
       // TODO: schedule spark
+      // __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, t_spark);
+      // TIM2_CH3_SetOCMode(t_spark);
     }
   }
 }
diff --git a/STM32/STM32.ioc b/STM32/STM32.ioc
index 23b034e..81170be 100644
--- a/STM32/STM32.ioc
+++ b/STM32/STM32.ioc
@@ -33,18 +33,19 @@ Mcu.Name=STM32H747XIHx
 Mcu.Package=TFBGA240
 Mcu.Pin0=PA14 (JTCK/SWCLK)
 Mcu.Pin1=PC15-OSC32_OUT (OSC32_OUT)
-Mcu.Pin10=VP_SYS_VS_Systick
-Mcu.Pin11=VP_SYS_M4_VS_Systick
-Mcu.Pin12=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin10=VP_FREERTOS_M7_VS_CMSIS_V2
+Mcu.Pin11=VP_SYS_VS_Systick
+Mcu.Pin12=VP_SYS_M4_VS_Systick
+Mcu.Pin13=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin2=PC14-OSC32_IN (OSC32_IN)
 Mcu.Pin3=PA13 (JTMS/SWDIO)
 Mcu.Pin4=PI12
 Mcu.Pin5=PH1-OSC_OUT (PH1)
 Mcu.Pin6=PH0-OSC_IN (PH0)
-Mcu.Pin7=PA1
-Mcu.Pin8=PA0
-Mcu.Pin9=VP_FREERTOS_M7_VS_CMSIS_V2
-Mcu.PinsNb=13
+Mcu.Pin7=PA2
+Mcu.Pin8=PA1
+Mcu.Pin9=PA0
+Mcu.PinsNb=14
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H747XIHx
@@ -94,6 +95,10 @@ PA14\ (JTCK/SWCLK).GPIOParameters=PinAttribute
 PA14\ (JTCK/SWCLK).Locked=true
 PA14\ (JTCK/SWCLK).PinAttribute=CortexM7
 PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
+PA2.GPIOParameters=PinAttribute
+PA2.Locked=true
+PA2.PinAttribute=CortexM7
+PA2.Signal=S_TIM2_CH3
 PC14-OSC32_IN\ (OSC32_IN).GPIOParameters=PinAttribute
 PC14-OSC32_IN\ (OSC32_IN).Locked=true
 PC14-OSC32_IN\ (OSC32_IN).Mode=LSE-External-Oscillator
@@ -245,14 +250,18 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Input_Capture1_from_TI1
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Input_Capture2_from_TI2
 SH.S_TIM2_CH2.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,Output Compare3 CH3
+SH.S_TIM2_CH3.ConfNb=1
 SYS.userName=SYS_M7
 TIM2.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM2.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
+TIM2.Channel-Output\ Compare3\ CH3=TIM_CHANNEL_3
 TIM2.ClockDivision=TIM_CLOCKDIVISION_DIV4
 TIM2.ICFilter_CH1=10
 TIM2.ICFilter_CH2=10
 TIM2.ICPolarity_CH1=TIM_INPUTCHANNELPOLARITY_FALLING
-TIM2.IPParameters=ClockDivision,Prescaler,Channel-Input_Capture1_from_TI1,ICPolarity_CH1,Channel-Input_Capture2_from_TI2,ICFilter_CH2,ICFilter_CH1
+TIM2.IPParameters=ClockDivision,Prescaler,Channel-Input_Capture1_from_TI1,ICPolarity_CH1,Channel-Input_Capture2_from_TI2,ICFilter_CH2,ICFilter_CH1,Channel-Output Compare3 CH3,OCMode_3
+TIM2.OCMode_3=TIM_OCMODE_FORCED_INACTIVE
 TIM2.Prescaler=0
 VP_FREERTOS_M7_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_M7_VS_CMSIS_V2.Signal=FREERTOS_M7_VS_CMSIS_V2