diff --git a/Projects/epwm_test/Start_rfm.pmp b/Projects/epwm_test/Start_rfm.pmp
index 28561d3..9ba808c 100644
Binary files a/Projects/epwm_test/Start_rfm.pmp and b/Projects/epwm_test/Start_rfm.pmp differ
diff --git a/Projects/epwm_test/src/gpio_init.c b/Projects/epwm_test/src/gpio_init.c
index ba4c60d..a742bc0 100644
--- a/Projects/epwm_test/src/gpio_init.c
+++ b/Projects/epwm_test/src/gpio_init.c
@@ -17,6 +17,11 @@ void GpioInit(void)
     GpioCtrlRegs.GPADIR.bit.GPIO1 = 1;
     GpioDataRegs.GPADAT.bit.GPIO0 = 0;
     GpioDataRegs.GPADAT.bit.GPIO1 = 0;
+
+    GpioCtrlRegs.GPAGMUX2.bit.GPIO18 = 0;
+    GpioCtrlRegs.GPAGMUX2.bit.GPIO18 = 0;
+    GpioCtrlRegs.GPADIR.bit.GPIO18 = 0;
+
     EDIS;
 }
 
diff --git a/Projects/epwm_test/src/i2c_init.c b/Projects/epwm_test/src/i2c_init.c
new file mode 100644
index 0000000..9a50b65
--- /dev/null
+++ b/Projects/epwm_test/src/i2c_init.c
@@ -0,0 +1,8 @@
+/*
+ * i2c_init.c
+ *
+ *  Created on: 5 сент. 2023 г.
+ *      Author: seklyuts
+ */
+
+
diff --git a/Projects/epwm_test/src/i2c_init.h b/Projects/epwm_test/src/i2c_init.h
new file mode 100644
index 0000000..2b06b7f
--- /dev/null
+++ b/Projects/epwm_test/src/i2c_init.h
@@ -0,0 +1,13 @@
+/*
+ * i2c_init.h
+ *
+ *  Created on: 5 сент. 2023 г.
+ *      Author: seklyuts
+ */
+
+#ifndef SRC_I2C_INIT_H_
+#define SRC_I2C_INIT_H_
+
+
+
+#endif /* SRC_I2C_INIT_H_ */
diff --git a/Projects/epwm_test/src/pwm_init.c b/Projects/epwm_test/src/pwm_init.c
index ff38d1a..5991e67 100644
--- a/Projects/epwm_test/src/pwm_init.c
+++ b/Projects/epwm_test/src/pwm_init.c
@@ -8,6 +8,7 @@
 #include "f28x_project.h"
 #include "pwm_init.h"
 #include "pwm_interrupts.h"
+#include "gpio_init.h"
 
 #define COUNT_UP          1
 #define COUNT_DOWN        0
@@ -15,6 +16,8 @@
 volatile struct EPWM_REGS * EPwmRegs[17] = {NULL,  &EPwm1Regs, &EPwm2Regs, &EPwm3Regs, &EPwm4Regs, &EPwm5Regs, &EPwm6Regs, &EPwm7Regs, &EPwm8Regs, &EPwm9Regs, &EPwm10Regs, &EPwm11Regs, &EPwm12Regs, &EPwm13Regs, &EPwm14Regs, &EPwm15Regs, &EPwm16Regs};
 Uint32 EPwmTimerIntCount[17];
 Uint16 EPwm_DB_Direction[17];
+volatile Uint16 PwmBrake100 = PERIOD_BRAKE;
+volatile Uint16 PwmMotor100 = PERIOD_MOTOR;
 
 
 void pwm_AutoChange(uint16_t Num)
@@ -57,13 +60,16 @@ void PWMAllInit(void)
     CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =0;
     EDIS;
 
-    uint16_t i;
 
-    for(i = 2; i<=6; i++)
-    {
-        PWMInit(i, PERIOD);
-    }
-    PWMInit(11, PERIOD);
+    PwmBrake100 = PERIOD_BRAKE;
+    PwmMotor100 = PERIOD_MOTOR;
+
+    PWMInit(2, PERIOD_MOTOR, COMPLIMENTARY);
+    PWMInit(3, PERIOD_MOTOR, COMPLIMENTARY);
+    PWMInit(4, PERIOD_MOTOR, COMPLIMENTARY);
+    PWMInit(5, PERIOD_BRAKE, INDEPENDED);
+    PWMInit(6, PERIOD_BRAKE, INDEPENDED);
+//    PWMInit(11, PERIOD, INDEPENDED);
 
     EALLOW;
     CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1;
@@ -73,7 +79,7 @@ void PWMAllInit(void)
 
 void PWMInitGpio(void)
 {
-    InitEPwm1Gpio();
+//    InitEPwm1Gpio();
     InitEPwm2Gpio();
     InitEPwm3Gpio();
     InitEPwm4Gpio();
@@ -119,11 +125,11 @@ void PWMInitInterruptEn(void)
             PieCtrlRegs.PIEIER3.bit.INTx3 = 1;
             PieCtrlRegs.PIEIER3.bit.INTx4 = 1;
             PieCtrlRegs.PIEIER3.bit.INTx5 = 1;
- //           PieCtrlRegs.PIEIER3.bit.INTx6 = 1;
+            PieCtrlRegs.PIEIER3.bit.INTx6 = 1;
 
 }
 
-void PWMInit(uint16_t Num, uint16_t Period)
+void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed)
 {
 
     EPwmRegs[Num]->TBPRD = Period;                       // Set timer period
@@ -146,7 +152,7 @@ void PWMInit(uint16_t Num, uint16_t Period)
     //
     // Setup compare
     //
-    EPwmRegs[Num]->CMPA.bit.CMPA = Period/2;
+
 
     //
     // Set actions
@@ -161,10 +167,22 @@ void PWMInit(uint16_t Num, uint16_t Period)
     // Active Low PWMs - Setup Deadband
     //
     EPwmRegs[Num]->DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
-    EPwmRegs[Num]->DBCTL.bit.POLSEL = DB_ACTV_HIC; //DB_ACTV_HI - independ
+    if(Independed)
+    {
+        EPwmRegs[Num]->CMPA.bit.CMPA = Period;
+        EPwmRegs[Num]->DBCTL.bit.POLSEL = DB_ACTV_HI; //DB_ACTV_HI - independ
+        EPwmRegs[Num]->DBRED.bit.DBRED = 0;
+        EPwmRegs[Num]->DBFED.bit.DBFED = 0;
+    }
+    else
+    {
+        EPwmRegs[Num]->CMPA.bit.CMPA = Period/2;
+        EPwmRegs[Num]->DBCTL.bit.POLSEL = DB_ACTV_HIC;
+        EPwmRegs[Num]->DBRED.bit.DBRED = EPWM_DB;
+        EPwmRegs[Num]->DBFED.bit.DBFED = EPWM_DB;
+    }
     EPwmRegs[Num]->DBCTL.bit.IN_MODE = DBA_ALL;
-    EPwmRegs[Num]->DBRED.bit.DBRED = EPWM_DB;
-    EPwmRegs[Num]->DBFED.bit.DBFED = EPWM_DB;
+
 //    EPwm1_DB_Direction = COUNT_UP;
 
     //
diff --git a/Projects/epwm_test/src/pwm_init.h b/Projects/epwm_test/src/pwm_init.h
index 1009be8..83d0221 100644
--- a/Projects/epwm_test/src/pwm_init.h
+++ b/Projects/epwm_test/src/pwm_init.h
@@ -9,14 +9,17 @@
 #define SRC_PWM_INIT_H_
 
 
-#define PERIOD  5000
-#define EPWM_DB   300
-#define PERIOD_2  PERIOD/2
-#define PWM_MAX     PERIOD - EPWM_DB
+#define PERIOD_BRAKE    500
+#define PERIOD_MOTOR    5000
+#define EPWM_DB         150
+#define PERIOD_2    PERIOD_MOTOR/2
+#define PWM_MAX     PERIOD_MOTOR - EPWM_DB
 #define PWM_MIN     EPWM_DB
+#define INDEPENDED      1
+#define COMPLIMENTARY   0
 
 
-void PWMInit(uint16_t Num, uint16_t Period);
+void PWMInit(uint16_t Num, uint16_t Period, uint16_t Independed);
 void PWMInitGpio(void);
 void PWMInitEnable(void);
 void PWMInitInterruptEn(void);
diff --git a/Projects/epwm_test/src/pwm_interrupts.c b/Projects/epwm_test/src/pwm_interrupts.c
index 1ed3db7..fb8b1d0 100644
--- a/Projects/epwm_test/src/pwm_interrupts.c
+++ b/Projects/epwm_test/src/pwm_interrupts.c
@@ -8,10 +8,12 @@
 #include "f28x_project.h"
 #include "pwm_init.h"
 #include"frm_uart.h"
-
+#include "gpio_init.h"
 
 volatile Uint16 AutoChange = 0;
 volatile Uint16 PWM_out = 0;
+volatile Uint16 PWM_motor = PERIOD_2;
+Uint16 Fault = 0, Fault_fix = 0;
 
 
 //
@@ -19,8 +21,9 @@ volatile Uint16 PWM_out = 0;
 //
 __interrupt void epwm1_isr(void)
 {
-    if(AutoChange) pwm_AutoChange(1);
-    else EPwm1Regs.CMPA.bit.CMPA = PWM_out;
+//    if(AutoChange) pwm_AutoChange(1);
+//    else
+    EPwm1Regs.CMPA.bit.CMPA = PWM_out;
 
     //
     // Clear INT flag for this timer
@@ -38,8 +41,10 @@ __interrupt void epwm1_isr(void)
 //
 __interrupt void epwm2_isr(void)
 {
-    if(AutoChange) pwm_AutoChange(2);
-    else EPwm2Regs.CMPA.bit.CMPA = PWM_out;
+    Gpio0out(1);
+//    if(AutoChange) pwm_AutoChange(2);
+//    else
+    EPwm2Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor;
 //    GpioDataRegs.GPADAT.bit.GPIO0 = 1;
     FMSTR_enable_set();
     //
@@ -52,6 +57,7 @@ __interrupt void epwm2_isr(void)
     //
     PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
 //    GpioDataRegs.GPADAT.bit.GPIO0 = 0;
+    Gpio0out(0);
 }
 
 //
@@ -59,8 +65,9 @@ __interrupt void epwm2_isr(void)
 //
 __interrupt void epwm3_isr(void)
 {
-    if(AutoChange) pwm_AutoChange(3);
-    else EPwm3Regs.CMPA.bit.CMPA = PWM_out;
+//    if(AutoChange) pwm_AutoChange(3);
+//    else
+    EPwm3Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor;
 
     //
     // Clear INT flag for this timer
@@ -76,8 +83,9 @@ __interrupt void epwm3_isr(void)
 
 __interrupt void epwm4_isr(void)
 {
-    if(AutoChange) pwm_AutoChange(4);
-    else EPwm4Regs.CMPA.bit.CMPA = PWM_out;
+//    if(AutoChange) pwm_AutoChange(4);
+//    else
+    EPwm4Regs.CMPA.bit.CMPA = PERIOD_MOTOR - PWM_motor;
     //
     // Clear INT flag for this timer
     //
@@ -91,8 +99,20 @@ __interrupt void epwm4_isr(void)
 
 __interrupt void epwm5_isr(void)
 {
-    if(AutoChange) pwm_AutoChange(5);
-    else EPwm5Regs.CMPA.bit.CMPA = PWM_out;
+    Fault = !GpioDataRegs.GPADAT.bit.GPIO18;
+    if(Fault)
+    {
+        EPwm5Regs.CMPA.bit.CMPA = 0;
+        PWM_out = 0;
+        Fault_fix = 1;
+    }
+    else
+    {
+//        if(AutoChange) pwm_AutoChange(5);
+//        else
+        EPwm5Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
+    }
+
     //
     // Clear INT flag for this timer
     //
@@ -107,8 +127,9 @@ __interrupt void epwm5_isr(void)
 __interrupt void epwm6_isr(void)
 {
 
-    if(AutoChange) pwm_AutoChange(6);
-    else EPwm6Regs.CMPA.bit.CMPA = PWM_out;
+//    if(AutoChange) pwm_AutoChange(6);
+//    else
+    EPwm6Regs.CMPA.bit.CMPA = PERIOD_BRAKE - PWM_out;
     //
     // Clear INT flag for this timer
     //
diff --git a/Projects/epwm_test/src/sdfm.c b/Projects/epwm_test/src/sdfm.c
index fe3f4b8..01f86ad 100644
--- a/Projects/epwm_test/src/sdfm.c
+++ b/Projects/epwm_test/src/sdfm.c
@@ -7,6 +7,7 @@
 
 #include "f28x_project.h"
 #include "f2838x_sdfm_drivers.h"
+#include "gpio_init.h"
 //
 // Defines
 //
@@ -147,7 +148,7 @@ __interrupt void Sdfm1_ISR(void)
 {
     static uint16_t loopCounter1 = 0;
 
-
+    Gpio1out(1);
     //
     // Wait for result from all the filters (SDIFLG)
     //
@@ -195,6 +196,7 @@ __interrupt void Sdfm1_ISR(void)
     // Acknowledge this __interrupt to receive more __interrupts from group 5
     //
     PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
+    Gpio1out(0);
 }
 
 //Sdfm_clearFlagRegister
diff --git a/Projects/epwm_test/src/spi_init.c b/Projects/epwm_test/src/spi_init.c
new file mode 100644
index 0000000..d72276d
--- /dev/null
+++ b/Projects/epwm_test/src/spi_init.c
@@ -0,0 +1,10 @@
+/*
+ * spi_init.c
+ *
+ *  Created on: 5 сент. 2023 г.
+ *      Author: seklyuts
+ */
+
+
+
+
diff --git a/Projects/epwm_test/src/spi_init.h b/Projects/epwm_test/src/spi_init.h
new file mode 100644
index 0000000..0e3e119
--- /dev/null
+++ b/Projects/epwm_test/src/spi_init.h
@@ -0,0 +1,15 @@
+/*
+ * spi_init.h
+ *
+ *  Created on: 5 сент. 2023 г.
+ *      Author: seklyuts
+ */
+
+#ifndef SRC_SPI_INIT_H_
+#define SRC_SPI_INIT_H_
+
+
+
+
+
+#endif /* SRC_SPI_INIT_H_ */