diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
index d9e058ef..1a73ddfa 100644
--- a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
+++ b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
@@ -89,7 +89,7 @@ TIM_HandleTypeDef* stm32_useTimer(PinMap* timer) {
   handle->hdma[6] = NULL;
   handle->Init.Prescaler = 0;
   handle->Init.Period = ((1 << 16) - 1);
-  handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
+  handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED2;
   handle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
   #if defined(TIM_RCR_REP)
@@ -201,12 +201,13 @@ else inactive. In downcounting, channel 1 is inactive (OC1REF=‘0’) as long a
 TIMx_CNT>TIMx_CCR1 else active (OC1REF=’1’).
 0111: PWM mode 2 - In upcounting, channel 1 is inactive as long as
 TIMx_CNT<TIMx_CCR1 else active. In downcounting, channel 1 is active as long as
-TIMx_CNT>TIMx_CCR1 else inactiv
+TIMx_CNT>TIMx_CCR1 else inactive
  */
 // init high side pin
 TIM_HandleTypeDef* _stm32_initPinPWMHigh(uint32_t PWM_freq, PinMap* timer) {
-  uint32_t polarity = SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW;
+  uint32_t polarity = SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW ;
   TIM_HandleTypeDef* handle = stm32_initPinPWM(PWM_freq, timer, TIM_OCMODE_PWM1, polarity);
+  LL_TIM_OC_EnablePreload(handle->Instance, stm32_getLLChannel(timer));
   return handle;
 }
 
@@ -214,6 +215,7 @@ TIM_HandleTypeDef* _stm32_initPinPWMHigh(uint32_t PWM_freq, PinMap* timer) {
 TIM_HandleTypeDef* _stm32_initPinPWMLow(uint32_t PWM_freq, PinMap* timer) {
   uint32_t polarity = SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW;
   TIM_HandleTypeDef* handle = stm32_initPinPWM(PWM_freq, timer, TIM_OCMODE_PWM2, polarity);
+  LL_TIM_OC_EnablePreload(handle->Instance, stm32_getLLChannel(timer));
   return handle;
 }
 
@@ -322,6 +324,8 @@ STM32DriverParams* _stm32_initHardware6PWMPair(long PWM_freq, float dead_zone, P
   params->timers_handle[paramsPos+1] = handle;
   params->channels[paramsPos] = channel1;
   params->channels[paramsPos+1] = channel2;
+  params->llchannels[paramsPos] = stm32_getLLChannel(pinH);
+  params->llchannels[paramsPos+1] = stm32_getLLChannel(pinL);
   return params;
 }
 
diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.h b/src/drivers/hardware_specific/stm32/stm32_mcu.h
index 5be9be3e..ee0bf569 100644
--- a/src/drivers/hardware_specific/stm32/stm32_mcu.h
+++ b/src/drivers/hardware_specific/stm32/stm32_mcu.h
@@ -3,6 +3,7 @@
 #include "../../hardware_api.h"
 
 #if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
+// TARGET_M4 / TARGET_M7
 
 #ifndef SIMPLEFOC_STM32_MAX_TIMERSUSED
 #define SIMPLEFOC_STM32_MAX_TIMERSUSED 6
diff --git a/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp b/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp
index 576d6a4b..3eef0849 100644
--- a/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp
+++ b/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp
@@ -397,7 +397,9 @@ TIM_HandleTypeDef* stm32_alignTimers(TIM_HandleTypeDef *timers_in[], uint8_t num
 
 
   #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-DRV: Syncronising timers! Timer no. ", numTimers);
+    SimpleFOCDebug::print("STM32-DRV: Synchronising ");
+    SimpleFOCDebug::print(numTimers);
+    SimpleFOCDebug::println(" timers");
   #endif
 
   // see if there is more then 1 timers used for the pwm
@@ -441,7 +443,7 @@ TIM_HandleTypeDef* stm32_alignTimers(TIM_HandleTypeDef *timers_in[], uint8_t num
       LL_TIM_SetSlaveMode(timers[master_index]->Instance, LL_TIM_SLAVEMODE_DISABLED );
       // Configure the master  timer to send a trigger signal on enable 
       LL_TIM_SetTriggerOutput(timers[master_index]->Instance, LL_TIM_TRGO_ENABLE);
-      LL_TIM_EnableMasterSlaveMode(timers[master_index]->Instance);
+      //LL_TIM_EnableMasterSlaveMode(timers[master_index]->Instance);
       
       // configure other timers to get the input trigger from the master timer
       for (int slave_index=0; slave_index < numTimers; slave_index++) {
@@ -451,15 +453,24 @@ TIM_HandleTypeDef* stm32_alignTimers(TIM_HandleTypeDef *timers_in[], uint8_t num
           SIMPLEFOC_DEBUG("STM32-DRV: slave timer: TIM",  stm32_getTimerNumber(timers[slave_index]->Instance));
         #endif
         // Configure the slave timer to be triggered by the master enable signal
-        LL_TIM_SetTriggerInput(timers[slave_index]->Instance, stm32_getInternalSourceTrigger(timers[master_index], timers[slave_index]));
-        #if defined(STM32G4xx)
-        LL_TIM_SetSlaveMode(timers[slave_index]->Instance, LL_TIM_SLAVEMODE_COMBINED_GATEDRESET);
-        #else
+        uint32_t trigger = stm32_getInternalSourceTrigger(timers[master_index], timers[slave_index]);
+        // #ifdef SIMPLEFOC_STM32_DEBUG
+        //   SIMPLEFOC_DEBUG("STM32-DRV: slave trigger ITR ", (int)trigger);
+        // #endif
+        LL_TIM_SetTriggerInput(timers[slave_index]->Instance, trigger);
+        // #if defined(STM32G4xx)
+        // LL_TIM_SetSlaveMode(timers[slave_index]->Instance, LL_TIM_SLAVEMODE_COMBINED_GATEDRESET);
+        // #else
         LL_TIM_SetSlaveMode(timers[slave_index]->Instance, LL_TIM_SLAVEMODE_GATED);
-        #endif
+        // #endif
+      }
+      for (int i=0; i<numTimers; i++) { // resume the timers TODO at the moment the first PWM cycle is not well-aligned
+        stm32_refreshTimer(timers[i]);
+        if (i != master_index)
+          stm32_resumeTimer(timers[i]);
+        SIMPLEFOC_DEBUG("STM32-DRV: slave counter: ", (int)timers[i]->Instance->CNT);
       }
-      for (int i=0; i<numTimers; i++) // resume the timers TODO at the moment the first PWM cycle is not well-aligned
-        stm32_resumeTimer(timers[i]);
+      stm32_resumeTimer(timers[master_index]);
       return timers[master_index];
     }
   }