diff --git a/CM7/Core/Inc/gatedriver.h b/CM7/Core/Inc/gatedriver.h
index cb7867f..48508ea 100644
--- a/CM7/Core/Inc/gatedriver.h
+++ b/CM7/Core/Inc/gatedriver.h
@@ -13,10 +13,13 @@ enum phase{
 };
 
 typedef struct {
-	I2C_HandleTypeDef* hi2c;
+	TIM_HandleTypeDef* tim;
+    osMutexId_t* tim_mutex;
+    TIM_OC_InitTypeDef* pPWMConfig;
+	uint32_t pulses[];
 } gatedriver_t;
 
-gatedriver_t* gatedrv_init(/*TODO: Pass hardware interfaces*/);
+gatedriver_t* gatedrv_init(TIM_HandleTypeDef* tim);
 
 int16_t gatedrv_read_dc_voltage(gatedriver_t* drv);
 
@@ -24,8 +27,8 @@ int16_t gatedrv_read_dc_current(gatedriver_t* drv);
 
 /* Note: This has to atomically write to ALL PWM registers */
 //TODO: mechanism for PWM synchronization
-int16_t gatedrv_write_pwm(gatedriver_t* drv);
+int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[]);
 
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv);
 
-#endif /* GATEDRIVER_H */
\ No newline at end of file
+#endif /* GATEDRIVER_H */
diff --git a/CM7/Core/Src/gatedriver.c b/CM7/Core/Src/gatedriver.c
index d645c76..a5647ff 100644
--- a/CM7/Core/Src/gatedriver.c
+++ b/CM7/Core/Src/gatedriver.c
@@ -5,6 +5,10 @@
 #include <stdlib.h>
 #include <string.h>
 
+#define  PERIOD_VALUE		(uint32_t)(2000 - 1)
+
+const static osMutexAttr_t gatedrv_tim_mutex_attr;
+
 //TODO: Look up STM callback func pointer for ADCs
 static void gatedrv_current_adc_cb(gatedriver_t* drv)
 {
@@ -31,41 +35,43 @@ static void gatedrv_fault_cb(gatedriver_t* drv)
 
 }
 
-gatedriver_t* gatedrv_init()
+gatedriver_t* gatedrv_init(TIM_HandleTypeDef* tim)
 {
-    //TODO: Assert hardware params
-	//assert(hi2c);
-	//assert(accel_adc1);
-	//assert(accel_adc2);
-	//assert(brake_adc);
-	//assert(led_gpio);
-	//assert(watchdog_gpio);
+	/* Assert hardware params */
+	assert(tim);
 
 	/* Create MPU struct */
 	gatedriver_t* gatedriver = malloc(sizeof(gatedriver_t));
 	assert(gatedriver);
 
-    //TODO: Set interfaces
-	//mpu->hi2c		   = hi2c;
-	//mpu->accel_adc1	   = accel_adc1;
-	//mpu->accel_adc2	   = accel_adc2;
-	//mpu->brake_adc	   = brake_adc;
-	//mpu->led_gpio	   = led_gpio;
-	//mpu->watchdog_gpio = watchdog_gpio;
-
-    //TODO: Init hardware
-	/* Initialize the Onboard Temperature Sensor */
-	//mpu->temp_sensor = malloc(sizeof(sht30_t));
-	//assert(mpu->temp_sensor);
-	//mpu->temp_sensor->i2c_handle = hi2c;
-	//assert(!sht30_init(mpu->temp_sensor)); /* This is always connected */
-
-    //TODO: Init Mutexes
+	/* Set interfaces */
+	gatedriver->tim			= tim;
+	
+	/* Init hardware */
+	tim->Init.Prescaler			= 0;
+	tim->Init.Period			= PERIOD_VALUE;
+	tim->Init.ClockDivision		= 0;
+	tim->Init.CounterMode		= TIM_COUNTERMODE_UP;
+	tim->Init.RepetitionCounter	= 0;
+	if(HAL_TIM_PWM_Init(tim) != HAL_OK) {
+		// TODO: how to handle this error?
+	}
+
+	/* Common configuration for all PWM channels */
+	TIM_OC_InitTypeDef PWMConfig;
+	PWMConfig.OCMode       = TIM_OCMODE_PWM1;
+	PWMConfig.OCPolarity   = TIM_OCPOLARITY_HIGH;
+	PWMConfig.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+	PWMConfig.OCIdleState  = TIM_OCIDLESTATE_SET;
+	PWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+	PWMConfig.OCFastMode   = TIM_OCFAST_DISABLE;
+	gatedriver->pPWMConfig = &PWMConfig;
+
 	/* Create Mutexes */
-	//mpu->i2c_mutex = osMutexNew(&mpu_i2c_mutex_attr);
-	//assert(mpu->i2c_mutex);
+	gatedriver->tim_mutex = osMutexNew(&gatedrv_tim_mutex_attr);
+	assert(gatedriver->tim_mutex);
 
-    //TODO: Link interrupts to callbacks
+	//TODO: Link interrupts to callbacks
 
 	return gatedriver;
 }
@@ -81,10 +87,63 @@ int16_t gatedrv_read_dc_current(gatedriver_t* drv)
 }
 
 /* Note: This has to atomically write to ALL PWM registers */
-//TODO: mechanism for PWM synchronization
-int16_t gatedrv_write_pwm(gatedriver_t* drv)
+int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[])
 {
-
+	/* Acquiring mutex lock */
+	osStatus_t mut_stat = osMutexAcquire(drv->tim_mutex, osWaitForever);
+	if (mut_stat) {
+		return mut_stat;
+	}
+
+	/* Computing pulses */
+	uint32_t pulses[3];
+	pulses[0] = (uint32_t) (duty_cycles[0] * PERIOD_VALUE / 100);
+	pulses[1] = (uint32_t) (duty_cycles[1] * PERIOD_VALUE / 100);
+	pulses[2] = (uint32_t) (duty_cycles[2] * PERIOD_VALUE / 100);
+
+	/* Getting PWM channel config */
+	TIM_OC_InitTypeDef* config = drv->pPWMConfig;
+	
+	/* Attempting to set channel 1 */
+	config->Pulse = pulses[0];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1) != HAL_OK)
+	{
+		/* Do nothing and return */
+		return 1;
+	}
+
+	/* Attempting to set channel 2 */
+	config->Pulse = pulses[1];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_2) != HAL_OK)
+	{
+		/* Attempt to revert last channel change and return */
+		config->Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1);
+
+		return 1;
+	}
+
+	/* Attempting to set channel 3 */
+	config->Pulse = pulses[2];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_3) != HAL_OK)
+	{
+		/* Attempt to revert previous channel changes and return */
+		config->Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1);
+
+		config->Pulse = drv->pulses[1];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_2);
+
+		return 1;
+	}
+
+	/* Successful PWM modifications - save configuration, release mutex, and return */
+	drv->pulses[0] = pulses[0];
+	drv->pulses[1] = pulses[1];
+	drv->pulses[2] = pulses[2];
+
+	osMutexRelease(drv->tim_mutex);
+	return 0;
 }
 
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv)