TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_Up;

#ifdef PHASE_PREDICTION
    uint16_t currentTimerCount = motorSpeedTimerOverrun ? TIM13_PERIOD : TIM13->CNT;
    uint16_t predictedPhaseAngle = (((uint32_t)currentTimerCount * 100 * 60) / motorSpeedCount) / 100;
#else
    // half of the hall effect resolution, so that active torque region is centered around max torque point
    uint16_t predictedPhaseAngle = 30; 
#endif


    int16_t quadratureAxisAngle = checkAngleOverflow(directAxisAngle + 90 + predictedPhaseAngle);

TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM1;

TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
/* Set Idle state to Reset for all FETs, so break can be used for neutral */
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

timerPeriod = (uint16_t)(((uint32_t)SystemCoreClock / PWM_FREQ_HZ) - 1);

TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable; 

TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCStruct.TIM_OCNPolarity = TIM_OCNPolarity_High;