Hi@Chenxu1
It can read and test AN5303 and its provided bare-metal code.
https://www.nxp.com/docs/en/application-note/AN5303.pdf
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These are some steps I recorded during my previous testing, for your reference.
I set up complementary PWM mode and inserted a 2µs dead time (I forgot to save the complete project, but the modification is very simple).
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