diff --git a/Src/adc.c b/Src/adc.c
index 00024a98..6466574d 100644
--- a/Src/adc.c
+++ b/Src/adc.c
@@ -49,13 +49,22 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "adc.h"
-
 #include "gpio.h"
 
 /* USER CODE BEGIN 0 */
+#include "boards.h"
+#include "configuration.h"
 
+#if MB(ODRIVE_V3_3)
+#include "adc_ODRIVE_V3_3.c"
+#elif MB(ODRIVE_V3_2)
+#include "adc_ODRIVE_V3_2.c"
+#elif MB(ODRIVE_V3_1)
+#include "adc_ODRIVE_V3_2.c"
+#else
 /* USER CODE END 0 */
 
+
 ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc2;
 ADC_HandleTypeDef hadc3;
@@ -436,6 +445,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
 } 
 
 /* USER CODE BEGIN 1 */
+#endif  // END ADC Include
 
 float read_ADC_volts(ADC_HandleTypeDef* hadc, uint8_t injected_rank) {
     uint32_t ADCValue;
diff --git a/Src/adc_ODRIVE_V3_2.c b/Src/adc_ODRIVE_V3_2.c
new file mode 100644
index 00000000..2496df7f
--- /dev/null
+++ b/Src/adc_ODRIVE_V3_2.c
@@ -0,0 +1,379 @@
+
+ADC_HandleTypeDef hadc1;
+ADC_HandleTypeDef hadc2;
+ADC_HandleTypeDef hadc3;
+
+/* ADC1 init function */
+void MX_ADC1_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc1.Init.ScanConvMode = DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.DMAContinuousRequests = DISABLE;
+  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_0;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_0;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+/* ADC2 init function */
+void MX_ADC2_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc2.Instance = ADC2;
+  hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc2.Init.ScanConvMode = DISABLE;
+  hadc2.Init.ContinuousConvMode = DISABLE;
+  hadc2.Init.DiscontinuousConvMode = DISABLE;
+  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
+  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc2.Init.NbrOfConversion = 1;
+  hadc2.Init.DMAContinuousRequests = DISABLE;
+  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc2) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_13;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+/* ADC3 init function */
+void MX_ADC3_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc3.Instance = ADC3;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc3.Init.ScanConvMode = DISABLE;
+  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.DiscontinuousConvMode = DISABLE;
+  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
+  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc3.Init.NbrOfConversion = 1;
+  hadc3.Init.DMAContinuousRequests = DISABLE;
+  hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc3) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_12;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+
+void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* ADC1 clock enable */
+    __HAL_RCC_ADC1_CLK_ENABLE();
+  
+    /**ADC1 GPIO Configuration    
+    PC0     ------> ADC1_IN10
+    PC1     ------> ADC1_IN11
+    PC2     ------> ADC1_IN12
+    PC3     ------> ADC1_IN13
+    PA0-WKUP     ------> ADC1_IN0
+    PA1     ------> ADC1_IN1
+    PA2     ------> ADC1_IN2
+    PA6     ------> ADC1_IN6
+    PC4     ------> ADC1_IN14
+    PC5     ------> ADC1_IN15 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* ADC1 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspInit 0 */
+
+  /* USER CODE END ADC2_MspInit 0 */
+    /* ADC2 clock enable */
+    __HAL_RCC_ADC2_CLK_ENABLE();
+  
+    /**ADC2 GPIO Configuration    
+    PC0     ------> ADC2_IN10
+    PC1     ------> ADC2_IN11
+    PC2     ------> ADC2_IN12
+    PC3     ------> ADC2_IN13
+    PA0-WKUP     ------> ADC2_IN0
+    PA1     ------> ADC2_IN1
+    PA2     ------> ADC2_IN2
+    PA6     ------> ADC2_IN6
+    PC4     ------> ADC2_IN14
+    PC5     ------> ADC2_IN15 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* ADC2 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC2_MspInit 1 */
+
+  /* USER CODE END ADC2_MspInit 1 */
+  }
+  else if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspInit 0 */
+
+  /* USER CODE END ADC3_MspInit 0 */
+    /* ADC3 clock enable */
+    __HAL_RCC_ADC3_CLK_ENABLE();
+  
+    /**ADC3 GPIO Configuration    
+    PC0     ------> ADC3_IN10
+    PC1     ------> ADC3_IN11
+    PC2     ------> ADC3_IN12
+    PC3     ------> ADC3_IN13 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* ADC3 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC3_MspInit 1 */
+
+  /* USER CODE END ADC3_MspInit 1 */
+  }
+}
+
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC1_CLK_DISABLE();
+  
+    /**ADC1 GPIO Configuration    
+    PC0     ------> ADC1_IN10
+    PC1     ------> ADC1_IN11
+    PC2     ------> ADC1_IN12
+    PC3     ------> ADC1_IN13
+    PA0-WKUP     ------> ADC1_IN0
+    PA1     ------> ADC1_IN1
+    PA2     ------> ADC1_IN2
+    PA6     ------> ADC1_IN6
+    PC4     ------> ADC1_IN14
+    PC5     ------> ADC1_IN15 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin);
+
+    HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
+
+    /* ADC1 interrupt Deinit */
+  /* USER CODE BEGIN ADC1:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC1:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspDeInit 0 */
+
+  /* USER CODE END ADC2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC2_CLK_DISABLE();
+  
+    /**ADC2 GPIO Configuration    
+    PC0     ------> ADC2_IN10
+    PC1     ------> ADC2_IN11
+    PC2     ------> ADC2_IN12
+    PC3     ------> ADC2_IN13
+    PA0-WKUP     ------> ADC2_IN0
+    PA1     ------> ADC2_IN1
+    PA2     ------> ADC2_IN2
+    PA6     ------> ADC2_IN6
+    PC4     ------> ADC2_IN14
+    PC5     ------> ADC2_IN15 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin);
+
+    HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
+
+    /* ADC2 interrupt Deinit */
+  /* USER CODE BEGIN ADC2:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC2:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC2_MspDeInit 1 */
+
+  /* USER CODE END ADC2_MspDeInit 1 */
+  }
+  else if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspDeInit 0 */
+
+  /* USER CODE END ADC3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC3_CLK_DISABLE();
+  
+    /**ADC3 GPIO Configuration    
+    PC0     ------> ADC3_IN10
+    PC1     ------> ADC3_IN11
+    PC2     ------> ADC3_IN12
+    PC3     ------> ADC3_IN13 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
+
+    /* ADC3 interrupt Deinit */
+  /* USER CODE BEGIN ADC3:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC3:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC3_MspDeInit 1 */
+
+  /* USER CODE END ADC3_MspDeInit 1 */
+  }
+} 
\ No newline at end of file
diff --git a/Src/adc_ODRIVE_V3_3.c b/Src/adc_ODRIVE_V3_3.c
new file mode 100644
index 00000000..a8ada427
--- /dev/null
+++ b/Src/adc_ODRIVE_V3_3.c
@@ -0,0 +1,375 @@
+
+ADC_HandleTypeDef hadc1;
+ADC_HandleTypeDef hadc2;
+ADC_HandleTypeDef hadc3;
+
+/* ADC1 init function */
+void MX_ADC1_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc1.Init.ScanConvMode = DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.DMAContinuousRequests = DISABLE;
+  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+/* ADC2 init function */
+void MX_ADC2_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc2.Instance = ADC2;
+  hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc2.Init.ScanConvMode = DISABLE;
+  hadc2.Init.ContinuousConvMode = DISABLE;
+  hadc2.Init.DiscontinuousConvMode = DISABLE;
+  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
+  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc2.Init.NbrOfConversion = 1;
+  hadc2.Init.DMAContinuousRequests = DISABLE;
+  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc2) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_13;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+/* ADC3 init function */
+void MX_ADC3_Init(void)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  ADC_InjectionConfTypeDef sConfigInjected;
+
+    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+    */
+  hadc3.Instance = ADC3;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc3.Init.ScanConvMode = DISABLE;
+  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.DiscontinuousConvMode = DISABLE;
+  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
+  hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
+  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc3.Init.NbrOfConversion = 1;
+  hadc3.Init.DMAContinuousRequests = DISABLE;
+  hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc3) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+    */
+  sConfig.Channel = ADC_CHANNEL_12;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+    /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
+    */
+  sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
+  sConfigInjected.InjectedRank = 1;
+  sConfigInjected.InjectedNbrOfConversion = 1;
+  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
+  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
+  sConfigInjected.AutoInjectedConv = DISABLE;
+  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
+  sConfigInjected.InjectedOffset = 0;
+  if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
+  {
+    _Error_Handler(__FILE__, __LINE__);
+  }
+
+}
+
+void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* ADC1 clock enable */
+    __HAL_RCC_ADC1_CLK_ENABLE();
+  
+    /**ADC1 GPIO Configuration    
+    PC0     ------> ADC1_IN10
+    PC1     ------> ADC1_IN11
+    PC2     ------> ADC1_IN12
+    PC3     ------> ADC1_IN13
+    PA4     ------> ADC1_IN4
+    PA5     ------> ADC1_IN5
+    PA6     ------> ADC1_IN6
+    PC4     ------> ADC1_IN14
+    PC5     ------> ADC1_IN15 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* ADC1 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspInit 0 */
+
+  /* USER CODE END ADC2_MspInit 0 */
+    /* ADC2 clock enable */
+    __HAL_RCC_ADC2_CLK_ENABLE();
+  
+    /**ADC2 GPIO Configuration    
+    PC0     ------> ADC2_IN10
+    PC1     ------> ADC2_IN11
+    PC2     ------> ADC2_IN12
+    PC3     ------> ADC2_IN13
+    PA4     ------> ADC2_IN4
+    PA5     ------> ADC2_IN5
+    PA6     ------> ADC2_IN6
+    PC4     ------> ADC2_IN14
+    PC5     ------> ADC2_IN15 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* ADC2 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC2_MspInit 1 */
+
+  /* USER CODE END ADC2_MspInit 1 */
+  }
+  else if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspInit 0 */
+
+  /* USER CODE END ADC3_MspInit 0 */
+    /* ADC3 clock enable */
+    __HAL_RCC_ADC3_CLK_ENABLE();
+  
+    /**ADC3 GPIO Configuration    
+    PC0     ------> ADC3_IN10
+    PC1     ------> ADC3_IN11
+    PC2     ------> ADC3_IN12
+    PC3     ------> ADC3_IN13 
+    */
+    GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* ADC3 interrupt Init */
+    HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+  /* USER CODE BEGIN ADC3_MspInit 1 */
+
+  /* USER CODE END ADC3_MspInit 1 */
+  }
+}
+
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
+{
+
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC1_CLK_DISABLE();
+  
+    /**ADC1 GPIO Configuration    
+    PC0     ------> ADC1_IN10
+    PC1     ------> ADC1_IN11
+    PC2     ------> ADC1_IN12
+    PC3     ------> ADC1_IN13
+    PA4     ------> ADC1_IN4
+    PA5     ------> ADC1_IN5
+    PA6     ------> ADC1_IN6
+    PC4     ------> ADC1_IN14
+    PC5     ------> ADC1_IN15 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin);
+
+    HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
+
+    /* ADC1 interrupt Deinit */
+  /* USER CODE BEGIN ADC1:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC1:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspDeInit 0 */
+
+  /* USER CODE END ADC2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC2_CLK_DISABLE();
+  
+    /**ADC2 GPIO Configuration    
+    PC0     ------> ADC2_IN10
+    PC1     ------> ADC2_IN11
+    PC2     ------> ADC2_IN12
+    PC3     ------> ADC2_IN13
+    PA4     ------> ADC2_IN4
+    PA5     ------> ADC2_IN5
+    PA6     ------> ADC2_IN6
+    PC4     ------> ADC2_IN14
+    PC5     ------> ADC2_IN15 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin 
+                          |AUX_TEMP_Pin|M0_TEMP_Pin);
+
+    HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
+
+    /* ADC2 interrupt Deinit */
+  /* USER CODE BEGIN ADC2:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC2:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC2_MspDeInit 1 */
+
+  /* USER CODE END ADC2_MspDeInit 1 */
+  }
+  else if(adcHandle->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspDeInit 0 */
+
+  /* USER CODE END ADC3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC3_CLK_DISABLE();
+  
+    /**ADC3 GPIO Configuration    
+    PC0     ------> ADC3_IN10
+    PC1     ------> ADC3_IN11
+    PC2     ------> ADC3_IN12
+    PC3     ------> ADC3_IN13 
+    */
+    HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
+
+    /* ADC3 interrupt Deinit */
+  /* USER CODE BEGIN ADC3:ADC_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC_IRQn); */
+  /* USER CODE END ADC3:ADC_IRQn disable */
+
+  /* USER CODE BEGIN ADC3_MspDeInit 1 */
+
+  /* USER CODE END ADC3_MspDeInit 1 */
+  }
+} 
\ No newline at end of file
diff --git a/Src/gpio.c b/Src/gpio.c
index 5e1ca683..7ce5e3fc 100644
--- a/Src/gpio.c
+++ b/Src/gpio.c
@@ -51,6 +51,17 @@
 #include "gpio.h"
 /* USER CODE BEGIN 0 */
 #include "low_level.h"
+#include "callbacks.h"
+#include "boards.h"
+#include "configuration.h"
+
+#if MB(ODRIVE_V3_3)
+#include "gpio_ODRIVE_V3_3.c"
+#elif MB(ODRIVE_V3_2)
+#include "gpio_ODRIVE_V3_2.c"
+#elif MB(ODRIVE_V3_1)
+#include "gpio_ODRIVE_V3_2.c"
+#else
 /* USER CODE END 0 */
 
 /*----------------------------------------------------------------------------*/
@@ -148,6 +159,7 @@ void MX_GPIO_Init(void)
 }
 
 /* USER CODE BEGIN 2 */
+#endif // End GPIO Include
 
 //Dispatch processing of external interrupts based on source
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
diff --git a/Src/gpio_ODRIVE_V3_2.c b/Src/gpio_ODRIVE_V3_2.c
new file mode 100644
index 00000000..dea236cd
--- /dev/null
+++ b/Src/gpio_ODRIVE_V3_2.c
@@ -0,0 +1,86 @@
+/** Configure pins as 
+        * Analog 
+        * Input 
+        * Output
+        * EVENT_OUT
+        * EXTI
+*/
+void MX_GPIO_Init(void)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : PCPin PCPin PCPin PCPin */
+  GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PAPin PAPin */
+  GPIO_InitStruct.Pin = GPIO_4_Pin|GPIO_2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = GPIO_3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIO_3_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = GPIO_1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = EN_GATE_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(M0_ENC_Z_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = nFAULT_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = M1_ENC_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(M1_ENC_Z_GPIO_Port, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI4_IRQn);
+
+}
\ No newline at end of file
diff --git a/Src/gpio_ODRIVE_V3_3.c b/Src/gpio_ODRIVE_V3_3.c
new file mode 100644
index 00000000..447d9b29
--- /dev/null
+++ b/Src/gpio_ODRIVE_V3_3.c
@@ -0,0 +1,74 @@
+/** Configure pins as 
+        * Analog 
+        * Input 
+        * Output
+        * EVENT_OUT
+        * EXTI
+*/
+void MX_GPIO_Init(void)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : PCPin PCPin PCPin PCPin */
+  GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PAPin PAPin */
+  GPIO_InitStruct.Pin = GPIO_1_Pin|GPIO_3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PAPin PAPin PAPin */
+  GPIO_InitStruct.Pin = GPIO_2_Pin|GPIO_4_Pin|M0_ENC_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PBPin PBPin */
+  GPIO_InitStruct.Pin = GPIO_5_Pin|M1_ENC_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = EN_GATE_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = nFAULT_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI0_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+}
\ No newline at end of file
diff --git a/Src/stm32f4xx_it.c b/Src/stm32f4xx_it.c
index 302c116b..4237ebe8 100644
--- a/Src/stm32f4xx_it.c
+++ b/Src/stm32f4xx_it.c
@@ -38,11 +38,21 @@
 
 /* USER CODE BEGIN 0 */
 #include "freertos_vars.h"
+#include "boards.h"
+#include "configuration.h"
 #include "low_level.h"
+#include "callbacks.h"
 
 typedef void (*ADC_handler_t)(ADC_HandleTypeDef* hadc, bool injected);
 void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback);
 
+#if MB(ODRIVE_V3_3)
+#include "stm32f4xx_it_ODRIVE_V3_3.c"
+#elif MB(ODRIVE_V3_2)
+#include "stm32f4xx_it_ODRIVE_V3_2.c"
+#elif MB(ODRIVE_V3_1)
+#include "stm32f4xx_it_ODRIVE_V3_2.c"
+#else
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
@@ -243,6 +253,7 @@ void OTG_FS_IRQHandler(void)
 }
 
 /* USER CODE BEGIN 1 */
+#endif
 
 void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
 
diff --git a/Src/stm32f4xx_it_ODRIVE_V3_2.c b/Src/stm32f4xx_it_ODRIVE_V3_2.c
new file mode 100644
index 00000000..498d171b
--- /dev/null
+++ b/Src/stm32f4xx_it_ODRIVE_V3_2.c
@@ -0,0 +1,196 @@
+/* External variables --------------------------------------------------------*/
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+extern ADC_HandleTypeDef hadc1;
+extern ADC_HandleTypeDef hadc2;
+extern ADC_HandleTypeDef hadc3;
+
+/******************************************************************************/
+/*            Cortex-M4 Processor Interruption and Exception Handlers         */ 
+/******************************************************************************/
+
+/**
+* @brief This function handles Non maskable interrupt.
+*/
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+* @brief This function handles Hard fault interrupt.
+*/
+void HardFault_Handler(void)
+{
+  /* USER CODE BEGIN HardFault_IRQn 0 */
+
+  /* USER CODE END HardFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN HardFault_IRQn 1 */
+
+  /* USER CODE END HardFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Memory management fault.
+*/
+void MemManage_Handler(void)
+{
+  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+  /* USER CODE END MemoryManagement_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN MemoryManagement_IRQn 1 */
+
+  /* USER CODE END MemoryManagement_IRQn 1 */
+}
+
+/**
+* @brief This function handles Pre-fetch fault, memory access fault.
+*/
+void BusFault_Handler(void)
+{
+  /* USER CODE BEGIN BusFault_IRQn 0 */
+
+  /* USER CODE END BusFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN BusFault_IRQn 1 */
+
+  /* USER CODE END BusFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Undefined instruction or illegal state.
+*/
+void UsageFault_Handler(void)
+{
+  /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+  /* USER CODE END UsageFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN UsageFault_IRQn 1 */
+
+  /* USER CODE END UsageFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Debug monitor.
+*/
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+* @brief This function handles System tick timer.
+*/
+void SysTick_Handler(void)
+{
+  /* USER CODE BEGIN SysTick_IRQn 0 */
+
+  /* USER CODE END SysTick_IRQn 0 */
+  HAL_IncTick();
+  osSystickHandler();
+  /* USER CODE BEGIN SysTick_IRQn 1 */
+
+  /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F4xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32f4xx.s).                    */
+/******************************************************************************/
+
+/**
+* @brief This function handles EXTI line2 interrupt.
+*/
+void EXTI2_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI2_IRQn 0 */
+
+  /* USER CODE END EXTI2_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
+  /* USER CODE BEGIN EXTI2_IRQn 1 */
+
+  /* USER CODE END EXTI2_IRQn 1 */
+}
+
+/**
+* @brief This function handles EXTI line4 interrupt.
+*/
+void EXTI4_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI4_IRQn 0 */
+
+  /* USER CODE END EXTI4_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
+  /* USER CODE BEGIN EXTI4_IRQn 1 */
+
+  /* USER CODE END EXTI4_IRQn 1 */
+}
+
+/**
+* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
+*/
+void ADC_IRQHandler(void)
+{
+  /* USER CODE BEGIN ADC_IRQn 0 */
+
+  // The HAL's ADC handling mechanism adds many clock cycles of overhead
+  // So we bypass it and handle the logic ourselves.
+  //@TODO add vbus meaasurement on adc1 here
+  ADC_IRQ_Dispatch(&hadc1, &vbusSenseADC_cb);
+  ADC_IRQ_Dispatch(&hadc2, &pwmTrigADC_cb);
+  ADC_IRQ_Dispatch(&hadc3, &pwmTrigADC_cb);
+
+  // Bypass HAL
+  return;
+
+  /* USER CODE END ADC_IRQn 0 */
+  HAL_ADC_IRQHandler(&hadc1);
+  HAL_ADC_IRQHandler(&hadc2);
+  HAL_ADC_IRQHandler(&hadc3);
+  /* USER CODE BEGIN ADC_IRQn 1 */
+
+  /* USER CODE END ADC_IRQn 1 */
+}
+
+/**
+* @brief This function handles USB On The Go FS global interrupt.
+*/
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  // Mask interrupt, and signal processing of interrupt by usb_cmd_thread
+  // The thread will re-enable the interrupt when all pending irqs are clear.
+  HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  osSemaphoreRelease(sem_usb_irq);
+  // Bypass interrupt processing here
+  return;
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
\ No newline at end of file
diff --git a/Src/stm32f4xx_it_ODRIVE_V3_3.c b/Src/stm32f4xx_it_ODRIVE_V3_3.c
new file mode 100644
index 00000000..6926b3c2
--- /dev/null
+++ b/Src/stm32f4xx_it_ODRIVE_V3_3.c
@@ -0,0 +1,197 @@
+
+/* External variables --------------------------------------------------------*/
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+extern ADC_HandleTypeDef hadc1;
+extern ADC_HandleTypeDef hadc2;
+extern ADC_HandleTypeDef hadc3;
+
+/******************************************************************************/
+/*            Cortex-M4 Processor Interruption and Exception Handlers         */ 
+/******************************************************************************/
+
+/**
+* @brief This function handles Non maskable interrupt.
+*/
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+* @brief This function handles Hard fault interrupt.
+*/
+void HardFault_Handler(void)
+{
+  /* USER CODE BEGIN HardFault_IRQn 0 */
+
+  /* USER CODE END HardFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN HardFault_IRQn 1 */
+
+  /* USER CODE END HardFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Memory management fault.
+*/
+void MemManage_Handler(void)
+{
+  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+  /* USER CODE END MemoryManagement_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN MemoryManagement_IRQn 1 */
+
+  /* USER CODE END MemoryManagement_IRQn 1 */
+}
+
+/**
+* @brief This function handles Pre-fetch fault, memory access fault.
+*/
+void BusFault_Handler(void)
+{
+  /* USER CODE BEGIN BusFault_IRQn 0 */
+
+  /* USER CODE END BusFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN BusFault_IRQn 1 */
+
+  /* USER CODE END BusFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Undefined instruction or illegal state.
+*/
+void UsageFault_Handler(void)
+{
+  /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+  /* USER CODE END UsageFault_IRQn 0 */
+  while (1)
+  {
+  }
+  /* USER CODE BEGIN UsageFault_IRQn 1 */
+
+  /* USER CODE END UsageFault_IRQn 1 */
+}
+
+/**
+* @brief This function handles Debug monitor.
+*/
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+* @brief This function handles System tick timer.
+*/
+void SysTick_Handler(void)
+{
+  /* USER CODE BEGIN SysTick_IRQn 0 */
+
+  /* USER CODE END SysTick_IRQn 0 */
+  HAL_IncTick();
+  osSystickHandler();
+  /* USER CODE BEGIN SysTick_IRQn 1 */
+
+  /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F4xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32f4xx.s).                    */
+/******************************************************************************/
+
+/**
+* @brief This function handles EXTI line0 interrupt.
+*/
+void EXTI0_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI0_IRQn 0 */
+
+  /* USER CODE END EXTI0_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
+  /* USER CODE BEGIN EXTI0_IRQn 1 */
+
+  /* USER CODE END EXTI0_IRQn 1 */
+}
+
+/**
+* @brief This function handles EXTI line2 interrupt.
+*/
+void EXTI2_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI2_IRQn 0 */
+
+  /* USER CODE END EXTI2_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
+  /* USER CODE BEGIN EXTI2_IRQn 1 */
+
+  /* USER CODE END EXTI2_IRQn 1 */
+}
+
+/**
+* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
+*/
+void ADC_IRQHandler(void)
+{
+  /* USER CODE BEGIN ADC_IRQn 0 */
+
+  // The HAL's ADC handling mechanism adds many clock cycles of overhead
+  // So we bypass it and handle the logic ourselves.
+  //@TODO add vbus meaasurement on adc1 here
+  ADC_IRQ_Dispatch(&hadc1, &vbusSenseADC_cb);
+  ADC_IRQ_Dispatch(&hadc2, &pwmTrigADC_cb);
+  ADC_IRQ_Dispatch(&hadc3, &pwmTrigADC_cb);
+
+  // Bypass HAL
+  return;
+
+  /* USER CODE END ADC_IRQn 0 */
+  HAL_ADC_IRQHandler(&hadc1);
+  HAL_ADC_IRQHandler(&hadc2);
+  HAL_ADC_IRQHandler(&hadc3);
+  /* USER CODE BEGIN ADC_IRQn 1 */
+
+  /* USER CODE END ADC_IRQn 1 */
+}
+
+/**
+* @brief This function handles USB On The Go FS global interrupt.
+*/
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  // Mask interrupt, and signal processing of interrupt by usb_cmd_thread
+  // The thread will re-enable the interrupt when all pending irqs are clear.
+  HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  osSemaphoreRelease(sem_usb_irq);
+  // Bypass interrupt processing here
+  return;
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
\ No newline at end of file