diff --git a/Makefile b/Makefile
index 9fdecec8..8c8cfe70 100644
--- a/Makefile
+++ b/Makefile
@@ -64,6 +64,7 @@ C_SOURCES = \
   Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \
   Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c \
   Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c \
+  MotorControl/utils.c \
   MotorControl/low_level.c  
 ASM_SOURCES = \
   Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f405xx.s
diff --git a/MotorControl/utils.c b/MotorControl/utils.c
new file mode 100644
index 00000000..f361be27
--- /dev/null
+++ b/MotorControl/utils.c
@@ -0,0 +1,118 @@
+
+#include <utils.h>
+
+int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
+    int Sextant;
+
+    if (beta >= 0.0f) {
+        if (alpha >= 0.0f) {
+            //quadrant I
+            if (one_by_sqrt3 * beta > alpha)
+                Sextant = 2; //sextant v2-v3
+            else
+                Sextant = 1; //sextant v1-v2
+
+        } else {
+            //quadrant II
+            if (-one_by_sqrt3 * beta > alpha)
+                Sextant = 3; //sextant v3-v4
+            else
+                Sextant = 2; //sextant v2-v3
+        }
+    } else {
+        if (alpha >= 0.0f) {
+            //quadrant IV
+            if (-one_by_sqrt3 * beta > alpha)
+                Sextant = 5; //sextant v5-v6
+            else
+                Sextant = 6; //sextant v6-v1
+        } else {
+            //quadrant III
+            if (one_by_sqrt3 * beta > alpha)
+                Sextant = 4; //sextant v4-v5
+            else
+                Sextant = 5; //sextant v5-v6
+        }
+    }
+
+    switch (Sextant) {
+        // sextant v1-v2
+        case 1: {
+            // Vector on-times
+            float t1 = alpha - one_by_sqrt3 * beta;
+            float t2 = two_by_sqrt3 * beta;
+
+            // PWM timings
+            *tA = (1.0f - t1 - t2) * 0.5f;
+            *tB = *tA + t1;
+            *tC = *tB + t2;
+
+            break;
+        }
+        // sextant v2-v3
+        case 2: {
+            // Vector on-times
+            float t2 = alpha + one_by_sqrt3 * beta;
+            float t3 = -alpha + one_by_sqrt3 * beta;
+
+            // PWM timings
+            *tB = (1.0f - t2 - t3) * 0.5f;
+            *tA = *tB + t3;
+            *tC = *tA + t2;
+
+            break;
+        }
+        // sextant v3-v4
+        case 3: {
+            // Vector on-times
+            float t3 = two_by_sqrt3 * beta;
+            float t4 = -alpha - one_by_sqrt3 * beta;
+
+            // PWM timings
+            *tB = (1.0f - t3 - t4) * 0.5f;
+            *tC = *tB + t3;
+            *tA = *tC + t4;
+
+            break;
+        }
+        // sextant v4-v5
+        case 4: {
+            // Vector on-times
+            float t4 = -alpha + one_by_sqrt3 * beta;
+            float t5 = -two_by_sqrt3 * beta;
+
+            // PWM timings
+            *tC = (1.0f - t4 - t5) * 0.5f;
+            *tB = *tC + t5;
+            *tA = *tB + t4;
+
+            break;
+        }
+        // sextant v5-v6
+        case 5: {
+            // Vector on-times
+            float t5 = -alpha - one_by_sqrt3 * beta;
+            float t6 = alpha - one_by_sqrt3 * beta;
+
+            // PWM timings
+            *tC = (1.0f - t5 - t6) * 0.5f;
+            *tA = *tC + t5;
+            *tB = *tA + t6;
+
+            break;
+        }
+        // sextant v6-v1
+        case 6: {
+            // Vector on-times
+            float t6 = -two_by_sqrt3 * beta;
+            float t1 = alpha + one_by_sqrt3 * beta;
+
+            // PWM timings
+            *tA = (1.0f - t6 - t1) * 0.5f;
+            *tC = *tA + t1;
+            *tB = tC + t6;
+
+            break;
+        }
+    }
+}
diff --git a/MotorControl/utils.h b/MotorControl/utils.h
new file mode 100644
index 00000000..da93d176
--- /dev/null
+++ b/MotorControl/utils.h
@@ -0,0 +1,11 @@
+
+#ifndef __UTILS_H
+#define __UTILS_H
+
+// Compute rising edge timings (0.0 - 1.0) as a function of alpha-beta
+// as per the magnitude invariant clarke transform
+// The magnitude of the alpha-beta vector may not be larger than sqrt(3)/2
+// Returns 0 on success, and -1 if the input was out of range
+int SVM(float alpha, float beta, float* tA, float* tB, float* tC);
+
+#endif //__UTILS_H