diff --git a/src/communication/StepDirListener.cpp b/src/communication/StepDirListener.cpp
index c8f19b47..ee4f69e9 100644
--- a/src/communication/StepDirListener.cpp
+++ b/src/communication/StepDirListener.cpp
@@ -13,7 +13,7 @@ void StepDirListener::init(){
 }
 
 void StepDirListener::enableInterrupt(void (*doA)()){
-    attachInterrupt(digitalPinToInterrupt(pin_step), doA, CHANGE);
+    attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
 }
 
 void StepDirListener::attach(float* variable){
@@ -22,15 +22,15 @@ void StepDirListener::attach(float* variable){
 
 void StepDirListener::handle(){ 
   // read step status
-  bool step = digitalRead(pin_step);
+  //bool step = digitalRead(pin_step);
   // update counter only on rising edge 
-  if(step && step != step_active){
-     if(digitalRead(pin_dir)) 
+  //if(step && step != step_active){
+    if(digitalRead(pin_dir)) 
         count++;
-     else 
+    else 
         count--;
-   }
-   step_active = step;
+   //}
+   //step_active = step;
    // if attached variable update it
    if(attached_variable) *attached_variable = getValue();
 }
diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h
index 1c50c700..7d7f2494 100644
--- a/src/communication/StepDirListener.h
+++ b/src/communication/StepDirListener.h
@@ -4,6 +4,12 @@
 #include "Arduino.h"
 #include "../common/foc_utils.h"
 
+
+#if defined(_STM32_DEF_) || defined(ESP_H) || defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_SAM_DUE)
+#define PinStatus int
+#endif
+
+
 /**
  * Step/Dir listenner class for easier interraction with this communication interface.
  */
@@ -47,11 +53,13 @@ class StepDirListener
     int pin_step; //!< step pin
     int pin_dir; //!< direction pin
     long count; //!< current counter value - should be set to 0 for homing
+    PinStatus polarity = RISING; //!< polarity of the step pin
 
   private:
     float* attached_variable = nullptr; //!< pointer to the attached variable 
     float counter_to_value; //!< step counter to value 
-    bool step_active = 0; //!< current step pin status (HIGH/LOW) - debouncing variable
+    //bool step_active = 0; //!< current step pin status (HIGH/LOW) - debouncing variable
+
 };
 
 #endif
\ No newline at end of file
diff --git a/src/drivers/hardware_specific/rp2040_mcu.cpp b/src/drivers/hardware_specific/rp2040_mcu.cpp
index 2c127d71..9fcd8e45 100644
--- a/src/drivers/hardware_specific/rp2040_mcu.cpp
+++ b/src/drivers/hardware_specific/rp2040_mcu.cpp
@@ -6,17 +6,31 @@
 
 #define SIMPLEFOC_DEBUG_RP2040
 
+#include "../hardware_api.h"
 
-#ifdef SIMPLEFOC_DEBUG_RP2040
 
-#ifndef SIMPLEFOC_RP2040_DEBUG_SERIAL
-#define SIMPLEFOC_RP2040_DEBUG_SERIAL Serial
-#endif
+// these defines determine the polarity of the PWM output. Normally, the polarity is active-high,
+// i.e. a high-level PWM output is expected to switch on the MOSFET. But should your driver design
+// require inverted polarity, you can change the defines below, or set them via your build environment
+// or board definition files.
 
+// used for 2-PWM, 3-PWM, and 4-PWM modes
+#ifndef SIMPLEFOC_PWM_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_ACTIVE_HIGH true
+#endif
+// used fof 6-PWM mode, high-side
+#ifndef SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH true
+#endif
+// used fof 6-PWM mode, low-side
+#ifndef SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH true
 #endif
 
-#include "Arduino.h"
 
+#define _PWM_FREQUENCY 24000
+#define _PWM_FREQUENCY_MAX 66000
+#define _PWM_FREQUENCY_MIN 5000
 
 
 typedef struct RP2040DriverParams {
@@ -46,18 +60,18 @@ void setupPWM(int pin, long pwm_frequency, bool invert, RP2040DriverParams* para
 	pwm_set_phase_correct(slice, true);
 	uint16_t wrapvalue = ((125L * 1000L * 1000L) / pwm_frequency) / 2L - 1L;
 	if (wrapvalue < 999) wrapvalue = 999; // 66kHz, resolution 1000
-	if (wrapvalue > 3299) wrapvalue = 3299; // 20kHz, resolution 3300
+	if (wrapvalue > 12499) wrapvalue = 12499; // 20kHz, resolution 12500
 #ifdef SIMPLEFOC_DEBUG_RP2040
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print("Configuring pin ");
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(pin);
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(" slice ");
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(slice);
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(" channel ");
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(chan);
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(" frequency ");
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(pwm_frequency);
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.print(" top value ");
-	SIMPLEFOC_RP2040_DEBUG_SERIAL.println(wrapvalue);
+	SimpleFOCDebug::print("Configuring pin ");
+	SimpleFOCDebug::print(pin);
+	SimpleFOCDebug::print(" slice ");
+	SimpleFOCDebug::print((int)slice);
+	SimpleFOCDebug::print(" channel ");
+	SimpleFOCDebug::print((int)chan);
+	SimpleFOCDebug::print(" frequency ");
+	SimpleFOCDebug::print((int)pwm_frequency);
+	SimpleFOCDebug::print(" top value ");
+	SimpleFOCDebug::println(wrapvalue);
 #endif
 	pwm_set_wrap(slice, wrapvalue);
 	wrapvalues[slice] = wrapvalue;
@@ -83,9 +97,11 @@ void syncSlices() {
 
 void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
 	RP2040DriverParams* params = new RP2040DriverParams();
+	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
+	else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
 	params->pwm_frequency = pwm_frequency;
-	setupPWM(pinA, pwm_frequency, false, params, 0);
-	setupPWM(pinB, pwm_frequency, false, params, 1);
+	setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0);
+	setupPWM(pinB, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1);
 	syncSlices();
 	return params;
 }
@@ -94,10 +110,12 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
 
 void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC) {
 	RP2040DriverParams* params = new RP2040DriverParams();
+	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
+	else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
 	params->pwm_frequency = pwm_frequency;
-	setupPWM(pinA, pwm_frequency, false, params, 0);
-	setupPWM(pinB, pwm_frequency, false, params, 1);
-	setupPWM(pinC, pwm_frequency, false, params, 2);
+	setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0);
+	setupPWM(pinB, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1);
+	setupPWM(pinC, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 2);
 	syncSlices();
 	return params;
 }
@@ -107,11 +125,13 @@ void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const i
 
 void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B) {
 	RP2040DriverParams* params = new RP2040DriverParams();
+	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
+	else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
 	params->pwm_frequency = pwm_frequency;
-	setupPWM(pin1A, pwm_frequency, false, params, 0);
-	setupPWM(pin1B, pwm_frequency, false, params, 1);
-	setupPWM(pin2A, pwm_frequency, false, params, 2);
-	setupPWM(pin2B, pwm_frequency, false, params, 3);
+	setupPWM(pin1A, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0);
+	setupPWM(pin1B, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1);
+	setupPWM(pin2A, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 2);
+	setupPWM(pin2B, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 3);
 	syncSlices();
 	return params;
 }
@@ -120,14 +140,16 @@ void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const
 void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) {
 	// non-PIO solution...
 	RP2040DriverParams* params = new RP2040DriverParams();
+	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
+	else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
 	params->pwm_frequency = pwm_frequency;
 	params->dead_zone = dead_zone;
-	setupPWM(pinA_h, pwm_frequency, false, params, 0);
-	setupPWM(pinB_h, pwm_frequency, false, params, 2);
-	setupPWM(pinC_h, pwm_frequency, false, params, 4);
-	setupPWM(pinA_l, pwm_frequency, true, params, 1);
-	setupPWM(pinB_l, pwm_frequency, true, params, 3);
-	setupPWM(pinC_l, pwm_frequency, true, params, 5);
+	setupPWM(pinA_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 0);
+	setupPWM(pinB_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 2);
+	setupPWM(pinC_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 4);
+	setupPWM(pinA_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 1);
+	setupPWM(pinB_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 3);
+	setupPWM(pinC_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 5);
 	syncSlices();
 	return params;
 }
diff --git a/src/drivers/hardware_specific/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32_mcu.cpp
index 40af88ae..7fd5a1ca 100644
--- a/src/drivers/hardware_specific/stm32_mcu.cpp
+++ b/src/drivers/hardware_specific/stm32_mcu.cpp
@@ -170,6 +170,9 @@ void _startTimers(HardwareTimer **timers_to_start, int timer_num)
   for (int i=0; i < timer_num; i++) {
     if(timers_to_start[i] == NP) return;
     timers_to_start[i]->resume();
+    #ifdef SIMPLEFOC_STM32_DEBUG
+      SIMPLEFOC_DEBUG("STM32-DRV: Starting timer ", getTimerNumber(get_timer_index(timers_to_start[i]->getHandle()->Instance)));
+    #endif
   }
 }