diff --git a/chip/chip.hpp b/chip/chip.hpp
index 2707b5d..1f4f3af 100644
--- a/chip/chip.hpp
+++ b/chip/chip.hpp
@@ -4,9 +4,9 @@
 #include "zcan_irq_dispatcher.hpp"
 #include "zgpio.hpp"
 #include "zirq_dispatcher.hpp"
+#include "zpwm_generator.hpp"
 #include "ztim.hpp"
 #include "zuart.hpp"
-
 extern "C" {
 
 typedef struct {
diff --git a/chip/zpwm_generator.cpp b/chip/zpwm_generator.cpp
new file mode 100644
index 0000000..8704090
--- /dev/null
+++ b/chip/zpwm_generator.cpp
@@ -0,0 +1,56 @@
+#include "zpwm_generator.hpp"
+
+#include "zirq_dispatcher.hpp"
+using namespace iflytop;
+
+void ZPWMGenerator::initialize(zchip_tim_t *htim, uint32_t channel, float freq, bool polarity) {
+  m_htim     = htim;
+  m_polarity = polarity;
+  m_channel  = channel;
+  m_freq     = freq;
+
+  ZASSERT(m_htim->Init.AutoReloadPreload == TIM_AUTORELOAD_PRELOAD_ENABLE);
+  ZASSERT(m_htim->Init.CounterMode == TIM_COUNTERMODE_UP);
+}
+
+/******************************************************
+ *                   kTimMode_timer                   *
+ ******************************************************/
+void ZPWMGenerator::startPWM(float duty) { startPWM(m_freq, duty); }
+
+void ZPWMGenerator::startPWM(float freq, float duty) {
+  if (!m_polarity) {
+    duty = 100.0 - duty;
+  }
+
+  m_freq = freq;
+
+  uint32_t prescaler  = 0;
+  uint32_t autoreload = 0;
+
+  uint32_t timClkFreq = chip_get_timer_clock_sorce_freq(m_htim);
+  ZASSERT(chip_calculate_prescaler_and_autoreload_by_expect_freq(timClkFreq, freq, &prescaler, &autoreload));
+  __HAL_TIM_SET_AUTORELOAD(m_htim, autoreload);
+  __HAL_TIM_SET_PRESCALER(m_htim, prescaler);
+
+  /**
+   * @brief
+   */
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  sConfigOC.OCMode             = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse              = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(m_htim);
+  sConfigOC.OCPolarity         = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode         = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState        = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState       = TIM_OCNIDLESTATE_RESET;
+
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, m_channel) != HAL_OK) {
+    Error_Handler();
+  }
+  // HAL_TIM_PWM_Start(m_htim, Channel);
+  HAL_TIM_PWM_Start(m_htim, m_channel);
+}
+void ZPWMGenerator::stopPWM() {
+  //  HAL_TIM_PWM_Stop(m_htim, m_channel);
+  startPWM(0);
+}
diff --git a/chip/zpwm_generator.hpp b/chip/zpwm_generator.hpp
new file mode 100644
index 0000000..9d4bbb0
--- /dev/null
+++ b/chip/zpwm_generator.hpp
@@ -0,0 +1,41 @@
+
+#pragma once
+#include <functional>
+
+#include "basic/base.hpp"
+
+#ifdef HAL_TIM_MODULE_ENABLED
+
+namespace iflytop {
+using namespace iflytop;
+class ZPWMGenerator {
+ public:
+  typedef function<void()> ontimirq_t;
+
+ private:
+  zchip_tim_t *m_htim;
+  bool         m_polarity;
+  uint32_t     m_channel;
+  float        m_freq;
+
+ public:
+  ZPWMGenerator() {}
+
+  /**
+   * @brief
+   *
+   * @param Channel PWM通道 TIM_CHANNEL_1 TIM_CHANNEL_2 TIM_CHANNEL_3 TIM_CHANNEL_4
+   * @param Polarity 1:高为有效电平，0：低为有效电平
+   */
+  void initialize(zchip_tim_t *htim, uint32_t channel, float freq, bool polarity);
+  /*******************************************************************************
+   *                                  PWM_MODE                                   *
+   *******************************************************************************/
+  void startPWM(float freq, float duty);
+  void startPWM(float duty);
+  void stopPWM();
+};
+
+}  // namespace iflytop
+
+#endif
\ No newline at end of file
diff --git a/chip/ztim.cpp b/chip/ztim.cpp
index 45fa07b..b99accc 100644
--- a/chip/ztim.cpp
+++ b/chip/ztim.cpp
@@ -6,6 +6,12 @@ using namespace iflytop;
 void ZTIM::initialize(zchip_tim_t *htim, mode_t mode) {
   m_htim = htim;
   m_mode = mode;
+
+  if (m_mode == ktm_pwm) {
+    ZASSERT(m_htim->Init.AutoReloadPreload == TIM_AUTORELOAD_PRELOAD_ENABLE);
+    ZASSERT(m_htim->Init.CounterMode == TIM_COUNTERMODE_UP);
+    ZASSERT(m_htim->Channel)
+  }
 }
 ZTIM::mode_t ZTIM::getMode() { return m_mode; }
 
@@ -46,3 +52,33 @@ void ZTIM::simpleTimer_stop() {
   m_timer_start = false;
   HAL_TIM_Base_Stop(m_htim);
 }
+
+void ZTIM::setPWMFreq(float freq) {
+  uint32_t prescaler  = 0;
+  uint32_t autoreload = 0;
+
+  uint32_t timClkFreq = chip_get_timer_clock_sorce_freq(m_htim);
+  ZASSERT(chip_calculate_prescaler_and_autoreload_by_expect_freq(timClkFreq, freq, &prescaler, &autoreload));
+  __HAL_TIM_SET_AUTORELOAD(m_htim, autoreload);
+  __HAL_TIM_SET_PRESCALER(m_htim, prescaler);
+}
+void ZTIM::setPWMPolarity(uint32_t Channel, uint32_t Polarity) { m_timpwmPolarity[Channel] = Polarity; }
+
+void ZTIM::startPWM(uint32_t Channel, float duty) {
+  /**
+   * @brief
+   */
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  sConfigOC.OCMode             = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse              = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(m_htim);
+  sConfigOC.OCPolarity         = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode         = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState        = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState       = TIM_OCNIDLESTATE_RESET;
+
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
+    Error_Handler();
+  }
+  HAL_TIM_PWM_Start(m_htim, Channel);
+}
+void ZTIM::stopPWM(uint32_t Channel) { startPWM(Channel, 100); }
diff --git a/chip/ztim.hpp b/chip/ztim.hpp
index f96cf90..fe68365 100644
--- a/chip/ztim.hpp
+++ b/chip/ztim.hpp
@@ -26,6 +26,8 @@ class ZTIM {
 
   ontimirq_t m_simpleTimer_cb;
 
+  bool m_timpwmPolarity[4];
+
  public:
   ZTIM() {}
 
@@ -51,10 +53,17 @@ class ZTIM {
   /*******************************************************************************
    *                                  PWM_MODE                                   *
    *******************************************************************************/
+
+  /**
+   * @brief
+   *
+   * @param Channel PWM通道 TIM_CHANNEL_1 TIM_CHANNEL_2 TIM_CHANNEL_3 TIM_CHANNEL_4
+   * @param Polarity 1:高为有效电平，0：低为有效电平
+   */
+  void setPWMPolarity(uint32_t Channel, uint32_t Polarity);
   void setPWMFreq(float freq);
   void startPWM(uint32_t Channel, float duty);
   void stopPWM(uint32_t Channel);
-
 };
 
 }  // namespace iflytop