timer:
ac: Advacned control(quad,4x input capture/output compare,brk,deadtime,3x inverted output,itr) 
gp1: General purpose(quad,4x input capture/output compare,itr)
gp2: General purpose(2x input capture/output compare,itr)
gp3: General purpose(1x input capture/output compare)
ba: basic
adc: adc trigger via compare/trgo
itr: internal trigger, ITR0-3
d: dma request
b: bits

APB2 DMA2 168 MHz
TIM1(ac,16b,d(cc1,cc2,cc3,cc4,up,trgo,com),adc(cc1,cc2,cc3),itr(5,2,3,4)) enc_fb1,ch3->d54                        enc_cmd
TIM8(ac,16b,d(cc1,cc2,cc3,cc4,up,trgo,com),adc(cc1,trgo),   itr(1,2,4,5))                                brake/fan pwm
TIM9(gp2,16b,itr(2,3,10,11))
TIM10(gp3,16b)
TIM11(gp3,16b)
USART1                                                                     cmd 422/485                             io_header,cmd_rx
USART6                                                                     fb0

APB1 DMA1 84 MHz
TIM2(gp1,32b,d(up,cc1,cc2,cc3,cc4),     adc(cc2,cc3,cc4,trgo),itr(1,8,3,4)) enc_cmd                     res_slave,res_oc
TIM3(gp1,16b,d(cc1,cc2,cc3,cc3,up,trgo),adc(cc1,trgo),        itr(1,2,5,4)) adc master (cmd, pair foo)             enc_fb
TIM4(gp1,16b,d(cc1,cc2,cc3,up),         adc(cc4),             itr(1,2,3,8)) enc_fb0,ch3->d54                     res_master,adc
TIM5(gp1,32b,d(cc1,cc2,cc3,cc4,trgo),   adc(cc1,cc2,cc3),     itr(2,3,4,8)) adc slave/frt
TIM6(ba,16b,d(up))
TIM7(ba,16b,d(up))
TIM12(gp2,16b,                                                itr(4,5,13,14))
TIM13(gp3,16b)
TIM14(gp3,16b)
USART2                                                                      hv                            f1_hv
USART3                                                                      fb1                             fb
UART4                                                                       (fb0)
UART5                                                                       (fb0)                             cmd


DMA mapping:
DMA1:
s0 netbob
s1 encm/encs/hyper
s3 hyper
s5 hv rx
s6 hv tx
s7 sserial/netbob
DMA2:
s0 adc
s1 yaskawa/probe
s5 ext rx/sserial
s7 ext tx


f3 hv
bemf+dclink 181.5 adc cycles = 2.5us sampling time
temp 61.5 cycles = 0.85us sampling time