diff --git a/src/brake/phoque/phoque_brake.cpp b/src/brake/phoque/phoque_brake.cpp
new file mode 100644
index 0000000..850d489
--- /dev/null
+++ b/src/brake/phoque/phoque_brake.cpp
@@ -0,0 +1,69 @@
+
+
+#if defined(ARDUINO_PHOQUE) 
+#include "stm32g4xx_hal.h"
+#if !defined(HAL_DAC_MODULE_ENABLED)
+#pragma message("DAC module missing for brake")
+#endif
+#if !defined(HAL_COMP_MODULE_ENABLED)
+#pragma message("COMP module missing for brake")
+#endif
+#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
+
+#include "phoque_brake.hpp"
+#include "pins_arduino.h"
+
+phoque_brake::phoque_brake()
+	:stm32_brake(digitalPinToPinName(A_VBUS), digitalPinToPinName(BRAKE_RESISTOR), BRAKE_AF)
+{
+
+}
+
+void phoque_brake::init(float threshold)
+{
+	#ifdef DAC1
+	if (BRAKE_DAC == DAC1)
+	{
+		__HAL_RCC_DAC1_CLK_ENABLE();
+	}
+	#endif
+	#ifdef DAC2
+	if (BRAKE_DAC == DAC2)
+	{
+		__HAL_RCC_DAC2_CLK_ENABLE();
+	}
+	#endif
+	#ifdef DAC3
+	if (BRAKE_DAC == DAC3)
+	{
+		__HAL_RCC_DAC3_CLK_ENABLE();
+	}
+	#endif
+	#ifdef DAC4
+	if (BRAKE_DAC == DAC4)
+	{
+		__HAL_RCC_DAC4_CLK_ENABLE();
+	}
+	#endif
+	
+	hdac.Instance = BRAKE_DAC;
+	dac_channel = BRAKE_DAC_CHAN;
+	hcomp.Instance = BRAKE_COMP;
+	hcomp.Init = {
+		.InputPlus = BRAKE_COMP_PLUS,
+		.InputMinus = BRAKE_COMP_MINUS,
+		.Hysteresis = COMP_HYSTERESIS_10MV,
+		.OutputPol = COMP_OUTPUTPOL_NONINVERTED,
+		.BlankingSrce = COMP_BLANKINGSRC_NONE,
+		.TriggerMode = COMP_TRIGGERMODE_NONE,
+	};
+	start_brake(threshold / VBUS_MUL_FACTOR / 3.3f);
+}
+
+HAL_StatusTypeDef phoque_brake::set_threshold(float trigger_voltage)
+{
+	return set_raw_threshold(trigger_voltage / VBUS_MUL_FACTOR / 3.3f);
+}
+
+#endif
+#endif
\ No newline at end of file
diff --git a/src/brake/phoque/phoque_brake.hpp b/src/brake/phoque/phoque_brake.hpp
new file mode 100644
index 0000000..fbc792b
--- /dev/null
+++ b/src/brake/phoque/phoque_brake.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#if defined(ARDUINO_PHOQUE) 
+#include "stm32g4xx_hal.h"
+#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
+#include "brake/stm32/stm32_brake.hpp"
+
+class phoque_brake : public stm32_brake
+{
+public:
+    phoque_brake();
+    void init(float threshold);
+    HAL_StatusTypeDef set_threshold(float trigger_voltage);
+};
+
+#endif
+#endif
\ No newline at end of file
diff --git a/src/brake/stm32/stm32_brake.cpp b/src/brake/stm32/stm32_brake.cpp
new file mode 100644
index 0000000..6209622
--- /dev/null
+++ b/src/brake/stm32/stm32_brake.cpp
@@ -0,0 +1,286 @@
+#include "stm32_brake.hpp"
+
+#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
+#if !defined(HAL_DAC_MODULE_ONLY)
+#warning("HAL_DAC_MODULE_ONLY must be defined for brake to work correctly")
+#endif
+
+#include "stm32g4xx_hal_comp.h"
+#include "stm32g4xx_hal_dac.h"
+#include "Arduino.h" //for pin_function
+
+DAC_TypeDef* stm32_brake::get_dac(uint8_t index)
+{
+	switch (index)
+	{
+	#ifdef DAC1
+	case 1:
+		return DAC1;
+	#endif
+	#ifdef DAC2
+	case 2:
+		return DAC2;
+	#endif
+	#ifdef DAC3
+	case 3:
+		return DAC3;
+	#endif
+	#ifdef DAC4
+	case 4:
+		return DAC4;
+	#endif
+	default:
+		return nullptr;
+	}
+}
+
+uint32_t stm32_brake::get_dac_channel(uint8_t index)
+{
+	switch (index)
+	{
+	#ifdef DAC_CHANNEL_1
+	case 1:
+		return DAC_CHANNEL_1;
+	#endif
+	#ifdef DAC_CHANNEL_2
+	case 2:
+		return DAC_CHANNEL_2;
+	#endif
+	default:
+		return 0;
+	}
+}
+
+uint32_t stm32_brake::get_comp_minus_dac(uint8_t dac, uint8_t channel)
+{
+	switch (dac)
+	{
+	#ifdef DAC1
+	case 1:
+		switch (channel)
+		{
+		#ifdef COMP_INPUT_MINUS_DAC1_CH1
+		case 1:
+			return COMP_INPUT_MINUS_DAC1_CH1;
+		#endif
+		#ifdef COMP_INPUT_MINUS_DAC1_CH2
+		case 2:
+			return COMP_INPUT_MINUS_DAC1_CH2;
+		#endif
+		default:
+			return 0;
+		}
+	#endif
+	#ifdef DAC2
+	case 2:
+		switch (channel)
+		{
+		#ifdef COMP_INPUT_MINUS_DAC2_CH1
+		case 1:
+			return COMP_INPUT_MINUS_DAC2_CH1;
+		#endif
+		#ifdef COMP_INPUT_MINUS_DAC2_CH2
+		case 2:
+			return COMP_INPUT_MINUS_DAC2_CH2;
+		#endif
+		default:
+			return 0;
+		}
+	#endif
+	#ifdef DAC3
+	case 3:
+		switch (channel)
+		{
+		#ifdef COMP_INPUT_MINUS_DAC3_CH1
+		case 1:
+			return COMP_INPUT_MINUS_DAC3_CH1;
+		#endif
+		#ifdef COMP_INPUT_MINUS_DAC3_CH2
+		case 2:
+			return COMP_INPUT_MINUS_DAC3_CH2;
+		#endif
+		default:
+			return 0;
+		}
+	#endif
+	#ifdef DAC4
+	case 4:
+		switch (channel)
+		{
+		#ifdef COMP_INPUT_MINUS_DAC4_CH1
+		case 1:
+			return COMP_INPUT_MINUS_DAC4_CH1;
+		#endif
+		#ifdef COMP_INPUT_MINUS_DAC4_CH2
+		case 2:
+			return COMP_INPUT_MINUS_DAC4_CH2;
+		#endif
+		default:
+			return 0;
+		}
+	#endif
+	
+	default:
+		return 0;
+	}
+}
+
+COMP_TypeDef* stm32_brake::get_comp_from_plus_io(PinName pin)
+{
+	switch (pin)
+	{
+	#ifdef COMP1
+	case PA_1:
+	case PB_1:
+		return COMP1;
+	#endif
+	#ifdef COMP2
+	case PA_7:
+	case PA_3:
+		return COMP2;
+	#endif
+	#ifdef COMP3
+	case PA_0:
+	case PC_1:
+		return COMP3;
+	#endif
+	#ifdef COMP4
+	case PB_0:
+	case PE_7:
+		return COMP4;
+	#endif
+	#ifdef COMP5
+	case PB_13:
+	case PD_12:
+		return COMP5;
+	#endif
+	#ifdef COMP6
+	case PB_11:
+	case PD_11:
+		return COMP6;
+	#endif
+	#ifdef COMP7
+	case PB_14:
+	case PD_14:
+		return COMP7;
+	#endif
+	
+	default:
+		return nullptr;
+	}
+}
+
+uint32_t stm32_brake::get_comp_plus_io(PinName pin)
+{
+	switch (pin)
+	{
+	#ifdef COMP1
+	case PA_1:
+	#endif
+	#ifdef COMP2
+	case PA_7:
+	#endif
+	#ifdef COMP3
+	case PA_0:
+	#endif
+	#ifdef COMP4
+	case PB_0:
+	#endif
+	#ifdef COMP5
+	case PB_13:
+	#endif
+	#ifdef COMP6
+	case PB_11:
+	#endif
+	#ifdef COMP7
+	case PB_14:
+	#endif
+		return COMP_INPUT_PLUS_IO1;
+	#ifdef COMP1
+	case PB_1:
+	#endif
+	#ifdef COMP2
+	case PA_3:
+	#endif
+	#ifdef COMP3
+	case PC_1:
+	#endif
+	#ifdef COMP4
+	case PE_7:
+	#endif
+	#ifdef COMP5
+	case PD_12:
+	#endif
+	#ifdef COMP6
+	case PD_11:
+	#endif
+	#ifdef COMP7
+	case PD_14:
+	#endif
+		return COMP_INPUT_PLUS_IO2;
+	default:
+		return 0;
+	}
+}
+
+DAC_ChannelConfTypeDef stm32_brake::get_dac_config()
+{
+	DAC_ChannelConfTypeDef dac_channel_config = {
+		.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_DISABLE,
+		.DAC_DMADoubleDataMode = DISABLE,
+		.DAC_SignedFormat = DISABLE,
+		.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE,
+		.DAC_Trigger = DAC_TRIGGER_NONE,
+		.DAC_Trigger2 = DAC_TRIGGER_NONE,
+		.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE,
+		.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL,
+		.DAC_UserTrimming = DAC_TRIMMING_FACTORY,
+		.DAC_TrimmingValue = 0
+	};
+	return dac_channel_config;
+}
+
+void stm32_brake::configure_brake(COMP_TypeDef *comparator, bool brake_polarity, uint8_t dac_number, uint8_t _dac_channel, uint32_t hysteresis)
+{
+	hdac.Instance = get_dac(dac_number);
+	
+	uint32_t dac_channel = get_dac_channel(_dac_channel);
+
+	hcomp.Instance = comparator;
+	hcomp.Init = {
+		.InputPlus = get_comp_plus_io(vbus_pin),
+		.InputMinus = get_comp_minus_dac(dac_number, _dac_channel),
+		.Hysteresis = hysteresis,
+		.OutputPol = brake_polarity ? COMP_OUTPUTPOL_NONINVERTED : COMP_OUTPUTPOL_INVERTED,
+		.BlankingSrce = COMP_BLANKINGSRC_NONE,
+		.TriggerMode = COMP_TRIGGERMODE_NONE
+	};
+}
+
+stm32_brake::stm32_brake(PinName _vbus_pin, PinName _brake_pin, uint8_t _brake_af_num)
+	:vbus_pin(_vbus_pin), brake_pin(_brake_pin), brake_af_num(_brake_af_num)
+{
+
+}
+
+void stm32_brake::start_brake(float trigger_voltage_over_vref)
+{
+	volatile HAL_StatusTypeDef status;
+	status = HAL_DAC_Init(&hdac);
+	DAC_ChannelConfTypeDef dac_channel_config = get_dac_config();
+	status = HAL_DAC_ConfigChannel(&hdac, &dac_channel_config, dac_channel);
+	status = set_raw_threshold(trigger_voltage_over_vref);
+	status = HAL_DAC_Start(&hdac, dac_channel);
+	status = HAL_COMP_Init(&hcomp);
+	status = HAL_COMP_Start(&hcomp);
+	pin_function(vbus_pin, STM_PIN_DATA(STM_MODE_ANALOG, GPIO_NOPULL, 0));
+	pin_function(brake_pin, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, brake_af_num));
+}
+
+HAL_StatusTypeDef stm32_brake::set_raw_threshold(float trigger_voltage_over_vref)
+{
+	return HAL_DAC_SetValue(&hdac, dac_channel, DAC_ALIGN_12B_R, trigger_voltage_over_vref * ((1<<12) -1));
+}
+
+
+#endif
\ No newline at end of file
diff --git a/src/brake/stm32/stm32_brake.hpp b/src/brake/stm32/stm32_brake.hpp
new file mode 100644
index 0000000..03ff5bb
--- /dev/null
+++ b/src/brake/stm32/stm32_brake.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#ifdef STM32G4xx
+#include "stm32g4xx_hal.h"
+#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
+
+#include "PinNames.h"
+#include "stm32g4xx_hal_comp.h"
+#include "stm32g4xx_hal_dac.h"
+
+class stm32_brake
+{
+protected:
+	DAC_HandleTypeDef hdac;
+	COMP_HandleTypeDef hcomp;
+	//stm32 hardware dac channel, not 1-2
+	uint32_t dac_channel;
+	PinName vbus_pin;
+	PinName brake_pin;
+	uint8_t brake_af_num;
+public:
+	static DAC_TypeDef* get_dac(uint8_t index);
+	static uint32_t get_dac_channel(uint8_t index);
+	static uint32_t get_comp_minus_dac(uint8_t dac, uint8_t channel);
+	static COMP_TypeDef* get_comp_from_plus_io(PinName pin);
+	static uint32_t get_comp_plus_io(PinName pin);
+protected:
+
+	virtual DAC_ChannelConfTypeDef get_dac_config();
+	/**
+	 * @brief Configure DAC and comparator for brake function
+	 * 
+	 * @param comparator Instance of the comparator to use
+	 * @param brake_polarity high if brake is applied when pin is high
+	 * @param dac_number Index of the DAC to use (for DAC1, this is 1)
+	 * @param dac_channel Index of the channel to use (for channel 1, this is 1)
+	 * @param hysteresis Hysteresis of the brake, can be value of @ref COMP_Hysteresis
+	 */
+	void configure_brake(COMP_TypeDef *comparator, bool brake_polarity, uint8_t dac_number, uint8_t _dac_channel, uint32_t hysteresis);
+
+public:
+	/**
+	 * @brief Start comparator and DAC
+	 * 
+	 * @param trigger_voltage_over_vref Normalised voltage at which to trigger the comparator: if vbus_pin sees Vbus/10 and vref is 3.3, and you want to trigger at 20V, set to 20/10/3.3
+	 */
+	stm32_brake(PinName vbus_pin, PinName brake_pin, uint8_t brake_af_num);
+	
+	void start_brake(float trigger_voltage_over_vref);
+	HAL_StatusTypeDef set_raw_threshold(float trigger_voltage_over_vref);
+};
+#endif
+#endif
\ No newline at end of file