diff --git a/arch/arm/src/stm32/Kconfig b/arch/arm/src/stm32/Kconfig
index 141058ece8..02441b567d 100644
--- a/arch/arm/src/stm32/Kconfig
+++ b/arch/arm/src/stm32/Kconfig
@@ -2195,7 +2195,7 @@ config STM32_COMP6
 config STM32_COMP7
 	bool "COMP7"
 	default n
-	depends on STM32_HAVE_COMP6
+	depends on STM32_HAVE_COMP7
 
 config STM32_BKP
 	bool "BKP"
@@ -5864,6 +5864,11 @@ config STM32_HRTIM_DEADTIME
 	depends on STM32_HRTIM_PWM
 	default n
 
+config STM32_HRTIM_PUSHPULL
+	bool "HRTIM push-pull mode"
+	depends on STM32_HRTIM_PWM
+	default n
+
 config STM32_HRTIM_DMA
 	bool "HRTIM DMA"
 	default n
@@ -6041,6 +6046,11 @@ config STM32_HRTIM_TIMA_DT
 	default n
 	depends on (STM32_HRTIM_DEADTIME && STM32_HRTIM_TIMA_PWM)
 
+config STM32_HRTIM_TIMA_PSHPLL
+	bool "HRTIM TIMA PWM Push-pull mode"
+	default n
+	depends on (STM32_HRTIM_PUSHPULL && STM32_HRTIM_TIMA_PWM)
+
 endmenu # "HRTIM Timer A Configuration"
 
 menu "HRTIM Timer B Configuration"
@@ -6106,6 +6116,11 @@ config STM32_HRTIM_TIMB_DT
 	default n
 	depends on (STM32_HRTIM_DEADTIME && STM32_HRTIM_TIMB_PWM)
 
+config STM32_HRTIM_TIMB_PSHPLL
+	bool "HRTIM TIMB PWM Push-pull mode"
+	default n
+	depends on (STM32_HRTIM_PUSHPULL && STM32_HRTIM_TIMB_PWM)
+
 endmenu # "HRTIM Timer B Configuration"
 
 menu "HRTIM Timer C Configuration"
@@ -6171,6 +6186,11 @@ config STM32_HRTIM_TIMC_DT
 	default n
 	depends on (STM32_HRTIM_DEADTIME && STM32_HRTIM_TIMC_PWM)
 
+config STM32_HRTIM_TIMC_PSHPLL
+	bool "HRTIM TIMC PWM Push-pull mode"
+	default n
+	depends on (STM32_HRTIM_PUSHPULL && STM32_HRTIM_TIMC_PWM)
+
 endmenu # "HRTIM Timer C Configuration"
 
 menu "HRTIM Timer D Configuration"
@@ -6236,6 +6256,11 @@ config STM32_HRTIM_TIMD_DT
 	default n
 	depends on (STM32_HRTIM_DEADTIME && STM32_HRTIM_TIMD_PWM)
 
+config STM32_HRTIM_TIMD_PSHPLL
+	bool "HRTIM TIMD PWM Push-pull mode"
+	default n
+	depends on (STM32_HRTIM_PUSHPULL && STM32_HRTIM_TIMD_PWM)
+
 endmenu # "HRTIM Timer D Configuration"
 
 menu "HRTIM Timer E Configuration"
@@ -6301,6 +6326,11 @@ config STM32_HRTIM_TIME_DT
 	default n
 	depends on (STM32_HRTIM_DEADTIME && STM32_HRTIM_TIME_PWM)
 
+config STM32_HRTIM_TIME_PSHPLL
+	bool "HRTIM TIME PWM Push-pull mode"
+	default n
+	depends on (STM32_HRTIM_PUSHPULL && STM32_HRTIM_TIME_PWM)
+
 endmenu # "HRTIM Timer E Configuration"
 
 endif # STM32_HRTIM1
diff --git a/arch/arm/src/stm32/stm32_hrtim.c b/arch/arm/src/stm32/stm32_hrtim.c
index 121b0e2e4f..af1c032c38 100644
--- a/arch/arm/src/stm32/stm32_hrtim.c
+++ b/arch/arm/src/stm32/stm32_hrtim.c
@@ -180,6 +180,29 @@
 #    error "CONFIG_STM32_HRTIM_CHOPPER must be set"
 #  endif
 #endif
+#if defined(CONFIG_STM32_HRTIM_TIMA_PSHPLL) || defined(CONFIG_STM32_HRTIM_TIMB_PSHPLL) || \
+    defined(CONFIG_STM32_HRTIM_TIMC_PSHPLL) || defined(CONFIG_STM32_HRTIM_TIMD_PSHPLL) || \
+    defined(CONFIG_STM32_HRTIM_TIME_PSHPLL)
+#  ifndef CONFIG_STM32_HRTIM_PUSHPULL
+#    error "CONFIG_STM32_HRTIM_PUSHPULL must be set"
+#  endif
+#endif
+
+#if defined(CONFIG_STM32_HRTIM_TIMA_DT) && defined(CONFIG_STM32_HRTIM_TIMA_PSHPLL)
+#  error "The deadtime cannot be used simultaneously with the push-pull mode"
+#endif
+#if defined(CONFIG_STM32_HRTIM_TIMB_DT) && defined(CONFIG_STM32_HRTIM_TIMB_PSHPLL)
+#  error "The deadtime cannot be used simultaneously with the push-pull mode"
+#endif
+#if defined(CONFIG_STM32_HRTIM_TIMC_DT) && defined(CONFIG_STM32_HRTIM_TIMC_PSHPLL)
+#  error "The deadtime cannot be used simultaneously with the push-pull mode"
+#endif
+#if defined(CONFIG_STM32_HRTIM_TIMD_DT) && defined(CONFIG_STM32_HRTIM_TIMD_PSHPLL)
+#  error "The deadtime cannot be used simultaneously with the push-pull mode"
+#endif
+#if defined(CONFIG_STM32_HRTIM_TIME_DT) && defined(CONFIG_STM32_HRTIM_TIME_PSHPLL)
+#  error "The deadtime cannot be used simultaneously with the push-pull mode"
+#endif
 
 #if defined(CONFIG_STM32_HRTIM_ADC1_TRG1) || defined(CONFIG_STM32_HRTIM_ADC1_TRG2) || \
     defined(CONFIG_STM32_HRTIM_ADC1_TRG3) || defined(CONFIG_STM32_HRTIM_ADC1_TRG4) || \
@@ -305,7 +328,7 @@ struct stm32_hrtim_timout_s
 #ifdef CONFIG_STM32_HRTIM_CHOPPER
 struct stm32_hrtim_chopper_s
 {
-  uint16_t start:4;              /* Chopper start pulsewidth */
+  uint16_t start_pulse:4;        /* Chopper start pulsewidth */
   uint16_t freq:4;               /* Chopper carrier frequency value */
   uint16_t duty:3;               /* Chopper duty cycle */
   uint16_t _res:5;               /* Reserved */
@@ -345,6 +368,8 @@ struct stm32_hrtim_tim_burst_s
 
 struct stm32_hrtim_pwm_s
 {
+  uint8_t pushpull:1;
+  uint8_t res:7;
   struct stm32_hrtim_timout_s ch1; /* Channel 1 Set/Reset configuration*/
   struct stm32_hrtim_timout_s ch2; /* Channel 2 Set/Reset configuration */
 
@@ -786,6 +811,9 @@ static struct stm32_hrtim_slave_priv_s g_tima_priv =
 #ifdef CONFIG_STM32_HRTIM_TIMA_PWM
   .pwm =
   {
+#ifdef CONFIG_STM32_HRTIM_TIMA_PSHPLL
+    .pushpull = 1,
+#endif
 #ifdef CONFIG_STM32_HRTIM_TIMA_PWM_CH1
     .ch1 =
     {
@@ -883,6 +911,9 @@ static struct stm32_hrtim_slave_priv_s g_timb_priv =
 #ifdef CONFIG_STM32_HRTIM_TIMB_PWM
   .pwm =
   {
+#ifdef CONFIG_STM32_HRTIM_TIMB_PSHPLL
+    .pushpull = 1,
+#endif
 #ifdef CONFIG_STM32_HRTIM_TIMB_PWM_CH1
     .ch1 =
     {
@@ -980,6 +1011,9 @@ static struct stm32_hrtim_slave_priv_s g_timc_priv =
 #ifdef CONFIG_STM32_HRTIM_TIMC_PWM
   .pwm =
   {
+#ifdef CONFIG_STM32_HRTIM_TIMC_PSHPLL
+    .pushpull = 1,
+#endif
 #ifdef CONFIG_STM32_HRTIM_TIMC_PWM_CH1
     .ch1 =
     {
@@ -1077,6 +1111,9 @@ static struct stm32_hrtim_slave_priv_s g_timd_priv =
 #ifdef CONFIG_STM32_HRTIM_TIMD_PWM
   .pwm =
   {
+#ifdef CONFIG_STM32_HRTIM_TIMD_PSHPLL
+    .pushpull = 1,
+#endif
 #ifdef CONFIG_STM32_HRTIM_TIMD_PWM_CH1
     .ch1 =
     {
@@ -1174,6 +1211,9 @@ static struct stm32_hrtim_slave_priv_s g_time_priv =
 #ifdef CONFIG_STM32_HRTIM_TIME_PWM
   .pwm =
   {
+#ifdef CONFIG_STM32_HRTIM_TIME_PSHPLL
+    .pushpull = 1,
+#endif
 #ifdef CONFIG_STM32_HRTIM_TIME_PWM_CH1
     .ch1 =
     {
@@ -1518,7 +1558,7 @@ static const struct stm32_hrtim_ops_s g_hrtim1ops =
   .burst_pre_get = hrtim_burst_pre_get,
 #endif
 #ifdef CONFIG_STM32_HRTIM_CHOPPER
-  .chopper_enable = hrtim_chopper_enable
+  .chopper_enable = hrtim_chopper_enable,
 #endif
 #ifdef CONFIG_STM32_HRTIM_DEADTIME
   .deadtime_update = hrtim_deadtime_update,
@@ -2808,6 +2848,15 @@ static int hrtim_tim_outputs_config(FAR struct stm32_hrtim_s *priv, uint8_t time
     }
 #endif
 
+#ifdef CONFIG_STM32_HRTIM_PUSHPULL
+  if (slave->pwm.pushpull == 1)
+    {
+      /* Enable push-pull mode */
+
+      hrtim_tim_modifyreg(priv, timer, STM32_HRTIM_TIM_CR_OFFSET, 0, HRTIM_TIMCR_PSHPLL);
+    }
+#endif
+
 errout:
   return ret;
 }
@@ -3640,13 +3689,13 @@ static int hrtim_chopper_enable(FAR struct hrtim_dev_s *dev, uint8_t timer,
     {
       /* Set enable bit */
 
-      hrtim_tim_modifyreg(priv, index, STM32_HRTIM_TIM_OUTR_OFFSET, 0, val);
+      hrtim_tim_modifyreg(priv, timer, STM32_HRTIM_TIM_OUTR_OFFSET, 0, val);
     }
   else
     {
       /* Clear enable bit */
 
-      hrtim_tim_modifyreg(priv, index, STM32_HRTIM_TIM_OUTR_OFFSET, val, 0);
+      hrtim_tim_modifyreg(priv, timer, STM32_HRTIM_TIM_OUTR_OFFSET, val, 0);
     }
 
 errout:
@@ -3698,6 +3747,7 @@ static int hrtim_tim_chopper_cfg(FAR struct stm32_hrtim_s *priv,
 
   hrtim_tim_putreg(priv, timer, STM32_HRTIM_TIM_CHPR_OFFSET, regval);
 
+errout:
   return OK;
 }
 
@@ -4511,13 +4561,6 @@ static void hrtim_tim_mode_set(FAR struct stm32_hrtim_s *priv, uint8_t timer,
       regval |= HRTIM_CMNCR_CONT;
     }
 
-  /* Configure push-pull mode. Only Slaves */
-
-  if (mode & HRTIM_MODE_PSHPLL && timer != HRTIM_TIMER_MASTER)
-    {
-      regval |= HRTIM_TIMCR_PSHPLL;
-    }
-
   /* Write register */
 
   hrtim_tim_putreg(priv, timer, STM32_HRTIM_TIM_CR_OFFSET, regval);
diff --git a/arch/arm/src/stm32/stm32_hrtim.h b/arch/arm/src/stm32/stm32_hrtim.h
index da02364460..ee021a9d82 100644
--- a/arch/arm/src/stm32/stm32_hrtim.h
+++ b/arch/arm/src/stm32/stm32_hrtim.h
@@ -415,10 +415,6 @@ enum stm32_hrtim_mode_e
   HRTIM_MODE_HALF    = (1 << 1),  /* Half mode */
   HRTIM_MODE_RETRIG  = (1 << 2),  /* Re-triggerable mode */
   HRTIM_MODE_CONT    = (1 << 3),  /* Continuous mode */
-
-  /* Only slave Timers */
-
-  HRTIM_MODE_PSHPLL  = (1 << 7),  /* Push-Pull mode */
 };
 
 /* HRTIM Slave Timer auto-delayed mode
diff --git a/configs/stm32f334-disco/src/stm32_smps.c b/configs/stm32f334-disco/src/stm32_smps.c
index b1ae43e216..12f85667b1 100644
--- a/configs/stm32f334-disco/src/stm32_smps.c
+++ b/configs/stm32f334-disco/src/stm32_smps.c
@@ -748,7 +748,6 @@ static void smps_duty_set(struct smps_priv_s *priv, struct smps_lower_dev_s *low
         {
           per = HRTIM_PER_GET(hrtim, HRTIM_TIMER_TIMA);
 
-
           if (out < priv->v_in) out = priv->v_in;
           if (out >= BOOST_VOLT_MAX) out = BOOST_VOLT_MAX;
 
@@ -767,9 +766,24 @@ static void smps_duty_set(struct smps_priv_s *priv, struct smps_lower_dev_s *low
 
       case CONVERTER_MODE_BUCKBOOST:
         {
-          /* do something */
+          /* Buck converter is set to fixed duty cycle (80%).
+           * Now we need set boost converter
+           */
 
-#warning TODO: buck boost mode
+          per = HRTIM_PER_GET(hrtim, HRTIM_TIMER_TIMA);
+
+          if (out < priv->v_in) out = priv->v_in;
+          if (out >= BOOST_VOLT_MAX) out = BOOST_VOLT_MAX;
+
+          duty = 1.0 - priv->v_in/out;
+
+#warning TODO: current limit in buck boost mode
+
+          cmp = (uint16_t)(per * duty);
+
+          /* Set T12 duty cycle. T5 is complementary to T12 */
+
+          HRTIM_CMP_SET(hrtim, HRTIM_TIMER_TIMB, HRTIM_CMP1, cmp);
 
           break;
         }
@@ -857,6 +871,12 @@ static void smps_conv_mode_set(struct smps_priv_s *priv, struct smps_lower_dev_s
           HRTIM_OUTPUT_SET_SET(hrtim, HRTIM_OUT_TIMB_CH1, HRTIM_OUT_SET_PER);
           HRTIM_OUTPUT_RST_SET(hrtim, HRTIM_OUT_TIMB_CH1, HRTIM_OUT_RST_CMP1);
 
+          /* Set fixed duty cycle (80%) on buck converter (T4 and T11) */
+
+          HRTIM_CMP_SET(hrtim, HRTIM_TIMER_TIMA, HRTIM_CMP1,
+                        0.8 * ((uint16_t)HRTIM_PER_GET(hrtim, HRTIM_TIMER_TIMA)));
+
+
           break;
         }