Hi Rob.
Some questions about output:
RB0: is 82.5us is a standard timing of a hall sens or it depends on a time that magnet going thru the hall?
RA3: don’t understand that is it end when it goes from low to high?
RB3: we need to stop the PWM during the SCR is high to prevent the SCR damage.
My be better to see the output between 2 pulses of a hall?

BR IURA