Merge pull request #1582 from xoviat/hrtim

Add the high resolution timer

13 files changed, 781 insertions, 4 deletions

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 725fb69d0..29e8812e3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -25,6 +25,7 @@
     // "examples/stm32f1/Cargo.toml",
     // "examples/stm32f2/Cargo.toml",
     // "examples/stm32f3/Cargo.toml",
+    // "examples/stm32f334/Cargo.toml",
     // "examples/stm32f4/Cargo.toml",
     // "examples/stm32f7/Cargo.toml",
     // "examples/stm32g0/Cargo.toml",
diff --git a/ci.sh b/ci.sh
index 19628b50e..32ae7855e 100755
--- a/ci.sh
+++ b/ci.sh
@@ -117,6 +117,7 @@ cargo batch  \
     --- build --release --manifest-path examples/stm32f1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f1 \
     --- build --release --manifest-path examples/stm32f2/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f2 \
     --- build --release --manifest-path examples/stm32f3/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f3 \
+    --- build --release --manifest-path examples/stm32f334/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f334 \
     --- build --release --manifest-path examples/stm32f4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f4 \
     --- build --release --manifest-path examples/stm32f7/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f7 \
     --- build --release --manifest-path examples/stm32c0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32c0 \
diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index 409a943d2..9b3caefd5 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -587,6 +587,16 @@ fn main() {
         (("timer", "BKIN2"), quote!(crate::timer::BreakInput2Pin)),
         (("timer", "BKIN2_COMP1"), quote!(crate::timer::BreakInput2Comparator1Pin)),
         (("timer", "BKIN2_COMP2"), quote!(crate::timer::BreakInput2Comparator2Pin)),
+        (("hrtim", "CHA1"), quote!(crate::hrtim::ChannelAPin)),
+        (("hrtim", "CHA2"), quote!(crate::hrtim::ChannelAComplementaryPin)),
+        (("hrtim", "CHB1"), quote!(crate::hrtim::ChannelBPin)),
+        (("hrtim", "CHB2"), quote!(crate::hrtim::ChannelBComplementaryPin)),
+        (("hrtim", "CHC1"), quote!(crate::hrtim::ChannelCPin)),
+        (("hrtim", "CHC2"), quote!(crate::hrtim::ChannelCComplementaryPin)),
+        (("hrtim", "CHD1"), quote!(crate::hrtim::ChannelDPin)),
+        (("hrtim", "CHD2"), quote!(crate::hrtim::ChannelDComplementaryPin)),
+        (("hrtim", "CHE1"), quote!(crate::hrtim::ChannelEPin)),
+        (("hrtim", "CHE2"), quote!(crate::hrtim::ChannelEComplementaryPin)),
         (("sdmmc", "CK"), quote!(crate::sdmmc::CkPin)),
         (("sdmmc", "CMD"), quote!(crate::sdmmc::CmdPin)),
         (("sdmmc", "D0"), quote!(crate::sdmmc::D0Pin)),
diff --git a/embassy-stm32/src/hrtim/mod.rs b/embassy-stm32/src/hrtim/mod.rs
new file mode 100644
index 000000000..a930ff73f
--- /dev/null
+++ b/embassy-stm32/src/hrtim/mod.rs
@@ -0,0 +1,409 @@
+mod traits;
+
+use core::marker::PhantomData;
+
+use embassy_hal_internal::{into_ref, PeripheralRef};
+pub use traits::Instance;
+
+#[allow(unused_imports)]
+use crate::gpio::sealed::{AFType, Pin};
+use crate::gpio::AnyPin;
+use crate::time::Hertz;
+use crate::Peripheral;
+
+pub enum Source {
+    Master,
+    ChA,
+    ChB,
+    ChC,
+    ChD,
+    ChE,
+}
+
+pub struct BurstController<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct Master<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct ChA<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct ChB<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct ChC<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct ChD<T: Instance> {
+    phantom: PhantomData<T>,
+}
+pub struct ChE<T: Instance> {
+    phantom: PhantomData<T>,
+}
+
+mod sealed {
+    use super::Instance;
+
+    pub trait AdvancedChannel<T: Instance> {
+        fn raw() -> usize;
+    }
+}
+
+pub trait AdvancedChannel<T: Instance>: sealed::AdvancedChannel<T> {}
+
+pub struct PwmPin<'d, Perip, Channel> {
+    _pin: PeripheralRef<'d, AnyPin>,
+    phantom: PhantomData<(Perip, Channel)>,
+}
+
+pub struct ComplementaryPwmPin<'d, Perip, Channel> {
+    _pin: PeripheralRef<'d, AnyPin>,
+    phantom: PhantomData<(Perip, Channel)>,
+}
+
+macro_rules! advanced_channel_impl {
+    ($new_chx:ident, $channel:tt, $ch_num:expr, $pin_trait:ident, $complementary_pin_trait:ident) => {
+        impl<'d, Perip: Instance> PwmPin<'d, Perip, $channel<Perip>> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
+                into_ref!(pin);
+                critical_section::with(|_| {
+                    pin.set_low();
+                    pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
+                    #[cfg(gpio_v2)]
+                    pin.set_speed(crate::gpio::Speed::VeryHigh);
+                });
+                PwmPin {
+                    _pin: pin.map_into(),
+                    phantom: PhantomData,
+                }
+            }
+        }
+
+        impl<'d, Perip: Instance> ComplementaryPwmPin<'d, Perip, $channel<Perip>> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
+                into_ref!(pin);
+                critical_section::with(|_| {
+                    pin.set_low();
+                    pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
+                    #[cfg(gpio_v2)]
+                    pin.set_speed(crate::gpio::Speed::VeryHigh);
+                });
+                ComplementaryPwmPin {
+                    _pin: pin.map_into(),
+                    phantom: PhantomData,
+                }
+            }
+        }
+
+        impl<T: Instance> sealed::AdvancedChannel<T> for $channel<T> {
+            fn raw() -> usize {
+                $ch_num
+            }
+        }
+        impl<T: Instance> AdvancedChannel<T> for $channel<T> {}
+    };
+}
+
+advanced_channel_impl!(new_cha, ChA, 0, ChannelAPin, ChannelAComplementaryPin);
+advanced_channel_impl!(new_chb, ChB, 1, ChannelBPin, ChannelBComplementaryPin);
+advanced_channel_impl!(new_chc, ChC, 2, ChannelCPin, ChannelCComplementaryPin);
+advanced_channel_impl!(new_chd, ChD, 3, ChannelDPin, ChannelDComplementaryPin);
+advanced_channel_impl!(new_che, ChE, 4, ChannelEPin, ChannelEComplementaryPin);
+
+/// Struct used to divide a high resolution timer into multiple channels
+pub struct AdvancedPwm<'d, T: Instance> {
+    _inner: PeripheralRef<'d, T>,
+    pub master: Master<T>,
+    pub burst_controller: BurstController<T>,
+    pub ch_a: ChA<T>,
+    pub ch_b: ChB<T>,
+    pub ch_c: ChC<T>,
+    pub ch_d: ChD<T>,
+    pub ch_e: ChE<T>,
+}
+
+impl<'d, T: Instance> AdvancedPwm<'d, T> {
+    pub fn new(
+        tim: impl Peripheral<P = T> + 'd,
+        _cha: Option<PwmPin<'d, T, ChA<T>>>,
+        _chan: Option<ComplementaryPwmPin<'d, T, ChA<T>>>,
+        _chb: Option<PwmPin<'d, T, ChB<T>>>,
+        _chbn: Option<ComplementaryPwmPin<'d, T, ChB<T>>>,
+        _chc: Option<PwmPin<'d, T, ChC<T>>>,
+        _chcn: Option<ComplementaryPwmPin<'d, T, ChC<T>>>,
+        _chd: Option<PwmPin<'d, T, ChD<T>>>,
+        _chdn: Option<ComplementaryPwmPin<'d, T, ChD<T>>>,
+        _che: Option<PwmPin<'d, T, ChE<T>>>,
+        _chen: Option<ComplementaryPwmPin<'d, T, ChE<T>>>,
+    ) -> Self {
+        Self::new_inner(tim)
+    }
+
+    fn new_inner(tim: impl Peripheral<P = T> + 'd) -> Self {
+        into_ref!(tim);
+
+        T::enable();
+        <T as crate::rcc::sealed::RccPeripheral>::reset();
+
+        //        // Enable and and stabilize the DLL
+        //        T::regs().dllcr().modify(|w| {
+        //            // w.set_calen(true);
+        //            // w.set_calrte(11);
+        //            w.set_cal(true);
+        //        });
+        //
+        //        debug!("wait for dll calibration");
+        //        while !T::regs().isr().read().dllrdy() {}
+        //
+        //        debug!("dll calibration complete");
+
+        Self {
+            _inner: tim,
+            master: Master { phantom: PhantomData },
+            burst_controller: BurstController { phantom: PhantomData },
+            ch_a: ChA { phantom: PhantomData },
+            ch_b: ChB { phantom: PhantomData },
+            ch_c: ChC { phantom: PhantomData },
+            ch_d: ChD { phantom: PhantomData },
+            ch_e: ChE { phantom: PhantomData },
+        }
+    }
+}
+
+impl<T: Instance> BurstController<T> {
+    pub fn set_source(&mut self, _source: Source) {
+        todo!("burst mode control registers not implemented")
+    }
+}
+
+/// Represents a fixed-frequency bridge converter
+///
+/// Our implementation of the bridge converter uses a single channel and three compare registers,
+/// allowing implementation of a synchronous buck or boost converter in continuous or discontinuous
+/// conduction mode.
+///
+/// It is important to remember that in synchronous topologies, energy can flow in reverse during
+/// light loading conditions, and that the low-side switch must be active for a short time to drive
+/// a bootstrapped high-side switch.
+pub struct BridgeConverter<T: Instance, C: AdvancedChannel<T>> {
+    timer: PhantomData<T>,
+    channel: PhantomData<C>,
+    dead_time: u16,
+    primary_duty: u16,
+    min_secondary_duty: u16,
+    max_secondary_duty: u16,
+}
+
+impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
+    pub fn new(_channel: C, frequency: Hertz) -> Self {
+        use crate::pac::hrtim::vals::{Activeeffect, Inactiveeffect};
+
+        T::set_channel_frequency(C::raw(), frequency);
+
+        // Always enable preload
+        T::regs().tim(C::raw()).cr().modify(|w| {
+            w.set_preen(true);
+            w.set_repu(true);
+            w.set_cont(true);
+        });
+
+        // Enable timer outputs
+        T::regs().oenr().modify(|w| {
+            w.set_t1oen(C::raw(), true);
+            w.set_t2oen(C::raw(), true);
+        });
+
+        // The dead-time generation unit cannot be used because it forces the other output
+        // to be completely complementary to the first output, which restricts certain waveforms
+        // Therefore, software-implemented dead time must be used when setting the duty cycles
+
+        // Set output 1 to active on a period event
+        T::regs()
+            .tim(C::raw())
+            .setr(0)
+            .modify(|w| w.set_per(Activeeffect::SETACTIVE));
+
+        // Set output 1 to inactive on a compare 1 event
+        T::regs()
+            .tim(C::raw())
+            .rstr(0)
+            .modify(|w| w.set_cmp(0, Inactiveeffect::SETINACTIVE));
+
+        // Set output 2 to active on a compare 2 event
+        T::regs()
+            .tim(C::raw())
+            .setr(1)
+            .modify(|w| w.set_cmp(1, Activeeffect::SETACTIVE));
+
+        // Set output 2 to inactive on a compare 3 event
+        T::regs()
+            .tim(C::raw())
+            .rstr(1)
+            .modify(|w| w.set_cmp(2, Inactiveeffect::SETINACTIVE));
+
+        Self {
+            timer: PhantomData,
+            channel: PhantomData,
+            dead_time: 0,
+            primary_duty: 0,
+            min_secondary_duty: 0,
+            max_secondary_duty: 0,
+        }
+    }
+
+    pub fn start(&mut self) {
+        T::regs().mcr().modify(|w| w.set_tcen(C::raw(), true));
+    }
+
+    pub fn stop(&mut self) {
+        T::regs().mcr().modify(|w| w.set_tcen(C::raw(), false));
+    }
+
+    pub fn enable_burst_mode(&mut self) {
+        T::regs().tim(C::raw()).outr().modify(|w| {
+            // Enable Burst Mode
+            w.set_idlem(0, true);
+            w.set_idlem(1, true);
+
+            // Set output to active during the burst
+            w.set_idles(0, true);
+            w.set_idles(1, true);
+        })
+    }
+
+    pub fn disable_burst_mode(&mut self) {
+        T::regs().tim(C::raw()).outr().modify(|w| {
+            // Disable Burst Mode
+            w.set_idlem(0, false);
+            w.set_idlem(1, false);
+        })
+    }
+
+    fn update_primary_duty_or_dead_time(&mut self) {
+        self.min_secondary_duty = self.primary_duty + self.dead_time;
+
+        T::regs().tim(C::raw()).cmp(0).modify(|w| w.set_cmp(self.primary_duty));
+        T::regs()
+            .tim(C::raw())
+            .cmp(1)
+            .modify(|w| w.set_cmp(self.min_secondary_duty));
+    }
+
+    /// Set the dead time as a proportion of the maximum compare value
+    pub fn set_dead_time(&mut self, dead_time: u16) {
+        self.dead_time = dead_time;
+        self.max_secondary_duty = self.get_max_compare_value() - dead_time;
+        self.update_primary_duty_or_dead_time();
+    }
+
+    /// Get the maximum compare value of a duty cycle
+    pub fn get_max_compare_value(&mut self) -> u16 {
+        T::regs().tim(C::raw()).per().read().per()
+    }
+
+    /// The primary duty is the period in which the primary switch is active
+    ///
+    /// In the case of a buck converter, this is the high-side switch
+    /// In the case of a boost converter, this is the low-side switch
+    pub fn set_primary_duty(&mut self, primary_duty: u16) {
+        self.primary_duty = primary_duty;
+        self.update_primary_duty_or_dead_time();
+    }
+
+    /// The secondary duty is the period in any switch is active
+    ///
+    /// If less than or equal to the primary duty, the secondary switch will be active for one tick
+    /// If a fully complementary output is desired, the secondary duty can be set to the max compare
+    pub fn set_secondary_duty(&mut self, secondary_duty: u16) {
+        let secondary_duty = if secondary_duty > self.max_secondary_duty {
+            self.max_secondary_duty
+        } else if secondary_duty <= self.min_secondary_duty {
+            self.min_secondary_duty + 1
+        } else {
+            secondary_duty
+        };
+
+        T::regs().tim(C::raw()).cmp(2).modify(|w| w.set_cmp(secondary_duty));
+    }
+}
+
+/// Represents a variable-frequency resonant converter
+///
+/// This implementation of a resonsant converter is appropriate for a half or full bridge,
+/// but does not include secondary rectification, which is appropriate for applications
+/// with a low-voltage on the secondary side.
+pub struct ResonantConverter<T: Instance, C: AdvancedChannel<T>> {
+    timer: PhantomData<T>,
+    channel: PhantomData<C>,
+    min_period: u16,
+    max_period: u16,
+}
+
+impl<T: Instance, C: AdvancedChannel<T>> ResonantConverter<T, C> {
+    pub fn new(_channel: C, min_frequency: Hertz, max_frequency: Hertz) -> Self {
+        T::set_channel_frequency(C::raw(), min_frequency);
+
+        // Always enable preload
+        T::regs().tim(C::raw()).cr().modify(|w| {
+            w.set_preen(true);
+            w.set_repu(true);
+
+            w.set_cont(true);
+            w.set_half(true);
+        });
+
+        // Enable timer outputs
+        T::regs().oenr().modify(|w| {
+            w.set_t1oen(C::raw(), true);
+            w.set_t2oen(C::raw(), true);
+        });
+
+        // Dead-time generator can be used in this case because the primary fets
+        // of a resonant converter are always complementary
+        T::regs().tim(C::raw()).outr().modify(|w| w.set_dten(true));
+
+        let max_period = T::regs().tim(C::raw()).per().read().per();
+        let min_period = max_period * (min_frequency.0 / max_frequency.0) as u16;
+
+        Self {
+            timer: PhantomData,
+            channel: PhantomData,
+            min_period: min_period,
+            max_period: max_period,
+        }
+    }
+
+    /// Set the dead time as a proportion of the maximum compare value
+    pub fn set_dead_time(&mut self, value: u16) {
+        T::set_channel_dead_time(C::raw(), value);
+    }
+
+    pub fn set_period(&mut self, period: u16) {
+        assert!(period < self.max_period);
+        assert!(period > self.min_period);
+
+        T::regs().tim(C::raw()).per().modify(|w| w.set_per(period));
+    }
+
+    /// Get the minimum compare value of a duty cycle
+    pub fn get_min_period(&mut self) -> u16 {
+        self.min_period
+    }
+
+    /// Get the maximum compare value of a duty cycle
+    pub fn get_max_period(&mut self) -> u16 {
+        self.max_period
+    }
+}
+
+pin_trait!(ChannelAPin, Instance);
+pin_trait!(ChannelAComplementaryPin, Instance);
+pin_trait!(ChannelBPin, Instance);
+pin_trait!(ChannelBComplementaryPin, Instance);
+pin_trait!(ChannelCPin, Instance);
+pin_trait!(ChannelCComplementaryPin, Instance);
+pin_trait!(ChannelDPin, Instance);
+pin_trait!(ChannelDComplementaryPin, Instance);
+pin_trait!(ChannelEPin, Instance);
+pin_trait!(ChannelEComplementaryPin, Instance);
diff --git a/embassy-stm32/src/hrtim/traits.rs b/embassy-stm32/src/hrtim/traits.rs
new file mode 100644
index 000000000..158a68862
--- /dev/null
+++ b/embassy-stm32/src/hrtim/traits.rs
@@ -0,0 +1,193 @@
+use crate::rcc::sealed::RccPeripheral;
+use crate::time::Hertz;
+
+#[derive(Clone, Copy)]
+pub(crate) enum Prescaler {
+    Div1,
+    Div2,
+    Div4,
+    Div8,
+    Div16,
+    Div32,
+    Div64,
+    Div128,
+}
+
+impl From<Prescaler> for u32 {
+    fn from(val: Prescaler) -> Self {
+        match val {
+            Prescaler::Div1 => 1,
+            Prescaler::Div2 => 2,
+            Prescaler::Div4 => 4,
+            Prescaler::Div8 => 8,
+            Prescaler::Div16 => 16,
+            Prescaler::Div32 => 32,
+            Prescaler::Div64 => 64,
+            Prescaler::Div128 => 128,
+        }
+    }
+}
+
+impl From<Prescaler> for u8 {
+    fn from(val: Prescaler) -> Self {
+        match val {
+            Prescaler::Div1 => 0b000,
+            Prescaler::Div2 => 0b001,
+            Prescaler::Div4 => 0b010,
+            Prescaler::Div8 => 0b011,
+            Prescaler::Div16 => 0b100,
+            Prescaler::Div32 => 0b101,
+            Prescaler::Div64 => 0b110,
+            Prescaler::Div128 => 0b111,
+        }
+    }
+}
+
+impl From<u8> for Prescaler {
+    fn from(val: u8) -> Self {
+        match val {
+            0b000 => Prescaler::Div1,
+            0b001 => Prescaler::Div2,
+            0b010 => Prescaler::Div4,
+            0b011 => Prescaler::Div8,
+            0b100 => Prescaler::Div16,
+            0b101 => Prescaler::Div32,
+            0b110 => Prescaler::Div64,
+            0b111 => Prescaler::Div128,
+            _ => unreachable!(),
+        }
+    }
+}
+
+impl Prescaler {
+    pub fn compute_min_high_res(val: u32) -> Self {
+        *[
+            Prescaler::Div1,
+            Prescaler::Div2,
+            Prescaler::Div4,
+            Prescaler::Div8,
+            Prescaler::Div16,
+            Prescaler::Div32,
+            Prescaler::Div64,
+            Prescaler::Div128,
+        ]
+        .iter()
+        .skip_while(|psc| <Prescaler as Into<u32>>::into(**psc) <= val)
+        .next()
+        .unwrap()
+    }
+
+    pub fn compute_min_low_res(val: u32) -> Self {
+        *[Prescaler::Div32, Prescaler::Div64, Prescaler::Div128]
+            .iter()
+            .skip_while(|psc| <Prescaler as Into<u32>>::into(**psc) <= val)
+            .next()
+            .unwrap()
+    }
+}
+
+pub(crate) mod sealed {
+    use super::*;
+
+    pub trait Instance: RccPeripheral {
+        fn regs() -> crate::pac::hrtim::Hrtim;
+
+        fn set_master_frequency(frequency: Hertz);
+
+        fn set_channel_frequency(channnel: usize, frequency: Hertz);
+
+        /// Set the dead time as a proportion of max_duty
+        fn set_channel_dead_time(channnel: usize, dead_time: u16);
+
+        //        fn enable_outputs(enable: bool);
+        //
+        //        fn enable_channel(&mut self, channel: usize, enable: bool);
+    }
+}
+
+pub trait Instance: sealed::Instance + 'static {}
+
+foreach_interrupt! {
+    ($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
+        impl sealed::Instance for crate::peripherals::$inst {
+            fn regs() -> crate::pac::hrtim::Hrtim {
+                crate::pac::$inst
+            }
+
+            fn set_master_frequency(frequency: Hertz) {
+                use crate::rcc::sealed::RccPeripheral;
+
+                let f = frequency.0;
+                let timer_f = Self::frequency().0;
+                let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
+                let psc = if Self::regs().isr().read().dllrdy() {
+                    Prescaler::compute_min_high_res(psc_min)
+                } else {
+                    Prescaler::compute_min_low_res(psc_min)
+                };
+
+                let psc_val: u32 = psc.into();
+                let timer_f = 32 * (timer_f / psc_val);
+                let per: u16 = (timer_f / f) as u16;
+
+                let regs = Self::regs();
+
+                regs.mcr().modify(|w| w.set_ckpsc(psc.into()));
+                regs.mper().modify(|w| w.set_mper(per));
+            }
+
+            fn set_channel_frequency(channel: usize, frequency: Hertz) {
+                use crate::rcc::sealed::RccPeripheral;
+
+                let f = frequency.0;
+                let timer_f = Self::frequency().0;
+                let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
+                let psc = if Self::regs().isr().read().dllrdy() {
+                    Prescaler::compute_min_high_res(psc_min)
+                } else {
+                    Prescaler::compute_min_low_res(psc_min)
+                };
+
+                let psc_val: u32 = psc.into();
+                let timer_f = 32 * (timer_f / psc_val);
+                let per: u16 = (timer_f / f) as u16;
+
+                let regs = Self::regs();
+
+                regs.tim(channel).cr().modify(|w| w.set_ckpsc(psc.into()));
+                regs.tim(channel).per().modify(|w| w.set_per(per));
+            }
+
+            fn set_channel_dead_time(channel: usize, dead_time: u16) {
+
+                let regs = Self::regs();
+
+                let channel_psc: Prescaler = regs.tim(channel).cr().read().ckpsc().into();
+                let psc_val: u32 = channel_psc.into();
+
+
+                // The dead-time base clock runs 4 times slower than the hrtim base clock
+                // u9::MAX = 511
+                let psc_min = (psc_val * dead_time as u32) / (4 * 511);
+                let psc = if Self::regs().isr().read().dllrdy() {
+                    Prescaler::compute_min_high_res(psc_min)
+                } else {
+                    Prescaler::compute_min_low_res(psc_min)
+                };
+
+                let dt_psc_val: u32 = psc.into();
+                let dt_val = (dt_psc_val * dead_time as u32) / (4 * psc_val);
+
+                regs.tim(channel).dt().modify(|w| {
+                    w.set_dtprsc(psc.into());
+                    w.set_dtf(dt_val as u16);
+                    w.set_dtr(dt_val as u16);
+                });
+            }
+        }
+
+        impl Instance for crate::peripherals::$inst {
+
+        }
+    };
+}
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index 9e67596b0..34220fbf5 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -26,6 +26,8 @@ pub mod timer;
 pub mod adc;
 #[cfg(can)]
 pub mod can;
+#[cfg(crc)]
+pub mod crc;
 #[cfg(dac)]
 pub mod dac;
 #[cfg(dcmi)]
@@ -34,14 +36,13 @@ pub mod dcmi;
 pub mod eth;
 #[cfg(feature = "exti")]
 pub mod exti;
+pub mod flash;
 #[cfg(fmc)]
 pub mod fmc;
+#[cfg(hrtim_v1)]
+pub mod hrtim;
 #[cfg(i2c)]
 pub mod i2c;
-
-#[cfg(crc)]
-pub mod crc;
-pub mod flash;
 #[cfg(all(spi_v1, rcc_f4))]
 pub mod i2s;
 #[cfg(stm32wb)]
diff --git a/embassy-stm32/src/rcc/f3.rs b/embassy-stm32/src/rcc/f3.rs
index 2deee80d6..321270a70 100644
--- a/embassy-stm32/src/rcc/f3.rs
+++ b/embassy-stm32/src/rcc/f3.rs
@@ -264,6 +264,7 @@ fn calc_pll(config: &Config, Hertz(sysclk): Hertz) -> (Hertz, PllConfig) {
 }
 
 #[inline]
+#[allow(unused_variables)]
 fn get_usb_pre(config: &Config, sysclk: u32, pclk1: u32, pll_config: &Option<PllConfig>) -> Usbpre {
     cfg_if::cfg_if! {
         // Some chips do not have USB
diff --git a/examples/stm32f334/.cargo/config.toml b/examples/stm32f334/.cargo/config.toml
new file mode 100644
index 000000000..caf947be6
--- /dev/null
+++ b/examples/stm32f334/.cargo/config.toml
@@ -0,0 +1,9 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# replace STM32F429ZITx with your chip as listed in `probe-rs-cli chip list`
+runner = "probe-run --chip STM32F334R8"
+
+[build]
+target = "thumbv7em-none-eabihf"
+
+[env]
+DEFMT_LOG = "trace"
diff --git a/examples/stm32f334/Cargo.toml b/examples/stm32f334/Cargo.toml
new file mode 100644
index 000000000..6410891a1
--- /dev/null
+++ b/examples/stm32f334/Cargo.toml
@@ -0,0 +1,26 @@
+[package]
+edition = "2021"
+name = "embassy-stm32f3-examples"
+version = "0.1.0"
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
+embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f334r8", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
+embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
+
+defmt = "0.3"
+defmt-rtt = "0.4"
+
+cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+embedded-hal = "0.2.6"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
+heapless = { version = "0.7.5", default-features = false }
+nb = "1.0.0"
+embedded-storage = "0.3.0"
+static_cell = { version = "1.1", features = ["nightly"]}
diff --git a/examples/stm32f334/build.rs b/examples/stm32f334/build.rs
new file mode 100644
index 000000000..8cd32d7ed
--- /dev/null
+++ b/examples/stm32f334/build.rs
@@ -0,0 +1,5 @@
+fn main() {
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}
diff --git a/examples/stm32f334/src/bin/button.rs b/examples/stm32f334/src/bin/button.rs
new file mode 100644
index 000000000..599c0f27d
--- /dev/null
+++ b/examples/stm32f334/src/bin/button.rs
@@ -0,0 +1,27 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Speed};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Hello World!");
+
+    let p = embassy_stm32::init(Default::default());
+
+    let mut out1 = Output::new(p.PA8, Level::Low, Speed::High);
+
+    out1.set_high();
+    Timer::after(Duration::from_millis(500)).await;
+    out1.set_low();
+
+    Timer::after(Duration::from_millis(500)).await;
+    info!("end program");
+
+    cortex_m::asm::bkpt();
+}
diff --git a/examples/stm32f334/src/bin/hello.rs b/examples/stm32f334/src/bin/hello.rs
new file mode 100644
index 000000000..65773210d
--- /dev/null
+++ b/examples/stm32f334/src/bin/hello.rs
@@ -0,0 +1,23 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_stm32::time::Hertz;
+use embassy_stm32::Config;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    let mut config = Config::default();
+    config.rcc.hse = Some(Hertz(8_000_000));
+    config.rcc.sysclk = Some(Hertz(16_000_000));
+    let _p = embassy_stm32::init(config);
+
+    loop {
+        info!("Hello World!");
+        Timer::after(Duration::from_secs(1)).await;
+    }
+}
diff --git a/examples/stm32f334/src/bin/pwm.rs b/examples/stm32f334/src/bin/pwm.rs
new file mode 100644
index 000000000..2660b10c5
--- /dev/null
+++ b/examples/stm32f334/src/bin/pwm.rs
@@ -0,0 +1,71 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::hrtim::*;
+use embassy_stm32::time::{khz, mhz};
+use embassy_stm32::Config;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut config: Config = Default::default();
+    config.rcc.sysclk = Some(mhz(64));
+    config.rcc.hclk = Some(mhz(64));
+    config.rcc.pclk1 = Some(mhz(32));
+    config.rcc.pclk2 = Some(mhz(64));
+
+    let p = embassy_stm32::init(config);
+    info!("Hello World!");
+
+    let ch1 = PwmPin::new_cha(p.PA8);
+    let ch1n = ComplementaryPwmPin::new_cha(p.PA9);
+    let pwm = AdvancedPwm::new(
+        p.HRTIM1,
+        Some(ch1),
+        Some(ch1n),
+        None,
+        None,
+        None,
+        None,
+        None,
+        None,
+        None,
+        None,
+    );
+
+    info!("pwm constructed");
+
+    let mut buck_converter = BridgeConverter::new(pwm.ch_a, khz(5));
+
+    //    embassy_stm32::pac::HRTIM1
+    //        .tim(0)
+    //        .setr(0)
+    //        .modify(|w| w.set_sst(Activeeffect::SETACTIVE));
+    //
+    //    Timer::after(Duration::from_millis(500)).await;
+    //
+    //    embassy_stm32::pac::HRTIM1
+    //        .tim(0)
+    //        .rstr(0)
+    //        .modify(|w| w.set_srt(Inactiveeffect::SETINACTIVE));
+
+    let max_duty = buck_converter.get_max_compare_value();
+
+    info!("max compare value: {}", max_duty);
+
+    buck_converter.set_dead_time(max_duty / 20);
+    buck_converter.set_primary_duty(max_duty / 2);
+    buck_converter.set_secondary_duty(3 * max_duty / 4);
+
+    buck_converter.start();
+
+    Timer::after(Duration::from_millis(500)).await;
+
+    info!("end program");
+
+    cortex_m::asm::bkpt();
+}