3 files changed, 64 insertions, 6 deletions

diff --git a/embassy-stm32/src/timer/complementary_pwm.rs b/embassy-stm32/src/timer/complementary_pwm.rs
index 6ca13820a..19211d933 100644
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@@ -2,14 +2,13 @@
 
 use core::marker::PhantomData;
 
-pub use stm32_metapac::timer::vals::{Ckd, Mms2, Ossi, Ossr};
-
 use super::low_level::{CountingMode, OutputPolarity, Timer};
 use super::simple_pwm::PwmPin;
 use super::{AdvancedInstance4Channel, Ch1, Ch2, Ch3, Ch4, Channel, TimerComplementaryPin};
 use crate::Peri;
 use crate::dma::word::Word;
 use crate::gpio::{AnyPin, OutputType};
+pub use crate::pac::timer::vals::{Ccds, Ckd, Mms2, Ossi, Ossr};
 use crate::time::Hertz;
 use crate::timer::TimerChannel;
 use crate::timer::low_level::OutputCompareMode;
@@ -220,6 +219,25 @@ impl<'d, T: AdvancedInstance4Channel> ComplementaryPwm<'d, T> {
     /// Generate a sequence of PWM waveform
     ///
     /// Note:
+    /// The DMA channel provided does not need to correspond to the requested channel.
+    pub async fn waveform<C: TimerChannel, W: Word + Into<T::Word>>(
+        &mut self,
+        dma: Peri<'_, impl super::Dma<T, C>>,
+        channel: Channel,
+        duty: &[W],
+    ) {
+        self.inner.enable_channel(channel, true);
+        self.inner.enable_channel(C::CHANNEL, true);
+        self.inner.clamp_compare_value::<W>(channel);
+        self.inner.set_cc_dma_selection(Ccds::ON_UPDATE);
+        self.inner.set_cc_dma_enable_state(C::CHANNEL, true);
+        self.inner.setup_channel_update_dma(dma, channel, duty).await;
+        self.inner.set_cc_dma_enable_state(C::CHANNEL, false);
+    }
+
+    /// Generate a sequence of PWM waveform
+    ///
+    /// Note:
     /// you will need to provide corresponding TIMx_UP DMA channel to use this method.
     pub async fn waveform_up<W: Word + Into<T::Word>>(
         &mut self,
diff --git a/embassy-stm32/src/timer/low_level.rs b/embassy-stm32/src/timer/low_level.rs
index 6a70d2a40..82e936f3a 100644
--- a/embassy-stm32/src/timer/low_level.rs
+++ b/embassy-stm32/src/timer/low_level.rs
@@ -13,7 +13,7 @@ use embassy_hal_internal::Peri;
 pub use stm32_metapac::timer::vals::{FilterValue, Mms as MasterMode, Sms as SlaveMode, Ts as TriggerSource};
 
 use super::*;
-use crate::dma::{Transfer, WritableRingBuffer};
+use crate::dma::{self, Transfer, WritableRingBuffer};
 use crate::pac::timer::vals;
 use crate::rcc;
 use crate::time::Hertz;
@@ -682,9 +682,29 @@ impl<'d, T: GeneralInstance4Channel> Timer<'d, T> {
         channel: Channel,
         duty: &'a [W],
     ) -> Transfer<'a> {
-        #[allow(clippy::let_unit_value)] // eg. stm32f334
-        let req = dma.request();
+        self.setup_update_dma_inner(dma.request(), dma, channel, duty)
+    }
 
+    /// Generate a sequence of PWM waveform
+    ///
+    /// Note:
+    /// The DMA channel provided does not need to correspond to the requested channel.
+    pub fn setup_channel_update_dma<'a, C: TimerChannel, W: Word + Into<T::Word>>(
+        &mut self,
+        dma: Peri<'a, impl super::Dma<T, C>>,
+        channel: Channel,
+        duty: &'a [W],
+    ) -> Transfer<'a> {
+        self.setup_update_dma_inner(dma.request(), dma, channel, duty)
+    }
+
+    fn setup_update_dma_inner<'a, W: Word + Into<T::Word>>(
+        &mut self,
+        request: dma::Request,
+        dma: Peri<'a, impl dma::Channel>,
+        channel: Channel,
+        duty: &'a [W],
+    ) -> Transfer<'a> {
         unsafe {
             #[cfg(not(any(bdma, gpdma)))]
             use crate::dma::{Burst, FifoThreshold};
@@ -700,7 +720,7 @@ impl<'d, T: GeneralInstance4Channel> Timer<'d, T> {
 
             Transfer::new_write(
                 dma,
-                req,
+                request,
                 duty,
                 self.regs_gp16().ccr(channel.index()).as_ptr() as *mut W,
                 dma_transfer_option,
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index b79ed364b..9a5f0fd1d 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -11,6 +11,7 @@ use crate::dma::word::Word;
 #[cfg(gpio_v2)]
 use crate::gpio::Pull;
 use crate::gpio::{AfType, AnyPin, OutputType, Speed};
+use crate::pac::timer::vals::Ccds;
 use crate::time::Hertz;
 
 /// PWM pin wrapper.
@@ -339,6 +340,25 @@ impl<'d, T: GeneralInstance4Channel> SimplePwm<'d, T> {
     /// Generate a sequence of PWM waveform
     ///
     /// Note:
+    /// The DMA channel provided does not need to correspond to the requested channel.
+    pub async fn waveform<C: TimerChannel, W: Word + Into<T::Word>>(
+        &mut self,
+        dma: Peri<'_, impl super::Dma<T, C>>,
+        channel: Channel,
+        duty: &[W],
+    ) {
+        self.inner.enable_channel(channel, true);
+        self.inner.enable_channel(C::CHANNEL, true);
+        self.inner.clamp_compare_value::<W>(channel);
+        self.inner.set_cc_dma_selection(Ccds::ON_UPDATE);
+        self.inner.set_cc_dma_enable_state(C::CHANNEL, true);
+        self.inner.setup_channel_update_dma(dma, channel, duty).await;
+        self.inner.set_cc_dma_enable_state(C::CHANNEL, false);
+    }
+
+    /// Generate a sequence of PWM waveform
+    ///
+    /// Note:
     /// You will need to provide corresponding `TIMx_UP` DMA channel to use this method.
     /// Also be aware that embassy timers use one of timers internally. It is possible to
     /// switch this timer by using `time-driver-timX` feature.