4 files changed, 256 insertions, 0 deletions

diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index 40103d322..4856047ce 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -589,6 +589,16 @@ fn main() {
         (("timer", "BKIN2"), quote!(crate::pwm::BreakInput2Pin)),
         (("timer", "BKIN2_COMP1"), quote!(crate::pwm::BreakInput2Comparator1Pin)),
         (("timer", "BKIN2_COMP2"), quote!(crate::pwm::BreakInput2Comparator2Pin)),
+        (("hrtim", "CHA1"), quote!(crate::pwm::ChannelAPin)),
+        (("hrtim", "CHA2"), quote!(crate::pwm::ChannelAComplementaryPin)),
+        (("hrtim", "CHB1"), quote!(crate::pwm::ChannelBPin)),
+        (("hrtim", "CHB2"), quote!(crate::pwm::ChannelBComplementaryPin)),
+        (("hrtim", "CHC1"), quote!(crate::pwm::ChannelCPin)),
+        (("hrtim", "CHC2"), quote!(crate::pwm::ChannelCComplementaryPin)),
+        (("hrtim", "CHD1"), quote!(crate::pwm::ChannelDPin)),
+        (("hrtim", "CHD2"), quote!(crate::pwm::ChannelDComplementaryPin)),
+        (("hrtim", "CHE1"), quote!(crate::pwm::ChannelEPin)),
+        (("hrtim", "CHE2"), quote!(crate::pwm::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/pwm/advanced_pwm.rs b/embassy-stm32/src/pwm/advanced_pwm.rs
new file mode 100644
index 000000000..39d60c50c
--- /dev/null
+++ b/embassy-stm32/src/pwm/advanced_pwm.rs
@@ -0,0 +1,147 @@
+use core::marker::PhantomData;
+
+use embassy_hal_common::{into_ref, PeripheralRef};
+
+use super::simple_pwm::*;
+use super::*;
+#[allow(unused_imports)]
+use crate::gpio::sealed::{AFType, Pin};
+use crate::gpio::AnyPin;
+use crate::time::Hertz;
+use crate::Peripheral;
+
+// Re-implement the channels for hrtim
+pub struct ChA;
+pub struct ChB;
+pub struct ChC;
+pub struct ChD;
+pub struct ChE;
+
+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:ident, $pin_trait:ident, $complementary_pin_trait:ident) => {
+        impl<'d, Perip: AdvancedCaptureCompare16bitInstance> PwmPin<'d, Perip, $channel> {
+            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);
+                });
+                PwmPin {
+                    _pin: pin.map_into(),
+                    phantom: PhantomData,
+                }
+            }
+        }
+
+        impl<'d, Perip: AdvancedCaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
+            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,
+                }
+            }
+        }
+    };
+}
+
+advanced_channel_impl!(new_cha, ChA, ChannelAPin, ChannelAComplementaryPin);
+advanced_channel_impl!(new_chb, ChB, ChannelBPin, ChannelBComplementaryPin);
+advanced_channel_impl!(new_chc, ChC, ChannelCPin, ChannelCComplementaryPin);
+advanced_channel_impl!(new_chd, ChD, ChannelDPin, ChannelDComplementaryPin);
+advanced_channel_impl!(new_che, ChE, ChannelEPin, ChannelEComplementaryPin);
+
+pub struct AdvancedPwm<'d, T> {
+    inner: PeripheralRef<'d, T>,
+}
+
+impl<'d, T: ComplementaryCaptureCompare16bitInstance> AdvancedPwm<'d, T> {
+    pub fn new(
+        tim: impl Peripheral<P = T> + 'd,
+        _ch1: Option<PwmPin<'d, T, Ch1>>,
+        _ch1n: Option<ComplementaryPwmPin<'d, T, Ch1>>,
+        _ch2: Option<PwmPin<'d, T, Ch2>>,
+        _ch2n: Option<ComplementaryPwmPin<'d, T, Ch2>>,
+        _ch3: Option<PwmPin<'d, T, Ch3>>,
+        _ch3n: Option<ComplementaryPwmPin<'d, T, Ch3>>,
+        _ch4: Option<PwmPin<'d, T, Ch4>>,
+        _ch4n: Option<ComplementaryPwmPin<'d, T, Ch4>>,
+        freq: Hertz,
+    ) -> Self {
+        Self::new_inner(tim, freq)
+    }
+
+    fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz) -> Self {
+        into_ref!(tim);
+
+        T::enable();
+        <T as crate::rcc::sealed::RccPeripheral>::reset();
+
+        let mut this = Self { inner: tim };
+        //
+        //        this.inner.set_frequency(freq);
+        //        this.inner.start();
+        //
+        //        this.inner.enable_outputs(true);
+        //
+        //        this.inner
+        //            .set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
+        //        this.inner
+        //            .set_output_compare_mode(Channel::Ch2, OutputCompareMode::PwmMode1);
+        //        this.inner
+        //            .set_output_compare_mode(Channel::Ch3, OutputCompareMode::PwmMode1);
+        //        this.inner
+        //            .set_output_compare_mode(Channel::Ch4, OutputCompareMode::PwmMode1);
+        this
+    }
+
+    pub fn enable(&mut self, channel: AdvancedChannel) {
+        // self.inner.enable_channel(channel, true);
+        // self.inner.enable_complementary_channel(channel, true);
+    }
+
+    pub fn disable(&mut self, channel: AdvancedChannel) {
+        // self.inner.enable_complementary_channel(channel, false);
+        // self.inner.enable_channel(channel, false);
+    }
+
+    pub fn set_freq(&mut self, freq: Hertz) {
+        // self.inner.set_frequency(freq);
+    }
+
+    pub fn get_max_duty(&self) -> u16 {
+        todo!()
+        // self.inner.get_max_compare_value()
+    }
+
+    pub fn set_duty(&mut self, channel: AdvancedChannel, duty: u16) {
+        // assert!(duty < self.get_max_duty());
+        // self.inner.set_compare_value(channel, duty)
+    }
+
+    /// Set the dead time as a proportion of max_duty
+    pub fn set_dead_time(&mut self, value: u16) {
+        //        let (ckd, value) = compute_dead_time_value(value);
+        //
+        //        self.inner.set_dead_time_clock_division(ckd);
+        //        self.inner.set_dead_time_value(value);
+    }
+}
diff --git a/embassy-stm32/src/pwm/mod.rs b/embassy-stm32/src/pwm/mod.rs
index 5aba2663e..4c2031348 100644
--- a/embassy-stm32/src/pwm/mod.rs
+++ b/embassy-stm32/src/pwm/mod.rs
@@ -1,3 +1,5 @@
+#[cfg(hrtim_v1)]
+pub mod advanced_pwm;
 pub mod complementary_pwm;
 pub mod simple_pwm;
 
@@ -27,6 +29,29 @@ impl Channel {
     }
 }
 
+#[cfg(hrtim_v1)]
+#[derive(Clone, Copy)]
+pub enum AdvancedChannel {
+    ChA,
+    ChB,
+    ChC,
+    ChD,
+    ChE,
+}
+
+#[cfg(hrtim_v1)]
+impl AdvancedChannel {
+    pub fn raw(&self) -> usize {
+        match self {
+            AdvancedChannel::ChA => 0,
+            AdvancedChannel::ChB => 1,
+            AdvancedChannel::ChC => 2,
+            AdvancedChannel::ChD => 3,
+            AdvancedChannel::ChE => 4,
+        }
+    }
+}
+
 #[derive(Clone, Copy)]
 pub enum OutputCompareMode {
     Frozen,
@@ -57,6 +82,14 @@ impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
 pub(crate) mod sealed {
     use super::*;
 
+    pub trait AdvancedCaptureCompare16bitInstance: crate::timer::sealed::HighResolutionControlInstance {
+        fn enable_outputs(&mut self, enable: bool);
+
+        fn set_output_compare_mode(&mut self, channel: AdvancedChannel, mode: OutputCompareMode);
+
+        fn enable_channel(&mut self, channel: AdvancedChannel, enable: bool);
+    }
+
     pub trait CaptureCompare16bitInstance: crate::timer::sealed::GeneralPurpose16bitInstance {
         /// Global output enable. Does not do anything on non-advanced timers.
         fn enable_outputs(&mut self, enable: bool);
@@ -89,6 +122,8 @@ pub(crate) mod sealed {
     }
 }
 
+pub trait AdvancedCaptureCompare16bitInstance: sealed::AdvancedCaptureCompare16bitInstance + 'static {}
+
 pub trait CaptureCompare16bitInstance:
     sealed::CaptureCompare16bitInstance + crate::timer::GeneralPurpose16bitInstance + 'static
 {
@@ -250,6 +285,20 @@ foreach_interrupt! {
 
         }
     };
+
+    ($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
+        impl crate::pwm::sealed::AdvancedCaptureCompare16bitInstance for crate::peripherals::$inst {
+            fn enable_outputs(&mut self, enable: bool) { todo!() }
+
+            fn set_output_compare_mode(&mut self, channel: AdvancedChannel, mode: OutputCompareMode) { todo!() }
+
+            fn enable_channel(&mut self, channel: AdvancedChannel, enable: bool) { todo!() }
+        }
+
+        impl AdvancedCaptureCompare16bitInstance for crate::peripherals::$inst {
+
+        }
+    };
 }
 
 pin_trait!(Channel1Pin, CaptureCompare16bitInstance);
@@ -267,3 +316,14 @@ pin_trait!(BreakInputComparator2Pin, CaptureCompare16bitInstance);
 pin_trait!(BreakInput2Pin, CaptureCompare16bitInstance);
 pin_trait!(BreakInput2Comparator1Pin, CaptureCompare16bitInstance);
 pin_trait!(BreakInput2Comparator2Pin, CaptureCompare16bitInstance);
+
+pin_trait!(ChannelAPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelAComplementaryPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelBPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelBComplementaryPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelCPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelCComplementaryPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelDPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelDComplementaryPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelEPin, AdvancedCaptureCompare16bitInstance);
+pin_trait!(ChannelEComplementaryPin, AdvancedCaptureCompare16bitInstance);
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 09b7a3776..34ad5db11 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -43,6 +43,21 @@ pub(crate) mod sealed {
     pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
         fn regs_advanced() -> crate::pac::timer::TimAdv;
     }
+
+    #[cfg(hrtim_v1)]
+    pub trait HighResolutionControlInstance: RccPeripheral {
+        type Interrupt: interrupt::typelevel::Interrupt;
+
+        fn regs_highres() -> crate::pac::hrtim::Hrtim;
+
+        fn start(&mut self);
+
+        fn stop(&mut self);
+
+        fn reset(&mut self);
+
+        fn set_frequency(&mut self, frequency: Hertz);
+    }
 }
 
 pub trait GeneralPurpose16bitInstance: sealed::GeneralPurpose16bitInstance + 'static {}
@@ -51,6 +66,9 @@ pub trait GeneralPurpose32bitInstance: sealed::GeneralPurpose32bitInstance + 'st
 
 pub trait AdvancedControlInstance: sealed::AdvancedControlInstance + 'static {}
 
+#[cfg(hrtim_v1)]
+pub trait HighResolutionControlInstance: sealed::HighResolutionControlInstance + 'static {}
+
 pub trait Basic16bitInstance: sealed::Basic16bitInstance + 'static {}
 
 #[allow(unused)]
@@ -208,4 +226,25 @@ foreach_interrupt! {
         impl AdvancedControlInstance for crate::peripherals::$inst {
         }
     };
+
+    ($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
+        impl sealed::HighResolutionControlInstance for crate::peripherals::$inst {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+
+            fn regs_highres() -> crate::pac::hrtim::Hrtim {
+                crate::pac::$inst
+            }
+
+            fn start(&mut self) { todo!() }
+
+            fn stop(&mut self) { todo!() }
+
+            fn reset(&mut self) { todo!() }
+
+            fn set_frequency(&mut self, frequency: Hertz) { todo!() }
+        }
+
+        impl HighResolutionControlInstance for crate::peripherals::$inst {
+        }
+    };
 }