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LGTM but just need to update the DMA

PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) # M8
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) # S1
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) # S2
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) NODMA # S3
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You are not saving anything here because you need a single DMA channel for the whole of timer 4, so I would just remove these two NODMA clauses

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