How to create advanced PWM signals with Mbed?

Context: I need to control an h-bridge with pwm on each mosfet with bootstrap.

The low side mosfet (L1) needs to close when the high side one (H1) opens. The waveform should look like that:

Do I have to mess with the registers? If so is there an example online to create such signals? I would like to manually set timer channel parameters, such as direction , capture/compare register or output compare mode , but all the tutorials are on keil, and it would mess with the mbed environment, right ?

Or is there a simpler way? Thanks !

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