stm32 CORDIC: re-design API

5 files changed, 414 insertions, 578 deletions

diff --git a/embassy-stm32/src/cordic/errors.rs b/embassy-stm32/src/cordic/errors.rs
index 653014290..3c70fc9e7 100644
--- a/embassy-stm32/src/cordic/errors.rs
+++ b/embassy-stm32/src/cordic/errors.rs
@@ -5,12 +5,14 @@ use super::{Function, Scale};
 pub enum CordicError {
     /// Config error
     ConfigError(ConfigError),
-    /// Argument error
-    ArgError(ArgError),
-    /// Output buffer length error
-    OutputLengthNotEnough,
+    /// Argument length is incorrect
+    ArgumentLengthIncorrect,
+    /// Result buffer length error
+    ResultLengthNotEnough,
     /// Input value is out of range for Q1.x format
     NumberOutOfRange(NumberOutOfRange),
+    /// Argument error
+    ArgError(ArgError),
 }
 
 impl From<ConfigError> for CordicError {
@@ -19,18 +21,18 @@ impl From<ConfigError> for CordicError {
     }
 }
 
-impl From<ArgError> for CordicError {
-    fn from(value: ArgError) -> Self {
-        Self::ArgError(value)
-    }
-}
-
 impl From<NumberOutOfRange> for CordicError {
     fn from(value: NumberOutOfRange) -> Self {
         Self::NumberOutOfRange(value)
     }
 }
 
+impl From<ArgError> for CordicError {
+    fn from(value: ArgError) -> Self {
+        Self::ArgError(value)
+    }
+}
+
 #[cfg(feature = "defmt")]
 impl defmt::Format for CordicError {
     fn format(&self, fmt: defmt::Formatter) {
@@ -38,9 +40,10 @@ impl defmt::Format for CordicError {
 
         match self {
             ConfigError(e) => defmt::write!(fmt, "{}", e),
-            ArgError(e) => defmt::write!(fmt, "{}", e),
+            ResultLengthNotEnough => defmt::write!(fmt, "Output buffer length is not long enough"),
+            ArgumentLengthIncorrect => defmt::write!(fmt, "Argument length incorrect"),
             NumberOutOfRange(e) => defmt::write!(fmt, "{}", e),
-            OutputLengthNotEnough => defmt::write!(fmt, "Output buffer length is not long enough"),
+            ArgError(e) => defmt::write!(fmt, "{}", e),
         }
     }
 }
@@ -71,6 +74,26 @@ impl defmt::Format for ConfigError {
     }
 }
 
+/// Input value is out of range for Q1.x format
+#[allow(missing_docs)]
+#[derive(Debug)]
+pub enum NumberOutOfRange {
+    BelowLowerBound,
+    AboveUpperBound,
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for NumberOutOfRange {
+    fn format(&self, fmt: defmt::Formatter) {
+        use NumberOutOfRange::*;
+
+        match self {
+            BelowLowerBound => defmt::write!(fmt, "input value should be equal or greater than -1"),
+            AboveUpperBound => defmt::write!(fmt, "input value should be equal or less than 1"),
+        }
+    }
+}
+
 /// Error on checking input arguments
 #[allow(dead_code)]
 #[derive(Debug)]
@@ -119,23 +142,3 @@ pub(super) enum ArgType {
     Arg1,
     Arg2,
 }
-
-/// Input value is out of range for Q1.x format
-#[allow(missing_docs)]
-#[derive(Debug)]
-pub enum NumberOutOfRange {
-    BelowLowerBound,
-    AboveUpperBound,
-}
-
-#[cfg(feature = "defmt")]
-impl defmt::Format for NumberOutOfRange {
-    fn format(&self, fmt: defmt::Formatter) {
-        use NumberOutOfRange::*;
-
-        match self {
-            BelowLowerBound => defmt::write!(fmt, "input value should be equal or greater than -1"),
-            AboveUpperBound => defmt::write!(fmt, "input value should be equal or less than 1"),
-        }
-    }
-}
diff --git a/embassy-stm32/src/cordic/mod.rs b/embassy-stm32/src/cordic/mod.rs
index f12efe2eb..2479e1b27 100644
--- a/embassy-stm32/src/cordic/mod.rs
+++ b/embassy-stm32/src/cordic/mod.rs
@@ -21,8 +21,6 @@ pub mod low_level {
     pub use super::sealed::*;
 }
 
-const INPUT_BUF_MAX_LEN: usize = 16;
-
 /// CORDIC driver
 pub struct Cordic<'d, T: Instance> {
     peri: PeripheralRef<'d, T>,
@@ -38,17 +36,15 @@ pub struct Config {
     function: Function,
     precision: Precision,
     scale: Scale,
-    res1_only: bool,
 }
 
 impl Config {
     /// Create a config for Cordic driver
-    pub fn new(function: Function, precision: Precision, scale: Scale, res1_only: bool) -> Result<Self, CordicError> {
+    pub fn new(function: Function, precision: Precision, scale: Scale) -> Result<Self, CordicError> {
         let config = Self {
             function,
             precision,
             scale,
-            res1_only,
         };
 
         config.check_scale()?;
@@ -117,54 +113,38 @@ impl<'d, T: Instance> Cordic<'d, T> {
         self.peri.set_data_width(arg_width, res_width);
     }
 
-    fn reconfigure(&mut self) {
-        self.peri.set_func(self.config.function);
-        self.peri.set_precision(self.config.precision);
-        self.peri.set_scale(self.config.scale);
-
-        // we don't set NRES in here, but to make sure NRES is set each time user call "calc"-ish functions,
-        // since each "calc"-ish functions can have different ARGSIZE and RESSIZE, thus NRES should be change accordingly.
+    fn clean_rrdy_flag(&mut self) {
+        while self.peri.ready_to_read() {
+            self.peri.read_result();
+        }
     }
 
-    async fn launch_a_dma_transfer(
-        &mut self,
-        write_dma: impl Peripheral<P = impl WriteDma<T>>,
-        read_dma: impl Peripheral<P = impl ReadDma<T>>,
-        input: &[u32],
-        output: &mut [u32],
-    ) {
-        into_ref!(write_dma, read_dma);
-
-        let write_req = write_dma.request();
-        let read_req = read_dma.request();
-
-        self.peri.enable_write_dma();
-        self.peri.enable_read_dma();
-
-        let _on_drop = OnDrop::new(|| {
-            self.peri.disable_write_dma();
+    /// Disable IRQ and DMA, clean RRDY, and set ARG2 to +1 (0x7FFFFFFF)
+    pub fn reconfigure(&mut self) {
+        // reset ARG2 to +1
+        {
+            self.peri.disable_irq();
             self.peri.disable_read_dma();
-        });
-
-        unsafe {
-            let write_transfer = dma::Transfer::new_write(
-                &mut write_dma,
-                write_req,
-                input,
-                T::regs().wdata().as_ptr() as *mut _,
-                Default::default(),
-            );
+            self.peri.disable_write_dma();
+            self.clean_rrdy_flag();
 
-            let read_transfer = dma::Transfer::new_read(
-                &mut read_dma,
-                read_req,
-                T::regs().rdata().as_ptr() as *mut _,
-                output,
-                Default::default(),
-            );
+            self.peri.set_func(Function::Cos);
+            self.peri.set_precision(Precision::Iters4);
+            self.peri.set_scale(Scale::Arg1Res1);
+            self.peri.set_argument_count(AccessCount::Two);
+            self.peri.set_data_width(Width::Bits32, Width::Bits32);
+            self.peri.write_argument(0x0u32);
+            self.peri.write_argument(0x7FFFFFFFu32);
 
-            embassy_futures::join::join(write_transfer, read_transfer).await;
+            self.clean_rrdy_flag();
         }
+
+        self.peri.set_func(self.config.function);
+        self.peri.set_precision(self.config.precision);
+        self.peri.set_scale(self.config.scale);
+
+        // we don't set NRES in here, but to make sure NRES is set each time user call "calc"-ish functions,
+        // since each "calc"-ish functions can have different ARGSIZE and RESSIZE, thus NRES should be change accordingly.
     }
 }
 
@@ -176,311 +156,222 @@ impl<'d, T: Instance> Drop for Cordic<'d, T> {
 
 // q1.31 related
 impl<'d, T: Instance> Cordic<'d, T> {
-    /// Run a blocking CORDIC calculation in q1.31 format
+    /// Run a blocking CORDIC calculation in q1.31 format  
+    ///
+    /// Notice:  
+    /// If you set `arg1_only` to `true`, please be sure ARG2 value has been set to desired value before.  
+    /// This function won't set ARG2 to +1 before or after each round of calculation.  
+    /// If you want to make sure ARG2 is set to +1, consider run [.reconfigure()](Self::reconfigure).
     pub fn blocking_calc_32bit(
         &mut self,
-        arg1s: &[f64],
-        arg2s: Option<&[f64]>,
-        output: &mut [f64],
+        arg: &[u32],
+        res: &mut [u32],
+        arg1_only: bool,
+        res1_only: bool,
     ) -> Result<usize, CordicError> {
-        if arg1s.is_empty() {
+        if arg.is_empty() {
             return Ok(0);
         }
 
-        let output_length_enough = match self.config.res1_only {
-            true => output.len() >= arg1s.len(),
-            false => output.len() >= 2 * arg1s.len(),
-        };
+        let res_cnt = Self::check_arg_res_length_32bit(arg.len(), res.len(), arg1_only, res1_only)?;
 
-        if !output_length_enough {
-            return Err(CordicError::OutputLengthNotEnough);
-        }
-
-        self.check_input_f64(arg1s, arg2s)?;
+        self.peri
+            .set_argument_count(if arg1_only { AccessCount::One } else { AccessCount::Two });
 
-        self.peri.set_result_count(if self.config.res1_only {
-            AccessCount::One
-        } else {
-            AccessCount::Two
-        });
+        self.peri
+            .set_result_count(if res1_only { AccessCount::One } else { AccessCount::Two });
 
         self.peri.set_data_width(Width::Bits32, Width::Bits32);
 
-        let mut output_count = 0;
-
-        let mut consumed_input_len = 0;
+        let mut cnt = 0;
 
-        //
-        // handle 2 input args calculation
-        //
+        match arg1_only {
+            true => {
+                // To use cordic preload function, the first value is special.
+                // It is loaded to CORDIC WDATA register out side of loop
+                let first_value = arg[0];
 
-        if arg2s.is_some() && !arg2s.unwrap().is_empty() {
-            let arg2s = arg2s.unwrap();
+                // preload 1st value to CORDIC, to start the CORDIC calc
+                self.peri.write_argument(first_value);
 
-            self.peri.set_argument_count(AccessCount::Two);
+                for &arg1 in &arg[1..] {
+                    // preload arg1 (for next calc)
+                    self.peri.write_argument(arg1);
 
-            // Skip 1st value from arg1s, this value will be manually "preload" to cordic, to make use of cordic preload function.
-            // And we preserve last value from arg2s, since it need to manually write to cordic, and read the result out.
-            let double_input = arg1s.iter().skip(1).zip(&arg2s[..arg2s.len() - 1]);
-            // Since we preload 1st value from arg1s, the consumed input length is double_input length + 1.
-            consumed_input_len = double_input.len() + 1;
-
-            // preload first value from arg1 to cordic
-            self.blocking_write_f64(arg1s[0])?;
-
-            for (&arg1, &arg2) in double_input {
-                // Since we manually preload a value before,
-                // we will write arg2 (from the actual last pair) first, (at this moment, cordic start to calculating,)
-                // and write arg1 (from the actual next pair), then read the result, to "keep preloading"
+                    // then read current result out
+                    res[cnt] = self.peri.read_result();
+                    cnt += 1;
+                    if !res1_only {
+                        res[cnt] = self.peri.read_result();
+                        cnt += 1;
+                    }
+                }
 
-                self.blocking_write_f64(arg2)?;
-                self.blocking_write_f64(arg1)?;
-                self.blocking_read_f64_to_buf(output, &mut output_count);
+                // read the last result
+                res[cnt] = self.peri.read_result();
+                cnt += 1;
+                if !res1_only {
+                    res[cnt] = self.peri.read_result();
+                    // cnt += 1;
+                }
             }
+            false => {
+                // To use cordic preload function, the first and last value is special.
+                // They are load to CORDIC WDATA register out side of loop
+                let first_value = arg[0];
+                let last_value = arg[arg.len() - 1];
 
-            // write last input value from arg2s, then read out the result
-            self.blocking_write_f64(arg2s[arg2s.len() - 1])?;
-            self.blocking_read_f64_to_buf(output, &mut output_count);
-        }
+                let paired_args = &arg[1..arg.len() - 1];
 
-        //
-        // handle 1 input arg calculation
-        //
+                // preload 1st value to CORDIC
+                self.peri.write_argument(first_value);
 
-        let input_left = &arg1s[consumed_input_len..];
+                for args in paired_args.chunks(2) {
+                    let arg2 = args[0];
+                    let arg1 = args[1];
 
-        if !input_left.is_empty() {
-            self.peri.set_argument_count(AccessCount::One);
+                    // load arg2 (for current calc) first, to start the CORDIC calc
+                    self.peri.write_argument(arg2);
 
-            // "preload" value to cordic (at this moment, cordic start to calculating)
-            self.blocking_write_f64(input_left[0])?;
+                    // preload arg1 (for next calc)
+                    self.peri.write_argument(arg1);
 
-            for &arg in input_left.iter().skip(1) {
-                // this line write arg for next round calculation to cordic,
-                // and read result from last round
-                self.blocking_write_f64(arg)?;
-                self.blocking_read_f64_to_buf(output, &mut output_count);
-            }
+                    // then read current result out
+                    res[cnt] = self.peri.read_result();
+                    cnt += 1;
+                    if !res1_only {
+                        res[cnt] = self.peri.read_result();
+                        cnt += 1;
+                    }
+                }
 
-            // read the last output
-            self.blocking_read_f64_to_buf(output, &mut output_count);
+                // load last value to CORDIC, and finish the calculation
+                self.peri.write_argument(last_value);
+                res[cnt] = self.peri.read_result();
+                cnt += 1;
+                if !res1_only {
+                    res[cnt] = self.peri.read_result();
+                    // cnt += 1;
+                }
+            }
         }
 
-        Ok(output_count)
-    }
-
-    fn blocking_read_f64_to_buf(&mut self, result_buf: &mut [f64], result_index: &mut usize) {
-        result_buf[*result_index] = utils::q1_31_to_f64(self.peri.read_result());
-        *result_index += 1;
+        // at this point cnt should be equal to res_cnt
 
-        // We don't care about whether the function return 1 or 2 results,
-        // the only thing matter is whether user want 1 or 2 results.
-        if !self.config.res1_only {
-            result_buf[*result_index] = utils::q1_31_to_f64(self.peri.read_result());
-            *result_index += 1;
-        }
-    }
-
-    fn blocking_write_f64(&mut self, arg: f64) -> Result<(), NumberOutOfRange> {
-        self.peri.write_argument(utils::f64_to_q1_31(arg)?);
-        Ok(())
+        Ok(res_cnt)
     }
 
     /// Run a async CORDIC calculation in q.1.31 format
+    ///
+    /// Notice:  
+    /// If you set `arg1_only` to `true`, please be sure ARG2 value has been set to desired value before.  
+    /// This function won't set ARG2 to +1 before or after each round of calculation.  
+    /// If you want to make sure ARG2 is set to +1, consider run [.reconfigure()](Self::reconfigure).
     pub async fn async_calc_32bit(
         &mut self,
         write_dma: impl Peripheral<P = impl WriteDma<T>>,
         read_dma: impl Peripheral<P = impl ReadDma<T>>,
-        arg1s: &[f64],
-        arg2s: Option<&[f64]>,
-        output: &mut [f64],
+        arg: &[u32],
+        res: &mut [u32],
+        arg1_only: bool,
+        res1_only: bool,
     ) -> Result<usize, CordicError> {
-        if arg1s.is_empty() {
+        if arg.is_empty() {
             return Ok(0);
         }
 
-        let output_length_enough = match self.config.res1_only {
-            true => output.len() >= arg1s.len(),
-            false => output.len() >= 2 * arg1s.len(),
-        };
+        let res_cnt = Self::check_arg_res_length_32bit(arg.len(), res.len(), arg1_only, res1_only)?;
 
-        if !output_length_enough {
-            return Err(CordicError::OutputLengthNotEnough);
-        }
-
-        self.check_input_f64(arg1s, arg2s)?;
+        let active_res_buf = &mut res[..res_cnt];
 
         into_ref!(write_dma, read_dma);
 
-        self.peri.set_result_count(if self.config.res1_only {
-            AccessCount::One
-        } else {
-            AccessCount::Two
-        });
-
-        self.peri.set_data_width(Width::Bits32, Width::Bits32);
+        self.peri
+            .set_argument_count(if arg1_only { AccessCount::One } else { AccessCount::Two });
 
-        let mut output_count = 0;
-        let mut consumed_input_len = 0;
-        let mut input_buf = [0u32; INPUT_BUF_MAX_LEN];
-        let mut input_buf_len = 0;
+        self.peri
+            .set_result_count(if res1_only { AccessCount::One } else { AccessCount::Two });
 
-        //
-        // handle 2 input args calculation
-        //
-
-        if !arg2s.unwrap_or_default().is_empty() {
-            let arg2s = arg2s.unwrap();
+        self.peri.set_data_width(Width::Bits32, Width::Bits32);
 
-            self.peri.set_argument_count(AccessCount::Two);
+        let write_req = write_dma.request();
+        let read_req = read_dma.request();
 
-            let double_input = arg1s.iter().zip(arg2s);
+        self.peri.enable_write_dma();
+        self.peri.enable_read_dma();
 
-            consumed_input_len = double_input.len();
+        let _on_drop = OnDrop::new(|| {
+            self.peri.disable_write_dma();
+            self.peri.disable_read_dma();
+        });
 
-            for (&arg1, &arg2) in double_input {
-                for &arg in [arg1, arg2].iter() {
-                    input_buf[input_buf_len] = utils::f64_to_q1_31(arg)?;
-                    input_buf_len += 1;
-                }
+        unsafe {
+            let write_transfer = dma::Transfer::new_write(
+                &mut write_dma,
+                write_req,
+                arg,
+                T::regs().wdata().as_ptr() as *mut _,
+                Default::default(),
+            );
 
-                if input_buf_len == INPUT_BUF_MAX_LEN {
-                    self.inner_dma_calc_32bit(
-                        &mut write_dma,
-                        &mut read_dma,
-                        true,
-                        &input_buf[..input_buf_len],
-                        output,
-                        &mut output_count,
-                    )
-                    .await;
-
-                    input_buf_len = 0;
-                }
-            }
+            let read_transfer = dma::Transfer::new_read(
+                &mut read_dma,
+                read_req,
+                T::regs().rdata().as_ptr() as *mut _,
+                active_res_buf,
+                Default::default(),
+            );
 
-            if input_buf_len > 0 {
-                self.inner_dma_calc_32bit(
-                    &mut write_dma,
-                    &mut read_dma,
-                    true,
-                    &input_buf[..input_buf_len],
-                    output,
-                    &mut output_count,
-                )
-                .await;
-
-                input_buf_len = 0;
-            }
+            embassy_futures::join::join(write_transfer, read_transfer).await;
         }
 
-        //
-        // handle 1 input arg calculation
-        //
-
-        if arg1s.len() > consumed_input_len {
-            let input_remain = &arg1s[consumed_input_len..];
-
-            self.peri.set_argument_count(AccessCount::One);
-
-            for &arg in input_remain {
-                input_buf[input_buf_len] = utils::f64_to_q1_31(arg)?;
-                input_buf_len += 1;
-
-                if input_buf_len == INPUT_BUF_MAX_LEN {
-                    self.inner_dma_calc_32bit(
-                        &mut write_dma,
-                        &mut read_dma,
-                        false,
-                        &input_buf[..input_buf_len],
-                        output,
-                        &mut output_count,
-                    )
-                    .await;
-
-                    input_buf_len = 0;
-                }
-            }
+        Ok(res_cnt)
+    }
 
-            if input_buf_len > 0 {
-                self.inner_dma_calc_32bit(
-                    &mut write_dma,
-                    &mut read_dma,
-                    false,
-                    &input_buf[..input_buf_len],
-                    output,
-                    &mut output_count,
-                )
-                .await;
-
-                // input_buf_len = 0;
-            }
+    fn check_arg_res_length_32bit(
+        arg_len: usize,
+        res_len: usize,
+        arg1_only: bool,
+        res1_only: bool,
+    ) -> Result<usize, CordicError> {
+        if !arg1_only && arg_len % 2 != 0 {
+            return Err(CordicError::ArgumentLengthIncorrect);
         }
 
-        Ok(output_count)
-    }
+        let mut minimal_res_length = arg_len;
 
-    // this function is highly coupled with async_calc_32bit, and is not intended to use in other place
-    async fn inner_dma_calc_32bit(
-        &mut self,
-        write_dma: impl Peripheral<P = impl WriteDma<T>>,
-        read_dma: impl Peripheral<P = impl ReadDma<T>>,
-        double_input: bool,             // gether extra info to calc output_buf size
-        input_buf: &[u32],              // input_buf, its content should be exact length for calculation
-        output: &mut [f64],             // caller should uses this buf as a final output array
-        output_start_index: &mut usize, // the index of start point of the output for this round of calculation
-    ) {
-        // output_buf is the place to store raw value from CORDIC (via DMA).
-        // For buf size, we assume in this round of calculation:
-        // all input is 1 arg, and all calculation need 2 output,
-        // thus output_buf will always be long enough.
-        let mut output_buf = [0u32; INPUT_BUF_MAX_LEN * 2];
-
-        let mut output_buf_size = input_buf.len();
-        if !self.config.res1_only {
-            // if we need 2 result for 1 input, then output_buf length should be 2x long.
-            output_buf_size *= 2;
-        };
-        if double_input {
-            // if input itself is 2 args for 1 calculation, then output_buf length should be /2.
-            output_buf_size /= 2;
+        if !res1_only {
+            minimal_res_length *= 2;
         }
 
-        let active_output_buf = &mut output_buf[..output_buf_size];
-
-        self.launch_a_dma_transfer(write_dma, read_dma, input_buf, active_output_buf)
-            .await;
+        if !arg1_only {
+            minimal_res_length /= 2
+        }
 
-        for &mut output_u32 in active_output_buf {
-            output[*output_start_index] = utils::q1_31_to_f64(output_u32);
-            *output_start_index += 1;
+        if minimal_res_length > res_len {
+            return Err(CordicError::ResultLengthNotEnough);
         }
+
+        Ok(minimal_res_length)
     }
 }
 
 // q1.15 related
 impl<'d, T: Instance> Cordic<'d, T> {
-    /// Run a blocking CORDIC calculation in q1.15 format
-    pub fn blocking_calc_16bit(
-        &mut self,
-        arg1s: &[f32],
-        arg2s: Option<&[f32]>,
-        output: &mut [f32],
-    ) -> Result<usize, CordicError> {
-        if arg1s.is_empty() {
+    /// Run a blocking CORDIC calculation in q1.15 format  
+    ///
+    /// Notice::  
+    /// User will take respond to merge two u16 arguments into one u32 data, and/or split one u32 data into two u16 results.
+    pub fn blocking_calc_16bit(&mut self, arg: &[u32], res: &mut [u32]) -> Result<usize, CordicError> {
+        if arg.is_empty() {
             return Ok(0);
         }
 
-        let output_length_enough = match self.config.res1_only {
-            true => output.len() >= arg1s.len(),
-            false => output.len() >= 2 * arg1s.len(),
-        };
-
-        if !output_length_enough {
-            return Err(CordicError::OutputLengthNotEnough);
+        if arg.len() > res.len() {
+            return Err(CordicError::ResultLengthNotEnough);
         }
 
-        self.check_input_f32(arg1s, arg2s)?;
+        let res_cnt = arg.len();
 
         // In q1.15 mode, 1 write/read to access 2 arguments/results
         self.peri.set_argument_count(AccessCount::One);
@@ -488,83 +379,53 @@ impl<'d, T: Instance> Cordic<'d, T> {
 
         self.peri.set_data_width(Width::Bits16, Width::Bits16);
 
-        let mut output_count = 0;
-
-        // In q1.15 mode, we always fill 1 pair of 16bit value into WDATA register.
-        // If arg2s is None or empty array, we assume arg2 value always 1.0 (as reset value for ARG2).
-        // If arg2s has some value, and but not as long as arg1s,
-        // we fill the reset of arg2 values with last value from arg2s (as q1.31 version does)
+        // To use cordic preload function, the first value is special.
+        // It is loaded to CORDIC WDATA register out side of loop
+        let first_value = arg[0];
 
-        let arg2_default_value = match arg2s {
-            Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
-            _ => 1.0,
-        };
-
-        let mut args = arg1s.iter().zip(
-            arg2s
-                .unwrap_or(&[])
-                .iter()
-                .chain(core::iter::repeat(&arg2_default_value)),
-        );
+        // preload 1st value to CORDIC, to start the CORDIC calc
+        self.peri.write_argument(first_value);
 
-        let (&arg1, &arg2) = args.next().unwrap();
+        let mut cnt = 0;
 
-        // preloading 1 pair of arguments
-        self.blocking_write_f32(arg1, arg2)?;
+        for &arg_val in &arg[1..] {
+            // preload arg_val (for next calc)
+            self.peri.write_argument(arg_val);
 
-        for (&arg1, &arg2) in args {
-            self.blocking_write_f32(arg1, arg2)?;
-            self.blocking_read_f32_to_buf(output, &mut output_count);
+            // then read current result out
+            res[cnt] = self.peri.read_result();
+            cnt += 1;
         }
 
-        // read last pair of value from cordic
-        self.blocking_read_f32_to_buf(output, &mut output_count);
+        // read last result out
+        res[cnt] = self.peri.read_result();
+        // cnt += 1;
 
-        Ok(output_count)
+        Ok(res_cnt)
     }
 
-    fn blocking_write_f32(&mut self, arg1: f32, arg2: f32) -> Result<(), NumberOutOfRange> {
-        self.peri.write_argument(utils::f32_args_to_u32(arg1, arg2)?);
-        Ok(())
-    }
-
-    fn blocking_read_f32_to_buf(&mut self, result_buf: &mut [f32], result_index: &mut usize) {
-        let (res1, res2) = utils::u32_to_f32_res(self.peri.read_result());
-
-        result_buf[*result_index] = res1;
-        *result_index += 1;
-
-        // We don't care about whether the function return 1 or 2 results,
-        // the only thing matter is whether user want 1 or 2 results.
-        if !self.config.res1_only {
-            result_buf[*result_index] = res2;
-            *result_index += 1;
-        }
-    }
-
-    /// Run a async CORDIC calculation in q1.15 format
+    /// Run a async CORDIC calculation in q1.15 format  
+    ///
+    /// Notice::  
+    /// User will take respond to merge two u16 arguments into one u32 data, and/or split one u32 data into two u16 results.
     pub async fn async_calc_16bit(
         &mut self,
         write_dma: impl Peripheral<P = impl WriteDma<T>>,
         read_dma: impl Peripheral<P = impl ReadDma<T>>,
-        arg1s: &[f32],
-        arg2s: Option<&[f32]>,
-        output: &mut [f32],
+        arg: &[u32],
+        res: &mut [u32],
     ) -> Result<usize, CordicError> {
-        if arg1s.is_empty() {
+        if arg.is_empty() {
             return Ok(0);
         }
 
-        let output_length_enough = match self.config.res1_only {
-            true => output.len() >= arg1s.len(),
-            false => output.len() >= 2 * arg1s.len(),
-        };
-
-        if !output_length_enough {
-            return Err(CordicError::OutputLengthNotEnough);
+        if arg.len() > res.len() {
+            return Err(CordicError::ResultLengthNotEnough);
         }
 
-        self.check_input_f32(arg1s, arg2s)?;
+        let res_cnt = arg.len();
+
+        let active_res_buf = &mut res[..res_cnt];
 
         into_ref!(write_dma, read_dma);
 
@@ -574,142 +435,96 @@ impl<'d, T: Instance> Cordic<'d, T> {
 
         self.peri.set_data_width(Width::Bits16, Width::Bits16);
 
-        let mut output_count = 0;
-        let mut input_buf = [0u32; INPUT_BUF_MAX_LEN];
-        let mut input_buf_len = 0;
-
-        // In q1.15 mode, we always fill 1 pair of 16bit value into WDATA register.
-        // If arg2s is None or empty array, we assume arg2 value always 1.0 (as reset value for ARG2).
-        // If arg2s has some value, and but not as long as arg1s,
-        // we fill the reset of arg2 values with last value from arg2s (as CORDIC behavior on q1.31 format)
-
-        let arg2_default_value = match arg2s {
-            Some(arg2s) if !arg2s.is_empty() => arg2s[arg2s.len() - 1],
-            _ => 1.0,
-        };
-
-        let args = arg1s.iter().zip(
-            arg2s
-                .unwrap_or(&[])
-                .iter()
-                .chain(core::iter::repeat(&arg2_default_value)),
-        );
+        let write_req = write_dma.request();
+        let read_req = read_dma.request();
 
-        for (&arg1, &arg2) in args {
-            input_buf[input_buf_len] = utils::f32_args_to_u32(arg1, arg2)?;
-            input_buf_len += 1;
+        self.peri.enable_write_dma();
+        self.peri.enable_read_dma();
 
-            if input_buf_len == INPUT_BUF_MAX_LEN {
-                self.inner_dma_calc_16bit(&mut write_dma, &mut read_dma, &input_buf, output, &mut output_count)
-                    .await;
-            }
-        }
+        let _on_drop = OnDrop::new(|| {
+            self.peri.disable_write_dma();
+            self.peri.disable_read_dma();
+        });
 
-        if input_buf_len > 0 {
-            self.inner_dma_calc_16bit(
+        unsafe {
+            let write_transfer = dma::Transfer::new_write(
                 &mut write_dma,
-                &mut read_dma,
-                &input_buf[..input_buf_len],
-                output,
-                &mut output_count,
-            )
-            .await;
-        }
-
-        Ok(output_count)
-    }
-
-    // this function is highly coupled with async_calc_16bit, and is not intended to use in other place
-    async fn inner_dma_calc_16bit(
-        &mut self,
-        write_dma: impl Peripheral<P = impl WriteDma<T>>,
-        read_dma: impl Peripheral<P = impl ReadDma<T>>,
-        input_buf: &[u32],              // input_buf, its content should be exact length for calculation
-        output: &mut [f32],             // caller should uses this buf as a final output array
-        output_start_index: &mut usize, // the index of start point of the output for this round of calculation
-    ) {
-        // output_buf is the place to store raw value from CORDIC (via DMA).
-        let mut output_buf = [0u32; INPUT_BUF_MAX_LEN];
-
-        let active_output_buf = &mut output_buf[..input_buf.len()];
-
-        self.launch_a_dma_transfer(write_dma, read_dma, input_buf, active_output_buf)
-            .await;
-
-        for &mut output_u32 in active_output_buf {
-            let (res1, res2) = utils::u32_to_f32_res(output_u32);
+                write_req,
+                arg,
+                T::regs().wdata().as_ptr() as *mut _,
+                Default::default(),
+            );
 
-            output[*output_start_index] = res1;
-            *output_start_index += 1;
+            let read_transfer = dma::Transfer::new_read(
+                &mut read_dma,
+                read_req,
+                T::regs().rdata().as_ptr() as *mut _,
+                active_res_buf,
+                Default::default(),
+            );
 
-            if !self.config.res1_only {
-                output[*output_start_index] = res2;
-                *output_start_index += 1;
-            }
+            embassy_futures::join::join(write_transfer, read_transfer).await;
         }
+
+        Ok(res_cnt)
     }
 }
 
-// check input value ARG1, ARG2, SCALE and FUNCTION are compatible with each other
-macro_rules! check_input_value {
-    ($func_name:ident, $float_type:ty) => {
+macro_rules! check_arg_value {
+    ($func_arg1_name:ident, $func_arg2_name:ident, $float_type:ty) => {
         impl<'d, T: Instance> Cordic<'d, T> {
-            fn $func_name(&self, arg1s: &[$float_type], arg2s: Option<&[$float_type]>) -> Result<(), ArgError> {
+            /// check input value ARG1, SCALE and FUNCTION are compatible with each other
+            pub fn $func_arg1_name(&self, arg: $float_type) -> Result<(), ArgError> {
                 let config = &self.config;
 
                 use Function::*;
 
                 struct Arg1ErrInfo {
                     scale: Option<Scale>,
-                    range: [f32; 2],
+                    range: [f32; 2], // f32 is ok, it only used in error display
                     inclusive_upper_bound: bool,
                 }
 
-                // check ARG1 value
                 let err_info = match config.function {
-                    Cos | Sin | Phase | Modulus | Arctan if arg1s.iter().any(|v| !(-1.0..=1.0).contains(v)) => {
-                        Some(Arg1ErrInfo {
-                            scale: None,
-                            range: [-1.0, 1.0],
-                            inclusive_upper_bound: true,
-                        })
-                    }
+                    Cos | Sin | Phase | Modulus | Arctan if !(-1.0..=1.0).contains(arg) => Some(Arg1ErrInfo {
+                        scale: None,
+                        range: [-1.0, 1.0],
+                        inclusive_upper_bound: true,
+                    }),
 
-                    Cosh | Sinh if arg1s.iter().any(|v| !(-0.559..=0.559).contains(v)) => Some(Arg1ErrInfo {
+                    Cosh | Sinh if !(-0.559..=0.559).contains(arg) => Some(Arg1ErrInfo {
                         scale: None,
                         range: [-0.559, 0.559],
                         inclusive_upper_bound: true,
                     }),
 
-                    Arctanh if arg1s.iter().any(|v| !(-0.403..=0.403).contains(v)) => Some(Arg1ErrInfo {
+                    Arctanh if !(-0.403..=0.403).contains(arg) => Some(Arg1ErrInfo {
                         scale: None,
                         range: [-0.403, 0.403],
                         inclusive_upper_bound: true,
                     }),
 
                     Ln => match config.scale {
-                        Scale::Arg1o2Res2 if arg1s.iter().any(|v| !(0.0535..0.5).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1o2Res2 if !(0.0535..0.5).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1o2Res2),
                             range: [0.0535, 0.5],
                             inclusive_upper_bound: false,
                         }),
-                        Scale::Arg1o4Res4 if arg1s.iter().any(|v| !(0.25..0.75).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1o4Res4 if !(0.25..0.75).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1o4Res4),
                             range: [0.25, 0.75],
                             inclusive_upper_bound: false,
                         }),
-                        Scale::Arg1o8Res8 if arg1s.iter().any(|v| !(0.375..0.875).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1o8Res8 if !(0.375..0.875).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1o8Res8),
                             range: [0.375, 0.875],
                             inclusive_upper_bound: false,
                         }),
-                        Scale::Arg1o16Res16 if arg1s.iter().any(|v| !(0.4375..0.584).contains(v)) => {
-                            Some(Arg1ErrInfo {
-                                scale: Some(Scale::Arg1o16Res16),
-                                range: [0.4375, 0.584],
-                                inclusive_upper_bound: false,
-                            })
-                        }
+                        Scale::Arg1o16Res16 if !(0.4375..0.584).contains(arg) => Some(Arg1ErrInfo {
+                            scale: Some(Scale::Arg1o16Res16),
+                            range: [0.4375, 0.584],
+                            inclusive_upper_bound: false,
+                        }),
 
                         Scale::Arg1o2Res2 | Scale::Arg1o4Res4 | Scale::Arg1o8Res8 | Scale::Arg1o16Res16 => None,
 
@@ -717,17 +532,17 @@ macro_rules! check_input_value {
                     },
 
                     Sqrt => match config.scale {
-                        Scale::Arg1Res1 if arg1s.iter().any(|v| !(0.027..0.75).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1Res1 if !(0.027..0.75).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1Res1),
                             range: [0.027, 0.75],
                             inclusive_upper_bound: false,
                         }),
-                        Scale::Arg1o2Res2 if arg1s.iter().any(|v| !(0.375..0.875).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1o2Res2 if !(0.375..0.875).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1o2Res2),
                             range: [0.375, 0.875],
                             inclusive_upper_bound: false,
                         }),
-                        Scale::Arg1o4Res4 if arg1s.iter().any(|v| !(0.4375..0.584).contains(v)) => Some(Arg1ErrInfo {
+                        Scale::Arg1o4Res4 if !(0.4375..0.584).contains(arg) => Some(Arg1ErrInfo {
                             scale: Some(Scale::Arg1o4Res4),
                             range: [0.4375, 0.584],
                             inclusive_upper_bound: false,
@@ -749,33 +564,35 @@ macro_rules! check_input_value {
                     });
                 }
 
-                // check ARG2 value
-                if let Some(arg2s) = arg2s {
-                    struct Arg2ErrInfo {
-                        range: [f32; 2],
-                    }
+                Ok(())
+            }
 
-                    let err_info = match config.function {
-                        Cos | Sin if arg2s.iter().any(|v| !(0.0..=1.0).contains(v)) => {
-                            Some(Arg2ErrInfo { range: [0.0, 1.0] })
-                        }
-
-                        Phase | Modulus if arg2s.iter().any(|v| !(-1.0..=1.0).contains(v)) => {
-                            Some(Arg2ErrInfo { range: [-1.0, 1.0] })
-                        }
-
-                        Cos | Sin | Phase | Modulus | Arctan | Cosh | Sinh | Arctanh | Ln | Sqrt => None,
-                    };
-
-                    if let Some(err) = err_info {
-                        return Err(ArgError {
-                            func: config.function,
-                            scale: None,
-                            arg_range: err.range,
-                            inclusive_upper_bound: true,
-                            arg_type: ArgType::Arg2,
-                        });
-                    }
+            /// check input value ARG2 and FUNCTION are compatible with each other
+            pub fn $func_arg2_name(&self, arg: $float_type) -> Result<(), ArgError> {
+                let config = &self.config;
+
+                use Function::*;
+
+                struct Arg2ErrInfo {
+                    range: [f32; 2], // f32 is ok, it only used in error display
+                }
+
+                let err_info = match config.function {
+                    Cos | Sin if !(0.0..=1.0).contains(arg) => Some(Arg2ErrInfo { range: [0.0, 1.0] }),
+
+                    Phase | Modulus if !(-1.0..=1.0).contains(arg) => Some(Arg2ErrInfo { range: [-1.0, 1.0] }),
+
+                    Cos | Sin | Phase | Modulus | Arctan | Cosh | Sinh | Arctanh | Ln | Sqrt => None,
+                };
+
+                if let Some(err) = err_info {
+                    return Err(ArgError {
+                        func: config.function,
+                        scale: None,
+                        arg_range: err.range,
+                        inclusive_upper_bound: true,
+                        arg_type: ArgType::Arg2,
+                    });
                 }
 
                 Ok(())
@@ -784,8 +601,8 @@ macro_rules! check_input_value {
     };
 }
 
-check_input_value!(check_input_f64, f64);
-check_input_value!(check_input_f32, f32);
+check_arg_value!(check_f64_arg1, check_f64_arg2, &f64);
+check_arg_value!(check_f32_arg1, check_f32_arg2, &f32);
 
 foreach_interrupt!(
     ($inst:ident, cordic, $block:ident, GLOBAL, $irq:ident) => {
diff --git a/embassy-stm32/src/cordic/utils.rs b/embassy-stm32/src/cordic/utils.rs
index 41821d6e2..008f50270 100644
--- a/embassy-stm32/src/cordic/utils.rs
+++ b/embassy-stm32/src/cordic/utils.rs
@@ -1,4 +1,4 @@
-//! Common match utils
+//! Common math utils
 use super::errors::NumberOutOfRange;
 
 macro_rules! floating_fixed_convert {
@@ -60,16 +60,3 @@ floating_fixed_convert!(
     15,
     0x3800_0000u32 // binary form of 1f32^(-15)
 );
-
-#[inline(always)]
-pub(crate) fn f32_args_to_u32(arg1: f32, arg2: f32) -> Result<u32, NumberOutOfRange> {
-    Ok(f32_to_q1_15(arg1)? as u32 + ((f32_to_q1_15(arg2)? as u32) << 16))
-}
-
-#[inline(always)]
-pub(crate) fn u32_to_f32_res(reg_value: u32) -> (f32, f32) {
-    let res1 = q1_15_to_f32((reg_value & ((1u32 << 16) - 1)) as u16);
-    let res2 = q1_15_to_f32((reg_value >> 16) as u16);
-
-    (res1, res2)
-}
diff --git a/examples/stm32h5/src/bin/cordic.rs b/examples/stm32h5/src/bin/cordic.rs
index d49f75b8f..73e873574 100644
--- a/examples/stm32h5/src/bin/cordic.rs
+++ b/examples/stm32h5/src/bin/cordic.rs
@@ -3,7 +3,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::cordic;
+use embassy_stm32::cordic::{self, utils};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
@@ -16,20 +16,63 @@ async fn main(_spawner: Spawner) {
             cordic::Function::Sin,
             Default::default(),
             Default::default(),
-            false,
         )),
     );
 
-    let mut output = [0f64; 16];
+    // for output buf, the length is not that strict, larger than minimal required is ok.
+    let mut output_f64 = [0f64; 19];
+    let mut output_u32 = [0u32; 21];
 
-    let arg1 = [1.0, 0.0, -1.0]; // for trigonometric function, the ARG1 value [-pi, pi] should be map to [-1, 1]
-    let arg2 = [0.5, 1.0];
+    // tips:
+    // CORDIC peripheral has some strict on input value, you can also use ".check_argX_fXX()" methods
+    // to make sure your input values are compatible with current CORDIC setup.
+    let arg1 = [-1.0, -0.5, 0.0, 0.5, 1.0]; // for trigonometric function, the ARG1 value [-pi, pi] should be map to [-1, 1]
+    let arg2 = [0.5]; // and for Sin function, ARG2 should be in [0, 1]
 
-    let cnt = unwrap!(
+    let mut input_buf = [0u32; 9];
+
+    // convert input from floating point to fixed point
+    input_buf[0] = unwrap!(utils::f64_to_q1_31(arg1[0]));
+    input_buf[1] = unwrap!(utils::f64_to_q1_31(arg2[0]));
+
+    // If input length is small, blocking mode can be used to minimize overhead.
+    let cnt0 = unwrap!(cordic.blocking_calc_32bit(
+        &input_buf[..2], // input length is strict, since driver use its length to detect calculation count
+        &mut output_u32,
+        false,
+        false
+    ));
+
+    // convert result from fixed point into floating point
+    for (&u32_val, f64_val) in output_u32[..cnt0].iter().zip(output_f64.iter_mut()) {
+        *f64_val = utils::q1_31_to_f64(u32_val);
+    }
+
+    // convert input from floating point to fixed point
+    //
+    // first value from arg1 is used, so truncate to arg1[1..]
+    for (&f64_val, u32_val) in arg1[1..].iter().zip(input_buf.iter_mut()) {
+        *u32_val = unwrap!(utils::f64_to_q1_31(f64_val));
+    }
+
+    // If calculation is a little longer, async mode can make use of DMA, and let core do some other stuff.
+    let cnt1 = unwrap!(
         cordic
-            .async_calc_32bit(&mut dp.GPDMA1_CH0, &mut dp.GPDMA1_CH1, &arg1, Some(&arg2), &mut output,)
+            .async_calc_32bit(
+                &mut dp.GPDMA1_CH0,
+                &mut dp.GPDMA1_CH1,
+                &input_buf[..arg1.len() - 1], // limit input buf to its actual length
+                &mut output_u32,
+                true,
+                false
+            )
             .await
     );
 
-    println!("async calc 32bit: {}", output[..cnt]);
+    // convert result from fixed point into floating point
+    for (&u32_val, f64_val) in output_u32[..cnt1].iter().zip(output_f64[cnt0..cnt0 + cnt1].iter_mut()) {
+        *f64_val = utils::q1_31_to_f64(u32_val);
+    }
+
+    println!("result: {}", output_f64[..cnt0 + cnt1]);
 }
diff --git a/tests/stm32/src/bin/cordic.rs b/tests/stm32/src/bin/cordic.rs
index cd2e9d6f7..669fd96ab 100644
--- a/tests/stm32/src/bin/cordic.rs
+++ b/tests/stm32/src/bin/cordic.rs
@@ -14,6 +14,7 @@
 mod common;
 use common::*;
 use embassy_executor::Spawner;
+use embassy_stm32::cordic::utils;
 use embassy_stm32::{bind_interrupts, cordic, peripherals, rng};
 use num_traits::Float;
 use {defmt_rtt as _, panic_probe as _};
@@ -24,11 +25,12 @@ bind_interrupts!(struct Irqs {
 
 /* input value control, can be changed */
 
-const ARG1_LENGTH: usize = 9;
-const ARG2_LENGTH: usize = 4; // this might not be the exact length of ARG2, since ARG2 need to be inside [0, 1]
+const INPUT_U32_COUNT: usize = 9;
+const INPUT_U8_COUNT: usize = 4 * INPUT_U32_COUNT;
 
-const INPUT_Q1_31_LENGTH: usize = ARG1_LENGTH + ARG2_LENGTH;
-const INPUT_U8_LENGTH: usize = 4 * INPUT_Q1_31_LENGTH;
+// Assume first calculation needs 2 arguments, the reset needs 1 argument.
+// And all calculation generate 2 results.
+const OUTPUT_LENGTH: usize = (INPUT_U32_COUNT - 1) * 2;
 
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
@@ -42,43 +44,28 @@ async fn main(_spawner: Spawner) {
 
     let mut rng = rng::Rng::new(dp.RNG, Irqs);
 
-    let mut input_buf_u8 = [0u8; INPUT_U8_LENGTH];
+    let mut input_buf_u8 = [0u8; INPUT_U8_COUNT];
     defmt::unwrap!(rng.async_fill_bytes(&mut input_buf_u8).await);
 
     // convert every [u8; 4] to a u32, for a Q1.31 value
-    let input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_LENGTH], [u32; INPUT_Q1_31_LENGTH]>(input_buf_u8) };
+    let mut input_q1_31 = unsafe { core::mem::transmute::<[u8; INPUT_U8_COUNT], [u32; INPUT_U32_COUNT]>(input_buf_u8) };
 
-    let mut input_f64_buf = [0f64; INPUT_Q1_31_LENGTH];
+    // ARG2 for Sin function should be inside [0, 1], set MSB to 0 of a Q1.31 value, will make sure it's no less than 0.
+    input_q1_31[1] &= !(1u32 << 31);
 
-    let mut cordic_output_f64_buf = [0f64; ARG1_LENGTH * 2];
-
-    // convert Q1.31 value back to f64, for software calculation verify
-    for (val_u32, val_f64) in input_q1_31.iter().zip(input_f64_buf.iter_mut()) {
-        *val_f64 = cordic::utils::q1_31_to_f64(*val_u32);
-    }
-
-    let mut arg2_f64_buf = [0f64; ARG2_LENGTH];
-    let mut arg2_f64_len = 0;
-
-    // check if ARG2 is in range [0, 1] (limited by CORDIC peripheral with Sin mode)
-    for &arg2 in &input_f64_buf[ARG1_LENGTH..] {
-        if arg2 >= 0.0 {
-            arg2_f64_buf[arg2_f64_len] = arg2;
-            arg2_f64_len += 1;
-        }
-    }
+    //
+    // CORDIC calculation
+    //
 
-    // the actual value feed to CORDIC
-    let arg1_f64_ls = &input_f64_buf[..ARG1_LENGTH];
-    let arg2_f64_ls = &arg2_f64_buf[..arg2_f64_len];
+    let mut output_q1_31 = [0u32; OUTPUT_LENGTH];
 
+    // setup Cordic driver
     let mut cordic = cordic::Cordic::new(
         dp.CORDIC,
         defmt::unwrap!(cordic::Config::new(
             cordic::Function::Sin,
             Default::default(),
             Default::default(),
-            false,
         )),
     );
 
@@ -88,67 +75,66 @@ async fn main(_spawner: Spawner) {
     #[cfg(any(feature = "stm32h563zi", feature = "stm32u585ai", feature = "stm32u5a5zj"))]
     let (mut write_dma, mut read_dma) = (dp.GPDMA1_CH4, dp.GPDMA1_CH5);
 
-    let cordic_start_point = embassy_time::Instant::now();
+    // calculate first result using blocking mode
+    let cnt0 = defmt::unwrap!(cordic.blocking_calc_32bit(&input_q1_31[..2], &mut output_q1_31, false, false));
 
-    let cnt = unwrap!(
+    // calculate rest results using async mode
+    let cnt1 = defmt::unwrap!(
         cordic
             .async_calc_32bit(
                 &mut write_dma,
                 &mut read_dma,
-                arg1_f64_ls,
-                Some(arg2_f64_ls),
-                &mut cordic_output_f64_buf,
+                &input_q1_31[2..],
+                &mut output_q1_31[cnt0..],
+                true,
+                false,
             )
             .await
     );
 
-    let cordic_end_point = embassy_time::Instant::now();
+    // all output value length should be the same as our output buffer size
+    defmt::assert_eq!(cnt0 + cnt1, output_q1_31.len());
+
+    let mut cordic_result_f64 = [0.0f64; OUTPUT_LENGTH];
+
+    for (f64_val, u32_val) in cordic_result_f64.iter_mut().zip(output_q1_31) {
+        *f64_val = utils::q1_31_to_f64(u32_val);
+    }
 
-    // since we get 2 output for 1 calculation, the output length should be ARG1_LENGTH * 2
-    defmt::assert!(cnt == ARG1_LENGTH * 2);
+    //
+    // software calculation
+    //
 
-    let mut software_output_f64_buf = [0f64; ARG1_LENGTH * 2];
+    let mut software_result_f64 = [0.0f64; OUTPUT_LENGTH];
 
-    // for software calc, if there is no ARG2 value, insert a 1.0 as value (the reset value for ARG2 in CORDIC)
-    let arg2_f64_ls = if arg2_f64_len == 0 { &[1.0] } else { arg2_f64_ls };
+    let arg2 = utils::q1_31_to_f64(input_q1_31[1]);
 
-    let software_inputs = arg1_f64_ls
+    for (&arg1, res) in input_q1_31
         .iter()
-        .zip(
-            arg2_f64_ls
-                .iter()
-                .chain(core::iter::repeat(&arg2_f64_ls[arg2_f64_ls.len() - 1])),
-        )
-        .zip(software_output_f64_buf.chunks_mut(2));
-
-    let software_start_point = embassy_time::Instant::now();
+        .enumerate()
+        .filter_map(|(idx, val)| if idx != 1 { Some(val) } else { None })
+        .zip(software_result_f64.chunks_mut(2))
+    {
+        let arg1 = utils::q1_31_to_f64(arg1);
 
-    for ((arg1, arg2), res) in software_inputs {
         let (raw_res1, raw_res2) = (arg1 * core::f64::consts::PI).sin_cos();
-
         (res[0], res[1]) = (raw_res1 * arg2, raw_res2 * arg2);
     }
 
-    let software_end_point = embassy_time::Instant::now();
+    //
+    // check result are the same
+    //
 
-    for (cordic_res, software_res) in cordic_output_f64_buf[..cnt]
+    for (cordic_res, software_res) in cordic_result_f64[..cnt0 + cnt1]
         .chunks(2)
-        .zip(software_output_f64_buf.chunks(2))
+        .zip(software_result_f64.chunks(2))
     {
         for (cord_res, soft_res) in cordic_res.iter().zip(software_res.iter()) {
+            // 2.0.powi(-19) is the max residual error for Sin function, in q1.31 format, with 24 iterations (aka PRECISION = 6)
             defmt::assert!((cord_res - soft_res).abs() <= 2.0.powi(-19));
         }
     }
 
-    // This comparison is just for fun. Since it not a equal compare:
-    // software use 64-bit floating point, but CORDIC use 32-bit fixed point.
-    defmt::trace!(
-        "calculate count: {}, Cordic time: {} us, software time: {} us",
-        ARG1_LENGTH,
-        (cordic_end_point - cordic_start_point).as_micros(),
-        (software_end_point - software_start_point).as_micros()
-    );
-
     info!("Test OK");
     cortex_m::asm::bkpt();
 }