add half transfer interrupt and circular dma

2 files changed, 36 insertions, 7 deletions

diff --git a/embassy-stm32/src/dac/mod.rs b/embassy-stm32/src/dac/mod.rs
index 7b81ec1f2..525d45d72 100644
--- a/embassy-stm32/src/dac/mod.rs
+++ b/embassy-stm32/src/dac/mod.rs
@@ -2,7 +2,7 @@
 
 use embassy_hal_common::{into_ref, PeripheralRef};
 
-use crate::dma::Transfer;
+use crate::dma::{Transfer, TransferOptions};
 use crate::pac::dac;
 use crate::rcc::RccPeripheral;
 use crate::{peripherals, Peripheral};
@@ -237,7 +237,7 @@ impl<'d, T: Instance, Tx> Dac<'d, T, Tx> {
     }
 
     /// TODO: Allow an array of Value instead of only u16, right-aligned
-    pub async fn write(&mut self, data: &[u16]) -> Result<(), Error>
+    pub async fn write(&mut self, data: &[u16], circular: bool) -> Result<(), Error>
     where
         Tx: Dma<T>,
     {
@@ -257,7 +257,18 @@ impl<'d, T: Instance, Tx> Dac<'d, T, Tx> {
         // Use the 12 bit right-aligned register for now. TODO: distinguish values
         let tx_dst = T::regs().dhr12r(CHANNEL).ptr() as *mut u16;
 
-        let tx_f = unsafe { Transfer::new_write(&mut self.txdma, tx_request, data, tx_dst, Default::default()) };
+        let tx_f = unsafe {
+            Transfer::new_write(
+                &mut self.txdma,
+                tx_request,
+                data,
+                tx_dst,
+                TransferOptions {
+                    circular,
+                    halt_transfer_ir: false,
+                },
+            )
+        };
 
         //debug!("Awaiting tx_f");
 
diff --git a/embassy-stm32/src/dma/bdma.rs b/embassy-stm32/src/dma/bdma.rs
index c0a503e25..ca18047e7 100644
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@@ -1,6 +1,7 @@
 #![macro_use]
 
 use core::future::Future;
+use core::option;
 use core::pin::Pin;
 use core::sync::atomic::{fence, Ordering};
 use core::task::{Context, Poll, Waker};
@@ -21,11 +22,17 @@ use crate::pac::bdma::{regs, vals};
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
-pub struct TransferOptions {}
+pub struct TransferOptions {
+    pub circular: bool,
+    pub halt_transfer_ir: bool,
+}
 
 impl Default for TransferOptions {
     fn default() -> Self {
-        Self {}
+        Self {
+            circular: false,
+            halt_transfer_ir: false,
+        }
     }
 }
 
@@ -253,7 +260,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         mem_len: usize,
         incr_mem: bool,
         data_size: WordSize,
-        _options: TransferOptions,
+        options: TransferOptions,
     ) -> Self {
         let ch = channel.regs().ch(channel.num());
 
@@ -284,6 +291,14 @@ impl<'a, C: Channel> Transfer<'a, C> {
             w.set_dir(dir.into());
             w.set_teie(true);
             w.set_tcie(true);
+            w.set_htie(options.halt_transfer_ir);
+            if options.circular {
+                w.set_circ(vals::Circ::ENABLED);
+                debug!("Setting circular mode");
+            } else {
+                w.set_circ(vals::Circ::DISABLED);
+            }
+            w.set_pl(vals::Pl::VERYHIGH);
             w.set_en(true);
         });
 
@@ -314,8 +329,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         let en = unsafe { ch.cr().read() }.en();
+        let circular = unsafe { ch.cr().read() }.circ() == vals::Circ::ENABLED;
         let tcif = STATE.complete_count[self.channel.index()].load(Ordering::Acquire) != 0;
-        en && !tcif
+        en && (circular || !tcif)
     }
 
     /// Gets the total remaining transfers for the channel
@@ -482,6 +498,8 @@ impl<'a, C: Channel, W: Word> RingBuffer<'a, C, W> {
         let ch = self.channel.regs().ch(self.channel.num());
 
         // Disable the channel. Keep the IEs enabled so the irqs still fire.
+        // If the channel is enabled and transfer is not completed, we need to perform
+        // two separate write access to the CR register to disable the channel.
         unsafe {
             ch.cr().write(|w| {
                 w.set_teie(true);