7 files changed, 447 insertions, 1 deletions

diff --git a/embassy-stm32/CHANGELOG.md b/embassy-stm32/CHANGELOG.md
index 949ea03b5..d3e5ba48d 100644
--- a/embassy-stm32/CHANGELOG.md
+++ b/embassy-stm32/CHANGELOG.md
@@ -7,6 +7,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased - ReleaseDate
 
+- feat: Add continuous waveform method to SimplePWM
 - change: remove waveform timer method
 - change: low power: store stop mode for dma channels
 - fix: Fixed ADC4 enable() for WBA
diff --git a/embassy-stm32/src/timer/low_level.rs b/embassy-stm32/src/timer/low_level.rs
index f986c8dab..aba08081f 100644
--- a/embassy-stm32/src/timer/low_level.rs
+++ b/embassy-stm32/src/timer/low_level.rs
@@ -13,7 +13,7 @@ use embassy_hal_internal::Peri;
 pub use stm32_metapac::timer::vals::{FilterValue, Mms as MasterMode, Sms as SlaveMode, Ts as TriggerSource};
 
 use super::*;
-use crate::dma::Transfer;
+use crate::dma::{Transfer, WritableRingBuffer};
 use crate::pac::timer::vals;
 use crate::rcc;
 use crate::time::Hertz;
@@ -660,6 +660,39 @@ impl<'d, T: GeneralInstance4Channel> Timer<'d, T> {
         }
     }
 
+    /// Setup a ring buffer for the channel
+    pub fn setup_ring_buffer<'a>(
+        &mut self,
+        dma: Peri<'a, impl super::UpDma<T>>,
+        channel: Channel,
+        dma_buf: &'a mut [u16],
+    ) -> WritableRingBuffer<'a, u16> {
+        #[allow(clippy::let_unit_value)] // eg. stm32f334
+        let req = dma.request();
+
+        unsafe {
+            use crate::dma::TransferOptions;
+            #[cfg(not(any(bdma, gpdma)))]
+            use crate::dma::{Burst, FifoThreshold};
+
+            let dma_transfer_option = TransferOptions {
+                #[cfg(not(any(bdma, gpdma)))]
+                fifo_threshold: Some(FifoThreshold::Full),
+                #[cfg(not(any(bdma, gpdma)))]
+                mburst: Burst::Incr8,
+                ..Default::default()
+            };
+
+            WritableRingBuffer::new(
+                dma,
+                req,
+                self.regs_1ch().ccr(channel.index()).as_ptr() as *mut u16,
+                dma_buf,
+                dma_transfer_option,
+            )
+        }
+    }
+
     /// Generate a sequence of PWM waveform
     ///
     /// Note:
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 804d1ef37..3fa363881 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -12,6 +12,7 @@ pub mod low_level;
 pub mod one_pulse;
 pub mod pwm_input;
 pub mod qei;
+pub mod ringbuffered;
 pub mod simple_pwm;
 
 use crate::interrupt;
diff --git a/embassy-stm32/src/timer/ringbuffered.rs b/embassy-stm32/src/timer/ringbuffered.rs
new file mode 100644
index 000000000..e8f97bf59
--- /dev/null
+++ b/embassy-stm32/src/timer/ringbuffered.rs
@@ -0,0 +1,169 @@
+//! RingBuffered PWM driver.
+
+use core::mem::ManuallyDrop;
+use core::task::Waker;
+
+use super::low_level::Timer;
+use super::{Channel, GeneralInstance4Channel};
+use crate::dma::WritableRingBuffer;
+use crate::dma::ringbuffer::Error;
+
+/// A PWM channel that uses a DMA ring buffer for continuous waveform generation.
+///
+/// This allows you to continuously update PWM duty cycles via DMA without blocking the CPU.
+/// The ring buffer enables smooth, uninterrupted waveform generation by automatically cycling
+/// through duty cycle values stored in memory.
+///
+/// You can write new duty cycle values to the ring buffer while it's running, enabling
+/// dynamic waveform generation for applications like motor control, LED dimming, or audio output.
+///
+/// # Example
+/// ```ignore
+/// let mut channel = pwm.ch1().into_ring_buffered_channel(dma_ch, &mut buffer);
+/// channel.start(); // Start DMA transfer
+/// channel.write(&[100, 200, 300]).ok(); // Update duty cycles
+/// ```
+pub struct RingBufferedPwmChannel<'d, T: GeneralInstance4Channel> {
+    timer: ManuallyDrop<Timer<'d, T>>,
+    ring_buf: WritableRingBuffer<'d, u16>,
+    channel: Channel,
+}
+
+impl<'d, T: GeneralInstance4Channel> RingBufferedPwmChannel<'d, T> {
+    pub(crate) fn new(
+        timer: ManuallyDrop<Timer<'d, T>>,
+        channel: Channel,
+        ring_buf: WritableRingBuffer<'d, u16>,
+    ) -> Self {
+        Self {
+            timer,
+            ring_buf,
+            channel,
+        }
+    }
+
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
+    pub fn start(&mut self) {
+        self.ring_buf.start()
+    }
+
+    /// Clear all data in the ring buffer.
+    pub fn clear(&mut self) {
+        self.ring_buf.clear()
+    }
+
+    /// Write elements directly to the raw buffer. This can be used to fill the buffer before starting the DMA transfer.
+    pub fn write_immediate(&mut self, buf: &[u16]) -> Result<(usize, usize), Error> {
+        self.ring_buf.write_immediate(buf)
+    }
+
+    /// Write elements from the ring buffer
+    /// Return a tuple of the length written and the length remaining in the buffer
+    pub fn write(&mut self, buf: &[u16]) -> Result<(usize, usize), Error> {
+        self.ring_buf.write(buf)
+    }
+
+    /// Write an exact number of elements to the ringbuffer.
+    pub async fn write_exact(&mut self, buffer: &[u16]) -> Result<usize, Error> {
+        self.ring_buf.write_exact(buffer).await
+    }
+
+    /// Wait for any ring buffer write error.
+    pub async fn wait_write_error(&mut self) -> Result<usize, Error> {
+        self.ring_buf.wait_write_error().await
+    }
+
+    /// The current length of the ringbuffer
+    pub fn len(&mut self) -> Result<usize, Error> {
+        self.ring_buf.len()
+    }
+
+    /// The capacity of the ringbuffer
+    pub const fn capacity(&self) -> usize {
+        self.ring_buf.capacity()
+    }
+
+    /// Set a waker to be woken when at least one byte is send.
+    pub fn set_waker(&mut self, waker: &Waker) {
+        self.ring_buf.set_waker(waker)
+    }
+
+    /// Request the DMA to reset. The configuration for this channel will not be preserved.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until is_running returns false.
+    pub fn request_reset(&mut self) {
+        self.ring_buf.request_reset()
+    }
+
+    /// Request the transfer to pause, keeping the existing configuration for this channel.
+    /// To restart the transfer, call [`start`](Self::start) again.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until is_running returns false.
+    pub fn request_pause(&mut self) {
+        self.ring_buf.request_pause()
+    }
+
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns false, it can be because either the transfer finished, or it was requested to stop early with request_stop.
+    pub fn is_running(&mut self) -> bool {
+        self.ring_buf.is_running()
+    }
+
+    /// Stop the DMA transfer and await until the buffer is empty.
+    ///
+    /// This disables the DMA transfer's circular mode so that the transfer stops when all available data has been written.
+    ///
+    /// This is designed to be used with streaming output data such as the I2S/SAI or DAC.
+    pub async fn stop(&mut self) {
+        self.ring_buf.stop().await
+    }
+
+    /// Enable the given channel.
+    pub fn enable(&mut self) {
+        self.timer.enable_channel(self.channel, true);
+    }
+
+    /// Disable the given channel.
+    pub fn disable(&mut self) {
+        self.timer.enable_channel(self.channel, false);
+    }
+
+    /// Check whether given channel is enabled
+    pub fn is_enabled(&self) -> bool {
+        self.timer.get_channel_enable_state(self.channel)
+    }
+
+    /// Get max duty value.
+    ///
+    /// This value depends on the configured frequency and the timer's clock rate from RCC.
+    pub fn max_duty_cycle(&self) -> u16 {
+        let max = self.timer.get_max_compare_value();
+        assert!(max < u16::MAX as u32);
+        max as u16 + 1
+    }
+
+    /// Set the output polarity for a given channel.
+    pub fn set_polarity(&mut self, polarity: super::low_level::OutputPolarity) {
+        self.timer.set_output_polarity(self.channel, polarity);
+    }
+
+    /// Set the output compare mode for a given channel.
+    pub fn set_output_compare_mode(&mut self, mode: super::low_level::OutputCompareMode) {
+        self.timer.set_output_compare_mode(self.channel, mode);
+    }
+}
+
+/// A group of four [`SimplePwmChannel`]s, obtained from [`SimplePwm::split`].
+pub struct RingBufferedPwmChannels<'d, T: GeneralInstance4Channel> {
+    /// Channel 1
+    pub ch1: RingBufferedPwmChannel<'d, T>,
+    /// Channel 2
+    pub ch2: RingBufferedPwmChannel<'d, T>,
+    /// Channel 3
+    pub ch3: RingBufferedPwmChannel<'d, T>,
+    /// Channel 4
+    pub ch4: RingBufferedPwmChannel<'d, T>,
+}
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index eb1b66358..484e9fd81 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -4,6 +4,7 @@ use core::marker::PhantomData;
 use core::mem::ManuallyDrop;
 
 use super::low_level::{CountingMode, OutputCompareMode, OutputPolarity, Timer};
+use super::ringbuffered::RingBufferedPwmChannel;
 use super::{Ch1, Ch2, Ch3, Ch4, Channel, GeneralInstance4Channel, TimerChannel, TimerPin};
 use crate::Peri;
 #[cfg(gpio_v2)]
@@ -158,6 +159,33 @@ impl<'d, T: GeneralInstance4Channel> SimplePwmChannel<'d, T> {
     pub fn set_output_compare_mode(&mut self, mode: OutputCompareMode) {
         self.timer.set_output_compare_mode(self.channel, mode);
     }
+
+    /// Convert this PWM channel into a ring-buffered PWM channel.
+    ///
+    /// This allows continuous PWM waveform generation using a DMA ring buffer.
+    /// The ring buffer enables dynamic updates to the PWM duty cycle without blocking.
+    ///
+    /// # Arguments
+    /// * `tx_dma` - The DMA channel to use for transferring duty cycle values
+    /// * `dma_buf` - The buffer to use as a ring buffer (must be non-empty and <= 65535 elements)
+    ///
+    /// # Panics
+    /// Panics if `dma_buf` is empty or longer than 65535 elements.
+    pub fn into_ring_buffered_channel(
+        mut self,
+        tx_dma: Peri<'d, impl super::UpDma<T>>,
+        dma_buf: &'d mut [u16],
+    ) -> RingBufferedPwmChannel<'d, T> {
+        assert!(!dma_buf.is_empty() && dma_buf.len() <= 0xFFFF);
+
+        self.timer.enable_update_dma(true);
+
+        RingBufferedPwmChannel::new(
+            unsafe { self.timer.clone_unchecked() },
+            self.channel,
+            self.timer.setup_ring_buffer(tx_dma, self.channel, dma_buf),
+        )
+    }
 }
 
 /// A group of four [`SimplePwmChannel`]s, obtained from [`SimplePwm::split`].
diff --git a/examples/stm32f7/src/bin/pwm.rs b/examples/stm32f7/src/bin/pwm.rs
new file mode 100644
index 000000000..b071eb597
--- /dev/null
+++ b/examples/stm32f7/src/bin/pwm.rs
@@ -0,0 +1,61 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::Config;
+use embassy_stm32::gpio::OutputType;
+use embassy_stm32::time::{Hertz, mhz};
+use embassy_stm32::timer::simple_pwm::{PwmPin, SimplePwm};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+// If you are trying this and your USB device doesn't connect, the most
+// common issues are the RCC config and vbus_detection
+//
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// for more information.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Hello World!");
+
+    let mut config = Config::default();
+    {
+        use embassy_stm32::rcc::*;
+        config.rcc.hse = Some(Hse {
+            freq: Hertz(8_000_000),
+            mode: HseMode::Bypass,
+        });
+        config.rcc.pll_src = PllSource::HSE;
+        config.rcc.pll = Some(Pll {
+            prediv: PllPreDiv::DIV4,
+            mul: PllMul::MUL200,
+            divp: Some(PllPDiv::DIV2), // 8mhz / 4 * 200 / 2 = 200Mhz
+            divq: Some(PllQDiv::DIV4), // 8mhz / 4 * 200 / 4 = 100Mhz
+            divr: None,
+        });
+        config.rcc.ahb_pre = AHBPrescaler::DIV1;
+        config.rcc.apb1_pre = APBPrescaler::DIV4;
+        config.rcc.apb2_pre = APBPrescaler::DIV2;
+        config.rcc.sys = Sysclk::PLL1_P;
+    }
+    let p = embassy_stm32::init(config);
+    let ch1_pin = PwmPin::new(p.PE9, OutputType::PushPull);
+    let mut pwm = SimplePwm::new(p.TIM1, Some(ch1_pin), None, None, None, mhz(1), Default::default());
+    let mut ch1 = pwm.ch1();
+    ch1.enable();
+
+    info!("PWM initialized");
+    info!("PWM max duty {}", ch1.max_duty_cycle());
+
+    loop {
+        ch1.set_duty_cycle_fully_off();
+        Timer::after_millis(300).await;
+        ch1.set_duty_cycle_fraction(1, 4);
+        Timer::after_millis(300).await;
+        ch1.set_duty_cycle_fraction(1, 2);
+        Timer::after_millis(300).await;
+        ch1.set_duty_cycle(ch1.max_duty_cycle() - 1);
+        Timer::after_millis(300).await;
+    }
+}
diff --git a/examples/stm32f7/src/bin/pwm_ringbuffer.rs b/examples/stm32f7/src/bin/pwm_ringbuffer.rs
new file mode 100644
index 000000000..4d191ac13
--- /dev/null
+++ b/examples/stm32f7/src/bin/pwm_ringbuffer.rs
@@ -0,0 +1,153 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::Config;
+use embassy_stm32::gpio::OutputType;
+use embassy_stm32::time::mhz;
+use embassy_stm32::timer::simple_pwm::{PwmPin, SimplePwm};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+// If you are trying this and your USB device doesn't connect, the most
+// common issues are the RCC config and vbus_detection
+//
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// for more information.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("PWM Ring Buffer Example");
+
+    let mut config = Config::default();
+    {
+        use embassy_stm32::rcc::*;
+        use embassy_stm32::time::Hertz;
+        config.rcc.hse = Some(Hse {
+            freq: Hertz(8_000_000),
+            mode: HseMode::Bypass,
+        });
+        config.rcc.pll_src = PllSource::HSE;
+        config.rcc.pll = Some(Pll {
+            prediv: PllPreDiv::DIV4,
+            mul: PllMul::MUL200,
+            divp: Some(PllPDiv::DIV2), // 8mhz / 4 * 200 / 2 = 200Mhz
+            divq: Some(PllQDiv::DIV4), // 8mhz / 4 * 200 / 4 = 100Mhz
+            divr: None,
+        });
+        config.rcc.ahb_pre = AHBPrescaler::DIV1;
+        config.rcc.apb1_pre = APBPrescaler::DIV4;
+        config.rcc.apb2_pre = APBPrescaler::DIV2;
+        config.rcc.sys = Sysclk::PLL1_P;
+    }
+    let p = embassy_stm32::init(config);
+
+    // Initialize PWM on TIM1
+    let ch1_pin = PwmPin::new(p.PE9, OutputType::PushPull);
+    let ch2_pin = PwmPin::new(p.PE11, OutputType::PushPull);
+    let mut pwm = SimplePwm::new(
+        p.TIM1,
+        Some(ch1_pin),
+        Some(ch2_pin),
+        None,
+        None,
+        mhz(1),
+        Default::default(),
+    );
+
+    // Use channel 1 for static PWM at 50%
+    let mut ch1 = pwm.ch1();
+    ch1.enable();
+    ch1.set_duty_cycle_fraction(1, 2);
+    info!("Channel 1 (PE9/D6): Static 50% duty cycle");
+
+    // Get max duty from channel 1 before converting channel 2
+    let max_duty = ch1.max_duty_cycle();
+    info!("PWM max duty: {}", max_duty);
+
+    // Create a DMA ring buffer for channel 2
+    const BUFFER_SIZE: usize = 128;
+    static mut DMA_BUFFER: [u16; BUFFER_SIZE] = [0u16; BUFFER_SIZE];
+    let dma_buffer = unsafe { &mut *core::ptr::addr_of_mut!(DMA_BUFFER) };
+
+    // Pre-fill buffer with initial sine wave using lookup table approach
+    for i in 0..BUFFER_SIZE {
+        // Simple sine approximation using triangle wave
+        let phase = (i * 256) / BUFFER_SIZE;
+        let sine_approx = if phase < 128 {
+            phase as u16 * 2
+        } else {
+            (255 - phase) as u16 * 2
+        };
+        dma_buffer[i] = (sine_approx as u32 * max_duty as u32 / 256) as u16;
+    }
+
+    // Convert channel 2 to ring-buffered PWM
+    let mut ring_pwm = pwm.ch1().into_ring_buffered_channel(p.DMA2_CH5, dma_buffer);
+
+    info!("Ring buffer capacity: {}", ring_pwm.capacity());
+
+    // Pre-write some initial data to the buffer before starting
+    info!("Pre-writing initial waveform data...");
+
+    ring_pwm.write(&[0; BUFFER_SIZE]).unwrap();
+
+    // Enable the PWM channel output
+    ring_pwm.enable();
+
+    // Start the DMA ring buffer
+    ring_pwm.start();
+    info!("Channel 2 (PE11/D5): Ring buffered sine wave started");
+
+    // Give DMA time to start consuming
+    Timer::after_millis(10).await;
+
+    // Continuously update the waveform
+    let mut phase: f32 = 0.0;
+    let mut amplitude: f32 = 1.0;
+    let mut amplitude_direction = -0.05;
+
+    loop {
+        // Generate new waveform data with varying amplitude
+        let mut new_data = [0u16; 32];
+        for i in 0..new_data.len() {
+            // Triangle wave approximation for sine
+            let pos = ((i as u32 + phase as u32) * 4) % 256;
+            let sine_approx = if pos < 128 {
+                pos as u16 * 2
+            } else {
+                (255 - pos) as u16 * 2
+            };
+            let scaled = (sine_approx as u32 * (amplitude * 256.0) as u32) / (256 * 256);
+            new_data[i] = ((scaled * max_duty as u32) / 256) as u16;
+        }
+
+        // Write new data to the ring buffer
+        match ring_pwm.write_exact(&new_data).await {
+            Ok(_remaining) => {}
+            Err(e) => {
+                info!("Write error: {:?}", e);
+            }
+        }
+
+        // Update phase for animation effect
+        phase += 2.0;
+        if phase >= 64.0 {
+            phase = 0.0;
+        }
+
+        // Vary amplitude for breathing effect
+        amplitude += amplitude_direction;
+        if amplitude <= 0.2 || amplitude >= 1.0 {
+            amplitude_direction = -amplitude_direction;
+        }
+
+        // Log buffer status periodically
+        if (phase as u32) % 10 == 0 {
+            match ring_pwm.len() {
+                Ok(len) => info!("Ring buffer fill: {}/{}", len, ring_pwm.capacity()),
+                Err(_) => info!("Error reading buffer length"),
+            }
+        }
+    }
+}