5 files changed, 37 insertions, 19 deletions

diff --git a/embassy-stm32/src/dma/bdma.rs b/embassy-stm32/src/dma/bdma.rs
index 674255ddc..e6ce05b7b 100644
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@@ -3,6 +3,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
+use embassy_cortex_m::interrupt::Priority;
 use embassy_sync::waitqueue::AtomicWaker;
 
 use super::{TransferOptions, Word, WordSize};
@@ -38,10 +39,12 @@ impl State {
 static STATE: State = State::new();
 
 /// safety: must be called only once
-pub(crate) unsafe fn init() {
+pub(crate) unsafe fn init(irq_priority: Priority) {
     foreach_interrupt! {
         ($peri:ident, bdma, $block:ident, $signal_name:ident, $irq:ident) => {
-            crate::interrupt::$irq::steal().enable();
+            let irq = crate::interrupt::$irq::steal();
+            irq.set_priority(irq_priority);
+            irq.enable();
         };
     }
     crate::_generated::init_bdma();
diff --git a/embassy-stm32/src/dma/dma.rs b/embassy-stm32/src/dma/dma.rs
index a45b8780b..97a3df088 100644
--- a/embassy-stm32/src/dma/dma.rs
+++ b/embassy-stm32/src/dma/dma.rs
@@ -1,6 +1,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
+use embassy_cortex_m::interrupt::Priority;
 use embassy_sync::waitqueue::AtomicWaker;
 
 use super::{Burst, FlowControl, Request, TransferOptions, Word, WordSize};
@@ -67,10 +68,12 @@ impl State {
 static STATE: State = State::new();
 
 /// safety: must be called only once
-pub(crate) unsafe fn init() {
+pub(crate) unsafe fn init(irq_priority: Priority) {
     foreach_interrupt! {
         ($peri:ident, dma, $block:ident, $signal_name:ident, $irq:ident) => {
-            interrupt::$irq::steal().enable();
+            let irq = interrupt::$irq::steal();
+            irq.set_priority(irq_priority);
+            irq.enable();
         };
     }
     crate::_generated::init_dma();
diff --git a/embassy-stm32/src/dma/mod.rs b/embassy-stm32/src/dma/mod.rs
index cc030a93e..74bce6aa9 100644
--- a/embassy-stm32/src/dma/mod.rs
+++ b/embassy-stm32/src/dma/mod.rs
@@ -12,6 +12,8 @@ use core::mem;
 use core::pin::Pin;
 use core::task::{Context, Poll, Waker};
 
+#[cfg(any(dma, bdma))]
+use embassy_cortex_m::interrupt::Priority;
 use embassy_hal_common::{impl_peripheral, into_ref};
 
 #[cfg(dmamux)]
@@ -294,11 +296,11 @@ pub struct NoDma;
 impl_peripheral!(NoDma);
 
 // safety: must be called only once at startup
-pub(crate) unsafe fn init() {
+pub(crate) unsafe fn init(#[cfg(bdma)] bdma_priority: Priority, #[cfg(dma)] dma_priority: Priority) {
     #[cfg(bdma)]
-    bdma::init();
+    bdma::init(bdma_priority);
     #[cfg(dma)]
-    dma::init();
+    dma::init(dma_priority);
     #[cfg(dmamux)]
     dmamux::init();
     #[cfg(gpdma)]
diff --git a/embassy-stm32/src/flash/h7.rs b/embassy-stm32/src/flash/h7.rs
index 3f2129de8..3178b3be9 100644
--- a/embassy-stm32/src/flash/h7.rs
+++ b/embassy-stm32/src/flash/h7.rs
@@ -79,24 +79,19 @@ pub(crate) unsafe fn blocking_erase(from: u32, to: u32) -> Result<(), Error> {
     let from = from - super::FLASH_BASE as u32;
     let to = to - super::FLASH_BASE as u32;
 
-    let bank_size = (super::FLASH_SIZE / 2) as u32;
-
-    let (bank, start, end) = if to <= bank_size {
+    let (start, end) = if to <= super::FLASH_SIZE as u32 {
         let start_sector = from / super::ERASE_SIZE as u32;
         let end_sector = to / super::ERASE_SIZE as u32;
-        (0, start_sector, end_sector)
-    } else if from >= SECOND_BANK_OFFSET as u32 && to <= (SECOND_BANK_OFFSET as u32 + bank_size) {
-        let start_sector = (from - SECOND_BANK_OFFSET as u32) / super::ERASE_SIZE as u32;
-        let end_sector = (to - SECOND_BANK_OFFSET as u32) / super::ERASE_SIZE as u32;
-        (1, start_sector, end_sector)
+        (start_sector, end_sector)
     } else {
-        error!("Attempting to write outside of defined sectors");
+        error!("Attempting to write outside of defined sectors {:x} {:x}", from, to);
         return Err(Error::Unaligned);
     };
 
-    trace!("Erasing bank {}, sectors from {} to {}", bank, start, end);
+    trace!("Erasing sectors from {} to {}", start, end);
     for sector in start..end {
-        let ret = erase_sector(pac::FLASH.bank(bank), sector as u8);
+        let bank = if sector >= 8 { 1 } else { 0 };
+        let ret = erase_sector(pac::FLASH.bank(bank), (sector % 8) as u8);
         if ret.is_err() {
             return ret;
         }
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index d7443eace..16c46ca22 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -79,6 +79,8 @@ pub(crate) mod _generated {
 // Reexports
 pub use _generated::{peripherals, Peripherals};
 pub use embassy_cortex_m::executor;
+#[cfg(any(dma, bdma))]
+use embassy_cortex_m::interrupt::Priority;
 pub use embassy_cortex_m::interrupt::_export::interrupt;
 pub use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
 #[cfg(feature = "unstable-pac")]
@@ -91,6 +93,10 @@ pub struct Config {
     pub rcc: rcc::Config,
     #[cfg(dbgmcu)]
     pub enable_debug_during_sleep: bool,
+    #[cfg(bdma)]
+    pub bdma_interrupt_priority: Priority,
+    #[cfg(dma)]
+    pub dma_interrupt_priority: Priority,
 }
 
 impl Default for Config {
@@ -99,6 +105,10 @@ impl Default for Config {
             rcc: Default::default(),
             #[cfg(dbgmcu)]
             enable_debug_during_sleep: true,
+            #[cfg(bdma)]
+            bdma_interrupt_priority: Priority::P0,
+            #[cfg(dma)]
+            dma_interrupt_priority: Priority::P0,
         }
     }
 }
@@ -137,7 +147,12 @@ pub fn init(config: Config) -> Peripherals {
         }
 
         gpio::init();
-        dma::init();
+        dma::init(
+            #[cfg(bdma)]
+            config.bdma_interrupt_priority,
+            #[cfg(dma)]
+            config.dma_interrupt_priority,
+        );
         #[cfg(feature = "exti")]
         exti::init();