adc & dma

embassy-rp/src/adc.rs

@@ -3,14 +3,19 @@ use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
+use embassy_hal_common::PeripheralRef;
 use embassy_sync::waitqueue::AtomicWaker;
 use embedded_hal_02::adc::{Channel, OneShot};
+use pac::adc::regs::{Cs, Fcs};
 
+use crate::dma::{Channel as DmaChannel, ContinuousTransfer, Dreq, Read, Transfer, Word};
 use crate::gpio::Pin;
 use crate::interrupt::typelevel::Binding;
 use crate::interrupt::InterruptExt;
+use crate::pac::dma::vals::TreqSel;
 use crate::peripherals::ADC;
 use crate::{interrupt, pac, peripherals, Peripheral};
+
 static WAKER: AtomicWaker = AtomicWaker::new();
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
@@ -32,6 +37,555 @@ pub struct Adc<'d> {
     phantom: PhantomData<&'d ADC>,
 }
 
+pub trait Input {
+    fn round_robin_byte(&self) -> u8;
+    fn ainsel_channel(&self) -> u8;
+    fn measure_temperature(&self) -> bool;
+
+    // disable pull-up and enable pull-down resistors
+    fn prepare_resistors(&mut self) -> ();
+}
+
+// convention: only Pin1 or Temp can be starting channels (ainsel)
+#[derive(Copy, Clone)]
+enum RoundRobinConfig {
+    // T: temperature is measured
+    // P: pin1 is ainsel (else temperature)
+    // R: ainsel is part of round robin
+    T,
+    TR,
+    PT,
+    PTR,
+    P,
+    PR,
+}
+
+impl RoundRobinConfig {
+    // combine byte enabling temperature round robin
+    // and byte enabling pin1 round robin according to config
+    fn temp_pin1_byte(self, p1: u8) -> u8 {
+        use RoundRobinConfig::*;
+        let t = 1u8 << 4; // temperature channel has id 4
+        match self {
+            T | PR => p1,
+            TR | PTR => t | p1,
+            PT => t,
+            P => 0,
+        }
+    }
+
+    fn ainsel_channel(self, p1_channel: u8) -> u8 {
+        use RoundRobinConfig::*;
+        match self {
+            T | TR => 4,
+            _ => p1_channel,
+        }
+    }
+
+    fn is_t(self) -> bool {
+        use RoundRobinConfig::*;
+        match self {
+            P | PR => false,
+            T | TR | PT | PTR => true,
+        }
+    }
+    fn set_t(&mut self) {
+        use RoundRobinConfig::*;
+        match self {
+            T | TR | PT | PTR => (),
+            P => *self = PT,
+            PR => *self = PTR,
+        }
+    }
+}
+
+fn prepare_resistors<'d, PIN>(pin: &mut PIN)
+where
+    PIN: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pin.pad_ctrl().modify(|w| {
+        w.set_ie(true);
+        let (pu, pd) = (false, true); // TODO there is another pull request related to this change, also check datasheet chapter 4.9
+        w.set_pue(pu);
+        w.set_pde(pd);
+    });
+}
+
+pub fn round_robin_order(round_robin_byte: u8, ainsel_channel: u8) -> (u8, [Option<u8>; 5]) {
+    let mut result = [None; 5];
+    let length = u8::count_ones(round_robin_byte) as u8;
+    let mut channel = ainsel_channel;
+    for i in 0..length {
+        let b = round_robin_byte >> (channel + 1);
+        channel = match b {
+            0 => round_robin_byte.trailing_zeros() as u8,
+            _ => b.trailing_zeros() as u8 + channel + 1,
+        };
+        result[i as usize] = Some(channel);
+    }
+    (length, result)
+}
+
+pub struct Input0 {
+    // has to be temperature
+    config: RoundRobinConfig,
+}
+pub struct Input1<'d, 'a, Pin1>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pin1: &'a mut Pin1,
+    config: RoundRobinConfig,
+    phantom: PhantomData<&'d bool>,
+}
+pub struct Input2<'d, 'a, Pin1, Pin2>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pin1: &'a mut Pin1,
+    pin2: &'a mut Pin2,
+    config: RoundRobinConfig,
+    phantom: PhantomData<&'d bool>,
+}
+pub struct Input3<'d, 'a, Pin1, Pin2, Pin3>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pin1: &'a mut Pin1,
+    pin2: &'a mut Pin2,
+    pin3: &'a mut Pin3,
+    config: RoundRobinConfig,
+    phantom: PhantomData<&'d bool>,
+}
+pub struct Input4<'d, 'a, Pin1, Pin2, Pin3, Pin4>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin4: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pin1: &'a mut Pin1,
+    pin2: &'a mut Pin2,
+    pin3: &'a mut Pin3,
+    pin4: &'a mut Pin4,
+    config: RoundRobinConfig,
+    phantom: PhantomData<&'d bool>,
+}
+
+impl Input0 {
+    pub fn add<'d, 'a, PIN>(self, pin: &'a mut PIN) -> Input1<'d, 'a, PIN>
+    where
+        PIN: Channel<Adc<'d>, ID = u8> + Pin,
+    {
+        Input1 {
+            pin1: pin,
+            config: self.config,
+            phantom: PhantomData {},
+        }
+    }
+}
+
+impl<'d, 'a, Pin1> Input1<'d, 'a, Pin1>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pub fn add<PIN>(self, pin: &'a mut PIN) -> Input2<'d, 'a, Pin1, PIN>
+    where
+        PIN: Channel<Adc<'d>, ID = u8> + Pin,
+    {
+        let Input1 { pin1, config, .. } = self;
+        Input2 {
+            pin1,
+            pin2: pin,
+            config,
+            phantom: PhantomData {},
+        }
+    }
+    pub fn add_temperature(mut self) -> Input1<'d, 'a, Pin1> {
+        self.config.set_t();
+        self
+    }
+}
+
+impl<'d, 'a, Pin1, Pin2> Input2<'d, 'a, Pin1, Pin2>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pub fn add<PIN>(self, pin: &'a mut PIN) -> Input3<'d, 'a, Pin1, Pin2, PIN>
+    where
+        PIN: Channel<Adc<'d>, ID = u8> + Pin,
+    {
+        let Input2 { pin1, pin2, config, .. } = self;
+        Input3 {
+            pin1,
+            pin2,
+            pin3: pin,
+            config,
+            phantom: PhantomData {},
+        }
+    }
+    pub fn add_temperature(mut self) -> Input2<'d, 'a, Pin1, Pin2> {
+        self.config.set_t();
+        self
+    }
+}
+
+impl<'d, 'a, Pin1, Pin2, Pin3> Input3<'d, 'a, Pin1, Pin2, Pin3>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pub fn add<PIN>(self, pin: &'a mut PIN) -> Input4<'d, 'a, Pin1, Pin2, Pin3, PIN>
+    where
+        PIN: Channel<Adc<'d>, ID = u8> + Pin,
+    {
+        let Input3 {
+            pin1,
+            pin2,
+            pin3,
+            config,
+            ..
+        } = self;
+        Input4 {
+            pin1,
+            pin2,
+            pin3,
+            pin4: pin,
+            config,
+            phantom: PhantomData {},
+        }
+    }
+    pub fn add_temperature(mut self) -> Input3<'d, 'a, Pin1, Pin2, Pin3> {
+        self.config.set_t();
+        self
+    }
+}
+
+impl<'d, 'a, Pin1, Pin2, Pin3, Pin4> Input4<'d, 'a, Pin1, Pin2, Pin3, Pin4>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin4: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    pub fn add_temperature(mut self) -> Input4<'d, 'a, Pin1, Pin2, Pin3, Pin4> {
+        self.config.set_t();
+        self
+    }
+}
+
+impl Input for Input0 {
+    fn round_robin_byte(&self) -> u8 {
+        // it should not matter whether we return b0001_0000 or b0000_0000
+        self.config.temp_pin1_byte(0)
+    }
+
+    fn ainsel_channel(&self) -> u8 {
+        4 // measure temperature
+    }
+
+    fn measure_temperature(&self) -> bool {
+        true
+    }
+
+    fn prepare_resistors(&mut self) -> () {}
+}
+
+impl<'d, 'a, Pin1> Input for Input1<'d, 'a, Pin1>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    fn round_robin_byte(&self) -> u8 {
+        let p1 = 1u8 << Pin1::channel();
+        self.config.temp_pin1_byte(p1)
+    }
+
+    fn ainsel_channel(&self) -> u8 {
+        self.config.ainsel_channel(Pin1::channel())
+    }
+
+    fn measure_temperature(&self) -> bool {
+        self.config.is_t()
+    }
+
+    fn prepare_resistors(&mut self) -> () {
+        prepare_resistors(self.pin1);
+    }
+}
+
+impl<'d, 'a, Pin1, Pin2> Input for Input2<'d, 'a, Pin1, Pin2>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    fn round_robin_byte(&self) -> u8 {
+        let p1 = 1u8 << Pin1::channel();
+        let p2 = 1u8 << Pin2::channel();
+        self.config.temp_pin1_byte(p1) | p2
+    }
+
+    fn ainsel_channel(&self) -> u8 {
+        self.config.ainsel_channel(Pin1::channel())
+    }
+
+    fn measure_temperature(&self) -> bool {
+        self.config.is_t()
+    }
+
+    fn prepare_resistors(&mut self) -> () {
+        prepare_resistors(self.pin1);
+        prepare_resistors(self.pin2);
+    }
+}
+impl<'d, 'a, Pin1, Pin2, Pin3> Input for Input3<'d, 'a, Pin1, Pin2, Pin3>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    fn round_robin_byte(&self) -> u8 {
+        let p1 = 1u8 << Pin1::channel();
+        let p2 = 1u8 << Pin2::channel();
+        let p3 = 1u8 << Pin3::channel();
+        self.config.temp_pin1_byte(p1) | p2 | p3
+    }
+
+    fn ainsel_channel(&self) -> u8 {
+        self.config.ainsel_channel(Pin1::channel())
+    }
+
+    fn measure_temperature(&self) -> bool {
+        self.config.is_t()
+    }
+    fn prepare_resistors(&mut self) -> () {
+        prepare_resistors(self.pin1);
+        prepare_resistors(self.pin2);
+        prepare_resistors(self.pin3);
+    }
+}
+impl<'d, 'a, Pin1, Pin2, Pin3, Pin4> Input for Input4<'d, 'a, Pin1, Pin2, Pin3, Pin4>
+where
+    Pin1: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin2: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin3: Channel<Adc<'d>, ID = u8> + Pin,
+    Pin4: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    fn round_robin_byte(&self) -> u8 {
+        let p1 = 1u8 << Pin1::channel();
+        let p2 = 1u8 << Pin2::channel();
+        let p3 = 1u8 << Pin3::channel();
+        let p4 = 1u8 << Pin4::channel();
+        self.config.temp_pin1_byte(p1) | p2 | p3 | p4
+    }
+
+    fn ainsel_channel(&self) -> u8 {
+        self.config.ainsel_channel(Pin1::channel())
+    }
+
+    fn measure_temperature(&self) -> bool {
+        self.config.is_t()
+    }
+    fn prepare_resistors(&mut self) -> () {
+        prepare_resistors(self.pin1);
+        prepare_resistors(self.pin2);
+        prepare_resistors(self.pin3);
+        prepare_resistors(self.pin4);
+    }
+}
+
+// argument use_in_round_robin is only relevent when more pins are added
+pub fn input_temperature(use_in_round_robin: bool) -> Input0 {
+    Input0 {
+        config: match use_in_round_robin {
+            true => RoundRobinConfig::TR,
+            false => RoundRobinConfig::T,
+        },
+    }
+}
+
+// argument use_in_round_robin is only relevent when more pins or temperature is added
+pub fn input_from_pin<'d, 'a, PIN>(pin: &'a mut PIN, use_in_round_robin: bool) -> Input1<'d, 'a, PIN>
+where
+    PIN: Channel<Adc<'d>, ID = u8> + Pin,
+{
+    Input1 {
+        pin1: pin,
+        config: match use_in_round_robin {
+            true => RoundRobinConfig::PR,
+            false => RoundRobinConfig::P,
+        },
+        phantom: PhantomData {},
+    }
+}
+
+#[derive(Copy, Clone)]
+pub enum SamplingSpeed {
+    Fastest,                       // 500kS/s
+    Interval { n: u16, frac: u8 }, // n >= 96
+}
+
+impl SamplingSpeed {
+    fn set_div(&self, w: &mut rp_pac::adc::regs::Div) {
+        match self {
+            Self::Fastest => {
+                w.set_int(0);
+                w.set_frac(0)
+            }
+            Self::Interval { n, frac } => {
+                assert!(*n >= 96);
+                w.set_int(*n);
+                w.set_frac(*frac);
+            }
+        }
+    }
+
+    pub fn clock_cycles_per_256_samples(&self) -> u32 {
+        match self {
+            Self::Fastest => 256 * 96,
+            Self::Interval { n, frac } => {
+                assert!(*n >= 96);
+                256 * (1 + *n as u32) + *frac as u32
+            }
+        }
+    }
+
+    // default adc clock speed is 48MHz
+    pub fn micros_per_sample(&self, clock_hz: u32) -> f32 {
+        self.clock_cycles_per_256_samples() as f32 / 256.0 / clock_hz as f32 * 1_000_000.0
+    }
+}
+
+pub struct ContinuousAdc<'a, 'b, 'c, 'd, 'r, W: Word, C1: DmaChannel, C2: DmaChannel, In: Input> {
+    #[allow(dead_code)]
+    adc: Adc<'d>,
+    transfer: ContinuousTransfer<'a, 'b, 'c, 'r, W, C1, C2>,
+    input: In,
+    corrupted: bool,
+}
+
+impl<'a, 'b, 'c, 'd, 'r, W: Word, C1: DmaChannel, C2: DmaChannel, In: Input>
+    ContinuousAdc<'a, 'b, 'c, 'd, 'r, W, C1, C2, In>
+{
+    pub fn start_new(
+        adc: Adc<'d>,
+        ch1: PeripheralRef<'a, C1>,
+        ch2: PeripheralRef<'a, C2>,
+        mut input: In,
+        speed: SamplingSpeed,
+        control_input: &'c mut [[u32; 4]; 2],
+        buffer: &'b mut [W],
+    ) -> ContinuousAdc<'a, 'b, 'c, 'd, 'r, W, C1, C2, In> {
+        assert!(W::size() as u8 <= 1); // u16 or u8 (will right-shift) allowed TODO static_assert possible?
+
+        // configure adc
+        let r = Adc::regs();
+        assert!(r.fcs().read().empty());
+        input.prepare_resistors();
+        if input.measure_temperature() {
+            r.cs().modify(|w| w.set_ts_en(true));
+            while !r.cs().read().ready() {} // blocking wait for ready
+        }
+        // set input channels
+        r.cs().modify(|w| {
+            w.set_ainsel(input.ainsel_channel());
+            w.set_rrobin(input.round_robin_byte());
+        });
+        r.fcs().modify(|w| {
+            w.set_en(true);
+            w.set_dreq_en(true);
+            w.set_thresh(1);
+            w.set_err(false);
+            w.set_shift(W::size() as u8 == 0);
+        });
+        r.div().modify(|w| {
+            speed.set_div(w);
+        });
+
+        // create and trigger transfer
+        let transfer = ContinuousTransfer::start_new(
+            ch1,
+            ch2,
+            control_input,
+            buffer,
+            TreqSel(Dreq::ADC as u8),
+            // SAFETY: adc is owned and cannot be used for anything else, fifo must only accessed by dma channel
+            Read::Constant(unsafe { &*(r.fifo().as_ptr() as *const W) }),
+        );
+
+        // start adc
+        compiler_fence(Ordering::SeqCst);
+        r.cs().modify(|w| {
+            w.set_start_many(true);
+        });
+
+        ContinuousAdc {
+            adc,
+            transfer,
+            input,
+            corrupted: false,
+        }
+    }
+
+    pub async fn next<'new_buf>(
+        self,
+        buffer: &'new_buf mut [W],
+    ) -> (ContinuousAdc<'a, 'new_buf, 'c, 'd, 'r, W, C1, C2, In>, bool) {
+        let ContinuousAdc {
+            adc,
+            transfer,
+            input,
+            corrupted,
+        } = self;
+        let (transfer, in_time) = transfer.next(buffer).await;
+        (
+            ContinuousAdc {
+                adc,
+                transfer,
+                input,
+                corrupted: corrupted | !in_time,
+            },
+            in_time,
+        )
+    }
+
+    pub async fn stop(self) -> Adc<'d> {
+        self.transfer.stop().await;
+
+        // stop adc
+        let r = Adc::regs();
+        r.cs().modify(|w| {
+            w.set_start_many(false);
+        });
+        if self.input.measure_temperature() {
+            r.cs().modify(|w| w.set_ts_en(false));
+        }
+        Adc::fifo_drain().await;
+
+        if self.corrupted {
+            // TODO this is a fix to a problem where round robin order is shifted and the first few samples of any following start_many measurements seem to have random order
+            // TODO I was not able to find the real cause, but it would only appear with a certain chance if the next buffer was not provided in time
+            // completely reset adc
+            let reset = Adc::reset();
+            crate::reset::reset(reset);
+            crate::reset::unreset_wait(reset);
+            let r = Adc::regs();
+            // Enable ADC
+            r.cs().write(|w| w.set_en(true));
+            // Wait for ADC ready
+            while !r.cs().read().ready() {}
+        }
+
+        // you only get your adc back if you stop the ContinuousAdc like intended
+        // (i.e. don't drop it while it is still running)
+        self.adc
+    }
+}
+
 impl<'d> Adc<'d> {
     #[inline]
     fn regs() -> pac::adc::Adc {
@@ -80,16 +634,93 @@ impl<'d> Adc<'d> {
         .await;
     }
 
+    async fn fifo_drain() {
+        let r = Self::regs();
+        Self::wait_for_ready().await;
+        // drain remaining samples from the FIFO
+        while !r.fcs().read().empty() {
+            let _ = r.fifo().read().val();
+        }
+        // reset fifo so samples don't fill the fifo when we don't want it
+        r.fcs().write_value(Fcs(0));
+    }
+
+    pub async fn dma_read<'a, C: DmaChannel, W: Word, I: Input>(
+        &mut self,
+        input: &mut I,
+        dma_ch: PeripheralRef<'a, C>,
+        data: &'a mut [W],
+        speed: SamplingSpeed,
+    ) -> () {
+        let r = Self::regs();
+        assert!(r.fcs().read().empty());
+
+        input.prepare_resistors();
+
+        if input.measure_temperature() {
+            // enable temperature
+            r.cs().modify(|w| w.set_ts_en(true));
+            if !r.cs().read().ready() {
+                Self::wait_for_ready().await;
+            }
+        }
+
+        // set input channels
+        r.cs().modify(|w| {
+            w.set_ainsel(input.ainsel_channel());
+            w.set_rrobin(input.round_robin_byte());
+        });
+
+        r.fcs().modify(|w| {
+            w.set_en(true);
+            w.set_dreq_en(true);
+            w.set_thresh(1);
+            w.set_err(false);
+            w.set_shift(W::size() as u8 == 0);
+        });
+        r.div().modify(|w| {
+            speed.set_div(w);
+        });
+
+        let p = dma_ch.regs();
+        p.write_addr().write_value(data.as_ptr() as u32);
+        p.read_addr().write_value(r.fifo().as_ptr() as u32);
+        p.trans_count().write_value(data.len() as u32);
+        compiler_fence(Ordering::SeqCst);
+        p.ctrl_trig().write(|w| {
+            w.set_treq_sel(TreqSel(Dreq::ADC as u8));
+            w.set_data_size(W::size());
+            w.set_incr_read(false);
+            w.set_incr_write(true);
+            w.set_chain_to(dma_ch.number());
+            w.set_en(true);
+        }); // trigger dma start
+        compiler_fence(Ordering::SeqCst);
+
+        // start adc
+        r.cs().modify(|w| {
+            w.set_start_many(true);
+        });
+
+        // wait for finish
+        Transfer::new(dma_ch).await;
+
+        // stop adc
+        r.cs().modify(|w| {
+            w.set_start_many(false);
+        });
+
+        // disable temperature sensing
+        if input.measure_temperature() {
+            r.cs().modify(|w| w.set_ts_en(false));
+        }
+
+        Self::fifo_drain().await;
+    }
+
     pub async fn read<PIN: Channel<Adc<'d>, ID = u8> + Pin>(&mut self, pin: &mut PIN) -> u16 {
         let r = Self::regs();
-        // disable pull-down and pull-up resistors
-        // pull-down resistors are enabled by default
-        pin.pad_ctrl().modify(|w| {
-            w.set_ie(true);
-            let (pu, pd) = (false, false);
-            w.set_pue(pu);
-            w.set_pde(pd);
-        });
+        prepare_resistors(pin);
         r.cs().modify(|w| {
             w.set_ainsel(PIN::channel());
             w.set_start_once(true)
@@ -114,12 +745,7 @@ impl<'d> Adc<'d> {
 
     pub fn blocking_read<PIN: Channel<Adc<'d>, ID = u8> + Pin>(&mut self, pin: &mut PIN) -> u16 {
         let r = Self::regs();
-        pin.pad_ctrl().modify(|w| {
-            w.set_ie(true);
-            let (pu, pd) = (false, false);
-            w.set_pue(pu);
-            w.set_pde(pd);
-        });
+        prepare_resistors(pin);
         r.cs().modify(|w| {
             w.set_ainsel(PIN::channel());
             w.set_start_once(true)
@@ -141,6 +767,18 @@ impl<'d> Adc<'d> {
     }
 }
 
+impl<'d> Drop for Adc<'d> {
+    fn drop(&mut self) {
+        let r = Self::regs();
+        r.cs().write_value(Cs(0));
+        while !r.cs().read().ready() {}
+        while !r.fcs().read().empty() {
+            let _ = r.fifo().read().val();
+        }
+        r.fcs().write_value(Fcs(0));
+    }
+}
+
 macro_rules! impl_pin {
     ($pin:ident, $channel:expr) => {
         impl Channel<Adc<'static>> for peripherals::$pin {

embassy-rp/src/dma.rs

@@ -1,12 +1,13 @@
 //! Direct Memory Access (DMA)
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::pin::Pin;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::{Context, Poll};
 
 use embassy_hal_common::{impl_peripheral, into_ref, Peripheral, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use pac::dma::vals::DataSize;
+use pac::dma::regs::CtrlTrig;
+use pac::dma::vals::{DataSize, TreqSel};
 
 use crate::interrupt::InterruptExt;
 use crate::pac::dma::vals;
@@ -190,6 +191,247 @@ impl<'a, C: Channel> Future for Transfer<'a, C> {
     }
 }
 
+pub enum Read<'a, W: Word> {
+    Constant(&'a W),
+    Increase(&'a [W]),
+    // TODO ring also possible, but more complicated due to generic size and alignment requirements
+}
+
+impl<'a, W: Word> Read<'a, W> {
+    fn is_increase(&self) -> bool {
+        match *self {
+            Self::Constant(_) => false,
+            Self::Increase(_) => true,
+        }
+    }
+
+    fn address(&self) -> u32 {
+        match *self {
+            Self::Constant(w) => (w as *const W) as u32,
+            Self::Increase(w) => w.as_ptr() as u32,
+        }
+    }
+
+    fn forward(&mut self, n: usize) -> () {
+        if let Self::Increase(w) = *self {
+            *self = Self::Increase(&w[n..]);
+        }
+    }
+}
+
+struct InnerChannels<'a, C1: Channel, C2: Channel> {
+    data: PeripheralRef<'a, C1>,
+    control: PeripheralRef<'a, C2>,
+}
+
+impl<'a, C1: Channel, C2: Channel> Drop for InnerChannels<'a, C1, C2> {
+    fn drop(&mut self) {
+        pac::DMA
+            .chan_abort()
+            .modify(|m| m.set_chan_abort((1 << self.data.number()) | (1 << self.control.number())));
+
+        // wait until both channels are ready again, this should go quite fast so no async used here
+        while self.data.regs().ctrl_trig().read().busy() || self.control.regs().ctrl_trig().read().busy() {}
+    }
+}
+
+pub struct ContinuousTransfer<'a, 'b, 'c, 'r, W: Word, C1: Channel, C2: Channel> {
+    channels: InnerChannels<'a, C1, C2>,
+    #[allow(dead_code)] // reference is kept to signal that dma channels are writing to it
+    buffer: &'b mut [W],
+    control_input: &'c mut [[u32; 4]; 2],
+    dreq: TreqSel,
+    read: Read<'r, W>,
+}
+
+impl<'a, 'b, 'c, 'r, W: Word, C1: Channel, C2: Channel> ContinuousTransfer<'a, 'b, 'c, 'r, W, C1, C2> {
+    pub fn start_new(
+        ch1: PeripheralRef<'a, C1>,
+        ch2: PeripheralRef<'a, C2>,
+        control_input: &'c mut [[u32; 4]; 2],
+        buffer: &'b mut [W],
+        dreq: TreqSel,
+        mut read: Read<'r, W>,
+    ) -> ContinuousTransfer<'a, 'b, 'c, 'r, W, C1, C2> {
+        let channels = InnerChannels {
+            data: ch1,
+            control: ch2,
+        };
+
+        // configure what control channel writes
+        // using registers: READ_ADDR, WRITE_ADDR, TRANS_COUNT, CTRL_TRIG
+        let mut w = CtrlTrig(0);
+        w.set_treq_sel(dreq);
+        w.set_data_size(W::size());
+        w.set_incr_read(read.is_increase());
+        w.set_incr_write(true);
+        w.set_chain_to(channels.data.number()); // chain disabled by default
+        w.set_en(true);
+        w.set_irq_quiet(false);
+
+        *control_input = [
+            [read.address(), buffer.as_ptr() as u32, buffer.len() as u32, w.0], // first control write
+            [0; 4],                                                             // Null trigger to stop
+        ];
+
+        // Configure data channel
+        // will be set by control channel
+        let pd = channels.data.regs();
+        pd.read_addr().write_value(0);
+        pd.write_addr().write_value(0);
+        pd.trans_count().write_value(0);
+        pd.al1_ctrl().write_value(0);
+
+        // Configure control channel
+        let pc = channels.control.regs();
+        pc.write_addr().write_value(pd.read_addr().as_ptr() as u32);
+        pc.read_addr().write_value(control_input.as_ptr() as u32);
+        pc.trans_count().write_value(4); // each control input is 4 u32s long
+
+        // trigger control channel
+        compiler_fence(Ordering::SeqCst);
+        pc.ctrl_trig().write(|w| {
+            w.set_treq_sel(TreqSel::PERMANENT);
+            w.set_data_size(rp_pac::dma::vals::DataSize::SIZE_WORD); // 4 byte
+            w.set_incr_read(true); // step through control_input
+            w.set_incr_write(true); // yes, but ring is required
+            w.set_ring_sel(true); // wrap write addresses
+            w.set_ring_size(4); // 1 << 4 = 16 = 4 * sizeof(u32) bytes
+            w.set_chain_to(channels.control.number()); // disable chain, data channel is triggered by write
+            w.set_irq_quiet(false);
+            w.set_en(true);
+        });
+        compiler_fence(Ordering::SeqCst);
+
+        // wait until control ran
+        while pc.ctrl_trig().read().busy() {}
+
+        // reset control
+        control_input[0] = [0; 4];
+        pc.read_addr().write_value(control_input.as_ptr() as u32);
+
+        read.forward(buffer.len());
+
+        ContinuousTransfer {
+            channels,
+            buffer,
+            control_input,
+            dreq,
+            read,
+        }
+    }
+
+    pub async fn next<'new_buf>(
+        self,
+        buffer: &'new_buf mut [W],
+    ) -> (ContinuousTransfer<'a, 'new_buf, 'c, 'r, W, C1, C2>, bool) {
+        let ContinuousTransfer {
+            channels,
+            buffer: _old, // is free now, and the compiler knows it
+            control_input,
+            dreq,
+            mut read,
+        } = self;
+
+        let pc = channels.control.regs();
+        let pd = channels.data.regs();
+
+        let mut w = CtrlTrig(0);
+        w.set_treq_sel(dreq);
+        w.set_data_size(W::size());
+        w.set_incr_read(read.is_increase());
+        w.set_incr_write(true);
+        w.set_chain_to(channels.data.number()); // chain disabled by default
+        w.set_en(true);
+        w.set_irq_quiet(false);
+
+        // configure control
+        control_input[0] = [read.address(), buffer.as_ptr() as u32, buffer.len() as u32, w.0];
+
+        // enable chain, now we can't change control safely anymore
+        compiler_fence(Ordering::SeqCst);
+        pd.al1_ctrl().write_value({
+            let mut ctrl = pd.ctrl_trig().read();
+            ctrl.set_chain_to(channels.control.number());
+            ctrl.0
+        });
+
+        if pc.read_addr().read() == control_input.as_ptr() as u32 && pd.ctrl_trig().read().busy() {
+            poll_fn(|cx: &mut Context<'_>| {
+                // the more efficient solution would be to use the interrupts,
+                // but I was not able to get it working robustly
+                cx.waker().wake_by_ref();
+                if pc.read_addr().read() == control_input.as_ptr() as u32 + 16 {
+                    Poll::Ready(())
+                } else {
+                    Poll::Pending
+                }
+            })
+            .await;
+
+            // reset control
+            assert!(!pc.ctrl_trig().read().busy());
+            control_input[0] = [0; 4];
+            pc.read_addr().write_value(control_input.as_ptr() as u32);
+
+            read.forward(buffer.len());
+
+            (
+                ContinuousTransfer {
+                    channels,
+                    buffer,
+                    control_input,
+                    dreq,
+                    read,
+                },
+                true,
+            )
+        } else {
+            if pc.read_addr().read() == control_input.as_ptr() as u32 {
+                // trigger control to restart loop
+                pc.ctrl_trig().write_value(pc.ctrl_trig().read());
+                compiler_fence(Ordering::SeqCst);
+            }
+            // if control read already moved, data has already been activated
+
+            // wait for control to complete
+            while pc.ctrl_trig().read().busy() {}
+            // reset control
+            control_input[0] = [0; 4];
+            pc.read_addr().write_value(control_input.as_ptr() as u32);
+
+            read.forward(buffer.len());
+
+            (
+                ContinuousTransfer {
+                    channels,
+                    control_input,
+                    buffer,
+                    dreq,
+                    read,
+                },
+                false,
+            )
+        }
+    }
+
+    pub async fn stop(self) {
+        // when no longer enabling the chain, data simply stops
+        poll_fn(|cx| {
+            // using interrupts would be nicer
+            cx.waker().wake_by_ref();
+            if self.channels.data.regs().ctrl_trig().read().busy() {
+                Poll::Pending
+            } else {
+                Poll::Ready(())
+            }
+        })
+        .await;
+    }
+
+    pub fn abort(self) {} // drop channels
+}
+
 pub(crate) const CHANNEL_COUNT: usize = 12;
 const NEW_AW: AtomicWaker = AtomicWaker::new();
 static CHANNEL_WAKERS: [AtomicWaker; CHANNEL_COUNT] = [NEW_AW; CHANNEL_COUNT];
@@ -290,3 +532,51 @@ channel!(DMA_CH8, 8);
 channel!(DMA_CH9, 9);
 channel!(DMA_CH10, 10);
 channel!(DMA_CH11, 11);
+
+// TODO as in rp2040 datasheet 2.5.3.2, dreq can only be used by one
+// channel at a time to prevent errors. Should we enforce this?
+#[allow(non_camel_case_types, dead_code)]
+#[derive(Copy, Clone)]
+#[repr(u8)]
+pub enum Dreq {
+    PIO0_TX0 = 0x0,
+    PIO0_TX1 = 0x1,
+    PIO0_TX2 = 0x2,
+    PIO0_TX3 = 0x3,
+    PIO0_RX0 = 0x4,
+    PIO0_RX1 = 0x5,
+    PIO0_RX2 = 0x6,
+    PIO0_RX3 = 0x7,
+    PIO1_TX0 = 0x8,
+    PIO1_TX1 = 0x9,
+    PIO1_TX2 = 0xa,
+    PIO1_TX3 = 0xb,
+    PIO1_RX0 = 0xc,
+    PIO1_RX1 = 0xd,
+    PIO1_RX2 = 0xe,
+    PIO1_RX3 = 0xf,
+    SPI0_TX = 0x10,
+    SPI0_RX = 0x11,
+    SPI1_TX = 0x12,
+    SPI1_RX = 0x13,
+    UART0_TX = 0x14,
+    UART0_RX = 0x15,
+    UART1_TX = 0x16,
+    UART1_RX = 0x17,
+    PWM_WRAP0 = 0x18,
+    PWM_WRAP1 = 0x19,
+    PWM_WRAP2 = 0x1a,
+    PWM_WRAP3 = 0x1b,
+    PWM_WRAP4 = 0x1c,
+    PWM_WRAP5 = 0x1d,
+    PWM_WRAP6 = 0x1e,
+    PWM_WRAP7 = 0x1f,
+    I2C0_TX = 0x20,
+    I2C0_RX = 0x21,
+    I2C1_TX = 0x22,
+    I2C1_RX = 0x23,
+    ADC = 0x24,
+    XIP_STREAM = 0x25,
+    XIP_SSITX = 0x26,
+    XIP_SSIRX = 0x27,
+}