diff --git a/embassy-stm32/src/cordic.rs b/embassy-stm32/src/cordic.rs
new file mode 100644
index 000000000..952ee187a
--- /dev/null
+++ b/embassy-stm32/src/cordic.rs
@@ -0,0 +1,460 @@
+//! CORDIC co-processor
+
+use crate::peripherals;
+use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
+
+pub use enums::*;
+
+mod enums {
+    /// CORDIC function
+    #[allow(missing_docs)]
+    #[derive(Clone, Copy)]
+    pub enum Function {
+        Cos = 0,
+        Sin,
+        Phase,
+        Modulus,
+        Arctan,
+        Cosh,
+        Sinh,
+        Arctanh,
+        Ln,
+        Sqrt,
+    }
+
+    /// CORDIC precision
+    #[allow(missing_docs)]
+    #[derive(Clone, Copy)]
+    pub enum Precision {
+        Iters4 = 1,
+        Iters8,
+        Iters12,
+        Iters16,
+        Iters20,
+        Iters24,
+        Iters28,
+        Iters32,
+        Iters36,
+        Iters40,
+        Iters44,
+        Iters48,
+        Iters52,
+        Iters56,
+        Iters60,
+    }
+
+    /// CORDIC scale
+    #[allow(non_camel_case_types)]
+    #[allow(missing_docs)]
+    #[derive(Clone, Copy, Default)]
+    pub enum Scale {
+        #[default]
+        A1_R1 = 0,
+        A1o2_R2,
+        A1o4_R4,
+        A1o8_R8,
+        A1o16_R16,
+        A1o32_R32,
+        A1o64_R64,
+        A1o128_R128,
+    }
+
+    /// CORDIC argument/result count
+    #[allow(missing_docs)]
+    #[derive(Clone, Copy, Default)]
+    pub enum Count {
+        #[default]
+        One,
+        Two,
+    }
+
+    /// CORDIC argument/result data width
+    #[allow(missing_docs)]
+    #[derive(Clone, Copy)]
+    pub enum Width {
+        Bits32,
+        Bits16,
+    }
+
+    /// Cordic driver running mode
+    #[derive(Clone, Copy)]
+    pub enum Mode {
+        /// After caculation start, a read to RDATA register will block AHB until the caculation finished
+        ZeroOverhead,
+
+        /// Use CORDIC interrupt to trigger a read result value
+        Interrupt,
+
+        /// Use DMA to write/read value
+        Dma,
+    }
+}
+
+/// Low-level CORDIC access.
+#[cfg(feature = "unstable-pac")]
+pub mod low_level {
+    pub use super::sealed::*;
+}
+
+pub(crate) mod sealed {
+    use super::*;
+    use crate::pac::cordic::vals;
+
+    /// Cordic instance
+    pub trait Instance {
+        /// Get access to CORDIC registers
+        fn regs() -> crate::pac::cordic::Cordic;
+
+        /// Set Function value
+        fn set_func(&self, func: Function) {
+            Self::regs()
+                .csr()
+                .modify(|v| v.set_func(vals::Func::from_bits(func as u8)));
+        }
+
+        /// Set Precision value
+        fn set_precision(&self, precision: Precision) {
+            Self::regs()
+                .csr()
+                .modify(|v| v.set_precision(vals::Precision::from_bits(precision as u8)))
+        }
+
+        /// Set Scale value
+        fn set_scale(&self, scale: Scale) {
+            Self::regs()
+                .csr()
+                .modify(|v| v.set_scale(vals::Scale::from_bits(scale as u8)))
+        }
+
+        /// Enable global interrupt
+        fn enable_irq(&self) {
+            Self::regs().csr().modify(|v| v.set_ien(true))
+        }
+
+        /// Disable global interrupt
+        fn disable_irq(&self) {
+            Self::regs().csr().modify(|v| v.set_ien(false))
+        }
+
+        /// Enable Read DMA
+        fn enable_read_dma(&self) {
+            Self::regs().csr().modify(|v| {
+                v.set_dmaren(true);
+            })
+        }
+
+        /// Disable Read DMA
+        fn disable_read_dma(&self) {
+            Self::regs().csr().modify(|v| {
+                v.set_dmaren(false);
+            })
+        }
+
+        /// Enable Write DMA
+        fn enable_write_dma(&self) {
+            Self::regs().csr().modify(|v| {
+                v.set_dmawen(true);
+            })
+        }
+
+        /// Disable Write DMA
+        fn disable_write_dma(&self) {
+            Self::regs().csr().modify(|v| {
+                v.set_dmawen(false);
+            })
+        }
+
+        /// Set NARGS value
+        fn set_argument_count(&self, n: Count) {
+            Self::regs().csr().modify(|v| {
+                v.set_nargs(match n {
+                    Count::One => vals::Num::NUM1,
+                    Count::Two => vals::Num::NUM2,
+                })
+            })
+        }
+
+        /// Set NRES value
+        fn set_result_count(&self, n: Count) {
+            Self::regs().csr().modify(|v| {
+                v.set_nres(match n {
+                    Count::One => vals::Num::NUM1,
+                    Count::Two => vals::Num::NUM2,
+                });
+            })
+        }
+
+        /// Set ARGSIZE and RESSIZE value
+        fn set_data_width(&self, arg: Width, res: Width) {
+            Self::regs().csr().modify(|v| {
+                v.set_argsize(match arg {
+                    Width::Bits32 => vals::Size::BITS32,
+                    Width::Bits16 => vals::Size::BITS16,
+                });
+                v.set_ressize(match res {
+                    Width::Bits32 => vals::Size::BITS32,
+                    Width::Bits16 => vals::Size::BITS16,
+                })
+            })
+        }
+
+        /// Read RRDY flag
+        fn ready_to_read(&self) -> bool {
+            Self::regs().csr().read().rrdy()
+        }
+
+        /// Write value to WDATA
+        fn write_argument(&self, arg: u32) {
+            Self::regs().wdata().write_value(arg)
+        }
+
+        /// Read value from RDATA
+        fn read_result(&self) -> u32 {
+            Self::regs().rdata().read()
+        }
+    }
+}
+
+/// CORDIC driver
+pub struct Cordic<'d, T: Instance> {
+    cordic: PeripheralRef<'d, T>,
+    config: Config,
+    //state: State,
+}
+
+/// CORDIC instance trait
+pub trait Instance: sealed::Instance + Peripheral<P = Self> + crate::rcc::RccPeripheral {}
+
+/// CORDIC configuration
+pub struct Config {
+    function: Function,
+    precision: Precision,
+    scale: Scale,
+    mode: Mode,
+    first_result: bool,
+}
+
+// CORDIC running state
+//struct State {
+//    input_buf: [u32; 8],
+//    buf_len: usize,
+//}
+
+impl Config {
+    /// Create a config for Cordic driver
+    pub fn new(function: Function, precision: Precision, scale: Option<Scale>, mode: Mode, first_result: bool) -> Self {
+        Self {
+            function,
+            precision,
+            scale: scale.unwrap_or_default(),
+            mode,
+            first_result,
+        }
+    }
+
+    fn check_scale(&self) -> bool {
+        let scale_raw = self.scale as u8;
+
+        match self.function {
+            Function::Cos | Function::Sin | Function::Phase | Function::Modulus => 0 == scale_raw,
+            Function::Arctan => (0..=7).contains(&scale_raw),
+            Function::Cosh | Function::Sinh | Function::Arctanh => 1 == scale_raw,
+            Function::Ln => (1..=4).contains(&scale_raw),
+            Function::Sqrt => (0..=2).contains(&scale_raw),
+        }
+    }
+}
+
+impl<'d, T: Instance> Cordic<'d, T> {
+    /// Create a Cordic driver instance
+    ///
+    /// Note:  
+    /// If you need a periperhal -> CORDIC -> peripehral mode,  
+    /// you may want to set Cordic into [Mode::ZeroOverhead] mode, and add extra arguemnts with [Self::extra_config]
+    pub fn new(cordic: impl Peripheral<P = T> + 'd, config: Config) -> Self {
+        T::enable_and_reset();
+
+        into_ref!(cordic);
+
+        if !config.check_scale() {
+            panic!("Scale value is not compatible with Function")
+        }
+
+        let mut instance = Self {
+            cordic,
+            config,
+            // state: State {
+            //     input_buf: [0u32; 8],
+            //     buf_len: 0,
+            // },
+        };
+
+        instance.reconfigure();
+
+        instance
+    }
+
+    /// Set a new config for Cordic driver  
+    pub fn set_config(&mut self, config: Config) {
+        self.config = config;
+        self.reconfigure();
+    }
+
+    /// Set extra config for data count and data width.
+    pub fn extra_config(&mut self, arg_cnt: Count, arg_width: Width, res_width: Width) {
+        let peri = &self.cordic;
+        peri.set_argument_count(arg_cnt);
+        peri.set_data_width(arg_width, res_width);
+    }
+
+    fn reconfigure(&mut self) {
+        let peri = &self.cordic;
+        let config = &self.config;
+
+        if peri.ready_to_read() {
+            warn!("At least 1 result hasn't been read, reconfigure will cause DATA LOST");
+        };
+
+        peri.disable_irq();
+        peri.disable_write_dma();
+        peri.disable_read_dma();
+
+        // clean RRDY flag
+        while peri.ready_to_read() {
+            peri.read_result();
+        }
+
+        peri.set_func(config.function);
+        peri.set_precision(config.precision);
+        peri.set_scale(config.scale);
+        if config.first_result {
+            peri.set_result_count(Count::One)
+        } else {
+            peri.set_result_count(Count::Two)
+        }
+
+        match config.mode {
+            Mode::ZeroOverhead => (),
+            Mode::Interrupt => {
+                peri.enable_irq();
+            }
+            Mode::Dma => {
+                peri.enable_write_dma();
+                peri.enable_read_dma();
+            }
+        }
+
+        //self.state.input_buf.fill(0u32);
+    }
+
+    /// Run a CORDIC calculation
+    pub fn calc_32bit(&mut self, arg1s: &[f64], arg2s: Option<&[f64]>, output: &mut [f64]) -> usize {
+        match self.config.mode {
+            Mode::ZeroOverhead => {
+                if arg2s.is_none() {
+                    self.cordic.set_argument_count(Count::One);
+
+                    self.cordic.set_result_count(if self.config.first_result {
+                        if output.len() < arg1s.len() {
+                            panic!("Output buf length is not long enough")
+                        }
+                        Count::One
+                    } else {
+                        if output.len() < 2 * arg1s.len() {
+                            panic!("Output buf length is not long enough")
+                        }
+                        Count::Two
+                    });
+
+                    let mut cnt = 0;
+
+                    for &arg in arg1s.iter() {
+                        self.cordic.write_argument(f64_to_q1_31(arg));
+                        output[cnt] = q1_31_to_f64(self.cordic.read_result());
+                        cnt += 1;
+                    }
+
+                    cnt
+                } else {
+                    todo!()
+                }
+            }
+            Mode::Interrupt => todo!(),
+            Mode::Dma => todo!(),
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for Cordic<'d, T> {
+    fn drop(&mut self) {
+        T::disable();
+    }
+}
+
+foreach_interrupt!(
+    ($inst:ident, cordic, CORDIC, GLOBAL, $irq:ident) => {
+        impl Instance for peripherals::$inst {
+        }
+
+        impl sealed::Instance for peripherals::$inst {
+            fn regs() -> crate::pac::cordic::Cordic {
+                crate::pac::$inst
+            }
+        }
+    };
+);
+
+macro_rules! floating_fixed_convert {
+    ($f_to_q:ident, $q_to_f:ident, $unsigned_bin_typ:ty, $signed_bin_typ:ty, $float_ty:ty, $offset:literal, $min_positive:literal) => {
+        /// convert float point to fixed point format
+        pub fn $f_to_q(value: $float_ty) -> $unsigned_bin_typ {
+            const MIN_POSITIVE: $float_ty = unsafe { core::mem::transmute($min_positive) };
+
+            assert!(
+                (-1.0 as $float_ty) <= value,
+                "input value {} should be equal or greater than -1",
+                value
+            );
+
+            let value = if value == 1.0 as $float_ty{
+                (1.0 as $float_ty) - MIN_POSITIVE
+            } else {
+                assert!(
+                    value <= (1.0 as $float_ty) - MIN_POSITIVE,
+                    "input value {} should be equal or less than 1-2^(-{})",
+                    value, $offset
+                );
+                value
+            };
+
+            (value * ((1 as $unsigned_bin_typ << $offset) as $float_ty)) as $unsigned_bin_typ
+        }
+
+        #[inline(always)]
+        /// convert fixed point to float point format
+        pub fn $q_to_f(value: $unsigned_bin_typ) -> $float_ty {
+            // It's needed to convert from unsigned to signed first, for correct result.
+            -(value as $signed_bin_typ as $float_ty) / ((1 as $unsigned_bin_typ << $offset) as $float_ty)
+        }
+    };
+}
+
+floating_fixed_convert!(
+    f64_to_q1_31,
+    q1_31_to_f64,
+    u32,
+    i32,
+    f64,
+    31,
+    0x3E00_0000_0000_0000u64 // binary form of 1f64^(-31)
+);
+
+floating_fixed_convert!(
+    f32_to_q1_15,
+    q1_15_to_f32,
+    u16,
+    i16,
+    f32,
+    15,
+    0x3800_0000u32 // binary form of 1f32^(-15)
+);
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index 6a3d1c463..ae2e95435 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -32,6 +32,8 @@ pub mod timer;
 pub mod adc;
 #[cfg(can)]
 pub mod can;
+#[cfg(cordic)]
+pub mod cordic;
 #[cfg(crc)]
 pub mod crc;
 #[cfg(cryp)]