feat(esp_driver_dma): add blocking async memcpy API

Add a blocking wrapper for async memcpy so simple users can wait for one DMA copy without writing their own ISR callback and semaphore plumbing. Update functional tests and documentation to use the simpler API where async completion handling is not needed.

Co-authored-by: Cursor <cursoragent@cursor.com>

docs/en/api-reference/peripherals/async_memcpy.rst

@@ -67,6 +67,14 @@ The prototype of the callback function is :cpp:type:`async_memcpy_isr_cb_t`. The
     // Do something else here
     xSemaphoreTake(my_semaphore, portMAX_DELAY); // Wait until the buffer copy is done
 
+For simpler use cases where the task only needs to wait until one copy finishes, use :cpp:func:`esp_memcpy_blocking`. This API is built on top of the async request path and waits internally for the completion callback.
+
+.. code-block:: c
+
+    ESP_ERROR_CHECK(esp_memcpy_blocking(driver_handle, to, from, copy_len, -1));
+
+The blocking API must not be called from ISR context. Currently, it only supports ``timeout_ms = -1``, which means waiting indefinitely until the memory copy completes.
+
 
 Uninstall Driver
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docs/zh_CN/api-reference/peripherals/async_memcpy.rst

@@ -67,6 +67,14 @@ DMA 允许多个内存复制请求在首个请求完成之前排队，即允许
     // 其他事项
     xSemaphoreTake(my_semaphore, portMAX_DELAY); // 等待 buffer 复制完成
 
+对于只需等待单次复制完成的简单场景，可以使用 :cpp:func:`esp_memcpy_blocking`。该 API 基于异步请求路径实现，并在内部等待完成回调。
+
+.. code-block:: c
+
+    ESP_ERROR_CHECK(esp_memcpy_blocking(driver_handle, to, from, copy_len, -1));
+
+阻塞 API 不能在 ISR 上下文中调用。目前仅支持 ``timeout_ms = -1``，表示无限期等待直到内存复制完成。
+
 
 卸载驱动
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