Bluetooth with UART Interface

I’m using the HMC10 bluetooth with UART interface along with my STM32F103 board. Now I’m trying to make it work with interrupt mode, however, as there’s another sensor MPU6050 taking up a lot of CPU time to read/write I2C interface to get YawPitchRoll data also using interrupt, the UART interrupt can not reach a high data rate. So I need to change it to DMA mode, which I have no idea to make it work right now. I will figure it out tomorrow.