HAL_ISR_FUNCTION(port1Isr, P1INT_VECTOR)
#endif
{
  HAL_ENTER_ISR();
#endif
  PxIFG = 0;
  PxIF = 0;

  spiRdyIsr = 1;

#if !defined HAL_SPI_MASTER
  
  if (spiTxLen == 0)
  {
#if !defined HAL_SBL_BOOT_CODE
    CLEAR_SLEEP_MODE();
    UxDBUF = 0x00;
    SPI_SET_RDY_OUT();
#endif
    SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1 */
  }
#endif

#if !defined HAL_SBL_BOOT_CODE
  CLEAR_SLEEP_MODE();
  HAL_EXIT_ISR();
#endif

 HAL_ENABLE_INTERRUPTS();
}
/**************************************************************************************************
 * @fn          HalUART_DMAIsrSPI
 *
 * @brief       Handle the Tx done DMA ISR.
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
void HalUART_DMAIsrSPI(void)
{
#if defined HAL_SPI_MASTER
  /* SPI Master must hold CSn active until Tx flushes */
  while (UxCSR & CSR_ACTIVE);

  while(SPI_RDY_IN())
  {
    SPI_CLOCK_RX(1);
  }
#else
  spiRdyIsr = 0;
#endif
  UxDBUF = 0x00;     /* Clear the garbage */
  SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1 */
  spiTxLen = 0;
}
Beispiel #3
0
/**************************************************************************************************
 * @fn          spiParseRx
 *
 * @brief       Parse all available bytes from the spiRxBuf[]; parse Rx data into the spiRxDat[].
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
static void spiParseRx(void)
{
  uint8 done = 0;
  halIntState_t  cs;
  
#ifdef HAL_SPI_MASTER
  uint8 numNotSOF = 0;
  uint8 count = 0;

  SPI_SET_CSn_OUT();
#endif //HAL_SPI_MASTER
  
  while (!done)
  {
    if (!SPI_NEW_RX_BYTE(spiRxIdx))
    {
#if defined HAL_SPI_MASTER
      // Clock a byte from slave
      SPI_CLOCK_RX(1);
#else
      break;
#endif
    }

    uint8 ch = SPI_GET_RX_BYTE(spiRxIdx);
    SPI_CLR_RX_BYTE(spiRxIdx);
    SPI_LEN_T_INCR(spiRxIdx);
    
#ifdef HAL_SPI_MASTER
    // If searching for a SOF byte limit the number of bytes searched
    // to SPI_FRM_LEN
    if ( spiRxPktState == SPIRX_STATE_SOF )
    {
      count++;
      numNotSOF = ( ch == SPI_SOF ) ? numNotSOF : numNotSOF + 1;
      
      // Haven't recieved an SOF. Assume not a packet but only break if there is
      // no new bytes in the RX buffer to read
      if ( numNotSOF > SPI_FRM_LEN && numNotSOF == count ) 
      {
        // Clear all Rx'ed NULL bytes
        while(SPI_NEW_RX_BYTE(spiRxIdx))
        {
          SPI_CLR_RX_BYTE(spiRxIdx);
          SPI_LEN_T_INCR(spiRxIdx);
        }
        break;
      }
    }
#endif //HAL_SPI_MASTER
    
    switch (spiRxPktState)
    {
    case SPIRX_STATE_SOF:
      if (ch == SPI_SOF)
      {
        spiRxPktState = SPIRX_STATE_LEN;

        /* At this point, the master has effected the protocol for ensuring that the SPI slave is
         * awake, so set the spiRxLen to non-zero to prevent the slave from re-entering sleep until
         * the entire packet is received - even if the master interrupts the sending of the packet
         * by de-asserting/re-asserting MRDY one or more times
	 */
        spiRxLen = 1;
      }
      break;

    case SPIRX_STATE_LEN:
      if ((ch == 0) || (ch > SPI_MAX_DAT_LEN))
      {
        spiRxPktState = SPIRX_STATE_SOF;
        spiRxLen = 0;
      }
      else
      {
        spiRxFcs = spiRxLen = ch;
        spiRxTemp = spiRxTail;
        spiRxCnt = 0;
        spiRxPktState = SPIRX_STATE_DATA;
#if defined HAL_SPI_MASTER
        if (!SPI_NEW_RX_BYTE(spiRxIdx)) /* Fix for simultaneous TX/RX to avoid extra clock pulses to SPI Slave */
        {
          halIntState_t intState;      
          HAL_ENTER_CRITICAL_SECTION(intState);
          SPI_CLOCK_RX(ch + 1); /* Clock out the SPI Frame Data bytes and FCS */
          HAL_EXIT_CRITICAL_SECTION(intState);
        }
#endif
      }
      break;

    case SPIRX_STATE_DATA:
      spiRxFcs ^= ch;
      spiRxDat[spiRxTemp] = ch;

      SPI_LEN_T_INCR(spiRxTemp);

      if (++spiRxCnt == spiRxLen)
      {
        spiRxPktState = SPIRX_STATE_FCS;
      }
      break;

    case SPIRX_STATE_FCS:
      spiRxPktState = SPIRX_STATE_SOF;
#ifdef POWER_SAVING
      pktFound = TRUE;
#endif

      if (ch == spiRxFcs)
      {
        spiRxTail = spiRxTemp;
      }
      else
      {
        dbgFcsByte = ch;
#ifdef RBA_UART_TO_SPI
        badFcsPktCount++;
#endif
      }
      spiRxCnt = spiRxLen = 0;

#ifdef HAL_SPI_MASTER
      // Clear any trailing empty Rx'ed bytes
      // Should only receive one frame per MRDY assertion
      while(SPI_NEW_RX_BYTE(spiRxIdx))
      {
        SPI_CLR_RX_BYTE(spiRxIdx);
        SPI_LEN_T_INCR(spiRxIdx);
      }
      done = 1;
#endif //HAL_SPI_MASTER
      
      break;

    default:
      HAL_ASSERT(0);
      break;
    }
  }
  spiTxLen = 0;
  
  HAL_ENTER_CRITICAL_SECTION(cs);
  spiRdyIsr = 0;
  HAL_EXIT_CRITICAL_SECTION(cs);

#ifdef HAL_SPI_MASTER
  SPI_CLR_CSn_OUT();
  
#ifdef RBA_UART_TO_SPI
  // Must wait until slave has ended transaction because
  // the RBA implementation cannot delay writes so this is a 
  // forced delay....
  while(SPI_RDY_IN());
#endif
#else
  SPI_CLR_RDY_OUT();
#endif //HAL_SPI_MASTER
  
}
Beispiel #4
0
/**************************************************************************************************
 * @fn          HalUARTPollSPI
 *
 * @brief       SPI Transport Polling Manager.
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
static void HalUARTPollSPI(void)
{
#ifdef HAL_SPI_MASTER
#else
#if defined POWER_SAVING  
  pktFound = FALSE;
#endif
  if ( ( spiRdyIsr ) || (SPI_RDY_IN()) )
  {
    CLEAR_SLEEP_MODE();

#if defined HAL_SBL_BOOT_CODE
    if(!spiTxLen)
    {   
      UxDBUF = 0x00; /* Zero out garbage from UxDBUF */
      
      HAL_DMA_ARM_CH(HAL_SPI_CH_RX); /* Arm RX DMA */

      asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); 
      asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); 
      asm("NOP");

      halIntState_t intState;      
      HAL_ENTER_CRITICAL_SECTION(intState);
      
      SPI_SET_RDY_OUT(); /* SPI_RDYOut = 0 */
      SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1 */

      HAL_EXIT_CRITICAL_SECTION(intState);
    }
#endif
#if defined POWER_SAVING      
    pktFound = TRUE;
#endif
  }
#endif

#ifdef HAL_SPI_MASTER
  if ( spiRdyIsr && !writeActive) 
  {
    spiParseRx();
  }
#else //SPI Slave
  if ( spiRdyIsr && !writeActive )
  {
     if ( !(UxCSR & CSR_ACTIVE) )
     {
       // MRDY has gone low to set spiRdyIsr
       // and has now gone high if SPI_RDY_IN
       // is false, read RXed bytes
       spiParseRx();
     }
     else
     {
       // MRDY has gone low and is still low
       // Set SRDY low to signal ready to RX
       SPI_SET_RDY_OUT();
     }
  }
#endif //HAL_SPI_MASTER

#if defined HAL_SPI_MASTER
  if( SPI_RX_RDY())
#else
  if (SPI_RX_RDY() && !spiTxLen)
#endif
  {
    if (spiCB != NULL)
    {
      spiCB((HAL_UART_SPI - 1), HAL_UART_RX_TIMEOUT);
    }
  }

#if defined POWER_SAVING
  if  ( SPI_RDY_IN()|| SPI_RX_RDY() || spiRxLen || spiTxLen || spiRdyIsr ||  pktFound || SPI_RDY_OUT() )
  {
    CLEAR_SLEEP_MODE();
  }
  else if ( (!pktFound) && (!SPI_NEW_RX_BYTE(spiRxIdx)) )
  {
    PxIEN |= SPI_RDYIn_BIT; 
    SPI_CLR_RDY_OUT();
  }
#endif
}
Beispiel #5
0
/**************************************************************************************************
 * @fn          HalUARTInitSPI
 *
 * @brief       Initialize the SPI UART Transport.
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
static void HalUARTInitSPI(void)
{
#if (HAL_UART_SPI == 1)
  PERCFG &= ~HAL_UART_PERCFG_BIT;    /* Set UART0 I/O to Alt. 1 location on P0 */
#else
  PERCFG |= HAL_UART_PERCFG_BIT;     /* Set UART1 I/O to Alt. 2 location on P1 */
#endif
#if defined HAL_SPI_MASTER
  PxSEL |= HAL_UART_Px_SEL_M;        /* SPI-Master peripheral select */
  UxCSR = 0;                         /* Mode is SPI-Master Mode */
  UxGCR =  15;                       /* Cfg for the max Rx/Tx baud of 2-MHz */
  UxBAUD = 255;
#elif !defined HAL_SPI_MASTER
  PxSEL |= HAL_UART_Px_SEL_S;        /* SPI-Slave peripheral select */
  UxCSR = CSR_SLAVE;                 /* Mode is SPI-Slave Mode */
#endif
  UxUCR = UCR_FLUSH;                 /* Flush it */
  UxGCR |= BV(5);                    /* Set bit order to MSB */

  P2DIR &= ~P2DIR_PRIPO;
  P2DIR |= HAL_UART_PRIPO;

  /* Setup GPIO for interrupts by falling edge on SPI_RDY_IN */
  PxIEN |= SPI_RDYIn_BIT;
  PICTL |= PICTL_BIT;

  SPI_CLR_RDY_OUT();
  PxDIR |= SPI_RDYOut_BIT;

  /* Setup Tx by DMA */
  halDMADesc_t *ch = HAL_DMA_GET_DESC1234( HAL_SPI_CH_TX );
  
  /* Abort any pending DMA operations (in case of a soft reset) */
  HAL_DMA_ABORT_CH( HAL_SPI_CH_TX );

  /* The start address of the destination */
  HAL_DMA_SET_DEST( ch, DMA_UxDBUF );

  /* Using the length field to determine how many bytes to transfer */
  HAL_DMA_SET_VLEN( ch, HAL_DMA_VLEN_USE_LEN );

  /* One byte is transferred each time */
  HAL_DMA_SET_WORD_SIZE( ch, HAL_DMA_WORDSIZE_BYTE );

  /* The bytes are transferred 1-by-1 on Tx Complete trigger */
  HAL_DMA_SET_TRIG_MODE( ch, HAL_DMA_TMODE_SINGLE );
  HAL_DMA_SET_TRIG_SRC( ch, DMATRIG_TX );

  /* The source address is incremented by 1 byte after each transfer */
  HAL_DMA_SET_SRC_INC( ch, HAL_DMA_SRCINC_1 );
  HAL_DMA_SET_SOURCE( ch, spiTxPkt );

  /* The destination address is constant - the Tx Data Buffer */
  HAL_DMA_SET_DST_INC( ch, HAL_DMA_DSTINC_0 );

  /* The DMA Tx done is serviced by ISR */
  HAL_DMA_SET_IRQ( ch, HAL_DMA_IRQMASK_ENABLE );

  /* Xfer all 8 bits of a byte xfer */
  HAL_DMA_SET_M8( ch, HAL_DMA_M8_USE_8_BITS );

  /* DMA has highest priority for memory access */
  HAL_DMA_SET_PRIORITY( ch, HAL_DMA_PRI_HIGH );

  /* Setup Rx by DMA */
  ch = HAL_DMA_GET_DESC1234( HAL_SPI_CH_RX );
  
  /* Abort any pending DMA operations (in case of a soft reset) */
  HAL_DMA_ABORT_CH( HAL_SPI_CH_RX );

  /* The start address of the source */
  HAL_DMA_SET_SOURCE( ch, DMA_UxDBUF );

  /* Using the length field to determine how many bytes to transfer */
  HAL_DMA_SET_VLEN( ch, HAL_DMA_VLEN_USE_LEN );

  /* The trick is to cfg DMA to xfer 2 bytes for every 1 byte of Rx.
   * The byte after the Rx Data Buffer is the Baud Cfg Register,
   * which always has a known value. So init Rx buffer to inverse of that
   * known value. DMA word xfer will flip the bytes, so every valid Rx byte
   * in the Rx buffer will be preceded by a DMA_PAD char equal to the
   * Baud Cfg Register value.
   */
  HAL_DMA_SET_WORD_SIZE( ch, HAL_DMA_WORDSIZE_WORD );

  /* The bytes are transferred 1-by-1 on Rx Complete trigger */
  HAL_DMA_SET_TRIG_MODE( ch, HAL_DMA_TMODE_SINGLE_REPEATED );
  HAL_DMA_SET_TRIG_SRC( ch, DMATRIG_RX );

  /* The source address is constant - the Rx Data Buffer */
  HAL_DMA_SET_SRC_INC( ch, HAL_DMA_SRCINC_0 );

  /* The destination address is incremented by 1 word after each transfer */
  HAL_DMA_SET_DST_INC( ch, HAL_DMA_DSTINC_1 );
  HAL_DMA_SET_DEST( ch, spiRxBuf );
  HAL_DMA_SET_LEN( ch, SPI_MAX_PKT_LEN );

  /* The DMA is to be polled and shall not issue an IRQ upon completion */
  HAL_DMA_SET_IRQ( ch, HAL_DMA_IRQMASK_DISABLE );

  /* Xfer all 8 bits of a byte xfer */
  HAL_DMA_SET_M8( ch, HAL_DMA_M8_USE_8_BITS );

  /* DMA has highest priority for memory access */
  HAL_DMA_SET_PRIORITY( ch, HAL_DMA_PRI_HIGH );

  volatile uint8 dummy = *(volatile uint8 *)DMA_UxDBUF;  /* Clear the DMA Rx trigger */
  HAL_DMA_CLEAR_IRQ(HAL_SPI_CH_RX);
  HAL_DMA_ARM_CH(HAL_SPI_CH_RX);
  (void)memset(spiRxBuf, (DMA_PAD ^ 0xFF), SPI_MAX_PKT_LEN * sizeof(uint16));
}
/**************************************************************************************************
 * @fn          spiParseRx
 *
 * @brief       Parse all available bytes from the spiRxBuf[]; parse Rx data into the spiRxDat[].
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
static void spiParseRx(void)
{
  while (1)
  {
    if (!SPI_NEW_RX_BYTE(spiRxIdx))
    {
#if defined HAL_SPI_MASTER
      if (SPI_RDY_IN() && (spiTxLen == 0))
      {
        SPI_CLOCK_RX(1);
        continue;
      }
#endif
      break;
    }

    uint8 ch = SPI_GET_RX_BYTE(spiRxIdx);
    SPI_CLR_RX_BYTE(spiRxIdx);
    SPI_LEN_T_INCR(spiRxIdx);

    switch (spiRxPktState)
    {
    case SPIRX_STATE_SOF:
      if (ch == SPI_SOF)
      {
        spiRxPktState = SPIRX_STATE_LEN;

        /* At this point, the master has effected the protocol for ensuring that the SPI slave is
         * awake, so set the spiRxLen to non-zero to prevent the slave from re-entering sleep until
         * the entire packet is received - even if the master interrupts the sending of the packet
         * by de-asserting/re-asserting MRDY one or more times
	 */
        spiRxLen = 1;
      }
      break;

    case SPIRX_STATE_LEN:
      if ((ch == 0) || (ch > SPI_MAX_DAT_LEN))
      {
        spiRxPktState = SPIRX_STATE_SOF;
        spiRxLen = 0;
      }
      else
      {
        spiRxFcs = spiRxLen = ch;
        spiRxTemp = spiRxTail;
        spiRxCnt = 0;
        spiRxPktState = SPIRX_STATE_DATA;
#if defined HAL_SPI_MASTER
        if (!SPI_NEW_RX_BYTE(spiRxIdx)) /* Fix for simultaneous TX/RX to avoid extra clock pulses to SPI Slave */
        {
          halIntState_t intState;      
          HAL_ENTER_CRITICAL_SECTION(intState);
          SPI_CLOCK_RX(ch + 1); /* Clock out the SPI Frame Data bytes and FCS */
          HAL_EXIT_CRITICAL_SECTION(intState);
        }
#endif
      }
      break;

    case SPIRX_STATE_DATA:
      spiRxFcs ^= ch;
      spiRxDat[spiRxTemp] = ch;

      SPI_LEN_T_INCR(spiRxTemp);

      if (++spiRxCnt == spiRxLen)
      {
        spiRxPktState = SPIRX_STATE_FCS;
      }
      break;

    case SPIRX_STATE_FCS:
      spiRxPktState = SPIRX_STATE_SOF;
#ifdef POWER_SAVING
      pktFound = TRUE;
#endif
      SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1 */

      if (ch == spiRxFcs)
      {
        spiRxTail = spiRxTemp;
      }
      else
      {
        dbgFcsByte = ch;
#ifdef RBA_UART_TO_SPI
        badFcsPktCount++;
#endif
      }
      spiRxCnt = spiRxLen = 0;
      break;

    default:
      HAL_ASSERT(0);
      break;
    }
  }
}
/**************************************************************************************************
 * @fn          HalUARTPollSPI
 *
 * @brief       SPI Transport Polling Manager.
 *
 * input parameters
 *
 * None.
 *
 * output parameters
 *
 * None.
 *
 * @return      None.
 */
static void HalUARTPollSPI(void)
{
#ifdef HAL_SPI_MASTER
#else
#if defined POWER_SAVING  
  pktFound = FALSE;
#endif
  if ( ( spiRdyIsr ) || (SPI_RDY_IN()) )
  {
    CLEAR_SLEEP_MODE();

#if defined HAL_SBL_BOOT_CODE
    if(!spiTxLen)
    {   
      UxDBUF = 0x00; /* Zero out garbage from UxDBUF */
      
      HAL_DMA_ARM_CH(HAL_SPI_CH_RX); /* Arm RX DMA */

      asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); 
      asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); 
      asm("NOP");

      halIntState_t intState;      
      HAL_ENTER_CRITICAL_SECTION(intState);
      
      SPI_SET_RDY_OUT(); /* SPI_RDYOut = 0 */
      SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1 */

      HAL_EXIT_CRITICAL_SECTION(intState);
    }
#endif
#if defined POWER_SAVING      
    pktFound = TRUE;
#endif
  }
#endif

#if defined HAL_SPI_MASTER  
  if (!spiTxLen) 
#else
  if ((!spiTxLen) && (!SPI_RDY_IN()))
#endif
  {
    SPI_CLR_RDY_OUT(); /* SPI_RDYOut = 1; */
    spiParseRx();
  }

#if defined HAL_SPI_MASTER
  if( SPI_RX_RDY())
#else
  if (SPI_RX_RDY() && !spiTxLen)
#endif
  {
    if (spiCB != NULL)
    {
      spiCB((HAL_UART_SPI - 1), HAL_UART_RX_TIMEOUT);
    }
  }

  if (!spiTxLen)
  {
    if ( SPI_RDY_OUT () )
    {
      SPI_CLR_RDY_OUT();  /* Clear the ready-out signal */
    }
  }

#if defined POWER_SAVING
  if  ( SPI_RDY_IN()|| SPI_RX_RDY() || spiRxLen || spiTxLen || spiRdyIsr ||  pktFound || SPI_RDY_OUT() )
  {
    CLEAR_SLEEP_MODE();
  }
  else if ( (!pktFound) && (!SPI_NEW_RX_BYTE(spiRxIdx)) )
  {
    PxIEN |= SPI_RDYIn_BIT; 
    SPI_CLR_RDY_OUT();
  }
#endif
  spiRdyIsr = 0;

}
/**************************************************************************************************
 * @fn          HalUARTWriteSPI
 *
 * @brief       Transmit data bytes as a SPI packet.
 *
 * input parameters
 *
 * @param       buf - pointer to the memory of the data bytes to send.
 * @param       len - the length of the data bytes to send.
 *
 * output parameters
 *
 * None.
 *
 * @return      Zero for any error; otherwise, 'len'.
 */
static spiLen_t HalUARTWriteSPI(uint8 *buf, spiLen_t len)
{  
  if (spiTxLen != 0)
  {
    return 0;
  }
  
  if (len > SPI_MAX_DAT_LEN)
  {
    len = SPI_MAX_DAT_LEN;
  }

  spiTxLen = len;

#if defined HAL_SPI_MASTER

  spiRdyIsr = 0;
  spiTxPkt[SPI_LEN_IDX] = len;
  (void)memcpy(spiTxPkt + SPI_DAT_IDX, buf, len);
  
  spiCalcFcs(spiTxPkt);
  spiTxPkt[SPI_SOF_IDX] = SPI_SOF;
  
  halDMADesc_t *ch = HAL_DMA_GET_DESC1234(HAL_SPI_CH_TX);
  HAL_DMA_SET_LEN(ch, SPI_PKT_LEN(spiTxPkt)); /* DMA TX might need padding */
 
  /* Abort any pending DMA operations */
  HAL_DMA_ABORT_CH( HAL_SPI_CH_RX );
  spiRxIdx = 0;
  (void)memset(spiRxBuf, (DMA_PAD ^ 0xFF), SPI_MAX_PKT_LEN * sizeof(uint16));

  HAL_DMA_ARM_CH(HAL_SPI_CH_RX);
  
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");

  /* Abort any pending DMA operations */
  HAL_DMA_ABORT_CH( HAL_SPI_CH_TX );
  HAL_DMA_ARM_CH(HAL_SPI_CH_TX);

  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");

  SPI_SET_CSn_OUT();

  while((!SPI_RDY_IN()) && (!spiRdyIsr) );

  HAL_DMA_MAN_TRIGGER(HAL_SPI_CH_TX);

#elif !defined HAL_SPI_MASTER

#ifdef POWER_SAVING
  /* Disable POWER SAVING when transmission is initiated */
  CLEAR_SLEEP_MODE();
#endif

  SPI_CLR_RDY_OUT();

  HAL_DMA_ARM_CH(HAL_SPI_CH_RX);

  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");

  if ( SPI_RDY_IN() )
  {
    SPI_SET_RDY_OUT();
  }
  
  spiTxPkt[SPI_LEN_IDX] = len;
  (void)memcpy(spiTxPkt + SPI_DAT_IDX, buf, len);

  spiCalcFcs(spiTxPkt);
  spiTxPkt[SPI_SOF_IDX] = SPI_SOF;

  halDMADesc_t *ch = HAL_DMA_GET_DESC1234(HAL_SPI_CH_TX);
  HAL_DMA_SET_LEN(ch, SPI_PKT_LEN(spiTxPkt) + 1); /* slave DMA TX might drop the last byte */
  HAL_DMA_ARM_CH(HAL_SPI_CH_TX);
  
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");
  asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");

  SPI_SET_RDY_OUT();

#endif
  return len;
}