From 58491aa244d236a1ee41d222a8b6d90c3b33ec31 Mon Sep 17 00:00:00 2001
From: Christopher Haster <chaster@utexas.edu>
Date: Mon, 24 Apr 2017 11:19:40 -0500
Subject: [PATCH] spi: Added block-level SPI writes to the C++ api

    virtual int write(const char *tx_buffer, int tx_length,
            char *rx_buffer, int rx_length);

The main benefit of block-level SPI writes is the performance
improvement from not acquiring a mutex lock between each byte sent on
the SPI bus. The block write may also be poked through the hal level for
additional speed improvements.
---
 drivers/SPI.cpp | 17 +++++++++++++++++
 drivers/SPI.h   | 18 +++++++++++++++++-
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/drivers/SPI.cpp b/drivers/SPI.cpp
index a3b66eee5b..945f8be52f 100644
--- a/drivers/SPI.cpp
+++ b/drivers/SPI.cpp
@@ -78,6 +78,23 @@ int SPI::write(int value) {
     return ret;
 }
 
+int SPI::write(const char *tx_buffer, int tx_length, char *rx_buffer, int rx_length) {
+    int total = (tx_length > rx_length) ? tx_length : rx_length;
+
+    lock();
+    aquire();
+    for (int i = 0; i < total; i++) {
+        char out = (i < tx_length) ? tx_buffer[i] : 0xff;
+        char in = spi_master_write(&_spi, out);
+        if (i < rx_length) {
+            rx_buffer[i] = in;
+        }
+    }
+    unlock();
+
+    return total;
+}
+
 void SPI::lock() {
     _mutex->lock();
 }
diff --git a/drivers/SPI.h b/drivers/SPI.h
index 6eede8a797..ee177cecb2 100644
--- a/drivers/SPI.h
+++ b/drivers/SPI.h
@@ -115,9 +115,25 @@ public:
      *
      *  @returns
      *    Response from the SPI slave
-    */
+     */
     virtual int write(int value);
 
+    /** Write to the SPI Slave and obtain the response
+     *
+     *  The total number of bytes sent and recieved will be the maximum of
+     *  tx_length and rx_length. The bytes written will be padded with the
+     *  value 0xff.
+     *
+     *  @param tx_buffer Pointer to the byte-array of data to write to the device
+     *  @param tx_length Number of bytes to write, may be zero
+     *  @param rx_buffer Pointer to the byte-array of data to read from the device
+     *  @param rx_length Number of bytes to read, may be zero
+     *  @returns
+     *      The number of bytes written and read from the device. This is
+     *      maximum of tx_length and rx_length.
+     */
+    virtual int write(const char *tx_buffer, int tx_length, char *rx_buffer, int rx_length);
+
     /** Acquire exclusive access to this SPI bus
      */
     virtual void lock(void);