Allow unaligned input/output to SPI::transferBytes (#5709)

* Allow unaligned input/output to SPI::transferBytes

Fixes #4967

Support any alignment of input and output pointers and transfer lengths
in SPI::transferBytes.  Use 32-bit transfers and FIFO as much as
possible.

* Refactor misaligned transfer, avoid RMW to FIFO

The SPI FIFO can't properly do RMW (i.e. bytewise updates) because when
you read the FIFO you are actually reading the SPI read data, not what
was written into the write FIFO.

Refactor the transferBytes to take account of this.  For aligned input
and outputs, perform as before (but handle non-x4 sizes properly).  For
misaligned inputs, if it's unidirectional then do bytewise until the
direction data pointer is aligned and then do 32b accesses.  Fod
bidirectional and misaligned inputs, copy the output data to an aligned
buffer, do the transfer, then copy the read back data from temp aligned
buffer to the real input buffer.

* Fix comments, clean condition checks, save stack

Add more comments and adjust naming to be more informative in
transferBytes_ and *aligned_.  Save 64bytes of stack in double
misaligned case.

* Optimize misaligned transfers, reduce code size

On any misaligned input or output, always use a temp buffer.  No need
for special casing and bytewise ::transfer().  This should be faster as
bytewise ::transfer involves a significant number of IO register
accesses and setup.  Thanks to @devyte for the suggestion.

libraries/SPI/SPI.cpp

@@ -509,9 +509,6 @@ void SPIClass::writePattern(const uint8_t * data, uint8_t size, uint32_t repeat)
 }
 
 /**
- * Note:
- *  in and out need to be aligned to 32Bit
- *  or you get an Fatal exception (9)
  * @param out uint8_t *
  * @param in  uint8_t *
  * @param size uint32_t
@@ -538,45 +535,73 @@ void SPIClass::transferBytes(const uint8_t * out, uint8_t * in, uint32_t size) {
  * @param in  uint8_t *
  * @param size uint8_t (max 64)
  */
-void SPIClass::transferBytes_(const uint8_t * out, uint8_t * in, uint8_t size) {
+
+void SPIClass::transferBytesAligned_(const uint8_t * out, uint8_t * in, uint8_t size) {
+    if (!size)
+        return;
+
     while(SPI1CMD & SPIBUSY) {}
     // Set in/out Bits to transfer
 
     setDataBits(size * 8);
 
-    volatile uint32_t * fifoPtr = &SPI1W0;
-    uint8_t dataSize = ((size + 3) / 4);
+    volatile uint32_t *fifoPtr = &SPI1W0;
 
-    if(out) {
-        uint32_t * dataPtr = (uint32_t*) out;
-        while(dataSize--) {
-            *fifoPtr = *dataPtr;
-            dataPtr++;
-            fifoPtr++;
+    if (out) {
+        uint8_t outSize = ((size + 3) / 4);
+        uint32_t *dataPtr = (uint32_t*) out;
+        while (outSize--) {
+            *(fifoPtr++) = *(dataPtr++);
         }
     } else {
+        uint8_t outSize = ((size + 3) / 4);
         // no out data only read fill with dummy data!
-        while(dataSize--) {
-            *fifoPtr = 0xFFFFFFFF;
-            fifoPtr++;
+        while (outSize--) {
+            *(fifoPtr++) = 0xFFFFFFFF;
         }
     }
 
     SPI1CMD |= SPIBUSY;
     while(SPI1CMD & SPIBUSY) {}
 
-    if(in) {
-        uint32_t * dataPtr = (uint32_t*) in;
+    if (in) {
+        uint32_t *dataPtr = (uint32_t*) in;
         fifoPtr = &SPI1W0;
-        dataSize = ((size + 3) / 4);
-        while(dataSize--) {
-            *dataPtr = *fifoPtr;
-            dataPtr++;
-            fifoPtr++;
+        int inSize = size;
+        // Unlike outSize above, inSize tracks *bytes* since we must transfer only the requested bytes to the app to avoid overwriting other vars.
+        while (inSize >= 4) {
+            *(dataPtr++) = *(fifoPtr++);
+            inSize -= 4;
+            in += 4;
+        }
+        volatile uint8_t *fifoPtrB = (volatile uint8_t *)fifoPtr;
+        while (inSize--) {
+            *(in++) = *(fifoPtrB++);
         }
     }
 }
 
+
+void SPIClass::transferBytes_(const uint8_t * out, uint8_t * in, uint8_t size) {
+    if (!((uint32_t)out & 3) && !((uint32_t)in & 3)) {
+        // Input and output are both 32b aligned or NULL
+        transferBytesAligned_(out, in, size);
+    } else {
+        // HW FIFO has 64b limit and ::transferBytes breaks up large xfers into 64byte chunks before calling this function
+        // We know at this point at least one direction is misaligned, so use temporary buffer to align everything
+        // No need for separate out and in aligned copies, we can overwrite our out copy with the input data safely
+        uint8_t aligned[64]; // Stack vars will be 32b aligned
+        if (out) {
+            memcpy(aligned, out, size);
+        }
+        transferBytesAligned_(out ? aligned : nullptr, in ? aligned : nullptr, size);
+        if (in) {
+            memcpy(in, aligned, size);
+        }
+    }
+}
+
+
 #if !defined(NO_GLOBAL_INSTANCES) && !defined(NO_GLOBAL_SPI)
 SPIClass SPI;
 #endif

libraries/SPI/SPI.h

@@ -79,6 +79,7 @@ private:
   uint8_t pinSet;
   void writeBytes_(const uint8_t * data, uint8_t size);
   void transferBytes_(const uint8_t * out, uint8_t * in, uint8_t size);
+  void transferBytesAligned_(const uint8_t * out, uint8_t * in, uint8_t size);
   inline void setDataBits(uint16_t bits);
 };