hexapod_ng/legacy/linux/liblicks/include/spi.h

#ifndef LICKS_SPI_H
#define LICKS_SPI_H

#include <stdint.h>

#define SPI_IDLE   0x00
#define SPI_WAIT   0x01
#define SPI_BUSY   0x02
#define SPI_DONE   0x03
#define SPI_ERR    0x04

#define CMD_NOP        0x00
#define CMD_CONTINUE   0x01
#define CMD_FINISH     0x02
#define CMD_CLEAR      0x8A

#define CMD_SET_SERVOS 0x10
#define CMD_SET_LED    0x11
#define CMD_SET_LASER  0x12

#define CMD_GET_SERVOS 0x20


extern void spi_open(uint8_t, uint32_t);
extern void spi_update_servos();
extern void set_led(uint8_t);
extern void set_laser(uint8_t);
extern void spi_close();

struct spi_message {
   uint8_t cmd;
   uint8_t length;
   uint8_t checksum;
   uint8_t data[255];
};

struct spi_result {
   uint8_t status;
   uint8_t length;
   uint8_t checksum;
   uint8_t data[255];
};

#endif