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linux: Convert linux SPI code to use the generic spicmds.c code

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Use the generic spi send/receive code on Linux.  Update the replicape
code to use the updated command format.

Also, update the replicape code to turn off the stepper motors on a
shutdown event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-05-04 20:23:58 -04:00
parent 31ae74c56c
commit f70fefa06f
4 changed files with 53 additions and 24 deletions
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14
src/linux/gpio.h
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@@ -3,6 +3,13 @@
#include <stdint.h> // uint8_t
struct gpio_out {
uint32_t pin;
};
struct gpio_out gpio_out_setup(uint8_t pin, uint8_t val);
void gpio_out_toggle(struct gpio_out g);
void gpio_out_write(struct gpio_out g, uint8_t val);
struct gpio_adc {
int fd;
};
@@ -11,4 +18,11 @@ uint32_t gpio_adc_sample(struct gpio_adc g);
uint16_t gpio_adc_read(struct gpio_adc g);
void gpio_adc_cancel_sample(struct gpio_adc g);
struct spi_config {
int fd;
};
struct spi_config spi_setup(uint32_t bus, uint8_t mode, uint32_t rate);
void spi_transfer(struct spi_config config, uint8_t receive_data
, uint8_t len, uint8_t *data);
#endif // gpio.h