Platform specific code for a robot using stepper motors.

platform/stepper-robot/sam7s-spi.h

@@ -0,0 +1,29 @@
+#ifndef __CORE_SPI_H__KBMMOKI6CG__
+#define __CORE_SPI_H__KBMMOKI6CG__
+#include <stdint.h>
+
+void
+spi_init();
+
+#define SPI_POLARITY_INACTIVE_HIGH 1
+#define SPI_POLARITY_INACTIVE_LOW 1
+
+#define SPI_PHASE_CHANGE_CAPTURE 0
+#define SPI_PHASE_CAPTURE_CHANGE 1
+
+struct spi_block {
+  const uint8_t *send;	/* NULL for receive only */
+  uint8_t *receive;	/* NULL for send only */
+  uint16_t len;		/* transfer length, non-zero */
+};
+
+void
+spi_transfer(unsigned int chip, const struct spi_block *block, unsigned int blocks);
+
+void
+spi_init_chip_select(unsigned int chip, unsigned int speed,
+		     unsigned int dlybct,
+		     unsigned int dlybs, unsigned int phase,
+		     unsigned int polarity);
+
+#endif /* __CORE_SPI_H__KBMMOKI6CG__ */