RobotSimulation/pick_and_place/ROS/src/niryo_one_ros/mcp_can_rpi/src/mcp_can_rpi.cpp
void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf)
{
#ifdef __arm__
    wiringPiSPIDataRW(spi_channel, buf, byte_number);
    nanosleep(&delay_spi_can, (struct timespec *)NULL); 
#endif
}
/*********************************************************************************************************
** Function name:           spiTransfer
** Descriptions:            Performs a spi transfer on Raspberry Pi (using wiringPi)
*********************************************************************************************************/
Function name:           spiTransfer
Descriptions:            Performs a spi transfer on Raspberry Pi (using wiringPi)
Function name : spiTransfer Descriptions : Performs a spi transfer on Raspberry Pi ( using wiringPi )
void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf)
{
#ifdef __arm__
    wiringPiSPIDataRW(spi_channel, buf, byte_number);
    nanosleep(&delay_spi_can, (struct timespec *)NULL); 
#endif
}
void MCP_CAN :: spiTransfer ( uint8_t byte_number , unsigned char * buf ) { #ifdef __arm__ wiringPiSPIDataRW ( spi_channel , buf , byte_number ) ; nanosleep ( & delay_spi_can , ( struct timespec * ) NULL ) ; #endif }
Function name:           spiTransfer
Descriptions:            Performs a spi transfer on Raspberry Pi (using wiringPi)
Function name : spiTransfer Descriptions : Performs a spi transfer on Raspberry Pi ( using wiringPi )