VMX-pi-HAL-SPI

#include <stdio.h>  /* printf() */
##include "VMXPi.h"
#define ARRAY_SIZE(a) (sizeof(a)/sizeof(a[0]))

int main(int argc, char *argv[])
{
	bool realtime = false;
	uint8_t update_rate_hz = 50;
	VMXPi vmx(realtime, update_rate_hz);
  if(vmx.IsOpen()) {
    VMXErrorCode vmxerr;
    VMXResourceHandle spi_res_handle;
    VMXChannelIndex spi_channels[4];
    spi_channels[0] = 28; /* CLK */
    spi_channels[1] = 29; /* MOSI */
    spi_channels[2] = 30; /* MISO */
    spi_channels[3] = 31; /* CS */
    VMXChannelCapability spi_channel_capabilities[4];
    spi_channel_capabilities[0] = VMXChannelCapability::SPI_CLK;
    spi_channel_capabilities[1] = VMXChannelCapability::SPI_MOSI;
    spi_channel_capabilities[2] = VMXChannelCapability::SPI_MISO;
    spi_channel_capabilities[3] = VMXChannelCapability::SPI_CS;

    SPIConfig spi_cfg(1000000 /* Bitrate */);

    if (!vmx.io.ActivateMultichannelResource(ARRAY_SIZE(spi_channels), spi_channels, spi_channel_capabilities, spi_res_handle, &spi_cfg, &vmxerr)) {
      printf("Failed to Activate SPI Resource.\n");
    } else {
      printf("Successfully Activated UART Resource with VMXChannels %d, %d, %d and %d\n",
          spi_channels[0], spi_channels[1], spi_channels[2], spi_channels[3]);
    }

    for (int i = 0; i < 50; i++) {

      uint8_t rx_data[10];
      uint8_t tx_data[10];
      tx_data[0] = 1;
      tx_data[1] = 2;
      tx_data[2] = 3;
      tx_data[3] = 4;
      tx_data[4] = 5;
      if (!vmx.io.SPI_Transaction(spi_res_handle, tx_data, rx_data, 10, &vmxerr)) {
        printf("SPI Transaction Failed.\n");
      } else {
        printf("SPI Transaction complete.  rx_data:  ");
        for (int i = 5; i < 10; i++) {
          printf("%02X ", rx_data[i]);
        }
        printf("\n");
      }

      vmx.time.DelayMilliseconds(20);
    }
  }
}