This page provides documentation of our own SPI driver implementation, which you can use when writing a sensor driver. Some basic knowledge about how SPI works is required to read this page.
# SPIDriver
Classes in the file `shared/drivers/spi/SPIDriver.h` provide both low and high level access to an SPI Bus, in order to perform *read*, *write* and *full duplex transactions* with slaves on the bus.
Formerly, these function were provided by the infamous `BusTemplate.h`.
