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The MLC / Raspberry Pi is the SPI master. It exchanges data with the LLC / ATmega2560. The communication is synchronous, i.e. the LLC waits for the MLC to initiate the exchange. SPI is full duplex, the input and output data are exchanged simultaneously.The data  The data exchange repeats at 50 Hz. The communication is synchronous, i.e. the LLC waits for the MLC to initiate the exchange. SPI is full duplex, the input and output data are exchanged simultaneously.

TODO explain CRC error checking and retransmission

https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/vehicle_raspberry_firmware/src/spi.c

https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/vehicle_atmega2560_firmware/vehicle_atmega2560_firmware/spi_packets.h

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