#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>

~~~

typedef struct {
int16_t adc[4];
} JoystickMessage;

~~~

path = "/dev/spidev0.0";

~~~

int fd = open(path, O_RDWR);

if (fd <= 0)
return;

uint8_t mode = SPI_MODE_2;
uint8_t bits = 16;
uint32_t maxSpeed = 16000;

int ret = 0;
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
ret += ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
ret += ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &maxSpeed);

if (ret < 0) {
close(fd);
return;
}

JoystickMessage rx[2];

spi_ioc_transfer tr[3];
memset(tr, 0, sizeof(tr));

tr[0].tx_buf = 0;
tr[0].rx_buf = 0;
tr[0].len = 0;
tr[0].delay_usecs = 35000;
tr[0].bits_per_word = bits;
tr[0].cs_change = 0;

for (int i = 1; i <= 2; i++) {
tr[i].tx_buf = 0;
tr[i].rx_buf = (uint64_t)&rx[i - 1];
tr[i].len = 8;
tr[i].delay_usecs = 200;
tr[i].bits_per_word = bits;
tr[i].cs_change = 0;
}

ret = ioctl(fd, SPI_IOC_MESSAGE(3), tr);

close(fd);

if (ret < 0)
return;

// Далее парсинг данных