int32_t Go1, Go2, Go3, Go4, Go5, Go6, Go7, Go8;
uint8_t *txbuf;

msg_t ThreadX2() {
  static uint8_t _txbuf[32] __attribute__((section(".sram2")));
  txbuf = _txbuf;

  while (!chThdShouldTerminate()) {
    if (Go1 == 0) {
      Go1 = 0x80;
    } else {
      Go1 = 0x00;
    }
    if (Go2 == 0) {
      Go2 = 0x40;
    } else {
      Go2 = 0x00;
    }
    if (Go3 == 0) {
      Go3 = 0x20;
    } else {
      Go3 = 0x00;
    }
    if (Go4 == 0) {
      Go4 = 0x10;
    } else {
      Go4 = 0x00;
    }
    if (Go5 == 0) {
      Go5 = 0x08;
    } else {
      Go5 = 0x00;
    }
    if (Go6 == 0) {
      Go6 = 0x04;
    } else {
      Go6 = 0x00;
    }
    if (Go7 == 0) {
      Go7 = 0x02;
    } else {
      Go7 = 0x00;
    }
    if (Go8 == 0) {
      Go8 = 0x01;
    } else {
      Go8 = 0x00;
    }

    txbuf[0] = ((Go8 | Go7 | Go6 | Go5 | Go4 | Go3 | Go2 | Go1));

    spiSelect(&SPID1);
    spiSend(&SPID1, 1, txbuf);
    spiUnselect(&SPID1);
    chThdSleepMilliseconds(1);
  }
  chThdExit((msg_t)0);
}
static msg_t ThreadX(void *arg) { ((attr_parent *)arg)->ThreadX2(); }
WORKING_AREA(waThreadX, 1024);
Thread *Thd;

Go1 = 0;
Go2 = 0;
Go3 = 0;
Go4 = 0;
Go5 = 0;
Go6 = 0;
Go7 = 0;
Go8 = 0;

palSetPadMode(GPIOC, 5, PAL_MODE_OUTPUT_PUSHPULL); // NSS
palSetPadMode(GPIOA, 5, PAL_MODE_OUTPUT_PUSHPULL); // SCK
palSetPadMode(GPIOA, 7, PAL_MODE_OUTPUT_PUSHPULL); // MOSI

palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(5)); // SCK
palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(5)); // MISO
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(5)); // MOSI

static const SPIConfig spicfg = {NULL, GPIOC, 5,
                                 0 | SPI_CR1_CPOL | SPI_CR1_CPHA | (6 << 3)};
spiStart(&SPID1, &spicfg);

Thd = chThdCreateStatic(waThreadX, sizeof(waThreadX), NORMALPRIO, ThreadX,
                        (void *)this);

this->Go1 = inlet_Go1;
this->Go2 = inlet_Go2;
this->Go3 = inlet_Go3;
this->Go4 = inlet_Go4;
this->Go5 = inlet_Go5;
this->Go6 = inlet_Go6;
this->Go7 = inlet_Go7;
this->Go8 = inlet_Go8;

chThdTerminate(Thd);
chThdWait(Thd);