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Drivers are accesses the same way as in Linux - using "/dev/xxx" entries and open/read/write API.
int open(const char *path, int flags)
int close(int fd)
int write(int fd, const void *buf, size_t size)
int read(int fd, void *buf, size_t size)
int lseek(int fd, int offset, int whence)
/dev/spiX
/dev/usartX
/dev/mtdX
/dev/i2cX