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Add cape interface spec

Deepak Khatri requested to merge lorforlinux/docs.beagleboard.io:support into main

@jkridner Cape interface spec page from elinux is now added to the docs.

Currently large table are not looking great in PDF which I will resolve in upcoming PRs. I started off with csv-tables for this page but, csv-tables poses limitations that make our tables look bit ugly. What are your thoughts on the csv-tables?

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