PAL Interface

The interaction with the hardware and platform resources is abstracted from the core library by the definition of a platform abstraction interface.

For this shield, the platform resources that need to be provided are:

• GPIO. Digital input and output ports.
• Timer. A timer for speed calculation related functionalities.
• SPIC. A SPI class interface related functionalities.

The PAL interfaces are implemented as C++ pure virtual classes.

GPIO PAL API

• init()
• deinit()
• changeMode()
• read()
• write()
• enable()
• disable()

Find the complete specification for each function of the GPIO PAL interface in the PAL Interface Doxygen docs section.

Timer PAL API

• init()
• deinit()
• start()
• elapsed()
• stop()
• delay()
• delayMilli()
• delayMicro()

Find the complete specification for each function of the Timer PAL interface in the PAL Interface Doxygen docs section.

SPIC PAL API

• init()
• deinit()
• triggerUpdate()
• sendReceive()

Find the complete specification for each function of the SPI interface in the PAL Interface Doxygen docs section.