In this chapter, we took a deep dive into creating an efficient interface to a complex driver stack that was very convenient to use. Using stream buffers, we analyzed trade-offs between decreasing latency and minimizing CPU usage. After a basic interface was in place, it was extended to be used across multiple tasks. We also saw an example of how a mutex could be used for ensuring that a multi-stage transaction remained atomic, even while the peripheral was shared between tasks.

Throughout the examples, we focused on performance versus ease of use and coding effort. Now that you have a good understanding of why design decisions are being made, you should be in a good position to make informed decisions regarding your own code base and implementations. When the time comes to implement your design, you'll also have a solid understanding of the steps that need to be...