From 4950650c193ec07b2d89eb85b4884b20b7fa6184 Mon Sep 17 00:00:00 2001
From: Hauke Petersen <hauke.petersen@fu-berlin.de>
Date: Wed, 18 Nov 2015 16:13:33 +0100
Subject: [PATCH] sys/auto_init: added auto init for SAUL devices
---
sys/auto_init/Makefile | 4 ++
sys/auto_init/auto_init.c | 27 ++++++++
sys/auto_init/saul/Makefile | 3 +
sys/auto_init/saul/auto_init_gpio.c | 73 ++++++++++++++++++++
sys/auto_init/saul/auto_init_isl29020.c | 74 ++++++++++++++++++++
sys/auto_init/saul/auto_init_l3g4200d.c | 74 ++++++++++++++++++++
sys/auto_init/saul/auto_init_lps331ap.c | 74 ++++++++++++++++++++
sys/auto_init/saul/auto_init_lsm303dlhc.c | 82 +++++++++++++++++++++++
8 files changed, 411 insertions(+)
create mode 100644 sys/auto_init/saul/Makefile
create mode 100644 sys/auto_init/saul/auto_init_gpio.c
create mode 100644 sys/auto_init/saul/auto_init_isl29020.c
create mode 100644 sys/auto_init/saul/auto_init_l3g4200d.c
create mode 100644 sys/auto_init/saul/auto_init_lps331ap.c
create mode 100644 sys/auto_init/saul/auto_init_lsm303dlhc.c
diff --git a/sys/auto_init/Makefile b/sys/auto_init/Makefile
index a72b05b9ee..ad7b0b1b7c 100644
--- a/sys/auto_init/Makefile
+++ b/sys/auto_init/Makefile
@@ -4,4 +4,8 @@ ifneq (,$(filter auto_init_gnrc_netif,$(USEMODULE)))
DIRS += netif
endif
+ifneq (,$(filter auto_init_saul,$(USEMODULE)))
+DIRS += saul
+endif
+
include $(RIOTBASE)/Makefile.base
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index b7fe1305ba..e1e677da88 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -183,4 +183,31 @@ void auto_init(void)
#ifdef MODULE_GNRC_IPV6_NETIF
gnrc_ipv6_netif_init_by_dev();
#endif
+
+/* initialize sensors and actuators */
+#ifdef MODULE_AUTO_INIT_SAUL
+ DEBUG("auto_init SAUL\n");
+
+#ifdef MODULE_SAUL_GPIO
+ extern void auto_init_gpio(void);
+ auto_init_gpio();
+#endif
+#ifdef MODULE_LSM303DLHC
+ extern void auto_init_lsm303dlhc(void);
+ auto_init_lsm303dlhc();
+#endif
+#ifdef MODULE_LPS331AP
+ extern void auto_init_lps331ap(void);
+ auto_init_lps331ap();
+#endif
+#ifdef MODULE_ISL29020
+ extern void auto_init_isl29020(void);
+ auto_init_isl29020();
+#endif
+#ifdef MODULE_L3G4200D
+ extern void auto_init_l3g4200d(void);
+ auto_init_l3g4200d();
+#endif
+
+#endif /* MODULE_AUTO_INIT_SAUL */
}
diff --git a/sys/auto_init/saul/Makefile b/sys/auto_init/saul/Makefile
new file mode 100644
index 0000000000..96a5373703
--- /dev/null
+++ b/sys/auto_init/saul/Makefile
@@ -0,0 +1,3 @@
+MODULE = auto_init_saul
+
+include $(RIOTBASE)/Makefile.base
diff --git a/sys/auto_init/saul/auto_init_gpio.c b/sys/auto_init/saul/auto_init_gpio.c
new file mode 100644
index 0000000000..06818eb195
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_gpio.c
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of GPIO pins directly mapped to SAUL reg
+ *
+ * @author Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifdef MODULE_SAUL_GPIO
+
+#include "saul_reg.h"
+#include "saul/periph.h"
+#include "gpio_params.h"
+#include "periph/gpio.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define SAUL_GPIO_NUMOF (sizeof(saul_gpio_params)/sizeof(saul_gpio_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static gpio_t saul_gpios[SAUL_GPIO_NUMOF];
+
+/**
+ * @brief Memory for the registry entries
+ */
+static saul_reg_t saul_reg_entries[SAUL_GPIO_NUMOF];
+
+/**
+ * @brief Reference the driver struct
+ */
+extern saul_driver_t gpio_saul_driver;
+
+
+void auto_init_gpio(void)
+{
+ DEBUG("auto init gpio SAUL\n");
+ for (int i = 0; i < SAUL_GPIO_NUMOF; i++) {
+ const saul_gpio_params_t *p = &saul_gpio_params[i];
+
+ DEBUG("[auto_init_saul] initializing direct GPIO\n");
+ saul_gpios[i] = p->pin;
+ saul_reg_entries[i].dev = &(saul_gpios[i]);
+ saul_reg_entries[i].name = p->name;
+ saul_reg_entries[i].driver = &gpio_saul_driver;
+ /* initialize the GPIO pin */
+ gpio_init(p->pin, p->dir, GPIO_NOPULL);
+ /* add to registry */
+ saul_reg_add(&(saul_reg_entries[i]));
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_SAUL_GPIO */
diff --git a/sys/auto_init/saul/auto_init_isl29020.c b/sys/auto_init/saul/auto_init_isl29020.c
new file mode 100644
index 0000000000..c6e0497296
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_isl29020.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of ISL29020 light sensors
+ *
+ * @author Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifdef MODULE_ISL29020
+
+#include "saul_reg.h"
+#include "isl29020.h"
+#include "isl29020_params.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define ISL29020_NUM (sizeof(isl29020_params)/sizeof(isl29020_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static isl29020_t isl29020_devs[ISL29020_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[ISL29020_NUM];
+
+/**
+ * @brief Reference the driver struct
+ */
+extern saul_driver_t isl29020_saul_driver;
+
+
+void auto_init_isl29020(void)
+{
+ for (int i = 0; i < ISL29020_NUM; i++) {
+ const isl29020_params_t *p = &isl29020_params[i];
+
+ DEBUG("[auto_init_saul] initializing isl29020 light sensor\n");
+ int res = isl29020_init(&isl29020_devs[i], p->i2c, p->addr,
+ p->range, p->mode);
+ if (res < 0) {
+ DEBUG("[auto_init_saul] error during initialization\n");
+ }
+ else {
+ saul_entries[i].dev = &(isl29020_devs[i]);
+ saul_entries[i].name = isl29020_saul_info[i].name;
+ saul_entries[i].driver = &isl29020_saul_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_ISL29020 */
diff --git a/sys/auto_init/saul/auto_init_l3g4200d.c b/sys/auto_init/saul/auto_init_l3g4200d.c
new file mode 100644
index 0000000000..a4a9a109ed
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_l3g4200d.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of L3G4200D pressure sensors
+ *
+ * @author Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifdef MODULE_L3G4200D
+
+#include "saul_reg.h"
+#include "l3g4200d.h"
+#include "l3g4200d_params.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define L3G4200D_NUM (sizeof(l3g4200d_params)/sizeof(l3g4200d_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static l3g4200d_t l3g4200d_devs[L3G4200D_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[L3G4200D_NUM];
+
+/**
+ * @brief Reference the driver struct
+ */
+extern saul_driver_t l3g4200d_saul_driver;
+
+
+void auto_init_l3g4200d(void)
+{
+ for (int i = 0; i < L3G4200D_NUM; i++) {
+ const l3g4200d_params_t *p = &l3g4200d_params[i];
+
+ DEBUG("[auto_init_saul] initializing l3g4200d gyroscope\n");
+ int res = l3g4200d_init(&l3g4200d_devs[i], p->i2c, p->addr,
+ p->int1_pin, p->int2_pin, p->mode, p->scale);
+ if (res < 0) {
+ DEBUG("[auto_init_saul] error during initialization\n");
+ }
+ else {
+ saul_entries[i].dev = &(l3g4200d_devs[i]);
+ saul_entries[i].name = l3g4200d_saul_info[i].name;
+ saul_entries[i].driver = &l3g4200d_saul_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_L3G4200D */
diff --git a/sys/auto_init/saul/auto_init_lps331ap.c b/sys/auto_init/saul/auto_init_lps331ap.c
new file mode 100644
index 0000000000..e505a9e32b
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_lps331ap.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of LPS331AP pressure sensors
+ *
+ * @author Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifdef MODULE_LPS331AP
+
+#include "saul_reg.h"
+#include "lps331ap.h"
+#include "lps331ap_params.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define LPS331AP_NUM (sizeof(lps331ap_params)/sizeof(lps331ap_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static lps331ap_t lps331ap_devs[LPS331AP_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[LPS331AP_NUM];
+
+/**
+ * @brief Reference the driver struct
+ */
+extern saul_driver_t lps331ap_saul_driver;
+
+
+void auto_init_lps331ap(void)
+{
+ for (int i = 0; i < LPS331AP_NUM; i++) {
+ const lps331ap_params_t *p = &lps331ap_params[i];
+
+ DEBUG("[auto_init_saul] initializing lps331ap pressure sensor\n");
+ int res = lps331ap_init(&lps331ap_devs[i], p->i2c, p->addr, p->rate);
+ DEBUG("not done\n");
+ if (res < 0) {
+ DEBUG("[auto_init_saul] error during initialization\n");
+ }
+ else {
+ saul_entries[i].dev = &(lps331ap_devs[i]);
+ saul_entries[i].name = lps331ap_saul_info[i].name;
+ saul_entries[i].driver = &lps331ap_saul_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_LPS331AP */
diff --git a/sys/auto_init/saul/auto_init_lsm303dlhc.c b/sys/auto_init/saul/auto_init_lsm303dlhc.c
new file mode 100644
index 0000000000..3c4e71ab93
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_lsm303dlhc.c
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of LSM303DLHC accelerometer/magnetometer
+ *
+ * @author Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifdef MODULE_LSM303DLHC
+
+#include "saul_reg.h"
+#include "lsm303dlhc.h"
+#include "lsm303dlhc_params.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define LSM303DLHC_NUM (sizeof(lsm303dlhc_params)/sizeof(lsm303dlhc_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static lsm303dlhc_t lsm303dlhc_devs[LSM303DLHC_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[LSM303DLHC_NUM * 2];
+
+/**
+ * @brief Reference the driver structs
+ * @{
+ */
+extern saul_driver_t lsm303dlhc_saul_acc_driver;
+extern saul_driver_t lsm303dlhc_saul_mag_driver;
+/** @} */
+
+void auto_init_lsm303dlhc(void)
+{
+ for (int i = 0; i < LSM303DLHC_NUM; i++) {
+ const lsm303dlhc_params_t *p = &lsm303dlhc_params[i];
+
+ DEBUG("[auto_init_saul] initializing lsm303dlhc acc/mag sensor\n");
+ int res = lsm303dlhc_init(&lsm303dlhc_devs[i], p->i2c,
+ p->acc_pin, p->mag_pin,
+ p->acc_addr, p->acc_rate, p->acc_scale,
+ p->mag_addr, p->mag_rate, p->mag_gain);
+ if (res < 0) {
+ DEBUG("[auto_init_saul] error during initialization\n");
+ }
+ else {
+ saul_entries[(i * 2)].dev = &(lsm303dlhc_devs[i]);
+ saul_entries[(i * 2)].name = lsm303dlhc_saul_info[i].name;
+ saul_entries[(i * 2)].driver = &lsm303dlhc_saul_acc_driver;
+ saul_entries[(i * 2) + 1].dev = &(lsm303dlhc_devs[i]);
+ saul_entries[(i * 2) + 1].name = lsm303dlhc_saul_info[i].name;
+ saul_entries[(i * 2) + 1].driver = &lsm303dlhc_saul_mag_driver;
+ saul_reg_add(&(saul_entries[(i * 2)]));
+ saul_reg_add(&(saul_entries[(i * 2) + 1]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_LSM303DLHC */
--
GitLab