From 7727871923379bd113c00b11fcf778a4f014d0b5 Mon Sep 17 00:00:00 2001
From: Alexandre Abadie <alexandre.abadie@inria.fr>
Date: Tue, 7 Nov 2017 15:03:18 +0100
Subject: [PATCH] sys/auto_init/saul: provide saul adaption to lis3mdl
---
drivers/lis3mdl/lis3mdl_saul.c | 41 ++++++++++++++
sys/auto_init/auto_init.c | 4 ++
sys/auto_init/saul/auto_init_lis3mdl.c | 75 ++++++++++++++++++++++++++
3 files changed, 120 insertions(+)
create mode 100644 drivers/lis3mdl/lis3mdl_saul.c
create mode 100644 sys/auto_init/saul/auto_init_lis3mdl.c
diff --git a/drivers/lis3mdl/lis3mdl_saul.c b/drivers/lis3mdl/lis3mdl_saul.c
new file mode 100644
index 0000000000..7c2c973ebb
--- /dev/null
+++ b/drivers/lis3mdl/lis3mdl_saul.c
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2017 Inria
+ *
+ * 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 drivers_lis3mdl
+ * @{
+ *
+ * @file
+ * @brief LIS3MDL adaption to the RIOT actuator/sensor interface
+ *
+ * @author Alexandre Abadie <alexandre.abadie@inria.fr>
+ *
+ * @}
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "lis3mdl.h"
+
+static int read_mag(const void *dev, phydat_t *res)
+{
+ const lis3mdl_t *d = (const lis3mdl_t *)dev;
+
+ lis3mdl_read_mag(d, (lis3mdl_3d_data_t *)res);
+
+ res->unit = UNIT_GS;
+ res->scale = -3;
+ return 3;
+}
+
+const saul_driver_t lis3mdl_saul_mag_driver = {
+ .read = read_mag,
+ .write = saul_notsup,
+ .type = SAUL_SENSE_MAG,
+};
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index c482210bf5..aa3768f04f 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -274,6 +274,10 @@ void auto_init(void)
extern void auto_init_lis3dh(void);
auto_init_lis3dh();
#endif
+#ifdef MODULE_LIS3MDL
+extern void auto_init_lis3mdl(void);
+auto_init_lis3mdl();
+#endif
#ifdef MODULE_MAG3110
extern void auto_init_mag3110(void);
auto_init_mag3110();
diff --git a/sys/auto_init/saul/auto_init_lis3mdl.c b/sys/auto_init/saul/auto_init_lis3mdl.c
new file mode 100644
index 0000000000..9febe34aef
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_lis3mdl.c
@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2017 Inria
+ *
+ * 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 LIS3MDL magnetometer
+ *
+ * @author Alexandre Abadie <alexandre.abadie@inria.fr>
+ *
+ * @}
+ */
+
+#ifdef MODULE_LIS3MDL
+
+#include "log.h"
+#include "saul_reg.h"
+#include "lis3mdl.h"
+#include "lis3mdl_params.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define LIS3MDL_NUM (sizeof(lis3mdl_params)/sizeof(lis3mdl_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static lis3mdl_t lis3mdl_devs[LIS3MDL_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[LIS3MDL_NUM];
+
+/**
+ * @brief Define the number of saul info
+ */
+#define LIS3MDL_INFO_NUM (sizeof(lis3mdl_saul_info)/sizeof(lis3mdl_saul_info[0]))
+
+/**
+ * @brief Reference the driver structs
+ */
+extern saul_driver_t lis3mdl_saul_mag_driver;
+
+void auto_init_lis3mdl(void)
+{
+ assert(LIS3MDL_NUM == LIS3MDL_INFO_NUM);
+
+ for (unsigned int i = 0; i < LIS3MDL_NUM; i++) {
+ LOG_DEBUG("[auto_init_saul] initializing lis3mdl #%u\n", i);
+
+ if (lis3mdl_init(&lis3mdl_devs[i], &lis3mdl_params[i]) < 0) {
+ LOG_ERROR("[auto_init_saul] error initializing lis3mdl #%u\n", i);
+ continue;
+ }
+
+ saul_entries[i].dev = &(lis3mdl_devs[i]);
+ saul_entries[i].name = lis3mdl_saul_info[i].name;
+ saul_entries[i].driver = &lis3mdl_saul_mag_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_LIS3MDL */
--
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