diff --git a/boards/microbit/include/board.h b/boards/microbit/include/board.h
index 61551cdf5c9708a580d7e6e0e0851eb45c6ae7d5..c111003c7a33d498d0fcea97dfa728cf29248b46 100644
--- a/boards/microbit/include/board.h
+++ b/boards/microbit/include/board.h
@@ -68,7 +68,7 @@ extern "C" {
* @name MMA8653 accelerometer configuration
* @{
*/
-#define MMA8653_PARAM_I2C I2C_0,
+#define MMA8653_PARAM_I2C I2C_DEV(0)
#define MMA8653_PARAM_ADDR 0x1d
/** @} */
@@ -76,7 +76,7 @@ extern "C" {
* @name MAG3110 magnetometer configuration
* @{
*/
-#define MAG3110_PARAM_I2C I2C_0,
+#define MAG3110_PARAM_I2C I2C_DEV(0)
#define MAG3110_PARAM_ADDR 0x0e
/** @} */
diff --git a/boards/pba-d-01-kw2x/Makefile.dep b/boards/pba-d-01-kw2x/Makefile.dep
index e3a5850980203f4d08b8a8d14970b3a6571d2c57..7382333a3da13462433708b822ffc83669468b36 100644
--- a/boards/pba-d-01-kw2x/Makefile.dep
+++ b/boards/pba-d-01-kw2x/Makefile.dep
@@ -3,6 +3,7 @@ ifneq (,$(filter netdev_default gnrc_netdev_default,$(USEMODULE)))
endif
ifneq (,$(filter saul_default,$(USEMODULE)))
+ USEMODULE += mag3110
USEMODULE += mma8x5x
USEMODULE += hdc1000
USEMODULE += tcs37727
diff --git a/boards/pba-d-01-kw2x/include/mag3110_params.h b/boards/pba-d-01-kw2x/include/mag3110_params.h
new file mode 100644
index 0000000000000000000000000000000000000000..d85c9c3d8ea527c7c993a1efb8182479e11e0a04
--- /dev/null
+++ b/boards/pba-d-01-kw2x/include/mag3110_params.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2017 HAW Hamburg
+ *
+ * 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 boards_pba-d-01-kw2x
+ * @{
+ *
+ * @file
+ * @brief MAG3110 board specific configuration
+ *
+ * @author Sebastian Meiling <s@mlng.net>
+ */
+
+#ifndef MAG3110_PARAMS_H
+#define MAG3110_PARAMS_H
+
+#include "board.h"
+#include "saul_reg.h"
+#include "mag3110.h"
+#include "mag3110_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief MAG3310 configuration
+ */
+static const mag3110_params_t mag3110_params[] =
+{
+ {
+ .i2c = MAG3110_I2C,
+ .addr = MAG3110_ADDR,
+ .type = MAG3110_ID,
+ .dros = MAG3110_DROS_DEFAULT,
+ .offset = { 0, 0, 0 }
+ }
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t mag3110_saul_info[] =
+{
+ {
+ .name = "mag3110"
+ }
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MAG3110_PARAMS_H */
+/** @} */
diff --git a/drivers/include/mag3110.h b/drivers/include/mag3110.h
index 0c924fd357cfa448dfb2cd7c93f1f2614c5469ab..5669e0a3c7a7e658782b52443d2843b773f3d9b9 100644
--- a/drivers/include/mag3110.h
+++ b/drivers/include/mag3110.h
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ * 2017 HAW Hamburg
*
* 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
@@ -25,6 +26,7 @@
* @brief Interface definition for the MAG3110 magnetometer driver.
*
* @author Johann Fischer <j.fischer@phytec.de>
+ * @author Sebastian Meiling <s@mlng.net>
*/
#ifndef MAG3110_H
@@ -39,6 +41,16 @@ extern "C"
{
#endif
+/**
+ * @brief Named return values
+ */
+enum {
+ MAG3110_OK, /**< all good */
+ MAG3110_ERROR_I2C, /**< I2C communication failed */
+ MAG3110_ERROR_DEV, /**< Device MAG3110 not found */
+ MAG3110_ERROR_CNF, /**< Device configuration failed */
+};
+
#ifndef MAG3110_I2C_ADDRESS
#define MAG3110_I2C_ADDRESS 0x0E /**< Magnetometer Default Address */
#endif
@@ -77,41 +89,45 @@ extern "C"
#define MAG3110_DROS_0008_128 31 /**< Output Rate 0.08 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_DEFAULT MAG3110_DROS_0125_128 /**< Default Setting for testing */
+/**
+ * @brief Configuration parameters
+ */
+typedef struct {
+ i2c_t i2c; /**< I2C bus the device is connected to */
+ uint8_t addr; /**< I2C bus address of the device */
+ uint8_t type; /**< device type */
+ uint8_t dros; /**< sampling rate to use */
+ int16_t offset[3]; /**< data offset in X, Y, and Z direction */
+} mag3110_params_t;
+
/**
* @brief Device descriptor for MAG3110 magnetometer.
*/
typedef struct {
- i2c_t i2c; /**< I2C device, the magnetometer is connected to */
- uint8_t addr; /**< the magnetometer's slave address on the I2C bus */
- bool initialized; /**< magnetometer status, true if magnetometer is initialized */
+ mag3110_params_t params; /**< device configuration parameters */
} mag3110_t;
/**
- * @brief MAG3110 magnetometer test.
- * This function looks for Device ID of the MAG3110 magnetometer.
- *
- * @param[in] dev device descriptor of magnetometer
- *
- * @return 0 on success
- * @return -1 on error
+ * @brief Data type for the result data
*/
-int mag3110_test(mag3110_t *dev);
+typedef struct {
+ int16_t x; /**< acceleration in X direction */
+ int16_t y; /**< acceleration in Y direction */
+ int16_t z; /**< acceleration in Z direction */
+} mag3110_data_t;
/**
* @brief Initialise the MAG3110 magnetometer driver.
*
* @param[out] dev device descriptor of magnetometer to initialize
- * @param[in] i2c I2C bus the magnetometer is connected to
- * @param[in] address magnetometer's I2C slave address
- * @param[in] dros data rate and over sampling selection
+ * @param[in] params configuration parameters
*
* @return 0 on success
- * @return -1 if dros parameter is wrong
- * @return -2 if initialization of I2C bus failed
- * @return -3 if magnetometer test failed
- * @return -4 if magnetometer configuration failed
+ * @return -1 if I2C communication failed
+ * @return -2 if magnetometer test failed
+ * @return -3 if magnetometer configuration failed
*/
-int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros);
+int mag3110_init(mag3110_t *dev, const mag3110_params_t *params);
/**
* @brief Set user offset correction.
@@ -163,16 +179,13 @@ int mag3110_is_ready(mag3110_t *dev);
* To get the actual values for the magnetic field in \f$\mu T\f$,
* one have to divide the returned values from the magnetometer by 10.
*
- * @param[in] dev device descriptor of magnetometer
- * @param[out] x x-axis magnetic field strength
- * @param[out] y y-axis magnetic field strength
- * @param[out] z z-axis magnetic field strength
- * @param[out] status magnetometer status register
+ * @param[in] dev device descriptor of accelerometer
+ * @param[out] data the current magnetic field strength
*
* @return 0 on success
* @return -1 on error
*/
-int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
+int mag3110_read(mag3110_t *dev, mag3110_data_t *data);
/**
* @brief Read die temperature.
diff --git a/drivers/mag3110/include/mag3110_params.h b/drivers/mag3110/include/mag3110_params.h
new file mode 100644
index 0000000000000000000000000000000000000000..f0aa1f52903acee680a3f4872cc64cb852837448
--- /dev/null
+++ b/drivers/mag3110/include/mag3110_params.h
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2017 HAW Hamburg
+ *
+ * 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_mag3110
+ * @{
+ *
+ * @file
+ * @brief Default configuration for MAG3110 devices
+ *
+ * @author Sebastian Meiling <s@mlng.net>
+ */
+
+#ifndef MAG3110_PARAMS_H
+#define MAG3110_PARAMS_H
+
+#include "board.h"
+#include "saul_reg.h"
+#include "mag3110.h"
+#include "mag3110_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name Default configuration parameters for the MAG3110 driver
+ * @{
+ */
+#ifndef MAG3110_PARAM_I2C
+#define MAG3110_PARAM_I2C (I2C_DEV(0))
+#endif
+#ifndef MAG3110_PARAM_ADDR
+#define MAG3110_PARAM_ADDR (MAG3110_I2C_ADDRESS)
+#endif
+#ifndef MAG3110_PARAM_OFFSET
+#define MAG3110_PARAM_OFFSET { 0, 0, 0 }
+#endif
+#ifndef MAG3110_PARAMS
+#define MAG3110_PARAMS { .i2c = MAG3110_PARAM_I2C, \
+ .addr = MAG3110_PARAM_ADDR, \
+ .type = MAG3110_ID, \
+ .dros = MAG3110_DROS_DEFAULT, \
+ .offset = MAG3110_PARAM_OFFSET }
+#endif
+/**@}*/
+
+/**
+ * @brief MAG3110 configuration
+ */
+static const mag3110_params_t mag3110_params[] =
+{
+ MAG3110_PARAMS
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t mag3110_saul_info[] =
+{
+ {
+ .name = "mag3110"
+ }
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MAG3110_PARAMS_H */
+/** @} */
diff --git a/drivers/mag3110/mag3110.c b/drivers/mag3110/mag3110.c
index c135c4ba5e47ea39d909fd2693f9ba78588a113e..752f56d769dc88964942285cab445b9af52c7c3c 100644
--- a/drivers/mag3110/mag3110.c
+++ b/drivers/mag3110/mag3110.c
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ * 2017 HAW Hamburg
*
* 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
@@ -16,92 +17,91 @@
*
* @author Johann Fischer <j.fischer@phytec.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
+ * @author Sebastian Meiling <s@mlng.net>
*
* @}
*/
#include <stdint.h>
#include <stdbool.h>
+#include <string.h>
+
+#include "log.h"
#include "periph/i2c.h"
+
#include "mag3110.h"
#include "mag3110_reg.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
-#define I2C_SPEED I2C_SPEED_FAST
-
-int mag3110_test(mag3110_t *dev)
-{
- uint8_t reg;
-
- /* Acquire exclusive access to the bus. */
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_WHO_AM_I, ®, 1) != 1) {
- /* Release the bus for other threads. */
- i2c_release(dev->i2c);
- return -1;
- }
- i2c_release(dev->i2c);
-
- if (reg != MAG3110_ID) {
- return -1;
- }
+#define I2C_SPEED I2C_SPEED_FAST
- return 0;
-}
+#define BUS (dev->params.i2c)
+#define ADDR (dev->params.addr)
-int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros)
+int mag3110_init(mag3110_t *dev, const mag3110_params_t *params)
{
uint8_t reg;
- /* write device descriptor */
- dev->i2c = i2c;
- dev->addr = address;
- dev->initialized = false;
+ assert(dev);
+ assert(params);
- if (dros > MAG3110_DROS_0008_128) {
- return -1;
- }
+ /* write device descriptor */
+ memcpy(dev, params, sizeof(mag3110_params_t));
- i2c_acquire(dev->i2c);
+ i2c_acquire(BUS);
/* initialize the I2C bus */
- if (i2c_init_master(i2c, I2C_SPEED) < 0) {
- i2c_release(dev->i2c);
- return -2;
- }
- i2c_release(dev->i2c);
-
- if (mag3110_test(dev)) {
- return -3;
+ if (i2c_init_master(BUS, I2C_SPEED) < 0) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: failed!\n");
+ return -MAG3110_ERROR_I2C;
+ }
+ /* test device */
+ i2c_read_regs(BUS, ADDR, MAG3110_WHO_AM_I, ®, 1);
+ if (reg != dev->params.type) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: invalid WHO_AM_I value (0x%02x)!\n", (int)reg);
+ return -MAG3110_ERROR_DEV;
}
-
/* enable automatic magnetic sensor reset */
reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
-
- i2c_acquire(dev->i2c);
- if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG2, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -4;
- }
-
- reg = MAG3110_CTRL_REG1_DROS(dros);
-
- if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -4;
+ if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG2, ®, 1) != 1) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: failed to enable auto reset!\n");
+ return -MAG3110_ERROR_CNF;
+ }
+ /* set sample rate */
+ reg = MAG3110_CTRL_REG1_DROS(dev->params.dros);
+ if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: failed to set sample rate!\n");
+ return -MAG3110_ERROR_CNF;
+ }
+ /* set device active */
+ if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: failed to read device state!\n");
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
-
- dev->initialized = true;
-
- return 0;
+ reg |= MAG3110_CTRL_REG1_AC;
+ if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_init: failed to set device active!\n");
+ return -MAG3110_ERROR_CNF;
+ }
+ i2c_release(BUS);
+ /* write user offsets */
+ return mag3110_set_user_offset(dev, dev->params.offset[0],
+ dev->params.offset[1], dev->params.offset[2]);
}
int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
{
uint8_t buf[6];
+ assert(dev);
+
buf[0] = (x >> 8);
buf[1] = x;
buf[2] = (y >> 8);
@@ -109,115 +109,114 @@ int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
buf[4] = (z >> 8);
buf[5] = z;
- i2c_acquire(dev->i2c);
- if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_OFF_X_MSB, buf, 6) != 6) {
- i2c_release(dev->i2c);
- return -1;
+ DEBUG("[mag3110] setting user offset to X: %3i, Y: %3i, Z: %3i\n",
+ (int)x, (int)y, (int)z);
+
+ i2c_acquire(BUS);
+ if (i2c_write_regs(BUS, ADDR, MAG3110_OFF_X_MSB, buf, 6) != 6) {
+ i2c_release(BUS);
+ LOG_ERROR("mag3110_set_user_offset: failed to set offsets!\n");
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
+ i2c_release(BUS);
- return 0;
+ return MAG3110_OK;
}
int mag3110_set_active(mag3110_t *dev)
{
uint8_t reg;
- if (dev->initialized == false) {
- return -1;
- }
+ assert(dev);
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ i2c_acquire(BUS);
+ if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
reg |= MAG3110_CTRL_REG1_AC;
- if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
+ i2c_release(BUS);
- return 0;
+ return MAG3110_OK;
}
int mag3110_set_standby(mag3110_t *dev)
{
uint8_t reg;
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ assert(dev);
+
+ i2c_acquire(BUS);
+ if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
reg &= ~MAG3110_CTRL_REG1_AC;
- if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, ®, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
+ i2c_release(BUS);
- return 0;
+ return MAG3110_OK;
}
int mag3110_is_ready(mag3110_t *dev)
{
uint8_t reg;
- if (dev->initialized == false) {
- return -1;
- }
+ assert(dev);
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, ®, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ i2c_acquire(BUS);
+ if (i2c_read_regs(BUS, ADDR, MAG3110_DR_STATUS, ®, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
+ i2c_release(BUS);
return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
}
-int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
+int mag3110_read(mag3110_t *dev, mag3110_data_t *data)
{
uint8_t buf[7];
- if (dev->initialized == false) {
- return -1;
- }
+ assert(dev);
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, buf, 7) != 7) {
- i2c_release(dev->i2c);
- return -1;
+ i2c_acquire(BUS);
+ if (i2c_read_regs(BUS, ADDR, MAG3110_DR_STATUS, buf, 7) != 7) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
-
- *status = buf[0];
- *x = ((int16_t)buf[1] << 8) | buf[2];
- *y = ((int16_t)buf[3] << 8) | buf[4];
- *z = ((int16_t)buf[5] << 8) | buf[6];
+ i2c_release(BUS);
+ /* TODO: implement state handling, if needed?
+ uint8_t status = buf[0];
+ */
+ data->x = ((int16_t)buf[1] << 8) | buf[2];
+ data->y = ((int16_t)buf[3] << 8) | buf[4];
+ data->z = ((int16_t)buf[5] << 8) | buf[6];
- return 0;
+ return MAG3110_OK;
}
int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp)
{
- if (dev->initialized == false) {
- return -1;
- }
+ assert(dev);
- i2c_acquire(dev->i2c);
- if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DIE_TEMP, dtemp, 1) != 1) {
- i2c_release(dev->i2c);
- return -1;
+ i2c_acquire(BUS);
+ if (i2c_read_regs(BUS, ADDR, MAG3110_DIE_TEMP, dtemp, 1) != 1) {
+ i2c_release(BUS);
+ return -MAG3110_ERROR_I2C;
}
- i2c_release(dev->i2c);
+ i2c_release(BUS);
- return 0;
+ return MAG3110_OK;
}
diff --git a/drivers/mag3110/mag3110_saul.c b/drivers/mag3110/mag3110_saul.c
new file mode 100644
index 0000000000000000000000000000000000000000..c890ab4f56eb6befb1b73e954c44701e664e81a6
--- /dev/null
+++ b/drivers/mag3110/mag3110_saul.c
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2017 HAW Hamburg
+ *
+ * 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 driver_mag3110
+ * @{
+ *
+ * @file
+ * @brief MAG3110 adaption to the RIOT actuator/sensor interface
+ *
+ * @author Sebastian Meiling <s@mlng.net>
+ *
+ * @}
+ */
+
+#include <string.h>
+#include <stdio.h>
+
+#include "saul.h"
+#include "mag3110.h"
+
+static int read_mag(void *dev, phydat_t *res)
+{
+ mag3110_read((mag3110_t *)dev, (mag3110_data_t *)res);
+
+ res->unit = UNIT_GS;
+ res->scale = 2;
+
+ return 3;
+}
+
+const saul_driver_t mag3110_saul_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 251b5bf1bf17ffce4f3022ff9f25b84b4055a734..30fc3be9de854c03990cef6bbf22958b977cac19 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -271,6 +271,10 @@ void auto_init(void)
extern void auto_init_lis3dh(void);
auto_init_lis3dh();
#endif
+#ifdef MODULE_MAG3110
+ extern void auto_init_mag3110(void);
+ auto_init_mag3110();
+#endif
#ifdef MODULE_MMA8X5X
extern void auto_init_mma8x5x(void);
auto_init_mma8x5x();
diff --git a/sys/auto_init/saul/auto_init_mag3110.c b/sys/auto_init/saul/auto_init_mag3110.c
new file mode 100644
index 0000000000000000000000000000000000000000..ac08bae1ae752ac12f2aa087d7d15dbb1a0f61a0
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_mag3110.c
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2017 HAW Hamburg
+ *
+ * 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 MAG3110 magnetometers
+ *
+ * @author Sebastian Meiling <s@mlng.net>
+ *
+ * @}
+ */
+
+#ifdef MODULE_MAG3110
+
+#include "log.h"
+#include "saul_reg.h"
+
+#include "mag3110.h"
+#include "mag3110_params.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define MAG3110_NUM (sizeof(mag3110_params) / sizeof(mag3110_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static mag3110_t mag3110_devs[MAG3110_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[MAG3110_NUM];
+
+/**
+ * @brief Reference the driver struct
+ * @{
+ */
+extern const saul_driver_t mag3110_saul_driver;
+/** @} */
+
+void auto_init_mag3110(void)
+{
+ for (unsigned i = 0; i < MAG3110_NUM; i++) {
+ LOG_DEBUG("[auto_init_saul] initializing mag3110 #%u\n", i);
+
+ if (mag3110_init(&mag3110_devs[i], &mag3110_params[i]) != MAG3110_OK) {
+ LOG_ERROR("[auto_init_saul] error initializing mag3110 #%u\n", i);
+ continue;
+ }
+
+ saul_entries[i].dev = &(mag3110_devs[i]);
+ saul_entries[i].name = mag3110_saul_info[i].name;
+ saul_entries[i].driver = &mag3110_saul_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_MAG3110 */
diff --git a/tests/driver_mag3110/Makefile b/tests/driver_mag3110/Makefile
index 8c1fe5502d04507b9cc9ee4f7aa1a6220a95f3e6..9462018592e0ed947e95ac3fd9293cdb14c7086c 100644
--- a/tests/driver_mag3110/Makefile
+++ b/tests/driver_mag3110/Makefile
@@ -6,18 +6,4 @@ FEATURES_REQUIRED = periph_i2c
USEMODULE += mag3110
USEMODULE += xtimer
-# set default device parameters in case they are undefined
-TEST_MAG3110_I2C ?= I2C_DEV\(0\)
-TEST_MAG3110_ADDR ?= 0x0E
-TEST_MAG3110_USER_OFFSET_X ?= -2000
-TEST_MAG3110_USER_OFFSET_Y ?= 180
-TEST_MAG3110_USER_OFFSET_Z ?= 210
-
-# export parameters
-CFLAGS += -DTEST_MAG3110_I2C=$(TEST_MAG3110_I2C)
-CFLAGS += -DTEST_MAG3110_ADDR=$(TEST_MAG3110_ADDR)
-CFLAGS += -DTEST_MAG3110_USER_OFFSET_X=$(TEST_MAG3110_USER_OFFSET_X)
-CFLAGS += -DTEST_MAG3110_USER_OFFSET_Y=$(TEST_MAG3110_USER_OFFSET_Y)
-CFLAGS += -DTEST_MAG3110_USER_OFFSET_Z=$(TEST_MAG3110_USER_OFFSET_Z)
-
include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_mag3110/main.c b/tests/driver_mag3110/main.c
index 603d12bc2a7f4503ea5569e05cdc65800d220d6e..003872d8385a6147ae98f4bd74fc19218f2f4bfd 100644
--- a/tests/driver_mag3110/main.c
+++ b/tests/driver_mag3110/main.c
@@ -1,6 +1,7 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ * 2017 HAW Hamburg
*
* 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
@@ -16,57 +17,41 @@
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Johann Fischer <j.fischer@phytec.de>
+ * @author Sebastian Meiling <s@mlng.net>
*
* @}
*/
-#ifndef TEST_MAG3110_I2C
-#error "TEST_MAG3110_I2C not defined"
-#endif
-#ifndef TEST_MAG3110_ADDR
-#error "TEST_MAG3110_ADDR not defined"
-#endif
-
#include <stdio.h>
+#include "timex.h"
#include "xtimer.h"
+
#include "mag3110.h"
+#include "mag3110_params.h"
+
+#define SLEEP (1U * US_PER_SEC)
-#define SLEEP (1000 * 1000U)
+static mag3110_t dev;
int main(void)
{
- mag3110_t dev;
+ mag3110_data_t data;
int8_t temp;
- int16_t x, y, z;
- uint8_t status;
puts("MAG3110 magnetometer driver test application\n");
- printf("Initializing MAG3110 magnetometer at I2C_%i... ", TEST_MAG3110_I2C);
- if (mag3110_init(&dev, TEST_MAG3110_I2C, TEST_MAG3110_ADDR, MAG3110_DROS_DEFAULT) == 0) {
- puts("[OK]\n");
- }
- else {
- puts("[Failed]");
- return -1;
- }
-
- if (mag3110_set_user_offset(&dev, TEST_MAG3110_USER_OFFSET_X,
- TEST_MAG3110_USER_OFFSET_Y,
- TEST_MAG3110_USER_OFFSET_Z )) {
- puts("Set user offset correction failed.");
- return -1;
- }
-
- if (mag3110_set_active(&dev)) {
- puts("Measurement start failed.");
+ printf("Initializing MAG3110 magnetometer at I2C_%i... ",
+ mag3110_params[0].i2c);
+ if (mag3110_init(&dev, &mag3110_params[0]) != MAG3110_OK) {
+ puts("[FAILED]");
return -1;
}
+ puts("[SUCCESS]");
while (1) {
xtimer_usleep(SLEEP);
- mag3110_read(&dev, &x, &y, &z, &status);
- printf("Field strength: X: %d Y: %d Z: %d S: %2x\n", x, y, z, status);
+ mag3110_read(&dev, &data);
+ printf("Field strength: X: %d Y: %d Z: %d\n", data.x, data.y, data.z);
mag3110_read_dtemp(&dev, &temp);
printf("Die Temperature T: %d\n", temp);
}