drivers/lsm303dlhc: added SAUL integration

drivers/include/lsm303dlhc.h

@@ -35,26 +35,6 @@ extern "C" {
 #define LSM303DLHC_ACC_DEFAULT_ADDRESS        (0x19)
 #define LSM303DLHC_MAG_DEFAULT_ADDRESS        (0x1e)
 
-/**
- * @brief 3d data container
- */
-typedef struct {
-    int16_t x_axis;
-    int16_t y_axis;
-    int16_t z_axis;
-} lsm303dlhc_3d_data_t;
-
-/**
- * @brief Device descriptor for LSM303DLHC sensors
- */
-typedef struct {
-    i2c_t i2c;              /**< I2C device                  */
-    uint8_t acc_address;    /**< accelerometer's I2C address */
-    uint8_t mag_address;    /**< magnetometer's I2C address  */
-    gpio_t  acc_pin;        /**< accelerometer's data ready pin */
-    gpio_t  mag_pin;        /**< magnetometer's data ready pin  */
-} lsm303dlhc_t;
-
 /**
  * @brief Possible accelerometer sample rates
  */
@@ -108,6 +88,41 @@ typedef enum {
     LSM303DLHC_MAG_GAIN_230_205_GAUSS  = 0xe0, /**<  230Gauss XYZ 205Gauss Z */
  } lsm303dlhc_mag_gain_t;
 
+/**
+ * @brief 3d data container
+ */
+typedef struct {
+    int16_t x_axis;
+    int16_t y_axis;
+    int16_t z_axis;
+} lsm303dlhc_3d_data_t;
+
+/**
+ * @brief Device descriptor for LSM303DLHC sensors
+ */
+typedef struct {
+    i2c_t i2c;              /**< I2C device                  */
+    uint8_t acc_address;    /**< accelerometer's I2C address */
+    uint8_t mag_address;    /**< magnetometer's I2C address  */
+    gpio_t  acc_pin;        /**< accelerometer's data ready pin */
+    gpio_t  mag_pin;        /**< magnetometer's data ready pin  */
+} lsm303dlhc_t;
+
+/**
+ * @brief Data structure holding all the information needed for initialization
+ */
+typedef struct {
+    i2c_t i2c;                              /**< I2C bus used */
+    uint8_t acc_addr;                       /**< accelerometer I2C address */
+    gpio_t acc_pin;                         /**< accelerometer EXTI pin */
+    lsm303dlhc_acc_sample_rate_t acc_rate;  /**< accelerometer sample rate */
+    lsm303dlhc_acc_scale_t acc_scale;       /**< accelerometer scale factor */
+    uint8_t mag_addr;                       /**< magnetometer I2C address */
+    gpio_t mag_pin;                         /**< magnetometer EXTI pin */
+    lsm303dlhc_mag_sample_rate_t mag_rate;  /**< magnetometer sample rate */
+    lsm303dlhc_mag_gain_t mag_gain;         /**< magnetometer gain */
+} lsm303dlhc_params_t;
+
 /**
  * @brief Initialize a new LSM303DLHC device
  *

drivers/lsm303dlhc/lsm303dlhc_saul.c

+/*
+ * 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     driver_lsm303dlhc
+ * @{
+ *
+ * @file
+ * @brief       LSM303DLHC adaption to the RIOT actuator/sensor interface
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "lsm303dlhc.h"
+
+static int read_acc(void *dev, phydat_t *res)
+{
+    lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
+    lsm303dlhc_read_acc(d, (lsm303dlhc_3d_data_t *)res);
+    res->unit = UNIT_G;
+    res->scale = 0;
+    return 3;
+}
+
+static int read_mag(void *dev, phydat_t *res)
+{
+    lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
+    lsm303dlhc_read_mag(d, (lsm303dlhc_3d_data_t *)res);
+    res->unit = UNIT_GS;
+    res->scale = 0;
+    return 3;
+}
+
+static int write(void *dev, phydat_t *state)
+{
+    return -ENOTSUP;
+}
+
+const saul_driver_t lsm303dlhc_saul_acc_driver = {
+    .read = read_acc,
+    .write = write,
+    .type = SAUL_SENSE_ACCEL,
+};
+
+const saul_driver_t lsm303dlhc_saul_mag_driver = {
+    .read = read_mag,
+    .write = write,
+    .type = SAUL_SENSE_MAG,
+};