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haukepetersenhaukepetersen
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Merge pull request RIOT-OS#4783 from cgundogan/pr/pba-d-01-kw2x/saul_mma8652
drivers/mma8652: pba-d-01-kw2x: add support for SAUL
2 parents 0e6ade7 + 7d35c06 commit a037587

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‎boards/pba-d-01-kw2x/Makefile.dep

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@@ -2,3 +2,7 @@ ifneq (,$(filter gnrc_netif_default,$(USEMODULE)))
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USEMODULE += kw2xrf
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USEMODULE += gnrc_nomac
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endif
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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += mma8652
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endif

‎boards/pba-d-01-kw2x/include/mma8652_params.h

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@@ -0,0 +1,58 @@
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/*
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* Copyright (C) 2016 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_pba-d-01-kw2x
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* @{
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*
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* @file
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* @brief MMA8652 board specific configuration
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*
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* @author Cenk Gündoğan <mail@cgundogan.de>
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*/
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#ifndef MMA8652_PARAMS_H
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#define MMA8652_PARAMS_H
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#include "board.h"
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#include "saul_reg.h"
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#include "mma8652.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief MMA852 configuration
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*/
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static const mma8652_params_t mma8652_params[] =
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{
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{
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.i2c = MMA8652_I2C,
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.addr = MMA8652_ADDR,
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.rate = MMA8652_DATARATE_DEFAULT,
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.scale = MMA8652_FS_RANGE_DEFAULT,
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},
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};
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/**
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* @brief Additional meta information to keep in the SAUL registry
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*/
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static const saul_reg_info_t mma8652_saul_info[] =
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{
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{
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.name = "mma8652",
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},
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};
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#ifdef __cplusplus
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}
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#endif
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#endif /* MMA8652_PARAMS_H */
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/** @} */

‎drivers/include/mma8652.h

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@@ -67,6 +67,16 @@ typedef struct {
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int16_t scale; /**< each count corresponds to (1/scale) g */
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} mma8652_t;
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/**
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* @brief Data structure holding all the information needed for initialization
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*/
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typedef struct {
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i2c_t i2c; /**< I2C bus used */
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uint8_t addr; /**< accelerometer's I2C address */
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uint8_t rate; /**< accelerometer's sampling rate */
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uint8_t scale; /**< accelerometer's scale factor */
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} mma8652_params_t;
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/**
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* @brief MMA8652 accelerometer test.
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* This function looks for Device ID of the MMA8652 accelerometer.

‎drivers/mma8652/mma8652_saul.c

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/*
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* Copyright (C) 2016 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup driver_mma8652
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* @{
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*
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* @file
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* @brief MMA8652 adaption to the RIOT actuator/sensor interface
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*
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* @author Cenk Gündoğan <mail@cgundogan.de>
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*
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* @}
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*/
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#include <string.h>
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#include <stdio.h>
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#include "saul.h"
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#include "mma8652.h"
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static int read_acc(void *dev, phydat_t *res)
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{
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int16_t x, y, z;
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uint8_t status;
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mma8652_t *d = (mma8652_t *)dev;
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mma8652_read(d, &x, &y, &z, &status);
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res->val[0] = x;
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res->val[1] = y;
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res->val[2] = z;
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res->unit = UNIT_G;
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res->scale = -3;
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return 3;
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}
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static int write(void *dev, phydat_t *state)
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{
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(void) dev;
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(void) state;
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return -ENOTSUP;
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}
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const saul_driver_t mma8652_saul_driver = {
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.read = read_acc,
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.write = write,
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.type = SAUL_SENSE_ACCEL,
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};

‎sys/auto_init/auto_init.c

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@@ -234,6 +234,10 @@ void auto_init(void)
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extern void auto_init_lis3dh(void);
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auto_init_lis3dh();
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#endif
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#ifdef MODULE_MMA8652
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extern void auto_init_mma8652(void);
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auto_init_mma8652();
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#endif
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#endif /* MODULE_AUTO_INIT_SAUL */
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}

‎sys/auto_init/saul/auto_init_mma8652.c

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/*
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* Copyright (C) 2016 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*
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*/
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/**
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* @ingroup auto_init_saul
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* @{
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*
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* @file
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* @brief Auto initialization of MMA8652 accelerometer
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*
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* @author Cenk Gündoğan <mail@cgundogan.de>
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*
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* @}
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*/
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#ifdef MODULE_MMA8652
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#include "saul_reg.h"
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#include "mma8652.h"
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#include "mma8652_params.h"
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#define ENABLE_DEBUG (0)
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#include "debug.h"
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/**
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* @brief Define the number of configured sensors
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*/
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#define MMA8652_NUM (sizeof(mma8652_params)/sizeof(mma8652_params[0]))
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/**
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* @brief Allocate memory for the device descriptors
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*/
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static mma8652_t mma8652_devs[MMA8652_NUM];
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/**
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* @brief Memory for the SAUL registry entries
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*/
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static saul_reg_t saul_entries[MMA8652_NUM];
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/**
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* @brief Reference the driver struct
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* @{
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*/
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extern saul_driver_t mma8652_saul_driver;
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/** @} */
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void auto_init_mma8652(void)
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{
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for (int i = 0; i < MMA8652_NUM; i++) {
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const mma8652_params_t *p = &mma8652_params[i];
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DEBUG("[auto_init_saul] initializing mma8652 acc sensor\n");
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if (mma8652_init(&mma8652_devs[i], p->i2c, p->addr, p->rate, p->scale) < 0) {
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DEBUG("[auto_init_saul] error during initialization\n");
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return;
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}
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if (mma8652_set_active(&mma8652_devs[i]) < 0) {
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DEBUG("[auto_init_saul] error activating mma8652\n");
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return;
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}
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saul_entries[i].dev = &(mma8652_devs[i]);
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saul_entries[i].name = mma8652_saul_info[i].name;
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saul_entries[i].driver = &mma8652_saul_driver;
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saul_reg_add(&(saul_entries[i]));
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}
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}
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#else
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typedef int dont_be_pedantic;
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#endif /* MODULE_MMA8652 */

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