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drivers: added S(ensor) A(ctuator) U(ber) L(ayer)

cc430
Hauke Petersen 7 years ago
parent
commit
0390561e06
  1. 2
      Makefile.pseudomodules
  2. 157
      drivers/include/saul.h
  3. 42
      drivers/include/saul/periph.h
  4. 7
      drivers/saul/Makefile
  5. 49
      drivers/saul/gpio_saul.c
  6. 52
      drivers/saul/saul_str.c

2
Makefile.pseudomodules

@ -19,6 +19,8 @@ PSEUDOMODULES += newlib
PSEUDOMODULES += pktqueue
PSEUDOMODULES += schedstatistics
PSEUDOMODULES += netif
PSEUDOMODULES += saul_default
PSEUDOMODULES += saul_gpio
# include variants of the AT86RF2xx drivers as pseudo modules
PSEUDOMODULES += at86rf23%

157
drivers/include/saul.h

@ -0,0 +1,157 @@
/*
* 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.
*/
/**
* @defgroup drivers_saul [S]ensor [A]ctuator [U]ber [L]ayer
* @ingroup drivers
* @brief Generic sensor/actuator abstraction layer for RIOT
*
* SAUL is a generic actuator/sensor interface in RIOT. Its purpose is to
* enable unified interaction with a wide range of sensors and actuators through
* a set of defined access functions and a common data structure.
*
* Each device driver implementing this interface has to expose a set of
* predefined functions and it has to register itself to the central SAUL
* registry. From here devices can be found, listed, and accessed.
*
* Each device has further to expose a name and its type. This information can
* be used for automated searching and matching of devices (e.g. connect light
* sensor automatically with the color of an RGB LED...).
*
* The SAUL module enables further the automated initialization of preconfigured
* actuators/sensor via auto_init and the access to all available devices via
* one unified shell command.
*
* @todo So far, the interface only supports simple read and set
* operations. It probably needs to be extended to handling events,
* thresholds, and so on.
*
* @{
*
* @file
* @brief Definition of the generic [S]ensor [A]ctuator [U]ber [L]ayer
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef SAUL_H
#define SAUL_H
#include <stdint.h>
#include "phydat.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Definition of device classes
*
* This list contains a collections of available device classes. Each device
* must be part of one, but can be part of multiple of these classes. When
* belonging to more than one class, a device must however expose one driver
* for each class it belongs to, and it has to register each driver with a
* separate entry at the SAUL registry.
*
* Classes are identified by 8-bit unsigned integers.
*
* For searching and filtering purposes, the device classes are further split
* into two top-level classes: sensors and actuators. For identification, all
* actuator classes start with 0b01xxxxxx, all sensor classes start with
* 0b10xxxxxx.
*
* This list is not exhaustive, extend to your needs!
*/
enum {
SAUL_CLASS_UNDEF = 0x00, /**< device class undefined */
SAUL_ACT_ANY = 0x40, /**< any actuator - wildcard */
SAUL_ACT_LED_RGB = 0x42, /**< actuator: RGB LED */
SAUL_ACT_SERVO = 0x43, /**< actuator: servo motor */
SAUL_ACT_MOTOR = 0x44, /**< actuator: motor */
SAUL_ACT_SWITCH = 0x45, /**< actuator: simple on/off switch */
SAUL_ACT_DIMMER = 0x46, /**< actuator: dimmable switch */
SAUL_SENSE_ANY = 0x80, /**< any sensor - wildcart */
SAUL_SENSE_BTN = 0x81, /**< sensor: simple button */
SAUL_SENSE_TEMP = 0x82, /**< sensor: temperature */
SAUL_SENSE_HUM = 0x83, /**< sensor: humidity */
SAUL_SENSE_LIGHT = 0x84, /**< sensor: light */
SAUL_SENSE_ACCEL = 0x85, /**< sensor: accelerometer */
SAUL_SENSE_MAG = 0x86, /**< sensor: magnetometer */
SAUL_SENSE_GYRO = 0x87, /**< sensor: gyroscope */
SAUL_SENSE_COLOR = 0x88, /**< sensor: (light) color */
SAUL_SENSE_PRESS = 0x89, /**< sensor: pressure */
SAUL_SENSE_ANALOG = 0x8a, /**< sensor: raw analog value */
SAUL_CLASS_ANY = 0xff /**< any device - wildcard */
/* extend this list as needed... */
};
/**
* @brief Read a value (a set of values) from a device
*
* Simple sensors, as e.g. a temperature sensor, will return exactly one value
* together with the values scale and unit. Some sensors might return a touple
* or triple of data (e.g. a 3-axis accelerometer).
*
* Actuators can chose to either just return -ENOTSUP or to return their current
* set value (e.g. useful for reading back the current state of a switch)
*
* @param[in] dev device descriptor of the target device
* @param[out] res data read from the device
*
* @return number of values written into to result data structure [1-3]
* @return -ENOTSUP if the device does not support this operation
* @return -ECANCELED on other errors
*/
typedef int(*saul_read_t)(void *dev, phydat_t *res);
/**
* @brief Write a value (a set of values) to a device
*
* Most sensors will probably just return -ENOTSUP, as writing values to a
* sensor is often without purpose. The interface can however be used to
* configure sensors, e.g. to switch a sensor's unit type by writing the
* newly selected type to it.
*
* For actuators this function is used to influence the actuators state, e.g.
* switching a switch or setting the speed of a motor.
*
* @param[in] dev device descriptor of the target device
* @param[in] data data to write to the device
*
* @return number of values actually processed by the device [1-3]
* @return -ENOTSUP if the device does not support this operation
* @return -ECANCELED on other errors
*/
typedef int(*saul_write_t)(void *dev, phydat_t *data);
/**
* @brief Definition of the RIOT actuator/sensor interface
*/
typedef struct {
saul_read_t read; /**< read function pointer */
saul_write_t write; /**< write function pointer */
uint8_t type; /**< device class the device belongs to */
} saul_driver_t;
/**
* @brief Helper function converts a class ID to a string
*
* @param[in] class_id device class ID
*
* @return string representation of the device class
* @return NULL if class ID is not known
*/
const char *saul_class_to_str(uint8_t class_id);
#ifdef __cplusplus
}
#endif
#endif /* SAUL_H */
/** @} */

42
drivers/include/saul/periph.h

@ -0,0 +1,42 @@
/*
* 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 drivers_saul
* @{
*
* @file
* @brief Parameter definitions for mapping peripherals directly to SAUL
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef SAUL_PERIPH_H
#define SAUL_PERIPH_H
#include "periph/gpio.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Direct mapped GPIO configuration values
*/
typedef struct {
const char *name; /**< name of the device connected to this pin */
gpio_t pin; /**< GPIO pin to initialize and expose */
gpio_dir_t dir; /**< use GPIO as input or output */
} saul_gpio_params_t;
#ifdef __cplusplus
}
#endif
#endif /* SAUL_PERIPH_H */
/** @} */

7
drivers/saul/Makefile

@ -0,0 +1,7 @@
SRC = saul_str.c
ifneq (,$(filter saul_gpio,$(USEMODULE)))
SRC += gpio_saul.c
endif
include $(RIOTBASE)/Makefile.base

49
drivers/saul/gpio_saul.c

@ -0,0 +1,49 @@
/*
* 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 drivers_saul
* @{
*
* @file
* @brief SAUL wrapper for direct access to GPIO pins
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <string.h>
#include "saul.h"
#include "phydat.h"
#include "periph/gpio.h"
static int read(void *dev, phydat_t *res)
{
gpio_t pin = *((gpio_t *)dev);
res->val[0] = (gpio_read(pin)) ? 1 : 0;
memset(&(res->val[1]), 0, 2 * sizeof(int16_t));
res->unit = UNIT_BOOL;
res->scale = 0;
return 1;
}
static int write(void *dev, phydat_t *state)
{
gpio_t pin = *((gpio_t *)dev);
gpio_write(pin, state->val[0]);
return 1;
}
const saul_driver_t gpio_saul_driver = {
.read = read,
.write = write,
.type = SAUL_ACT_SWITCH,
};

52
drivers/saul/saul_str.c

@ -0,0 +1,52 @@
/*
* 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 drivers_saul
* @{
*
* @file
* @brief SAUL string functions
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdint.h>
#include "saul.h"
/*
* This is surely not the most beautiful implementation of a stringification
* function, but works...
*/
const char *saul_class_to_str(uint8_t class_id)
{
switch (class_id) {
case SAUL_CLASS_UNDEF: return "CLASS_UNDEF";
case SAUL_ACT_ANY: return "ACT_ANY";
case SAUL_ACT_LED_RGB: return "ACT_LED_RGB";
case SAUL_ACT_SERVO: return "ACT_SERVO";
case SAUL_ACT_MOTOR: return "ACT_MOTOR";
case SAUL_ACT_SWITCH: return "ACT_SWITCH";
case SAUL_ACT_DIMMER: return "ACT_DIMMER";
case SAUL_SENSE_ANY: return "SENSE_ANY";
case SAUL_SENSE_BTN: return "SENSE_BTN";
case SAUL_SENSE_TEMP: return "SENSE_TEMP";
case SAUL_SENSE_HUM: return "SENSE_HUM";
case SAUL_SENSE_LIGHT: return "SENSE_LIGHT";
case SAUL_SENSE_ACCEL: return "SENSE_ACCEL";
case SAUL_SENSE_MAG: return "SENSE_MAG";
case SAUL_SENSE_GYRO: return "SENSE_GYRO";
case SAUL_SENSE_COLOR: return "SENSE_COLOR";
case SAUL_SENSE_PRESS: return "SENSE_PRESS";
case SAUL_CLASS_ANY: return "CLASS_ANY";
default: return "CLASS_UNKNOWN";
}
}
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