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https://github.com/RIOT-OS/RIOT.git
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drivers: added S(ensor) A(ctuator) U(ber) L(ayer)
This commit is contained in:
Hauke Petersen
parent
786895a378
commit
0390561e06
@ -19,6 +19,8 @@ PSEUDOMODULES += newlib
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PSEUDOMODULES += pktqueue
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PSEUDOMODULES += schedstatistics
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PSEUDOMODULES += netif
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PSEUDOMODULES += saul_default
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PSEUDOMODULES += saul_gpio
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# include variants of the AT86RF2xx drivers as pseudo modules
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PSEUDOMODULES += at86rf23%
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157
drivers/include/saul.h
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157
drivers/include/saul.h
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@ -0,0 +1,157 @@
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/*
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* Copyright (C) 2015 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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* @defgroup drivers_saul [S]ensor [A]ctuator [U]ber [L]ayer
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* @ingroup drivers
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* @brief Generic sensor/actuator abstraction layer for RIOT
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*
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* SAUL is a generic actuator/sensor interface in RIOT. Its purpose is to
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* enable unified interaction with a wide range of sensors and actuators through
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* a set of defined access functions and a common data structure.
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*
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* Each device driver implementing this interface has to expose a set of
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* predefined functions and it has to register itself to the central SAUL
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* registry. From here devices can be found, listed, and accessed.
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*
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* Each device has further to expose a name and its type. This information can
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* be used for automated searching and matching of devices (e.g. connect light
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* sensor automatically with the color of an RGB LED...).
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*
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* The SAUL module enables further the automated initialization of preconfigured
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* actuators/sensor via auto_init and the access to all available devices via
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* one unified shell command.
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*
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* @todo So far, the interface only supports simple read and set
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* operations. It probably needs to be extended to handling events,
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* thresholds, and so on.
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*
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* @{
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*
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* @file
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* @brief Definition of the generic [S]ensor [A]ctuator [U]ber [L]ayer
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*/
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#ifndef SAUL_H
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#define SAUL_H
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#include <stdint.h>
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#include "phydat.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 Definition of device classes
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*
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* This list contains a collections of available device classes. Each device
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* must be part of one, but can be part of multiple of these classes. When
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* belonging to more than one class, a device must however expose one driver
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* for each class it belongs to, and it has to register each driver with a
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* separate entry at the SAUL registry.
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*
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* Classes are identified by 8-bit unsigned integers.
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*
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* For searching and filtering purposes, the device classes are further split
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* into two top-level classes: sensors and actuators. For identification, all
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* actuator classes start with 0b01xxxxxx, all sensor classes start with
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* 0b10xxxxxx.
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*
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* This list is not exhaustive, extend to your needs!
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*/
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enum {
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SAUL_CLASS_UNDEF = 0x00, /**< device class undefined */
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SAUL_ACT_ANY = 0x40, /**< any actuator - wildcard */
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SAUL_ACT_LED_RGB = 0x42, /**< actuator: RGB LED */
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SAUL_ACT_SERVO = 0x43, /**< actuator: servo motor */
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SAUL_ACT_MOTOR = 0x44, /**< actuator: motor */
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SAUL_ACT_SWITCH = 0x45, /**< actuator: simple on/off switch */
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SAUL_ACT_DIMMER = 0x46, /**< actuator: dimmable switch */
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SAUL_SENSE_ANY = 0x80, /**< any sensor - wildcart */
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SAUL_SENSE_BTN = 0x81, /**< sensor: simple button */
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SAUL_SENSE_TEMP = 0x82, /**< sensor: temperature */
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SAUL_SENSE_HUM = 0x83, /**< sensor: humidity */
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SAUL_SENSE_LIGHT = 0x84, /**< sensor: light */
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SAUL_SENSE_ACCEL = 0x85, /**< sensor: accelerometer */
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SAUL_SENSE_MAG = 0x86, /**< sensor: magnetometer */
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SAUL_SENSE_GYRO = 0x87, /**< sensor: gyroscope */
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SAUL_SENSE_COLOR = 0x88, /**< sensor: (light) color */
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SAUL_SENSE_PRESS = 0x89, /**< sensor: pressure */
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SAUL_SENSE_ANALOG = 0x8a, /**< sensor: raw analog value */
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SAUL_CLASS_ANY = 0xff /**< any device - wildcard */
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/* extend this list as needed... */
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};
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/**
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* @brief Read a value (a set of values) from a device
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*
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* Simple sensors, as e.g. a temperature sensor, will return exactly one value
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* together with the values scale and unit. Some sensors might return a touple
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* or triple of data (e.g. a 3-axis accelerometer).
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*
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* Actuators can chose to either just return -ENOTSUP or to return their current
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* set value (e.g. useful for reading back the current state of a switch)
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*
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* @param[in] dev device descriptor of the target device
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* @param[out] res data read from the device
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*
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* @return number of values written into to result data structure [1-3]
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* @return -ENOTSUP if the device does not support this operation
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* @return -ECANCELED on other errors
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*/
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typedef int(*saul_read_t)(void *dev, phydat_t *res);
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/**
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* @brief Write a value (a set of values) to a device
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*
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* Most sensors will probably just return -ENOTSUP, as writing values to a
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* sensor is often without purpose. The interface can however be used to
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* configure sensors, e.g. to switch a sensor's unit type by writing the
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* newly selected type to it.
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*
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* For actuators this function is used to influence the actuators state, e.g.
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* switching a switch or setting the speed of a motor.
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*
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* @param[in] dev device descriptor of the target device
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* @param[in] data data to write to the device
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*
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* @return number of values actually processed by the device [1-3]
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* @return -ENOTSUP if the device does not support this operation
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* @return -ECANCELED on other errors
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*/
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typedef int(*saul_write_t)(void *dev, phydat_t *data);
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/**
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* @brief Definition of the RIOT actuator/sensor interface
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*/
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typedef struct {
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saul_read_t read; /**< read function pointer */
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saul_write_t write; /**< write function pointer */
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uint8_t type; /**< device class the device belongs to */
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} saul_driver_t;
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/**
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* @brief Helper function converts a class ID to a string
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*
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* @param[in] class_id device class ID
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*
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* @return string representation of the device class
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* @return NULL if class ID is not known
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*/
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const char *saul_class_to_str(uint8_t class_id);
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#ifdef __cplusplus
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}
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#endif
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#endif /* SAUL_H */
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/** @} */
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42
drivers/include/saul/periph.h
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42
drivers/include/saul/periph.h
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/*
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* Copyright (C) 2015 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 drivers_saul
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* @{
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*
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* @file
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* @brief Parameter definitions for mapping peripherals directly to SAUL
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*/
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#ifndef SAUL_PERIPH_H
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#define SAUL_PERIPH_H
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#include "periph/gpio.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 Direct mapped GPIO configuration values
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*/
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typedef struct {
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const char *name; /**< name of the device connected to this pin */
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gpio_t pin; /**< GPIO pin to initialize and expose */
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gpio_dir_t dir; /**< use GPIO as input or output */
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} saul_gpio_params_t;
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#ifdef __cplusplus
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}
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#endif
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#endif /* SAUL_PERIPH_H */
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/** @} */
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7
drivers/saul/Makefile
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7
drivers/saul/Makefile
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SRC = saul_str.c
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ifneq (,$(filter saul_gpio,$(USEMODULE)))
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SRC += gpio_saul.c
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endif
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include $(RIOTBASE)/Makefile.base
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49
drivers/saul/gpio_saul.c
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49
drivers/saul/gpio_saul.c
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/*
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* Copyright (C) 2015 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 drivers_saul
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* @{
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*
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* @file
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* @brief SAUL wrapper for direct access to GPIO pins
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.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 "saul.h"
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#include "phydat.h"
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#include "periph/gpio.h"
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static int read(void *dev, phydat_t *res)
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{
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gpio_t pin = *((gpio_t *)dev);
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res->val[0] = (gpio_read(pin)) ? 1 : 0;
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memset(&(res->val[1]), 0, 2 * sizeof(int16_t));
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res->unit = UNIT_BOOL;
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res->scale = 0;
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return 1;
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}
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static int write(void *dev, phydat_t *state)
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{
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gpio_t pin = *((gpio_t *)dev);
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gpio_write(pin, state->val[0]);
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return 1;
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}
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const saul_driver_t gpio_saul_driver = {
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.read = read,
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.write = write,
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.type = SAUL_ACT_SWITCH,
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};
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52
drivers/saul/saul_str.c
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52
drivers/saul/saul_str.c
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/*
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* Copyright (C) 2015 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 drivers_saul
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* @{
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*
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* @file
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* @brief SAUL string functions
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*
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* @}
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*/
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#include <stdint.h>
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#include "saul.h"
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/*
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* This is surely not the most beautiful implementation of a stringification
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* function, but works...
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*/
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const char *saul_class_to_str(uint8_t class_id)
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{
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switch (class_id) {
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case SAUL_CLASS_UNDEF: return "CLASS_UNDEF";
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case SAUL_ACT_ANY: return "ACT_ANY";
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case SAUL_ACT_LED_RGB: return "ACT_LED_RGB";
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case SAUL_ACT_SERVO: return "ACT_SERVO";
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case SAUL_ACT_MOTOR: return "ACT_MOTOR";
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case SAUL_ACT_SWITCH: return "ACT_SWITCH";
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case SAUL_ACT_DIMMER: return "ACT_DIMMER";
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case SAUL_SENSE_ANY: return "SENSE_ANY";
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case SAUL_SENSE_BTN: return "SENSE_BTN";
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case SAUL_SENSE_TEMP: return "SENSE_TEMP";
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case SAUL_SENSE_HUM: return "SENSE_HUM";
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case SAUL_SENSE_LIGHT: return "SENSE_LIGHT";
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case SAUL_SENSE_ACCEL: return "SENSE_ACCEL";
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case SAUL_SENSE_MAG: return "SENSE_MAG";
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case SAUL_SENSE_GYRO: return "SENSE_GYRO";
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case SAUL_SENSE_COLOR: return "SENSE_COLOR";
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case SAUL_SENSE_PRESS: return "SENSE_PRESS";
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case SAUL_CLASS_ANY: return "CLASS_ANY";
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default: return "CLASS_UNKNOWN";
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}
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}
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