drivers/saul: add ST L3Gxxxx 3-axis gyroscope family

drivers/l3gxxxx/l3gxxxx_saul.c

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2018 Gunar Schorcht
+ *
+ * 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_l3gxxxx
+ * @brief       L3Gxxxx adaption to the RIOT actuator/sensor interface
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "l3gxxxx.h"
+
+static int read(const void *dev, phydat_t *res)
+{
+    l3gxxxx_data_t data;
+    int ret = l3gxxxx_read((const l3gxxxx_t *)dev, &data);
+    if (ret < 0) {
+        return -ECANCELED;
+    }
+
+    res->val[0] = data.x / 100;
+    res->val[1] = data.y / 100;
+    res->val[2] = data.z / 100;
+    res->unit = UNIT_DPS;
+    res->scale = -1;
+
+    return 3;
+}
+
+const saul_driver_t l3gxxxx_saul_driver = {
+    .read = read,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_GYRO,
+};

drivers/saul/init_devs/auto_init_l3gxxxx.c

@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2018 Gunar Schorcht
+ *
+ * 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     sys_auto_init_saul
+ * @brief       Auto initialization of ST L3Gxxxx 3-axis gyroscope sensor
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ */
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+
+#include "l3gxxxx.h"
+#include "l3gxxxx_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define L3GXXXX_NUM         ARRAY_SIZE(l3gxxxx_params)
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static l3gxxxx_t l3gxxxx_devs[L3GXXXX_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[L3GXXXX_NUM];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define L3GXXXX_INFO_NUM    ARRAY_SIZE(l3gxxxx_saul_info)
+
+/**
+ * @brief   Reference the driver struct
+ */
+extern saul_driver_t l3gxxxx_saul_driver;
+
+void auto_init_l3gxxxx(void)
+{
+    assert(L3GXXXX_NUM == L3GXXXX_INFO_NUM);
+
+    for (unsigned int i = 0; i < L3GXXXX_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing l3gd20h #%u\n", i);
+
+        if (l3gxxxx_init(&l3gxxxx_devs[i], &l3gxxxx_params[i]) < 0) {
+            LOG_ERROR("[auto_init_saul] error initializing l3gd20h #%u\n", i);
+            continue;
+        }
+
+        saul_entries[i].dev = &(l3gxxxx_devs[i]);
+        saul_entries[i].name = l3gxxxx_saul_info[i].name;
+        saul_entries[i].driver = &l3gxxxx_saul_driver;
+        saul_reg_add(&(saul_entries[i]));
+    }
+}

drivers/saul/init_devs/init.c

@@ -163,6 +163,10 @@ void saul_init_devs(void)
         extern void auto_init_l3g4200d(void);
         auto_init_l3g4200d();
     }
+    if (IS_USED(MODULE_L3GXXXX)) {
+        extern void auto_init_l3gxxxx(void);
+        auto_init_l3gxxxx();
+    }
     if (IS_USED(MODULE_LIS2DH12)) {
         extern void auto_init_lis2dh12(void);
         auto_init_lis2dh12();