drivers/sps30: add saul integration

drivers/include/sps30.h

@@ -9,6 +9,7 @@
 /**
  * @defgroup    drivers_sps30 Sensirion SPS30 Particulate Matter Sensor
  * @ingroup     drivers_sensors
+ * @ingroup     drivers_saul
  *
  * About
  * =====

drivers/sps30/include/sps30_params.h

@@ -19,6 +19,7 @@
 
 #include "board.h"
 #include "sps30.h"
+#include "saul_reg.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -31,7 +32,6 @@ extern "C" {
 #ifndef SPS30_PARAM_I2C_DEV
 #define SPS30_PARAM_I2C_DEV  (I2C_DEV(0))
 #endif
-
 #ifndef SPS30_PARAMS
 #define SPS30_PARAMS         { .i2c_dev  = SPS30_PARAM_I2C_DEV }
 #endif
@@ -53,6 +53,19 @@ static const sps30_params_t sps30_params[] =
  */
 #define SPS30_NUM               ARRAY_SIZE(sps30_params)
 
+/**
+ * @brief   Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t sps30_saul_info[] =
+{
+    SPS30_SAUL_INFO
+};
+
+/**
+ * @brief   Number of saul info structs
+ */
+#define SPS30_INFO_NUM ARRAY_SIZE(sps30_saul_info)
+
 #ifdef __cplusplus
 }
 #endif

drivers/sps30/sps30_saul.c

@@ -0,0 +1,185 @@
+/*
+ * Copyright (C) 2020 HAW Hamburg
+ *
+ * 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_sps30
+ * @brief       SAUL adaption for Sensirion SPS30 sensor
+ * @author      Michel Rottleuthner <michel.rottleuthner@haw-hamburg.de>
+ * @file
+ */
+
+#include <errno.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "phydat.h"
+#include "saul.h"
+#include "sps30.h"
+#include "sps30_params.h"
+
+/**
+ * @brief   Mapping of sensor values to logical SAUL instances
+ */
+#define SPS30_SAUL_VAL_IDX_MC_PM_1_2P5_4      (0)
+#define SPS30_SAUL_VAL_IDX_MC_PM_10           (1)
+#define SPS30_SAUL_VAL_IDX_NC_PM_0P5_1_2P5    (2)
+#define SPS30_SAUL_VAL_IDX_NC_PM_4_10         (3)
+#define SPS30_SAUL_VAL_IDX_PS                 (4)
+
+/**
+ * @brief   Number of logical saul devices per physical sensor
+ */
+#define SPS30_SAUL_DEV_NUM                    (SPS30_SAUL_VAL_IDX_PS + 1)
+
+extern sps30_t sps30_devs[SPS30_NUM];
+
+/* contains a temporary copy of all sensor readings to allow returning all
+ * values as one consistent group over multiple read calls */
+static sps30_data_t _readings[SPS30_NUM];
+static bool _valid[SPS30_NUM][SPS30_SAUL_DEV_NUM] = { {false} };
+
+static unsigned _dev2index (const sps30_t *dev)
+{
+    for (unsigned i = 0; i < SPS30_NUM; i++) {
+        if (dev == &sps30_devs[i]) {
+            return i;
+        }
+    }
+    return SPS30_NUM;
+}
+
+static void _float_fit(float *src, phydat_t *data, size_t dim, uint32_t mul)
+{
+    int32_t i32[dim];
+
+    for (unsigned i = 0; i < dim; i++) {
+        i32[i] = src[i] * mul;
+    }
+
+    data->scale = 0;
+    phydat_fit(data, &i32[0], dim);
+}
+
+static int read(const void *dev, phydat_t *data, unsigned int val_idx)
+{
+    /* find the device index */
+    unsigned dev_idx = _dev2index((sps30_t*)dev);
+
+    if (dev_idx == SPS30_NUM) {
+        return -ECANCELED;
+    }
+
+    /* if data isn't valid form the last reading anymore, read again */
+    if (!_valid[dev_idx][val_idx]) {
+        int error_state = SPS30_OK;
+        while (!sps30_data_ready(&sps30_devs[dev_idx], &error_state)) {
+            if (error_state != SPS30_OK) {
+                return -ECANCELED;
+            }
+        }
+        if (!(sps30_read_measurement(&sps30_devs[dev_idx],
+                                     &_readings[dev_idx]) == SPS30_OK)) {
+            /* failure on read may corrupt _readings -> mark invalid */
+            for (unsigned i = 0; i < SPS30_SAUL_DEV_NUM; i++) {
+                _valid[dev_idx][i] = false;
+            }
+            return -ECANCELED;
+        }
+        for (unsigned i = 0; i < SPS30_SAUL_DEV_NUM; i++) {
+            _valid[dev_idx][i] = true;
+        }
+    }
+
+    /* mark read values as invalid */
+    _valid[dev_idx][val_idx] = false;
+
+    switch (val_idx) {
+        case SPS30_SAUL_VAL_IDX_MC_PM_1_2P5_4:
+            _float_fit(&_readings[dev_idx].mc_pm1, data, 3, 1000);
+            data->unit = UNIT_GPM3;
+            data->scale -= 9; /* fitted [ng/m^3] but unit is [g/m^3] */
+            return 3;
+        case SPS30_SAUL_VAL_IDX_MC_PM_10:
+            _float_fit(&_readings[dev_idx].mc_pm10, data, 1, 1000);
+            data->unit = UNIT_GPM3;
+            data->scale = -9; /* fitted [ng/m^3] but unit is [g/m^3] */
+            return 1;
+        case SPS30_SAUL_VAL_IDX_NC_PM_0P5_1_2P5:
+            _float_fit(&_readings[dev_idx].nc_pm0_5, data, 3, 1000);
+            data->unit = UNIT_CPM3;
+            data->scale = 3; /* fitted [#/dm^3] but unit is [#/m^3] */
+            return 3;
+        case SPS30_SAUL_VAL_IDX_NC_PM_4_10:
+            _float_fit(&_readings[dev_idx].nc_pm4, data, 2, 1000);
+            data->unit = UNIT_CPM3;
+            data->scale = 3; /* fitted [#/dm^3] but unit is [#/m^3] */
+            return 2;
+        case SPS30_SAUL_VAL_IDX_PS:
+            _float_fit(&_readings[dev_idx].ps, data, 1, 1000);
+            data->unit = UNIT_M;
+            data->scale -= 9; /* fitted [nm] but unit is [m] */
+            return 1;
+    }
+
+    return -ECANCELED;
+}
+
+static int read_mc_pm_1_2p5_4(const void *dev, phydat_t *data)
+{
+    return read(dev, data, SPS30_SAUL_VAL_IDX_MC_PM_1_2P5_4);
+}
+
+static int read_mc_pm_10(const void *dev, phydat_t *data)
+{
+    return read(dev, data, SPS30_SAUL_VAL_IDX_MC_PM_10);
+}
+
+static int read_nc_pm_0p5_1_2p5(const void *dev, phydat_t *data)
+{
+    return read(dev, data, SPS30_SAUL_VAL_IDX_NC_PM_0P5_1_2P5);
+}
+
+static int read_nc_pm_4_10(const void *dev, phydat_t *data)
+{
+    return read(dev, data, SPS30_SAUL_VAL_IDX_NC_PM_4_10);
+}
+
+static int read_ps(const void *dev, phydat_t *data)
+{
+    return read(dev, data, SPS30_SAUL_VAL_IDX_PS);
+}
+
+const saul_driver_t sps30_saul_driver_mc_pm_1_2p5_4 = {
+    .read = read_mc_pm_1_2p5_4,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_PM
+};
+
+const saul_driver_t sps30_saul_driver_mc_pm_10 = {
+    .read = read_mc_pm_10,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_PM
+};
+
+const saul_driver_t sps30_saul_driver_nc_pm_0p5_1_2p5 = {
+    .read = read_nc_pm_0p5_1_2p5,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_COUNT
+};
+
+const saul_driver_t sps30_saul_driver_nc_pm_4_10 = {
+    .read = read_nc_pm_4_10,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_COUNT
+};
+
+const saul_driver_t sps30_saul_driver_ps = {
+    .read = read_ps,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_SIZE
+};

sys/auto_init/auto_init.c

@@ -563,6 +563,10 @@ void auto_init(void)
     extern void auto_init_si70xx(void);
     auto_init_si70xx();
 #endif
+#ifdef MODULE_SPS30
+    extern void auto_init_sps30(void);
+    auto_init_sps30();
+#endif
 #ifdef MODULE_TCS37727
     extern void auto_init_tcs37727(void);
     auto_init_tcs37727();

sys/auto_init/saul/auto_init_sps30.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2020 HAW Hamburg
+ *
+ * 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 Sensirion SPS30 device driver
+ * @author      Michel Rottleuthner <michel.rottleuthner@haw-hamburg.de>
+ * @file
+ */
+
+#ifdef MODULE_SPS30
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "sps30.h"
+#include "sps30_params.h"
+
+/**
+ * @brief   Number of logical saul devices per physical sensor
+ */
+#define SPS30_SAUL_DEV_NUM      (5)
+
+/**
+ * @brief   Allocation of memory for device descriptors
+ */
+sps30_t sps30_devs[SPS30_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[SPS30_NUM * SPS30_SAUL_DEV_NUM];
+
+/**
+ * @name    Reference the driver structs.
+ * @{
+ */
+extern const saul_driver_t sps30_saul_driver_mc_pm_1_2p5_4;
+extern const saul_driver_t sps30_saul_driver_mc_pm_10;
+extern const saul_driver_t sps30_saul_driver_nc_pm_0p5_1_2p5;
+extern const saul_driver_t sps30_saul_driver_nc_pm_4_10;
+extern const saul_driver_t sps30_saul_driver_ps;
+/** @} */
+
+void auto_init_sps30(void)
+{
+    assert(SPS30_INFO_NUM == SPS30_NUM);
+
+    for (unsigned i = 0; i < SPS30_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing sps30 #%u\n", i);
+
+        if (sps30_init(&sps30_devs[i],
+                       &sps30_params[i]) != SPS30_OK) {
+            LOG_ERROR("[auto_init_saul] error initializing sps30 #%u\n", i);
+            continue;
+        }
+
+        saul_entries[i * 5].driver = &sps30_saul_driver_mc_pm_1_2p5_4;
+        saul_entries[i * 5 + 1].driver = &sps30_saul_driver_mc_pm_10;
+        saul_entries[i * 5 + 2].driver = &sps30_saul_driver_nc_pm_0p5_1_2p5;
+        saul_entries[i * 5 + 3].driver = &sps30_saul_driver_nc_pm_4_10;
+        saul_entries[i * 5 + 4].driver = &sps30_saul_driver_ps;
+
+        /* the physical device is the same for all logical SAUL instances */
+        for (unsigned x = 0; x < SPS30_SAUL_DEV_NUM; x++) {
+            saul_entries[i * 5 + x].dev = &(sps30_devs[i]);
+            saul_entries[i * 5 + x].name = sps30_saul_info[i].name;
+            saul_reg_add(&saul_entries[i * 5 + x]);
+        }
+    }
+}
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_SPS30 */