drivers/vl6180x: add SAUL integration

drivers/saul/init_devs/auto_init_vl6180x.c

@@ -0,0 +1,78 @@
+/*
+ * 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_vl6180x
+ * @ingroup     sys_auto_init_saul
+ * @brief       Auto initialization of ST VL6180X Ranging and Ambient Light Sensor
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ */
+
+#ifdef MODULE_VL6180X
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "vl6180x.h"
+#include "vl6180x_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define VL6180X_NUM    ARRAY_SIZE(vl6180x_params)
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static vl6180x_t vl6180x_devs[VL6180X_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[VL6180X_NUM * 2];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define VL6180X_INFO_NUM ARRAY_SIZE(vl6180x_saul_info)
+
+/**
+ * @brief   Reference the driver structs
+ */
+extern saul_driver_t vl6180x_saul_als_driver;
+extern saul_driver_t vl6180x_saul_rng_driver;
+
+void auto_init_vl6180x(void)
+{
+    assert(VL6180X_INFO_NUM == VL6180X_NUM);
+
+    for (unsigned i = 0; i < VL6180X_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing vl6180x #%u\n", i);
+
+        if (vl6180x_init(&vl6180x_devs[i], &vl6180x_params[i]) != VL6180X_OK) {
+            LOG_ERROR("[auto_init_saul] error initializing vl6180x #%u\n", i);
+            continue;
+        }
+
+        saul_entries[(i * 2)].dev = &(vl6180x_devs[i]);
+        saul_entries[(i * 2)].name = vl6180x_saul_info[i].name;
+        saul_entries[(i * 2)].driver = &vl6180x_saul_als_driver;
+        saul_reg_add(&(saul_entries[(i * 2)]));
+
+        saul_entries[(i * 2) + 1].dev = &(vl6180x_devs[i]);
+        saul_entries[(i * 2) + 1].name = vl6180x_saul_info[i].name;
+        saul_entries[(i * 2) + 1].driver = &vl6180x_saul_rng_driver;
+        saul_reg_add(&(saul_entries[(i * 2) + 1]));
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_VL6180X */

drivers/saul/init_devs/init.c

@@ -335,4 +335,8 @@ void saul_init_devs(void)
         extern void auto_init_veml6070(void);
         auto_init_veml6070();
     }
+    if (IS_USED(MODULE_VL6180X)) {
+        extern void auto_init_vl6180x(void);
+        auto_init_vl6180x();
+    }
 }

drivers/vl6180x/vl6180x_saul.c

@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2021 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_vl6180x
+ * @brief       VL6180X adaption to the RIOT actuator/sensor interface
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "vl6180x.h"
+
+#if IS_USED(MODULE_VL6180X_ALS)
+
+static int read_als(const void *dev, phydat_t *res)
+{
+    if (vl6180x_als_data_ready((vl6180x_t*)dev) == VL6180X_OK &&
+        vl6180x_als_read((vl6180x_t*)dev, NULL,
+                         (uint16_t*)&res->val[0]) == VL6180X_OK) {
+        res->unit = UNIT_LUX;
+        res->scale = 0;
+        return 1;
+    }
+    return -ECANCELED;
+}
+
+const saul_driver_t vl6180x_saul_als_driver = {
+    .read = read_als,
+    .write = saul_write_notsup,
+    .type = SAUL_SENSE_LIGHT,
+};
+
+#endif /* IS_USED(MODULE_VL6180X_ALS) */
+
+#if IS_USED(MODULE_VL6180X_RNG)
+
+static int read_rng(const void *dev, phydat_t *res)
+{
+    uint8_t mm;
+    if (vl6180x_rng_data_ready((vl6180x_t*)dev) == VL6180X_OK) {
+        vl6180x_rng_read((vl6180x_t*)dev, &mm);
+        res->val[0] = mm;
+        res->unit = UNIT_M;
+        res->scale = -3;
+        return 1;
+    }
+    return -ECANCELED;
+}
+
+const saul_driver_t vl6180x_saul_rng_driver = {
+    .read = read_rng,
+    .write = saul_write_notsup,
+    .type = SAUL_SENSE_DISTANCE,
+};
+
+#endif /* IS_USED(MODULE_VL6180X_RNG) */