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https://github.com/RIOT-OS/RIOT.git
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16f859dafd
This makes life easier when calling e.g. `saul_reg_write()` with data stored in flash. As now the signatures for reading and writing differ (in that `const` qualifier only), `saul_notsup()` is split into `saul_write_notsup()` and `saul_read_notsup()`. However, one is implemented as a symbol alias of the other, so that ROM consumption remains unchanged.
84 lines
1.7 KiB
C
84 lines
1.7 KiB
C
/*
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* Copyright (C) 2017 Inria
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* 2019 HAW Hamburg
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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_mpu9x50
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* @{
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*
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* @file
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* @brief MPU9X50 adaption to the RIOT actuator/sensor interface
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*
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* @author Alexandre Abadie <alexandre.abadie@inria.fr>
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* @author Jannes Volkens <jannes.volkens@haw-hamburg.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 "mpu9x50.h"
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static int read_acc(const void *dev, phydat_t *res)
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{
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int ret = mpu9x50_read_accel((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
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if (ret < 0) {
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return -ECANCELED;
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}
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res->scale = -3;
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res->unit = UNIT_G;
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return 3;
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}
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static int read_gyro(const void *dev, phydat_t *res)
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{
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int ret = mpu9x50_read_gyro((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
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if (ret < 0) {
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return -ECANCELED;
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}
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res->scale = -1;
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res->unit = UNIT_DPS;
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return 3;
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}
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static int read_mag(const void *dev, phydat_t *res)
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{
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int ret = mpu9x50_read_compass((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
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if (ret < 0) {
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return -ECANCELED;
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}
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res->scale = -2;
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res->unit = UNIT_GS;
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return 3;
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}
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const saul_driver_t mpu9x50_saul_acc_driver = {
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.read = read_acc,
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.write = saul_write_notsup,
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.type = SAUL_SENSE_ACCEL,
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};
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const saul_driver_t mpu9x50_saul_gyro_driver = {
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.read = read_gyro,
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.write = saul_write_notsup,
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.type = SAUL_SENSE_GYRO,
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};
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const saul_driver_t mpu9x50_saul_mag_driver = {
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.read = read_mag,
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.write = saul_write_notsup,
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.type = SAUL_SENSE_MAG,
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};
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