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83 lines
2.3 KiB
C
83 lines
2.3 KiB
C
/*
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* Copyright (C) 2017 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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/*
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* @ingroup sys_auto_init_saul
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* @{
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*
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* @file
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* @brief Auto initialization of bmx055 9-axis sensors
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*
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* @author Semjon Kerner <semjon.kerner@fu-berlin.de>
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* @}
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*/
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#include "log.h"
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#include "saul_reg.h"
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#include "bmx055.h"
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#include "bmx055_params.h"
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/**
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* @brief Define the number of configured sensors
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*/
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#define BMX055_NUM ARRAY_SIZE(bmx055_params)
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/**
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* @brief Each sensor contains 3 individual i2c modules
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*/
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#define BMX055_SENSOR_NUM (3U)
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/**
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* @brief Allocate memory for the device descriptors
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*/
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static bmx055_t bmx055_devs[BMX055_NUM];
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/**
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* @brief Memory for the SAUL registry entries
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*/
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static saul_reg_t saul_entries[BMX055_NUM * BMX055_SENSOR_NUM];
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/**
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* @brief Reference the driver struct
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*/
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extern saul_driver_t bmx055_magnetometer_saul_driver;
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extern saul_driver_t bmx055_accelerometer_saul_driver;
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extern saul_driver_t bmx055_gyroscope_saul_driver;
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void auto_init_bmx055(void)
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{
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for (unsigned int i = 0; i < BMX055_NUM; i++) {
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LOG_DEBUG("[auto_init_saul] initializing bmx055 #%u\n", i);
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int res = bmx055_init(&bmx055_devs[i], &bmx055_params[i]);
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if (res != BMX055_OK) {
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LOG_ERROR("[auto_init_saul] error initializing bmx055 #%u\n", i);
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continue;
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}
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/* magnetometer */
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saul_entries[(i * 3)].dev = &(bmx055_devs[i]);
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saul_entries[(i * 3)].name = bmx055_saul_info[i][0].name;
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saul_entries[(i * 3)].driver = &bmx055_magnetometer_saul_driver;
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saul_reg_add(&(saul_entries[(i * 3)]));
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/* accelerometer */
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saul_entries[(i * 3) + 1].dev = &(bmx055_devs[i]);
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saul_entries[(i * 3) + 1].name = bmx055_saul_info[i][1].name;
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saul_entries[(i * 3) + 1].driver = &bmx055_accelerometer_saul_driver;
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saul_reg_add(&(saul_entries[(i * 3) + 1]));
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/* gyroscope */
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saul_entries[(i * 3) + 2].dev = &(bmx055_devs[i]);
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saul_entries[(i * 3) + 2].name = bmx055_saul_info[i][2].name;
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saul_entries[(i * 3) + 2].driver = &bmx055_gyroscope_saul_driver;
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saul_reg_add(&(saul_entries[(i * 3) + 2]));
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}
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}
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