drivers/l3g4200d: added SAUL integration

drivers/include/l3g4200d.h

@@ -37,23 +37,12 @@
  */
 #define L3G4200D_DEFAULT_ADDRESS        0x68
 
-/**
- * @brief Device descriptor for L3G4200D sensors
- */
-typedef struct {
-    i2c_t i2c;              /**< I2C device the sensor is connected to */
-    uint8_t addr;           /**< the sensors slave address on the I2C bus */
-    gpio_t int1;            /**< INT1 pin */
-    gpio_t int2;            /**< INT2 (DRDY) pin */
-    int32_t scale;          /**< scaling factor to normalize results */
-} l3g4200d_t;
-
 /**
  * @brief Result vector for gyro measurement
  */
 typedef struct {
     int16_t acc_x;          /**< roll rate in dgs (degree per second) */
-     int16_t acc_y;         /**< pitch rate in dgs */
+    int16_t acc_y;          /**< pitch rate in dgs */
     int16_t acc_z;          /**< yaw rate in dgs */
 } l3g4200d_data_t;
 
@@ -86,6 +75,29 @@ typedef enum {
     L3G4200D_MODE_800_110 = 0xf         /**< data rate: 800Hz, cut-off: 110Hz */
 } l3g4200d_mode_t;
 
+/**
+ * @brief Device descriptor for L3G4200D sensors
+ */
+typedef struct {
+    i2c_t i2c;              /**< I2C device the sensor is connected to */
+    uint8_t addr;           /**< the sensors slave address on the I2C bus */
+    gpio_t int1;            /**< INT1 pin */
+    gpio_t int2;            /**< INT2 (DRDY) pin */
+    int32_t scale;          /**< scaling factor to normalize results */
+} l3g4200d_t;
+
+/**
+ * @brief Data structure holding the device parameters needed for initialization
+ */
+typedef struct {
+    i2c_t i2c;              /**< I2C bus the device is connected to */
+    uint8_t addr;           /**< the address on that bus */
+    gpio_t int1_pin;        /**< GPIO pin connected to the INT1 line */
+    gpio_t int2_pin;        /**< GPIO pin connected to the INT2 line */
+    l3g4200d_mode_t mode;   /**< sampling mode to use */
+    l3g4200d_scale_t scale; /**< scaling to use */
+} l3g4200d_params_t;
+
 /**
  * @brief Initialize a gyro
  *

drivers/l3g4200d/l3g4200d_saul.c

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * 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     driver_isl29020
+ * @{
+ *
+ * @file
+ * @brief       L3G4200D adaption to the RIOT actuator/sensor interface
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "l3g4200d.h"
+
+static int read(void *dev, phydat_t *res)
+{
+    l3g4200d_t *d = (l3g4200d_t *)dev;
+    l3g4200d_read(d, (l3g4200d_data_t *)res);
+    res->unit = UNIT_DPS;
+    res->scale = 0;
+    return 3;
+}
+
+static int write(void *dev, phydat_t *state)
+{
+    return -ENOTSUP;
+}
+
+const saul_driver_t l3g4200d_saul_driver = {
+    .read = read,
+    .write = write,
+    .type = SAUL_SENSE_GYRO,
+};