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/*
* Copyright (C) 2015 Freie Universitรคt 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.
*/
/**
* @defgroup drivers_saul [S]ensor [A]ctuator [U]ber [L]ayer
* @ingroup drivers
* @brief Generic sensor/actuator abstraction layer for RIOT
*
* SAUL is a generic actuator/sensor interface in RIOT. Its purpose is to
* enable unified interaction with a wide range of sensors and actuators through
* a set of defined access functions and a common data structure.
*
* Each device driver implementing this interface has to expose a set of
* predefined functions and it has to register itself to the central SAUL
* registry. From here devices can be found, listed, and accessed.
*
* Each device has further to expose a name and its type. This information can
* be used for automated searching and matching of devices (e.g. connect light
* sensor automatically with the color of an RGB LED...).
*
* The SAUL module enables further the automated initialization of preconfigured
* actuators/sensor via auto_init and the access to all available devices via
* one unified shell command.
*
* @todo So far, the interface only supports simple read and set
* operations. It probably needs to be extended to handling events,
* thresholds, and so on.
*
* @see @ref sys_saul_reg
*
* @{
*
* @file
* @brief Definition of the generic [S]ensor [A]ctuator [U]ber [L]ayer
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef SAUL_H
#define SAUL_H
#include <stdint.h>
#include <errno.h>
#include "phydat.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Definition of device classes
*
* This list contains a collections of available device classes. Each device
* must be part of one, but can be part of multiple of these classes. When
* belonging to more than one class, a device must however expose one driver
* for each class it belongs to, and it has to register each driver with a
* separate entry at the SAUL registry.
*
* Classes are identified by 8-bit unsigned integers.
*
* For searching and filtering purposes, the device classes are further split
* into two top-level classes: sensors and actuators. For identification, all
* actuator classes start with 0b01xxxxxx, all sensor classes start with
* 0b10xxxxxx.
*
* This list is not exhaustive, extend to your needs!
*/
enum {
SAUL_CLASS_UNDEF = 0x00, /**< device class undefined */
SAUL_ACT_ANY = 0x40, /**< any actuator - wildcard */
SAUL_ACT_LED_RGB = 0x42, /**< actuator: RGB LED */
SAUL_ACT_SERVO = 0x43, /**< actuator: servo motor */
SAUL_ACT_MOTOR = 0x44, /**< actuator: motor */
SAUL_ACT_SWITCH = 0x45, /**< actuator: simple on/off switch */
SAUL_ACT_DIMMER = 0x46, /**< actuator: dimmable switch */
SAUL_SENSE_ANY = 0x80, /**< any sensor - wildcard */
SAUL_SENSE_BTN = 0x81, /**< sensor: simple button */
SAUL_SENSE_TEMP = 0x82, /**< sensor: temperature */
SAUL_SENSE_HUM = 0x83, /**< sensor: humidity */
SAUL_SENSE_LIGHT = 0x84, /**< sensor: light */
SAUL_SENSE_ACCEL = 0x85, /**< sensor: accelerometer */
SAUL_SENSE_MAG = 0x86, /**< sensor: magnetometer */
SAUL_SENSE_GYRO = 0x87, /**< sensor: gyroscope */
SAUL_SENSE_COLOR = 0x88, /**< sensor: (light) color */
SAUL_SENSE_PRESS = 0x89, /**< sensor: pressure */
SAUL_SENSE_ANALOG = 0x8a, /**< sensor: raw analog value */
SAUL_SENSE_UV = 0x8b, /**< sensor: UV index */
SAUL_CLASS_ANY = 0xff /**< any device - wildcard */
/* extend this list as needed... */
};
/**
* @brief Read a value (a set of values) from a device
*
* Simple sensors, as e.g. a temperature sensor, will return exactly one value
* together with the values scale and unit. Some sensors might return a touple
* or triple of data (e.g. a 3-axis accelerometer).
*
* Actuators can chose to either just return -ENOTSUP or to return their current
* set value (e.g. useful for reading back the current state of a switch)
*
* @param[in] dev device descriptor of the target device
* @param[out] res data read from the device
*
* @return number of values written into to result data structure [1-3]
* @return -ENOTSUP if the device does not support this operation
* @return -ECANCELED on other errors
*/
typedef int(*saul_read_t)(const void *dev, phydat_t *res);
/**
* @brief Write a value (a set of values) to a device
*
* Most sensors will probably just return -ENOTSUP, as writing values to a
* sensor is often without purpose. The interface can however be used to
* configure sensors, e.g. to switch a sensor's unit type by writing the
* newly selected type to it.
*
* For actuators this function is used to influence the actuators state, e.g.
* switching a switch or setting the speed of a motor.
*
* @param[in] dev device descriptor of the target device
* @param[in] data data to write to the device
*
* @return number of values actually processed by the device [1-3]
* @return -ENOTSUP if the device does not support this operation
* @return -ECANCELED on other errors
*/
typedef int(*saul_write_t)(const void *dev, phydat_t *data);
/**
* @brief Definition of the RIOT actuator/sensor interface
*/
typedef struct {
saul_read_t read; /**< read function pointer */
saul_write_t write; /**< write function pointer */
uint8_t type; /**< device class the device belongs to */
} saul_driver_t;
/**
* @brief Default not supported function
*/
int saul_notsup(const void *dev, phydat_t *dat);
/**
* @brief Helper function converts a class ID to a string
*
* @param[in] class_id device class ID
*
* @return string representation of the device class
* @return NULL if class ID is not known
*/
const char *saul_class_to_str(const uint8_t class_id);
#ifdef __cplusplus
}
#endif
#endif /* SAUL_H */
/** @} */
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