From 22c49e99b5511072050e7e0cefd6cae96f6cb12b Mon Sep 17 00:00:00 2001
From: Semjon Kerner <semjon.kerner@fu-berlin.de>
Date: Mon, 19 Feb 2018 14:28:16 +0100
Subject: [PATCH] sys/auto_init/saul: provide saul adaption for bmx055

---
 sys/auto_init/auto_init.c             |  4 ++
 sys/auto_init/saul/auto_init_bmx055.c | 88 +++++++++++++++++++++++++++
 2 files changed, 92 insertions(+)
 create mode 100644 sys/auto_init/saul/auto_init_bmx055.c

diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 76181acd94..fd96540a22 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -311,6 +311,10 @@ auto_init_mpu9150();
     extern void auto_init_bmp180(void);
     auto_init_bmp180();
 #endif
+#ifdef MODULE_BMX055
+    extern void auto_init_bmx055(void);
+    auto_init_bmx055();
+#endif
 #if defined(MODULE_BME280) || defined(MODULE_BMP280)
     extern void auto_init_bmx280(void);
     auto_init_bmx280();
diff --git a/sys/auto_init/saul/auto_init_bmx055.c b/sys/auto_init/saul/auto_init_bmx055.c
new file mode 100644
index 0000000000..62edfa9ebd
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_bmx055.c
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2017 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     auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief       Auto initialization of bmx055 9-axis sensors
+ *
+ * @author      Semjon Kerner <semjon.kerner@fu-berlin.de>
+ * @}
+ */
+
+#ifdef MODULE_BMX055
+
+#include "log.h"
+#include "saul_reg.h"
+#include "bmx055.h"
+#include "bmx055_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define BMX055_NUM          (sizeof(bmx055_params) / sizeof(bmx055_params[0]))
+
+/**
+ * @brief   Each sensor contains 3 individual i2c modules
+ */
+#define BMX055_SENSOR_NUM   (3U)
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static bmx055_t bmx055_devs[BMX055_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[BMX055_NUM * BMX055_SENSOR_NUM];
+
+/**
+ * @brief   Reference the driver struct
+ */
+extern saul_driver_t bmx055_magnetometer_saul_driver;
+extern saul_driver_t bmx055_accelerometer_saul_driver;
+extern saul_driver_t bmx055_gyroscope_saul_driver;
+
+void auto_init_bmx055(void)
+{
+    for (unsigned int i = 0; i < BMX055_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing bmx055 #%u\n", i);
+
+        int res = bmx055_init(&bmx055_devs[i], &bmx055_params[i]);
+        if (res != BMX055_OK) {
+            LOG_ERROR("[auto_init_saul] error initializing bmx055 #%u\n", i);
+            continue;
+        }
+
+        /* magnetometer */
+        saul_entries[(i * 3)].dev = &(bmx055_devs[i]);
+        saul_entries[(i * 3)].name = bmx055_saul_info[i][0].name;
+        saul_entries[(i * 3)].driver = &bmx055_magnetometer_saul_driver;
+        saul_reg_add(&(saul_entries[(i * 3)]));
+
+        /* accelerometer */
+        saul_entries[(i * 3) + 1].dev = &(bmx055_devs[i]);
+        saul_entries[(i * 3) + 1].name = bmx055_saul_info[i][1].name;
+        saul_entries[(i * 3) + 1].driver = &bmx055_accelerometer_saul_driver;
+        saul_reg_add(&(saul_entries[(i * 3) + 1]));
+
+        /* gyroscope */
+        saul_entries[(i * 3) + 2].dev = &(bmx055_devs[i]);
+        saul_entries[(i * 3) + 2].name = bmx055_saul_info[i][2].name;
+        saul_entries[(i * 3) + 2].driver = &bmx055_gyroscope_saul_driver;
+        saul_reg_add(&(saul_entries[(i * 3) + 2]));
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_BMX055 */