drivers/sensor: add new sensot type to align android sensor type

new sensor type: SENSOR_TEMPERATURE SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED SENSOR_TYPE_GYROSCOPE_UNCALIBRATED SENSOR_TYPE_MAGNETIC_FILED_UNCALIBRATED refs: https://cs.android.com/android/_/android/platform/hardware/libhardware/+/ 0e67aa0caee9500b61b9c1c8b6e5cab18301364c:include_all/hardware/sensors-base.h Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2025-12-11 04:47:47 +08:00 · 2025-01-20 15:04:15 +08:00
parent 0e1214d89a
commit e7f38fe6fa
10 changed files with 94 additions and 91 deletions
--- a/drivers/sensors/bmi088_uorb.c
+++ b/drivers/sensors/bmi088_uorb.c
@@ -735,8 +735,7 @@ static int bmi088_register_accel(int devno,
 #endif

  priv->lower.ops  = &g_bmi088_accel_ops;
-  priv->lower.type = SENSOR_TYPE_ACCELEROMETER;
-  priv->lower.uncalibrated = true;
+  priv->lower.type = SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED;
  priv->interval = BMI088_DEFAULT_INTERVAL;
  priv->lower.nbuffer = 1;

@@ -818,8 +817,7 @@ static int bmi088_register_gyro(int devno,
 #endif

  priv->lower.ops = &g_bmi088_gyro_ops;
-  priv->lower.type = SENSOR_TYPE_GYROSCOPE;
-  priv->lower.uncalibrated = true;
+  priv->lower.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
  priv->interval = BMI088_DEFAULT_INTERVAL;
  priv->lower.nbuffer = 1;

--- a/drivers/sensors/bmi160_uorb.c
+++ b/drivers/sensors/bmi160_uorb.c
@@ -602,8 +602,7 @@ static int bmi160_register_accel(int devno,
 #endif

  priv->lower.ops = &g_bmi160_accel_ops;
-  priv->lower.type = SENSOR_TYPE_ACCELEROMETER;
-  priv->lower.uncalibrated = true;
+  priv->lower.type = SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED;
  priv->interval = BMI160_DEFAULT_INTERVAL;
  priv->lower.nbuffer = 1;

@@ -687,8 +686,7 @@ static int bmi160_register_gyro(int devno,
 #endif

  priv->lower.ops = &g_bmi160_gyro_ops;
-  priv->lower.type = SENSOR_TYPE_GYROSCOPE;
-  priv->lower.uncalibrated = true;
+  priv->lower.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
  priv->interval = BMI160_DEFAULT_INTERVAL;
  priv->lower.nbuffer = 1;

--- a/drivers/sensors/ds18b20_uorb.c
+++ b/drivers/sensors/ds18b20_uorb.c
@@ -973,7 +973,6 @@ int ds18b20_register(int devno, FAR struct onewire_master_s *onewire,
 #endif
  tmp->lower.ops = &g_ds18b20_ops;
  tmp->lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
-  tmp->lower.uncalibrated = false;
  tmp->lower.nbuffer = 1;
  ret = sensor_register(&tmp->lower, devno);
  if (ret < 0)
--- a/drivers/sensors/goldfish_sensor_uorb.c
+++ b/drivers/sensors/goldfish_sensor_uorb.c
@@ -52,7 +52,7 @@
 #define GOLDFISH_PRESSURE 7
 #define GOLDFISH_RELATIVE_HUMIDITY 8
 #define GOLDFISH_MAGNETIC_FIELD_UNCALIBRATED 9
-#define GOLDFISH_GYROSCOPE_FIELD_UNCALIBRATED 10
+#define GOLDFISH_GYROSCOPE_UNCALIBRATED 10
 #define GOLDFISH_HINGE_ANGLE0 11
 #define GOLDFISH_HINGE_ANGLE1 12
 #define GOLDFISH_HINGE_ANGLE2 13
@@ -620,45 +620,27 @@ static int goldfish_get_priv(FAR struct sensor_lowerhalf_s *lower,
 {
  switch (lower->type)
  {
+  case SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED:
+    priv = container_of(lower, struct goldfish_sensor_s,
+                        lower_accel_uncalibrated);
+    return GOLDFISH_ACCELERATION_UNCALIBRATED;
  case SENSOR_TYPE_ACCELEROMETER:
-    if (lower->uncalibrated)
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s,
-                             lower_accel_uncalibrated);
-        return GOLDFISH_ACCELERATION_UNCALIBRATED;
-      }
-    else
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s, lower_accel);
-        return GOLDFISH_ACCELERATION;
-      }
-
+    priv = container_of(lower, struct goldfish_sensor_s, lower_accel);
+    return GOLDFISH_ACCELERATION;
+  case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
+    priv = container_of(lower, struct goldfish_sensor_s,
+                        lower_mag_uncalibrated);
+    return GOLDFISH_MAGNETIC_FIELD_UNCALIBRATED;
  case SENSOR_TYPE_MAGNETIC_FIELD:
-    if (lower->uncalibrated)
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s,
-                             lower_mag_uncalibrated);
-        return GOLDFISH_MAGNETIC_FIELD_UNCALIBRATED;
-      }
-    else
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s, lower_mag);
-        return GOLDFISH_MAGNETIC_FIELD;
-      }
-
+    priv = container_of(lower, struct goldfish_sensor_s, lower_mag);
+    return GOLDFISH_MAGNETIC_FIELD;
+  case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+    priv = container_of(lower, struct goldfish_sensor_s,
+                        lower_gyro_uncalibrated);
+    return GOLDFISH_GYROSCOPE_UNCALIBRATED;
  case SENSOR_TYPE_GYROSCOPE:
-    if (lower->uncalibrated)
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s,
-                             lower_gyro_uncalibrated);
-        return GOLDFISH_GYROSCOPE_FIELD_UNCALIBRATED;
-      }
-    else
-      {
-        *priv = container_of(lower, struct goldfish_sensor_s, lower_gyro);
-        return GOLDFISH_GYROSCOPE;
-      }
-
+    priv = container_of(lower, struct goldfish_sensor_s, lower_gyro);
+    return GOLDFISH_GYROSCOPE;
  case SENSOR_TYPE_PROXIMITY:
    *priv = container_of(lower, struct goldfish_sensor_s, lower_prox);
    return GOLDFISH_PROXIMITY;
@@ -868,20 +850,20 @@ int goldfish_sensor_init(int devno, uint32_t batch_number)
  sensor->lower_gyro.ops = &g_goldfish_sensor_ops;
  sensor->lower_gyro.nbuffer = batch_number;

-  sensor->lower_accel_uncalibrated.type = SENSOR_TYPE_ACCELEROMETER;
+  sensor->lower_accel_uncalibrated.type =
+                         SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED;
  sensor->lower_accel_uncalibrated.ops = &g_goldfish_sensor_ops;
  sensor->lower_accel_uncalibrated.nbuffer = batch_number;
-  sensor->lower_accel_uncalibrated.uncalibrated = true;

-  sensor->lower_mag_uncalibrated.type = SENSOR_TYPE_MAGNETIC_FIELD;
+  sensor->lower_mag_uncalibrated.type =
+                      SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
  sensor->lower_mag_uncalibrated.ops = &g_goldfish_sensor_ops;
  sensor->lower_mag_uncalibrated.nbuffer = batch_number;
-  sensor->lower_mag_uncalibrated.uncalibrated = true;

-  sensor->lower_gyro_uncalibrated.type = SENSOR_TYPE_GYROSCOPE;
+  sensor->lower_gyro_uncalibrated.type =
+                            SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
  sensor->lower_gyro_uncalibrated.ops = &g_goldfish_sensor_ops;
  sensor->lower_gyro_uncalibrated.nbuffer = batch_number;
-  sensor->lower_gyro_uncalibrated.uncalibrated = true;

  sensor->lower_prox.type = SENSOR_TYPE_PROXIMITY;
  sensor->lower_prox.ops = &g_goldfish_sensor_ops;
--- a/drivers/sensors/hyt271_uorb.c
+++ b/drivers/sensors/hyt271_uorb.c
@@ -942,7 +942,6 @@ int hyt271_register(int devno, FAR struct i2c_master_s *i2c, uint8_t addr,
  tmp->buffer_size = sizeof(struct sensor_humi);
  tmp->lower.ops = &g_hyt271_ops;
  tmp->lower.type = SENSOR_TYPE_RELATIVE_HUMIDITY;
-  tmp->lower.uncalibrated = false;
  tmp->lower.nbuffer = 1;
  ret = sensor_register(&tmp->lower, devno);
  if (ret < 0)
@@ -960,7 +959,6 @@ int hyt271_register(int devno, FAR struct i2c_master_s *i2c, uint8_t addr,
  tmp->buffer_size = sizeof(struct sensor_temp);
  tmp->lower.ops = &g_hyt271_ops;
  tmp->lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
-  tmp->lower.uncalibrated = false;
  tmp->lower.nbuffer = 1;
  ret = sensor_register(&tmp->lower, devno);
  if (ret < 0)
--- a/drivers/sensors/l3gd20_uorb.c
+++ b/drivers/sensors/l3gd20_uorb.c
@@ -562,10 +562,9 @@ int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
 #endif
  priv->timestamp        = 0;

-  priv->lower.type = SENSOR_TYPE_GYROSCOPE;
+  priv->lower.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
  priv->lower.nbuffer = CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
  priv->lower.ops = &g_l2gd20_ops;
-  priv->lower.uncalibrated = true;

  /* Setup SPI frequency and mode */

--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -50,8 +50,7 @@
 /* Device naming ************************************************************/

 #define ROUND_DOWN(x, y)    (((x) / (y)) * (y))
-#define DEVNAME_FMT         "/dev/uorb/sensor_%s%s%d"
-#define DEVNAME_UNCAL       "_uncal"
+#define DEVNAME_FMT         "/dev/uorb/sensor_%s%d"
 #define TIMING_BUF_ESIZE    (sizeof(uint32_t))

 /****************************************************************************
@@ -168,16 +167,16 @@ static const struct sensor_meta_s g_sensor_meta[] =
  {sizeof(struct sensor_gyro),                "gyro"},
  {sizeof(struct sensor_light),               "light"},
  {sizeof(struct sensor_baro),                "baro"},
-  {sizeof(struct sensor_noise),               "noise"},
+  {sizeof(struct sensor_temp),                "temp"},
  {sizeof(struct sensor_prox),                "prox"},
  {sizeof(struct sensor_rgb),                 "rgb"},
  {sizeof(struct sensor_accel),               "linear_accel"},
  {sizeof(struct sensor_rotation),            "rotation"},
  {sizeof(struct sensor_humi),                "humi"},
-  {sizeof(struct sensor_temp),                "temp"},
-  {sizeof(struct sensor_pm25),                "pm25"},
+  {sizeof(struct sensor_temp),                "ambient_temp"},
+  {sizeof(struct sensor_mag),                 "mag_uncal"},
  {sizeof(struct sensor_pm1p0),               "pm1p0"},
-  {sizeof(struct sensor_pm10),                "pm10"},
+  {sizeof(struct sensor_gyro),                "gyro_uncal"},
  {sizeof(struct sensor_event),               "motion_detect"},
  {sizeof(struct sensor_event),               "step_detector"},
  {sizeof(struct sensor_step_counter),        "step_counter"},
@@ -196,7 +195,7 @@ static const struct sensor_meta_s g_sensor_meta[] =
  {sizeof(struct sensor_force),               "force"},
  {sizeof(struct sensor_hall),                "hall"},
  {sizeof(struct sensor_event),               "offbody_detector"},
-  {sizeof(struct sensor_uv),                  "uv"},
+  {sizeof(struct sensor_accel),               "accel_uncal"},
  {sizeof(struct sensor_angle),               "hinge_angle"},
  {sizeof(struct sensor_ir),                  "ir"},
  {sizeof(struct sensor_hcho),                "hcho"},
@@ -215,6 +214,10 @@ static const struct sensor_meta_s g_sensor_meta[] =
  {sizeof(struct sensor_gnss_clock),          "gnss_clock"},
  {sizeof(struct sensor_gnss_geofence_event), "gnss_geofence_event"},
  {sizeof(struct sensor_velocity),            "velocity"},
+  {sizeof(struct sensor_noise),               "noise"},
+  {sizeof(struct sensor_pm25),                "pm25"},
+  {sizeof(struct sensor_pm10),                "pm10"},
+  {sizeof(struct sensor_uv),                  "uv"},
 };

 static const struct file_operations g_sensor_fops =
@@ -1255,7 +1258,6 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)

  snprintf(path, PATH_MAX, DEVNAME_FMT,
           g_sensor_meta[lower->type].name,
-           lower->uncalibrated ? DEVNAME_UNCAL : "",
           devno);
  ret = sensor_custom_register(lower, path,
                               g_sensor_meta[lower->type].esize);
@@ -1403,7 +1405,6 @@ void sensor_unregister(FAR struct sensor_lowerhalf_s *lower, int devno)

  snprintf(path, PATH_MAX, DEVNAME_FMT,
           g_sensor_meta[lower->type].name,
-           lower->uncalibrated ? DEVNAME_UNCAL : "",
           devno);
  sensor_custom_unregister(lower, path);
  lib_put_pathbuffer(path);
--- a/drivers/sensors/sht4x_uorb.c
+++ b/drivers/sensors/sht4x_uorb.c
@@ -875,7 +875,6 @@ int sht4x_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)

  priv->hum.sensor_lower.ops = &g_sensor_ops;
  priv->hum.sensor_lower.type = SENSOR_TYPE_RELATIVE_HUMIDITY;
-  priv->hum.sensor_lower.uncalibrated = false;
  priv->hum.enabled = false;
  priv->hum.dev = priv;

@@ -895,7 +894,6 @@ int sht4x_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)

  priv->temp.sensor_lower.ops = &g_sensor_ops;
  priv->temp.sensor_lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
-  priv->temp.sensor_lower.uncalibrated = false;
  priv->temp.enabled = false;
  priv->temp.dev = priv;

--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -532,13 +532,6 @@ struct sensor_lowerhalf_s

  uint32_t nbuffer;

-  /* The uncalibrated use to describe whether the sensor event is
-   * uncalibrated. True is uncalibrated data, false is calibrated data,
-   * default false.
-   */
-
-  bool uncalibrated;
-
  /* The lower half sensor driver operations */

  FAR const struct sensor_ops_s *ops;
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -42,6 +42,14 @@

 /* sensor type definition */

+/* Note: Some of the types of these sensors are aligned with Android, and
+ * the refs link is https://cs.android.com/android/_/android/platform/\
+ * hardware/libhardware/+/0e67aa0caee9500b61b9c1c8b6e5cab18301364c:\
+ * include_all/hardware/sensors-base.h.
+ *
+ * If you need to make modifications, please align with Android standards
+ */
+
 /* Custom Sensor
 * Some special sensor whose event size is not fixed or dynamically change,
 * are called sensor of custom type. You should treat its events as byte
@@ -99,11 +107,12 @@

 #define SENSOR_TYPE_BAROMETER                       6

-/* Noise Loudness
- * A sensor of this type returns the loudness of noise in SI units (db)
+/* Temperature
+ * A sensor of this type returns the measurement temperature in degree
+ * Celsius.
 */

-#define SENSOR_TYPE_NOISE                           7
+#define SENSOR_TYPE_TEMPERAUTRE                     7

 /* Proximity
 * The values correspond to the distance to the nearest
@@ -153,12 +162,12 @@

 #define SENSOR_TYPE_AMBIENT_TEMPERATURE             13

-/* PM25
- * A sensor of this type returns the content of pm2.5 in the air
- * This value is in SI units (ug/m^3)
+/* Magneric Field Uncalibrated
+ * Similar to MAGNETIC_FIELD, all values are in micro-Tesla (uT)
+ * and measure the geomagnetic field in X, Y and Z axis.
 */

-#define SENSOR_TYPE_PM25                            14
+#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED     14

 /* PM1P0
 * A sensor of this type returns the content of pm1.0 in the air
@@ -167,12 +176,12 @@

 #define SENSOR_TYPE_PM1P0                           15

-/* PM10
- * A sensor of this type returns the content of pm10 in the air
- * This value is in SI units (ug/m^3)
+/* Gyroscope Uncalibrated
+ * All values are in radians/second and measure the rate of rotation around
+ * the X, Y and Z axis.
 */

-#define SENSOR_TYPE_PM10                            16
+#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED          16

 /* Significant motion
 * A significant motion detector triggers when detecting a significant
@@ -335,12 +344,12 @@

 #define SENSOR_TYPE_LOW_LATENCY_OFFBODY_DETECT      34

-/* Ultraviolet light sensor
- * This sensor can identify the UV index in ambient light help people
- * to effectively protect themselves from sunburns, cancer or eye damage.
- * This value range is 0 - 15.
+/* Accelerometer Uncalibrate
+ * All values are in SI units (m/s^2), and measure the acceleration of the
+ * device minus the acceleration dut to gravity.
 */
-#define SENSOR_TYPE_ULTRAVIOLET                     35
+
+#define SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED      35

 /* Hinge angle
 * A hinge angle sensor measures the angle, in degrees, between two integral
@@ -474,11 +483,39 @@

 #define SENSOR_TYPE_VELOCITY                        53

+/* Noise Loudness
+ * A sensor of this type returns the loudness of noise in SI units (db)
+ */
+
+#define SENSOR_TYPE_NOISE                           54
+
+/* PM25
+ * A sensor of this type returns the content of pm2.5 in the air
+ * This value is in SI units (ug/m^3)
+ */
+
+#define SENSOR_TYPE_PM25                            55
+
+/* PM10
+ * A sensor of this type returns the content of pm10 in the air
+ * This value is in SI units (ug/m^3)
+ */
+
+#define SENSOR_TYPE_PM10                            56
+
+/* Ultraviolet light sensor
+ * This sensor can identify the UV index in ambient light help people
+ * to effectively protect themselves from sunburns, cancer or eye damage.
+ * This value range is 0 - 15.
+ */
+
+#define SENSOR_TYPE_ULTRAVIOLET                     57
+
 /* The total number of sensor
 * please increase it if you added a new sensor type!
 */

-#define SENSOR_TYPE_COUNT                           54
+#define SENSOR_TYPE_COUNT                           58

 /* The additional sensor open flags */