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WIP: initial support for fixed-point data for sensors #3442

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WIP: initial support for fixed-point data for sensors #3442

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2814e7a
system/sensorscope: support for fixe16 data
raiden00pl Mar 29, 2026
514e2b2
system/uorb: DEBUG_UORB depends on float data
raiden00pl Mar 29, 2026
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57 changes: 38 additions & 19 deletions system/sensorscope/sensorscope_main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,12 @@
#define SENSOR_PATH_MAX 62
#define SENSOR_CHNAME_MAX 16

#ifdef CONFIG_SENSORS_USE_B16
# define NXSCOPE_DATA_TYPE NXSCOPE_TYPE_B16
#else
# define NXSCOPE_DATA_TYPE NXSCOPE_TYPE_FLOAT
#endif

/****************************************************************************
* Private Types
****************************************************************************/
Expand Down Expand Up @@ -98,24 +104,41 @@ struct nxscope_thr_env_s

struct nxsensor_info_s g_nxsensor[] =
{
{"accel", sizeof(struct sensor_accel), 0, 3, NXSCOPE_TYPE_FLOAT},
{"mag", sizeof(struct sensor_mag), 0, 3, NXSCOPE_TYPE_FLOAT},
{"gyro", sizeof(struct sensor_gyro), 0, 3, NXSCOPE_TYPE_FLOAT},
{"light", sizeof(struct sensor_light), 0, 2, NXSCOPE_TYPE_FLOAT},
{"baro", sizeof(struct sensor_baro), 0, 2, NXSCOPE_TYPE_FLOAT},
{"prox", sizeof(struct sensor_prox), 0, 1, NXSCOPE_TYPE_FLOAT},
{"humi", sizeof(struct sensor_humi), 0, 1, NXSCOPE_TYPE_FLOAT},
{"temp", sizeof(struct sensor_temp), 0, 1, NXSCOPE_TYPE_FLOAT},
{"rgb", sizeof(struct sensor_rgb), 0, 3, NXSCOPE_TYPE_FLOAT},
{"accel", sizeof(struct sensor_accel), 0, 3, NXSCOPE_DATA_TYPE},
{"mag", sizeof(struct sensor_mag), 0, 3, NXSCOPE_DATA_TYPE},
{"gyro", sizeof(struct sensor_gyro), 0, 3, NXSCOPE_DATA_TYPE},
{"light", sizeof(struct sensor_light), 0, 2, NXSCOPE_DATA_TYPE},
{"baro", sizeof(struct sensor_baro), 0, 2, NXSCOPE_DATA_TYPE},
{"prox", sizeof(struct sensor_prox), 0, 1, NXSCOPE_DATA_TYPE},
{"humi", sizeof(struct sensor_humi), 0, 1, NXSCOPE_DATA_TYPE},
{"temp", sizeof(struct sensor_temp), 0, 1, NXSCOPE_DATA_TYPE},
{"rgb", sizeof(struct sensor_rgb), 0, 3, NXSCOPE_DATA_TYPE},
{"hall", sizeof(struct sensor_hall), 0, 1, NXSCOPE_TYPE_INT32},
{"ir", sizeof(struct sensor_ir), 0, 1, NXSCOPE_TYPE_FLOAT},
{"gas", sizeof(struct sensor_gas), 0, 1, NXSCOPE_TYPE_FLOAT},
{"ir", sizeof(struct sensor_ir), 0, 1, NXSCOPE_DATA_TYPE},
{"gas", sizeof(struct sensor_gas), 0, 1, NXSCOPE_DATA_TYPE},
};

/****************************************************************************
* Private Functions
****************************************************************************/

/****************************************************************************
* Name: nxscope_samples_put
****************************************************************************/

static void nxscope_samples_put(FAR struct nxscope_thr_env_s *envp,
FAR struct listen_object_s *tmp,
size_t offset)
{
#ifdef CONFIG_SENSORS_USE_B16
FAR b16_t *data = (b16_t *)&tmp->data[offset];
nxscope_put_vb16(&envp->nxs, tmp->chanid, data, tmp->info->dim);
#else
FAR float *data = (float *)&tmp->data[offset];
nxscope_put_vfloat(&envp->nxs, tmp->chanid, data, tmp->info->dim);
#endif
}

/****************************************************************************
* Name: nxscope_samples_thr
****************************************************************************/
Expand All @@ -124,9 +147,7 @@ static FAR void *nxscope_samples_thr(FAR void *arg)
{
FAR struct nxscope_thr_env_s *envp = arg;
FAR struct listen_object_s *tmp;
FAR float *data;
int ret;
size_t offset;

DEBUGASSERT(envp);

Expand All @@ -147,11 +168,9 @@ static FAR void *nxscope_samples_thr(FAR void *arg)
{
/* Get vector from a given offset */

offset = tmp->info->data_offset + sizeof(uint64_t);
data = (float *)&tmp->data[offset];

nxscope_put_vfloat(&envp->nxs, tmp->chanid, data,
tmp->info->dim);
nxscope_samples_put(envp, tmp,
tmp->info->data_offset +
sizeof(uint64_t));
}
}

Expand Down Expand Up @@ -363,7 +382,7 @@ static int nxscope_channels(FAR struct nxscope_thr_env_s *envp)

/* Register nxscope channel */

u.s.dtype = NXSCOPE_TYPE_FLOAT;
u.s.dtype = NXSCOPE_DATA_TYPE;
u.s._res = 0;
u.s.cri = 0;

Expand Down
2 changes: 1 addition & 1 deletion system/uorb/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ endif # UORB_TESTS
config DEBUG_UORB
bool "uorb debug output"
select LIBC_PRINT_EXTENSION
depends on LIBC_FLOATINGPOINT
depends on LIBC_FLOATINGPOINT && SENSORS_USE_FLOAT
default n

if DEBUG_UORB
Expand Down
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