Merge pull request #4476 from xfwangqiang/sensor_pr

[components][sensor]Optimize the Sensor Module

6 files changed, 338 insertions, 282 deletions

diff --git a/components/drivers/include/drivers/pin.h b/components/drivers/include/drivers/pin.h
index caa2d9a668..38e5abea2a 100644
--- a/components/drivers/include/drivers/pin.h
+++ b/components/drivers/include/drivers/pin.h
@@ -13,7 +13,6 @@
 #define PIN_H__
 
 #include <rtthread.h>
-#include <rtdevice.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/components/drivers/include/drivers/sensor.h b/components/drivers/include/drivers/sensor.h
new file mode 100644
index 0000000000..d071893eed
--- /dev/null
+++ b/components/drivers/include/drivers/sensor.h
@@ -0,0 +1,238 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-01-31     flybreak     first version
+ */
+
+#ifndef __SENSOR_H__
+#define __SENSOR_H__
+
+#include <rtthread.h>
+#include "pin.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef RT_USING_RTC
+#define  rt_sensor_get_ts()  time(RT_NULL)   /* API for the sensor to get the timestamp */
+#else
+#define  rt_sensor_get_ts()  rt_tick_get()   /* API for the sensor to get the timestamp */
+#endif
+
+#define  RT_PIN_NONE                   0xFFFF    /* RT PIN NONE */
+#define  RT_DEVICE_FLAG_FIFO_RX        0x200     /* Flag to use when the sensor is open by fifo mode */
+
+#define  RT_SENSOR_MODULE_MAX          (3)       /* The maximum number of members of a sensor module */
+
+/* Sensor types */
+
+#define RT_SENSOR_CLASS_NONE           (0)
+#define RT_SENSOR_CLASS_ACCE           (1)  /* Accelerometer     */
+#define RT_SENSOR_CLASS_GYRO           (2)  /* Gyroscope         */
+#define RT_SENSOR_CLASS_MAG            (3)  /* Magnetometer      */
+#define RT_SENSOR_CLASS_TEMP           (4)  /* Temperature       */
+#define RT_SENSOR_CLASS_HUMI           (5)  /* Relative Humidity */
+#define RT_SENSOR_CLASS_BARO           (6)  /* Barometer         */
+#define RT_SENSOR_CLASS_LIGHT          (7)  /* Ambient light     */
+#define RT_SENSOR_CLASS_PROXIMITY      (8)  /* Proximity         */
+#define RT_SENSOR_CLASS_HR             (9)  /* Heart Rate        */
+#define RT_SENSOR_CLASS_TVOC           (10) /* TVOC Level        */
+#define RT_SENSOR_CLASS_NOISE          (11) /* Noise Loudness    */
+#define RT_SENSOR_CLASS_STEP           (12) /* Step sensor       */
+#define RT_SENSOR_CLASS_FORCE          (13) /* Force sensor      */
+#define RT_SENSOR_CLASS_DUST           (14) /* Dust sensor       */
+#define RT_SENSOR_CLASS_ECO2           (15) /* eCO2 sensor       */
+#define RT_SENSOR_CLASS_GNSS           (16) /* GPS/GNSS sensor   */
+#define RT_SENSOR_CLASS_TOF            (17) /* TOF sensor        */
+
+/* Sensor vendor types */
+
+#define RT_SENSOR_VENDOR_UNKNOWN       (0)
+#define RT_SENSOR_VENDOR_STM           (1)  /* STMicroelectronics */
+#define RT_SENSOR_VENDOR_BOSCH         (2)  /* Bosch */
+#define RT_SENSOR_VENDOR_INVENSENSE    (3)  /* Invensense */
+#define RT_SENSOR_VENDOR_SEMTECH       (4)  /* Semtech */
+#define RT_SENSOR_VENDOR_GOERTEK       (5)  /* Goertek */
+#define RT_SENSOR_VENDOR_MIRAMEMS      (6)  /* MiraMEMS */
+#define RT_SENSOR_VENDOR_DALLAS        (7)  /* Dallas */
+#define RT_SENSOR_VENDOR_ASAIR         (8)  /* Aosong */
+#define RT_SENSOR_VENDOR_SHARP         (9)  /* Sharp */
+#define RT_SENSOR_VENDOR_SENSIRION     (10) /* Sensirion */
+#define RT_SENSOR_VENDOR_TI            (11) /* Texas Instruments */
+#define RT_SENSOR_VENDOR_PLANTOWER     (12) /* Plantower */
+#define RT_SENSOR_VENDOR_AMS           (13) /* ams AG */
+#define RT_SENSOR_VENDOR_MAXIM         (14) /* Maxim Integrated */
+
+
+/* Sensor unit types */
+
+#define  RT_SENSOR_UNIT_NONE           (0)
+#define  RT_SENSOR_UNIT_MG             (1)  /* Accelerometer           unit: mG         */
+#define  RT_SENSOR_UNIT_MDPS           (2)  /* Gyroscope               unit: mdps       */
+#define  RT_SENSOR_UNIT_MGAUSS         (3)  /* Magnetometer            unit: mGauss     */
+#define  RT_SENSOR_UNIT_LUX            (4)  /* Ambient light           unit: lux        */
+#define  RT_SENSOR_UNIT_CM             (5)  /* Distance                unit: cm         */
+#define  RT_SENSOR_UNIT_PA             (6)  /* Barometer               unit: pa         */
+#define  RT_SENSOR_UNIT_PERMILLAGE     (7)  /* Relative Humidity       unit: permillage */
+#define  RT_SENSOR_UNIT_DCELSIUS       (8)  /* Temperature             unit: dCelsius   */
+#define  RT_SENSOR_UNIT_HZ             (9)  /* Frequency               unit: HZ         */
+#define  RT_SENSOR_UNIT_ONE            (10) /* Dimensionless quantity  unit: 1          */
+#define  RT_SENSOR_UNIT_BPM            (11) /* Heart rate              unit: bpm        */
+#define  RT_SENSOR_UNIT_MM             (12) /* Distance                unit: mm         */
+#define  RT_SENSOR_UNIT_MN             (13) /* Force                   unit: mN         */
+#define  RT_SENSOR_UNIT_PPM            (14) /* Concentration           unit: ppm        */
+#define  RT_SENSOR_UNIT_PPB            (15) /* Concentration           unit: ppb        */
+#define  RT_SENSOR_UNIT_DMS            (16) /* Coordinates             unit: DMS        */
+#define  RT_SENSOR_UNIT_DD             (17) /* Coordinates             unit: DD         */
+
+/* Sensor communication interface types */
+
+#define  RT_SENSOR_INTF_I2C            (1 << 0)
+#define  RT_SENSOR_INTF_SPI            (1 << 1)
+#define  RT_SENSOR_INTF_UART           (1 << 2)
+#define  RT_SENSOR_INTF_ONEWIRE        (1 << 3)
+
+/* Sensor power mode types */
+
+#define  RT_SENSOR_POWER_NONE          (0)
+#define  RT_SENSOR_POWER_DOWN          (1)  /* power down mode   */
+#define  RT_SENSOR_POWER_NORMAL        (2)  /* normal-power mode */
+#define  RT_SENSOR_POWER_LOW           (3)  /* low-power mode    */
+#define  RT_SENSOR_POWER_HIGH          (4)  /* high-power mode   */
+
+/* Sensor work mode types */
+
+#define  RT_SENSOR_MODE_NONE           (0)
+#define  RT_SENSOR_MODE_POLLING        (1)  /* One shot only read a data */
+#define  RT_SENSOR_MODE_INT            (2)  /* TODO: One shot interrupt only read a data */
+#define  RT_SENSOR_MODE_FIFO           (3)  /* TODO: One shot interrupt read all fifo data */
+
+/* Sensor control cmd types */
+
+#define  RT_SENSOR_CTRL_GET_ID         (0)  /* Get device id */
+#define  RT_SENSOR_CTRL_GET_INFO       (1)  /* Get sensor info */
+#define  RT_SENSOR_CTRL_SET_RANGE      (2)  /* Set the measure range of sensor. unit is info of sensor */
+#define  RT_SENSOR_CTRL_SET_ODR        (3)  /* Set output date rate. unit is HZ */
+#define  RT_SENSOR_CTRL_SET_MODE       (4)  /* Set sensor's work mode. ex. RT_SENSOR_MODE_POLLING,RT_SENSOR_MODE_INT */
+#define  RT_SENSOR_CTRL_SET_POWER      (5)  /* Set power mode. args type of sensor power mode. ex. RT_SENSOR_POWER_DOWN,RT_SENSOR_POWER_NORMAL */
+#define  RT_SENSOR_CTRL_SELF_TEST      (6)  /* Take a self test */
+
+#define  RT_SENSOR_CTRL_USER_CMD_START 0x100  /* User commands should be greater than 0x100 */
+
+struct rt_sensor_info
+{
+    rt_uint8_t     type;                    /* The sensor type */
+    rt_uint8_t     vendor;                  /* Vendor of sensors */
+    const char    *model;                   /* model name of sensor */
+    rt_uint8_t     unit;                    /* unit of measurement */
+    rt_uint8_t     intf_type;               /* Communication interface type */
+    rt_int32_t     range_max;               /* maximum range of this sensor's value. unit is 'unit' */
+    rt_int32_t     range_min;               /* minimum range of this sensor's value. unit is 'unit' */
+    rt_uint32_t    period_min;              /* Minimum measurement period,unit:ms. zero = not a constant rate */
+    rt_uint8_t     fifo_max;
+};
+
+struct rt_sensor_intf
+{
+    char                       *dev_name;   /* The name of the communication device */
+    rt_uint8_t                  type;       /* Communication interface type */
+    void                       *user_data;  /* Private data for the sensor. ex. i2c addr,spi cs,control I/O */
+};
+
+struct rt_sensor_config
+{
+    struct rt_sensor_intf        intf;      /* sensor interface config */
+    struct rt_device_pin_mode    irq_pin;   /* Interrupt pin, The purpose of this pin is to notification read data */
+    rt_uint8_t                   mode;      /* sensor work mode */
+    rt_uint8_t                   power;     /* sensor power mode */
+    rt_uint16_t                  odr;       /* sensor out data rate */
+    rt_int32_t                   range;     /* sensor range of measurement */
+};
+
+typedef struct rt_sensor_device *rt_sensor_t;
+
+struct rt_sensor_device
+{
+    struct rt_device             parent;    /* The standard device */
+
+    struct rt_sensor_info        info;      /* The sensor info data */
+    struct rt_sensor_config      config;    /* The sensor config data */
+
+    void                        *data_buf;  /* The buf of the data received */
+    rt_size_t                    data_len;  /* The size of the data received */
+
+    const struct rt_sensor_ops  *ops;       /* The sensor ops */
+
+    struct rt_sensor_module     *module;    /* The sensor module */
+
+    rt_err_t (*irq_handle)(rt_sensor_t sensor);             /* Called when an interrupt is generated, registered by the driver */
+};
+
+struct rt_sensor_module
+{
+    rt_mutex_t                   lock;                      /* The module lock */
+
+    rt_sensor_t                  sen[RT_SENSOR_MODULE_MAX]; /* The module contains a list of sensors */
+    rt_uint8_t                   sen_num;                   /* Number of sensors contained in the module */
+};
+
+/* 3-axis Data Type */
+struct sensor_3_axis
+{
+    rt_int32_t x;
+    rt_int32_t y;
+    rt_int32_t z;
+};
+
+struct coordinates
+{
+    double longitude;
+    double latitude;
+};
+
+struct rt_sensor_data
+{
+    rt_uint32_t         timestamp;          /* The timestamp when the data was received */
+    rt_uint8_t          type;               /* The sensor type of the data */
+    union
+    {
+        struct sensor_3_axis acce;          /* Accelerometer.       unit: mG          */
+        struct sensor_3_axis gyro;          /* Gyroscope.           unit: mdps        */
+        struct sensor_3_axis mag;           /* Magnetometer.        unit: mGauss      */
+        struct coordinates   coord;         /* Coordinates          unit: degrees     */
+        rt_int32_t           temp;          /* Temperature.         unit: dCelsius    */
+        rt_int32_t           humi;          /* Relative humidity.   unit: permillage  */
+        rt_int32_t           baro;          /* Pressure.            unit: pascal (Pa) */
+        rt_int32_t           light;         /* Light.               unit: lux         */
+        rt_int32_t           proximity;     /* Distance.            unit: centimeters */
+        rt_int32_t           hr;            /* Heart rate.          unit: bpm         */
+        rt_int32_t           tvoc;          /* TVOC.                unit: permillage  */
+        rt_int32_t           noise;         /* Noise Loudness.      unit: HZ          */
+        rt_uint32_t          step;          /* Step sensor.         unit: 1           */
+        rt_int32_t           force;         /* Force sensor.        unit: mN          */
+        rt_uint32_t          dust;          /* Dust sensor.         unit: ug/m3       */
+        rt_uint32_t          eco2;          /* eCO2 sensor.         unit: ppm         */
+    } data;
+};
+
+struct rt_sensor_ops
+{
+    rt_size_t (*fetch_data)(struct rt_sensor_device *sensor, void *buf, rt_size_t len);
+    rt_err_t (*control)(struct rt_sensor_device *sensor, int cmd, void *arg);
+};
+
+int rt_hw_sensor_register(rt_sensor_t sensor,
+                          const char              *name,
+                          rt_uint32_t              flag,
+                          void                    *data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SENSOR_H__ */
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index 82868e5aef..fbd3c9e7b2 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -78,70 +78,76 @@ extern "C" {
 #include "drivers/mmcsd_core.h"
 #include "drivers/sd.h"
 #include "drivers/sdio.h"
-#endif
+#endif /* RT_USING_SDIO */
+
 
 #ifdef RT_USING_WDT
 #include "drivers/watchdog.h"
-#endif
+#endif /* RT_USING_WDT */
 
 #ifdef RT_USING_PIN
 #include "drivers/pin.h"
-#endif
+#endif /* RT_USING_PIN */
+
+#ifdef RT_USING_SENSOR
+#include "drivers/sensor.h"
+#endif /* RT_USING_SENSOR */
 
 #ifdef RT_USING_CAN
 #include "drivers/can.h"
-#endif
+#endif /* RT_USING_CAN */
 
 #ifdef RT_USING_HWTIMER
 #include "drivers/hwtimer.h"
-#endif
+#endif /* RT_USING_HWTIMER */
 
 #ifdef RT_USING_AUDIO
 #include "drivers/audio.h"
-#endif
+#endif /* RT_USING_AUDIO */
 
 #ifdef RT_USING_CPUTIME
 #include "drivers/cputime.h"
-#endif
+#endif /* RT_USING_CPUTIME */
 
 #ifdef RT_USING_ADC
 #include "drivers/adc.h"
-#endif
+#endif /* RT_USING_ADC */
 
 #ifdef RT_USING_DAC
 #include "drivers/dac.h"
-#endif
+#endif /* RT_USING_DAC */
 
 #ifdef RT_USING_PWM
 #include "drivers/rt_drv_pwm.h"
-#endif
+#endif /* RT_USING_PWM */
 
 #ifdef RT_USING_PM
 #include "drivers/pm.h"
-#endif
+#endif /* RT_USING_PM */
 
 #ifdef RT_USING_WIFI
 #include "drivers/wlan.h"
-#endif
+#endif /* RT_USING_WIFI */
 
 #ifdef MTD_USING_NOR
 #include "drivers/mtdnor.h"
-#endif
+#endif /* MTD_USING_NOR */
+
 #ifdef MTD_USING_NAND
 #include "drivers/mtdnand.h"
-#endif
+#endif /* MTD_USING_NAND */
 
 #ifdef RT_USING_HWCRYPTO
 #include "drivers/crypto.h"
-#endif
+#endif /* RT_USING_HWCRYPTO */
 
 #ifdef RT_USING_PULSE_ENCODER
 #include "drivers/pulse_encoder.h"
-#endif
+#endif /* RT_USING_PULSE_ENCODER */
 
 #ifdef RT_USING_INPUT_CAPTURE
 #include "drivers/rt_inputcapture.h"
-#endif
+#endif /* RT_USING_INPUT_CAPTURE */
 
 #ifdef __cplusplus
 }
diff --git a/components/drivers/sensors/sensor.c b/components/drivers/sensors/sensor.c
index ccc1fca34e..6d584e568e 100644
--- a/components/drivers/sensors/sensor.c
+++ b/components/drivers/sensors/sensor.c
@@ -121,12 +121,30 @@ static rt_err_t rt_sensor_irq_init(rt_sensor_t sensor)
     return 0;
 }
 
+// local rt_sensor_ops
+
+static rt_size_t local_fetch_data(struct rt_sensor_device *sensor, void *buf, rt_size_t len)
+{
+    LOG_D("Undefined fetch_data");
+    return 0;
+}
+static rt_err_t local_control(struct rt_sensor_device *sensor, int cmd, void *arg)
+{
+    LOG_D("Undefined control");
+    return RT_ERROR;
+}
+static struct rt_sensor_ops local_ops = {
+    .fetch_data = local_fetch_data,
+    .control = local_control
+};
+
 /* RT-Thread Device Interface */
 static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
 {
     rt_sensor_t sensor = (rt_sensor_t)dev;
     RT_ASSERT(dev != RT_NULL);
     rt_err_t res = RT_EOK;
+    rt_err_t (*local_ctrl)(struct rt_sensor_device *sensor, int cmd, void *arg) =  local_control;
 
     if (sensor->module)
     {
@@ -144,37 +162,36 @@ static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
             goto __exit;
         }
     }
+    if (sensor->ops->control != RT_NULL)
+    {
+        local_ctrl = sensor->ops->control;
+    }
 
+    sensor->config.mode = RT_SENSOR_MODE_POLLING;
     if (oflag & RT_DEVICE_FLAG_RDONLY && dev->flag & RT_DEVICE_FLAG_RDONLY)
     {
-        if (sensor->ops->control != RT_NULL)
-        {
-            /* If polling mode is supported, configure it to polling mode */
-            sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_POLLING);
-        }
-        sensor->config.mode = RT_SENSOR_MODE_POLLING;
+        /* If polling mode is supported, configure it to polling mode */
+        local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_POLLING);
     }
     else if (oflag & RT_DEVICE_FLAG_INT_RX && dev->flag & RT_DEVICE_FLAG_INT_RX)
     {
-        if (sensor->ops->control != RT_NULL)
+        /* If interrupt mode is supported, configure it to interrupt mode */
+        if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_INT) == RT_EOK)
         {
-            /* If interrupt mode is supported, configure it to interrupt mode */
-            sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_INT);
+            /* Initialization sensor interrupt */
+            rt_sensor_irq_init(sensor);
+            sensor->config.mode = RT_SENSOR_MODE_INT;
         }
-        /* Initialization sensor interrupt */
-        rt_sensor_irq_init(sensor);
-        sensor->config.mode = RT_SENSOR_MODE_INT;
     }
     else if (oflag & RT_DEVICE_FLAG_FIFO_RX && dev->flag & RT_DEVICE_FLAG_FIFO_RX)
     {
-        if (sensor->ops->control != RT_NULL)
+        /* If fifo mode is supported, configure it to fifo mode */
+        if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_FIFO) == RT_EOK)
         {
-            /* If fifo mode is supported, configure it to fifo mode */
-            sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_FIFO);
+            /* Initialization sensor interrupt */
+            rt_sensor_irq_init(sensor);
+            sensor->config.mode = RT_SENSOR_MODE_FIFO;
         }
-        /* Initialization sensor interrupt */
-        rt_sensor_irq_init(sensor);
-        sensor->config.mode = RT_SENSOR_MODE_FIFO;
     }
     else
     {
@@ -183,7 +200,7 @@ static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
     }
 
     /* Configure power mode to normal mode */
-    if (sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_NORMAL) == RT_EOK)
+    if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_NORMAL) == RT_EOK)
     {
         sensor->config.power = RT_SENSOR_POWER_NORMAL;
     }
@@ -202,6 +219,7 @@ static rt_err_t rt_sensor_close(rt_device_t dev)
 {
     rt_sensor_t sensor = (rt_sensor_t)dev;
     int i;
+    rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) = local_control;
 
     RT_ASSERT(dev != RT_NULL);
 
@@ -209,9 +227,13 @@ static rt_err_t rt_sensor_close(rt_device_t dev)
     {
         rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
     }
+    if (sensor->ops->control != RT_NULL)
+    {
+        local_ctrl = sensor->ops->control;
+    }
 
     /* Configure power mode to power down mode */
-    if (sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_DOWN) == RT_EOK)
+    if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_DOWN) == RT_EOK)
     {
         sensor->config.power = RT_SENSOR_POWER_DOWN;
     }
@@ -234,10 +256,13 @@ static rt_err_t rt_sensor_close(rt_device_t dev)
             }
         }
     }
-    /* Sensor disable interrupt */
-    if (sensor->config.irq_pin.pin != RT_PIN_NONE)
+    if (sensor->config.mode != RT_SENSOR_MODE_POLLING)
     {
-        rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
+        /* Sensor disable interrupt */
+        if (sensor->config.irq_pin.pin != RT_PIN_NONE)
+        {
+            rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
+        }
     }
 
 __exit:
@@ -282,7 +307,10 @@ static rt_size_t rt_sensor_read(rt_device_t dev, rt_off_t pos, void *buf, rt_siz
     else
     {
         /* If the buffer is empty read the data */
-        result = sensor->ops->fetch_data(sensor, buf, len);
+        if (sensor->ops->fetch_data !=  RT_NULL)
+        {
+            result = sensor->ops->fetch_data(sensor, buf, len);
+        }        
     }
 
     if (sensor->module)
@@ -298,18 +326,23 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
     rt_sensor_t sensor = (rt_sensor_t)dev;
     rt_err_t result = RT_EOK;
     RT_ASSERT(dev != RT_NULL);
+    rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) = local_control;
 
     if (sensor->module)
     {
         rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
     }
+    if (sensor->ops->control != RT_NULL)
+    {
+        local_ctrl = sensor->ops->control;
+    }
 
     switch (cmd)
     {
     case RT_SENSOR_CTRL_GET_ID:
         if (args)
         {
-            result = sensor->ops->control(sensor, RT_SENSOR_CTRL_GET_ID, args);
+            result = local_ctrl(sensor, RT_SENSOR_CTRL_GET_ID, args);
         }
         break;
     case RT_SENSOR_CTRL_GET_INFO:
@@ -319,19 +352,17 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
         }
         break;
     case RT_SENSOR_CTRL_SET_RANGE:
-
         /* Configuration measurement range */
-        result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_RANGE, args);
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_RANGE, args);
         if (result == RT_EOK)
         {
             sensor->config.range = (rt_int32_t)args;
             LOG_D("set range %d", sensor->config.range);
-        }
+        }    
         break;
     case RT_SENSOR_CTRL_SET_ODR:
-
         /* Configuration data output rate */
-        result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_ODR, args);
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_ODR, args);
         if (result == RT_EOK)
         {
             sensor->config.odr = (rt_uint32_t)args & 0xFFFF;
@@ -339,9 +370,8 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
         }
         break;
     case RT_SENSOR_CTRL_SET_POWER:
-
         /* Configuration sensor power mode */
-        result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_POWER, args);
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, args);
         if (result == RT_EOK)
         {
             sensor->config.power = (rt_uint32_t)args & 0xFF;
@@ -349,16 +379,15 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
         }
         break;
     case RT_SENSOR_CTRL_SELF_TEST:
-
         /* Device self-test */
-        result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
         break;
     default:
 
         if (cmd > RT_SENSOR_CTRL_USER_CMD_START)
         {
             /* Custom commands */
-            result = sensor->ops->control(sensor, cmd, args);
+            result = local_ctrl(sensor, cmd, args);
         }
         else
         {
@@ -387,6 +416,7 @@ const static struct rt_device_ops rt_sensor_ops =
 };
 #endif
 
+
 /*
  * sensor register
  */
@@ -401,6 +431,11 @@ int rt_hw_sensor_register(rt_sensor_t sensor,
 
     char *sensor_name = RT_NULL, *device_name = RT_NULL;
 
+    if (sensor->ops == RT_NULL)
+    {
+        sensor->ops = &local_ops;
+    }
+
     /* Add a type name for the sensor device */
     sensor_name = sensor_name_str[sensor->info.type];
     device_name = (char *)rt_calloc(1, rt_strlen(sensor_name) + 1 + rt_strlen(name));
@@ -444,12 +479,12 @@ int rt_hw_sensor_register(rt_sensor_t sensor,
     result = rt_device_register(device, device_name, flag | RT_DEVICE_FLAG_STANDALONE);
     if (result != RT_EOK)
     {
+        LOG_E("rt_sensor[%s] register err code: %d", device_name, result);
         rt_free(device_name);
-        LOG_E("rt_sensor register err code: %d", result);
         return result;
     }
 
     rt_free(device_name);
-    LOG_I("rt_sensor init success");
+    LOG_I("rt_sensor[%s] init success", device_name);
     return RT_EOK;
 }
diff --git a/components/drivers/sensors/sensor.h b/components/drivers/sensors/sensor.h
index f54d4e8799..761ee49b4c 100755
--- a/components/drivers/sensors/sensor.h
+++ b/components/drivers/sensors/sensor.h
@@ -8,231 +8,7 @@
  * 2019-01-31     flybreak     first version
  */
 
-#ifndef __SENSOR_H__
-#define __SENSOR_H__
 
 #include <rtthread.h>
 #include <rtdevice.h>
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef RT_USING_RTC
-#define  rt_sensor_get_ts()  time(RT_NULL)   /* API for the sensor to get the timestamp */
-#else
-#define  rt_sensor_get_ts()  rt_tick_get()   /* API for the sensor to get the timestamp */
-#endif
-
-#define  RT_PIN_NONE                   0xFFFF    /* RT PIN NONE */
-#define  RT_DEVICE_FLAG_FIFO_RX        0x200     /* Flag to use when the sensor is open by fifo mode */
-
-#define  RT_SENSOR_MODULE_MAX          (3)       /* The maximum number of members of a sensor module */
-
-/* Sensor types */
-
-#define RT_SENSOR_CLASS_NONE           (0)
-#define RT_SENSOR_CLASS_ACCE           (1)  /* Accelerometer     */
-#define RT_SENSOR_CLASS_GYRO           (2)  /* Gyroscope         */
-#define RT_SENSOR_CLASS_MAG            (3)  /* Magnetometer      */
-#define RT_SENSOR_CLASS_TEMP           (4)  /* Temperature       */
-#define RT_SENSOR_CLASS_HUMI           (5)  /* Relative Humidity */
-#define RT_SENSOR_CLASS_BARO           (6)  /* Barometer         */
-#define RT_SENSOR_CLASS_LIGHT          (7)  /* Ambient light     */
-#define RT_SENSOR_CLASS_PROXIMITY      (8)  /* Proximity         */
-#define RT_SENSOR_CLASS_HR             (9)  /* Heart Rate        */
-#define RT_SENSOR_CLASS_TVOC           (10) /* TVOC Level        */
-#define RT_SENSOR_CLASS_NOISE          (11) /* Noise Loudness    */
-#define RT_SENSOR_CLASS_STEP           (12) /* Step sensor       */
-#define RT_SENSOR_CLASS_FORCE          (13) /* Force sensor      */
-#define RT_SENSOR_CLASS_DUST           (14) /* Dust sensor       */
-#define RT_SENSOR_CLASS_ECO2           (15) /* eCO2 sensor       */
-#define RT_SENSOR_CLASS_GNSS           (16) /* GPS/GNSS sensor   */
-#define RT_SENSOR_CLASS_TOF            (17) /* TOF sensor        */
-
-/* Sensor vendor types */
-
-#define RT_SENSOR_VENDOR_UNKNOWN       (0)
-#define RT_SENSOR_VENDOR_STM           (1)  /* STMicroelectronics */
-#define RT_SENSOR_VENDOR_BOSCH         (2)  /* Bosch */
-#define RT_SENSOR_VENDOR_INVENSENSE    (3)  /* Invensense */
-#define RT_SENSOR_VENDOR_SEMTECH       (4)  /* Semtech */
-#define RT_SENSOR_VENDOR_GOERTEK       (5)  /* Goertek */
-#define RT_SENSOR_VENDOR_MIRAMEMS      (6)  /* MiraMEMS */
-#define RT_SENSOR_VENDOR_DALLAS        (7)  /* Dallas */
-#define RT_SENSOR_VENDOR_ASAIR         (8)  /* Aosong */
-#define RT_SENSOR_VENDOR_SHARP         (9)  /* Sharp */
-#define RT_SENSOR_VENDOR_SENSIRION     (10) /* Sensirion */
-#define RT_SENSOR_VENDOR_TI            (11) /* Texas Instruments */
-#define RT_SENSOR_VENDOR_PLANTOWER     (12) /* Plantower */
-#define RT_SENSOR_VENDOR_AMS           (13) /* ams AG */
-#define RT_SENSOR_VENDOR_MAXIM         (14) /* Maxim Integrated */
-
-
-/* Sensor unit types */
-
-#define  RT_SENSOR_UNIT_NONE           (0)
-#define  RT_SENSOR_UNIT_MG             (1)  /* Accelerometer           unit: mG         */
-#define  RT_SENSOR_UNIT_MDPS           (2)  /* Gyroscope               unit: mdps       */
-#define  RT_SENSOR_UNIT_MGAUSS         (3)  /* Magnetometer            unit: mGauss     */
-#define  RT_SENSOR_UNIT_LUX            (4)  /* Ambient light           unit: lux        */
-#define  RT_SENSOR_UNIT_CM             (5)  /* Distance                unit: cm         */
-#define  RT_SENSOR_UNIT_PA             (6)  /* Barometer               unit: pa         */
-#define  RT_SENSOR_UNIT_PERMILLAGE     (7)  /* Relative Humidity       unit: permillage */
-#define  RT_SENSOR_UNIT_DCELSIUS       (8)  /* Temperature             unit: dCelsius   */
-#define  RT_SENSOR_UNIT_HZ             (9)  /* Frequency               unit: HZ         */
-#define  RT_SENSOR_UNIT_ONE            (10) /* Dimensionless quantity  unit: 1          */
-#define  RT_SENSOR_UNIT_BPM            (11) /* Heart rate              unit: bpm        */
-#define  RT_SENSOR_UNIT_MM             (12) /* Distance                unit: mm         */
-#define  RT_SENSOR_UNIT_MN             (13) /* Force                   unit: mN         */
-#define  RT_SENSOR_UNIT_PPM            (14) /* Concentration           unit: ppm        */
-#define  RT_SENSOR_UNIT_PPB            (15) /* Concentration           unit: ppb        */
-#define  RT_SENSOR_UNIT_DMS            (16) /* Coordinates             unit: DMS        */
-#define  RT_SENSOR_UNIT_DD             (17) /* Coordinates             unit: DD         */
-
-/* Sensor communication interface types */
-
-#define  RT_SENSOR_INTF_I2C            (1 << 0)
-#define  RT_SENSOR_INTF_SPI            (1 << 1)
-#define  RT_SENSOR_INTF_UART           (1 << 2)
-#define  RT_SENSOR_INTF_ONEWIRE        (1 << 3)
-
-/* Sensor power mode types */
-
-#define  RT_SENSOR_POWER_NONE          (0)
-#define  RT_SENSOR_POWER_DOWN          (1)  /* power down mode   */
-#define  RT_SENSOR_POWER_NORMAL        (2)  /* normal-power mode */
-#define  RT_SENSOR_POWER_LOW           (3)  /* low-power mode    */
-#define  RT_SENSOR_POWER_HIGH          (4)  /* high-power mode   */
-
-/* Sensor work mode types */
-
-#define  RT_SENSOR_MODE_NONE           (0)
-#define  RT_SENSOR_MODE_POLLING        (1)  /* One shot only read a data */
-#define  RT_SENSOR_MODE_INT            (2)  /* TODO: One shot interrupt only read a data */
-#define  RT_SENSOR_MODE_FIFO           (3)  /* TODO: One shot interrupt read all fifo data */
-
-/* Sensor control cmd types */
-
-#define  RT_SENSOR_CTRL_GET_ID         (0)  /* Get device id */
-#define  RT_SENSOR_CTRL_GET_INFO       (1)  /* Get sensor info */
-#define  RT_SENSOR_CTRL_SET_RANGE      (2)  /* Set the measure range of sensor. unit is info of sensor */
-#define  RT_SENSOR_CTRL_SET_ODR        (3)  /* Set output date rate. unit is HZ */
-#define  RT_SENSOR_CTRL_SET_MODE       (4)  /* Set sensor's work mode. ex. RT_SENSOR_MODE_POLLING,RT_SENSOR_MODE_INT */
-#define  RT_SENSOR_CTRL_SET_POWER      (5)  /* Set power mode. args type of sensor power mode. ex. RT_SENSOR_POWER_DOWN,RT_SENSOR_POWER_NORMAL */
-#define  RT_SENSOR_CTRL_SELF_TEST      (6)  /* Take a self test */
-
-#define  RT_SENSOR_CTRL_USER_CMD_START 0x100  /* User commands should be greater than 0x100 */
-
-struct rt_sensor_info
-{
-    rt_uint8_t     type;                    /* The sensor type */
-    rt_uint8_t     vendor;                  /* Vendor of sensors */
-    const char    *model;                   /* model name of sensor */
-    rt_uint8_t     unit;                    /* unit of measurement */
-    rt_uint8_t     intf_type;               /* Communication interface type */
-    rt_int32_t     range_max;               /* maximum range of this sensor's value. unit is 'unit' */
-    rt_int32_t     range_min;               /* minimum range of this sensor's value. unit is 'unit' */
-    rt_uint32_t    period_min;              /* Minimum measurement period,unit:ms. zero = not a constant rate */
-    rt_uint8_t     fifo_max;
-};
-
-struct rt_sensor_intf
-{
-    char                       *dev_name;   /* The name of the communication device */
-    rt_uint8_t                  type;       /* Communication interface type */
-    void                       *user_data;  /* Private data for the sensor. ex. i2c addr,spi cs,control I/O */
-};
-
-struct rt_sensor_config
-{
-    struct rt_sensor_intf        intf;      /* sensor interface config */
-    struct rt_device_pin_mode    irq_pin;   /* Interrupt pin, The purpose of this pin is to notification read data */
-    rt_uint8_t                   mode;      /* sensor work mode */
-    rt_uint8_t                   power;     /* sensor power mode */
-    rt_uint16_t                  odr;       /* sensor out data rate */
-    rt_int32_t                   range;     /* sensor range of measurement */
-};
-
-typedef struct rt_sensor_device *rt_sensor_t;
-
-struct rt_sensor_device
-{
-    struct rt_device             parent;    /* The standard device */
-
-    struct rt_sensor_info        info;      /* The sensor info data */
-    struct rt_sensor_config      config;    /* The sensor config data */
-
-    void                        *data_buf;  /* The buf of the data received */
-    rt_size_t                    data_len;  /* The size of the data received */
-
-    const struct rt_sensor_ops  *ops;       /* The sensor ops */
-
-    struct rt_sensor_module     *module;    /* The sensor module */
-
-    rt_err_t (*irq_handle)(rt_sensor_t sensor);             /* Called when an interrupt is generated, registered by the driver */
-};
-
-struct rt_sensor_module
-{
-    rt_mutex_t                   lock;                      /* The module lock */
-
-    rt_sensor_t                  sen[RT_SENSOR_MODULE_MAX]; /* The module contains a list of sensors */
-    rt_uint8_t                   sen_num;                   /* Number of sensors contained in the module */
-};
-
-/* 3-axis Data Type */
-struct sensor_3_axis
-{
-    rt_int32_t x;
-    rt_int32_t y;
-    rt_int32_t z;
-};
-
-struct coordinates
-{
-    double longitude;
-    double latitude;
-};
-
-struct rt_sensor_data
-{
-    rt_uint32_t         timestamp;          /* The timestamp when the data was received */
-    rt_uint8_t          type;               /* The sensor type of the data */
-    union
-    {
-        struct sensor_3_axis acce;          /* Accelerometer.       unit: mG          */
-        struct sensor_3_axis gyro;          /* Gyroscope.           unit: mdps        */
-        struct sensor_3_axis mag;           /* Magnetometer.        unit: mGauss      */
-        struct coordinates   coord;         /* Coordinates          unit: degrees     */
-        rt_int32_t           temp;          /* Temperature.         unit: dCelsius    */
-        rt_int32_t           humi;          /* Relative humidity.   unit: permillage  */
-        rt_int32_t           baro;          /* Pressure.            unit: pascal (Pa) */
-        rt_int32_t           light;         /* Light.               unit: lux         */
-        rt_int32_t           proximity;     /* Distance.            unit: centimeters */
-        rt_int32_t           hr;            /* Heart rate.          unit: bpm         */
-        rt_int32_t           tvoc;          /* TVOC.                unit: permillage  */
-        rt_int32_t           noise;         /* Noise Loudness.      unit: HZ          */
-        rt_uint32_t          step;          /* Step sensor.         unit: 1           */
-        rt_int32_t           force;         /* Force sensor.        unit: mN          */
-        rt_uint32_t          dust;          /* Dust sensor.         unit: ug/m3       */
-        rt_uint32_t          eco2;          /* eCO2 sensor.         unit: ppm         */
-    } data;
-};
-
-struct rt_sensor_ops
-{
-    rt_size_t (*fetch_data)(struct rt_sensor_device *sensor, void *buf, rt_size_t len);
-    rt_err_t (*control)(struct rt_sensor_device *sensor, int cmd, void *arg);
-};
-
-int rt_hw_sensor_register(rt_sensor_t sensor,
-                          const char              *name,
-                          rt_uint32_t              flag,
-                          void                    *data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __SENSOR_H__ */
diff --git a/components/drivers/sensors/sensor_cmd.c b/components/drivers/sensors/sensor_cmd.c
index 5c2d22640c..0f0ab66d63 100755
--- a/components/drivers/sensors/sensor_cmd.c
+++ b/components/drivers/sensors/sensor_cmd.c
@@ -231,6 +231,7 @@ static void sensor_polling(int argc, char **argv)
     struct rt_sensor_data data;
     rt_size_t res, i;
     rt_int32_t delay;
+    rt_err_t result;
 
     dev = rt_device_find(argv[1]);
     if (dev == RT_NULL)
@@ -244,9 +245,10 @@ static void sensor_polling(int argc, char **argv)
     sensor = (rt_sensor_t)dev;
     delay  = sensor->info.period_min > 100 ? sensor->info.period_min : 100;
 
-    if (rt_device_open(dev, RT_DEVICE_FLAG_RDWR) != RT_EOK)
+    result = rt_device_open(dev, RT_DEVICE_FLAG_RDONLY);
+    if (result != RT_EOK)
     {
-        LOG_E("open device failed!");
+        LOG_E("open device failed! error code : %d", result);
         return;
     }
     rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)100);
@@ -451,7 +453,7 @@ static void sensor(int argc, char **argv)
             dev = rt_device_find(argv[2]);
             if (dev == RT_NULL)
             {
-                LOG_E("Can't find device:%s", argv[1]);
+                LOG_E("Can't find device:%s", argv[2]);
                 return;
             }
             if (rt_device_open(dev, RT_DEVICE_FLAG_RDWR) != RT_EOK)