[sensor-v2]将当前sensor框架revert回v1版本并独立为v2 (#7698)

3 files changed, 537 insertions, 279 deletions

diff --git a/components/drivers/include/drivers/sensor.h b/components/drivers/include/drivers/sensor.h
index 72044a3ee2..e09d8d8c94 100644
--- a/components/drivers/include/drivers/sensor.h
+++ b/components/drivers/include/drivers/sensor.h
@@ -1,12 +1,11 @@
 /*
- * Copyright (c) 2006-2023, RT-Thread Development Team
+ * 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
- * 2022-12-17     Meco Man     re-implement sensor framework
  */
 
 #ifndef __SENSOR_H__
@@ -25,293 +24,142 @@ extern "C" {
 #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 */
 
-#define RT_SENSOR_MACRO_GET_NAME(macro) (macro##_STR)
-
 /* Sensor types */
-#define RT_SENSOR_TYPE_NONE           (0)
-#define RT_SENSOR_TYPE_NONE_STR       "None"
-#define RT_SENSOR_TYPE_ACCE           (1)
-#define RT_SENSOR_TYPE_ACCE_STR       "Accelerometer"
-#define RT_SENSOR_TYPE_GYRO           (2)
-#define RT_SENSOR_TYPE_GYRO_STR       "Gyroscope"
-#define RT_SENSOR_TYPE_MAG            (3)
-#define RT_SENSOR_TYPE_MAG_STR        "Magnetometer"
-#define RT_SENSOR_TYPE_TEMP           (4)
-#define RT_SENSOR_TYPE_TEMP_STR       "Temperature"
-#define RT_SENSOR_TYPE_HUMI           (5)
-#define RT_SENSOR_TYPE_HUMI_STR       "Relative Humidity"
-#define RT_SENSOR_TYPE_BARO           (6)
-#define RT_SENSOR_TYPE_BARO_STR       "Barometer"
-#define RT_SENSOR_TYPE_LIGHT          (7)
-#define RT_SENSOR_TYPE_LIGHT_STR      "Ambient Light"
-#define RT_SENSOR_TYPE_PROXIMITY      (8)
-#define RT_SENSOR_TYPE_PROXIMITY_STR  "Proximity"
-#define RT_SENSOR_TYPE_HR             (9)
-#define RT_SENSOR_TYPE_HR_STR         "Heart Rate"
-#define RT_SENSOR_TYPE_TVOC           (10)
-#define RT_SENSOR_TYPE_TVOC_STR       "TVOC Level"
-#define RT_SENSOR_TYPE_NOISE          (11)
-#define RT_SENSOR_TYPE_NOISE_STR      "Noise Loudness"
-#define RT_SENSOR_TYPE_STEP           (12)
-#define RT_SENSOR_TYPE_STEP_STR       "Step"
-#define RT_SENSOR_TYPE_FORCE          (13)
-#define RT_SENSOR_TYPE_FORCE_STR      "Force"
-#define RT_SENSOR_TYPE_DUST           (14)
-#define RT_SENSOR_TYPE_DUST_STR       "Dust"
-#define RT_SENSOR_TYPE_ECO2           (15)
-#define RT_SENSOR_TYPE_ECO2_STR       "eCO2"
-#define RT_SENSOR_TYPE_GNSS           (16)
-#define RT_SENSOR_TYPE_GNSS_STR       "GNSS"
-#define RT_SENSOR_TYPE_TOF            (17)
-#define RT_SENSOR_TYPE_TOF_STR        "ToF"
-#define RT_SENSOR_TYPE_SPO2           (18)
-#define RT_SENSOR_TYPE_SPO2_STR       "SpO2"
-#define RT_SENSOR_TYPE_IAQ            (19)
-#define RT_SENSOR_TYPE_IAQ_STR        "IAQ"
-#define RT_SENSOR_TYPE_ETOH           (20)
-#define RT_SENSOR_TYPE_ETOH_STR       "EtOH"
-#define RT_SENSOR_TYPE_BP             (21)
-#define RT_SENSOR_TYPE_BP_STR         "Blood Pressure"
-#define RT_SENSOR_TYPE_VOLTAGE        (22)
-#define RT_SENSOR_TYPE_VOLTAGE_STR    "Voltage"
-#define RT_SENSOR_TYPE_CURRENT        (23)
-#define RT_SENSOR_TYPE_CURRENT_STR    "Current"
+
+#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        */
+#define RT_SENSOR_CLASS_SPO2           (18) /* SpO2 sensor       */
+#define RT_SENSOR_CLASS_IAQ            (19) /* IAQ sensor.       */
+#define RT_SENSOR_CLASS_ETOH           (20) /* EtOH sensor.      */
+#define RT_SENSOR_CLASS_BP             (21) /* Blood Pressure    */
 
 /* Sensor vendor types */
+
 #define RT_SENSOR_VENDOR_UNKNOWN       (0)
-#define RT_SENSOR_VENDOR_UNKNOWN_STR   "Unknown"
-#define RT_SENSOR_VENDOR_VIRTUAL       (1)
-#define RT_SENSOR_VENDOR_VIRTUAL_STR   "Virtual Sensor"
-#define RT_SENSOR_VENDOR_ONCHIP        (2)
-#define RT_SENSOR_VENDOR_ONCHIP_STR    "OnChip"
-#define RT_SENSOR_VENDOR_STM           (3)
-#define RT_SENSOR_VENDOR_STM_STR       "STMicroelectronics"
-#define RT_SENSOR_VENDOR_BOSCH         (4)
-#define RT_SENSOR_VENDOR_BOSCH_STR     "Bosch"
-#define RT_SENSOR_VENDOR_INVENSENSE    (5)
-#define RT_SENSOR_VENDOR_INVENSENSE_STR "Invensense"
-#define RT_SENSOR_VENDOR_SEMTECH       (6)
-#define RT_SENSOR_VENDOR_SEMTECH_STR   "Semtech"
-#define RT_SENSOR_VENDOR_GOERTEK       (7)
-#define RT_SENSOR_VENDOR_GOERTEK_STR   "Goertek"
-#define RT_SENSOR_VENDOR_MIRAMEMS      (8)
-#define RT_SENSOR_VENDOR_MIRAMEMS_STR  "MiraMEMS"
-#define RT_SENSOR_VENDOR_DALLAS        (9)
-#define RT_SENSOR_VENDOR_DALLAS_STR    "Dallas"
-#define RT_SENSOR_VENDOR_ASAIR         (10)
-#define RT_SENSOR_VENDOR_ASAIR_STR     "Aosong"
-#define RT_SENSOR_VENDOR_SHARP         (11)
-#define RT_SENSOR_VENDOR_SHARP_STR     "Sharp"
-#define RT_SENSOR_VENDOR_SENSIRION     (12)
-#define RT_SENSOR_VENDOR_SENSIRION_STR "Sensirion"
-#define RT_SENSOR_VENDOR_TI            (13)
-#define RT_SENSOR_VENDOR_TI_STR        "Texas Instruments"
-#define RT_SENSOR_VENDOR_PLANTOWER     (14)
-#define RT_SENSOR_VENDOR_PLANTOWER_STR "Plantower"
-#define RT_SENSOR_VENDOR_AMS           (15)
-#define RT_SENSOR_VENDOR_AMS_STR       "ams-OSRAM AG"
-#define RT_SENSOR_VENDOR_MAXIM         (16)
-#define RT_SENSOR_VENDOR_MAXIM_STR     "Maxim Integrated"
-#define RT_SENSOR_VENDOR_MELEXIS       (17)
-#define RT_SENSOR_VENDOR_MELEXIS_STR   "Melexis"
-#define RT_SENSOR_VENDOR_LSC           (18)
-#define RT_SENSOR_VENDOR_LSC_STR       "Lite On"
+#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 */
+#define RT_SENSOR_VENDOR_MELEXIS       (15) /* Melexis */
 
 /* Sensor unit types */
-#define RT_SENSOR_UNIT_NONE           (0)  /* Dimensionless quantity */
-#define RT_SENSOR_UNIT_NONE_STR       ""
-#define RT_SENSOR_UNIT_MG             (1)  /* Accelerometer           unit: mG         */
-#define RT_SENSOR_UNIT_MG_STR         "mG"
-#define RT_SENSOR_UNIT_MDPS           (2)  /* Gyroscope               unit: mdps       */
-#define RT_SENSOR_UNIT_MDPS_STR       "mdps"
-#define RT_SENSOR_UNIT_MGAUSS         (3)  /* Magnetometer            unit: mGauss     */
-#define RT_SENSOR_UNIT_MGAUSS_STR     "mGauss"
-#define RT_SENSOR_UNIT_LUX            (4)  /* Ambient light           unit: lux        */
-#define RT_SENSOR_UNIT_LUX_STR        "lux"
-#define RT_SENSOR_UNIT_M              (5)  /* Distance                unit: m          */
-#define RT_SENSOR_UNIT_M_STR          "m"
-#define RT_SENSOR_UNIT_CM             (6)  /* Distance                unit: cm         */
-#define RT_SENSOR_UNIT_CM_STR         "cm"
-#define RT_SENSOR_UNIT_MM             (7)  /* Distance                unit: mm         */
-#define RT_SENSOR_UNIT_MM_STR         "mm"
-#define RT_SENSOR_UNIT_PA             (8)  /* Barometer               unit: Pa         */
-#define RT_SENSOR_UNIT_PA_STR         "Pa"
-#define RT_SENSOR_UNIT_MMHG           (9)  /* Blood Pressure          unit: mmHg       */
-#define RT_SENSOR_UNIT_MMHG_STR       "mmHg"
-#define RT_SENSOR_UNIT_PERCENTAGE     (10) /* Relative Humidity       unit: percentage */
-#define RT_SENSOR_UNIT_PERCENTAGE_STR "%"
-#define RT_SENSOR_UNIT_PERMILLAGE     (11) /* Relative Humidity       unit: permillage */
-#define RT_SENSOR_UNIT_PERMILLAGE_STR "‰"
-#define RT_SENSOR_UNIT_CELSIUS        (12) /* Temperature             unit: Celsius ℃ */
-#define RT_SENSOR_UNIT_CELSIUS_STR    "℃"
-#define RT_SENSOR_UNIT_FAHRENHEIT     (13) /* Temperature             unit: Fahrenheit ℉ */
-#define RT_SENSOR_UNIT_FAHRENHEIT_STR "℉"
-#define RT_SENSOR_UNIT_KELVIN         (14) /* Temperature             unit: Kelvin K   */
-#define RT_SENSOR_UNIT_KELVIN_STR     "K"
-#define RT_SENSOR_UNIT_HZ             (15) /* Frequency               unit: Hz         */
-#define RT_SENSOR_UNIT_HZ_STR         "Hz"
-#define RT_SENSOR_UNIT_V              (16) /* Voltage                 unit: V          */
-#define RT_SENSOR_UNIT_V_STR          "V"
-#define RT_SENSOR_UNIT_MV             (17) /* Voltage                 unit: mV         */
-#define RT_SENSOR_UNIT_MV_STR         "mV"
-#define RT_SENSOR_UNIT_A              (18) /* Current                 unit: A          */
-#define RT_SENSOR_UNIT_A_STR          "A"
-#define RT_SENSOR_UNIT_MA             (19) /* Current                 unit: mA         */
-#define RT_SENSOR_UNIT_MA_STR         "mA"
-#define RT_SENSOR_UNIT_N              (20) /* Force                   unit: N          */
-#define RT_SENSOR_UNIT_N_STR          "N"
-#define RT_SENSOR_UNIT_MN             (21) /* Force                   unit: mN         */
-#define RT_SENSOR_UNIT_MN_STR         "mN"
-#define RT_SENSOR_UNIT_BPM            (22) /* Heart rate              unit: bpm        */
-#define RT_SENSOR_UNIT_BPM_STR        "bpm"
-#define RT_SENSOR_UNIT_PPM            (23) /* Concentration           unit: ppm        */
-#define RT_SENSOR_UNIT_PPM_STR        "ppm"
-#define RT_SENSOR_UNIT_PPB            (24) /* Concentration           unit: ppb        */
-#define RT_SENSOR_UNIT_PPB_STR        "ppb"
-#define RT_SENSOR_UNIT_DMS            (25) /* Coordinates             unit: DMS        */
-#define RT_SENSOR_UNIT_DMS_STR        "DMS"
-#define RT_SENSOR_UNIT_DD             (26) /* Coordinates             unit: DD         */
-#define RT_SENSOR_UNIT_DD_STR         "DD"
-#define RT_SENSOR_UNIT_MGM3           (27) /* Concentration           unit: mg/m3      */
-#define RT_SENSOR_UNIT_MGM3_STR       "mg/m3"
 
+#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         */
+#define  RT_SENSOR_UNIT_MGM3           (18) /* Concentration           unit: mg/m3      */
+#define  RT_SENSOR_UNIT_MMHG           (19) /* Blood Pressure          unit: mmHg       */
 /* Sensor communication interface types */
-#define RT_SENSOR_INTF_I2C            (1 << 0)
-#define RT_SENSOR_INTF_I2C_STR        "I2C"
-#define RT_SENSOR_INTF_SPI            (1 << 1)
-#define RT_SENSOR_INTF_SPI_STR        "SPI"
-#define RT_SENSOR_INTF_UART           (1 << 2)
-#define RT_SENSOR_INTF_UART_STR       "UART"
-#define RT_SENSOR_INTF_ONEWIRE        (1 << 3)
-#define RT_SENSOR_INTF_ONEWIRE_STR    "1-Wire"
-#define RT_SENSOR_INTF_CAN            (1 << 4)
-#define RT_SENSOR_INTF_CAN_STR        "CAN"
-#define RT_SENSOR_INTF_MODBUS         (1 << 5)
-#define RT_SENSOR_INTF_MODBUS_STR     "Modbus"
-
-/**
- *                 Sensor mode
- *              rt_uint16_t mode
- *   0000   |    0000    |   0000   |    0000
- *  unused     accuracy      power     fetch data
- */
-#define RT_SENSOR_MODE_ACCURACY_BIT_OFFSET    (8)
-#define RT_SENSOR_MODE_POWER_BIT_OFFSET       (4)
-#define RT_SENSOR_MODE_FETCH_BIT_OFFSET       (0)
-
-#define RT_SENSOR_MODE_GET_ACCURACY(mode)     (rt_uint8_t)((mode >> RT_SENSOR_MODE_ACCURACY_BIT_OFFSET) & 0x0F)
-#define RT_SENSOR_MODE_GET_POWER(mode)        (rt_uint8_t)((mode >> RT_SENSOR_MODE_POWER_BIT_OFFSET) & 0x0F)
-#define RT_SENSOR_MODE_GET_FETCH(mode)        (rt_uint8_t)((mode >> RT_SENSOR_MODE_FETCH_BIT_OFFSET) & 0x0F)
 
-#define RT_SENSOR_MODE_CLEAR_ACCURACY(mode)   (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET)))
-#define RT_SENSOR_MODE_CLEAR_POWER(mode)      (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_POWER_BIT_OFFSET)))
-#define RT_SENSOR_MODE_CLEAR_FETCH(mode)      (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_FETCH_BIT_OFFSET)))
+#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)
 
-#define RT_SENSOR_MODE_SET_ACCURACY(mode, accuracy_mode) RT_SENSOR_MODE_CLEAR_ACCURACY(mode); (mode |= (accuracy_mode << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET))
-#define RT_SENSOR_MODE_SET_POWER(mode, power_mode)       RT_SENSOR_MODE_CLEAR_POWER(mode); (mode |= (power_mode << RT_SENSOR_MODE_POWER_BIT_OFFSET))
-#define RT_SENSOR_MODE_SET_FETCH(mode, fetch_mode)       RT_SENSOR_MODE_CLEAR_FETCH(mode); (mode |= (fetch_mode << RT_SENSOR_MODE_FETCH_BIT_OFFSET))
+/* Sensor power mode types */
 
-/* Sensor mode: accuracy */
-#define RT_SENSOR_MODE_ACCURACY_HIGHEST       (0)
-#define RT_SENSOR_MODE_ACCURACY_HIGHEST_STR   "Accuracy Highest"
-#define RT_SENSOR_MODE_ACCURACY_HIGH          (1)
-#define RT_SENSOR_MODE_ACCURACY_HIGH_STR      "Accuracy High"
-#define RT_SENSOR_MODE_ACCURACY_MEDIUM        (2)
-#define RT_SENSOR_MODE_ACCURACY_MEDIUM_STR    "Accuracy Medium"
-#define RT_SENSOR_MODE_ACCURACY_LOW           (3)
-#define RT_SENSOR_MODE_ACCURACY_LOW_STR       "Accuracy Low"
-#define RT_SENSOR_MODE_ACCURACY_LOWEST        (4)
-#define RT_SENSOR_MODE_ACCURACY_LOWEST_STR    "Accuracy Lowest"
-#define RT_SENSOR_MODE_ACCURACY_NOTRUST       (5)
-#define RT_SENSOR_MODE_ACCURACY_NOTRUST_STR   "Accuracy No Trust"
+#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 mode: power */
-#define RT_SENSOR_MODE_POWER_HIGHEST          (0)
-#define RT_SENSOR_MODE_POWER_HIGHEST_STR      "Power Highest"
-#define RT_SENSOR_MODE_POWER_HIGH             (1)
-#define RT_SENSOR_MODE_POWER_HIGH_STR         "Power High"
-#define RT_SENSOR_MODE_POWER_MEDIUM           (2)
-#define RT_SENSOR_MODE_POWER_MEDIUM_STR       "Power Medium"
-#define RT_SENSOR_MODE_POWER_LOW              (3)
-#define RT_SENSOR_MODE_POWER_LOW_STR          "Power Low"
-#define RT_SENSOR_MODE_POWER_LOWEST           (4)
-#define RT_SENSOR_MODE_POWER_LOWEST_STR       "Power Lowest"
-#define RT_SENSOR_MODE_POWER_DOWN             (5)
-#define RT_SENSOR_MODE_POWER_DOWN_STR         "Power Down"
+/* Sensor work mode types */
 
-/* Sensor mode: fetch data */
-#define RT_SENSOR_MODE_FETCH_POLLING          (0)  /* One shot only read a data */
-#define RT_SENSOR_MODE_FETCH_POLLING_STR      "Polling Mode"
-#define RT_SENSOR_MODE_FETCH_INT              (1)  /* TODO: One shot interrupt only read a data */
-#define RT_SENSOR_MODE_FETCH_INT_STR          "Interrupt Mode"
-#define RT_SENSOR_MODE_FETCH_FIFO             (2)  /* TODO: One shot interrupt read all fifo data */
-#define RT_SENSOR_MODE_FETCH_FIFO_STR         "FIFO Mode"
+#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                 (RT_DEVICE_CTRL_BASE(Sensor) + 0)  /* Get device id */
-#define RT_SENSOR_CTRL_SELF_TEST              (RT_DEVICE_CTRL_BASE(Sensor) + 1)  /* Take a self test */
-#define RT_SENSOR_CTRL_SOFT_RESET             (RT_DEVICE_CTRL_BASE(Sensor) + 2)  /* soft reset sensor */
-#define RT_SENSOR_CTRL_SET_FETCH_MODE         (RT_DEVICE_CTRL_BASE(Sensor) + 3)  /* set fetch data mode */
-#define RT_SENSOR_CTRL_SET_POWER_MODE         (RT_DEVICE_CTRL_BASE(Sensor) + 4)  /* set power mode */
-#define RT_SENSOR_CTRL_SET_ACCURACY_MODE      (RT_DEVICE_CTRL_BASE(Sensor) + 5)  /* set accuracy mode */
 
-#define  RT_SENSOR_CTRL_USER_CMD_START 0x100  /* User commands should be greater than 0x100 */
+#define  RT_SENSOR_CTRL_GET_ID         (RT_DEVICE_CTRL_BASE(Sensor) + 0)  /* Get device id */
+#define  RT_SENSOR_CTRL_GET_INFO       (RT_DEVICE_CTRL_BASE(Sensor) + 1)  /* Get sensor info */
+#define  RT_SENSOR_CTRL_SET_RANGE      (RT_DEVICE_CTRL_BASE(Sensor) + 2)  /* Set the measure range of sensor. unit is info of sensor */
+#define  RT_SENSOR_CTRL_SET_ODR        (RT_DEVICE_CTRL_BASE(Sensor) + 3)  /* Set output date rate. unit is HZ */
+#define  RT_SENSOR_CTRL_SET_MODE       (RT_DEVICE_CTRL_BASE(Sensor) + 4)  /* Set sensor's work mode. ex. RT_SENSOR_MODE_POLLING,RT_SENSOR_MODE_INT */
+#define  RT_SENSOR_CTRL_SET_POWER      (RT_DEVICE_CTRL_BASE(Sensor) + 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      (RT_DEVICE_CTRL_BASE(Sensor) + 6)  /* Take a self test */
 
-/* sensor floating data type */
-#ifdef RT_USING_SENSOR_DOUBLE_FLOAT
-typedef double rt_sensor_float_t;
-#else
-typedef float rt_sensor_float_t;
-#endif /* RT_USING_SENSOR_DOUBLE_FLOAT */
-
-struct rt_sensor_accuracy
-{
-    rt_sensor_float_t resolution;           /* resolution of sesnor measurement */
-    rt_sensor_float_t error;                /* error of sesnor measurement */
-};
-
-struct rt_sensor_scale
-{
-    rt_sensor_float_t range_max;            /* maximum range of this sensor's value. unit is 'unit' */
-    rt_sensor_float_t range_min;            /* minimum range of this sensor's value. unit is 'unit' */
-};
+#define  RT_SENSOR_CTRL_USER_CMD_START 0x100  /* User commands should be greater than 0x100 */
 
 struct rt_sensor_info
 {
-    rt_uint8_t     type;                    /* sensor type */
-    rt_uint8_t     vendor;                  /* sensors vendor */
-    const char    *name;                    /* name of sensor */
+    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_uint16_t    mode;                    /* sensor work mode */
+    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;
-    rt_sensor_float_t acquire_min;          /* minimum acquirement period, unit:ms. zero = not a constant rate */
-    struct rt_sensor_accuracy accuracy;     /* sensor current measure accuracy */
-    struct rt_sensor_scale scale;           /* sensor current scale range */
 };
 
 struct rt_sensor_intf
 {
-    char          *dev_name;                /* The name of the communication device */
-    rt_uint8_t     type;                    /* Communication interface type */
-    void          *arg;                     /* Interface argument for the sensor. ex. i2c addr,spi cs,control I/O */
+    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;
-typedef struct rt_sensor_data   *rt_sensor_data_t;
-typedef struct rt_sensor_info   *rt_sensor_info_t;
-typedef struct rt_sensor_accuracy *rt_sensor_accuracy_t;
-typedef struct rt_sensor_scale  *rt_sensor_scale_t;
 
 struct rt_sensor_device
 {
@@ -320,7 +168,7 @@ struct rt_sensor_device
     struct rt_sensor_info        info;      /* The sensor info data */
     struct rt_sensor_config      config;    /* The sensor config data */
 
-    rt_sensor_data_t             data_buf;  /* The buf of the data received */
+    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 */
@@ -341,22 +189,22 @@ struct rt_sensor_module
 /* 3-axis Data Type */
 struct sensor_3_axis
 {
-    rt_sensor_float_t x;
-    rt_sensor_float_t y;
-    rt_sensor_float_t z;
+    rt_int32_t x;
+    rt_int32_t y;
+    rt_int32_t z;
 };
 
 /* Blood Pressure Data Type */
 struct sensor_bp
 {
-    rt_sensor_float_t sbp; /* SBP : systolic pressure */
-    rt_sensor_float_t dbp; /* DBP : diastolic pressure */
+    rt_int32_t sbp; /* SBP : systolic pressure */
+    rt_int32_t dbp; /* DBP : diastolic pressure */
 };
 
 struct coordinates
 {
-    rt_sensor_float_t longitude;
-    rt_sensor_float_t latitude;
+    double longitude;
+    double latitude;
 };
 
 struct rt_sensor_data
@@ -369,35 +217,35 @@ struct rt_sensor_data
         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         */
+        rt_uint32_t          spo2;          /* SpO2 sensor.         unit: permillage  */
+        rt_uint32_t          iaq;           /* IAQ sensor.          unit: 1 */
+        rt_uint32_t          etoh;          /* EtOH sensor.         unit: ppm */
         struct sensor_bp     bp;            /* BloodPressure.       unit: mmHg        */
-        rt_sensor_float_t    temp;          /* Temperature.         unit: dCelsius    */
-        rt_sensor_float_t    humi;          /* Relative humidity.   unit: permillage  */
-        rt_sensor_float_t    baro;          /* Pressure.            unit: pascal (Pa) */
-        rt_sensor_float_t    light;         /* Light.               unit: lux         */
-        rt_sensor_float_t    proximity;     /* Distance.            unit: centimeters */
-        rt_sensor_float_t    hr;            /* Heart rate.          unit: bpm         */
-        rt_sensor_float_t    tvoc;          /* TVOC.                unit: permillage  */
-        rt_sensor_float_t    noise;         /* Noise Loudness.      unit: HZ          */
-        rt_sensor_float_t    step;          /* Step sensor.         unit: 1           */
-        rt_sensor_float_t    force;         /* Force sensor.        unit: mN          */
-        rt_sensor_float_t    dust;          /* Dust sensor.         unit: ug/m3       */
-        rt_sensor_float_t    eco2;          /* eCO2 sensor.         unit: ppm         */
-        rt_sensor_float_t    spo2;          /* SpO2 sensor.         unit: permillage  */
-        rt_sensor_float_t    iaq;           /* IAQ sensor.          unit: 1           */
-        rt_sensor_float_t    etoh;          /* EtOH sensor.         unit: ppm         */
     } data;
 };
 
 struct rt_sensor_ops
 {
-    rt_ssize_t (*fetch_data)(rt_sensor_t sensor, rt_sensor_data_t buf, rt_size_t len);
-    rt_err_t (*control)(rt_sensor_t sensor, int cmd, void *arg);
+    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);
+int rt_hw_sensor_register(rt_sensor_t sensor,
+                          const char              *name,
+                          rt_uint32_t              flag,
+                          void                    *data);
 
 #ifdef __cplusplus
 }
diff --git a/components/drivers/include/drivers/sensor_v2.h b/components/drivers/include/drivers/sensor_v2.h
new file mode 100644
index 0000000000..72044a3ee2
--- /dev/null
+++ b/components/drivers/include/drivers/sensor_v2.h
@@ -0,0 +1,406 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-01-31     flybreak     first version
+ * 2022-12-17     Meco Man     re-implement sensor framework
+ */
+
+#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_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 */
+
+#define RT_SENSOR_MACRO_GET_NAME(macro) (macro##_STR)
+
+/* Sensor types */
+#define RT_SENSOR_TYPE_NONE           (0)
+#define RT_SENSOR_TYPE_NONE_STR       "None"
+#define RT_SENSOR_TYPE_ACCE           (1)
+#define RT_SENSOR_TYPE_ACCE_STR       "Accelerometer"
+#define RT_SENSOR_TYPE_GYRO           (2)
+#define RT_SENSOR_TYPE_GYRO_STR       "Gyroscope"
+#define RT_SENSOR_TYPE_MAG            (3)
+#define RT_SENSOR_TYPE_MAG_STR        "Magnetometer"
+#define RT_SENSOR_TYPE_TEMP           (4)
+#define RT_SENSOR_TYPE_TEMP_STR       "Temperature"
+#define RT_SENSOR_TYPE_HUMI           (5)
+#define RT_SENSOR_TYPE_HUMI_STR       "Relative Humidity"
+#define RT_SENSOR_TYPE_BARO           (6)
+#define RT_SENSOR_TYPE_BARO_STR       "Barometer"
+#define RT_SENSOR_TYPE_LIGHT          (7)
+#define RT_SENSOR_TYPE_LIGHT_STR      "Ambient Light"
+#define RT_SENSOR_TYPE_PROXIMITY      (8)
+#define RT_SENSOR_TYPE_PROXIMITY_STR  "Proximity"
+#define RT_SENSOR_TYPE_HR             (9)
+#define RT_SENSOR_TYPE_HR_STR         "Heart Rate"
+#define RT_SENSOR_TYPE_TVOC           (10)
+#define RT_SENSOR_TYPE_TVOC_STR       "TVOC Level"
+#define RT_SENSOR_TYPE_NOISE          (11)
+#define RT_SENSOR_TYPE_NOISE_STR      "Noise Loudness"
+#define RT_SENSOR_TYPE_STEP           (12)
+#define RT_SENSOR_TYPE_STEP_STR       "Step"
+#define RT_SENSOR_TYPE_FORCE          (13)
+#define RT_SENSOR_TYPE_FORCE_STR      "Force"
+#define RT_SENSOR_TYPE_DUST           (14)
+#define RT_SENSOR_TYPE_DUST_STR       "Dust"
+#define RT_SENSOR_TYPE_ECO2           (15)
+#define RT_SENSOR_TYPE_ECO2_STR       "eCO2"
+#define RT_SENSOR_TYPE_GNSS           (16)
+#define RT_SENSOR_TYPE_GNSS_STR       "GNSS"
+#define RT_SENSOR_TYPE_TOF            (17)
+#define RT_SENSOR_TYPE_TOF_STR        "ToF"
+#define RT_SENSOR_TYPE_SPO2           (18)
+#define RT_SENSOR_TYPE_SPO2_STR       "SpO2"
+#define RT_SENSOR_TYPE_IAQ            (19)
+#define RT_SENSOR_TYPE_IAQ_STR        "IAQ"
+#define RT_SENSOR_TYPE_ETOH           (20)
+#define RT_SENSOR_TYPE_ETOH_STR       "EtOH"
+#define RT_SENSOR_TYPE_BP             (21)
+#define RT_SENSOR_TYPE_BP_STR         "Blood Pressure"
+#define RT_SENSOR_TYPE_VOLTAGE        (22)
+#define RT_SENSOR_TYPE_VOLTAGE_STR    "Voltage"
+#define RT_SENSOR_TYPE_CURRENT        (23)
+#define RT_SENSOR_TYPE_CURRENT_STR    "Current"
+
+/* Sensor vendor types */
+#define RT_SENSOR_VENDOR_UNKNOWN       (0)
+#define RT_SENSOR_VENDOR_UNKNOWN_STR   "Unknown"
+#define RT_SENSOR_VENDOR_VIRTUAL       (1)
+#define RT_SENSOR_VENDOR_VIRTUAL_STR   "Virtual Sensor"
+#define RT_SENSOR_VENDOR_ONCHIP        (2)
+#define RT_SENSOR_VENDOR_ONCHIP_STR    "OnChip"
+#define RT_SENSOR_VENDOR_STM           (3)
+#define RT_SENSOR_VENDOR_STM_STR       "STMicroelectronics"
+#define RT_SENSOR_VENDOR_BOSCH         (4)
+#define RT_SENSOR_VENDOR_BOSCH_STR     "Bosch"
+#define RT_SENSOR_VENDOR_INVENSENSE    (5)
+#define RT_SENSOR_VENDOR_INVENSENSE_STR "Invensense"
+#define RT_SENSOR_VENDOR_SEMTECH       (6)
+#define RT_SENSOR_VENDOR_SEMTECH_STR   "Semtech"
+#define RT_SENSOR_VENDOR_GOERTEK       (7)
+#define RT_SENSOR_VENDOR_GOERTEK_STR   "Goertek"
+#define RT_SENSOR_VENDOR_MIRAMEMS      (8)
+#define RT_SENSOR_VENDOR_MIRAMEMS_STR  "MiraMEMS"
+#define RT_SENSOR_VENDOR_DALLAS        (9)
+#define RT_SENSOR_VENDOR_DALLAS_STR    "Dallas"
+#define RT_SENSOR_VENDOR_ASAIR         (10)
+#define RT_SENSOR_VENDOR_ASAIR_STR     "Aosong"
+#define RT_SENSOR_VENDOR_SHARP         (11)
+#define RT_SENSOR_VENDOR_SHARP_STR     "Sharp"
+#define RT_SENSOR_VENDOR_SENSIRION     (12)
+#define RT_SENSOR_VENDOR_SENSIRION_STR "Sensirion"
+#define RT_SENSOR_VENDOR_TI            (13)
+#define RT_SENSOR_VENDOR_TI_STR        "Texas Instruments"
+#define RT_SENSOR_VENDOR_PLANTOWER     (14)
+#define RT_SENSOR_VENDOR_PLANTOWER_STR "Plantower"
+#define RT_SENSOR_VENDOR_AMS           (15)
+#define RT_SENSOR_VENDOR_AMS_STR       "ams-OSRAM AG"
+#define RT_SENSOR_VENDOR_MAXIM         (16)
+#define RT_SENSOR_VENDOR_MAXIM_STR     "Maxim Integrated"
+#define RT_SENSOR_VENDOR_MELEXIS       (17)
+#define RT_SENSOR_VENDOR_MELEXIS_STR   "Melexis"
+#define RT_SENSOR_VENDOR_LSC           (18)
+#define RT_SENSOR_VENDOR_LSC_STR       "Lite On"
+
+/* Sensor unit types */
+#define RT_SENSOR_UNIT_NONE           (0)  /* Dimensionless quantity */
+#define RT_SENSOR_UNIT_NONE_STR       ""
+#define RT_SENSOR_UNIT_MG             (1)  /* Accelerometer           unit: mG         */
+#define RT_SENSOR_UNIT_MG_STR         "mG"
+#define RT_SENSOR_UNIT_MDPS           (2)  /* Gyroscope               unit: mdps       */
+#define RT_SENSOR_UNIT_MDPS_STR       "mdps"
+#define RT_SENSOR_UNIT_MGAUSS         (3)  /* Magnetometer            unit: mGauss     */
+#define RT_SENSOR_UNIT_MGAUSS_STR     "mGauss"
+#define RT_SENSOR_UNIT_LUX            (4)  /* Ambient light           unit: lux        */
+#define RT_SENSOR_UNIT_LUX_STR        "lux"
+#define RT_SENSOR_UNIT_M              (5)  /* Distance                unit: m          */
+#define RT_SENSOR_UNIT_M_STR          "m"
+#define RT_SENSOR_UNIT_CM             (6)  /* Distance                unit: cm         */
+#define RT_SENSOR_UNIT_CM_STR         "cm"
+#define RT_SENSOR_UNIT_MM             (7)  /* Distance                unit: mm         */
+#define RT_SENSOR_UNIT_MM_STR         "mm"
+#define RT_SENSOR_UNIT_PA             (8)  /* Barometer               unit: Pa         */
+#define RT_SENSOR_UNIT_PA_STR         "Pa"
+#define RT_SENSOR_UNIT_MMHG           (9)  /* Blood Pressure          unit: mmHg       */
+#define RT_SENSOR_UNIT_MMHG_STR       "mmHg"
+#define RT_SENSOR_UNIT_PERCENTAGE     (10) /* Relative Humidity       unit: percentage */
+#define RT_SENSOR_UNIT_PERCENTAGE_STR "%"
+#define RT_SENSOR_UNIT_PERMILLAGE     (11) /* Relative Humidity       unit: permillage */
+#define RT_SENSOR_UNIT_PERMILLAGE_STR "‰"
+#define RT_SENSOR_UNIT_CELSIUS        (12) /* Temperature             unit: Celsius ℃ */
+#define RT_SENSOR_UNIT_CELSIUS_STR    "℃"
+#define RT_SENSOR_UNIT_FAHRENHEIT     (13) /* Temperature             unit: Fahrenheit ℉ */
+#define RT_SENSOR_UNIT_FAHRENHEIT_STR "℉"
+#define RT_SENSOR_UNIT_KELVIN         (14) /* Temperature             unit: Kelvin K   */
+#define RT_SENSOR_UNIT_KELVIN_STR     "K"
+#define RT_SENSOR_UNIT_HZ             (15) /* Frequency               unit: Hz         */
+#define RT_SENSOR_UNIT_HZ_STR         "Hz"
+#define RT_SENSOR_UNIT_V              (16) /* Voltage                 unit: V          */
+#define RT_SENSOR_UNIT_V_STR          "V"
+#define RT_SENSOR_UNIT_MV             (17) /* Voltage                 unit: mV         */
+#define RT_SENSOR_UNIT_MV_STR         "mV"
+#define RT_SENSOR_UNIT_A              (18) /* Current                 unit: A          */
+#define RT_SENSOR_UNIT_A_STR          "A"
+#define RT_SENSOR_UNIT_MA             (19) /* Current                 unit: mA         */
+#define RT_SENSOR_UNIT_MA_STR         "mA"
+#define RT_SENSOR_UNIT_N              (20) /* Force                   unit: N          */
+#define RT_SENSOR_UNIT_N_STR          "N"
+#define RT_SENSOR_UNIT_MN             (21) /* Force                   unit: mN         */
+#define RT_SENSOR_UNIT_MN_STR         "mN"
+#define RT_SENSOR_UNIT_BPM            (22) /* Heart rate              unit: bpm        */
+#define RT_SENSOR_UNIT_BPM_STR        "bpm"
+#define RT_SENSOR_UNIT_PPM            (23) /* Concentration           unit: ppm        */
+#define RT_SENSOR_UNIT_PPM_STR        "ppm"
+#define RT_SENSOR_UNIT_PPB            (24) /* Concentration           unit: ppb        */
+#define RT_SENSOR_UNIT_PPB_STR        "ppb"
+#define RT_SENSOR_UNIT_DMS            (25) /* Coordinates             unit: DMS        */
+#define RT_SENSOR_UNIT_DMS_STR        "DMS"
+#define RT_SENSOR_UNIT_DD             (26) /* Coordinates             unit: DD         */
+#define RT_SENSOR_UNIT_DD_STR         "DD"
+#define RT_SENSOR_UNIT_MGM3           (27) /* Concentration           unit: mg/m3      */
+#define RT_SENSOR_UNIT_MGM3_STR       "mg/m3"
+
+/* Sensor communication interface types */
+#define RT_SENSOR_INTF_I2C            (1 << 0)
+#define RT_SENSOR_INTF_I2C_STR        "I2C"
+#define RT_SENSOR_INTF_SPI            (1 << 1)
+#define RT_SENSOR_INTF_SPI_STR        "SPI"
+#define RT_SENSOR_INTF_UART           (1 << 2)
+#define RT_SENSOR_INTF_UART_STR       "UART"
+#define RT_SENSOR_INTF_ONEWIRE        (1 << 3)
+#define RT_SENSOR_INTF_ONEWIRE_STR    "1-Wire"
+#define RT_SENSOR_INTF_CAN            (1 << 4)
+#define RT_SENSOR_INTF_CAN_STR        "CAN"
+#define RT_SENSOR_INTF_MODBUS         (1 << 5)
+#define RT_SENSOR_INTF_MODBUS_STR     "Modbus"
+
+/**
+ *                 Sensor mode
+ *              rt_uint16_t mode
+ *   0000   |    0000    |   0000   |    0000
+ *  unused     accuracy      power     fetch data
+ */
+#define RT_SENSOR_MODE_ACCURACY_BIT_OFFSET    (8)
+#define RT_SENSOR_MODE_POWER_BIT_OFFSET       (4)
+#define RT_SENSOR_MODE_FETCH_BIT_OFFSET       (0)
+
+#define RT_SENSOR_MODE_GET_ACCURACY(mode)     (rt_uint8_t)((mode >> RT_SENSOR_MODE_ACCURACY_BIT_OFFSET) & 0x0F)
+#define RT_SENSOR_MODE_GET_POWER(mode)        (rt_uint8_t)((mode >> RT_SENSOR_MODE_POWER_BIT_OFFSET) & 0x0F)
+#define RT_SENSOR_MODE_GET_FETCH(mode)        (rt_uint8_t)((mode >> RT_SENSOR_MODE_FETCH_BIT_OFFSET) & 0x0F)
+
+#define RT_SENSOR_MODE_CLEAR_ACCURACY(mode)   (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET)))
+#define RT_SENSOR_MODE_CLEAR_POWER(mode)      (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_POWER_BIT_OFFSET)))
+#define RT_SENSOR_MODE_CLEAR_FETCH(mode)      (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_FETCH_BIT_OFFSET)))
+
+#define RT_SENSOR_MODE_SET_ACCURACY(mode, accuracy_mode) RT_SENSOR_MODE_CLEAR_ACCURACY(mode); (mode |= (accuracy_mode << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET))
+#define RT_SENSOR_MODE_SET_POWER(mode, power_mode)       RT_SENSOR_MODE_CLEAR_POWER(mode); (mode |= (power_mode << RT_SENSOR_MODE_POWER_BIT_OFFSET))
+#define RT_SENSOR_MODE_SET_FETCH(mode, fetch_mode)       RT_SENSOR_MODE_CLEAR_FETCH(mode); (mode |= (fetch_mode << RT_SENSOR_MODE_FETCH_BIT_OFFSET))
+
+/* Sensor mode: accuracy */
+#define RT_SENSOR_MODE_ACCURACY_HIGHEST       (0)
+#define RT_SENSOR_MODE_ACCURACY_HIGHEST_STR   "Accuracy Highest"
+#define RT_SENSOR_MODE_ACCURACY_HIGH          (1)
+#define RT_SENSOR_MODE_ACCURACY_HIGH_STR      "Accuracy High"
+#define RT_SENSOR_MODE_ACCURACY_MEDIUM        (2)
+#define RT_SENSOR_MODE_ACCURACY_MEDIUM_STR    "Accuracy Medium"
+#define RT_SENSOR_MODE_ACCURACY_LOW           (3)
+#define RT_SENSOR_MODE_ACCURACY_LOW_STR       "Accuracy Low"
+#define RT_SENSOR_MODE_ACCURACY_LOWEST        (4)
+#define RT_SENSOR_MODE_ACCURACY_LOWEST_STR    "Accuracy Lowest"
+#define RT_SENSOR_MODE_ACCURACY_NOTRUST       (5)
+#define RT_SENSOR_MODE_ACCURACY_NOTRUST_STR   "Accuracy No Trust"
+
+/* Sensor mode: power */
+#define RT_SENSOR_MODE_POWER_HIGHEST          (0)
+#define RT_SENSOR_MODE_POWER_HIGHEST_STR      "Power Highest"
+#define RT_SENSOR_MODE_POWER_HIGH             (1)
+#define RT_SENSOR_MODE_POWER_HIGH_STR         "Power High"
+#define RT_SENSOR_MODE_POWER_MEDIUM           (2)
+#define RT_SENSOR_MODE_POWER_MEDIUM_STR       "Power Medium"
+#define RT_SENSOR_MODE_POWER_LOW              (3)
+#define RT_SENSOR_MODE_POWER_LOW_STR          "Power Low"
+#define RT_SENSOR_MODE_POWER_LOWEST           (4)
+#define RT_SENSOR_MODE_POWER_LOWEST_STR       "Power Lowest"
+#define RT_SENSOR_MODE_POWER_DOWN             (5)
+#define RT_SENSOR_MODE_POWER_DOWN_STR         "Power Down"
+
+/* Sensor mode: fetch data */
+#define RT_SENSOR_MODE_FETCH_POLLING          (0)  /* One shot only read a data */
+#define RT_SENSOR_MODE_FETCH_POLLING_STR      "Polling Mode"
+#define RT_SENSOR_MODE_FETCH_INT              (1)  /* TODO: One shot interrupt only read a data */
+#define RT_SENSOR_MODE_FETCH_INT_STR          "Interrupt Mode"
+#define RT_SENSOR_MODE_FETCH_FIFO             (2)  /* TODO: One shot interrupt read all fifo data */
+#define RT_SENSOR_MODE_FETCH_FIFO_STR         "FIFO Mode"
+
+/* Sensor control cmd types */
+#define RT_SENSOR_CTRL_GET_ID                 (RT_DEVICE_CTRL_BASE(Sensor) + 0)  /* Get device id */
+#define RT_SENSOR_CTRL_SELF_TEST              (RT_DEVICE_CTRL_BASE(Sensor) + 1)  /* Take a self test */
+#define RT_SENSOR_CTRL_SOFT_RESET             (RT_DEVICE_CTRL_BASE(Sensor) + 2)  /* soft reset sensor */
+#define RT_SENSOR_CTRL_SET_FETCH_MODE         (RT_DEVICE_CTRL_BASE(Sensor) + 3)  /* set fetch data mode */
+#define RT_SENSOR_CTRL_SET_POWER_MODE         (RT_DEVICE_CTRL_BASE(Sensor) + 4)  /* set power mode */
+#define RT_SENSOR_CTRL_SET_ACCURACY_MODE      (RT_DEVICE_CTRL_BASE(Sensor) + 5)  /* set accuracy mode */
+
+#define  RT_SENSOR_CTRL_USER_CMD_START 0x100  /* User commands should be greater than 0x100 */
+
+/* sensor floating data type */
+#ifdef RT_USING_SENSOR_DOUBLE_FLOAT
+typedef double rt_sensor_float_t;
+#else
+typedef float rt_sensor_float_t;
+#endif /* RT_USING_SENSOR_DOUBLE_FLOAT */
+
+struct rt_sensor_accuracy
+{
+    rt_sensor_float_t resolution;           /* resolution of sesnor measurement */
+    rt_sensor_float_t error;                /* error of sesnor measurement */
+};
+
+struct rt_sensor_scale
+{
+    rt_sensor_float_t range_max;            /* maximum range of this sensor's value. unit is 'unit' */
+    rt_sensor_float_t range_min;            /* minimum range of this sensor's value. unit is 'unit' */
+};
+
+struct rt_sensor_info
+{
+    rt_uint8_t     type;                    /* sensor type */
+    rt_uint8_t     vendor;                  /* sensors vendor */
+    const char    *name;                    /* name of sensor */
+    rt_uint8_t     unit;                    /* unit of measurement */
+    rt_uint8_t     intf_type;               /* communication interface type */
+    rt_uint16_t    mode;                    /* sensor work mode */
+    rt_uint8_t     fifo_max;
+    rt_sensor_float_t acquire_min;          /* minimum acquirement period, unit:ms. zero = not a constant rate */
+    struct rt_sensor_accuracy accuracy;     /* sensor current measure accuracy */
+    struct rt_sensor_scale scale;           /* sensor current scale range */
+};
+
+struct rt_sensor_intf
+{
+    char          *dev_name;                /* The name of the communication device */
+    rt_uint8_t     type;                    /* Communication interface type */
+    void          *arg;                     /* Interface argument 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 */
+};
+
+typedef struct rt_sensor_device *rt_sensor_t;
+typedef struct rt_sensor_data   *rt_sensor_data_t;
+typedef struct rt_sensor_info   *rt_sensor_info_t;
+typedef struct rt_sensor_accuracy *rt_sensor_accuracy_t;
+typedef struct rt_sensor_scale  *rt_sensor_scale_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 */
+
+    rt_sensor_data_t             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_sensor_float_t x;
+    rt_sensor_float_t y;
+    rt_sensor_float_t z;
+};
+
+/* Blood Pressure Data Type */
+struct sensor_bp
+{
+    rt_sensor_float_t sbp; /* SBP : systolic pressure */
+    rt_sensor_float_t dbp; /* DBP : diastolic pressure */
+};
+
+struct coordinates
+{
+    rt_sensor_float_t longitude;
+    rt_sensor_float_t 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     */
+        struct sensor_bp     bp;            /* BloodPressure.       unit: mmHg        */
+        rt_sensor_float_t    temp;          /* Temperature.         unit: dCelsius    */
+        rt_sensor_float_t    humi;          /* Relative humidity.   unit: permillage  */
+        rt_sensor_float_t    baro;          /* Pressure.            unit: pascal (Pa) */
+        rt_sensor_float_t    light;         /* Light.               unit: lux         */
+        rt_sensor_float_t    proximity;     /* Distance.            unit: centimeters */
+        rt_sensor_float_t    hr;            /* Heart rate.          unit: bpm         */
+        rt_sensor_float_t    tvoc;          /* TVOC.                unit: permillage  */
+        rt_sensor_float_t    noise;         /* Noise Loudness.      unit: HZ          */
+        rt_sensor_float_t    step;          /* Step sensor.         unit: 1           */
+        rt_sensor_float_t    force;         /* Force sensor.        unit: mN          */
+        rt_sensor_float_t    dust;          /* Dust sensor.         unit: ug/m3       */
+        rt_sensor_float_t    eco2;          /* eCO2 sensor.         unit: ppm         */
+        rt_sensor_float_t    spo2;          /* SpO2 sensor.         unit: permillage  */
+        rt_sensor_float_t    iaq;           /* IAQ sensor.          unit: 1           */
+        rt_sensor_float_t    etoh;          /* EtOH sensor.         unit: ppm         */
+    } data;
+};
+
+struct rt_sensor_ops
+{
+    rt_ssize_t (*fetch_data)(rt_sensor_t sensor, rt_sensor_data_t buf, rt_size_t len);
+    rt_err_t (*control)(rt_sensor_t 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 47a26238fa..afce028b0e 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -94,7 +94,11 @@ extern "C" {
 #endif /* RT_USING_PIN */
 
 #ifdef RT_USING_SENSOR
+#ifdef RT_USING_SENSOR_V2
+#include "drivers/sensor_v2.h"
+#else
 #include "drivers/sensor.h"
+#endif /* RT_USING_SENSOR_V2 */
 #endif /* RT_USING_SENSOR */
 
 #ifdef RT_USING_CAN