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

7 files changed, 1048 insertions, 12 deletions

diff --git a/components/drivers/sensor/SConscript b/components/drivers/sensor/SConscript
index c25e2fe4b0..4c815c49b8 100644
--- a/components/drivers/sensor/SConscript
+++ b/components/drivers/sensor/SConscript
@@ -1,14 +1,15 @@
-# SConscript for sensor framework
+# RT-Thread building script for bridge
 
+import os
 from building import *
 
 cwd = GetCurrentDir()
-src = ['sensor.c']
-CPPPATH = [cwd, cwd + '/../include']
+objs = []
+list = os.listdir(cwd)
 
-if GetDepend('RT_USING_SENSOR_CMD'):
-    src += ['sensor_cmd.c']
+for d in list:
+    path = os.path.join(cwd, d)
+    if os.path.isfile(os.path.join(path, 'SConscript')):
+        objs = objs + SConscript(os.path.join(d, 'SConscript'))
 
-group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_SENSOR', 'RT_USING_DEVICE'], CPPPATH = CPPPATH)
-
-Return('group')
+Return('objs')
diff --git a/components/drivers/sensor/v1/SConscript b/components/drivers/sensor/v1/SConscript
new file mode 100644
index 0000000000..1aa7831ffe
--- /dev/null
+++ b/components/drivers/sensor/v1/SConscript
@@ -0,0 +1,12 @@
+# SConscript for sensor framework 
+
+from building import *
+
+src = ['sensor.c']
+
+if GetDepend('RT_USING_SENSOR_CMD'):
+    src += ['sensor_cmd.c']
+
+group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_SENSOR'])
+
+Return('group')
diff --git a/components/drivers/sensor/v1/sensor.c b/components/drivers/sensor/v1/sensor.c
new file mode 100644
index 0000000000..cbd149317e
--- /dev/null
+++ b/components/drivers/sensor/v1/sensor.c
@@ -0,0 +1,495 @@
+/*
+ * 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
+ * 2020-02-22     luhuadong    support custom commands
+ */
+
+#include <drivers/sensor.h>
+
+#define DBG_TAG  "sensor"
+#define DBG_LVL DBG_INFO
+#include <rtdbg.h>
+
+#include <string.h>
+
+static char *const sensor_name_str[] =
+{
+    "none",
+    "acce_",     /* Accelerometer     */
+    "gyro_",     /* Gyroscope         */
+    "mag_",      /* Magnetometer      */
+    "temp_",     /* Temperature       */
+    "humi_",     /* Relative Humidity */
+    "baro_",     /* Barometer         */
+    "li_",       /* Ambient light     */
+    "pr_",       /* Proximity         */
+    "hr_",       /* Heart Rate        */
+    "tvoc_",     /* TVOC Level        */
+    "noi_",      /* Noise Loudness    */
+    "step_",     /* Step sensor       */
+    "forc_",     /* Force sensor      */
+    "dust_",     /* Dust sensor       */
+    "eco2_",     /* eCO2 sensor       */
+    "gnss_",     /* GPS/GNSS sensor   */
+    "tof_",      /* TOF sensor        */
+    "spo2_",     /* SpO2 sensor       */
+    "iaq_",      /* IAQ sensor        */
+    "etoh_",     /* EtOH sensor       */
+    "bp_"        /* Blood Pressure    */
+};
+
+/* Sensor interrupt correlation function */
+/*
+ * Sensor interrupt handler function
+ */
+void rt_sensor_cb(rt_sensor_t sen)
+{
+    if (sen->parent.rx_indicate == RT_NULL)
+    {
+        return;
+    }
+
+    if (sen->irq_handle != RT_NULL)
+    {
+        sen->irq_handle(sen);
+    }
+
+    /* The buffer is not empty. Read the data in the buffer first */
+    if (sen->data_len > 0)
+    {
+        sen->parent.rx_indicate(&sen->parent, sen->data_len / sizeof(struct rt_sensor_data));
+    }
+    else if (sen->config.mode == RT_SENSOR_MODE_INT)
+    {
+        /* The interrupt mode only produces one data at a time */
+        sen->parent.rx_indicate(&sen->parent, 1);
+    }
+    else if (sen->config.mode == RT_SENSOR_MODE_FIFO)
+    {
+        sen->parent.rx_indicate(&sen->parent, sen->info.fifo_max);
+    }
+}
+
+/* ISR for sensor interrupt */
+static void irq_callback(void *args)
+{
+    rt_sensor_t sensor = (rt_sensor_t)args;
+    rt_uint8_t i;
+
+    if (sensor->module)
+    {
+        /* Invoke a callback for all sensors in the module */
+        for (i = 0; i < sensor->module->sen_num; i++)
+        {
+            rt_sensor_cb(sensor->module->sen[i]);
+        }
+    }
+    else
+    {
+        rt_sensor_cb(sensor);
+    }
+}
+
+/* Sensor interrupt initialization function */
+static rt_err_t rt_sensor_irq_init(rt_sensor_t sensor)
+{
+    if (sensor->config.irq_pin.pin == RT_PIN_NONE)
+    {
+        return -RT_EINVAL;
+    }
+
+    rt_pin_mode(sensor->config.irq_pin.pin, sensor->config.irq_pin.mode);
+
+    if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLDOWN)
+    {
+        rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING, irq_callback, (void *)sensor);
+    }
+    else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLUP)
+    {
+        rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_FALLING, irq_callback, (void *)sensor);
+    }
+    else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT)
+    {
+        rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING_FALLING, irq_callback, (void *)sensor);
+    }
+
+    rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_TRUE);
+
+    LOG_I("interrupt init success");
+
+    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)
+    {
+        /* take the module mutex */
+        rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
+    }
+
+    if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf == RT_NULL)
+    {
+        /* Allocate memory for the sensor buffer */
+        sensor->data_buf = rt_malloc(sizeof(struct rt_sensor_data) * sensor->info.fifo_max);
+        if (sensor->data_buf == RT_NULL)
+        {
+            res = -RT_ENOMEM;
+            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 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 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)
+        {
+            /* 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 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)
+        {
+            /* Initialization sensor interrupt */
+            rt_sensor_irq_init(sensor);
+            sensor->config.mode = RT_SENSOR_MODE_FIFO;
+        }
+    }
+    else
+    {
+        res = -RT_EINVAL;
+        goto __exit;
+    }
+
+    /* Configure power mode to normal mode */
+    if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_NORMAL) == RT_EOK)
+    {
+        sensor->config.power = RT_SENSOR_POWER_NORMAL;
+    }
+
+__exit:
+    if (sensor->module)
+    {
+        /* release the module mutex */
+        rt_mutex_release(sensor->module->lock);
+    }
+
+    return res;
+}
+
+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);
+
+    if (sensor->module)
+    {
+        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 (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_DOWN) == RT_EOK)
+    {
+        sensor->config.power = RT_SENSOR_POWER_DOWN;
+    }
+
+    if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf != RT_NULL)
+    {
+        for (i = 0; i < sensor->module->sen_num; i ++)
+        {
+            if (sensor->module->sen[i]->parent.ref_count > 0)
+                goto __exit;
+        }
+
+        /* Free memory for the sensor buffer */
+        for (i = 0; i < sensor->module->sen_num; i ++)
+        {
+            if (sensor->module->sen[i]->data_buf != RT_NULL)
+            {
+                rt_free(sensor->module->sen[i]->data_buf);
+                sensor->module->sen[i]->data_buf = RT_NULL;
+            }
+        }
+    }
+    if (sensor->config.mode != RT_SENSOR_MODE_POLLING)
+    {
+        /* Sensor disable interrupt */
+        if (sensor->config.irq_pin.pin != RT_PIN_NONE)
+        {
+            rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
+        }
+    }
+
+__exit:
+    if (sensor->module)
+    {
+        rt_mutex_release(sensor->module->lock);
+    }
+
+    return RT_EOK;
+}
+
+static rt_size_t rt_sensor_read(rt_device_t dev, rt_off_t pos, void *buf, rt_size_t len)
+{
+    rt_sensor_t sensor = (rt_sensor_t)dev;
+    rt_size_t result = 0;
+    RT_ASSERT(dev != RT_NULL);
+
+    if (buf == NULL || len == 0)
+    {
+        return 0;
+    }
+
+    if (sensor->module)
+    {
+        rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
+    }
+
+    /* The buffer is not empty. Read the data in the buffer first */
+    if (sensor->data_len > 0)
+    {
+        if (len > sensor->data_len / sizeof(struct rt_sensor_data))
+        {
+            len = sensor->data_len / sizeof(struct rt_sensor_data);
+        }
+
+        rt_memcpy(buf, sensor->data_buf, len * sizeof(struct rt_sensor_data));
+
+        /* Clear the buffer */
+        sensor->data_len = 0;
+        result = len;
+    }
+    else
+    {
+        /* If the buffer is empty read the data */
+        if (sensor->ops->fetch_data !=  RT_NULL)
+        {
+            result = sensor->ops->fetch_data(sensor, buf, len);
+        }
+    }
+
+    if (sensor->module)
+    {
+        rt_mutex_release(sensor->module->lock);
+    }
+
+    return result;
+}
+
+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 = local_ctrl(sensor, RT_SENSOR_CTRL_GET_ID, args);
+        }
+        break;
+    case RT_SENSOR_CTRL_GET_INFO:
+        if (args)
+        {
+            rt_memcpy(args, &sensor->info, sizeof(struct rt_sensor_info));
+        }
+        break;
+    case RT_SENSOR_CTRL_SET_RANGE:
+        /* Configuration measurement range */
+        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 = local_ctrl(sensor, RT_SENSOR_CTRL_SET_ODR, args);
+        if (result == RT_EOK)
+        {
+            sensor->config.odr = (rt_uint32_t)args & 0xFFFF;
+            LOG_D("set odr %d", sensor->config.odr);
+        }
+        break;
+    case RT_SENSOR_CTRL_SET_POWER:
+        /* Configuration sensor power mode */
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, args);
+        if (result == RT_EOK)
+        {
+            sensor->config.power = (rt_uint32_t)args & 0xFF;
+            LOG_D("set power mode code:", sensor->config.power);
+        }
+        break;
+    case RT_SENSOR_CTRL_SELF_TEST:
+        /* Device self-test */
+        result = local_ctrl(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
+        break;
+    default:
+
+        if (cmd > RT_SENSOR_CTRL_USER_CMD_START)
+        {
+            /* Custom commands */
+            result = local_ctrl(sensor, cmd, args);
+        }
+        else
+        {
+            result = -RT_ERROR;
+        }
+        break;
+    }
+
+    if (sensor->module)
+    {
+        rt_mutex_release(sensor->module->lock);
+    }
+
+    return result;
+}
+
+#ifdef RT_USING_DEVICE_OPS
+const static struct rt_device_ops rt_sensor_ops =
+{
+    RT_NULL,
+    rt_sensor_open,
+    rt_sensor_close,
+    rt_sensor_read,
+    RT_NULL,
+    rt_sensor_control
+};
+#endif
+
+
+/*
+ * sensor register
+ */
+int rt_hw_sensor_register(rt_sensor_t sensor,
+                          const char              *name,
+                          rt_uint32_t              flag,
+                          void                    *data)
+{
+    rt_int8_t result;
+    rt_device_t device;
+    RT_ASSERT(sensor != RT_NULL);
+
+    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));
+    if (device_name == RT_NULL)
+    {
+        LOG_E("device_name calloc failed!");
+        return -RT_ERROR;
+    }
+
+    rt_memcpy(device_name, sensor_name, rt_strlen(sensor_name) + 1);
+    strcat(device_name, name);
+
+    if (sensor->module != RT_NULL && sensor->module->lock == RT_NULL)
+    {
+        /* Create a mutex lock for the module */
+        sensor->module->lock = rt_mutex_create(name, RT_IPC_FLAG_PRIO);
+        if (sensor->module->lock == RT_NULL)
+        {
+            rt_free(device_name);
+            return -RT_ERROR;
+        }
+    }
+
+    device = &sensor->parent;
+
+#ifdef RT_USING_DEVICE_OPS
+    device->ops         = &rt_sensor_ops;
+#else
+    device->init        = RT_NULL;
+    device->open        = rt_sensor_open;
+    device->close       = rt_sensor_close;
+    device->read        = rt_sensor_read;
+    device->write       = RT_NULL;
+    device->control     = rt_sensor_control;
+#endif
+    device->type        = RT_Device_Class_Sensor;
+    device->rx_indicate = RT_NULL;
+    device->tx_complete = RT_NULL;
+    device->user_data   = data;
+
+    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);
+        return result;
+    }
+
+    LOG_I("rt_sensor[%s] init success", device_name);
+    rt_free(device_name);
+    return RT_EOK;
+}
diff --git a/components/drivers/sensor/v1/sensor_cmd.c b/components/drivers/sensor/v1/sensor_cmd.c
new file mode 100644
index 0000000000..0410af4853
--- /dev/null
+++ b/components/drivers/sensor/v1/sensor_cmd.c
@@ -0,0 +1,516 @@
+/*
+ * 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
+ * 2019-07-16     WillianChan    Increase the output of sensor information
+ * 2020-02-22     luhuadong      Add vendor info and sensor types for cmd
+ */
+
+#include <drivers/sensor.h>
+
+#define DBG_TAG  "sensor.cmd"
+#define DBG_LVL DBG_INFO
+#include <rtdbg.h>
+
+#include <stdlib.h>
+#include <string.h>
+
+static rt_sem_t sensor_rx_sem = RT_NULL;
+
+static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor_data *sensor_data)
+{
+    switch (sensor->info.type)
+    {
+    case RT_SENSOR_CLASS_ACCE:
+        LOG_I("num:%3d, x:%5d, y:%5d, z:%5d mg, timestamp:%5d", num, sensor_data->data.acce.x, sensor_data->data.acce.y, sensor_data->data.acce.z, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_GYRO:
+        LOG_I("num:%3d, x:%8d, y:%8d, z:%8d dps, timestamp:%5d", num, sensor_data->data.gyro.x / 1000, sensor_data->data.gyro.y / 1000, sensor_data->data.gyro.z / 1000, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_MAG:
+        LOG_I("num:%3d, x:%5d, y:%5d, z:%5d mGauss, timestamp:%5d", num, sensor_data->data.mag.x, sensor_data->data.mag.y, sensor_data->data.mag.z, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_GNSS:
+        LOG_I("num:%3d, lon:%5d, lat:%5d, timestamp:%5d", num, sensor_data->data.coord.longitude, sensor_data->data.coord.latitude, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_TEMP:
+        LOG_I("num:%3d, temp:%3d.%d C, timestamp:%5d", num, sensor_data->data.temp / 10, (rt_uint32_t)sensor_data->data.temp % 10, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_HUMI:
+        LOG_I("num:%3d, humi:%3d.%d%%, timestamp:%5d", num, sensor_data->data.humi / 10, sensor_data->data.humi % 10, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_BARO:
+        LOG_I("num:%3d, press:%5d pa, timestamp:%5d", num, sensor_data->data.baro, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_LIGHT:
+        LOG_I("num:%3d, light:%5d lux, timestamp:%5d", num, sensor_data->data.light, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_PROXIMITY:
+    case RT_SENSOR_CLASS_TOF:
+        LOG_I("num:%3d, distance:%5d, timestamp:%5d", num, sensor_data->data.proximity, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_HR:
+        LOG_I("num:%3d, heart rate:%5d bpm, timestamp:%5d", num, sensor_data->data.hr, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_TVOC:
+        LOG_I("num:%3d, tvoc:%5d ppb, timestamp:%5d", num, sensor_data->data.tvoc, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_NOISE:
+        LOG_I("num:%3d, noise:%5d, timestamp:%5d", num, sensor_data->data.noise, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_STEP:
+        LOG_I("num:%3d, step:%5d, timestamp:%5d", num, sensor_data->data.step, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_FORCE:
+        LOG_I("num:%3d, force:%5d, timestamp:%5d", num, sensor_data->data.force, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_DUST:
+        LOG_I("num:%3d, dust:%5d ug/m3, timestamp:%5d", num, sensor_data->data.dust, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_ECO2:
+        LOG_I("num:%3d, eco2:%5d ppm, timestamp:%5d", num, sensor_data->data.eco2, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_IAQ:
+        LOG_I("num:%3d, IAQ:%5d.%d , timestamp:%5d", num, sensor_data->data.iaq / 10, sensor_data->data.iaq % 10, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_ETOH:
+        LOG_I("num:%3d, EtOH:%5d.%03d ppm, timestamp:%5d", num, sensor_data->data.etoh / 1000, sensor_data->data.etoh % 1000, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_BP:
+        LOG_I("num:%3d, bp.sbp:%5d mmHg, bp.dbp:%5d mmHg, timestamp:%5d", num, sensor_data->data.bp.sbp, sensor_data->data.bp.dbp, sensor_data->timestamp);
+        break;
+    default:
+        break;
+    }
+}
+
+static rt_err_t rx_callback(rt_device_t dev, rt_size_t size)
+{
+    rt_sem_release(sensor_rx_sem);
+    return 0;
+}
+
+static void sensor_fifo_rx_entry(void *parameter)
+{
+    rt_device_t dev = (rt_device_t)parameter;
+    rt_sensor_t sensor = (rt_sensor_t)parameter;
+    struct rt_sensor_data *data = RT_NULL;
+    struct rt_sensor_info info;
+    rt_size_t res, i;
+
+    rt_device_control(dev, RT_SENSOR_CTRL_GET_INFO, &info);
+
+    data = (struct rt_sensor_data *)rt_malloc(sizeof(struct rt_sensor_data) * info.fifo_max);
+    if (data == RT_NULL)
+    {
+        LOG_E("Memory allocation failed!");
+    }
+
+    while (1)
+    {
+        rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
+
+        res = rt_device_read(dev, 0, data, info.fifo_max);
+        for (i = 0; i < res; i++)
+        {
+            sensor_show_data(i, sensor, &data[i]);
+        }
+    }
+}
+
+static void sensor_fifo(int argc, char **argv)
+{
+    static rt_thread_t tid1 = RT_NULL;
+    rt_device_t dev = RT_NULL;
+    rt_sensor_t sensor;
+
+    dev = rt_device_find(argv[1]);
+    if (dev == RT_NULL)
+    {
+        LOG_E("Can't find device:%s", argv[1]);
+        return;
+    }
+    sensor = (rt_sensor_t)dev;
+
+    if (rt_device_open(dev, RT_DEVICE_FLAG_FIFO_RX) != RT_EOK)
+    {
+        LOG_E("open device failed!");
+        return;
+    }
+
+    if (sensor_rx_sem == RT_NULL)
+    {
+        sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
+    }
+    else
+    {
+        LOG_E("The thread is running, please reboot and try again");
+        return;
+    }
+
+    tid1 = rt_thread_create("sen_rx_thread",
+                            sensor_fifo_rx_entry, sensor,
+                            1024,
+                            15, 5);
+
+    if (tid1 != RT_NULL)
+        rt_thread_startup(tid1);
+
+    rt_device_set_rx_indicate(dev, rx_callback);
+
+    rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
+}
+#ifdef RT_USING_FINSH
+    MSH_CMD_EXPORT(sensor_fifo, Sensor fifo mode test function);
+#endif
+
+static void sensor_irq_rx_entry(void *parameter)
+{
+    rt_device_t dev = (rt_device_t)parameter;
+    rt_sensor_t sensor = (rt_sensor_t)parameter;
+    struct rt_sensor_data data;
+    rt_size_t res, i = 0;
+
+    while (1)
+    {
+        rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
+
+        res = rt_device_read(dev, 0, &data, 1);
+        if (res == 1)
+        {
+            sensor_show_data(i++, sensor, &data);
+        }
+    }
+}
+
+static void sensor_int(int argc, char **argv)
+{
+    static rt_thread_t tid1 = RT_NULL;
+    rt_device_t dev = RT_NULL;
+    rt_sensor_t sensor;
+
+    dev = rt_device_find(argv[1]);
+    if (dev == RT_NULL)
+    {
+        LOG_E("Can't find device:%s", argv[1]);
+        return;
+    }
+    sensor = (rt_sensor_t)dev;
+
+    if (sensor_rx_sem == RT_NULL)
+    {
+        sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
+    }
+    else
+    {
+        LOG_E("The thread is running, please reboot and try again");
+        return;
+    }
+
+    tid1 = rt_thread_create("sen_rx_thread",
+                            sensor_irq_rx_entry, sensor,
+                            1024,
+                            15, 5);
+
+    if (tid1 != RT_NULL)
+        rt_thread_startup(tid1);
+
+    rt_device_set_rx_indicate(dev, rx_callback);
+
+    if (rt_device_open(dev, RT_DEVICE_FLAG_INT_RX) != RT_EOK)
+    {
+        LOG_E("open device failed!");
+        return;
+    }
+    rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
+}
+#ifdef RT_USING_FINSH
+    MSH_CMD_EXPORT(sensor_int, Sensor interrupt mode test function);
+#endif
+
+static void sensor_polling(int argc, char **argv)
+{
+    rt_uint16_t num = 10;
+    rt_device_t dev = RT_NULL;
+    rt_sensor_t sensor;
+    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)
+    {
+        LOG_E("Can't find device:%s", argv[1]);
+        return;
+    }
+    if (argc > 2)
+        num = atoi(argv[2]);
+
+    sensor = (rt_sensor_t)dev;
+    delay  = sensor->info.period_min > 100 ? sensor->info.period_min : 100;
+
+    result = rt_device_open(dev, RT_DEVICE_FLAG_RDONLY);
+    if (result != RT_EOK)
+    {
+        LOG_E("open device failed! error code : %d", result);
+        return;
+    }
+    rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)100);
+
+    for (i = 0; i < num; i++)
+    {
+        res = rt_device_read(dev, 0, &data, 1);
+        if (res != 1)
+        {
+            LOG_E("read data failed!size is %d", res);
+        }
+        else
+        {
+            sensor_show_data(i, sensor, &data);
+        }
+        rt_thread_mdelay(delay);
+    }
+    rt_device_close(dev);
+}
+#ifdef RT_USING_FINSH
+    MSH_CMD_EXPORT(sensor_polling, Sensor polling mode test function);
+#endif
+
+static void sensor(int argc, char **argv)
+{
+    static rt_device_t dev = RT_NULL;
+    struct rt_sensor_data data;
+    rt_sensor_t sensor;
+    rt_size_t res, i;
+    rt_int32_t delay;
+
+    /* If the number of arguments less than 2 */
+    if (argc < 2)
+    {
+        rt_kprintf("\n");
+        rt_kprintf("sensor  [OPTION] [PARAM]\n");
+        rt_kprintf("         probe <dev_name>      Probe sensor by given name\n");
+        rt_kprintf("         info                  Get sensor info\n");
+        rt_kprintf("         sr <var>              Set range to var\n");
+        rt_kprintf("         sm <var>              Set work mode to var\n");
+        rt_kprintf("         sp <var>              Set power mode to var\n");
+        rt_kprintf("         sodr <var>            Set output date rate to var\n");
+        rt_kprintf("         read [num]            Read [num] times sensor\n");
+        rt_kprintf("                               num default 5\n");
+        return ;
+    }
+    else if (!strcmp(argv[1], "info"))
+    {
+        struct rt_sensor_info info;
+        if (dev == RT_NULL)
+        {
+            LOG_W("Please probe sensor device first!");
+            return ;
+        }
+        rt_device_control(dev, RT_SENSOR_CTRL_GET_INFO, &info);
+        switch (info.vendor)
+        {
+        case RT_SENSOR_VENDOR_UNKNOWN:
+            rt_kprintf("vendor    :unknown vendor\n");
+            break;
+        case RT_SENSOR_VENDOR_STM:
+            rt_kprintf("vendor    :STMicroelectronics\n");
+            break;
+        case RT_SENSOR_VENDOR_BOSCH:
+            rt_kprintf("vendor    :Bosch\n");
+            break;
+        case RT_SENSOR_VENDOR_INVENSENSE:
+            rt_kprintf("vendor    :Invensense\n");
+            break;
+        case RT_SENSOR_VENDOR_SEMTECH:
+            rt_kprintf("vendor    :Semtech\n");
+            break;
+        case RT_SENSOR_VENDOR_GOERTEK:
+            rt_kprintf("vendor    :Goertek\n");
+            break;
+        case RT_SENSOR_VENDOR_MIRAMEMS:
+            rt_kprintf("vendor    :MiraMEMS\n");
+            break;
+        case RT_SENSOR_VENDOR_DALLAS:
+            rt_kprintf("vendor    :Dallas\n");
+            break;
+        case RT_SENSOR_VENDOR_ASAIR:
+            rt_kprintf("vendor    :Asair\n");
+            break;
+        case RT_SENSOR_VENDOR_SHARP:
+            rt_kprintf("vendor    :Sharp\n");
+            break;
+        case RT_SENSOR_VENDOR_SENSIRION:
+            rt_kprintf("vendor    :Sensirion\n");
+            break;
+        case RT_SENSOR_VENDOR_TI:
+            rt_kprintf("vendor    :Texas Instruments\n");
+            break;
+        case RT_SENSOR_VENDOR_PLANTOWER:
+            rt_kprintf("vendor    :Plantower\n");
+            break;
+        case RT_SENSOR_VENDOR_AMS:
+            rt_kprintf("vendor    :AMS\n");
+            break;
+        case RT_SENSOR_VENDOR_MAXIM:
+            rt_kprintf("vendor    :Maxim Integrated\n");
+            break;
+        case RT_SENSOR_VENDOR_MELEXIS:
+            rt_kprintf("vendor    :Melexis\n");
+            break;
+        }
+        rt_kprintf("model     :%s\n", info.model);
+        switch (info.unit)
+        {
+        case RT_SENSOR_UNIT_NONE:
+            rt_kprintf("unit      :none\n");
+            break;
+        case RT_SENSOR_UNIT_MG:
+            rt_kprintf("unit      :mG\n");
+            break;
+        case RT_SENSOR_UNIT_MDPS:
+            rt_kprintf("unit      :mdps\n");
+            break;
+        case RT_SENSOR_UNIT_MGAUSS:
+            rt_kprintf("unit      :mGauss\n");
+            break;
+        case RT_SENSOR_UNIT_LUX:
+            rt_kprintf("unit      :lux\n");
+            break;
+        case RT_SENSOR_UNIT_CM:
+            rt_kprintf("unit      :cm\n");
+            break;
+        case RT_SENSOR_UNIT_PA:
+            rt_kprintf("unit      :pa\n");
+            break;
+        case RT_SENSOR_UNIT_PERMILLAGE:
+            rt_kprintf("unit      :permillage\n");
+            break;
+        case RT_SENSOR_UNIT_DCELSIUS:
+            rt_kprintf("unit      :Celsius\n");
+            break;
+        case RT_SENSOR_UNIT_HZ:
+            rt_kprintf("unit      :HZ\n");
+            break;
+        case RT_SENSOR_UNIT_ONE:
+            rt_kprintf("unit      :1\n");
+            break;
+        case RT_SENSOR_UNIT_BPM:
+            rt_kprintf("unit      :bpm\n");
+            break;
+        case RT_SENSOR_UNIT_MM:
+            rt_kprintf("unit      :mm\n");
+            break;
+        case RT_SENSOR_UNIT_MN:
+            rt_kprintf("unit      :mN\n");
+            break;
+        case RT_SENSOR_UNIT_PPM:
+            rt_kprintf("unit      :ppm\n");
+            break;
+        case RT_SENSOR_UNIT_PPB:
+            rt_kprintf("unit      :ppb\n");
+            break;
+        case RT_SENSOR_UNIT_MMHG:
+            rt_kprintf("unit      :mmHg\n");
+            break;
+        }
+        rt_kprintf("range_max :%d\n", info.range_max);
+        rt_kprintf("range_min :%d\n", info.range_min);
+        rt_kprintf("period_min:%dms\n", info.period_min);
+        rt_kprintf("fifo_max  :%d\n", info.fifo_max);
+    }
+    else if (!strcmp(argv[1], "read"))
+    {
+        rt_uint16_t num = 5;
+
+        if (dev == RT_NULL)
+        {
+            LOG_W("Please probe sensor device first!");
+            return ;
+        }
+        if (argc == 3)
+        {
+            num = atoi(argv[2]);
+        }
+
+        sensor = (rt_sensor_t)dev;
+        delay  = sensor->info.period_min > 100 ? sensor->info.period_min : 100;
+
+        for (i = 0; i < num; i++)
+        {
+            res = rt_device_read(dev, 0, &data, 1);
+            if (res != 1)
+            {
+                LOG_E("read data failed!size is %d", res);
+            }
+            else
+            {
+                sensor_show_data(i, sensor, &data);
+            }
+            rt_thread_mdelay(delay);
+        }
+    }
+    else if (argc == 3)
+    {
+        if (!strcmp(argv[1], "probe"))
+        {
+            rt_uint8_t reg = 0xFF;
+            if (dev)
+            {
+                rt_device_close(dev);
+            }
+
+            dev = rt_device_find(argv[2]);
+            if (dev == RT_NULL)
+            {
+                LOG_E("Can't find device:%s", argv[2]);
+                return;
+            }
+            if (rt_device_open(dev, RT_DEVICE_FLAG_RDWR) != RT_EOK)
+            {
+                LOG_E("open device failed!");
+                return;
+            }
+            rt_device_control(dev, RT_SENSOR_CTRL_GET_ID, &reg);
+            LOG_I("device id: 0x%x!", reg);
+
+        }
+        else if (dev == RT_NULL)
+        {
+            LOG_W("Please probe sensor first!");
+            return ;
+        }
+        else if (!strcmp(argv[1], "sr"))
+        {
+            rt_device_control(dev, RT_SENSOR_CTRL_SET_RANGE, (void *)atoi(argv[2]));
+        }
+        else if (!strcmp(argv[1], "sm"))
+        {
+            rt_device_control(dev, RT_SENSOR_CTRL_SET_MODE, (void *)atoi(argv[2]));
+        }
+        else if (!strcmp(argv[1], "sp"))
+        {
+            rt_device_control(dev, RT_SENSOR_CTRL_SET_POWER, (void *)atoi(argv[2]));
+        }
+        else if (!strcmp(argv[1], "sodr"))
+        {
+            rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)atoi(argv[2]));
+        }
+        else
+        {
+            LOG_W("Unknown command, please enter 'sensor' get help information!");
+        }
+    }
+    else
+    {
+        LOG_W("Unknown command, please enter 'sensor' get help information!");
+    }
+}
+#ifdef RT_USING_FINSH
+    MSH_CMD_EXPORT(sensor, sensor test function);
+#endif
diff --git a/components/drivers/sensor/v2/SConscript b/components/drivers/sensor/v2/SConscript
new file mode 100644
index 0000000000..872b2cebaf
--- /dev/null
+++ b/components/drivers/sensor/v2/SConscript
@@ -0,0 +1,12 @@
+# SConscript for sensor framework
+
+from building import *
+
+src = ['sensor_v2.c']
+
+if GetDepend('RT_USING_SENSOR_CMD'):
+    src += ['sensor_cmd.c']
+
+group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_SENSOR_V2'])
+
+Return('group')
diff --git a/components/drivers/sensor/sensor_cmd.c b/components/drivers/sensor/v2/sensor_cmd.c
index 4b094fb18d..e278f349de 100644
--- a/components/drivers/sensor/sensor_cmd.c
+++ b/components/drivers/sensor/v2/sensor_cmd.c
@@ -11,9 +11,9 @@
  * 2022-12-17     Meco Man       re-implement sensor framework
  */
 
-#include <drivers/sensor.h>
+#include <drivers/sensor_v2.h>
 
-#define DBG_TAG  "sensor.cmd"
+#define DBG_TAG  "sensor_v2.cmd"
 #define DBG_LVL DBG_INFO
 #include <rtdbg.h>
 
diff --git a/components/drivers/sensor/sensor.c b/components/drivers/sensor/v2/sensor_v2.c
index e100cc27c3..a35089ad34 100644
--- a/components/drivers/sensor/sensor.c
+++ b/components/drivers/sensor/v2/sensor_v2.c
@@ -10,9 +10,9 @@
  * 2022-12-17     Meco Man     re-implement sensor framework
  */
 
-#include <drivers/sensor.h>
+#include <drivers/sensor_v2.h>
 
-#define DBG_TAG  "sensor"
+#define DBG_TAG  "sensor_v2"
 #define DBG_LVL DBG_INFO
 #include <rtdbg.h>