Otpvondoiats opened a new pull request, #18180: URL: https://github.com/apache/nuttx/pull/18180
## Summary This patch refactors the sensor driver architecture by removing the redundant uncalibrated flag from the sensor lowerhalf layer structure and standardizing how uncalibrated sensor types are handled. struct sensor_accel → Calibrated accelerometer struct sensor_accel_uncal → Uncalibrated accelerometer struct sensor_gyro → Calibrated gyroscope struct sensor_gyro_uncal → Uncalibrated gyroscope struct sensor_mag → Calibrated magnetometer struct sensor_mag_uncal → Uncalibrated magnetometer ## Impact Users： API Consistency: Sensor type now definitively indicates calibration state No Behavioral Change: Existing applications continue to work as before Clearer Semantics: Type names explicitly indicate calibration status Drivers： Simplified Implementation: Driver developers no longer need to manage separate flag Type Safety: Compiler catches mismatches between sensor type and data structure Less Boilerplate: One less field to initialize and maintain ## Testing ~~~ ap> uorb_listener -n 10 sensor_accel_uncal Mointor objects num:1 object_name:sensor_accel_uncal, object_instance:0 [01/27 03:54:30] [ 0] [audio] CPU USAGE: busy=1 cpu_sleep=0 bus_sleep=0 subsys_sleep=99(pd) sensor_accel_uncal(now:1265382618600):timestamp:407659828155,x:-0.385466,y:-0.205901,z:9.967062,tempe2 sensor_accel_uncal(now:1265382658800):timestamp:407659868455,x:-0.248997,y:-0.107739,z:9.849746,tempe2 sensor_accel_uncal(now:1265382699100):timestamp:407659908855,x:-0.227449,y:-0.169988,z:9.823410,tempe2 sensor_accel_uncal(now:1265382739500):timestamp:407659949155,x:-0.332794,y:-0.210690,z:9.698911,tempe2 sensor_accel_uncal(now:1265382779800):timestamp:407659989455,x:-0.337582,y:-0.160412,z:9.911995,tempe2 sensor_accel_uncal(now:1265382820100):timestamp:407660029855,x:-0.287304,y:-0.090979,z:9.737218,tempe2 sensor_accel_uncal(now:1265382860300):timestamp:407660070155,x:-0.270545,y:-0.105345,z:9.856929,tempe2 sensor_accel_uncal(now:1265382900700):timestamp:407660110555,x:-0.347159,y:-0.086191,z:9.859323,tempe2sensor_accel_uncal(now:1265382941000):timestamp:407660150855,x:-0.330400,y:-0.189142,z:9.821015,tempe2 sensor_accel_uncal(now:1265382981500):timestamp:407660191255,x:-0.323217,y:-0.172383,z:9.782708,tempe2 Object name:sensor_accel_uncal0, recieved:10 Total number of received Message:10/10 ap> uorb_listener -n 10 sensor_accel Mointor objects num:1 object_name:sensor_accel, object_instance:0 sensor_accel(now:1265385846700):timestamp:407662693405,x:-0.107843,y:-0.166623,z:9.818255,temperature:26.994141 sensor_accel(now:1265385847000):timestamp:407662733755,x:-0.138968,y:-0.121133,z:9.861352,temperature:26.994141 sensor_accel(now:1265385848400):timestamp:407662774105,x:-0.203611,y:-0.128316,z:9.794313,temperature:26.994141 sensor_accel(now:1265385849800):timestamp:407662814455,x:-0.098266,y:-0.123527,z:9.899659,temperature:26.994141 sensor_accel(now:1265385851200):timestamp:407662854805,x:-0.177275,y:-0.128316,z:9.858957,temperature:26.994141 sensor_accel(now:1265385852600):timestamp:407662895155,x:-0.146151,y:-0.121133,z:10.124714,temperature:26.994141 sensor_accel(now:1265385854000):timestamp:407662935505,x:-0.141362,y:-0.159441,z:9.703334,temperature:26.994141 sensor_accel(now:1265385855400):timestamp:407662975855,x:-0.165304,y:-0.250420,z:9.892476,temperature:26.994141 sensor_accel(now:1265385856800):timestamp:407663016205,x:-0.215582,y:-0.185777,z:9.858957,temperature:26.994141 sensor_accel(now:1265385858200):timestamp:407663056555,x:-0.126997,y:-0.123527,z:9.866140,temperature:26.994141 Object name:sensor_accel0, recieved:10 Total number of received Message:10/10 ap> uorb_listener -n 10 sensor_mag_uncal Mointor objects num:1 object_name:sensor_mag_uncal, object_instance:0 sensor_mag_uncal(now:1265391627200):timestamp:407668721455,x:504.300018,y:-46.650002,z:-977.550049，temperature:-978.75000 sensor_mag_uncal(now:1265391629100):timestamp:407668741455,x:503.700012,y:-45.300003,z:-978.300049，temperature:-979.50000 sensor_mag_uncal(now:1265391631400):timestamp:407668761455,x:504.450012,y:-46.800003,z:-976.800049，temperature:-978.00000 sensor_mag_uncal(now:1265391633700):timestamp:407668781455,x:504.600006,y:-46.050003,z:-976.950012，temperature:-247.4700 sensor_mag_uncal(now:1265391635900):timestamp:407668801455,x:504.000031,y:-46.350002,z:-978.600037，temperature:-249.0000 sensor_mag_uncal(now:1265391639900):timestamp:407668821455,x:504.150024,y:-47.250000,z:-979.350037，temperature:-249.5100 sensor_mag_uncal(now:1265391663500):timestamp:407668841455,x:504.450012,y:-45.900002,z:-977.700012，temperature:-247.8600 sensor_mag_uncal(now:1265391665300):timestamp:407668861455,x:504.150024,y:-46.500000,z:-979.350037，temperature:-249.4500 sensor_mag_uncal(now:1265391682700):timestamp:407668881455,x:506.400024,y:-46.650002,z:-978.600037，temperature:-248.7000 sensor_mag_uncal(now:1265391704400):timestamp:407668901455,x:505.050018,y:-46.350002,z:-977.550049，temperature:-247.7700 Object name:sensor_mag_uncal0, recieved:10 Total number of received Message:10/10 ap> [01/27 03:54:53] [ 0] [cp] CPU USAGE: busy=1 cpu_sleep=0 bus_sleep=0 subsys_sleep=99(pd) ~~~ -- This is an automated message from the Apache Git Service. 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