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new 3c8621cb898 Documentation: document sensortest command
3c8621cb898 is described below
commit 3c8621cb898f4d3bcbdb34bf64b632a16378c8ac
Author: hanzj <[email protected]>
AuthorDate: Mon Jun 8 07:26:52 2026 +0800
Documentation: document sensortest command
Add documentation for the sensortest system tool which reads data
from sensor drivers via the uORB topic interface.
Signed-off-by: hanzj <[email protected]>
---
.../applications/system/sensortest/index.rst | 212 +++++++++++++++++++++
1 file changed, 212 insertions(+)
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+===============================
+``sensortest`` sensor test tool
+===============================
+
+Reads data from a sensor driver via the uORB topic interface and prints the
+output to the console. Useful for verifying that a sensor driver is working
+correctly and producing valid data.
+
+Configuration
+=============
+
+Enable the command with ``CONFIG_SYSTEM_SENSORTEST``. This option requires
+``CONFIG_SENSORS`` and ``CONFIG_ENABLE_ALL_SIGNALS``.
+
+The following configuration options are available:
+
+``CONFIG_SYSTEM_SENSORTEST_PROGNAME``
+ Program name for the ``sensortest`` command. Default: ``sensortest``.
+
+``CONFIG_SYSTEM_SENSORTEST_PRIORITY``
+ Task priority. Default: ``100``.
+
+``CONFIG_SYSTEM_SENSORTEST_STACKSIZE``
+ Stack size. Default: ``DEFAULT_TASK_STACKSIZE``.
+
+Usage
+=====
+
+.. code-block:: console
+
+ nsh> sensortest [-i <interval>] [-b <latency>] [-n <count>] <sensor_name>
+
+Options
+=======
+
+``-i <interval>``
+ Data output period in microseconds. Controls how often the sensor is
+ polled for new data. Optional. Default: ``1000000`` (1 second).
+
+``-b <latency>``
+ Maximum report latency in microseconds. When set to a non-zero value,
+ the sensor may batch multiple readings and deliver them at once.
+ Optional. Default: ``0`` (no batching).
+
+``-n <count>``
+ Number of data samples to read before exiting. When set to ``0``,
+ the command runs continuously until interrupted. Optional.
+ Default: ``0`` (unlimited).
+
+``-h``
+ Print help message and exit.
+
+Commands
+========
+
+``<sensor_name>``
+ The sensor node name without the ``sensor_`` prefix and ``/dev/uorb/``
+ path. For example, use ``accel`` to read from ``/dev/uorb/sensor_accel``.
+
+Supported Sensors
+=================
+
+The following sensor types are supported:
+
+.. list-table::
+ :header-rows: 1
+ :widths: 25 25 50
+
+ * - Name
+ - Data Type
+ - Description
+ * - ``accel``
+ - vec3 (x, y, z)
+ - Accelerometer
+ * - ``baro``
+ - valf2
+ - Barometer (pressure, temperature)
+ * - ``cap``
+ - cap
+ - Capacitance
+ * - ``co2``
+ - valf
+ - CO2 concentration
+ * - ``dust``
+ - valf
+ - Dust particle concentration
+ * - ``ecg``
+ - ecg
+ - Electrocardiogram
+ * - ``force``
+ - force
+ - Force sensor
+ * - ``gnss``
+ - gnss
+ - GNSS position
+ * - ``gnss_satellite``
+ - gnss_satellite
+ - GNSS satellite info
+ * - ``gyro``
+ - vec3 (x, y, z)
+ - Gyroscope
+ * - ``hall``
+ - valb
+ - Hall effect sensor
+ * - ``hbeat``
+ - valf
+ - Heartbeat
+ * - ``hcho``
+ - valf
+ - Formaldehyde concentration
+ * - ``hrate``
+ - valf
+ - Heart rate
+ * - ``humi``
+ - valf
+ - Humidity
+ * - ``impd``
+ - valf2
+ - Impedance
+ * - ``ir``
+ - valf
+ - Infrared
+ * - ``light``
+ - valf
+ - Ambient light
+ * - ``mag``
+ - vec3 (x, y, z)
+ - Magnetometer
+ * - ``noise``
+ - valf
+ - Noise level
+ * - ``ots``
+ - vali2
+ - Optical tracking speed
+ * - ``ph``
+ - valf
+ - pH value
+ * - ``pm10``
+ - valf
+ - PM10 particulate matter
+ * - ``pm1p0``
+ - valf
+ - PM1.0 particulate matter
+ * - ``pm25``
+ - valf
+ - PM2.5 particulate matter
+ * - ``ppgd``
+ - ppgd
+ - PPG (photoplethysmography) data
+ * - ``ppgq``
+ - ppgq
+ - PPG quality
+ * - ``prox``
+ - valf
+ - Proximity
+ * - ``rgb``
+ - valf3
+ - RGB color sensor
+ * - ``velocity``
+ - velocity
+ - Velocity sensor
+ * - ``temp``
+ - valf
+ - Temperature
+ * - ``tvoc``
+ - valf
+ - Total volatile organic compounds
+ * - ``uv``
+ - valf
+ - Ultraviolet
+
+Examples
+========
+
+Read accelerometer data at the default 1-second interval:
+
+.. code-block:: console
+
+ nsh> sensortest accel
+ accel: timestamp:1234567890 x:0.12 y:-0.03 z:9.81, temperature:25.50
+ accel: timestamp:1235567890 x:0.11 y:-0.04 z:9.80, temperature:25.51
+ ^C
+
+Read gyroscope data at 100ms intervals, 10 samples:
+
+.. code-block:: console
+
+ nsh> sensortest -i 100000 -n 10 gyro
+ gyro: timestamp:1234567890 x:0.01 y:0.02 z:0.00, temperature:26.00
+ ...
+
+Read temperature sensor with batching enabled:
+
+.. code-block:: console
+
+ nsh> sensortest -b 5000000 temp
+ temp: timestamp:1234567890 value:25.50
+ ...
+
+Notes
+=====
+
+- The command reads from ``/dev/uorb/sensor_<name>`` using the uORB
+ subscriber interface. Ensure the corresponding sensor driver is
+ enabled and the uORB topic is published.
+- The command runs continuously until interrupted with ``Ctrl-C``
+ (``SIGINT``) unless a sample count is specified with ``-n``.
+- The ``-b`` (latency) option controls batching behavior. When set to
+ a non-zero value, the sensor driver may buffer multiple readings and
+ deliver them together, reducing the number of wake-ups.
+- The timestamp field in the output is provided by the sensor driver
+ and uses the system monotonic clock.
