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new d9f27b99c97 drivers/sensors: Add SHTC3 uORB sensor driver
d9f27b99c97 is described below
commit d9f27b99c9765a418a45d26b5ed0990fcd649288
Author: Shriyans S Sahoo <[email protected]>
AuthorDate: Fri May 15 00:49:30 2026 +0530
drivers/sensors: Add SHTC3 uORB sensor driver
This adds uORB driver support for the Sensirion SHTC3 I2C sensor, exposing
ambient temperature and relative humidity nodes.
Signed-off-by: Shriyans S Sahoo <[email protected]>
---
Documentation/os/drivers/special/sensors.rst | 1 +
.../os/drivers/special/sensors/sensors_uorb.rst | 1 +
Documentation/os/drivers/special/sensors/shtc3.rst | 16 +
drivers/sensors/CMakeLists.txt | 5 +
drivers/sensors/Kconfig | 18 ++
drivers/sensors/Make.defs | 4 +
drivers/sensors/shtc3_uorb.c | 356 +++++++++++++++++++++
include/nuttx/sensors/shtc3.h | 48 +++
8 files changed, 449 insertions(+)
diff --git a/Documentation/os/drivers/special/sensors.rst
b/Documentation/os/drivers/special/sensors.rst
index 19b592d73c9..3746eabe4a1 100644
--- a/Documentation/os/drivers/special/sensors.rst
+++ b/Documentation/os/drivers/special/sensors.rst
@@ -39,6 +39,7 @@ tool for monitoring sensor activity at runtime.
sensors/qmi8658.rst
sensors/scl3300.rst
sensors/sht4x.rst
+ sensors/shtc3.rst
sensors/tc74.rst
sensors/tmp112.rst
sensors/lsm6dso32.rst
diff --git a/Documentation/os/drivers/special/sensors/sensors_uorb.rst
b/Documentation/os/drivers/special/sensors/sensors_uorb.rst
index 1603113923d..2c544b675c4 100644
--- a/Documentation/os/drivers/special/sensors/sensors_uorb.rst
+++ b/Documentation/os/drivers/special/sensors/sensors_uorb.rst
@@ -570,6 +570,7 @@ Implemented Drivers
- :doc:`nau7802`
- :doc:`qmi8658`
- :doc:`sht4x`
+- :doc:`shtc3`
- :doc:`tc74`
- :doc:`tmp112`
- :doc:`lsm6dso32`
diff --git a/Documentation/os/drivers/special/sensors/shtc3.rst
b/Documentation/os/drivers/special/sensors/shtc3.rst
new file mode 100644
index 00000000000..e202978e296
--- /dev/null
+++ b/Documentation/os/drivers/special/sensors/shtc3.rst
@@ -0,0 +1,16 @@
+=============================
+Sensirion SHTC3 Sensor Driver
+=============================
+
+This driver provides support for the Sensirion SHTC3 temperature and humidity
sensor
+using the uORB sensor framework.
+
+It provides two uORB topics:
+- ``SENSOR_TYPE_AMBIENT_TEMPERATURE``
+- ``SENSOR_TYPE_RELATIVE_HUMIDITY``
+
+Configuration
+-------------
+
+To enable the driver, select ``CONFIG_SENSORS_SHTC3=y`` in your board
configuration.
+You can configure the I2C frequency via ``CONFIG_SHTC3_I2C_FREQUENCY``
(default is 400kHz).
diff --git a/drivers/sensors/CMakeLists.txt b/drivers/sensors/CMakeLists.txt
index 87cdb25a10b..7feffa58860 100644
--- a/drivers/sensors/CMakeLists.txt
+++ b/drivers/sensors/CMakeLists.txt
@@ -530,5 +530,10 @@ if(CONFIG_SENSORS)
list(APPEND SRCS cxd5602pwbimu.c)
endif()
+ # SENSIRON SHTC3
+ if(CONFIG_SENSORS_SHTC3)
+ list(APPEND SRCS shtc3_uorb.c)
+ endif()
+
target_sources(drivers PRIVATE ${SRCS})
endif()
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 5fc9735b671..24ac665427a 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -2127,6 +2127,24 @@ config SHT3X_DEBUG
endif # SENSORS_SHT3X
+config SENSORS_SHTC3
+ bool "Sensirion SHTC3 Sensor"
+ depends on I2C
+ ---help---
+ Enable driver support for the Sensirion SHTC3
+ temperature and humidity sensor.
+
+if SENSORS_SHTC3
+
+config SHTC3_I2C_FREQUENCY
+ int "SHTC3 I2C Frequency"
+ default 400000
+
+endif # SENSORS_SHTC3
+
+
+
+
config SENSORS_SHT4X
bool "Sensirion SHT4x temperature and humidity sensor"
default n
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index 1de83889e15..4aa17cb0eb5 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -528,6 +528,10 @@ ifeq ($(CONFIG_SENSORS_CXD5602PWBIMU),y)
CSRCS += cxd5602pwbimu.c
endif
+ifeq ($(CONFIG_SENSORS_SHTC3),y)
+ CSRCS += shtc3_uorb.c
+endif
+
# Include sensor driver build support
DEPPATH += --dep-path sensors
diff --git a/drivers/sensors/shtc3_uorb.c b/drivers/sensors/shtc3_uorb.c
new file mode 100644
index 00000000000..d04a03d70aa
--- /dev/null
+++ b/drivers/sensors/shtc3_uorb.c
@@ -0,0 +1,356 @@
+/****************************************************************************
+ * drivers/sensors/shtc3_uorb.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <string.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/mutex.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/shtc3.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_USE_B16
+# error fixed-point data type not supported yet
+#endif
+
+#define SHTC3_CMD_WAKEUP 0x3517
+#define SHTC3_CMD_SLEEP 0xb098
+#define SHTC3_CMD_MEASURE 0x7866
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct shtc3_sensor_s
+{
+ struct sensor_lowerhalf_s lower;
+ bool enabled;
+ FAR struct shtc3_dev_s *dev;
+};
+
+struct shtc3_dev_s
+{
+ struct shtc3_sensor_s temp;
+ struct shtc3_sensor_s humi;
+ FAR struct i2c_master_s *i2c;
+ uint8_t addr;
+ mutex_t devlock;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int shtc3_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, bool enable);
+static int shtc3_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, FAR char *buffer,
+ size_t buflen);
+static int shtc3_get_info(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR struct sensor_device_info_s *info);
+static int shtc3_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+ .activate = shtc3_activate,
+ .fetch = shtc3_fetch,
+ .set_interval = shtc3_set_interval,
+ .get_info = shtc3_get_info,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: shtc3_write_cmd
+ ****************************************************************************/
+
+static int shtc3_write_cmd(FAR struct shtc3_dev_s *priv, uint16_t cmd)
+{
+ struct i2c_msg_s msg;
+ uint8_t buf[2];
+
+ buf[0] = cmd >> 8;
+ buf[1] = cmd & 0xff;
+
+ msg.frequency = CONFIG_SHTC3_I2C_FREQUENCY;
+ msg.addr = priv->addr;
+ msg.flags = 0;
+ msg.buffer = buf;
+ msg.length = 2;
+
+ return I2C_TRANSFER(priv->i2c, &msg, 1);
+}
+
+/****************************************************************************
+ * Name: shtc3_read_data
+ ****************************************************************************/
+
+static int shtc3_read_data(FAR struct shtc3_dev_s *priv, FAR uint8_t *data)
+{
+ struct i2c_msg_s msg;
+
+ msg.frequency = CONFIG_SHTC3_I2C_FREQUENCY;
+ msg.addr = priv->addr;
+ msg.flags = I2C_M_READ;
+ msg.buffer = data;
+ msg.length = 6;
+
+ return I2C_TRANSFER(priv->i2c, &msg, 1);
+}
+
+/****************************************************************************
+ * Name: shtc3_crc
+ ****************************************************************************/
+
+static uint8_t shtc3_crc(uint16_t word)
+{
+ static const uint8_t crc_table[16] =
+ {
+ 0x00, 0x31, 0x62, 0x53, 0xc4, 0xf5, 0xa6, 0x97,
+ 0xb9, 0x88, 0xdb, 0xea, 0x7d, 0x4c, 0x1f, 0x2e
+ };
+
+ uint8_t crc = 0xff;
+
+ crc ^= word >> 8;
+ crc = (crc << 4) ^ crc_table[crc >> 4];
+ crc = (crc << 4) ^ crc_table[crc >> 4];
+ crc ^= word & 0xff;
+ crc = (crc << 4) ^ crc_table[crc >> 4];
+ crc = (crc << 4) ^ crc_table[crc >> 4];
+
+ return crc;
+}
+
+/****************************************************************************
+ * Name: shtc3_activate
+ ****************************************************************************/
+
+static int shtc3_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, bool enable)
+{
+ FAR struct shtc3_sensor_s *sensor = (FAR struct shtc3_sensor_s *)lower;
+
+ sensor->enabled = enable;
+ return OK;
+}
+
+/****************************************************************************
+ * Name: shtc3_set_interval
+ ****************************************************************************/
+
+static int shtc3_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us)
+{
+ return OK;
+}
+
+/****************************************************************************
+ * Name: shtc3_get_info
+ ****************************************************************************/
+
+static int shtc3_get_info(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR struct sensor_device_info_s *info)
+{
+ FAR struct shtc3_sensor_s *sensor = (FAR struct shtc3_sensor_s *)lower;
+
+ memset(info, 0, sizeof(struct sensor_device_info_s));
+ info->version = 1;
+ info->power = 0.43f; /* mA */
+ info->min_delay = 15000; /* 15 ms measurement time */
+ strlcpy(info->vendor, "Sensirion", sizeof(info->vendor));
+
+ if (sensor->lower.type == SENSOR_TYPE_AMBIENT_TEMPERATURE)
+ {
+ info->max_range = 125.0f;
+ info->resolution = 0.01f;
+ strlcpy(info->name, "shtc3_temp", sizeof(info->name));
+ }
+ else
+ {
+ info->max_range = 100.0f;
+ info->resolution = 0.01f;
+ strlcpy(info->name, "shtc3_humi", sizeof(info->name));
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: shtc3_fetch
+ ****************************************************************************/
+
+static int shtc3_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, FAR char *buffer,
+ size_t buflen)
+{
+ FAR struct shtc3_sensor_s *sensor = (FAR struct shtc3_sensor_s *)lower;
+ FAR struct shtc3_dev_s *priv = sensor->dev;
+ FAR struct sensor_event_s *event = (FAR struct sensor_event_s *)buffer;
+ uint8_t data[6];
+ uint16_t raw;
+ int ret;
+
+ if (buflen != sizeof(struct sensor_event_s))
+ {
+ return -EINVAL;
+ }
+
+ ret = nxmutex_lock(&priv->devlock);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ ret = shtc3_write_cmd(priv, SHTC3_CMD_WAKEUP);
+ if (ret < 0)
+ {
+ goto errout;
+ }
+
+ nxsched_usleep(240);
+
+ ret = shtc3_write_cmd(priv, SHTC3_CMD_MEASURE);
+ if (ret < 0)
+ {
+ goto errout;
+ }
+
+ nxsched_usleep(13000);
+
+ ret = shtc3_read_data(priv, data);
+ if (ret < 0)
+ {
+ goto errout;
+ }
+
+ shtc3_write_cmd(priv, SHTC3_CMD_SLEEP);
+
+ event->timestamp = sensor_get_timestamp();
+
+ if (sensor->lower.type == SENSOR_TYPE_AMBIENT_TEMPERATURE)
+ {
+ raw = (data[0] << 8) | data[1];
+ if (shtc3_crc(raw) != data[2])
+ {
+ ret = -EIO;
+ goto errout;
+ }
+
+ event->temperature = -45.0f + 175.0f * (float)raw / 65535.0f;
+ }
+ else
+ {
+ raw = (data[3] << 8) | data[4];
+ if (shtc3_crc(raw) != data[5])
+ {
+ ret = -EIO;
+ goto errout;
+ }
+
+ event->humidity = 100.0f * (float)raw / 65535.0f;
+ }
+
+ ret = sizeof(struct sensor_event_s);
+
+errout:
+ nxmutex_unlock(&priv->devlock);
+ return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: shtc3_register_uorb
+ ****************************************************************************/
+
+int shtc3_register_uorb(int devno, FAR struct i2c_master_s *i2c,
+ uint8_t addr)
+{
+ FAR struct shtc3_dev_s *priv;
+ int ret;
+
+ priv = kmm_zalloc(sizeof(struct shtc3_dev_s));
+ if (priv == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ priv->i2c = i2c;
+ priv->addr = addr;
+ nxmutex_init(&priv->devlock);
+
+ /* Register Temperature lower half */
+
+ priv->temp.dev = priv;
+ priv->temp.lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
+ priv->temp.lower.ops = &g_sensor_ops;
+ ret = sensor_register(&priv->temp.lower, devno);
+ if (ret < 0)
+ {
+ goto temp_err;
+ }
+
+ /* Register Humidity lower half */
+
+ priv->humi.dev = priv;
+ priv->humi.lower.type = SENSOR_TYPE_RELATIVE_HUMIDITY;
+ priv->humi.lower.ops = &g_sensor_ops;
+ ret = sensor_register(&priv->humi.lower, devno);
+ if (ret < 0)
+ {
+ goto humi_err;
+ }
+
+ return OK;
+
+humi_err:
+ sensor_unregister(&priv->temp.lower, devno);
+temp_err:
+ nxmutex_destroy(&priv->devlock);
+ kmm_free(priv);
+ return ret;
+}
diff --git a/include/nuttx/sensors/shtc3.h b/include/nuttx/sensors/shtc3.h
new file mode 100644
index 00000000000..774ef9a0646
--- /dev/null
+++ b/include/nuttx/sensors/shtc3.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * include/nuttx/sensors/shtc3.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_SHTC3_H
+#define __INCLUDE_NUTTX_SENSORS_SHTC3_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_SENSORS_SHTC3
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct i2c_master_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int shtc3_register_uorb(int devno, FAR struct i2c_master_s *i2c,
+ uint8_t addr);
+
+#endif /* CONFIG_SENSORS_SHTC3 */
+#endif /* __INCLUDE_NUTTX_SENSORS_SHTC3_H */
