sensor

/sensor

Sensor integration command: driver generation, calibration, filtering, fusion.

Trigger

/sensor <action> [options]

Actions

driver

Generate a sensor driver from a datasheet description.

/sensor driver --part bme280 --bus i2c --addr 0x76
/sensor driver --part icm42688 --bus spi --mode 0
/sensor driver --part ads1115 --bus i2c --channels 4

calibrate

Generate calibration code for a sensor.

/sensor calibrate --method 2-point --units celsius --range "-40,85"
/sensor calibrate --method multipoint --points 5 --nvm-address 0x08080000
/sensor calibrate --method temperature-compensation --coeff 0.05

filter

Generate a digital filter for sensor data.

/sensor filter --type moving-average --window 8 --dtype int32
/sensor filter --type kalman-1d --q 1 --r 10
/sensor filter --type median --window 5
/sensor filter --type butterworth --order 2 --cutoff 10Hz --sample 100Hz

fuse

Generate IMU sensor fusion code.

/sensor fuse --sensors accel+gyro --filter complementary --dt 0.01
/sensor fuse --sensors accel+gyro+mag --filter madgwick --beta 0.1

Process

1. Read sensor datasheet: WHO_AM_I register, output registers, compensation formula.
2. Implement init: verify WHO_AM_I, read calibration NVM, configure oversampling and ODR.
3. Implement read: burst read raw output registers, apply compensation formula.
4. Add calibration: two-point at minimum, store in NVM.
5. Add filter: select based on noise characteristics and acceptable latency.

Output Examples

Sensor driver test sequence

/* Acceptance test for a new sensor driver */
void sensor_driver_test(void)
{
    bme280_t dev;

    /* 1. Init */
    int rc = bme280_init(&dev, &i2c1_ops, BME280_ADDR);
    TEST_ASSERT_EQUAL_INT(0, rc);

    /* 2. Read and sanity-check (room temperature expected 15-35°C) */
    int32_t temp_hundredths;
    bme280_read_temperature(&dev, &temp_hundredths);
    TEST_ASSERT_INT_WITHIN(2000, 2500, temp_hundredths);  /* 5-45°C */

    /* 3. Verify no I2C errors after 100 consecutive reads */
    for (int i = 0; i < 100; i++) {
        TEST_ASSERT_EQUAL_INT(0, bme280_read_temperature(&dev, &temp_hundredths));
    }
}