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Posted to commits@nuttx.apache.org by ac...@apache.org on 2022/07/23 19:58:06 UTC
[incubator-nuttx-apps] 03/20: system/uorb: add builtin sensor topics
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 46c98420b7e11381280effbdf0709d5e2cd0ae00
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri Mar 25 19:29:42 2022 +0800
system/uorb: add builtin sensor topics
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/sensor/accel.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/accel.h | 39 +++++++++++++++++++++
system/uorb/sensor/baro.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/baro.h | 38 ++++++++++++++++++++
system/uorb/sensor/cap.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/cap.h | 38 ++++++++++++++++++++
system/uorb/sensor/co2.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/co2.h | 38 ++++++++++++++++++++
system/uorb/sensor/dust.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/dust.h | 38 ++++++++++++++++++++
system/uorb/sensor/ecg.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ecg.h | 38 ++++++++++++++++++++
system/uorb/sensor/gesture.c | 52 ++++++++++++++++++++++++++++
system/uorb/sensor/gesture.h | 39 +++++++++++++++++++++
system/uorb/sensor/gps.c | 82 ++++++++++++++++++++++++++++++++++++++++++++
system/uorb/sensor/gps.h | 39 +++++++++++++++++++++
system/uorb/sensor/gyro.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/gyro.h | 39 +++++++++++++++++++++
system/uorb/sensor/hall.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hall.h | 38 ++++++++++++++++++++
system/uorb/sensor/hbeat.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hbeat.h | 38 ++++++++++++++++++++
system/uorb/sensor/hcho.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hcho.h | 38 ++++++++++++++++++++
system/uorb/sensor/hrate.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hrate.h | 38 ++++++++++++++++++++
system/uorb/sensor/humi.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/humi.h | 38 ++++++++++++++++++++
system/uorb/sensor/impd.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/impd.h | 38 ++++++++++++++++++++
system/uorb/sensor/ir.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ir.h | 38 ++++++++++++++++++++
system/uorb/sensor/light.c | 50 +++++++++++++++++++++++++++
system/uorb/sensor/light.h | 39 +++++++++++++++++++++
system/uorb/sensor/mag.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/mag.h | 39 +++++++++++++++++++++
system/uorb/sensor/noise.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/noise.h | 38 ++++++++++++++++++++
system/uorb/sensor/ots.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/ots.h | 38 ++++++++++++++++++++
system/uorb/sensor/ph.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ph.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm10.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm10.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm1p0.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm1p0.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm25.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm25.h | 38 ++++++++++++++++++++
system/uorb/sensor/ppgd.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/ppgd.h | 38 ++++++++++++++++++++
system/uorb/sensor/ppgq.c | 53 ++++++++++++++++++++++++++++
system/uorb/sensor/ppgq.h | 38 ++++++++++++++++++++
system/uorb/sensor/prox.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/prox.h | 38 ++++++++++++++++++++
system/uorb/sensor/rgb.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/rgb.h | 38 ++++++++++++++++++++
system/uorb/sensor/temp.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/temp.h | 38 ++++++++++++++++++++
system/uorb/sensor/tvoc.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/tvoc.h | 38 ++++++++++++++++++++
system/uorb/sensor/uv.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/uv.h | 38 ++++++++++++++++++++
62 files changed, 2735 insertions(+)
diff --git a/system/uorb/sensor/accel.c b/system/uorb/sensor/accel.c
new file mode 100644
index 000000000..2b15cf5ac
--- /dev/null
+++ b/system/uorb/sensor/accel.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/accel.c
+ *
+ * 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 <sensor/accel.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_accel_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_accel *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_accel, struct sensor_accel, print_sensor_accel_message);
+ORB_DEFINE(sensor_accel_uncal, struct sensor_accel,
+ print_sensor_accel_message);
diff --git a/system/uorb/sensor/accel.h b/system/uorb/sensor/accel.h
new file mode 100644
index 000000000..43d22af48
--- /dev/null
+++ b/system/uorb/sensor/accel.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/accel.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_ACCEL_H
+#define __APPS_SYSTEM_UORB_SENSOR_ACCEL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_accel);
+ORB_DECLARE(sensor_accel_uncal);
+
+#endif
diff --git a/system/uorb/sensor/baro.c b/system/uorb/sensor/baro.c
new file mode 100644
index 000000000..fab5d321f
--- /dev/null
+++ b/system/uorb/sensor/baro.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/baro.c
+ *
+ * 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 <sensor/baro.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_baro_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_baro *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f pressure: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->pressure);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_baro, struct sensor_baro, print_sensor_baro_message);
diff --git a/system/uorb/sensor/baro.h b/system/uorb/sensor/baro.h
new file mode 100644
index 000000000..b5c8f930b
--- /dev/null
+++ b/system/uorb/sensor/baro.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/baro.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_BARO_H
+#define __APPS_SYSTEM_UORB_SENSOR_BARO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_baro);
+
+#endif
diff --git a/system/uorb/sensor/cap.c b/system/uorb/sensor/cap.c
new file mode 100644
index 000000000..e3a809a4d
--- /dev/null
+++ b/system/uorb/sensor/cap.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/cap.c
+ *
+ * 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 <sensor/cap.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_cap_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_cap *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "status: %" PRIu32 " rawdata0: %" PRIu32 " rawdata1: "
+ "%" PRIu32 " rawdata2: %" PRIu32 " rawdata3: %" PRIu32 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->status, message->rawdata[0], message->rawdata[1],
+ message->rawdata[2], message->rawdata[3]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_cap, struct sensor_cap, print_sensor_cap_message);
diff --git a/system/uorb/sensor/cap.h b/system/uorb/sensor/cap.h
new file mode 100644
index 000000000..b4dd55372
--- /dev/null
+++ b/system/uorb/sensor/cap.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/cap.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_CAP_H
+#define __APPS_SYSTEM_UORB_SENSOR_CAP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_cap);
+
+#endif
diff --git a/system/uorb/sensor/co2.c b/system/uorb/sensor/co2.c
new file mode 100644
index 000000000..8dd09f425
--- /dev/null
+++ b/system/uorb/sensor/co2.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/co2.c
+ *
+ * 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 <sensor/co2.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_co2_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_co2 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) co2: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->co2);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_co2, struct sensor_co2, print_sensor_co2_message);
diff --git a/system/uorb/sensor/co2.h b/system/uorb/sensor/co2.h
new file mode 100644
index 000000000..a4692f9fa
--- /dev/null
+++ b/system/uorb/sensor/co2.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/co2.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_CO2_H
+#define __APPS_SYSTEM_UORB_SENSOR_CO2_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_co2);
+
+#endif
diff --git a/system/uorb/sensor/dust.c b/system/uorb/sensor/dust.c
new file mode 100644
index 000000000..c205952fa
--- /dev/null
+++ b/system/uorb/sensor/dust.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/dust.c
+ *
+ * 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 <sensor/dust.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_dust_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_dust *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) dust: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->dust);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_dust, struct sensor_dust, print_sensor_dust_message);
diff --git a/system/uorb/sensor/dust.h b/system/uorb/sensor/dust.h
new file mode 100644
index 000000000..0be558d15
--- /dev/null
+++ b/system/uorb/sensor/dust.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/dust.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_DUST_H
+#define __APPS_SYSTEM_UORB_SENSOR_DUST_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_dust);
+
+#endif
diff --git a/system/uorb/sensor/ecg.c b/system/uorb/sensor/ecg.c
new file mode 100644
index 000000000..fdc050e83
--- /dev/null
+++ b/system/uorb/sensor/ecg.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ecg.c
+ *
+ * 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 <sensor/ecg.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ecg_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ecg *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ecg: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ecg);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ecg, struct sensor_ecg, print_sensor_ecg_message);
diff --git a/system/uorb/sensor/ecg.h b/system/uorb/sensor/ecg.h
new file mode 100644
index 000000000..c190e2407
--- /dev/null
+++ b/system/uorb/sensor/ecg.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ecg.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_ECG_H
+#define __APPS_SYSTEM_UORB_SENSOR_ECG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ecg);
+
+#endif
diff --git a/system/uorb/sensor/gesture.c b/system/uorb/sensor/gesture.c
new file mode 100644
index 000000000..e012adbd7
--- /dev/null
+++ b/system/uorb/sensor/gesture.c
@@ -0,0 +1,52 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gesture.c
+ *
+ * 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 <sensor/gesture.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void
+print_sensor_wake_gesture_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_wake_gesture *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago)"
+ " event: %" PRIu32 "", meta->o_name, message->timestamp,
+ now - message->timestamp, message->event);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_wake_gesture, struct sensor_wake_gesture,
+ print_sensor_wake_gesture_message);
+ORB_DEFINE(sensor_wake_gesture_uncal, struct sensor_wake_gesture,
+ print_sensor_wake_gesture_message);
diff --git a/system/uorb/sensor/gesture.h b/system/uorb/sensor/gesture.h
new file mode 100644
index 000000000..521f7d8b3
--- /dev/null
+++ b/system/uorb/sensor/gesture.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gesture.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_GESTURE_H
+#define __APPS_SYSTEM_UORB_SENSOR_GESTURE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_wake_gesture);
+ORB_DECLARE(sensor_wake_gesture_uncal);
+
+#endif
diff --git a/system/uorb/sensor/gps.c b/system/uorb/sensor/gps.c
new file mode 100644
index 000000000..565e9d2b5
--- /dev/null
+++ b/system/uorb/sensor/gps.c
@@ -0,0 +1,82 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gps.c
+ *
+ * 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 <sensor/gps.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_gps_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gps *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "time_utc: %" PRIu64 " latitude: %.4f longitude: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->time_utc, message->latitude, message->longitude);
+
+ uorbinfo_raw("%s:\taltitude: %.4f altitude_ellipsoid: %.4f "
+ "ground_speed: %.4f course: %.4f",
+ meta->o_name, message->altitude, message->altitude_ellipsoid,
+ message->ground_speed, message->course);
+
+ uorbinfo_raw("%s:\teph: %.4f epv: %.4f hdop: %.4f vdop: %.4f",
+ meta->o_name, message->eph, message->epv,
+ message->hdop, message->vdop);
+}
+
+static void
+print_sensor_gps_satellite_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gps_satellite *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+ int i;
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago)",
+ meta->o_name, message->timestamp, now - message->timestamp);
+
+ for (i = 0; i < message->count; i++)
+ {
+ uorbinfo_raw("%s:\tnumber:%d svid: %" PRIu32
+ "elevation: %" PRIu32 "azimuth: %" PRIu32
+ " snr: %" PRIu32 "",
+ meta->o_name, i, message->info[i].svid,
+ message->info[i].elevation, message->info[i].azimuth,
+ message->info[i].snr);
+ }
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_gps, struct sensor_gps, print_sensor_gps_message);
+ORB_DEFINE(sensor_gps_satellite, struct sensor_gps_satellite,
+ print_sensor_gps_satellite_message);
diff --git a/system/uorb/sensor/gps.h b/system/uorb/sensor/gps.h
new file mode 100644
index 000000000..1c0300ae1
--- /dev/null
+++ b/system/uorb/sensor/gps.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gps.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_GPS_H
+#define __APPS_SYSTEM_UORB_SENSOR_GPS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_gps);
+ORB_DECLARE(sensor_gps_satellite);
+
+#endif
diff --git a/system/uorb/sensor/gyro.c b/system/uorb/sensor/gyro.c
new file mode 100644
index 000000000..d0df6a3d4
--- /dev/null
+++ b/system/uorb/sensor/gyro.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gyro.c
+ *
+ * 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 <sensor/gyro.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_gyro_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gyro *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_gyro, struct sensor_gyro, print_sensor_gyro_message);
+ORB_DEFINE(sensor_gyro_uncal, struct sensor_gyro,
+ print_sensor_gyro_message);
diff --git a/system/uorb/sensor/gyro.h b/system/uorb/sensor/gyro.h
new file mode 100644
index 000000000..aeb6b9361
--- /dev/null
+++ b/system/uorb/sensor/gyro.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gyro.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_GYRO_H
+#define __APPS_SYSTEM_UORB_SENSOR_GYRO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_gyro);
+ORB_DECLARE(sensor_gyro_uncal);
+
+#endif
diff --git a/system/uorb/sensor/hall.c b/system/uorb/sensor/hall.c
new file mode 100644
index 000000000..f55409ff6
--- /dev/null
+++ b/system/uorb/sensor/hall.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hall.c
+ *
+ * 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 <sensor/hall.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hall_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hall *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) hall: %d",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->hall);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hall, struct sensor_hall, print_sensor_hall_message);
diff --git a/system/uorb/sensor/hall.h b/system/uorb/sensor/hall.h
new file mode 100644
index 000000000..01792d70f
--- /dev/null
+++ b/system/uorb/sensor/hall.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hall.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_HALL_H
+#define __APPS_SYSTEM_UORB_SENSOR_HALL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hall);
+
+#endif
diff --git a/system/uorb/sensor/hbeat.c b/system/uorb/sensor/hbeat.c
new file mode 100644
index 000000000..ead4d409a
--- /dev/null
+++ b/system/uorb/sensor/hbeat.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hbeat.c
+ *
+ * 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 <sensor/hbeat.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hbeat_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hbeat *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "heart beat: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->beat);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hbeat, struct sensor_hbeat, print_sensor_hbeat_message);
diff --git a/system/uorb/sensor/hbeat.h b/system/uorb/sensor/hbeat.h
new file mode 100644
index 000000000..493743fc1
--- /dev/null
+++ b/system/uorb/sensor/hbeat.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hbeat.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_HBEAT_H
+#define __APPS_SYSTEM_UORB_SENSOR_HBEAT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hbeat);
+
+#endif
diff --git a/system/uorb/sensor/hcho.c b/system/uorb/sensor/hcho.c
new file mode 100644
index 000000000..704cbe6c3
--- /dev/null
+++ b/system/uorb/sensor/hcho.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hcho.c
+ *
+ * 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 <sensor/hcho.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hcho_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hcho *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) hcho: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->hcho);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hcho, struct sensor_hcho, print_sensor_hcho_message);
diff --git a/system/uorb/sensor/hcho.h b/system/uorb/sensor/hcho.h
new file mode 100644
index 000000000..d52d0b8d6
--- /dev/null
+++ b/system/uorb/sensor/hcho.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hcho.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_HCHO_H
+#define __APPS_SYSTEM_UORB_SENSOR_HCHO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hcho);
+
+#endif
diff --git a/system/uorb/sensor/hrate.c b/system/uorb/sensor/hrate.c
new file mode 100644
index 000000000..04961b305
--- /dev/null
+++ b/system/uorb/sensor/hrate.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hrate.c
+ *
+ * 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 <sensor/hrate.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hrate_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hrate *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "heart rate: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->bpm);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hrate, struct sensor_hrate, print_sensor_hrate_message);
diff --git a/system/uorb/sensor/hrate.h b/system/uorb/sensor/hrate.h
new file mode 100644
index 000000000..d7b5e5266
--- /dev/null
+++ b/system/uorb/sensor/hrate.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hrate.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_HRATE_H
+#define __APPS_SYSTEM_UORB_SENSOR_HRATE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hrate);
+
+#endif
diff --git a/system/uorb/sensor/humi.c b/system/uorb/sensor/humi.c
new file mode 100644
index 000000000..a765d85bd
--- /dev/null
+++ b/system/uorb/sensor/humi.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/humi.c
+ *
+ * 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 <sensor/humi.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_humi_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_humi *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) humi: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->humidity);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_humi, struct sensor_humi, print_sensor_humi_message);
diff --git a/system/uorb/sensor/humi.h b/system/uorb/sensor/humi.h
new file mode 100644
index 000000000..32eaf4c0b
--- /dev/null
+++ b/system/uorb/sensor/humi.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/humi.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_HUMI_H
+#define __APPS_SYSTEM_UORB_SENSOR_HUMI_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_humi);
+
+#endif
diff --git a/system/uorb/sensor/impd.c b/system/uorb/sensor/impd.c
new file mode 100644
index 000000000..00ea5f5cc
--- /dev/null
+++ b/system/uorb/sensor/impd.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/impd.c
+ *
+ * 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 <sensor/impd.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_impd_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_impd *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "real: %.2f imaginary: %.2f", meta->o_name,
+ message->timestamp, now - message->timestamp,
+ message->real, message->imag);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_impd, struct sensor_impd, print_sensor_impd_message);
diff --git a/system/uorb/sensor/impd.h b/system/uorb/sensor/impd.h
new file mode 100644
index 000000000..b2bedb62c
--- /dev/null
+++ b/system/uorb/sensor/impd.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/impd.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_IMPD_H
+#define __APPS_SYSTEM_UORB_SENSOR_IMPD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_impd);
+
+#endif
diff --git a/system/uorb/sensor/ir.c b/system/uorb/sensor/ir.c
new file mode 100644
index 000000000..1ee57f8a7
--- /dev/null
+++ b/system/uorb/sensor/ir.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ir.c
+ *
+ * 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 <sensor/ir.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ir_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ir *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ir: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ir);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ir, struct sensor_ir, print_sensor_ir_message);
diff --git a/system/uorb/sensor/ir.h b/system/uorb/sensor/ir.h
new file mode 100644
index 000000000..2fba17607
--- /dev/null
+++ b/system/uorb/sensor/ir.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ir.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_IR_H
+#define __APPS_SYSTEM_UORB_SENSOR_IR_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ir);
+
+#endif
diff --git a/system/uorb/sensor/light.c b/system/uorb/sensor/light.c
new file mode 100644
index 000000000..89b2fd530
--- /dev/null
+++ b/system/uorb/sensor/light.c
@@ -0,0 +1,50 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/light.c
+ *
+ * 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 <sensor/light.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_light_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_light *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "light: %.2f ir: %.2f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->light, message->ir);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_light, struct sensor_light, print_sensor_light_message);
+ORB_DEFINE(sensor_light_uncal, struct sensor_light,
+ print_sensor_light_message);
diff --git a/system/uorb/sensor/light.h b/system/uorb/sensor/light.h
new file mode 100644
index 000000000..c2a7c6f7b
--- /dev/null
+++ b/system/uorb/sensor/light.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/light.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_LIGHT_H
+#define __APPS_SYSTEM_UORB_SENSOR_LIGHT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_light);
+ORB_DECLARE(sensor_light_uncal);
+
+#endif
diff --git a/system/uorb/sensor/mag.c b/system/uorb/sensor/mag.c
new file mode 100644
index 000000000..c68fd71c5
--- /dev/null
+++ b/system/uorb/sensor/mag.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/mag.c
+ *
+ * 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 <sensor/mag.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_mag_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_mag *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_mag, struct sensor_mag, print_sensor_mag_message);
+ORB_DEFINE(sensor_mag_uncal, struct sensor_mag,
+ print_sensor_mag_message);
diff --git a/system/uorb/sensor/mag.h b/system/uorb/sensor/mag.h
new file mode 100644
index 000000000..972e3f83e
--- /dev/null
+++ b/system/uorb/sensor/mag.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/mag.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_MAG_H
+#define __APPS_SYSTEM_UORB_SENSOR_MAG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_mag);
+ORB_DECLARE(sensor_mag_uncal);
+
+#endif
diff --git a/system/uorb/sensor/noise.c b/system/uorb/sensor/noise.c
new file mode 100644
index 000000000..46420e363
--- /dev/null
+++ b/system/uorb/sensor/noise.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/noise.c
+ *
+ * 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 <sensor/noise.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_noise_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_noise *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "noise: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->db);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_noise, struct sensor_noise, print_sensor_noise_message);
diff --git a/system/uorb/sensor/noise.h b/system/uorb/sensor/noise.h
new file mode 100644
index 000000000..5f0504164
--- /dev/null
+++ b/system/uorb/sensor/noise.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/noise.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_NOISE_H
+#define __APPS_SYSTEM_UORB_SENSOR_NOISE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_noise);
+
+#endif
diff --git a/system/uorb/sensor/ots.c b/system/uorb/sensor/ots.c
new file mode 100644
index 000000000..100054c07
--- /dev/null
+++ b/system/uorb/sensor/ots.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ots.c
+ *
+ * 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 <sensor/ots.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ots_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ots *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "x: % " PRIi32 " y: % " PRIi32 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->x, message->y);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ots, struct sensor_ots, print_sensor_ots_message);
diff --git a/system/uorb/sensor/ots.h b/system/uorb/sensor/ots.h
new file mode 100644
index 000000000..9a8c1ecb7
--- /dev/null
+++ b/system/uorb/sensor/ots.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ots.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_OTS_H
+#define __APPS_SYSTEM_UORB_SENSOR_OTS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ots);
+
+#endif
diff --git a/system/uorb/sensor/ph.c b/system/uorb/sensor/ph.c
new file mode 100644
index 000000000..06028869e
--- /dev/null
+++ b/system/uorb/sensor/ph.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ph.c
+ *
+ * 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 <sensor/ph.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ph_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ph *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ph: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ph);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ph, struct sensor_ph, print_sensor_ph_message);
diff --git a/system/uorb/sensor/ph.h b/system/uorb/sensor/ph.h
new file mode 100644
index 000000000..57d1e79e4
--- /dev/null
+++ b/system/uorb/sensor/ph.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ph.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PH_H
+#define __APPS_SYSTEM_UORB_SENSOR_PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ph);
+
+#endif
diff --git a/system/uorb/sensor/pm10.c b/system/uorb/sensor/pm10.c
new file mode 100644
index 000000000..b2e57f197
--- /dev/null
+++ b/system/uorb/sensor/pm10.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm10.c
+ *
+ * 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 <sensor/pm10.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm10_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm10 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) pm10: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->pm10);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm10, struct sensor_pm10, print_sensor_pm10_message);
diff --git a/system/uorb/sensor/pm10.h b/system/uorb/sensor/pm10.h
new file mode 100644
index 000000000..6cba6edd7
--- /dev/null
+++ b/system/uorb/sensor/pm10.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm10.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PM10_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM10_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm10);
+
+#endif
diff --git a/system/uorb/sensor/pm1p0.c b/system/uorb/sensor/pm1p0.c
new file mode 100644
index 000000000..31a1db77e
--- /dev/null
+++ b/system/uorb/sensor/pm1p0.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm1p0.c
+ *
+ * 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 <sensor/pm1p0.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm1p0_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm1p0 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "pm1p0: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->pm1p0);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm1p0, struct sensor_pm1p0, print_sensor_pm1p0_message);
diff --git a/system/uorb/sensor/pm1p0.h b/system/uorb/sensor/pm1p0.h
new file mode 100644
index 000000000..dca018507
--- /dev/null
+++ b/system/uorb/sensor/pm1p0.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm1p0.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PM1P0_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM1P0_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm1p0);
+
+#endif
diff --git a/system/uorb/sensor/pm25.c b/system/uorb/sensor/pm25.c
new file mode 100644
index 000000000..83dee92cc
--- /dev/null
+++ b/system/uorb/sensor/pm25.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm25.c
+ *
+ * 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 <sensor/pm25.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm25_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm25 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) pm25: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->pm25);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm25, struct sensor_pm25, print_sensor_pm25_message);
diff --git a/system/uorb/sensor/pm25.h b/system/uorb/sensor/pm25.h
new file mode 100644
index 000000000..b62fb9d7c
--- /dev/null
+++ b/system/uorb/sensor/pm25.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm25.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PM25_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM25_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm25);
+
+#endif
diff --git a/system/uorb/sensor/ppgd.c b/system/uorb/sensor/ppgd.c
new file mode 100644
index 000000000..9c6bceba1
--- /dev/null
+++ b/system/uorb/sensor/ppgd.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgd.c
+ *
+ * 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 <sensor/ppgd.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ppgd_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ppgd *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "ppg1: %" PRIu32 " ppg2: %" PRIu32 " current: %" PRIu32 " "
+ "gain1: %" PRIu16 " gain2: %" PRIu16 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ppg[0], message->ppg[1], message->current,
+ message->gain[0], message->gain[1]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ppgd, struct sensor_ppgd, print_sensor_ppgd_message);
diff --git a/system/uorb/sensor/ppgd.h b/system/uorb/sensor/ppgd.h
new file mode 100644
index 000000000..d326c50bd
--- /dev/null
+++ b/system/uorb/sensor/ppgd.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgd.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PPGD_H
+#define __APPS_SYSTEM_UORB_SENSOR_PPGD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ppgd);
+
+#endif
diff --git a/system/uorb/sensor/ppgq.c b/system/uorb/sensor/ppgq.c
new file mode 100644
index 000000000..92563ceb7
--- /dev/null
+++ b/system/uorb/sensor/ppgq.c
@@ -0,0 +1,53 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgq.c
+ *
+ * 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 <sensor/ppgq.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ppgq_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ppgq *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "ppg1: %" PRIu32 " ppg2: %" PRIu32 " ppg3: %" PRIu32 " "
+ "ppg4: %" PRIu32 "current: %" PRIu32 " gain1: %" PRIu16 " "
+ "gain2: %" PRIu16 " gain3: %" PRIu16 " gain4: %" PRIu16 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ppg[0], message->ppg[1], message->ppg[2],
+ message->ppg[3], message->current, message->gain[0],
+ message->gain[1], message->gain[2], message->gain[3]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ppgq, struct sensor_ppgq, print_sensor_ppgq_message);
diff --git a/system/uorb/sensor/ppgq.h b/system/uorb/sensor/ppgq.h
new file mode 100644
index 000000000..9816fcc8e
--- /dev/null
+++ b/system/uorb/sensor/ppgq.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgq.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PPGQ_H
+#define __APPS_SYSTEM_UORB_SENSOR_PPGQ_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ppgq);
+
+#endif
diff --git a/system/uorb/sensor/prox.c b/system/uorb/sensor/prox.c
new file mode 100644
index 000000000..cc373d936
--- /dev/null
+++ b/system/uorb/sensor/prox.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/prox.c
+ *
+ * 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 <sensor/prox.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_prox_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_prox *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "proximity: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->proximity);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_prox, struct sensor_prox, print_sensor_prox_message);
diff --git a/system/uorb/sensor/prox.h b/system/uorb/sensor/prox.h
new file mode 100644
index 000000000..b4d8eb9a3
--- /dev/null
+++ b/system/uorb/sensor/prox.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/prox.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_PROX_H
+#define __APPS_SYSTEM_UORB_SENSOR_PROX_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_prox);
+
+#endif
diff --git a/system/uorb/sensor/rgb.c b/system/uorb/sensor/rgb.c
new file mode 100644
index 000000000..f5363a3fe
--- /dev/null
+++ b/system/uorb/sensor/rgb.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/rgb.c
+ *
+ * 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 <sensor/rgb.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_rgb_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_rgb *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) red: %.2f"
+ " green: %.2f blue: %.2f\n", meta->o_name, message->timestamp,
+ now - message->timestamp, message->r, message->g, message->b);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_rgb, struct sensor_rgb, print_sensor_rgb_message);
diff --git a/system/uorb/sensor/rgb.h b/system/uorb/sensor/rgb.h
new file mode 100644
index 000000000..3eee8ec21
--- /dev/null
+++ b/system/uorb/sensor/rgb.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/rgb.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_RGB_H
+#define __APPS_SYSTEM_UORB_SENSOR_RGB_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_rgb);
+
+#endif
diff --git a/system/uorb/sensor/temp.c b/system/uorb/sensor/temp.c
new file mode 100644
index 000000000..428d51c6d
--- /dev/null
+++ b/system/uorb/sensor/temp.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/temp.c
+ *
+ * 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 <sensor/temp.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_temp_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_temp *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->temperature);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_temp, struct sensor_temp, print_sensor_temp_message);
diff --git a/system/uorb/sensor/temp.h b/system/uorb/sensor/temp.h
new file mode 100644
index 000000000..3d0f9301e
--- /dev/null
+++ b/system/uorb/sensor/temp.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/temp.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_TEMP_H
+#define __APPS_SYSTEM_UORB_SENSOR_TEMP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_temp);
+
+#endif
diff --git a/system/uorb/sensor/tvoc.c b/system/uorb/sensor/tvoc.c
new file mode 100644
index 000000000..b3cf21846
--- /dev/null
+++ b/system/uorb/sensor/tvoc.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/tvoc.c
+ *
+ * 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 <sensor/tvoc.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_tvoc_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_tvoc *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) tvoc: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->tvoc);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_tvoc, struct sensor_tvoc, print_sensor_tvoc_message);
diff --git a/system/uorb/sensor/tvoc.h b/system/uorb/sensor/tvoc.h
new file mode 100644
index 000000000..9c8f9889e
--- /dev/null
+++ b/system/uorb/sensor/tvoc.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/tvoc.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_TVOC_H
+#define __APPS_SYSTEM_UORB_SENSOR_TVOC_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_tvoc);
+
+#endif
diff --git a/system/uorb/sensor/uv.c b/system/uorb/sensor/uv.c
new file mode 100644
index 000000000..0e827c675
--- /dev/null
+++ b/system/uorb/sensor/uv.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/uv.c
+ *
+ * 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 <sensor/uv.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_uv_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_uv *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) uvi: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->uvi);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_uv, struct sensor_uv, print_sensor_uv_message);
diff --git a/system/uorb/sensor/uv.h b/system/uorb/sensor/uv.h
new file mode 100644
index 000000000..fbdd6ddf9
--- /dev/null
+++ b/system/uorb/sensor/uv.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/uv.h
+ *
+ * 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 __APPS_SYSTEM_UORB_SENSOR_UV_H
+#define __APPS_SYSTEM_UORB_SENSOR_UV_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_uv);
+
+#endif