基于HDF驱动框架的温度传感器驱动开发原创精华

AlgoIdeas

发布于 2023-3-14 09:53

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概述

温度传感器(Temperature)Sensor驱动，对温度传感器进行上电，通过驱动入口，将温度传感器注册到HDF驱动框架，对温度传感器驱动进行初始化，探测器件是否在位，并解析配置文件，最后通过温度传感器差异化代码实现，为上层服务提供稳定的实时数据。温度传感器sensor开发主要包括三个部分：温度传感器通用传感器驱动、温度传感器通用传感器配置和器件差异化驱动。基于HDF（Hardware Driver Foundation）驱动框架的Sensor驱动模型，实现跨操作系统迁移，器件差异配置等功能。

备注：后续会考虑进入到OpenHarmony主线，湿度传感器相关开发类似温度传感器

开发指导

开发步骤

（1）从device info HCS 的Sensor Host里读取温度传感器驱动配置信息。

（2）加载温度传感器抽象驱动，调用初始化接口，完成Sensor器件驱动资源分配和数据处理队列创建。

（3）从temperature_xxx_config HCS里读取温度传感器器件差异化驱动配置和私有化配置信息。

（4）温度传感器差异化驱动，调用通用配置解析接口，完成器件属性信息解析，器件寄存器解析。

（5）温度传感器差异化驱动完成器件探测，并分配温度传感器配置资源，完成温度传感器差异化接口注册。

（6）温度传感器器件探测成功之后，温度传感器差异化驱动通知温度传感器抽象驱动，注册温度传感器设备到Sensor设备管理中。

开发实例

Sensor驱动模型提供标准化的器件驱动，开发者无需独立开发，通过配置即可完成驱动的部署。对驱动模型抽象，屏蔽驱动与不同系统组件间的交互，使得驱动更具备通用性。基于Sensor驱动模型，加载温度传感器驱动。温度传感器选择通讯接口方式为IIC,厂家选择Sensirion,器件类型为SHT30的温度传感器传器。

1.温度传感器抽象驱动实现

温度传感器抽象驱动在Sensor Host中的配置信息

代码实现路径为

vendor\hihope\rk3568\hdf_config\khdf\device_info\device_info.hcs (RK3568配置路径)

vendor\unionman\unionpi_tiger\hdf_config\khdf\device_info\device_info.hcs (A311D配置路径)

具体代码如下:

/* 温度传感器设备HCS配置 */
device_sensor_temperature :: device {
    device0 :: deviceNode {
        policy = 1; /* policy字段是驱动服务发布的策略 */
        priority = 130; /* 温度传感器驱动启动优先级（0-200），值越大优先级越低，建议默认配100，优先级相同则不保证device的加载顺序 */
        preload = 0; /* 驱动按需加载字段，0表示加载，2表示不加载 */
        permission = 0664; /* 驱动创建设备节点权限 */
        moduleName = "HDF_SENSOR_TEMPERATURE"; /* 温度传感器驱动名称，该字段的值必须和驱动入口结构的moduleName值一致 */
        serviceName = "hdf_sensor_temperature"; /* 温度传感器驱动对外发布服务的名称，必须唯一 */
        deviceMatchAttr = "hdf_sensor_temperature_driver"; /* 驱动私有数据匹配的关键字，必须和驱动私有数据配置表中的match_attr值相等 */
    }
}
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温度传感器抽象驱动入口函数实现

代码实现路径为 \drivers\framework\model\sensor\driver\temperature\sensor_temperature_driver.c

定义温度传感器抽象驱动对应的HdfDriverEntry对象，其中，Driver Entry入口函数定义如下：

/*注册温度传感器入口数据结构体对象*/
struct HdfDriverEntry g_sensorTemperatureDevEntry = {
    .moduleVersion = 1, /*温度传感器模块版本号*/
    .moduleName = "HDF_SENSOR_TEMPERATURE", /*温度传感器模块名，要与device_info.hcs文件里温度传感器moduleName字段值一样*/
    .Bind = TemperatureBindDriver, /*温度传感器绑定函数*/
    .Init = TemperatureInitDriver, /*温度传感器初始化函数*/
    .Release = TemperatureReleaseDriver, /*温度传感器资源释放函数*/
};

/* 调用HDF_INIT将驱动入口注册到HDF框架中，在加载驱动时HDF框架会先调用Bind函数,再调用Init函数加载该驱动，当Init调用异常时，HDF框架会调用Release释放驱动资源并退出 */
HDF_INIT(g_sensorTemperatureDevEntry);
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Bind接口实现驱动接口实例化，实现示例：

int32_t TemperatureBindDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);

    struct TemperatureDrvData *drvData = (struct TemperatureDrvData *)OsalMemCalloc(sizeof(*drvData));
    if (drvData == NULL) {
        HDF_LOGE("%s: Malloc Temperature drv data fail!", __func__);
        return HDF_ERR_MALLOC_FAIL;
    }

    drvData->ioService.Dispatch = DispatchTemperature;
    drvData->device = device;
    device->service = &drvData->ioService;
    g_TemperatureDrvData = drvData;

    return HDF_SUCCESS;
}
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Init接口实现驱动接口实例化，实现示例：

int32_t TemperatureInitDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);
    struct TemperatureDrvData *drvData = (struct TemperatureDrvData *)device->service;
    CHECK_NULL_PTR_RETURN_VALUE(drvData, HDF_ERR_INVALID_PARAM);

    if (InitTemperatureData(drvData) != HDF_SUCCESS) {
        HDF_LOGE("%s: Init Temperature config failed", __func__);
        return HDF_FAILURE;
    }

    drvData->TemperatureCfg = (struct SensorCfgData *)OsalMemCalloc(sizeof(*drvData->TemperatureCfg));
    if (drvData->TemperatureCfg == NULL) {
        HDF_LOGE("%s: Malloc Temperature config data failed", __func__);
        return HDF_FAILURE;
    }

    drvData->TemperatureCfg->regCfgGroup = &g_regCfgGroup[0];

    HDF_LOGI("%s: Init Temperature driver success", __func__);
    return HDF_SUCCESS;
}
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Release接口在驱动卸载或者Init执行失败时，会调用此接口释放资源：

void TemperatureReleaseDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN(device);

    struct TemperatureDrvData *drvData = (struct TemperatureDrvData *)device->service;
    CHECK_NULL_PTR_RETURN(drvData);

    //器件在位，释放已分配资源
    if (drvData->detectFlag && drvData->TemperatureCfg != NULL) {
        TemperatureReleaseCfgData(drvData->TemperatureCfg);
    }

    OsalMemFree(drvData->TemperatureCfg);
    drvData->TemperatureCfg = NULL;

    //器件在位，销毁工作队列资源
    HdfWorkDestroy(&drvData->TemperatureWork);
    HdfWorkQueueDestroy(&drvData->TemperatureWorkQueue);
    OsalMemFree(drvData);
}
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温度传感器抽象驱动内部接口开发实现示例:

提供给差异化驱动的初始化接口，完成温度传感器器件的基本配置信息解析（温度传感器信息，温度传感器总线配置，温度传感器器件探测寄存器配置），器件探测，器件寄存器解析。

static int32_t InitTemperatureAfterDetected(struct SensorCfgData *config)
{
    struct SensorDeviceInfo deviceInfo;
    CHECK_NULL_PTR_RETURN_VALUE(config, HDF_ERR_INVALID_PARAM);

    //初始化温度传感器接口函数
    if (InitTemperatureOps(config, &deviceInfo) != HDF_SUCCESS) {
        HDF_LOGE("%s: Init Temperature ops failed", __func__);
        return HDF_FAILURE;
    }

    //注册温度传感器设备到设备管理模块
    if (AddSensorDevice(&deviceInfo) != HDF_SUCCESS) {
        HDF_LOGE("%s: Add Temperature device failed", __func__);
        return HDF_FAILURE;
    }

    //器件寄存器解析
    if (ParseSensorRegConfig(config) != HDF_SUCCESS) {
        HDF_LOGE("%s: Parse sensor register failed", __func__);
        (void)DeleteSensorDevice(&config->sensorInfo);
        ReleaseSensorAllRegConfig(config);
        ReleaseSensorDirectionConfig(config);
        return HDF_FAILURE;
    }

    return HDF_SUCCESS;
}

struct SensorCfgData *TemperatureCreateCfgData(const struct DeviceResourceNode *node)
{
    struct TemperatureDrvData *drvData = TemperatureGetDrvData();

    if (drvData == NULL || node == NULL) {
        HDF_LOGE("%s: Temperature node pointer NULL", __func__);
        return NULL;
    }

    //如果器件不在位，返回进行下个器件探测
    if (drvData->detectFlag) {
        HDF_LOGE("%s: Temperature sensor have detected", __func__);
        return NULL;
    }

    if (drvData->TemperatureCfg == NULL) {
        HDF_LOGE("%s: Temperature TemperatureCfg pointer NULL", __func__);
        return NULL;
    }

    //设备基本配置信息解析
    if (GetSensorBaseConfigData(node, drvData->TemperatureCfg) != HDF_SUCCESS) {
        HDF_LOGE("%s: Get sensor base config failed", __func__);
        goto BASE_CONFIG_EXIT;
    }

    //如果器件不在位，返回进行下个器件探测
    if (DetectSensorDevice(drvData->TemperatureCfg) != HDF_SUCCESS) {
        HDF_LOGI("%s: Temperature sensor detect device no exist", __func__);
        drvData->detectFlag = false;
        goto BASE_CONFIG_EXIT;
    }

    drvData->detectFlag = true;
    
    //器件寄存器解析
    if (InitTemperatureAfterDetected(drvData->TemperatureCfg) != HDF_SUCCESS) {
        HDF_LOGI("%s: Temperature sensor detect device no exist", __func__);
        goto INIT_EXIT;
    }

    return drvData->TemperatureCfg;

INIT_EXIT:
    (void)ReleaseSensorBusHandle(&drvData->TemperatureCfg->busCfg);
BASE_CONFIG_EXIT:
    drvData->TemperatureCfg->root = NULL;
    (void)memset_s(&drvData->TemperatureCfg->sensorInfo,
        sizeof(struct SensorBasicInfo), 0, sizeof(struct SensorBasicInfo));
    (void)memset_s(&drvData->TemperatureCfg->busCfg, sizeof(struct SensorBusCfg), 0, sizeof(struct SensorBusCfg));
    (void)memset_s(&drvData->TemperatureCfg->sensorAttr, sizeof(struct SensorAttr), 0, sizeof(struct SensorAttr));

    return drvData->TemperatureCfg;
}
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2.温度传感器差异化驱动实现

温度传感器差异化驱动在Sensor Host中的配置信息

代码实现路径为

vendor\hihope\rk3568\hdf_config\khdf\device_info\device_info.hcs

vendor\unionman\unionpi_tiger\hdf_config\device_info\device_info.hcs

/* 温度传感器SHT30设备HCS配置 */
device_temperature_sht30 :: device {
    device0 :: deviceNode {
        policy = 1; /* policy字段是驱动服务发布的策略 */
        priority = 140; /* 温度传感器SHT30驱动启动优先级（0-200），值越大优先级越低，建议默认配100，优先级相同则不保证device的加载顺序 */
        preload = 0; /* 驱动按需加载字段，0表示加载，2表示不加载 */
        permission = 0664; /* 驱动创建设备节点权限 */
        moduleName = "HDF_SENSOR_TEMPERATURE_SHT30"; /* 温度传感器结构的moduleName值一致 */
        serviceName = "hdf_temperature_sht30"; /* 温度传感器SHT30驱动对外发布服务的名称，必须唯一 */
        deviceMatchAttr = "hdf_sensor_temperature_sht30_driver"; /* 温度传感器SHT30驱动私有数据匹配的关键字，必须和驱动私有数据配置表中的match_attr值相等 */
    }
}
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温度传感器差异化驱动私有HCS配置

代码路径如下

vendor\hihope\rk3568\hdf_config\khdf\sensor\temperature\temperature_sht30_config.hcs

vendor\unionman\unionpi_tiger\hdf_config\khdf\sensor\temperature\temperature_sht30_config.hcs

#include "../sensor_common.hcs"

root {
    temperature_sht30_chip_config : sensorConfig {
        match_attr = "hdf_sensor_temperature_sht30_driver";
        sensorInfo :: sensorDeviceInfo {
            sensorName = "temperature_sht30";
            vendorName = "sensirion"; // max string length is 16 bytes
            sensorTypeId = 9; // enum SensorTypeTag
            sensorId = 2; // user define sensor id
            power = 230;
            minDelay = 0;
            maxDelay = 0;
        }
        sensorBusConfig :: sensorBusInfo {
            busType = 0; // 0:i2c 1:spi
            busNum = 3;
            busAddr = 0x44;
            regWidth = 2; // 2 byte
        }
        sensorIdAttr :: sensorIdInfo {
            chipName = "sht30";
            chipIdRegister = 0xf32d;
            chipIdValue = 0x80;
        }
        sensorRegConfig {
            /*  regAddr: register address
                value: config register value
                len: size of value
                mask: mask of value
                delay: config register delay time (ms)
                opsType: enum SensorOpsType 0-none 1-read 2-write 3-read_check 4-update_bit
                calType: enum SensorBitCalType 0-none 1-set 2-revert 3-xor 4-left shift 5-right shift
                shiftNum: shift bits
                debug: 0-no debug 1-debug
                save: 0-no save 1-save
            */
            /* regAddr, value, mask, len, delay, opsType, calType, shiftNum, debug, save */
            initSeqConfig = [
                0x30a2,   0x0,  0x0,   0,     5,       2,       0,        0,     0,    0
            ];
            enableSeqConfig = [
                0x2c06,   0x0,  0x0,   0,     5,       2,       0,        0,     0,    0
            ];
            disableSeqConfig = [
                0x2400,   0x0,  0x0,   0,     5,       2,       0,        0,     0,    0
            ];
        }
    }
}
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温度传感器差异化驱动入口函数实现

代码实现路径为 drivers/peripheral/sensor/chipset/temperature/temperature_sht30.c

定义温度传感器差异化驱动对应的HdfDriverEntry对象，其中，Driver Entry入口函数定义如下：

/*注册温度传感器SHT30入口数据结构体对象*/
struct HdfDriverEntry g_temperatureSht30DevEntry = {
    .moduleVersion = 1, /*温度传感器模块版本号*/
    .moduleName = "HDF_SENSOR_TEMPERATURE_SHT30", /*温度传感器SHT30模块名，要与device_info.hcs文件里温度传感器SHT30 moduleName字段值一样*/
    .Bind = Sht30BindDriver, /*温度传感器SHT30绑定函数*/
    .Init = Sht30InitDriver, /*温度传感器SHT30初始化函数*/
    .Release = Sht30ReleaseDriver, /*温度传感器SHT30资源释放函数*/
};

/* 调用HDF_INIT将驱动入口注册到HDF框架中，在加载驱动时HDF框架会先调用Bind函数,再调用Init函数加载该驱动，当Init调用异常时，HDF框架会调用Release释放驱动资源并退出 */
HDF_INIT(g_temperatureSht30DevEntry);
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Bind驱动接口实例化，实现示例：

static int32_t Sht30BindDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);

    struct Sht30DrvData *drvData = (struct Sht30DrvData *)OsalMemCalloc(sizeof(*drvData));
    if (drvData == NULL) {
        HDF_LOGE("%s: malloc drv data fail", __func__);
        return HDF_ERR_MALLOC_FAIL;
    }

    drvData->ioService.Dispatch = DispatchSht30;
    drvData->device = device;
    device->service = &drvData->ioService;
    g_sht30DrvData = drvData;

    return HDF_SUCCESS;
}
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Init驱动接口实例化，实现示例：

static int32_t Sht30InitDriver(struct HdfDeviceObject *device)
{
    int32_t ret;
    struct TemperatureOpsCall ops;

    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);
    struct Sht30DrvData *drvData = (struct Sht30DrvData *)device->service;
    CHECK_NULL_PTR_RETURN_VALUE(drvData, HDF_ERR_INVALID_PARAM);

    //创建传感器配置数据接口，完成器件探测，私有数据配置解析
    drvData->sensorCfg = TemperatureCreateCfgData(device->property);
    if (drvData->sensorCfg == NULL || drvData->sensorCfg->root == NULL) {
        HDF_LOGD("%s: Creating temperature cfg failed because detection failed", __func__);
        return HDF_ERR_NOT_SUPPORT;
    }

    //注册差异化接口
    ops.Init = NULL;
    ops.ReadData = ReadSht30Data;
    ret = TemperatureRegisterChipOps(&ops);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: Register temperature failed", __func__);
        return HDF_FAILURE;
    }

    //初始化器件配置
    ret = InitSht30(drvData->sensorCfg);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: Init SHT30 temperature sensor failed", __func__);
        return HDF_FAILURE;
    }

    return HDF_SUCCESS;
}
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Release驱动接口实例化，实现示例：

static void Sht30ReleaseDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN(device);

    struct Sht30DrvData *drvData = (struct Sht30DrvData *)device->service;
    CHECK_NULL_PTR_RETURN(drvData);

    if (drvData->sensorCfg != NULL) {
        TemperatureReleaseCf gData(drvData->sensorCfg);
        drvData->sensorCfg = NULL;
    }
    OsalMemFree(drvData);
}
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温度传感器差异化函数接口实现示例

需要开发者实现的ReadSht30Data接口函数，在Sht30InitDriver函数里面注册此函数。

int32_t ReadSht30Data(struct SensorCfgData *data)
{
    int32_t ret;
    static int32_t temperature;
    struct TemperatureData rawData = { 0 };
    OsalTimespec time;
    struct SensorReportEvent event;

    (void)memset_s(&time, sizeof(time), 0, sizeof(time));
    (void)memset_s(&event, sizeof(event), 0, sizeof(event));

    if (OsalGetTime(&time) != HDF_SUCCESS) {
        HDF_LOGE("%s: Get time failed", __func__);
        return HDF_FAILURE;
    }

    event.timestamp = time.sec * SENSOR_SECOND_CONVERT_NANOSECOND + time.usec * SENSOR_CONVERT_UNIT;

    ret = ReadSht30RawData(data, &rawData, &event.timestamp);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: SHT30 read raw data failed", __func__);
        return HDF_FAILURE;
    }

    temperature = rawData.temperature;

    event.sensorId = data->sensorInfo.sensorId;
    event.mode = SENSOR_WORK_MODE_REALTIME;
    event.dataLen = sizeof(temperature);
    event.data = (uint8_t *)&temperature;
    ret = ReportSensorEvent(&event);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: report data failed", __func__);
    }

    return ret;
}
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编译指导

在编译的过程中，首先需要在Sensor Host中的配置信息中设置具体器件是否要驱动加载。

HCS路径：

vendor\hihope\rk3568\hdf_config\khdf\device_info\device_info.hcs

            device_sensor_temperature :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 130;
                    preload = 0; /* 驱动按需加载字段，0表示加载，2表示不加载 */
                    permission = 0664;
                    moduleName = "HDF_SENSOR_TEMPERATURE";
                    serviceName = "hdf_sensor_temperature";
                    deviceMatchAttr = "hdf_sensor_temperature_driver";
                }
            }
            device_temperature_sht30 :: device {
                device0 :: deviceNode {
                    policy = 1;
                    priority = 140;
                    preload = 0; /* 驱动按需加载字段，0表示加载，2表示不加载 */
                    permission = 0664;
                    moduleName = "HDF_SENSOR_TEMPERATURE_SHT30";
                    serviceName = "hdf_temperature_sht30";
                    deviceMatchAttr = "hdf_sensor_temperature_sht30_driver";
                }
            }
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传感器驱动实现在内核态，代码参与编译通过适配makefile实现，并通过内核模块宏定义，控制温度传感器设备驱动是否参与编译。

Makefile路径:

drivers\hdf_core\adapter\khdf\linux\model\sensor\Makefile

......
obj-$(CONFIG_DRIVERS_HDF_SENSOR_TEMPERATURE) += $(SENSOR_ROOT_DIR)/temperature/sensor_temperature_driver.o

obj-$(CONFIG_DRIVERS_HDF_SENSOR_TEMPERATURE_SHT30) += $(SENSOR_ROOT_DIR)/chipset/temperature/temperature_sht30.o
.....
-Idrivers/peripheral/sensor/driver/temperature \
-Idrivers/peripheral/sensor/driver/chipset/temperature \
......
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Kconfig路径：

drivers\hdf_core\adapter\khdf\linux\model\sensor\Kconfig

温度传感器驱动加载，将DRIVERS_HDF_SENSOR_TEMPERATURE;

DRIVERS_HDF_SENSOR_TEMPERATURE_SHT30宏字段设置为y即可。

温度传感器驱动不加载，将DRIVERS_HDF_SENSOR_TEMPERATURE; DRIVERS_HDF_SENSOR_TEMPERATURE_SHT30宏字段设置为is not set即可。

内核配置路径(以RK3568为例)：

kernel/linux/config/linux-5.10/arch/arm64/configs/rk3568_standard_defconfig

......
# CONFIG_DRIVERS_HDF_INPUT_INFRARED is not set
# CONFIG_DRIVERS_HDF_WIFI is not set
# CONFIG_DRIVERS_HDF_BT is not set
CONFIG_DRIVERS_HDF_SENSOR=y
CONFIG_DRIVERS_HDF_SENSOR_ACCEL=y
CONFIG_DRIVERS_HDF_SENSOR_ACCEL_MXC6655XA=y
CONFIG_DRIVERS_HDF_SENSOR_TEMPERATURE=y
CONFIG_DRIVERS_HDF_SENSOR_TEMPERATURE_SHT30=y
.....
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实例运行

参考代码：

#include <stdio.h>
#include <unistd.h>
#include "hdf_base.h"
#include "hdf_log.h"
#include "hdf_sbuf.h"
#include "hdf_io_service_if.h"
#include "sensor_if.h"
#include "sensor_type.h"

/* 创建回调函数 */
static int32_t SensorDataCallback(const struct SensorEvents *event)
{
    if (event == NULL) {
        return HDF_FAILURE;
    }

    float sensorData =*((float *)event->data);
    printf("sensor id [%d], data : %.2f\n", event->sensorId, sensorData);

    return HDF_SUCCESS;
}

void SensorSample(void)
{
    int ret;
    struct SensorInformation *sensorInfo = NULL;
    int32_t count = 0;
    int32_t sensorInterval = 200000000; /* 数据采样率设置200毫秒，单位纳秒 */
    int32_t reportInterval = 400000000;

    /* 1.创建传感器接口实例 */
    const struct SensorInterface *sensorDev = NewSensorInterfaceInstance();
    if (sensorDev == NULL) {
        return;
    }
    printf("NewSensorInterfaceInstance success\n");

    /* 2.订阅者注册传感器数据回调处理函数 */
    ret = sensorDev->Register(TRADITIONAL_SENSOR_TYPE, SensorDataCallback);
    if (ret != 0) {
        return;
    }
    printf("Register success\n");

    /* 3.获取设备支持的Sensor列表 */
    ret = sensorDev->GetAllSensors(&sensorInfo, &count);
    if (ret != 0) {
        return;
    }

    printf("GetAllSensors count: %d\n", count);

    for (int i = 0; i < count; i++)
    {
        printf("sensor [%d] : sensorName:%s, vendorName:%s, sensorTypeId:%d, sensorId:%d\n", i,
               sensorInfo[i].sensorName, sensorInfo[i].vendorName, sensorInfo[i].sensorTypeId, sensorInfo[i].sensorId);
    }

    for (int i = 0; i < count; i++)
    {
        /* 4.设置传感器采样率 */
        ret = sensorDev->SetBatch(sensorInfo[i].sensorId, sensorInterval, reportInterval);
        if (ret != 0) {
            printf("SetBatch failed\n ,ret: %d",ret);
            continue;
        }
        printf("SetBatch success\n");

        /* 5.使能传感器 */
        ret = sensorDev->Enable(sensorInfo[i].sensorId);
        if (ret != 0) {
            continue;
        }
        printf("Enable success\n");

        usleep(1000 * 1000);

        /* 6.去使能传感器 */
        ret = sensorDev->Disable(sensorInfo[i].sensorId);
        if (ret != 0) {
            continue;
        }
        printf("Disable success\n");
    }

    /* 7.取消传感器数据订阅函数 */
    ret = sensorDev->Unregister(TRADITIONAL_SENSOR_TYPE, SensorDataCallback);
    if (ret != 0) {
        return;
    }
    printf("Unregister success\n");

    /* 8.释放传感器接口实例 */
    ret = FreeSensorInterfaceInstance();
    if (ret != 0) {
        return;
    }
    printf("FreeSensorInterfaceInstance success\n");
}

int main(int argc, char *argv[])
{
    SensorSample();
    return HDF_SUCCESS;
}
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