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NuttX adds SENSOR_TYPE_INCLINOMETER and struct sensor_inclinometer (X, Y and Z tilt in degrees, plus temperature) for the Murata SCL3300 driver. Define the sensor_inclinometer topic, so that uorb_listener can print it, and add it to sensortest. The struct has the same layout as struct sensor_accel, so sensortest prints it with print_vec3. This depends on the NuttX commit that adds the sensor type. Assisted-by: Claude:claude-opus-5-5 Signed-off-by: Alan Carvalho de Assis <acassis@gmail.com>
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+1 here but out of lab :-)
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CeDeROM, SQ7MHZ, http://www.tomek.cedro.info
On Fri, Oct 9, 2026, 19:56 Alan C. Assis ***@***.***> wrote:
Summary
This PR adds support to sensor inclinometer using uORB and adds a
scl3300test application.
Depends-on: apache/nuttx#20567
<apache/nuttx#20567>
Impact
Users will be able to use and test SCL3300
Testing
nsh> scl3300test -n 0 all
WHOAMI: 0xc1 -> PASS
SELFTEST: 0 -> PASS
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 11.7828, resolution 0.0016365, intes
READ:
200/200 samples, temperature 25.25 C
X: mean -1.6082 deg, stddev 0.02439 deg
Y: mean 0.0730 deg, stddev 0.02526 deg
Z: mean 88.3900 deg, stddev 0.02418 deg
MODE 1:
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 11.7828, resolution 0.0016365, intes
200/200 samples, temperature 25.25 C
X: mean -1.6069 deg, stddev 0.01853 deg
Y: mean 0.0734 deg, stddev 0.01455 deg
Z: mean 88.3919 deg, stddev 0.01857 deg
MODE 2:
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 23.5656, resolution 0.0032730, intes
200/200 samples, temperature 25.25 C
X: mean -1.6016 deg, stddev 0.02828 deg
Y: mean 0.0698 deg, stddev 0.02199 deg
Z: mean 88.3974 deg, stddev 0.02818 deg
MODE 3:
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 9.8190, resolution 0.0008182, inters
200/200 samples, temperature 25.25 C
X: mean -1.6170 deg, stddev 0.00956 deg
Y: mean 0.0760 deg, stddev 0.00936 deg
Z: mean 88.3809 deg, stddev 0.00951 deg
MODE 4:
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 9.8190, resolution 0.0008182, inters
200/200 samples, temperature 25.62 C
X: mean -1.6292 deg, stddev 0.00574 deg
Y: mean 0.2262 deg, stddev 0.00552 deg
Z: mean 88.3546 deg, stddev 0.00696 deg
MODE 1:
INFO inclinometer: Murata SCL3300 v1, 1.20 mA, range 90.0000, resolution 0.005493s
INFO accel: Murata SCL3300 v1, 1.20 mA, range 11.7828, resolution 0.0016365, intes
200/200 samples, temperature 25.36 C
X: mean -1.6100 deg, stddev 0.02059 deg
Y: mean 0.0716 deg, stddev 0.01432 deg
Z: mean 88.3886 deg, stddev 0.02066 deg
MODE 5: rejected -> PASS
POWER: 100 power-down/wake-up cycles
POWER: 0 failures -> PASS
RESET: 0 -> PASS
READ:
200/200 samples, temperature 25.41 C
X: mean -1.5659 deg, stddev 0.03361 deg
Y: mean -0.2436 deg, stddev 0.03985 deg
Z: mean 88.4156 deg, stddev 0.03271 deg
ALL: PASS
nsh>
------------------------------
You can view, comment on, or merge this pull request online at:
#3825
Commit Summary
- df2bea4
<df2bea4>
system/uorb, system/sensortest: Add inclinometer sensor type.
- 541959a
<541959a>
examples/scl3300test: Add Murata SCL3300 inclinometer test program.
File Changes
(9 files <https://github.com/apache/nuttx-apps/pull/3825/files>)
- *A* examples/scl3300test/CMakeLists.txt
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-c4c803a6f18918cd7bf5f6777c39e333d25fdc744b5ab2e12d0ebb3c228159ae>
(35)
- *A* examples/scl3300test/Kconfig
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-9f892e6b784cee9c8f9c2b79f042f2bcc2df81c4302dc3521595d9a8878ed2e7>
(33)
- *A* examples/scl3300test/Make.defs
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-85ef0d3a0d5fbf1fe31fdc337b85aa7dd2255c2e9e6f3d1c04717c019c757048>
(25)
- *A* examples/scl3300test/Makefile
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-3707ee9aaeeff1787f0ae0c884cebc69ead14fa575bacbb430bfa58ee944fe29>
(34)
- *A* examples/scl3300test/scl3300test_main.c
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-e84cc0a7c570f0a05e0459d91df588dc2536411528584a5c920f458620cbbe20>
(600)
- *M* system/sensortest/sensortest.c
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-519095e345a28dd9139ee45e9b5e07d87b86b4d0f37bcf3387657ef21553e58d>
(2)
- *A* system/uorb/sensor/inclinometer.c
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-ae7b27b661042b3f39dcd77c9859fbec558b074eaaf68fb5d82ca23cc6836eee>
(41)
- *A* system/uorb/sensor/inclinometer.h
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-f1c05b218a08cd25e48ff1560960268f50b2f18c220f93183606585fe1047c94>
(38)
- *M* system/uorb/sensor/topics.c
<https://github.com/apache/nuttx-apps/pull/3825/files#diff-8da5a18164d2d94f33bbbb7ecea26d924f0bd90444002f8a42d274b7f637c226>
(2)
Patch Links:
- https://github.com/apache/nuttx-apps/pull/3825.patch
- https://github.com/apache/nuttx-apps/pull/3825.diff
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🔗 Cross-repo PR dependenciesThe read-only Build run reported the following dependent PR(s) and fetched head SHA(s): CI run: https://github.com/apache/nuttx-apps/actions/runs/37969785765 |
Add a program to check the SCL3300 driver on a board. It goes through the driver's uORB topics and ioctls and reports PASS or FAIL for each test: - whoami: SNIOC_WHO_AM_I returns 0xC1. - selftest: SNIOC_SELFTEST succeeds. - info: prints SNIOC_GET_INFO for each topic. - read: mean and standard deviation of 200 samples per axis. - modes: Modes 1, 2, 3, 4 and 1, with the info and noise of each, and an invalid mode is rejected. - power: 100 power-down/wake-up cycles with SCL3300_POWER_DOWN_IDLE, checking that the mode survives. - reset: SNIOC_RESET, then read. - all: every test above. Tested on an STM32F4Discovery with an SCL3300. Assisted-by: Claude:claude-opus-5-5 Signed-off-by: Alan Carvalho de Assis <acassis@gmail.com>
xiaoxiang781216
approved these changes
Oct 20, 2026
🔗 Cross-repo PR dependenciesThe read-only Build run reported the following dependent PR(s) and fetched head SHA(s):
CI run: https://github.com/apache/nuttx-apps/actions/runs/39427198711 |
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Summary
This PR adds support to sensor inclinometer using uORB and adds a scl3300test application.
Depends-on: apache/nuttx#20567
Impact
Users will be able to use and test SCL3300
Testing