From 03171162f1f5d3444557863a268930dba49dac9a Mon Sep 17 00:00:00 2001
From: hanzhijian <hanzhijian@zepp.com>
Date: Fri, 5 Jun 2026 23:56:48 +0800
Subject: [PATCH] system/uorb: introduce CONFIG_UORB_FORMAT for format string
 control

Introduce a new CONFIG_UORB_FORMAT Kconfig option to control whether
uORB format strings are compiled in. UORB_LISTENER, UORB_GENERATOR,
and DEBUG_UORB all select UORB_FORMAT automatically, so format strings
are included when any of these features are enabled.

This replaces the previous approach of guarding format strings with
CONFIG_DEBUG_UORB, which prevented uorb_listener from displaying
sensor data when debug output was disabled.

Signed-off-by: hanzhijian <hanzhijian@zepp.com>
---
 system/uorb/Kconfig               |  7 +++++++
 system/uorb/listener.c            | 10 +++++-----
 system/uorb/sensor/accel.c        |  2 +-
 system/uorb/sensor/angle.c        |  2 +-
 system/uorb/sensor/baro.c         |  2 +-
 system/uorb/sensor/cap.c          |  2 +-
 system/uorb/sensor/co2.c          |  2 +-
 system/uorb/sensor/dust.c         |  2 +-
 system/uorb/sensor/ecg.c          |  2 +-
 system/uorb/sensor/eng.c          |  2 +-
 system/uorb/sensor/force.c        |  2 +-
 system/uorb/sensor/gas.c          |  2 +-
 system/uorb/sensor/gesture.c      |  2 +-
 system/uorb/sensor/gnss.c         |  2 +-
 system/uorb/sensor/gyro.c         |  2 +-
 system/uorb/sensor/hall.c         |  2 +-
 system/uorb/sensor/hbeat.c        |  2 +-
 system/uorb/sensor/hcho.c         |  2 +-
 system/uorb/sensor/hrate.c        |  2 +-
 system/uorb/sensor/humi.c         |  2 +-
 system/uorb/sensor/impd.c         |  2 +-
 system/uorb/sensor/ir.c           |  2 +-
 system/uorb/sensor/light.c        |  2 +-
 system/uorb/sensor/mag.c          |  2 +-
 system/uorb/sensor/motion.c       |  2 +-
 system/uorb/sensor/noise.c        |  2 +-
 system/uorb/sensor/ots.c          |  2 +-
 system/uorb/sensor/ph.c           |  2 +-
 system/uorb/sensor/pm10.c         |  2 +-
 system/uorb/sensor/pm1p0.c        |  2 +-
 system/uorb/sensor/pm25.c         |  2 +-
 system/uorb/sensor/pose_6dof.c    |  2 +-
 system/uorb/sensor/ppgd.c         |  2 +-
 system/uorb/sensor/ppgq.c         |  2 +-
 system/uorb/sensor/prox.c         |  2 +-
 system/uorb/sensor/rgb.c          |  2 +-
 system/uorb/sensor/rotation.c     |  2 +-
 system/uorb/sensor/step_counter.c |  2 +-
 system/uorb/sensor/temp.c         |  2 +-
 system/uorb/sensor/tvoc.c         |  2 +-
 system/uorb/sensor/uv.c           |  2 +-
 system/uorb/test/utility.c        |  2 +-
 system/uorb/uORB/uORB.c           |  2 +-
 system/uorb/uORB/uORB.h           |  8 ++++----
 44 files changed, 57 insertions(+), 50 deletions(-)

diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 674317a38..71f06e504 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -18,12 +18,18 @@ config UORB_STACKSIZE
 	int "stack size"
 	default DEFAULT_TASK_STACKSIZE
 
+config UORB_FORMAT
+	bool
+	default n
+
 config UORB_LISTENER
 	bool "uorb listener"
+	select UORB_FORMAT
 	default n
 
 config UORB_GENERATOR
 	bool "uorb generator"
+	select UORB_FORMAT
 	default n
 
 config UORB_TESTS
@@ -46,6 +52,7 @@ endif # UORB_TESTS
 config DEBUG_UORB
 	bool "uorb debug output"
 	select LIBC_PRINT_EXTENSION
+	select UORB_FORMAT
 	depends on LIBC_FLOATINGPOINT && SENSORS_USE_FLOAT
 	default n
 
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index e228f7daa..2fd1e532d 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -49,7 +49,7 @@
 #define ORB_TOP_WAIT_TIME  1000
 #define ORB_DATA_DIR       "/data/uorb/"
 
-#if defined(CONFIG_DEBUG_UORB) && !defined(CONFIG_LIBC_FLOATINGPOINT)
+#if defined(CONFIG_UORB_FORMAT) && !defined(CONFIG_LIBC_FLOATINGPOINT)
 #error "Enable CONFIG_LIBC_FLOATINGPOINT, required to see debug output"
 #endif
 
@@ -552,7 +552,7 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
   int ret;
 
   ret = orb_copy(meta, fd, buffer);
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
   if (ret == OK && meta->o_format != NULL)
     {
       orb_info(meta->o_format, meta->o_name, buffer);
@@ -775,7 +775,7 @@ static int listener_record(FAR const struct orb_metadata *meta, int fd,
   int ret;
 
   ret = orb_copy(meta, fd, buffer);
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
   if (ret == OK && meta->o_format != NULL)
     {
       ret = orb_fprintf(file, meta->o_format, buffer);
@@ -877,7 +877,7 @@ static void listener_monitor(FAR struct listen_list_s *objlist,
           tmp->file = fopen(path, "w");
           if (tmp->file != NULL)
             {
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
               fprintf(tmp->file, "%s,%d,%d,%s\n", tmp->object.meta->o_format,
                       tmp->object.meta->o_size, tmp->object.instance,
                       tmp->object.meta->o_name);
@@ -1130,7 +1130,7 @@ int main(int argc, FAR char *argv[])
             }
           break;
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
         case 's':
           record = true;
           break;
diff --git a/system/uorb/sensor/accel.c b/system/uorb/sensor/accel.c
index f2c67a34d..b71839bbb 100644
--- a/system/uorb/sensor/accel.c
+++ b/system/uorb/sensor/accel.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_accel_format[] =
   "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,temperature:%hf";
 
diff --git a/system/uorb/sensor/angle.c b/system/uorb/sensor/angle.c
index e80404142..9f6e4d562 100644
--- a/system/uorb/sensor/angle.c
+++ b/system/uorb/sensor/angle.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_angle_format[] = "timestamp:%" PRIu64 ",angle:%hf";
 #endif
 
diff --git a/system/uorb/sensor/baro.c b/system/uorb/sensor/baro.c
index d56cc9b87..0f86d1cb2 100644
--- a/system/uorb/sensor/baro.c
+++ b/system/uorb/sensor/baro.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_baro_format[] =
   "timestamp:%" PRIu64 ",pressure:%hf,temperature:%hf";
 #endif
diff --git a/system/uorb/sensor/cap.c b/system/uorb/sensor/cap.c
index b0e662160..d95d94910 100644
--- a/system/uorb/sensor/cap.c
+++ b/system/uorb/sensor/cap.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_cap_format[] =
   "timestamp:%" PRIu64 ",status:%" PRIu32 ",rawdata0:%" PRIu32 ","
   "rawdata1:%" PRIu32 ",rawdata2:%" PRIu32 ",rawdata3:%" PRIu32 "";
diff --git a/system/uorb/sensor/co2.c b/system/uorb/sensor/co2.c
index 50a5bf931..214155a4f 100644
--- a/system/uorb/sensor/co2.c
+++ b/system/uorb/sensor/co2.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_co2_format[] = "timestamp:%" PRIu64 ",co2:%hf";
 #endif
 
diff --git a/system/uorb/sensor/dust.c b/system/uorb/sensor/dust.c
index 7e5097eb6..de6e1a1af 100644
--- a/system/uorb/sensor/dust.c
+++ b/system/uorb/sensor/dust.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_dust_format[] = "timestamp:%" PRIu64 ",dust:%hf";
 #endif
 
diff --git a/system/uorb/sensor/ecg.c b/system/uorb/sensor/ecg.c
index 7fbc4b6ca..f2d1e192e 100644
--- a/system/uorb/sensor/ecg.c
+++ b/system/uorb/sensor/ecg.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ecg_format[] =
   "timestamp:%" PRIu64 ",ecg:%hf,status:%" PRIx32 "";
 #endif
diff --git a/system/uorb/sensor/eng.c b/system/uorb/sensor/eng.c
index afc712aec..403bd1c47 100644
--- a/system/uorb/sensor/eng.c
+++ b/system/uorb/sensor/eng.c
@@ -28,7 +28,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_eng_format[] =
   "timestamp:%" PRIu64 ",eng0:%hf,eng1:%hf,eng2:%hf,eng3:%hf,"
   "status:0x%" PRIx32 "";
diff --git a/system/uorb/sensor/force.c b/system/uorb/sensor/force.c
index ed03c4801..caf8b93e4 100644
--- a/system/uorb/sensor/force.c
+++ b/system/uorb/sensor/force.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_force_format[] =
   "timestamp:%" PRIu64 ",force:%hf,event:%" PRIi32 "";
 #endif
diff --git a/system/uorb/sensor/gas.c b/system/uorb/sensor/gas.c
index 24e10076d..9b43fa578 100644
--- a/system/uorb/sensor/gas.c
+++ b/system/uorb/sensor/gas.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_gas_format[] =
   "timestamp:%" PRIu64 ",gas_resistance:%hf";
 #endif
diff --git a/system/uorb/sensor/gesture.c b/system/uorb/sensor/gesture.c
index 0848b6fbb..8a282d554 100644
--- a/system/uorb/sensor/gesture.c
+++ b/system/uorb/sensor/gesture.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_gesture_format[] =
   "timestamp:%" PRIu64 ",event:%" PRIu32 "";
 #endif
diff --git a/system/uorb/sensor/gnss.c b/system/uorb/sensor/gnss.c
index 18720cfb6..1289c590b 100644
--- a/system/uorb/sensor/gnss.c
+++ b/system/uorb/sensor/gnss.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 #define UORB_DEBUG_FORMAT_SENSOR_GNSS     \
   "timestamp:%" PRIu64                    \
   ",time_utc:%" PRIu64                    \
diff --git a/system/uorb/sensor/gyro.c b/system/uorb/sensor/gyro.c
index d1988f56d..ba45d4d71 100644
--- a/system/uorb/sensor/gyro.c
+++ b/system/uorb/sensor/gyro.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_gyro_format[] =
   "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,temperature:%hf";
 #endif
diff --git a/system/uorb/sensor/hall.c b/system/uorb/sensor/hall.c
index ab58b712b..fca57c072 100644
--- a/system/uorb/sensor/hall.c
+++ b/system/uorb/sensor/hall.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_hall_format[] =
   "timestamp:%" PRIu64 ",hall:%" PRIi32 "";
 #endif
diff --git a/system/uorb/sensor/hbeat.c b/system/uorb/sensor/hbeat.c
index 77e3abb27..cc3136e7c 100644
--- a/system/uorb/sensor/hbeat.c
+++ b/system/uorb/sensor/hbeat.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_hbeat_format[] =
   "timestamp:%" PRIu64 ",heart beat:%hf";
 #endif
diff --git a/system/uorb/sensor/hcho.c b/system/uorb/sensor/hcho.c
index 64db42f7f..1d58b8e54 100644
--- a/system/uorb/sensor/hcho.c
+++ b/system/uorb/sensor/hcho.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_hcho_format[] = "timestamp:%" PRIu64 ",hcho:%hf";
 #endif
 
diff --git a/system/uorb/sensor/hrate.c b/system/uorb/sensor/hrate.c
index 8616d88e1..9056a80ee 100644
--- a/system/uorb/sensor/hrate.c
+++ b/system/uorb/sensor/hrate.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_hrate_format[] = "timestamp:%" PRIu64 ",bpm:%hf";
 #endif
 
diff --git a/system/uorb/sensor/humi.c b/system/uorb/sensor/humi.c
index 951114413..25bc62977 100644
--- a/system/uorb/sensor/humi.c
+++ b/system/uorb/sensor/humi.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_humi_format[] = "timestamp:%" PRIu64 ",humi:%hf";
 #endif
 
diff --git a/system/uorb/sensor/impd.c b/system/uorb/sensor/impd.c
index b398694ae..d30747cbf 100644
--- a/system/uorb/sensor/impd.c
+++ b/system/uorb/sensor/impd.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_impd_format[] =
   "timestamp:%" PRIu64 ",real:%hf,imaginary:%hf";
 #endif
diff --git a/system/uorb/sensor/ir.c b/system/uorb/sensor/ir.c
index a06f624c4..ae7a9516f 100644
--- a/system/uorb/sensor/ir.c
+++ b/system/uorb/sensor/ir.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ir_format[] = "timestamp:%" PRIu64 ",ir:%hf";
 #endif
 
diff --git a/system/uorb/sensor/light.c b/system/uorb/sensor/light.c
index 58b031a30..e98ad7e9a 100644
--- a/system/uorb/sensor/light.c
+++ b/system/uorb/sensor/light.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_light_format[] =
   "timestamp:%" PRIu64 ",light:%hf,ir:%hf";
 #endif
diff --git a/system/uorb/sensor/mag.c b/system/uorb/sensor/mag.c
index 97077975b..aa16dd08d 100644
--- a/system/uorb/sensor/mag.c
+++ b/system/uorb/sensor/mag.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_mag_format[] =
   "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,temperature:%hf,"
   "status:%" PRId32 "";
diff --git a/system/uorb/sensor/motion.c b/system/uorb/sensor/motion.c
index 773e39edd..1d4b18649 100644
--- a/system/uorb/sensor/motion.c
+++ b/system/uorb/sensor/motion.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_event_format[] =
   "timestamp:%" PRIu64 ",event:%" PRIu32 "";
 #endif
diff --git a/system/uorb/sensor/noise.c b/system/uorb/sensor/noise.c
index bcb1fa25c..92ba9a892 100644
--- a/system/uorb/sensor/noise.c
+++ b/system/uorb/sensor/noise.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_noise_format[] =
   "timestamp:%" PRIu64 ",noise:%hf";
 #endif
diff --git a/system/uorb/sensor/ots.c b/system/uorb/sensor/ots.c
index b808a23cf..e2b48e8af 100644
--- a/system/uorb/sensor/ots.c
+++ b/system/uorb/sensor/ots.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ots_format[] =
   "timestamp:%" PRIu64 ",x:%" PRIi32 ",y:%" PRIi32 "";
 #endif
diff --git a/system/uorb/sensor/ph.c b/system/uorb/sensor/ph.c
index c85042091..af830a491 100644
--- a/system/uorb/sensor/ph.c
+++ b/system/uorb/sensor/ph.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ph_format[] = "timestamp:%" PRIu64 ",ph:%hf";
 #endif
 
diff --git a/system/uorb/sensor/pm10.c b/system/uorb/sensor/pm10.c
index b7feb5290..9dec9b082 100644
--- a/system/uorb/sensor/pm10.c
+++ b/system/uorb/sensor/pm10.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_pm10_format[] = "timestamp:%" PRIu64 ",pm10:%hf";
 #endif
 
diff --git a/system/uorb/sensor/pm1p0.c b/system/uorb/sensor/pm1p0.c
index ad8476e40..ff4011a4a 100644
--- a/system/uorb/sensor/pm1p0.c
+++ b/system/uorb/sensor/pm1p0.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_pm1p0_format[] = "timestamp:%" PRIu64 ",pm1p0:%hf";
 #endif
 
diff --git a/system/uorb/sensor/pm25.c b/system/uorb/sensor/pm25.c
index 3e4890369..96fce3f6f 100644
--- a/system/uorb/sensor/pm25.c
+++ b/system/uorb/sensor/pm25.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_pm25_format[] = "timestamp:%" PRIu64 ",pm25:%hf";
 #endif
 
diff --git a/system/uorb/sensor/pose_6dof.c b/system/uorb/sensor/pose_6dof.c
index 9eb4395d3..e9b24a582 100644
--- a/system/uorb/sensor/pose_6dof.c
+++ b/system/uorb/sensor/pose_6dof.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_pose_6dof_format[] =
   "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,w:%hf,tx:%hf,ty:%hf,tz:%hf,"
   "dx:%hf,dy:%hf,dz:%hf,dw:%hf,dtx:%hf,dty:%hf,dtz:%hf,number:%" PRIu64 "";
diff --git a/system/uorb/sensor/ppgd.c b/system/uorb/sensor/ppgd.c
index c547f0d4e..550d30bf3 100644
--- a/system/uorb/sensor/ppgd.c
+++ b/system/uorb/sensor/ppgd.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ppgd_format[] =
   "timestamp:%" PRIu64 ",ppg0:%" PRIu32 ",ppg1:%" PRIu32 ","
   "current:%" PRIu32 ",gain0:%hu,gain1:%hu";
diff --git a/system/uorb/sensor/ppgq.c b/system/uorb/sensor/ppgq.c
index 13bcf1761..4b9f9fcc5 100644
--- a/system/uorb/sensor/ppgq.c
+++ b/system/uorb/sensor/ppgq.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_ppgq_format[] =
   "timestamp:%" PRIu64 ",ppg0:%" PRIu32 ",ppg1:%" PRIu32 ",ppg2:%" PRIu32 ","
   "ppg3:%" PRIu32 ",current:%" PRIu32 ",gain0:%hu,gain1:%hu,gain2:%hu,"
diff --git a/system/uorb/sensor/prox.c b/system/uorb/sensor/prox.c
index ebe906268..7cdf6568c 100644
--- a/system/uorb/sensor/prox.c
+++ b/system/uorb/sensor/prox.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_prox_format[] =
   "timestamp:%" PRIu64 ",proximity:%hf";
 #endif
diff --git a/system/uorb/sensor/rgb.c b/system/uorb/sensor/rgb.c
index 658bfe4bd..098dc0bc7 100644
--- a/system/uorb/sensor/rgb.c
+++ b/system/uorb/sensor/rgb.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_rgb_format[] =
   "timestamp:%" PRIu64 ",r:%hf,g:%hf,b:%hf";
 #endif
diff --git a/system/uorb/sensor/rotation.c b/system/uorb/sensor/rotation.c
index 03b9a4abb..ac3ae79cb 100644
--- a/system/uorb/sensor/rotation.c
+++ b/system/uorb/sensor/rotation.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_rotation_format[] =
   "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf";
 static const char sensor_orientation_format[] =
diff --git a/system/uorb/sensor/step_counter.c b/system/uorb/sensor/step_counter.c
index 706b4f6a6..2576c946b 100644
--- a/system/uorb/sensor/step_counter.c
+++ b/system/uorb/sensor/step_counter.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_step_counter_format[] =
   "timestamp:%" PRIu64 ",event:%" PRIu32 ",cadence:%" PRIu32 "";
 #endif
diff --git a/system/uorb/sensor/temp.c b/system/uorb/sensor/temp.c
index 8c8153e83..63545b312 100644
--- a/system/uorb/sensor/temp.c
+++ b/system/uorb/sensor/temp.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_temp_format[] =
   "timestamp:%" PRIu64 ",temperature:%hf";
 #endif
diff --git a/system/uorb/sensor/tvoc.c b/system/uorb/sensor/tvoc.c
index 8fa7a1629..c772e1200 100644
--- a/system/uorb/sensor/tvoc.c
+++ b/system/uorb/sensor/tvoc.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_tvoc_format[] = "timestamp:%" PRIu64 ",tvoc:%hf";
 #endif
 
diff --git a/system/uorb/sensor/uv.c b/system/uorb/sensor/uv.c
index 748eafea3..aa57dd60f 100644
--- a/system/uorb/sensor/uv.c
+++ b/system/uorb/sensor/uv.c
@@ -30,7 +30,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char sensor_uv_format[] = "timestamp:%" PRIu64 ",uvi:%hf";
 #endif
 
diff --git a/system/uorb/test/utility.c b/system/uorb/test/utility.c
index 6e36edf2f..3f90c6c7b 100644
--- a/system/uorb/test/utility.c
+++ b/system/uorb/test/utility.c
@@ -33,7 +33,7 @@
  * Private Functions
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 static const char orb_test_format[] =
   "timestamp:%" PRIu64 ",val:%" PRId32 "";
 #endif
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 6fcc060c2..77589cbe3 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -372,7 +372,7 @@ int orb_group_count(FAR const struct orb_metadata *meta)
   return instance;
 }
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 int orb_sscanf(FAR const char *buf, FAR const char *format, FAR void *data)
 {
   struct lib_meminstream_s meminstream;
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index e30c52fdd..0df42707a 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -57,7 +57,7 @@ struct orb_metadata
 {
   FAR const char   *o_name;     /* Unique object name */
   uint16_t          o_size;     /* Object size */
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
   FAR const char   *o_format;   /* Format string used for structure input and
                                  * output.
                                  */
@@ -165,7 +165,7 @@ struct orb_loop_s
 #  define uorbinfo             uorbnone
 #endif
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 #  define uorbdebug(fmt, ...)  syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)
 #else
 #  define uorbdebug            uorbnone
@@ -207,7 +207,7 @@ struct orb_loop_s
  * struct  The structure the topic provides.
  * cb      The function pointer of output topic message.
  */
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 #define ORB_DEFINE(name, structure, format) \
   const struct orb_metadata g_orb_##name = \
   { \
@@ -898,7 +898,7 @@ int orb_group_count(FAR const struct orb_metadata *meta);
 
 FAR const struct orb_metadata *orb_get_meta(FAR const char *name);
 
-#ifdef CONFIG_DEBUG_UORB
+#ifdef CONFIG_UORB_FORMAT
 /****************************************************************************
  * Name: orb_scanf
  *