diff --git a/drivers/sensors/bmi160_uorb.c b/drivers/sensors/bmi160_uorb.c
index 2eb5ef63097..79e447e9674 100644
--- a/drivers/sensors/bmi160_uorb.c
+++ b/drivers/sensors/bmi160_uorb.c
@@ -45,7 +45,7 @@
 struct bmi160_odr_s
 {
   uint8_t regval;    /* the data of register */
-  unsigned long odr; /* the unit is us */
+  uint32_t odr;      /* the unit is us */
 };
 
 /* Device struct */
@@ -57,7 +57,7 @@ struct bmi160_dev_uorb_s
   struct sensor_lowerhalf_s lower;      /* Lower half sensor driver. */
 
   struct work_s work;                   /* Interrupt handler worker. */
-  unsigned long interval;               /* Sensor acquisition interval. */
+  uint32_t interval;                    /* Sensor acquisition interval. */
 
   struct bmi160_dev_s dev;
 };
@@ -77,10 +77,10 @@ static void bmi160_gyro_enable(FAR struct bmi160_dev_uorb_s *priv,
 
 static int bmi160_set_accel_interval(FAR struct sensor_lowerhalf_s *lower,
                                      FAR struct file *filep,
-                                     FAR unsigned long *period_us);
+                                     FAR uint32_t *period_us);
 static int bmi160_set_gyro_interval(FAR struct sensor_lowerhalf_s *lower,
                                     FAR struct file *filep,
-                                    FAR unsigned long *period_us);
+                                    FAR uint32_t *period_us);
 static int bmi160_accel_activate(FAR struct sensor_lowerhalf_s *lower,
                                  FAR struct file *filep,
                                  bool enable);
@@ -92,7 +92,7 @@ static int bmi160_gyro_activate(FAR struct sensor_lowerhalf_s *lower,
 
 static void bmi160_accel_worker(FAR void *arg);
 static void bmi160_gyro_worker(FAR void *arg);
-static int bmi160_findodr(unsigned long time,
+static int bmi160_findodr(uint32_t time,
                           FAR const struct bmi160_odr_s *odr_s,
                           int len);
 
@@ -159,7 +159,7 @@ static const struct bmi160_odr_s g_bmi160_accel_odr[] =
  *
  ****************************************************************************/
 
-static int bmi160_findodr(unsigned long time,
+static int bmi160_findodr(uint32_t time,
                           FAR const struct bmi160_odr_s *odr_s,
                           int len)
 {
@@ -304,7 +304,7 @@ static void bmi160_gyro_enable(FAR struct bmi160_dev_uorb_s *priv,
 
 static int bmi160_set_accel_interval(FAR struct sensor_lowerhalf_s *lower,
                                      FAR struct file *filep,
-                                     FAR unsigned long *period_us)
+                                     FAR uint32_t *period_us)
 {
   FAR struct bmi160_dev_uorb_s *priv = (FAR struct bmi160_dev_uorb_s *)lower;
   int num;
@@ -351,7 +351,7 @@ static int bmi160_set_accel_interval(FAR struct sensor_lowerhalf_s *lower,
 
 static int bmi160_set_gyro_interval(FAR struct sensor_lowerhalf_s *lower,
                                     FAR struct file *filep,
-                                    FAR unsigned long *period_us)
+                                    FAR uint32_t *period_us)
 {
   FAR struct bmi160_dev_uorb_s *priv = (FAR struct bmi160_dev_uorb_s *)lower;
   int num;
diff --git a/drivers/sensors/fakesensor_uorb.c b/drivers/sensors/fakesensor_uorb.c
index 35f5112bc70..8d232f84812 100644
--- a/drivers/sensors/fakesensor_uorb.c
+++ b/drivers/sensors/fakesensor_uorb.c
@@ -54,8 +54,8 @@ struct fakesensor_s
 
   int type;
   struct file data;
-  unsigned long interval;
-  unsigned long batch;
+  uint32_t interval;
+  uint32_t batch;
   int raw_start;
   FAR const char *file_path;
   sem_t wakeup;
@@ -70,15 +70,15 @@ static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower,
                                FAR struct file *filep, bool enable);
 static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                    FAR struct file *filep,
-                                   FAR unsigned long *period_us);
+                                   FAR uint32_t *period_us);
 static int fakesensor_batch(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
-                            FAR unsigned long *latency_us);
+                            FAR uint32_t *latency_us);
 static int fakegps_activate(FAR struct gps_lowerhalf_s *lower,
                             FAR struct file *filep, bool sw);
 static int fakegps_set_interval(FAR struct gps_lowerhalf_s *lower,
                                 FAR struct file *filep,
-                                FAR unsigned long *period_us);
+                                FAR uint32_t *period_us);
 static void fakesensor_push_event(FAR struct fakesensor_s *sensor,
                                   uint64_t event_timestamp);
 static int fakesensor_thread(int argc, char** argv);
@@ -141,7 +141,7 @@ static int fakesensor_read_csv_header(FAR struct fakesensor_s *sensor)
       fakesensor_read_csv_line(&sensor->data, buffer, sizeof(buffer), 0);
   if (sensor->interval == 0)
     {
-      sscanf(buffer, "interval:%lu\n", &sensor->interval);
+      sscanf(buffer, "interval:%"PRIu32"\n", &sensor->interval);
       sensor->interval *= 1000;
     }
 
@@ -240,7 +240,7 @@ static int fakegps_activate(FAR struct gps_lowerhalf_s *lower,
 
 static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                    FAR struct file *filep,
-                                   FAR unsigned long *period_us)
+                                   FAR uint32_t *period_us)
 {
   FAR struct fakesensor_s *sensor = container_of(lower,
                                                  struct fakesensor_s, lower);
@@ -250,18 +250,18 @@ static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
 
 static int fakegps_set_interval(FAR struct gps_lowerhalf_s *lower,
                                 FAR struct file *filep,
-                                FAR unsigned long *period_us)
+                                FAR uint32_t *period_us)
 {
   return fakesensor_set_interval((FAR void *)lower, filep, period_us);
 }
 
 static int fakesensor_batch(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
-                            FAR unsigned long *latency_us)
+                            FAR uint32_t *latency_us)
 {
   FAR struct fakesensor_s *sensor = container_of(lower,
                                                  struct fakesensor_s, lower);
-  unsigned long max_latency = sensor->lower.nbuffer * sensor->interval;
+  uint32_t max_latency = sensor->lower.nbuffer * sensor->interval;
   if (*latency_us > max_latency)
     {
       *latency_us = max_latency;
diff --git a/drivers/sensors/gps_uorb.c b/drivers/sensors/gps_uorb.c
index cfa81efac0a..f9e42e600a2 100644
--- a/drivers/sensors/gps_uorb.c
+++ b/drivers/sensors/gps_uorb.c
@@ -97,7 +97,7 @@ static int gps_activate(FAR struct sensor_lowerhalf_s *lower,
                         FAR struct file *filep, bool enable);
 static int gps_set_interval(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
-                            FAR unsigned long *interval);
+                            FAR uint32_t *interval);
 static int gps_control(FAR struct sensor_lowerhalf_s *lower,
                        FAR struct file *filep, int cmd, unsigned long arg);
 
@@ -163,7 +163,7 @@ static int gps_activate(FAR struct sensor_lowerhalf_s *lower,
 
 static int gps_set_interval(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
-                            FAR unsigned long *interval)
+                            FAR uint32_t *interval)
 {
   FAR struct gps_sensor_s *dev = (FAR struct gps_sensor_s *)lower;
   FAR struct gps_upperhalf_s *upper = dev->upper;
@@ -350,7 +350,7 @@ static int gps_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
       if (upper->lower->ops->set_interval != NULL)
         {
           ret = upper->lower->ops->set_interval(upper->lower, filep,
-                               (FAR unsigned long *)(uintptr_t)arg);
+                               (FAR uint32_t *)(uintptr_t)arg);
         }
     }
   else if (upper->lower->ops->control != NULL)
diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 14d20eabfc0..2a50004710c 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -49,7 +49,7 @@
 #define ROUND_DOWN(x, y)    (((x) / (y)) * (y))
 #define DEVNAME_FMT         "/dev/uorb/sensor_%s%s%d"
 #define DEVNAME_UNCAL       "_uncal"
-#define TIMING_BUF_ESIZE    (sizeof(unsigned long))
+#define TIMING_BUF_ESIZE    (sizeof(uint32_t))
 
 /****************************************************************************
  * Private Types
@@ -70,7 +70,7 @@ struct sensor_axis_map_s
 
 struct sensor_meta_s
 {
-  unsigned long esize;
+  size_t esize;
   FAR char *name;
 };
 
@@ -227,13 +227,13 @@ static void sensor_unlock(FAR void *priv)
 static int sensor_update_interval(FAR struct file *filep,
                                   FAR struct sensor_upperhalf_s *upper,
                                   FAR struct sensor_user_s *user,
-                                  unsigned long interval)
+                                  uint32_t interval)
 {
   FAR struct sensor_lowerhalf_s *lower = upper->lower;
   FAR struct sensor_user_s *tmp;
-  unsigned long min_interval = interval;
-  unsigned long min_latency = interval != ULONG_MAX ?
-                              user->state.latency : ULONG_MAX;
+  uint32_t min_interval = interval;
+  uint32_t min_latency = interval != UINT32_MAX ?
+                         user->state.latency : UINT32_MAX;
   int ret = 0;
 
   if (interval == user->state.interval)
@@ -243,7 +243,7 @@ static int sensor_update_interval(FAR struct file *filep,
 
   list_for_every_entry(&upper->userlist, tmp, struct sensor_user_s, node)
     {
-      if (tmp == user || tmp->state.interval == ULONG_MAX)
+      if (tmp == user || tmp->state.interval == UINT32_MAX)
         {
           continue;
         }
@@ -261,10 +261,10 @@ static int sensor_update_interval(FAR struct file *filep,
 
   if (lower->ops->set_interval)
     {
-      if (min_interval != ULONG_MAX &&
+      if (min_interval != UINT32_MAX &&
           min_interval != upper->state.min_interval)
         {
-          unsigned long expected_interval = min_interval;
+          uint32_t expected_interval = min_interval;
           ret = lower->ops->set_interval(lower, filep, &min_interval);
           if (ret < 0)
             {
@@ -276,7 +276,7 @@ static int sensor_update_interval(FAR struct file *filep,
             }
         }
 
-      if (min_latency == ULONG_MAX)
+      if (min_latency == UINT32_MAX)
         {
           min_latency = 0;
         }
@@ -302,11 +302,11 @@ static int sensor_update_interval(FAR struct file *filep,
 static int sensor_update_latency(FAR struct file *filep,
                                  FAR struct sensor_upperhalf_s *upper,
                                  FAR struct sensor_user_s *user,
-                                 unsigned long latency)
+                                 uint32_t latency)
 {
   FAR struct sensor_lowerhalf_s *lower = upper->lower;
   FAR struct sensor_user_s *tmp;
-  unsigned long min_latency = latency;
+  uint32_t min_latency = latency;
   int ret = 0;
 
   if (latency == user->state.latency)
@@ -314,7 +314,7 @@ static int sensor_update_latency(FAR struct file *filep,
       return 0;
     }
 
-  if (user->state.interval == ULONG_MAX)
+  if (user->state.interval == UINT32_MAX)
     {
       user->state.latency = latency;
       return 0;
@@ -327,7 +327,7 @@ static int sensor_update_latency(FAR struct file *filep,
 
   list_for_every_entry(&upper->userlist, tmp, struct sensor_user_s, node)
     {
-      if (tmp == user || tmp->state.interval == ULONG_MAX)
+      if (tmp == user || tmp->state.interval == UINT32_MAX)
         {
           continue;
         }
@@ -339,7 +339,7 @@ static int sensor_update_latency(FAR struct file *filep,
     }
 
 update:
-  if (min_latency == ULONG_MAX)
+  if (min_latency == UINT32_MAX)
     {
       min_latency = 0;
     }
@@ -368,8 +368,8 @@ update:
 static void sensor_generate_timing(FAR struct sensor_upperhalf_s *upper,
                                    unsigned long nums)
 {
-  unsigned long interval = upper->state.min_interval != ULONG_MAX ?
-                           upper->state.min_interval : 1;
+  uint32_t interval = upper->state.min_interval != UINT32_MAX ?
+                      upper->state.min_interval : 1;
   while (nums-- > 0)
     {
       upper->state.generation += interval;
@@ -387,7 +387,7 @@ static bool sensor_is_updated(FAR struct sensor_upperhalf_s *upper,
     {
       return false;
     }
-  else if (user->state.interval == ULONG_MAX)
+  else if (user->state.interval == UINT32_MAX)
     {
       return true;
     }
@@ -409,7 +409,7 @@ static bool sensor_is_updated(FAR struct sensor_upperhalf_s *upper,
 static void sensor_catch_up(FAR struct sensor_upperhalf_s *upper,
                             FAR struct sensor_user_s *user)
 {
-  unsigned long generation;
+  uint32_t generation;
   long delta;
 
   circbuf_peek(&upper->timing, &generation, TIMING_BUF_ESIZE);
@@ -417,7 +417,7 @@ static void sensor_catch_up(FAR struct sensor_upperhalf_s *upper,
   if (delta > 0)
     {
       user->bufferpos = upper->timing.tail / TIMING_BUF_ESIZE;
-      if (user->state.interval == ULONG_MAX)
+      if (user->state.interval == UINT32_MAX)
         {
           user->state.generation = generation - 1;
         }
@@ -434,7 +434,7 @@ static ssize_t sensor_do_samples(FAR struct sensor_upperhalf_s *upper,
                                  FAR struct sensor_user_s *user,
                                  FAR char *buffer, size_t len)
 {
-  unsigned long generation;
+  uint32_t generation;
   ssize_t ret = 0;
   size_t nums;
   size_t pos;
@@ -451,7 +451,7 @@ static ssize_t sensor_do_samples(FAR struct sensor_upperhalf_s *upper,
 
   /* Take samples continuously */
 
-  if (user->state.interval == ULONG_MAX)
+  if (user->state.interval == UINT32_MAX)
     {
       ret = circbuf_peekat(&upper->buffer,
                            user->bufferpos * upper->state.esize,
@@ -485,7 +485,7 @@ static ssize_t sensor_do_samples(FAR struct sensor_upperhalf_s *upper,
                  &generation, TIMING_BUF_ESIZE);
   while (pos++ != end)
     {
-      unsigned long next_generation;
+      uint32_t next_generation;
       long delta;
 
       if (pos * TIMING_BUF_ESIZE == upper->timing.head)
@@ -617,7 +617,7 @@ static int sensor_open(FAR struct file *filep)
       user->bufferpos = upper->timing.head / TIMING_BUF_ESIZE;
     }
 
-  user->state.interval = ULONG_MAX;
+  user->state.interval = UINT32_MAX;
   user->state.esize = upper->state.esize;
   nxsem_init(&user->buffersem, 0, 0);
   list_add_tail(&upper->userlist, &user->node);
@@ -676,8 +676,8 @@ static int sensor_close(FAR struct file *filep)
     }
 
   list_delete(&user->node);
-  sensor_update_latency(filep, upper, user, ULONG_MAX);
-  sensor_update_interval(filep, upper, user, ULONG_MAX);
+  sensor_update_latency(filep, upper, user, UINT32_MAX);
+  sensor_update_interval(filep, upper, user, UINT32_MAX);
   nxsem_destroy(&user->buffersem);
 
   /* The user is closed, notify to other users */
@@ -767,6 +767,7 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
   FAR struct sensor_upperhalf_s *upper = inode->i_private;
   FAR struct sensor_lowerhalf_s *lower = upper->lower;
   FAR struct sensor_user_s *user = filep->f_priv;
+  uint32_t arg1 = (uint32_t)arg;
   int ret = 0;
 
   sninfo("cmd=%x arg=%08lx\n", cmd, arg);
@@ -796,7 +797,7 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
         {
           nxrmutex_lock(&upper->lock);
           ret = sensor_update_interval(filep, upper, user,
-                                       arg ? arg : ULONG_MAX);
+                                       arg1 ? arg1 : UINT32_MAX);
           nxrmutex_unlock(&upper->lock);
         }
         break;
@@ -804,7 +805,7 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
       case SNIOC_BATCH:
         {
           nxrmutex_lock(&upper->lock);
-          ret = sensor_update_latency(filep, upper, user, arg);
+          ret = sensor_update_latency(filep, upper, user, arg1);
           nxrmutex_unlock(&upper->lock);
         }
         break;
@@ -848,7 +849,7 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
       case SNIOC_SET_USERPRIV:
         {
           nxrmutex_lock(&upper->lock);
-          upper->state.priv = (FAR void *)(uintptr_t)arg;
+          upper->state.priv = (uint64_t)arg;
           nxrmutex_unlock(&upper->lock);
         }
         break;
@@ -858,10 +859,10 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
           nxrmutex_lock(&upper->lock);
           if (!circbuf_is_init(&upper->buffer))
             {
-              if (arg >= lower->nbuffer)
+              if (arg1 >= lower->nbuffer)
                 {
-                  lower->nbuffer = arg;
-                  upper->state.nbuffer = arg;
+                  lower->nbuffer = arg1;
+                  upper->state.nbuffer = arg1;
                 }
               else
                 {
@@ -1222,7 +1223,7 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
  ****************************************************************************/
 
 int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
-                           FAR const char *path, unsigned long esize)
+                           FAR const char *path, size_t esize)
 {
   FAR struct sensor_upperhalf_s *upper;
   int ret = -EINVAL;
@@ -1248,7 +1249,7 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
 
   list_initialize(&upper->userlist);
   upper->state.esize = esize;
-  upper->state.min_interval = ULONG_MAX;
+  upper->state.min_interval = UINT32_MAX;
   if (lower->ops->activate)
     {
       upper->state.nadvertisers = 1;
diff --git a/drivers/sensors/sensor_rpmsg.c b/drivers/sensors/sensor_rpmsg.c
index 47ead41b8e5..d7a7a18cade 100644
--- a/drivers/sensors/sensor_rpmsg.c
+++ b/drivers/sensors/sensor_rpmsg.c
@@ -49,10 +49,10 @@
 #define SENSOR_RPMSG_IOCTL         7
 #define SENSOR_RPMSG_IOCTL_ACK     8
 
-#define SENSOR_RPMSG_FUNCTION(name, cmd, arg1, arg2, size, wait) \
+#define SENSOR_RPMSG_FUNCTION(name, cmd, arg1, arg2, size, wait, type) \
 static int sensor_rpmsg_##name(FAR struct sensor_lowerhalf_s *lower, \
                                FAR struct file *filep, \
-                               unsigned long arg1) \
+                               type arg1) \
 { \
   FAR struct sensor_rpmsg_dev_s *dev = lower->priv; \
   FAR struct sensor_lowerhalf_s *drv = dev->drv; \
@@ -203,10 +203,10 @@ static int sensor_rpmsg_activate(FAR struct sensor_lowerhalf_s *lower,
                                  bool enable);
 static int sensor_rpmsg_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                      FAR struct file *filep,
-                                     FAR unsigned long *period_us);
+                                     FAR uint32_t *period_us);
 static int sensor_rpmsg_batch(FAR struct sensor_lowerhalf_s *lower,
                               FAR struct file *filep,
-                              FAR unsigned long *latency_us);
+                              FAR uint32_t *latency_us);
 static int sensor_rpmsg_flush(FAR struct sensor_lowerhalf_s *lower,
                               FAR struct file *filep);
 static int sensor_rpmsg_selftest(FAR struct sensor_lowerhalf_s *lower,
@@ -501,13 +501,13 @@ sensor_rpmsg_alloc_proxy(FAR struct sensor_rpmsg_dev_s *dev,
 
   /* sync interval and latency */
 
-  if (state.min_interval != ULONG_MAX)
+  if (state.min_interval != UINT32_MAX)
     {
       sensor_rpmsg_ioctl(dev, SNIOC_SET_INTERVAL, state.min_interval,
                          0, false);
     }
 
-  if (state.min_latency != ULONG_MAX)
+  if (state.min_latency != UINT32_MAX)
     {
       sensor_rpmsg_ioctl(dev, SNIOC_BATCH, state.min_latency, 0, false);
     }
@@ -694,12 +694,15 @@ static int sensor_rpmsg_activate(FAR struct sensor_lowerhalf_s *lower,
 }
 
 SENSOR_RPMSG_FUNCTION(set_interval, SNIOC_SET_INTERVAL,
-                      *interval, interval, 0, false)
-SENSOR_RPMSG_FUNCTION(batch, SNIOC_BATCH, *latency, latency, 0, false)
-SENSOR_RPMSG_FUNCTION(selftest, SNIOC_SELFTEST, arg, arg, 0, true)
+                      *interval, interval, 0, false, uint32_t)
+SENSOR_RPMSG_FUNCTION(batch, SNIOC_BATCH, *latency, latency, 0,
+                      false, uint32_t)
+SENSOR_RPMSG_FUNCTION(selftest, SNIOC_SELFTEST, arg, arg, 0,
+                      true, unsigned long)
 SENSOR_RPMSG_FUNCTION(set_calibvalue, SNIOC_SET_CALIBVALUE,
-                      arg, arg, 256, true)
-SENSOR_RPMSG_FUNCTION(calibrate, SNIOC_CALIBRATE, arg, arg, 256, true)
+                      arg, arg, 256, true, unsigned long)
+SENSOR_RPMSG_FUNCTION(calibrate, SNIOC_CALIBRATE, arg, arg, 256,
+                      true, unsigned long)
 
 static int sensor_rpmsg_flush(FAR struct sensor_lowerhalf_s *lower,
                               FAR struct file *filep)
@@ -797,7 +800,7 @@ static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
       return;
     }
 
-  if (state.interval == ULONG_MAX)
+  if (state.interval == UINT32_MAX)
     {
       state.interval = 0;
     }
diff --git a/drivers/sensors/wtgahrs2_uorb.c b/drivers/sensors/wtgahrs2_uorb.c
index f1b6d7d80cc..b51567ecfd8 100644
--- a/drivers/sensors/wtgahrs2_uorb.c
+++ b/drivers/sensors/wtgahrs2_uorb.c
@@ -74,7 +74,7 @@
 struct wtgahrs2_sensor_s
 {
   struct sensor_lowerhalf_s lower;
-  unsigned long             interval;
+  uint32_t                  interval;
   uint64_t                  last_update;
   bool                      enable;
 };
@@ -100,7 +100,7 @@ static int wtgahrs2_activate(FAR struct sensor_lowerhalf_s *lower,
                              FAR struct file *filep, bool sw);
 static int wtgahrs2_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                  FAR struct file *filep,
-                                 FAR unsigned long *interval);
+                                 FAR uint32_t *interval);
 
 /****************************************************************************
  * Private Data
@@ -108,7 +108,7 @@ static int wtgahrs2_set_interval(FAR struct sensor_lowerhalf_s *lower,
 
 /* in microseconds */
 
-static const unsigned long g_wtgahrs2_interval[] =
+static const uint32_t g_wtgahrs2_interval[] =
 {
   10000000,  /* 0.1 hz */
   2000000,   /* 0.5 hz */
@@ -166,7 +166,7 @@ static int wtgahrs2_activate(FAR struct sensor_lowerhalf_s *lower,
 
 static int wtgahrs2_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                  FAR struct file *filep,
-                                 FAR unsigned long *interval)
+                                 FAR uint32_t *interval)
 {
   FAR struct wtgahrs2_sensor_s *dev = (FAR struct wtgahrs2_sensor_s *)lower;
   int idx = 0;
diff --git a/include/nuttx/sensors/gps.h b/include/nuttx/sensors/gps.h
index 46df44098e8..bffa033c000 100644
--- a/include/nuttx/sensors/gps.h
+++ b/include/nuttx/sensors/gps.h
@@ -88,7 +88,7 @@ struct gps_ops_s
 
   CODE int (*set_interval)(FAR struct gps_lowerhalf_s *lower,
                            FAR struct file *filep,
-                           FAR unsigned long *period_us);
+                           FAR uint32_t *period_us);
 
   /**************************************************************************
    * Name: control
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index c64d09de137..ffd46dbfd41 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -270,7 +270,7 @@ struct sensor_ops_s
 
   CODE int (*set_interval)(FAR struct sensor_lowerhalf_s *lower,
                            FAR struct file *filep,
-                           FAR unsigned long *period_us);
+                           FAR uint32_t *period_us);
 
   /**************************************************************************
    * Name: batch
@@ -316,7 +316,7 @@ struct sensor_ops_s
 
   CODE int (*batch)(FAR struct sensor_lowerhalf_s *lower,
                     FAR struct file *filep,
-                    FAR unsigned long *latency_us);
+                    FAR uint32_t *latency_us);
 
   /**************************************************************************
    * Name: fetch
@@ -528,7 +528,7 @@ struct sensor_lowerhalf_s
    * struct sensor_xxx.
    */
 
-  unsigned long nbuffer;
+  uint32_t nbuffer;
 
   /* The uncalibrated use to describe whether the sensor event is
    * uncalibrated. True is uncalibrated data, false is calibrated data,
@@ -691,7 +691,7 @@ int sensor_register(FAR struct sensor_lowerhalf_s *dev, int devno);
  ****************************************************************************/
 
 int sensor_custom_register(FAR struct sensor_lowerhalf_s *dev,
-                           FAR const char *path, unsigned long esize);
+                           FAR const char *path, size_t esize);
 
 /****************************************************************************
  * Name: sensor_unregister
diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index e1764c0138a..32b8033029c 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -30,6 +30,7 @@
 #include <sys/types.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <limits.h>
 
 #include <nuttx/sensors/ioctl.h>
 
@@ -621,24 +622,24 @@ struct sensor_force         /* Type: Force */
 
 struct sensor_state_s
 {
-  unsigned long esize;         /* The element size of circular buffer */
-  unsigned long nbuffer;       /* The number of events that the circular buffer can hold */
-  unsigned long min_latency;   /* The minimum batch latency for sensor, in us */
-  unsigned long min_interval;  /* The minimum subscription interval for sensor, in us */
-  unsigned long nsubscribers;  /* The number of subcribers */
-  unsigned long nadvertisers;  /* The number of advertisers */
-  unsigned long generation;    /* The recent generation of circular buffer */
-  FAR void     *priv;          /* The pointer to private data of userspace user */
+  uint32_t esize;              /* The element size of circular buffer */
+  uint32_t nbuffer;            /* The number of events that the circular buffer can hold */
+  uint32_t min_latency;        /* The minimum batch latency for sensor, in us */
+  uint32_t min_interval;       /* The minimum subscription interval for sensor, in us */
+  uint32_t nsubscribers;       /* The number of subcribers */
+  uint32_t nadvertisers;       /* The number of advertisers */
+  uint32_t generation;         /* The recent generation of circular buffer */
+  uint64_t priv;               /* The pointer to private data of userspace user */
 };
 
 /* This structure describes the state for the sensor user */
 
 struct sensor_ustate_s
 {
-  unsigned long esize;         /* The element size of circular buffer */
-  unsigned long latency;       /* The batch latency for user, in us */
-  unsigned long interval;      /* The subscription interval for user, in us */
-  unsigned long generation;    /* The recent generation of circular buffer */
+  uint32_t esize;              /* The element size of circular buffer */
+  uint32_t latency;            /* The batch latency for user, in us */
+  uint32_t interval;           /* The subscription interval for user, in us */
+  uint64_t generation;         /* The recent generation of circular buffer */
 };
 
 /* This structure describes the register info for the user sensor */
@@ -646,15 +647,15 @@ struct sensor_ustate_s
 #ifdef CONFIG_USENSOR
 struct sensor_reginfo_s
 {
-  FAR const char *path;        /* The path of user sensor */
-  unsigned long   esize;       /* The element size of user sensor */
-  unsigned long   nbuffer;     /* The number of queue buffered elements */
+  char     path[NAME_MAX];     /* The path of user sensor */
+  uint32_t esize;              /* The element size of user sensor */
+  uint32_t nbuffer;            /* The number of queue buffered elements */
 
   /* The flag is used to indicate that the validity of sensor data
    * is persistent.
    */
 
-  bool            persist;
+  int persist;
 };
 #endif
 
@@ -662,7 +663,7 @@ struct sensor_reginfo_s
 
 struct sensor_ioctl_s
 {
-  size_t len;                  /* The length of argument of ioctl */
+  uint32_t len;                /* The length of argument of ioctl */
   char data[1];                /* The argument buf of ioctl */
 };