Add Bosch digital barometer driver to ChibiOS/EX.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10684 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 1221 insertions, 0 deletions

diff --git a/os/ex/Bosch/bmp085.c b/os/ex/Bosch/bmp085.c
new file mode 100644
index 000000000..82676dc4c
--- /dev/null
+++ b/os/ex/Bosch/bmp085.c
@@ -0,0 +1,815 @@
+/*
+    ChibiOS - Copyright (C) 2016..2017 Theodore Ateba
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file        bmp085.c
+ *
+ * @brief       BMP085 Digital pressure sensor interface module code.
+ *
+ * @author      Theodore Ateba, tf.ateba@gmail.com
+ *
+ * @date        19 July 2016
+ *
+ * TODO:        Read the altitude with the sensor.
+ *
+ * @{
+ */
+
+/*==========================================================================*/
+/* Include files.                                                           */
+/*==========================================================================*/
+
+/* ChibiOS HAL file. */
+#include "hal.h"
+
+/* ChibiOS EX file. */
+#include "bmp085.h"
+
+/*==========================================================================*/
+/* Driver local definitions.                                                */
+/*==========================================================================*/
+
+/*==========================================================================*/
+/* Driver exported variables.                                               */
+/*==========================================================================*/
+
+/*==========================================================================*/
+/* Driver local variables and types.                                        */
+/*==========================================================================*/
+
+/**
+ * @brief Variables for Temperature and Pressure measurement.
+ */
+static int16_t  ac1;
+static int16_t  ac2;
+static int16_t  ac3;
+static int16_t  b1;
+static int16_t  b2;
+static int16_t  mb;
+static int16_t  mc;
+static int16_t  md;
+static uint16_t ac4;
+static uint16_t ac5;
+static uint16_t ac6;
+static int32_t  b5;
+
+/*==========================================================================*/
+/* Driver local functions.                                                  */
+/*==========================================================================*/
+
+#if (BMP085_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief   Reads registers value using I2C.
+ * @pre     The I2C interface must be initialized and the driver started.
+ *
+ * @param[in]  i2cp      pointer to the I2C interface
+ * @param[in]  reg       first sub-register address
+ * @param[out] rxbufp    pointer to an output buffer
+ * @param[in]  n         number of consecutive register to read
+ *
+ * @return               the operation status
+ * @notapi
+ */
+msg_t bmp085I2CReadRegister(I2CDriver *i2cp, uint8_t reg, uint8_t *rxbufp,
+                            size_t n) {
+  uint8_t txbuf = reg;
+
+  return i2cMasterTransmitTimeout(i2cp, BMP085_SAD, &txbuf, 1, rxbufp, n,
+                                  TIME_INFINITE);
+}
+
+/**
+ * @brief   Writes a value into a register using I2C.
+ * @pre     The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp    pointer to the I2C interface
+ * @param[in] txbufp  buffer containing sub-address value in first position
+ *                    and values to write
+ * @param[in] n       size of txbuf less one (not considering the first
+ *                       element)
+ *
+ * @return               the operation status
+ * @notapi
+ */
+msg_t bmp085I2CWriteRegister(I2CDriver *i2cp, uint8_t *txbufp, size_t n) {
+
+  return i2cMasterTransmitTimeout(i2cp, BMP085_SAD, txbufp, n + 1, NULL, 0,
+                                  TIME_INFINITE);
+}
+#endif /* BMP085_USE_I2C */
+
+/**
+ * @brief   Read all the calibration data from the BMP085 EEPROM.
+ * @pre     The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] devp	pointer to the BMP085 device driver sensor
+ * @param[in] reg   first calibration coefficient register to read
+ *
+ * @return    msg   the operation status
+ */
+static msg_t bmp085ReadCoefficient(BMP085Driver *devp, uint8_t reg) {
+
+  uint8_t rxbuf[22];
+
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  msg_t msg = bmp085I2CReadRegister(devp->config->i2cp, reg, rxbuf, 22);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  if (msg == MSG_OK) {
+    ac1 = ((rxbuf[ 0] << 8) | rxbuf[ 1]);
+    ac2 = ((rxbuf[ 2] << 8) | rxbuf[ 3]);
+    ac3 = ((rxbuf[ 4] << 8) | rxbuf[ 5]);
+    ac4 = ((rxbuf[ 6] << 8) | rxbuf[ 7]);
+    ac5 = ((rxbuf[ 8] << 8) | rxbuf[ 9]);
+    ac6 = ((rxbuf[10] << 8) | rxbuf[11]);
+    b1  = ((rxbuf[12] << 8) | rxbuf[13]);
+    b2  = ((rxbuf[14] << 8) | rxbuf[15]);
+    mb  = ((rxbuf[16] << 8) | rxbuf[17]);
+    mc  = ((rxbuf[18] << 8) | rxbuf[19]);
+    md  = ((rxbuf[20] << 8) | rxbuf[21]);
+  }
+
+  return msg;
+}
+
+/**
+ * @brief   Calcul the true temperature.
+ *
+ * @param[in]   ut    uncompensated temperature
+ * @param[out]  ctp   pointer of the compensated temperature
+ */
+static void calcul_t(int32_t ut, float *ctp) {
+
+  int32_t x1, x2;
+
+  /* Converting the temperature value. */
+  x1 = ((ut - ac6) * ac5) >> 15;
+  x2 = (mc << 11) / (x1 + md);
+  b5 = x1 + x2;
+  *ctp = (float)((b5 + 8) >> 4)*BMP085_T_RES;
+}
+
+/**
+ * @brief   Calcul the true pressure.
+ *
+ * @param[in]   up    uncompensated pressure
+ * @param[out]  cpp   pointer of the compensated pressure
+ */
+static void calcul_p(int32_t up, uint8_t oss, float *cpp) {
+
+  int32_t   press;
+  int32_t		x1,x2,x3;
+  int32_t		b3,b6;
+  uint32_t	b4,b7;
+
+  /* Converting the pressure value. */
+  b6 = b5 - 4000;
+  x1 = (b2 * ((b6 * b6) >> 12)) >> 11;
+  x2 = (ac2 * b6) >> 11;
+  x3 = x1 + x2;
+  b3 = ((((int32_t)ac1 * 4 + x3) << oss) + 2) >> 2;
+  x1 = ((ac3)*b6) >> 13;
+  x2 = (b1 * (b6*b6 >> 12)) >> 16;
+  x3 = ((x1 + x2) + 2) >> 2;
+  b4 = ac4 * (uint32_t)(x3 + 32768) >> 15;
+  b7 = ((uint32_t)up - b3)*(50000 >> oss);
+
+  if (b7 < 0x80000000)
+    press = (b7*2)/b4;
+  else
+    press = (b7/b4)*2;
+
+  x1 = (press >> 8)*(press >> 8);
+  x1 = (x1*3038) >> 16;
+  x2 = (-7357*press) >> 16;
+  *cpp =(float)((press + ((x1 + x2 + 3791) >> 4))*BMP085_P_RES);
+}
+
+/**
+ * @brief   Start temperature measurement.
+ *
+ * @param[in] devp  pointer to the BMP085 device driver
+ *
+ * @return          the operation status
+ */
+static msg_t start_t_measurement(BMP085Driver *devp) {
+
+  uint8_t txbuf[2] = {BMP085_AD_CR, BMP085_CR_T_VAL};
+
+  if ((devp)->config->thermocfg != NULL) {
+    i2cAcquireBus(devp->config->i2cp);
+    msg_t msg = bmp085I2CWriteRegister(devp->config->i2cp, txbuf, 2);
+    i2cReleaseBus(devp->config->i2cp);
+
+    /* Conversion time for the temperature. */
+    chThdSleepMilliseconds(BMP085_THERMO_CT_LOW);
+
+    return msg;
+  }
+  else
+    return MSG_RESET;
+}
+
+/**
+ * @brief   Start the pressure measurment.
+ *
+ * @param[in] devp  pointer to the BMP085 driver
+ * @return    msg   the operation status
+ */
+static msg_t start_p_measurement(BMP085Driver *devp) {
+
+  uint8_t oss, delay;
+  uint8_t txbuf[2];
+
+  oss = devp->config->barocfg->oss;
+  txbuf[0] = BMP085_AD_CR;
+
+  /* Check the oss according the bmp085 mode. */
+  if (oss == BMP085_BARO_OSS_0) {
+    txbuf[1] = BMP085_CR_P_VAL0 + (oss << 6);
+    delay = BMP085_BARO_CT_LOW;
+  }
+  else if (oss == BMP085_BARO_OSS_1) {
+    txbuf[1] = BMP085_CR_P_VAL1 + (oss << 6);
+    delay = BMP085_BARO_CT_STD;
+  }
+  else if (oss == BMP085_BARO_OSS_2) {
+    txbuf[1] = BMP085_CR_P_VAL2 + (oss << 6);
+    delay = BMP085_BARO_CT_HR;
+  }
+  else {
+    txbuf[1] = BMP085_CR_P_VAL3 + (oss << 6);
+    delay = BMP085_BARO_CT_LUHR;
+  }
+
+  /* Start the sensor for sampling. */
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  msg_t msg = bmp085I2CWriteRegister(devp->config->i2cp, txbuf, 2);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  /* Conversion time for the pressure, max time for the moment. */
+  chThdSleepMilliseconds(delay);
+
+  return msg;
+}
+
+/**
+ * @brief   Read the uncompensated temperature from the BMP085 register.
+ *
+ * @param[in]   devp    pointer to the BMP085 driver
+ * @param[out]  utemp   uncompensated temperature read from the sensor register
+ *
+ * @return      msg     the operation status
+ */
+msg_t acquire_ut(BMP085Driver *devp, int32_t *utemp) {
+
+  uint8_t rxbuf[2];
+  msg_t msg;
+
+  /* Start the temperature measurement. */
+  start_t_measurement(devp);
+
+  /* Start the sensor for sampling. */
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+   /* Get the temperature. */
+  msg = bmp085I2CReadRegister(devp->config->i2cp, BMP085_AD_T_DR_MSB, rxbuf,
+                              2);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  if(msg == MSG_OK){
+    /* Building the uncompensated temperature value. */
+    *utemp = (int32_t)((rxbuf[0] << 8) | rxbuf[1]);
+  }
+
+  return msg;
+}
+
+/**
+ * @brief   Read the uncompensated pressure from the BMP085 register.
+ *
+ * @param[in]   devp    pointer to the BMP085 driver
+ * @param[out]  upress  uncompensated pressure read from the sensor register
+ *
+ * @return      msg     the operation status
+ */
+msg_t acquire_up(BMP085Driver *devp, int32_t *upress) {
+
+  uint8_t rxbuf[3];
+  uint8_t oss;
+  msg_t msg;
+
+  /* Get the oversampling setting from the driver configuratioin. */
+  oss = devp->config->barocfg->oss;
+
+  /* Start the pressure measurement. */
+  start_p_measurement(devp);
+
+  /* Start the sensor for sampling. */
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+ /* Get the pressure */
+  msg = bmp085I2CReadRegister(devp->config->i2cp, BMP085_AD_P_DR_MSB, rxbuf,
+                              3);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(devp->config->i2cp);
+#endif /* BMP085_SHARED_I2C */
+
+  if (msg == MSG_OK) {
+    /* Building the uncompensated pressure value. */
+    *upress = (int32_t)((rxbuf[0] << 16)|(rxbuf[1] << 8)|rxbuf[2]);
+    *upress = *upress >> (8-oss);
+  }
+
+  return msg;
+}
+
+/*==========================================================================*/
+/* Interface implementation.                                                */
+/*==========================================================================*/
+
+/**
+ * @brief   Get the barometer number of axes.
+ *
+ * @param[in]   ip  interface pointer of the BMP085 sensor
+ *
+ * @return          barometer number of axes
+ */
+static size_t baro_get_axes_number(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+
+  return BMP085_BARO_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief   Get the thermometer number of axes.
+ *
+ * @param[in]   ip  interface pointer of the BMP085 sensor
+ *
+ * @return          thermometer number of axes
+ */
+static size_t thermo_get_axes_number(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+
+  return BMP085_THERMO_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief   Get the sensor number of axes.
+ *
+ * @param[in]   ip  interface pointer of the BMP085 sensor
+ *
+ * @return          sensor number of axes
+ */
+static size_t sens_get_axes_number(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+
+  return (baro_get_axes_number(ip) + thermo_get_axes_number(ip));
+}
+
+/**
+ * @brief   Read baromether raw data.
+ *
+ * @param[in]   ip    interface pointer of the sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t baro_read_raw(void *ip, int32_t axes[]) {
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "baro_read_raw(), invalid state");
+
+#if BMP085_USE_I2C
+  osalDbgAssert((((BMP085Driver *)ip)->config->i2cp->state == I2C_READY),
+      "baro_read_raw(), channel not ready");
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(((BMP085Driver *)ip)->config->i2cp);
+  i2cStart(((BMP085Driver *)ip)->config->i2cp,
+           ((BMP085Driver *)ip)->config->i2ccfg);
+#endif /* BMP085_SHARED_I2C.              */
+
+  /* Measure the uncompensated pressure.  */
+  msg_t msg = acquire_up(((BMP085Driver *)ip), axes);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(((BMP085Driver *)ip)->config->i2cp);
+#endif /* BMP085_SHARED_I2C.              */
+#endif /* BMP085_USE_I2C.                 */
+
+  return msg;
+}
+
+/**
+ * @brief   Read thermometer raw data.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "thermo_read_raw(), invalid state");
+
+#if BMP085_USE_I2C
+  osalDbgAssert((((BMP085Driver *)ip)->config->i2cp->state == I2C_READY),
+                "thermo_read_raw(), channel not ready");
+#if BMP085_SHARED_I2C
+  i2cAcquireBus(((BMP085Driver *)ip)->config->i2cp);
+  i2cStart(((BMP085Driver *)ip)->config->i2cp,
+           ((BMP085Driver *)ip)->config->i2ccfg);
+#endif /* BMP085_SHARED_I2C.                */
+
+  /* Measure the uncompensated temperature. */
+  msg_t msg = acquire_ut(((BMP085Driver *)ip), axes);
+
+#if BMP085_SHARED_I2C
+  i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
+#endif /* BMP085_SHARED_I2C.                */
+#endif /* BMP085_USE_I2C.                   */
+
+  return msg;
+}
+
+/**
+ * @brief   Read BMP085 sensor raw data.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t sens_read_raw(void *ip, int32_t axes[]) {
+
+  int32_t* bp = axes;
+  msg_t msg;
+
+  if (((BMP085Driver *)ip)->config->barocfg != NULL) {
+    msg = baro_read_raw(ip, bp);
+
+    if (msg != MSG_OK)
+      return msg;
+
+    bp += BMP085_BARO_NUMBER_OF_AXES;
+	}
+
+  if (((BMP085Driver *)ip)->config->thermocfg != NULL) {
+    msg = thermo_read_raw(ip, bp);
+	}
+
+  return msg;
+}
+
+/**
+ * @brief   Read barometer cooked data.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t baro_read_cooked(void *ip, float axes[]) {
+
+  uint32_t i;
+  int32_t raw[BMP085_BARO_NUMBER_OF_AXES];
+  msg_t msg;
+  uint8_t oss;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "baro_read_cooked(), invalid state");
+
+  msg = baro_read_raw(ip, raw);
+  oss = ((BMP085Driver *)ip)->config->barocfg->oss;
+
+  for (i = 0; i < BMP085_BARO_NUMBER_OF_AXES; i++)
+    calcul_p(raw[i], oss, &axes[i]);
+
+  return msg;
+}
+
+/**
+ * @brief   Read thermometer cooked data.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t thermo_read_cooked(void *ip, float axes[]) {
+
+  uint32_t  i;
+  int32_t raw[BMP085_THERMO_NUMBER_OF_AXES];
+  msg_t msg;
+
+  osalDbgCheck(((ip != NULL) && (axes != NULL)));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+      "thermo_read_cooked(), invalid state");
+  msg = thermo_read_raw(ip, raw);
+
+  for (i = 0; i < BMP085_THERMO_NUMBER_OF_AXES; i++)
+    calcul_t(raw[i], &axes[i]);
+
+  return msg;
+}
+
+/**
+ * @brief   Read BMP085 sensor cooked data.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   axes  buffer for various axes data
+ *
+ * @return      msg   the result of the reading operation
+ */
+static msg_t sens_read_cooked(void *ip, float axes[]) {
+
+  float* bp = axes;
+  msg_t msg;
+
+  if (((BMP085Driver *)ip)->config->barocfg != NULL) {
+    msg = baro_read_cooked(ip, bp);
+
+    if (msg != MSG_OK)
+      return msg;
+
+    bp += BMP085_BARO_NUMBER_OF_AXES;
+  }
+
+  if (((BMP085Driver *)ip)->config->thermocfg != NULL)
+    msg = thermo_read_cooked(ip, bp);
+
+  return msg;
+}
+
+/**
+ * @brief   Set the barometer bias.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   bp    pointer to the bias value
+ *
+ * @return      msg   the result of the setting operation
+ */
+static msg_t baro_set_bias(void *ip, float *bp) {
+
+  osalDbgCheck((ip != NULL) && (bp !=NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY) ||
+                (((BMP085Driver *)ip)->state == BMP085_STOP),
+                "baro_set_bias(), invalid state");
+  return MSG_OK;
+}
+
+/**
+ * @brief   Set the thermometer bias.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   bp    pointer to the bias value
+ *
+ * @return      msg   the result of the setting operation
+ */
+static msg_t thermo_set_bias(void *ip, float *bp) {
+
+  osalDbgCheck((ip != NULL) && (bp !=NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY) ||
+                (((BMP085Driver *)ip)->state == BMP085_STOP),
+                "thermo_set_bias(), invalid state");
+  return MSG_OK;
+}
+
+/**
+ * @brief   Reset the barometer bias.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ *
+ * @return      msg   the result of the reset operation
+ */
+static msg_t baro_reset_bias(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY) ||
+                (((BMP085Driver *)ip)->state == BMP085_STOP),
+                "baro_reset_bias(), invalid state");
+
+  return MSG_OK;
+}
+
+/**
+ * @brief   Reset the thermometer bias.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ *
+ * @return      msg   the result of the reset operation
+ */
+static msg_t thermo_reset_bias(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY) ||
+                (((BMP085Driver *)ip)->state == BMP085_STOP),
+                "thermo_reset_bias(), invalid state");
+
+  return MSG_OK;
+}
+
+/**
+ * @brief   Set the barometer sensivity.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   sp    pointer to the sensivity value
+ *
+ * @return      msg   the result of the setting operation
+ */
+static msg_t baro_set_sensivity(void *ip, float *sp) {
+
+  osalDbgCheck((ip != NULL) && (sp !=NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "baro_set_sensivity(), invalid state");
+
+  return MSG_OK;
+}
+
+/**
+ * @brief   Set the thermometer sensivity.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ * @param[in]   sp    pointer to the sensivity value
+ *
+ * @return      msg   the result of the setting operation
+ */
+static msg_t thermo_set_sensivity(void *ip, float *sp) {
+
+  osalDbgCheck((ip != NULL) && (sp !=NULL));
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "thermo_set_sensivity(), invalid state");
+
+  return MSG_OK;
+}
+
+/**
+ * @brief   Reset the barometer sensivity.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ *
+ * @return      msg   the result of the reset operation
+ */
+static msg_t baro_reset_sensivity(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "baro_reset_sensivity(), invalid state");
+
+  return MSG_OK;
+}
+
+/**
+ * @brief   Reset the thermometer sensivity.
+ *
+ * @param[in]   ip    interface pointer of the BMP085 sensor
+ *
+ * @return      msg   the result of the reset operation
+ */
+static msg_t thermo_reset_sensivity(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  osalDbgAssert((((BMP085Driver *)ip)->state == BMP085_READY),
+                "thermo_reset_sensivity(), invalid state");
+
+  return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+  sens_get_axes_number, sens_read_raw, sens_read_cooked
+};
+
+static const struct BaseBarometerVMT vmt_basebarometer = {
+  baro_get_axes_number, baro_read_raw, baro_read_cooked,
+  baro_set_bias, baro_reset_bias,
+  baro_set_sensivity, baro_reset_sensivity
+};
+
+static const struct BaseThermometerVMT vmt_basethermometer = {
+  thermo_get_axes_number, thermo_read_raw, thermo_read_cooked,
+  thermo_set_bias, thermo_reset_bias,
+  thermo_set_sensivity, thermo_reset_sensivity
+};
+
+/*==========================================================================*/
+/* Driver exported functions.                                               */
+/*==========================================================================*/
+
+/**
+ * @brief   Initializes an instance.
+ *
+ * @param[out]  devp  pointer to the @p BMP085Driver object
+ *
+ * @init
+ */
+void bmp085ObjectInit(BMP085Driver *devp) {
+
+  devp->vmt_basesensor = &vmt_basesensor;
+  devp->vmt_basebarometer = &vmt_basebarometer;
+  devp->vmt_basethermometer = &vmt_basethermometer;
+  devp->config = NULL;
+  devp->state  = BMP085_STOP;
+}
+
+/**
+ * @brief   Configures and activates BMP085 Complex Driver peripheral.
+ *
+ * @param[in] devp    pointer to the @p BMP085Driver object
+ * @param[in] config  pointer to the @p BMP085Config object
+ *
+ * @api
+ */
+void bmp085Start(BMP085Driver *devp, const BMP085Config *config) {
+
+  osalDbgCheck((devp != NULL) && (config != NULL));
+  osalDbgAssert((devp->state == BMP085_STOP) ||
+                (devp->state == BMP085_READY),
+                "bmp085cStart(), invalid state");
+  devp->config = config;
+#if BMP085_USE_I2C
+#if	BMP085_SHARED_I2C
+  i2cAcquireBus((devp)->config->i2cp);
+#endif  /* BMP085_SHARED_I2C.     */
+  /* Read the Calibrations data.  */
+  i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+  bmp085ReadCoefficient(devp, BMP085_AD_CC_AC1_MSB);
+#if	BMP085_SHARED_I2C
+  i2cReleaseBus((devp)->config->i2cp);
+#endif /* BMP085_SHARED_I2C.      */
+#endif /* BMP085_USE_I2C.         */
+  if(devp->state != BMP085_READY)
+    devp->state = BMP085_READY;
+}
+
+/**
+ * @brief   Deactivates the BMP085 Complex Driver peripheral.
+ *
+ * @param[in] devp  pointer to the @p BMP085Driver object
+ *
+ * @api
+ */
+void bmp085Stop(BMP085Driver *devp) {
+
+  osalDbgCheck(devp != NULL);
+  osalDbgAssert((devp->state == BMP085_STOP) ||
+                (devp->state == BMP085_READY),
+                "bmp085Stop(), invalid state");
+#if (BMP085_USE_I2C)
+  if (devp->state == BMP085_STOP) {
+#if	BMP085_SHARED_I2C
+    i2cAcquireBus((devp)->config->i2cp);
+    i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif  /* BMP085_SHARED_I2C. */
+#if	BMP085_SHARED_I2C
+    i2cReleaseBus((devp)->config->i2cp);
+#endif  /* BMP085_SHARED_I2C. */
+  }
+#endif  /* BMP085_USE_I2C.    */
+  if (devp->state != BMP085_STOP)
+    devp->state = BMP085_STOP;
+}
+/** @} */
diff --git a/os/ex/Bosch/bmp085.h b/os/ex/Bosch/bmp085.h
new file mode 100644
index 000000000..9bfa5b99e
--- /dev/null
+++ b/os/ex/Bosch/bmp085.h
@@ -0,0 +1,400 @@
+/*
+    ChibiOS - Copyright (C) 2016..2017 Theodore Ateba
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file    bmp085.h
+ *
+ * @brief   BMP085 Digital pressure sensor interface module header.
+ *
+ * @author  Theodore Ateba, tf.ateba@gmail.com
+ *
+ * @date    19 July 2016
+ *
+ * @{
+ */
+
+#ifndef BMP085_H
+#define BMP085_H
+
+#include "hal_barometer.h"
+#include "hal_thermometer.h"
+
+/*==========================================================================*/
+/* Driver constants.                                                        */
+/*==========================================================================*/
+
+/**
+ * @name  Version identification
+ * @{
+ */
+
+/**
+ * @brief   BMP085 driver version string.
+ */
+#define EX_BMP085_VERSION           "1.0.0"
+
+/**
+ * @brief   BMP085 driver version major number.
+ */
+#define EX_BMP085_MAJOR             1
+
+/**
+ * @brief   BMP085 driver version minor number.
+ */
+#define EX_BMP085_MINOR             0
+
+/**
+ * @brief   BMP085 driver version patch number.
+ */
+#define EX_BMP085_PATCH             0
+/** @}*/
+
+/**
+ * @brief   BMP085 barometer subsystem characteristics.
+ * @{
+ */
+#define BMP085_BARO_NUMBER_OF_AXES  1U    /**< Number of axes.              */
+
+#define BMP085_P_RES                0.01  /**< Press resolution.            */
+
+#define BMP085_CR_P_VAL0            0x34  /**< Press control reg value 0.   */
+#define BMP085_CR_P_VAL1            0x74  /**< Press control reg value 1.   */
+#define BMP085_CR_P_VAL2            0xB4  /**< Press control reg value 2.   */
+#define BMP085_CR_P_VAL3            0xF4  /**< Press control reg value 3.   */
+/** @} */
+
+/**
+ * @brief   BMP085 thermometer subsystem characteristics.
+ * @{
+ */
+#define BMP085_THERMO_NUMBER_OF_AXES 1U  /**< Number of axis.               */
+
+#define BMP085_T_RES                0.1   /**< Temp resolution.             */
+
+#define BMP085_CR_T_VAL             0x2E  /**< Temp control register value. */
+/** @} */
+
+#define BMP085_SAD                  0x77  /**< Slave address.               */
+
+/**
+ * @name  BMP085 Registers addresses.
+ * @{
+ */
+#define BMP085_AD_CR                0xF4 /**< Control register address.     */
+#define BMP085_AD_T_DR_MSB          0xF6 /**< Temp MSB data register addr.  */
+#define BMP085_AD_T_DR_LSB          0xF7 /**< Temp LSB data register addr.  */
+#define BMP085_AD_P_DR_MSB          0xF6 /**< Press MSB data register addr. */
+#define BMP085_AD_P_DR_LSB          0xF7 /**< Press LSB data register addr. */
+#define BMP085_AD_P_DR_XLSB         0xF8 /**< Press XLSB data register addr.*/
+#define BMP085_AD_CC_AC1_MSB        0xAA /**< AC1 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC1_LSB        0xAB /**< AC1 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC2_MSB        0xAC /**< AC2 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC2_LSB        0xAD /**< AC2 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC3_MSB        0xAE /**< AC3 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC3_LSB        0xAF /**< AC3 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC4_MSB        0xB0 /**< AC4 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC4_LSB        0xB1 /**< AC4 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC5_MSB        0xB2 /**< AC5 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC5_LSB        0xB3 /**< AC5 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC6_MSB        0xB4 /**< AC6 MSB calib coef reg addr.  */
+#define BMP085_AD_CC_AC6_LSB        0xB5 /**< AC6 LSB calib coef reg addr.  */
+#define BMP085_AD_CC_B1_MSB         0xB6 /**< B1 MSB calib coef reg addr.   */
+#define BMP085_AD_CC_B1_LSB         0xB7 /**< B1 LSB calib coef reg addr.   */
+#define BMP085_AD_CC_B2_MSB         0xB8 /**< B2 MSB calib coef reg addr.   */
+#define BMP085_AD_CC_B2_LSB         0xB9 /**< B2 LSB calib coef reg addr.   */
+#define BMP085_AD_CC_MB_MSB         0xBA /**< MB MSB calib coef reg addr.   */
+#define BMP085_AD_CC_MB_LSB         0xBB /**< MB LSB calib coef reg addr.   */
+#define BMP085_AD_CC_MC_MSB         0xBC /**< MC MSB calib coef reg addr.   */
+#define BMP085_AD_CC_MC_LSB         0xBD /**< MC LSB calib coef reg addr.   */
+#define BMP085_AD_CC_MD_MSB         0xBE /**< MD MSB calib coef reg addr.   */
+#define BMP085_AD_CC_MD_LSB         0xBF /**< MD LSB calib coef reg addr.   */
+/** @} */
+
+/*==========================================================================*/
+/* Driver pre-compile time settings.                                        */
+/*==========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   BMP085 I2C interface selector.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(BMP085_USE_I2C) || defined(__DOXYGEN__)
+#define BMP085_USE_I2C                     TRUE
+#endif
+
+/**
+ * @brief   BMP085 barometer subsystem advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(BMP085_BARO_USE_ADVANCED) || defined(__DOXYGEN__)
+#define BMP085_BARO_USE_AVANCED             FALSE
+#endif
+
+/**
+ * @brief   BMP085 termomether subsystem advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(BMP085_THERMO_USE_ADVANCED) || defined(__DOXYGEN__)
+#define BMP085_THERMO_USE_AVANCED           FALSE
+#endif
+
+/**
+ * @brief   BMP085 shared I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(BMP085_SHARED_I2C) || defined(__DOXYGEN__)
+#define BMP085_SHARED_I2C                  FALSE
+#endif
+/** @} */
+
+/*==========================================================================*/
+/* Derived constants and error checks.                                      */
+/*==========================================================================*/
+
+#if !HAL_USE_I2C
+#error "BMP085_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if BMP085_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "BMP085_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*==========================================================================*/
+/* Driver data structures and types.                                        */
+/*==========================================================================*/
+
+/**
+ * @name  BMP085 barometer subsystem data structures and types.
+ * @{
+ */
+
+/**
+ * @brief BMP085 barometer subsystem pressure conversion time.
+ */
+typedef enum {
+  BMP085_BARO_CT_LOW  = 0x05,   /**< Convers time in ultra low power mode.  */
+  BMP085_BARO_CT_STD  = 0x18,   /**< Convers time in standard mode.         */
+  BMP085_BARO_CT_HR   = 0x0E,   /**< Convers time in high resolution mode.  */
+  BMP085_BARO_CT_LUHR = 0x1A    /**< Convers time in ultra high res. mode.  */
+} bmp085_baro_ct_t;
+
+/**
+ * @brief BMP085 barometer subsystem mode.
+ */
+typedef enum {
+  BMP085_BARO_MODE_LOW  = 0x00, /**< BMP085 ultra low power mode.           */
+  BMP085_BARO_MODE_STD  = 0x01, /**< BMP085 standard mode.                  */
+  BMP085_BARO_MODE_HR   = 0x02, /**< BMP085 high resolution mode.           */
+  BMP085_BARO_MODE_LUHR = 0x03  /**< BMP085 ultra high res. mode.           */
+} bmp085_baro_mode_t;
+
+/**
+ * @brief BMP085 barometer oversampling setting.
+ */
+typedef enum {
+  BMP085_BARO_OSS_0 = 0x00,     /**< Ultra low power sampling rate.         */
+  BMP085_BARO_OSS_1 = 0x01,     /**< Standard mode sampling rate.           */
+  BMP085_BARO_OSS_2 = 0x02,     /**< High resolution sampling rate.         */
+  BMP085_BARO_OSS_3 = 0x04      /**< ultra high resolution sampling rate.   */
+}bmp085_baro_oss_t;
+
+/**
+ * @brief BMP085 barometer subsystem configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief BMP085 barometer subsystem pressure conversion time.
+   */
+  bmp085_baro_ct_t    ct;
+
+  /**
+   * @brief BMP085 barometer subsystem mode.
+   */
+  bmp085_baro_mode_t  mode;
+
+  /**
+   * @brief BMP085 barometer subsystem oversampling setting.
+   */
+  bmp085_baro_oss_t   oss;
+} BMP085BaroConfig;
+/** @} */
+
+/**
+ * @name  BMP085 thermometer subsystem data structures and types.
+ * @{
+ */
+
+/**
+ * @brief BMP085 thermometer subsystem temperature conversion time.
+ */
+typedef enum {
+  BMP085_THERMO_CT_LOW  = 0x05, /**< Conv time in ultra low power mode.     */
+  BMP085_THERMO_CT_STD  = 0x18, /**< Conv time in standard mode.            */
+  BMP085_THERMO_CT_HR   = 0x0E, /**< Conv time in high resolution mode.     */
+  BMP085_THERMO_CT_LUHR = 0x1A  /**< Conv time in ultra high res. mode.     */
+} bmp085_thermo_ct_t;
+
+/**
+ * @brief BMP085 thermometer subsystem configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief BMP085 thermometer subsystem temperature conversion time.
+   */
+  bmp085_thermo_ct_t  conversionTime;
+} BMP085ThermoConfig;
+/** @} */
+
+/**
+ * @name  BMP085 main system data structures and types.
+ * @{
+ */
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+  BMP085_UNINIT = 0,  /**< Not initialized.                                 */
+  BMP085_STOP   = 1,  /**< Stopped.                                         */
+  BMP085_READY  = 2   /**< Ready.                                           */
+} bmp085_state_t;
+
+/**
+ * @brief BMP085 configuration structure.
+ */
+typedef struct {
+ /**
+  * @brief I2C driver associated to this BMP085.
+  */
+  I2CDriver                 *i2cp;
+
+  /**
+   * @brief I2C configuration associated to this BMP085 subsystem.
+   */
+  const I2CConfig           *i2ccfg;
+
+  /**
+   * @brief BMP085 barometer subsystem configuration structure
+   */
+  const BMP085BaroConfig    *barocfg;
+
+  /**
+   * @brief BMP085 thermometer subsystem configuration structure
+   */
+  const BMP085ThermoConfig  *thermocfg;
+} BMP085Config;
+
+/**
+ * @brief Structure representing a BMP085 driver.
+ */
+typedef struct BMP085Driver BMP085Driver;
+
+/**
+ * @brief @p BMP085 barometer subsystem specific methods.
+ */
+#define _bmp085_baro_methods                                                 \
+  _base_barometer_methods
+
+/**
+ * @brief   @p  BMP085 thermometer subsystem specific methods.
+ */
+#define _bmp085_thermo_methods                                               \
+  _base_thermometer_methods
+
+/**
+ * @extends BaseBarometerVMT
+ *
+ * @brief @p  BMP085 barometer virtual methods table.
+ */
+struct BMP085BAROVMT {
+  _bmp085_baro_methods
+};
+
+/**
+ * @extends BaseThermometerVMT
+ *
+ * @brief @p  BMP085 thermometer virtual methods table.
+ */
+struct BMP085THERMOVMT {
+  _bmp085_thermo_methods
+};
+
+/**
+ * @brief @p  BMP085Driver specific data.
+ */
+#define _bmp085_data                                                         \
+  _base_barometer_data                                                       \
+  _base_thermometer_data                                                     \
+  /* Driver state.                    */                                     \
+  bmp085_state_t      state;                                                 \
+  /* Current configuration data.      */                                     \
+  const BMP085Config  *config;                                               \
+  /* Current barometer sensitivity.   */                                     \
+  float               barosensitivity[BMP085_BARO_NUMBER_OF_AXES];           \
+  /* Barometer bias data.             */                                     \
+  int32_t             barobias[BMP085_BARO_NUMBER_OF_AXES];                  \
+  /* Current thermometer sensitivity. */                                     \
+  float               thermosensitivity[BMP085_THERMO_NUMBER_OF_AXES];       \
+  /* Thermometer bias data.           */                                     \
+  int32_t             thermobias[BMP085_THERMO_NUMBER_OF_AXES];
+
+struct BMP085Driver {
+  /** @brief BaseSensor Virtual Methods Table.                              */
+  const struct BaseSensorVMT      *vmt_basesensor;
+  /** @brief BaseBarometer Virtual Methods Table.                           */
+  const struct BaseBarometerVMT   *vmt_basebarometer;
+  /** @brief BaseThermometer Virtual Methods Table.                         */
+  const struct BaseThermometerVMT *vmt_basethermometer;
+  _bmp085_data
+};
+
+/** @} */
+
+/*==========================================================================*/
+/* Driver macros.                                                           */
+/*==========================================================================*/
+
+/*==========================================================================*/
+/* External declarations.                                                   */
+/*==========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void bmp085ObjectInit(BMP085Driver *devp);
+  void bmp085Start(BMP085Driver *devp, const BMP085Config *config);
+  void bmp085Stop(BMP085Driver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BMP085_H */
+
+/** @} */
diff --git a/os/ex/Bosch/bmp085.mk b/os/ex/Bosch/bmp085.mk
new file mode 100644
index 000000000..1f3c166b6
--- /dev/null
+++ b/os/ex/Bosch/bmp085.mk
@@ -0,0 +1,6 @@
+# List of all the BMP085 device files.

+BMP085SRC := $(CHIBIOS)/os/ex/Bosch/bmp085.c

+

+# Required include directories

+BMP085INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \

+             $(CHIBIOS)/os/ex/Bosch