Added support for LPS25H.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9797 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 780 insertions, 0 deletions

diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c
new file mode 100644
index 000000000..28c00816c
--- /dev/null
+++ b/os/ex/ST/lps25h.c
@@ -0,0 +1,318 @@
+/*

+    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

+

+    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    lps25h.c

+ * @brief   LPS25H MEMS interface module code.

+ *

+ * @addtogroup lps25h

+ * @{

+ */

+

+#include "hal.h"

+#include "lps25h.h"

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+#if (LPS25H_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] sad        slave address without R bit

+ * @param[in] reg        first sub-register address

+ * @return               the read value.

+ */

+uint8_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

+                               msg_t* msgp) {

+  msg_t msg;

+  uint8_t rxbuf;

+  msg = i2cMasterTransmitTimeout(i2cp, sad, &reg, 1, &rxbuf, 1,

+                                 TIME_INFINITE);

+  if(msgp != NULL){

+    *msgp = msg;

+  }

+  return rxbuf;

+}

+

+/**

+ * @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] sad        slave address without R bit

+ * @param[in] sub        sub-register address

+ * @param[in] value      the value to be written

+ * @return               the operation status.

+ */

+msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

+                              uint8_t value) {

+  uint8_t txbuf[2];

+  txbuf[0] = reg;

+  txbuf[1] = value;

+  return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);

+}

+#endif /* LPS25H_USE_I2C */

+

+/*

+ * Interface implementation.

+ */

+static size_t get_axes_number(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+  return LPS25H_NUMBER_OF_AXES;

+}

+

+static msg_t read_raw(void *ip, int32_t* axis) {

+  int32_t tmp;

+  msg_t msg = MSG_OK;

+  osalDbgCheck((ip != NULL) && (axis != NULL));

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

+              "read_raw(), invalid state");

+

+#if LPS25H_USE_I2C

+  osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),

+                "read_raw(), channel not ready");

+#if LPS25H_SHARED_I2C

+  i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);

+  i2cStart(((LPS25HDriver *)ip)->config->i2cp,

+           ((LPS25HDriver *)ip)->config->i2ccfg);

+#endif /* LPS25H_SHARED_I2C */

+	tmp = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

+								((LPS25HDriver *)ip)->config->slaveaddress,

+								  LPS25H_AD_PRESS_OUT_XL, NULL);

+	if (msg != MSG_OK)

+		return msg;

+	tmp +=  lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

+	                                ((LPS25HDriver *)ip)->config->slaveaddress,

+	                                  LPS25H_AD_PRESS_OUT_L, NULL) << 8;

+    if (msg != MSG_OK)

+        return msg;

+    tmp +=  lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

+                                    ((LPS25HDriver *)ip)->config->slaveaddress,

+                                      LPS25H_AD_PRESS_OUT_H, NULL) << 16;

+	if (msg != MSG_OK)

+		return msg;

+	*axis = (int32_t)tmp;

+

+	

+#if LPS25H_SHARED_I2C

+  i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */

+#endif /* LPS25H_USE_I2C */

+  return MSG_OK;

+}

+	

+static msg_t read_cooked(void *ip, float* axis) {

+  int32_t raw;

+  msg_t msg;

+

+  osalDbgCheck((ip != NULL) && (axis != NULL));

+

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

+              "read_cooked(), invalid state");

+

+  msg = read_raw(ip, &raw);

+

+  *axis = raw / ((LPS25HDriver *)ip)->sensitivity;

+  *axis -= ((LPS25HDriver *)ip)->bias;

+  return msg;

+}

+

+

+static msg_t set_bias(void *ip, int32_t *bp) {

+  osalDbgCheck((ip != NULL) && (bp != NULL));

+

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||

+                (((LPS25HDriver *)ip)->state == LPS25H_STOP),

+                "set_bias(), invalid state");

+  

+  ((LPS25HDriver *)ip)->bias = *bp;

+  return MSG_OK;

+}

+

+static msg_t reset_bias(void *ip) {

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||

+                (((LPS25HDriver *)ip)->state == LPS25H_STOP),

+                "reset_bias(), invalid state");

+

+  ((LPS25HDriver *)ip)->bias = 0;

+  return MSG_OK;

+}

+

+

+static msg_t set_sensivity(void *ip, float *sp) {

+  

+  osalDbgCheck((ip != NULL) && (sp !=NULL));

+

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

+                "set_sensivity(), invalid state");

+  

+  ((LPS25HDriver *)ip)->sensitivity = *sp;

+  return MSG_OK;

+}

+

+static msg_t reset_sensivity(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

+                "reset_sensivity(), invalid state");

+

+  ((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;

+  return MSG_OK;

+}

+

+static const struct BaseSensorVMT vmt_basesensor = {

+  get_axes_number, read_raw, read_cooked

+};

+

+static const struct BaseBarometerVMT vmt_basebarometer = {

+  get_axes_number, read_raw, read_cooked,

+  set_bias, reset_bias, set_sensivity, reset_sensivity

+};

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Initializes an instance.

+ *

+ * @param[out] devp     pointer to the @p LPS25HDriver object

+ *

+ * @init

+ */

+void lps25hObjectInit(LPS25HDriver *devp) {

+

+  devp->vmt_basesensor = &vmt_basesensor;

+  devp->vmt_basebarometer = &vmt_basebarometer;

+  devp->config = NULL;

+  devp->bias = 0;

+  devp->state  = LPS25H_STOP;

+}

+

+/**

+ * @brief   Configures and activates LPS25H Complex Driver peripheral.

+ *

+ * @param[in] devp      pointer to the @p LPS25HDriver object

+ * @param[in] config    pointer to the @p LPS25HConfig object

+ *

+ * @api

+ */

+void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {

+  uint8_t cr;

+  osalDbgCheck((devp != NULL) && (config != NULL));

+

+  osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),

+              "lps25hStart(), invalid state");			  

+

+  devp->config = config;

+

+#if LPS25H_USE_I2C

+#if	LPS25H_SHARED_I2C

+  i2cAcquireBus((devp)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */

+  i2cStart((devp)->config->i2cp,

+           (devp)->config->i2ccfg);

+

+  /* Control register 1 configuration block.*/

+  {

+    cr = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;

+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

+    cr |= devp->config->blockdataupdate;

+

+#endif

+    lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                           LPS25H_AD_CTRL_REG1, cr);

+  }

+

+  /* Control register 1 configuration block.*/

+  {

+    cr = 0x05;

+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

+    cr = devp->config->respressure | devp->config->restemperature;

+

+#endif

+    lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                           LPS25H_AD_RES_CONF, cr);

+  }

+

+#if	LPS25H_SHARED_I2C

+  i2cReleaseBus((devp)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */  

+#endif /* LPS25H_USE_I2C */

+  /* Storing sensitivity information according to full scale value */

+  devp->sensitivity = LPS25H_SENS;

+  /* This is the Barometer transient recovery time */

+  osalThreadSleepMilliseconds(5);

+

+  devp->state = LPS25H_READY;

+} 

+

+/**

+ * @brief   Deactivates the LPS25H Complex Driver peripheral.

+ *

+ * @param[in] devp       pointer to the @p LPS25HDriver object

+ *

+ * @api

+ */

+void lps25hStop(LPS25HDriver *devp) {

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),

+                "lps25hStop(), invalid state");

+

+#if (LPS25H_USE_I2C)

+  if (devp->state == LPS25H_STOP) {

+#if	LPS25H_SHARED_I2C

+    i2cAcquireBus((devp)->config->i2cp);

+    i2cStart((devp)->config->i2cp,

+             (devp)->config->i2ccfg);

+#endif /* LPS25H_SHARED_I2C */

+    lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                           LPS25H_AD_CTRL_REG1, 0);

+    i2cStop((devp)->config->i2cp);

+#if	LPS25H_SHARED_I2C

+    i2cReleaseBus((devp)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */    

+  }			  

+#endif /* LPS25H_USE_I2C */

+  devp->state = LPS25H_STOP;

+}

+/** @} */

diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h
new file mode 100644
index 000000000..7cffb881d
--- /dev/null
+++ b/os/ex/ST/lps25h.h
@@ -0,0 +1,456 @@
+/*

+    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

+

+    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    lps25h.h

+ * @brief   LPS25H MEMS interface module header.

+ *

+ * @{

+ */

+#ifndef _LPS25H_H_

+#define _LPS25H_H_

+

+#include "hal_barometer.h"

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Version identification

+ * @{

+ */

+/**

+ * @brief   LPS25H driver version string.

+ */

+#define EX_LPS25H_VERSION           "1.0.0"

+

+/**

+ * @brief   LPS25H driver version major number.

+ */

+#define EX_LPS25H_MAJOR             1

+

+/**

+ * @brief   LPS25H driver version minor number.

+ */

+#define EX_LPS25H_MINOR             0

+

+/**

+ * @brief   LPS25H driver version patch number.

+ */

+#define EX_LPS25H_PATCH             0

+/** @} */

+

+/**

+ * @brief   LPS25H characteristics.
+ *

+ * @{

+ */
+#define LPS25H_NUMBER_OF_AXES       1U
+

+#define LPS25H_SENS                 4096.0f      /**< LSB/hPa                 */
+/** @} */
+
+/**
+ * @name    LPS25H communication interfaces related bit masks
+ * @{
+ */
+#define LPS25H_DI_MASK              0xFF        /**< Data In mask           */
+#define LPS25H_DI(n)                (1 << n)    /**< Data In bit n          */
+#define LPS25H_AD_MASK              0x3F        /**< Address Data mask      */
+#define LPS25H_AD(n)                (1 << n)    /**< Address Data bit n     */
+#define LPS25H_MS                   (1 << 6)    /**< Multiple read write    */
+#define LPS25H_RW                   (1 << 7)    /**< Read Write selector    */

+

+#define LPS25H_SUB_MS               (1 << 7)    /**< Multiple read write in I2C mode */
+/** @} */
+
+/**
+ * @name    LPS25H register addresses
+ * @{
+ */
+#define LPS25H_AD_REF_P_XL          0x08

+#define LPS25H_AD_REF_P_L           0x09

+#define LPS25H_AD_REF_P_H           0x0A

+#define LPS25H_AD_WHO_AM_I          0x0F

+#define LPS25H_AD_RES_CONF          0x10
+#define LPS25H_AD_CTRL_REG1         0x20
+#define LPS25H_AD_CTRL_REG2         0x21
+#define LPS25H_AD_CTRL_REG3         0x22
+#define LPS25H_AD_CTRL_REG4         0x23

+#define LPS25H_AD_INT_CFG           0x24

+#define LPS25H_AD_INT_SRC           0x25

+#define LPS25H_AD_STATUS_REG        0x27
+#define LPS25H_AD_CTRL_REG5         0x24
+#define LPS25H_AD_REFERENCE         0x25
+#define LPS25H_AD_OUT_TEMP          0x26
+#define LPS25H_AD_PRESS_OUT_XL      0x28
+#define LPS25H_AD_PRESS_OUT_L       0x29
+#define LPS25H_AD_PRESS_OUT_H       0x2A
+#define LPS25H_AD_TEMP_OUT_L        0x2B
+#define LPS25H_AD_TEMP_OUT_H        0x2C
+#define LPS25H_AD_FIFO_CTRL         0x2E
+#define LPS25H_AD_FIFO_SRC          0x2F
+#define LPS25H_AD_THS_P_L           0x30

+#define LPS25H_AD_THS_P_H           0x31

+#define LPS25H_AD_RPDS_L            0x39

+#define LPS25H_AD_RPDS_H            0x3A
+/** @} */
+
+/**
+ * @name    LPS25H_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LPS25H_CTRL_REG1_MASK               0xFF       
+#define LPS25H_CTRL_REG1_SIM                (1 << 0)
+#define LPS25H_CTRL_REG1_RESET_AZ           (1 << 1) 
+#define LPS25H_CTRL_REG1_BDU                (1 << 2)
+#define LPS25H_CTRL_REG1_DIFF_EN            (1 << 3) 
+#define LPS25H_CTRL_REG1_ODR0               (1 << 4)
+#define LPS25H_CTRL_REG1_ODR1               (1 << 5) 
+#define LPS25H_CTRL_REG1_ODR2               (1 << 6)
+#define LPS25H_CTRL_REG1_PD                 (1 << 7)
+/** @} */
+
+/**

+ * @name    LPS25H_CTRL_REG2 register bits definitions

+ * @{

+ */

+#define LPS25H_CTRL_REG2_MASK               0xF3       

+#define LPS25H_CTRL_REG2_ONE_SHOT           (1 << 0)

+#define LPS25H_CTRL_REG2_AUTO_ZERO          (1 << 1) 

+#define LPS25H_CTRL_REG2_SWRESET            (1 << 2) 

+#define LPS25H_CTRL_REG2_FIFO_MEAN_DEC      (1 << 4)

+#define LPS25H_CTRL_REG2_WTM_EN             (1 << 5) 

+#define LPS25H_CTRL_REG2_FIFO_EN            (1 << 6)

+#define LPS25H_CTRL_REG2_BOOT               (1 << 7)

+/** @} */
+
+/**

+ * @name    LPS25H_CTRL_REG3 register bits definitions

+ * @{

+ */

+#define LPS25H_CTRL_REG3_MASK               0xC3       

+#define LPS25H_CTRL_REG3_INT_S1             (1 << 0)

+#define LPS25H_CTRL_REG3_INT_S2             (1 << 1) 

+#define LPS25H_CTRL_REG3_PP_OD              (1 << 6)

+#define LPS25H_CTRL_REG3_INT_H_L            (1 << 7)

+/** @} */

+

+/**

+ * @name    LPS25H_CTRL_REG4 register bits definitions

+ * @{

+ */

+#define LPS25H_CTRL_REG4_MASK               0x0F       

+#define LPS25H_CTRL_REG4_P1_DRDY            (1 << 0)

+#define LPS25H_CTRL_REG4_P1_OVERRUN         (1 << 1) 

+#define LPS25H_CTRL_REG4_P1_WTM             (1 << 2)

+#define LPS25H_CTRL_REG4_P1_EMPTY           (1 << 3) 

+/** @} */
+

+/**

+ * @name    LPS25H_INT1_CFG register bits definitions

+ * @{

+ */

+#define LPS25H_INT1_CFG_MASK                0x07      

+#define LPS25H_INT1_CFG_PH_E                (1 << 0)

+#define LPS25H_INT1_CFG_PL_E                (1 << 1)

+#define LPS25H_INT1_CFG_LIR                 (1 << 2)

+/** @} */

+

+/**

+ * @name    LPS25H_INT1_SRC register bits definitions

+ * @{

+ */

+#define LPS25H_INT1_SRC_MASK                0x07

+#define LPS25H_INT1_SRC_PH                  (1 << 0)

+#define LPS25H_INT1_SRC_PL                  (1 << 1)

+#define LPS25H_INT1_SRC_IA                  (1 << 2)

+/** @} */

+

+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   LPS25H SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LPS25H_USE_SPI) || defined(__DOXYGEN__)
+#define LPS25H_USE_SPI                      FALSE
+#endif
+
+/**
+ * @brief   LPS25H I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LPS25H_USE_I2C) || defined(__DOXYGEN__)
+#define LPS25H_USE_I2C                      TRUE
+#endif
+
+/**
+ * @brief   LPS25H advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LPS25H_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LPS25H_USE_ADVANCED                 FALSE
+#endif
+
+/**
+ * @brief   LPS25H 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(LPS25H_SHARED_SPI) || defined(__DOXYGEN__)
+#define LPS25H_SHARED_I2C                   FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !(LPS25H_USE_SPI ^ LPS25H_USE_I2C)
+#error "LPS25H_USE_SPI and LPS25H_USE_I2C cannot be both true or both false"
+#endif
+
+#if LPS25H_USE_SPI && !HAL_USE_SPI
+#error "LPS25H_USE_SPI requires HAL_USE_SPI"
+#endif
+

+#if LPS25H_USE_SPI

+#error "LPS25H over SPI still not supported"

+#endif

+
+#if LPS25H_USE_I2C && !HAL_USE_I2C
+#error "LPS25H_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LPS25H_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LPS25H_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif

+

+/*

+ * TODO: Add SPI support.

+ */
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LPS25H data structures and types.
+ * @{
+ */

+/**

+ * @brief  LPS25H slave address

+ */

+typedef enum {

+  LPS25H_SAD_GND = 0x5C,           /**< Slave Address when SA0 is to GND   */

+  LPS25H_SAD_VCC = 0x5D            /**< Slave Address when SA0 is to VCC   */

+}lps25h_sad_t; 

+ 
+/**
+ * @brief   LPS25H output data rate and bandwidth.
+ */
+typedef enum {

+  LPS25H_ODR_ONE_SHOT = 0x00,       /**< One shot.                          */
+  LPS25H_ODR_1HZ = 0x10,            /**< Output data rate 1 Hz.             */
+  LPS25H_ODR_7HZ = 0x20,            /**< Output data rate 7 Hz.             */
+  LPS25H_ODR_12P5HZ = 0x30,         /**< Output data rate 12.5 Hz.          */
+  LPS25H_ODR_25HZ = 0x40            /**< Output data rate 25 Hz.            */
+}lps25h_odr_t;
+

+/**

+ * @brief   LPS25H pressure resolution.

+ */

+typedef enum {

+  LPS25H_AVGP_8 = 0x00,             /**< Number of internal average is 8.   */

+  LPS25H_AVGP_32 = 0x01,            /**< Number of internal average is 8.   */

+  LPS25H_AVGP_128 = 0x02,           /**< Number of internal average is 8.   */

+  LPS25H_AVGP_512 = 0x03,           /**< Number of internal average is 8.   */

+}lps25h_avgp_t;

+

+/**

+ * @brief   LPS25H temperature resolution.

+ */

+typedef enum {

+  LPS25H_AVGT_8 = 0x00,             /**< Number of internal average is 8.   */

+  LPS25H_AVGT_32 = 0x04,            /**< Number of internal average is 8.   */

+  LPS25H_AVGT_128 = 0x08,           /**< Number of internal average is 8.   */

+  LPS25H_AVGT_512 = 0x0C,           /**< Number of internal average is 8.   */

+}lps25h_avgt_t;

+
+/**
+ * @brief   LPS25H block data update.
+ */
+typedef enum {
+  LPS25H_BDU_CONTINUOUS = 0x00,     /**< Block data continuously updated.   */
+  LPS25H_BDU_BLOCKED = 0x40         /**< Block data updated after reading.  */
+}lps25h_bdu_t;
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  LPS25H_UNINIT = 0,                /**< Not initialized.                   */
+  LPS25H_STOP = 1,                  /**< Stopped.                           */
+  LPS25H_READY = 2,                 /**< Ready.                             */
+} lps25h_state_t;
+

+/**
+ * @brief   LPS25H configuration structure.
+ */
+typedef struct {
+
+#if LPS25H_USE_SPI || defined(__DOXYGEN__)
+  /**
+   * @brief SPI driver associated to this LPS25H.
+   */
+  SPIDriver                 *spip;
+  /**
+   * @brief SPI configuration associated to this LPS25H.
+   */
+  const SPIConfig           *spicfg;
+#endif /* LPS25H_USE_SPI */
+#if LPS25H_USE_I2C || defined(__DOXYGEN__)
+  /**
+   * @brief I2C driver associated to this LPS25H.
+   */
+  I2CDriver                 *i2cp;
+  /**
+   * @brief I2C configuration associated to this LPS25H.
+   */
+  const I2CConfig           *i2ccfg;
+#endif /* LPS25H_USE_I2C */
+  /**
+   * @brief LPS25H initial sensitivity.
+   */
+  float                     sensitivity;
+  /**
+   * @brief LPS25H initial bias.
+   */
+  float                     bias;

+	  /**

+   * @brief LPS25H slave address

+   */

+  lps25h_sad_t              slaveaddress;
+  /**
+   * @brief LPS25H output data rate selection.
+   */
+  lps25h_odr_t              outputdatarate;
+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
+  /**
+   * @brief LPS25H block data update.
+   */
+  lps25h_bdu_t              blockdataupdate;

+  /**

+   * @brief   LPS25H pressure resolution.

+   */

+  lps25h_avgp_t             respressure;

+  /**

+   * @brief   LPS25H temperature resolution.

+   */

+  lps25h_avgt_t             restemperature;
+#endif
+} LPS25HConfig;
+
+/**
+ * @brief   Structure representing a LPS25H driver.
+ */
+typedef struct LPS25HDriver LPS25HDriver;
+
+/**
+ * @brief   @p LPS25H specific methods.
+ */
+#define _lps25h_methods                                                     \
+  _base_barometer_methods
+
+/**
+ * @extends BaseGyroscopeVMT
+ *
+ * @brief   @p LPS25H virtual methods table.
+ */
+struct LPS25HVMT {
+  _lps25h_methods
+};
+
+/**
+ * @brief   @p LPS25HDriver specific data.
+ */
+#define _lps25h_data                                                        \
+  _base_barometer_data                                                      \
+  /* Driver state.*/                                                        \
+  lps25h_state_t            state;                                          \
+  /* Current configuration data.*/                                          \
+  const LPS25HConfig        *config;                                        \
+  /* Current sensitivity data.*/                                            \
+  float                     sensitivity;                                    \
+  /* Current Bias data.*/                                                   \
+  float                     bias;
+
+/**
+ * @extends BaseGyroscope
+ *
+ * @brief   LPS25H 3-axis barometer class.
+ * @details This class extends @p BaseGyroscope by adding physical
+ *          driver implementation.
+ */
+struct LPS25HDriver {
+  /** @brief BaseSensor Virtual Methods Table. */
+  const struct BaseSensorVMT *vmt_basesensor;
+  /** @brief BaseBarometer Virtual Methods Table. */
+  const struct BaseBarometerVMT *vmt_basebarometer;
+  /** @brief LPS25H Virtual Methods Table. */
+  const struct LPS25HVMT *vmt_lps25h;
+  _lps25h_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+       
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void lps25hObjectInit(LPS25HDriver *devp);
+  void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config);
+  void lps25hStop(LPS25HDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LPS25H_H_ */
+
+/** @} */
+
diff --git a/os/ex/ST/lps25h.mk b/os/ex/ST/lps25h.mk
new file mode 100644
index 000000000..1d8d6ec8d
--- /dev/null
+++ b/os/ex/ST/lps25h.mk
@@ -0,0 +1,6 @@
+# List of all the LPS25H device files.

+LPS25HSRC := $(CHIBIOS)/os/ex/ST/lps25h.c

+

+# Required include directories

+LPS25HINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \

+             $(CHIBIOS)/os/ex/ST
\ No newline at end of file