diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8859335116208741211e067fce992995e81be572..b449783ff1651d17fb6ab05a4d92c36902f542be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -416,6 +416,9 @@ sbs_target(test-lis2mdl stm32f429zi_stm32f4discovery)
add_executable(test-h3lis331dl src/tests/sensors/test-h3lis331dl.cpp)
sbs_target(test-h3lis331dl stm32f407vg_stm32f4discovery)
+add_executable(test-lps28dfw src/tests/sensors/test-lps28dfw.cpp)
+sbs_target(test-lps28dfw stm32f767zi_nucleo)
+
#-----------------------------------------------------------------------------#
# Tests - Utils #
#-----------------------------------------------------------------------------#
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 43a510b067c0d8d8de3bffa666ed8f14b1ab224a..e88d029b7f44399f15aa01dfd8f31e781c37158a 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -108,6 +108,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
${SBS_BASE}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+ ${SBS_BASE}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
# Calibration
${SBS_BASE}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFW.cpp b/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a73590c84386fe812b78f1ca1b0269b95bb226f7
--- /dev/null
+++ b/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
@@ -0,0 +1,307 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "LPS28DFW.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+#include "LPS28DFWDefs.h"
+
+using namespace Boardcore::LPS28DFWDefs;
+
+namespace Boardcore
+{
+LPS28DFW::LPS28DFW(I2C& i2c, SensorConfig sensorConfig)
+ : i2cConfig{sensorConfig.sa0 ? lsp28dfwAddress1 : lsp28dfwAddress0,
+ I2CDriver::Addressing::BIT7, I2CDriver::Speed::MAX_SPEED},
+ i2c(i2c), sensorConfig(sensorConfig)
+{
+ pressureSensitivity = (sensorConfig.fsr == FullScaleRange::FS_1260
+ ? pressureSensitivity1260hPa
+ : pressureSensitivity4060hPa);
+}
+
+bool LPS28DFW::init()
+{
+ if (isInitialized)
+ {
+ LOG_ERR(logger, "Attempted to initialized sensor twice but failed");
+ lastError = ALREADY_INIT;
+ return false;
+ }
+
+ // Setting the actual sensor configurations (Mode, ODR, AVG, FSR, DRDY)
+ if (!setConfig(sensorConfig))
+ {
+ LOG_ERR(logger, "Configuration not applied correctly");
+ lastError = SensorErrors::INIT_FAIL;
+ return false;
+ }
+
+ lastError = SensorErrors::NO_ERRORS;
+ isInitialized = true;
+ return true;
+}
+
+bool LPS28DFW::selfTest()
+{
+ // Since the sensor doesn't provide any self-test feature we just try to
+ // probe the sensor and read his whoami register.
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked selfTest() but sensor was uninitialized");
+ lastError = NOT_INIT;
+ return false;
+ }
+
+ // Trying to probe the sensor to check if it is connected
+ if (!i2c.probe(i2cConfig))
+ {
+ LOG_ERR(logger,
+ "Can't communicate with the sensor or sensor not attached");
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ // Reading the whoami value to assure communication
+ uint8_t whoamiValue{0};
+ if (!i2c.readRegister(i2cConfig, WHO_AM_I, whoamiValue))
+ {
+ LOG_ERR(logger, "Can't communicate with the sensor");
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ // Checking the whoami value to assure correct communication
+ if (whoamiValue != WHO_AM_I_VALUE)
+ {
+ LOG_ERR(logger,
+ "WHO_AM_I value differs from expectation: read 0x{02x} "
+ "but expected 0x{02x}",
+ whoamiValue, WHO_AM_I_VALUE);
+ lastError = INVALID_WHOAMI;
+ return false;
+ }
+
+ return true;
+}
+
+bool LPS28DFW::setConfig(const SensorConfig& newSensorConfig)
+{
+ // Setting the FIFO_CTRL register to the correct mode (according to the
+ // ODR set: BYPASS for the one shot mode and CONTINUOUS for the
+ // continuous mode).
+ if (!i2c.writeRegister(
+ i2cConfig, FIFO_CTRL,
+ (newSensorConfig.odr == ODR::ONE_SHOT ? FIFO_CTRL::BYPASS
+ : FIFO_CTRL::CONTINUOUS)))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ if (!(setFullScaleRange(sensorConfig.fsr) && setAverage(sensorConfig.avg) &&
+ setOutputDataRate(sensorConfig.odr) &&
+ setDRDYInterrupt(sensorConfig.drdy)))
+ {
+ LOG_ERR(logger, "Sensor not configured");
+ return false;
+ }
+
+ return true;
+}
+
+bool LPS28DFW::setAverage(AVG avg)
+{
+ // Since the CTRL_REG1 contains only the AVG and ODR settings, we use the
+ // internal driver state to set the register with the wanted ODR and AVG
+ // without previously reading it. This allows to avoid a useless
+ // transaction.
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG1, sensorConfig.odr | avg))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ sensorConfig.avg = avg;
+ return true;
+}
+
+bool LPS28DFW::setOutputDataRate(ODR odr)
+{
+ // Since the CTRL_REG1 contains only the AVG and ODR settings, we use the
+ // internal driver state to set the register with the wanted ODR and AVG
+ // without previously reading it. This allows to avoid a useless
+ // transaction.
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG1, odr | sensorConfig.avg))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ sensorConfig.odr = odr;
+ return true;
+}
+
+bool LPS28DFW::setFullScaleRange(FullScaleRange fs)
+{
+ uint8_t ctrl_reg2;
+ if (!i2c.readRegister(i2cConfig, CTRL_REG2, ctrl_reg2))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ if (fs == FullScaleRange::FS_1260)
+ {
+ pressureSensitivity = pressureSensitivity1260hPa;
+ ctrl_reg2 = (ctrl_reg2 & ~CTRL_REG2::FS_MODE);
+ }
+ else
+ {
+ pressureSensitivity = pressureSensitivity4060hPa;
+ ctrl_reg2 = (ctrl_reg2 | CTRL_REG2::FS_MODE);
+ }
+
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG2, ctrl_reg2))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ sensorConfig.fsr = fs;
+ return true;
+}
+
+bool LPS28DFW::setDRDYInterrupt(bool drdy)
+{
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG4, (drdy ? (INT_EN | DRDY) : 0)))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ sensorConfig.drdy = drdy;
+ return true;
+}
+
+float LPS28DFW::convertPressure(uint8_t pressXL, uint8_t pressL, uint8_t pressH)
+{
+ // Pressure conversion
+ // sign extending the 27-bit value: shifting to the right a signed type
+ // extends its sign. So positioning the bytes shifted to the left of 8
+ // bits, casting the result in a signed int8_t and then shifting the
+ // result to the right of 8 bits will make the work.
+ int32_t press_temp =
+ ((int32_t)((pressH << 24) | (pressL << 16) | (pressXL << 8))) >> 8;
+ return ((float)press_temp / pressureSensitivity);
+}
+
+float LPS28DFW::convertTemperature(uint8_t tempL, uint8_t tempH)
+{
+ // Temperature conversion
+ int16_t temp_temp = (tempH << 8) | (tempL << 0);
+ return ((float)temp_temp) / temperatureSensitivity;
+}
+
+LPS28DFWData LPS28DFW::sampleImpl()
+{
+ uint8_t statusValue{0};
+ uint8_t val[5] = {0};
+ LPS28DFWData data;
+
+ lastError = NO_ERRORS;
+
+ if (sensorConfig.odr == ODR::ONE_SHOT)
+ {
+ uint8_t ctrl_reg2_val{0};
+
+ // Triggering sampling
+ if (!(i2c.readRegister(i2cConfig, CTRL_REG2, ctrl_reg2_val) &&
+ i2c.writeRegister(i2cConfig, CTRL_REG2,
+ ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START)))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
+
+ // Poll status register until the sample is ready
+ do
+ {
+ if (!i2c.readRegister(i2cConfig, STATUS, statusValue))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
+ } while ((statusValue & (STATUS::P_DA | STATUS::T_DA)) !=
+ (STATUS::P_DA | STATUS::T_DA));
+ }
+ else
+ {
+ // read status register value
+ if (!i2c.readRegister(i2cConfig, STATUS, statusValue))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
+ }
+
+ auto ts = TimestampTimer::getTimestamp();
+
+ // reading 5 bytes if also Temperature new sample, otherwise only the 3
+ // pressure bytes
+ if (!i2c.readFromRegister(i2cConfig, PRESS_OUT_XL, val,
+ ((statusValue & STATUS::T_DA) ? 5 : 3)))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
+
+ // If pressure new data present
+ if (statusValue & STATUS::P_DA)
+ {
+ data.pressureTimestamp = ts;
+ data.pressure = convertPressure(val[0], val[1], val[2]);
+ }
+ else
+ {
+ lastError = NO_NEW_DATA;
+ data.pressureTimestamp = lastSample.pressureTimestamp;
+ data.pressure = lastSample.pressure;
+ }
+
+ // If temperature new data present
+ if (statusValue & STATUS::T_DA)
+ {
+ data.temperatureTimestamp = ts;
+ data.temperature = convertTemperature(val[3], val[4]);
+ }
+ else
+ {
+ data.temperatureTimestamp = lastSample.temperatureTimestamp;
+ data.temperature = lastSample.temperature;
+ }
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFW.h b/src/shared/sensors/LPS28DFW/LPS28DFW.h
new file mode 100644
index 0000000000000000000000000000000000000000..33012760c5b6eeac46f921c3bee81ab5af94ccd0
--- /dev/null
+++ b/src/shared/sensors/LPS28DFW/LPS28DFW.h
@@ -0,0 +1,180 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <drivers/i2c/I2C.h>
+#include <sensors/Sensor.h>
+
+#include "LPS28DFWData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for LPS28DFW STMicroelectronics digital pressure sensor working
+ * in I2C.
+ */
+class LPS28DFW : public Sensor<LPS28DFWData>
+{
+public:
+ /**
+ * @brief Enumeration for the full scale range to set on the sensor.
+ * Available are 1260 hPa or 4060 hPa.
+ */
+ enum FullScaleRange : uint8_t
+ {
+ FS_1260,
+ FS_4060
+ };
+
+ /**
+ * @brief Enumeration for Output Data Rate Configuration.
+ *
+ * Available are One shot (only one sample calculated when signal sent), 1
+ * Hz to 200 Hz. ODR configuration is valid for both pressure and
+ * temperature.
+ */
+ enum ODR : uint8_t
+ {
+ ONE_SHOT = (0b0000 << 3),
+ ODR_1 = (0b0001 << 3),
+ ODR_4 = (0b0010 << 3),
+ ODR_10 = (0b0011 << 3),
+ ODR_25 = (0b0100 << 3),
+ ODR_50 = (0b0101 << 3),
+ ODR_75 = (0b0110 << 3),
+ ODR_100 = (0b0111 << 3),
+ ODR_200 = (0b1000 << 3)
+ };
+
+ /**
+ * @brief Enumeration for the oversampling to set on the sensor.
+ *
+ * The value read from the sensor will actually be the average of multiple
+ * samples. Available are from 4 to 512 averaged samples.
+ *
+ * @warning For an AGV value of 512, 128, 64 the maximum ODR values are
+ * respectively of 25, 75 and 100 Hz. For any other AVG value all ODR
+ * configurations are possible.
+ */
+ enum AVG : uint8_t
+ {
+ AVG_4 = 0b000,
+ AVG_8 = 0b001,
+ AVG_16 = 0b010,
+ AVG_32 = 0b011,
+ AVG_64 = 0b100,
+ AVG_128 = 0b101,
+ AVG_512 = 0b111
+ };
+
+ /**
+ * @brief Struct that sums up all the settings of the sensor.
+ */
+ typedef struct
+ {
+ bool sa0; ///< Last bit of the slave address; tells if the SA0 pin on
+ ///< the sensor is connected to GND or VDD (3.3V, not 5V!).
+ FullScaleRange fsr; ///< Full scale range
+ AVG avg; ///< Average avg samples
+ ODR odr; ///< Output data rate
+ bool drdy; ///< Enable Interrupt for Data Ready
+ } SensorConfig;
+
+ /**
+ * @brief Constructor that stores the initial settings (without applying
+ * them to the sensor).
+ * @param i2c I2C Peripheral that will be used to communicate with the
+ * sensor.
+ * @param sensorConfig Configuration of the sensor with ODR, AVG, FSR,
+ * interrupt enabled and fifo size.
+ */
+ LPS28DFW(I2C& i2c, SensorConfig sensorConfig);
+
+ /**
+ * @brief Initializes the sensor with the current settings.
+ * @return true if initialization succeeded, false otherwise.
+ */
+ bool init() override;
+
+ /**
+ * @brief Sets and saves the configurations passed on the parameters.
+ */
+ bool setConfig(const SensorConfig& config);
+
+ /**
+ * @brief The self test method returns true if we read the right whoami
+ * value. We can't make a better self test due to the fact that the sensor
+ * doesn't support this feature.
+ * @return true if the right whoami has been read.
+ */
+ bool selfTest() override;
+
+ /**
+ * @brief Sets and saves the oversampling on the sensor.
+ * @return True if setting succeeded, false otherwise.
+ */
+ bool setAverage(AVG avg);
+
+ /**
+ * @brief Sets and saves the output data rate.
+ * @return True if setting succeeded, false otherwise.
+ */
+ bool setOutputDataRate(ODR odr);
+
+ /**
+ * @brief Sets and saves the full scale range.
+ * @return True if setting succeeded, false otherwise.
+ */
+ bool setFullScaleRange(FullScaleRange fs);
+
+ /**
+ * @brief Sets and saves the full scale range.
+ * @return True if setting succeeded, false otherwise.
+ */
+ bool setDRDYInterrupt(bool drdy);
+
+private:
+ LPS28DFWData sampleImpl() override;
+
+ /**
+ * @brief Converting the bytes read from the sensor to the pressure in Pa.
+ */
+ float convertPressure(uint8_t pressXL, uint8_t pressL, uint8_t pressH);
+
+ /**
+ * @brief Converting the bytes read from the sensor to the temperature in
+ * °C.
+ */
+ float convertTemperature(uint8_t tempL, uint8_t tempH);
+
+ I2CDriver::I2CSlaveConfig i2cConfig; ///< I2C address and speed mode
+ I2C& i2c; ///< I2C bus on which the sensor lays
+ SensorConfig sensorConfig; ///< Sensor settings
+ bool isInitialized =
+ false; ///< Flag to tell if the sensor has been initialized
+ uint16_t pressureSensitivity; ///< pressure sensitivity [LSB/Pa]
+ PrintLogger logger = Logging::getLogger("lps28dfw");
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWData.h b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
new file mode 100644
index 0000000000000000000000000000000000000000..9f3f38d22fe1328cf66a1121c80a294d68a28b52
--- /dev/null
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
@@ -0,0 +1,57 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+/**
+ * @brief Struct for the LPS28DFW barometer data. Pressures stored in Pa and
+ * Temperature in °C.
+ */
+struct LPS28DFWData : public PressureData, TemperatureData
+{
+
+ LPS28DFWData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
+
+ LPS28DFWData(uint64_t pressT, float pressure, uint64_t tempT,
+ float temperature)
+ : PressureData{pressT, pressure}, TemperatureData{tempT, temperature}
+ {
+ }
+
+ static std::string header()
+ {
+ return "pressureTimestamp,pressure,temperatureTimestamp,temperature\n ";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << ","
+ << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
new file mode 100644
index 0000000000000000000000000000000000000000..d189ca321f48f16846cc539365eaad064dbef74c
--- /dev/null
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
@@ -0,0 +1,151 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace Boardcore
+{
+
+/**
+ * @brief Various LPS28DFW register/enums definitions.
+ */
+namespace LPS28DFWDefs
+{
+static const uint16_t lsp28dfwAddress0{0b1011100};
+static const uint16_t lsp28dfwAddress1{0b1011101};
+static const float WHO_AM_I_VALUE{0xB4}; ///< Device Who am I value
+static const float pressureSensitivity1260hPa{
+ 40.96}; ///< pressure sensitivity with FSR at 1260 hPa [LSB/Pa]
+static const float pressureSensitivity4060hPa{
+ 20.48}; ///< pressure sensitivity with FSR at 4060 hPa [LSB/Pa]
+static const float temperatureSensitivity{
+ 100}; ///< temperature sensitivity [LSB/°C]
+
+enum Registers : uint8_t
+{
+ INTERRUPT_CFG = 0x0B, ///< Interrupt mode for pressure acquisition
+
+ THS_P_L = 0x0C, ///< User-defined threshold LSB register
+ THS_P_H = 0x0D, ///< User-defined threshold MSB register
+
+ IF_CTRL = 0x0E, ///< Interface control register
+
+ WHO_AM_I = 0x0F, ///< Device Who am I register
+
+ CTRL_REG1 = 0x10, ///< Control Register 1 [ODR, AVG]
+ CTRL_REG2 = 0x11, ///< Control Register 2
+ CTRL_REG3 = 0x12, ///< Control Register 3
+ CTRL_REG4 = 0x13, ///< Control Register 4
+
+ FIFO_CTRL = 0x14, ///< FIFO control register
+ FIFO_WTM = 0x15, ///< FIFO threshold setting register
+
+ REF_P_L = 0x16, ///< Reference pressure LSB data
+ REF_P_H = 0x17, ///< Reference pressure MSB data
+
+ RPDS_L = 0x1a, ///< Pressure offset LSB data
+ RPDS_H = 0x1b, ///< Pressure offset HSB data
+
+ INT_SOURCE = 0x24, ///< Interrupt source register
+
+ FIFO_STATUS1 = 0x25, ///< FIFO status register 1
+ FIFO_STATUS2 = 0x26, ///< FIFO status register 2
+
+ STATUS = 0x27, ///< Status register
+
+ PRESS_OUT_XL = 0x28, ///< Pressure output value LSB data
+ PRESS_OUT_L = 0x29, ///< Pressure output value middle data
+ PRESS_OUT_H = 0x2a, ///< Pressure output value MSB data
+
+ TEMP_OUT_L = 0x2b, ///< Temperature output value LSB data
+ TEMP_OUT_H = 0x2c, ///< Temperature output value MSB data
+
+ FIFO_DATA_OUT_PRESS_XL = 0x78, ///< FIFO pressure output LSB data
+ FIFO_DATA_OUT_PRESS_L = 0x79, ///< FIFO pressure output middle data
+ FIFO_DATA_OUT_PRESS_H = 0x7a, ///< FIFO pressure output MSB data
+};
+
+enum CTRL_REG2 : uint8_t
+{
+ ONE_SHOT_START = (0b1 << 0), ///< Enable one-shot mode
+ SWRESET = (0b1 << 2), ///< Software reset
+ BDU = (0b1 << 3), ///< Block data update
+ EN_LPFP = (0b1 << 4), ///< Enable low-pass filter on pressure data
+ LFPF_CFG = (0b1 << 5), ///< Low-pass filter configuration
+ FS_MODE = (0b1 << 6), ///< Full-scale selection
+ BOOT = (0b1 << 7) ///< Reboot memory content
+};
+
+enum CTRL_REG3 : uint8_t
+{
+ IF_ADD_INC =
+ (0b1 << 0), ///< Increment register during a multiple byte access
+ PP_OD = (0b1 << 1), ///< Push-pull/open-drain selection on interrupt pin
+ INT_H_L = (0b1 << 3) ///< Select interrupt active-high, active-low
+};
+
+enum CTRL_REG4 : uint8_t
+{
+ INT_F_OVR = (0b1 << 0), ///< FIFO overrun status on INT_DRDY pin
+ INT_F_WTM = (0b1 << 1), ///< FIFO threshold status on INT_DRDY pin
+ INT_F_FULL = (0b1 << 2), ///< FIFO full flag on INT_DRDY pin
+ INT_EN = (0b1 << 4), ///< Interrupt signal on INT_DRDY pin
+ DRDY = (0b1 << 5), ///< Date-ready signal on INT_DRDY pin
+ DRDY_PLS = (0b1 << 6) ///< Data-ready pulsed on INT_DRDY pin
+};
+
+enum FIFO_CTRL : uint8_t
+{
+ BYPASS = 0b000,
+ FIFO = 0b001,
+ CONTINUOUS = 0b010,
+ BYPASS_TO_FIFO = 0b101,
+ BYPASS_TO_CONTINUOUS = 0b110,
+ CONTINUOUS_TO_FIFO = 0b111,
+ STOP_ON_WTM = (0b1 << 3) ///< Stop-on-FIFO watermark
+};
+
+enum INT_SOURCE : uint8_t
+{
+ PH = (0b1 << 0), ///< Differential pressure High
+ PL = (0b1 << 1), ///< Differential pressure Low
+ IA = (0b1 << 2), ///< Interrupt active
+ BOOT_ON = (0b1 << 7) ///< Reboot phase is running
+};
+
+enum FIFO_STATUS2 : uint8_t
+{
+ FIFO_FULL_IA = (0b1 << 5), ///< FIFO full status
+ FIFO_OVR_IA = (0b1 << 6), ///< FIFO overrun status
+ FIFO_WTM_IA = (0b1 << 7) ///< FIFO threshold status
+};
+
+enum STATUS : uint8_t
+{
+ P_DA = (0b1 << 0), ///< Pressure data available
+ T_DA = (0b1 << 1), ///< Temperature data available
+ P_OR = (0b1 << 4), ///< Pressure data overrun
+ T_OR = (0b1 << 5) ///< Temperature data overrun
+};
+
+} // namespace LPS28DFWDefs
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/sensors/test-lps28dfw.cpp b/src/tests/sensors/test-lps28dfw.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e5a287d1fb5cd276323b9ce20206ca1c04575ef1
--- /dev/null
+++ b/src/tests/sensors/test-lps28dfw.cpp
@@ -0,0 +1,181 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/interrupt/external_interrupts.h>
+
+#include <iostream>
+
+#include "miosix.h"
+#include "sensors/LPS28DFW/LPS28DFW.h"
+#include "sensors/LPS28DFW/LPS28DFWData.h"
+#include "string"
+#include "string.h"
+#include "thread"
+
+using namespace std;
+using namespace miosix;
+using namespace Boardcore;
+
+// I2C1
+typedef Gpio<GPIOB_BASE, 8> i1scl;
+typedef Gpio<GPIOB_BASE, 9> i1sda;
+
+uint8_t nSamples = 10;
+/**
+ * ONE_SHOT | AVG4 : 161.6 us/samp (W1+R1+W2+W1+R5) @1Hz: 1.7 uA [FROM DS]
+ * ONE_SHOT | AVG512 : 162 us/samp (W1+R1+W2+W1+R5) @1Hz: 32.2 uA [FROM DS]
+ * ODR1 | AVG4 : 127.8 us/samp (W1+R1+W1+R5) @1Hz: 2.5 uA [FROM DS]
+ * ODR1 | AVG512 : 127.8 us/samp (W1+R1+W1+R5) @1Hz: 32.8 uA [FROM DS]
+ */
+miosix::Thread *waiting = 0;
+bool sampleAvailable = false;
+void __attribute__((used)) EXTI5_IRQHandlerImpl()
+{
+ if (waiting)
+ {
+ sampleAvailable = true;
+ waiting->IRQwakeup();
+ }
+}
+
+void sampleOneShotMode(I2C &i2c)
+{
+ printf("Start One-Shot\n");
+
+ // Setting up the Sensor
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ONE_SHOT, false};
+ LPS28DFW lps28dfw(i2c, lps28dfwConfig);
+ if (!lps28dfw.init())
+ {
+ printf("Error initialization of sensor\n");
+ return;
+ }
+
+ for (uint8_t i = 0; i < nSamples; i++)
+ {
+ lps28dfw.sample();
+
+ if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
+ {
+ lps28dfw.getLastSample().print(std::cout);
+ }
+ else
+ {
+ printf("Error: %d\n", lps28dfw.getLastError());
+ }
+ Thread::sleep(100);
+ }
+
+ printf("End One-Shot\n");
+}
+
+void sampleContinuousMode(I2C &i2c)
+{
+ printf("Start Continuous\n");
+
+ // Setting up the Sensor
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ODR_10, false};
+ LPS28DFW lps28dfw(i2c, lps28dfwConfig);
+ if (!lps28dfw.init())
+ {
+ printf("Error initialization of sensor\n");
+ return;
+ }
+
+ for (uint8_t i = 0; i < nSamples; i++)
+ {
+ Thread::sleep(100);
+
+ lps28dfw.sample();
+
+ if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
+ {
+ lps28dfw.getLastSample().print(std::cout);
+ }
+ else
+ {
+ printf("Error: %d\n", lps28dfw.getLastError());
+ }
+ }
+
+ printf("End Continuous\n");
+}
+
+void sampleInterruptMode(I2C &i2c)
+{
+ printf("Start Interrupt\n");
+ // Setting up the Sensor
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ODR_10, true};
+ LPS28DFW lps28dfw(i2c, lps28dfwConfig);
+ if (!lps28dfw.init())
+ {
+ printf("Error initialization of sensor\n");
+ return;
+ }
+
+ for (uint8_t i = 0; i < nSamples; i++)
+ {
+
+ while (!sampleAvailable)
+ {
+ waiting->wait();
+ }
+
+ sampleAvailable = false;
+ lps28dfw.sample();
+
+ if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
+ {
+ lps28dfw.getLastSample().print(std::cout);
+ }
+ else
+ {
+ printf("Error: %d\n", lps28dfw.getLastError());
+ }
+ }
+
+ printf("End Interrupt\n");
+}
+
+int main()
+{
+ I2C i2c(I2C1, i1scl::getPin(), i1sda::getPin());
+
+ waiting = Thread::getCurrentThread();
+ enableExternalInterrupt(GPIOE_BASE, 5, InterruptTrigger::RISING_EDGE);
+
+ for (;;)
+ {
+ printf("\nNew set of samples\n");
+ sampleOneShotMode(i2c);
+ sampleContinuousMode(i2c);
+ sampleInterruptMode(i2c);
+ }
+
+ return 0;
+}