diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4fe5fc432f1f6519dd90a20b41a4aecb3df307f1..f1ed2c694c70e53b8453119b438d14b6715bef71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -487,6 +487,9 @@ sbs_target(test-lps22df stm32f767zi_nucleo)
add_executable(test-lsm6dsrx src/tests/sensors/test-lsm6dsrx.cpp)
sbs_target(test-lsm6dsrx stm32f407vg_stm32f4discovery)
+add_executable(test-nd015x src/tests/sensors/test-nd015x.cpp)
+sbs_target(test-nd015x stm32f767zi_lyra_biscotto)
+
#-----------------------------------------------------------------------------#
# Tests - Utils #
#-----------------------------------------------------------------------------#
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 2d773978aa5dbfcdb7770a23a6ab0360cc89e521..12c0eff4291a2b0d1f656dee99b25d96a76c083e 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -120,6 +120,8 @@ set(BOARDCORE_SRC
${BOARDCORE_PATH}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
${BOARDCORE_PATH}/src/shared/sensors/LPS22DF/LPS22DF.cpp
${BOARDCORE_PATH}/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
+ ${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015D.cpp
+ ${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015A.cpp
# Calibration
${BOARDCORE_PATH}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
diff --git a/src/shared/sensors/ND015X/ND015A.cpp b/src/shared/sensors/ND015X/ND015A.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3b1a610cf303e419e016ed1f213d3b5965496cfb
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015A.cpp
@@ -0,0 +1,164 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 "ND015A.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/Constants.h>
+
+#include <cmath>
+#include <string>
+
+namespace Boardcore
+{
+const char ND015A::MODEL_NAME[] = "ND015A";
+
+SPIBusConfig ND015A::getDefaultSPIConfig()
+{
+ SPIBusConfig spiConfig{};
+ spiConfig.mode = SPI::Mode::MODE_1;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_256;
+
+ // Datasheet specifies 100us, but 50us is enough from testing
+ spiConfig.csSetupTimeUs = 50;
+
+ // The datasheet specifies a minimum CS hold time of 100us
+ // If this is ever an issue, implement it by waiting at the next sample
+ // instead of setting it in SPIBusConfig
+
+ return spiConfig;
+}
+
+ND015A::ND015A(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ IOWatchdogEnable iow, BWLimitFilter bwl, NotchEnable ntc,
+ uint8_t odr)
+ : slave(bus, cs, spiConfig), sensorSettings{0x7, iow, bwl, ntc, odr}
+{
+}
+
+bool ND015A::init()
+{
+ // setting the sensor settings to the correct values
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+
+ return true;
+}
+
+bool ND015A::selfTest() { return true; }
+
+bool ND015A::checkModelMatch()
+{
+ ND015ADataExtended extendedData{};
+ uint8_t* data = reinterpret_cast<uint8_t*>(&extendedData);
+
+ // setting the first 2 bytes of the data to the correct sensor settings
+ memcpy(&extendedData, &sensorSettings, sizeof(sensorSettings));
+
+ SPITransaction spi(slave);
+ spi.transfer(data, sizeof(extendedData));
+
+ // this part checks if the model number returned by the sensor matches the
+ // correct model number
+ bool compareResult =
+ (memcmp(&extendedData.model, &MODEL_NAME, sizeof(MODEL_NAME) - 1) == 0);
+
+ if (!compareResult)
+ {
+ auto model =
+ std::string(extendedData.model, sizeof(extendedData.model));
+ // Replace all \0 with '.' for printing
+ std::replace(model.begin(), model.end(), '\0', '.');
+
+ LOG_ERR(logger,
+ "Sensor model mismatch: received {}, expected {} (. = \\0)",
+ model, MODEL_NAME);
+ return false;
+ }
+ return true;
+}
+
+void ND015A::setOutputDataRate(uint8_t odr)
+{
+ sensorSettings.odr = odr;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015A::setIOWatchdog(IOWatchdogEnable iow)
+{
+ sensorSettings.iow = iow;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015A::setBWLimitFilter(BWLimitFilter bwl)
+{
+ sensorSettings.bwl = bwl;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015A::setNotch(NotchEnable ntc)
+{
+ sensorSettings.ntc = ntc;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+ND015XData ND015A::sampleImpl()
+{
+ ND015XData data;
+ uint16_t spiDataOut;
+ SPITransaction spi(slave);
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ uint16_t spiDataIn = spi.transfer16(spiDataOut);
+
+ data.pressure =
+ ((spiDataIn - 0.05 * pow(2, 16)) / (0.9 * pow(2, 16)) * 15) *
+ Constants::PSI_TO_PASCAL;
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/ND015X/ND015A.h b/src/shared/sensors/ND015X/ND015A.h
new file mode 100644
index 0000000000000000000000000000000000000000..77d19e4992fb99b984b5f156f204832a46c276a3
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015A.h
@@ -0,0 +1,176 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 <diagnostic/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "ND015XData.h"
+
+namespace Boardcore
+{
+
+class ND015A : public Sensor<ND015XData>
+{
+public:
+ static const char MODEL_NAME[];
+
+ enum class IOWatchdogEnable : uint8_t
+ {
+ DISABLED = 0x00,
+ ENABLED = 0x01,
+ };
+
+ enum class BWLimitFilter : uint8_t
+ {
+ BWL_1 = 0x00, // 1.0 Hz
+ BWL_2 = 0x01, // 2.0 Hz
+ BWL_5 = 0x02, // 5.0 Hz
+ BWL_10 = 0x03, // 10 Hz
+ BWL_20 = 0x04, // 20 Hz
+ BWL_50 = 0x05, // 50 Hz
+ BWL_100 = 0x06, // 100 Hz
+ BWL_200 = 0x07, // 200 Hz
+ };
+
+ enum class NotchEnable : uint8_t
+ {
+ DISABLED = 0x00,
+ ENABLED = 0x01,
+ };
+
+ /**
+ * @brief Constructs the default config for the SPI bus.
+ *
+ * @return The default SPIBusConfig object.
+ */
+ static SPIBusConfig getDefaultSPIConfig();
+
+ /**
+ * @brief Constructor for the ND015A sensor.
+ *
+ * @param bus SPI bus interface.
+ * @param cs Chip select GPIO pin.
+ * @param spiConfig SPI bus configuration.
+ */
+ ND015A(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ IOWatchdogEnable iow = IOWatchdogEnable::DISABLED,
+ BWLimitFilter bwl = BWLimitFilter::BWL_200,
+ NotchEnable ntc = NotchEnable::ENABLED, uint8_t odr = 0x1C);
+
+ /**
+ * @brief Initializes the sensor.
+ *
+ * @return Always returns true.
+ */
+ bool init() override;
+
+ /**
+ * @brief Not implemented.
+ *
+ * @return Always returns true.
+ */
+ bool selfTest() override;
+
+ /**
+ * @brief function to set the output data rate
+ *
+ * @param odr output data rate for the sensor,
+ * the actual odr is calculated as
+ * 444Hz / odr.
+ * Allowed values are 0x00 to 0xFF,
+ * 0x00 will select the auto-select rate mode
+ */
+ void setOutputDataRate(uint8_t odr);
+
+ /**
+ * @brief function to enable the IO watchdog
+ *
+ * @param iow setting
+ */
+ void setIOWatchdog(IOWatchdogEnable iow);
+
+ /**
+ * @brief Sets the bandwidth limit filter for the sensor.
+ *
+ * @param bwl Bandwidth limit filter setting.
+ */
+ void setBWLimitFilter(BWLimitFilter bwl);
+
+ /**
+ * @brief Enables or disables the notch filter.
+ *
+ * @param ntc Notch filter setting.
+ */
+ void setNotch(NotchEnable ntc);
+
+ /**
+ * @brief Checks if the sensor model matches the expected model.
+ *
+ * @return True if the model matches, false otherwise.
+ *
+ * @warning The function might return false even when it should not as the
+ * SPI transaction sometimes ads some zeroes when it should not.
+ * This is because the sensore requires a clock cycle greater than
+ * the one we can provide
+ */
+ bool checkModelMatch();
+
+protected:
+ ND015XData sampleImpl() override;
+
+private:
+ SPISlave slave;
+
+ /**
+ * @brief settings for the mode control register,
+ * the initial values are the ones set by default
+ * in the sensor
+ */
+ struct
+ {
+ uint8_t fsr : 3; // full scale range, value cannot be changed
+ IOWatchdogEnable iow : 1; // IO watchdog enable
+ BWLimitFilter bwl : 3; // bandwidth limit filter
+ NotchEnable ntc : 1; // notch filter enable
+ uint8_t odr : 8; // output data rate
+ } sensorSettings;
+
+ static_assert(sizeof(sensorSettings) == 2,
+ "sensorSettings size is not 2 bytes");
+
+ struct ND015ADataExtended
+ {
+ uint16_t pressure;
+ uint16_t temperature;
+ char model[8];
+ uint8_t serial[4];
+ uint8_t build[6];
+ };
+
+ PrintLogger logger = Logging::getLogger("nd015a");
+};
+
+} // namespace Boardcore
+
diff --git a/src/shared/sensors/ND015X/ND015D.cpp b/src/shared/sensors/ND015X/ND015D.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..53a3ef247ac4b6055e8a6c9b79a78464d1c0ae22
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015D.cpp
@@ -0,0 +1,199 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 "ND015D.h"
+
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/Constants.h>
+
+#include <cmath>
+#include <string>
+
+namespace Boardcore
+{
+const char ND015D::MODEL_NAME[] = "ND015D";
+
+SPIBusConfig ND015D::getDefaultSPIConfig()
+{
+ SPIBusConfig spiConfig{};
+ spiConfig.mode = SPI::Mode::MODE_1;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_256;
+
+ // Datasheet specifies 100us, but 50us is enough from testing
+ spiConfig.csSetupTimeUs = 50;
+
+ // The datasheet specifies a minimum CS hold time of 100us
+ // If this is ever an issue, implement it by waiting at the next sample
+ // instead of setting it in SPIBusConfig
+
+ return spiConfig;
+}
+
+ND015D::ND015D(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ FullScaleRange fsr, IOWatchdogEnable iow, BWLimitFilter bwl,
+ NotchEnable ntc, uint8_t odr)
+ : slave(bus, cs, spiConfig), range(rangeToPressure(fsr)),
+ sensorSettings{fsr, iow, bwl, ntc, odr}
+{
+}
+
+bool ND015D::init()
+{
+ // setting the sensor settings to the correct values
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+
+ return true;
+}
+
+bool ND015D::selfTest() { return true; }
+
+bool ND015D::checkModelMatch()
+{
+ ND015DDataExtended extendedData{};
+ uint8_t* data = reinterpret_cast<uint8_t*>(&extendedData);
+
+ // setting the first 2 bytes of the data to the correct sensor settings
+ memcpy(&extendedData, &sensorSettings, sizeof(sensorSettings));
+
+ SPITransaction spi(slave);
+ spi.transfer(data, sizeof(extendedData));
+
+ // this part checks if the model number returned by the sensor matches the
+ // correct model number
+ bool compareResult =
+ (memcmp(&extendedData.model, &MODEL_NAME, sizeof(MODEL_NAME) - 1) == 0);
+
+ if (!compareResult)
+ {
+ auto model =
+ std::string(extendedData.model, sizeof(extendedData.model));
+ // Replace all \0 with '.' for printing
+ std::replace(model.begin(), model.end(), '\0', '.');
+
+ LOG_ERR(logger,
+ "Sensor model mismatch: received {}, expected {} (. = \\0)",
+ model, MODEL_NAME);
+ return false;
+ }
+ return true;
+}
+
+void ND015D::setOutputDataRate(uint8_t odr)
+{
+ sensorSettings.odr = odr;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015D::setFullScaleRange(FullScaleRange fsr)
+{
+ sensorSettings.fsr = fsr;
+
+ range = rangeToPressure(fsr);
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+float ND015D::rangeToPressure(FullScaleRange fsr)
+{
+ switch (fsr)
+ {
+ case ND015D::FullScaleRange::FS_1:
+ return 1;
+ case ND015D::FullScaleRange::FS_2:
+ return 2;
+ case ND015D::FullScaleRange::FS_4:
+ return 4;
+ case ND015D::FullScaleRange::FS_5:
+ return 5;
+ case ND015D::FullScaleRange::FS_10:
+ return 10;
+ case ND015D::FullScaleRange::FS_15:
+ return 15;
+ default:
+ return 0;
+ }
+}
+
+void ND015D::setIOWatchdog(IOWatchdogEnable iow)
+{
+ sensorSettings.iow = iow;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015D::setBWLimitFilter(BWLimitFilter bwl)
+{
+ sensorSettings.bwl = bwl;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+void ND015D::setNotch(NotchEnable ntc)
+{
+ sensorSettings.ntc = ntc;
+
+ SPITransaction spi(slave);
+ uint16_t spiDataOut;
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ spi.transfer16(spiDataOut);
+}
+
+ND015XData ND015D::sampleImpl()
+{
+ ND015XData data;
+ uint16_t spiDataOut;
+ SPITransaction spi(slave);
+
+ memcpy(&spiDataOut, &sensorSettings, sizeof(spiDataOut));
+ uint16_t spiDataIn = spi.transfer16(spiDataOut);
+
+ data.pressure =
+ (static_cast<int16_t>(spiDataIn) / (0.9 * pow(2, 15)) * range) *
+ Constants::PSI_TO_PASCAL;
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/ND015X/ND015D.h b/src/shared/sensors/ND015X/ND015D.h
new file mode 100644
index 0000000000000000000000000000000000000000..8a085a221516282156fbde9247be3ba927f4673d
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015D.h
@@ -0,0 +1,208 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 <diagnostic/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "ND015XData.h"
+
+namespace Boardcore
+{
+
+class ND015D : public Sensor<ND015XData>
+{
+public:
+ static const char MODEL_NAME[];
+
+ /**
+ * The datasheet is unclear about the unit of measure,
+ * it could be either psi or inH2O but I believe it's the latter
+ */
+ enum class FullScaleRange : uint8_t
+ {
+ FS_1 = 0x02, // 1.0 psi
+ FS_2 = 0x03, // 2.0 psi
+ FS_4 = 0x04, // 4.0 psi
+ FS_5 = 0x05, // 5.0 psi
+ FS_10 = 0x06, // 10.0 psi
+ FS_15 = 0x07, // 15.0 psi
+ };
+
+ /**
+ * @brief Converts the FullScale value to its corresponding range.
+ *
+ * @param fsr FullScale value.
+ * @return Pressure range.
+ */
+ static float rangeToPressure(FullScaleRange fsr);
+
+ enum class IOWatchdogEnable : uint8_t
+ {
+ DISABLED = 0x00,
+ ENABLED = 0x01,
+ };
+
+ enum class BWLimitFilter : uint8_t
+ {
+ BWL_1 = 0x00, // 1.0 Hz
+ BWL_2 = 0x01, // 2.0 Hz
+ BWL_5 = 0x02, // 5.0 Hz
+ BWL_10 = 0x03, // 10 Hz
+ BWL_20 = 0x04, // 20 Hz
+ BWL_50 = 0x05, // 50 Hz
+ BWL_100 = 0x06, // 100 Hz
+ BWL_200 = 0x07, // 200 Hz
+ };
+
+ enum class NotchEnable : uint8_t
+ {
+ DISABLED = 0x00,
+ ENABLED = 0x01,
+ };
+
+ /**
+ * @brief Constructs the default config for the SPI bus.
+ *
+ * @return The default SPIBusConfig object.
+ */
+ static SPIBusConfig getDefaultSPIConfig();
+
+ /**
+ * @brief Constructor for the ND015D sensor.
+ *
+ * @param bus SPI bus interface.
+ * @param cs Chip select GPIO pin.
+ * @param spiConfig SPI bus configuration.
+ */
+
+ ND015D(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ FullScaleRange fsr = FullScaleRange::FS_2,
+ IOWatchdogEnable iow = IOWatchdogEnable::DISABLED,
+ BWLimitFilter bwl = BWLimitFilter::BWL_200,
+ NotchEnable ntc = NotchEnable::ENABLED, uint8_t odr = 0x1C);
+
+ /**
+ * @brief Initializes the sensor.
+ *
+ * @return Always returns true.
+ */
+ bool init() override;
+
+ /**
+ * @brief Not implemented.
+ *
+ * @return Always returns true.
+ */
+ bool selfTest() override;
+
+ /**
+ * @brief function to set the output data rate
+ *
+ * @param odr output data rate for the sensor,
+ * the actual odr is calculated as
+ * 444Hz / odr.
+ * Allowed values are 0x00 to 0xFF,
+ * 0x00 will select the auto-select rate mode
+ */
+ void setOutputDataRate(uint8_t odr);
+
+ /**
+ * @brief Sets the full-scale range for the sensor.
+ *
+ * @param fs Full-scale range.
+ */
+ void setFullScaleRange(FullScaleRange fsr);
+
+ /**
+ * @brief Enables or disables the IO watchdog.
+ *
+ * @param iow IO watchdog setting.
+ */
+ void setIOWatchdog(IOWatchdogEnable iow);
+
+ /**
+ * @brief Sets the bandwidth limit filter for the sensor.
+ *
+ * @param bwl Bandwidth limit filter setting.
+ */
+ void setBWLimitFilter(BWLimitFilter bwl);
+
+ /**
+ * @brief Enables or disables the notch filter.
+ *
+ * @param ntc Notch filter setting.
+ */
+ void setNotch(NotchEnable ntc);
+
+ /**
+ * @brief Checks if the sensor model matches the expected model.
+ *
+ * @return True if the model matches, false otherwise.
+ *
+ * @warning The function might return false even when it should not as the
+ * SPI transaction sometimes ads some zeroes when it should not.
+ * This is because the sensore requires a clock cycle greater than
+ * the one we can provide
+ */
+ bool checkModelMatch();
+
+protected:
+ ND015XData sampleImpl() override;
+
+private:
+ SPISlave slave;
+ float range;
+
+ /**
+ * @brief settings for the mode control register,
+ * the initial values are the ones set by default
+ * in the sensor
+ */
+ struct
+ {
+ FullScaleRange fsr : 3; // full scale range
+ IOWatchdogEnable iow : 1; // IO watchdog enable
+ BWLimitFilter bwl : 3; // bandwidth limit filter
+ NotchEnable ntc : 1; // notch filter enable
+ uint8_t odr : 8; // output data rate
+ } sensorSettings;
+
+ static_assert(sizeof(sensorSettings) == 2,
+ "sensorSettings size is not 2 bytes");
+
+ struct ND015DDataExtended
+ {
+ uint16_t pressure;
+ uint16_t temperature;
+ char model[8];
+ uint8_t serial[4];
+ uint8_t build[6];
+ };
+
+ PrintLogger logger = Logging::getLogger("nd015d");
+};
+
+} // namespace Boardcore
+
diff --git a/src/shared/sensors/ND015X/ND015XData.h b/src/shared/sensors/ND015X/ND015XData.h
new file mode 100644
index 0000000000000000000000000000000000000000..d7d4cdd426caeaac61e6b553ad1d996faa8b57c5
--- /dev/null
+++ b/src/shared/sensors/ND015X/ND015XData.h
@@ -0,0 +1,40 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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
+{
+
+struct ND015XData : public PressureData
+{
+ static std::string header() { return "timestamp,pressure\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/utils/Constants.h b/src/shared/utils/Constants.h
index 5caf126047883890839c97eeb829c49aa69767b0..b2a8c6ca551a0ed6ca89e50a9e18aa5c8956b465 100644
--- a/src/shared/utils/Constants.h
+++ b/src/shared/utils/Constants.h
@@ -31,6 +31,7 @@ namespace Constants
static constexpr float PI = 3.14159265f; // [rad]
static constexpr float DEGREES_TO_RADIANS = PI / 180.0f;
static constexpr float RADIANS_TO_DEGREES = 180.0f / PI;
+static constexpr float PSI_TO_PASCAL = 6894.76f; // [Pa / psi]
static constexpr float g = 9.80665f; // [m^s^2]
diff --git a/src/tests/sensors/test-nd015x.cpp b/src/tests/sensors/test-nd015x.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca715c17bfeada626c45a0c7d5892056a5c79522
--- /dev/null
+++ b/src/tests/sensors/test-nd015x.cpp
@@ -0,0 +1,89 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Pietro Bortolus
+ *
+ * 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 <miosix.h>
+
+#include <iostream>
+
+#include "sensors/ND015X/ND015A.h"
+#include "sensors/ND015X/ND015D.h"
+
+using namespace miosix;
+using namespace Boardcore;
+
+// Pin definitions for Lyra Biscotto
+GpioPin sckPin = GpioPin(GPIOE_BASE, 2);
+GpioPin misoPin = GpioPin(GPIOE_BASE, 5);
+GpioPin mosiPin = GpioPin(GPIOE_BASE, 6);
+GpioPin csPinND015A = GpioPin(GPIOB_BASE, 9);
+GpioPin csPinND015D = GpioPin(GPIOB_BASE, 8);
+
+void initPins()
+{
+ // Setup gpio pins
+
+ sckPin.alternateFunction(5);
+ sckPin.mode(Mode::ALTERNATE);
+ misoPin.alternateFunction(5);
+ misoPin.mode(Mode::ALTERNATE);
+ mosiPin.alternateFunction(5);
+ mosiPin.mode(Mode::ALTERNATE);
+ csPinND015A.mode(Mode::OUTPUT);
+ csPinND015A.high();
+ csPinND015D.mode(Mode::OUTPUT);
+ csPinND015D.high();
+}
+
+int main()
+{
+ // Initialize SPI pins
+ initPins();
+
+ SPIBus bus(SPI4);
+
+ ND015A sensor(bus, csPinND015A, ND015A::getDefaultSPIConfig());
+ // ND015D sensor(bus, csPinND015D, ND015D::getDefaultSPIConfig());
+ ND015XData sensorData;
+
+ sensor.init();
+
+ if (sensor.checkModelMatch())
+ {
+ std::cout << "Sensor initialized correctly" << std::endl;
+ }
+ else
+ {
+ std::cout << "Sensor failed to initialize" << std::endl;
+ return 1;
+ }
+
+ while (true)
+ {
+ sensor.sample();
+ sensorData = sensor.getLastSample();
+ std::cout << "New data: " << sensorData.pressure << std::endl;
+
+ Thread::sleep(1000);
+ }
+
+ return 0;
+}