diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6798867219d444c49cf6c84becb4e1c970dd684c..109b9ba29f8b07600c8b8464d6aed6da55db9937 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -374,6 +374,9 @@ sbs_target(test-lis3mdl stm32f429zi_skyward_death_stack_x)
add_executable(test-lis331hh src/tests/sensors/test-lis331hh.cpp)
sbs_target(test-lis331hh stm32f205rc_skyward_ciuti)
+add_executable(test-lps331ap src/tests/sensors/test-lps331ap.cpp)
+sbs_target(test-lps331ap stm32f429zi_stm32f4discovery)
+
add_executable(test-max6675 src/tests/sensors/test-max6675.cpp)
sbs_target(test-max6675 stm32f429zi_stm32f4discovery)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 2036b43467026eca06f315b8d689f7f81484e08c..5daaab18e1681713b0d138029da8547541920e9c 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -90,6 +90,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/HX711/HX711.cpp
${SBS_BASE}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
${SBS_BASE}/src/shared/sensors/LIS331HH/LIS331HH.cpp
+ ${SBS_BASE}/src/shared/sensors/LPS331AP/LPS331AP.cpp
${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp
${SBS_BASE}/src/shared/sensors/MAX31855/MAX31855.cpp
${SBS_BASE}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
diff --git a/src/shared/sensors/LPS331AP/LPS331AP.cpp b/src/shared/sensors/LPS331AP/LPS331AP.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2c46041ab839a927ac2960b5fb199d59affe29eb
--- /dev/null
+++ b/src/shared/sensors/LPS331AP/LPS331AP.cpp
@@ -0,0 +1,119 @@
+
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * 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 "LPS331AP.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+namespace Boardcore
+{
+
+LPS331AP::LPS331AP(I2C& bus, ODR odr) : bus(bus), odr(odr) {}
+
+bool LPS331AP::init()
+{
+ if (!checkWhoAmI())
+ {
+ return false;
+ }
+
+ uint8_t ctrlReg1 = 0;
+ ctrlReg1 |= 0x80; // Active mode
+ ctrlReg1 |= static_cast<uint8_t>(odr) << 4;
+
+ if (!bus.writeRegister(slaveConfig, REG_CTRL_REG1, ctrlReg1))
+ {
+
+ lastError = SensorErrors::BUS_FAULT;
+ return false;
+ }
+
+ // Maximum possible oversampling to lower the noise
+ uint8_t ctrlConf = odr != ODR::ODR_25Hz ? 0x69 : 0x7a;
+
+ if (!bus.writeRegister(slaveConfig, REG_RES_CONF, ctrlConf))
+ {
+ lastError = SensorErrors::BUS_FAULT;
+ return false;
+ }
+
+ return true;
+}
+
+bool LPS331AP::selfTest() { return checkWhoAmI(); }
+
+LPS331APData LPS331AP::sampleImpl()
+{
+ uint8_t buffer[5];
+ if (bus.readFromRegister(slaveConfig, REG_PRESS_XLSB, buffer, 5))
+ {
+ LPS331APData data;
+
+ int32_t pressure = 0;
+ pressure |= static_cast<uint32_t>(buffer[0]) << 16;
+ pressure |= static_cast<uint32_t>(buffer[1]) << 8;
+ pressure |= static_cast<uint32_t>(buffer[2]);
+
+ int32_t temperature = 0;
+ temperature |= static_cast<uint32_t>(buffer[3]) << 8;
+ temperature |= static_cast<uint32_t>(buffer[4]);
+
+ data.pressureTimestamp = TimestampTimer::getTimestamp();
+ data.temperatureTimestamp = TimestampTimer::getTimestamp();
+ data.pressure = pressure / 4096.0f;
+ data.temperature = temperature / 480.0f + 42.5f;
+
+ return data;
+ }
+ else
+ {
+ lastError = SensorErrors::BUS_FAULT;
+ return lastSample;
+ }
+}
+
+bool LPS331AP::checkWhoAmI()
+{
+ uint8_t whoAmIValue;
+
+ if (bus.readRegister(slaveConfig, REG_WHO_AM_I, whoAmIValue))
+ {
+ if (whoAmIValue == WHO_AM_I_VAL)
+ {
+ return true;
+ }
+ else
+ {
+ LOG_ERR(logger, "Invalid WHO AM I");
+ lastError = SensorErrors::INVALID_WHOAMI;
+ return false;
+ }
+ }
+ else
+ {
+ lastError = SensorErrors::BUS_FAULT;
+ return false;
+ }
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS331AP/LPS331AP.h b/src/shared/sensors/LPS331AP/LPS331AP.h
new file mode 100644
index 0000000000000000000000000000000000000000..9c5ab5ffe200b3aa4114bbd9f967b653f7690b59
--- /dev/null
+++ b/src/shared/sensors/LPS331AP/LPS331AP.h
@@ -0,0 +1,75 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * 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/i2c/I2C.h>
+#include <sensors/Sensor.h>
+
+#include "LPS331APData.h"
+
+namespace Boardcore
+{
+
+class LPS331AP : public Sensor<LPS331APData>
+{
+public:
+ enum class ODR : uint8_t
+ {
+ ODR_1HZ = 0x01,
+ ODR_7Hz = 0x05,
+ ODR_12_5Hz = 0x06,
+ ODR_25Hz = 0x07,
+ };
+
+ explicit LPS331AP(I2C& bus, ODR odr = ODR::ODR_25Hz);
+
+ bool init() override;
+
+ bool selfTest() override;
+
+private:
+ LPS331APData sampleImpl() override;
+
+ bool checkWhoAmI();
+
+ static constexpr uint8_t WHO_AM_I_VAL = 0x58; ///< Who am I value
+
+ enum Registers : uint8_t
+ {
+ REG_WHO_AM_I = 0x8f,
+ REG_RES_CONF = 0x10,
+ REG_CTRL_REG1 = 0x20,
+ REG_PRESS_XLSB = 0x28,
+ };
+
+ I2C& bus;
+ I2CDriver::I2CSlaveConfig slaveConfig{0x5c, I2CDriver::Addressing::BIT7,
+ I2CDriver::Speed::STANDARD};
+
+ ODR odr;
+
+ PrintLogger logger = Logging::getLogger("lps331ap");
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS331AP/LPS331APData.h b/src/shared/sensors/LPS331AP/LPS331APData.h
new file mode 100644
index 0000000000000000000000000000000000000000..1cdcbbd5664381517ef4967d9fcb1a1e5b40ea0b
--- /dev/null
+++ b/src/shared/sensors/LPS331AP/LPS331APData.h
@@ -0,0 +1,55 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * 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 LPS331APData : public PressureData, TemperatureData
+{
+
+ LPS331APData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
+
+ LPS331APData(uint64_t pressureTimestamp, float pressure,
+ uint64_t temperatureTimestamp, float temperature)
+ : PressureData{pressureTimestamp, pressure}, TemperatureData{
+ temperatureTimestamp,
+ 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/tests/sensors/test-lps331ap.cpp b/src/tests/sensors/test-lps331ap.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b7e07db1aa793890544983635d15dd5659339c90
--- /dev/null
+++ b/src/tests/sensors/test-lps331ap.cpp
@@ -0,0 +1,57 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * 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 <sensors/LPS331AP/LPS331AP.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+GpioPin scl(GPIOA_BASE, 8);
+GpioPin sda(GPIOC_BASE, 9);
+
+int main()
+{
+ I2C bus(I2C3, scl, sda);
+ LPS331AP lps331(bus);
+
+ if (!lps331.init())
+ {
+ printf("Init failed\n");
+ }
+
+ if (!lps331.selfTest())
+ {
+ printf("Self test failed\n");
+ }
+
+ while (true)
+ {
+ lps331.sample();
+
+ auto data = lps331.getLastSample();
+ printf("[%.2f]: %.2fPa %.2f°\n", data.pressureTimestamp / 1e6,
+ data.pressure, data.temperature);
+
+ Thread::sleep(50); // 25Hz
+ }
+}