added TSL2561 Light sesnor

7 files changed, 750 insertions, 148 deletions

diff --git a/os/various/devices_lib/sensors/hdc1000/hdc1000.c b/os/various/devices_lib/sensors/hdc1000/hdc1000.c
index 47e0e5a..218450d 100644
--- a/os/various/devices_lib/sensors/hdc1000/hdc1000.c
+++ b/os/various/devices_lib/sensors/hdc1000/hdc1000.c
@@ -125,23 +125,20 @@ HDC1000_init(HDC1000_drv *drv, HDC1000_config *config) {
 	             HDC1000_CONFIG_RES;
     drv->delay    = (HDC1000_DELAY_ACQUIRE +
 		     HDC1000_DELAY_ACQUIRE_SAFETY) / 1000;
-    drv->state    = HDC1000_INIT;
+    drv->state    = SENSOR_INIT;
 }
 
 msg_t
 HDC1000_check(HDC1000_drv *drv) {
-    msg_t msg = -10;
-    uint16_t val;
+    uint16_t manuf, device;
 
-    if ((msg = i2c_reg_recv16_be(HDC1000_REG_MANUF_ID,  &val)) < MSG_OK)
+    msg_t msg;
+    if (((msg = i2c_reg_recv16_be(HDC1000_REG_MANUF_ID,  &manuf )) < MSG_OK) ||
+	((msg = i2c_reg_recv16_be(HDC1000_REG_DEVICE_ID, &device)) < MSG_OK))
 	return msg;
-    if (val != HDC1000_MANUF_ID)
-	return -2;
     
-    if ((msg = i2c_reg_recv16_be(HDC1000_REG_DEVICE_ID, &val)) < MSG_OK)
-	return msg;
-    if (val != HDC1000_DEVICE_ID)
-	return -2;
+    if ((manuf != HDC1000_MANUF_ID) || (device != HDC1000_DEVICE_ID))
+	return SENSOR_NOTFOUND;
 
     return MSG_OK;
 }
@@ -149,22 +146,22 @@ HDC1000_check(HDC1000_drv *drv) {
 
 msg_t
 HDC1000_start(HDC1000_drv *drv) {
-    osalDbgAssert((drv->state == HDC1000_INIT   ) ||
-		  (drv->state == HDC1000_ERROR  ) ||
-		  (drv->state == HDC1000_STOPPED),
+    osalDbgAssert((drv->state == SENSOR_INIT   ) ||
+		  (drv->state == SENSOR_ERROR  ) ||
+		  (drv->state == SENSOR_STOPPED),
 		  "invalid state");
     msg_t msg;    
     if ((msg = _apply_config(drv)) < MSG_OK) {
-	drv->state = HDC1000_ERROR;
+	drv->state = SENSOR_ERROR;
 	return msg;
     }
-    drv->state = HDC1000_STARTED;
+    drv->state = SENSOR_STARTED;
     return MSG_OK;
 }
 
 msg_t
 HDC1000_stop(HDC1000_drv *drv) {
-    drv->state = HDC1000_STOPPED;
+    drv->state = SENSOR_STOPPED;
     return MSG_OK;
 }
 
@@ -175,7 +172,7 @@ HDC1000_setHeater(HDC1000_drv *drv, bool on) {
 
     msg_t msg;    
     if ((msg = _apply_config(drv)) < MSG_OK) {
-	drv->state = HDC1000_ERROR;
+	drv->state = SENSOR_ERROR;
 	return msg;
     }
     return MSG_OK;
@@ -184,10 +181,10 @@ HDC1000_setHeater(HDC1000_drv *drv, bool on) {
 msg_t
 HDC1000_startMeasure(HDC1000_drv *drv) {
     msg_t msg;
-    osalDbgAssert(drv->state == HDC1000_STARTED, "invalid state");
+    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
     if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK)
 	return msg;
-    drv->state = HDC1000_MEASURING;
+    drv->state = SENSOR_MEASURING;
     return MSG_OK;
 }
 
@@ -195,7 +192,7 @@ HDC1000_startMeasure(HDC1000_drv *drv) {
 msg_t
 HDC1000_readSerial(HDC1000_drv *drv, uint8_t *serial) {
     msg_t msg;
-    osalDbgAssert(drv->state == HDC1000_STARTED, "invalid state");
+    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
 
     if (((msg = i2c_reg_recv16(HDC1000_REG_SERIAL_1,
 			       (uint16_t*)&serial[0])) < MSG_OK) ||
@@ -214,16 +211,16 @@ HDC1000_readMeasure(HDC1000_drv *drv,
     msg_t    msg;
     uint32_t val;
 
-    osalDbgAssert((drv->state == HDC1000_MEASURING) ||
-		  (drv->state == HDC1000_READY    ),
+    osalDbgAssert((drv->state == SENSOR_MEASURING) ||
+		  (drv->state == SENSOR_READY    ),
 		  "invalid state");
 
     if ((msg = i2c_recv32_be(&val)) < MSG_OK) {
-	drv->state = HDC1000_ERROR;
+	drv->state = SENSOR_ERROR;
 	return msg;
     }
 
-    drv->state = HDC1000_STARTED;
+    drv->state = SENSOR_STARTED;
 
     return _decode_measure(drv, val, temperature, humidity);
 }
@@ -234,7 +231,7 @@ HDC1000_readTemperatureHumidity(HDC1000_drv *drv,
     msg_t    msg;
     uint32_t val;
 
-    osalDbgAssert(drv->state == HDC1000_STARTED, "invalid state");
+    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
 
     /* Request value */
     if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK)
@@ -245,7 +242,7 @@ HDC1000_readTemperatureHumidity(HDC1000_drv *drv,
 	
     /* Get value */
     if ((msg = i2c_recv32_be(&val)) < MSG_OK) {
-	drv->state = HDC1000_ERROR;
+	drv->state = SENSOR_ERROR;
 	return msg;
     }
 
diff --git a/os/various/devices_lib/sensors/hdc1000/hdc1000.h b/os/various/devices_lib/sensors/hdc1000/hdc1000.h
index 902b17b..9533060 100644
--- a/os/various/devices_lib/sensors/hdc1000/hdc1000.h
+++ b/os/various/devices_lib/sensors/hdc1000/hdc1000.h
@@ -6,6 +6,12 @@
  * @file    hdc1000.h
  * @brief   HDC1000 Temperature/Humidiry sensor interface module header.
  *
+ * When changing sensor settings, you generally need to wait
+ * for 2 * getAquisitionTime(), as usually the first acquisition
+ * will be corrupted by the change of settings.
+ *
+ * No locking is done.
+ *
  * @{
  */
 
@@ -15,6 +21,14 @@
 #include <math.h>
 #include <stdbool.h>
 #include "i2c_helpers.h"
+#include "sensor.h"
+
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+#define HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED   FALSE
 
 /* I2C address */
 #define HDC1000_I2CADDR_1           0x40
@@ -22,24 +36,34 @@
 #define HDC1000_I2CADDR_3           0x42
 #define HDC1000_I2CADDR_4           0x43
 
-#define HDC1000_I2CADDR_DEFAULT     HDC1000_I2CADDR_1
+#define HDC1000_SERIAL_SIZE         5  /**< @brief Size of serial (40bits) */
+
+/**
+ * @brief Time necessary for the sensor to boot
+ */
+#define HDC1000_BOOTUP_TIME		15
 
+/**
+ * @brief Time necessary for the sensor to start
+ */
+#define HDC1000_STARTUP_TIME		0
 
-/* Size of serial (40 bits) */
-#define HDC1000_SERIAL_SIZE         5
 
-#define HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED   FALSE
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
 
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
 
-/**
- * When changing sensor settings, you generally need to wait
- * for 2 * getAquisitionTime(), as usually the first acquisition
- * will be corrupted by the change of settings.
- *
- * No locking is done.
- */
+#define HDC1000_I2CADDR_DEFAULT     HDC1000_I2CADDR_1
 
 
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
 /**
  * @brief   HDC1000 configuration structure.
  */
@@ -47,31 +71,25 @@ typedef struct {
     I2CHelper i2c; /* keep it first */
 } HDC1000_config;
 
-
-/**
- * @brief   Driver state machine possible states.
- */
-typedef enum __attribute__ ((__packed__)) {
-    HDC1000_UNINIT    = 0,            /**< Not initialized.                */
-    HDC1000_INIT      = 1,            /**< Initialized.                    */
-    HDC1000_STARTED   = 2,            /**< Started.                        */
-    HDC1000_MEASURING = 4,            /**< Measuring.                      */
-    HDC1000_READY     = 3,            /**< Ready.                          */
-    HDC1000_STOPPED   = 5,            /**< Stopped.                        */
-    HDC1000_ERROR     = 6,            /**< Error.                          */
-} HDC1000_state_t;
-
-
 /**
  * @brief   HDC1000 configuration structure.
  */
 typedef struct {
     HDC1000_config  *config;
-    HDC1000_state_t  state;
+    sensor_state_t   state;
     unsigned int     delay;    
     uint16_t         cfg;
 } HDC1000_drv;
 
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
 /**
  * @brief Initialize the sensor driver
  */
@@ -111,30 +129,6 @@ HDC1000_setHeater(HDC1000_drv *drv,
 	bool on);
 
 
-/**
- * @brief Time necessary for the sensor to boot
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-
-static inline unsigned int
-HDC1000_getBootupTime(HDC1000_drv *drv) {
-    (void)drv;
-    return 15;
-};
-
-/**
- * @brief Time necessary the sensor to for starting
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-static inline unsigned int
-HDC1000_getStartupTime(HDC1000_drv *drv) {
-    (void)drv;
-    return 0;
-};
 
 /**
  * @brief Time in milli-seconds necessary for acquiring a naw measure
@@ -178,7 +172,7 @@ HDC1000_readMeasure(HDC1000_drv *drv,
  *
  * @note    In continuous measurement mode, if you just started
  *          the sensor, you will need to wait getAcquisitionTime()
- *          in addition to the usual getStartupTime()
+ *          in addition to the usual #HDC1000_STARTUP_TIME
 
  * @note    If using several sensors, it is better to start all the
  *          measure together, wait for the sensor having the longuest
@@ -229,3 +223,6 @@ HDC1000_getTemperature(HDC1000_drv *drv) {
 
 #endif
 
+/**
+ * @}
+ */
diff --git a/os/various/devices_lib/sensors/mcp9808/mcp9808.c b/os/various/devices_lib/sensors/mcp9808/mcp9808.c
index df4d440..296c2f1 100644
--- a/os/various/devices_lib/sensors/mcp9808/mcp9808.c
+++ b/os/various/devices_lib/sensors/mcp9808/mcp9808.c
@@ -63,6 +63,16 @@
 /*===========================================================================*/
 
 static inline msg_t
+_apply_config(MCP9808_drv *drv) {
+    struct __attribute__((packed)) {
+	uint8_t  reg;
+	uint16_t conf;
+    } tx = { MCP9808_REG_CONFIG, cpu_to_be16(drv->cfg) };
+    
+    return i2c_send((uint8_t*)&tx, sizeof(tx));
+}
+
+static inline msg_t
 _decode_measure(MCP9808_drv *drv,
 	uint16_t val, float *temperature) {
     
@@ -95,24 +105,21 @@ void
 MCP9808_init(MCP9808_drv *drv, MCP9808_config *config) {
     drv->config      = config;
     drv->cfg         = 0;
-    drv->resolution  = RES_16;
-    drv->state       = MCP9808_INIT;
+    drv->resolution  = RES_16; /* power up default */
+    drv->state       = SENSOR_INIT;
 }
 
 msg_t
 MCP9808_check(MCP9808_drv *drv) {
-    msg_t msg = -10;
-    uint16_t val;
+    uint16_t manuf, device;
 
-    if ((msg = i2c_reg_recv16_be(MCP9808_REG_MANUF_ID,  &val)) < MSG_OK)
+    msg_t msg;
+    if (((msg = i2c_reg_recv16_be(MCP9808_REG_MANUF_ID,  &manuf )) < MSG_OK) ||
+	((msg = i2c_reg_recv16_be(MCP9808_REG_DEVICE_ID, &device)) < MSG_OK))
 	return msg;
-    if (val != MCP9808_MANUF_ID)
-	return -2;
     
-    if ((msg = i2c_reg_recv16_be(MCP9808_REG_DEVICE_ID, &val)) < MSG_OK)
-	return msg;
-    if (val != MCP9808_DEVICE_ID)
-	return -2;
+    if ((manuf != MCP9808_MANUF_ID) || (device != MCP9808_DEVICE_ID))
+	return SENSOR_NOTFOUND;
 
     return MSG_OK;
 }
@@ -132,33 +139,18 @@ MCP9808_setResolution(MCP9808_drv *drv, MCP9808_resolution_t res) {
     return MSG_OK;
 }
 
-
 msg_t
 MCP9808_start(MCP9808_drv *drv) {
     drv->cfg &= ~(MCP9808_REG_CONFIG_SHUTDOWN);
-
-    struct __attribute__((packed)) {
-	uint8_t  reg;
-	uint16_t conf;
-    } tx = { MCP9808_REG_CONFIG, cpu_to_be16(drv->cfg) };
-    
-    return i2c_send((uint8_t*)&tx, sizeof(tx)) >= 0;
+    return _apply_config(drv);
 }
 
 msg_t
 MCP9808_stop(MCP9808_drv *drv) {
     drv->cfg |= (MCP9808_REG_CONFIG_SHUTDOWN);
-
-    struct __attribute__((packed)) {
-	uint8_t  reg;
-	uint16_t conf;
-    } tx = { MCP9808_REG_CONFIG, cpu_to_be16(drv->cfg) };
-    
-    return i2c_send((uint8_t*)&tx, sizeof(tx)) >= 0;
+    return _apply_config(drv);
 }
 
-
-
 unsigned int
 MCP9808_getAcquisitionTime(MCP9808_drv *drv) {
     switch(drv->resolution) {
@@ -167,8 +159,8 @@ MCP9808_getAcquisitionTime(MCP9808_drv *drv) {
     case RES_8 : return MCP9808_DELAY_ACQUIRE_RES_8;
     case RES_16: return MCP9808_DELAY_ACQUIRE_RES_16;
     }
-    osalDbgAssert(false, "programming error");
-    return -1;
+    osalDbgAssert(false, "OOPS");
+    return 0;
 }
 
 msg_t
@@ -188,7 +180,7 @@ MCP9808_readMeasure(MCP9808_drv *drv,
 msg_t
 MCP9808_readTemperature(MCP9808_drv *drv,
 	float *temperature) {
-    osalDbgAssert(drv->state == MCP9808_STARTED, "invalid state");
+    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
 
     msg_t msg;
     uint16_t val;
diff --git a/os/various/devices_lib/sensors/mcp9808/mcp9808.h b/os/various/devices_lib/sensors/mcp9808/mcp9808.h
index 6a8725d..2d488d7 100644
--- a/os/various/devices_lib/sensors/mcp9808/mcp9808.h
+++ b/os/various/devices_lib/sensors/mcp9808/mcp9808.h
@@ -6,22 +6,42 @@
 #define _SENSOR_MCP9808_H_
 
 #include <math.h>
-#include <stdbool.h>
 #include "i2c_helpers.h"
+#include "sensor.h"
 
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
 
-#define MCP9808_I2CADDR_DEFAULT        0x18
+#define MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
 
-typedef enum {
-    RES_2  = 0x00,  /* 1/2  = 0.5    */
-    RES_4  = 0x01,  /* 1/4  = 0.25   */
-    RES_8  = 0x10,  /* 1/8  = 0.125  */
-    RES_16 = 0x11,  /* 1/16 = 0.0625 */
-} MCP9808_resolution_t;
 
+#define MCP9808_I2CADDR               0x18
 
 
-#define MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#define MCP9808_I2CADDR_DEFAULT       MCP9808_I2CADDR
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief  Different possible resolution
+ */
+typedef enum {
+    RES_2  = 0x00,  /**< @brief Resolution of 1/2  = 0.5    */
+    RES_4  = 0x01,  /**< @brief Resolution of 1/4  = 0.25   */
+    RES_8  = 0x10,  /**< @brief Resolution of 1/8  = 0.125  */
+    RES_16 = 0x11,  /**< @brief Resolution of 1/16 = 0.0625 */
+} MCP9808_resolution_t;
 
 /**
  * @brief   MCP9808 configuration structure.
@@ -30,26 +50,12 @@ typedef struct {
     I2CHelper i2c; /* keep it first */
 } MCP9808_config;
 
-
-/**
- * @brief   Driver state machine possible states.
- */
-typedef enum __attribute__ ((__packed__)) {
-    MCP9808_UNINIT    = 0,            /**< Not initialized.                */
-    MCP9808_INIT      = 1,            /**< Initialized.                    */
-    MCP9808_STARTED   = 2,            /**< Started.                        */
-    MCP9808_MEASURING = 4,            /**< Measuring.                      */
-    MCP9808_READY     = 3,            /**< Ready.                          */
-    MCP9808_STOPPED   = 5,            /**< Stopped.                        */
-    MCP9808_ERROR     = 6,            /**< Error.                          */
-} MCP9808_state_t;
-
 /**
  * @brief   MCP9808 configuration structure.
  */
 typedef struct {
     MCP9808_config      *config;
-    MCP9808_state_t      state;
+    sensor_state_t       state;
     MCP9808_resolution_t resolution;
     uint16_t             cfg;
 } MCP9808_drv;
@@ -61,6 +67,15 @@ typedef struct {
     float temperature;
 } MCP9808_measure;
 
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
 /**
  * @brief   Initialize the sensor driver
  */
@@ -88,8 +103,6 @@ MCP9808_start(MCP9808_drv *drv);
 msg_t
 MCP9808_stop(MCP9808_drv *drv);
 
-
-
 /**
  * @brief   Control the MCP9809 resolution.
  */
@@ -97,7 +110,6 @@ msg_t
 MCP9808_setResolution(MCP9808_drv *drv,
 	MCP9808_resolution_t res);
 
-
 /**
  * @brief Time necessary for the sensor to boot
  *
@@ -137,6 +149,7 @@ MCP9808_getAcquisitionTime(MCP9808_drv *drv);
  */
 static inline msg_t
 MCP9808_startMeasure(MCP9808_drv *drv) {
+    (void)drv;
     return MSG_OK;
 }
 
@@ -178,14 +191,11 @@ MCP9808_readTemperature(MCP9808_drv *drv,
 /**
  * @brief   Return the temperature value in °C.
  *
- * @details Use readTemperatureHumidity() for returning the humidity value.
+ * @note    Prefere readTemperature(), if you need better error handling.
  *
- * @note    Prefere readTemperatureHumidity(), if you need both temperature
- *          and humidity, or if you need better error handling.
- *
- * @returns
- *   float  humidity percent
- *   NAN    on failure
+ * @return  The temperature in °C
+ * @retval  float  humidity percent
+ * @retval  NAN    on failure
  */
 static inline float
 MCP9808_getTemperature(MCP9808_drv *drv) {
@@ -194,10 +204,5 @@ MCP9808_getTemperature(MCP9808_drv *drv) {
     return temperature;
 }
 
-
-
-
-
-
 #endif
 
diff --git a/os/various/devices_lib/sensors/tsl2561/tsl2561.c b/os/various/devices_lib/sensors/tsl2561/tsl2561.c
new file mode 100644
index 0000000..e8372c0
--- /dev/null
+++ b/os/various/devices_lib/sensors/tsl2561/tsl2561.c
@@ -0,0 +1,375 @@
+/*
+    TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
+*/
+
+#define I2C_HELPERS_AUTOMATIC_DRV TRUE
+
+#include "hal.h"
+#include "i2c_helpers.h"
+#include "tsl2561.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+// Integration time in µs
+#define TSL2561_DELAY_INTTIME_SHORT     13700  //   13.7 ms
+#define TSL2561_DELAY_INTTIME_MEDIUM   120000  //  120.0 ms
+#define TSL2561_DELAY_INTTIME_LONG     450000  //  450.0 ms
+
+
+#define TSL2561_COMMAND_BIT       (0x80)
+#define TSL2561_CLEAR_BIT         (0x40)
+#define TSL2561_WORD_BIT          (0x20)
+#define TSL2561_BLOCK_BIT         (0x10)
+
+#define TSL2561_CONTROL_POWERON   (0x03)
+#define TSL2561_CONTROL_POWEROFF  (0x00)
+
+#define TSL2561_LUX_LUXSCALE      (14)
+#define TSL2561_LUX_RATIOSCALE    (9)
+#define TSL2561_LUX_CHSCALE       (10)      // Scale channel values by 2^10
+#define TSL2561_LUX_CHSCALE_TINT0 (0x7517)  // 322/11 * 2^TSL2561_LUX_CHSCALE
+#define TSL2561_LUX_CHSCALE_TINT1 (0x0FE7)  // 322/81 * 2^TSL2561_LUX_CHSCALE
+
+
+// I2C Register
+#define TSL2561_REG_CONTROL           0x00
+#define TSL2561_REG_TIMING            0x01
+#define TSL2561_REG_THRESHHOLDL_LOW   0x02
+#define TSL2561_REG_THRESHHOLDL_HIGH  0x03
+#define TSL2561_REG_THRESHHOLDH_LOW   0x04
+#define TSL2561_REG_THRESHHOLDH_HIGH  0x05
+#define TSL2561_REG_INTERRUPT         0x06
+#define TSL2561_REG_CRC               0x08
+#define TSL2561_REG_ID                0x0A
+#define TSL2561_REG_CHAN0_LOW         0x0C
+#define TSL2561_REG_CHAN0_HIGH        0x0D
+#define TSL2561_REG_CHAN1_LOW         0x0E
+#define TSL2561_REG_CHAN1_HIGH        0x0F
+
+
+// Auto-gain thresholds
+#define TSL2561_AGC_THI_SHORT      (4850)    // Max value at Ti 13ms = 5047
+#define TSL2561_AGC_TLO_SHORT      (100)
+#define TSL2561_AGC_THI_MEDIUM     (36000)   // Max value at Ti 101ms = 37177
+#define TSL2561_AGC_TLO_MEDIUM     (200)
+#define TSL2561_AGC_THI_LONG       (63000)   // Max value at Ti 402ms = 65535
+#define TSL2561_AGC_TLO_LONG       (500)
+
+// Clipping thresholds
+#define TSL2561_CLIPPING_SHORT     (4900)
+#define TSL2561_CLIPPING_MEDIUM    (37000)
+#define TSL2561_CLIPPING_LONG      (65000)
+
+// T, FN and CL package values
+#define TSL2561_LUX_K1T           (0x0040)  // 0.125   * 2^RATIO_SCALE
+#define TSL2561_LUX_B1T           (0x01f2)  // 0.0304  * 2^LUX_SCALE
+#define TSL2561_LUX_M1T           (0x01be)  // 0.0272  * 2^LUX_SCALE
+#define TSL2561_LUX_K2T           (0x0080)  // 0.250   * 2^RATIO_SCALE
+#define TSL2561_LUX_B2T           (0x0214)  // 0.0325  * 2^LUX_SCALE
+#define TSL2561_LUX_M2T           (0x02d1)  // 0.0440  * 2^LUX_SCALE
+#define TSL2561_LUX_K3T           (0x00c0)  // 0.375   * 2^RATIO_SCALE
+#define TSL2561_LUX_B3T           (0x023f)  // 0.0351  * 2^LUX_SCALE
+#define TSL2561_LUX_M3T           (0x037b)  // 0.0544  * 2^LUX_SCALE
+#define TSL2561_LUX_K4T           (0x0100)  // 0.50    * 2^RATIO_SCALE
+#define TSL2561_LUX_B4T           (0x0270)  // 0.0381  * 2^LUX_SCALE
+#define TSL2561_LUX_M4T           (0x03fe)  // 0.0624  * 2^LUX_SCALE
+#define TSL2561_LUX_K5T           (0x0138)  // 0.61    * 2^RATIO_SCALE
+#define TSL2561_LUX_B5T           (0x016f)  // 0.0224  * 2^LUX_SCALE
+#define TSL2561_LUX_M5T           (0x01fc)  // 0.0310  * 2^LUX_SCALE
+#define TSL2561_LUX_K6T           (0x019a)  // 0.80    * 2^RATIO_SCALE
+#define TSL2561_LUX_B6T           (0x00d2)  // 0.0128  * 2^LUX_SCALE
+#define TSL2561_LUX_M6T           (0x00fb)  // 0.0153  * 2^LUX_SCALE
+#define TSL2561_LUX_K7T           (0x029a)  // 1.3     * 2^RATIO_SCALE
+#define TSL2561_LUX_B7T           (0x0018)  // 0.00146 * 2^LUX_SCALE
+#define TSL2561_LUX_M7T           (0x0012)  // 0.00112 * 2^LUX_SCALE
+#define TSL2561_LUX_K8T           (0x029a)  // 1.3     * 2^RATIO_SCALE
+#define TSL2561_LUX_B8T           (0x0000)  // 0.000   * 2^LUX_SCALE
+#define TSL2561_LUX_M8T           (0x0000)  // 0.000   * 2^LUX_SCALE
+
+// CS package values
+#define TSL2561_LUX_K1C           (0x0043)  // 0.130   * 2^RATIO_SCALE
+#define TSL2561_LUX_B1C           (0x0204)  // 0.0315  * 2^LUX_SCALE
+#define TSL2561_LUX_M1C           (0x01ad)  // 0.0262  * 2^LUX_SCALE
+#define TSL2561_LUX_K2C           (0x0085)  // 0.260   * 2^RATIO_SCALE
+#define TSL2561_LUX_B2C           (0x0228)  // 0.0337  * 2^LUX_SCALE
+#define TSL2561_LUX_M2C           (0x02c1)  // 0.0430  * 2^LUX_SCALE
+#define TSL2561_LUX_K3C           (0x00c8)  // 0.390   * 2^RATIO_SCALE
+#define TSL2561_LUX_B3C           (0x0253)  // 0.0363  * 2^LUX_SCALE
+#define TSL2561_LUX_M3C           (0x0363)  // 0.0529  * 2^LUX_SCALE
+#define TSL2561_LUX_K4C           (0x010a)  // 0.520   * 2^RATIO_SCALE
+#define TSL2561_LUX_B4C           (0x0282)  // 0.0392  * 2^LUX_SCALE
+#define TSL2561_LUX_M4C           (0x03df)  // 0.0605  * 2^LUX_SCALE
+#define TSL2561_LUX_K5C           (0x014d)  // 0.65    * 2^RATIO_SCALE
+#define TSL2561_LUX_B5C           (0x0177)  // 0.0229  * 2^LUX_SCALE
+#define TSL2561_LUX_M5C           (0x01dd)  // 0.0291  * 2^LUX_SCALE
+#define TSL2561_LUX_K6C           (0x019a)  // 0.80    * 2^RATIO_SCALE
+#define TSL2561_LUX_B6C           (0x0101)  // 0.0157  * 2^LUX_SCALE
+#define TSL2561_LUX_M6C           (0x0127)  // 0.0180  * 2^LUX_SCALE
+#define TSL2561_LUX_K7C           (0x029a)  // 1.3     * 2^RATIO_SCALE
+#define TSL2561_LUX_B7C           (0x0037)  // 0.00338 * 2^LUX_SCALE
+#define TSL2561_LUX_M7C           (0x002b)  // 0.00260 * 2^LUX_SCALE
+#define TSL2561_LUX_K8C           (0x029a)  // 1.3     * 2^RATIO_SCALE
+#define TSL2561_LUX_B8C           (0x0000)  // 0.000   * 2^LUX_SCALE
+#define TSL2561_LUX_M8C           (0x0000)  // 0.000   * 2^LUX_SCALE
+
+
+
+
+#define CEILING(x,y) (((x) + (y) - 1) / (y))
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+static inline unsigned int
+calculateIlluminance(TSL2561_integration_time_t integration_time,
+		     TSL2561_gain_t gain,
+		     uint16_t broadband, uint16_t ir,
+		     unsigned int partno) {
+    unsigned long channel_1;
+    unsigned long channel_0;  
+
+    /* Get value for channel scaling, and clipping */
+    uint16_t      clip_threshold = 0;
+    unsigned long channel_scale  = 0;
+    switch (integration_time) {
+    case TSL2561_INTEGRATIONTIME_SHORT:
+	clip_threshold = TSL2561_CLIPPING_SHORT;
+	channel_scale  = TSL2561_LUX_CHSCALE_TINT0;
+ 	break;
+    case TSL2561_INTEGRATIONTIME_MEDIUM:
+	clip_threshold = TSL2561_CLIPPING_MEDIUM;
+	channel_scale  = TSL2561_LUX_CHSCALE_TINT1;
+	break;
+    case TSL2561_INTEGRATIONTIME_LONG:
+	clip_threshold = TSL2561_CLIPPING_LONG;
+	channel_scale  = (1 << TSL2561_LUX_CHSCALE);
+	break;
+    default:
+	// assert failed
+	break;
+    }
+
+    /* Check for saturated sensor (ie: clipping) */
+    if ((broadband > clip_threshold) || (ir > clip_threshold)) {
+	return TSL2561_OVERLOADED;
+    }
+    
+    /* Scale for gain (1x or 16x) */
+    if (gain == TSL2561_GAIN_1X)
+	channel_scale <<= 4;
+    
+    /* Scale the channel values */
+    channel_0 = (broadband * channel_scale) >> TSL2561_LUX_CHSCALE;
+    channel_1 = (ir        * channel_scale) >> TSL2561_LUX_CHSCALE;
+
+    /* Find the ratio of the channel values (Channel_1/Channel_0) */
+    unsigned long _ratio = 0;
+    if (channel_0 != 0)
+	_ratio = (channel_1 << (TSL2561_LUX_RATIOSCALE+1)) / channel_0;
+    unsigned long ratio = (_ratio + 1) >> 1; /* round the ratio value */
+
+    /* Find linear approximation */
+    unsigned int b = 0;
+    unsigned int m = 0;
+
+    switch (partno) {
+#if TSL2561_WITH_CS
+    case 0x1: // 0001 = TSL2561 CS
+	if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1C))
+	    { b=TSL2561_LUX_B1C; m=TSL2561_LUX_M1C; }
+	else if (ratio <= TSL2561_LUX_K2C)
+	    { b=TSL2561_LUX_B2C; m=TSL2561_LUX_M2C; }
+	else if (ratio <= TSL2561_LUX_K3C)
+	    { b=TSL2561_LUX_B3C; m=TSL2561_LUX_M3C; }
+	else if (ratio <= TSL2561_LUX_K4C)
+	    { b=TSL2561_LUX_B4C; m=TSL2561_LUX_M4C; }
+	else if (ratio <= TSL2561_LUX_K5C)
+	    { b=TSL2561_LUX_B5C; m=TSL2561_LUX_M5C; }
+	else if (ratio <= TSL2561_LUX_K6C)
+	    { b=TSL2561_LUX_B6C; m=TSL2561_LUX_M6C; }
+	else if (ratio <= TSL2561_LUX_K7C)
+	    { b=TSL2561_LUX_B7C; m=TSL2561_LUX_M7C; }
+	else if (ratio > TSL2561_LUX_K8C)
+	    { b=TSL2561_LUX_B8C; m=TSL2561_LUX_M8C; }
+	break;
+#endif
+#if TSL2561_WITH_T_FN_CL
+    case 0x5: // 0101 = TSL2561 T/FN/CL
+	if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1T))
+	    { b=TSL2561_LUX_B1T; m=TSL2561_LUX_M1T; }
+	else if (ratio <= TSL2561_LUX_K2T)
+	    { b=TSL2561_LUX_B2T; m=TSL2561_LUX_M2T; }
+	else if (ratio <= TSL2561_LUX_K3T)
+	    { b=TSL2561_LUX_B3T; m=TSL2561_LUX_M3T; }
+	else if (ratio <= TSL2561_LUX_K4T)
+	    { b=TSL2561_LUX_B4T; m=TSL2561_LUX_M4T; }
+	else if (ratio <= TSL2561_LUX_K5T)
+	    { b=TSL2561_LUX_B5T; m=TSL2561_LUX_M5T; }
+	else if (ratio <= TSL2561_LUX_K6T)
+	    { b=TSL2561_LUX_B6T; m=TSL2561_LUX_M6T; }
+	else if (ratio <= TSL2561_LUX_K7T)
+	    { b=TSL2561_LUX_B7T; m=TSL2561_LUX_M7T; }
+	else if (ratio > TSL2561_LUX_K8T)
+	    { b=TSL2561_LUX_B8T; m=TSL2561_LUX_M8T; }
+	break;
+#endif
+    default:
+	// assert failed
+	break;
+    }
+    
+    /* Compute illuminance */
+    long ill = ((channel_0 * b) - (channel_1 * m));
+    if (ill < 0) ill = 0;                /* Do not allow negative lux value */
+    ill  += (1 << (TSL2561_LUX_LUXSCALE-1)); /* Round lsb (2^(LUX_SCALE-1)) */
+    ill >>= TSL2561_LUX_LUXSCALE;                  /* Strip fractional part */
+    
+    /* Signal I2C had no errors */
+    return ill;
+}
+
+static inline msg_t
+_readChannel(TSL2561_drv *drv, uint16_t *broadband, uint16_t *ir) {
+    msg_t msg;
+    if (((msg = i2c_reg_recv16_le(TSL2561_COMMAND_BIT | TSL2561_WORD_BIT |
+				  TSL2561_REG_CHAN0_LOW,
+				  broadband)) < MSG_OK) ||
+	((msg = i2c_reg_recv16_le(TSL2561_COMMAND_BIT | TSL2561_WORD_BIT |
+				  TSL2561_REG_CHAN1_LOW,
+				  ir       )) < MSG_OK))
+	return msg;
+
+
+    chprintf(&SD1, "CHANNELS : %x, %x\r\n", *broadband, *ir);
+    return MSG_OK;
+}
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+void
+TSL2561_init(TSL2561_drv *drv, TSL2561_config *config) {
+    drv->config           = config;
+    drv->gain             = TSL2561_GAIN_1X;
+    drv->integration_time = TSL2561_INTEGRATIONTIME_SHORT;
+    drv->state            = SENSOR_INIT;
+
+    i2c_reg_recv8(TSL2561_COMMAND_BIT | TSL2561_REG_ID,
+		 (uint8_t*)&drv->id);
+}
+
+msg_t
+TSL2561_check(TSL2561_drv *drv) {
+    uint8_t rx;
+
+    msg_t msg;
+    if ((msg = i2c_reg_recv8(TSL2561_REG_ID, &rx)) < MSG_OK)
+	return msg;
+    if (!(rx & 0x0A))
+	return SENSOR_NOTFOUND;
+    return MSG_OK;
+}
+  
+msg_t
+TSL2561_stop(TSL2561_drv *drv) {
+    struct PACKED {
+	uint8_t reg;
+	uint8_t conf;
+    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL,
+	     TSL2561_CONTROL_POWEROFF };
+
+    return i2c_send((uint8_t*)&tx, sizeof(tx));
+}
+
+msg_t
+TSL2561_start(TSL2561_drv *drv) {
+    struct PACKED {
+	uint8_t reg;
+	uint8_t conf;
+    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL,
+	     TSL2561_CONTROL_POWERON };
+    
+    return i2c_send((uint8_t*)&tx, sizeof(tx));
+}
+
+msg_t
+TSL2561_setIntegrationTime(TSL2561_drv *drv,
+	TSL2561_integration_time_t time) {
+    struct PACKED {
+	uint8_t reg;
+	uint8_t conf;
+    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING,
+	     (uint8_t)(time | drv->gain) };
+        
+    msg_t msg;
+    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
+	return msg;
+    
+    drv->integration_time = time;
+    
+    return MSG_OK;
+}
+
+msg_t
+TSL2561_setGain(TSL2561_drv *drv,
+	TSL2561_gain_t gain) {
+    struct PACKED {
+	uint8_t reg;
+	uint8_t conf;
+    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING,
+	     (uint8_t)(drv->integration_time | gain) };
+    
+    msg_t msg;
+    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
+	return msg;
+
+    drv->gain = gain;
+
+    return MSG_OK;
+}
+
+unsigned int
+TSL2561_getAcquisitionTime(TSL2561_drv *drv) {
+    switch (drv->integration_time) {
+    case TSL2561_INTEGRATIONTIME_SHORT:
+	return CEILING(TSL2561_DELAY_INTTIME_SHORT , 1000);
+    case TSL2561_INTEGRATIONTIME_MEDIUM:
+	return CEILING(TSL2561_DELAY_INTTIME_MEDIUM, 1000);
+    case TSL2561_INTEGRATIONTIME_LONG:
+	return CEILING(TSL2561_DELAY_INTTIME_LONG  , 1000);
+    }
+    return -1;
+}
+
+
+msg_t
+TSL2561_readIlluminance(TSL2561_drv *drv,
+	unsigned int *illuminance) {
+    uint16_t broadband;
+    uint16_t ir;
+
+    /* Read channels */
+    msg_t msg;
+    if ((msg = _readChannel(drv, &broadband, &ir)) < MSG_OK)
+	return msg;
+
+    /* Calculate illuminance */
+    *illuminance =
+	calculateIlluminance(drv->integration_time, drv->gain,
+			     broadband, ir, drv->id.partno);
+    /* Ok */
+    return SENSOR_OK;
+}
+
diff --git a/os/various/devices_lib/sensors/tsl2561/tsl2561.h b/os/various/devices_lib/sensors/tsl2561/tsl2561.h
new file mode 100644
index 0000000..16e63d3
--- /dev/null
+++ b/os/various/devices_lib/sensors/tsl2561/tsl2561.h
@@ -0,0 +1,211 @@
+/*
+    TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
+*/
+
+/**
+ * @file    tsl2561.h
+ * @brief   TSL2561 Light sensor interface module header.
+ *
+ * @{
+ */
+
+#ifndef _SENSOR_TSL2561_H_
+#define _SENSOR_TSL2561_H_
+
+#include <math.h>
+#include "i2c_helpers.h"
+#include "sensor.h"
+
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+#define TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
+
+#define TSL2561_OVERLOADED        (-1)
+
+
+// I2C address
+#define TSL2561_I2CADDR_LOW          (0x29)
+#define TSL2561_I2CADDR_FLOAT        (0x39)
+#define TSL2561_I2CADDR_HIGH         (0x49)
+
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+#ifndef TSL2561_WITH_CS
+#define TSL2561_WITH_CS		  0
+#endif
+
+#ifndef TSL2561_WITH_T_FN_CL
+#define TSL2561_WITH_T_FN_CL	  1
+#endif
+
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+
+#define TSL2561_I2CADDR_DEFAULT        TSL2561_I2CADDR_FLOAT
+
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   TSL2561 configuration structure.
+ */
+typedef struct {
+    I2CHelper i2c; /* keep it first */
+} TSL2561_config;
+
+
+typedef enum {
+    TSL2561_INTEGRATIONTIME_SHORT      = 0x00,    // 13.7ms
+    TSL2561_INTEGRATIONTIME_MEDIUM     = 0x01,    // 101ms
+    TSL2561_INTEGRATIONTIME_LONG       = 0x02,    // 402ms
+} TSL2561_integration_time_t;
+
+typedef enum {
+    TSL2561_GAIN_1X                    = 0x00,    // No gain
+    TSL2561_GAIN_16X                   = 0x10,    // 16x gain
+} TSL2561_gain_t;
+
+/**
+ * @brief   TSL2561 configuration structure.
+ */
+typedef struct {
+    TSL2561_config  *config;
+    sensor_state_t   state;
+    unsigned int     delay;    
+    uint16_t         cfg;
+    TSL2561_gain_t   gain;
+    TSL2561_integration_time_t integration_time;
+    struct PACKED {
+	uint8_t revno  : 4;
+	uint8_t partno : 4; }  id;
+} TSL2561_drv;
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+/**
+ * @brief Initialize the sensor driver
+ */
+void
+TSL2561_init(TSL2561_drv *drv,
+	TSL2561_config *config);
+
+/**
+ * @brief Start the sensor
+ */
+msg_t
+TSL2561_start(TSL2561_drv *drv);
+
+/**
+ * @brief   Stop the sensor
+ *
+ * @details If the sensor support it, it will be put in low energy mode.
+ */
+msg_t
+TSL2561_stop(TSL2561_drv *drv);
+
+/**
+ * @brief   Check that the sensor is really present
+ */
+msg_t
+TSL2561_check(TSL2561_drv *drv);
+
+/**
+ * @brief Time in milli-seconds necessary for acquiring a naw measure
+ *
+ * @returns
+ *   unsigned int   time in millis-seconds
+ */
+unsigned int
+TSL2561_getAcquisitionTime(TSL2561_drv *drv);
+
+/**
+ * @brief Trigger a mesure acquisition
+ */
+static inline msg_t
+TSL2561_startMeasure(TSL2561_drv *drv) {
+    (void)drv;
+    return MSG_OK;
+};
+
+/**
+ * @brief Read the newly acquiered measure
+ *
+ * @note  According the the sensor design the measure read
+ *        can be any value acquired after the acquisition time
+ *        and the call to readMeasure.
+ */
+msg_t
+TSL2561_readMeasure(TSL2561_drv *drv,
+	unsigned int illuminance);
+
+msg_t
+TSL2561_setGain(TSL2561_drv *drv,
+	TSL2561_gain_t gain);
+
+msg_t
+TSL2561_setIntegrationTime(TSL2561_drv *drv,
+	TSL2561_integration_time_t time);
+
+/**
+ * @brief   Read temperature and humidity
+ *
+ * @details According to the sensor specification/configuration
+ *          (see #TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED), 
+ *          if the sensor is doing continuous measurement
+ *          it's value will be requested and returned immediately.
+ *          Otherwise a measure is started, the necessary amount of
+ *          time for acquiring the value is spend sleeping (not spinning),
+ *          and finally the measure is read.
+ *
+ * @note    In continuous measurement mode, if you just started
+ *          the sensor, you will need to wait getAcquisitionTime()
+ *          in addition to the usual getStartupTime()
+
+ * @note    If using several sensors, it is better to start all the
+ *          measure together, wait for the sensor having the longuest
+ *          aquisition time, and finally read all the values
+ */
+msg_t
+TSL2561_readIlluminance(TSL2561_drv *drv,
+	unsigned int *illuminance);
+
+/**
+ * @brief   Return the illuminance value in Lux
+ *
+ * @details Use readIlluminance() for returning the humidity value.
+ *
+ * @note    Prefere readIlluminance()if you need better error handling.
+ *
+ * @return Illuminance in Lux
+ * @retval  unsigned int illuminace value 
+ * @retval  -1           on failure
+ */
+static inline unsigned int
+TSL2561_getIlluminance(TSL2561_drv *drv) {
+    unsigned int illuminance = -1;
+    TSL2561_readIlluminance(drv, &illuminance);
+    return illuminance;
+}
+
+
+#endif
+
diff --git a/os/various/sensor.h b/os/various/sensor.h
new file mode 100644
index 0000000..7e77644
--- /dev/null
+++ b/os/various/sensor.h
@@ -0,0 +1,25 @@
+#ifndef _SENSOR_H_
+#define _SENSOR_H_
+
+#define SENSOR_OK        MSG_OK         /**< @brief Operation successful. */
+#define SENSOR_TIMEOUT   MSG_TIMEOUT    /**< @brief Communication timeout */
+#define SENSOR_RESET     MSG_REST       /**< @brief Communication error.  */
+#define SENSOR_NOTFOUND  (msg_t)-20     /**< @brief Sensor not found.     */
+
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum __attribute__ ((__packed__)) {
+    SENSOR_UNINIT    = 0,            /**< Not initialized.                */
+    SENSOR_INIT      = 1,            /**< Initialized.                    */
+    SENSOR_STARTED   = 2,            /**< Started.                        */
+    SENSOR_MEASURING = 4,            /**< Measuring.                      */
+    SENSOR_READY     = 3,            /**< Ready.                          */
+    SENSOR_STOPPED   = 5,            /**< Stopped.                        */
+    SENSOR_ERROR     = 6,            /**< Error.                          */
+} sensor_state_t;
+
+#endif
+
+