[GitHub] [incubator-nuttx] pkarashchenko commented on a change in pull request #5317: sensors: Add support to MS5611 barometer

[GitBox <gi...@apache.org>]

pkarashchenko commented on a change in pull request #5317:
URL: https://github.com/apache/incubator-nuttx/pull/5317#discussion_r790298071



##########
File path: boards/arm/stm32/common/src/stm32_ms5611.c
##########
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/stm32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "stm32_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");
+
+  /* Initialize I2C */
+
+  i2c = stm32_i2cbus_initialize(busno);
+
+  if (i2c)
+    {
+      /* Then try to register the barometer sensor in I2C0 */
+
+      snprintf(devpath, 12, "/dev/press%d", devno);

Review comment:
       ```suggestion
         snprintf(devpath, sizeof(devpath), "/dev/press%d", devno);
   ```

##########
File path: boards/arm/stm32/common/src/stm32_ms5611.c
##########
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/stm32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "stm32_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/

Review comment:
       can be removed

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read pressure!\n");
+      return;
+    }
+
+  press = (uint32_t) buffer[0] << 16 |
+          (uint32_t) buffer[1] << 8 |
+          (uint32_t) buffer[2];
+
+  /* Send command to start a D2 (temperature) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read temperature!\n");
+      return;
+    }
+
+  temp = (uint32_t) buffer[0] << 16 |
+         (uint32_t) buffer[1] << 8 |
+         (uint32_t) buffer[2];
+
+  /* Release the semaphore */
+
+  nxsem_post(&priv->exclsem);
+
+  /* Compensate the temp/press with calibration data */
+
+  temp = ms5611_compensate_temp(priv, temp, (int32_t *) &deltat);

Review comment:
       ```suggestion
     temp = ms5611_compensate_temp(priv, temp, &deltat);
   ```

##########
File path: boards/xtensa/esp32/common/include/esp32_ms5611.h
##########
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/

Review comment:
       can be removed

##########
File path: include/nuttx/sensors/ms5611.h
##########
@@ -0,0 +1,101 @@
+/****************************************************************************
+ * include/nuttx/sensors/ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_MS5611

Review comment:
       ```suggestion
   #ifndef __INCLUDE_NUTTX_SENSORS_MS5611_H
   ```

##########
File path: boards/arm/stm32/common/include/stm32_ms5611.h
##########
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/arm/stm32/common/include/stm32_ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H

Review comment:
       Please fix

##########
File path: boards/arm/stm32/common/include/stm32_ms5611.h
##########
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/arm/stm32/common/include/stm32_ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/

Review comment:
       can be removed

##########
File path: boards/arm/stm32/common/src/stm32_ms5611.c
##########
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/stm32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "stm32_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");
+
+  /* Initialize I2C */
+
+  i2c = stm32_i2cbus_initialize(busno);
+
+  if (i2c)

Review comment:
       ```suggestion
     if (i2c != NULL)
   ```

##########
File path: boards/xtensa/esp32/common/src/esp32_ms5611.c
##########
@@ -0,0 +1,112 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32_board_i2c.h"
+#include "esp32_i2c.h"
+#include "esp32_ms5611.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");
+
+  /* Initialize BMP180 */
+
+  i2c = esp32_i2cbus_initialize(busno);
+
+  if (i2c)
+    {
+      /* Then try to register the barometer sensor in I2C0 */
+
+      snprintf(devpath, 12, "/dev/press%d", devno);

Review comment:
       ```suggestion
         snprintf(devpath, sizeof(devpath), "/dev/press%d", devno);
   ```

##########
File path: boards/xtensa/esp32/common/include/esp32_ms5611.h
##########
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/

Review comment:
       can be removed

##########
File path: boards/xtensa/esp32/common/src/esp32_ms5611.c
##########
@@ -0,0 +1,112 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32_board_i2c.h"
+#include "esp32_i2c.h"
+#include "esp32_ms5611.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");

Review comment:
       ```suggestion
     sninfo("Initializing MS5611!\n");
   ```

##########
File path: boards/xtensa/esp32/common/src/esp32_ms5611.c
##########
@@ -0,0 +1,112 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32_board_i2c.h"
+#include "esp32_i2c.h"
+#include "esp32_ms5611.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");
+
+  /* Initialize BMP180 */
+
+  i2c = esp32_i2cbus_initialize(busno);
+
+  if (i2c)

Review comment:
       ```suggestion
     if (i2c != NULL)
   ```

##########
File path: boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
##########
@@ -409,6 +413,18 @@ int esp32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SENSORS_MS5611
+  /* Try to register MS5611 device in I2C0 as device 0: I2C addr 0x77 */
+
+  ret = board_ms5611_initialize(0, 0);
+
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to initialize BMP180 driver: %d\n", ret);

Review comment:
       ```suggestion
         syslog(LOG_ERR, "Failed to initialize MS5611 driver: %d\n", ret);
   ```

##########
File path: boards/xtensa/esp32/common/src/esp32_ms5611.c
##########
@@ -0,0 +1,112 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32_board_i2c.h"
+#include "esp32_i2c.h"
+#include "esp32_ms5611.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/

Review comment:
       can be removed

##########
File path: boards/xtensa/esp32/common/src/esp32_ms5611.c
##########
@@ -0,0 +1,112 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32_board_i2c.h"
+#include "esp32_i2c.h"
+#include "esp32_ms5611.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");
+
+  /* Initialize BMP180 */
+
+  i2c = esp32_i2cbus_initialize(busno);
+
+  if (i2c)
+    {
+      /* Then try to register the barometer sensor in I2C0 */
+
+      snprintf(devpath, 12, "/dev/press%d", devno);
+
+      ret = ms5611_register(i2c, devno, MS5611_ADDR0);
+      if (ret < 0)
+        {
+          snerr("ERROR: Error registering BMP180 in I2C%d\n", busno);

Review comment:
       ```suggestion
             snerr("ERROR: Error registering MS5611 in I2C%d\n", busno);
   ```

##########
File path: boards/arm/stm32/common/src/stm32_ms5611.c
##########
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/stm32_ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "stm32_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_ms5611_initialize
+ *
+ * Description:
+ *   Initialize and register the BMP180 Pressure Sensor driver.
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/pressN
+ *   busno - The I2C bus number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_ms5611_initialize(int devno, int busno)
+{
+  struct i2c_master_s *i2c;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing BMP180!\n");

Review comment:
       ```suggestion
     sninfo("Initializing MS5611!\n");
   ```

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))

Review comment:
       I do not see why `|| defined(CONFIG_SPI)` is needed

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read pressure!\n");
+      return;
+    }
+
+  press = (uint32_t) buffer[0] << 16 |
+          (uint32_t) buffer[1] << 8 |
+          (uint32_t) buffer[2];
+
+  /* Send command to start a D2 (temperature) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);

Review comment:
       ```suggestion
     ret = ms5611_read24(priv, buffer);
   ```

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);

Review comment:
       ```suggestion
     ret = ms5611_read24(priv, buffer);
   ```

##########
File path: boards/xtensa/esp32/common/include/esp32_ms5611.h
##########
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H

Review comment:
       Please fix define

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read pressure!\n");
+      return;
+    }
+
+  press = (uint32_t) buffer[0] << 16 |
+          (uint32_t) buffer[1] << 8 |
+          (uint32_t) buffer[2];
+
+  /* Send command to start a D2 (temperature) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read temperature!\n");
+      return;
+    }
+
+  temp = (uint32_t) buffer[0] << 16 |
+         (uint32_t) buffer[1] << 8 |
+         (uint32_t) buffer[2];
+
+  /* Release the semaphore */
+
+  nxsem_post(&priv->exclsem);
+
+  /* Compensate the temp/press with calibration data */
+
+  temp = ms5611_compensate_temp(priv, temp, (int32_t *) &deltat);
+  press = ms5611_compensate_press(priv, press, deltat);
+
+  baro->timestamp = ms5611_curtime();
+  baro->pressure = press / 100.0f;
+  baro->temperature = temp / 100.0f;
+}
+
+/****************************************************************************
+ * Name: ms5611_thread
+ *
+ * Description: Thread for performing interval measurement cycle and data
+ *              read.
+ *
+ * Parameter:
+ *   argc - Number opf arguments
+ *   argv - Pointer to argument list
+ ****************************************************************************/
+
+static int ms5611_thread(int argc, char **argv)
+{
+  FAR struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)
+        ((uintptr_t)strtoul(argv[1], NULL, 0));
+
+  struct sensor_event_baro baro_data;
+
+  while (true)
+    {
+      int ret;
+
+      if (!priv->enabled)
+        {
+          /* Waiting to be woken up */
+
+          ret = nxsem_wait(&priv->run);
+          if (ret < 0)
+            {
+              continue;
+            }
+        }
+
+       baro_measure_read(priv, &baro_data);
+
+       priv->sensor_lower.push_event(priv->sensor_lower.priv, &baro_data,
+                                     sizeof(struct sensor_event_baro));
+
+      /* Sleeping thread before fetching the next sensor data */
+
+      nxsig_usleep(priv->interval);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_initialize
+ *
+ * Description:
+ *   Initialize MS5611 device
+ *
+ ****************************************************************************/
+
+static int ms5611_initialize(FAR struct ms5611_dev_s *priv)
+{
+  uint16_t prom[8];
+  uint8_t data[2];
+  uint8_t crc;
+  int i;
+  int ret;
+
+  /* Get calibration data. */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_RESET);
+  if (ret < 0)
+    {
+      snerr("ms5611 reset failed\n");
+      return ret;
+    }
+
+  /* We have to wait before the prom is ready is be read */
+
+  up_udelay(10000);
+
+  for (i = 0; i < 8; i++)
+    {
+      ret = ms5611_sendcmd(priv, MS5611_CMD_ADC_PROM_READ(i));
+      if (ret < 0)
+        {
+          snerr("ms5611_sendcmd failed\n");
+          return ret;
+        }
+
+      ret = ms5611_read16(priv, (uint8_t *) &data);

Review comment:
       ```suggestion
         ret = ms5611_read16(priv, data);
   ```

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read pressure!\n");
+      return;
+    }
+
+  press = (uint32_t) buffer[0] << 16 |
+          (uint32_t) buffer[1] << 8 |
+          (uint32_t) buffer[2];
+
+  /* Send command to start a D2 (temperature) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read temperature!\n");
+      return;
+    }
+
+  temp = (uint32_t) buffer[0] << 16 |
+         (uint32_t) buffer[1] << 8 |
+         (uint32_t) buffer[2];
+
+  /* Release the semaphore */
+
+  nxsem_post(&priv->exclsem);
+
+  /* Compensate the temp/press with calibration data */
+
+  temp = ms5611_compensate_temp(priv, temp, (int32_t *) &deltat);
+  press = ms5611_compensate_press(priv, press, deltat);
+
+  baro->timestamp = ms5611_curtime();
+  baro->pressure = press / 100.0f;
+  baro->temperature = temp / 100.0f;
+}
+
+/****************************************************************************
+ * Name: ms5611_thread
+ *
+ * Description: Thread for performing interval measurement cycle and data
+ *              read.
+ *
+ * Parameter:
+ *   argc - Number opf arguments
+ *   argv - Pointer to argument list
+ ****************************************************************************/
+
+static int ms5611_thread(int argc, char **argv)
+{
+  FAR struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)
+        ((uintptr_t)strtoul(argv[1], NULL, 0));
+
+  struct sensor_event_baro baro_data;
+
+  while (true)
+    {
+      int ret;
+
+      if (!priv->enabled)
+        {
+          /* Waiting to be woken up */
+
+          ret = nxsem_wait(&priv->run);
+          if (ret < 0)
+            {
+              continue;
+            }
+        }
+
+       baro_measure_read(priv, &baro_data);
+
+       priv->sensor_lower.push_event(priv->sensor_lower.priv, &baro_data,
+                                     sizeof(struct sensor_event_baro));
+
+      /* Sleeping thread before fetching the next sensor data */
+
+      nxsig_usleep(priv->interval);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_initialize
+ *
+ * Description:
+ *   Initialize MS5611 device
+ *
+ ****************************************************************************/
+
+static int ms5611_initialize(FAR struct ms5611_dev_s *priv)
+{
+  uint16_t prom[8];
+  uint8_t data[2];
+  uint8_t crc;
+  int i;
+  int ret;
+
+  /* Get calibration data. */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_RESET);
+  if (ret < 0)
+    {
+      snerr("ms5611 reset failed\n");
+      return ret;
+    }
+
+  /* We have to wait before the prom is ready is be read */
+
+  up_udelay(10000);
+
+  for (i = 0; i < 8; i++)
+    {
+      ret = ms5611_sendcmd(priv, MS5611_CMD_ADC_PROM_READ(i));
+      if (ret < 0)
+        {
+          snerr("ms5611_sendcmd failed\n");
+          return ret;
+        }
+
+      ret = ms5611_read16(priv, (uint8_t *) &data);
+      if (ret < 0)
+        {
+          snerr("ms5611_read16 failed\n");
+          return ret;
+        }
+
+      prom[i] = (uint16_t) data[0] << 8 | (uint16_t) data[1];
+    }
+
+  /* Get the 4-bit CRC from PROM */
+
+  crc = (uint8_t)(prom[7] & 0xf);
+
+  /* Verify if the calculated CRC is equal to PROM's CRC */
+
+  if (crc != msxxxx_crc4(prom, 7, 0xff))
+    {
+      snerr("ERROR: Calculated CRC different from PROM's CRC!\n");
+      return -ENODEV;
+    }
+
+  /* Fill read calibration coefficients */
+
+  priv->calib.c1 = prom[1];
+  priv->calib.c2 = prom[2];
+  priv->calib.c3 = prom[3];
+  priv->calib.c4 = prom[4];
+  priv->calib.c5 = prom[5];
+  priv->calib.c6 = prom[6];
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: ms5611_compensate_temp
+ *
+ * Description:
+ *   calculate compensate temperature
+ *
+ * Input Parameters:
+ *   temp - uncompensate value of temperature.
+ *
+ * Returned Value:
+ *   calculate result of compensate temperature.
+ *
+ ****************************************************************************/
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat)
+{
+  struct ms5611_calib_s *c = &priv->calib;
+  int32_t dt;
+
+  /* dt = d1 - c5 * 256 */
+
+  dt = temp - ((int32_t) c->c5 << 8);
+
+  /* temp = 2000 + (dt * c6) / 8388608 */
+
+  temp = 2000 + (((int64_t) (dt * c->c6)) >> 23);
+
+  /* Save dt that will be used for pressure calibration */
+
+  *deltat = dt;
+
+  return temp;
+}
+
+/****************************************************************************
+ * Name: ms5611_compensate_press
+ *
+ * Description:
+ *   calculate compensate pressure
+ *
+ * Input Parameters:
+ *   press - uncompensate value of pressure.
+ *
+ * Returned Value:
+ *   calculate result of compensate pressure.
+ *
+ ****************************************************************************/
+
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt)
+{
+  struct ms5611_calib_s *c = &priv->calib;
+  int64_t off;
+  int64_t sens;
+
+  off = ((int64_t) c->c2 * 65536) + ((int64_t) (c->c4 * dt) / 128);
+  sens = ((int64_t) c->c1 * 32768) + ((int64_t) (c->c3 * dt) / 256);
+  press = (((press * sens) / 2097152) - off) / 32768;
+
+  return press;
+}
+
+/****************************************************************************
+ * Name: ms5611_set_interval
+ ****************************************************************************/
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us)
+{
+  FAR struct ms5611_dev_s *priv = container_of(lower,
+                                               FAR struct ms5611_dev_s,
+                                               sensor_lower);
+
+  priv->interval = *period_us;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_activate
+ ****************************************************************************/
+
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable)
+{
+  bool start_thread = false;
+  struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)lower;
+
+  if (enable)
+    {
+      if (!priv->enabled)
+        {
+          start_thread = true;
+        }
+    }
+
+  priv->enabled = enable;
+
+  if (start_thread == true)
+    {
+      /* Wake up the thread */
+
+      nxsem_post(&priv->run);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_fetch
+ ****************************************************************************/
+
+/* N.B. When fetch is enabled the sensortest doesn't respect the
+ * interval (-i) parameter, so let keep it comment until further
+ * discussion about the "issue".
+ */
+
+#if 0
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen)
+{
+  FAR struct ms5611_dev_s *priv = container_of(lower,
+                                               FAR struct ms5611_dev_s,
+                                               sensor_lower);
+  struct sensor_event_baro baro_data;
+
+  if (buflen != sizeof(baro_data))
+    {
+      return -EINVAL;
+    }
+
+  baro_measure_read(priv, &baro_data);
+
+  memcpy(buffer, &baro_data, sizeof(baro_data));
+
+  return buflen;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_register
+ *
+ * Description:
+ *   Register the MS5611 character device
+ *
+ * Input Parameters:
+ *   devno   - Instance number for driver
+ *   i2c     - An instance of the I2C interface to use to communicate with
+ *             MS5611
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int ms5611_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)
+{
+  FAR struct ms5611_dev_s *priv;
+  FAR char *argv[2];
+  char arg1[32];
+
+  int ret;
+
+  /* Initialize the MS5611 device structure */
+
+  priv = (FAR struct ms5611_dev_s *)kmm_zalloc(sizeof(struct ms5611_dev_s));
+  if (!priv)

Review comment:
       ```suggestion
     if (priv == NULL)
   ```

##########
File path: include/nuttx/sensors/ms5611.h
##########
@@ -0,0 +1,101 @@
+/****************************************************************************
+ * include/nuttx/sensors/ms5611.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_MS5611
+#define __INCLUDE_NUTTX_SENSORS_MS5611
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/sensors/ioctl.h>
+
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_MS5611)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************
+ * Prerequisites:
+ *
+ * CONFIG_I2C
+ *   Enables support for I2C drivers
+ * CONFIG_SENSORS_MS5611
+ *   Enables support for the MS5611 driver
+ */
+
+/* I2C Address **************************************************************/
+
+#define MS5611_ADDR0       0x77
+#define MS5611_ADDR1       0x76
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct ms5611_measure_s
+{
+  int32_t temperature;  /* in Degree   x100    */
+  int32_t pressure;     /* in mBar     x10     */
+};
+
+struct i2c_master_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: ms5611_register
+ *
+ * Description:
+ *   Register the MS5611 character device as 'devpath'.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/press0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the MS5611.
+ *   osr     - The oversampling ratio.
+ *   model   - The MS5611 model.

Review comment:
       Please correct description

##########
File path: drivers/sensors/ms5611.c
##########
@@ -0,0 +1,702 @@
+/****************************************************************************
+ * drivers/sensors/ms5611.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fixedmath.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/sensors/ms5611.h>
+#include <nuttx/sensors/msxxxx_crc4.h>
+
+#if defined(CONFIG_SENSORS_MS5611) && \
+    (defined(CONFIG_I2C) || defined(CONFIG_SPI))
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS5611_CMD_RESET              0x1e
+#define MS5611_CMD_START_ADC_READ     0x00
+#define MS5611_CMD_CONV_D1_OSR_256    0x40 /* D1 = uncompensated pressure */
+#define MS5611_CMD_CONV_D1_OSR_512    0x42
+#define MS5611_CMD_CONV_D1_OSR_1024   0x44
+#define MS5611_CMD_CONV_D1_OSR_2048   0x46
+#define MS5611_CMD_CONV_D1_OSR_4096   0x48
+#define MS5611_CMD_CONV_D2_OSR_256    0x50 /* D2 = uncompensated pressure */
+#define MS5611_CMD_CONV_D2_OSR_512    0x52
+#define MS5611_CMD_CONV_D2_OSR_1024   0x54
+#define MS5611_CMD_CONV_D2_OSR_2048   0x56
+#define MS5611_CMD_CONV_D2_OSR_4096   0x58
+#define MS5611_CMD_ADC_READ           0x00
+#define MS5611_CMD_ADC_PROM_READ(i)   (0xa0 + i*2) /* 0xA0 - 0xAE */
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+struct ms5611_calib_s
+{
+  uint16_t reversed;
+  uint16_t c1;
+  uint16_t c2;
+  uint16_t c3;
+  uint16_t c4;
+  uint16_t c5;
+  uint16_t c6;
+  uint16_t crc;
+};
+
+struct ms5611_dev_s
+{
+  FAR struct sensor_lowerhalf_s sensor_lower;
+
+#ifdef CONFIG_MS5611_I2C
+  FAR struct i2c_master_s  *i2c;       /* I2C interface */
+  uint8_t                   addr;      /* I2C address */
+#endif
+
+#ifdef CONFIG_MS5611_SPI
+  FAR struct spi_dev_s     *spi;       /* SPI interface */
+#endif
+
+  uint32_t                  freq;      /* Bus Frequency I2C/SPI */
+  struct ms5611_calib_s     calib;     /* Calib. params from ROM */
+  unsigned int              interval;  /* Polling interval */
+  bool                      enabled;   /* Enable/Disable MS5611 */
+  sem_t                     run;       /* Locks measure cycle */
+  sem_t                     exclsem;   /* Manages exclusive to device */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv,
+                              uint8_t cmd);
+static int ms5611_read16(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+static int ms5611_read24(FAR struct ms5611_dev_s *priv,
+                         FAR uint8_t *regval);
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat);
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt);
+
+static unsigned long ms5611_curtime(void);
+
+/* Sensor methods */
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us);
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable);
+
+#if 0 /* Please read below */
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+  .activate      = ms5611_activate,
+  .fetch         = NULL, /* ms5611_fetch */
+  .set_interval  = ms5611_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_curtime
+ *
+ * Description: Helper to get current timestamp.
+ *
+ * Return:
+ *   Timestamp in microseconds
+ ****************************************************************************/
+
+static unsigned long ms5611_curtime(void)
+{
+  struct timespec ts;
+#ifdef CONFIG_CLOCK_MONOTONIC
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+#else
+  clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+
+  return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+/****************************************************************************
+ * Name: ms5611_sendcmd
+ *
+ * Description:
+ *   Send a command (8-bit) to MS5611
+ *
+ ****************************************************************************/
+
+static uint8_t ms5611_sendcmd(FAR struct ms5611_dev_s *priv, uint8_t cmd)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = 0;
+  msg.buffer    = &cmd;
+  msg.length    = 1;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read16
+ *
+ * Description:
+ *   Read 16-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read16(FAR struct ms5611_dev_s *priv, FAR uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 2;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_read24
+ *
+ * Description:
+ *   Read 24-bit from a MS5611 register
+ *
+ ****************************************************************************/
+
+static int ms5611_read24(FAR struct ms5611_dev_s *priv, uint8_t *regval)
+{
+  struct i2c_msg_s msg;
+  int ret;
+
+  msg.frequency = priv->freq;
+  msg.addr      = priv->addr;
+  msg.flags     = I2C_M_READ;
+  msg.buffer    = regval;
+  msg.length    = 3;
+
+  ret = I2C_TRANSFER(priv->i2c, &msg, 1);
+  if (ret < 0)
+    {
+      snerr("I2C_TRANSFER failed: %d\n", ret);
+      return -1;
+    }
+
+  return OK;
+}
+
+static inline void baro_measure_read(FAR struct ms5611_dev_s *priv,
+                                     FAR struct sensor_event_baro *baro)
+{
+  uint32_t press;
+  uint32_t temp;
+  int32_t deltat;
+  int ret;
+  uint8_t buffer[3];
+
+  /* Enforce exclusive access */
+
+  ret = nxsem_wait(&priv->exclsem);
+  if (ret < 0)
+    {
+      return;
+    }
+
+  /* Send command to start a D1 (pressure) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D1_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D1_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read pressure!\n");
+      return;
+    }
+
+  press = (uint32_t) buffer[0] << 16 |
+          (uint32_t) buffer[1] << 8 |
+          (uint32_t) buffer[2];
+
+  /* Send command to start a D2 (temperature) conversion */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_CONV_D2_OSR_4096);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_CONV_D2_OSR_4096!\n");
+      return;
+    }
+
+  /* Wait data acquisition */
+
+  up_udelay(10000);
+
+  /* Send command to start a read sequence */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_START_ADC_READ);
+  if (ret < 0)
+    {
+      snerr("Fail to send cmd MS5611_CMD_START_ADC_READ!\n");
+      return;
+    }
+
+  /* Wait data get ready */
+
+  up_udelay(4000);
+
+  ret = ms5611_read24(priv, (uint8_t *) buffer);
+  if (ret < 0)
+    {
+      snerr("Fail to read temperature!\n");
+      return;
+    }
+
+  temp = (uint32_t) buffer[0] << 16 |
+         (uint32_t) buffer[1] << 8 |
+         (uint32_t) buffer[2];
+
+  /* Release the semaphore */
+
+  nxsem_post(&priv->exclsem);
+
+  /* Compensate the temp/press with calibration data */
+
+  temp = ms5611_compensate_temp(priv, temp, (int32_t *) &deltat);
+  press = ms5611_compensate_press(priv, press, deltat);
+
+  baro->timestamp = ms5611_curtime();
+  baro->pressure = press / 100.0f;
+  baro->temperature = temp / 100.0f;
+}
+
+/****************************************************************************
+ * Name: ms5611_thread
+ *
+ * Description: Thread for performing interval measurement cycle and data
+ *              read.
+ *
+ * Parameter:
+ *   argc - Number opf arguments
+ *   argv - Pointer to argument list
+ ****************************************************************************/
+
+static int ms5611_thread(int argc, char **argv)
+{
+  FAR struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)
+        ((uintptr_t)strtoul(argv[1], NULL, 0));
+
+  struct sensor_event_baro baro_data;
+
+  while (true)
+    {
+      int ret;
+
+      if (!priv->enabled)
+        {
+          /* Waiting to be woken up */
+
+          ret = nxsem_wait(&priv->run);
+          if (ret < 0)
+            {
+              continue;
+            }
+        }
+
+       baro_measure_read(priv, &baro_data);
+
+       priv->sensor_lower.push_event(priv->sensor_lower.priv, &baro_data,
+                                     sizeof(struct sensor_event_baro));
+
+      /* Sleeping thread before fetching the next sensor data */
+
+      nxsig_usleep(priv->interval);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_initialize
+ *
+ * Description:
+ *   Initialize MS5611 device
+ *
+ ****************************************************************************/
+
+static int ms5611_initialize(FAR struct ms5611_dev_s *priv)
+{
+  uint16_t prom[8];
+  uint8_t data[2];
+  uint8_t crc;
+  int i;
+  int ret;
+
+  /* Get calibration data. */
+
+  ret = ms5611_sendcmd(priv, MS5611_CMD_RESET);
+  if (ret < 0)
+    {
+      snerr("ms5611 reset failed\n");
+      return ret;
+    }
+
+  /* We have to wait before the prom is ready is be read */
+
+  up_udelay(10000);
+
+  for (i = 0; i < 8; i++)
+    {
+      ret = ms5611_sendcmd(priv, MS5611_CMD_ADC_PROM_READ(i));
+      if (ret < 0)
+        {
+          snerr("ms5611_sendcmd failed\n");
+          return ret;
+        }
+
+      ret = ms5611_read16(priv, (uint8_t *) &data);
+      if (ret < 0)
+        {
+          snerr("ms5611_read16 failed\n");
+          return ret;
+        }
+
+      prom[i] = (uint16_t) data[0] << 8 | (uint16_t) data[1];
+    }
+
+  /* Get the 4-bit CRC from PROM */
+
+  crc = (uint8_t)(prom[7] & 0xf);
+
+  /* Verify if the calculated CRC is equal to PROM's CRC */
+
+  if (crc != msxxxx_crc4(prom, 7, 0xff))
+    {
+      snerr("ERROR: Calculated CRC different from PROM's CRC!\n");
+      return -ENODEV;
+    }
+
+  /* Fill read calibration coefficients */
+
+  priv->calib.c1 = prom[1];
+  priv->calib.c2 = prom[2];
+  priv->calib.c3 = prom[3];
+  priv->calib.c4 = prom[4];
+  priv->calib.c5 = prom[5];
+  priv->calib.c6 = prom[6];
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: ms5611_compensate_temp
+ *
+ * Description:
+ *   calculate compensate temperature
+ *
+ * Input Parameters:
+ *   temp - uncompensate value of temperature.
+ *
+ * Returned Value:
+ *   calculate result of compensate temperature.
+ *
+ ****************************************************************************/
+
+static int32_t ms5611_compensate_temp(FAR struct ms5611_dev_s *priv,
+                                      uint32_t temp, int32_t *deltat)
+{
+  struct ms5611_calib_s *c = &priv->calib;
+  int32_t dt;
+
+  /* dt = d1 - c5 * 256 */
+
+  dt = temp - ((int32_t) c->c5 << 8);
+
+  /* temp = 2000 + (dt * c6) / 8388608 */
+
+  temp = 2000 + (((int64_t) (dt * c->c6)) >> 23);
+
+  /* Save dt that will be used for pressure calibration */
+
+  *deltat = dt;
+
+  return temp;
+}
+
+/****************************************************************************
+ * Name: ms5611_compensate_press
+ *
+ * Description:
+ *   calculate compensate pressure
+ *
+ * Input Parameters:
+ *   press - uncompensate value of pressure.
+ *
+ * Returned Value:
+ *   calculate result of compensate pressure.
+ *
+ ****************************************************************************/
+
+static uint32_t ms5611_compensate_press(FAR struct ms5611_dev_s *priv,
+                                        uint32_t press, uint32_t dt)
+{
+  struct ms5611_calib_s *c = &priv->calib;
+  int64_t off;
+  int64_t sens;
+
+  off = ((int64_t) c->c2 * 65536) + ((int64_t) (c->c4 * dt) / 128);
+  sens = ((int64_t) c->c1 * 32768) + ((int64_t) (c->c3 * dt) / 256);
+  press = (((press * sens) / 2097152) - off) / 32768;
+
+  return press;
+}
+
+/****************************************************************************
+ * Name: ms5611_set_interval
+ ****************************************************************************/
+
+static int ms5611_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                               FAR unsigned int *period_us)
+{
+  FAR struct ms5611_dev_s *priv = container_of(lower,
+                                               FAR struct ms5611_dev_s,
+                                               sensor_lower);
+
+  priv->interval = *period_us;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_activate
+ ****************************************************************************/
+
+static int ms5611_activate(FAR struct sensor_lowerhalf_s *lower,
+                           bool enable)
+{
+  bool start_thread = false;
+  struct ms5611_dev_s *priv = (FAR struct ms5611_dev_s *)lower;
+
+  if (enable)
+    {
+      if (!priv->enabled)
+        {
+          start_thread = true;
+        }
+    }
+
+  priv->enabled = enable;
+
+  if (start_thread == true)
+    {
+      /* Wake up the thread */
+
+      nxsem_post(&priv->run);
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: ms5611_fetch
+ ****************************************************************************/
+
+/* N.B. When fetch is enabled the sensortest doesn't respect the
+ * interval (-i) parameter, so let keep it comment until further
+ * discussion about the "issue".
+ */
+
+#if 0
+static int ms5611_fetch(FAR struct sensor_lowerhalf_s *lower,
+                        FAR char *buffer, size_t buflen)
+{
+  FAR struct ms5611_dev_s *priv = container_of(lower,
+                                               FAR struct ms5611_dev_s,
+                                               sensor_lower);
+  struct sensor_event_baro baro_data;
+
+  if (buflen != sizeof(baro_data))
+    {
+      return -EINVAL;
+    }
+
+  baro_measure_read(priv, &baro_data);
+
+  memcpy(buffer, &baro_data, sizeof(baro_data));
+
+  return buflen;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: ms5611_register
+ *
+ * Description:
+ *   Register the MS5611 character device
+ *
+ * Input Parameters:
+ *   devno   - Instance number for driver
+ *   i2c     - An instance of the I2C interface to use to communicate with
+ *             MS5611
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int ms5611_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)
+{
+  FAR struct ms5611_dev_s *priv;
+  FAR char *argv[2];
+  char arg1[32];
+
+  int ret;
+
+  /* Initialize the MS5611 device structure */
+
+  priv = (FAR struct ms5611_dev_s *)kmm_zalloc(sizeof(struct ms5611_dev_s));
+  if (!priv)
+    {
+      snerr("Failed to allocate instance\n");
+      return -ENOMEM;
+    }
+
+  priv->i2c      = i2c;
+  priv->addr     = addr;
+  priv->freq     = CONFIG_MS5611_I2C_FREQUENCY;
+  priv->interval = 1000000; /* Default interval 1s */
+
+  nxsem_init(&priv->run, 0, 0);
+  nxsem_init(&priv->exclsem, 0, 1);
+  nxsem_set_protocol(&priv->run, SEM_PRIO_NONE);
+  nxsem_set_protocol(&priv->exclsem, SEM_PRIO_NONE);
+
+  priv->sensor_lower.ops = &g_sensor_ops;
+  priv->sensor_lower.type = SENSOR_TYPE_BAROMETER;
+
+  ret = ms5611_initialize(priv);
+  if (ret < 0)
+    {
+      snerr("Failed to initialize physical device ms5611:%d\n", ret);
+      kmm_free(priv);
+      return ret;
+    }
+
+  /* Register the character driver */
+
+  ret = sensor_register(&priv->sensor_lower, devno);
+  if (ret < 0)
+    {
+      snerr("Failed to register driver: %d\n", ret);
+      kmm_free(priv);
+    }
+
+  /* Create thread for polling sensor data */
+
+  snprintf(arg1, 16, "0x%" PRIxPTR, (uintptr_t)priv);
+  argv[0] = arg1;
+  argv[1] = NULL;
+  ret = kthread_create("ms5611_thread", SCHED_PRIORITY_DEFAULT,
+                       CONFIG_MS5611_THREAD_STACKSIZE,
+                       ms5611_thread, argv);
+  if (ret > 0)
+    {
+      return OK;
+    }
+
+  sninfo("MS5611 driver loaded successfully!\n");

Review comment:
       I do not fully understand this. Should `ms5611_register` always return `OK`?




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