diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index 5694950be0..d3b184c04c 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -147,17 +147,18 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
 
 # Lisa/M and Lia baro
 else ifeq ($(BOARD), lisa_m)
-# defaults to i2c baro
-LISA_M_BARO ?= BARO_I2C
-  ifeq ($(LISA_M_BARO), BARO_SPI)
+# defaults to i2c baro bmp085 on the board
+LISA_M_BARO ?= BARO_BOARD_BMP085
+  ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
     include $(CFG_SHARED)/spi.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-    ap.srcs += $(SRC_BOARD)/baro_board_spi.c
-  else ifeq ($(LISA_M_BARO), BARO_I2C)
+    ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
+  else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
     ap.CFLAGS += -DUSE_I2C2
-    ap.srcs += $(SRC_BOARD)/baro_board_i2c.c
-  else ifeq ($(LISA_M_BARO), BARO_ASPIRIN)
+    ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
+  else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
     ap.srcs += $(SRC_BOARD)/baro_board.c
+	ap.CFLAGS += -DUSE_I2C2
   endif
   ap.CFLAGS += -D$(LISA_M_BARO)
 
diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c
index 1ba5652ddb..ed67ad16d2 100644
--- a/sw/airborne/boards/lisa_m/baro_board.c
+++ b/sw/airborne/boards/lisa_m/baro_board.c
@@ -1,24 +1,195 @@
-/**
- *  Generic barometer interface, assuming the barometer is read through Aspirin IMU directly
- *
- * Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
- * Utah State University, http://aggieair.usu.edu/
- */
 
 #include "subsystems/sensors/baro.h"
-#include "baro_board.h"
+#include <libopencm3/stm32/f1/gpio.h>
 
 struct Baro baro;
+struct BaroBoard baro_board;
+struct i2c_transaction baro_trans;
+struct bmp085_baro_calibration calibration;
+
+#define BMP085_SAMPLE_PERIOD_MS (3 + (2 << BMP085_OSS) * 3)
+#define BMP085_SAMPLE_PERIOD (BMP075_SAMPLE_PERIOD_MS >> 1)
+
+// FIXME: BARO DRDY connected to PB0 for lisa/m
+
+static inline void bmp085_write_reg(uint8_t addr, uint8_t value)
+{
+  baro_trans.buf[0] = addr;
+  baro_trans.buf[1] = value;
+
+  I2CTransmit(i2c2, baro_trans, BMP085_ADDR, 2);
+
+  // FIXME, no while loops without timeout!!
+  while (baro_trans.status == I2CTransPending || baro_trans.status == I2CTransRunning);
+}
+
+static inline void bmp085_read_reg16(uint8_t addr)
+{
+  baro_trans.buf[0] = addr;
+  I2CTransceive(i2c2, baro_trans, BMP085_ADDR, 1, 2);
+}
+
+static inline int16_t bmp085_read_reg16_blocking(uint8_t addr, uint32_t timeout)
+{
+  uint32_t time = 0;
+
+  bmp085_read_reg16(addr);
+
+  while (baro_trans.status == I2CTransPending || baro_trans.status == I2CTransRunning) {
+	  if ((time == timeout) && (timeout != 0)) {
+		  return 0; /* Timeout of the i2c read */
+	  } else {
+		  time++;
+	  }
+  }
+
+  return ((baro_trans.buf[0] << 8) | baro_trans.buf[1]);
+}
+
+static inline void bmp085_read_reg24(uint8_t addr)
+{
+  baro_trans.buf[0] = addr;
+  I2CTransceive(i2c2, baro_trans, BMP085_ADDR, 1, 3);
+}
+
+static void bmp085_baro_read_calibration(void)
+{
+  calibration.ac1 = bmp085_read_reg16_blocking(0xAA, 10000); // AC1
+  calibration.ac2 = bmp085_read_reg16_blocking(0xAC, 10000); // AC2
+  calibration.ac3 = bmp085_read_reg16_blocking(0xAE, 10000); // AC3
+  calibration.ac4 = bmp085_read_reg16_blocking(0xB0, 10000); // AC4
+  calibration.ac5 = bmp085_read_reg16_blocking(0xB2, 10000); // AC5
+  calibration.ac6 = bmp085_read_reg16_blocking(0xB4, 10000); // AC6
+  calibration.b1 = bmp085_read_reg16_blocking(0xB6, 10000); // B1
+  calibration.b2 = bmp085_read_reg16_blocking(0xB8, 10000); // B2
+  calibration.mb = bmp085_read_reg16_blocking(0xBA, 10000); // MB
+  calibration.mc = bmp085_read_reg16_blocking(0xBC, 10000); // MC
+  calibration.md = bmp085_read_reg16_blocking(0xBE, 10000); // MD
+}
 
 void baro_init(void) {
   baro.status = BS_UNINITIALIZED;
   baro.absolute     = 0;
   baro.differential = 0;
+  baro_board.status = LBS_UNINITIALIZED;
+  bmp085_baro_read_calibration();
+
+  /* STM32 specific (maybe this is a LISA/M specific driver anyway?) */
+  gpio_clear(GPIOB, GPIO0);
+  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+	        GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
 }
 
-void baro_periodic(void) {}
-
-void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
-  b_abs_handler();
-  b_diff_handler();
+static inline int baro_eoc(void)
+{
+  return gpio_get(GPIOB, GPIO0);
+}
+
+static inline void bmp085_request_pressure(void)
+{
+  bmp085_write_reg(0xF4, 0x34 + (BMP085_OSS << 6));
+}
+
+static inline void bmp085_request_temp(void)
+{
+  bmp085_write_reg(0xF4, 0x2E);
+}
+
+static inline void bmp085_read_pressure(void)
+{
+  bmp085_read_reg24(0xF6);
+}
+
+static inline void bmp085_read_temp(void)
+{
+  bmp085_read_reg16(0xF6);
+}
+
+void baro_periodic(void) {
+  // check that nothing is in progress
+  if (baro_trans.status == I2CTransPending) return;
+  if (baro_trans.status == I2CTransRunning) return;
+  if (!i2c_idle(&i2c2)) return;
+
+  switch (baro_board.status) {
+  case LBS_UNINITIALIZED:
+    baro_board_send_reset();
+    baro_board.status = LBS_REQUEST;
+    baro.status = BS_RUNNING;
+    break;
+  case LBS_REQUEST:
+    bmp085_request_pressure();
+    baro_board.status = LBS_READ;
+    break;
+  case LBS_READ:
+    if (baro_eoc()) {
+      bmp085_read_pressure();
+      baro_board.status = LBS_READING;
+    }
+    break;
+  case LBS_REQUEST_TEMP:
+    bmp085_request_temp();
+    baro_board.status = LBS_READ_TEMP;
+    break;
+  case LBS_READ_TEMP:
+    if (baro_eoc()) {
+      bmp085_read_temp();
+      baro_board.status = LBS_READING_TEMP;
+    }
+    break;
+  default:
+    break;
+  }
+
+}
+
+void baro_board_send_reset(void) {
+  // This is a NOP at the moment
+}
+
+// Apply temp calibration and sensor calibration to raw measurement to get Pa (from BMP085 datasheet)
+int32_t baro_apply_calibration(int32_t raw)
+{
+  int32_t b6 = calibration.b5 - 4000;
+  int x1 = (calibration.b2 * (b6 * b6 >> 12)) >> 11;
+  int x2 = calibration.ac2 * b6 >> 11;
+  int32_t x3 = x1 + x2;
+  int32_t b3 = (((calibration.ac1 * 4 + x3) << BMP085_OSS) + 2)/4;
+  x1 = calibration.ac3 * b6 >> 13;
+  x2 = (calibration.b1 * (b6 * b6 >> 12)) >> 16;
+  x3 = ((x1 + x2) + 2) >> 2;
+  uint32_t b4 = (calibration.ac4 * (uint32_t) (x3 + 32768)) >> 15;
+  uint32_t b7 = (raw - b3) * (50000 >> BMP085_OSS);
+  int32_t p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
+  x1 = (p >> 8) * (p >> 8);
+  x1 = (x1 * 3038) >> 16;
+  x2 = (-7357 * p) >> 16;
+  return p + ((x1 + x2 + 3791) >> 4);
+}
+
+void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
+{
+  if (baro_board.status == LBS_READING &&
+      baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
+    baro_board.status = LBS_REQUEST_TEMP;
+    if (baro_trans.status == I2CTransSuccess) {
+      int32_t tmp = (baro_trans.buf[0]<<16) | (baro_trans.buf[1] << 8) | baro_trans.buf[2];
+      tmp = tmp >> (8 - BMP085_OSS);
+      baro.absolute = baro_apply_calibration(tmp);
+      b_abs_handler();
+    }
+  }
+  if (baro_board.status == LBS_READING_TEMP &&
+      baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
+    baro_board.status = LBS_REQUEST;
+    if (baro_trans.status == I2CTransSuccess) {
+      // abuse differential to store temp in 0.1C for now
+      int32_t tmp = (baro_trans.buf[0] << 8) | baro_trans.buf[1];
+      int32_t x1 = ((tmp - calibration.ac6) * calibration.ac5) >> 15;
+      int32_t x2 = (calibration.mc << 11) / (x1 + calibration.md);
+      calibration.b5 = x1 + x2;
+      baro.differential = (calibration.b5 + 8) >> 4;
+      b_diff_handler();
+    }
+  }
 }
diff --git a/sw/airborne/boards/lisa_m/baro_board.h b/sw/airborne/boards/lisa_m/baro_board.h
index 4498eef51b..8f0ffb5fc3 100644
--- a/sw/airborne/boards/lisa_m/baro_board.h
+++ b/sw/airborne/boards/lisa_m/baro_board.h
@@ -1,15 +1,67 @@
-/**
- *  Generic barometer interface, assuming the barometer is read through Aspirin IMU directly
+
+/*
+ * board specific fonctions for the lisa_m board
  *
- * Edit by: Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
- * Utah State University, http://aggieair.usu.edu/
  */
 
-#ifndef BOARDS_LIA_BARO_H
-#define BOARDS_LIA_BARO_H
+#ifndef BOARDS_LISA_M_BARO_H
+#define BOARDS_LISA_M_BARO_H
+
+#include "std.h"
+
+// for right now we abuse this file for the ms5611 baro on aspirin as well
+#if !BARO_MS5611_I2C && !BARO_MS5611
+
+#include "mcu_periph/i2c.h"
+
+// absolute addr
+#define BMP085_ADDR  0xEE
+// Over sample setting (0-3)
+#define BMP085_OSS 3
+
+enum LisaBaroStatus {
+  LBS_UNINITIALIZED,
+  LBS_REQUEST,
+  LBS_READING,
+  LBS_READ,
+  LBS_REQUEST_TEMP,
+  LBS_READING_TEMP,
+  LBS_READ_TEMP,
+};
+
+struct BaroBoard {
+  enum LisaBaroStatus status;
+};
+
+struct bmp085_baro_calibration {
+  // These values come from EEPROM on sensor
+  int16_t ac1;
+  int16_t ac2;
+  int16_t ac3;
+  uint16_t ac4;
+  uint16_t ac5;
+  uint16_t ac6;
+  int16_t b1;
+  int16_t b2;
+  int16_t mb;
+  int16_t mc;
+  int16_t md;
+
+  // These values are calculated
+  int32_t b5;
+};
+
+extern struct BaroBoard baro_board;
+extern struct i2c_transaction baro_trans;
+extern struct bmp085_baro_calibration calibration;
+
+extern void baro_board_send_reset(void);
+extern void baro_board_send_config(void);
+
+#endif  // !BARO_MS5611_xx
 
 extern void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void));
 
 #define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
 
-#endif /* BOARDS_LIA_BARO_H */
+#endif /* BOARDS_LISA_M_BARO_H */
diff --git a/sw/airborne/boards/lisa_m/baro_board_i2c.c b/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
similarity index 99%
rename from sw/airborne/boards/lisa_m/baro_board_i2c.c
rename to sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
index 30550e167b..6200fda7bc 100644
--- a/sw/airborne/boards/lisa_m/baro_board_i2c.c
+++ b/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
@@ -190,7 +190,7 @@ void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
       b_abs_handler();
       b_diff_handler();
 
-      #ifdef EBUG
+      #ifdef DEBUG
       ftempms = tempms / 100.;
       fbaroms = baroms / 100.;
       DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
diff --git a/sw/airborne/boards/lisa_m/baro_board_spi.c b/sw/airborne/boards/lisa_m/baro_ms5611_spi.c
similarity index 100%
rename from sw/airborne/boards/lisa_m/baro_board_spi.c
rename to sw/airborne/boards/lisa_m/baro_ms5611_spi.c