Any co-sleeping or room sharing moms out there?

Abby
I originally said I wouldn't co-sleep, but my son is 5 months old and in the last few weeks has become a terrible sleeper!  He sleeps in a pack-n-play next to our bed and wakes up 3-5 times a night.  The only way I can get him back to sleep is letting him BF on me in bed.  Then when I move him back to his PnP he wakes up and starts the whole thing over!
He sleeps well in our bed but I'm terrified of crushing him.  We don't have our bed on the floor or sleep without pillows or blankets like the books say you should do. 
Does anyone co-sleep and if so, what safety measures do you put in place?