diff --git a/CMakeLists.txt b/CMakeLists.txt
index b885098c..158bcf4c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,6 @@ option (BUILDFTI "Build Funtion Table Interface (FTI) in C sensor libraries" OFF
 option (BUILDSWIGPYTHON "Build swig python modules" ON)
 option (BUILDSWIGNODE "Build swig node modules" ON)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
-option (BUILDPYTHON3 "Use python3 for building/installing/testing" OFF)
 option (BUILDEXAMPLES "Build C/C++ example binaries" OFF)
 option (BUILDJAVAEXAMPLES "Build java example jars" OFF)
 option (IPK "Generate IPK using CPack" OFF)
@@ -44,12 +43,38 @@ pkg_check_modules (OPENZWAVE libopenzwave)
 # Find JPEG
 find_package (JPEG)
 
+# Find nodejs
+if (BUILDSWIGNODE)
+  find_package (Node REQUIRED)
+endif (BUILDSWIGNODE)
+
 # Find swig if any wrapper is enabled
 if (BUILDSWIGPYTHON OR BUILDSWIGNODE OR BUILDSWIGJAVA)
   find_package (SWIG 3.0.5 REQUIRED)
   include (${SWIG_USE_FILE})
 endif ()
 
+# Python is required for swig generated python and for UPM tests
+# UPM build can generated modules for both python2 AND python3
+# OpenCV python detect will attempt to find python2/3
+if (BUILDSWIGPYTHON OR BUILDTESTS)
+  include (cmake/modules/OpenCVDetectPython.cmake)
+endif (BUILDSWIGPYTHON OR BUILDTESTS)
+
+# Which versions of python were found?
+if (PYTHON2LIBS_FOUND AND BUILDSWIGPYTHON)
+  message(STATUS "Building python2 modules with python-${PYTHON2LIBS_VERSION_STRING}")
+endif (PYTHON2LIBS_FOUND AND BUILDSWIGPYTHON)
+if (PYTHON3LIBS_FOUND AND BUILDSWIGPYTHON)
+  message(STATUS "Building python3 modules with python-${PYTHON3LIBS_VERSION_STRING}")
+endif (PYTHON3LIBS_FOUND AND BUILDSWIGPYTHON)
+
+# Python2 is currently required for python documentation
+if (BUILDSWIGPYTHON AND BUILDDOC AND NOT PYTHON2INTERP_FOUND)
+  message(FATAL_ERROR "Failed to find python2 interpreter which is required "
+      "to build python documentation.")
+endif (BUILDSWIGPYTHON AND BUILDDOC AND NOT PYTHON2INTERP_FOUND)
+
 # Set CMAKE_INSTALL_LIBDIR if not defined
 include(GNUInstallDirs)
 set (LIB_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}" CACHE PATH "Installation path for libraries")
@@ -111,33 +136,59 @@ else()
   message(WARNING "Some modules require C++11 support, and may not build without it.")
 endif()
 
+# The doc target depends on each sensor target
+#
+# doc
+#   ├──> libupm_sensor0
+#   ├──> libupm_sensor1
+#   ├──> libupm_sensor2
+#   └──> libupm_sensor_n
+#
+# The pydoc target builds documentation with sphinx via inspection by loading
+# each python module.  Those modules must include the CXX documentation via
+# a monolithic swig file generated by doxy2swig
+#
+# pydoc
+#  └──> _pyupm_sensor0_python2
+#        ├──────> libupm_sensor0
+#        └──────> doxy2swig
+#
+# The doxy2swig target is dependent upon the doc target IF BUILDDOC=ON,
+# otherwise doxy2swig uses an empty file.  Doxy2swig also depends on each
+# sensor target
+#
+# doxy2swig
+#  ├──> BUILDDOC=ON───> doc
+#  └──> libupm_sensor0
+#
+# The jsdoc target builds js documentation via yuidoc and only requires
+# the doc target
+#
+# jsdoc ─> doc
+#
 if (BUILDDOC)
   # Add a target to generate API documentation with Doxygen
-  find_package (Doxygen)
-  if (DOXYGEN_FOUND)
-    configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-    if (BUILDSWIGJAVA)
-        configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
-    endif()
-    file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
-    foreach(PNG_FILE ${PNG_FILES})
-      configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
-    endforeach()
-    add_custom_target (doc
-      ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-      COMMAND tar -czf html/xml.tar.gz -C xml .
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-      COMMENT "Generating API documentation with Doxygen" VERBATIM
-    )
-  endif (DOXYGEN_FOUND)
-  # Check if Sphinx is installed and add target to generate API documentation
-  find_package (Sphinx)
-  if(SPHINX_FOUND AND BUILDSWIGPYTHON)
-    # Python required for Sphinx build
-    find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
-    string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
-    list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
-    list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
+  find_package (Doxygen REQUIRED)
+  configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+  if (BUILDSWIGJAVA)
+      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
+  endif()
+  file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
+  foreach(PNG_FILE ${PNG_FILES})
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
+  endforeach()
+  add_custom_target (doc
+    ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+    COMMAND tar -czf html/xml.tar.gz -C xml .
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    COMMENT "Generating API documentation with Doxygen" VERBATIM
+  )
+
+  # Check if Sphinx is installed and add target to generate API documentationa
+  # Currently, the per-module documentation for python is generated from the
+  # python2 modules.
+  if(BUILDSWIGPYTHON)
+    find_package (Sphinx REQUIRED)
     configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/pydoc/conf.py @ONLY)
     configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/index.rst ${CMAKE_CURRENT_BINARY_DIR}/pydoc/index.rst COPYONLY)
     add_custom_target (pydoc ALL
@@ -153,12 +204,11 @@ if (BUILDDOC)
       WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
       COMMENT "Generating API documentation with Sphinx" VERBATIM
     )
-  endif ()
+  endif(BUILDSWIGPYTHON)
+
   # Check if Yuidoc is installed and add target for API documentation
-  find_package(Yuidoc)
-  if(YUIDOC_FOUND AND BUILDSWIGNODE)
-    # Node required for Yuidoc documentation
-    find_package(Node)
+  if(BUILDSWIGNODE)
+    find_package(Yuidoc REQUIRED)
     file(GLOB_RECURSE JSDOC_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/doxy/node doxy/node/*)
     foreach(JSDOC_FILE ${JSDOC_FILES})
       configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doxy/node/${JSDOC_FILE} ${CMAKE_CURRENT_BINARY_DIR}/${JSDOC_FILE} COPYONLY)
@@ -171,11 +221,10 @@ if (BUILDDOC)
       WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
       COMMENT "Generating API documentation with Yuidoc" VERBATIM
     )
-  endif()
-endif()
+  endif(BUILDSWIGNODE)
+endif (BUILDDOC)
 
 if (IPK)
-
  # Get target package arch from Yocto ADT sysroot if set or host OS, mapping to Ubuntu name if necessary
   if (DEFINED ENV{OECORE_TARGET_SYSROOT})
     GET_FILENAME_COMPONENT (DETECTED_SYSROOT $ENV{OECORE_TARGET_SYSROOT} NAME)
@@ -238,14 +287,6 @@ if (RPM)
   include(CPack)
 endif()
 
-if (BUILDSWIGPYTHON OR BUILDTESTS)
-  if (BUILDPYTHON3)
-    set (PYTHONBUILD_VERSION 3)
-  else ()
-    set (PYTHONBUILD_VERSION 2.7)
-  endif ()
-endif ()
-
 # UPM common headers
 set (UPM_COMMON_HEADER_DIRS
     ${CMAKE_HOME_DIRECTORY}/include
@@ -263,8 +304,8 @@ if(BUILDJAVAEXAMPLES)
   add_subdirectory (examples/java)
 endif()
 
+# Python interp is previously found if BUILDTESTS=ON
 if (BUILDTESTS)
-  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
   enable_testing ()
   add_subdirectory (tests)
 endif()
diff --git a/cmake/modules/OpenCVDetectPython.cmake b/cmake/modules/OpenCVDetectPython.cmake
new file mode 100644
index 00000000..e3fc3a90
--- /dev/null
+++ b/cmake/modules/OpenCVDetectPython.cmake
@@ -0,0 +1,160 @@
+# Find specified Python version
+# Arguments:
+#   preferred_version (value): Version to check for first
+#   min_version (value): Minimum supported version
+#   library_env (value): Name of Python library ENV variable to check
+#   include_dir_env (value): Name of Python include directory ENV variable to check
+#   found (variable): Set if interpreter found
+#   executable (variable): Output of executable found
+#   version_string (variable): Output of found version
+#   version_major (variable): Output of found major version
+#   version_minor (variable): Output of found minor version
+#   libs_found (variable): Set if libs found
+#   libs_version_string (variable): Output of found libs version
+#   libraries (variable): Output of found Python libraries
+#   library (variable): Output of found Python library
+#   debug_libraries (variable): Output of found Python debug libraries
+#   debug_library (variable): Output of found Python debug library
+#   include_path (variable): Output of found Python include path
+#   include_dir (variable): Output of found Python include dir
+#   include_dir2 (variable): Output of found Python include dir2
+#   packages_path (variable): Output of found Python packages path
+function(find_python preferred_version min_version library_env include_dir_env
+         found executable version_string version_major version_minor
+         libs_found libs_version_string libraries library debug_libraries
+         debug_library include_path include_dir include_dir2 packages_path)
+if(NOT ${found})
+  if(${executable})
+    set(PYTHON_EXECUTABLE "${${executable}}")
+  endif()
+
+  find_package(PythonInterp "${preferred_version}")
+  if(NOT PYTHONINTERP_FOUND)
+    find_package(PythonInterp "${min_version}")
+  endif()
+
+  if(PYTHONINTERP_FOUND)
+    # Copy outputs
+    set(_found ${PYTHONINTERP_FOUND})
+    set(_executable ${PYTHON_EXECUTABLE})
+    set(_version_string ${PYTHON_VERSION_STRING})
+    set(_version_major ${PYTHON_VERSION_MAJOR})
+    set(_version_minor ${PYTHON_VERSION_MINOR})
+    set(_version_patch ${PYTHON_VERSION_PATCH})
+
+    # Clear find_host_package side effects
+    unset(PYTHONINTERP_FOUND)
+    unset(PYTHON_EXECUTABLE CACHE)
+    unset(PYTHON_VERSION_STRING)
+    unset(PYTHON_VERSION_MAJOR)
+    unset(PYTHON_VERSION_MINOR)
+    unset(PYTHON_VERSION_PATCH)
+  endif()
+
+  if(_found)
+    set(_version_major_minor "${_version_major}.${_version_minor}")
+
+    if(NOT ANDROID AND NOT APPLE_FRAMEWORK)
+      # not using _version_string here, because it might not conform to the CMake version format
+      if(CMAKE_CROSSCOMPILING)
+        # builder version can differ from target, matching base version (e.g. 2.7)
+        find_package(PythonLibs "${_version_major_minor}")
+      else()
+        find_package(PythonLibs "${_version_major_minor}.${_version_patch}" EXACT)
+      endif()
+
+      if(PYTHONLIBS_FOUND)
+        # Copy outputs
+        set(_libs_found ${PYTHONLIBS_FOUND})
+        set(_libraries ${PYTHON_LIBRARIES})
+        set(_include_path ${PYTHON_INCLUDE_PATH})
+        set(_include_dirs ${PYTHON_INCLUDE_DIRS})
+        set(_debug_libraries ${PYTHON_DEBUG_LIBRARIES})
+        set(_libs_version_string ${PYTHONLIBS_VERSION_STRING})
+        set(_debug_library ${PYTHON_DEBUG_LIBRARY})
+        set(_library ${PYTHON_LIBRARY})
+        set(_library_debug ${PYTHON_LIBRARY_DEBUG})
+        set(_library_release ${PYTHON_LIBRARY_RELEASE})
+        set(_include_dir ${PYTHON_INCLUDE_DIR})
+        set(_include_dir2 ${PYTHON_INCLUDE_DIR2})
+
+        # Clear find_package side effects
+        unset(PYTHONLIBS_FOUND)
+        unset(PYTHON_LIBRARIES)
+        unset(PYTHON_INCLUDE_PATH)
+        unset(PYTHON_INCLUDE_DIRS)
+        unset(PYTHON_DEBUG_LIBRARIES)
+        unset(PYTHONLIBS_VERSION_STRING)
+        unset(PYTHON_DEBUG_LIBRARY CACHE)
+        unset(PYTHON_LIBRARY)
+        unset(PYTHON_LIBRARY_DEBUG)
+        unset(PYTHON_LIBRARY_RELEASE)
+        unset(PYTHON_LIBRARY CACHE)
+        unset(PYTHON_LIBRARY_DEBUG CACHE)
+        unset(PYTHON_LIBRARY_RELEASE CACHE)
+        unset(PYTHON_INCLUDE_DIR CACHE)
+        unset(PYTHON_INCLUDE_DIR2 CACHE)
+      endif()
+    endif()
+
+    execute_process(COMMAND ${_executable} -c "from distutils.sysconfig import *; print(get_python_lib())"
+                    RESULT_VARIABLE _cvpy_process
+                    OUTPUT_VARIABLE _std_packages_path
+                    OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if("${_std_packages_path}" MATCHES "site-packages")
+      set(_packages_path "python${_version_major_minor}/site-packages")
+    else() #debian based assumed, install to the dist-packages.
+      set(_packages_path "python${_version_major_minor}/dist-packages")
+    endif()
+      if(EXISTS "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}/${${packages_path}}")
+        set(_packages_path "lib${LIB_SUFFIX}/${_packages_path}")
+      else()
+        set(_packages_path "lib/${_packages_path}")
+    endif()
+  endif()
+
+  # Export return values
+  set(${found} "${_found}" CACHE INTERNAL "")
+  set(${executable} "${_executable}" CACHE FILEPATH "Path to Python interpretor")
+  set(${version_string} "${_version_string}" CACHE INTERNAL "")
+  set(${version_major} "${_version_major}" CACHE INTERNAL "")
+  set(${version_minor} "${_version_minor}" CACHE INTERNAL "")
+  set(${libs_found} "${_libs_found}" CACHE INTERNAL "")
+  set(${libs_version_string} "${_libs_version_string}" CACHE INTERNAL "")
+  set(${libraries} "${_libraries}" CACHE INTERNAL "Python libraries")
+  set(${library} "${_library}" CACHE FILEPATH "Path to Python library")
+  set(${debug_libraries} "${_debug_libraries}" CACHE INTERNAL "")
+  set(${debug_library} "${_debug_library}" CACHE FILEPATH "Path to Python debug")
+  set(${include_path} "${_include_path}" CACHE INTERNAL "")
+  set(${include_dir} "${_include_dir}" CACHE PATH "Python include dir")
+  set(${include_dir2} "${_include_dir2}" CACHE PATH "Python include dir 2")
+  set(${packages_path} "${_packages_path}" CACHE PATH "Where to install the python packages.")
+endif()
+endfunction(find_python)
+
+set(MIN_VER_PYTHON2 2.7)
+set(MIN_VER_PYTHON3 3.2)
+
+find_python(2.7 "${MIN_VER_PYTHON2}" PYTHON2_LIBRARY PYTHON2_INCLUDE_DIR
+    PYTHON2INTERP_FOUND PYTHON2_EXECUTABLE PYTHON2_VERSION_STRING
+    PYTHON2_VERSION_MAJOR PYTHON2_VERSION_MINOR PYTHON2LIBS_FOUND
+    PYTHON2LIBS_VERSION_STRING PYTHON2_LIBRARIES PYTHON2_LIBRARY
+    PYTHON2_DEBUG_LIBRARIES PYTHON2_LIBRARY_DEBUG PYTHON2_INCLUDE_PATH
+    PYTHON2_INCLUDE_DIR PYTHON2_INCLUDE_DIR2 PYTHON2_PACKAGES_PATH)
+
+find_python(3 "${MIN_VER_PYTHON3}" PYTHON3_LIBRARY PYTHON3_INCLUDE_DIR
+    PYTHON3INTERP_FOUND PYTHON3_EXECUTABLE PYTHON3_VERSION_STRING
+    PYTHON3_VERSION_MAJOR PYTHON3_VERSION_MINOR PYTHON3LIBS_FOUND
+    PYTHON3LIBS_VERSION_STRING PYTHON3_LIBRARIES PYTHON3_LIBRARY
+    PYTHON3_DEBUG_LIBRARIES PYTHON3_LIBRARY_DEBUG PYTHON3_INCLUDE_PATH
+    PYTHON3_INCLUDE_DIR PYTHON3_INCLUDE_DIR2 PYTHON3_PACKAGES_PATH)
+
+if(PYTHON_DEFAULT_EXECUTABLE)
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+elseif(PYTHON2INTERP_FOUND) # Use Python 2 as default Python interpreter
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+    set(PYTHON_DEFAULT_EXECUTABLE "${PYTHON2_EXECUTABLE}")
+elseif(PYTHON3INTERP_FOUND) # Use Python 2 as fallback Python interpreter (if there is no Python 2)
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+    set(PYTHON_DEFAULT_EXECUTABLE "${PYTHON3_EXECUTABLE}")
+endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d075d1ce..0d92f798 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -26,28 +26,123 @@ macro (upm_create_install_pkgconfig generated_file install_location)
   install (FILES ${CMAKE_CURRENT_BINARY_DIR}/${generated_file} DESTINATION ${install_location})
 endmacro(upm_create_install_pkgconfig)
 
-macro(upm_swig_python)
-  if (BUILDSWIGPYTHON)
+# Provides a means to call target_link_libraries AND the necessary
+# swig_link_libaries.  This iterates over all additional parameters AFTER
+# the target name calling target_link_libraries/swig_link_libraries
+# as necessary accordingly
+macro (upm_target_link_libraries target_name)
+  # For each additional argument to upm_target_link_libraries...
+  foreach(_library ${ARGN})
+    # Add the dependency
+    target_link_libraries(${target_name} ${_library})
 
-    include_directories (
-      ${CMAKE_CURRENT_SOURCE_DIR}/..
-    )
+    # Call the swig link library method for each library
+    if (BUILDSWIGNODE)
+      set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (jsupm_${libname} ${_library})
+    endif()
+    # Build python2 AND/OR python3 modules
+    if (BUILDSWIGPYTHON)
+      # python2?
+      if (PYTHON2LIBS_FOUND)
+        set (pymod_target_name pyupm_${target_name}-python${PYTHON2_VERSION_MAJOR})
+        set_target_properties(${SWIG_MODULE_pyupm_${pymod_target_name}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+        swig_link_libraries (${pymod_target_name} ${_library})
+      endif (PYTHON2LIBS_FOUND)
+      if (PYTHON3LIBS_FOUND)
+        set (pymod_target_name pyupm_${target_name}-python${PYTHON3_VERSION_MAJOR})
+        set_target_properties(${SWIG_MODULE_pyupm_${pymod_target_name}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+        swig_link_libraries (${pymod_target_name} ${_library})
+      endif (PYTHON3LIBS_FOUND)
+    endif()
+    if (BUILDSWIGJAVA)
+      set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (javaupm_${libname} ${_library})
+    endif()
+  endforeach(_library ${ARGN})
+endmacro (upm_target_link_libraries target_name)
 
-    set_source_files_properties (pyupm_${libname}.i PROPERTIES CPLUSPLUS ON)
-    set_source_files_properties (pyupm_${libname}.i PROPERTIES SWIG_FLAGS "-I${CMAKE_CURRENT_BINARY_DIR}/..")
+# Create a single swig target for python
+macro(_upm_swig_python)
+  # Create a target name which includes python version
+  set (pymod_target_name pyupm_${libname}-python${PYTHON_VERSION_MAJOR})
 
-    swig_add_module (pyupm_${libname} python pyupm_${libname}.i)
-    swig_link_libraries (pyupm_${libname} ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES} ${libname})
-    target_include_directories ( ${SWIG_MODULE_pyupm_${libname}_REAL_NAME}
+  include_directories (${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+  set_source_files_properties (pyupm_${libname}.i PROPERTIES CPLUSPLUS ON)
+  set_source_files_properties (pyupm_${libname}.i PROPERTIES SWIG_FLAGS "-I${CMAKE_CURRENT_BINARY_DIR}/..")
+
+  # Set current python binary dir
+  set (CMAKE_CURRENT_PYTHON_BINARY_DIR
+      ${CMAKE_CURRENT_BINARY_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
+
+  # Make sure swig places wrapper/.py collateral under python2/3 directory
+  # Do do this, save the original outdir, set a new outdir, then restore at the
+  # end of this macro.
+  set(CMAKE_SWIG_OUTDIR_SAVED ${CMAKE_SWIG_OUTDIR})
+  set(CMAKE_SWIG_OUTDIR ${CMAKE_CURRENT_PYTHON_BINARY_DIR})
+
+  swig_add_module (${pymod_target_name} python pyupm_${libname}.i)
+  swig_link_libraries (${pymod_target_name} ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES} ${libname})
+  target_include_directories (${SWIG_MODULE_${pymod_target_name}_REAL_NAME}
       PUBLIC
       "${PYTHON_INCLUDE_PATH}"
-      "${PYTHON_INCLUDE_DIRS}"
-     )
-    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/_pyupm_${libname}.so
-         ${CMAKE_CURRENT_BINARY_DIR}/pyupm_${libname}.py
-         DESTINATION ${LIB_INSTALL_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages/
-         COMPONENT ${libname})
-  endif()
+      "${PYTHON_INCLUDE_DIRS}")
+
+  # Add C++ comments to ALL python modules (requires doc build)
+  if (BUILDDOC)
+    # Python module depends on doxy2swig .i file generated from the monolithic doxygen xml file
+    add_dependencies(${SWIG_MODULE_${pymod_target_name}_REAL_NAME} pyupm_doxy2swig )
+
+    # The pydoc target depends on EACH python module
+    add_dependencies(pydoc ${SWIG_MODULE_${pymod_target_name}_REAL_NAME})
+  endif (BUILDDOC)
+
+  # Python collateral names with be the same for python2/3 w/different library dirs
+  set_target_properties (${SWIG_MODULE_${pymod_target_name}_REAL_NAME} PROPERTIES
+      OUTPUT_NAME _pyupm_${libname}
+      COMPILE_FLAGS "${CMAKE_C_FLAGS}"
+      LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_PYTHON_BINARY_DIR})
+
+  # Install py to per-python version site-packages
+  install (FILES ${CMAKE_SWIG_OUTDIR}/pyupm_${libname}.py
+      DESTINATION ${LIB_INSTALL_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages/
+      COMPONENT ${libname})
+
+  # Install python wrapped library with TARGETS to correctly handle RPATH
+  install (TARGETS ${SWIG_MODULE_${pymod_target_name}_REAL_NAME}
+      DESTINATION ${LIB_INSTALL_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages/)
+
+  # Restore OUTDIR
+  set(CMAKE_SWIG_OUTDIR ${CMAKE_SWIG_OUTDIR_SAVED})
+endmacro(_upm_swig_python)
+
+# Generate both python2 and python3 modules if possible
+macro(upm_swig_python)
+  # Return if not building python
+  if (NOT BUILDSWIGPYTHON)
+    return ()
+  endif (NOT BUILDSWIGPYTHON)
+
+  # Generate python2 module if python2 libs are available
+  if (PYTHON2LIBS_FOUND)
+    set(PYTHON_INCLUDE_DIRS ${PYTHON2_INCLUDE_DIRS})
+    set(PYTHON_INCLUDE_PATH ${PYTHON2_INCLUDE_PATH})
+    set(PYTHON_LIBRARIES ${PYTHON2_LIBRARIES})
+    set(PYTHON_VERSION_MAJOR ${PYTHON2_VERSION_MAJOR})
+    set(PYTHON_VERSION_MINOR ${PYTHON2_VERSION_MINOR})
+    _upm_swig_python()
+  endif (PYTHON2LIBS_FOUND)
+
+  # Generate python3 module if python3 libs are available
+  if (PYTHON3LIBS_FOUND)
+    set(PYTHON_INCLUDE_DIRS ${PYTHON3_INCLUDE_DIRS})
+    set(PYTHON_INCLUDE_PATH ${PYTHON3_INCLUDE_PATH})
+    set(PYTHON_LIBRARIES ${PYTHON3_LIBRARIES})
+    set(PYTHON_VERSION_MAJOR ${PYTHON3_VERSION_MAJOR})
+    set(PYTHON_VERSION_MINOR ${PYTHON3_VERSION_MINOR})
+    _upm_swig_python()
+  endif (PYTHON3LIBS_FOUND)
 endmacro(upm_swig_python)
 
 macro(upm_swig_node)
@@ -166,59 +261,37 @@ endmacro(upm_swig_java)
 
 macro(upm_doxygen)
   if (DOXYGEN_FOUND)
-    if(NOT DEFINED classname)
-      set (classname ${libname})
-    endif()
     set (CMAKE_SWIG_FLAGS -DDOXYGEN=${DOXYGEN_FOUND})
-    if (BUILDSWIGPYTHON)
-      add_dependencies (_pyupm_${libname} pyupm_doxy2swig)
-      add_dependencies (pydoc _pyupm_${libname})
-    else ()
-      add_dependencies (${libname} doc)
-    endif ()
+    add_dependencies (doc ${libname})
   endif ()
 endmacro(upm_doxygen)
 
-if (SWIG_FOUND)
-  if (BUILDSWIGPYTHON)
-    if(NOT PYTHONLIBS_FOUND)
-      find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
-      find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
-      string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
-      list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
-      list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
-    endif()
-  endif(BUILDSWIGPYTHON)
-  if (BUILDSWIGNODE)
-    if(NOT NODE_FOUND)
-      find_package(Node)
-    endif()
-    if(SWIG_VERSION VERSION_LESS 3.0.5 AND NODE_VERSION_STRING VERSION_GREATER 0.12)
-      message(WARNING "WARNING - SWIG 3.0.5+ required for building with nodejs 0.12. Current version is ${SWIG_VERSION}")
-    endif()
-    find_path (NODE_ROOT_DIR "include/node/node.h")
-    set (NODE_INCLUDE_DIRS
-      ${NODE_ROOT_DIR}/include/src
-      ${NODE_ROOT_DIR}/include/node
-      ${NODE_ROOT_DIR}/include/deps/v8/include
-      ${NODE_ROOT_DIR}/include/deps/uv/include
-    )
-    macro(createpackagejson)
-      configure_file (${PROJECT_SOURCE_DIR}/src/package.json.in ${CMAKE_CURRENT_BINARY_DIR}/package.json @ONLY)
-      # If a CMAKE_INSTALL_PREFIX has NOT been provided, set NODE_MODULE_INSTALL_PATH
-      # base on the NODE_ROOT_DIR.
-      if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-        set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
-      # If a CMAKE_INSTALL_PREFIX has been provided, set NODE_MODULE_INSTALL_PATH
-      # relative to the provided install directory.
-      else ()
-        set (NODE_MODULE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/node_modules/jsupm_${libname}/)
-      endif ()
-      install(FILES ${CMAKE_CURRENT_BINARY_DIR}/package.json
-          DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
-    endmacro(createpackagejson)
-  endif(BUILDSWIGNODE)
-endif()
+if (BUILDSWIGNODE)
+  if(SWIG_VERSION VERSION_LESS 3.0.5 AND NODE_VERSION_STRING VERSION_GREATER 0.12)
+    message(WARNING "WARNING - SWIG 3.0.5+ required for building with nodejs 0.12. Current version is ${SWIG_VERSION}")
+  endif()
+  find_path (NODE_ROOT_DIR "include/node/node.h")
+  set (NODE_INCLUDE_DIRS
+    ${NODE_ROOT_DIR}/include/src
+    ${NODE_ROOT_DIR}/include/node
+    ${NODE_ROOT_DIR}/include/deps/v8/include
+    ${NODE_ROOT_DIR}/include/deps/uv/include
+  )
+  macro(createpackagejson)
+    configure_file (${PROJECT_SOURCE_DIR}/src/package.json.in ${CMAKE_CURRENT_BINARY_DIR}/package.json @ONLY)
+    # If a CMAKE_INSTALL_PREFIX has NOT been provided, set NODE_MODULE_INSTALL_PATH
+    # base on the NODE_ROOT_DIR.
+    if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+      set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
+    # If a CMAKE_INSTALL_PREFIX has been provided, set NODE_MODULE_INSTALL_PATH
+    # relative to the provided install directory.
+    else ()
+      set (NODE_MODULE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/node_modules/jsupm_${libname}/)
+    endif ()
+    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/package.json
+        DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
+  endmacro(createpackagejson)
+endif(BUILDSWIGNODE)
 
 # Process C/C++ sensor modules
 # This function pre-processes sensor library input and hands off the
@@ -366,22 +439,19 @@ macro(upm_module_init)
 endmacro(upm_module_init)
 
 # Generate python module documentation from doxygen collateral
-if (BUILDDOC AND BUILDSWIGPYTHON AND SWIG_FOUND)
+if (BUILDDOC AND BUILDSWIGPYTHON)
   # doxy2swig the doxygen output
-  add_custom_command (OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/pyupm_doxy2swig.i
+  add_custom_target (pyupm_doxy2swig ALL
     COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/doxy2swig.py
       ${CMAKE_BINARY_DIR}/xml/index.xml
       ${CMAKE_CURRENT_BINARY_DIR}/pyupm_doxy2swig.i
-    DEPENDS ${CMAKE_BINARY_DIR}/xml/index.xml
-  )
-  add_custom_target (pyupm_doxy2swig DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/pyupm_doxy2swig.i)
-  add_dependencies (pyupm_doxy2swig doc)
+      DEPENDS doc)
 # BUILDDOC not set but still building python modules, generate an empty
 # pyupm_doxy2swig.i file (overwriting if necessary)
-elseif (BUILDSWIGPYTHON AND SWIG_FOUND)
+elseif (BUILDSWIGPYTHON)
   message (STATUS "Generating empty ${CMAKE_CURRENT_BINARY_DIR}/pyupm_doxy2swig.i")
   file (WRITE ${CMAKE_CURRENT_BINARY_DIR}/pyupm_doxy2swig.i "// Empty doxy2swig stub")
-endif (BUILDDOC AND BUILDSWIGPYTHON AND SWIG_FOUND)
+endif (BUILDDOC AND BUILDSWIGPYTHON)
 
 if (MODULE_LIST)
   set(SUBDIRS ${MODULE_LIST})
diff --git a/src/adafruitms1438/CMakeLists.txt b/src/adafruitms1438/CMakeLists.txt
index 70c85d9d..e4a37949 100644
--- a/src/adafruitms1438/CMakeLists.txt
+++ b/src/adafruitms1438/CMakeLists.txt
@@ -6,12 +6,4 @@ set (reqlibname "upm-pca9685")
 include_directories("../pca9685")
 upm_module_init()
 add_dependencies(${libname} pca9685)
-target_link_libraries(${libname} pca9685)
-if (BUILDSWIGNODE)
-  set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-  swig_link_libraries (jsupm_${libname} pca9685)
-endif()
-if (BUILDSWIGPYTHON)
-  set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-  swig_link_libraries (pyupm_${libname} pca9685)
-endif()
+upm_target_link_libraries(${libname} pca9685)
diff --git a/src/apds9930/pyupm_apds9930.i b/src/apds9930/pyupm_apds9930.i
index e54fb2e5..263dd3f2 100755
--- a/src/apds9930/pyupm_apds9930.i
+++ b/src/apds9930/pyupm_apds9930.i
@@ -1,5 +1,7 @@
 %module pyupm_apds9930
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
 
 %feature("autodoc", "3");
 
diff --git a/src/bacnetmstp/CMakeLists.txt b/src/bacnetmstp/CMakeLists.txt
index be2daaa8..5757feef 100644
--- a/src/bacnetmstp/CMakeLists.txt
+++ b/src/bacnetmstp/CMakeLists.txt
@@ -7,14 +7,5 @@ if (BACNET_FOUND)
   set (reqlibname "libbacnet")
   include_directories(${BACNET_INCLUDE_DIRS})
   upm_module_init()
-  target_link_libraries(${libname} ${BACNET_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
-  if (BUILDSWIGNODE)
-    swig_link_libraries (jsupm_${libname} ${BACNET_LIBRARIES})
-  endif()
-  if (BUILDSWIGPYTHON)
-    swig_link_libraries (pyupm_${libname} ${BACNET_LIBRARIES})
-  endif()
-  if (BUILDSWIGJAVA)
-    swig_link_libraries (javaupm_${libname} ${BACNET_LIBRARIES})
-  endif()
+  upm_target_link_libraries(${libname} ${BACNET_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
 endif ()
diff --git a/src/ds1808lc/pyupm_ds1808lc.i b/src/ds1808lc/pyupm_ds1808lc.i
index 4c2b34ac..e479c146 100644
--- a/src/ds1808lc/pyupm_ds1808lc.i
+++ b/src/ds1808lc/pyupm_ds1808lc.i
@@ -1,5 +1,8 @@
 %module pyupm_ds1808lc
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %feature("autodoc", "3");
 
diff --git a/src/ds18b20/pyupm_ds18b20.i b/src/ds18b20/pyupm_ds18b20.i
index 3a4ac70e..b0f019e5 100644
--- a/src/ds18b20/pyupm_ds18b20.i
+++ b/src/ds18b20/pyupm_ds18b20.i
@@ -1,5 +1,8 @@
 %module pyupm_ds18b20
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 %include "carrays.i"
 %include "std_string.i"
 
diff --git a/src/ds2413/pyupm_ds2413.i b/src/ds2413/pyupm_ds2413.i
index 819f71ce..b0d7279c 100644
--- a/src/ds2413/pyupm_ds2413.i
+++ b/src/ds2413/pyupm_ds2413.i
@@ -1,5 +1,8 @@
 %module pyupm_ds2413
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 %include "carrays.i"
 %include "std_string.i"
 
diff --git a/src/e50hx/CMakeLists.txt b/src/e50hx/CMakeLists.txt
index 4a613e3e..fac4f780 100644
--- a/src/e50hx/CMakeLists.txt
+++ b/src/e50hx/CMakeLists.txt
@@ -9,17 +9,5 @@ if (BACNET_FOUND)
   include_directories(${BACNET_INCLUDE_DIRS})
   include_directories("../bacnetmstp")
   upm_module_init()
-  target_link_libraries(${libname} bacnetmstp)
-  if (BUILDSWIGNODE)
-    set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (jsupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGPYTHON)
-    set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (pyupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGJAVA)
-    set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (javaupm_${libname} bacnetmstp)
-  endif()
+  upm_target_link_libraries(${libname} bacnetmstp)
 endif ()
diff --git a/src/h803x/CMakeLists.txt b/src/h803x/CMakeLists.txt
index e8901f68..7806a42b 100644
--- a/src/h803x/CMakeLists.txt
+++ b/src/h803x/CMakeLists.txt
@@ -7,14 +7,5 @@ if (MODBUS_FOUND)
   set (reqlibname "libmodbus")
   include_directories(${MODBUS_INCLUDE_DIRS})
   upm_module_init()
-  target_link_libraries(${libname} ${MODBUS_LIBRARIES})
-  if (BUILDSWIGNODE)
-    swig_link_libraries (jsupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
-  if (BUILDSWIGPYTHON)
-    swig_link_libraries (pyupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
-  if (BUILDSWIGJAVA)
-    swig_link_libraries (javaupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
+  upm_target_link_libraries(${libname} ${MODBUS_LIBRARIES})
 endif ()
diff --git a/src/hlg150h/pyupm_hlg150h.i b/src/hlg150h/pyupm_hlg150h.i
index 29c6697b..c4c65b6b 100644
--- a/src/hlg150h/pyupm_hlg150h.i
+++ b/src/hlg150h/pyupm_hlg150h.i
@@ -1,5 +1,7 @@
 %module pyupm_hlg150h
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
 
 %feature("autodoc", "3");
 
diff --git a/src/hwxpxx/CMakeLists.txt b/src/hwxpxx/CMakeLists.txt
index 7dd1abdc..35abfa57 100644
--- a/src/hwxpxx/CMakeLists.txt
+++ b/src/hwxpxx/CMakeLists.txt
@@ -7,11 +7,5 @@ if (MODBUS_FOUND)
   set (reqlibname "libmodbus")
   include_directories(${MODBUS_INCLUDE_DIRS})
   upm_module_init()
-  target_link_libraries(${libname} ${MODBUS_LIBRARIES})
-  if (BUILDSWIGNODE)
-    swig_link_libraries (jsupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
-  if (BUILDSWIGPYTHON)
-    swig_link_libraries (pyupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
+  upm_target_link_libraries(${libname} ${MODBUS_LIBRARIES})
 endif ()
diff --git a/src/kxcjk1013/pyupm_kxcjk1013.i b/src/kxcjk1013/pyupm_kxcjk1013.i
index 05b03e69..39df471b 100644
--- a/src/kxcjk1013/pyupm_kxcjk1013.i
+++ b/src/kxcjk1013/pyupm_kxcjk1013.i
@@ -1,5 +1,8 @@
 %module pyupm_kxcjk1013
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %feature("autodoc", "3");
 
diff --git a/src/l3gd20/pyupm_l3gd20.i b/src/l3gd20/pyupm_l3gd20.i
index a66a85b9..60b09437 100644
--- a/src/l3gd20/pyupm_l3gd20.i
+++ b/src/l3gd20/pyupm_l3gd20.i
@@ -1,4 +1,7 @@
 %module pyupm_l3gd20
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 %include "../upm.i"
 
 %feature("autodoc", "3");
diff --git a/src/lcd/CMakeLists.txt b/src/lcd/CMakeLists.txt
index 26be0cbb..343cd826 100644
--- a/src/lcd/CMakeLists.txt
+++ b/src/lcd/CMakeLists.txt
@@ -1,5 +1,4 @@
 set (libname "i2clcd")
-set (classname "lcd")
 set (libdescription "upm lcd/oled displays")
 set (module_src lcd.cxx lcm1602.cxx jhd1313m1.cxx ssd1308.cxx eboled.cxx ssd1327.cxx sainsmartks.cxx ssd1306.cxx)
 set (module_hpp lcd.hpp lcm1602.hpp jhd1313m1.hpp ssd1308.hpp eboled.hpp ssd1327.hpp ssd.hpp sainsmartks.hpp ssd1306.hpp)
diff --git a/src/lp8860/pyupm_lp8860.i b/src/lp8860/pyupm_lp8860.i
index 04eafe5c..0431cdad 100644
--- a/src/lp8860/pyupm_lp8860.i
+++ b/src/lp8860/pyupm_lp8860.i
@@ -1,5 +1,7 @@
 %module pyupm_lp8860
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
 
 %feature("autodoc", "3");
 
diff --git a/src/max44009/pyupm_max44009.i b/src/max44009/pyupm_max44009.i
index c8e614f9..d6db5ecc 100644
--- a/src/max44009/pyupm_max44009.i
+++ b/src/max44009/pyupm_max44009.i
@@ -1,5 +1,8 @@
 %module pyupm_max44009
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %include "stdint.i"
 
diff --git a/src/ms5611/pyupm_ms5611.i b/src/ms5611/pyupm_ms5611.i
index fcfa1e06..9c7fc846 100644
--- a/src/ms5611/pyupm_ms5611.i
+++ b/src/ms5611/pyupm_ms5611.i
@@ -1,5 +1,7 @@
 %module pyupm_ms5611
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
 
 %feature("autodoc", "3");
 
diff --git a/src/ozw/CMakeLists.txt b/src/ozw/CMakeLists.txt
index 170ba589..805ea201 100644
--- a/src/ozw/CMakeLists.txt
+++ b/src/ozw/CMakeLists.txt
@@ -7,17 +7,5 @@ if (OPENZWAVE_FOUND)
   set (reqlibname "libopenzwave")
   include_directories(${OPENZWAVE_INCLUDE_DIRS})
   upm_module_init()
-  target_link_libraries(${libname} ${OPENZWAVE_LIBRARIES})
-  if (BUILDSWIGNODE)
-    set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (jsupm_${libname} ${OPENZWAVE_LIBRARIES})
-  endif()
-  if (BUILDSWIGPYTHON)
-    set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (pyupm_${libname} ${OPENZWAVE_LIBRARIES})
-  endif()
-  if (BUILDSWIGJAVA)
-    set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (javaupm_${libname} ${OPENZWAVE_LIBRARIES})
-  endif()
+  upm_target_link_libraries(${libname} ${OPENZWAVE_LIBRARIES})
 endif ()
diff --git a/src/si1132/pyupm_si1132.i b/src/si1132/pyupm_si1132.i
index 00a4d942..6f427e84 100644
--- a/src/si1132/pyupm_si1132.i
+++ b/src/si1132/pyupm_si1132.i
@@ -1,5 +1,8 @@
 %module pyupm_si1132
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %include "stdint.i"
 
diff --git a/src/si7005/pyupm_si7005.i b/src/si7005/pyupm_si7005.i
index 914d3ffa..123f50f1 100644
--- a/src/si7005/pyupm_si7005.i
+++ b/src/si7005/pyupm_si7005.i
@@ -1,5 +1,8 @@
 %module pyupm_si7005
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %include "stdint.i"
 
diff --git a/src/smartdrive/pyupm_smartdrive.i b/src/smartdrive/pyupm_smartdrive.i
index 3ed4ff20..4ba82a8a 100644
--- a/src/smartdrive/pyupm_smartdrive.i
+++ b/src/smartdrive/pyupm_smartdrive.i
@@ -1,5 +1,8 @@
 %module pyupm_smartdrive
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 
 %include "stdint.i"
 
diff --git a/src/t3311/CMakeLists.txt b/src/t3311/CMakeLists.txt
index 4270403a..f7d7c6c4 100644
--- a/src/t3311/CMakeLists.txt
+++ b/src/t3311/CMakeLists.txt
@@ -7,14 +7,5 @@ if (MODBUS_FOUND)
   set (reqlibname "libmodbus")
   include_directories(${MODBUS_INCLUDE_DIRS})
   upm_module_init()
-  target_link_libraries(${libname} ${MODBUS_LIBRARIES})
-  if (BUILDSWIGNODE)
-    swig_link_libraries (jsupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
-  if (BUILDSWIGPYTHON)
-    swig_link_libraries (pyupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
-  if (BUILDSWIGJAVA)
-    swig_link_libraries (javaupm_${libname} ${MODBUS_LIBRARIES})
-  endif()
+  upm_target_link_libraries(${libname} ${MODBUS_LIBRARIES})
 endif ()
diff --git a/src/t6713/pyupm_t6713.i b/src/t6713/pyupm_t6713.i
index ab749163..07e6c29f 100644
--- a/src/t6713/pyupm_t6713.i
+++ b/src/t6713/pyupm_t6713.i
@@ -1,5 +1,8 @@
 %module pyupm_t6713
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+
 %include "stdint.i"
 
 %feature("autodoc", "3");
diff --git a/src/t8100/CMakeLists.txt b/src/t8100/CMakeLists.txt
index 66b0b5cd..76812672 100644
--- a/src/t8100/CMakeLists.txt
+++ b/src/t8100/CMakeLists.txt
@@ -9,17 +9,5 @@ if (BACNET_FOUND)
   include_directories(${BACNET_INCLUDE_DIRS})
   include_directories("../bacnetmstp")
   upm_module_init()
-  target_link_libraries(${libname} bacnetmstp)
-  if (BUILDSWIGNODE)
-    set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (jsupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGPYTHON)
-    set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (pyupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGJAVA)
-    set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (javaupm_${libname} bacnetmstp)
-  endif()
+  upm_target_link_libraries(${libname} bacnetmstp)
 endif ()
diff --git a/src/tb7300/CMakeLists.txt b/src/tb7300/CMakeLists.txt
index ba98055a..d2face3f 100644
--- a/src/tb7300/CMakeLists.txt
+++ b/src/tb7300/CMakeLists.txt
@@ -9,17 +9,5 @@ if (BACNET_FOUND)
   include_directories(${BACNET_INCLUDE_DIRS})
   include_directories("../bacnetmstp")
   upm_module_init()
-  target_link_libraries(${libname} bacnetmstp)
-  if (BUILDSWIGNODE)
-    set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (jsupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGPYTHON)
-    set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (pyupm_${libname} bacnetmstp)
-  endif()
-  if (BUILDSWIGJAVA)
-    set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
-    swig_link_libraries (javaupm_${libname} bacnetmstp)
-  endif()
+  upm_target_link_libraries(${libname} bacnetmstp)
 endif ()
diff --git a/src/upm/pyupm_interfaces.i b/src/upm/pyupm_interfaces.i
index 2914ee49..b82ad12d 100644
--- a/src/upm/pyupm_interfaces.i
+++ b/src/upm/pyupm_interfaces.i
@@ -1,5 +1,7 @@
 %module pyupm_interfaces
 %include "../upm.i"
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
 
 %feature("autodoc", "3");
 
diff --git a/src/vcap/CMakeLists.txt b/src/vcap/CMakeLists.txt
index ae8d4dd5..103f9c8f 100644
--- a/src/vcap/CMakeLists.txt
+++ b/src/vcap/CMakeLists.txt
@@ -6,14 +6,5 @@ set (module_hpp ${libname}.hpp)
 if (JPEG_FOUND)
     set (reqlibname "jpeg")
     upm_module_init()
-    target_link_libraries(${libname} jpeg)
-    if (BUILDSWIGNODE)
-      swig_link_libraries (jsupm_${libname} jpeg)
-    endif()
-    if (BUILDSWIGPYTHON)
-      swig_link_libraries (pyupm_${libname} jpeg)
-    endif()
-    if (BUILDSWIGJAVA)
-      swig_link_libraries (javaupm_${libname} jpeg)
-    endif()
+    upm_target_link_libraries(${libname} jpeg)
 endif()