diff --git a/DoxygenLayout.xml b/DoxygenLayout.xml
index 1014e2a7..5ade7ff1 100644
--- a/DoxygenLayout.xml
+++ b/DoxygenLayout.xml
@@ -4,8 +4,11 @@
   <navindex>
     <tab type="mainpage" visible="yes" title=""/>
     <tab type="pages" visible="yes" title="" intro=""/>
-    <tab type="modules" visible="yes" title="" intro=""/>
-    <tab type="namespaces" visible="yes" title="">
+    <tab type="modules" visible="yes" title="UPM libraries" intro="Here is a
+    list of UPM libraries that can be used. Note that each of the classes
+    listed in these libraries are completely seperate so you will need to link
+    against all those that you have used in your program"/> <tab
+    type="namespaces" visible="yes" title="">
     <tab type="namespacelist" visible="yes" title="" intro=""/>
     <tab type="namespacemembers" visible="yes" title="" intro=""/>
     </tab>
diff --git a/src/buzzer/buzzer.h b/src/buzzer/buzzer.h
index 7ff04688..3b8ea4b4 100644
--- a/src/buzzer/buzzer.h
+++ b/src/buzzer/buzzer.h
@@ -36,13 +36,18 @@
 
 namespace upm {
 
+/**
+ * @brief Buzzer library
+ * @defgroup buzzer libupm-buzzer
+ */
+
 /**
  * @brief C++ API for Buzzer component
  *
  * This file defines the Buzzer C++ interface for libbuzzer
  *
+ * @ingroup buzzer
  * @snippet buzzer-sound.cxx Interesting
- *
  */
 class Buzzer {
     public:
diff --git a/src/ecs1030/ecs1030.h b/src/ecs1030/ecs1030.h
index aa450a03..0884e9b5 100644
--- a/src/ecs1030/ecs1030.h
+++ b/src/ecs1030/ecs1030.h
@@ -41,9 +41,15 @@ namespace upm {
 #define TRUE               HIGH
 #define FALSE              LOW
 
+/**
+ * @brief ECS1030 electricity sensor library
+ * @defgroup ecs1030 libupm-ecs1030
+ */
+
 /**
  * @brief C++ API for ECS1030 (electricity sensor)
  *
+ * @ingroup ecs1030
  * @snippet ecs1030.cxx Interesting
  */
 
diff --git a/src/gas/gas.h b/src/gas/gas.h
index efb12b11..d94c44f0 100644
--- a/src/gas/gas.h
+++ b/src/gas/gas.h
@@ -36,9 +36,8 @@ struct thresholdContext {
 namespace upm {
 
 /**
- * @brief C++ API for Gas sensors
- *
- * This file defines the Gas Analog sensors virtual functions
+ * @brief gas sensor library
+ * @defgroup gas libupm-gas
  */
 class Gas {
     public:
diff --git a/src/gas/mq2.h b/src/gas/mq2.h
index fb2046ad..d0625a9d 100644
--- a/src/gas/mq2.h
+++ b/src/gas/mq2.h
@@ -36,6 +36,7 @@ namespace upm {
      * Hydrogen, smoke and other combustible gases. It's a medium sensitivity
      * sensor with a detect concentration of 300-10000ppm.
      *
+     * @ingroup gas
      * @snippet mq2-example.cxx Interesting
      * @image html grovegas.jpeg
      */
diff --git a/src/gas/mq3.h b/src/gas/mq3.h
index c4f9ada9..3eeb688c 100644
--- a/src/gas/mq3.h
+++ b/src/gas/mq3.h
@@ -36,6 +36,7 @@ namespace upm {
      * highly sensitive but has a long warmup time of about 1minute. It's
      * detect rate is of 0.04-4mg/L Alcohol.
      *
+     * @ingroup gas
      * @snippet mq3-example.cxx Interesting
      * @image html grovegas.jpeg
      */
diff --git a/src/gas/mq5.h b/src/gas/mq5.h
index fc931dbb..f9dcf352 100644
--- a/src/gas/mq5.h
+++ b/src/gas/mq5.h
@@ -36,6 +36,7 @@ namespace upm {
      * on. It is highly sensitive and has a detection concentration of
      * 300-10000ppm.
      *
+     * @ingroup gas
      * @snippet mq5-example.cxx Interesting
      * @image html grovegas.jpeg
      */
diff --git a/src/gas/mq9.h b/src/gas/mq9.h
index 67ede9e2..b507dda6 100644
--- a/src/gas/mq9.h
+++ b/src/gas/mq9.h
@@ -35,6 +35,7 @@ namespace upm {
      * home and industry). It can detect Carbon Monoxide, Coal Gas and
      * Liquefied Gas. It's sensitivty is 10-1000ppmCO 100-10000PPm Gas.
      *
+     * @ingroup gas
      * @snippet mq9-example.cxx Interesting
      * @image html mq9.jpeg
      */
diff --git a/src/grove/grove.h b/src/grove/grove.h
index 3d05a7fe..c8bc1434 100644
--- a/src/grove/grove.h
+++ b/src/grove/grove.h
@@ -29,6 +29,10 @@
 
 namespace upm {
 
+/**
+ * @brief library for basic grove sensors
+ * @defgroup grove libupm-grove
+ */
 class Grove {
     public:
         virtual ~Grove() {}
@@ -45,6 +49,7 @@ class Grove {
  *
  * Very basic UPM module for grove LED, or any LED for that matter
  *
+ * @ingroup grove
  * @snippet groveled.cxx Interesting
  */
 class GroveLed: public Grove {
@@ -63,6 +68,7 @@ class GroveLed: public Grove {
  *
  * Very basic UPM module for grove temperature sensor on analog
  *
+ * @ingroup grove
  * @snippet grovetemp.cxx Interesting
  */
 class GroveTemp: public Grove {
@@ -90,6 +96,7 @@ class GroveTemp: public Grove {
  *
  * Very basic UPM module for grove Light sensor on analog
  *
+ * @ingroup grove
  * @snippet grovelight.cxx Interesting
  */
 class GroveLight: public Grove {
diff --git a/src/gy65/gy65.h b/src/gy65/gy65.h
index 59e4eb60..c709c9e7 100644
--- a/src/gy65/gy65.h
+++ b/src/gy65/gy65.h
@@ -60,6 +60,11 @@
 
 namespace upm {
 
+/**
+ * @brief GY65 & BPM085 atmospheric pressure sensor library
+ * @defgroup gy65 libupm-gy65
+ */
+
 /**
  * @brief C++ API for GY65/BMP085 chip (Atmospheric Pressure Sensor)
  *
@@ -68,6 +73,7 @@ namespace upm {
  * is a high precision, ultra-low power consumption pressure sensor. It has a
  * range of between 30,000 and 110,000 Pa.
  *
+ * @ingroup gy65
  * @snippet gy65.cxx Interesting
  * @image html bmp085.jpeg
  */
diff --git a/src/gy65/pyupm_gy65.i b/src/gy65/pyupm_gy65.i
index 3086cd4f..1e3e2df1 100644
--- a/src/gy65/pyupm_gy65.i
+++ b/src/gy65/pyupm_gy65.i
@@ -3,9 +3,8 @@
 
 %include "stdint.i"
 
-%feature("autodoc", "3");
-
 %include "gy65.h"
 %{
     #include "gy65.h"
 %}
+
diff --git a/src/hcsr04/hcsr04.h b/src/hcsr04/hcsr04.h
index 0ab83335..eaf32b33 100644
--- a/src/hcsr04/hcsr04.h
+++ b/src/hcsr04/hcsr04.h
@@ -1,4 +1,4 @@
-/*
+ /*
  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
  * Copyright (c) 2014 Intel Corporation.
  *
@@ -37,13 +37,18 @@
 
 namespace upm {
 
+/**
+ * @brief HCSR04 ultrasonic sensor library
+ * @defgroup hcsr04 libupm-hcsr04
+ */
+
 /**
  * @brief C++ API for HCSR04 (ultrasonic ranging module) component
  *
  * This file defines the HCSR04 C++ interface for libhcsr04
  *
+ * @ingroup hcsr04
  * @snippet hcsr04.cxx Interesting
- *
  */
 class HCSR04 {
     public:
diff --git a/src/hmc5883l/hmc5883l.h b/src/hmc5883l/hmc5883l.h
index 08295b74..c4a0cef0 100644
--- a/src/hmc5883l/hmc5883l.h
+++ b/src/hmc5883l/hmc5883l.h
@@ -29,6 +29,11 @@
 
 namespace upm {
 
+/**
+ * @brief HMC5883l magnometer library
+ * @defgroup hmc5883l libupm-hmc5883l
+ */
+
 /**
  * @brief C++ API for HMC5883l (3-axis digital compass)
  *
@@ -38,10 +43,10 @@ namespace upm {
  * all done through an I2C interface. Different breakout boards are available,
  * typically a 3V supply is all that is needed to power the sensor.
  *
+ * @ingroup hmc5883l
  * @snippet hmc5883l.cxx Interesting
  * @image html hmc5883l.jpeg
  */
-
 class Hmc5883l {
 public:
     /**
diff --git a/src/joystick12/joystick12.h b/src/joystick12/joystick12.h
index 21e920dd..3a67680e 100644
--- a/src/joystick12/joystick12.h
+++ b/src/joystick12/joystick12.h
@@ -29,6 +29,11 @@
 
 namespace upm {
 
+/**
+ * @brief Analog Joystick library
+ * @defgroup joystick libupm-joystick
+ */
+
 /**
  * @brief C++ API for Elecfreaks Joystick v 1.2-1.4 breakout
  *
@@ -36,8 +41,8 @@ namespace upm {
  * button could be treated as normal GPIO, this enables easier
  * interrupt support
  *
+ * @ingroup joystick
  * @snippet joystick12-example.cxx Interesting
- *
  */
 class Joystick12 {
     public:
diff --git a/src/lcd/i2clcd.h b/src/lcd/i2clcd.h
index 48530ced..57588864 100644
--- a/src/lcd/i2clcd.h
+++ b/src/lcd/i2clcd.h
@@ -72,6 +72,10 @@ namespace upm {
 #define LCD_RW 0x02 // Read/Write bit
 #define LCD_RS 0x01 // Register select bit
 
+/**
+ * @brief i2c LCD display library
+ * @defgroup i2clcd libupm-i2clcd
+ */
 class I2CLcd {
     public:
         I2CLcd (int bus, int lcdAddress);
diff --git a/src/lcd/jhd1313m1.h b/src/lcd/jhd1313m1.h
index aafffe9c..6c2489fe 100644
--- a/src/lcd/jhd1313m1.h
+++ b/src/lcd/jhd1313m1.h
@@ -38,6 +38,7 @@ namespace upm {
  * [Grove LCD RGB Backlight v2.0 display]
  * (http://www.seeedstudio.com/depot/Grove-LCD-RGB-Backlight-p-1643.html?cPath=34_36)
  *
+ * @ingroup i2clcd
  * @snippet rgb-lcd.cxx Interesting
  * @image html grovergblcd.jpeg
  */
diff --git a/src/lcd/lcm1602.h b/src/lcd/lcm1602.h
index 0dfdd032..5c3026fa 100644
--- a/src/lcd/lcm1602.h
+++ b/src/lcd/lcm1602.h
@@ -42,6 +42,7 @@ namespace upm {
  * [TC1602A-01T](https://www.adafruit.com/datasheets/TC1602A-01T.pdf) seems to
  * the best documented example.
  *
+ * @ingroup i2clcd
  * @snippet lcm-lcd.cxx Interesting
  * @image html lcm1602.jpeg
  */
diff --git a/src/lcd/ssd1308.h b/src/lcd/ssd1308.h
index abc51c09..9bb7b98e 100644
--- a/src/lcd/ssd1308.h
+++ b/src/lcd/ssd1308.h
@@ -155,6 +155,7 @@ typedef enum {
  * (http://www.seeedstudio.com/wiki/Grove_-_OLED_Display_0.96%22)
  * which is an OLED monochrome display
  *
+ * @ingroup i2clcd
  * @snippet oled-1308.cxx Interesting
  * @image html ssd1308.jpeg
  */
diff --git a/src/lcd/ssd1327.h b/src/lcd/ssd1327.h
index f5bc1327..743c3002 100644
--- a/src/lcd/ssd1327.h
+++ b/src/lcd/ssd1327.h
@@ -155,6 +155,7 @@ typedef enum {
  * (http://www.seeedstudio.com/wiki/Grove_-_OLED_Display_1.12%22)
  * which is an OLED monochrome display
  *
+ * @ingroup i2clcd
  * @snippet oled-1327.cxx Interesting
  * @image html ssd1327.jpeg
  */
diff --git a/src/lol/lol.h b/src/lol/lol.h
index b1f1fb8e..ba82e263 100644
--- a/src/lol/lol.h
+++ b/src/lol/lol.h
@@ -32,14 +32,19 @@ namespace upm {
 
 #define LOL_X 14
 #define LOL_Y 9
+
+/**
+ * @brief Olimex LoL array library
+ * @defgroup lol libupm-lol
+ */
+
 /**
  * @brief C++ API for Olimex LoL array
  *
- * This file defines the LoL API and implemntation for 
- * a simple framebuffer
+ * This file defines the LoL API and implemntation for a simple framebuffer
  *
+ * @ingroup lol
  * @snippet lol-example.cxx Interesting
- *
  */
 class LoL {
     public:
diff --git a/src/lpd8806/lpd8806.h b/src/lpd8806/lpd8806.h
index 6e48002a..8413a447 100644
--- a/src/lpd8806/lpd8806.h
+++ b/src/lpd8806/lpd8806.h
@@ -33,11 +33,17 @@
 
 namespace upm {
 
+/**
+ * @brief FastPixel lpd8806 library
+ * @defgroup lpd8806 libupm-lpd8806
+ */
+
 /**
  * @brief C++ API for LPD8806 
  *
  * The FastPixel lpd8806 is an RGB led strip controller.
  *
+ * @ingroup lpd8806
  * @snippet lpd8806-example.cxx Interesting
  * @image html lpd8806.jpeg
  */
diff --git a/src/lsm303/lsm303.h b/src/lsm303/lsm303.h
index 1bd21d29..748db734 100644
--- a/src/lsm303/lsm303.h
+++ b/src/lsm303/lsm303.h
@@ -60,6 +60,11 @@ namespace upm {
 #define Z 1
 #define Y 2
 
+/**
+ * @brief LSM303 accelerometer/compass library
+ * @defgroup lsm303 libupm-lsm303
+ */
+
 /**
  * @brief C++ API for LSM303
  *
@@ -69,6 +74,7 @@ namespace upm {
  * module that is used over i2c. The magnometer and acceleromter are accessed
  * at two seperate i2c addresses.
  *
+ * @ingroup lsm303
  * @snippet lsm303.cxx Interesting
  * @image html lsm303.jpeg
  */
diff --git a/src/max31723/max31723.h b/src/max31723/max31723.h
index 27214bde..e78c1f89 100644
--- a/src/max31723/max31723.h
+++ b/src/max31723/max31723.h
@@ -33,6 +33,11 @@
 
 namespace upm {
 
+/**
+ * @brief max31723 temperature sensor library
+ * @defgroup max31723 libupm-max31723
+ */
+
 /**
  * @brief C++ API for MAX31723 chip (Temperature sensor)
  *
@@ -43,6 +48,7 @@ namespace upm {
  * module](http://datasheets.maximintegrated.com/en/ds/MAX31723PMB1.pdf) from
  * the analog PMOD kit.
  *
+ * @ingroup max31723
  * @snippet max31723.cxx Interesting
  * @image html max31723.jpeg
  */
diff --git a/src/max31855/max31855.h b/src/max31855/max31855.h
index 0c60166d..74dd0272 100644
--- a/src/max31855/max31855.h
+++ b/src/max31855/max31855.h
@@ -29,6 +29,11 @@
 
 namespace upm {
 
+/**
+ * @brief max31855 thermocouple library
+ * @defgroup max31855 libupm-max31855
+ */
+
 /**
  * @brief C++ API for MAX31855
  *
@@ -40,6 +45,7 @@ namespace upm {
  * (http://datasheets.maximintegrated.com/en/ds/MAX31855PMB1.pdf) from the
  * analog PMOD kit.
  *
+ * @ingroup max31855
  * @snippet max31855.cxx Interesting
  * @image html max31855.jpeg
  */
diff --git a/src/max44000/max44000.h b/src/max44000/max44000.h
index 2e0bbb2d..31e70f80 100644
--- a/src/max44000/max44000.h
+++ b/src/max44000/max44000.h
@@ -52,6 +52,11 @@
 
 namespace upm {
 
+/**
+ * @brief max44000 proxmity sensor library
+ * @defgroup max44000 libupm-max44000
+ */
+
 /**
  * @brief C++ API for MAX44000 chip (Ambient and Infrared Proximity Sensor)
  *
diff --git a/src/max5487/max5487.h b/src/max5487/max5487.h
index 9462009a..24a61ad0 100644
--- a/src/max5487/max5487.h
+++ b/src/max5487/max5487.h
@@ -33,6 +33,11 @@
 
 namespace upm {
 
+/**
+ * @brief max5847 digital potentiometer library
+ * @defgroup max5847 libupm-max5847
+ */
+
 /**
  * @brief C++ API for MAX5487 chip (SPI digital potentionmeter)
  *
@@ -43,6 +48,7 @@ namespace upm {
  * PMOD module](http://datasheets.maximintegrated.com/en/ds/MAX5487PMB1.pdf)
  * from the analog PMOD kit.
  *
+ * @ingroup max5847
  * @snippet max5487.cxx Interesting
  * @image html max5487.jpeg
  */
diff --git a/src/maxds3231m/maxds3231m.h b/src/maxds3231m/maxds3231m.h
index f02d4506..87ab1441 100644
--- a/src/maxds3231m/maxds3231m.h
+++ b/src/maxds3231m/maxds3231m.h
@@ -62,11 +62,15 @@ struct Time3231 {
     uint8_t weekDay;
 };
 
+/**
+ * @brief maxds3231m proximity sensor library
+ * @defgroup maxds3231m libupm-maxds3231m
+ */
+
 /**
  * @brief C++ API for MAXDS3231M chip (Ambient and Infrared Proximity Sensor)
  *
- * This file defines the MAXDS3231M C++ interface for libmax44000
- *
+ * @ingroup maxds3231m
  */
 class MAXDS3231M {
     public:
diff --git a/src/mic/mic.h b/src/mic/mic.h
index f7fafa0c..ac0adf8a 100644
--- a/src/mic/mic.h
+++ b/src/mic/mic.h
@@ -35,13 +35,18 @@ struct thresholdContext {
 
 namespace upm {
 
+/**
+ * @brief analog microphone library
+ * @defgroup mic libupm-mic
+ */
+
 /**
  * @brief C++ API for Microphone
  *
  * This file defines the Microphone Analog sensor
  *
+ * @ingroup mic
  * @snippet mic-example.cxx Interesting
- *
  */
 class Microphone {
     public:
diff --git a/src/mlx90614/mlx90614.h b/src/mlx90614/mlx90614.h
index 403e209b..da52bf5b 100644
--- a/src/mlx90614/mlx90614.h
+++ b/src/mlx90614/mlx90614.h
@@ -53,10 +53,17 @@
 namespace upm {
 
 /**
- * @brief C++ API for MLX90614 
+ * @brief mlx90614 temperature sensor library
+ * @defgroup mlx90614 libupm-mlx90614
+ */
+
+/**
+ * @brief C++ API for MLX90614
  *
  * This file defines the MLX90614 C++ interface for libmlx90614
  *
+ * @ingroup mlx90641
+ * @snippet mlx90641.cxx Interesting
  */
 class MLX90614 {
     public:
diff --git a/src/mma7455/mma7455.h b/src/mma7455/mma7455.h
index 10f8f68e..e8fc9f5f 100644
--- a/src/mma7455/mma7455.h
+++ b/src/mma7455/mma7455.h
@@ -149,13 +149,18 @@ union accelData {
 
 #define BIT(n) (1<<n)
 
+/**
+ * @brief mma7455 accelerometer library
+ * @defgroup mma7455 libupm-mma7455
+ */
+
 /**
  * @brief C++ API for MMA7455 chip (accelerometer)
  *
  * This file defines the MMA7455 C++ interface for libmma7455
  *
+ * @ingroup mma7455
  * @snippet mma7455.cxx Interesting
- *
  */
 class MMA7455 {
     public:
diff --git a/src/mpu9150/mpu9150.h b/src/mpu9150/mpu9150.h
index db7d75c0..70a3ce34 100644
--- a/src/mpu9150/mpu9150.h
+++ b/src/mpu9150/mpu9150.h
@@ -108,11 +108,17 @@ struct AxisData {
     Vector3D    data;
 };
 
+/**
+ * @brief mpu9150 sensor library
+ * @defgroup mpu9150 libupm-mpu9150
+ */
+
 /**
  * @brief C++ API for MPU9150 chip (Accelrometer, Gyro and Magnometer Sensor)
  *
  * This file defines the MPU9150 C++ interface for libmpu9150
  *
+ * @ingroup mpu9150
  * @snippet mpu9150-example.cxx Interesting
  */
 class MPU9150 {
diff --git a/src/my9221/my9221.h b/src/my9221/my9221.h
index ad713a5b..ca69254c 100644
--- a/src/my9221/my9221.h
+++ b/src/my9221/my9221.h
@@ -37,11 +37,17 @@
 
 namespace upm {
 
+/**
+ * @brief my9221 led bar library
+ * @defgroup my9221 libupm-9221
+ */
+
 /**
  * @brief C++ API for MY9221 led bar module
  *
  * This file defines the MY9221 C++ interface for libmy9221
  *
+ * @ingroup my9221
  * @snippet led-bar.cxx Interesting
  */
 class MY9221 {
diff --git a/src/nrf24l01/nrf24l01.h b/src/nrf24l01/nrf24l01.h
index 6e7258e8..1c7dc56a 100644
--- a/src/nrf24l01/nrf24l01.h
+++ b/src/nrf24l01/nrf24l01.h
@@ -150,11 +150,17 @@ typedef enum {
     NRF_18DBM   = 3,
 } power_t;
 
+/**
+ * @brief nrf24l01 transceiver library
+ * @defgroup nrf24l01 libupm-nrf24l01
+ */
+
 /**
  * @brief C++ API for NRF24l01 transceiver module
  *
  * This file defines the NRF24l01 C++ interface for libnrf24l01
  *
+ * @ingroup nrf24l01
  * @snippet nrf_receiver.cxx Interesting
  * @snippet nrf_transmitter.cxx Interesting
  */
diff --git a/src/servo/es08a.h b/src/servo/es08a.h
index 2e171695..cf25c89b 100644
--- a/src/servo/es08a.h
+++ b/src/servo/es08a.h
@@ -33,8 +33,8 @@ namespace upm {
  *
  * This file defines the ES08A C++ interface for libes08a
  *
+ * @ingroup servo
  * @snippet es08a.cxx Interesting
- *
  */
 class ES08A : public Servo {
     public:
diff --git a/src/servo/servo.h b/src/servo/servo.h
index dc05e8e5..390eb654 100644
--- a/src/servo/servo.h
+++ b/src/servo/servo.h
@@ -36,10 +36,8 @@ namespace upm {
 #define LOW                   0
 
 /**
- * @brief Base class for other servo components
- *
- * PMOD pins for MAX44000PMB1 board
- *
+ * @brief servo libraries
+ * @defgroup servo libupm-servo
  */
 class Servo {
     public:
diff --git a/src/sm130/sm130.h b/src/sm130/sm130.h
index 61bcebb8..dd11d5f5 100644
--- a/src/sm130/sm130.h
+++ b/src/sm130/sm130.h
@@ -1,7 +1,7 @@
 /*
  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
  * Copyright (c) 2014 Intel Corporation.
- * 
+ *
  * Based on SM130 library developed by Marc Boon <http://www.marcboon.com>
  *
  * Permission is hereby granted, free of charge, to any person obtaining
@@ -40,13 +40,20 @@
 
 namespace upm {
 
+/**
+ * @brief sm130 rfid module library
+ * @defgroup sm130 libupm-sm130
+ */
+
 /**
  * @brief C++ API for SM130 RFID reader module
  *
  * This file defines the SM130 C++ interface for libsm130
+ *
+ * @ingroup sm130
  */
 class SM130 {
-    
+
     uint8_t m_Data[SIZE_PACKET]; //!< packet data
 	char    m_Version[8];      //!< version string
 	uint8_t m_TagNumber[7];    //!< tag number as uint8_t array
@@ -56,7 +63,7 @@ class SM130 {
 	char    errorCode;         //!< error code from some commands
 	uint8_t antennaPower;      //!< antenna power level
 	uint8_t m_LastCMD;         //!< last sent command
-    
+
     public:
         static const uint8_t MIFARE_ULTRALIGHT = 1;
         static const uint8_t MIFARE_1K         = 2;
@@ -81,7 +88,7 @@ class SM130 {
         static const uint8_t CMD_HALT_TAG      = 0x93;
         static const uint8_t CMD_SET_BAUD      = 0x94;
         static const uint8_t CMD_SLEEP         = 0x96;
-    
+
          /**
          * Instanciates a SM130 object
          *
@@ -94,12 +101,12 @@ class SM130 {
          * SM130 object destructor
          */
         ~SM130 ();
-        
+
         /**
          * Get the firmware version string.
          */
         const char* getFirmwareVersion ();
-        
+
         /**
          * 	Checks for availability of a valid response packet.
          *
@@ -109,12 +116,12 @@ class SM130 {
          *	@returns	true if a valid response packet is available
          */
         uint8_t available ();
-        
+
         /**
          * Returns the packet length, excluding checksum
          */
         uint8_t getPacketLength () { return this->m_Data[0]; };
-        
+
         /**
          * Returns the last executed command
          */
@@ -131,14 +138,14 @@ class SM130 {
         std::string m_name;
         mraa_gpio_context m_resetPinCtx;
         mraa_gpio_context m_dataReadyPinCtx;
-        
+
         int m_i2cAddr;
         int m_bus;
         mraa_i2c_context m_i2Ctx;
-        
+
         void arrayToHex (char *s, uint8_t array[], uint8_t len);
         char toHex (uint8_t b);
-        
+
         uint16_t i2cRecievePacket (uint32_t len);
         mraa_result_t i2cTransmitPacket (uint32_t len);
         mraa_result_t sendCommand (uint8_t cmd);
diff --git a/src/st7735/st7735.h b/src/st7735/st7735.h
index f1d50eb2..bc342b82 100644
--- a/src/st7735/st7735.h
+++ b/src/st7735/st7735.h
@@ -493,11 +493,17 @@ const unsigned char font[] = {
     0x00, 0x00, 0x00, 0x00, 0x00
 };
 
+/**
+ * @brief st7735 lcd display library
+ * @defgroup st7735 libupm-st7735
+ */
+
 /**
  * @brief C++ API for ST7735 SPI LCD module
  *
  * This file defines the ST7735 C++ interface for libst7735
  *
+ * @ingroup st7735
  * @snippet st7735.cxx Interesting
  */
 class ST7735 : public GFX {
diff --git a/src/stepmotor/stepmotor.h b/src/stepmotor/stepmotor.h
index 61af2144..418dfe41 100644
--- a/src/stepmotor/stepmotor.h
+++ b/src/stepmotor/stepmotor.h
@@ -41,11 +41,17 @@
 
 namespace upm {
 
+/**
+ * @brief Stepper motor library
+ * @defgroup stepper libupm-stepper
+ */
+
 /**
  * @brief C++ API for StepMotor Drivers
  *
  * This file defines the stepmotor C++ interface for libstepmotor
  *
+ * @ingroup stepmotor
  * @snippet stepmotor.cxx Interesting
  */
 class StepMotor {
diff --git a/src/tcs3414cs/tcs3414cs.h b/src/tcs3414cs/tcs3414cs.h
index 933a9ffc..b627490f 100644
--- a/src/tcs3414cs/tcs3414cs.h
+++ b/src/tcs3414cs/tcs3414cs.h
@@ -104,11 +104,17 @@ typedef struct {
     uint16_t clr;
 } tcs3414sc_rgb_t;
 
+/**
+ * @brief tcs3414cs color sensor library
+ * @defgroup tcs3414cs libupm-tcs3414cs
+ */
+
 /**
  * @brief C++ API for TCS3414CS chip (Color sensor)
  *
  * This file defines the TCS3414CS C++ interface for libtcs3414cs
  *
+ * @snippet tcs3414cs-example.cxx Interesting
  */
 class TCS3414CS {
     public:
diff --git a/src/th02/th02.h b/src/th02/th02.h
index 0bb9fec1..68532576 100644
--- a/src/th02/th02.h
+++ b/src/th02/th02.h
@@ -49,13 +49,18 @@
 
 namespace upm {
 
+/**
+ * @brief th02 temperature & humidity sensor library
+ * @defgroup th02 libupm-th02
+ */
+
 /**
  * @brief C++ API for TH02 chip (Temperature and Humidity Sensor Pro)
  *
  * This file defines the TH02 C++ interface for libth02
  *
+ * @ingroup th02
  * @snippet th02-example.cxx Interesting
- *
  */
 class TH02 {
     public:
diff --git a/src/tm1637/tm1637.h b/src/tm1637/tm1637.h
index 7e52582c..d60a30f7 100644
--- a/src/tm1637/tm1637.h
+++ b/src/tm1637/tm1637.h
@@ -46,11 +46,17 @@
 
 namespace upm {
 
+/**
+ * @brief tm1637 7-segment screen library
+ * @defgroup tm1637 libupm-tm1637
+ */
+
 /**
  * @brief C++ API for Seven segments screen
  *
  * This file defines the TM1637 C++ interface for lib4digitdisplay
  *
+ * @ingroup tm1637
  * @snippet 4digitdisplay.cxx Interesting
  *
  *      A