diff --git a/examples/java/BMI055_Example.java b/examples/java/BMI055_Example.java
index fc11696f..33293c4c 100644
--- a/examples/java/BMI055_Example.java
+++ b/examples/java/BMI055_Example.java
@@ -45,11 +45,11 @@ public class BMI055_Example
                                    + " z: " + data[2]
                                    + " g");
 
-                data = sensor.getGyroscope();
+                upm_bmx055.floatVector dataG = sensor.getGyroscope();
 
-                System.out.println("Gyroscope x: " + data[0]
-                                   + " y: " + data[1]
-                                   + " z: " + data[2]
+                System.out.println("Gyroscope x: " + dataG.get(0)
+                                   + " y: " + dataG.get(1)
+                                   + " z: " + dataG.get(2)
                                    + " degrees/s");
 
                 System.out.println();
diff --git a/examples/java/BMX055_Example.java b/examples/java/BMX055_Example.java
index 2abb0da2..e599cd02 100644
--- a/examples/java/BMX055_Example.java
+++ b/examples/java/BMX055_Example.java
@@ -45,14 +45,13 @@ public class BMX055_Example
                                    + " z: " + data[2]
                                    + " g");
 
-                data = sensor.getGyroscope();
+                upm_bmx055.floatVector dataG = sensor.getGyroscope();
 
-                System.out.println("Gyroscope x: " + data[0]
-                                   + " y: " + data[1]
-                                   + " z: " + data[2]
+                System.out.println("Gyroscope x: " + dataG.get(0)
+                                   + " y: " + dataG.get(1)
+                                   + " z: " + dataG.get(2)
                                    + " degrees/s");
 
-
                 data = sensor.getMagnetometer();
 
                 System.out.println("Magnetometer x: " + data[0]
diff --git a/src/bmx055/CMakeLists.txt b/src/bmx055/CMakeLists.txt
index d0a90991..71ad1688 100644
--- a/src/bmx055/CMakeLists.txt
+++ b/src/bmx055/CMakeLists.txt
@@ -1,5 +1,5 @@
-set (libname "bmx055")
-set (libdescription "Bosch IMU Sensor Library")
-set (module_src ${libname}.cxx bma250e.cxx bmg160.cxx bmm150.cxx bmc150.cxx bmi055.cxx)
-set (module_hpp ${libname}.hpp bma250e.hpp bmg160.hpp bmm150.hpp bmc150.cxx bmi055.hpp)
-upm_module_init(mraa)
+upm_mixed_module_init (NAME bmx055
+    DESCRIPTION "Bosch IMU Sensor Library"
+    CPP_HDR bmx055.hpp bma250e.hpp bmm150.hpp bmc150.cxx bmi055.hpp
+    CPP_SRC bmx055.cxx bma250e.cxx bmm150.cxx bmc150.cxx bmi055.cxx
+    REQUIRES mraa bmg160)
diff --git a/src/bmx055/bmg160.cxx b/src/bmx055/bmg160.cxx
deleted file mode 100644
index b50302d9..00000000
--- a/src/bmx055/bmg160.cxx
+++ /dev/null
@@ -1,587 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <unistd.h>
-#include <iostream>
-#include <stdexcept>
-#include <string>
-#include <string.h>
-
-#include "bmg160.hpp"
-
-using namespace upm;
-using namespace std;
-
-#define BMG160_DEFAULT_CHIPID 0x0f
-
-// conversion from celsius to fahrenheit
-
-static float c2f(float c)
-{
-  return (c * (9.0 / 5.0) + 32.0);
-}
-
-BMG160::BMG160(int bus, int addr, int cs) :
-  m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
-{
-  m_gyrX = 0;
-  m_gyrY = 0;
-  m_gyrZ = 0;
-  m_gyrScale = 0;
-  m_temperature = 0.0;
-
-  if (addr < 0)
-    {
-      m_addr = 0;
-      m_isSPI = true;
-    }
-  else
-    {
-      m_addr = uint8_t(addr);
-      m_isSPI = false;
-    }
-
-  if (m_isSPI)
-    {
-      m_spi = new mraa::Spi(bus);
-
-      // Only create cs context if we are actually using a valid pin.
-      // A hardware controlled pin should specify cs as -1.
-      if (cs >= 0)
-        {
-          m_gpioCS = new mraa::Gpio(cs);
-          m_gpioCS->dir(mraa::DIR_OUT);
-        }
-
-      m_spi->mode(mraa::SPI_MODE0);
-      m_spi->frequency(5000000);
-    }
-  else
-    {
-      // I2C
-      m_i2c = new mraa::I2c(bus);
-
-      mraa::Result rv;
-      if ((rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
-        {
-          throw std::runtime_error(string(__FUNCTION__) +
-                                   ": I2c.address() failed");
-        }
-    }
-
-  // check the chip id
-
-  uint8_t chipID = getChipID();
-  if (chipID != BMG160_DEFAULT_CHIPID)
-    {
-      throw std::runtime_error(string(__FUNCTION__)
-                               + ": invalid chip ID.  Expected "
-                               + std::to_string(int(BMG160_DEFAULT_CHIPID))
-                               + ", got "
-                               + std::to_string(int(chipID)));
-    }
-
-  // call init with default options
-  init();
-}
-
-BMG160::~BMG160()
-{
-  uninstallISR(INTERRUPT_INT1);
-  uninstallISR(INTERRUPT_INT2);
-
-  if (m_i2c)
-    delete m_i2c;
-  if (m_spi)
-    delete m_spi;
-  if(m_gpioCS)
-    delete m_gpioCS;
-}
-
-void BMG160::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
-{
-  setPowerMode(pwr);
-  usleep(50000); // 50ms, in case we are waking up
-
-  // set our range and bandwidth
-  setRange(range);
-  setBandwidth(bw);
-
-  // make sure register shadowing is enabled
-  enableRegisterShadowing(true);
-
-  // enable output filtering
-  enableOutputFiltering(true);
-
-  // use the FIFO by default
-  fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
-  enableFIFO(true);
-
-  // settle
-  usleep(50000);
-}
-
-void BMG160::update()
-{
-  int bufLen = 7; // max, non-FIFO
-  uint8_t startReg = REG_RATE_X_LSB;
-
-  if (m_useFIFO)
-    {
-      bufLen = 6;
-      startReg = REG_FIFO_DATA;
-    }
-
-  uint8_t buf[bufLen];
-
-  if (readRegs(startReg, buf, bufLen) != bufLen)
-    {
-      throw std::runtime_error(string(__FUNCTION__)
-                               + ": readRegs() failed to read "
-                               + std::to_string(bufLen)
-                               + " bytes");
-    }
-
-  int16_t val;
-
-  // x
-  val = int16_t(buf[1] << 8 | buf[0]);
-  m_gyrX = float(val);
-
-  // y
-  val = int16_t(buf[3] << 8 | buf[2]);
-  m_gyrY = float(val);
-
-  // z
-  val = int16_t(buf[5] << 8 | buf[4]);
-  m_gyrZ = float(val);
-
-  // get the temperature...
-
-  uint8_t temp = 0;
-  if (m_useFIFO)
-    {
-      // we have to read temperature separately...
-      temp = readReg(REG_TEMP);
-    }
-  else
-    {
-      // we already got it
-      temp = buf[6];
-    }
-
-  // .5K/LSB, 23C center point
-  m_temperature = (float(temp) / 2.0) + 23.0;
-}
-
-void BMG160::enableFIFO(bool useFIFO)
-{
-  m_useFIFO = useFIFO;
-}
-
-uint8_t BMG160::readReg(uint8_t reg)
-{
-  if (m_isSPI)
-    {
-      reg |= 0x80; // needed for read
-      uint8_t pkt[2] = {reg, 0};
-
-      csOn();
-      if (m_spi->transfer(pkt, pkt, 2))
-        {
-          csOff();
-          throw std::runtime_error(string(__FUNCTION__)
-                                   + ": Spi.transfer() failed");
-        }
-      csOff();
-
-      return pkt[1];
-    }
-  else
-    return m_i2c->readReg(reg);
-}
-
-int BMG160::readRegs(uint8_t reg, uint8_t *buffer, int len)
-{
-  if (m_isSPI)
-    {
-      reg |= 0x80; // needed for read
-
-      uint8_t sbuf[len + 1];
-      memset((char *)sbuf, 0, len + 1);
-      sbuf[0] = reg;
-
-      // We need to do it this way for edison - ie: use a single
-      // transfer rather than breaking it up into two like we used to.
-      // This means a buffer copy is now required, but that's the way
-      // it goes.
-
-      csOn();
-      if (m_spi->transfer(sbuf, sbuf, len + 1))
-        {
-          csOff();
-          throw std::runtime_error(string(__FUNCTION__)
-                                   + ": Spi.transfer(buf) failed");
-        }
-      csOff();
-
-      // now copy it into user buffer
-      for (int i=0; i<len; i++)
-        buffer[i] = sbuf[i + 1];
-
-      return len;
-    }
-  else
-    return m_i2c->readBytesReg(reg, buffer, len);
-}
-
-void BMG160::writeReg(uint8_t reg, uint8_t val)
-{
-  if (m_isSPI)
-    {
-      reg &= 0x7f; // mask off 0x80 for writing
-      uint8_t pkt[2] = {reg, val};
-
-      csOn();
-      if (m_spi->transfer(pkt, NULL, 2))
-        {
-          csOff();
-          throw std::runtime_error(string(__FUNCTION__)
-                                   + ": Spi.transfer() failed");
-        }
-      csOff();
-    }
-  else
-    {
-
-      mraa::Result rv;
-      if ((rv = m_i2c->writeReg(reg, val)) != mraa::SUCCESS)
-        {
-          throw std::runtime_error(std::string(__FUNCTION__)
-                                   + ": I2c.writeReg() failed");
-        }
-    }
-}
-
-void BMG160::csOn()
-{
-  if (m_gpioCS)
-    m_gpioCS->write(0);
-}
-
-void BMG160::csOff()
-{
-  if (m_gpioCS)
-    m_gpioCS->write(1);
-}
-
-uint8_t BMG160::getChipID()
-{
-  return readReg(REG_CHIP_ID);
-}
-
-void BMG160::getGyroscope(float *x, float *y, float *z)
-{
-  if (x)
-    *x = (m_gyrX * m_gyrScale) / 1000.0;
-
-  if (y)
-    *y = (m_gyrY * m_gyrScale) / 1000.0;
-
-  if (z)
-    *z = (m_gyrZ * m_gyrScale) / 1000.0;
-}
-
-float *BMG160::getGyroscope()
-{
-  static float v[3];
-
-  getGyroscope(&v[0], &v[1], &v[2]);
-  return v;
-}
-
-float BMG160::getTemperature(bool fahrenheit)
-{
-  if (fahrenheit)
-    return c2f(m_temperature);
-  else
-    return m_temperature;
-}
-
-void BMG160::reset()
-{
-  writeReg(REG_SOFTRESET, BMG160_RESET_BYTE);
-  sleep(1);
-}
-
-void BMG160::setRange(RANGE_T range)
-{
-  switch(range)
-    {
-    case RANGE_125:
-      m_gyrScale = 3.8; // milli-degrees
-      break;
-
-    case RANGE_250:
-      m_gyrScale = 7.6;
-      break;
-
-    case RANGE_500:
-      m_gyrScale = 15.3;
-      break;
-
-    case RANGE_1000:
-      m_gyrScale = 30.5;
-      break;
-
-    case RANGE_2000:
-      m_gyrScale = 61.0;
-      break;
-    }
-
-  // we also have to write a fixed '0x10' to the high-order bits for
-  // some reason (according to datasheet)
-  uint8_t reg = range | (_GYR_RANGE_FIXED_VALUE << _GYR_RANGE_FIXED_SHIFT);
-  writeReg(REG_GYR_RANGE, reg);
-}
-
-void BMG160::setBandwidth(BW_T bw)
-{
-  writeReg(REG_GYR_BW, bw);
-}
-
-void BMG160::setPowerMode(POWER_MODE_T power)
-{
-  // mask off reserved bits
-  uint8_t reg = readReg(REG_LPM1) & ~_LPM1_RESERVED_MASK;
-
-  reg &= ~(_LPM1_POWER_MODE_MASK << _LPM1_POWER_MODE_SHIFT);
-  reg |= (power << _LPM1_POWER_MODE_SHIFT);
-
-  writeReg(REG_LPM1, power);
-}
-
-void BMG160::fifoSetWatermark(int wm)
-{
-  // mask off illegal values
-  uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
-
-  writeReg(REG_FIFO_CONFIG_0, reg);
-}
-
-void BMG160::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
-{
-  uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
-                  (axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
-
-  writeReg(REG_FIFO_CONFIG_1, reg);
-}
-
-uint8_t BMG160::getInterruptEnable0()
-{
-  return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
-}
-
-void BMG160::setInterruptEnable0(uint8_t bits)
-{
-  uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
-
-  writeReg(REG_INT_EN_0, reg);
-}
-
-uint8_t BMG160::getInterruptMap0()
-{
-  return readReg(REG_INT_MAP_0) & ~_INT_MAP_0_RESERVED_BITS;
-}
-
-void BMG160::setInterruptMap0(uint8_t bits)
-{
-  uint8_t reg = bits & ~_INT_MAP_0_RESERVED_BITS;
-
-  writeReg(REG_INT_MAP_0, reg);
-}
-
-uint8_t BMG160::getInterruptMap1()
-{
-  return readReg(REG_INT_MAP_1);
-}
-
-void BMG160::setInterruptMap1(uint8_t bits)
-{
-  writeReg(REG_INT_MAP_1, bits);
-}
-
-// REG_INT_EN1, for some strange reason
-uint8_t BMG160::getInterruptSrc()
-{
-  return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
-}
-
-void BMG160::setInterruptSrc(uint8_t bits)
-{
-  uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
-
-  writeReg(REG_INT_EN_1, reg);
-}
-
-uint8_t BMG160::getInterruptOutputControl()
-{
-  return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
-}
-
-void BMG160::setInterruptOutputControl(uint8_t bits)
-{
-  uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
-
-  writeReg(REG_INT_EN_1, reg);
-}
-
-void BMG160::clearInterruptLatches()
-{
-  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
-  reg |= INT_RST_LATCH_RESET_INT;
-
-  writeReg(REG_INT_RST_LATCH, reg);
-}
-
-BMG160::RST_LATCH_T BMG160::getInterruptLatchBehavior()
-{
-  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
-  reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
-
-  return static_cast<RST_LATCH_T>(reg);
-}
-
-void BMG160::setInterruptLatchBehavior(RST_LATCH_T latch)
-{
-  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
-  reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
-  reg |= (latch << _INT_RST_LATCH_SHIFT);
-
-  writeReg(REG_INT_RST_LATCH, reg);
-}
-
-void BMG160::enableRegisterShadowing(bool shadow)
-{
-  uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
-
-  if (shadow)
-    reg &= ~RATE_HBW_SHADOW_DIS;
-  else
-    reg |= RATE_HBW_SHADOW_DIS;
-
-  writeReg(REG_RATE_HBW, reg);
-}
-
-void BMG160::enableOutputFiltering(bool filter)
-{
-  uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
-
-  if (filter)
-    reg &= ~RATE_HBW_DATA_HIGH_BW;
-  else
-    reg |= RATE_HBW_DATA_HIGH_BW;
-
-  writeReg(REG_RATE_HBW, reg);
-}
-
-uint8_t BMG160::getInterruptStatus0()
-{
-  return readReg(REG_INT_STATUS_0) & ~_INT_STATUS_0_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus1()
-{
-  return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus2()
-{
-  return readReg(REG_INT_STATUS_2) & ~_INT_STATUS_2_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus3()
-{
-  return readReg(REG_INT_STATUS_3) & ~_INT_STATUS_3_RESERVED_BITS;
-}
-
-#if defined(SWIGJAVA) || (JAVACALLBACK)
-void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
-                         jobject runnable)
-{
-  // delete any existing ISR and GPIO context
-  uninstallISR(intr);
-
-  // create gpio context
-  getPin(intr) = new mraa::Gpio(gpio);
-
-  getPin(intr)->dir(mraa::DIR_IN);
-  getPin(intr)->isr(level, runnable);
-}
-#else
-void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
-                         void (*isr)(void *), void *arg)
-{
-  // delete any existing ISR and GPIO context
-  uninstallISR(intr);
-
-  // create gpio context
-  getPin(intr) = new mraa::Gpio(gpio);
-
-  getPin(intr)->dir(mraa::DIR_IN);
-  getPin(intr)->isr(level, isr, arg);
-}
-#endif
-
-void BMG160::uninstallISR(INTERRUPT_PINS_T intr)
-{
-  if (getPin(intr))
-    {
-      getPin(intr)->isrExit();
-      delete getPin(intr);
-
-      getPin(intr) = 0;
-    }
-}
-
-mraa::Gpio*& BMG160::getPin(INTERRUPT_PINS_T intr)
-{
-  switch(intr)
-    {
-    case INTERRUPT_INT1:
-      return m_gpioIntr1;
-      break;
-
-    case INTERRUPT_INT2:
-      return m_gpioIntr2;
-      break;
-
-    default:
-      throw std::out_of_range(string(__FUNCTION__) +
-                              ": Invalid interrupt enum passed");
-    }
-}
diff --git a/src/bmx055/bmg160.hpp b/src/bmx055/bmg160.hpp
deleted file mode 100644
index 2ce81b62..00000000
--- a/src/bmx055/bmg160.hpp
+++ /dev/null
@@ -1,1224 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-#pragma once
-
-#include <string>
-#include <mraa/i2c.hpp>
-#include <mraa/spi.hpp>
-#include <mraa/gpio.hpp>
-
-#define BMG160_I2C_BUS 0
-#define BMG160_SPI_BUS 0
-#define BMG160_DEFAULT_ADDR 0x68
-
-
-namespace upm {
-
-  /**
-   * @library bmx050
-   * @sensor bmg160
-   * @comname 3-axis Gyroscope Sensor
-   * @type gyro
-   * @man bosch
-   * @con i2c spi gpio
-   * @web https://www.bosch-sensortec.com/bst/products/all_products/bmg160
-   *
-   * @brief API for the BMG160 16 bit Triaxial Gyroscope
-   *
-   * The BMG160 is a 3-axis angular rate sensor that is made of a
-   * surface micro machined sensing element and an evaluation ASIC.
-   * Both parts are packed into one single LGA 3.0mm x 3.0mm x 0.95mm
-   * housing.  The BMG160 is designed to meet requirements for
-   * consumer applications such as image stabilization (DSC and
-   * camera-phone), gaming and pointing devices. It is capable to
-   * measure angular rates in three perpendicular room dimensions, the
-   * x-, y- and z-axis, and to provide the corresponding output
-   * signals. The BMG160 is fitted with digital bi-directional SPI and
-   * I2C interfaces for optimum system integration.
-   *
-   * Not all functionality of this chip has been implemented in this
-   * driver, however all the pieces are present to add any desired
-   * functionality.  This driver supports both I2C (default) and SPI
-   * operation.
-   *
-   * This device requires 3.3v operation.
-   *
-   * @snippet bmg160.cxx Interesting
-   */
-
-  class BMG160 {
-  public:
-    // special reset byte
-    static const uint8_t BMG160_RESET_BYTE = 0xb6;
-
-    // NOTE: Reserved registers must not be written into.  Reading
-    // from them may return indeterminate values.  Registers
-    // containing reserved bitfields must be written as 0.  Reading
-    // reserved bitfields may return indeterminate values.
-
-    /**
-     * BMG160 registers
-     */
-    typedef enum : uint8_t {
-      REG_CHIP_ID                      = 0x00,
-
-      // 0x01 reserved
-
-      REG_RATE_X_LSB                   = 0x02,
-      REG_RATE_X_MSB                   = 0x03,
-      REG_RATE_Y_LSB                   = 0x04,
-      REG_RATE_Y_MSB                   = 0x05,
-      REG_RATE_Z_LSB                   = 0x06,
-      REG_RATE_Z_MSB                   = 0x07,
-
-      REG_TEMP                         = 0x08,
-
-      REG_INT_STATUS_0                 = 0x09,
-      REG_INT_STATUS_1                 = 0x0a,
-      REG_INT_STATUS_2                 = 0x0b,
-      REG_INT_STATUS_3                 = 0x0c,
-
-      // 0x0d reserved
-
-      REG_FIFO_STATUS                  = 0x0e,
-
-      REG_GYR_RANGE                    = 0x0f,
-      REG_GYR_BW                       = 0x10,
-      REG_LPM1                         = 0x11,
-      REG_LPM2                         = 0x12,
-
-      REG_RATE_HBW                     = 0x13,
-
-      REG_SOFTRESET                    = 0x14,
-
-      REG_INT_EN_0                     = 0x15,
-      REG_INT_EN_1                     = 0x16,
-
-      REG_INT_MAP_0                    = 0x17,
-      REG_INT_MAP_1                    = 0x18,
-      REG_INT_MAP_2                    = 0x19,
-
-      REG_INT_1A                       = 0x1a,
-      REG_INT_1B                       = 0x1b,
-      REG_INT_1C                       = 0x1c,
-
-      // 0x1d reserved
-
-      REG_INT_1E                       = 0x1e,
-
-      // 0x1f-0x20 reserved
-
-      REG_INT_RST_LATCH                = 0x21,
-
-      REG_HIGH_TH_X                    = 0x22,
-      REG_HIGH_DUR_X                   = 0x23,
-      REG_HIGH_TH_Y                    = 0x24,
-      REG_HIGH_DUR_Y                   = 0x25,
-      REG_HIGH_TH_Z                    = 0x26,
-      REG_HIGH_DUR_Z                   = 0x27,
-
-      // 0x28-0x30 reserved
-
-      REG_SOC                          = 0x31,
-      REG_A_FOC                        = 0x32,
-
-      REG_TRIM_NVM_CTRL                = 0x33,
-
-      REG_SPI3_WDT                     = 0x34,
-
-      // 0x35 reserved
-
-      REG_OFC1                         = 0x36,
-      REG_OFC2                         = 0x37,
-      REG_OFC3                         = 0x38,
-      REG_OFC4                         = 0x39,
-
-      REG_TRIM_GP0                     = 0x3a,
-      REG_TRIM_GP1                     = 0x3b,
-
-      REG_BIST                         = 0x3c,
-
-      REG_FIFO_CONFIG_0                = 0x3d,
-      REG_FIFO_CONFIG_1                = 0x3e,
-
-      REG_FIFO_DATA                    = 0x3f
-
-    } BMG160_REGS_T;
-
-    /**
-     * REG_INT_STATUS_0 bits
-     */
-    typedef enum {
-      _INT_STATUS_0_RESERVED_BITS      = 0xf0 | 0x08 | 0x01,
-
-      INT_STATUS_0_HIGH_INT            = 0x02,
-      INT_STATUS_0_ANY_INT             = 0x04
-    } INT_STATUS_0_BITS_T;
-
-    /**
-     * REG_INT_STATUS_1 bits
-     */
-    typedef enum {
-      _INT_STATUS_1_RESERVED_BITS      = 0x0f,
-
-      INT_STATUS_1_FIFO_INT            = 0x10,
-      INT_STATUS_1_FAST_OFFSET_INT     = 0x20,
-      INT_STATUS_1_AUTO_OFFSET_INT     = 0x40,
-      INT_STATUS_1_DATA_INT            = 0x80
-    } INT_STATUS_1_BITS_T;
-
-    /**
-     * REG_INT_STATUS_2 bits
-     */
-    typedef enum {
-      _INT_STATUS_2_RESERVED_BITS      = 0xf0,
-
-      INT_STATUS_2_ANY_FIRST_X         = 0x01,
-      INT_STATUS_2_ANY_FIRST_Y         = 0x02,
-      INT_STATUS_2_ANY_FIRST_Z         = 0x04,
-      INT_STATUS_2_ANY_SIGN            = 0x08
-    } INT_STATUS_2_BITS_T;
-
-    /**
-     * REG_INT_STATUS_3 bits
-     */
-    typedef enum {
-      _INT_STATUS_3_RESERVED_BITS      = 0xf0,
-
-      INT_STATUS_3_HIGH_FIRST_X        = 0x01,
-      INT_STATUS_3_HIGH_FIRST_Y        = 0x02,
-      INT_STATUS_3_HIGH_FIRST_Z        = 0x04,
-      INT_STATUS_3_HIGH_SIGN           = 0x08
-    } INT_STATUS_3_BITS_T;
-
-    /**
-     * REG_FIFO_STATUS bits
-     */
-    typedef enum {
-      FIFO_STATUS_FRAME_COUNTER0       = 0x01,
-      FIFO_STATUS_FRAME_COUNTER1       = 0x02,
-      FIFO_STATUS_FRAME_COUNTER2       = 0x04,
-      FIFO_STATUS_FRAME_COUNTER3       = 0x08,
-      FIFO_STATUS_FRAME_COUNTER4       = 0x10,
-      FIFO_STATUS_FRAME_COUNTER5       = 0x20,
-      FIFO_STATUS_FRAME_COUNTER6       = 0x40,
-      _FIFO_STATUS_FRAME_COUNTER_MASK  = 127,
-      _FIFO_STATUS_FRAME_COUNTER_SHIFT = 0,
-
-      FIFO_STATUS_FIFO_OVERRUN         = 0x80
-    } FIFO_STATUS_BITS_T;
-
-    /**
-     * REG_GYR_RANGE bits
-     */
-    typedef enum {
-      _GYR_RANGE_RESERVED_BITS         = 0x20 | 0x10 | 0x08,
-
-      GYR_RANGE0                       = 0x01,
-      GYR_RANGE1                       = 0x02,
-      GYR_RANGE2                       = 0x04,
-      _GYR_RANGE_MASK                  = 7,
-      _GYR_RANGE_SHIFT                 = 0,
-
-      GYR_RANGE_FIXED0                 = 0x40, // bits need hardcoding to 0b10
-      GYR_RANGE_FIXED1                 = 0x80, // for some odd reason...
-      _GYR_RANGE_FIXED_MASK            = 3,
-      _GYR_RANGE_FIXED_SHIFT           = 6,
-      _GYR_RANGE_FIXED_VALUE           = 2    // 0b10
-    } GYR_RANGE_BITS_T;
-
-    /**
-     * GYR_RANGE (gyroscope deg/s range) values
-     */
-    typedef enum {
-      RANGE_2000                       = 0, // degrees/sec
-      RANGE_1000                       = 1,
-      RANGE_500                        = 2,
-      RANGE_250                        = 3,
-      RANGE_125                        = 4
-    } RANGE_T;
-
-    /**
-     * REG_GYR_BW bits
-     */
-    typedef enum {
-      _GYR_BW_RESERVED_BITS            = 0xf0,
-
-      GYR_BW0                          = 0x01,
-      GYR_BW1                          = 0x02,
-      GYR_BW2                          = 0x04,
-      GYR_BW3                          = 0x08,
-      _GYR_BW_MASK                     = 15,
-      _GYR_BW_SHIFT                    = 0
-    } GYR_BW_BITS_T;
-
-    /**
-     * GYR_BW (gyroscope filter bandwidth) values
-     */
-    typedef enum {
-      BW_2000_UNFILTERED               = 0, // ODR/Filter BW
-      BW_2000_230                      = 1, // ODR 2000Hz, Filter BW 230Hz
-      BW_1000_116                      = 2,
-      BW_400_47                        = 3,
-      BW_200_23                        = 4,
-      BW_100_12                        = 5,
-      BW_200_64                        = 6,
-      BW_100_32                        = 7
-    } BW_T;
-
-    /**
-     * REG_LPM1 bits
-     */
-    typedef enum {
-      // 0x01 reserved
-      _LPM1_RESERVED_MASK              = 0x40 | 0x10 | 0x01,
-
-      LPM1_SLEEP_DUR0                  = 0x02, // sleep dur in low power mode
-      LPM1_SLEEP_DUR1                  = 0x04,
-      LPM1_SLEEP_DUR2                  = 0x08,
-      _LPM1_SLEEP_MASK                 = 7,
-      _LPM1_SLEEP_SHIFT                = 1,
-
-      // These are separate bits, deep_suspend and suspend (and if all
-      // 0, normal).  Since only specific combinations are allowed, we
-      // will treat this as a 3 bit bitfield called POWER_MODE.
-      LPM1_POWER_MODE0                 = 0x20, // deep_suspend
-      LPM1_POWER_MODE1                 = 0x40, // must always be 0!
-      LPM1_POWER_MODE2                 = 0x80, // suspend
-      _LPM1_POWER_MODE_MASK            = 7,
-      _LPM1_POWER_MODE_SHIFT           = 5
-    } LPM1_BITS_T;
-
-    /**
-     * SLEEP_DUR values
-     */
-    typedef enum {
-      SLEEP_DUR_2                      = 0, // 2ms
-      SLEEP_DUR_4                      = 1,
-      SLEEP_DUR_5                      = 2,
-      SLEEP_DUR_8                      = 3,
-      SLEEP_DUR_10                     = 4,
-      SLEEP_DUR_15                     = 5,
-      SLEEP_DUR_18                     = 6,
-      SLEEP_DUR_20                     = 7
-    } SLEEP_DUR_T;
-
-    /**
-     * POWER_MODE values
-     */
-    typedef enum {
-      POWER_MODE_NORMAL                = 0,
-      POWER_MODE_DEEP_SUSPEND          = 1,
-      POWER_MODE_SUSPEND               = 4
-    } POWER_MODE_T;
-
-    /**
-     * REG_LPM2 bits
-     */
-    typedef enum {
-      _LPM2_RESERVED_BITS              = 0x08,
-
-      LPM2_AUTOSLEEP_DUR0              = 0x01,
-      LPM2_AUTOSLEEP_DUR1              = 0x02,
-      LPM2_AUTOSLEEP_DUR2              = 0x04,
-      _LPM2_AUTOSLEEP_DUR_MASK         = 7,
-      _LPM2_AUTOSLEEP_DUR_SHIFT        = 0,
-
-      LPM2_EXT_TRIG_SEL0               = 0x10,
-      LPM2_EXT_TRIG_SEL1               = 0x20,
-      _LPM2_EXT_TRIG_SEL_MASK          = 3,
-      _LPM2_EXT_TRIG_SEL_SHIFT         = 4,
-
-      LPM2_POWER_SAVE_MODE             = 0x40,
-      LPM2_FAST_POWERUP                = 0x80
-    } LPM2_BITS_T;
-
-
-    /**
-     * LPM2_AUTOSLEEP_DUR values
-     */
-    typedef enum {
-      AUTOSLEEP_DUR_NONE               = 0,
-      AUTOSLEEP_DUR_4MS                = 1,
-      AUTOSLEEP_DUR_5MS                = 2,
-      AUTOSLEEP_DUR_8MS                = 3,
-      AUTOSLEEP_DUR_10MS               = 4,
-      AUTOSLEEP_DUR_15MS               = 5,
-      AUTOSLEEP_DUR_20MS               = 6,
-      AUTOSLEEP_DUR_40MS               = 7
-    } AUTOSLEEP_DUR_T;
-
-    /**
-     * LPM2_EXT_TRIG_SEL values
-     */
-    typedef enum {
-      EXT_TRIG_SEL_NONE                = 0,
-      EXT_TRIG_SEL_INT1                = 1,
-      EXT_TRIG_SEL_INT2                = 2,
-      EXT_TRIG_SEL_SDO                 = 3 // if SPI3 mode (unsupported)
-    } EXT_TRIG_SEL_T;
-
-    /**
-     * REG_RATE_HBW bits
-     */
-    typedef enum {
-      _RATE_HBW_RESERVED_BITS          = 0x0f | 0x10 | 0x20,
-
-      RATE_HBW_SHADOW_DIS              = 0x40,
-      RATE_HBW_DATA_HIGH_BW            = 0x80
-    } RATE_HBW_BITS_T;
-
-    /**
-     * REG_INT_EN_0 bits
-     */
-    typedef enum {
-      _INT_EN_0_RESERVED_BITS          = 0x20 | 0x10 | 0x08 | 0x02 | 0x01,
-
-      INT_EN_0_AUTO_OFFSET_EN          = 0x04,
-
-      INT_EN_0_FIFO_EN                 = 0x40,
-      INT_EN_0_DATA_EN                 = 0x80
-    } INT_EN_0_BITS_T;
-
-    /**
-     * REG_INT_EN_1 bits
-     */
-    typedef enum {
-      _INT_EN_1_INT1_RESERVED_BITS     = 0xf0,
-
-      INT_EN_1_INT1_LVL                = 0x01, // level or edge
-      INT_EN_1_INT1_OD                 = 0x02, // push-pull or open drain
-      INT_EN_1_INT2_LVL                = 0x04,
-      INT_EN_1_INT2_OD                 = 0x08
-    } INT_EN_1_BITS_T;
-
-    /**
-     * REG_INT_MAP_0 bits
-     */
-    typedef enum {
-      _INT_MAP_0_RESERVED_BITS         = 0xf0 | 0x04 | 0x01,
-
-      INT_MAP_0_INT1_ANY               = 0x02,
-      INT_MAP_0_INT1_HIGH              = 0x08
-    } INT_MAP_0_BITS_T;
-
-    /**
-     * REG_INT_MAP_1 bits
-     */
-    typedef enum {
-      INT_MAP_1_INT1_DATA              = 0x01,
-      INT_MAP_1_INT1_FAST_OFFSET       = 0x02,
-      INT_MAP_1_INT1_FIFO              = 0x04,
-      INT_MAP_1_INT1_AUTO_OFFSET       = 0x08,
-      INT_MAP_1_INT2_AUTO_OFFSET       = 0x10,
-      INT_MAP_1_INT2_FIFO              = 0x20,
-      INT_MAP_1_INT2_FAST_OFFSET       = 0x40,
-      INT_MAP_1_INT2_DATA              = 0x80
-    } INT_MAP_1_BITS_T;
-
-    /**
-     * REG_INT_1A bits
-     */
-    typedef enum {
-      _INT_1A_RESERVED_BITS           = 0xd5,
-
-      INT_1A_ANY_UNFILT_DATA          = 0x02,
-      INT_1A_HIGH_UNFILT_DATA         = 0x08,
-      INT_1A_SLOW_OFFSET_UNFILT       = 0x20
-    } INT_1A_BITS_T;
-
-    /**
-     * REG_INT_1B bits
-     */
-    typedef enum {
-      INT_1B_ANY_TH0                  = 0x01,
-      INT_1B_ANY_TH1                  = 0x02,
-      INT_1B_ANY_TH2                  = 0x04,
-      INT_1B_ANY_TH3                  = 0x08,
-      INT_1B_ANY_TH4                  = 0x10,
-      INT_1B_ANY_TH5                  = 0x20,
-      INT_1B_ANY_TH6                  = 0x40,
-      _INT_1B_ANY_TH_MASK             = 127,
-      _INT_1B_ANY_TH_SHIFT            = 0,
-
-      INT_1B_FAST_OFFSET_UNFILT       = 0x80
-    } INT_1B_BITS_T;
-
-    /**
-     * REG_INT_1C bits
-     */
-    typedef enum {
-      _INT_1C_RESERVED_BITS           = 0x08,
-
-      INT_1C_ANY_EN_X                 = 0x01,
-      INT_1C_ANY_EN_Y                 = 0x02,
-      INT_1C_ANY_EN_Z                 = 0x04,
-
-      INT_1C_ANY_DUR_SAMPLE0          = 0x10,
-      INT_1C_ANY_DUR_SAMPLE1          = 0x20,
-      INT_1C_ANY_DUR_SAMPLE_MASK      = 3,
-      INT_1C_ANY_DUR_SAMPLE_SHIFT     = 4,
-
-      INT_1C_AWAKE_DUR0               = 0x40,
-      INT_1C_AWAKE_DUR1               = 0x80,
-      INT_1C_AWAKE_DUR_MASK           = 3,
-      INT_1C_AWAKE_DUR_SHIFT          = 6
-    } INT_1C_BITS_T;
-
-    /**
-     * INT_1C_ANY_DUR_SAMPLE values
-     */
-    typedef enum {
-      ANY_DUR_SAMPLE_4                 = 0, // samples
-      ANY_DUR_SAMPLE_8                 = 1,
-      ANY_DUR_SAMPLE_12                = 2,
-      ANY_DUR_SAMPLE_16                = 3
-    } ANY_DUR_SAMPLE_T;
-
-    /**
-     * INT_1C_AWAKE_DUR values
-     */
-    typedef enum {
-      AWAKE_DUR_SAMPLE_8               = 0, // samples
-      AWAKE_DUR_SAMPLE_16              = 1,
-      AWAKE_DUR_SAMPLE_32              = 2,
-      AWAKE_DUR_SAMPLE_64              = 3
-    } AWAKE_DUR_SAMPLE_T;
-
-    /**
-     * REG_INT_1E bits
-     */
-    typedef enum {
-      _INT_1E_RESERVED_BITS           = 0x7f,
-
-      INT_1E_FIFO_WM_EN               = 0x80
-    } INT_1E_BITS_T;
-
-    /**
-     * REG_INT_RST_LATCH bits
-     */
-    typedef enum {
-      _INT_RST_LATCH_RESERVED_BITS     = 0x20,
-
-      INT_RST_LATCH0                   = 0x01,
-      INT_RST_LATCH1                   = 0x02,
-      INT_RST_LATCH2                   = 0x04,
-      INT_RST_LATCH3                   = 0x08,
-      _INT_RST_LATCH_MASK              = 15,
-      _INT_RST_LATCH_SHIFT             = 0,
-
-      INT_RST_LATCH_STATUS_BIT         = 0x10,
-
-      INT_RST_LATCH_OFFSET_RESET       = 0x40,
-      INT_RST_LATCH_RESET_INT          = 0x80
-    } INT_RST_LATCH_BITS_T;
-
-    /**
-     * RST_LATCH values
-     */
-    typedef enum {
-      RST_LATCH_NON_LATCHED            = 0,
-      RST_LATCH_TEMPORARY_250MS        = 1,
-      RST_LATCH_TEMPORARY_500MS        = 2,
-      RST_LATCH_TEMPORARY_1S           = 3,
-      RST_LATCH_TEMPORARY_2S           = 4,
-      RST_LATCH_TEMPORARY_4S           = 5,
-      RST_LATCH_TEMPORARY_8S           = 6,
-      RST_LATCH_LATCHED                = 7,
-
-      // 8 == non latched
-
-      RST_LATCH_TEMPORARY_250US        = 9,
-      RST_LATCH_TEMPORARY_500US        = 10,
-      RST_LATCH_TEMPORARY_1MS          = 11,
-      RST_LATCH_TEMPORARY_12_5MS       = 12,
-      RST_LATCH_TEMPORARY_25MS         = 13,
-      RST_LATCH_TEMPORARY_50MS         = 14
-
-      // 15 == latched
-    } RST_LATCH_T;
-
-    /**
-     * REG_HIGH_TH_* (X, Y, and Z) register bits
-     */
-    typedef enum {
-      HIGH_TH_EN                       = 0x01,
-
-      HIGH_TH_TH0                      = 0x02,
-      HIGH_TH_TH1                      = 0x04,
-      HIGH_TH_TH2                      = 0x08,
-      HIGH_TH_TH3                      = 0x10,
-      HIGH_TH_TH4                      = 0x20,
-      _HIGH_TH_TH_MASK                 = 31,
-      _HIGH_TH_TH_SHIFT                = 1,
-
-      HIGH_TH_HY0                      = 0x40,
-      HIGH_TH_HY1                      = 0x80,
-      _HIGH_TH_HY_MASK                 = 3,
-      _HIGH_TH_HY_SHIFT                = 6
-    } HIGH_TH_BITS_T;
-
-    /**
-     * REG_SOC bits
-     */
-    typedef enum {
-      SOC_SLOW_OFFSET_EN_X             = 0x01,
-      SOC_SLOW_OFFSET_EN_Y             = 0x02,
-      SOC_SLOW_OFFSET_EN_Z             = 0x04,
-
-      SOC_SLOW_OFFSET_DUR0             = 0x08,
-      SOC_SLOW_OFFSET_DUR1             = 0x10,
-      SOC_SLOW_OFFSET_DUR2             = 0x20,
-      _SOC_SLOW_OFFSET_DUR_MASK        = 7,
-      _SOC_SLOW_OFFSET_DUR_SHIFT       = 3,
-
-      SOC_SLOW_OFFSET_TH0              = 0x40,
-      SOC_SLOW_OFFSET_TH1              = 0x80,
-      _SOC_SLOW_OFFSET_TH_MASK         = 3,
-      _SOC_SLOW_OFFSET_TH_SHIFT        = 6
-    } SOC_BITS_T;
-
-    /**
-     * SOC_SLOW_OFFSET_DUR values
-     */
-    typedef enum {
-      SLOW_OFFSET_DUR_40MS             = 0, // 40ms
-      SLOW_OFFSET_DUR_80MS             = 1,
-      SLOW_OFFSET_DUR_160MS            = 2,
-      SLOW_OFFSET_DUR_320MS            = 3,
-      SLOW_OFFSET_DUR_640MS            = 4,
-      SLOW_OFFSET_DUR_1280MS           = 5
-    } SLOW_OFFSET_DUR_T;
-
-    /**
-     * SOC_SLOW_OFFSET_TH values
-     */
-    typedef enum {
-      SLOW_OFFSET_TH_0_1               = 0, // 0.1 degree/s
-      SLOW_OFFSET_TH_0_2               = 1,
-      SLOW_OFFSET_TH_0_5               = 2,
-      SLOW_OFFSET_TH_1                 = 3
-    } SLOW_OFFSET_TH_T;
-
-    /**
-     * REG_A_FOC bits
-     */
-    typedef enum {
-      A_FOC_FAST_OFFSET_EN_X           = 0x01,
-      A_FOC_FAST_OFFSET_EN_Y           = 0x02,
-      A_FOC_FAST_OFFSET_EN_Z           = 0x04,
-
-      A_FOC_FAST_OFFSET_EN             = 0x08,
-
-      A_FOC_FAST_OFFSET_WORDLENGTH0    = 0x10,
-      A_FOC_FAST_OFFSET_WORDLENGTH1    = 0x20,
-      _A_FOC_FAST_OFFSET_WORDLENGTH_MASK = 3,
-      _A_FOC_FAST_OFFSET_WORDLENGTH_SHIFT = 4,
-
-      A_FOC_AUTO_OFFSET_WORDLENGTH0    = 0x40,
-      A_FOC_AUTO_OFFSET_WORDLENGTH1    = 0x80,
-      _A_FOC_AUTO_OFFSET_WORDLENGTH_MASK = 3,
-      _A_FOC_AUTO_OFFSET_WORDLENGTH_SHIFT = 6
-    } A_FOC_BITS_T;
-
-    /**
-     * FAST_OFFSET_WORDLENGTH values
-     */
-    typedef enum {
-      FAST_OFFSET_WORDLENGTH_32        = 0, // samples
-      FAST_OFFSET_WORDLENGTH_64        = 1,
-      FAST_OFFSET_WORDLENGTH_128       = 2,
-      FAST_OFFSET_WORDLENGTH_256       = 3
-    } FAST_OFFSET_WORDLENGTH_T;
-
-    /**
-     * AUTO_OFFSET_WORDLENGTH values
-     */
-    typedef enum {
-      AUTO_OFFSET_WORDLENGTH_32        = 0, // samples
-      AUTO_OFFSET_WORDLENGTH_64        = 1,
-      AUTO_OFFSET_WORDLENGTH_128       = 2,
-      AUTO_OFFSET_WORDLENGTH_256       = 3
-    } AUTO_OFFSET_WORDLENGTH_T;
-
-    /**
-     * REG_TRIM_NVM_CTRL bits
-     */
-    typedef enum {
-      TRIM_NVM_CTRL_NVM_PROG_MODE     = 0x01,
-      TRIM_NVM_CTRL_NVM_PROG_TRIG     = 0x02,
-      TRIM_NVM_CTRL_NVM_PROG_RDY      = 0x04,
-      TRIM_NVM_CTRL_NVM_PROG_LOAD     = 0x08,
-
-      TRIM_NVM_CTRL_NVM_REMAIN0       = 0x10,
-      TRIM_NVM_CTRL_NVM_REMAIN1       = 0x20,
-      TRIM_NVM_CTRL_NVM_REMAIN2       = 0x40,
-      TRIM_NVM_CTRL_NVM_REMAIN3       = 0x80,
-      _TRIM_NVM_CTRL_NVM_REMAIN_MASK  = 15,
-      _TRIM_NVM_CTRL_NVM_REMAIN_SHIFT = 4
-    } TRIM_NVM_CTRL_BITS_T;
-
-    /**
-     * REG_SPI3_WDT bits
-     */
-    typedef enum {
-      _SPI3_WDT_RESERVED_BITS         = 0xf0 | 0x08,
-
-      SPI3_WDT_SPI3                   = 0x01, // 3-wire SPI - NOT SUPPORTED
-
-      SPI3_WDT_I2C_WDT_SEL            = 0x02,
-      SPI3_WDT_I2C_WDT_EN             = 0x04
-
-      // 0x08-0x80 reserved
-    } SPI3_WDT_BITS_T;
-
-    /**
-     * REG_OFC1 bits, the missing x, y, and z llsb bits are in GP0
-     */
-    typedef enum {
-      OFC1_OFFSET_Z0                  = 0x01, // Z lsb (3:1)
-      OFC1_OFFSET_Z1                  = 0x02,
-      OFC1_OFFSET_Z2                  = 0x04,
-      _OFC1_OFFSET_Z_MASK             = 7,
-      _OFC1_OFFSET_Z_SHIFT            = 0,
-
-      OFC1_OFFSET_Y0                  = 0x08, // Y lsb (3:1)
-      OFC1_OFFSET_Y1                  = 0x10,
-      OFC1_OFFSET_Y2                  = 0x20,
-      _OFC1_OFFSET_Y_MASK             = 7,
-      _OFC1_OFFSET_Y_SHIFT            = 3,
-
-      OFC1_OFFSET_X0                  = 0x08, // bits 3:2 of X lsb. geez
-      OFC1_OFFSET_X1                  = 0x10,
-      _OFC1_OFFSET_X_MASK             = 3,
-      _OFC1_OFFSET_X_SHIFT            = 6
-    } OFC1_OFFSET_BITS_T;
-
-    /**
-     * REG_GP0 bits
-     */
-    typedef enum {
-      GP0_OFFSET_Z                    = 0x01, // Z llsb (bit 0)
-      GP0_OFFSET_Y                    = 0x02, // Y llsb (bit 0)
-
-      GP0_OFFSET_X0                   = 0x04, // X llsbs (bits 1:0)
-      GP0_OFFSET_X1                   = 0x08,
-      _GP0_OFFSET_X_MASK              = 3,
-      _GP0_OFFSET_X_SHIFT             = 2,
-
-      GP0_GP00                        = 0x10,
-      GP0_GP01                        = 0x20,
-      GP0_GP02                        = 0x40,
-      GP0_GP03                        = 0x80,
-      _GP0_GP0_MASK                   = 15,
-      _GP0_GP0_SHIFT                  = 4
-    } GP0_BITS_T;
-
-    /**
-     * REG_BIST bits
-     */
-    typedef enum {
-      _BIST_RESERVED_BITS             = 0x80 | 0x40 | 0x20 | 0x08,
-
-      BIST_TRIG_BIST                  = 0x01,
-      BIST_BIST_RDY                   = 0x02,
-      BIST_BIST_FAIL                  = 0x04,
-
-      BIST_RATE_OK                    = 0x10
-    } BIST_BITS_T;
-
-    /**
-     * REG_FIFO_CONFIG_0 bits
-     */
-    typedef enum {
-      FIFO_CONFIG_0_WATER_MARK0       = 0x01,
-      FIFO_CONFIG_0_WATER_MARK1       = 0x02,
-      FIFO_CONFIG_0_WATER_MARK2       = 0x04,
-      FIFO_CONFIG_0_WATER_MARK3       = 0x08,
-      FIFO_CONFIG_0_WATER_MARK4       = 0x10,
-      FIFO_CONFIG_0_WATER_MARK5       = 0x20,
-      FIFO_CONFIG_0_WATER_MARK6       = 0x40,
-      _FIFO_CONFIG_0_WATER_MARK_MASK  = 127,
-      _FIFO_CONFIG_0_WATER_MARK_SHIFT = 0,
-
-      FIFO_CONFIG_0_TAG               = 0x80
-    } FIFO_CONFIG_0_BITS_T;
-
-    /**
-     * REG_FIFO_CONFIG_1 bits
-     */
-    typedef enum {
-      _FIFO_CONFIG_1_RESERVED_BITS     = 0x20 | 0x10 |0x08 | 0x04,
-
-      FIFO_CONFIG_1_FIFO_DATA_SEL0     = 0x01,
-      FIFO_CONFIG_1_FIFO_DATA_SEL1     = 0x02,
-      _FIFO_CONFIG_1_FIFO_DATA_SEL     = 3,
-      _FIFO_CONFIG_1_FIFO_DATA_SHIFT   = 0,
-
-      FIFO_CONFIG_1_FIFO_MODE0         = 0x40,
-      FIFO_CONFIG_1_FIFO_MODE1         = 0x80,
-      _FIFO_CONFIG_1_FIFO_MODE_MASK    = 3,
-      _FIFO_CONFIG_1_FIFO_MODE_SHIFT   = 6
-    } FIFO_CONFIG_1_BITS_T;
-
-    /**
-     * FIFO_DATA_SEL values
-     */
-    typedef enum {
-      FIFO_DATA_SEL_XYZ               = 0,
-      FIFO_DATA_SEL_X                 = 1,
-      FIFO_DATA_SEL_Y                 = 2,
-      FIFO_DATA_SEL_Z                 = 3
-    } FIFO_DATA_SEL_T;
-
-    /**
-     * FIFO_MODE values
-     */
-    typedef enum {
-      FIFO_MODE_BYPASS                = 0,
-      FIFO_MODE_FIFO                  = 1,
-      FIFO_MODE_STREAM                = 2
-    } FIFO_MODE_T;
-
-    // interrupt selection for installISR() and uninstallISR()
-    typedef enum {
-      INTERRUPT_INT1,
-      INTERRUPT_INT2
-    } INTERRUPT_PINS_T;
-
-
-    /**
-     * BMG160 constructor.
-     *
-     * This device can support both I2C and SPI. For SPI, set the addr
-     * to -1, and specify a positive integer representing the Chip
-     * Select (CS) pin for the cs argument.  If you are using a
-     * hardware CS pin (like edison with arduino breakout), then you
-     * can connect the proper pin to the hardware CS pin on your MCU
-     * and supply -1 for cs.  The default operating mode is I2C.
-     *
-     * @param bus I2C or SPI bus to use.
-     * @param addr The address for this device.  -1 for SPI.
-     * @param cs The gpio pin to use for the SPI Chip Select.  -1 for
-     * I2C or for SPI with a hardware controlled pin.
-     * @param theChipID The chip ID to use for validation
-     */
-    BMG160(int bus=BMG160_I2C_BUS, int addr=BMG160_DEFAULT_ADDR,
-           int cs=-1);
-
-    /**
-     * BMG160 Destructor.
-     */
-    ~BMG160();
-
-    /**
-     * Update the internal stored values from sensor data.
-     */
-    void update();
-
-    /**
-     * Return the chip ID.
-     *
-     * @return The chip ID (BMG160_CHIPID).
-     */
-    uint8_t getChipID();
-
-    /**
-     * Return gyroscope data in degrees per second.  update() must
-     * have been called prior to calling this method.
-     *
-     * @param x Pointer to a floating point value that will have the
-     * current x component placed into it.
-     * @param y Pointer to a floating point value that will have the
-     * current y component placed into it.
-     * @param z Pointer to a floating point value that will have the
-     * current z component placed into it.
-     */
-    void getGyroscope(float *x, float *y, float *z);
-
-    /**
-     * Return gyroscope data in degrees per second in the form of a
-     * floating point array.  The pointer returned by this function is
-     * statically allocated and will be rewritten on each call.
-     * update() must have been called prior to calling this method.
-     *
-     * @return A floating point array containing x, y, and z in
-     * that order.
-     */
-    float *getGyroscope();
-
-    /**
-     * Return the current measured temperature.  Note, this is not
-     * ambient temperature.  update() must have been called prior to
-     * calling this method.
-     *
-     * @param fahrenheit true to return data in Fahrenheit, false for
-     * Celicus.  Celsius is the default.
-     * @return The temperature in degrees Celsius or Fahrenheit.
-     */
-    float getTemperature(bool fahrenheit=false);
-
-    /**
-     * Initialize the device and start operation.  This function is
-     * called from the constructor so will not typically need to be
-     * called by a user unless the device is reset.
-     *
-     * @param pwr One of the POWER_MODE_T values.  The default is
-     * POWER_MODE_NORMAL.
-     * @param range One of the RANGE_T values.  The default is
-     * RANGE_250.
-     * @param bw One of the filtering BW_T values.  The default is
-     * BW_400_47.
-     */
-    void init(POWER_MODE_T pwr=POWER_MODE_NORMAL,
-              RANGE_T range=RANGE_250, BW_T bw=BW_400_47);
-
-    /**
-     * Reset the device as if during a power on reset.  All configured
-     * values are lost when this happens.  You should call init()
-     * afterwards, or at least perform the same initialization init()
-     * does before continuing.
-     */
-    void reset();
-
-    /**
-     * Set the gyroscope detection scaling range.  This device
-     * supports 125, 250, 500, 100, and 2000 degree/s ranges.
-     *
-     * @param range One of the RANGE_T values.
-     */
-    void setRange(RANGE_T range);
-
-    /**
-     * Set the output filtering bandwidth of the device.
-     *
-     * @param bw One of the BW_T values.
-     */
-    void setBandwidth(BW_T bw);
-
-    /**
-     * Set the power mode of the device.  Care must be taken when
-     * setting a low power or suspend mode.  See the datasheet for
-     * details.  I ncertain power modes, register write must be
-     * drastically slowed down. which we cannot support.
-     *
-     * @param power One of the POWER_MODE_T values.
-     */
-    void setPowerMode(POWER_MODE_T power);
-
-    /**
-     * Enable update() to read from the FIFO rather than the gyroscope
-     * axis registers directly.  init() enables this mode by default.
-     * An advantage to this mode that all axis data is sampled from
-     * the same timeslice.  When reading directly from the gyroscope
-     * output registers, it's possible for one axis to be updated
-     * while another is being read, causing a temporal
-     * inconsistancy..
-     *
-     * Using the FIFO removes this problem.
-     *
-     * @param useFIFO true to enable update() to read from the FIFO.
-     * When false, update will read from the gyroscope output
-     * registers directly.
-     */
-    void enableFIFO(bool useFIFO);
-
-    /**
-     * Set the FIFO watermark.  When the watermark is reached an
-     * interrupt (if enabled) will be generated.
-     *
-     * @param wm The FIFO watermark to use.  The maximum value is 63.
-     */
-    void fifoSetWatermark(int wm);
-
-    /**
-     * Set the FIFO configuration.  init() uses the FIFO_MODE_BYPASS
-     * mode with axes set to FIFO_DATA_SEL_XYZ by default.
-     *
-     * @param mode One of the FIFO_MODE_T values.
-     * @param axes One of the FIFO_DATA_SEL_T values.
-     */
-    void fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes);
-
-    /**
-     * Return the Interrupt Enables 0 register.  These registers
-     * allow you to enable various interrupt conditions.  See the
-     * datasheet for details.
-     *
-     * @return A bitmask of INT_EN_0_BITS_T bits.
-     */
-    uint8_t getInterruptEnable0();
-
-    /**
-     * Set the Interrupt Enables 0 register.  See the datasheet for
-     * details.
-     *
-     * @param bits A bitmask of INT_EN_0_BITS_T bits.
-     */
-    void setInterruptEnable0(uint8_t bits);
-
-    /**
-     * Return the Interrupt Map 0 register.  These registers allow you
-     * to map specific interrupts to the interrupt 1 or interrupt 2
-     * pin.  See the datasheet for details.
-     *
-     * @return A bitmask of INT_MAP_0_BITS_T bits.
-     */
-    uint8_t getInterruptMap0();
-
-    /**
-     * Set the Interrupt Map 0 register.  These registers allow you
-     * to map specific interrupts to the interrupt 1 or interrupt 2
-     * pin.  See the datasheet for details.
-     *
-     * @param A bitmask of INT_MAP_0_BITS_T bits.
-     */
-    void setInterruptMap0(uint8_t bits);
-
-    /**
-     * Return the Interrupt Map 1 register.  See the datasheet for
-     * details.
-     *
-     * @return A bitmask of INT_MAP_1_BITS_T bits.
-     */
-    uint8_t getInterruptMap1();
-
-    /**
-     * Set the Interrupt Map 1 register.  See the datasheet for
-     * details.
-     *
-     * @param A bitmask of INT_MAP_1_BITS_T bits.
-     */
-    void setInterruptMap1(uint8_t bits);
-
-    /**
-     * Return the Interrupt source register.  This register allows
-     * determining where data comes from (filtered/unfiltered) for
-     * those interrupt sources where this is selectable.  See the
-     * datasheet for details.
-     *
-     * @return A bitmask of INT_1A_BITS_T bits.
-     */
-    uint8_t getInterruptSrc();
-
-    /**
-     * Set the Interrupt source register.  This register allows
-     * determining where data comes from (filtered/unfiltered) for
-     * those interrupt sources where this is selectable.  See the
-     * datasheet for details.
-     *
-     * @param bits A bitmask of INT_1A_BITS_T bits.
-     */
-    void setInterruptSrc(uint8_t bits);
-
-    /**
-     * Return the Interrupt output control register.  This register
-     * allows determining the electrical characteristics of the 2
-     * interrupt pins (open-drain/push-pull and level/edge
-     * triggering).  See the datasheet for details.
-     *
-     * @return A bitmask of INT_EN_1_BITS_T bits.
-     */
-    uint8_t getInterruptOutputControl();
-
-    /**
-     * Set the Interrupt output control register.  This register
-     * allows determining the electrical characteristics of the 2
-     * interrupt pins (open-drain/push-pull and level/edge
-     * triggering).  See the datasheet for details.
-     *
-     * @param bits A bitmask of INT_EN_1_BITS_T bits.
-     */
-    void setInterruptOutputControl(uint8_t bits);
-
-    /**
-     * Clear all latched interrupts.  See the datasheet for details.
-     */
-    void clearInterruptLatches();
-
-    /**
-     * Return the current interrupt latching behavior.  See the
-     * datasheet for details.
-     *
-     * @return One of the RST_LATCH_T values.
-     */
-    RST_LATCH_T getInterruptLatchBehavior();
-
-    /**
-     * Set the current interrupt latching behavior.  See the datasheet
-     * for details.
-     *
-     * @param latch One of the RST_LATCH_T values.
-     */
-    void setInterruptLatchBehavior(RST_LATCH_T latch);
-
-    /**
-     * Return the interrupt status 0 register.  These registers
-     * indicate which interrupts have been triggered.  See the
-     * datasheet for details.
-     *
-     * @return a bitmask of INT_STATUS_0_BITS_T bits.
-     */
-    uint8_t getInterruptStatus0();
-
-    /**
-     * Return the interrupt status 1 register.  See the datasheet for
-     * details.
-     *
-     * @return a bitmask of INT_STATUS_1_BITS_T bits.
-     */
-    uint8_t getInterruptStatus1();
-
-    /**
-     * Return the interrupt status 2 register.  See the datasheet for
-     * details.
-     *
-     * @return a bitmask of INT_STATUS_2_BITS_T bits.
-     */
-    uint8_t getInterruptStatus2();
-
-    /**
-     * Return the interrupt status 3 register.  See the datasheet for
-     * details.
-     *
-     * @return a bitmask of INT_STATUS_3_BITS_T bits.
-     */
-    uint8_t getInterruptStatus3();
-
-    /**
-     * Enable shadowing of the gyroscope output registers.  When
-     * enabled, a read of an axis LSB register automatically locks the
-     * MSB register of that axis until it has been read.  This is
-     * usually a good thing to have enabled.  init() enables this by
-     * default.  If disabled, then it becomes possible for part of an
-     * axis value to change while another part is being read, causing
-     * inconsistent data.
-     *
-     * @param shadow true to enable axis register shadowing, false otherwise.
-     */
-    void enableRegisterShadowing(bool shadow);
-
-    /**
-     * Enable filtering of the gyroscope axis data.  init()
-     * enables this by default.  If disabled, then gyroscope data
-     * that is read will be raw and unfiltered (rated R).  See the
-     * datasheet for details.
-     *
-     * @param filter true to enable filtering, false to disable.
-     */
-    void enableOutputFiltering(bool filter);
-
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-    void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
-                    jobject runnable);
-#else
-    /**
-     * install an interrupt handler.
-     *
-     * @param intr one of the INTERRUPT_PINS_T values specifying which
-     * interrupt pin you are installing.
-     * @param gpio gpio pin to use as interrupt pin
-     * @param level the interrupt trigger level (one of mraa::Edge
-     * values).  Make sure that you have configured the interrupt pin
-     * properly for whatever level you choose.
-     * @param isr the interrupt handler, accepting a void * argument
-     * @param arg the argument to pass the the interrupt handler
-     */
-    void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
-                    void (*isr)(void *), void *arg);
-#endif
-
-   /**
-     * uninstall a previously installed interrupt handler
-     *
-     * @param intr one of the INTERRUPT_PINS_T values specifying which
-     * interrupt pin you are removing.
-     */
-    void uninstallISR(INTERRUPT_PINS_T intr);
-
-    /**
-     * Read a register.
-     *
-     * @param reg The register to read.
-     * @return The value of the register.
-     */
-    uint8_t readReg(uint8_t reg);
-
-    /**
-     * Read contiguous registers into a buffer.
-     *
-     * @param buffer The buffer to store the results.
-     * @param len The number of registers to read.
-     * @return The number of bytes read.
-     */
-    int readRegs(uint8_t reg, uint8_t *buffer, int len);
-
-    /**
-     * Write to a register
-     *
-     * @param reg The register to write to.
-     * @param val The value to write.
-     */
-    void writeReg(uint8_t reg, uint8_t val);
-
-  protected:
-    mraa::I2c *m_i2c;
-    mraa::Spi *m_spi;
-
-    mraa::Gpio *m_gpioIntr1;
-    mraa::Gpio *m_gpioIntr2;
-
-    // spi chip select
-    mraa::Gpio *m_gpioCS;
-
-    uint8_t m_addr;
-
-    // SPI chip select
-    void csOn();
-    void csOff();
-
-    // acc data
-    float m_gyrX;
-    float m_gyrY;
-    float m_gyrZ;
-
-    float m_gyrScale;
-
-    float m_temperature;
-
-  private:
-    bool m_isSPI;
-    // use the FIFO by default?
-    bool m_useFIFO;
-
-    // return a reference to a gpio pin pointer depending on intr
-    mraa::Gpio*& getPin(INTERRUPT_PINS_T intr);
-
-    // Adding a private function definition for java bindings
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-    void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
-                    void (*isr)(void *), void *arg);
-#endif
-  };
-}
diff --git a/src/bmx055/bmi055.cxx b/src/bmx055/bmi055.cxx
index 41e3083c..90ba5e30 100644
--- a/src/bmx055/bmi055.cxx
+++ b/src/bmx055/bmi055.cxx
@@ -70,9 +70,9 @@ void BMI055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
     m_accel->init(pwr, range, bw);
 }
 
-void BMI055::initGyroscope(BMG160::POWER_MODE_T pwr,
-                           BMG160::RANGE_T range,
-                           BMG160::BW_T bw)
+void BMI055::initGyroscope(BMG160_POWER_MODE_T pwr,
+                           BMG160_RANGE_T range,
+                           BMG160_BW_T bw)
 {
   if (m_gyro)
     m_gyro->init(pwr, range, bw);
@@ -110,13 +110,10 @@ void BMI055::getGyroscope(float *x, float *y, float *z)
     m_gyro->getGyroscope(x, y, z);
 }
 
-float *BMI055::getGyroscope()
+std::vector<float> BMI055::getGyroscope()
 {
   if (m_gyro)
     return m_gyro->getGyroscope();
   else
-    {
-      static float v[3] = {0.0f, 0.0f, 0.0f};
-      return v;
-    }
+    return {0, 0, 0};
 }
diff --git a/src/bmx055/bmi055.hpp b/src/bmx055/bmi055.hpp
index 0f68f244..3efea255 100644
--- a/src/bmx055/bmi055.hpp
+++ b/src/bmx055/bmi055.hpp
@@ -24,6 +24,7 @@
 #pragma once
 
 #include <string>
+#include <vector>
 
 #include "bma250e.hpp"
 #include "bmg160.hpp"
@@ -87,7 +88,7 @@ namespace upm {
     BMI055(int accelBus=BMA250E_I2C_BUS,
            int accelAddr=BMA250E_DEFAULT_ADDR,
            int accelCS=-1,
-           int gyroBus=BMG160_I2C_BUS,
+           int gyroBus=BMG160_DEFAULT_I2C_BUS,
            int gyroAddr=BMG160_DEFAULT_ADDR,
            int gyroCS=-1);
 
@@ -131,9 +132,9 @@ namespace upm {
      * @param bw One of the filtering BMG160::BW_T values.  The default is
      * BMG160::BW_400_47.
      */
-    void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL,
-                       BMG160::RANGE_T range=BMG160::RANGE_250,
-                       BMG160::BW_T bw=BMG160::BW_400_47);
+    void initGyroscope(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
+                       BMG160_RANGE_T range=BMG160_RANGE_250,
+                       BMG160_BW_T bw=BMG160_BW_400_47);
 
     /**
      * Return accelerometer data in gravities.  update() must have
@@ -174,14 +175,13 @@ namespace upm {
 
     /**
      * Return gyroscope data in degrees per second in the form of a
-     * floating point array.  The pointer returned by this function is
-     * statically allocated and will be rewritten on each call.
-     * update() must have been called prior to calling this method.
+     * floating point vector.  update() must have been called prior to
+     * calling this method.
      *
-     * @return A floating point array containing x, y, and z in
+     * @return A floating point vector containing x, y, and z in
      * that order.
      */
-    float *getGyroscope();
+    std::vector<float> getGyroscope();
 
 
   protected:
diff --git a/src/bmx055/bmx055.cxx b/src/bmx055/bmx055.cxx
index 2c4f10f1..f5d27f9e 100644
--- a/src/bmx055/bmx055.cxx
+++ b/src/bmx055/bmx055.cxx
@@ -80,9 +80,9 @@ void BMX055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
     m_accel->init(pwr, range, bw);
 }
 
-void BMX055::initGyroscope(BMG160::POWER_MODE_T pwr,
-                           BMG160::RANGE_T range,
-                           BMG160::BW_T bw)
+void BMX055::initGyroscope(BMG160_POWER_MODE_T pwr,
+                           BMG160_RANGE_T range,
+                           BMG160_BW_T bw)
 {
   if (m_gyro)
     m_gyro->init(pwr, range, bw);
@@ -110,6 +110,15 @@ void BMX055::getAccelerometer(float *x, float *y, float *z)
 {
   if (m_accel)
     m_accel->getAccelerometer(x, y, z);
+  else
+  {
+      if (x)
+          *x = 0;
+      if (y)
+          *y = 0;
+      if (z)
+          *z = 0;
+  }
 }
 
 float *BMX055::getAccelerometer()
@@ -127,23 +136,38 @@ void BMX055::getGyroscope(float *x, float *y, float *z)
 {
   if (m_gyro)
     m_gyro->getGyroscope(x, y, z);
+  else
+  {
+      if (x)
+          *x = 0;
+      if (y)
+          *y = 0;
+      if (z)
+          *z = 0;
+  }
 }
 
-float *BMX055::getGyroscope()
+std::vector<float> BMX055::getGyroscope()
 {
   if (m_gyro)
     return m_gyro->getGyroscope();
   else
-    {
-      static float v[3] = {0.0f, 0.0f, 0.0f};
-      return v;
-    }
+      return {0, 0, 0};
 }
 
 void BMX055::getMagnetometer(float *x, float *y, float *z)
 {
   if (m_mag)
     m_mag->getMagnetometer(x, y, z);
+  else
+  {
+      if (x)
+          *x = 0;
+      if (y)
+          *y = 0;
+      if (z)
+          *z = 0;
+  }
 }
 
 float *BMX055::getMagnetometer()
diff --git a/src/bmx055/bmx055.hpp b/src/bmx055/bmx055.hpp
index 4d280e5c..4d486edb 100644
--- a/src/bmx055/bmx055.hpp
+++ b/src/bmx055/bmx055.hpp
@@ -24,6 +24,7 @@
 #pragma once
 
 #include <string>
+#include <vector>
 
 #include "bma250e.hpp"
 #include "bmg160.hpp"
@@ -102,7 +103,7 @@ namespace upm {
     BMX055(int accelBus=BMA250E_I2C_BUS,
            int accelAddr=BMA250E_DEFAULT_ADDR,
            int accelCS=-1,
-           int gyroBus=BMG160_I2C_BUS,
+           int gyroBus=BMG160_DEFAULT_I2C_BUS,
            int gyroAddr=BMG160_DEFAULT_ADDR,
            int gyroCS=-1,
            int magBus=BMM150_I2C_BUS,
@@ -149,9 +150,9 @@ namespace upm {
      * @param bw One of the filtering BMG160::BW_T values.  The default is
      * BMG160::BW_400_47.
      */
-    void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL,
-                       BMG160::RANGE_T range=BMG160::RANGE_250,
-                       BMG160::BW_T bw=BMG160::BW_400_47);
+    void initGyroscope(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
+                       BMG160_RANGE_T range=BMG160_RANGE_250,
+                       BMG160_BW_T bw=BMG160_BW_400_47);
 
     /**
      * Initialize the magnetometer and start operation.  This function
@@ -211,7 +212,7 @@ namespace upm {
      * @return A floating point array containing x, y, and z in
      * that order.
      */
-    float *getGyroscope();
+    std::vector<float> getGyroscope();
 
     /**
      * Return magnetometer data in micro-Teslas (uT).  update() must
@@ -228,11 +229,10 @@ namespace upm {
 
     /**
      * Return magnetometer data in micro-Teslas (uT) in the form of a
-     * floating point array.  The pointer returned by this function is
-     * statically allocated and will be rewritten on each call.
-     * update() must have been called prior to calling this method.
+     * floating point vector.  update() must have been called prior to
+     * calling this method.
      *
-     * @return A floating point array containing x, y, and z in
+     * @return A floating point vector containing x, y, and z in
      * that order.
      */
     float *getMagnetometer();
diff --git a/src/bmx055/javaupm_bmx055.i b/src/bmx055/javaupm_bmx055.i
index 4a160cc3..5d514c30 100644
--- a/src/bmx055/javaupm_bmx055.i
+++ b/src/bmx055/javaupm_bmx055.i
@@ -4,6 +4,7 @@
 %include "typemaps.i"
 %include "arrays_java.i";
 %include "../java_buffer.i"
+%include "../upm_vectortypes.i"
 
 %apply int {mraa::Edge};
 %apply float *INOUT { float *x, float *y, float *z };
@@ -21,30 +22,20 @@
     JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
 }
 
-%typemap(out) float *getGyroscope {
-    $result = JCALL1(NewFloatArray, jenv, 3);
-    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
-}
-
 %typemap(out) float *getMagnetometer {
     $result = JCALL1(NewFloatArray, jenv, 3);
     JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
 }
 
 %ignore getAccelerometer(float *, float *, float *);
-%ignore getGyroscope(float *, float *, float *);
 %ignore getMagnetometer(float *, float *, float *);
+%ignore getGyroscope(float *, float *, float *);
 
 %include "bma250e.hpp"
 %{
     #include "bma250e.hpp"
 %}
 
-%include "bmg160.hpp"
-%{
-    #include "bmg160.hpp"
-%}
-
 %include "bmm150.hpp"
 %{
     #include "bmm150.hpp"
diff --git a/src/bmx055/jsupm_bmx055.i b/src/bmx055/jsupm_bmx055.i
index b59ccd65..8db068ba 100644
--- a/src/bmx055/jsupm_bmx055.i
+++ b/src/bmx055/jsupm_bmx055.i
@@ -11,11 +11,6 @@
     #include "bma250e.hpp"
 %}
 
-%include "bmg160.hpp"
-%{
-    #include "bmg160.hpp"
-%}
-
 %include "bmm150.hpp"
 %{
     #include "bmm150.hpp"
diff --git a/src/bmx055/pyupm_bmx055.i b/src/bmx055/pyupm_bmx055.i
index 8250a66e..154a7654 100644
--- a/src/bmx055/pyupm_bmx055.i
+++ b/src/bmx055/pyupm_bmx055.i
@@ -21,11 +21,6 @@
     #include "bma250e.hpp"
 %}
 
-%include "bmg160.hpp"
-%{
-    #include "bmg160.hpp"
-%}
-
 %include "bmm150.hpp"
 %{
     #include "bmm150.hpp"