cmake: disable TGZ from builds when IPK used

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

.travis.yml

@@ -1,8 +1,12 @@
 language: cpp
-compiler:
-  - gcc
-  - clang
+env:
+  - CC=gcc CXX=gcc
+  - CC=clang CXX=clang++
+  - NODE4=true
+  - NODE5=true
+  - NODE012=true
 install:
+  - if [ "${NODE4}" ]; then export CC=gcc-4.8 CXX=g++-4.8; fi
   - sudo add-apt-repository --yes ppa:kalakris/cmake
   - sudo add-apt-repository --yes ppa:fenics-packages/fenics-exp/swig
   - sudo apt-get update -qq
@@ -10,12 +14,24 @@ install:
   - sudo ln -s /usr/bin/swig3.0 /usr/bin/swig
   - sudo update-java-alternatives -s java-8-oracle
 before_script:
+  - export NODE_ROOT_DIR="/home/travis/.nvm/v0.10.36"
   - if [ "$CC" = "gcc" ]; then export BUILDJAVA=ON; else export BUILDJAVA=OFF; fi
   - export JAVA_HOME=/usr/lib/jvm/java-8-oracle
+  - if [ "${NODE4}" ]; then nvm install 4.1; export CC=gcc-4.8; export CXX=g++-4.8; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; fi
+  - if [ "${NODE5}" ]; then nvm install 5; export CC=gcc-4.8; export CXX=g++-4.8; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; fi
+  - if [ "${NODE012}" ]; then nvm install 0.12; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; fi
 script:
-  - git clone --branch=master https://github.com/intel-iot-devkit/mraa.git
-  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DENABLEEXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=. -DNODE_ROOT_DIR:PATH=/home/travis/.nvm/v0.10.36/include .. && make && make install
+  - git clone --branch=firmata https://github.com/intel-iot-devkit/mraa.git
+  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDSWIGNODE=OFF -DBUILDSWIGPYTHON=OFF -DFIRMATA=ON -DENABLEEXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=. .. && make && make install
   - export PKG_CONFIG_PATH=$PWD/lib/pkgconfig:$PWD/lib/x86_64-linux-gnu/pkgconfig
   - export CPLUS_INCLUDE_PATH=$PWD/include
   - export LIBRARY_PATH=$PWD/lib:$PWD/lib/x86_64-linux-gnu
-  - cd ../.. && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DNODE_ROOT_DIR:PATH=/home/travis/.nvm/v0.10.36/include -DBUILDEXAMPLES=ON -DBUILDJAVAEXAMPLES=$BUILDJAVA .. && make
+  - cd ../.. && mkdir build && cd build && cmake -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDEXAMPLES=ON -DBUILDJAVAEXAMPLES=$BUILDJAVA .. && make
+addons:
+  apt:
+    sources:
+      - llvm-toolchain-precise-3.6
+      - ubuntu-toolchain-r-test
+    packages:
+      - clang-3.6
+      - g++-4.8

CMakeLists.txt

@@ -10,7 +10,7 @@ find_package (PkgConfig REQUIRED)
 
 # Force a libmraa search and minimum required version every time a config is generated
 unset(MRAA_FOUND CACHE)
-pkg_check_modules (MRAA REQUIRED mraa>=0.9.0)
+pkg_check_modules (MRAA REQUIRED mraa>=0.9.1)
 message (INFO " found mraa version: ${MRAA_VERSION}")
 
 # Appends the cmake/modules path to MAKE_MODULE_PATH variable.
@@ -25,7 +25,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 if ("x_${VERSION}" STREQUAL "x_GIT-NOTFOUND" OR "x_${VERSION}" STREQUAL "x_-128-NOTFOUND")
   message (WARNING " - Install git to compile a production UPM!")
-  set (VERSION "v0.5.0-dirty")
+  set (VERSION "v0.5.1-dirty")
 endif ()
 
 message (INFO " - UPM Version ${VERSION}")
@@ -51,6 +51,7 @@ set (CMAKE_SWIG_FLAGS "")
 option (BUILDDOC "Build all doc." OFF)
 option (BUILDSWIG "Build swig modules." ON)
 option (BUILDSWIGPYTHON "Build swig python modules." ON)
+option (BUILDPYTHON3 "Use python3 for building/installing/testing" OFF)
 option (BUILDSWIGNODE "Build swig node modules." ON)
 option (BUILDEXAMPLES "Build C++ example binaries" OFF)
 option (BUILDJAVAEXAMPLES "Build java example jars" OFF)
@@ -156,7 +157,7 @@ if (IPK)
   endif ()
   message (INFO " - Package arch is ${TARGET_ARCH}")
 
-  set(CPACK_GENERATOR "DEB" "TGZ")
+  set(CPACK_GENERATOR "DEB")
   set(OPKG_ARCH ${TARGET_ARCH})
   set(CPACK_BINARY_DIR ${CMAKE_BINARY_DIR})
   set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Intel IoT-Devkit") #required
@@ -210,10 +211,18 @@ if(BUILDJAVAEXAMPLES)
   add_subdirectory (examples/java)
 endif()
 
-if(BUILDTESTS)
-    find_package (PythonInterp REQUIRED)
-    if (${PYTHONINTERP_FOUND})
-        enable_testing ()
-        add_subdirectory (tests)
-    endif ()
+if (BUILDSWIGPYTHON OR BUILDTESTS)
+  if (BUILDPYTHON3)
+    set (PYTHONBUILD_VERSION 3)
+  else ()
+    set (PYTHONBUILD_VERSION 2.7)
+  endif ()
+  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
+  find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
+  include_directories(${PYTHON_INCLUDE_PATH})
+endif ()
+
+if (BUILDTESTS)
+  enable_testing ()
+  add_subdirectory (tests)
 endif()

cmake/modules/FindNode.cmake

@@ -1,4 +1,12 @@
-find_program (NODE_EXECUTABLE NAMES node
+ # Macro to add directory to NODEJS_INCLUDE_DIRS if it exists and is not /usr/include
+ macro(add_include_dir dir)
+    if (IS_DIRECTORY ${dir} AND NOT ${dir} STREQUAL "/usr/include")
+      set(NODEJS_INCLUDE_DIRS ${NODEJS_INCLUDE_DIRS} ${dir})
+    endif()
+endmacro()
+
+
+find_program (NODEJS_EXECUTABLE NAMES node nodejs
     HINTS
     $ENV{NODE_DIR}
     PATH_SUFFIXES bin
@@ -7,26 +15,50 @@ find_program (NODE_EXECUTABLE NAMES node
 
 include (FindPackageHandleStandardArgs)
 
-find_path (NODE_ROOT_DIR "node/node.h" "src/node.h"
-  PATHS /usr/include/nodejs /usr/local/include/nodejs)
+# If compat-libuv package exists, it must be at start of include path
+find_path (UV_ROOT_DIR "uv.h" PATHS /usr/include/compat-libuv010 NO_DEFAULT_PATH)
+if (UV_ROOT_DIR)
+  # set (NODEJS_INCLUDE_DIRS ${UV_ROOT_DIR})
+  add_include_dir(${UV_ROOT_DIR})
+endif()
 
-set (NODE_INCLUDE_DIRS
-  ${NODE_ROOT_DIR}/src
-  ${NODE_ROOT_DIR}/node
-  ${NODE_ROOT_DIR}/deps/v8/include
-  ${NODE_ROOT_DIR}/deps/uv/include
+# Now look for node. Flag an error if not found
+find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h"
+  PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
+if (NODE_ROOT_DIR)
+  add_include_dir(${NODE_ROOT_DIR}/include/src)
+  add_include_dir(${NODE_ROOT_DIR}/include/node)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
+else()
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - node.h not found")
+endif()
+
+# Check that v8.h is in NODEJS_INCLUDE_DIRS
+find_path (V8_ROOT_DIR "v8.h" PATHS ${NODEJS_INCLUDE_DIRS})
+if (NOT V8_ROOT_DIR)
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - v8.h not found")
+endif()
+
+# Check that uv.h is in NODEJS_INCLUDE_DIRS
+find_path (UV_ROOT_DIR "uv.h" PATHS ${NODEJS_INCLUDE_DIRS})
+if (NOT UV_ROOT_DIR)
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - uv.h not found")
+endif()
+
+find_package_handle_standard_args (Nodejs DEFAULT_MSG
+    NODEJS_EXECUTABLE
+    NODEJS_INCLUDE_DIRS
 )
 
-find_package_handle_standard_args (Node DEFAULT_MSG
-    NODE_EXECUTABLE
-    NODE_INCLUDE_DIRS
-)
-
-if (NODE_EXECUTABLE)
-    execute_process(COMMAND ${NODE_EXECUTABLE} --version
+if (NODEJS_EXECUTABLE)
+    execute_process(COMMAND ${NODEJS_EXECUTABLE} --version
                     OUTPUT_VARIABLE _VERSION
                     RESULT_VARIABLE _NODE_VERSION_RESULT)
-    execute_process(COMMAND ${NODE_EXECUTABLE} -e "console.log(process.versions.v8)"
+    execute_process(COMMAND ${NODEJS_EXECUTABLE} -e "console.log(process.versions.v8)"
                     OUTPUT_VARIABLE _V8_VERSION
                     RESULT_VARIABLE _V8_RESULT)
     if (NOT _NODE_VERSION_RESULT AND NOT _V8_RESULT)
@@ -55,7 +87,11 @@ if (NODE_EXECUTABLE)
         set (V8_VERSION_STRING "3.28.72")
         message ("defaulted to node 0.10.30")
     endif ()
-    message ("INFO - Node version is " ${NODE_VERSION_STRING} "INFO - Node using v8 " ${V8_VERSION_STRING})
+    string (REGEX REPLACE "\n" "" NODE_VERSION_STRING ${NODE_VERSION_STRING})
+    string (REGEX REPLACE "\n" "" V8_VERSION_STRING ${V8_VERSION_STRING})
+    message ("INFO - Node version is " ${NODE_VERSION_STRING})
+    message ("INFO - Node using v8 " ${V8_VERSION_STRING})
+    mark_as_advanced (NODEJS_EXECUTABLE)
 endif ()
 
 mark_as_advanced (NODE_EXECUTABLE)

docs/changelog.md

@@ -4,18 +4,28 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v0.5.1
+
+ * Updated the API and added new functionality for the MY9221 class and derived
+ sensors: grovecircularled and groveledbar, along with new code samples that
+ show these changes
+ * Provided a fix for one JAVA example that uses interrupts and updated library
+ install paths
+ * Several documentation improvements and pictures were added for new sensors
+ * A few other sensors received minor patches
+
 ### v0.5.0
 
  * First implementations for industrial grade Modbus sensors, along with first
- sensor examples that use the new iio system driver in MRAA.
+ sensor examples that use the new iio system driver in MRAA
  * Significant improvements to the stepmotor driver that will now allow precise
- control using any GPIO pin and extended the API with new functionality.
+ control using any GPIO pin and extended the API with new functionality
  * Further improved JAVA bindings and sensor ISRs have been modified to
- implement Runnable objects.
+ implement Runnable objects
  * Improved Python typemaps and error checking, documentation now includes
- detailed function descriptions.
+ detailed function descriptions
  * Simplified the build process by eliminating the need to define redundant
- MRAA related environment variables.
+ MRAA related environment variables
  * New sensors: nlgpio16, ads1x15, t3311, hdxxvxta, hwxpxx, rhusb, ili9341,
  apds9930, kxcjk1013
 
@@ -55,7 +65,7 @@ from earlier versions:
  includes last remaining images and grouping sensors by kits
  * Added support for Sparkfun Sensor Blocks (OLED & IMU)
  * Fully reworked API for at42qt1070, mpu9150 and lcd classes, while
- maintaining backwards compatibility for existing lcd displays.
+ maintaining backwards compatibility for existing lcd displays
  * Extended doxygen tags for better integration with automated documentation
  generators
  * New sensors: rgbringcoder, hp20x, pn532, sainsmartks, lsm9ds0, eboled

docs/creating_java_bindings.md

@@ -253,61 +253,29 @@ __SWIG:__
 
 
 ###Implementing callbacks in Java
-Method calls from the Java instance are passed to the C++ instance transparently via C wrapper functions. In the default usage of SWIG, this arrangement is asymmetric in the sense that no corresponding mechanism exists to pass method calls down the inheritance chain from C++ to Java. To address this problem, SWIG introduces new classes called directors at the bottom of the C++ inheritance chain. The job of the directors is to route method calls correctly, either to C++ implementations higher in the inheritance chain or to Java implementations lower in the inheritance chain. The upshot is that C++ classes can be extended in Java and from C++ these extensions look exactly like native C++ classes. For more on Java directors, read the ["Cross language polymorphism using directors"](http://www.swig.org/Doc3.0/SWIGDocumentation.html#Java_directors) chapter of the SWIG documentation.
-To enable directors, add the "directors" option to the %module directive, and use the %feature("director") directive to tell SWIG which classes and methods should get directors. If only a class is specified, the %feature is applied to all virtual methods in that class. If no class or method is specified, the %feature is applied globally to all virtual methods.
-
-```
-%module(directors="1") modulename
-%feature("director") IsrCallback;
-```
+Callbacks in the UPM Java library (as well as the MRAA Java library) make use of the _void mraa\_java\_isr\_callback(void\* data\)_ method from MRAA.  
 
 __Callbacks in the UPM Java library are implemented as follows (we use the a110x Hall Effect sensors as example):__
 
-We create a new C++ class, that will be wrapped by SWIG, called _IsrCallback_; and a method _generic\_callback\_isr(void\* data)_ that takes an instance of IsrCallback as argument.
+We extend the sensor class with another method, _installISR\(jobject runnable\)_, which is a wrapper over the original _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ method. This will install the _mraa\_java\_isr\_callback\(\)_ method as the interrupt service routine \(ISR\) to be called, with _jobject runnable_ as argument.
+
+SWIGJAVA is a symbol that is always defined by SWIG when using Java. We enclose the _installISR\(jobject runnable\)_ method in a _\#if defined(SWIGJAVA)_ check, to ensure the code only exists when creating a wrapper for Java.
 
 ```c++
 #if defined(SWIGJAVA)
-class IsrCallback
+void A110X::installISR(jobject runnable)
 {
-    public:
-        virtual ~IsrCallback()
-        {
-        }
-        virtual void run()
-        { /* empty, overridden in Java*/
-        }
-
-    private:
-};
-
-static void generic_callback_isr (void* data)
-{
-    IsrCallback* callback = (IsrCallback*) data;
-    if (callback == NULL)
-        return;
-    callback->run();
+    installISR(mraa_java_isr_callback, runnable);
 }
 #endif
 ```
 
-SWIGJAVA is a symbol that is always defined by SWIG when using Java. We enclose the _IsrCallback_ class and _generic\_callback\_isr()_ in a _\#if defined(SWIGJAVA)_ check, to ensure the code only exists when creating a wrapper for Java.
-We extend the sensor class with another method, _installISR\(IsrCallback \*cb\)_, which is a wrapper over the original _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ method. This will install the _generic\_callback\_isr\(\)_ method as the interrupt service routine \(ISR\) to be called, with the _IsrCallback_ object (referenced by *cb) as argument.
-
-```c++
-#if defined(SWIGJAVA)
-void A110X::installISR( IsrCallback *cb)
-{
-    installISR(generic_callback_isr, cb);
-}
-#endif
-```
-
-We hide the underlying method, _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ , and expose only the _installISR\(IsrCallback \*cb\)_ to SWIG, through the use of the SWIGJAVA symbol. When SWIGJAVA is defined, we change the access modifier of the underlying method to private.
+We hide the underlying method, _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ , and expose only the _installISR\(jobject runnable\)_ to SWIG, through the use of the SWIGJAVA symbol. When SWIGJAVA is defined, we change the access modifier of the underlying method to private.
 
 ```c++
 public:
 #if defined(SWIGJAVA)
-    void installISR(IsrCallback *cb);
+    void installISR(jobject runnable);
 #else
     void installISR(void (*isr)(void *), void *arg);
 #endif
@@ -317,7 +285,7 @@ private:
 #endif
 ```
 
-To use callback in java, we create a ISR class, which extends the new IsrCallback class created by SWIG, and we override the _run\(\)_ method with the code to be executed when the interrupt is received. An example for the a110x Hall sensor that increments a counter each time an interrupt is received:
+To use callback in java, we create a ISR class, which implements the Java Runnable interface, and we override the _run\(\)_ method with the code to be executed when the interrupt is received. An example for the a110x Hall sensor that increments a counter each time an interrupt is received:
 
 ```java
 public class A110X_intrSample {
@@ -326,7 +294,7 @@ public class A110X_intrSample {
     public static void main(String[] args) throws InterruptedException {
         upm_a110x.A110X hall = new upm_a110x.A110X(2);
 
-        IsrCallback callback = new A110XISR();
+        A110XISR callback = new A110XISR();
         hall.installISR(callback);
         
         while(true){
@@ -336,7 +304,7 @@ public class A110X_intrSample {
     }
 }
 
-class A110XISR extends IsrCallback {
+class A110XISR implements Runnable {
     public A110XISR(){
         super();
     }
@@ -383,18 +351,3 @@ by
 #if defined(SWIGJAVA) || defined(JAVACALLBACK)
 ```
 
-__Use GlobalRef instead of WeakRef__
-
-By default, SWIG uses WeakRef to the Java objects handled by a director. Once Java objects run out of scope they can get cleaned up. In many cases WeakRef is undesirable as we may still want to be able to run methods or access fields in the objects passed to the JNI layer (e.g. we want to pass a runnable-like object which should be called when something happens). To use GlobalRefs instead, the following line must be added after the director declaration:
-
-```
-SWIG_DIRECTOR_OWNED(module)
-```
-
-For, example, in case of a module called IsrCallback (used for interrupts in MRAA and UPM), we would declare said module as such:
-
-```
-%feature ("director") IsrCallback;
-SWIG_DIRECTOR_OWNED(IsrCallback)
-```
-

examples/c++/CMakeLists.txt

@@ -10,7 +10,7 @@ macro(get_module_name example_name module_name)
   elseif ((${example_name} MATCHES "^mq" AND ${length} EQUAL 3) OR ${example_name} STREQUAL "tp401")
     set (${module_name} "gas")
   else()
-    set(${module_name} ${example_name}) 
+    set(${module_name} ${example_name})
   endif()
 endmacro()
 
@@ -25,25 +25,25 @@ macro(add_custom_example example_bin example_src example_module_list)
     if (MODULE_LIST)
       list(FIND MODULE_LIST ${module} index)
       if (${index} EQUAL -1)
-        set(found_all_modules FALSE)      	
+        set(found_all_modules FALSE)
       endif()
     endif()
   endforeach()
   if (found_all_modules)
     add_executable (${example_bin} ${example_src})
-    target_link_libraries (${example_bin} ${CMAKE_THREAD_LIBS_INIT})  
+    target_link_libraries (${example_bin} ${CMAKE_THREAD_LIBS_INIT})
     foreach (module ${example_module_list})
       set(module_dir "${PROJECT_SOURCE_DIR}/src/${module}")
       include_directories (${module_dir})
       if (${module} STREQUAL "lcd")
-      	set(module "i2clcd")
+        set(module "i2clcd")
       endif()
-      target_link_libraries (${example_bin} ${module})    
+      target_link_libraries (${example_bin} ${module})
     endforeach()
   else()
    MESSAGE(INFO " Ignored ${example_bin}")
    set (example_bin "")
-  endif()  	
+  endif()
 endmacro()
 
 
@@ -56,13 +56,13 @@ macro(add_example example_name)
   set(module_dir "${PROJECT_SOURCE_DIR}/src/${module_name}")
   if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${example_src}"
      AND EXISTS ${module_dir}
-     AND IS_DIRECTORY ${module_dir})  
+     AND IS_DIRECTORY ${module_dir})
     add_custom_example(${example_bin} ${example_src} ${module_name})
     if ((NOT ${example_bin} STREQUAL "") AND (${module_name} STREQUAL "grove"))
       set(grove_module_path "${PROJECT_SOURCE_DIR}/src/${example_name}")
       if (EXISTS ${grove_module_path})
         include_directories(${grove_module_path})
-        target_link_libraries (${example_bin} ${example_name})  
+        target_link_libraries (${example_bin} ${example_name})
       endif()
     endif()
   else()
@@ -91,8 +91,6 @@ add_example (grovebutton)
 add_example (groverotary)
 add_example (groveslide)
 add_example (buzzer-sound)
-add_example (my9221-ledbar)
-add_example (my9221-updown)
 add_example (nrf24l01-transmitter)
 add_example (nrf24l01-receiver)
 add_example (nrf24l01-broadcast)
@@ -203,7 +201,6 @@ add_example (h3lis331dl)
 add_example (ad8232)
 add_example (grovescam)
 add_example (m24lr64e)
-add_example (grovecircularled)
 add_example (rgbringcoder)
 add_example (hp20x)
 add_example (pn532)
@@ -242,6 +239,10 @@ add_example (hdxxvxta)
 add_example (rhusb)
 add_example (apds9930)
 add_example (kxcjk1013)
+add_example (ssd1351)
+if (HAVE_FIRMATA)
+  add_example (curieimu)
+endif ()
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)
@@ -258,3 +259,5 @@ add_custom_example (eboled-example eboled.cxx lcd)
 add_custom_example (mpu60x0-example mpu60x0.cxx mpu9150)
 add_custom_example (ak8975-example ak8975.cxx mpu9150)
 add_custom_example (mpu9250-example mpu9250.cxx mpu9150)
+add_custom_example (groveledbar-example groveledbar.cxx my9221)
+add_custom_example (grovecircularled-example grovecircularled.cxx my9221)

examples/c++/curieimu.cxx

@@ -0,0 +1,81 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Author: Ron Evans (@deadprogram)
+ * Author: Justin Zemlyansky (@JustInDevelopment)
+ * 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 "curieimu.hpp"
+#include "mraa.h"
+#include "mraa/firmata.h"
+#include <math.h>
+
+int
+main(int argc, char **argv)
+{
+    //! [Interesting]
+    mraa_init();
+    mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
+
+    upm::CurieImu* sensor = new upm::CurieImu();
+
+    std::cout << "temperature is: " << (sensor->getTemperature() * pow(0.5, 9) + 23) << std::endl;
+
+    sensor->updateAccel();
+    int x = sensor->getAccelX(),
+        y = sensor->getAccelY(),
+        z = sensor->getAccelZ();
+    printf("accelerometer is: %d, %d, %d\n", x, y, z);
+
+    sensor->updateGyro();
+    int a = sensor->getGyroX(),
+        b = sensor->getGyroY(),
+        c = sensor->getGyroZ();
+    printf("gyroscope is: %d, %d, %d\n", a, b, c);
+
+    int axis, direction;
+    sensor->enableShockDetection(true);
+    for(int i=0; i<300; i++) {
+      if (sensor->isShockDetected()) {
+        sensor->getNextShock();
+        axis = sensor->getAxis();
+        direction = sensor->getDirection();
+        printf("shock data is: %d, %d\n", axis, direction);
+      }
+      usleep(10000);
+    }
+
+    sensor->updateMotion();
+    int m = sensor->getAccelX(),
+        n = sensor->getAccelY(),
+        o = sensor->getAccelZ(),
+        p = sensor->getGyroX(),
+        q = sensor->getGyroY(),
+        r = sensor->getGyroZ();
+    printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);
+
+    delete sensor;
+
+    return 0;
+}

examples/c++/grovecircularled.cxx

@@ -43,9 +43,9 @@ int main()
   
 //! [Interesting]
   
-  // Instantiate a Grove Circular LED on gpio pins 5 and 4
+  // Instantiate a Grove Circular LED on D9 for data, D8 for clock
   
-  upm::GroveCircularLED *circle = new upm::GroveCircularLED(5, 4);
+  upm::GroveCircularLED *circle = new upm::GroveCircularLED(9, 8);
   
   int level = 0;
   while (shouldRun)
@@ -54,6 +54,7 @@ int main()
       level = (level + 1) % 24;
       usleep(100000);
     }
+
 //! [Interesting]
 
   cout << "Exiting" << endl;

examples/c++/groveledbar.cxx

@@ -25,7 +25,7 @@
 #include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include "my9221.h"
+#include "groveledbar.h"
 
 using namespace std;
 
@@ -42,28 +42,27 @@ int main ()
 {
   signal(SIGINT, sig_handler);
 
-//! [Interesting] 
+//! [Interesting]
 
-  // Instantiate a MY9221, we use D2 for the data, and D3 for the
-  // data clock.  This was tested with a Grove LED bar.
+  // Instantiate a GroveLEDBar, we use D8 for the data, and D9 for the
+  // clock.  This was tested with a Grove LED bar.
+  upm::GroveLEDBar* bar = new upm::GroveLEDBar(8, 9);
 
-  upm::MY9221* bar = new upm::MY9221(2, 3);
-  
   while (shouldRun)
     {
       // count up from green to red
-      for (int i=1; i<=10; i++)
+      for (int i=0; i<=10; i++)
         {
           bar->setBarLevel(i, true);
-          usleep(50000);
+          usleep(100000);
         }
       sleep(1);
 
       // count down from red to green
-      for (int i=1; i<=10; i++)
+      for (int i=0; i<=10; i++)
         {
           bar->setBarLevel(i, false);
-          usleep(50000);
+          usleep(100000);
         }
       sleep(1);
     }
@@ -71,7 +70,7 @@ int main ()
 
   cout << "Exiting..." << endl;
   // turn off the LED's
-  bar->setBarLevel(0, true);
+  bar->setBarLevel(0);
 
   delete bar;
   return 0;

examples/c++/my9221-ledbar.cxx

@@ -1,63 +0,0 @@
-/*
- * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
- * Copyright (c) 2014 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 "my9221.h"
-#include <signal.h>
-
-int running = 0;
-
-void
-sig_handler(int signo)
-{
-    printf("got signal\n");
-    if (signo == SIGINT) {
-        printf("exiting application\n");
-        running = 1;
-    }
-}
-
-int
-main(int argc, char **argv)
-{
-    //! [Interesting]
-    upm::MY9221 *bar = new upm::MY9221(8, 9);
-
-    signal(SIGINT, sig_handler);
-
-    while (!running) {
-        for (int idx = 1; idx < 11; idx++) {
-            bar->setBarLevel (idx);
-            usleep(1000);
-        }
-    }
-    //! [Interesting]
-
-    std::cout << "exiting application" << std::endl;
-
-    delete bar;
-
-    return 0;
-}

examples/c++/ssd1351.cxx

@@ -0,0 +1,61 @@
+#include "mraa.hpp"
+#include <iostream>
+#include <unistd.h>
+
+#include "ssd1351.h"
+
+#define BLACK       0x0000
+#define WHITE       0xFFFF
+#define INTEL_BLUE  0x0BF8
+
+int main(int argc, char **argv)
+{
+    // Define colors (16-bit RGB on 5/6/5 bits)
+    int colors[] = {0x0000, 0x000F, 0x03E0, 0x03EF,
+                    0x7800, 0x780F, 0x7BE0, 0xC618,
+                    0x7BEF, 0x001F, 0x07E0, 0x07FF,
+                    0xF800, 0xF81F, 0xFFE0, 0xFFFF};
+//! [Interesting]
+    // Initialize display with pins
+    // oc = 0, dc = 1, r  = 2, si = 11, cl = 13
+    upm::SSD1351* display = new upm::SSD1351(0, 1, 2);
+
+    // Test lines pixel by pixel
+    for(int i = 0; i < SSD1351HEIGHT; i++) {
+        for(int j = 0; j < SSD1351WIDTH; j++) {
+            display->drawPixel(i, j, colors[i/8]);
+        }
+    }
+    display->refresh();
+    sleep(5);
+
+    // Test rectangles
+    for(int i = 0; i < SSD1351HEIGHT/32; i++) {
+        for (int j = 0; j < SSD1351WIDTH/32; j++) {
+            display->fillRect(i * 32, j * 32, 32, 32, colors[i * 4 + j]);
+        }
+    }
+    display->refresh();
+    sleep(5);
+
+    // Test circles
+    display->fillScreen(0x2104);
+    for(int i = 0; i < SSD1351HEIGHT/32; i++) {
+        for (int j = 0; j < SSD1351WIDTH/32; j++) {
+            display->drawCircle(i * 32 + 15, j * 32 + 15, 15, colors[i * 4 + j]);
+        }
+    }
+    display->refresh();
+    sleep(5);
+
+    // Test Text
+    display->fillScreen(INTEL_BLUE);
+    display->setTextColor(WHITE, INTEL_BLUE);
+    display->setTextSize(4);
+    display->setCursor(7, 30);
+    display->print("Intel");
+    display->setCursor(5, 70);
+    display->print("IoTDK");
+    display->refresh();
+//! [Interesting]
+}

examples/java/Ad8232Example.java

@@ -0,0 +1,62 @@
+/*
+* Author: Abhishek Malik <abhishek.malik@intel.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.
+*/
+import upm_ad8232.AD8232;
+
+public class Ad8232Example {
+
+	static {
+		try {
+			System.loadLibrary("javaupm_ad8232");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		//! [Interesting]
+		// Instantiate a Ad8232 sensor on digital pins 10 (LO+), 11 (LO-)
+		// and an analog pin, 0 (OUTPUT)
+		AD8232 ad8232 = new AD8232(10, 11, 0);
+		while(true){
+			// Output the raw numbers from the ADC, for plotting elsewhere.
+			// A return of 0 indicates a Lead Off (LO) condition.
+			// In theory, this data could be fed to software like Processing
+			// (https://www.processing.org/) to plot the data just like an
+			// EKG you would see in a hospital.
+			System.out.println(ad8232.value());
+			try {
+				Thread.sleep(1);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("The following error has occured: "+e.getMessage());
+			}
+		}
+	}
+
+}

examples/java/CMakeLists.txt

@@ -29,6 +29,7 @@ add_example(DS1307Sample ds1307)
 add_example(ENC03RSample enc03r)
 add_example(ES08ASample servo)
 add_example(GroveButtonSample grove)
+add_example(GroveButton_intrSample grove)
 add_example(GroveCollision grovecollision)
 add_example(GroveEHRSample groveehr)
 add_example(GroveEmg groveemg)
@@ -77,8 +78,7 @@ add_example(MPU9150Sample mpu9150)
 add_example(MQ2Sample gas)
 add_example(MQ303ASample mq303a)
 add_example(MQ5Sample gas)
-add_example(MY9221_ledbarSample my9221)
-add_example(MY9221Sample my9221)
+add_example(GroveLEDBar my9221)
 add_example(NRF24L01_receiverSample nrf24l01)
 add_example(NRF24L01_transmitterSample nrf24l01)
 add_example(NUNCHUCKSample nunchuck)
@@ -101,6 +101,10 @@ add_example(WaterLevelSensor waterlevel)
 add_example(WT5001Sample wt5001)
 add_example(YG1006Sample yg1006)
 add_example(ZFM20Sample zfm20)
+add_example(Ad8232Example ad8232)
+add_example(Gp2y0aExample gp2y0a)
+add_example(Th02Example th02)
+add_example(FlexSensorExample flex)
 
 
 add_example_with_path(Jhd1313m1_lcdSample lcd/upm_i2clcd.jar)

examples/java/FlexSensorExample.java

@@ -0,0 +1,41 @@
+import upm_flex.Flex;
+
+public class FlexSensorExample {
+
+	static {
+		try {
+			System.loadLibrary("javaupm_flex");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		//! [Interesting]
+		// The was tested with a Spectra Symbol flex sensor.
+		// We attached a 22K resistor to a breadboard,
+		// with 1 end attached to GND and the other connected to
+		// both the flex sensor and A0.
+		// The flex sensor was connected on 1 pin to the 22K resistor and A0
+		// and on the other pin to 5V.
+
+		// Instantiate a Flex sensor on analog pin A0
+		Flex flex = new Flex(0);
+		while(true){
+			System.out.println("Flex Sensor value is: "+flex.value());
+			try {
+				Thread.sleep(1000);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+		//! [Interesting]
+	}
+
+}

examples/java/Gp2y0aExample.java

@@ -0,0 +1,68 @@
+/*
+ * Author: Abhishek Malik <abhishek.malik@intel.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.
+ */
+import upm_gp2y0a.GP2Y0A;
+
+public class Gp2y0aExample {
+	
+	public static final float GP2Y0A_AREF 		= 5;
+	public static final short SAMPLES_PER_QUERY = 20;
+
+	static {
+		try {
+			System.loadLibrary("javaupm_gp2y0a");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		//! [Interesting]
+		// Note, for the Grove 80cm version of this sensor, due to the way
+		// it is wired, you need to plug this into the A0 port, where it
+		// will use the available A1 pin for data.
+
+		// Instantiate a GP2Y0A on analog pin A1
+		GP2Y0A gp2y0a = new GP2Y0A(1);
+
+		// The higher the voltage (closer to AREF) the closer the object is.  NOTE:
+		// the measured voltage will probably not exceed 3.3 volts.
+		// Every second, print the averaged voltage value (averaged over 20 samples).
+		while(true){
+			System.out.println("AREF: " + GP2Y0A_AREF + "\t, Voltage Value (Higher means Closer): "+ gp2y0a.value(GP2Y0A_AREF, SAMPLES_PER_QUERY));
+			try {
+				Thread.sleep(1000);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("The following exception occured: "+e.getMessage());
+			}
+		}
+		//! [Interesting]
+	}
+
+}

examples/java/GroveButton_intrSample.java

@@ -22,9 +22,6 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-import upm_grove.IsrCallback;
-
-//NOT TESTED!!!
 public class GroveButton_intrSample {
 
 	public static int counter = 0;
@@ -33,8 +30,8 @@ public class GroveButton_intrSample {
 		// ! [Interesting]
 		upm_grove.GroveButton b = new upm_grove.GroveButton(2);
 
-		IsrCallback callback = new ButtonISR();
-		b.installISR(mraa.Edge.EDGE_RISING.swigValue(), callback);
+		ButtonISR callback = new ButtonISR();
+		b.installISR(2, callback);
 
 		while (true) {
 			System.out.println("Counter: " + counter);
@@ -44,7 +41,7 @@ public class GroveButton_intrSample {
 	}
 }
 
-class ButtonISR extends IsrCallback {
+class ButtonISR implements Runnable {
 	public ButtonISR() {
 		super();
 	}

examples/java/GroveLEDBar.java

@@ -22,20 +22,20 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-public class MY9221_ledbarSample{
+public class GroveLEDBar {
 
-	public static void main(String[] args) throws InterruptedException {
-		//! [Interesting]
-        // Instantiate a Grove LED Bar, with Data pin D8 and Clock pin D9
-		upm_my9221.MY9221 bar = new upm_my9221.MY9221((short) 8, (short) 9);
-	
-		while (true) {
-			for (short idx = 1; idx < 11; idx++) {
-				bar.setBarLevel(idx);
-				Thread.sleep(100);
-			}
-		}
+    public static void main(String[] args) throws InterruptedException {
         //! [Interesting]
-	}
+        // Instantiate a Grove LED Bar, with Data pin D8 and Clock pin D9
+        upm_my9221.GroveLEDBar bar = new upm_my9221.GroveLEDBar((short) 8, (short) 9);
+        
+        while (true) {
+            for (short idx = 1; idx < 11; idx++) {
+                bar.setBarLevel(idx);
+                Thread.sleep(100);
+            }
+        }
+        //! [Interesting]
+    }
 	
 }

examples/java/MY9221Sample.java

@@ -1,39 +0,0 @@
-/*
- * Author: Stefan Andritoiu <stefan.andritoiu@intel.com>
- * Copyright (c) 2015 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.
- */
-
-public class MY9221Sample {
-
-	public static void main(String[] args) throws InterruptedException {
-		// Instantiate a Grove LED Bar, with Data pin D8 and Clock pin D9
-		upm_my9221.MY9221 bar = new upm_my9221.MY9221((short) 8, (short) 9);
-
-		while (true) {
-			for (short idx = 1; idx < 11; idx++) {
-				bar.setBarLevel(idx);
-				Thread.sleep(100);
-			}
-		}
-	}
-
-}

examples/java/Th02Example.java

@@ -0,0 +1,59 @@
+/*
+* Author: Abhishek Malik <abhishek.malik@intel.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.
+*/
+import upm_th02.TH02;
+
+public class Th02Example {
+
+	static {
+		try {
+			System.loadLibrary("javaupm_th02");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		float temperature = 0;
+		float humidity = 0;
+		
+		TH02 sensor = new TH02();
+		while(true){
+			temperature = sensor.getTemperature();
+			humidity = sensor.getHumidity();
+			System.out.println("Temperature = "+temperature+", Humidity = "+humidity);
+			try {
+				Thread.sleep(500);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("The following exception has occured: "+e.getMessage());
+			}
+		}
+	}
+
+}

examples/javascript/curieimu.js

@@ -0,0 +1,52 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* Author: Ron Evans (@deadprogram)
+* 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.
+*/
+
+var mraa = require('mraa');
+console.log('MRAA Version: ' + mraa.getVersion());
+
+// open connection to Firmata
+mraa.addSubplatform(mraa.GENERIC_FIRMATA, "/dev/ttyACM0");
+
+var curieImu = require('jsupm_curieimu');
+var myCurie = new curieImu.CurieImu();
+
+var outputStr;
+var myInterval = setInterval(function()
+{
+	myCurie.updateAccel();
+	outputStr = "accel: x " + myCurie.getAccelX()
+				+ " - y " + myCurie.getAccelY()
+				+ " - z " + myCurie.getAccelZ();
+	console.log(outputStr);
+}, 500);
+
+// Print message when exiting
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	console.log("Exiting");
+	process.exit(0);
+});

examples/javascript/grovecircularled.js

@@ -25,9 +25,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-// Instantiate a Grove Circular LED on gpio pins 5 and 4
-var GCL = require("jsupm_grovecircularled");
-var circle = new GCL.GroveCircularLED(5, 4);
+// Instantiate a Grove Circular LED on gpio pins 9 and 8
+var GCL = require("jsupm_my9221");
+var circle = new GCL.GroveCircularLED(9, 8);
 var level = 0;
 
 // Show a spinner.

examples/javascript/groveledbar.js

@@ -26,9 +26,9 @@
 
 var LEDBar = require("jsupm_my9221");
 
-// Instantiate a MY9221, we use D2 for the data, and D3 for the
+// Instantiate a MY9221, we use D8 for the data, and D9 for the
 // data clock.  This was tested with a Grove LED bar.
-var myLEDBar = new LEDBar.MY9221(2, 3);
+var myLEDBar = new LEDBar.GroveLEDBar(8, 9);
 
 var directionBool = true;
 

examples/python/curieimu.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python
+
+# Author: Ron Evans (@deadprogram)
+# 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
+
+import mraa
+print (mraa.getVersion())
+
+# open connection to Firmata
+mraa.addSubplatform(mraa.GENERIC_FIRMATA, "/dev/ttyACM0")
+
+import time, sys, signal, atexit
+import pyupm_curieimu as curieimu
+sensor = curieimu.CurieImu()
+
+## Exit handlers ##
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+while(1):
+	sensor.updateAccel();
+
+	outputStr = "acc: gX {0} - gY {1} - gZ {2}".format(
+	sensor.getAccelX(), sensor.getAccelY(),
+	sensor.getAccelZ())
+	print outputStr
+
+	time.sleep(1)

examples/python/grovecircularled.py

@@ -23,7 +23,7 @@
 # WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 import time, sys, signal, atexit
-import pyupm_grovecircularled as upmGroveCircularLED
+import pyupm_my9221 as upmGroveCircularLED
 
 # Exit handlers
 def SIGINTHandler(signum, frame):
@@ -39,8 +39,8 @@ atexit.register(exitHandler)
 # This function stops python from printing a stacktrace when you hit control-C
 signal.signal(signal.SIGINT, SIGINTHandler)
 
-# Instantiate a Grove Circular LED on gpio pins 5 and 4
-circle = upmGroveCircularLED.GroveCircularLED(5, 4)
+# Instantiate a Grove Circular LED on gpio pins 9 and 8
+circle = upmGroveCircularLED.GroveCircularLED(9, 8)
 
 level = 0
 

examples/python/groveledbar.py

@@ -24,9 +24,9 @@
 import time, sys, signal, atexit
 import pyupm_my9221 as upmMy9221
 
-# Instantiate a MY9221, we use D2 for the data, and D3 for the
+# Instantiate a MY9221, we use D8 for the data, and D9 for the
 # data clock.  This was tested with a Grove LED bar.
-myLEDBar = upmMy9221.MY9221(2, 3)
+myLEDBar = upmMy9221.GroveLEDBar(8, 9)
 
 
 # Exit handlers

src/CMakeLists.txt

@@ -46,16 +46,28 @@ endmacro()
 
 macro(upm_SWIG_NODE)
   if (BUILDSWIGNODE AND BUILDSWIG)
+    # SWIG treats SWIG_FLAGS as a list and not a string so semicolon seperation is
+    # required. This hardcodes V8_VERSION to be <10 but I assume that's not going
+    # to be a problem for a little while! SWIG uses a padded SWIG_V8 version which
+    # we hack together from our findnode module.
+    set (V8_VERSION_HEX 0x0${V8_VERSION_MAJOR}${V8_VERSION_MINOR}${V8_VERSION_PATCH})
+    string (LENGTH "${V8_VERSION_HEX}" V8_VERSION_HEX_length)
+    while (V8_VERSION_HEX_length LESS 8)
+      set (V8_VERSION_HEX "${V8_VERSION_HEX}0")
+      string (LENGTH "${V8_VERSION_HEX}" V8_VERSION_HEX_length)
+    endwhile ()
+
+    set_property (SOURCE jsupm_${libname}.i PROPERTY SWIG_FLAGS "-node" "-DV8_VERSION=${V8_VERSION_HEX}")
     set_source_files_properties (jsupm_${libname}.i PROPERTIES CPLUSPLUS ON)
-    set_source_files_properties (jsupm_${libname}.i PROPERTIES SWIG_FLAGS "-node")
     swig_add_module (jsupm_${libname} javascript jsupm_${libname}.i ${module_src})
     swig_link_libraries (jsupm_${libname} ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
     target_include_directories ( ${SWIG_MODULE_jsupm_${libname}_REAL_NAME}
       PUBLIC
       "${NODE_INCLUDE_DIRS}"
-     )
+    )
+
     set_target_properties (jsupm_${libname} PROPERTIES
-      COMPILE_FLAGS "${CMAKE_CXX_FLAGS} -DBUILDING_NODE_EXTENSION -DSWIG_V8_VERSION=0x0${V8_DEFINE_STRING}"
+      COMPILE_FLAGS "${CMAKE_CXX_FLAGS} -DBUILDING_NODE_EXTENSION -DSWIG_V8_VERSION=${V8_VERSION_HEX}"
       PREFIX ""
       SUFFIX ".node"
     )
@@ -67,10 +79,24 @@ macro(upm_SWIG_NODE)
       endif()
       set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD 11)
       set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD_REQUIRED ON)
+
+      if (CMAKE_VERSION VERSION_LESS "3.1")
+        if (CMAKE_COMPILER_IS_GNUCXX)
+          if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7")
+            message (FATAL_ERROR " FATAL ERROR: GNU gcc compiler is also too old (need 4.7+, but ${CMAKE_CXX_COMPILER_VERSION}) and does not support C++11 standard.")
+          endif ()
+          set (UPM_CXX11_WORKAROUND_OPTION "-std=gnu++11")
+        else ()
+          set (UPM_CXX11_WORKAROUND_OPTION "-std=c++11")
+        endif ()
+        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${UPM_CXX11_WORKAROUND_OPTION} ")
+      endif ()
+
     endif()
     createpackagejson(${libname})
+    set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
     install (FILES ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname}.node
-         DESTINATION lib/node_modules/jsupm_${libname} COMPONENT ${libname})
+         DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
   endif()
 endmacro()
 
@@ -100,12 +126,8 @@ macro(upm_SWIG_JAVA)
       PREFIX "lib"
       SUFFIX ".so"
     )
-    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/libjavaupm_${libname}.so
-        DESTINATION lib/java
-    )
-    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/upm_${libname}.jar
-        DESTINATION lib/java
-    )
+    install (TARGETS javaupm_${libname} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
+    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/upm_${libname}.jar DESTINATION ${CMAKE_INSTALL_LIBDIR}/../lib/java)
 
     if (NOT DEFINED $ENV{JAVA_HOME_NATIVE})
         set (JAVAC $ENV{JAVA_HOME}/bin/javac)
@@ -143,30 +165,25 @@ macro(upm_doxygen)
 endmacro()
 
 if (SWIG_FOUND)
-  if(BUILDSWIGPYTHON)
-    find_package (PythonLibs)
-    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(BUILDSWIGPYTHON)
-  if(BUILDSWIGNODE)
+  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 - SWIG 3.0.5+ required for building with nodejs 0.12. Current version is ${SWIG_VERSION}")
     endif()
-    find_path (NODE_ROOT_DIR "node/node.h")
+    find_path (NODE_ROOT_DIR "include/node/node.h")
     set (NODE_INCLUDE_DIRS
-      ${NODE_ROOT_DIR}/src
-      ${NODE_ROOT_DIR}/node
-      ${NODE_ROOT_DIR}/deps/v8/include
-      ${NODE_ROOT_DIR}/deps/uv/include
+      ${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)
+        set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
         install(FILES ${CMAKE_CURRENT_BINARY_DIR}/package.json
-            DESTINATION lib/node_modules/jsupm_${libname} COMPONENT ${libname})
+            DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
     endmacro()
 
   endif(BUILDSWIGNODE)

src/a110x/a110x.cxx

@@ -70,7 +70,7 @@ void A110X::installISR(void (*isr)(void *), void *arg)
     uninstallISR();
 
   // install our interrupt handler
-  mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_FALLING, 
+  mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_BOTH, 
                 isr, arg);
   m_isrInstalled = true;
 }

src/adafruitms1438/CMakeLists.txt

@@ -9,9 +9,11 @@ add_dependencies(${libname} pca9685)
 target_link_libraries(${libname} pca9685)
 if (BUILDSWIG)
   if (BUILDSWIGNODE)
+    set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
     swig_link_libraries (jsupm_${libname} pca9685 ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
   endif()
   if (BUILDSWIGPYTHON)
+  set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
     swig_link_libraries (pyupm_${libname} pca9685 ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES})
   endif()
 endif()

src/ads1x15/ads1015.h

@@ -55,8 +55,8 @@
 namespace upm {
   /**
    * @library ads1x15
-   * @sensor ADS1115
-   * @comname ADS1115 ADC
+   * @sensor ADS1015
+   * @comname ADS1015 ADC
    * @type electric
    * @man ti adafruit
    * @con i2c

src/adxrs610/adxrs610.h

@@ -65,6 +65,7 @@ namespace upm {
    *
    * This driver was developed using the DFRobot ADXRS610 Gyro Beakout board.
    *
+   * @image html adxrs610.jpg
    * @snippet adxrs610.cxx Interesting
    */
 

src/bma220/bma220.h

@@ -63,6 +63,7 @@ namespace upm {
    *
    * This driver was developed on a DFRobot BMA (Tiny).
    *
+   * @image html bma220.jpg
    * @snippet bma220.cxx Interesting
    */
 

src/curieimu/CMakeLists.txt

@@ -0,0 +1,11 @@
+include (CheckFunctionExists)
+include (CheckLibraryExists)
+include (CheckIncludeFiles)
+check_library_exists (${MRAA_LIBRARIES} mraa_firmata_init "" HAVE_FIRMATA)
+if (HAVE_FIRMATA)
+  set (libname "curieimu")
+  set (libdescription "upm Curie IMU via Firmata")
+  set (module_src ${libname}.cpp)
+  set (module_h ${libname}.hpp)
+  upm_module_init ()
+endif ()

src/curieimu/curieimu.cpp

@@ -0,0 +1,458 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Author: Ron Evans (@deadprogram)
+ * Author: Justin Zemlyansky (@JustInDevelopment)
+ * 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 <iostream>
+#include <string>
+#include <string.h>
+#include <stdexcept>
+#include <unistd.h>
+#include <stdlib.h>
+#include <pthread.h>
+
+#include "curieimu.hpp"
+
+using namespace upm;
+
+static CurieImu* awaitingReponse;
+
+CurieImu::CurieImu (int subplatformoffset)
+{
+    m_firmata = mraa_firmata_init(FIRMATA_CURIE_IMU);
+    if (m_firmata == NULL) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_firmata_init() failed");
+        return;
+    }
+
+    if (pthread_mutex_init(&m_responseLock, NULL)) {
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": pthread_mutex_init(m_responseLock) failed");
+        return;
+    }
+
+    if (pthread_cond_init(&m_responseCond, NULL)) {
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": pthread_cond_init(m_responseCond) failed");
+        return;
+    }
+}
+
+CurieImu::~CurieImu()
+{
+    pthread_mutex_destroy(&m_responseLock);
+    pthread_cond_destroy(&m_responseCond);
+}
+
+void
+CurieImu::lock()
+{
+    pthread_mutex_lock(&m_responseLock);
+}
+
+void
+CurieImu::unlock()
+{
+    pthread_mutex_unlock(&m_responseLock);
+}
+
+void
+CurieImu::waitForResponse()
+{
+    awaitingReponse = this;
+    pthread_cond_wait(&m_responseCond, &m_responseLock);
+}
+
+void
+CurieImu::proceed()
+{
+    pthread_cond_broadcast(&m_responseCond);
+}
+
+void
+CurieImu::setResults(uint8_t* buf, int length)
+{
+    m_results = new char(length);
+    memcpy((void*)m_results, (void*)buf, length);
+}
+
+/*
+* Handles a single syncronous response being returned from Firmata
+*
+* @param buffer the data beinig returned from Firmata
+* @param length length of results buffer
+*/
+static void
+handleSyncResponse(uint8_t* buf, int length)
+{
+    awaitingReponse->setResults(buf, length);
+    awaitingReponse->proceed();
+}
+
+/*
+* Handles asyncronous responses being returned from Firmata
+*
+* @param buffer the data beinig returned from Firmata
+* @param length length of results buffer
+*/
+static void
+handleAsyncResponses(uint8_t* buf, int length)
+{
+    awaitingReponse->setResults(buf, length);
+    awaitingReponse->processResponse();
+}
+
+void
+CurieImu::processResponse()
+{
+    switch(m_results[2]) {
+        case FIRMATA_CURIE_IMU_SHOCK_DETECT:
+        {
+            IMUDataItem* item = new IMUDataItem();
+            item->axis = m_results[3];
+            item->direction = m_results[4];
+            m_shockData.push(item);
+            break;
+        }
+        case FIRMATA_CURIE_IMU_STEP_COUNTER:
+        {
+            int count = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+            m_stepData.push(count);
+            break;
+        }
+        case FIRMATA_CURIE_IMU_TAP_DETECT:
+        {
+            IMUDataItem* item = new IMUDataItem();
+            item->axis = m_results[3];
+            item->direction = m_results[4];
+            m_tapData.push(item);
+            break;
+        }
+    }
+
+    return;
+}
+
+int16_t*
+CurieImu::getAccel()
+{
+    return &m_accel[0];
+}
+
+int16_t
+CurieImu::getAccelX()
+{
+  return m_accel[X];
+}
+
+int16_t
+CurieImu::getAccelY()
+{
+  return m_accel[Y];
+}
+
+int16_t
+CurieImu::getAccelZ()
+{
+  return m_accel[Z];
+}
+
+int16_t*
+CurieImu::getGyro()
+{
+    return &m_gyro[0];
+}
+
+int16_t
+CurieImu::getGyroX()
+{
+  return m_gyro[X];
+}
+
+int16_t
+CurieImu::getGyroY()
+{
+  return m_gyro[Y];
+}
+
+int16_t
+CurieImu::getGyroZ()
+{
+  return m_gyro[Z];
+}
+
+int16_t*
+CurieImu::getMotion()
+{
+    return &m_motion[0];
+}
+
+void
+CurieImu::updateAccel()
+{
+    char message[4];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
+    message[3] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleSyncResponse);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
+
+    waitForResponse();
+
+    m_accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    m_accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+
+    delete m_results;
+    unlock();
+
+    return;
+}
+
+void
+CurieImu::updateGyro()
+{
+    char message[4];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_READ_GYRO;
+    message[3] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleSyncResponse);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
+
+    waitForResponse();
+
+    m_gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    m_gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+
+    delete m_results;
+    unlock();
+
+    return;
+}
+
+void
+CurieImu::updateMotion()
+{
+    char message[4];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
+    message[3] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleSyncResponse);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
+
+    waitForResponse();
+
+    m_motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    m_motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+    m_motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
+    m_motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
+    m_motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
+
+    for (int i=0; i<3; i++)
+      m_accel[i] = m_motion[i];
+
+    for (int i=0; i<3; i++)
+      m_gyro[i] = m_motion[i+3];
+
+    delete m_results;
+    unlock();
+
+    return;
+}
+
+int16_t
+CurieImu::getTemperature()
+{
+    char message[4];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_READ_TEMP;
+    message[3] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleSyncResponse);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
+
+    waitForResponse();
+
+    int16_t result;
+    result = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    result += ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7)) << 8;
+
+    delete m_results;
+    unlock();
+
+    return result;
+}
+
+int16_t
+CurieImu::getAxis()
+{
+  return m_axis;
+}
+
+int16_t
+CurieImu::getDirection()
+{
+  return m_direction;
+}
+
+void
+CurieImu::enableShockDetection(bool enable)
+{
+    char message[5];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_SHOCK_DETECT;
+    message[3] = enable;
+    message[4] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleAsyncResponses);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
+
+    awaitingReponse = this;
+    unlock();
+
+    return;
+}
+
+bool
+CurieImu::isShockDetected()
+{
+    return (m_shockData.size() > 0);
+}
+
+void
+CurieImu::getNextShock()
+{
+  if (m_shockData.size() > 0) {
+      IMUDataItem* item = m_shockData.front();
+      m_axis = item->axis;
+      m_direction = item->direction;
+      m_shockData.pop();
+      delete item;
+  }
+}
+
+void
+CurieImu::enableStepCounter(bool enable)
+{
+    char message[5];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_STEP_COUNTER;
+    message[3] = enable;
+    message[4] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleAsyncResponses);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
+
+    awaitingReponse = this;
+    unlock();
+
+    return;
+}
+
+bool
+CurieImu::isStepDetected()
+{
+    return (m_stepData.size() > 0);
+}
+
+int16_t
+CurieImu::getStepCount()
+{
+    int16_t count = 0;
+    if (m_stepData.size() > 0) {
+        count = m_stepData.front();
+        m_stepData.pop();
+    }
+    return count;
+}
+
+void
+CurieImu::enableTapDetection(bool enable)
+{
+    char message[5];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_TAP_DETECT;
+    message[3] = enable;
+    message[4] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleAsyncResponses);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
+
+    awaitingReponse = this;
+    unlock();
+
+    return;
+}
+
+bool
+CurieImu::isTapDetected()
+{
+    return (m_tapData.size() > 0);
+}
+
+void
+CurieImu::getNextTap()
+{
+  if (m_tapData.size() > 0) {
+      IMUDataItem* item = m_tapData.front();
+      m_axis = item->axis;
+      m_direction = item->direction;
+      m_tapData.pop();
+      delete item;
+  }
+}

src/curieimu/curieimu.hpp

@@ -0,0 +1,307 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Author: Ron Evans (@deadprogram)
+ * Author: Justin Zemlyansky (@JustInDevelopment)
+ * 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 <mraa/firmata.h>
+#include <queue>
+
+namespace upm {
+
+/**
+ * @brief CurieIMU sensor for Genuino 101 running Firmata
+ * @defgroup curieimu libupm-curieimu
+ * @ingroup firmata
+ */
+
+/**
+ * @library curieimu
+ * @sensor curieimu
+ * @comname Curie IMU sensor over Genuino 101 running Firmata
+ * @altname Curie Firmata IMU
+ * @type firmata
+ * @man firmata imu genuino
+ * @con firmata
+ *
+ * @brief API for the Curie IMU via Firmata
+ *
+ * Curie IMU is a 6-axxis acclerometer
+ *
+ * This module has been tested on an Genuino 101 running ConfigurableFirmata with CurieIMU
+ *
+ * @snippet curieimu.cxx Interesting
+ */
+
+#define FIRMATA_START_SYSEX                 0xF0
+#define FIRMATA_END_SYSEX                   0xF7
+#define FIRMATA_CURIE_IMU                   0x11
+#define FIRMATA_CURIE_IMU_READ_ACCEL        0x00
+#define FIRMATA_CURIE_IMU_READ_GYRO         0x01
+#define FIRMATA_CURIE_IMU_READ_TEMP         0x02
+#define FIRMATA_CURIE_IMU_SHOCK_DETECT      0x03
+#define FIRMATA_CURIE_IMU_STEP_COUNTER      0x04
+#define FIRMATA_CURIE_IMU_TAP_DETECT        0x05
+#define FIRMATA_CURIE_IMU_READ_MOTION       0x06
+
+#define X 0
+#define Y 1
+#define Z 2
+
+struct IMUDataItem {
+    int axis;
+    int direction;
+};
+
+class CurieImu {
+    public:
+
+      /**
+      * Instantiates a CurieImu object
+      *
+      * @param subplatformoffset Subplatform offset
+      */
+      CurieImu (int subplatform_offset=512);
+
+      /**
+      * Destructor for CurieImu object
+      */
+      ~CurieImu();
+
+      /**
+       * Updates the latest accelerometer readings by calling Firmata
+       */
+      void updateAccel();
+
+      /**
+       * Updates the latest gyroscope readings by calling Firmata
+       */
+      void updateGyro();
+
+      /**
+       * Updates the both the latest accelerometer & gyroscope readings
+       * by calling Firmata
+       */
+      void updateMotion();
+
+      /**
+       * Returns last accelerometer reading X, Y, and Z axis
+       *
+       * @return pointer to array with X-axis, Y-axis & Z-axis value
+       */
+      int16_t* getAccel();
+
+      /**
+       * Returns last accelerometer reading X axis
+       *
+       * @return X-axis value
+       */
+      int16_t getAccelX();
+
+      /**
+       * Returns last accelerometer reading Y axis
+       *
+       * @return Y-axis value
+       */
+      int16_t getAccelY();
+
+      /**
+       * Returns last accelerometer reading Z axis
+       *
+       * @return Z-axis value
+       */
+      int16_t getAccelZ();
+
+      /**
+       * Read gyroscope X, Y, and Z axis
+       *
+       * @return pointer to array with X-axis, Y-axis & Z-axis value
+       */
+      int16_t* getGyro();
+
+      /**
+       * Returns last gyroscope reading X axis
+       *
+       * @return X-axis value
+       */
+      int16_t getGyroX();
+
+      /**
+       * Returns last gyroscope reading Y axis
+       *
+       * @return Y-axis value
+       */
+      int16_t getGyroY();
+
+      /**
+       * Returns last gyroscope reading Z axis
+       *
+       * @return Z-axis value
+       */
+      int16_t getGyroZ();
+
+      /**
+       * Reads the internal temperature
+       *
+       * @return 16-bit integer containing the scaled temperature reading
+       */
+      int16_t getTemperature();
+
+      /**
+       * Reads the X, Y, and Z axis of both gyroscope and accelerometer
+       *
+       * @return pointer to array with X-axis, Y-axis & Z-axis values for
+       * accelerometer, and then X-axis, Y-axis & Z-axis values for
+       * gyroscope
+       */
+      int16_t* getMotion();
+
+      /**
+       * Returns last shock or tap axis reading
+       *
+       * @return axis value
+       */
+      int16_t getAxis();
+
+      /**
+       * Returns last shock or tap direction reading
+       *
+       * @return direction value
+       */
+      int16_t getDirection();
+
+      /**
+       * Turns shock detection notifications on/off
+       *
+       * @param enable enables/disables notifications
+       */
+      void enableShockDetection(bool enable);
+
+      /**
+       * Has there been a shock detected?
+       *
+       * @return true if any unprocessed shock notifications are in the queue
+       */
+      bool isShockDetected();
+
+      /**
+       * Gets shock detect data from queue. Then m_axis gets axis data, and
+       * m_direction gets direction data
+       */
+      void getNextShock();
+
+      /**
+       * Turns step counter notifications on/off
+       *
+       * @param enable enables/disables notifications
+       */
+      void enableStepCounter(bool enable);
+
+      /**
+       * Has there been a step detected?
+       *
+       * @return true if any unprocessed step notifications are in the queue
+       */
+      bool isStepDetected();
+
+      /**
+       * Gets step count data from queue
+       *
+       * @return the total number of steps taken
+       */
+      int16_t getStepCount();
+
+      /**
+       * Turns tap detection notifications on/off
+       *
+       * @param enable enables/disables notifications
+       */
+      void enableTapDetection(bool enable);
+
+      /**
+       * Has there been a tap detected?
+       *
+       * @return true if any unprocessed tap notifications are in the queue
+       */
+      bool isTapDetected();
+
+      /**
+       * Gets tap detect data from queue. Then m_axis gets axis data, and
+       * m_direction gets direction data
+       */
+      void getNextTap();
+
+      /**
+       * Locks responses from Firmata
+       */
+      void lock();
+
+      /**
+       * Unlocks responses from Firmata
+       */
+      void unlock();
+
+      /**
+       * Wait for a response from Firmata before proceeding
+       */
+      void waitForResponse();
+
+      /**
+       * Proceed with original function call now that response
+       * from Firmata has been received
+       */
+      void proceed();
+
+      /**
+       * Set results being returned from Firmata for processing
+       *
+       * @param buf is the buffer
+       * @param length is the length of results buffer
+       */
+      void setResults(uint8_t* buf, int length);
+
+      /**
+       * Processes asyncronous responses returned from Firmata
+       */
+      void processResponse();
+
+    private:
+        mraa_firmata_context m_firmata;
+        pthread_mutex_t m_responseLock;
+        pthread_cond_t m_responseCond;
+        char* m_results;
+
+        std::queue<IMUDataItem*> m_shockData;
+        std::queue<int> m_stepData;
+        std::queue<IMUDataItem*> m_tapData;
+
+        int16_t m_accel[3];
+        int16_t m_gyro[3];
+        int16_t m_motion[6];
+
+        int16_t m_axis;
+        int16_t m_direction;
+};
+
+}

src/curieimu/javaupm_curieimu.i

@@ -0,0 +1,42 @@
+%module javaupm_curieimu
+%include "../upm.i"
+
+%{
+    #include "curieimu.hpp"
+%}
+
+%typemap(jni) int16_t* "jshortArray"
+%typemap(jstype) int16_t* "short[]"
+%typemap(jtype) int16_t* "short[]"
+
+%typemap(javaout) int16_t* {
+    return $jnicall;
+}
+
+%typemap(out) int16_t *getAccel {
+    $result = JCALL1(NewShortArray, jenv, 3);
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 3, (jshort*)$1);
+}
+
+%typemap(out) int16_t *getGyro {
+    $result = JCALL1(NewShortArray, jenv, 3); 
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 3, (jshort*)$1);
+}
+
+%typemap(out) int16_t *getMotion {
+    $result = JCALL1(NewShortArray, jenv, 6); 
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 6, (jshort*)$1);
+}
+
+%include "curieimu.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_curieimu");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/curieimu/jsupm_curieimu.i

@@ -0,0 +1,15 @@
+%module jsupm_curieimu
+%include "../upm.i"
+%include "../carrays_int16_t.i"
+
+// Adding this typemap because SWIG is converting int16 into a short by default
+// This forces SWIG to convert it correctly
+%typemap(out) int16_t* {
+        jsresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 |  0 );
+}
+
+%{
+    #include "curieimu.hpp"
+%}
+
+%include "curieimu.hpp"

src/curieimu/pyupm_curieimu.i

@@ -0,0 +1,21 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_curieimu
+%include "../upm.i"
+%include "../carrays_int16_t.i"
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "curieupm_doc.i"
+#endif
+
+%typemap(out) int16_t* {
+  $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 |  0 );
+}
+
+%include "curieimu.hpp"
+%{
+    #include "curieimu.hpp"
+%}

src/dfrph/dfrph.h

@@ -83,6 +83,7 @@ namespace upm {
    *  this calibration, you can measure the pH value of an alkaline
    *  solution.
    *
+   * @image html dfrph.jpg
    * @snippet dfrph.cxx Interesting
    */
 

src/grovecircularled/CMakeLists.txt

@@ -1,5 +0,0 @@
-set (libname "grovecircularled")
-set (libdescription "upm grove circular led")
-set (module_src ${libname}.cxx)
-set (module_h ${libname}.h)
-upm_module_init()

src/grovecircularled/grovecircularled.cxx

@@ -1,141 +0,0 @@
-/*
- * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
- * Contributions: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
- *
- * This module is based on the my9221 driver
- *
- * 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 <iostream>
-#include <string>
-#include <stdexcept>
-#include <unistd.h>
-#include <stdlib.h>
-
-#include "grovecircularled.h"
-
-using namespace upm;
-
-GroveCircularLED::GroveCircularLED (uint8_t di, uint8_t dcki)
-  : m_clkPinCtx(dcki),
-    m_dataPinCtx(di) 
-{
-  mraa::Result error = mraa::SUCCESS;
-  
-  // set direction (out)
-  error = m_dataPinCtx.dir(mraa::DIR_OUT);
-  if (error != mraa::SUCCESS) {
-    printError(error);
-  }
-  error = m_clkPinCtx.dir(mraa::DIR_OUT);
-  if (error != mraa::SUCCESS) {
-    printError(error);
-  }
-
-  m_clkPinCtx.useMmap(true);
-  m_dataPinCtx.useMmap(true);
-}
-
-mraa::Result
-GroveCircularLED::setSpinner (uint8_t position) {
-  if (position < 0 || position >= 24) {
-    return mraa::ERROR_INVALID_PARAMETER;
-  }
-  for(uint8_t block_idx = 0; block_idx < 24; block_idx++) {
-    if (block_idx % 12 == 0) {
-        send16bitBlock (CMDMODE);
-    }
-    uint32_t state = (block_idx == position) ? BIT_HIGH : BIT_LOW;
-    send16bitBlock (state);
-  }
-  return lockData ();
-}
-
-mraa::Result
-GroveCircularLED::setLevel (uint8_t level, bool direction) {
-  if (level < 0 || level > 24) {
-    return mraa::ERROR_INVALID_PARAMETER;
-  }
-  if (direction) {
-    for(uint8_t block_idx = 24; block_idx > 0; block_idx--) {
-      if (block_idx % 12 == 0) {
-        send16bitBlock (CMDMODE);
-      }
-      uint32_t state = (block_idx <= level) ? BIT_HIGH : BIT_LOW;
-      send16bitBlock (state);
-    }
-  } else {
-    for(uint8_t block_idx = 0; block_idx < 24; block_idx++) {
-      if (block_idx % 12 == 0) {
-        send16bitBlock (CMDMODE);
-      }
-      uint32_t state = (block_idx <= level - 1) ? BIT_HIGH : BIT_LOW;
-      send16bitBlock (state);
-    }
-  }
-  return lockData ();
-}
-
-mraa::Result
-GroveCircularLED::setStatus (bool status[24]) {
-  for(uint8_t block_idx = 0; block_idx < 24; block_idx++) {
-    if (block_idx % 12 == 0) {
-      send16bitBlock (CMDMODE);
-    }
-    send16bitBlock (status[block_idx] ? BIT_HIGH : BIT_LOW);
-  }
-  return lockData ();
-}
-
-mraa::Result
-GroveCircularLED::lockData () {
-    mraa::Result error = mraa::SUCCESS;
-  error = m_dataPinCtx.write (LOW);
-  usleep(10);
-
-  for(int idx = 0; idx < 4; idx++) {
-    error = m_dataPinCtx.write(HIGH);
-    error = m_dataPinCtx.write(LOW);
-  }
-  return error;
-}
-
-mraa::Result
-GroveCircularLED::send16bitBlock (short data) {
-    mraa::Result error = mraa::SUCCESS;
-    for (uint8_t bit_idx = 0; bit_idx < MAX_BIT_PER_BLOCK; bit_idx++) {
-        uint32_t state = (data & 0x8000) ? HIGH : LOW;
-        error = m_dataPinCtx.write (state);
-        state = m_clkPinCtx.read ();
-
-        if (state) {
-            state = LOW;
-        } else {
-            state = HIGH;
-        }
-
-        error = m_clkPinCtx.write (state);
-
-        data <<= 1;
-    }
-  return error;
-}

src/grovecircularled/jsupm_grovecircularled.i

@@ -1,8 +0,0 @@
-%module jsupm_grovecircularled
-%include "../upm.i"
-
-%{
-    #include "grovecircularled.h"
-%}
-
-%include "grovecircularled.h"

src/grovecircularled/pyupm_grovecircularled.i

@@ -1,11 +0,0 @@
-// Include doxygen-generated documentation
-%include "pyupm_doxy2swig.i"
-%module pyupm_grovecircularled
-%include "../upm.i"
-
-%feature("autodoc", "3");
-
-%include "grovecircularled.h"
-%{
-    #include "grovecircularled.h"
-%}

src/groveultrasonic/groveultrasonic.h

@@ -46,7 +46,7 @@ namespace upm {
  * @sensor groveultrasonic
  * @comname Grove Ultrasonic Ranger
  * @type sound
- * @man grove
+ * @man seeed
  * @con gpio
  *
  * @brief API for Grove Ultrasonic Ranger
@@ -57,6 +57,7 @@ namespace upm {
  * to 4 m (13'1.5") and works best when the object is within a 30 degree angle
  * relative to the sensor.
  *
+ * @image html groveultrasonic.jpg
  * @snippet groveultrasonic.cxx Interesting
  */
 class GroveUltraSonic {

src/h3lis331dl/h3lis331dl.cxx

@@ -57,16 +57,20 @@ H3LIS331DL::~H3LIS331DL()
 
 bool H3LIS331DL::init(DR_BITS_T odr, PM_BITS_T pm, FS_BITS_T fs)
 {
-  if (!setDataRate(odr))
+  if (!setDataRate(odr)) {
     return false;
-  if (!setPowerMode(pm))
+  }
+  if (!setPowerMode(pm)) {
     return false;
-  if (!setFullScale(fs))
+  }
+  if (!setFullScale(fs)) {
     return false;
+  }
 
   // now enable X, Y, and Z axes
-  if (enableAxis(REG1_XEN | REG1_YEN | REG1_ZEN))
+  if (!enableAxis(REG1_XEN | REG1_YEN | REG1_ZEN)) {
     return false;
+  }
 
   return true;
 }

src/hcsr04/hcsr04.h

@@ -52,6 +52,7 @@ namespace upm {
  *
  * This module defines the HC-SR04 interface for libhcsr04
  *
+ * @image html groveultrasonic.jpg
  * @snippet hcsr04.cxx Interesting
  */
 class HCSR04 {

src/itg3200/itg3200.cxx

@@ -86,7 +86,7 @@ Itg3200::calibrate(void)
     for(int i = 0; i < reads; i++){
 
         Itg3200::update();
-        if (i > skip){
+        if (i >= skip){
             for (int j = 0; j < 3; j++){
                 temp[j] += m_rotation[j];
             }

src/lcd/eboled.h

@@ -45,6 +45,14 @@
 
 namespace upm
 {
+  const uint8_t COLOR_WHITE     = 0x01;
+  const uint8_t COLOR_BLACK     = 0x00;
+  const uint8_t COLOR_XOR       = 0x02;
+  const uint8_t OLED_WIDTH      = 0x40; // 64 pixels
+  const uint8_t VERT_COLUMNS    = 0x20; // half width for hi/lo 16bit writes.
+  const uint8_t OLED_HEIGHT     = 0x30; // 48 pixels
+  const int     BUFFER_SIZE     = 192;
+
   /**
    * @library i2clcd
    * @sensor eboled
@@ -66,17 +74,13 @@ namespace upm
    * standard GPIO -- this driver only concerns itself with the
    * display.
    *
+   * @image html eboled.jpg
+   * <br><em>OLED Sensor image provided by SparkFun* under
+   * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+   * CC BY-NC-SA-3.0</a>.</em>
+   *
    * @snippet eboled.cxx Interesting
    */
-
-  const uint8_t COLOR_WHITE     = 0x01;
-  const uint8_t COLOR_BLACK     = 0x00;
-  const uint8_t COLOR_XOR       = 0x02;
-  const uint8_t OLED_WIDTH      = 0x40; // 64 pixels
-  const uint8_t VERT_COLUMNS    = 0x20; // half width for hi/lo 16bit writes.
-  const uint8_t OLED_HEIGHT     = 0x30; // 48 pixels
-  const int     BUFFER_SIZE     = 192;
-
   class EBOLED : public LCD
   {
     // SSD commands

src/lcd/lcd.h

@@ -32,7 +32,7 @@ namespace upm
 /**
  * @brief I2C LCD Display library
  * @defgroup i2clcd libupm-i2clcd
- * @ingroup seeed sparkfun adafruit i2c gpio display gsk
+ * @ingroup dfrobot sainsmart seeed sparkfun adafruit i2c gpio display gsk
  */
 class LCD
 {

src/lcd/lcm1602.h

@@ -62,7 +62,10 @@ namespace upm
  * an I2C expander/backpack.
  *
  * @image html lcm1602.jpeg
- * @snippet lcm1602-lcd.cxx Interesting
+ * Example for LCM1602 displays that use the I2C bus
+ * @snippet lcm1602-i2c.cxx Interesting
+ * Code sample for GPIO based LCM1602 displays
+ * @snippet lcm1602-parallel.cxx Interesting
  */
 class Lcm1602 : public LCD
 {

src/lcd/sainsmartks.h

@@ -34,16 +34,20 @@ namespace upm
    * @sensor sainsmartks
    * @comname SainSmart LCD Keypad Shield
    * @type display
-   * @man sainsmart
+   * @man sainsmart dfrobot sparkfun
    * @web http://www.sainsmart.com/sainsmart-1602-lcd-keypad-shield-for-arduino-duemilanove-uno-mega2560-mega1280.html
+   * @web http://www.dfrobot.com/index.php?route=product/product&product_id=51
+   * @web https://www.sparkfun.com/products/13293
    * @con gpio analog
    *
    * @brief API for Sainsmart LCD Keypad Shield
    *
-   * The Sainsmart LCD Keypad Shield uses 6 digital outputs and 1
-   * analog input (for the keypad).  The outputs are used to drive an
-   * attached LCM1602 LCD controller.
+   * The Sainsmart LCD Keypad Shield uses 6 digital outputs and 1 analog input
+   * (for the keypad). The outputs are used to drive an attached LCM1602 LCD
+   * controller. This driver should also be compatible with the similar LCD
+   * keypad shields from DFRobot and Sparkfun.
    *
+   * @image html keypadlcd.jpg
    * @snippet sainsmartks.cxx Interesting
    */
   class SAINSMARTKS : public Lcm1602

src/lm35/lm35.h

@@ -54,6 +54,7 @@ namespace upm {
    * This driver was developed using the DFRobot LM35 Linear
    * Temperature Sensor
    *
+   * @image html lm35.jpg
    * @snippet lm35.cxx Interesting
    */
 

src/lsm9ds0/lsm9ds0.h

@@ -68,6 +68,11 @@ namespace upm {
    *
    * This driver was developed on a Sparkfun 9DOF edison block.
    *
+   * @image html lsm9ds0.jpg
+   * <br><em>LSM9DS0 Sensor image provided by SparkFun* under
+   * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+   * CC BY-NC-SA-3.0</a>.</em>
+   *
    * @snippet lsm9ds0.cxx Interesting
    */
 

src/mg811/mg811.h

@@ -64,6 +64,7 @@ namespace upm {
    * on the sensor will light, and the digital pin will be driven
    * high.
    *
+   * @image html mg811.jpg
    * @snippet mg811.cxx Interesting
    */
 

src/mpu9150/ak8975.h

@@ -38,7 +38,7 @@ namespace upm {
    * @comname AK8975 3-axis Magnetometer
    * @altname AK9875
    * @type compass
-   * @man grove
+   * @man seeed
    * @con i2c
    *
    * @brief API for the AK8975 magnetometer

src/mpu9150/mpu60x0.h

@@ -55,6 +55,7 @@ namespace upm {
    * should allow an end user to implement whatever features are
    * required.
    *
+   * @image html mpu60x0.jpg
    * @snippet mpu60x0.cxx Interesting
    */
   class MPU60X0 {

src/mpu9150/mpu9250.h

@@ -46,6 +46,7 @@ namespace upm {
    *
    * This module defines the MPU9250 interface for libmpu9150
    *
+   * @image html mpu9250.jpg
    * @snippet mpu9250.cxx Interesting
    */
 

src/my9221/CMakeLists.txt

@@ -1,5 +1,5 @@
 set (libname "my9221")
-set (libdescription "upm ledbar")
-set (module_src ${libname}.cxx)
-set (module_h ${libname}.h)
+set (libdescription "upm my9221")
+set (module_src ${libname}.cxx groveledbar.cxx grovecircularled.cxx)
+set (module_h ${libname}.h groveledbar.h grovecircularled.h)
 upm_module_init()

src/my9221/grovecircularled.cxx

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar driver)
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * (grovecircularled driver)
+ * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <iostream>
+#include <string>
+#include <stdexcept>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "grovecircularled.h"
+
+using namespace upm;
+using namespace std;
+
+GroveCircularLED::GroveCircularLED (uint8_t dataPin, uint8_t clockPin)
+  : MY9221(dataPin, clockPin, 2)
+{
+  // auto refresh by default
+  setAutoRefresh(true);
+  clearAll();
+}
+
+GroveCircularLED::~GroveCircularLED()
+{
+}
+
+void GroveCircularLED::setSpinner(uint8_t position)
+{
+  if (position > 23)
+    position = 23;
+
+  for (uint8_t i=0; i<(LEDS_PER_INSTANCE * m_instances); i++)
+    m_bitStates[i] = (i == position) ? m_highIntensity : m_lowIntensity;
+
+  if (m_autoRefresh)
+    refresh();
+
+  return;
+}
+
+void GroveCircularLED::setLevel(uint8_t level, bool direction)
+{
+  if (level > 23)
+    level = 23;
+
+  if (!direction)
+    {
+      for (int i=0; i<(LEDS_PER_INSTANCE * m_instances); i++)
+        m_bitStates[i] = (i < level) ? m_highIntensity : m_lowIntensity;
+    }
+  else
+    {
+      for (int i=0; i<(LEDS_PER_INSTANCE * m_instances); i++)
+        m_bitStates[i] = (((LEDS_PER_INSTANCE * m_instances) - i) <= level)
+          ? m_highIntensity : m_lowIntensity;
+    }
+
+  if (m_autoRefresh)
+    refresh();
+
+  return;
+}

src/my9221/grovecircularled.h

@@ -1,10 +1,18 @@
 /*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar)
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * (grovecircularled)
  * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
  * Contributions: Jon Trulson <jtrulson@ics.com>
  * Copyright (c) 2014 Intel Corporation.
  *
- * This module is based on the my9221 driver
- *
  * 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
@@ -27,29 +35,14 @@
 #pragma once
 
 #include <string>
-#include <mraa/aio.hpp>
 #include <mraa/common.hpp>
-
 #include <mraa/gpio.hpp>
-
-#define MAX_BIT_PER_BLOCK     16
-#define CMDMODE               0x0000
-#define BIT_HIGH              0x00ff
-#define BIT_LOW               0x0000
-
-#define HIGH                  1
-#define LOW                   0
+#include "my9221.h"
 
 namespace upm {
 
   /**
-   * @brief Grove Circular LED library
-   * @defgroup grovecircularled libupm-grovecircularled
-   * @ingroup seeed display gpio
-   */
-
-  /**
-   * @library grovecircularled
+   * @library my9221
    * @sensor grovecircularled
    * @comname Grove Circular LED
    * @type display
@@ -65,52 +58,39 @@ namespace upm {
    * @image html grovecircularled.jpg
    * @snippet grovecircularled.cxx Interesting
    */
-  class GroveCircularLED {
+
+  class GroveCircularLED : public MY9221 {
   public:
     /**
-     * Instantiates an MY9221 object
+     * Instantiates an GroveCircularLED object
      *
-     * @param di Data pin
-     * @param dcki Clock pin
+     * @param dataPin Data pin
+     * @param clockPin Clock pin
      */
-    GroveCircularLED (uint8_t di, uint8_t dcki);
+    GroveCircularLED(uint8_t dataPin, uint8_t clockPin);
 
     /**
-     * Sets the lighting status
-     *
-     * @param level Selected level for the circular LED (0-24)
-     * @param direction Up or down; up is true and default
+     * GroveCircularLED destructor
      */
-    mraa::Result setLevel (uint8_t level, bool direction=true);
+    ~GroveCircularLED();
 
     /**
-     * Sets the spinner (lights up all the other LEDs but one)
+     * Sets the spinner (turns off all LEDs but selected one)
      *
      * @param position Selected position for the spinner (0-23)
      */
-    mraa::Result setSpinner (uint8_t position);
+    void setSpinner(uint8_t position);
 
     /**
      * Sets the lighting status
      *
-     * @param status Boolean array (24 elements)
+     * @param level Selected level for the circular LED (0-23)
+     * @param direction Up or down; up is true and default
      */
-    mraa::Result setStatus (bool status[24]);
+    void setLevel(uint8_t level, bool direction=true);
 
-    /**
-     * Returns the name of the component
-     */
-    std::string name()
-      {
-        return m_name;
-      }
+  protected:
   private:
-    mraa::Result lockData ();
-    mraa::Result send16bitBlock (short data);
-
-    std::string m_name;
-    mraa::Gpio m_clkPinCtx;
-    mraa::Gpio m_dataPinCtx;
   };
 
 }

src/my9221/groveledbar.cxx

@@ -0,0 +1,88 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar driver)
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * (grovecircularled driver)
+ * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <iostream>
+#include <string>
+#include <stdexcept>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "groveledbar.h"
+
+using namespace upm;
+using namespace std;
+
+GroveLEDBar::GroveLEDBar (uint8_t dataPin, uint8_t clockPin, int instances)
+  : MY9221(dataPin, clockPin, instances)
+{
+  // auto refresh by default
+  setAutoRefresh(true);
+  clearAll();
+}
+
+GroveLEDBar::~GroveLEDBar()
+{
+}
+
+void GroveLEDBar::setBarLevel(uint8_t level, bool greenToRed, int barNumber)
+{
+  if (level > 10)
+    level = 10;
+
+  if (barNumber >= m_instances)
+    barNumber = m_instances - 1;
+
+  int start = barNumber * LEDS_PER_INSTANCE;
+  int end = start + LEDS_PER_INSTANCE;
+
+  if (!greenToRed)
+    {
+      for (int i=start; i<end; i++)
+        m_bitStates[i] = (i < (level + start)) ?
+          m_highIntensity : m_lowIntensity;
+    }
+  else
+    {
+      for (int i=start; i<end; i++)
+        m_bitStates[i] = ( ((start + LEDS_PER_INSTANCE) - i) <=
+                           (level + 2 + start)) ?
+                           m_highIntensity : m_lowIntensity;
+    }
+
+  if (m_autoRefresh)
+    refresh();
+
+  return;
+}

src/my9221/groveledbar.h

@@ -0,0 +1,99 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar)
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * (grovecircularled)
+ * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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/common.hpp>
+#include <mraa/gpio.hpp>
+
+#include "my9221.h"
+
+namespace upm {
+
+  /**
+   * @library my9221
+   * @sensor groveledbar
+   * @comname Grove LED Bar
+   * @altname MY9221 LED Bar
+   * @type display
+   * @man seeed
+   * @web http://www.seeedstudio.com/wiki/Grove_-_LED_Bar
+   * @con gpio
+   * @kit eak
+   *
+   * @brief API for Grove LED Bars base on the MY9221
+   *
+   * This is a 10-segment LED bar, with 8 green segments, 1 yellow
+   * segment, and one red segment.  They can be daisy chained together
+   * so that this module can control multiple LED bars.
+   *
+   * @image html my9221.jpg
+   * @snippet groveledbar.cxx Interesting
+   */
+
+  class GroveLEDBar : public MY9221 {
+  public:
+
+    /**
+     * Instantiates an GroveLEDBar object
+     *
+     * @param dataPin Data pin
+     * @param clockPin Clock pin
+     * @param instances Number of daisy-chained Grove LED Bars, default 1
+     */
+    GroveLEDBar(uint8_t dataPin, uint8_t clockPin, int instances=1);
+
+    /**
+     * GroveLEDBar destructor
+     */
+    ~GroveLEDBar();
+
+    /**
+     * Sets the bar level
+     *
+     * @param level Selected level for the bar (0 - 10). 0 is off
+     * @param greenToRed true if you start the level on the first
+     * green LED, false otherwise
+     * @param barNumber If you have multiple LED bars chained
+     * together, this argument selects a specific bar starting at 0.
+     * The default is 0.
+     */
+    void setBarLevel(uint8_t level, bool greenToRed=true, int barNumber=0);
+
+  protected:
+  private:
+  };
+
+}

src/my9221/javaupm_my9221.i

@@ -1,11 +1,20 @@
 %module javaupm_my9221
 %include "../upm.i"
 
+%include "my9221.h"
 %{
     #include "my9221.h"
 %}
 
-%include "my9221.h"
+%include "groveledbar.h"
+%{
+    #include "groveledbar.h"
+%}
+
+%include "grovecircularled.h"
+%{
+    #include "grovecircularled.h"
+%}
 
 %pragma(java) jniclasscode=%{
     static {
@@ -16,4 +25,4 @@
             System.exit(1);
         }
     }
-%}
+%}

src/my9221/jsupm_my9221.i

@@ -1,8 +1,18 @@
 %module jsupm_my9221
 %include "../upm.i"
 
+%include "my9221.h"
 %{
     #include "my9221.h"
 %}
 
-%include "my9221.h"
+%include "groveledbar.h"
+%{
+    #include "groveledbar.h"
+%}
+
+%include "grovecircularled.h"
+%{
+    #include "grovecircularled.h"
+%}
+

src/my9221/my9221.cxx

@@ -1,7 +1,18 @@
 /*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar driver)
  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
  * Copyright (c) 2014 Intel Corporation.
  *
+ * (grovecircularled driver)
+ * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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
@@ -31,76 +42,150 @@
 #include "my9221.h"
 
 using namespace upm;
+using namespace std;
 
-MY9221::MY9221 (uint8_t di, uint8_t dcki)
-                    : m_clkPinCtx(dcki), m_dataPinCtx(di) {
-    mraa::Result error = mraa::SUCCESS;
-
-    // set direction (out)
-    error = m_clkPinCtx.dir(mraa::DIR_OUT);
-    if (error != mraa::SUCCESS) {
-        mraa::printError(error);
+MY9221::MY9221 (uint8_t dataPin, uint8_t clockPin, int instances)
+  : m_gpioData(dataPin), m_gpioClk(clockPin), m_bitStates(0)
+{
+  if (instances < 1)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__) +
+                              ": instances must be at least 1");
     }
 
-    // set direction (out)
-    error = m_dataPinCtx.dir(mraa::DIR_OUT);
-    if (error != mraa::SUCCESS) {
-        mraa::printError(error);
-    }
+  // set directions
+  m_gpioClk.dir(mraa::DIR_OUT);
+  m_gpioData.dir(mraa::DIR_OUT);
+  
+  // we warn if these fail, since it may not be possible to handle
+  // more than one instance
+
+  if (m_gpioClk.useMmap(true) != mraa::SUCCESS)
+    cerr << __FUNCTION__
+         << ": Warning: mmap of Clk pin failed, correct operation "
+         << "may be affected."
+         << endl;
+
+  if (m_gpioData.useMmap(true) != mraa::SUCCESS)
+    cerr << __FUNCTION__
+         << ": Warning: mmap of Data pin failed, correct operation "
+         << "may be affected."
+         << endl;
+
+  setLowIntensityValue(0x00);   // full off
+  setHighIntensityValue(0xff);  // full brightness
+
+  m_commandWord = 0x0000;       // all defaults
+  m_instances = instances;
+
+  m_bitStates = new uint16_t[instances * LEDS_PER_INSTANCE];
+
+  setAutoRefresh(true);
+  clearAll();
 }
 
-mraa::Result
-MY9221::setBarLevel (uint8_t level, bool direction) {
-    if (level > 10) {
-        return mraa::ERROR_INVALID_PARAMETER;
-    }
+MY9221::~MY9221()
+{
+  clearAll();
 
-    send16bitBlock (CMDMODE);
-    if (direction) {
-        level += 3;
-        for(uint8_t block_idx = 12; block_idx > 0; block_idx--) {
-            uint32_t state = (block_idx < level) ? BIT_HIGH : BIT_LOW;
-            send16bitBlock (state);
-        }
-    } else {
-        for(uint8_t block_idx = 0; block_idx < 12; block_idx++) {
-            uint32_t state = (block_idx < level) ? BIT_HIGH : BIT_LOW;
-            send16bitBlock (state);
+  if (!m_autoRefresh)
+    refresh();
+
+  delete m_bitStates;
+}
+
+void MY9221::setLED(int led, bool on)
+{
+  int maxLed = (LEDS_PER_INSTANCE * m_instances) - 1;
+
+  if (led > maxLed)
+    led = maxLed;
+  if (led < 0)
+    led = 0;
+
+  m_bitStates[led] = (on) ? m_highIntensity : m_lowIntensity;
+
+  if (m_autoRefresh)
+    refresh();
+}
+
+void MY9221::setLowIntensityValue(int intensity)
+{
+  m_lowIntensity = (intensity & 0xff);
+}
+
+void MY9221::setHighIntensityValue(int intensity)
+{
+  m_highIntensity = (intensity & 0xff);
+}
+
+void MY9221::setAll()
+{
+  for (int i=0; i<(m_instances * LEDS_PER_INSTANCE); i++)
+    m_bitStates[i] = m_highIntensity;
+
+  if (m_autoRefresh)
+    refresh();
+}
+
+void MY9221::clearAll()
+{
+  for (int i=0; i<(m_instances * LEDS_PER_INSTANCE); i++)
+    m_bitStates[i] = m_lowIntensity;
+
+  if (m_autoRefresh)
+    refresh();
+}
+
+void MY9221::refresh()
+{
+  for (int i=0; i<(m_instances * LEDS_PER_INSTANCE); i++)
+    {
+      if (i % 12 == 0)
+        {
+          send16bitBlock(m_commandWord);
         }
+      send16bitBlock(m_bitStates[i]);
     }
-    return lockData ();
+
+  lockData();
 }
 
-mraa::Result
-MY9221::lockData () {
-    mraa::Result error = mraa::SUCCESS;
-    error = m_dataPinCtx.write(LOW);
-    usleep(100);
+void MY9221::lockData()
+{
+  m_gpioData.write(0);
+  usleep(220);
 
-    for(int idx = 0; idx < 4; idx++) {
-        error = m_dataPinCtx.write(HIGH);
-        error = m_dataPinCtx.write(LOW);
+  for(int idx = 0; idx < 4; idx++)
+    {
+      m_gpioData.write(1);
+      m_gpioData.write(0);
     }
-    return error;
+
+  // in reality, we only need > 200ns + (m_instances * 10ns), so the
+  // following should be good for up to m_instances < 80), if the
+  // datasheet is to be believed :)
+  usleep(1);
+
+  return;
 }
 
-mraa::Result
-MY9221::send16bitBlock (short data) {
-    mraa::Result error = mraa::SUCCESS;
-    for (uint8_t bit_idx = 0; bit_idx < MAX_BIT_PER_BLOCK; bit_idx++) {
-        uint32_t state = (data & 0x8000) ? HIGH : LOW;
-        error = m_dataPinCtx.write(state);
-        state = m_clkPinCtx.read();
+void MY9221::send16bitBlock(uint16_t data)
+{
+  for (uint8_t bit_idx = 0; bit_idx < 16; bit_idx++)
+    {
+      uint32_t state = (data & 0x8000) ? 1 : 0;
+      m_gpioData.write(state);
+      state = m_gpioClk.read();
 
-        if (state) {
-            state = LOW;
-        } else {
-            state = HIGH;
-        }
-
-        error = m_clkPinCtx.write(state);
-
-        data <<= 1;
+      if (state)
+        state = 0;
+      else
+        state = 1;
+      
+      m_gpioClk.write(state);
+      
+      data <<= 1;
     }
-    return error;
+  return;
 }

src/my9221/my9221.h

@@ -1,7 +1,18 @@
 /*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * These modules were rewritten, based on original work by:
+ *
+ * (original my9221/groveledbar)
  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
  * Copyright (c) 2014 Intel Corporation.
  *
+ * (grovecircularled)
+ * Author: Jun Kato and Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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
@@ -24,77 +35,118 @@
 #pragma once
 
 #include <string>
-#include <mraa/aio.hpp>
 #include <mraa/common.hpp>
-
 #include <mraa/gpio.hpp>
 
-#define MAX_BIT_PER_BLOCK     16
-#define CMDMODE               0x0000
-#define BIT_HIGH              0x00ff
-#define BIT_LOW               0x0000
-
-#define HIGH                  1
-#define LOW                   0
-
 namespace upm {
 
-/**
- * @brief MY9221 LED Bar library
- * @defgroup my9221 libupm-my9221
- * @ingroup seeed display gpio eak
- */
-/**
- * @library my9221
- * @sensor my9221
- * @comname Grove LED Bar
- * @altname MY9221 LED Bar
- * @type display
- * @man seeed
- * @web http://www.seeedstudio.com/wiki/Grove_-_LED_Bar
- * @con gpio
- * @kit eak
- *
- * @brief API for MY9221-based LED Bars
- *
- * This module defines the MY9221 interface for libmy9221
- *
- * @image html my9221.jpg
- * @snippet my9221-ledbar.cxx Interesting
- * @snippet my9221-updown.cxx Interesting
- */
-class MY9221 {
-    public:
-         /**
-         * Instantiates an MY9221 object
-         *
-         * @param di Data pin
-         * @param dcki Clock pin
-         */
-        MY9221 (uint8_t di, uint8_t dcki);
+  /**
+   * @brief MY9221 LED Controller library
+   * @defgroup my9221 libupm-my9221
+   * @ingroup seeed display gpio eak
+   */
+  class MY9221 {
+  public:
 
-        /**
-         * Sets the bar level 
-         *
-         * @param level Selected level for the bar (1 - 10)
-         * @param direction Up or down; up is true and default
-         */
-        mraa::Result setBarLevel (uint8_t level, bool direction=true);
+    // 12 LED channels per chip (instance)
+    static const int LEDS_PER_INSTANCE = 12;
 
-        /**
-         * Returns the name of the component
-         */
-        std::string name()
-        {
-            return m_name;
-        }
-    private:
-        mraa::Result lockData ();
-        mraa::Result send16bitBlock (short data);
+    /**
+     * Instantiates an MY9221 object
+     *
+     * @param dataPin Data pin
+     * @param clockPin Clock pin
+     * @param instances Number of daisy-chained my9221s, default 1
+     */
+    MY9221(uint8_t dataPin, uint8_t clockPin, int instances=1);
 
-        std::string m_name;
-        mraa::Gpio m_clkPinCtx;
-        mraa::Gpio m_dataPinCtx;
-};
+    /**
+     * MY9221 destructor
+     */
+    ~MY9221();
+
+    /**
+     * Enable or disable auto refresh.  When auto refresh is enabled,
+     * update the LED display as soon as the internal state changes.
+     * When false, the display(s) will not be updated until the
+     * refresh() method is called.
+     *
+     * @param enable true to enable auto refresh, false otherwise
+     */
+    void setAutoRefresh(bool enable)
+    {
+      m_autoRefresh = enable;
+    }
+
+    /**
+     * Set an LED to a specific on (high intensity) or off (low
+     * intensity) value.
+     *
+     * @param led The LED whose state you wish to change
+     * @param on true to turn on the LED, false to turn the LED off
+     */
+    void setLED(int led, bool on);
+
+    /**
+     * Set the greyscale intensity of an LED in the OFF state.  The
+     * intensity is a value from 0 (fully off) to 255 (fully on).
+     * This will take effect on any future LED set or clear
+     * operations.
+     *
+     * @param intensity a value from 0 (fully off) to 255 (fully on)
+     */
+    void setLowIntensityValue(int intensity);
+
+    /**
+     * Set the greyscale intensity of an LED in the ON state.  The
+     * intensity is a value from 0 (fully off) to 255 (fully on).
+     * This will take effect on any future LED set or clear
+     * operations.
+     *
+     * @param intensity a value from 0 (fully off) to 255 (fully on)
+     */
+    void setHighIntensityValue(int intensity);
+
+    /**
+     * Set all of the LEDS to the ON (high intensity value) state.
+     */
+    void setAll();
+
+    /**
+     * Set all of the LEDS to the OFF (low intensity value) state.
+     */
+    void clearAll();
+
+    /**
+     * Set the LED states to match the internal stored states.  This
+     * is useful when auto refresh (setAutoRefresh()) is false to
+     * update the display.
+     */
+    void refresh();
+
+  protected:
+    virtual void lockData();
+    virtual void send16bitBlock(uint16_t data);
+
+    bool m_autoRefresh;
+    // we're only doing 8-bit greyscale, so the high order bits are
+    // always 0
+    uint16_t m_lowIntensity;
+    uint16_t m_highIntensity;
+
+    unsigned int m_instances;
+
+    // an array of uint16_t's representing our bit states (on/off)
+    // intensities.  Only the low 8 bits are used, but in the future
+    // 16bit support can work here as well.
+    uint16_t *m_bitStates;
+
+    uint16_t m_commandWord;
+
+    mraa::Gpio m_gpioClk;
+    mraa::Gpio m_gpioData;
+
+  private:
+  };
 
 }

src/my9221/pyupm_my9221.i

@@ -9,3 +9,13 @@
 %{
     #include "my9221.h"
 %}
+
+%include "groveledbar.h"
+%{
+    #include "groveledbar.h"
+%}
+
+%include "grovecircularled.h"
+%{
+    #include "grovecircularled.h"
+%}

src/pn532/pn532.h

@@ -66,6 +66,7 @@ namespace upm {
    *
    * @brief API for the PN532 based NFC/RFID reader/writer
    *
+   * @image html pn532.jpg
    * Identify a card and print out basic info
    * @snippet pn532.cxx Interesting
    * Add a URI to an already NDEF formatted ultralight or NTAG2XX tag

src/ssd1351/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "ssd1351")
+set (libdescription "libupm SSD1351 SPI LCD")
+set (module_src gfx.cxx ssd1351.cxx)
+set (module_h gfx.h ssd1351.h)
+upm_module_init()

src/ssd1351/gfx.cxx

@@ -0,0 +1,218 @@
+/*
+ * Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.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 <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "gfx.h"
+
+using namespace upm;
+
+GFX::GFX (int width, int height) : m_width(width), m_height(height),
+        m_textSize(1), m_textColor(0xFFFF), m_textBGColor(0x0000),
+        m_cursorX(0), m_cursorY(0), m_font(font) {
+}
+
+GFX::~GFX () {
+}
+
+void
+GFX::fillScreen (uint16_t color) {
+    fillRect(0, 0, m_width, m_height, color);
+}
+
+void
+GFX::fillRect (int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) {
+    for (int16_t i=x; i<x+w; i++) {
+        drawFastVLine(i, y, h, color);
+    }
+}
+
+void
+GFX::drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color) {
+    drawLine(x, y, x, y+h-1, color);
+}
+
+void
+GFX::drawLine (int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color) {
+    int16_t steep = abs(y1 - y0) > abs(x1 - x0);
+
+    if (steep) {
+        swap(x0, y0);
+        swap(x1, y1);
+    }
+
+    if (x0 > x1) {
+        swap(x0, x1);
+        swap(y0, y1);
+    }
+
+    int16_t dx, dy;
+    dx = x1 - x0;
+    dy = abs (y1 - y0);
+
+    int16_t err = dx / 2;
+    int16_t ystep;
+
+    if (y0 < y1) {
+        ystep = 1;
+    } else {
+        ystep = -1;
+    }
+
+    for (; x0 <= x1; x0++) {
+        if (steep) {
+            drawPixel(y0, x0, color);
+        } else {
+            drawPixel(x0, y0, color);
+        }
+        err -= dy;
+        if (err < 0) {
+            y0 += ystep;
+            err += dx;
+        }
+    }
+}
+
+void
+GFX::drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color) {
+    drawLine(x0, y0, x1, y1, color);
+    drawLine(x1, y1, x2, y2, color);
+    drawLine(x2, y2, x0, y0, color);
+}
+
+void
+GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color) {
+    int16_t f = 1 - r;
+    int16_t ddF_x = 1;
+    int16_t ddF_y = -2 * r;
+    int16_t x = 0;
+    int16_t y = r;
+
+    drawPixel(x0  , y0+r, color);
+    drawPixel(x0  , y0-r, color);
+    drawPixel(x0+r, y0  , color);
+    drawPixel(x0-r, y0  , color);
+
+    while (x<y) {
+        if (f >= 0) {
+            y--;
+            ddF_y += 2;
+            f += ddF_y;
+        }
+        x++;
+
+        ddF_x += 2;
+        f += ddF_x;
+
+        drawPixel(x0 + x, y0 + y, color);
+        drawPixel(x0 - x, y0 + y, color);
+        drawPixel(x0 + x, y0 - y, color);
+        drawPixel(x0 - x, y0 - y, color);
+        drawPixel(x0 + y, y0 + x, color);
+        drawPixel(x0 - y, y0 + x, color);
+        drawPixel(x0 + y, y0 - x, color);
+        drawPixel(x0 - y, y0 - x, color);
+    }
+}
+
+void
+GFX::setCursor (int16_t x, int16_t y) {
+    m_cursorX = x;
+    m_cursorY = y;
+}
+
+void
+GFX::setTextColor (uint16_t textColor, uint16_t textBGColor) {
+    m_textColor   = textColor;
+    m_textBGColor = textBGColor;
+}
+
+void
+GFX::setTextSize (uint8_t size) {
+    m_textSize = (size > 0) ? size : 1;
+}
+
+void
+GFX::setTextWrap (uint8_t wrap) {
+    m_wrap = wrap;
+}
+
+void
+GFX::drawChar (int16_t x, int16_t y, uint8_t data, uint16_t color, uint16_t bg, uint8_t size) {
+    if( (x >= m_width)            || // Clip right
+        (y >= m_height)           || // Clip bottom
+        ((x + 6 * size - 1) < 0)  || // Clip left
+        ((y + 8 * size - 1) < 0))    // Clip top
+    return;
+
+    for (int8_t i=0; i<6; i++ ) {
+        uint8_t line;
+        if (i == 5) {
+            line = 0x0;
+        } else {
+            line = *(m_font+(data * 5)+i);
+            for (int8_t j = 0; j<8; j++) {
+                if (line & 0x1) {
+                    if (size == 1) // default size
+                        drawPixel (x+i, y+j, color);
+                    else {  // big size
+                        fillRect (x+(i*size), y+(j*size), size, size, color);
+                    }
+                } else if (bg != color) {
+                    if (size == 1) // default size
+                        drawPixel (x+i, y+j, bg);
+                    else {  // big size
+                        fillRect (x+i*size, y+j*size, size, size, bg);
+                    }
+                }
+                line >>= 1;
+            }
+        }
+    }
+}
+
+void
+GFX::print (std::string msg) {
+    int len = msg.length();
+
+    for (int idx = 0; idx < len; idx++) {
+        if (msg[idx] == '\n') {
+            m_cursorY += m_textSize * 8;
+            m_cursorX  = 0;
+        } else if (msg[idx] == '\r') {
+            // skip em
+        } else {
+            drawChar(m_cursorX, m_cursorY, msg[idx], m_textColor, m_textBGColor, m_textSize);
+            m_cursorX += m_textSize * 6;
+            if (m_wrap && ((m_cursorX + m_textSize * 6) >= m_width)) {
+                m_cursorY += m_textSize * 8;
+                m_cursorX = 0;
+            }
+        }
+    }
+}

src/ssd1351/gfx.h

@@ -0,0 +1,453 @@
+/*
+ * Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.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 <stdio.h>
+#include <unistd.h>
+#include <stdint.h>
+
+#define swap(a, b) { int16_t t = a; a = b; b = t; }
+
+namespace upm {
+
+const unsigned char font[] = {
+    0x00, 0x00, 0x00, 0x00, 0x00,
+    0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
+    0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
+    0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
+    0x18, 0x3C, 0x7E, 0x3C, 0x18,
+    0x1C, 0x57, 0x7D, 0x57, 0x1C,
+    0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
+    0x00, 0x18, 0x3C, 0x18, 0x00,
+    0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
+    0x00, 0x18, 0x24, 0x18, 0x00,
+    0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
+    0x30, 0x48, 0x3A, 0x06, 0x0E,
+    0x26, 0x29, 0x79, 0x29, 0x26,
+    0x40, 0x7F, 0x05, 0x05, 0x07,
+    0x40, 0x7F, 0x05, 0x25, 0x3F,
+    0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
+    0x7F, 0x3E, 0x1C, 0x1C, 0x08,
+    0x08, 0x1C, 0x1C, 0x3E, 0x7F,
+    0x14, 0x22, 0x7F, 0x22, 0x14,
+    0x5F, 0x5F, 0x00, 0x5F, 0x5F,
+    0x06, 0x09, 0x7F, 0x01, 0x7F,
+    0x00, 0x66, 0x89, 0x95, 0x6A,
+    0x60, 0x60, 0x60, 0x60, 0x60,
+    0x94, 0xA2, 0xFF, 0xA2, 0x94,
+    0x08, 0x04, 0x7E, 0x04, 0x08,
+    0x10, 0x20, 0x7E, 0x20, 0x10,
+    0x08, 0x08, 0x2A, 0x1C, 0x08,
+    0x08, 0x1C, 0x2A, 0x08, 0x08,
+    0x1E, 0x10, 0x10, 0x10, 0x10,
+    0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
+    0x30, 0x38, 0x3E, 0x38, 0x30,
+    0x06, 0x0E, 0x3E, 0x0E, 0x06,
+    0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x5F, 0x00, 0x00,
+    0x00, 0x07, 0x00, 0x07, 0x00,
+    0x14, 0x7F, 0x14, 0x7F, 0x14,
+    0x24, 0x2A, 0x7F, 0x2A, 0x12,
+    0x23, 0x13, 0x08, 0x64, 0x62,
+    0x36, 0x49, 0x56, 0x20, 0x50,
+    0x00, 0x08, 0x07, 0x03, 0x00,
+    0x00, 0x1C, 0x22, 0x41, 0x00,
+    0x00, 0x41, 0x22, 0x1C, 0x00,
+    0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
+    0x08, 0x08, 0x3E, 0x08, 0x08,
+    0x00, 0x80, 0x70, 0x30, 0x00,
+    0x08, 0x08, 0x08, 0x08, 0x08,
+    0x00, 0x00, 0x60, 0x60, 0x00,
+    0x20, 0x10, 0x08, 0x04, 0x02,
+    0x3E, 0x51, 0x49, 0x45, 0x3E,
+    0x00, 0x42, 0x7F, 0x40, 0x00,
+    0x72, 0x49, 0x49, 0x49, 0x46,
+    0x21, 0x41, 0x49, 0x4D, 0x33,
+    0x18, 0x14, 0x12, 0x7F, 0x10,
+    0x27, 0x45, 0x45, 0x45, 0x39,
+    0x3C, 0x4A, 0x49, 0x49, 0x31,
+    0x41, 0x21, 0x11, 0x09, 0x07,
+    0x36, 0x49, 0x49, 0x49, 0x36,
+    0x46, 0x49, 0x49, 0x29, 0x1E,
+    0x00, 0x00, 0x14, 0x00, 0x00,
+    0x00, 0x40, 0x34, 0x00, 0x00,
+    0x00, 0x08, 0x14, 0x22, 0x41,
+    0x14, 0x14, 0x14, 0x14, 0x14,
+    0x00, 0x41, 0x22, 0x14, 0x08,
+    0x02, 0x01, 0x59, 0x09, 0x06,
+    0x3E, 0x41, 0x5D, 0x59, 0x4E,
+    0x7C, 0x12, 0x11, 0x12, 0x7C,
+    0x7F, 0x49, 0x49, 0x49, 0x36,
+    0x3E, 0x41, 0x41, 0x41, 0x22,
+    0x7F, 0x41, 0x41, 0x41, 0x3E,
+    0x7F, 0x49, 0x49, 0x49, 0x41,
+    0x7F, 0x09, 0x09, 0x09, 0x01,
+    0x3E, 0x41, 0x41, 0x51, 0x73,
+    0x7F, 0x08, 0x08, 0x08, 0x7F,
+    0x00, 0x41, 0x7F, 0x41, 0x00,
+    0x20, 0x40, 0x41, 0x3F, 0x01,
+    0x7F, 0x08, 0x14, 0x22, 0x41,
+    0x7F, 0x40, 0x40, 0x40, 0x40,
+    0x7F, 0x02, 0x1C, 0x02, 0x7F,
+    0x7F, 0x04, 0x08, 0x10, 0x7F,
+    0x3E, 0x41, 0x41, 0x41, 0x3E,
+    0x7F, 0x09, 0x09, 0x09, 0x06,
+    0x3E, 0x41, 0x51, 0x21, 0x5E,
+    0x7F, 0x09, 0x19, 0x29, 0x46,
+    0x26, 0x49, 0x49, 0x49, 0x32,
+    0x03, 0x01, 0x7F, 0x01, 0x03,
+    0x3F, 0x40, 0x40, 0x40, 0x3F,
+    0x1F, 0x20, 0x40, 0x20, 0x1F,
+    0x3F, 0x40, 0x38, 0x40, 0x3F,
+    0x63, 0x14, 0x08, 0x14, 0x63,
+    0x03, 0x04, 0x78, 0x04, 0x03,
+    0x61, 0x59, 0x49, 0x4D, 0x43,
+    0x00, 0x7F, 0x41, 0x41, 0x41,
+    0x02, 0x04, 0x08, 0x10, 0x20,
+    0x00, 0x41, 0x41, 0x41, 0x7F,
+    0x04, 0x02, 0x01, 0x02, 0x04,
+    0x40, 0x40, 0x40, 0x40, 0x40,
+    0x00, 0x03, 0x07, 0x08, 0x00,
+    0x20, 0x54, 0x54, 0x78, 0x40,
+    0x7F, 0x28, 0x44, 0x44, 0x38,
+    0x38, 0x44, 0x44, 0x44, 0x28,
+    0x38, 0x44, 0x44, 0x28, 0x7F,
+    0x38, 0x54, 0x54, 0x54, 0x18,
+    0x00, 0x08, 0x7E, 0x09, 0x02,
+    0x18, 0xA4, 0xA4, 0x9C, 0x78,
+    0x7F, 0x08, 0x04, 0x04, 0x78,
+    0x00, 0x44, 0x7D, 0x40, 0x00,
+    0x20, 0x40, 0x40, 0x3D, 0x00,
+    0x7F, 0x10, 0x28, 0x44, 0x00,
+    0x00, 0x41, 0x7F, 0x40, 0x00,
+    0x7C, 0x04, 0x78, 0x04, 0x78,
+    0x7C, 0x08, 0x04, 0x04, 0x78,
+    0x38, 0x44, 0x44, 0x44, 0x38,
+    0xFC, 0x18, 0x24, 0x24, 0x18,
+    0x18, 0x24, 0x24, 0x18, 0xFC,
+    0x7C, 0x08, 0x04, 0x04, 0x08,
+    0x48, 0x54, 0x54, 0x54, 0x24,
+    0x04, 0x04, 0x3F, 0x44, 0x24,
+    0x3C, 0x40, 0x40, 0x20, 0x7C,
+    0x1C, 0x20, 0x40, 0x20, 0x1C,
+    0x3C, 0x40, 0x30, 0x40, 0x3C,
+    0x44, 0x28, 0x10, 0x28, 0x44,
+    0x4C, 0x90, 0x90, 0x90, 0x7C,
+    0x44, 0x64, 0x54, 0x4C, 0x44,
+    0x00, 0x08, 0x36, 0x41, 0x00,
+    0x00, 0x00, 0x77, 0x00, 0x00,
+    0x00, 0x41, 0x36, 0x08, 0x00,
+    0x02, 0x01, 0x02, 0x04, 0x02,
+    0x3C, 0x26, 0x23, 0x26, 0x3C,
+    0x1E, 0xA1, 0xA1, 0x61, 0x12,
+    0x3A, 0x40, 0x40, 0x20, 0x7A,
+    0x38, 0x54, 0x54, 0x55, 0x59,
+    0x21, 0x55, 0x55, 0x79, 0x41,
+    0x21, 0x54, 0x54, 0x78, 0x41,
+    0x21, 0x55, 0x54, 0x78, 0x40,
+    0x20, 0x54, 0x55, 0x79, 0x40,
+    0x0C, 0x1E, 0x52, 0x72, 0x12,
+    0x39, 0x55, 0x55, 0x55, 0x59,
+    0x39, 0x54, 0x54, 0x54, 0x59,
+    0x39, 0x55, 0x54, 0x54, 0x58,
+    0x00, 0x00, 0x45, 0x7C, 0x41,
+    0x00, 0x02, 0x45, 0x7D, 0x42,
+    0x00, 0x01, 0x45, 0x7C, 0x40,
+    0xF0, 0x29, 0x24, 0x29, 0xF0,
+    0xF0, 0x28, 0x25, 0x28, 0xF0,
+    0x7C, 0x54, 0x55, 0x45, 0x00,
+    0x20, 0x54, 0x54, 0x7C, 0x54,
+    0x7C, 0x0A, 0x09, 0x7F, 0x49,
+    0x32, 0x49, 0x49, 0x49, 0x32,
+    0x32, 0x48, 0x48, 0x48, 0x32,
+    0x32, 0x4A, 0x48, 0x48, 0x30,
+    0x3A, 0x41, 0x41, 0x21, 0x7A,
+    0x3A, 0x42, 0x40, 0x20, 0x78,
+    0x00, 0x9D, 0xA0, 0xA0, 0x7D,
+    0x39, 0x44, 0x44, 0x44, 0x39,
+    0x3D, 0x40, 0x40, 0x40, 0x3D,
+    0x3C, 0x24, 0xFF, 0x24, 0x24,
+    0x48, 0x7E, 0x49, 0x43, 0x66,
+    0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
+    0xFF, 0x09, 0x29, 0xF6, 0x20,
+    0xC0, 0x88, 0x7E, 0x09, 0x03,
+    0x20, 0x54, 0x54, 0x79, 0x41,
+    0x00, 0x00, 0x44, 0x7D, 0x41,
+    0x30, 0x48, 0x48, 0x4A, 0x32,
+    0x38, 0x40, 0x40, 0x22, 0x7A,
+    0x00, 0x7A, 0x0A, 0x0A, 0x72,
+    0x7D, 0x0D, 0x19, 0x31, 0x7D,
+    0x26, 0x29, 0x29, 0x2F, 0x28,
+    0x26, 0x29, 0x29, 0x29, 0x26,
+    0x30, 0x48, 0x4D, 0x40, 0x20,
+    0x38, 0x08, 0x08, 0x08, 0x08,
+    0x08, 0x08, 0x08, 0x08, 0x38,
+    0x2F, 0x10, 0xC8, 0xAC, 0xBA,
+    0x2F, 0x10, 0x28, 0x34, 0xFA,
+    0x00, 0x00, 0x7B, 0x00, 0x00,
+    0x08, 0x14, 0x2A, 0x14, 0x22,
+    0x22, 0x14, 0x2A, 0x14, 0x08,
+    0xAA, 0x00, 0x55, 0x00, 0xAA,
+    0xAA, 0x55, 0xAA, 0x55, 0xAA,
+    0x00, 0x00, 0x00, 0xFF, 0x00,
+    0x10, 0x10, 0x10, 0xFF, 0x00,
+    0x14, 0x14, 0x14, 0xFF, 0x00,
+    0x10, 0x10, 0xFF, 0x00, 0xFF,
+    0x10, 0x10, 0xF0, 0x10, 0xF0,
+    0x14, 0x14, 0x14, 0xFC, 0x00,
+    0x14, 0x14, 0xF7, 0x00, 0xFF,
+    0x00, 0x00, 0xFF, 0x00, 0xFF,
+    0x14, 0x14, 0xF4, 0x04, 0xFC,
+    0x14, 0x14, 0x17, 0x10, 0x1F,
+    0x10, 0x10, 0x1F, 0x10, 0x1F,
+    0x14, 0x14, 0x14, 0x1F, 0x00,
+    0x10, 0x10, 0x10, 0xF0, 0x00,
+    0x00, 0x00, 0x00, 0x1F, 0x10,
+    0x10, 0x10, 0x10, 0x1F, 0x10,
+    0x10, 0x10, 0x10, 0xF0, 0x10,
+    0x00, 0x00, 0x00, 0xFF, 0x10,
+    0x10, 0x10, 0x10, 0x10, 0x10,
+    0x10, 0x10, 0x10, 0xFF, 0x10,
+    0x00, 0x00, 0x00, 0xFF, 0x14,
+    0x00, 0x00, 0xFF, 0x00, 0xFF,
+    0x00, 0x00, 0x1F, 0x10, 0x17,
+    0x00, 0x00, 0xFC, 0x04, 0xF4,
+    0x14, 0x14, 0x17, 0x10, 0x17,
+    0x14, 0x14, 0xF4, 0x04, 0xF4,
+    0x00, 0x00, 0xFF, 0x00, 0xF7,
+    0x14, 0x14, 0x14, 0x14, 0x14,
+    0x14, 0x14, 0xF7, 0x00, 0xF7,
+    0x14, 0x14, 0x14, 0x17, 0x14,
+    0x10, 0x10, 0x1F, 0x10, 0x1F,
+    0x14, 0x14, 0x14, 0xF4, 0x14,
+    0x10, 0x10, 0xF0, 0x10, 0xF0,
+    0x00, 0x00, 0x1F, 0x10, 0x1F,
+    0x00, 0x00, 0x00, 0x1F, 0x14,
+    0x00, 0x00, 0x00, 0xFC, 0x14,
+    0x00, 0x00, 0xF0, 0x10, 0xF0,
+    0x10, 0x10, 0xFF, 0x10, 0xFF,
+    0x14, 0x14, 0x14, 0xFF, 0x14,
+    0x10, 0x10, 0x10, 0x1F, 0x00,
+    0x00, 0x00, 0x00, 0xF0, 0x10,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
+    0xFF, 0xFF, 0xFF, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0xFF, 0xFF,
+    0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
+    0x38, 0x44, 0x44, 0x38, 0x44,
+    0x7C, 0x2A, 0x2A, 0x3E, 0x14,
+    0x7E, 0x02, 0x02, 0x06, 0x06,
+    0x02, 0x7E, 0x02, 0x7E, 0x02,
+    0x63, 0x55, 0x49, 0x41, 0x63,
+    0x38, 0x44, 0x44, 0x3C, 0x04,
+    0x40, 0x7E, 0x20, 0x1E, 0x20,
+    0x06, 0x02, 0x7E, 0x02, 0x02,
+    0x99, 0xA5, 0xE7, 0xA5, 0x99,
+    0x1C, 0x2A, 0x49, 0x2A, 0x1C,
+    0x4C, 0x72, 0x01, 0x72, 0x4C,
+    0x30, 0x4A, 0x4D, 0x4D, 0x30,
+    0x30, 0x48, 0x78, 0x48, 0x30,
+    0xBC, 0x62, 0x5A, 0x46, 0x3D,
+    0x3E, 0x49, 0x49, 0x49, 0x00,
+    0x7E, 0x01, 0x01, 0x01, 0x7E,
+    0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
+    0x44, 0x44, 0x5F, 0x44, 0x44,
+    0x40, 0x51, 0x4A, 0x44, 0x40,
+    0x40, 0x44, 0x4A, 0x51, 0x40,
+    0x00, 0x00, 0xFF, 0x01, 0x03,
+    0xE0, 0x80, 0xFF, 0x00, 0x00,
+    0x08, 0x08, 0x6B, 0x6B, 0x08,
+    0x36, 0x12, 0x36, 0x24, 0x36,
+    0x06, 0x0F, 0x09, 0x0F, 0x06,
+    0x00, 0x00, 0x18, 0x18, 0x00,
+    0x00, 0x00, 0x10, 0x10, 0x00,
+    0x30, 0x40, 0xFF, 0x01, 0x01,
+    0x00, 0x1F, 0x01, 0x01, 0x1E,
+    0x00, 0x19, 0x1D, 0x17, 0x12,
+    0x00, 0x3C, 0x3C, 0x3C, 0x3C,
+    0x00, 0x00, 0x00, 0x00, 0x00
+};
+
+/**
+ * @brief GFX helper class
+ *
+ * This file is used by the screen.
+ */
+class GFX {
+    public:
+        /**
+         * Instantiates a GFX object
+         *
+         * @param width Screen width
+         * @param height Screen height
+         */
+        GFX (int width, int height);
+
+        /**
+         * GFX object destructor
+         */
+        ~GFX ();
+
+        /**
+         * Sends a pixel color (RGB) to the chip. Must be implemented by the
+         * inherited class.
+         *
+         * @param x Axis on the horizontal scale
+         * @param y Axis on the vertical scale
+         * @param color RGB value
+         */
+        virtual void drawPixel (int16_t x, int16_t y, uint16_t color) = 0;
+
+        /**
+         * Copies the buffer to the chip via the SPI.
+         */
+        virtual void refresh () = 0;
+
+        /**
+         *
+         *
+         * @param x Axis on the horizontal scale
+         * @param y Axis on the vertical scale
+         * @param data Character to write
+         * @param color Character color
+         * @param bg Character background color
+         * @param size Size of the font
+         */
+        void drawChar (int16_t x, int16_t y, uint8_t data, uint16_t color, uint16_t bg, uint8_t size);
+
+        /**
+         * Prints a message on the screen
+         *
+         * @param msg Message to print
+         */
+        void print (std::string msg);
+
+        /**
+         * Fills the screen with a selected color
+         *
+         * @param color Selected color
+         */
+        void fillScreen (uint16_t color);
+
+        /**
+         * Fills a rectangle with a selected color
+         *
+         * @param x Axis on the horizontal scale (top-left corner)
+         * @param y Axis on the vertical scale (top-left corner)
+         * @param w Distanse from x
+         * @param h Distanse from y
+         * @param color Selected color
+         */
+        void fillRect (int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color);
+
+        /**
+         * Draws a line on the vertical scale
+         *
+         * @param x Axis on the horizontal scale
+         * @param y Axis on the vertical scale
+         * @param h Distanse from y
+         * @param color Selected color
+         */
+        void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color);
+
+        /**
+         * Draws a line from coordinate C0 to coordinate C1
+         *
+         * @param x0 First coordinate
+         * @param y0 First coordinate
+         * @param x1 Second coordinate
+         * @param y1 Second coordinate
+         * @param color selected color
+         */
+        void drawLine (int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color);
+
+        /**
+         * Draws a triangle
+         *
+         * @param x0 First coordinate
+         * @param y0 First coordinate
+         * @param x1 Second coordinate
+         * @param y1 Second coordinate
+         * @param x2 Third coordinate
+         * @param y2 Third coordinate
+         * @param color Selected color
+         */
+        void drawTriangle (int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color);
+
+        /**
+         * Draws a circle
+         *
+         * @param x Center of the circle on the horizontal scale
+         * @param y Center of the circle on the vertical scale
+         * @param r Radius of the circle
+         * @param color Color of the circle
+         */
+        void drawCircle (int16_t x, int16_t y, int16_t r, uint16_t color);
+
+        /**
+         * Sets the cursor for a text message
+         *
+         * @param x Axis on the horizontal scale
+         * @param y Axis on the vertical scale
+         */
+        void setCursor (int16_t x, int16_t y);
+
+        /**
+         * Sets a text color for a message
+         *
+         * @param textColor Font color
+         * @param textBGColor Background color
+         */
+        void setTextColor (uint16_t textColor, uint16_t textBGColor);
+
+        /**
+         * Sets the size of the font
+         *
+         * @param size Font size
+         */
+        void setTextSize (uint8_t size);
+
+        /**
+         * Wraps a printed message
+         *
+         * @param wrap True (0x1) or false (0x0)
+         */
+        void setTextWrap (uint8_t wrap);
+
+    protected:
+        int m_width; /**< Screen width */
+        int m_height; /**< Screen height */
+        int m_textSize; /**< Printed text size */
+        int m_textColor; /**< Printed text color */
+        int m_textBGColor; /**< Printed text background color */
+        int m_cursorX; /**< Cursor X coordinate */
+        int m_cursorY; /**< Cursor Y coordinate */
+        int m_wrap; /**< Wrapper flag (true or false) */
+
+        const unsigned char * m_font;
+    };
+}

src/ssd1351/javaupm_ssd1351.i

@@ -1,17 +1,25 @@
-%module javaupm_grovecircularled
+%module javaupm_ssd1351
 %include "../upm.i"
-%include "arrays_java.i";
+%include "typemaps.i"
+%include "stdint.i"
 
+%ignore m_map;
+%ignore font;
+
+%include "gfx.h"
 %{
-    #include "grovecircularled.h"
+    #include "gfx.h"
 %}
 
-%include "grovecircularled.h"
+%include "ssd1351.h"
+%{
+    #include "ssd1351.h"
+%}
 
 %pragma(java) jniclasscode=%{
     static {
         try {
-            System.loadLibrary("javaupm_grovecircularled");
+            System.loadLibrary("javaupm_ssd1351");
         } catch (UnsatisfiedLinkError e) {
             System.err.println("Native code library failed to load. \n" + e);
             System.exit(1);

src/ssd1351/jsupm_ssd1351.i

@@ -0,0 +1,12 @@
+%module jsupm_ssd1351
+%include "../upm.i"
+
+%include "gfx.h"
+%{
+    #include "gfx.h"
+%}
+
+%include "ssd1351.h"
+%{
+    #include "ssd1351.h"
+%}

src/ssd1351/pyupm_ssd1351.i

@@ -0,0 +1,17 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_ssd1351
+%include "../upm.i"
+
+%feature("autodoc", "3");
+%rename("printString") print(std::string msg);
+
+%include "gfx.h"
+%{
+    #include "gfx.h"
+%}
+
+%include "ssd1351.h"
+%{
+    #include "ssd1351.h"
+%}

src/ssd1351/ssd1351.cxx

@@ -0,0 +1,225 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Based on Adafruit SSD1351 library.
+ *
+ * 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 <iostream>
+#include <string>
+#include <stdexcept>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "ssd1351.h"
+
+using namespace upm;
+using namespace std;
+
+SSD1351::SSD1351 (uint8_t oc, uint8_t dc, uint8_t rst) :
+        GFX(SSD1351WIDTH, SSD1351HEIGHT),
+        m_spi(0), m_oc(oc), m_dc(dc), m_rst(rst) {
+
+    m_name = "SSD1351";
+    m_usemap = true;
+
+    // Setup SPI bus
+    m_spi.frequency(8 * 1000000);
+    m_spi.mode(mraa::SPI_MODE3);
+    m_spi.writeByte(0x00); // Need to bring clk high before init
+
+    // Init pins
+    if (m_oc.dir(mraa::DIR_OUT) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Could not initialize CS pin");
+        return;
+    }
+    m_oc.useMmap(true);
+    if (m_dc.dir(mraa::DIR_OUT) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Could not initialize data/cmd pin");
+        return;
+    }
+    m_dc.useMmap(true);
+    if (m_rst.dir(mraa::DIR_OUT) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Could not initialize reset pin");
+        return;
+    }
+
+    // Toggle reset pin
+    ocLow();
+    m_rst.write(1);
+    usleep(500000);
+    m_rst.write(0);
+    usleep(500000);
+    m_rst.write(1);
+    usleep(500000);
+
+    // Configure and init display
+    writeCommand(SSD1351_CMD_COMMANDLOCK);
+    writeData(0x12);
+
+    writeCommand(SSD1351_CMD_COMMANDLOCK);
+    writeData(0xB1);
+
+    writeCommand(SSD1351_CMD_DISPLAYOFF);
+
+    writeCommand(SSD1351_CMD_CLOCKDIV);
+    writeCommand(0xF1);
+
+    writeCommand(SSD1351_CMD_MUXRATIO);
+    writeData(127);
+
+    writeCommand(SSD1351_CMD_SETREMAP);
+    writeData(0x74);
+
+    writeCommand(SSD1351_CMD_SETCOLUMN);
+    writeData(0x00);
+    writeData(0x7F);
+
+    writeCommand(SSD1351_CMD_SETROW);
+    writeData(0x00);
+    writeData(0x7F);
+
+    writeCommand(SSD1351_CMD_STARTLINE);
+    if (SSD1351HEIGHT == 96) {
+        writeData(96);
+    } else {
+        writeData(0);
+    }
+
+    writeCommand(SSD1351_CMD_DISPLAYOFFSET);
+    writeData(0x0);
+
+    writeCommand(SSD1351_CMD_SETGPIO);
+    writeData(0x00);
+
+    writeCommand(SSD1351_CMD_FUNCTIONSELECT);
+    writeData(0x01);
+
+    writeCommand(SSD1351_CMD_PRECHARGE);
+    writeCommand(0x32);
+
+    writeCommand(SSD1351_CMD_VCOMH);
+    writeCommand(0x05);
+
+    writeCommand(SSD1351_CMD_NORMALDISPLAY);
+
+    writeCommand(SSD1351_CMD_CONTRASTABC);
+    writeData(0xC8);
+    writeData(0x80);
+    writeData(0xC8);
+
+    writeCommand(SSD1351_CMD_CONTRASTMASTER);
+    writeData(0x0F);
+
+    writeCommand(SSD1351_CMD_SETVSL );
+    writeData(0xA0);
+    writeData(0xB5);
+    writeData(0x55);
+
+    writeCommand(SSD1351_CMD_PRECHARGE2);
+    writeData(0x01);
+
+    writeCommand(SSD1351_CMD_DISPLAYON);
+}
+
+SSD1351::~SSD1351() {
+}
+
+void
+SSD1351::writeCommand (uint8_t value) {
+    dcLow();
+    m_spi.writeByte(value);
+}
+
+void
+SSD1351::writeData (uint8_t value) {
+    dcHigh ();
+    m_spi.writeByte(value);
+}
+
+void
+SSD1351::drawPixel(int16_t x, int16_t y, uint16_t color) {
+      if ((x < 0) || (y < 0) || (x >= SSD1351WIDTH) || (y >= SSD1351HEIGHT))
+          return;
+
+      if(m_usemap) {
+          int index = (y * SSD1351WIDTH + x) * 2;
+          m_map[index] = color >> 8;
+          m_map[index + 1] = color;
+      } else {
+          writeCommand(SSD1351_CMD_SETCOLUMN);
+          writeData(x);
+          writeData(SSD1351WIDTH-1);
+
+          writeCommand(SSD1351_CMD_SETROW);
+          writeData(y);
+          writeData(SSD1351HEIGHT-1);
+
+          writeCommand(SSD1351_CMD_WRITERAM);
+          writeData(color >> 8);
+          writeData(color);
+      }
+}
+void
+SSD1351::refresh () {
+    writeCommand(SSD1351_CMD_WRITERAM);
+    int blockSize = SSD1351HEIGHT * SSD1351WIDTH * 2 / BLOCKS;
+    dcHigh();
+    for (int block = 0; block < BLOCKS; block++) {
+        m_spi.write(&m_map[block * blockSize], blockSize);
+    }
+}
+void
+SSD1351::ocLow() {
+    if (m_oc.write(LOW) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Failed to write CS pin");
+    }
+}
+void
+SSD1351::ocHigh() {
+    if (m_oc.write(HIGH) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Failed to write CS pin");
+    }
+}
+void
+SSD1351::dcLow() {
+    if (m_dc.write(LOW) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Failed to write data/cmd pin");
+    }
+}
+void
+SSD1351::dcHigh() {
+    if (m_dc.write(HIGH) != mraa::SUCCESS) {
+        throw std::runtime_error(string(__FUNCTION__) +
+                               ": Failed to write data/cmd pin");
+    }
+}
+void
+upm::SSD1351::useMemoryMap(bool var) {
+    m_usemap = var;
+}

src/ssd1351/ssd1351.h

@@ -0,0 +1,188 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Based on Adafruit SSD1351 library.
+ *
+ * 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/common.hpp>
+#include <mraa/gpio.hpp>
+#include <mraa/spi.hpp>
+#include "gfx.h"
+
+// Display Size
+#define SSD1351WIDTH 128
+#define SSD1351HEIGHT 128  // Set this to 96 for 1.27"
+
+// SSD1351 Commands
+#define SSD1351_CMD_SETCOLUMN       0x15
+#define SSD1351_CMD_SETROW          0x75
+#define SSD1351_CMD_WRITERAM        0x5C
+#define SSD1351_CMD_READRAM         0x5D
+#define SSD1351_CMD_SETREMAP        0xA0
+#define SSD1351_CMD_STARTLINE       0xA1
+#define SSD1351_CMD_DISPLAYOFFSET   0xA2
+#define SSD1351_CMD_DISPLAYALLOFF   0xA4
+#define SSD1351_CMD_DISPLAYALLON    0xA5
+#define SSD1351_CMD_NORMALDISPLAY   0xA6
+#define SSD1351_CMD_INVERTDISPLAY   0xA7
+#define SSD1351_CMD_FUNCTIONSELECT  0xAB
+#define SSD1351_CMD_DISPLAYOFF      0xAE
+#define SSD1351_CMD_DISPLAYON       0xAF
+#define SSD1351_CMD_PRECHARGE       0xB1
+#define SSD1351_CMD_DISPLAYENHANCE  0xB2
+#define SSD1351_CMD_CLOCKDIV        0xB3
+#define SSD1351_CMD_SETVSL          0xB4
+#define SSD1351_CMD_SETGPIO         0xB5
+#define SSD1351_CMD_PRECHARGE2      0xB6
+#define SSD1351_CMD_SETGRAY         0xB8
+#define SSD1351_CMD_USELUT          0xB9
+#define SSD1351_CMD_PRECHARGELEVEL  0xBB
+#define SSD1351_CMD_VCOMH           0xBE
+#define SSD1351_CMD_CONTRASTABC     0xC1
+#define SSD1351_CMD_CONTRASTMASTER  0xC7
+#define SSD1351_CMD_MUXRATIO        0xCA
+#define SSD1351_CMD_COMMANDLOCK     0xFD
+#define SSD1351_CMD_HORIZSCROLL     0x96
+#define SSD1351_CMD_STOPSCROLL      0x9E
+#define SSD1351_CMD_STARTSCROLL     0x9F
+
+#define HIGH                1
+#define LOW                 0
+
+// Number of blocks for SPI transfer of buffer
+#define BLOCKS              8
+
+namespace upm {
+/**
+ * @brief SSD1351 OLED library
+ * @defgroup ssd1351 libupm-ssd1351
+ * @ingroup adafruit spi display
+ */
+/**
+ * @library ssd1351
+ * @sensor ssd1351
+ * @comname SSD1351 OLED
+ * @type display
+ * @man adafruit
+ * @web http://www.adafruit.com/products/1431
+ * @con spi
+ *
+ * @brief API for SSD1351 OLED displays
+ *
+ * This module defines the interface for the SSD1351 display library
+ *
+ * @image html ssd1351.jpg
+ * @snippet ssd1351.cxx Interesting
+ */
+class SSD1351 : public GFX{
+    public:
+        /**
+         * Instantiates an SSD1351 object
+         *
+         * @param oc LCD chip select pin
+         * @param dc Data/command pin
+         * @param rst Reset pin
+         */
+        SSD1351 (uint8_t oc, uint8_t dc, uint8_t rst);
+
+        /**
+         * SSD1351 object destructor
+         */
+        ~SSD1351();
+
+        /**
+         * Returns the name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+        /**
+         * Sends a command to an SPI bus
+         *
+         * @param value Command
+         */
+        void writeCommand (uint8_t value);
+
+        /**
+         * Sends data to an SPI bus
+         *
+         * @param value Data
+         */
+        void writeData (uint8_t value);
+        /**
+         * Sends a pixel color (RGB) to the display buffer or chip
+         *
+         * @param x Axis on the horizontal scale
+         * @param y Axis on the vertical scale
+         * @param color RGB (16-bit) color (R[0-4], G[5-10], B[11-15])
+         */
+        void drawPixel (int16_t x, int16_t y, uint16_t color);
+
+        /**
+         * Copies the buffer to the chip via the SPI bus
+         */
+        void refresh ();
+
+        /**
+         * Set OLED chip select LOW
+         */
+        void ocLow ();
+
+        /**
+         * Set OLED chip select HIGH
+         */
+        void ocHigh ();
+
+        /**
+         * Data select LOW
+         */
+        void dcLow ();
+
+        /**
+         * Data select HIGH
+         */
+        void dcHigh ();
+
+        /**
+         * Use memory mapped (buffered) writes to the display
+         *
+         * @param var true for yes (default), false for no
+         */
+        void useMemoryMap (bool var);
+    private:
+        mraa::Spi       m_spi;
+        uint8_t         m_map[SSD1351HEIGHT * SSD1351WIDTH * 2]; /**< Screen buffer */
+        bool            m_usemap;
+
+        mraa::Gpio      m_oc;
+        mraa::Gpio      m_dc;
+        mraa::Gpio      m_rst;
+
+        std::string     m_name;
+};
+}

src/urm37/urm37.h

@@ -74,6 +74,7 @@ namespace upm {
      *
      * (https://www.dfrobot.com/wiki/index.php?title=URM37_V4.0_Ultrasonic_Sensor_%28SKU:SEN0001%29)
      *
+     * @image html urm37.jpg
      * An example using analog mode
      * @snippet urm37.cxx Interesting
      * An example using UART mode

src/wheelencoder/wheelencoder.h

@@ -59,6 +59,7 @@ namespace upm {
    * correlate the number of counts to a time period for calculating
    * an RPM or other value as needed.
    *
+   * @image html wheelencoder.jpg
    * @snippet wheelencoder.cxx Interesting
    */
   class WheelEncoder {

src/xbee/xbee.h

@@ -70,6 +70,11 @@ namespace upm {
      * windows software, however it is possible of course to configure
      * them manually using AT commands.  See the examples.
      *
+     * @image html xbee.jpg
+     * <br><em>XBee Sensor image provided by SparkFun* under
+     * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+     * CC BY-NC-SA-3.0</a>.</em>
+     *
      * @snippet xbee.cxx Interesting
      */