upm: version 0.6.0

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

.travis.yml

@@ -1,21 +1,38 @@
 language: cpp
-compiler:
+env:
-  - gcc
+  - CC=gcc CXX=gcc
-  - clang
+  - CC=clang CXX=clang++
+  - NODE4=true
+  - NODE5=true
+  - NODE012=true
 install:
-  - sudo add-apt-repository --yes ppa:kalakris/cmake
   - sudo add-apt-repository --yes ppa:fenics-packages/fenics-exp/swig
   - sudo apt-get update -qq
-  - sudo apt-get install -y -qq swig3.0 python git cmake
+  - sudo apt-get install -y -qq swig3.0 git
   - 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
+  - git clone https://github.com/intel-iot-devkit/mraa.git
-  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DENABLEEXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=. -DNODE_ROOT_DIR:PATH=/home/travis/.nvm/v0.10.36/include .. && make && make install
+  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$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
+      - george-edison55-precise-backports
+    packages:
+      - clang-3.6
+      - g++-4.8
+      - cmake
+      - cmake-data

CMakeLists.txt

@@ -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 "v0.5.1-dirty")
+  set (VERSION "v0.6.0-dirty")
 endif ()
 
 message (INFO " - UPM Version ${VERSION}")
@@ -51,13 +51,15 @@ 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)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
 option (IPK "Generate IPK using CPack" OFF)
 option (RPM "Generate RPM using CPack" OFF)
-option (BUILDTESTS "Generate check-ups for upm" OFF)
+option (BUILDTESTS "Generate check-ups for upm" ON)
+option (ENABLECXX11 "Enable C++11 standards support" ON)
 
 # Find swig
 if (BUILDSWIG)
@@ -76,6 +78,27 @@ include (TargetArch)
 target_architecture (DETECTED_ARCH)
 message( INFO " - Target arch is ${DETECTED_ARCH}")
 
+# enable c++11 standards support
+if (ENABLECXX11)
+  include(CheckCXXCompilerFlag)
+  if (CMAKE_VERSION VERSION_LESS "3.1")
+    CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+    CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+    if (COMPILER_SUPPORTS_CXX11)
+      set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+    elseif (COMPILER_SUPPORTS_CXX0X)
+      set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+    else()
+      message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please update your C++ compiler.")
+    endif()
+  else()
+    # 3.1+ uses this generic method to enable c++11
+    set (CMAKE_CXX_STANDARD 11)
+  endif()
+else()
+  message(WARNING "Some modules require C++11 support, and may not build without it.")
+endif()
+
 if (BUILDDOC)
   # Add a target to generate API documentation with Doxygen
   find_package (Doxygen)
@@ -99,7 +122,7 @@ if (BUILDDOC)
   find_package (Sphinx)
   if(SPHINX_FOUND AND BUILDSWIG AND BUILDSWIGPYTHON)
     # Python required for Sphinx build
-    find_package (PythonLibs)
+    find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
     string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
     list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
     list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
@@ -156,7 +179,7 @@ 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
@@ -182,10 +205,9 @@ if (RPM)
   message (INFO " - RPM packaging enabled for ${DETECTED_ARCH}")
   set(CPACK_PACKAGE_VERSION ${VERSION})
   set(CPACK_GENERATOR "RPM")
-  set(CPACK_PACKAGE_NAME "libupm${upm_VERSION_MAJOR}")
+  set(CPACK_PACKAGE_NAME "upm")
-  set(CPACK_PACKAGE_RELEASE 1)
   set(CPACK_PACKAGE_VERSION
-      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}-${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
+      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}.${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
   set(CPACK_PACKAGE_CONTACT "Intel IoT-Devkit")
   set(CPACK_PACKAGE_VENDOR "Intel IoT-Devkit")
   set(CPACK_RPM_PACKAGE_REQUIRES "mraa >= ${MRAA_VERSION}")
@@ -196,7 +218,7 @@ if (RPM)
     COMMAND tr \\n \\t
     COMMAND sed  -e s/\\t//
     OUTPUT_VARIABLE DIST_TAG)
-  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_PACKAGE_RELEASE}.${DIST_TAG}.${DETECTED_ARCH}")
+  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}.${DIST_TAG}.${DETECTED_ARCH}")
   include(CPack)
 endif()
 
@@ -210,10 +232,16 @@ if(BUILDJAVAEXAMPLES)
   add_subdirectory (examples/java)
 endif()
 
-if(BUILDTESTS)
+if (BUILDSWIGPYTHON OR BUILDTESTS)
-    find_package (PythonInterp REQUIRED)
+  if (BUILDPYTHON3)
-    if (${PYTHONINTERP_FOUND})
+    set (PYTHONBUILD_VERSION 3)
+  else ()
+    set (PYTHONBUILD_VERSION 2.7)
+  endif ()
+endif ()
+
+if (BUILDTESTS)
+  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
   enable_testing ()
   add_subdirectory (tests)
-    endif ()
 endif()

README.md

@@ -12,6 +12,19 @@ to provide identification/pin location on the board.
 Typically an update() function will be called in order to get new data from the
 sensor in order to reduce load when doing multiple reads to sensor data.
 
+Although implementation and API design is up to the developer, C++ interfaces have
+been defined for the following sensor/actuator types and developers are encouraged to
+implement them. Interface header files are in the src/upm folder.
+
+* Light controller 
+* Light sensor
+* Temperature sensor
+* Humidity sensor
+* Pressure sensor
+* Analog to digital converter
+
+Feedback on interface design and additions for new types are welcome
+
 ### Example
 
 A sensor/actuator is expected to work as such (here is the MMA7660 accelerometer API):
@@ -51,10 +64,6 @@ A sensor/actuator is expected to work as such (here is the MMA7660 accelerometer
     }
 ```
 
-However implementation and API design is completely up to the developer, some
-enumerable sensors for example may provide much clever instantiation. Displays
-may also create more complex structures in order to interface with them.
-
 Browse through the list of all [examples](https://github.com/intel-iot-devkit/upm/tree/master/examples).
 
 Multi-sensor samples for the starter and specialized kits can be found in the
@@ -81,7 +90,7 @@ See building documentation [here](docs/building.md).
 
 Porting [link](docs/porting.md) has more information on making new UPM modules.
 
-There is also an example available for max31855 [sensor](docs/max31855.md).
+There is also an example available gfor max31855 [sensor](docs/max31855.md).
 
 Guide on creating Java [bindings](docs/creating_java_bindings.md).
 

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"
+# If compat-libuv package exists, it must be at start of include path
-  PATHS /usr/include/nodejs /usr/local/include/nodejs)
+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
+# Now look for node. Flag an error if not found
-  ${NODE_ROOT_DIR}/src
+find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h"
-  ${NODE_ROOT_DIR}/node
+  PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
-  ${NODE_ROOT_DIR}/deps/v8/include
+if (NODE_ROOT_DIR)
-  ${NODE_ROOT_DIR}/deps/uv/include
+  add_include_dir(${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
+if (NODEJS_EXECUTABLE)
-    NODE_EXECUTABLE
+    execute_process(COMMAND ${NODEJS_EXECUTABLE} --version
-    NODE_INCLUDE_DIRS
-)
-
-if (NODE_EXECUTABLE)
-    execute_process(COMMAND ${NODE_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

@@ -4,6 +4,19 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v0.6.0
+
+ * Introduced C++ Interfaces for several sensor categories that will help
+ consolidate the sensor APIs with uniform function names upon implementation
+ * Greatly improved Node.js detection and handling during build and install,
+ and should be now compatible with all major versions
+ * Added a driver for the Curie IMU (accelerometer + gyroscope) that works with
+ the new Firmata support implemented by MRAA
+ * Continued to provide several JAVA fixes and examples
+ * Many new industrial and maker sensors: cwlsxxa, teams, tex00, h803x, apa102,
+ smartdrive, bmi160, bme280, ds1808lc, hlg150, lp8860, max44009, si1132, t6713,
+ si7005, ssd1351
+
 ### v0.5.1
 
  * Updated the API and added new functionality for the MY9221 class and derived

doxy/Doxyfile.in

@@ -859,7 +859,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       =
+EXCLUDE_PATTERNS       = bosch_*
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the

doxy/samples.mapping.txt

@@ -48,7 +48,7 @@ mpu9150.cxx	MPU9150Sample.java
 mq2.cxx	MQ2Sample.java
 mq303a.cxx	MQ303ASample.java
 mq5.cxx	MQ5Sample.java
-my9221-ledbar.cxx	MY9221_ledbarSample.java
+groveledbar	GroveLEDBar
 nrf24l01-receiver.cxx	NRF24L01_receiverSample.java
 nrf24l01-transmitter.cxx	NRF24L01_transmitterSample.java
 nunchuck.cxx	NUNCHUCKSample.java

examples/c++/CMakeLists.txt

@@ -234,11 +234,30 @@ if (MODBUS_FOUND)
   include_directories(${MODBUS_INCLUDE_DIRS})
   add_example (t3311)
   add_example (hwxpxx)
+  add_example (h803x)
 endif()
 add_example (hdxxvxta)
 add_example (rhusb)
 add_example (apds9930)
 add_example (kxcjk1013)
+add_example (ssd1351)
+add_example (bme280)
+add_example (ds1808lc)
+add_example (hlg150h)
+add_example (lp8860)
+add_example (max44009)
+add_example (si1132)
+add_example (si7005)
+add_example (t6713)
+add_example (cwlsxxa)
+add_example (teams)
+add_example (apa102)
+add_example (tex00)
+add_example (bmi160)
+add_example (smartdrive)
+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)
@@ -257,3 +276,10 @@ 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)
+add_custom_example (temperature-sensor-example temperature-sensor.cxx "si7005;bmp180;bme280")
+add_custom_example (humidity-sensor-example humidity-sensor.cxx "si7005;bme280")
+add_custom_example (pressure-sensor-example pressure-sensor.cxx "bmp180;bme280")
+add_custom_example (co2-sensor-example co2-sensor.cxx "t6713")
+add_custom_example (adc-example adc-sensor.cxx "ads1x15")
+add_custom_example (light-sensor-example light-sensor.cxx "si1132;max44009")
+add_custom_example (light-controller-example light-controller.cxx "lp8860;ds1808lc;hlg150h")

examples/c++/adc-sensor.cxx

@@ -0,0 +1,80 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "ads1015.h"
+#include "mraa/gpio.hpp"
+
+#define EDISON_I2C_BUS 1
+#define FT4222_I2C_BUS 0
+#define EDISON_GPIO_SI7005_CS 20
+
+
+//! [Interesting]
+// Simple example of using IADC to determine
+// which sensor is present and return its name.
+// IADC is then used to get readings from sensor
+
+
+upm::IADC* getADC()
+{
+   upm::IADC* adc = NULL;
+   try {
+      adc = new upm::ADS1015(EDISON_I2C_BUS);
+      mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
+      gpio.dir(mraa::DIR_OUT_HIGH);
+      return adc;
+   } catch (std::exception& e) {
+      std::cerr << "ADS1015: " << e.what() << std::endl;
+   }
+   return adc;
+}
+
+int main ()
+{
+   upm::IADC* adc = getADC();
+   if (adc == NULL) {
+      std::cout << "ADC not detected" << std::endl;
+      return 1;
+   }
+   std::cout << "ADC " << adc->getModuleName() << " detected. " ;
+   std::cout << adc->getNumInputs() << " inputs available" << std::endl;
+   while (true) {
+      for (unsigned int i=0; i<adc->getNumInputs(); ++i) {
+         std::cout << "Input " << i;
+         try {
+            float voltage = adc->getVoltage(i);
+            std::cout << ": Voltage = " << voltage << "V" << std::endl;
+         } catch (std::exception& e) {
+            std::cerr << e.what() << std::endl;
+         }
+      }
+      sleep(1);
+   }
+   delete adc;
+   return 0;
+}
+
+//! [Interesting]

examples/c++/apa102.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * 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 "apa102.h"
+#include <iostream>
+#include <signal.h>
+#include <unistd.h>
+
+using namespace std;
+
+int
+main(int argc, char** argv)
+{
+    //! [Interesting]
+    // Instantiate a strip of 30 LEDs on SPI bus 0
+    upm::APA102* ledStrip = new upm::APA102(800, 0);
+
+    // Set all LEDs to Red
+    ledStrip->setAllLeds(31, 255, 0, 0);
+
+    // Set a section (10 to 20) to blue
+    ledStrip->setLeds(10, 20, 31, 0, 0, 255);
+
+    // Set a single LED to green
+    ledStrip->setLed(15, 31, 0, 255, 0);
+
+    delete ledStrip;
+    //! [Interesting]
+    return 0;
+}

examples/c++/bme280.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "bme280.h"
+
+#define FT4222_I2C_BUS 0
+
+int main ()
+{
+   try {
+      upm::BME280* bme280 = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         int temperature = bme280->getTemperatureCelcius();
+         int humidity = bme280->getHumidityRelative();
+         int pressure = bme280->getPressurePa();
+         std::cout << "Temperature = " << temperature << "C" << std::endl;
+         std::cout << "Humidity    = " << humidity << "%" << std::endl;
+         std::cout << "Pressure    = " << pressure << "Pa" << std::endl;
+         sleep(1);
+      }
+      delete bme280;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+   }
+   return 0;
+}
+
+//! [Interesting]

examples/c++/bmi160.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmi160.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate a BMI160 instance using default i2c bus and address
+  upm::BMI160 *sensor = new upm::BMI160();
+
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      float dataX, dataY, dataZ;
+
+      sensor->getAccelerometer(&dataX, &dataY, &dataZ);
+      cout << "Accelerometer: ";
+      cout << "AX: " << dataX << " AY: " << dataY << " AZ: "
+           << dataZ << endl;
+
+      sensor->getGyroscope(&dataX, &dataY, &dataZ);
+      cout << "Gryoscope:     ";
+      cout << "GX: " << dataX << " GY: " << dataY << " GZ: "
+           << dataZ << endl;
+
+      sensor->getMagnetometer(&dataX, &dataY, &dataZ);
+      cout << "Magnetometer:  ";
+      cout << "MX: " << dataX << " MY: " << dataY << " MZ: "
+           << dataZ << endl;
+
+      cout << endl;
+
+      usleep(500000);
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/co2-sensor.cxx

@@ -0,0 +1,71 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "t6713.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ICO2Sensor to determine 
+// which sensor is present and return its name.
+// ICO2Sensor is then used to get readings from sensor
+
+
+upm::ICO2Sensor* getCO2Sensor()
+{
+   upm::ICO2Sensor* cO2Sensor = NULL;
+   try {
+      cO2Sensor = new upm::T6713(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      return cO2Sensor;
+   } catch (std::exception& e) {
+      std::cerr << "T6713: " << e.what() << std::endl;      
+   }
+   return cO2Sensor;   
+}
+
+int main ()
+{
+   upm::ICO2Sensor* cO2Sensor = getCO2Sensor();
+   if (cO2Sensor == NULL) {
+      std::cout << "CO2 sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "CO2 sensor " << cO2Sensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         uint16_t value = cO2Sensor->getPpm();
+         std::cout << "CO2 level = " << value << " ppm" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete cO2Sensor;
+   return 0;
+}
+
+//! [Interesting]      

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++/cwlsxxa.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "cwlsxxa.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+  // humidity and A2 for temperature
+  upm::CWLSXXA *sensor = new upm::CWLSXXA(0, 1, 2);
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << "Humidity: " << sensor->getHumidity()
+           << " %" << endl;
+
+      cout << "CO2: " << sensor->getCO2()
+           << " ppm" << endl;
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/ds1808lc.cxx

@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "ds1808lc.h"
+
+#define EDISON_I2C_BUS 1            // Edison I2C-1
+#define DS1808_GPIO_PWR 15          // Edison GP165
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::ILightController* lightController;
+
+   try {
+      lightController = new upm::DS1808LC(DS1808_GPIO_PWR, EDISON_I2C_BUS);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   delete lightController;
+   return status;
+}
+
+

examples/c++/h803x.cxx

@@ -0,0 +1,149 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "h803x.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  string defaultDev = "/dev/ttyUSB0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an H803X instance, using MODBUS slave address 1, and
+  // default comm parameters (9600, 8, N, 2)
+  upm::H803X *sensor = new upm::H803X(defaultDev, 1);
+
+  // output the Slave ID string
+  cout << "Slave ID: " << sensor->getSlaveID() << endl;
+  cout << endl;
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // H8035 / H8036
+      cout << "Consumption (kWh): " << sensor->getConsumption() << endl;
+      cout << "Real Power (kW): " << sensor->getRealPower() << endl;
+
+      if (sensor->isH8036())
+        {
+          // The H8036 has much more data available...
+
+          cout << "Reactive Power (kVAR): " << sensor->getReactivePower() 
+               << endl;
+          cout << "Apparent Power (kVA): " << sensor->getApparentPower() 
+               << endl;
+          cout << "Power Factor: " << sensor->getPowerFactor() 
+               << endl;
+          cout << "Volts Line to Line: " << sensor->getVoltsLineToLine() 
+               << endl;
+          cout << "Volts Line to Neutral: " << sensor->getVoltsLineToNeutral() 
+               << endl;
+
+          cout << "Current: " << sensor->getCurrent() 
+               << endl;
+
+          cout << "Real Power Phase A (kW): " << sensor->getRealPowerPhaseA() 
+               << endl;
+          cout << "Real Power Phase B (kW): " << sensor->getRealPowerPhaseB() 
+               << endl;
+          cout << "Real Power Phase C (kW): " << sensor->getRealPowerPhaseC() 
+               << endl;
+
+          cout << "Power Factor Phase A: " << sensor->getPowerFactorPhaseA() 
+               << endl;
+          cout << "Power Factor Phase B: " << sensor->getPowerFactorPhaseB() 
+               << endl;
+          cout << "Power Factor Phase C: " << sensor->getPowerFactorPhaseC() 
+               << endl;
+
+          cout << "Volts Phase A to B: " << sensor->getVoltsPhaseAToB() 
+               << endl;
+          cout << "Volts Phase B to C: " << sensor->getVoltsPhaseBToC() 
+               << endl;
+          cout << "Volts Phase A to C: " << sensor->getVoltsPhaseAToC() 
+               << endl;
+          cout << "Volts Phase A to Neutral: "
+               << sensor->getVoltsPhaseAToNeutral() 
+               << endl;
+          cout << "Volts Phase B to Neutral: "
+               << sensor->getVoltsPhaseBToNeutral() 
+               << endl;
+          cout << "Volts Phase C to Neutral: "
+               << sensor->getVoltsPhaseCToNeutral() 
+               << endl;
+
+          cout << "Current Phase A: " << sensor->getCurrentPhaseA() 
+               << endl;
+          cout << "Current Phase B: " << sensor->getCurrentPhaseB() 
+               << endl;
+          cout << "Current Phase C: " << sensor->getCurrentPhaseC() 
+               << endl;
+
+          cout << "Avg Real Power (kW): " << sensor->getAvgRealPower() 
+               << endl;
+          cout << "Min Real Power (kW): " << sensor->getMinRealPower() 
+               << endl;
+          cout << "Max Real Power (kW): " << sensor->getMaxRealPower() 
+               << endl;
+        }
+
+      cout << endl;
+
+      sleep(2);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/hlg150h.cxx

@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "hlg150h.h"
+
+#define HLG150H_GPIO_RELAY 21
+#define HLG150H_GPIO_PWM 22
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::ILightController* lightController;
+
+   try {
+      lightController = new upm::HLG150H(HLG150H_GPIO_RELAY, HLG150H_GPIO_PWM);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+      delete lightController;
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   return status;
+}
+
+

examples/c++/humidity-sensor.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+#include "bme280.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+ #define EDISON_GPIO_SI7005_CS 20
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::IHumiditySensor* getHumiditySensor()
+{
+   upm::IHumiditySensor* humiditySensor = NULL;
+   try {
+	humiditySensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return humiditySensor ;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+   try {
+      humiditySensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      return humiditySensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI7005: " << e.what() << std::endl;      
+   }
+   return humiditySensor;   
+}
+
+int main ()
+{
+   upm::IHumiditySensor* humiditySensor = getHumiditySensor();
+   if (humiditySensor == NULL) {
+      std::cout << "Humidity sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Humidity sensor " << humiditySensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = humiditySensor->getHumidityRelative();
+         std::cout << "Humidity = " << value << "%" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete humiditySensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/light-controller.cxx

@@ -0,0 +1,98 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "lp8860.h"
+#include "ds1808lc.h"
+#include "hlg150h.h"
+
+#define EDISON_I2C_BUS 1   // Edison I2C-1
+#define GPIO_SI7005_CS 20 // Edison GP12
+#define HLG150H_GPIO_RELAY 21
+#define HLG150H_GPIO_PWM 22
+#define LP8860_GPIO_PWR 45 // Edison GP45
+#define DS1808_GPIO_PWR 15 // Edison GP165
+#define DS1808_GPIO_EDISON_LIVE 36 // Edison GP14
+
+//! [Interesting]
+// Simple example of using ILightController to determine 
+// which controller is present and return its name.
+// ILightController is then used to get readings from sensor
+
+upm::ILightController* getLightController()
+{
+   upm::ILightController* lightController = NULL;
+   try {
+      lightController = new upm::LP8860(LP8860_GPIO_PWR, EDISON_I2C_BUS);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "LP8860: " << e.what() << std::endl;      
+   }
+   try {
+      lightController = new upm::DS1808LC(DS1808_GPIO_PWR, EDISON_I2C_BUS);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "DS1808LC: " << e.what() << std::endl;      
+   }
+   try {
+      lightController = new upm::HLG150H(HLG150H_GPIO_RELAY, HLG150H_GPIO_PWM);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "HLG150H: " << e.what() << std::endl;      
+   }
+   return lightController;   
+}
+
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   // MraaUtils::setGpio(GPIO_SI7005_CS, 1);
+
+   upm::ILightController *lightController = getLightController();
+   if (lightController != NULL)
+   {
+      std::cout << "Detected light controller " << lightController->getModuleName() << std::endl;      
+   }
+   else
+   {
+      std::cerr << "Error. Unsupported platform." << std::endl;
+      return 1;
+   }
+
+   try {
+      std::cout <<  "Existing state: "; printState(lightController);      
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();         
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();                  
+      }
+      std::cout <<  "Now: ";printState(lightController);
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl; 
+      status = 1;  
+   }
+
+   delete lightController;
+   return status;
+}
+
+

examples/c++/light-sensor.cxx

@@ -0,0 +1,78 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "max44009.h"
+#include "si1132.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::ILightSensor* getLightSensor()
+{
+   upm::ILightSensor* lightSensor = NULL;
+   try {
+      lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      return lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI1132: " << e.what() << std::endl;      
+   }
+   try {
+      lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+      return lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << "MAX44009: " << e.what() << std::endl;      
+   }
+   return lightSensor;   
+}
+
+int main ()
+{
+   upm::ILightSensor* lightSensor = getLightSensor();
+   if (lightSensor == NULL) {
+      std::cout << "Light sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Light sensor " << lightSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete lightSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/lp8860.cxx

@@ -0,0 +1,52 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "lp8860.h"
+
+#define EDISON_I2C_BUS 1   // Edison I2C-1
+#define LP8860_GPIO_PWR 45 // Edison GP45
+
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::LP8860* lightController;
+
+   try {
+      lightController = new upm::LP8860(LP8860_GPIO_PWR, EDISON_I2C_BUS);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+      delete lightController;
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   return status;
+}
+
+

examples/c++/max44009.cxx

@@ -0,0 +1,46 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "max44009.h"
+
+#define EDISON_I2C_BUS 1
+
+int main ()
+{
+   try {
+      upm::MAX44009* lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+      while (true) {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+         sleep(1);
+      }
+      delete lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}

examples/c++/pressure-sensor.cxx

@@ -0,0 +1,81 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "bmp180.h"
+#include "bme280.h"
+
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::IPressureSensor* getPressureSensor()
+{
+   upm::IPressureSensor* pressureSensor = NULL;
+   try {
+	pressureSensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return pressureSensor ;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+   try {
+      pressureSensor = new upm::BMP180(EDISON_I2C_BUS);
+      return pressureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "BMP180: " << e.what() << std::endl;      
+   }
+   return pressureSensor;   
+}
+
+int main ()
+{
+   upm::IPressureSensor* pressureSensor = getPressureSensor();
+   if (pressureSensor == NULL) {
+      std::cout << "Pressure sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Pressure sensor " << pressureSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = pressureSensor->getPressurePa();
+         std::cout << "Pressure = " << value << " Pa" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete pressureSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/si1132.cxx

@@ -0,0 +1,46 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si1132.h"
+
+#define FT4222_I2C_BUS 1
+
+int main ()
+{
+   try {
+      upm::SI1132* lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+         sleep(1);
+      }
+      delete lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}

examples/c++/si7005.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+
+#define EDISON_I2C_BUS 1
+#define EDISON_GPIO_SI7005_CS 20
+
+
+int main ()
+{
+   try {
+      upm::SI7005* sensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      while (true) {
+         int temperature = sensor->getTemperatureCelcius();
+         int humidity = sensor->getHumidityRelative();
+         std::cout << "Temperature = " << temperature << "C" << std::endl;
+         std::cout << "Humidity    = " << humidity << "%" << std::endl;
+         sleep(1);
+      }
+      delete sensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+   }
+   return 0;
+}
+
+//! [Interesting]

examples/c++/smartdrive.cxx

@@ -0,0 +1,75 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Author: Oussema Harbi <oussema.elharbi@gmail.com>
+ * Copyright (c) <2016> <Oussema Harbi>
+ *
+ * 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 "smartdrive.h"
+#include <signal.h>
+
+upm::SmartDrive *drive = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        if (drive != NULL)
+            delete drive;
+        exit (0);
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+    float voltage = 0;
+
+    std::cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << std::endl;
+    sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
+    
+    //! [Interesting]
+    // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
+    drive = new upm::SmartDrive(0);
+
+    std::cout << "Battery Voltage before motor run : " << drive->GetBattVoltage() << std::endl;
+    //Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to finish and then Brake It
+    drive->Run_Seconds(SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
+    std::cout << "Battery Voltage after motor run : " << drive->GetBattVoltage() << std::endl;
+    //Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return immediately from function call
+    drive->Run_Degrees(SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
+    //While motor is running, Display its status
+    drive->PrintMotorStatus(SmartDrive_Motor_ID_2);
+    sleep(2); //Sleep for 2 seconds
+    //Stop motor M2 and then finish program
+    drive->StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
+    //! [Interesting]
+
+    std::cout << "Demo complete. GoodBye" << std::endl;
+
+    delete drive;
+    drive = NULL;
+
+    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/c++/t6713.cxx

@@ -0,0 +1,48 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "t6713.h"
+
+#define FT4222_I2C_BUS 0
+
+int main ()
+{
+
+   try {
+      upm::T6713* cO2Sensor = new upm::T6713(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         uint16_t value = cO2Sensor->getPpm();
+         std::cout << "CO2 level = " << value << " ppm" << std::endl;
+         sleep(1);
+      }
+      delete cO2Sensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}
+

examples/c++/teams.cxx

@@ -0,0 +1,84 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "teams.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an TEAMS instance, using A0 for temperature, and
+  // 165.0 ohms for the rResistor value (for the libelium 4-20ma
+  // interface)
+  upm::TEAMS *sensor = new upm::TEAMS(0, 165.0);
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // is the sensor connected? (current >= 4ma)
+      cout << "Is Connected: " << sensor->isConnected() << endl;
+
+      // print computed current on the loop.  This includes the offset,
+      // if one was set by setOffsetMilliamps().
+      cout << "Milliamps: " << sensor->getRawMilliamps() << endl;
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/temperature-sensor.cxx

@@ -0,0 +1,90 @@
+/*
+ * Author: Henry Bruce <henry.bruce@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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+#include "bmp180.h"
+#include "bme280.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+ #define EDISON_GPIO_SI7005_CS 20
+
+//! [Interesting]
+// Simple example of using ITemperatureSensor to determine 
+// which sensor is present and return its name.
+// ITemperatureSensor is then used to get readings from sensor
+
+
+upm::ITemperatureSensor* getTemperatureSensor()
+{
+   upm::ITemperatureSensor* temperatureSensor = NULL;
+   try {
+	temperatureSensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return temperatureSensor;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+
+   try {
+      temperatureSensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      return temperatureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI7005: " << e.what() << std::endl;      
+   }
+   try {
+      temperatureSensor = new upm::BMP180(EDISON_I2C_BUS);
+      return temperatureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "BMP180: " << e.what() << std::endl;      
+   }
+   return temperatureSensor;   
+}
+
+int main ()
+{
+   upm::ITemperatureSensor* temperatureSensor = getTemperatureSensor();
+   if (temperatureSensor == NULL) {
+      std::cout << "Temperature sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Temperature sensor " << temperatureSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = temperatureSensor->getTemperatureCelcius();
+         std::cout << "Temperature = " << value << "C" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete temperatureSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/tex00.cxx

@@ -0,0 +1,91 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "tex00.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an TEX00 instance, using A0 for the analog input.  In
+  // this example, we are using a 10K Ohm balance resistor and a TED
+  // (10k type 2) thermistor.
+  upm::TEX00 *sensor = new upm::TEX00(0, 10000, 
+                                      upm::TEX00::STYPE_THERMISTOR_TED);
+
+  cout << "Minimum temperature: " << sensor->getTemperatureRangeMin() 
+       << " C" << endl;
+  cout << "Maximum temperature: " << sensor->getTemperatureRangeMax() 
+       << " C" << endl;
+  cout << endl;
+  
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      if (sensor->isOutOfRange())
+        {
+          cout << "Temperature out of range" << endl;
+        }
+      else
+        {
+          // we show both C and F for temperature
+          cout << "Temperature: " << sensor->getTemperature()
+               << " C / " << sensor->getTemperature(true) << " F"
+               << endl;
+        }
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/java/APA102Sample.java

@@ -0,0 +1,44 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * 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 APA102Sample {
+
+  public static void main(String[] args) throws InterruptedException {
+    // ! [Interesting]
+    // Instantiate a strip of 30 LEDs on SPI bus 0
+    upm_apa102.APA102 ledStrip =
+        new upm_apa102.APA102(30, (short)0, false, (byte)-1);
+
+    System.out.println("Set all LEDs to blue");
+    ledStrip.setAllLeds((short)31, (short)0, (short)0, (short)255);
+
+    System.out.println("Set LEDs between 10 and 20 to green");
+    ledStrip.setLeds(10, 20, (short)31, (short)0, (short)255, (short)0);
+
+    System.out.println("Set a single LED to red at index 15");
+    ledStrip.setLed(15, (short)31, (short)255, (short)0, (short)0);
+
+    // ! [Interesting]
+  }
+}

examples/java/Ad8232Example.java

@@ -0,0 +1,50 @@
+/*
+* 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 {
+
+	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/BMI160_Example.java

@@ -0,0 +1,78 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_bmi160.BMI160;
+
+public class BMI160_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate a BMI160 instance using default i2c bus and address
+        BMI160 sensor = new BMI160();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float dataA[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer: "
+                                   + "AX: "
+                                   + dataA[0]
+                                   + " AY: "
+                                   + dataA[1]
+                                   + " AZ: "
+                                   + dataA[2]);
+
+                float dataG[] = sensor.getGyroscope();
+
+                System.out.println("Gryoscope:     "
+                                   + "GX: "
+                                   + dataG[0]
+                                   + " GY: "
+                                   + dataG[1]
+                                   + " GZ: "
+                                   + dataG[2]);
+
+                float dataM[] = sensor.getMagnetometer();
+
+                System.out.println("Magnetometer:  "
+                                   + "MX: "
+                                   + dataM[0]
+                                   + " MY: "
+                                   + dataM[1]
+                                   + " MZ: "
+                                   + dataM[2]);
+
+                System.out.println();
+                Thread.sleep(500);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/CMakeLists.txt

@@ -101,7 +101,18 @@ 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(CWLSXXA_Example cwlsxxa)
+add_example(TEAMS_Example teams)
+add_example(APA102Sample apa102)
+add_example(TEX00_Example tex00)
+add_example(BMI160_Example bmi160)
+if (MODBUS_FOUND)
+  add_example(H803X_Example h803x)
+endif()
 
 add_example_with_path(Jhd1313m1_lcdSample lcd/upm_i2clcd.jar)
 add_example_with_path(Jhd1313m1Sample lcd/upm_i2clcd.jar)

examples/java/CWLSXXA_Example.java

@@ -0,0 +1,62 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_cwlsxxa.CWLSXXA;
+
+public class CWLSXXA_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+        // humidity and A2 for temperature
+        CWLSXXA sensor = new CWLSXXA(0, 1, 2);
+        
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: " 
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println("Humidity: "
+                                   + sensor.getHumidity()
+                                   + " %");
+
+                System.out.println("CO2: "
+                                   + sensor.getCO2()
+                                   + " ppm");
+                
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

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/H803X_Example.java

@@ -0,0 +1,123 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_h803x.H803X;
+
+public class H803X_Example 
+{
+    private static String defaultDev = "/dev/ttyUSB0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        if (args.length > 0)
+            defaultDev = args[0];
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an H803X instance, using MODBUS slave address 1, and
+        // default comm parameters (9600, 8, N, 2)
+        H803X sensor = new H803X(defaultDev, 1);
+        
+        // output the Slave ID (manufacturer, model, serno)
+        System.out.println("Slave ID: " + sensor.getSlaveID());
+        System.out.println();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // H8035 / H8036
+                System.out.println("Consumption (kWh): " 
+                                   + sensor.getConsumption());
+                System.out.println("Real Power (kW): " 
+                                   + sensor.getRealPower());
+
+                if (sensor.isH8036())
+                    {
+                        // The H8036 has much more data available...
+                        
+                        System.out.println("Reactive Power (kVAR): "
+                                           + sensor.getReactivePower());
+                        System.out.println("Apparent Power (kVA): "
+                                           + sensor.getApparentPower());
+                        System.out.println("Power Factor: "
+                                           + sensor.getPowerFactor());
+                        System.out.println("Volts Line to Line: "
+                                           + sensor.getVoltsLineToLine());
+                        System.out.println("Volts Line to Neutral: "
+                                           + sensor.getVoltsLineToNeutral());
+                        
+                        System.out.println("Current: " + sensor.getCurrent());
+                        
+                        System.out.println("Real Power Phase A (kW): "
+                                           + sensor.getRealPowerPhaseA());
+                        System.out.println("Real Power Phase B (kW): "
+                                           + sensor.getRealPowerPhaseB());
+                        System.out.println("Real Power Phase C (kW): "
+                                           + sensor.getRealPowerPhaseC());
+                        
+                        System.out.println("Power Factor Phase A: "
+                                           + sensor.getPowerFactorPhaseA());
+                        System.out.println("Power Factor Phase B: "
+                                           + sensor.getPowerFactorPhaseB());
+                        System.out.println("Power Factor Phase C: "
+                                           + sensor.getPowerFactorPhaseC());
+                        
+                        System.out.println("Volts Phase A to B: "
+                                           + sensor.getVoltsPhaseAToB());
+                        System.out.println("Volts Phase B to C: "
+                                           + sensor.getVoltsPhaseBToC());
+                        System.out.println("Volts Phase A to C: "
+                                           + sensor.getVoltsPhaseAToC());
+                        System.out.println("Volts Phase A to Neutral: "
+                                           + sensor.getVoltsPhaseAToNeutral());
+                        System.out.println("Volts Phase B to Neutral: "
+                                           + sensor.getVoltsPhaseBToNeutral());
+                        System.out.println("Volts Phase C to Neutral: "
+                                           + sensor.getVoltsPhaseCToNeutral());
+                        
+                        System.out.println("Current Phase A: "
+                                           + sensor.getCurrentPhaseA());
+                        System.out.println("Current Phase B: "
+                                           + sensor.getCurrentPhaseB());
+                        System.out.println("Current Phase C: "
+                                           + sensor.getCurrentPhaseC());
+                        
+                        System.out.println("Avg Real Power (kW): "
+                                           + sensor.getAvgRealPower());
+                        System.out.println("Min Real Power (kW): "
+                                           + sensor.getMinRealPower());
+                        System.out.println("Max Real Power (kW): "
+                                           + sensor.getMaxRealPower());
+                    }
+
+                System.out.println();
+                Thread.sleep(2000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/TEAMS_Example.java

@@ -0,0 +1,64 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_teams.TEAMS;
+
+public class TEAMS_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate an TEAMS instance, using A0 for temperature, and
+        // 165.0 ohms for the rResistor value (for the libelium 4-20ma
+        // interface)
+        TEAMS sensor = new TEAMS(0, 165.0f);
+        
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // is the sensor connected? (current >= 4ma)
+                System.out.println("Is Connected: " + sensor.isConnected());
+    
+                // print computed current on the loop.  This includes
+                // the offset, if one was set by setOffsetMilliamps().
+                System.out.println("Milliamps: " + sensor.getRawMilliamps());
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: " 
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/TEX00_Example.java

@@ -0,0 +1,71 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_tex00.TEX00;
+
+public class TEX00_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate an TEX00 instance, using A0 for the analog input.  In
+        // this example, we are using a 10K Ohm balance resistor and a TED
+        // (10k type 2) thermistor.
+        TEX00 sensor = new TEX00(0, 10000.0f, 
+                                 TEX00.SENSOR_TYPES_T.STYPE_THERMISTOR_TED);
+
+        System.out.println("Minimum temperature: " 
+                           + sensor.getTemperatureRangeMin());
+        System.out.println("Maximum temperature: " 
+                           + sensor.getTemperatureRangeMax());
+        System.out.println();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                if (sensor.isOutOfRange())
+                    {
+                        System.out.println("Temperature out of range");
+                    }
+                else
+                    {
+                        // we show both C and F for temperature
+                        System.out.println("Temperature: " 
+                                           + sensor.getTemperature()
+                                           + " C / "
+                                           + sensor.getTemperature(true)
+                                           + " F");
+                    }
+
+                System.out.println();
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/Th02Example.java

@@ -0,0 +1,47 @@
+/*
+* 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 {
+
+	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/apa102.js

@@ -0,0 +1,44 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* Author:  Yannick Adam <yannick.adam@gmail.com>
+* Copyright (c) 2016 Yannick Adam
+*
+* 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 lib = require('jsupm_apa102');
+
+// Instantiate a strip of 30 LEDs on SPI Bus 0
+var ledStrip = new lib.APA102(30, 0);
+
+// Set all LEDs to blue
+ledStrip.setAllLeds(31, 0, 0, 255);
+
+// Set a mid-section to red
+ledStrip.setLeds(10,20, 31, 255, 0, 0);
+
+// Set a single led to green
+ledStrip.setLed(15, 31, 0, 255, 0);
+
+
+// Exit
+ledStrip = null;
+process.exit(0);

examples/javascript/bme280.js

@@ -0,0 +1,51 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+* Author: Henry Bruce <henry.bruce@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.
+*/
+
+var bme280pkg = require('jsupm_bme280');
+
+// Instantiate a BME280 Sensor on I2C sub-platform bus 0
+var bme280 = new bme280pkg.BME280(512);
+
+// update every second and print the values
+var myInterval = setInterval(function()
+{
+	// print detected value
+	console.log("Temperature: " + bme280.getTemperatureCelcius() + "C");
+	console.log("Humidity:    " + bme280.getHumidityRelative() + "%");
+	console.log("Pressure:    " + bme280.getPressurePa() + "Pa");
+}, 1000);
+
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	bme280 = null
+	bme280pkg = null;
+	console.log("Exiting");
+	process.exit(0);
+});

examples/javascript/bmi160.js

@@ -0,0 +1,71 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_bmi160');
+
+// Instantiate a BMI160 instance using default i2c bus and address
+var sensor = new sensorObj.BMI160();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// Output data every half second until interrupted
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer: AX: " + sensorObj.floatp_value(x) +
+                " AY: " + sensorObj.floatp_value(y) +
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope:     GX: " + sensorObj.floatp_value(x) +
+                " AY: " + sensorObj.floatp_value(y) +
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer:  MX: " + sensorObj.floatp_value(x) +
+                " MY: " + sensorObj.floatp_value(y) +
+                " MZ: " + sensorObj.floatp_value(z));
+
+    console.log();
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

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/cwlsxxa.js

@@ -0,0 +1,66 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_cwlsxxa');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+// humidity and A2 for temperature
+var sensor = new sensorObj.CWLSXXA(0, 1, 2);
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+
+    console.log("Humidity:", sensor.getHumidity(), "%");
+
+    console.log("CO2:", sensor.getCO2(), "ppm");
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/h803x.js

@@ -0,0 +1,115 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_h803x');
+
+
+/************** Main code **************/
+
+var defaultDev = "/dev/ttyUSB0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an H803X instance, using MODBUS slave address 1, and
+// default comm parameters (9600, 8, N, 2)
+var sensor = new sensorObj.H803X(defaultDev, 1);
+
+// output the Slave ID (manufacturer, model, serno)
+console.log("Slave ID:", sensor.getSlaveID());
+
+console.log("");
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // H8035 / H8036
+    console.log("Consumption (kWh):", sensor.getConsumption());
+    console.log("Real Power (kW):", sensor.getRealPower());
+
+    if (sensor.isH8036())
+    {
+        // The H8036 has much more data available...
+
+          console.log("Reactive Power (kVAR):", sensor.getReactivePower());
+          console.log("Apparent Power (kVA):", sensor.getApparentPower());
+          console.log("Power Factor:", sensor.getPowerFactor());
+          console.log("Volts Line to Line:", sensor.getVoltsLineToLine());
+          console.log("Volts Line to Neutral:", sensor.getVoltsLineToNeutral());
+
+          console.log("Current:", sensor.getCurrent());
+
+          console.log("Real Power Phase A (kW):", sensor.getRealPowerPhaseA());
+          console.log("Real Power Phase B (kW):", sensor.getRealPowerPhaseB());
+          console.log("Real Power Phase C (kW):", sensor.getRealPowerPhaseC());
+
+          console.log("Power Factor Phase A:", sensor.getPowerFactorPhaseA());
+          console.log("Power Factor Phase B:", sensor.getPowerFactorPhaseB());
+          console.log("Power Factor Phase C:", sensor.getPowerFactorPhaseC());
+
+          console.log("Volts Phase A to B:", sensor.getVoltsPhaseAToB());
+          console.log("Volts Phase B to C:", sensor.getVoltsPhaseBToC());
+          console.log("Volts Phase A to C:", sensor.getVoltsPhaseAToC());
+          console.log("Volts Phase A to Neutral: ",
+                      sensor.getVoltsPhaseAToNeutral());
+          console.log("Volts Phase B to Neutral: ",
+                      sensor.getVoltsPhaseBToNeutral());
+          console.log("Volts Phase C to Neutral: ",
+                      sensor.getVoltsPhaseCToNeutral());
+
+          console.log("Current Phase A:", sensor.getCurrentPhaseA());
+          console.log("Current Phase B:", sensor.getCurrentPhaseB());
+          console.log("Current Phase C:", sensor.getCurrentPhaseC());
+
+          console.log("Avg Real Power (kW):", sensor.getAvgRealPower());
+          console.log("Min Real Power (kW):", sensor.getMinRealPower());
+          console.log("Max Real Power (kW):", sensor.getMaxRealPower());
+    }
+
+    console.log("");
+
+}, 2000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/teams.js

@@ -0,0 +1,70 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_teams');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an TEAMS instance, using A0 for temperature, and
+// 165.0 ohms for the rResistor value (for the libelium 4-20ma
+// interface)
+var sensor = new sensorObj.TEAMS(0, 165.0);
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // is the sensor connected? (current >= 4ma)
+    console.log("Is Connected:", sensor.isConnected());
+    
+    // print computed current on the loop.  This includes the offset,
+    // if one was set by setOffsetMilliamps().
+    console.log("Milliamps:", sensor.getRawMilliamps());
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/tex00.js

@@ -0,0 +1,77 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_tex00');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an TEX00 instance, using A0 for the analog input.  In
+// this example, we are using a 10K Ohm balance resistor and a TED
+// (10k type 2) thermistor.
+var sensor = new sensorObj.TEX00(0, 10000, 
+                                 sensorObj.TEX00.STYPE_THERMISTOR_TED);
+
+console.log("Minimum temperature:", sensor.getTemperatureRangeMin(),
+            "C");
+console.log("Maximum temperature:", sensor.getTemperatureRangeMax(),
+            "C");
+console.log("");
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    if (sensor.isOutOfRange())
+    {
+        console.log("Temperature out of range");
+    }
+    else
+    {
+        // we show both C and F for temperature
+        console.log("Temperature:", sensor.getTemperature(),
+                    "C /", sensor.getTemperature(true), "F");
+    }
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/python/apa102.py

@@ -0,0 +1,48 @@
+#!/usr/bin/python
+# Author:  Yannick Adam <yannick.adam@gmail.com>
+# Copyright (c) 2016 Yannick Adam
+#
+# 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 time, sys, signal, atexit
+import pyupm_apa102 as mylib
+
+# Instantiate a strip of 30 LEDs on SPI bus 0
+ledStrip = mylib.APA102(30, 0, False)
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+    raise SystemExit
+
+# Register exit handlers
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Setting all LEDs to Green"
+ledStrip.setAllLeds(31, 0, 255, 0)
+
+print "Setting LEDs between 10 and 20 to Red"
+ledStrip.setLeds(10, 20, 31, 255, 0, 0)
+
+print "Setting LED 15 to Blue"
+ledStrip.setLed(15, 31, 0, 0, 255)
+
+

examples/python/bmi160.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_bmi160 as sensorObj
+
+# Instantiate a BMI160 instance using default i2c bus and address
+sensor = sensorObj.BMI160()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+while (1):
+        sensor.update()
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer: AX: ", sensorObj.floatp_value(x),
+        print " AY: ", sensorObj.floatp_value(y),
+        print " AZ: ", sensorObj.floatp_value(z)
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope:     GX: ", sensorObj.floatp_value(x),
+        print " GY: ", sensorObj.floatp_value(y),
+        print " GZ: ", sensorObj.floatp_value(z)
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer:  MX: ", sensorObj.floatp_value(x),
+        print " MY: ", sensorObj.floatp_value(y),
+        print " MZ: ", sensorObj.floatp_value(z)
+
+        print
+	time.sleep(.5)

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/cwlsxxa.py

@@ -0,0 +1,61 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_cwlsxxa as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+# humidity and A2 for temperature
+sensor = sensorObj.CWLSXXA(0, 1, 2)
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print "Humidity:", sensor.getHumidity(), "%"
+
+        print "CO2:", sensor.getCO2(), "ppm"
+
+        print
+	time.sleep(1)

examples/python/h803x.py

@@ -0,0 +1,106 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_h803x as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+defaultDev = "/dev/ttyUSB0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an H803X instance, using MODBUS slave address 1, and
+# default comm parameters (9600, 8, N, 2)
+sensor = sensorObj.H803X(defaultDev, 1)
+
+# output the serial number and firmware revision
+print "Slave ID:", sensor.getSlaveID()
+
+print
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # H8035 / H8036
+        print "Consumption (kWh):", sensor.getConsumption()
+        print "Real Power (kW):", sensor.getRealPower()
+
+        if (sensor.isH8036()):
+                # The H8036 has much more data available...
+
+                print "Reactive Power (kVAR):", sensor.getReactivePower()
+                print "Apparent Power (kVA):", sensor.getApparentPower()
+                print "Power Factor:", sensor.getPowerFactor()
+                print "Volts Line to Line:", sensor.getVoltsLineToLine()
+                print "Volts Line to Neutral:", sensor.getVoltsLineToNeutral()
+
+                print "Current:", sensor.getCurrent()
+
+                print "Real Power Phase A (kW):", sensor.getRealPowerPhaseA()
+                print "Real Power Phase B (kW):", sensor.getRealPowerPhaseB()
+                print "Real Power Phase C (kW):", sensor.getRealPowerPhaseC()
+
+                print "Power Factor Phase A:", sensor.getPowerFactorPhaseA()
+                print "Power Factor Phase B:", sensor.getPowerFactorPhaseB()
+                print "Power Factor Phase C:", sensor.getPowerFactorPhaseC()
+
+                print "Volts Phase A to B:", sensor.getVoltsPhaseAToB()
+                print "Volts Phase B to C:", sensor.getVoltsPhaseBToC()
+                print "Volts Phase A to C:", sensor.getVoltsPhaseAToC()
+                print "Volts Phase A to Neutral: ",
+                print sensor.getVoltsPhaseAToNeutral()
+                print "Volts Phase B to Neutral: ",
+                print sensor.getVoltsPhaseBToNeutral()
+                print "Volts Phase C to Neutral: ",
+                print sensor.getVoltsPhaseCToNeutral()
+
+                print "Current Phase A:", sensor.getCurrentPhaseA()
+                print "Current Phase B:", sensor.getCurrentPhaseB()
+                print "Current Phase C:", sensor.getCurrentPhaseC()
+
+                print "Avg Real Power (kW):", sensor.getAvgRealPower()
+                print "Min Real Power (kW):", sensor.getMinRealPower()
+                print "Max Real Power (kW):", sensor.getMaxRealPower()
+
+        print
+	time.sleep(2)

examples/python/teams.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_teams as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an TEAMS instance, using A0 for temperature, and
+# 165.0 ohms for the rResistor value (for the libelium 4-20ma
+# interface)
+sensor = sensorObj.TEAMS(0, 165.0)
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # is the sensor connected? (current >= 4ma)
+        print "Is Connected:", sensor.isConnected()
+    
+        # print computed current on the loop.  This includes the offset,
+        # if one was set by setOffsetMilliamps().
+        print "Milliamps:", sensor.getRawMilliamps()
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(1)

examples/python/tex00.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_tex00 as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an TEX00 instance, using A0 for the analog input.  In
+# this example, we are using a 10K Ohm balance resistor and a TED
+# (10k type 2) thermistor.
+sensor = sensorObj.TEX00(0, 10000, sensorObj.TEX00.STYPE_THERMISTOR_TED)
+
+print "Minimum temperature:", sensor.getTemperatureRangeMin(), "C"
+print "Maximum temperature:", sensor.getTemperatureRangeMax(), "C"
+print
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        if (sensor.isOutOfRange()):
+                print "Temperature out of range"
+        else:
+                # we show both C and F for temperature
+                print "Temperature:", sensor.getTemperature(), "C /",
+                print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(1)

src/CMakeLists.txt

@@ -28,6 +28,7 @@ endmacro (upm_CREATE_INSTALL_PKGCONFIG)
 
 macro(upm_SWIG_PYTHON)
   if (BUILDSWIGPYTHON AND BUILDSWIG)
+   
     set_source_files_properties (pyupm_${libname}.i PROPERTIES CPLUSPLUS ON)
     set_source_files_properties (pyupm_${libname}.i PROPERTIES SWIG_FLAGS "-I${CMAKE_CURRENT_BINARY_DIR}/..")
     swig_add_module (pyupm_${libname} python pyupm_${libname}.i ${module_src})
@@ -46,16 +47,30 @@ 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 ()
+    
+#    include_directories (${NODE_INCLUDE_DIRS})
+
+    set_property (SOURCE jsupm_${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"
     )
@@ -65,12 +80,29 @@ macro(upm_SWIG_NODE)
           message(FATAL_ERROR " **ERROR** GCC 4.7 or above is required to compile jsupm_${libname} ")
         endif()
       endif()
+      
+      if (NOT ENABLECXX11)
           set_property (TARGET jsupm_${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} ${UPM_CXX11_WORKAROUND_OPTION} ")
+          endif ()
+      endif ()
+
     endif()
     createpackagejson(${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()
 
@@ -139,30 +171,30 @@ macro(upm_doxygen)
 endmacro()
 
 if (SWIG_FOUND)
-  if(BUILDSWIGPYTHON)
+  if (BUILDSWIGPYTHON)
-    find_package (PythonLibs)
+    if(NOT PYTHONLIBS_FOUND)
-    string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
+      find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
-    list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
+    endif()
-    list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
+  endif()
-  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}/include/src
-      ${NODE_ROOT_DIR}/node
+      ${NODE_ROOT_DIR}/include/node
-      ${NODE_ROOT_DIR}/deps/v8/include
+      ${NODE_ROOT_DIR}/include/deps/v8/include
-      ${NODE_ROOT_DIR}/deps/uv/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/ads1x15/ads1015.cxx

@@ -30,15 +30,63 @@ ADS1015::setSPS(ADSSAMPLERATE rate){
     updateConfigRegister((m_config_reg & ~ADS1X15_DR_MASK) | rate);
 }
 
-ADS1015::ADS1015(int bus, uint8_t address) : ADS1X15(bus, address) {
+ADS1015::ADS1015(int bus, uint8_t address, float vref) : ADS1X15(bus, address) {
     m_name = "ADS1015";
     m_conversionDelay = ADS1015_CONVERSIONDELAY;
     m_bitShift = 4;
     ADS1X15::getCurrentConfig();
+    if (vref < 0.0 || vref > 6.144)
+        UPM_THROW("vref out of range");
+    else if (vref > 4.096)
+        setGain(GAIN_TWOTHIRDS);
+    else if (vref > 2.048)
+        setGain(GAIN_ONE);
+    else if (vref > 1.024)
+        setGain(GAIN_TWO);
+    else if (vref > 0.512)
+        setGain(GAIN_FOUR);
+    else if (vref > 0.256)
+        setGain(GAIN_EIGHT);
+    else
+        setGain(GAIN_SIXTEEN);
 }
 
 ADS1015::~ADS1015(){};
 
+const char*
+ADS1015::getModuleName() {
+    return m_name.c_str();
+}
+
+
+unsigned int
+ADS1015::getNumInputs() {
+    return 4;
+}
+
+unsigned int
+ADS1015::getResolutionInBits() {
+    return 12;
+}
+
+uint16_t
+ADS1015::getRawValue(unsigned int input) {
+    ADS1X15::ADSMUXMODE mode = getMuxMode(input);
+    updateConfigRegister((m_config_reg & ~ADS1X15_MUX_MASK) | mode, true);
+    usleep(m_conversionDelay);
+    uint16_t value = i2c->readWordReg(ADS1X15_REG_POINTER_CONVERT);
+    value = value >> m_bitShift;
+    return swapWord(value);
+}
+
+float
+ADS1015::getVoltage(unsigned int input) {
+    ADSMUXMODE mode = getMuxMode(input);
+    return getSample(mode);
+}
+
+
+
 //Private functions
 float
 ADS1015::getMultiplier(void){
@@ -99,4 +147,20 @@ ADS1015::setDelay(){
     }
 }
 
+ADS1X15::ADSMUXMODE
+ADS1015::getMuxMode(unsigned int input) {
+    ADS1X15::ADSMUXMODE mode;
+    switch (input) {
+    case 0:
+        return SINGLE_0;
+    case 1:
+        return SINGLE_1;
+    case 2:
+        return SINGLE_2;
+    case 3:
+        return SINGLE_3;
+    default:
+        UPM_THROW("Invalid input");
+    }
+}
 

src/ads1x15/ads1015.h

@@ -26,8 +26,9 @@
 #pragma once
 
 #include "ads1x15.h"
+#include "upm/iADC.h"
 
-
+#define ADS1015_VREF 2.048
 
 /*=========================================================================
     CONVERSION DELAY (in microS)
@@ -82,7 +83,7 @@ namespace upm {
    * @image html ads1015.jpg
    * @snippet ads1x15.cxx Interesting
    */
-    class ADS1015 : public ADS1X15 {
+    class ADS1015 : public ADS1X15, public IADC {
 
         public:
 
@@ -111,12 +112,16 @@ namespace upm {
 
 
             /**
-             * ADS1X15 constructor
+             * ADS1015 constructor
+             *
+             * This constructor includes a vref parameter that can be used
+             * to set gain so it matches full scale value of input
              *
              * @param bus i2c bus the sensor is attached to.
-             * @param address. Device address. Default is 0x48.
+             * @param address. Optional device address. Default is 0x48.
+             * @param vref. Optional reference (i.e. half full swing) voltage. Default is 2.048V
              */
-            ADS1015 (int bus, uint8_t address = 0x48);
+            ADS1015 (int bus, uint8_t address = 0x48, float vref = ADS1015_VREF);
 
             /**
              * ADS1X15 destructor
@@ -132,9 +137,48 @@ namespace upm {
              */
             void setSPS(ADSSAMPLERATE rate = SPS_1600);
 
+            /**
+             * Get number of inputs
+             *
+             * @return number of inputs
+             */
+            unsigned int getNumInputs();
+
+            /**
+             * Read current value for current single ended analogue input
+             *
+             * @return current conversion value
+             */
+            uint16_t getRawValue(unsigned int input);
+
+            /**
+             * Read current voltage for current single ended analogue input
+             *
+             * @return current voltage
+             */
+            float getVoltage(unsigned int input);
+
+            /**
+             * Read current voltage for current single ended analogue input
+             *
+             * @return current voltage
+             */
+            unsigned int getResolutionInBits();
+
+            /**
+             * Returns module name
+             *
+             * @return modulename as const char*
+             */
+            const char* getModuleName();
+
+
         protected:
             float getMultiplier(void);
             void setDelay(void);
 
+        private:
+            ADS1X15::ADSMUXMODE getMuxMode(unsigned int input);
+
     };
 }

src/am2315/am2315.cpp

@@ -233,7 +233,8 @@ AM2315::i2cWriteReg(uint8_t reg, uint8_t* data, uint8_t ilen)
 uint8_t
 AM2315::i2cReadReg(int reg, uint8_t* data, int ilen)
 {
-    uint8_t tdata[16] = { AM2315_READ, reg, ilen };
+  uint8_t tdata[16] = { AM2315_READ, static_cast<uint8_t>(reg),
+                        static_cast<uint8_t>(ilen) };
 
     mraa_result_t ret = mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
     int iLoops = 5;

src/apa102/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "apa102")
+set (libdescription "upm apa102 led strip spi output module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/apa102/apa102.cxx

@@ -0,0 +1,166 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * 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 <cstring>
+#include <iostream>
+#include <stdexcept>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "apa102.h"
+
+using namespace upm;
+
+APA102::APA102(uint16_t ledCount, uint8_t spiBus, bool batchMode, int8_t csn)
+        : m_ledCount(ledCount), m_batchMode(batchMode)
+{
+    mraa::Result res = mraa::SUCCESS;
+    m_leds = NULL;
+
+    // Optional chip select pin
+    m_csnPinCtx = NULL;
+    if (csn > -1) {
+        m_csnPinCtx = new mraa::Gpio(csn);
+        res = m_csnPinCtx->dir(mraa::DIR_OUT);
+        if (res != mraa::SUCCESS) {
+            throw std::invalid_argument(std::string(__FUNCTION__) +
+                                        ": GPIO failed to set direction");
+        }
+    }
+
+    CSOff();
+    // Initialize SPI
+    m_spi = new mraa::Spi(spiBus);
+
+    // Initialize LED array
+    uint16_t endFrameLength = (m_ledCount + 15) / 16; // End frame should be (leds/2) bits
+    m_frameLength = endFrameLength + (m_ledCount + 1) * 4;
+    if ((m_leds = (uint8_t*) malloc(m_frameLength))) {
+        memset(m_leds, 0x00, m_frameLength - 4);                               // Clear state
+        memset(&m_leds[m_frameLength - endFrameLength], 0xFF, endFrameLength); // Frame End
+
+        // Need to set the brightness to "0" for each Led
+        for (int i = 1; i <= m_ledCount; i++) {
+            m_leds[i * 4] = 224;
+        }
+
+    } else {
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": Failed to allocate memory for LED Strip");
+    }
+}
+
+APA102::~APA102()
+{
+    // Clear leds
+    if (m_leds) {
+        free(m_leds);
+    }
+
+    // Clear SPI
+    if (m_spi) {
+        delete m_spi;
+    }
+
+    // Clear GPIO
+    if (m_csnPinCtx) {
+        delete m_csnPinCtx;
+    }
+}
+
+
+void
+APA102::setLed(uint16_t ledIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    setLeds(ledIdx, ledIdx, brightness, r, g, b);
+}
+
+void
+APA102::setAllLeds(uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    setLeds(0, m_ledCount - 1, brightness, r, g, b);
+}
+
+void
+APA102::setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    uint16_t s_idx = (startIdx + 1) * 4;
+    uint16_t e_idx = (endIdx + 1) * 4;
+
+    for (uint16_t i = s_idx; i <= e_idx; i += 4) {
+        m_leds[i] = brightness | 224;
+        m_leds[i + 1] = b;
+        m_leds[i + 2] = g;
+        m_leds[i + 3] = r;
+    }
+
+    if (!m_batchMode) {
+        pushState();
+    }
+}
+
+void
+APA102::setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t* colors)
+{
+    uint16_t s_idx = (startIdx + 1) * 4;
+    memcpy(&m_leds[s_idx], colors, (endIdx - startIdx + 1) * 4);
+
+    if (!m_batchMode) {
+        pushState();
+    }
+}
+
+void
+APA102::pushState(void)
+{
+    CSOn();
+    m_spi->write(m_leds, m_frameLength);
+    CSOff();
+}
+
+/*
+ * **************
+ *  private area
+ * **************
+ */
+
+mraa::Result
+APA102::CSOn()
+{
+    if (m_csnPinCtx) {
+        return m_csnPinCtx->write(HIGH);
+    }
+
+    return mraa::ERROR_FEATURE_NOT_SUPPORTED;
+}
+
+mraa::Result
+APA102::CSOff()
+{
+    if (m_csnPinCtx) {
+        return m_csnPinCtx->write(LOW);
+    }
+
+    return mraa::ERROR_FEATURE_NOT_SUPPORTED;
+}

src/apa102/apa102.h

@@ -0,0 +1,143 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * 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/gpio.hpp>
+#include <mraa/spi.hpp>
+#include <string>
+
+#define HIGH 1
+#define LOW 0
+
+namespace upm
+{
+/**
+ * @brief APA102 RGB LED Strip driver library
+ * @defgroup apa102 libupm-apa102
+ * @ingroup spi led
+ */
+
+/**
+ * @library apa102
+ * @sensor apa102
+ * @comname APA102/DotStar LED Strip
+ * @type led
+ * @man adafruit
+ * @con spi
+ *
+ * @brief API for controlling APA102/DotStar RGB LED Strips
+ *
+ * APA102 LED Strips provide individually controllable LEDs through a SPI interface.
+ * For each LED, brightness (0-31) and RGB (0-255) values can be set.
+ *
+ * @image html apa102.jpg
+ * @snippet apa102.cxx Interesting
+ */
+class APA102
+{
+  public:
+    /**
+     * Instantiates a new APA102 LED Strip
+     *
+     * @param ledCount  Number of APA102 leds in the strip
+     * @param spiBus    SPI Bus number
+     * @param batchMode (optional) Immediatly write to SPI (false, default) or wait for a pushState
+     * call (true)
+     * @param csn       (optional) Chip Select Pin
+     */
+    APA102(uint16_t ledCount, uint8_t spiBus, bool batchMode = false, int8_t csn = -1);
+
+    /**
+     * APA102 destructor
+     */
+    ~APA102();
+
+    /**
+     * Change the color for a single led
+     *
+     * @param ledIdx        Index of the LED in the strip (0 based)
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void setLed(uint16_t ledIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * Change the color for all leds
+     *
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void setAllLeds(uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * Change the color for a range of leds
+     *
+     * @param startIdx      Start index of the range of LEDs in the strip (0 based)
+     * @param endIdx        End index of the range of LEDs in the strip (0 based)
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void
+    setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * (Advanced) Manually control the colors of a range of LEDS
+     * Best used to maximize performance
+     *
+     * @param startIdx      Start index of the range of LEDs to update (0 based)
+     * @param endIdx        End index of the range of LEDs to update (0 based)
+     * @param colors        Pointer to an array of bytes. Each color is described as the following:
+     *                      B1: Brightness (224-255) B2: Blue (0-255) B3: Green (0-255) B4: Red
+     *(0-255)
+     *                      No check done on the boundaries
+     */
+    void setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t* colors);
+
+    /**
+     * Outputs the current LED data to the SPI bus
+     * Note: Only required if batch mode is set to TRUE
+     *
+     */
+    void pushState();
+
+  private:
+    mraa::Spi* m_spi;
+    mraa::Gpio* m_csnPinCtx;
+
+    uint16_t m_ledCount;
+    uint8_t* m_leds;
+    uint16_t m_frameLength;
+
+    bool m_batchMode;
+
+    mraa::Result CSOn();
+    mraa::Result CSOff();
+};
+}

src/apa102/javaupm_apa102.i

@@ -0,0 +1,30 @@
+%module javaupm_apa102
+
+%include "../upm.i"
+%include "typemaps.i"
+
+%typemap(jtype) (uint8_t *colors) "byte[]"
+%typemap(jstype) (uint8_t *colors) "byte[]"
+%typemap(jni) (uint8_t *colors) "jbyteArray"
+%typemap(javain) (uint8_t *colors) "$javainput"
+
+%typemap(in) (uint8_t *colors) {
+  $1 = (uint8_t*)JCALL2(GetByteArrayElements, jenv, $input, NULL);
+}
+
+%{
+    #include "apa102.h"
+%}
+
+%include "apa102.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_apa102");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/apa102/jsupm_apa102.i

@@ -0,0 +1,19 @@
+%module jsupm_apa102
+ 
+%include "../upm.i"
+%inline %{
+    #include <node_buffer.h>
+%}
+
+%typemap(in) (uint8_t *colors) {
+  if (!node::Buffer::HasInstance($input)) {
+      SWIG_exception_fail(SWIG_ERROR, "Expected a node Buffer");
+  }
+  $1 = (uint8_t*) node::Buffer::Data($input);
+}
+
+%include "apa102.h" 
+
+%{
+    #include "apa102.h"
+%}

src/apa102/pyupm_apa102.i

@@ -0,0 +1,25 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+ 
+%module pyupm_apa102
+ 
+%include "../upm.i"
+ 
+%feature("autodoc", "3");
+ 
+// setLeds 
+%typemap(in) (uint8_t *colors) {
+  if (PyByteArray_Check($input)) {
+    $1 = (uint8_t*) PyByteArray_AsString($input);
+  } else {
+    PyErr_SetString(PyExc_ValueError, "bytearray expected");
+    return NULL;
+  }
+}
+ 
+%include "apa102.h"
+ 
+%{
+ 
+    #include "apa102.h"
+%}

src/bme280/CMakeLists.txt

@@ -0,0 +1,6 @@
+include_directories(..)
+set (libname "bme280")
+set (libdescription "upm bme280 temperature humidity pressure sensor module")
+set (module_src ${libname}.cxx bme280driver.cxx)
+set (module_h ${libname}.h bme280driver.h)
+upm_module_init()

src/bme280/bme280.cxx

@@ -0,0 +1,485 @@
+/*
+ * Author: Aditya Nagal <adityax.nagal@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 <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+#include <math.h>
+#include <errno.h>
+
+#include "bme280.h"
+#include "bme280driver.h"
+/************** I2C buffer length ******/
+#define	I2C_BUFFER_LEN 26
+
+
+
+using namespace upm;
+
+
+
+
+/*----------------------------------------------------------------------------*
+ *  	struct bme280_t parameters can be accessed by using bme280
+ *	bme280_t having the following parameters
+ *	Bus write function pointer: BME280_WR_FUNC_PTR
+ 	Bus read function pointer: BME280_RD_FUNC_PTR
+ *	Delay function pointer: delay_msec
+ *	I2C address: dev_addr
+ *	Chip id of the sensor: chip_id
+ *---------------------------------------------------------------------------*/
+
+struct bme280_t bme280;
+
+static struct bme280_t *p_bme280; /**< pointer to BME280 */
+mraa::I2c* BME280::m_i2c = NULL;
+int BME280::m_bus = 0;
+
+BME280::BME280 (int bus, int devAddr) {
+	m_bus = bus;
+	if( m_i2c == NULL)
+	{
+      		m_i2c = new mraa::I2c(m_bus);
+		m_i2c->address(BME280_I2C_ADDRESS1);
+		//Based on the requirement,  configure I2C interface.
+		I2C_routine();
+		/*--------------------------------------------------------------------------*
+		 *  This function used to assign the value/reference of
+		 *	the following parameters
+		 *	I2C address
+		 *	Bus Write
+		 *	Bus read
+		 *	Chip id
+		*-------------------------------------------------------------------------*/
+		bme280_init(&bme280);
+	}
+}
+
+BME280::~BME280() {
+    delete m_i2c;
+}
+
+/* This function is an example for reading sensor temperature
+ *	\param: None
+ *	\return: compensated temperature
+ */
+
+int32_t BME280::getTemperatureInternal(void)
+{
+	/* The variable used to read uncompensated temperature*/
+	int32_t v_data_uncomp_tem_int32 =  getTemperatureRawInternal();
+
+/*------------------------------------------------------------------*
+************ START READ TRUE PRESSURE, TEMPERATURE AND HUMIDITY DATA ********
+*---------------------------------------------------------------------*/
+	/* API is used to read the true temperature*/
+	/* Input value as uncompensated temperature and output format*/
+	int32_t v_actual_temp_int32 = bme280_compensate_temperature_int32(v_data_uncomp_tem_int32);
+/*--------------------------------------------------------------------*
+************ END READ TRUE TEMPERATURE  ********
+*-------------------------------------------------------------------------*/
+
+return v_actual_temp_int32;
+}
+
+/* This function is an example for reading sensor pressure
+ *	\param: None
+ *	\return: compensated pressure
+ */
+
+int32_t BME280::getPressureInternal(void)
+{
+	/* The variable used to read uncompensated pressure*/
+	int32_t v_data_uncomp_pres_int32 = getPressureRawInternal();
+
+
+/*------------------------------------------------------------------*
+************ START READ TRUE PRESSURE DATA ********
+*---------------------------------------------------------------------*/
+	/* API is used to read the true pressure*/
+	/* Input value as uncompensated pressure */
+	uint32_t v_actual_press_uint32 = bme280_compensate_pressure_int32(v_data_uncomp_pres_int32);
+
+/*--------------------------------------------------------------------*
+************ END READ TRUE PRESSURE ********
+*-------------------------------------------------------------------------*/
+
+return v_actual_press_uint32;
+}
+
+
+/* This function is an example for reading sensor humidity
+ *	\param: None
+ *	\return: compensated humidity
+ */
+
+int32_t BME280::getHumidityInternal(void)
+{
+	/* The variable used to read uncompensated pressure*/
+	int32_t v_data_uncomp_hum_int32 = getHumidityRawInternal();
+
+/*------------------------------------------------------------------*
+************ START READ TRUE HUMIDITY DATA ********
+*---------------------------------------------------------------------*/
+	/* API is used to read the true humidity*/
+	/* Input value as uncompensated humidity and output format*/
+	 uint32_t  v_actual_humity_uint32 = bme280_compensate_humidity_int32(v_data_uncomp_hum_int32);
+
+/*--------------------------------------------------------------------*
+************ END READ TRUE HUMIDITY ********
+*-------------------------------------------------------------------------*/
+
+return v_actual_humity_uint32;
+}
+
+
+
+/* This function is an example for reading sensor temperature
+ *	\param: None
+ *	\return: uncompensated temperature
+ */
+
+int32_t BME280::getTemperatureRawInternal(void)
+{
+	/* The variable used to read uncompensated temperature*/
+	int32_t v_data_uncomp_tem_int32 = BME280_INIT_VALUE;
+
+	/*	For initialization it is required to set the mode of
+	 *	the sensor as "NORMAL"
+	 *	data acquisition/read/write is possible in this mode
+	 *	by using the below API able to set the power mode as NORMAL*/
+	/* Set the power mode as NORMAL*/
+	bme280_set_power_mode(BME280_NORMAL_MODE);
+	/*	For reading the  temperature data it is required to
+	 *	set the OSS setting of temperature
+	 * In the code automated reading and writing of "BME280_CTRLHUM_REG_OSRSH"
+	 * register first set the "BME280_CTRLHUM_REG_OSRSH" and then read and write
+	 * the "BME280_CTRLMEAS_REG" register in the function*/
+
+	/* set the temperature oversampling*/
+	bme280_set_oversamp_temperature(BME280_OVERSAMP_4X);
+
+/************************* END INITIALIZATION *************************/
+
+/*------------------------------------------------------------------*
+************ START READ UNCOMPENSATED TEMPERATURE  DATA ********
+*---------------------------------------------------------------------*/
+	/* API is used to read the uncompensated temperature*/
+	bme280_read_uncomp_temperature(&v_data_uncomp_tem_int32);
+
+
+/*--------------------------------------------------------------------*
+************ END READ UNCOMPENSATED TEMPERATURE  ********
+*-------------------------------------------------------------------------*/
+
+/*-----------------------------------------------------------------------*
+************************* START DE-INITIALIZATION ***********************
+*-------------------------------------------------------------------------*/
+	/*	For de-initialization it is required to set the mode of
+	 *	the sensor as "SLEEP"
+	 *	the device reaches the lowest power consumption only
+	 *	In SLEEP mode no measurements are performed
+	 *	All registers are accessible
+	 *	by using the below API able to set the power mode as SLEEP*/
+	 /* Set the power mode as SLEEP*/
+	bme280_set_power_mode(BME280_SLEEP_MODE);
+/*---------------------------------------------------------------------*
+************************* END DE-INITIALIZATION **********************
+*---------------------------------------------------------------------*/
+return v_data_uncomp_tem_int32;
+}
+
+/* This function is an example for reading sensor pressure
+ *	\param: None
+ *	\return: uncompensated pressure
+ */
+
+int32_t BME280::getPressureRawInternal(void)
+{
+	/* The variable used to read uncompensated pressure*/
+	int32_t v_data_uncomp_pres_int32 = BME280_INIT_VALUE;
+
+
+	/*	For initialization it is required to set the mode of
+	 *	the sensor as "NORMAL"
+	 *	data acquisition/read/write is possible in this mode
+	 *	by using the below API able to set the power mode as NORMAL*/
+	/* Set the power mode as NORMAL*/
+	bme280_set_power_mode(BME280_NORMAL_MODE);
+	/*	For reading the pressure data it is required to
+	 *	set the OSS setting of humidity, pressure and temperature
+	 * The "BME280_CTRLHUM_REG_OSRSH" register sets the humidity
+	 * data acquisition options of the device.
+	 * changes to this registers only become effective after a write operation to
+	 * "BME280_CTRLMEAS_REG" register.
+	 * In the code automated reading and writing of "BME280_CTRLHUM_REG_OSRSH"
+	 * register first set the "BME280_CTRLHUM_REG_OSRSH" and then read and write
+	 * the "BME280_CTRLMEAS_REG" register in the function*/
+
+	/* set the pressure oversampling*/
+	bme280_set_oversamp_pressure(BME280_OVERSAMP_2X);
+
+/************************* END INITIALIZATION *************************/
+
+/*------------------------------------------------------------------*
+************ START READ UNCOMPENSATED PRESSURE DATA ********
+*---------------------------------------------------------------------*/
+
+	/* API is used to read the uncompensated pressure*/
+	bme280_read_uncomp_pressure(&v_data_uncomp_pres_int32);
+
+/*--------------------------------------------------------------------*
+************ END READ UNCOMPENSATED PRESSURE ********
+*-------------------------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------------------*
+************************* START DE-INITIALIZATION ***********************
+*-------------------------------------------------------------------------*/
+	/*	For de-initialization it is required to set the mode of
+	 *	the sensor as "SLEEP"
+	 *	the device reaches the lowest power consumption only
+	 *	In SLEEP mode no measurements are performed
+	 *	All registers are accessible
+	 *	by using the below API able to set the power mode as SLEEP*/
+	 /* Set the power mode as SLEEP*/
+	bme280_set_power_mode(BME280_SLEEP_MODE);
+/*---------------------------------------------------------------------*
+************************* END DE-INITIALIZATION **********************
+*---------------------------------------------------------------------*/
+return v_data_uncomp_pres_int32;
+}
+
+
+/* This function is an example for reading sensor humidity
+ *	\param: None
+ *	\return: uncompensated humidity
+ */
+
+int32_t BME280::getHumidityRawInternal(void)
+{
+	/* The variable used to read uncompensated pressure*/
+	int32_t v_data_uncomp_hum_int32 = BME280_INIT_VALUE;
+
+	/*	For initialization it is required to set the mode of
+	 *	the sensor as "NORMAL"
+	 *	data acquisition/read/write is possible in this mode
+	 *	by using the below API able to set the power mode as NORMAL*/
+	/* Set the power mode as NORMAL*/
+	bme280_set_power_mode(BME280_NORMAL_MODE);
+	/*	For reading  humidity  data it is required to
+	 *	set the OSS setting of humidity
+	 * The "BME280_CTRLHUM_REG_OSRSH" register sets the humidity
+	 * data acquisition options of the device.
+	 * changes to this registers only become effective after a write operation to
+	 * "BME280_CTRLMEAS_REG" register.
+	 * In the code automated reading and writing of "BME280_CTRLHUM_REG_OSRSH"
+	 * register first set the "BME280_CTRLHUM_REG_OSRSH" and then read and write
+	 * the "BME280_CTRLMEAS_REG" register in the function*/
+	bme280_set_oversamp_humidity(BME280_OVERSAMP_1X);
+
+
+/************************* END INITIALIZATION *************************/
+
+/*------------------------------------------------------------------*
+************ START READ HUMIDITY DATA ********
+*---------------------------------------------------------------------*/
+	/* API is used to read the uncompensated humidity*/
+        bme280_read_uncomp_humidity(&v_data_uncomp_hum_int32);
+
+/*--------------------------------------------------------------------*
+************ END READ UNCOMPENSATED PRESSURE AND TEMPERATURE********
+*-------------------------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------------------*
+************************* START DE-INITIALIZATION ***********************
+*-------------------------------------------------------------------------*/
+	/*	For de-initialization it is required to set the mode of
+	 *	the sensor as "SLEEP"
+	 *	the device reaches the lowest power consumption only
+	 *	In SLEEP mode no measurements are performed
+	 *	All registers are accessible
+	 *	by using the below API able to set the power mode as SLEEP*/
+	 /* Set the power mode as SLEEP*/
+	bme280_set_power_mode(BME280_SLEEP_MODE);
+/*---------------------------------------------------------------------*
+************************* END DE-INITIALIZATION **********************
+*---------------------------------------------------------------------*/
+return v_data_uncomp_hum_int32;
+}
+
+
+
+
+
+/*--------------------------------------------------------------------------*
+*	The following function is used to map the I2C bus read, write, delay and
+*	device address with global structure bme280
+*-------------------------------------------------------------------------*/
+int8_t BME280::I2C_routine()
+ {
+/*--------------------------------------------------------------------------*
+ *  By using bme280 the following structure parameter can be accessed
+ *	Bus write function pointer: BME280_WR_FUNC_PTR
+ *	Bus read function pointer: BME280_RD_FUNC_PTR
+ *	Delay function pointer: delay_msec
+ *	I2C address: dev_addr
+ *--------------------------------------------------------------------------*/
+//	bme280.bus_write = &BME280::BME280_I2C_bus_write;
+	bme280.bus_write = BME280_I2C_bus_write;
+
+	//bme280.bus_write = BME280_I2C_bus_write_dummy;
+	bme280.bus_read = BME280_I2C_bus_read;
+	bme280.dev_addr = BME280_I2C_ADDRESS1;
+	bme280.delay_msec = BME280_delay_msek;
+
+	return BME280_INIT_VALUE;
+}
+
+
+
+/*-------------------------------------------------------------------*
+*	The device address defined in the bme280.h file
+*-----------------------------------------------------------------------*/
+int32_t BME280::i2c_write_string(uint8_t dev_addr,uint8_t* ptr, uint8_t cnt)
+{
+	mraa::Result ret;
+	m_i2c->address(dev_addr);
+
+	if((ret = m_i2c->write((const uint8_t*) (ptr), cnt)) != 0)
+	{
+	  	UPM_THROW("I2C write error");
+
+	}
+
+}
+
+/*	\Brief: The function is used as I2C bus write
+*	\Return : Status of the I2C write
+*	\param dev_addr : The device address of the sensor
+*	\param reg_addr : Address of the first register, will data is going to be written
+*	\param reg_data : It is a value hold in the array,
+*		will be used for write the value into the register
+*	\param cnt : The no of byte of data to be write
+*/
+
+int8_t BME280::BME280_I2C_bus_write(uint8_t dev_addr, uint8_t reg_addr, uint8_t *reg_data, uint8_t cnt)
+
+{
+	int32_t iError = BME280_INIT_VALUE;
+	static uint8_t array[I2C_BUFFER_LEN];
+        for (int i=0; i<I2C_BUFFER_LEN; i++) array[i]=0;
+
+	uint8_t stringpos = BME280_INIT_VALUE;
+	array[BME280_INIT_VALUE] = reg_addr;
+	for (stringpos = BME280_INIT_VALUE; stringpos < cnt; stringpos++) {
+		array[stringpos + BME280_ONE_U8X] = *(reg_data + stringpos);
+	}
+	iError = i2c_write_string(dev_addr,array, cnt+1);
+	return (int8_t)iError;
+}
+
+int32_t BME280::i2c_write_read_string(uint8_t dev_addr,uint8_t reg_addr , uint8_t * ptr, uint8_t cnt)
+{
+	 mraa::Result ret;
+
+	m_i2c->address(dev_addr);
+
+	if( m_i2c->readBytesReg(reg_addr, ptr, cnt) != cnt)
+	{
+		UPM_THROW("bme280 register read failed");
+
+	}
+	return 0;
+}
+
+ /*	\Brief: The function is used as I2C bus read
+ *	\Return : Status of the I2C read
+ *	\param dev_addr : The device address of the sensor
+ *	\param reg_addr : Address of the first register, will data is going to be read
+ *	\param reg_data : This data read from the sensor, which is hold in an array
+ *	\param cnt : The no of data byte of to be read
+ */
+int8_t BME280::BME280_I2C_bus_read(uint8_t dev_addr, uint8_t reg_addr, uint8_t *reg_data, uint8_t cnt)
+{
+	int32_t iError = BME280_INIT_VALUE;
+	uint8_t array[I2C_BUFFER_LEN] = {BME280_INIT_VALUE};
+	uint8_t stringpos = BME280_INIT_VALUE;
+	array[BME280_INIT_VALUE] = reg_addr;
+	i2c_write_read_string(dev_addr,reg_addr,array,cnt);
+	for (stringpos = BME280_INIT_VALUE; stringpos < cnt; stringpos++) {
+		*(reg_data + stringpos) = array[stringpos];
+	}
+	return (int8_t)iError;
+}
+
+/*	Brief : The delay routine
+ *	\param : delay in ms
+*/
+void BME280::BME280_delay_msek(uint16_t mseconds)
+{
+	struct timespec sleepTime;
+
+	sleepTime.tv_sec = mseconds / 1000; // Number of seconds
+	sleepTime.tv_nsec = ( mseconds % 1000 ) * 1000000; // Convert fractional seconds to nanoseconds
+
+	// Iterate nanosleep in a loop until the total sleep time is the original
+	// value of the seconds parameter
+	while ( ( nanosleep( &sleepTime, &sleepTime ) != 0 ) && ( errno == EINTR ) );
+
+}
+
+
+/**
+ * Get temperature measurement.
+ */
+uint16_t BME280::getTemperatureRaw (){ return BME280::getTemperatureRawInternal(); }
+
+/**
+ * Get temperature measurement.
+ */
+int BME280::getTemperatureCelcius (){ return (BME280::getTemperatureInternal() + 50) /100; }
+/**
+ * Get relative humidity measurement.
+ */
+uint16_t BME280::getHumidityRaw (){ return BME280::getHumidityRawInternal(); }
+
+/**
+ * Get relative humidity measurement.
+ */
+int BME280::getHumidityRelative (){ return (BME280::getHumidityInternal() + 500) / 1000; }
+
+/**
+ * Return pressure
+ */
+uint32_t BME280::getPressureRaw(){  return BME280::getPressureRawInternal(); }
+
+/**
+ * Return calculated pressure (Pa)
+ */
+int BME280::getPressurePa(){ return BME280::getPressureInternal(); }
+
+
+

src/bme280/bme280.h

@@ -0,0 +1,141 @@
+#include <mraa/i2c.hpp>
+#include "upm/iPressureSensor.h"
+#include "upm/iTemperatureSensor.h"
+#include "upm/iHumiditySensor.h"
+#ifndef __BME280_H__
+#define __BME280_H__
+
+
+//#define BME280_MDELAY_DATA_TYPE uint32_t
+
+/****************************************************/
+/**\name        I2C ADDRESS DEFINITIONS  */
+/***************************************************/
+#define BME280_I2C_ADDRESS1                  (0x76)
+#define BME280_I2C_ADDRESS2                  (0x77)
+#define BME280_ONE_U8X   (1)
+
+namespace upm {
+
+
+
+class BME280 : public ITemperatureSensor, public IHumiditySensor, public IPressureSensor {
+    public:
+
+
+
+        /**
+         * Instanciates a BME280 object
+         *
+         * @param bus number of used bus
+         * @param devAddr address of used i2c device
+         * @param mode BME280 mode
+         */
+	    BME280 (int bus, int devAddr = BME280_I2C_ADDRESS1);
+
+        /**
+         * BME280 object destructor, basicaly it close i2c connection.
+         */
+        ~BME280 ();
+
+        /**
+         * Get temperature measurement.
+         */
+        uint16_t getTemperatureRaw ();
+
+        /**
+         * Get temperature measurement.
+         */
+        int getTemperatureCelcius ();
+
+        /**
+         * Get relative humidity measurement.
+         */
+        uint16_t getHumidityRaw ();
+
+        /**
+         * Get relative humidity measurement.
+         */
+        int getHumidityRelative ();
+
+        /**
+         * Returns sensor module name
+         */
+        const char* getModuleName() { return "BME280"; }
+
+        /**
+         * Return pressure
+         */
+        uint32_t getPressureRaw();
+
+        /**
+         * Return calculated pressure (Pa)
+         */
+        int getPressurePa();
+
+
+        /**
+         * Return temperature
+         */
+ 	    int32_t getTemperatureInternal(void);
+
+         /**
+         * Return pressure
+         */
+	    int32_t getPressureInternal(void);
+
+	    /**
+         * Return  humidity
+         */
+	    int32_t getHumidityInternal(void);
+
+	    /**
+         * Return temperature
+         */
+	    int32_t getTemperatureRawInternal(void);
+
+         /**
+         * Return pressure
+         */
+	    int32_t getPressureRawInternal(void);
+
+	    /**
+         * Return  humidity
+         */
+	    int32_t getHumidityRawInternal(void);
+
+        /**
+         * Returns whether the correct chip is present at the given address.
+         */
+        bool isAvailable();
+
+
+    private:
+        /**************************************************************/
+        /**\name	STRUCTURE DEFINITIONS                         */
+        /**************************************************************/
+        /*!
+         * @brief This structure holds all device specific calibration parameters
+         */
+
+        static mraa::I2c* m_i2c;
+        static int m_bus;
+
+        static int32_t i2c_write_string(uint8_t dev_addr,uint8_t*  ptr, uint8_t cnt);
+        static int32_t i2c_write_read_string(uint8_t dev_addr,uint8_t reg_addr , uint8_t * ptr, uint8_t cnt);
+        static int8_t I2C_routine();
+	static int8_t BME280_I2C_bus_write(uint8_t dev_addr, uint8_t reg_addr, uint8_t *reg_data, uint8_t cnt);
+	static void BME280_delay_msek(uint16_t msek);
+	static int8_t BME280_I2C_bus_read(uint8_t dev_addr, uint8_t reg_addr, uint8_t *reg_data, uint8_t cnt);
+
+};
+
+
+
+
+
+
+
+}
+
+#endif

src/bme280/javaupm_bme280.i

@@ -0,0 +1,23 @@
+%module javaupm_bme280
+%include "../upm.i"
+%include "arrays_java.i";
+%include "../java_buffer.i"
+%include "cpointer.i"
+%include "typemaps.i"
+
+%{
+    #include "bme280.h"
+%}
+
+%include "bme280.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_bme280");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/bme280/jsupm_bme280.i

@@ -0,0 +1,8 @@
+%module jsupm_bme280
+%include "../upm.i"
+
+%{
+    #include "bme280.h"
+%}
+
+%include "bme280.h"

src/bme280/pyupm_bme280.i

@@ -0,0 +1,10 @@
+%module pyupm_bme280
+%include "../upm.i"
+
+%include "stdint.i"
+
+%include "bme280.h"
+%{
+    #include "bme280.h"
+%}
+

src/bmi160/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "bmi160")
+set (libdescription "Bosch BMI160 Accelerometer, Gyroscope and BMM150 Magnetometer")
+set (module_src ${libname}.cxx bosch_bmi160.c)
+set (module_h ${libname}.h)
+upm_module_init()

src/bmi160/bmi160.cxx

@@ -0,0 +1,433 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+// we have to do it the old skool way
+#include <mraa/i2c.h>
+
+#include "bmi160.h"
+
+extern "C" {
+#include "bosch_bmi160.h"
+}
+
+// We do not need this define anyway.  It conflicts with mraa::SUCCESS.
+#undef SUCCESS
+
+using namespace upm;
+using namespace std;
+
+static mraa_i2c_context i2cContext = NULL;
+
+// Our bmi160 info structure
+struct bmi160_t s_bmi160;
+
+// bus read and write functions for use with the bmi driver code
+s8 bmi160_i2c_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+  if (!i2cContext)
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": i2c context is NULL");
+    }
+
+  int retries = 10;
+
+  // There seems to be some occasional flakyness with reads when
+  // moving the sensor around
+  while (retries >= 0)
+    {
+      int rv = mraa_i2c_read_bytes_data(i2cContext, reg_addr, reg_data, cnt);
+
+      if (rv < 0)
+        {
+          usleep(100000);
+          retries--;
+        }
+      else
+        return 0;
+    }
+
+  throw std::runtime_error(std::string(__FUNCTION__) +
+                           ": mraa_i2c_read_bytes_data() failed");
+
+  return 0;
+}
+
+s8 bmi160_i2c_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+  if (!i2cContext)
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": i2c context is NULL");
+    }
+
+  // FIXME  fprintf(stderr, "%s: %02x: cnt %d\n", __FUNCTION__, reg_addr, cnt);
+  uint8_t buffer[cnt + 1];
+
+  buffer[0] = reg_addr;
+  for (int i=0; i<cnt; i++)
+    buffer[i+1] = reg_data[i];
+
+  mraa_result_t rv = mraa_i2c_write(i2cContext, buffer, cnt+1);
+
+  if (rv != MRAA_SUCCESS)
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": mraa_i2c_write() failed");
+    }
+
+  return 0;
+}
+
+// delay for some milliseconds
+void bmi160_delay_ms(u32 msek)
+{
+  usleep(msek * 1000);
+}
+
+
+BMI160::BMI160(int bus, uint8_t address)
+{
+  m_addr = address;
+
+  // We need to use the C MRAA interface to avoid issue with C++ <-> C
+  // calling convention issues, also we need a global
+  // mraa_i2c_context
+
+  if (!(i2cContext = mraa_i2c_init(bus)))
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_i2c_init() failed");
+    }
+
+  if (mraa_i2c_address(i2cContext, m_addr) != MRAA_SUCCESS)
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": mraa_i2c_address() failed");
+      return;
+    }
+
+  // init the driver interface functions
+  s_bmi160.bus_write = bmi160_i2c_bus_write;
+  s_bmi160.bus_read = bmi160_i2c_bus_read;
+  s_bmi160.delay_msec = bmi160_delay_ms;
+  s_bmi160.dev_addr = m_addr;
+
+  // Init our driver interface pointers
+  bmi160_init(&s_bmi160);
+
+  m_accelX = 0.0;
+  m_accelY = 0.0;
+  m_accelZ = 0.0;
+
+  m_gyroX = 0.0;
+  m_gyroY = 0.0;
+  m_gyroZ = 0.0;
+
+  m_magX = 0.0;
+  m_magY = 0.0;
+  m_magZ = 0.0;
+
+  m_accelScale = 1.0;
+  m_gyroScale = 1.0;
+
+  m_magEnabled = false;
+
+  if (!init())
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": init() failed");
+    }
+}
+
+BMI160::~BMI160()
+{
+  mraa_i2c_stop(i2cContext);
+  i2cContext = NULL;
+}
+
+bool BMI160::init()
+{
+  // This should be interesting...
+  const u32 C_BMI160_THIRTY_U8X = 30;
+
+  enableMagnetometer(true);
+
+  /*Set the accel mode as Normal write in the register 0x7E*/
+  bmi160_set_command_register(ACCEL_MODE_NORMAL);
+
+  /* bmi160_delay_ms in ms*/
+  bmi160_delay_ms(C_BMI160_THIRTY_U8X);
+
+  /*Set the gyro mode as Normal write in the register 0x7E*/
+  bmi160_set_command_register(GYRO_MODE_NORMAL);
+
+  /* bmi160_delay_ms in ms*/
+  bmi160_delay_ms(C_BMI160_THIRTY_U8X);
+
+  /* Set the accel bandwidth as OSRS4 */
+  bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+  /* Set the gryo bandwidth as Normal */
+  bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+  /* set gyro data rate as 200Hz*/
+  bmi160_set_gyro_output_data_rate(BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
+  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+  /* set accel data rate as 200Hz*/
+  bmi160_set_accel_output_data_rate(BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ,
+                                    BMI160_ACCEL_OSR4_AVG1);
+  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+  setAccelerometerScale(ACCEL_RANGE_2G);
+  setGyroscopeScale(GYRO_RANGE_125);
+
+  return true;
+}
+
+
+void BMI160::update()
+{
+  struct bmi160_gyro_t gyroxyz;
+  struct bmi160_accel_t accelxyz;
+  struct bmi160_mag_xyz_s32_t magxyz;
+
+  // read gyro data
+  bmi160_read_gyro_xyz(&gyroxyz);
+
+  // read accel data
+  bmi160_read_accel_xyz(&accelxyz);
+
+  // read mag data
+  if (m_magEnabled)
+    bmi160_bmm150_mag_compensate_xyz(&magxyz);
+
+  // read the sensor time
+  u32 v_sensor_time;
+  bmi160_get_sensor_time(&v_sensor_time);
+  m_sensorTime = (unsigned int)v_sensor_time;
+
+  m_accelX = float(accelxyz.x);
+  m_accelY = float(accelxyz.y);
+  m_accelZ = float(accelxyz.z);
+
+  m_gyroX = float(gyroxyz.x);
+  m_gyroY = float(gyroxyz.y);
+  m_gyroZ = float(gyroxyz.z);
+
+  if (m_magEnabled)
+    {
+      m_magX = float(magxyz.x);
+      m_magY = float(magxyz.y);
+      m_magZ = float(magxyz.z);
+    }
+}
+
+void BMI160::setAccelerometerScale(ACCEL_RANGE_T scale)
+{
+  s8 v_range = BMI160_ACCEL_RANGE_2G;
+  // store scaling factor
+
+  switch (scale)
+    {
+    case ACCEL_RANGE_2G:
+      v_range = BMI160_ACCEL_RANGE_2G;
+      m_accelScale = 16384.0;
+      break;
+
+    case ACCEL_RANGE_4G:
+      v_range = BMI160_ACCEL_RANGE_4G;
+      m_accelScale = 8192.0;
+      break;
+
+    case ACCEL_RANGE_8G:
+      v_range = BMI160_ACCEL_RANGE_8G;
+      m_accelScale = 4096.0;
+      break;
+
+    case ACCEL_RANGE_16G:
+      v_range = BMI160_ACCEL_RANGE_16G;
+      m_accelScale = 2048.0;
+      break;
+
+    default: // should never occur, but...
+      m_accelScale = 1.0;        // set a safe, though incorrect value
+      throw std::logic_error(string(__FUNCTION__) +
+                             ": internal error, unsupported scale");
+      break;
+    }
+
+  bmi160_set_accel_range(v_range);
+
+  return;
+}
+
+void BMI160::setGyroscopeScale(GYRO_RANGE_T scale)
+{
+  u8 v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
+
+  // store scaling factor
+
+  switch (scale)
+    {
+    case GYRO_RANGE_125:
+      v_range = BMI160_GYRO_RANGE_125_DEG_SEC;
+      m_gyroScale = 262.4;
+      break;
+
+    case GYRO_RANGE_250:
+      v_range = BMI160_GYRO_RANGE_250_DEG_SEC;
+      m_gyroScale = 131.2;
+      break;
+
+    case GYRO_RANGE_500:
+      v_range = BMI160_GYRO_RANGE_500_DEG_SEC;
+      m_gyroScale = 65.6;
+      break;
+
+    case GYRO_RANGE_1000:
+      v_range = BMI160_GYRO_RANGE_1000_DEG_SEC;
+      m_gyroScale = 32.8;
+      break;
+
+    case GYRO_RANGE_2000:
+      v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
+      m_gyroScale = 16.4;
+      break;
+
+    default: // should never occur, but...
+      m_gyroScale = 1.0;        // set a safe, though incorrect value
+      throw std::logic_error(string(__FUNCTION__) +
+                             ": internal error, unsupported scale");
+      break;
+    }
+
+  bmi160_set_gyro_range(v_range);
+
+  return;
+}
+
+void BMI160::getAccelerometer(float *x, float *y, float *z)
+{
+  if (x)
+    *x = m_accelX / m_accelScale;
+
+  if (y)
+    *y = m_accelY / m_accelScale;
+
+  if (z)
+    *z = m_accelZ / m_accelScale;
+}
+
+void BMI160::getGyroscope(float *x, float *y, float *z)
+{
+  if (x)
+    *x = m_gyroX / m_gyroScale;
+
+  if (y)
+    *y = m_gyroY / m_gyroScale;
+
+  if (z)
+    *z = m_gyroZ / m_gyroScale;
+}
+
+void BMI160::getMagnetometer(float *x, float *y, float *z)
+{
+  if (x)
+    *x = m_magX;
+
+  if (y)
+    *y = m_magY;
+
+  if (z)
+    *z = m_magZ;
+}
+
+float *BMI160::getAccelerometer()
+{
+  float *values = new float[3]; // x, y, and then z
+
+  getAccelerometer(&values[0], &values[1], &values[2]);
+
+  return values;
+}
+
+float *BMI160::getGyroscope()
+{
+  float *values = new float[3]; // x, y, and then z
+
+  getGyroscope(&values[0], &values[1], &values[2]);
+
+  return values;
+}
+
+float *BMI160::getMagnetometer()
+{
+  float *values = new float[3]; // x, y, and then z
+
+  getMagnetometer(&values[0], &values[1], &values[2]);
+
+  return values;
+}
+
+void BMI160::enableMagnetometer(bool enable)
+{
+  // butchered from support example
+  if (!enable)
+    {
+      bmi160_set_bmm150_mag_and_secondary_if_power_mode(MAG_SUSPEND_MODE);
+      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+      bmi160_set_if_mode(0x00);
+      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+      m_magEnabled = false;
+      m_magX = 0;
+      m_magY = 0;
+      m_magZ = 0;
+    }
+  else
+    {
+      u8 v_bmm_chip_id_u8 = BMI160_INIT_VALUE;
+      /* Init the magnetometer */
+      bmi160_bmm150_mag_interface_init(&v_bmm_chip_id_u8);
+
+      /* bmi160_delay_ms in ms*/
+      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+      m_magEnabled = true;
+    }
+}
+
+unsigned int BMI160::getSensorTime()
+{
+  return m_sensorTime;
+}

src/bmi160/bmi160.h

@@ -0,0 +1,251 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <stdint.h>
+
+#define BMI160_I2C_BUS 0
+#define BMI160_DEFAULT_I2C_ADDR 0x69
+
+namespace upm {
+
+  /**
+   * @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
+   * @defgroup bmi160 libupm-bmi160
+   * @ingroup i2c accelerometer compass
+   */
+
+
+  /**
+   * @library bmi160
+   * @sensor bmi160
+   * @comname UPM API for the BMI160 3-axis Accelerometer, Gyroscope
+   * and Magnetometer
+   * @type accelerometer compass
+   * @man mouser
+   * @con i2c
+   * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
+   *
+   * @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
+   * Magnetometer
+   *
+   * The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
+   * Additionally it supports an external Magnetometer, accessed
+   * through the BMI160's register interface.  This driver was
+   * developed with a BMI160 "Shuttle" board, which included a BMM150
+   * Magnetometer.
+   *
+   * The device is driven by either 1.8v or 3.3vdc.  This driver
+   * incorporates the Bosch BMI160 driver code at
+   * https://github.com/BoschSensortec/BMI160_driver .
+   *
+   * While not all of the functionality of this device is supported
+   * initially, the inclusion of the Bosch driver in the source code
+   * makes it possible to support whatever features are required that
+   * the driver can support.
+   *
+   * @snippet bmi160.cxx Interesting
+   */
+  class BMI160 {
+  public:
+
+    typedef enum {
+      ACCEL_RANGE_2G                      = 0, // 2 Gravities
+      ACCEL_RANGE_4G,
+      ACCEL_RANGE_8G,
+      ACCEL_RANGE_16G
+    } ACCEL_RANGE_T;
+
+    typedef enum {
+      GYRO_RANGE_125                      = 0, // 125 degrees/sec
+      GYRO_RANGE_250,
+      GYRO_RANGE_500,
+      GYRO_RANGE_1000,
+      GYRO_RANGE_2000
+    } GYRO_RANGE_T;
+
+    /**
+     * bmi160 constructor
+     *
+     * @param bus i2c bus to use
+     * @param address the address for this device
+     */
+    BMI160(int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR);
+
+    /**
+     * BMI160 Destructor
+     */
+    ~BMI160();
+
+    /**
+     * Take a measurement and store the current sensor values
+     * internally.  This function must be called prior to retrieving
+     * any sensor values, for example getAccelerometer().
+     *
+     */
+    void update();
+
+    /**
+     * set the scaling mode of the accelerometer
+     *
+     * @param scale one of the ACCEL_RANGE_T values
+     */
+    void setAccelerometerScale(ACCEL_RANGE_T scale);
+
+    /**
+     * set the scaling mode of the gyroscope
+     *
+     * @param scale one of the GYRO_RANGE_T values
+     */
+    void setGyroscopeScale(GYRO_RANGE_T scale);
+
+    /**
+     * Get the Accelerometer values.  This function returns a pointer
+     * to 3 floating point values: X, Y, and Z, in that order.  The
+     * values returned are in gravities.  update() must have been
+     * called prior to calling this method.
+     *
+     * The caller is reponsible for freeing the returned pointer.
+     *
+     * @return Pointer to 3 floating point values: X, Y, and Z in
+     * gravities.
+     */
+    float *getAccelerometer();
+
+    /**
+     * Get the Accelerometer values.  The values returned are in
+     * gravities.  update() must have been called prior to calling
+     * this method.
+     *
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void getAccelerometer(float *x, float *y, float *z);
+
+    /**
+     * Get the Gyroscope values.  This function returns a pointer to 3
+     * floating point values: X, Y, and Z, in that order.  The values
+     * values returned are in degrees per second.  update() must have
+     * been called prior to calling this method.
+     *
+     * The caller is reponsible for freeing the returned pointer.
+     *
+     * @return Pointer to 3 floating point values: X, Y, and Z in
+     * degrees per second.
+     */
+    float *getGyroscope();
+
+    /**
+     * Get the Gyroscope values.  The values returned are in degrees
+     * per second.  update() must have been called prior to calling
+     * this method.
+     *
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void getGyroscope(float *x, float *y, float *z);
+
+    /**
+     * Get the Magnetometer values.  This function returns a pointer
+     * to 3 floating point values: X, Y, and Z, in that order.  The
+     * values values returned are in micro Teslas.  update() must have
+     * been called prior to calling this method.  If the Magnetometer
+     * has been disabled, the return values will always be 0, 0, and
+     * 0.
+     *
+     * The caller is reponsible for freeing the returned pointer.
+     *
+     * @return Pointer to 3 floating point values: X, Y, and Z in
+     * micro Teslas.
+     */
+    float *getMagnetometer();
+
+    /**
+     * Get the Magnetometer values.  The values returned are in micro
+     * Teslas.  update() must have been called prior to calling this
+     * method.
+     *
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void getMagnetometer(float *x, float *y, float *z);
+
+    /**
+     * Enable or disable the Magnetometer.  By default, the
+     * magnetometer is enabled.
+     *
+     * @param enable true to enable the magnetometer, false to disable.
+     */
+    void enableMagnetometer(bool enable);
+
+    /**
+     * Return the sensor time.  This is a 24bit value that increments
+     * every 39us.  It will wrap around once the 24b resolution is
+     * exceeded.
+     *
+     * @return The current sensor time.
+     */
+    unsigned int getSensorTime();
+
+  protected:
+    // uncompensated accelerometer and gyroscope values
+    float m_accelX;
+    float m_accelY;
+    float m_accelZ;
+
+    float m_gyroX;
+    float m_gyroY;
+    float m_gyroZ;
+
+    float m_magX;
+    float m_magY;
+    float m_magZ;
+
+    unsigned int m_sensorTime;
+
+    // accelerometer and gyro scaling factors, depending on their Full
+    // Scale (Range) settings.
+    float m_accelScale;
+    float m_gyroScale;
+
+    // is the magnetometer enabled?
+    bool m_magEnabled;
+
+    /**
+     * set up initial values and start operation
+     *
+     * @return true if successful
+     */
+    virtual bool init();
+
+  private:
+    // due to the way we need to 'hook' into the bmi driver, the i2c
+    // context is a static variable defined in the .cxx implmentation.
+
+    uint8_t m_addr;
+  };
+}

src/bmi160/javaupm_bmi160.i

@@ -0,0 +1,41 @@
+%module javaupm_bmi160
+%include "../upm.i"
+%include "typemaps.i"
+%include "arrays_java.i"
+%include "../java_buffer.i"
+
+%{
+    #include "bmi160.h"
+%}
+
+
+%typemap(jni) float * "jfloatArray"
+%typemap(jstype) float * "float[]"
+%typemap(jtype) float * "float[]"
+
+%typemap(javaout) float * {
+    return $jnicall;
+}
+
+%typemap(out) float * {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+    delete [] $1;
+}
+
+%ignore getAccelerometer(float *, float *, float *);
+%ignore getGyroscope(float *, float *, float *);
+%ignore getMagnetometer(float *, float *, float *);
+
+%include "bmi160.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_bmi160");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/bmi160/jsupm_bmi160.i

@@ -0,0 +1,10 @@
+%module jsupm_bmi160
+%include "../upm.i"
+%include "cpointer.i"
+
+%pointer_functions(float, floatp);
+
+%include "bmi160.h"
+%{
+    #include "bmi160.h"
+%}

src/bmi160/license.txt

@@ -0,0 +1,55 @@
+/** \mainpage
+*
+****************************************************************************
+* Copyright (C) 2014 Bosch Sensortec GmbH
+*
+* File : bmi160.h
+*
+* Date : 2014/10/27
+*
+* Revision : 2.0.6 $
+*
+* Usage: Sensor Driver for BMI160 sensor
+*
+****************************************************************************
+*
+* \section License
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+*   Redistributions of source code must retain the above copyright
+*   notice, this list of conditions and the following disclaimer.
+*
+*   Redistributions in binary form must reproduce the above copyright
+*   notice, this list of conditions and the following disclaimer in the
+*   documentation and/or other materials provided with the distribution.
+*
+*   Neither the name of the copyright holder nor the names of the
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
+* OR CONTRIBUTORS BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
+* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
+*
+* The information provided is believed to be accurate and reliable.
+* The copyright holder assumes no responsibility
+* for the consequences of use
+* of such information nor for any infringement of patents or
+* other rights of third parties which may result from its use.
+* No license is granted by implication or otherwise under any patent or
+* patent rights of the copyright holder.
+**************************************************************************/

src/bmi160/pyupm_bmi160.i

@@ -0,0 +1,16 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_bmi160
+%include "../upm.i"
+%include "cpointer.i"
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%pointer_functions(float, floatp);
+
+%include "bmi160.h"
+%{
+    #include "bmi160.h"
+%}

src/bmp180/CMakeLists.txt

@@ -0,0 +1,6 @@
+include_directories(..)
+set (libname "bmp180")
+set (libdescription "upm BMP180")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/bmp180/bmp180.cxx

@@ -0,0 +1,286 @@
+/*
+ * 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 <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "bmp180.h"
+
+/* CALIBRATION */
+#define BMP180_PROM_START_ADDR          (0xAA)
+#define BMP180_PROM_DATA_LEN            (22)
+
+#define BMP180_CALIB_DATA_SIZE          (22)
+#define BMP180_CALIB_PARAM_AC1_MSB      (0)
+#define BMP180_CALIB_PARAM_AC1_LSB      (1)
+#define BMP180_CALIB_PARAM_AC2_MSB      (2)
+#define BMP180_CALIB_PARAM_AC2_LSB      (3)
+#define BMP180_CALIB_PARAM_AC3_MSB      (4)
+#define BMP180_CALIB_PARAM_AC3_LSB      (5)
+#define BMP180_CALIB_PARAM_AC4_MSB      (6)
+#define BMP180_CALIB_PARAM_AC4_LSB      (7)
+#define BMP180_CALIB_PARAM_AC5_MSB      (8)
+#define BMP180_CALIB_PARAM_AC5_LSB      (9)
+#define BMP180_CALIB_PARAM_AC6_MSB      (10)
+#define BMP180_CALIB_PARAM_AC6_LSB      (11)
+#define BMP180_CALIB_PARAM_B1_MSB       (12)
+#define BMP180_CALIB_PARAM_B1_LSB       (13)
+#define BMP180_CALIB_PARAM_B2_MSB       (14)
+#define BMP180_CALIB_PARAM_B2_LSB       (15)
+#define BMP180_CALIB_PARAM_MB_MSB       (16)
+#define BMP180_CALIB_PARAM_MB_LSB       (17)
+#define BMP180_CALIB_PARAM_MC_MSB       (18)
+#define BMP180_CALIB_PARAM_MC_LSB       (19)
+#define BMP180_CALIB_PARAM_MD_MSB       (20)
+#define BMP180_CALIB_PARAM_MD_LSB       (21)
+
+/* REGISTERS */
+#define BMP180_TEMPERATURE_DATA_LENGTH          ((uint8_t)2)
+#define BMP180_PRESSURE_DATA_LENGTH             ((uint8_t)3)
+
+#define BMP180_CHIP_ID_REG          (0xD0)
+#define BMP180_VERSION_REG          (0xD1)
+
+#define BMP180_CTRL_MEAS_REG        (0xF4)
+#define BMP180_ADC_OUT_MSB_REG      (0xF6)
+#define BMP180_ADC_OUT_LSB_REG      (0xF7)
+
+#define BMP180_SOFT_RESET_REG       (0xE0)
+
+/* temperature measurement */
+#define BMP180_T_MEASURE            (0x2E)
+
+/* pressure measurement*/
+#define BMP180_P_MEASURE            (0x34)
+
+#define BMP180_TEMPERATURE_DATA_BYTES   (2)
+#define BMP180_PRESSURE_DATA_BYTES      (3)
+#define BMP180_TEMPERATURE_LSB_DATA     (1)
+#define BMP180_TEMPERATURE_MSB_DATA     (0)
+#define BMP180_PRESSURE_MSB_DATA        (0)
+#define BMP180_PRESSURE_LSB_DATA        (1)
+#define BMP180_PRESSURE_XLSB_DATA       (2)
+
+#define BMP180_PARAM_MG     (3038)
+#define BMP180_PARAM_MH     (-7357)
+#define BMP180_PARAM_MI     (3791)
+
+/* ID */
+#define BMP180_ID                (0x55)
+
+
+
+using namespace upm;
+
+BMP180::BMP180 (int bus, int devAddr, uint8_t mode) {
+    m_name = "BMP180";
+    m_controlAddr = devAddr;
+    m_bus = bus;
+
+    m_i2c = new mraa::I2c(m_bus);
+
+    // Set mode
+    if (mode > BMP180_ULTRAHIGHRES) {
+        mode = BMP180_ULTRAHIGHRES;
+    }
+    oversampling = mode;
+
+    // Check this is a BMP180 chip and get calibration data
+    if (!isAvailable() || !getCalibrationData())
+        UPM_THROW("Init failed");
+
+    getTemperatureCelcius();
+}
+
+BMP180::~BMP180() {
+    delete m_i2c;
+}
+
+int
+BMP180::getPressurePa () {
+    int pressure;
+    int32_t x1, x2, x3, b3, b6, value;
+    uint32_t b4, b7;
+    uint32_t raw_pressure = getPressureRaw();
+
+    /*****calculate B6************/
+    b6 = b5 - 4000;
+
+    /*****calculate B3************/
+    x1 = (b6 * b6) >> 12;
+    x1 *= b2;
+    x1 >>= 11;
+
+    x2 = (ac2 * b6);
+    x2 >>= 11;
+
+    x3 = x1 + x2;
+    b3 = (((((int32_t) ac1) * 4 + x3) << oversampling) + 2) >> 2;
+
+    /*****calculate B4************/
+    x1 = (ac3 * b6) >> 13;
+    x2 = (b1 * ((b6 * b6) >> 12)) >> 16;
+    x3 = ((x1 + x2) + 2) >> 2;
+    b4 = (ac4 * (uint32_t)(x3 + 32768)) >> 15;
+    b7 = ((uint32_t)(raw_pressure - b3) * (50000 >> oversampling));
+
+    if (b4 == 0)
+        UPM_THROW("b4 == 0");
+
+    if (b7 < 0x80000000)
+        pressure = (b7 << 1) / b4;
+    else
+        pressure = (b7 / b4) << 1;
+
+    x1 = pressure >> 8;
+    x1 *= x1;
+    x1 = (x1 * BMP180_PARAM_MG) >> 16;
+    x2 = (pressure * BMP180_PARAM_MH) >> 16;
+
+    /*pressure in Pa*/
+    pressure += (x1 + x2 + BMP180_PARAM_MI) >> 4;
+    return pressure;
+}
+
+int
+BMP180::getTemperatureCelcius () {
+    uint32_t temp;
+    int32_t x1, x2;
+
+    temp = (uint32_t) getTemperatureRaw();
+
+    /* calculate temperature*/
+    x1 = (((int32_t) temp - (int32_t) ac6) * (int32_t) ac5) >> 15;
+
+    // Check divisor
+    if (x1 == 0 && md == 0)
+        UPM_THROW("x1 == 0 && md == 0");
+
+    x2 = ((int32_t) mc << 11) / (x1 + md);
+    b5 = x1 + x2;
+
+    int value = ((b5 + 8) >> 4);
+    return (value + 5) / 10;
+}
+
+uint32_t
+BMP180::getPressureRaw () {
+    uint8_t data[BMP180_PRESSURE_DATA_BYTES];
+
+    m_i2c->address(m_controlAddr);
+    status = m_i2c->writeReg(BMP180_CTRL_MEAS_REG, BMP180_P_MEASURE + (oversampling << 6));
+    if (status != mraa::SUCCESS)
+        UPM_THROW("BMP180_CTRL_MEAS_REG write failed");
+
+    if (oversampling == BMP180_ULTRALOWPOWER) {
+        usleep(5000);
+    } else if (oversampling == BMP180_STANDARD) {
+        usleep(8000);
+    } else if (oversampling == BMP180_HIGHRES) {
+        usleep(14000);
+    } else {
+        usleep(26000);
+    }
+
+    int length = m_i2c->readBytesReg(BMP180_ADC_OUT_MSB_REG, data, BMP180_PRESSURE_DATA_LENGTH);
+    if (length != BMP180_PRESSURE_DATA_LENGTH)
+        UPM_THROW("BMP180_ADC_OUT_MSB_REG read failed");
+
+    return (uint32_t)((((uint32_t)data[BMP180_PRESSURE_MSB_DATA] << 16)
+                       | ((uint32_t) data[BMP180_PRESSURE_LSB_DATA] << 8)
+                       | (uint32_t) data[BMP180_PRESSURE_XLSB_DATA]) >> (8 - oversampling));
+}
+
+
+uint16_t
+BMP180::getTemperatureRaw () {
+    uint8_t data[BMP180_TEMPERATURE_DATA_BYTES];
+
+    m_i2c->address(m_controlAddr);
+    status = m_i2c->writeReg(BMP180_CTRL_MEAS_REG, BMP180_T_MEASURE);
+    if (status != mraa::SUCCESS)
+        UPM_THROW("BMP180_CTRL_MEAS_REG write failed");
+
+    usleep(5000);
+
+    int length = m_i2c->readBytesReg(BMP180_ADC_OUT_MSB_REG, data, BMP180_TEMPERATURE_DATA_LENGTH);
+    if (length != BMP180_TEMPERATURE_DATA_LENGTH)
+        UPM_THROW("BMP180_ADC_OUT_MSB_REG read failed");
+
+    return (uint16_t)((((int32_t)((int8_t)data[BMP180_TEMPERATURE_MSB_DATA])) << 8)
+                      | (data[BMP180_TEMPERATURE_LSB_DATA]));
+}
+
+bool
+BMP180::getCalibrationData() {
+
+    // Holds calibration data
+    uint8_t calibration_data[BMP180_CALIB_DATA_SIZE];
+
+    /* Read calibration data */
+    m_i2c->address(m_controlAddr);
+    int length = m_i2c->readBytesReg(BMP180_PROM_START_ADDR, calibration_data, BMP180_PROM_DATA_LEN);
+
+    // Check we read all calibration data
+    if(length != BMP180_PROM_DATA_LEN) { return false; }
+
+    ac1 = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_AC1_MSB] << 8))
+                    | calibration_data[BMP180_CALIB_PARAM_AC1_LSB]);
+    ac2 = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_AC2_MSB] << 8))
+                    | calibration_data[BMP180_CALIB_PARAM_AC2_LSB]);
+    ac3 = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_AC3_MSB] << 8))
+                    | calibration_data[BMP180_CALIB_PARAM_AC3_LSB]);
+    ac4 = (uint16_t)(((uint32_t)((uint8_t)calibration_data[BMP180_CALIB_PARAM_AC4_MSB] << 8))
+                     | calibration_data[BMP180_CALIB_PARAM_AC4_LSB]);
+    ac5 = (uint16_t)(((uint32_t)((uint8_t)calibration_data[BMP180_CALIB_PARAM_AC5_MSB] << 8))
+                     | calibration_data[BMP180_CALIB_PARAM_AC5_LSB]);
+    ac6 = (uint16_t)(((uint32_t)((uint8_t)calibration_data[BMP180_CALIB_PARAM_AC6_MSB] << 8))
+                     | calibration_data[BMP180_CALIB_PARAM_AC6_LSB]);
+
+    b1 = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_B1_MSB] << 8))
+                   | calibration_data[BMP180_CALIB_PARAM_B1_LSB]);
+    b2 = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_B2_MSB] << 8))
+                   | calibration_data[BMP180_CALIB_PARAM_B2_LSB]);
+
+    mb = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_MB_MSB] << 8))
+                   | calibration_data[BMP180_CALIB_PARAM_MB_LSB]);
+    mc = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_MC_MSB] << 8))
+                   | calibration_data[BMP180_CALIB_PARAM_MC_LSB]);
+    md = (int16_t)(((int32_t)((int8_t)calibration_data[BMP180_CALIB_PARAM_MD_MSB] << 8))
+                   | calibration_data[BMP180_CALIB_PARAM_MD_LSB]);
+
+    return true;
+}
+
+bool
+BMP180::isAvailable() {
+    m_i2c->address(m_controlAddr);
+    if (m_i2c->readReg(BMP180_CHIP_ID_REG) != BMP180_ID)  {
+        return false;
+    }
+
+    return true;
+}
+

src/bmp180/bmp180.h

@@ -0,0 +1,126 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Contributions: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Credits to Adafruit.
+ * Based on Adafruit BMP180 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/i2c.hpp>
+#include "upm/iPressureSensor.h"
+#include "upm/iTemperatureSensor.h"
+
+#define BMP180_ADDR               0x77 // device address
+
+/* MODES */
+#define BMP180_ULTRALOWPOWER 0
+#define BMP180_STANDARD      1
+#define BMP180_HIGHRES       2
+#define BMP180_ULTRAHIGHRES  3
+
+
+namespace upm {
+
+/**
+ * @brief BPM180 atmospheric pressure sensor library
+ * @defgroup BMP180 libupm-BMP180
+ * @ingroup bosch seeed adafruit sparkfun i2c pressure ipressuresensor
+ */
+
+/**
+ * @brief API for Bosch BMP180 Pressure Sensor
+ *
+ * The Bosch BMP180 is a high precision, ultra-low
+ * power consumption pressure sensor. It has a range of between
+ * 30,000 and 110,000 Pa.
+ *
+ * @library BMP180
+ * @sensor BMP180
+ * @comname Bosch BMP Atmospheric Pressure Sensor
+ * @altname BMP180
+ * @type pressure
+ * @man bosch adafruit sparkfun
+ * @con i2c
+ * @if ipressuresensor
+ *
+
+ */
+
+class BMP180 : public IPressureSensor, public ITemperatureSensor {
+    public:
+        /**
+         * Instanciates a BMP180 object
+         *
+         * @param bus number of used bus
+         * @param devAddr address of used i2c device
+         * @param mode BMP180 mode
+         */
+        BMP180 (int bus, int devAddr=BMP180_ADDR, uint8_t mode=BMP180_ULTRAHIGHRES);
+
+        /**
+         * BMP180 object destructor, basicaly it close i2c connection.
+         */
+        ~BMP180 ();
+
+        /**
+         * Return pressure
+         */
+        uint32_t getPressureRaw();
+
+        /**
+         * Return calculated pressure (Pa)
+         */
+        int getPressurePa();
+
+        uint16_t getTemperatureRaw();
+        /**
+         * Return latest calculated temperature value in Celcius
+         */
+        int getTemperatureCelcius();
+
+        /**
+         * Returns whether the correct chip is present at the given address.
+         */
+        bool isAvailable();
+        const char* getModuleName() { return m_name.c_str(); }
+
+    private:
+        std::string m_name;
+
+        int m_controlAddr;
+        int m_bus;
+        mraa::I2c* m_i2c;
+        mraa::Result status;
+
+        uint8_t oversampling;
+        int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
+        uint16_t ac4, ac5, ac6;
+
+        int32_t b5;
+
+        bool getCalibrationData();
+};
+
+}

src/bmp180/javaupm_bmp180.i

@@ -0,0 +1,23 @@
+%module javaupm_bmp180
+%include "../upm.i"
+%include "arrays_java.i";
+%include "../java_buffer.i"
+%include "cpointer.i"
+%include "typemaps.i"
+
+%{
+    #include "bmp180.h"
+%}
+
+%include "bmp180.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_bmp180");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/bmp180/jsupm_bmp180.i

@@ -0,0 +1,8 @@
+%module jsupm_bmp180
+%include "../upm.i"
+
+%{
+    #include "bmp180.h"
+%}
+
+%include "bmp180.h"

src/bmp180/pyupm_bmp180.i

@@ -0,0 +1,10 @@
+%module pyupm_bmp180
+%include "../upm.i"
+
+%include "stdint.i"
+
+%include "bmp180.h"
+%{
+    #include "bmp180.h"
+%}
+

src/bmpx8x/bmpx8x.cxx

@@ -93,7 +93,8 @@ BMPX8X::getPressure () {
     B7 = ((uint32_t)UP - B3) * (uint32_t)( 50000UL >> oversampling );
 
     if (B7 < 0x80000000) {
-        p = (B7 * 2) / B4;
+        p = (B7 * 2) / B4
+;
     } else {
         p = (B7 / B4) * 2;
     }
@@ -169,6 +170,18 @@ BMPX8X::getAltitude (float sealevelPressure) {
     return altitude;
 }
 
+
+int
+BMPX8X::getTemperatureCelcius() {
+    return static_cast<int>(getTemperature() + 0.5);
+}
+
+const char*
+BMPX8X::getModuleName() {
+    return m_name.c_str();
+}
+
+
 int32_t
 BMPX8X::computeB5(int32_t UT) {
     int32_t X1 = (UT - (int32_t)ac6) * ((int32_t)ac5) >> 15;

src/bmpx8x/bmpx8x.h

@@ -30,6 +30,7 @@
 #include <string>
 #include <mraa/i2c.hpp>
 #include <math.h>
+#include "upm/iTemperatureSensor.h"
 
 #define ADDR               0x77 // device address
 
@@ -88,7 +89,7 @@ namespace upm {
  * @snippet bmpx8x.cxx Interesting
  */
 
-class BMPX8X {
+class BMPX8X : public ITemperatureSensor {
     public:
         /**
          * Instantiates a BMPX8X object
@@ -141,6 +142,19 @@ class BMPX8X {
          */
         float getAltitude (float sealevelPressure = 101325);
 
+        /**
+         * Return latest calculated temperature value in Celcius
+         * See ITemperatureSensor
+         */
+        int getTemperatureCelcius();
+
+        /**
+         * Returns name of module. This is the string in library name after libupm_
+
+         * @return name of module
+         */
+        const char* getModuleName();
+
         /**
          * Calculates B5 (check the spec for more information)
          *

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"