upm: v1.2.0

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
es9257: updated min/max pulse values for C driver
2025-07-06 20:01:12 +03:00 · 2017-04-10 20:38:25 -07:00 · 2017-04-10 20:38:25 -07:00 · 2017-04-10 20:38:18 -07:00 · 2017-04-10 18:37:08 -07:00 · 2017-04-10 18:36:05 -07:00
984 changed files with 44844 additions and 15511 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -118,8 +118,10 @@ find_package (PkgConfig REQUIRED)

 # Force a libmraa search and minimum required version every time a config is generated
 unset(MRAA_FOUND CACHE)
-set(MRAA_MINIMUM 1.1.1)
+set(MRAA_MINIMUM 1.6.1)
 pkg_check_modules (MRAA REQUIRED mraa>=${MRAA_MINIMUM})
+# Also, get full path to the mraa library
+find_library(MRAA_LIBRARY NAMES mraa PATHS ${MRAA_LIBDIR} NO_DEFAULT_PATH)

 # Check for BACNET
 pkg_check_modules (BACNET libbacnet)
@ -143,6 +145,8 @@ if (BUILDSWIGJAVA)
  find_package (Java REQUIRED)
  find_package (JNI REQUIRED)
  pkg_check_modules (MRAAJAVA REQUIRED mraajava>=0.8.0)
+  # Also, get full path to the mraajava library
+  find_library(MRAAJAVA_LIBRARY NAMES mraajava PATHS ${MRAA_LIBDIR} NO_DEFAULT_PATH)
 endif (BUILDSWIGJAVA)

 # Find swig if any wrapper is enabled
@ -193,7 +197,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 # If git_describe fails, use a dirty version
 if (${VERSION} MATCHES -NOTFOUND)
-  set (VERSION "v1.0.2")
+  set (VERSION "v1.2.0")
  message (WARNING "Failed to retrieve UPM version with 'git describe' (using "
      "${VERSION}). Check that git is installed and this is a valid git repo.")
 endif ()
@ -415,18 +419,11 @@ set (UPM_COMMON_HEADER_DIRS
    ${CMAKE_HOME_DIRECTORY}/include
    ${CMAKE_HOME_DIRECTORY}/include/fti)

+# UPM source
 add_subdirectory (src)
-if(BUILDEXAMPLES)
-  add_subdirectory (examples/c)
-  if(BUILDCPP)
-    add_subdirectory (examples/c++)
-  endif(BUILDCPP)
-endif()

-# Build java examples
-if(BUILDSWIGJAVA AND BUILDEXAMPLES)
-  add_subdirectory (examples/java)
-endif()
+# UPM examples
+add_subdirectory (examples)

 # Python interp is previously found if BUILDTESTS=ON
 if (BUILDTESTS)
--- a/3
+++ b/3
@ -1,4 +1,5 @@
-Copyright © 2014-2015 Intel Corporation
+The MIT License (MIT)
+Copyright © 2014-2016 Intel Corporation

 Permission is hereby granted, free of charge, to any person obtaining
 a copy of this software and associated documentation files (the
--- a/README.md
+++ b/README.md
@ -30,28 +30,20 @@ sensors and actuators and provide feedback on interface design.
 A sensor/actuator is expected to work as such (here is the MMA7660 accelerometer API):
 ```C++
  // Instantiate an MMA7660 on I2C bus 0
-  upm::MMA7660 *accel = new upm::MMA7660(MMA7660_I2C_BUS,
+  upm::MMA7660 *accel = new upm::MMA7660(MMA7660_DEFAULT_I2C_BUS,
                                         MMA7660_DEFAULT_I2C_ADDR);

  // place device in standby mode so we can write registers
  accel->setModeStandby();

  // enable 64 samples per second
-  accel->setSampleRate(upm::MMA7660::AUTOSLEEP_64);
+  accel->setSampleRate(MMA7660_AUTOSLEEP_64);

  // place device into active mode
  accel->setModeActive();

  while (shouldRun)
    {
-      int x, y, z;
-      
-      accel->getRawValues(&x, &y, &z);
-      cout << "Raw values: x = " << x 
-           << " y = " << y
-           << " z = " << z
-           << endl;
-      
      float ax, ay, az;

      accel->getAcceleration(&ax, &ay, &az);
@ -82,6 +74,10 @@ please refer to the Intel Developer Zone IDE page.

 <a href="https://software.intel.com/iot/software/ide"><img src="docs/icons/allides.png"/></a>

+### Installing UPM
+
+Find notes on how to install UPM on various OS'es on this [page](docs/installing.md).
+
 ### Building UPM

 See building documentation [here](docs/building.md).
@ -90,24 +86,34 @@ See building documentation [here](docs/building.md).

 ### Making your own UPM module

-Porting [link](docs/porting.md) has more information on making new UPM modules.
+A quick way to add a new sensor driver is to port existing code from another
+platform (e.g. Arduino) and swap the IO calls to the MRAA API. This of course
+assumes either ownership of the original code or licensing that allows
+unrestricted redistribution.

-There is also an example available gfor max31855 [sensor](docs/max31855.md).
+The [porting](docs/porting.md) section has more information on this process,
+and there is an example available based on the max31855 [sensor](docs/max31855.md).

-Guide on creating Java [bindings](docs/creating_java_bindings.md).
+Read more on creating Java [bindings](docs/creating_java_bindings.md) for your
+new driver.

-### Naming conventions and rules for new UPM contributions
+### Guidelines and rules for new UPM contributions

 Before you begin development, take a look at our naming [conventions](docs/naming.md).
+The name you pick for a newly added sensor needs to be unique in the UPM library.

-Also, please read the guidelines for contributions [to UPM](docs/contributions.md).
-
-Don't forget to check the documentation [section](docs/documentation.md).
-
+Then, please go over this short set of rules for new [contributions](docs/contributions.md).
 Make sure you add yourself as an author on every new code file submitted.
 If you are providing a fix with significant changes, feel free to add yourself
 as a contributor. Signing-off your commits is mandatory.

+Documenting your code is also a big part of the task. We have a strict set of
+tags used to classify our sensors and their capabilities. You can find out more
+about this in our [section](docs/documentation.md) on documenting a sensor API.
+Finally, if you really want to ensure consistency with the rest of the library,
+and the intel-iot-devkit repositories in general, take a look at our extensive
+[author guide](docs/guidelines.md).
+
 API Documentation
 ==============

@ -122,7 +128,8 @@ our API in a way that will break backwards compatibility. If you find yourself
 unable to compile code that was working fine before a library update, make sure
 you check the [API changes](docs/apichanges.md) section first.

-**NOTE** - Our **C++ header files** changed extension from *.h* to *.hpp*!
+**NOTE** - Several important API changes are currently underway for some of our
+widely used libraries including `libupm-grove` and `libupm-i2clcd`!

 ### Changelog
 Version changelog [here](docs/changelog.md).
--- a/docs/apichanges.md
+++ b/docs/apichanges.md
@ -4,6 +4,191 @@ API Changes                       {#apichanges}
 Here's a list of other API changes made to the library that break source/binary
 compatibility between releases:

+# v1.2.0
+
+ * **Note for all drivers ported to C** As a general note concerning
+ all of the drivers that have been ported to C: **external constants
+ have likely been renamed**.  Previously in C++, most these constants
+ were defined as enums in the *upm::classname* namespace.
+
+    For drivers written in C, all of these constants are no longer in
+    a class (or UPM) namespace, and instead have the driver name
+    prefixed to the original value.
+
+    The driver name is prefixed to these constants to avoid name
+    collisions when using multiple drivers in a given application, and
+    to make it clear which constants belong to which driver.
+
+    For drivers that used *#define* for constants, only the prefix has
+    been added if not already present.  In some cases, names that were
+    not very descriptive were changed, for example *ADDR* renamed to
+    *BMPX8X_DEFAULT_I2C_ADDR*.
+
+    So for example, a constant that might once have been referred to
+    in a C++ example as *upm::MMA7660::AUTOSLEEP_64*, would now be
+    referenced as *MMA7660_AUTOSLEEP_64*.
+
+    This holds true for most, if not all drivers that have been ported
+    to C.  Not all of these changes are listed in this file due to the
+    sheer number of them.
+
+    If you run into problems with constants that were working
+    previously, and now cannot be found, this is likely the reason.
+    Check the driver documentation and the source code to see what the
+    new name is.
+
+    In C, constants are now usually implemented in a separate header
+    file named *drivername_defs.h* or *drivername_regs.h*, for easier
+    integration into the SWIG languages, and shared use between C++ and
+    C implementations.
+
+ * **bmpx8x** This driver has been rewritten from scratch in C, with a
+ C++ wrapper.
+
+    All exported symbols have been renamed for consistency and to
+    avoid symbol collisions by having a *BMPX8X_* prefix. As an example,
+    *ADDR* has been renamed to *BMPX8X_DEFAULT_I2C_ADDR*.  Most C
+    ported drivers follow this rule.
+
+    The *getPressureRaw()* and *getTemperatureRaw()* functions have
+    been removed.  This functionality was only needed internally to
+    the driver.
+
+    The constructor no longer accepts a mode argument.  Only the I2C
+    bus and I2C address are accepted.  By default, the device will be
+    configured for it's maximum resolution *BMPX8X_OSS_ULTRAHIGHRES*,
+    the previous default.  You can use the new method
+    *setOversampling()* to change the mode to something else if
+    desired.
+
+    The methods related to calibration, like *computeB5()* are no
+    longer exposed.
+
+    New methods, *init()* and *reset()* have been added.  *reset()*
+    resets the device to a freshly powered up state.  *init()* can be
+    used to re-initialize the device after a reset (reload calibration
+    data) and set a default oversampling mode.
+
+    A new method, *update()* has been added.  This method will update
+    all internal state from the device, and **must** be called before
+    querying the pressure, temperature, sea level and altitude values.
+
+    The *getSeaLevelPressure()* method has been split into two
+    overloaded methods.  One which **requires** an argument in meters
+    (previously, a default was provided), and another which does not
+    accept arguments at all and computes the sea level pressure based
+    on current altitude.
+
+    The *i2cReadReg_16()*, *i2CWriteReg()* and *i2cReadReg_8()* have
+    been replaced with *readReg()*, *readRegs()*, and *writeReg()*, in
+    line with other I2C/SPI drivers of this type.  They are marked
+    protected (in C++) now as well.  Please see the updated
+    documentation and examples for this driver.
+
+ * **mma7660** This driver has been rewritten in C.  Some exported
+ symbols have been changed, for example, *MMA7660_I2C_BUS* was renamed
+ to *MMA7660_DEFAULT_I2C_BUS*.
+
+    See updated documentation and examples for other changes.
+
+ * **bmx055, bmi055, bmc150, bma250e, bmg160, bmm150** This driver has
+ been split up.  The *bma250e*, *bmg160*, *bmm150* drivers have been
+ rewritten in C (with C++ wrappers) and now reside in their own
+ libraries.  The versions of these drivers that used to be present in
+ *bmx055* have been removed, and *bmx055* now uses the new libraries
+ for it's functionality.  The other two composite devices, *bmi055*,
+ and *bmc150* are still contained within the *bmx055* library, and
+ also use the new libraries for their functionality.
+
+    In addition, for all of these drivers some private methods are no
+    longer exposed (such as the compensation routines).
+
+    The C++ driver methods that once returned pointers to a floating
+    point array now return *std::vectors* of the appropriate type.
+    The SWIG language examples for these drivers have been modified to
+    use these methods instead of the C pointer based SWIG methods
+    previously used.
+
+ * **sainsmartks** This driver has been renamed to *lcdks* (LCD Keypad
+ Shield) and moved into it's own library.  It uses the *lcm1602*
+ library to do most of it's work.  In addition, an additional argument
+ was added to the constructor to optionally allow specifying a GPIO
+ pin to be used to control the backlight.  This driver supports the
+ SainsmartKS and DFRobot LCD Keypad Shields.  Similar devices from
+ other manufacturers should also work with this driver.
+
+ * **lcm1602/jhd1313m1** These drivers had been rewritten in C, with
+ C++ wrappers and placed into their own libraries in the previous
+ version of UPM, however, the original C++ implementation was kept in
+ the lcd/i2clcd library for compatibility reasons with existing code.
+ To avoid collisions with the header files, the new *lcm1602* and
+ *jhd1313m1* drivers had their C++ headers renamed to use a **.hxx**
+ suffix.
+
+    In this version of UPM, the *lcm1602* and *jhd1313m1* drivers have
+    been removed from the lcd/i2clcd library.  In addition, the header
+    files for the new implementation have been renamed from their
+    **.hxx** suffix to the normal **.hpp** suffix.
+
+    A change was also made to the new *lcm1602* and *jhd1313m1* C++
+    drivers.  The *createChar()* function now accepts a byte vector
+    *std::vector<uint8_t>* rather than the *char ** pointer that was
+    used previously.  This should make it easier to use with the SWIG
+    language bindings (Python, JavaScript, and especially Java).
+
+ * **bmp280/bme280** Some private methods are no longer exposed (such
+ as the calibration and compensation routines).  In addition,
+ the *getHumidity()* method no longer accepts an argument representing
+ pressure at sea level.  A separate method is provided to set this now.
+
+ * **bno055** This module no longer uses std::strings to pass around
+ binary data (*read/writeCalibrationData()*).  Rather, now *std::vectors* of
+ the appropriate type are used.  In addition, methods that previously
+ returned certain data in the form of an array, like *getEulerAngles()*,
+ now return a *std::vector* instead.  This simplifies the Python,
+ JavaScript, and Java bindings considerably, and leads to more
+ "natural" looking Python/JavaScript/Java code.  For JavaScript, Java,
+ and Python, the examples have been modified to use these methods
+ rather than the methods that return data in argument pointers or
+ arrays.
+
+ * **lpd8806** The constructor for this driver was updated to allow specifying
+ a SPI bus number. This is now the first parameter, the number of LEDs on the
+ strip is now the last (3rd) parameter instead.
+
+ * **max31723** The constructor for this driver was updated to allow specifying
+ a SPI bus number. This is now the first parameter, CS pin second.
+
+ * **tcs3414cs** The constructor for this can now accept an I2C bus and
+ address.
+
+# v1.1.0 and prior
+
+ * **i2clcd/jhd1313m1/lcm1602** LCD devices supported by the i2clcd module are
+ being separated into individual libraries. The APIs will be preserved, but
+ we recommend changing your code to use the new libraries as they become
+ available. Once this transition is complete, the i2clcd module will be
+ deprecated. So far, the following libraries have been made available
+ separately: jhd1313m1, lcm1602.
+
+ * **nunchuck** This driver no longer supports the init() function.
+ All initialization is now done in the C nunchuck_init() function,
+ or the C++ constructor.  In addition, the *NUNCHUCK_I2C_ADDR*
+ define is no longer exposed, as it is not possible to use any other
+ I2C address than *0x52*.  The readBytes() and writeByte() functions
+ are also no longer exposed, since aside from what the driver does
+ to initialize and read data, there are no other options available.
+
+ * **enc03r** This driver no longer supports the value() function.  In
+ addition, an update() function has been added.  This function must be
+ called prior to calling angularVelocity().  angularVelocity() no
+ longer accepts an argument.  Additional functions have been added,
+ however they do not affect compatibility with previous versions.
+
+ * **ds18b20** The C++ interface init() function has been deprecated.
+ It is still present, but currently does nothing.  It will be removed
+ in a future release.
+
 * **grove<name>** Starting with UPM 1.0 the Grove libraries have been renamed
 from *upm-grove<name>* to simply *upm-<name>*. Class names also match this new
 format, with old classes marked as deprecated throughout the documentation.
@ -11,27 +196,35 @@ compatibility between releases:
 groveelectromagnet, groveemg, grovegprs, grovegsr, grovelinefinder, grovemd,
 grovemoisture, groveo2, grovescam, grovespeaker, groveultrasonic, grovevdiv,
 grovewater, grovewfs.
+
 * **grove** As of UPM 1.0 the Grove classes for sensors in the starter kit are
 being separated into individual libraries. The old classes will be deprecated
 over time and eventually removed. Corresponding libraries have the grove
 prefix removed. Affected classes are GroveButton, GroveLed, GroveLight,
 GroveRelay, GroveRotary, GroveSlide and GroveTemp.
+
 * The **ublox6** driver has been replaced with a generic implementation called
 nmea_gps as of UPM 1.0. This driver should handle all generic serial GPS
 devices that output NMEA data going forward.  This new driver has been tested
 with ublox6, DFRobot VK2828U7 (ublox7) and ublox LEA-6H GPS devices.
+
 * **grove** Binary compatibility was broken for the GroveTemp class as of UPM
 v0.7.3. C++ code using this class has to be recompiled.
+
 * There were frequent misspellings of the word *Celsius* in the UPM
 code.  In some cases, these were in method names, which will cause
 some API compatibility issues.  These have all been corrected for UPM
 versions after v.0.7.2.
+
 * Our **C++ header files** changed their extension from *.h* to *.hpp* in
 version 0.7.0, Intel provided examples and code samples also reflect this
 change but you will need to modify your `#include` directives in existing
 code.
+
 * **my9221**, **groveledbar** and **grovecircularled** are now all part of the
 same library (my9221) and new functionality was added going to v.0.5.1.
+
 * **stepmotor** driver API was changed significantly from v.0.4.1 to v.0.5.0.
+
 * **eboled** library was greatly improved in version 0.4.0 and the `draw()`
 function was removed in favor of a more complete GFX library implementation.
--- a/docs/changelog.md
+++ b/docs/changelog.md
@ -4,6 +4,31 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:

+### v1.2.0
+
+ * Improved JAVA binding compiler compatibility and added JAVA interfaces that
+ match existing C++ interfaces
+ * Ported Bosch drivers to C thus now they can be used on supported MCUs
+ * Completely redesigned C/C++ example handling by cmake to avoid maintaining
+ a list by hand
+ * Fixed several existing drivers, mostly based on static code analysis reports
+ * Added a sensor driver template plus bash script that can be easily used by
+ developers to start writing their own sensor driver
+ * Numerous documentation improvements
+ * New sensors: p9813, abp, rsc, mmc35240, tcs37727, tmp006, mma8x6x, mag3110,
+ hdc1000
+
+### v1.1.0
+
+ * Reworked cmake handling of internal and external dependencies
+ * Documentation improvements for sensor names, sensor descriptions, external
+ contributor guides and added new section on installing UPM on a supported OS
+ * Fixed issues with C11 builds on some WRLinux gateways and Debian systems
+ * New examples and functionality for speaker and ads1x15 modules
+ * Modified JAVA builds to ensure the SWIG generated wrappers include all
+ functionality and typemaps
+ * New sensors: mcp2515, max30100, uartat, le910
+
 ### v1.0.2

 * Minor cmake changes for Java builds and Java examples are now toggled with
--- a/docs/contributions.md
+++ b/docs/contributions.md
@ -94,3 +94,55 @@ then you just add a line to each of your commits with `--signoff` saying

 using your real name (sorry, no pseudonyms or anonymous contributions.)
 Unsigned commits will not be accepted.
+
+
+Creating a new sensor library using the sensortemplate
+=======================================
+
+A stubbed-out sensor library is available which can be leveraged to get
+up-and-running quickly when writing a new sensor library.  Use the shell
+commands below to generate collateral files for your new sensor library.
+
+
+```shell
+#!/bin/bash
+
+function make_new_sensor {
+    SensorName=$1
+    # Make sure this is run from the root UPM directory
+    if ! grep -q 'UPM ' README.md; then echo "Please run from the root UPM directory"; return -1; fi
+
+    # Copy/paste the below commands into a bash shell...
+    # Get a lowercase version of the string
+    sensorname=${SensorName,,}
+    # Copy sensortemplate files to ${sensorname}
+    find docs/ examples/ src/ -name '*sensortemplate*' -exec bash -c 'cp -r $0 ${0/sensortemplate/${sensorname}}' {} \;
+    # Copy SensorTemplate files to ${SensorName}
+    find examples/ src/ -name '*SensorTemplate*' -exec bash -c 'cp -r $0 ${0/SensorTemplate/${SensorName}}' {} \;
+    # Rename sernsortemplate src files
+    rename "s/sensortemplate/${sensorname}/" src/${sensorname}/*
+    # Search/replace the new files, replacing all instances of sensortemplate
+    perl -p -i -e "s/SensorTemplate/${SensorName}/g" src/${sensorname}/* examples/*/*${sensorname}* examples/*/*${SensorName}*
+    perl -p -i -e "s/sensortemplate/${sensorname}/g" src/${sensorname}/* examples/*/*${sensorname}* examples/*/*${SensorName}*
+    # Add mynewmodule example target for java
+    perl -p -i -e "s/^((.*)SensorTemplateSample sensortemplate(.*))/\1\n\2${SensorName}Sample ${sensorname}\3/g" examples/java/CMakeLists.txt
+    # Add mynewmodule example mappings for doxygen
+    perl -p -i -e "s/^(.*SensorTemplateSample.*)$/\1\n${sensorname}.cxx\t${SensorName}Sample.java\t${sensorname}.js\t${sensorname}.py/g" doxy/samples.mapping.txt
+    # Display TODO's
+    printf "Generation complete for sensor library: ${SensorName}\n"
+    printf "TODO's:\n"
+    printf "\t1. Update src/hdr files: src/${sensorname}/${sensorname}.hpp src/${sensorname}/${sensorname}.cxx\n"
+    printf "\t\tChange the Author\n"
+    printf "\t\tChange the Copyright\n"
+    printf "\t\tUpdate all doxygen tags (follow directions for @tags)\n"
+    printf "\t2. Update examples: examples/*/${sensorname}.* examples/java/*${SensorName}*.java\n"
+    printf "\t3. Overwrite docs/images/${sensorname}.png with a valid image of your sensor\n"
+}
+
+# Call make_new_sensor with your new sensor name, example: 'MyNewSensor1234'
+make_new_sensor MyNewSensor1234
+```
+
+Once all files have been created, they can be used as a starting-point for your
+new library.  They will need additional customization (your name/email address,
+documentation, sensor images, etc).
--- a/docs/documentation.md
+++ b/docs/documentation.md
@ -52,8 +52,9 @@ Here's an example (disregard the "@verbatim" tags in your actual code):
 - `<chip-id>` Usually the chip number used by the sensor. When this is not
  available or relevant, use a unique descriptor that makes sense. Must match
  class name. *Mandatory*
- `<component-name>` A short name for your sensor, try to avoid including the
-  manufacturer's name here. *Mandatory*
+- `<component-name>` Title Case descriptive name for your sensor, try to avoid
+  including the manufacturer's name here.  Examples: Digital Pressure Sensor,
+  Serial MP3 Module, etc... *Mandatory*
 - `<alt-name>` Alternative names that your sensor driver might have. This may
  include manufacturer's name. *Optional*
 - `<alt-id>` Alternative chip-ids that your sensor driver supports. *Optional*
--- a/docs/guidelines.md
+++ b/docs/guidelines.md
@ -0,0 +1,348 @@
+# Code Commenting And Documentation Authoring Guidelines
+
+#### [Part I. Code Commenting](#code-commenting)
+
+[Grammar](#grammar)
+
+- [Active vs passive voice](#voice)
+
+- [Capitalization](#capitalization)
+
+- [No possessive case](#possessive-case)
+
+- [Present tense](#present-tense)
+
+- [Second person vs the user / reader / programmer / engineer](#second-person)
+
+- [Third person vs infinitive](#third-person)
+
+[Punctuation](#punctuation)
+
+- [Comma in enumerations](#comma)
+
+- [No period at the end of description](#period)
+
+[Specific word usage](#word-usage)
+
+- [Abbreviations and acronyms](#abbr-acr)
+
+- [Adjectives containing numbers](#adj-num)
+
+- [App vs application](#app)
+
+- [Function vs method](#func-meth)
+
+- [Onboard vs on-board](#onboard)
+
+- [Sensor name vs sensor model](#name-model)
+
+- [Setup vs set up](#setup)
+
+- [Wi-Fi vs WiFi / Wifi / Wi-fi / wifi / wi-fi](#setup)
+
+[Trademarks](#trademarks)
+
+- [Intel products](#intel-prod)
+
+- [Third-party technology](#third-party)
+
+- [Trademark + noun](#tm-noun)
+
+#### [Part II. Documentation Authoring](#doc-authoring)
+
+[Grammar](#da-grammar)
+
+- [Capitalization](#da-capitalization)
+
+[Styling](#da-styling)
+
+- [Bolding](#da-bolding)
+
+- [Backticks](#da-backticks)
+
+- [Links](#da-links)
+
+- [Numbered list vs bullet points](#da-lists)
+
+[Specific word usage](#da-word-usage)
+
+- [Login vs log in](#da-login)
+
+- [Click](#da-click)
+
+- [SSH](#da-ssh)
+
+# <a name="code-commenting"></a>Code Commenting Guidelines
+
+## <a name="grammar"></a>Grammar
+
+### <a name="voice"></a>Active vs passive voice
+
+Where possible, prefer active voice over passive.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| It can be put into the configuration mode by grounding the CONFIG pin on the transceiver. | - You can put it into the configuration mode by grounding the CONFIG pin on the transceiver.<br>- To put it into the configuration mode, ground the CONFIG pin on the transceiver.<br>- Put it into the configuration mode by grounding the CONFIG pin on the transceiver. |
+
+### <a name="capitalization"></a>Capitalization
+
+- Capitalize the first word in the description of an entity.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| checks to see if there is data available for reading | Checks to see if there is data available for reading |
+| @param len length of the buffer | @param len Length of the buffer |
+
+- Be consistent with the capitalization of boolean values.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Returns True on success, false otherwise | - Returns true on success, false otherwise<br>- Returns True on success, False otherwise |
+
+### <a name="possessive-case"></a>No possessive case
+
+Do not use possessive case to avoid unnecessary personalization.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| method's output | - method output<br>- output of the method |
+
+### <a name="present-tense"></a>Present tense
+
+Use the present simple tense instead of future, past, or present perfect.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| When specified, this value will be used in computing the voltage. | When specified, this value is used in computing the voltage. |
+| Once the data has been read… | Once the data is read… |
+
+### <a name="second-person"></a>Second person vs the user / reader / programmer / engineer
+
+Use second person when addressing the target reader of your comment.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| The user can easily override this method. | You can easily override this method. |
+
+### <a name="third-person"></a>Third person vs infinitive
+
+Use third-person verb forms in short descriptions of classes, methods, functions, etc., not infinitive.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Get the proximity value from the sensor | Gets the proximity value from the sensor |
+
+## <a name="punctuation"></a>Punctuation
+
+### <a name="comma"></a>Comma in enumerations
+
+Add an extra comma before the last item in a list joined by **and** / **or**.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Returns raw values for the X, Y and Z axes. | Returns raw values for the X, Y, and Z axes. |
+
+### <a name="period"></a>No period at the end of description
+
+Do not put a period if the description of an entity is one sentence long.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Returns the name of the sensor. | Returns the name of the sensor |
+| Sets the frequency modulation<br>Valid values are between 10 and 160 (in kHz) | Sets the frequency modulation. Valid values are between 10 and 160 (in kHz). |
+| @param millis Maximum time in milliseconds to wait for the input<br>-1 means waiting forever (default) | @param millis Maximum time in milliseconds to wait for the input. -1 means waiting forever (default). |
+
+<font color="purple">**Exception:**</font> if the description contains more than one sentence, put periods after each sentence.
+
+## <a name="word-usage"></a>Specific word usage
+
+### <a name="abbr-acr"></a>Abbreviations and acronyms
+
+- Spell out the first occurrence or the first prominent use of an abbreviation or acronym, followed by a shortened form.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| @brief API for the GP2Y0A family of IR Proximity Sensors | @brief API for the GP2Y0A family of infrared (IR) Proximity Sensors |
+
+- Do not use Latin abbreviations.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Works best with halved values; e.g., 1.0, 0.5, 0.25, etc. | Works best with halved values; for example, 1.0, 0.5, 0.25, and so on. |
+
+- Know exactly what the abbreviation or acronym means to avoid unnecessary duplication.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| - LCD display<br>- ISR routine | - LCD / liquid-crystal display<br>- ISR / interrupt service routine |
+
+### <a name="adj-num"></a>Adjectives containing numbers
+
+Adjectives of the form **number + noun / participle** should be hyphenated. It does not matter if a number is represented by one or more digits or spelled out.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| - 4 wire stepper motor<br>- 3 axis gyroscope<br>- zero based indexing<br>- one byte register | - 4-wire stepper motor<br>- 3-axis gyroscope<br>- zero-based indexing<br>- one-byte register |
+
+### <a name="app"></a>App vs application
+
+Use **app** when referring to a program running on a device, and **application** when referring to a program running on a desktop / laptop computer.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| The wiki page for this device includes a link to an Android\* application that can be used to read the device via NFC. | The wiki page for this device includes a link to an Android\* app that can be used to read the device via NFC. |
+
+### <a name="func-meth"></a>Function vs method
+
+If a function is associated with a class, use **method** instead.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| class WheelEncoder {<br>...<br>/**<br>* Starts the counter. This function also clears<br>* the current count and resets the clock.<br>*/<br>void startCounter(); | class WheelEncoder {<br>...<br>/**<br>* Starts the counter. This method also clears<br>* the current count and resets the clock.<br>*/<br>void startCounter(); |
+
+### <a name="onboard"></a>Onboard vs on-board
+
+Use **onboard**.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| This ADC features an on-board reference and oscillator. | This ADC features an onboard reference and oscillator. |
+
+### <a name="name-model"></a>Sensor name vs sensor model
+
+Use a sensor name alone or a sensor model followed by a sensor name, not a sensor model alone.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| ADXL345 is compatible with… | - The ADXL345 3-axis digital accelerometer is compatible with…<br>- The accelerometer is compatible with… |
+
+<font color="purple">**Exception:**</font> you can use a sensor model alone when introducing a
+sensor for the first time:
+
+ADXL345 is a 3-axis digital accelerometer…
+
+### <a name="setup"></a>Setup vs set up
+
+**Setup** is a noun, **set up** is a verb.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| It does not require any additional set up. | It does not require any additional setup. |
+| For instructions on how to setup…, refer to... | For instructions on how to set up…, refer to... |
+
+### <a name="wi-fi"></a>Wi-Fi vs WiFi / Wifi / Wi-fi / wifi / wi-fi
+
+Use **Wi-Fi**.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| It was tested with the XBee\* S6B WiFi module. | It is tested with the XBee\* S6B Wi-Fi\* module. |
+
+## <a name="trademarks"></a>Trademarks
+
+### <a name="intel-prod"></a>Intel products
+
+Use the correct official names of Intel products. When in doubt, check the TM names database.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| It is a 64x48 pixel OLED display that connects directly to an edison via its 80-pin connector. | It is a 64x48 pixel OLED display that connects directly to an Intel(R) Edison board via its 80-pin connector. |
+
+**Note:** if an Intel product has a legally approved short name, you may use it in subsequent instances, after spelling it out the first time.
+
+### <a name="third-party"></a>Third-party technology
+
+Add an asterisk (\*) after a name to indicate a third-party trademark or registered intellectual property. If you are not sure whether an asterisk is necessary after a particular name, the rule of thumb is to put one, to be on the safe side.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| The Grove MQ2 Gas Sensor module is useful for gas leakage detection. | The Grove\* MQ2 Gas Sensor module is useful for gas leakage detection. |
+
+### <a name="tm-noun"></a>Trademark + noun
+
+Always follow trademarks by an appropriate noun. For a list of approved nouns for a particular trademark, check the TM names database.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| It is a 64x48 pixel OLED display that connects directly to an Intel(R) Edison via its 80-pin connector. | It is a 64x48 pixel OLED display that connects directly to an Intel(R) Edison board via its 80-pin connector. |
+
+# <a name="doc-authoring"></a>Documentation Authoring Guidelines
+
+## <a name="da-grammar"></a>Grammar
+
+### <a name="da-capitalization"></a>Capitalization
+
+For titles, use sentence capitalization.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Add a New Device | Add a new device |
+
+## <a name="da-styling"></a>Styling
+
+### <a name="da-bolding"></a>Bolding
+
+For GUI elements and file names, use bolding instead of quotes.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| In the “Environment Variables” window, click “OK”. | In the **Environment Variables** window, click **OK**. |
+| Copy the “example.zip” archive into the installation directory. | Copy the **example.zip** archive into the installation directory. |
+
+### <a name="da-backticks"></a>Backticks
+
+Enclose program commands, code blocks, and file paths in backticks (\`).
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| To create a new device, use the **create-thing** command. | To create a new device, use the \`create-thing\` (rendered as `create-thing`) command. |
+| Go to **C:\Users\me\Documents\GitHub\intel-iot-examples-mqtt\support\aws**. | Go to \`C:\Users\me\Documents\GitHub\intel-iot-examples-mqtt\support\aws\` (rendered as `C:\Users\me\Documents\GitHub\intel-iot-examples-mqtt\support\aws`). |
+
+### <a name="da-links"></a>Links
+
+Do not use embedded links to third-party websites.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Create an account on [Microsoft Azure](https://azure.microsoft.com/en-us), if you do not yet have one. | Create an account on [https://azure.microsoft.com/en-us](https://azure.microsoft.com/en-us), if you do not yet have one. |
+
+### <a name="da-lists"></a>Numbered list vs bullet points
+
+- For a logical sequence of steps, use a numbered list.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| When running your C++ code on the Edison, you need to set the MQTT parameters in Eclipse. Go to "Run configurations", and change the "Commands to execute before application" to the following:<br>…<br>Click on the "Apply" button to save these settings.<br>Click on the "Run" button to run the code on the Edison. | When running your C++ code on the Intel® Edison board, you need to set the MQTT\* client parameters in Eclipse\*. To do that:<br>1. Go to **Run configurations** and, in the **Commands to execute before application** field, type the following:<br>…<br>2. Click the **Apply** button to save these settings.<br>3. Click the **Run** button to run the code on your board. |
+
+- For a list of equally important options, use a bulleted list.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| From this exercise, developers will learn how to:<br>1. Connect the Intel® Edison board...<br>2. Run these code samples in the Intel® System Studio IoT Edition...<br>3. Set up a web application server... | From this exercise, developers will learn how to:<br>- Connect the Intel® Edison board…<br>- Run these code samples in the Intel® System Studio IoT Edition…<br>- Set up a web application server… |
+
+## <a name="da-word-usage"></a>Specific word usage
+
+### <a name="da-login"></a>Login vs log in
+
+**Login** is a noun, **log in** is a verb.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Provide your log in and password. | Provide your login and password. |
+| Login to your account. | Log in( )to your account. |
+
+### <a name="da-click"></a>Click
+
+Omit **on** after **click**.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| Click on **Advanced system settings**. | Click **Advanced system settings**. |
+
+### <a name="da-ssh"></a>SSH
+
+Do not use SSH as a verb. It is considered slang and is to be avoided.
+
+| <font color="red">**Incorrect**</font> | <font color="green">**Correct**</font> |
+| --- | --- |
+| SSH into your Intel® Edison board. | Establish an SSH connection to your Intel® Edison board. |
--- a/docs/images/es9257.jpg
+++ b/docs/images/es9257.jpg
--- a/docs/images/max30100.png
+++ b/docs/images/max30100.png
--- a/docs/images/p9813.jpg
+++ b/docs/images/p9813.jpg
--- a/docs/images/sensortemplate.png
+++ b/docs/images/sensortemplate.png
--- a/docs/installing.md
+++ b/docs/installing.md
@ -0,0 +1,77 @@
+Installing UPM                         {#installing}
+============
+
+UPM packages are provided for some of the major supported distributions, making
+it very easy to install UPM and its dependencies without having to go through a
+full build.
+
+### Poky Linux
+
+Yocto Project based Poky Linux builds are provided for Intel Galileo, Intel
+Edison and Minnowboard. These are the official images released with the Intel
+IoT Developer Kit and can found [here](https://iotdk.intel.com/images/3.5/).
+
+To update to the latest stable UPM version:
+
+```bash
+echo "src intel-iotdk https://iotdk.intel.com/repos/3.5/intelgalactic/opkg/i586/" > /etc/opkg/intel-iotdk.conf
+opkg update
+opkg upgrade mraa upm
+```
+
+If you would like to try the development version use `intelgalactic-dev`
+instead.
+
+### WindRiver Pulsar Linux
+
+WR Pulsar uses SmartPM for software updates. Updating to the latest UPM version
+requires:
+
+```bash
+smart channel -y --add upm_mraa_channel type=rpm-md name="MRAA/UPM" baseurl=http://iotdk.intel.com/repos/pulsar/8/x64
+smart update
+smart install -y mraa upm
+```
+
+For Pulsar 7 use the following baseurl instead: `baseurl=http://iotdk.intel.com/repos/pulsar/7/x64`
+
+Wind River Linux 7 uses 01.org repositories and will have a default update
+channel that includes MRAA & UPM. Thus you only have to update and install.
+
+### Ubuntu Desktop/Server
+
+MRAA and UPM are available through a Personal Package Archive (PPA) on Ubuntu
+that can be found [here](https://launchpad.net/~mraa/+archive/ubuntu/mraa).
+
+To install:
+
+```bash
+sudo add-apt-repository ppa:mraa/mraa
+sudo apt-get update
+sudo apt-get install libupm-dev python-upm python3-upm upm-examples
+```
+
+Note that the Ubuntu PPA only provides the C/C++ and Python packages. Node.js
+developers will have to install MRAA and UPM using NPM instead.
+
+### Node.js bindings only (NPM)
+
+This option allows compiling MRAA/UPM on any system with npm and node-gyp.
+
+The UPM modules have a hard dependency on MRAA, thus you will have to install
+it first. Also, make sure Node can find MRAA by updating the `NODE_PATH`
+variable if necessary. A global installation is preferred:
+
+`npm install mraa -g`
+
+After this, to install a UPM module using npm simply type:
+
+`npm install jsupm_<module-name> -g`
+
+In order to initialize the platform, require MRAA *before* you load a UPM
+module in your code:
+
+```js
+require('mraa');
+var lib = require('jsupm_<module-name>');
+```
--- a/doxy/Doxyfile.in
+++ b/doxy/Doxyfile.in
@ -156,7 +156,7 @@ FULL_PATH_NAMES        = YES
 # will be relative from the directory where doxygen is started.
 # This tag requires that the tag FULL_PATH_NAMES is set to YES.

-STRIP_FROM_PATH        =
+STRIP_FROM_PATH        = @PROJECT_SOURCE_DIR@

 # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
 # path mentioned in the documentation of a class, which tells the reader which
--- a/doxy/samples.mapping.txt
+++ b/doxy/samples.mapping.txt
@ -5,15 +5,16 @@ adc121c021.cxx	ADC121C021Sample.java	adc121c021.js	adc121c021.py
 adxl345.cxx	Adxl345Sample.java	adxl345.js	adxl345.py
 biss0001.cxx	BISS0001Sample.java	biss0001.js	biss0001.py
 bmpx8x.cxx	BMPX8XSample.java	bmpx8x.js	bmpx8x.py
+bno055.cxx	BNO055_Example.java	bno055.js	bno055.py
 button.cxx	ButtonSample.java	button.js	button.py
 buzzer.cxx	BuzzerSample.java	buzzer.js	buzzer.py
 cjq4435.cxx	CJQ4435Sample.java	cjq4435.js	cjq4435.py
 ds1307.cxx	DS1307Sample.java	ds1307.js	ds1307.py
 enc03r.cxx	ENC03RSample.java	enc03r.js	enc03r.py
-es08a.cxx	ES08ASample.java	es08a.js	es08a.py
+servo-es08a.cxx	ES08ASample.java	es08a.js	es08a.py
 groveehr.cxx	GroveEHRSample.java	groveehr.js	groveehr.py
-groveledbar.cxx	GroveLEDBar.java	groveledbar.js	groveledbar.py
-groveled.cxx	GroveLEDSample.java	groveled.js	groveled.py
+my9221-groveledbar.cxx	GroveLEDBar.java	groveledbar.js	groveledbar.py
+grove-groveled.cxx	GroveLEDSample.java	groveled.js	groveled.py
 grovelinefinder.cxx	GroveLineFinderSample.java	grovelinefinder.js	grovelinefinder.py
 grovemoisture.cxx	GroveMoistureSample.java	grovemoisture.js	grovemoisture.py
 grovescam.cxx	GROVESCAMSample.java	grovescam.js	grovescam.py
@ -41,9 +42,9 @@ mma7660.cxx	MMA7660Sample.java	mma7660.js	mma7660.py
 mpl3115a2.cxx	MPL3115A2Sample.java	mpl3115a2.js	mpl3115a2.py
 mpr121.cxx	MPR121Sample.java	mpr121.js	mpr121.py
 mpu9150.cxx	MPU9150Sample.java	mpu9150.js	mpu9150.py
-mq2.cxx	MQ2Sample.java	mq2.js	mq2.py
+gas-mq2.cxx	MQ2Sample.java	mq2.js	mq2.py
 mq303a.cxx	MQ303ASample.java	mq303a.js	mq303a.py
-mq5.cxx	MQ5Sample.java	mq5.js	mq5.py
+gas-mq5.cxx	MQ5Sample.java	mq5.js	mq5.py
 nrf24l01-receiver.cxx	NRF24L01_receiverSample.java	nrf24l01-receiver.js	nrf24l01-receiver.py
 nrf24l01-transmitter.cxx	NRF24L01_transmitterSample.java	nrf24l01-transmitter.js	nrf24l01-transmitter.py
 nunchuck.cxx	NUNCHUCKSample.java	nunchuck.js	nunchuck.py
@ -58,12 +59,12 @@ rpr220.cxx	RPR220Sample.java	rpr220.js	rpr220.py
 rpr220-intr.cxx	RPR220_intrSample.java	rpr220-intr.js	rpr220-intr.py
 slide.cxx	SlideSample.java	slide.js	slide.py
 speaker.cxx	SpeakerSample.java	speaker.js	speaker.py
-ssd1308-oled.cxx	SSD1308_oledSample.java	ssd1308-oled.js	ssd1308-oled.py
-ssd1327-oled.cxx	SSD1327_oledSample.java	ssd1327-oled.js	ssd1327-oled.py
+i2clcd-ssd1308-oled.cxx	SSD1308_oledSample.java	ssd1308-oled.js	ssd1308-oled.py
+i2clcd-ssd1327-oled.cxx	SSD1327_oledSample.java	ssd1327-oled.js	ssd1327-oled.py
 st7735.cxx	ST7735Sample.java	st7735.js	st7735.py
 stepmotor.cxx	StepMotorSample.java	stepmotor.js	stepmotor.py
 tm1637.cxx	TM1637Sample.java	tm1637.js	tm1637.py
-tp401.cxx	TP401Sample.java	tp401.js	tp401.py
+gas-tp401.cxx	TP401Sample.java	tp401.js	tp401.py
 tsl2561.cxx	TSL2561Sample.java	tsl2561.js	tsl2561.py
 ttp223.cxx	TTP223Sample.java	ttp223.js	ttp223.py
 uln200xa.cxx	ULN200XASample.java	uln200xa.js	uln200xa.py
@ -71,3 +72,10 @@ vdiv.cxx	VDivSample.java	vdiv.js	vdiv.py
 water.cxx	WaterSample.java	water.js	water.py
 wt5001.cxx	WT5001Sample.java	wt5001.js	wt5001.py
 yg1006.cxx	YG1006Sample.java	yg1006.js	yg1006.py
+sensortemplate.cxx	SensorTemplateSample.java	sensortemplate.js	sensortemplate.py
+p9813.cxx	P9813Sample.java	p9813.js	p9813.py
+tcs37727.cxx tcs37727.py
+tmp006.cxx tmp006.py
+mma8x5x.cxx mma8x5x.py
+mag3110.cxx mag3110.py
+hdc1000.cxx hdc1000.py
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@ -0,0 +1,119 @@
+# Add an example executable target for the provided source file which depends
+# on a UPM library target.  Strings after the first '-' are ignored.
+#
+# Usage:
+#   add_example(source_file TARGETS <target0> <target1> <targetn> SUFFIX <target_suffix>)
+#
+# Parameters:
+#   source_file - C/C++ source file. Filename must follow a specific format:
+#       <library>-[additional].c(xx)
+#       library: Name of UPM library required by example
+#       -additional: Any other string used to identify the example
+#   TARGETS - Additional dependency target/s required to BUILD/RUN this example.  If TARGETS is
+#       set, these are in addition to the dependency library provided by the example filename.
+#   SUFFIX - Provide a means to differentiate between C/C++ dependency targets and
+#       example names.  Leave empty for CXX examples. Use '-c' for c targets.
+#           SUFFIX  Example file  Dependency target  Example binary
+#           ------  ------------  -----------------  --------------
+#           "-c"    foo.c         foo-c              foo-example-c
+#                   foo.cxx       foo                foo-example-cxx
+#
+# Parent scope variable:
+#   example_src_list - Any example target which is successfully created by
+#       add_example will be removed from the parent scope variable
+#       example_src_list (if it exists).  This provides a means to handle
+#       special case examples BEFORE handling all files in example_src_list.
+#
+# Examples:
+#   # Creates sensorfoo-example-cxx, depends on target: sensorfoo
+#   add_example(sensorfoo.cxx)
+#
+#   # Creates sensorfoo-example-c, depends on target: sensorfoo-c
+#   add_example(sensorfoo.c SUFFIX "-c")
+#
+#   # Creates sensorfoo-bar-example-c, depends on target: sensorfoo-c
+#   add_example(sensorfoo-bar.c SUFFIX "-c")
+#
+#   # Creates testfoobar-cxx, depends on targets: blib, blah
+#   add_example(testfoobar.c TARGETS blib blah)
+#
+#   Examples:
+#       a110x.c             Requires libupmc-a110x
+#       lcm1602-i2c.c       Requires libupmc-lcm1602
+#       bmp280-bme280.c     Requires libupmc-bmp280
+#       i2clcd-eboled.cxx   Requires libupm-i2clcd
+#
+#
+function (add_example example_src)
+    set (oneValueArgs SUFFIX)
+    set (multiValueArgs TARGETS)
+    # Parse function parameters
+    cmake_parse_arguments(add_example "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    # Get the base filename from the full filename
+    # For file /some/path/to/sensorfoo-bar.c, example_name = sensorfoo-bar
+    get_filename_component(example_name ${example_src} NAME_WE)
+
+    # Parse out <library>
+    # Example: sensorfoo-bar.c, library = sensorfoo
+    string (REPLACE "-" ";" split_name ${example_name})
+    list (GET split_name 0 library_name)
+
+    # Parse dependency target name from example_src filename (add on suffix)
+    # For sensorfoo, lib_target_names = sensorfoo-c
+    set (lib_target_names "${library_name}${add_example_SUFFIX}")
+
+    # If TARGETS is provided, add additional dependency targets
+    if (add_example_TARGETS)
+        list (APPEND lib_target_names "${add_example_TARGETS}")
+    endif ()
+
+    # Unfortunately, c++ and c library targets are not named the same. If
+    # no suffix is provided, assume C++ and add a suffix of -cxx to the
+    # example target name
+    #           library         example target
+    #       c:  sensorfoo-c     sensorfoo-bar-example-c
+    #     cxx:  sensorfoo       sensorfoo-bar-example-cxx
+    if (NOT add_example_SUFFIX)
+        set(add_example_SUFFIX "-cxx")
+    endif ()
+
+    # Create the target name for this example: mylibrary-bar-example-c
+    set (this_target_name "${example_name}-example${add_example_SUFFIX}")
+
+    # If a dependency target does NOT exist, print a warning and skip
+    foreach(_dep_target ${lib_target_names})
+        if (NOT TARGET ${_dep_target})
+            message(STATUS "Missing CMake target (${_dep_target}), skipping example ${example_src}")
+            return()
+        endif ()
+    endforeach ()
+
+    # Create an executable target for this example
+    add_executable (${this_target_name} ${example_src})
+
+    # Add each dependency to the library target
+    foreach(_dep_target ${lib_target_names})
+        target_link_libraries(${this_target_name} ${_dep_target} ${CMAKE_THREAD_LIBS_INIT})
+    endforeach ()
+
+    # Special case...
+    list (REMOVE_ITEM example_src_list ${example_src})
+    set (example_src_list ${example_src_list} PARENT_SCOPE)
+endfunction (add_example example_src)
+
+# Add subdirectories if BUILDEXAMPLES=on
+if(BUILDEXAMPLES)
+    # Add C examples
+    add_subdirectory (c)
+
+    # Add C++ examples?
+    if (BUILDCPP)
+        add_subdirectory (c++)
+    endif ()
+
+    # Add java examples?
+    if(BUILDSWIGJAVA)
+        add_subdirectory (java)
+    endif()
+endif()
--- a/examples/c++/CMakeLists.txt
+++ b/examples/c++/CMakeLists.txt
@ -1,371 +1,20 @@
-# Selectively disable certain warnings for the examples
-# nrf examples flag -Wtautological-compare
-set (CXX_DISABLED_WARNINGS -Wno-tautological-compare)
+# Create an list of all C++ source files in this directory
+file (GLOB example_src_list RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cxx")

-# Extract module name from non-standard example name
-macro(get_module_name example_name module_name)
-  string(LENGTH ${example_name} length)
-  string(FIND ${example_name} "-" index)
-  if (${index} GREATER 1)
-    string(SUBSTRING ${example_name} 0 ${index} substr)
-    set(${module_name} ${substr})
-  elseif (${example_name} MATCHES "^grove")
-    set (${module_name} "grove")
-  elseif ((${example_name} MATCHES "^mq" AND ${length} EQUAL 3) OR ${example_name} STREQUAL "tp401")
-    set (${module_name} "gas")
-  else()
-    set(${module_name} ${example_name})
-  endif()
-endmacro()
+# - Handle special cases here --------------------------------------------------

-# Set source file, include and linker settings for an example
-# If example cannot be built, example_bin is cleared
-macro(add_custom_example example_bin example_src example_module_list)
-  set(found_all_modules TRUE)
-  foreach (module ${example_module_list})
-    if (NOT EXISTS "${PROJECT_SOURCE_DIR}/src/${module}")
-      set(found_all_modules FALSE)
-    endif()
-    if (MODULE_LIST)
-      list(FIND MODULE_LIST ${module} index)
-      if (${index} EQUAL -1)
-        set(found_all_modules FALSE)
-      endif()
-    endif()
+# Test humidity interface for 2 sensor libraries
+add_example(interfaces-humiditysensor.cxx TARGETS si7005 bmp280)
+# Test pressure interface for 2 sensor libraries
+add_example(interfaces-pressuresensor.cxx TARGETS bmp280 bmpx8x)
+# Test temperature interface for 3 sensor libraries
+add_example(interfaces-temperaturesensor.cxx TARGETS bmp280 bmpx8x si7005)
+# Test light interface for 2 sensor libraries
+add_example(interfaces-lightsensor.cxx TARGETS si1132 max44009)
+# Test light controller interface for 3 sensor libraries
+add_example(interfaces-lightcontroller.cxx TARGETS lp8860 ds1808lc hlg150h)
+
+# - Create an executable for all other src files in this directory -------------
+foreach (_example_src ${example_src_list})
+    add_example(${_example_src})
 endforeach ()
-  if (found_all_modules)
-    add_executable (${example_bin} ${example_src})
-    target_link_libraries (${example_bin} ${CMAKE_THREAD_LIBS_INIT})
-
-    # Disable warnings from CXX_DISABLED_WARNINGS
-    foreach(flag ${CXX_DISABLED_WARNINGS})
-      compiler_flag_supported(CXX is_supported ${flag})
-      if (is_supported)
-        target_compile_options(${example_bin} PRIVATE "${flag}")
-      endif(is_supported)
-    endforeach(flag ${CXX_DISABLED_WARNINGS})
-
-    foreach (module ${example_module_list})
-      set(module_dir "${PROJECT_SOURCE_DIR}/src/${module}")
-      include_directories (${module_dir})
-      if (${module} STREQUAL "lcd")
-        set(module "i2clcd")
-      endif()
-      target_link_libraries (${example_bin} ${module})
-    endforeach()
-  else()
-    message (WARNING "Ignored ${example_bin}")
-    set (example_bin "")
-  endif()
-endmacro()
-
-
-# Add specified example by name
-# Note special case for grove based examples
-macro(add_example example_name)
-  set(example_src "${example_name}.cxx")
-  set(example_bin "${example_name}-example-cxx")
-  get_module_name(${example_name} module_name)
-  set(module_dir "${PROJECT_SOURCE_DIR}/src/${module_name}")
-
-  if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${example_src}"
-     AND EXISTS ${module_dir}
-     AND IS_DIRECTORY ${module_dir})
-    add_custom_example(${example_bin} ${example_src} ${module_name})
-    if ((NOT ${example_bin} STREQUAL "") AND (${module_name} STREQUAL "grove"))
-      set(grove_module_path "${PROJECT_SOURCE_DIR}/src/${example_name}")
-      if (EXISTS ${grove_module_path})
-        include_directories(${grove_module_path})
-        target_link_libraries (${example_bin} ${example_name})
-      endif()
-    endif()
-  else()
-    message (WARNING "Ignored ${example_bin}")
-  endif()
-endmacro()
-
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/examples)
-
-# UPM c include directories
-include_directories (${PROJECT_SOURCE_DIR}/include
-                     ${CMAKE_SOURCE_DIR}/src/utilities)
-
-# Set the mraa include and link directories prior to adding examples
-include_directories (${MRAA_INCLUDE_DIRS})
-link_directories (${MRAA_LIBDIR})
-
-# If your sample source file matches the name of the module it tests, add it here
-# Exceptions are as follows:
-#  string after first '-' is ignored (e.g. nrf24l01-transmitter maps to nrf24l01)
-#  mq? will use module gas
-#  grove* will use module grove
-add_example (hmc5883l)
-add_example (led)
-add_example (groveled)
-add_example (relay)
-add_example (groverelay)
-add_example (light)
-add_example (grovelight)
-add_example (temperature)
-add_example (grovetemp)
-add_example (button)
-add_example (grovebutton)
-add_example (rotary)
-add_example (groverotary)
-add_example (slide)
-add_example (groveslide)
-add_example (buzzer)
-add_example (nrf24l01-transmitter)
-add_example (nrf24l01-receiver)
-add_example (nrf24l01-broadcast)
-add_example (hcsr04)
-add_example (max44000)
-add_example (mma7455)
-add_example (st7735)
-add_example (max31855)
-add_example (bmpx8x)
-add_example (stepmotor)
-add_example (pulsensor)
-add_example (mic)
-add_example (mpu9150)
-add_example (maxds3231m)
-add_example (max31723)
-add_example (max5487)
-add_example (nrf8001-broadcast)
-add_example (nrf8001-helloworld)
-add_example (lpd8806)
-add_example (mlx90614)
-add_example (ecs1030)
-add_example (mq2)
-add_example (mq3)
-add_example (mq4)
-add_example (mq5)
-add_example (mq6)
-add_example (mq7)
-add_example (mq8)
-add_example (mq9)
-add_example (tp401)
-add_example (tcs3414cs)
-add_example (th02)
-add_example (ttp223)
-add_example (lsm303)
-add_example (joystick12)
-add_example (lol)
-add_example (tsl2561)
-add_example (htu21d)
-add_example (mpl3115a2)
-add_example (ldt0028)
-add_example (am2315)
-add_example (itg3200)
-add_example (enc03r)
-add_example (adc121c021)
-add_example (ds1307)
-add_example (a110x)
-add_example (gp2y0a)
-add_example (moisture)
-add_example (grovemoisture)
-add_example (ehr)
-add_example (groveehr)
-add_example (ta12200)
-add_example (grovelinefinder)
-add_example (linefinder)
-add_example (vdiv)
-add_example (grovevdiv)
-add_example (water)
-add_example (grovewater)
-add_example (guvas12d)
-add_example (mpr121)
-add_example (yg1006)
-add_example (wt5001)
-add_example (ppd42ns)
-add_example (mq303a)
-add_example (speaker)
-add_example (grovespeaker)
-add_example (rfr359f)
-add_example (biss0001)
-add_example (rotaryencoder)
-add_example (adxl345)
-add_example (rpr220)
-add_example (rpr220-intr)
-add_example (mma7660)
-add_example (cjq4435)
-add_example (adxl335)
-add_example (hmtrp)
-add_example (nunchuck)
-add_example (otp538u)
-add_example (collision)
-add_example (grovecollision)
-add_example (electromagnet)
-add_example (groveelectromagnet)
-add_example (emg)
-add_example (groveemg)
-add_example (o2)
-add_example (groveo2)
-add_example (gsr)
-add_example (grovegsr)
-add_example (ina132)
-add_example (l298)
-add_example (l298-stepper)
-add_example (at42qt1070)
-add_example (grovemd)
-add_example (md)
-add_example (grovemd-stepper)
-add_example (md-stepper)
-add_example (pca9685)
-add_example (eldriver)
-add_example (groveeldriver)
-add_example (adafruitss)
-add_example (adafruitms1438)
-add_example (adafruitms1438-stepper)
-add_example (hx711)
-add_example (flex)
-add_example (a110x-intr)
-add_example (mhz16)
-add_example (apds9002)
-add_example (waterlevel)
-add_example (tm1637)
-add_example (zfm20)
-add_example (zfm20-register)
-add_example (uln200xa)
-add_example (grovewfs)
-add_example (wfs)
-add_example (isd1820)
-add_example (sx6119)
-add_example (si114x)
-add_example (maxsonarez)
-add_example (hm11)
-add_example (ht9170)
-add_example (h3lis331dl)
-add_example (ad8232)
-add_example (grovescam)
-add_example (scam)
-add_example (m24lr64e)
-add_example (rgbringcoder)
-add_example (hp20x)
-add_example (pn532)
-add_example (pn532-writeurl)
-add_example (lsm9ds0)
-add_example (loudness)
-add_example (mg811)
-add_example (wheelencoder)
-add_example (sm130)
-add_example (gprs)
-add_example (grovegprs)
-add_example (lm35)
-add_example (micsv89)
-add_example (xbee)
-add_example (urm37)
-add_example (urm37-uart)
-add_example (adxrs610)
-add_example (bma220)
-add_example (dfrph)
-add_example (mcp9808)
-add_example (groveultrasonic)
-add_example (ultrasonic)
-add_example (sx1276-lora)
-add_example (sx1276-fsk)
-add_example (ili9341)
-add_example (nlgpio16)
-add_example (ads1x15)
-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 (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 ()
-if (BACNET_FOUND)
-  include_directories(${BACNET_INCLUDE_DIRS})
-  # we need access to bacnetmstp headers too
-  include_directories(${PROJECT_SOURCE_DIR}/src/bacnetmstp)
-  add_example (e50hx)
-  add_example (t8100)
-  add_example (tb7300)
-endif()
-if (JPEG_FOUND)
-  add_example (vcap)
-endif (JPEG_FOUND)
-add_example (ds2413)
-add_example (ds18b20)
-add_example (bmp280)
-add_example (bno055)
-add_example (l3gd20)
-add_example (l3gd20-i2c)
-add_example (bmx055)
-add_example (ms5611)
-add_example (nmea_gps)
-add_example (mma7361)
-add_example (bh1750)
-add_example (hka5)
-add_example (dfrorp)
-add_example (dfrec)
-add_example (sht1x)
-add_example (ms5803)
-add_example (ims)
-add_example (ecezo)
-add_example (mb704x)
-add_example (rf22-server)
-add_example (rf22-client)
-
-# These are special cases where you specify example binary, source file and module(s)
-include_directories (${PROJECT_SOURCE_DIR}/src)
-add_custom_example (groveled-multi-example-cxx groveled-multi.cxx grove)
-add_custom_example (lcm1602-i2c-example-cxx lcm1602-i2c.cxx lcd)
-add_custom_example (lcm1602-parallel-example-cxx lcm1602-parallel.cxx lcd)
-add_custom_example (jhd1313m1-lcd-example-cxx jhd1313m1-lcd.cxx lcd)
-add_custom_example (es08a-example-cxx es08a.cxx servo)
-add_custom_example (ssd1306-oled-example-cxx ssd1306-oled.cxx lcd)
-add_custom_example (ssd1308-oled-example-cxx ssd1308-oled.cxx lcd)
-add_custom_example (ssd1327-oled-example-cxx ssd1327-oled.cxx lcd)
-add_custom_example (sainsmartks-example-cxx sainsmartks.cxx lcd)
-add_custom_example (eboled-example-cxx eboled.cxx lcd)
-add_custom_example (mpu60x0-example-cxx mpu60x0.cxx mpu9150)
-add_custom_example (ak8975-example-cxx ak8975.cxx mpu9150)
-add_custom_example (mpu9250-example-cxx mpu9250.cxx mpu9150)
-add_custom_example (groveledbar-example-cxx groveledbar.cxx my9221)
-add_custom_example (grovecircularled-example-cxx grovecircularled.cxx my9221)
-add_custom_example (temperature-sensor-example-cxx temperature-sensor.cxx "si7005;bmpx8x;bmp280")
-add_custom_example (humidity-sensor-example-cxx humidity-sensor.cxx "si7005;bmp280")
-add_custom_example (pressure-sensor-example-cxx pressure-sensor.cxx "bmpx8x;bmp280")
-add_custom_example (co2-sensor-example-cxx co2-sensor.cxx "t6713")
-add_custom_example (adc-example-cxx adc-sensor.cxx "ads1x15")
-add_custom_example (light-sensor-example-cxx light-sensor.cxx "si1132;max44009")
-add_custom_example (light-controller-example-cxx light-controller.cxx "lp8860;ds1808lc;hlg150h")
-add_custom_example (bme280-example-cxx bme280.cxx bmp280)
-add_custom_example (bma250e-example-cxx bma250e.cxx bmx055)
-add_custom_example (bmg160-example-cxx bmg160.cxx bmx055)
-add_custom_example (bmm150-example-cxx bmm150.cxx bmx055)
-add_custom_example (bmc150-example-cxx bmc150.cxx bmx055)
-add_custom_example (bmi055-example-cxx bmi055.cxx bmx055)
-if (OPENZWAVE_FOUND)
-  include_directories(${OPENZWAVE_INCLUDE_DIRS})
-
-  add_custom_example (ozwdump-example-cxx ozwdump.cxx ozw)
-  add_custom_example (aeotecss6-example-cxx aeotecss6.cxx ozw)
-  add_custom_example (aeotecsdg2-example-cxx aeotecsdg2.cxx ozw)
-  add_custom_example (aeotecdw2e-example-cxx aeotecdw2e.cxx ozw)
-  add_custom_example (aeotecdsb09104-example-cxx aeotecdsb09104.cxx ozw)
-  add_custom_example (tzemt400-example-cxx tzemt400.cxx ozw)
-endif()
-add_custom_example (nmea_gps_i2c_example-cxx nmea_gps_i2c.cxx nmea_gps)
--- a/examples/c++/sainsmartks.cxx
+++ b/examples/c++/sainsmartks.cxx
@ -1,6 +1,6 @@
 /*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Author: Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2017 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
@ -23,10 +23,9 @@
 */
 
 #include <unistd.h>
-#include <signal.h>
 #include <iostream>
-
-#include "sainsmartks.hpp"
+#include <signal.h>
+#include "abp.hpp"

 using namespace std;

@ -39,28 +38,24 @@ void sig_handler(int signo)
 }


-int main(int argc, char **argv)
+int main ()
 {
    signal(SIGINT, sig_handler);

 //! [Interesting]
-  // use default pins
-  upm::SAINSMARTKS* lcd = new upm::SAINSMARTKS();
-  lcd->setCursor(0,0);
-  lcd->write("Sainsmart KS");
-  lcd->setCursor(1,2);
-  lcd->write("Hello World");
+    // Instantiate an ABP sensor on i2c bus 0
+    upm::ABP* abp = new upm::ABP(0, ABP_DEFAULT_ADDRESS);
+    while (shouldRun) {
+        abp->update();
+        cout << "Retrieved pressure: " << abp->getPressure() << endl;
+        cout << "Retrieved Temperature: " << abp->getTemperature() << endl;

-  // output current key value every second.
-   while (shouldRun)
-     {
-       cout << "Button value: " << lcd->getRawKeyValue() << endl;
        sleep(1);
    }
-
 //! [Interesting]

-  delete lcd;
+    cout << "Exiting..." << endl;

+    delete abp;
    return 0;
 }
--- a/examples/c++/adis16448.cxx
+++ b/examples/c++/adis16448.cxx
@ -40,7 +40,7 @@
 #include <iostream>
 #include <signal.h>

-#include "adis16448.h"
+#include "adis16448.hpp"

 int
 main(int argc, char **argv)
--- a/examples/c++/ads1x15-adc-sensor.cxx
+++ b/examples/c++/ads1x15-adc-sensor.cxx
--- a/examples/c++/ads1x15-ads1015.cxx
+++ b/examples/c++/ads1x15-ads1015.cxx
@ -0,0 +1,104 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/* This example demonstrates how to use one the ADS1015 ADC on the Grove Joule
+ * Shield or the Sparkfun ADC Block for Edison with devices that output a small
+ * differential voltage (e.g. geophones, piezoelectric bands or pads,
+ * thermocouples).
+ */
+
+#include <fstream>
+#include <string>
+#include <thread>
+#include <unistd.h>
+
+#include "ads1015.hpp"
+
+using namespace std;
+using namespace upm;
+
+bool running = true; // Controls main read/write loop
+
+// Thread function
+void stop()
+{
+    sleep(10);
+    running = false;
+}
+
+int main()
+{
+    //! [Interesting]
+    long id = 0; // Sample number
+    string fileName = "./ads1015.data"; // Output filename
+    ofstream f;
+
+    // Initialize and configure the ADS1015
+    ADS1015 *ads1015 = new upm::ADS1015(0, 0x48);
+
+    // Put the ADC into differential mode for pins A0 and A1
+    ads1015->getSample(ADS1X15::DIFF_0_1);
+
+    // Set the gain based on expected VIN range to -/+ 2.048 V
+    // Can be adjusted based on application to as low as -/+ 0.256 V, see API
+    // documentation for details
+    ads1015->setGain(ADS1X15::GAIN_TWO);
+
+    // Set the sample rate to 3300 samples per second (max) and turn on continuous
+    // sampling
+    ads1015->setSPS(ADS1015::SPS_3300);
+    ads1015->setContinuous(true);
+
+    // Enable exceptions from the output stream
+    f.exceptions(ofstream::failbit | ofstream::badbit);
+    // Open the file
+    try{
+        f.open(fileName);
+
+        // Output formatting
+        f.setf(ios_base::fixed);
+        f.precision(7);
+
+        // Start the thread that will stop logging after 10 seconds
+        thread timer (stop);
+
+        // Read sensor data and write it to the output file every ms
+        while(running){
+            f << id++ << " " << ads1015->getLastSample() << endl;
+            usleep(1000);
+        }
+
+        // Clean-up and exit
+        timer.join();
+        f.close();
+        delete ads1015;
+    } catch (ios_base::failure &e) {
+        cout << "Failed to write to file: " << e.what() << endl;
+        return 1;
+    }
+    cout << "Wrote " << id << " samples to file: " << fileName << endl;
+    //! [Interesting]
+    return 0;
+}
+
--- a/examples/c++/ads1x15-ads1115.cxx
+++ b/examples/c++/ads1x15-ads1115.cxx
@ -0,0 +1,107 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/* This example demonstrates how to use one of the ADS1115 ADCs on the
+ * DFRobot Joule Shield with devices that output a small differential
+ * voltage (e.g. geophones, piezoelectric bands or pads, thermocouples).
+ */
+
+#include <fstream>
+#include <string>
+#include <thread>
+#include <unistd.h>
+
+#include "ads1115.hpp"
+
+using namespace std;
+using namespace upm;
+
+bool running = true; // Controls main read/write loop
+
+// Thread function
+void stop()
+{
+    sleep(10);
+    running = false;
+}
+
+int main()
+{
+    //! [Interesting]
+    long id = 0; // Sample number
+    string fileName = "./ads1115.data"; // Output filename
+    ofstream f;
+
+    // Initialize and configure the ADS1115 for the SM-24 Geophone
+    // There are two ADS1115 chips on the DFRobot Joule Shield on the same I2C bus
+    //     - 0x48 gives access to pins A0 - A3
+    //     - 0x49 gives access to pins A4 - A7
+    ADS1115 *ads1115 = new upm::ADS1115(0, 0x48);
+
+    // Put the ADC into differential mode for pins A0 and A1,
+    // the SM-24 Geophone is connected to these pins
+    ads1115->getSample(ADS1X15::DIFF_0_1);
+
+    // Set the gain based on expected VIN range to -/+ 2.048 V
+    // Can be adjusted based on application to as low as -/+ 0.256 V, see API
+    // documentation for details
+    ads1115->setGain(ADS1X15::GAIN_TWO);
+
+    // Set the sample rate to 860 samples per second (max) and turn on continuous
+    // sampling
+    ads1115->setSPS(ADS1115::SPS_860);
+    ads1115->setContinuous(true);
+
+    // Enable exceptions from the output stream
+    f.exceptions(ofstream::failbit | ofstream::badbit);
+    // Open the file
+    try{
+        f.open(fileName);
+
+        // Output formatting
+        f.setf(ios_base::fixed);
+        f.precision(7);
+
+        // Start the thread that will stop logging after 10 seconds
+        thread timer (stop);
+
+        // Read sensor data and write it to the output file every ms
+        while(running){
+            f << id++ << " " << ads1115->getLastSample() << endl;
+            usleep(1000);
+        }
+
+        // Clean-up and exit
+        timer.join();
+        f.close();
+        delete ads1115;
+    } catch (ios_base::failure &e) {
+        cout << "Failed to write to file: " << e.what() << endl;
+        return 1;
+    }
+    cout << "Wrote " << id << " samples to file: " << fileName << endl;
+    //! [Interesting]
+    return 0;
+}
+
--- a/examples/c++/ads1x15.cxx
+++ b/examples/c++/ads1x15.cxx
@ -37,6 +37,7 @@ int main()
     using namespace std;
     using namespace upm;
     int command;
+     //! [Interesting]
     //Select the device you are testing here and adjust case 6 for the correct sample rates.
     //upm::ADS1015 *ads = new upm::ADS1015(1);
     upm::ADS1115 *ads = new upm::ADS1115(1, 0x49);
@ -315,6 +316,7 @@ int main()
     }while (command != -1 );

     delete ads;
+     //! [Interesting]

-     return MRAA_SUCCESS;
+     return 0;
 }
--- a/examples/c++/bma250e.cxx
+++ b/examples/c++/bma250e.cxx
@ -44,7 +44,7 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMA250E using default I2C parameters
-  upm::BMA250E *sensor = new upm::BMA250E();
+  upm::BMA250E sensor;

  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
  // for CS: BMA250E(0, -1, 10);
@ -54,9 +54,9 @@ int main(int argc, char **argv)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getAccelerometer(&x, &y, &z);
+      sensor.getAccelerometer(&x, &y, &z);
      cout << "Accelerometer x: " << x
           << " y: " << y
           << " z: " << z
@ -64,8 +64,8 @@ int main(int argc, char **argv)
           << endl;

      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor->getTemperature()
-           << " C / " << sensor->getTemperature(true) << " F"
+      cout << "Compensation Temperature: " << sensor.getTemperature()
+           << " C / " << sensor.getTemperature(true) << " F"
           << endl;

      cout << endl;
@ -77,7 +77,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/bmg160.cxx
+++ b/examples/c++/bmg160.cxx
@ -44,7 +44,7 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMG160 using default I2C parameters
-  upm::BMG160 *sensor = new upm::BMG160();
+  upm::BMG160 sensor;

  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
  // for CS: BMG160(0, -1, 10);
@ -54,9 +54,9 @@ int main(int argc, char **argv)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getGyroscope(&x, &y, &z);
+      sensor.getGyroscope(&x, &y, &z);
      cout << "Gyroscope x: " << x
           << " y: " << y
           << " z: " << z
@ -64,8 +64,8 @@ int main(int argc, char **argv)
           << endl;

      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor->getTemperature()
-           << " C / " << sensor->getTemperature(true) << " F"
+      cout << "Compensation Temperature: " << sensor.getTemperature()
+           << " C / " << sensor.getTemperature(true) << " F"
           << endl;

      cout << endl;
@ -77,7 +77,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/bmm150.cxx
+++ b/examples/c++/bmm150.cxx
@ -44,7 +44,7 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMM150 using default I2C parameters
-  upm::BMM150 *sensor = new upm::BMM150();
+  upm::BMM150 sensor;

  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
  // for CS: BMM150(0, -1, 10);
@ -54,9 +54,9 @@ int main(int argc, char **argv)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getMagnetometer(&x, &y, &z);
+      sensor.getMagnetometer(&x, &y, &z);
      cout << "Magnetometer x: " << x
           << " y: " << y
           << " z: " << z
@ -72,7 +72,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/bmp280-bme280.cxx
+++ b/examples/c++/bmp280-bme280.cxx
@ -31,7 +31,7 @@
 using namespace std;
 using namespace upm;

-int shouldRun = true;
+bool shouldRun = true;

 void sig_handler(int signo)
 {
--- a/examples/c++/bmp280.cxx
+++ b/examples/c++/bmp280.cxx
@ -1,6 +1,8 @@
 /*
 * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
+ * Copyright (c) 2016-2017 Intel Corporation.
+ *
+ * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
@ -31,7 +33,7 @@
 using namespace std;
 using namespace upm;

-int shouldRun = true;
+bool shouldRun = true;

 void sig_handler(int signo)
 {
--- a/examples/c++/bmpx8x.cxx
+++ b/examples/c++/bmpx8x.cxx
@ -1,6 +1,11 @@
 /*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2017 Intel Corporation.
+ *
+ * This driver was rewritten based on the original driver written by:
 * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
- * Copyright (c) 2014 Intel Corporation.
+ *
+ * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
@ -24,57 +29,50 @@

 #include <unistd.h>
 #include <iostream>
-#include "bmpx8x.hpp"
 #include <signal.h>

-int doWork = 0;
-upm::BMPX8X *sensor = NULL;
+#include "bmpx8x.hpp"

-void
-sig_handler(int signo)
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
 {
-    printf("got signal\n");
-    if (signo == SIGINT) {
-        printf("exiting application\n");
-        doWork = 1;
-    }
+    if (signo == SIGINT)
+        shouldRun = false;
 }

-int
-main(int argc, char **argv)
+int main(int argc, char **argv)
 {
+    signal(SIGINT, sig_handler);
 //! [Interesting]
-    uint32_t presure = 0;
-    float temperature = 0;
-    float altitude = 0;
-    uint32_t sealevel = 0;

-    // Instantiate a BMPX8X sensor on I2C
-    sensor = new upm::BMPX8X(0, ADDR);
+    // Instantiate a BMPX8X sensor on I2C using defaults.
+    upm::BMPX8X sensor;

    // Print the pressure, altitude, sea level, and
-    // temperature values every 0.1 seconds
-    while (!doWork) {
-        presure = sensor->getPressure ();
-        temperature = sensor->getTemperature ();
-        altitude = sensor->getAltitude ();
-        sealevel = sensor->getSealevelPressure ();
+    // temperature values every 0.5 seconds
+    while (shouldRun)
+    {
+        sensor.update();

-        std::cout << "pressure value = " <<
-                    presure <<
-                    ", altitude value = " <<
-                    altitude <<
-                    ", sealevel value = " <<
-                    sealevel <<
-                    ", temperature = " <<
-                    temperature << std::endl;
-        usleep (100000);
+        cout << "Pressure: "
+             << sensor.getPressure()
+             << " Pa, Temperature: "
+             << sensor.getTemperature()
+             << " C, Altitude: "
+             << sensor.getAltitude()
+             << " m, Sea level: "
+             << sensor.getSealevelPressure()
+             << " Pa"
+             << endl;
+
+        usleep(500000);
    }
+
+    cout << "Exiting..." << endl;
+
 //! [Interesting]
-
-    std::cout << "exiting application" << std::endl;
-
-    delete sensor;
-
    return 0;
 }
--- a/examples/c++/bmx055-bmc150.cxx
+++ b/examples/c++/bmx055-bmc150.cxx
@ -44,23 +44,23 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMC150 using default I2C parameters
-  upm::BMC150 *sensor = new upm::BMC150();
+  upm::BMC150 sensor;

  // now output data every 250 milliseconds
  while (shouldRun)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getAccelerometer(&x, &y, &z);
+      sensor.getAccelerometer(&x, &y, &z);
      cout << "Accelerometer x: " << x
           << " y: " << y
           << " z: " << z
           << " g"
           << endl;

-      sensor->getMagnetometer(&x, &y, &z);
+      sensor.getMagnetometer(&x, &y, &z);
      cout << "Magnetometer x: " << x
           << " y: " << y
           << " z: " << z
@ -76,7 +76,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/bmx055-bmi055.cxx
+++ b/examples/c++/bmx055-bmi055.cxx
@ -44,23 +44,23 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMI055 using default I2C parameters
-  upm::BMI055 *sensor = new upm::BMI055();
+  upm::BMI055 sensor;

  // now output data every 250 milliseconds
  while (shouldRun)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getAccelerometer(&x, &y, &z);
+      sensor.getAccelerometer(&x, &y, &z);
      cout << "Accelerometer x: " << x
           << " y: " << y
           << " z: " << z
           << " g"
           << endl;

-      sensor->getGyroscope(&x, &y, &z);
+      sensor.getGyroscope(&x, &y, &z);
      cout << "Gyroscope x: " << x
           << " y: " << y
           << " z: " << z
@ -76,7 +76,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/bmx055.cxx
+++ b/examples/c++/bmx055.cxx
@ -44,30 +44,30 @@ int main(int argc, char **argv)
 //! [Interesting]

  // Instantiate an BMX055 using default I2C parameters
-  upm::BMX055 *sensor = new upm::BMX055();
+  upm::BMX055 sensor;

  // now output data every 250 milliseconds
  while (shouldRun)
    {
      float x, y, z;

-      sensor->update();
+      sensor.update();

-      sensor->getAccelerometer(&x, &y, &z);
+      sensor.getAccelerometer(&x, &y, &z);
      cout << "Accelerometer x: " << x
           << " y: " << y
           << " z: " << z
           << " g"
           << endl;

-      sensor->getGyroscope(&x, &y, &z);
+      sensor.getGyroscope(&x, &y, &z);
      cout << "Gyroscope x: " << x
           << " y: " << y
           << " z: " << z
           << " degrees/s"
           << endl;

-      sensor->getMagnetometer(&x, &y, &z);
+      sensor.getMagnetometer(&x, &y, &z);
      cout << "Magnetometer x: " << x
           << " y: " << y
           << " z: " << z
@ -83,7 +83,5 @@ int main(int argc, char **argv)

  cout << "Exiting..." << endl;

-  delete sensor;
-
  return 0;
 }
--- a/examples/c++/curieimu.cxx
+++ b/examples/c++/curieimu.cxx
@ -76,6 +76,7 @@ main(int argc, char **argv)
    printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);

    delete sensor;
+    //! [Interesting]

    return 0;
 }
--- a/examples/c++/ds1808lc.cxx
+++ b/examples/c++/ds1808lc.cxx
@ -8,11 +8,11 @@
 #define EDISON_I2C_BUS 1            // Edison I2C-1
 #define DS1808_GPIO_PWR 15          // Edison GP165

-void printState(upm::ILightController *lightController)
+void printState(upm::ILightController &lightController)
 {
-   if (lightController->isPowered())
+    if (lightController.isPowered())
    {
-      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+        std::cout << "Light is powered, brightness = " << lightController.getBrightness() << std::endl;
    }
    else
    {
@ -22,30 +22,22 @@ void printState(upm::ILightController *lightController)

 int main( int argc, char **argv )
 {
-   int status = 0;
-   upm::ILightController* lightController = nullptr;
-
-   try {
-      lightController = new upm::DS1808LC(DS1808_GPIO_PWR, EDISON_I2C_BUS);
+    //! [Interesting]
+    upm::DS1808LC lightController(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();
+        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;
+    //! [Interesting]
+    return 0;
 }
-
-   delete lightController;
-   return status;
-}
-
-
--- a/examples/c++/ds18b20.cxx
+++ b/examples/c++/ds18b20.cxx
@ -1,6 +1,6 @@
 /*
 * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
+ * Copyright (c) 2016-2017 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
@ -49,9 +49,6 @@ int main(int argc, char **argv)
  // Instantiate an DS18B20 instance using the default values (uart 0)
  upm::DS18B20 sensor;

-  // locate and setup our devices
-  sensor.init();
-
  cout << "Found " << sensor.devicesFound() << " device(s)" << endl;
  cout << endl;

@ -59,18 +56,26 @@ int main(int argc, char **argv)
  if (!sensor.devicesFound())
    return 1;

-  // update and print available values every second
+  // update and print available values every 2 seconds
  while (shouldRun)
    {
-      // update our values for the first sensor
-      sensor.update(0);
+      // update our values for all of the detected sensors
+      sensor.update(-1);

-      // we show both C and F for temperature for the first sensor
-      cout << "Temperature: " << sensor.getTemperature(0)
-           << " C / " << sensor.getTemperature(0, true) << " F"
+      // we show both C and F for temperature for the sensors
+      int i;
+      for (i=0; i<sensor.devicesFound(); i++)
+      {
+          cout << "Device "
+               << i
+               << ": Temperature: "
+               << sensor.getTemperature(i)
+               << " C / " << sensor.getTemperature(i, true) << " F"
               << endl;
+      }
+      cout << endl;

-      sleep(1);
+      sleep(2);
    }

  cout << "Exiting..." << endl;
--- a/examples/c++/enc03r.cxx
+++ b/examples/c++/enc03r.cxx
@ -1,6 +1,6 @@
 /*
 * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 Intel Corporation.
+ * Copyright (c) 2014-2017 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
@ -62,11 +62,12 @@ int main()
    // waiting 0.1 seconds between readings
    while (shouldRun)
    {
-      unsigned int val = gyro->value();
-      double av = gyro->angularVelocity(val);
+        gyro->update();

-      cout << "Raw value: " << val << ", "  
-           << "angular velocity: " << av << " deg/s" << endl;
+        cout << "Angular velocity: "
+             << gyro->angularVelocity()
+             << " deg/s"
+             << endl;

        usleep(100000);
    }
--- a/examples/c++/gas-mq2.cxx
+++ b/examples/c++/gas-mq2.cxx
--- a/examples/c++/gas-mq3.cxx
+++ b/examples/c++/gas-mq3.cxx
--- a/examples/c++/gas-mq4.cxx
+++ b/examples/c++/gas-mq4.cxx
--- a/examples/c++/gas-mq5.cxx
+++ b/examples/c++/gas-mq5.cxx
--- a/examples/c++/gas-mq6.cxx
+++ b/examples/c++/gas-mq6.cxx
--- a/examples/c++/gas-mq7.cxx
+++ b/examples/c++/gas-mq7.cxx
--- a/examples/c++/gas-mq8.cxx
+++ b/examples/c++/gas-mq8.cxx
--- a/examples/c++/gas-mq9.cxx
+++ b/examples/c++/gas-mq9.cxx
--- a/examples/c++/gas-tp401.cxx
+++ b/examples/c++/gas-tp401.cxx
--- a/examples/c++/grove-grovebutton.cxx
+++ b/examples/c++/grove-grovebutton.cxx
--- a/examples/c++/grove-groveled-multi.cxx
+++ b/examples/c++/grove-groveled-multi.cxx
--- a/examples/c++/grove-groveled.cxx
+++ b/examples/c++/grove-groveled.cxx
--- a/examples/c++/grove-grovelight.cxx
+++ b/examples/c++/grove-grovelight.cxx
--- a/examples/c++/grove-groverelay.cxx
+++ b/examples/c++/grove-groverelay.cxx
--- a/examples/c++/grove-groverotary.cxx
+++ b/examples/c++/grove-groverotary.cxx
--- a/examples/c++/grove-groveslide.cxx
+++ b/examples/c++/grove-groveslide.cxx
--- a/examples/c++/grove-grovetemp.cxx
+++ b/examples/c++/grove-grovetemp.cxx
--- a/examples/c++/hdc1000.cxx
+++ b/examples/c++/hdc1000.cxx
@ -0,0 +1,67 @@
+/* Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * 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 "hdc1000.hpp"
+
+using namespace upm;
+
+bool run = true;
+
+void sig_handler(int sig)
+{
+  if (sig == SIGINT)
+    run = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  std::cout << "Initializing test-application..." << std::endl;
+
+  // Instantiate an HDC1000 instance on bus 1
+  upm::HDC1000 *mySensor = new upm::HDC1000(1);
+
+  // update and print available values every second
+  while (run)
+    {
+        std::cout << "Humidity: " << mySensor->getHumidity(true) << std::endl
+             << "Temperature: " << mySensor->getTemperature(true) << std::endl;
+
+        std::cout << std::endl;
+
+        sleep(1);
+    }
+
+  std::cout << "Exiting test-application..." << std::endl;
+
+  delete mySensor;
+//! [Interesting]
+
+  return 0;
+}
--- a/examples/c++/hlg150h.cxx
+++ b/examples/c++/hlg150h.cxx
@ -8,11 +8,11 @@
 #define HLG150H_GPIO_RELAY 21
 #define HLG150H_GPIO_PWM 22

-void printState(upm::ILightController *lightController)
+void printState(upm::ILightController &lightController)
 {
-   if (lightController->isPowered())
+    if (lightController.isPowered())
    {
-      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+        std::cout << "Light is powered, brightness = " << lightController.getBrightness() << std::endl;
    }
    else
    {
@ -22,30 +22,23 @@ void printState(upm::ILightController *lightController)

 int main( int argc, char **argv )
 {
-   int status = 0;
-   upm::ILightController* lightController;
-
-   try {
-      lightController = new upm::HLG150H(HLG150H_GPIO_RELAY, HLG150H_GPIO_PWM);
+    //! [Interesting]
+    upm::HLG150H lightController(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();
+        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;
+    //! [Interesting]
+
+    return 0;
 }
-
-   return status;
-}
-
-
--- a/examples/c++/hmc5883l.cxx
+++ b/examples/c++/hmc5883l.cxx
@ -32,16 +32,17 @@ main(int argc, char **argv)
 //! [Interesting]
    // Instantiate on I2C
    upm::Hmc5883l* compass = new upm::Hmc5883l(0);
-    int16_t *pos;

-    compass->set_declination(0.2749); // Set your declination from true north in radians
+    compass->set_declination(0.2749); // Set your declination from
+                                      // true north in radians

    // Print out the coordinates, heading, and direction every second
    while(true){
        compass->update(); // Update the coordinates
-        pos = compass->coordinates();
+        const int16_t *pos = compass->coordinates();
        fprintf(stdout, "coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
-        fprintf(stdout, "heading: %5.2f direction: %3.2f\n", compass->heading(), compass->direction());
+        fprintf(stdout, "heading: %5.2f direction: %3.2f\n",
+                compass->heading(), compass->direction());
        sleep(1);
    }
 //! [Interesting]
--- a/examples/c++/i2clcd-eboled.cxx
+++ b/examples/c++/i2clcd-eboled.cxx
--- a/examples/c++/i2clcd-ssd1306-oled.cxx
+++ b/examples/c++/i2clcd-ssd1306-oled.cxx
--- a/examples/c++/i2clcd-ssd1308-oled.cxx
+++ b/examples/c++/i2clcd-ssd1308-oled.cxx
--- a/examples/c++/i2clcd-ssd1327-oled.cxx
+++ b/examples/c++/i2clcd-ssd1327-oled.cxx
--- a/examples/c++/interfaces-humiditysensor.cxx
+++ b/examples/c++/interfaces-humiditysensor.cxx
--- a/examples/c++/interfaces-lightcontroller.cxx
+++ b/examples/c++/interfaces-lightcontroller.cxx
@ -95,4 +95,4 @@ int main( int argc, char **argv )
   return status;
 }

-
+//! [Interesting]
--- a/examples/c++/interfaces-lightsensor.cxx
+++ b/examples/c++/interfaces-lightsensor.cxx
--- a/examples/c++/interfaces-pressuresensor.cxx
+++ b/examples/c++/interfaces-pressuresensor.cxx
--- a/examples/c++/interfaces-temperaturesensor.cxx
+++ b/examples/c++/interfaces-temperaturesensor.cxx
--- a/examples/c++/lcdks.cxx
+++ b/examples/c++/lcdks.cxx
@ -0,0 +1,73 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2017 Intel Corporation.
+ *
+ * The MIT License
+ *
+ * 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 <signal.h>
+#include <iostream>
+
+#include "lcdks.hpp"
+
+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]
+
+    // Instantiate a LCDKS (LCD Keypad Shield) using default pins
+
+    // NOTE: The default pins do not include support for a gpio
+    // controlled backlight.  If you need one, you will need to specify
+    // all neccessary pins to the constructor.
+    upm::LCDKS* lcd = new upm::LCDKS();
+
+    lcd->setCursor(0,0);
+    lcd->write("LCDKS driver");
+    lcd->setCursor(1,2);
+    lcd->write("Hello World");
+
+    // output current key value every second.
+    while (shouldRun)
+    {
+        cout << "Button value: " << lcd->getKeyValue() << endl;
+        sleep(1);
+    }
+
+    delete lcd;
+
+//! [Interesting]
+    return 0;
+}
--- a/examples/c++/ldt0028.cxx
+++ b/examples/c++/ldt0028.cxx
@ -44,7 +44,7 @@ main(int argc, char **argv)
    std::cout << "For the next " << NUMBER_OF_SECONDS << " seconds, " 
              << SAMPLES_PER_SECOND << " samples will be taken every second." 
              << std::endl << std::endl;
-    uint16_t* buffer = new uint16_t[NUMBER_OF_SECONDS * SAMPLES_PER_SECOND];
+    uint16_t buffer[NUMBER_OF_SECONDS * SAMPLES_PER_SECOND];
    for (int i=0; i < NUMBER_OF_SECONDS * SAMPLES_PER_SECOND; i++) {
        buffer[i] = (uint16_t) sensor->getSample();
        usleep(MICROSECONDS_PER_SECOND / SAMPLES_PER_SECOND);
--- a/examples/c++/light.cxx
+++ b/examples/c++/light.cxx
@ -34,10 +34,11 @@ main(int argc, char **argv)
    // Create the light sensor object using AIO pin 0
    upm::Light* light = new upm::Light(0);

-    // Read the input and print both the raw value and a rough lux value,
-    // waiting one second between readings
+    // Read the input and print both the normalized ADC value and a
+    // rough lux value, waiting one second between readings
    while( 1 ) {
-        std::cout << light->name() << " raw value is " << light->raw_value() <<
+        std::cout << light->name() << " normalized value is "
+                  << light->getNormalized() <<
            ", which is roughly " << light->value() << " lux" << std::endl;
        sleep(1);
    }
--- a/examples/c++/lp8860.cxx
+++ b/examples/c++/lp8860.cxx
@ -9,11 +9,11 @@
 #define LP8860_GPIO_PWR 45 // Edison GP45


-void printState(upm::ILightController *lightController)
+void printState(upm::ILightController &lightController)
 {
-   if (lightController->isPowered())
+    if (lightController.isPowered())
    {
-      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+        std::cout << "Light is powered, brightness = " << lightController.getBrightness() << std::endl;
    }
    else
    {
@ -23,30 +23,23 @@ void printState(upm::ILightController *lightController)

 int main( int argc, char **argv )
 {
-   int status = 0;
-   upm::LP8860* lightController;
-
-   try {
-      lightController = new upm::LP8860(LP8860_GPIO_PWR, EDISON_I2C_BUS);
+    //! [Interesting]
+    upm::LP8860 lightController(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();
+        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;
+    //! [Interesting]
+
+    return 0;
 }
-
-   return status;
-}
-
-
--- a/examples/c++/lpd8806.cxx
+++ b/examples/c++/lpd8806.cxx
@ -46,7 +46,7 @@ int
 main(int argc, char **argv)
 {
    //! [Interesting]
-    sensor = new upm::LPD8806(10, 7);
+    sensor = new upm::LPD8806(0, 7, 10);
    usleep (1000000);

    sensor->show ();
--- a/examples/c++/mag3110.cxx
+++ b/examples/c++/mag3110.cxx
@ -0,0 +1,76 @@
+/* Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * 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 "mag3110.hpp"
+
+using namespace upm;
+
+bool run = true;
+
+void sig_handler(int sig)
+{
+  if (sig == SIGINT)
+    run = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  upm::mag3110_data_t data;
+
+  std::cout << "Initializing test-application..." << std::endl;
+
+  // Instantiate an MAG3110 instance on bus 1
+  upm::MAG3110 *mySensor = new upm::MAG3110(1);
+
+  // activate periodic measurements
+  mySensor->setActive();
+
+  // update and print available values every second
+  while (run)
+    {
+      mySensor->getData (&data, true);
+        std::cout << "x: " << data.x << std::endl
+                  << "y: " << data.y << std::endl
+                  << "z: " << data.z << std::endl
+                  << "Status: " << data.status << std::endl
+                  << "Die temperature: " << data.dtemp << std::endl;
+
+        std::cout << std::endl;
+
+        sleep(1);
+    }
+
+  std::cout << "Exiting test-application..." << std::endl;
+
+  delete mySensor;
+//! [Interesting]
+
+  return 0;
+}
--- a/examples/c++/max30100.cxx
+++ b/examples/c++/max30100.cxx
@ -0,0 +1,99 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "max30100.hpp"
+
+using namespace upm;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+// Example Callback handler
+class mycallback : public Callback
+{
+    public:
+        virtual void run(max30100_value samp)
+        {
+            std::cout << "My callback sample IR: "
+                << samp.IR << " R: " << samp.R << std::endl;
+        }
+};
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+
+    // Instantiate a MAX30100 instance using i2c bus 0
+    upm::MAX30100 sensor(0);
+
+    // Create an instance of the Callback class
+    mycallback cb;
+
+    // Read the temperature and version
+    std::cout << "Temperature: " << sensor.temperature() << " C" << std::endl;
+    std::cout << "Version: " << sensor.version() << std::endl;
+
+    // Set high-res (50 Hz, 16-bit)
+    sensor.high_res_enable(true);
+
+    // Set to sample SpO2
+    sensor.mode(MAX30100_MODE_SPO2_EN);
+
+    // Read continuously, stepping up the LED current every second,
+    // us GPIO 0 as the interrupt pin
+    sensor.sample_continuous(0, false, &cb);
+    for (int i = MAX30100_LED_CURRENT_0_0_MA;
+         i <= MAX30100_LED_CURRENT_50_0_MA && shouldRun; i++)
+    {
+        // Toggle the LED current
+        std::cout << "Setting LED current = " << i << std::endl;
+
+        sensor.current((MAX30100_LED_CURRENT)i, (MAX30100_LED_CURRENT)i);
+
+        upm_delay(1);
+    }
+
+    // Read individual samples
+    for (int i = 0; i < 10; i++)
+    {
+        max30100_value val = sensor.sample();
+        std::cout << "Single value IR: " << val.IR << " R: " << val.R << std::endl;
+    }
+
+    //! [Interesting]
+
+    std::cout << "Exiting..." << std::endl;
+
+    return 0;
+}
--- a/examples/c++/max31723.cxx
+++ b/examples/c++/max31723.cxx
@ -44,7 +44,7 @@ int
 main(int argc, char **argv)
 {
    //! [Interesting]
-    sensor = new upm::MAX31723(7);
+    sensor = new upm::MAX31723(0, 7);
    usleep (1000000);

    while (!doWork) {
--- a/examples/c++/max44009.cxx
+++ b/examples/c++/max44009.cxx
@ -30,17 +30,13 @@

 int main ()
 {
-   try {
-      upm::MAX44009* lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+    //! [Interesting]
+    upm::MAX44009 lightSensor(EDISON_I2C_BUS);
    while (true) {
-         float value = lightSensor->getVisibleLux();
+        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;
-   }
+    //! [Interesting]
    return 0;
 }
--- a/examples/c++/mcp2515-txrx.cxx
+++ b/examples/c++/mcp2515-txrx.cxx
@ -0,0 +1,125 @@
+/*
+ * 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 <stdio.h>
+#include <iostream>
+#include <signal.h>
+#include <upm_utilities.h>
+
+#include "mcp2515.hpp"
+
+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);
+
+    // by default we just receive packets
+    bool do_tx = false;
+
+    // if an argument is given, we will transmit packets
+    if (argc > 1)
+        do_tx = true;
+//! [Interesting]
+
+    // NOTE: This example assumes that only two devices are connected
+    // to the CAN bus, and that both devices are running this example;
+    // one in TX (transmit) mode, and one in RX (receive) mode.
+
+    // If this is not the case, then in rx mode you may see other
+    // packets from other devices, or not, depending on whether the
+    // speed is correct for the network.  In tx mode, errors may be
+    // generated on the bus, especially if the CAN bus speed does not
+    // match the rest of the network.
+
+    // You should start the receiver example first.  The transmitter
+    // example will fail after about 5 seconds (timeout) of not being
+    // able to transmit a message.
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    upm::MCP2515 *sensor = new upm::MCP2515(0, 9);
+
+    // By default, after initialization, the baud rate is set to
+    // 50Kbps, and the mode is NORMAL, so we don't need to set any of
+    // that here.
+
+    // our TX payload.  If transmitting, the first number will be
+    // incremented (and rollover) on each transmission.
+    string myPayload = "01234567";
+
+    while (shouldRun)
+    {
+        if (do_tx)
+        {
+            cout << "Loading a packet of 8 numbers (0-7) into a TX buffer..."
+                 << endl;
+            sensor->loadTXBuffer(MCP2515_TX_BUFFER0, 0, false, false,
+                                 myPayload);
+
+            // now lets try to transmit it
+            cout << "Transmitting packet..." << endl;
+            sensor->transmitBuffer(MCP2515_TX_BUFFER0, true);
+
+            myPayload[0]++;
+            cout << "Transmit successful" << endl;
+            cout << endl;
+
+            upm_delay_ms(500);
+        }
+        else
+        {
+            // RX mode
+            // Look for a packet waiting for us in RXB0
+            if (sensor->rxStatusMsgs() == MCP2515_RXMSG_RXB0)
+            {
+                cout << "Packet received in RXB0, decoding..." << endl;
+
+                // now lets retrieve and print it
+                sensor->getRXMsg(MCP2515_RX_BUFFER0);
+
+                sensor->printMsg();
+                cout << endl;
+            }
+
+            upm_delay_ms(100);
+        }
+    }
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+//! [Interesting]
+
+    return 0;
+}
--- a/examples/c++/mcp2515.cxx
+++ b/examples/c++/mcp2515.cxx
@ -0,0 +1,79 @@
+/*
+ * 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 <stdio.h>
+#include <iostream>
+
+#include "mcp2515.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+
+    // Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
+    upm::MCP2515 *sensor = new upm::MCP2515(0, -1);
+
+    cout << "Setting loopback mode..." << endl;
+
+    // set the mode to loopback mode.  In loopback mode, transmitted
+    // packets are sent directly to an appropriate receive buffer
+    // without actually going out onto the CAN bus.
+    sensor->setOpmode(MCP2515_OPMODE_LOOPBACK);
+
+    // lets build up a packet and try loading it (8 bytes max).
+    string myPayload = "01234567";
+    cout << "Loading a packet of 8 numbers (0-7) into a TX buffer..." << endl;
+    sensor->loadTXBuffer(MCP2515_TX_BUFFER0, 0, false, false, myPayload);
+
+    // now lets try to transmit it
+    cout << "Transmitting packet..." << endl;
+    sensor->transmitBuffer(MCP2515_TX_BUFFER0, true);
+
+    cout << "Transmit successful" << endl;
+
+    // There should now be a packet waiting for us in RXB0
+    if (sensor->rxStatusMsgs() == MCP2515_RXMSG_RXB0)
+    {
+        cout << "Packet received in RXB0, decoding..." << endl;
+
+        // now lets retrieve and print it
+        sensor->getRXMsg(MCP2515_RX_BUFFER0);
+
+        sensor->printMsg();
+    }
+    else
+    {
+        cout << "No packet found, how strange." << endl;
+    }
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+//! [Interesting]
+
+    return 0;
+}
--- a/examples/c++/mcp9808.cxx
+++ b/examples/c++/mcp9808.cxx
@ -159,5 +159,5 @@ int main()

 	}while (command != -1 );
 //! [Interesting]
-	return MRAA_SUCCESS;
+	return 0;
 }
--- a/examples/c++/micsv89.cxx
+++ b/examples/c++/micsv89.cxx
@ -74,5 +74,5 @@ int main()
    delete sensor;
 //! [Interesting]

-    return MRAA_SUCCESS;
+    return 0;
 }
--- a/examples/c++/mma8x5x.cxx
+++ b/examples/c++/mma8x5x.cxx
@ -0,0 +1,91 @@
+/* Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * 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 "mma8x5x.hpp"
+
+using namespace upm;
+
+bool run = true;
+
+void sig_handler(int sig)
+{
+  if (sig == SIGINT)
+    run = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  upm::mma8x5x_data_t data;
+
+  // U can set your own parameters for an MMA8X5X instance with
+  /*
+    upm::mma8x5x_params_t params;
+    params.type   = <device-id>;      device-id of your sensor
+    params.rate   = <sampling-rate>;    between 0<<3 and 7<<3
+    params.range  = <range>;        between 0 and 2
+    params.offsetX  = <x-axis offset>;    between 0 and 255
+    params.offsetY  = <y-axis offset>;    between 0 and 255
+    params.offsetZ  = <z-axis offset>;    between 0 and 255
+  */
+
+  std::cout << "Initializing test-application..." << std::endl;
+
+  // Instantiate an MMA8X5X instance on bus 1 with default parameters
+  // The sensor-type will be detected by reading out the device-id
+  upm::MMA8X5X *mySensor = new upm::MMA8X5X(1);
+
+  // If u have set own parameters use this one
+  /*
+    upm::MMA8X5X *mySensor = new upm::MMA8X5X(1, &params);
+  */
+
+  // activate periodic measurements
+  mySensor->setActive();
+
+  // update and print available values every second
+  while (run)
+    {
+      mySensor->getData (&data, true);
+        std::cout << "x: " << (int)data.x << std::endl
+                  << "y: " << (int)data.y << std::endl
+                  << "z: " << (int)data.z << std::endl;
+
+        std::cout << std::endl;
+
+        sleep(1);
+    }
+
+  std::cout << "Exiting test-application..." << std::endl;
+
+  delete mySensor;
+//! [Interesting]
+
+  return 0;
+}
--- a/examples/c++/mmc35240.cxx
+++ b/examples/c++/mmc35240.cxx
@ -0,0 +1,111 @@
+/*
+ * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <iostream>
+#include <unistd.h>
+#include <signal.h>
+#include <math.h>
+#include "mmc35240.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+upm::MMC35240* magnetometer;
+
+void
+sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+void
+data_callback(char* data)
+{
+    float x, y, z;
+    double azimuth;
+    int level;
+    magnetometer->extract3Axis(data, &x, &y, &z);
+    /* calibrated level
+     * UNRELIABLE = 0
+     * ACCURACY_LOW = 1
+     * ACCURACY_MEDIUM = 2
+     * ACCURACY_HIGH = >=3
+     */
+    level = magnetometer->getCalibratedLevel();
+
+    if ((x == 0) && (y == 0)) {
+        cout << "Point (0, 0) is invalid!\n" << endl;
+        return;
+    }
+
+    if (x == 0) {
+        if (y > 0)
+            azimuth = 0;
+        else
+            azimuth = 180;
+    } else if (y == 0) {
+        if (x > 0)
+            azimuth = 90;
+        else
+            azimuth = 270;
+    } else {
+        if (x > 0)
+            azimuth = 90 - atan(y / x) * 180 / M_PI;
+        else
+            azimuth = 270 - atan(y / x) * 180 / M_PI;
+    }
+
+    cout << "[Calibrated Level:" << level << ']' << "[Azimuth:" << (int) (360 - azimuth) << ']'
+         << '\t' << (int) x << '\t' << (int) y << '\t' << (int) z << "[uT]" << endl;
+}
+
+int
+main()
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+    // Instantiate a MMC35240 Magnetic Sensor on iio device 5. This configuration is a reference and
+    // should be changed per platform/board type.
+    magnetometer = new upm::MMC35240(5);
+    // Kernel driver does not allow changing the value of scale at run-time, default scale is
+    // 0.001000
+    magnetometer->setScale(0.001000);
+    // Available sampling frequency are 1.5, 13, 25, 50
+    magnetometer->setSamplingFrequency(25.000000);
+    magnetometer->enable3AxisChannel();
+    magnetometer->installISR(data_callback, NULL);
+    magnetometer->enableBuffer(16);
+
+    while (shouldRun) {
+        sleep(1);
+    }
+    magnetometer->disableBuffer();
+
+    //! [Interesting]
+    cout << "Exiting" << endl;
+
+    delete magnetometer;
+
+    return 0;
+}
--- a/examples/c++/mpu9150-ak8975.cxx
+++ b/examples/c++/mpu9150-ak8975.cxx
--- a/examples/c++/mpu9150-mpu60x0.cxx
+++ b/examples/c++/mpu9150-mpu60x0.cxx
--- a/examples/c++/mpu9150-mpu9250.cxx
+++ b/examples/c++/mpu9150-mpu9250.cxx
--- a/examples/c++/my9221-grovecircularled.cxx
+++ b/examples/c++/my9221-grovecircularled.cxx
--- a/examples/c++/my9221-groveledbar.cxx
+++ b/examples/c++/my9221-groveledbar.cxx
--- a/examples/c++/nlgpio16.cxx
+++ b/examples/c++/nlgpio16.cxx
@ -31,6 +31,7 @@
 using namespace std;
 using namespace upm;

+//! [Interesting]
 int main(int argc, char **argv)
 {
  // Instantiate a NLGPIO16 Module on the default UART (/dev/ttyACM0)
--- a/examples/c++/nmea_gps-i2c.cxx
+++ b/examples/c++/nmea_gps-i2c.cxx
--- a/examples/c++/nrf8001-broadcast.cxx
+++ b/examples/c++/nrf8001-broadcast.cxx
@ -29,6 +29,7 @@
 #include <lib_aci.h>
 #include <aci_setup.h>
 #include <signal.h>
+#include <assert.h>

 #ifdef SERVICES_PIPE_TYPE_MAPPING_CONTENT
    static services_pipe_type_mapping_t
@ -77,11 +78,11 @@ init_aci_setup () {
    /**
     * Point ACI data structures to the the setup data that the nRFgo studio generated for the nRF8001
     */
-    if (NULL != services_pipe_type_mapping) {
-        aci_state.aci_setup_info.services_pipe_type_mapping = &services_pipe_type_mapping[0];
-    } else {
-        aci_state.aci_setup_info.services_pipe_type_mapping = NULL;
-    }
+    // abort if this is NULL
+    assert(services_pipe_type_mapping != NULL);
+
+    aci_state.aci_setup_info.services_pipe_type_mapping =
+        &services_pipe_type_mapping[0];

    aci_state.aci_setup_info.number_of_pipes    = NUMBER_OF_PIPES;
    aci_state.aci_setup_info.setup_msgs         = setup_msgs;
--- a/examples/c++/nrf8001-helloworld.cxx
+++ b/examples/c++/nrf8001-helloworld.cxx
@ -29,6 +29,7 @@
 #include <lib_aci.h>
 #include <aci_setup.h>
 #include <signal.h>
+#include <assert.h>
 #include "uart_over_ble.h"

 /*
@ -95,11 +96,11 @@ init_aci_setup () {
    /**
     * Point ACI data structures to the the setup data that the nRFgo studio generated for the nRF8001
     */
-    if (NULL != services_pipe_type_mapping) {
-        aci_state.aci_setup_info.services_pipe_type_mapping = &services_pipe_type_mapping[0];
-    } else {
-        aci_state.aci_setup_info.services_pipe_type_mapping = NULL;
-    }
+    // abort if this is NULL
+    assert(services_pipe_type_mapping != NULL);
+
+    aci_state.aci_setup_info.services_pipe_type_mapping =
+        &services_pipe_type_mapping[0];

    aci_state.aci_setup_info.number_of_pipes    = NUMBER_OF_PIPES;
    aci_state.aci_setup_info.setup_msgs         = setup_msgs;
--- a/examples/c++/nunchuck.cxx
+++ b/examples/c++/nunchuck.cxx
@ -43,16 +43,8 @@ int main(int argc, char **argv)
  signal(SIGINT, sig_handler);

 //! [Interesting]
-  // Instantiate a nunchuck controller bus 0
-  upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(0);
-  
-  // always do this first
-  cout << "Initializing... " << endl;
-  if (!nunchuck->init())
-    {
-      cerr << "nunchuck->init() failed." << endl;
-      return 0;
-    }
+  // Instantiate a nunchuck controller bus 3
+  upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(3);

  while (shouldRun)
    {
--- a/examples/c++/ozw-aeotecdsb09104.cxx
+++ b/examples/c++/ozw-aeotecdsb09104.cxx
@ -119,5 +119,6 @@ int main(int argc, char **argv)

  delete sensor;

+  //! [Interesting]
  return 0;
 }
--- a/examples/c++/ozw-aeotecdw2e.cxx
+++ b/examples/c++/ozw-aeotecdw2e.cxx
@ -104,6 +104,7 @@ int main(int argc, char **argv)
  cout << "Exiting..." << endl;

  delete sensor;
+//! [Interesting]

  return 0;
 }
--- a/examples/c++/ozw-aeotecsdg2.cxx
+++ b/examples/c++/ozw-aeotecsdg2.cxx
@ -122,6 +122,7 @@ int main(int argc, char **argv)
  cout << "Exiting..." << endl;

  delete sensor;
+//! [Interesting]

  return 0;
 }
--- a/examples/c++/ozw-aeotecss6.cxx
+++ b/examples/c++/ozw-aeotecss6.cxx
@ -112,6 +112,7 @@ int main(int argc, char **argv)
  cout << "Exiting..." << endl;

  delete sensor;
+//! [Interesting]

  return 0;
 }
--- a/examples/c++/ozw-ozwdump.cxx
+++ b/examples/c++/ozw-ozwdump.cxx
--- a/examples/c++/ozw-tzemt400.cxx
+++ b/examples/c++/ozw-tzemt400.cxx
@ -110,5 +110,6 @@ int main(int argc, char **argv)

  delete sensor;

+//! [Interesting]
  return 0;
 }
--- a/examples/c++/p9813.cxx
+++ b/examples/c++/p9813.cxx
@ -0,0 +1,48 @@
+/*
+ * Author: Sergey Kiselev <sergey.kiselev@intel.com>
+ * Copyright (c) 2017 Sergey Kiselev
+ * Based on the p9813 driver writen by Yannick Adam <yannick.adam@gmail.com>
+ *
+ * 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 "p9813.hpp"
+#include <iostream>
+#include <signal.h>
+#include <unistd.h>
+
+using namespace std;
+
+int
+main(int argc, char** argv)
+{
+    //! [Interesting]
+    // Instantiate a chain of 2 LEDs using pin 2 for clock and pin 3 for data
+    upm::P9813 ledChain(2, 2, 3);
+
+    // Set all LEDs to Red
+    ledChain.setAllLeds(255, 0, 0);
+
+    // Set a single LED to green
+    ledChain.setLed(1, 0, 255, 0);
+
+    //! [Interesting]
+    return 0;
+}
--- a/examples/c++/rf22-client.cxx
+++ b/examples/c++/rf22-client.cxx
@ -38,9 +38,9 @@ sig_handler (int signo) {
 int
 main (int argc, char ** argv) {
    // SPI bus 0, CS pin 10, INTR pin 2
-    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+    upm::RF22 rf22(0, 10, 2);

-    if (!rf22->init()) {
+    if (!rf22.init()) {
        std::cout << "RF22 init failed" << std::endl;
        return 0x1;
    }
@ -53,13 +53,13 @@ main (int argc, char ** argv) {
    while (amWorking) {
        std::cout << "Sending to rf22_server" << std::endl;
        // Send a message to rf22_server
-        rf22->send(data, sizeof(data));
-        rf22->waitPacketSent();
+        rf22.send(data, sizeof(data));
+        rf22.waitPacketSent();
        // Now wait for a reply
                
-        rf22->waitAvailableTimeout(1000000);
+        rf22.waitAvailableTimeout(1000000);
        
-        if (rf22->recv(buf, &len)) {
+        if (rf22.recv(buf, &len)) {
            std::cout << "got response: " << (char*)buf << std::endl;
        } else {
            std::cout << "!!! NO RESPONSE !!!" << std::endl;
--- a/examples/c++/rf22-server.cxx
+++ b/examples/c++/rf22-server.cxx
@ -38,9 +38,9 @@ sig_handler (int signo) {
 int
 main (int argc, char ** argv) {
    // SPI bus 0, CS pin 10, INTR pin 2
-    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+    upm::RF22 rf22(0, 10, 2);

-    if (!rf22->init()) {
+    if (!rf22.init()) {
        std::cout << "RF22 init failed" << std::endl;
        return 0x1;
    }
@ -50,23 +50,22 @@ main (int argc, char ** argv) {
    
    signal (SIGINT, sig_handler);
    while (amWorking) {
-        // rf22->waitAvailable();
-        rf22->waitAvailableTimeout (500);
+        // rf22.waitAvailable();
+        rf22.waitAvailableTimeout (500);

        // Should be a message for us now   
-        if (rf22->recv(buf, &len)) {
+        if (rf22.recv(buf, &len)) {
            std::cout << "got request: " << (char*)buf << std::endl;

            // Send a reply
            uint8_t data[] = "And hello back to you";
-            rf22->send(data, sizeof(data));
-            rf22->waitPacketSent();
+            rf22.send(data, sizeof(data));
+            rf22.waitPacketSent();
        } else {
            // Do whatever you need.
        }
    }

-    delete rf22;
    std::cout << "Exit 'rfm22-server'" << std::endl;
    return 0;
 }
--- a/examples/c++/rsc.cxx
+++ b/examples/c++/rsc.cxx
@ -0,0 +1,64 @@
+/*
+ * Author: Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2017 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 "rsc.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+
+int main ()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+    
+    upm::RSC* rsc = new upm::RSC(0, 9, 8);
+
+    cout << "Sensor Name: " << rsc->getSensorName() << endl;
+    rsc->setMode(NORMAL_MODE);
+    rsc->setDataRate(N_DR_330_SPS);
+    while (shouldRun) {
+        cout << "inH2O pressure: " << rsc->getPressure() << endl;
+        cout << "Temp (C): " << rsc->getTemperature() << endl;
+
+        sleep(1);
+    }
+//! [Interesting]
+
+    cout << "Exiting..." << endl;
+
+    delete rsc;
+    return 0;
+}
--- a/Show More
+++ b/Show More