Minor JSON fixes

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
JSON: Adding ctest
2025-07-06 11:51:10 +03:00 · 2017-08-30 17:19:30 -07:00 · 2017-08-28 17:15:07 -07:00 · 2017-08-17 13:30:41 -07:00 · 2017-08-17 11:17:24 -07:00 · 2017-08-16 11:56:57 -07:00
2431 changed files with 34559 additions and 59571 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -7,26 +7,17 @@ services:
  - docker

 before_install:
-  - sudo wget -q https://github.com/docker/compose/releases/download/1.9.0/docker-compose-`uname -s`-`uname -m` -O /usr/local/bin/docker-compose
+  - sudo rm /usr/local/bin/docker-compose
+  - curl -L https://github.com/docker/compose/releases/download/1.9.0/docker-compose-`uname -s`-`uname -m` > docker-compose
+  - chmod +x docker-compose
+  - sudo mv docker-compose /usr/local/bin

 jobs:
  fast_finish: true
  allow_failures:
-    - env: TARGET=android
+    - env: TARGET=sonar-scan
+    - env: TARGET=ipk
  include:
-    - &run-with-clang-minimal
-      stage: Clang 3.8 - minimal with unit tests
-      env:
-        - TARGET=minimal
-        - CMAKE_BUILD_TYPE=Debug
-      before_script: docker-compose pull ${TARGET}
-      script:
-        - export CC=clang-3.8 CXX=clang++-3.8
-        - docker-compose run ${TARGET}
-    - <<: *run-with-clang-minimal
-      env:
-        - TARGET=minimal
-        - CMAKE_BUILD_TYPE=Release
    - &run-with-clang
      stage: Clang 3.8
      env: TARGET=python
@ -81,11 +72,11 @@ jobs:
        - docker-compose run ${TARGET}
    - <<: *run-additional-jobs
      env: TARGET=android
-    - <<: *run-additional-jobs
-      env: TARGET=cordova
-    - <<: *run-additional-jobs
-      env: TARGET=examples
    - <<: *run-additional-jobs
      env: TARGET=sonar-scan
+    - <<: *run-additional-jobs
+      env: TARGET=ipk
+    - <<: *run-additional-jobs
+      env: TARGET=rpm
    - <<: *run-additional-jobs
      env: TARGET=npm
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -8,8 +8,9 @@ option (BUILDFTI "Build Funtion Table Interface (FTI) in C sensor libraries" OFF
 option (BUILDSWIGPYTHON "Build swig python modules" ON)
 option (BUILDSWIGNODE "Build swig node modules" ON)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
-option (BUILDCORDOVA "Build cordova bindings" OFF)
 option (BUILDEXAMPLES "Build C/C++/JAVA examples" OFF)
+option (IPK "Generate IPK using CPack" OFF)
+option (RPM "Generate RPM using CPack" OFF)
 option (NPM "Generate NPM/GYP tarballs" OFF)
 option (BUILDTESTS "Generate check-ups for upm" OFF)
 option (WERROR "Make all warnings into errors." ON)
@ -89,15 +90,8 @@ endfunction ()

 # Compiler flags common to both C and CXX
 # Enable -Wall
-set (C_CXX_WARNING_FLAGS -Wall
-    -Wno-strict-aliasing
-    -Wno-deprecated-declarations # Temp fix for MRAA deprecated methods
-    )
-
 # GCC-6 added -Wmisleading-indentation to -Wall, skip these for now
-if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "6")
-  list (APPEND C_CXX_WARNING_FLAGS -Wno-misleading-indentation)
-endif ()
+set (C_CXX_WARNING_FLAGS -Wall -Wno-misleading-indentation -Wno-strict-aliasing)

 # Warnings as errors?
 if (WERROR)
@ -110,7 +104,6 @@ endif (WERROR)
 upm_add_compile_flags(C ${C_CXX_WARNING_FLAGS}
  -Winit-self
  -Wimplicit
-  -Wsign-compare
  -Wmissing-parameter-type)

 # Set CXX compiler warning flags at top-level scope and emit a warning about
@ -118,7 +111,6 @@ upm_add_compile_flags(C ${C_CXX_WARNING_FLAGS}
 upm_add_compile_flags(CXX ${C_CXX_WARNING_FLAGS}
  -Wnon-virtual-dtor
  -Woverloaded-virtual
-  -Wsign-compare
  -Wreorder)

 # Allow exception error handling for Android C++
@ -131,7 +123,7 @@ 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 2.0.0)
+set(MRAA_MINIMUM 1.7.0)
 pkg_check_modules (MRAA REQUIRED mraa>=${MRAA_MINIMUM})
 # Also, get full path to the mraa library
 find_library(MRAA_LIBRARY NAMES mraa HINTS ${MRAA_LIBDIR})
@ -151,11 +143,6 @@ pkg_check_modules (MODBUS libmodbus>=3.1.2)
 # Check for OPENZWAVE
 pkg_check_modules (OPENZWAVE libopenzwave)

-# Check for TinyB
-pkg_check_modules (TINYB tinyb>=0.5.1)
-# And get full path to the tinyb library
-find_library(TINYB_LIBRARY NAMES tinyb HINTS ${TINYB_LIBDIR})
-
 # Find JPEG
 find_package (JPEG)

@ -164,6 +151,11 @@ if (BUILDSWIGNODE)
  find_package (Node REQUIRED)
  if (BUILDTESTS)
    find_package (Npm REQUIRED)
+    if(NPM_EXECUTABLE)
+        message(STATUS "NPM Executable found at: ${NPM_EXECUTABLE}")
+    else()
+        message(FATAL_ERROR "Please install NPM first, you can't run tests without it")
+    endif()
  endif (BUILDTESTS)
 endif (BUILDSWIGNODE)

@ -176,17 +168,6 @@ if (BUILDSWIGJAVA)
  find_library(MRAAJAVA_LIBRARY NAMES mraajava HINTS ${MRAA_LIBDIR})
 endif (BUILDSWIGJAVA)

-# Cordova binding
-if (BUILDCORDOVA)
-  if (NOT BUILDSWIGJAVA)
-    message(FATAL_ERROR "Cordova bindings require JAVA packages, please enable BUILDSWIGJAVA (-DBUILDSWIGJAVA=on).")
-  endif()
-
-  find_package (Node REQUIRED)
-  find_package (Npm REQUIRED)
-  find_package (UpmCordovaGenerator 0.2.1 REQUIRED)
-endif (BUILDCORDOVA)
-
 # Find swig if any wrapper is enabled
 if (BUILDSWIGPYTHON OR BUILDSWIGNODE OR BUILDSWIGJAVA)
  find_package (SWIG 3.0.5 REQUIRED)
@ -235,7 +216,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 # If git_describe fails, use a dirty version
 if (${VERSION} MATCHES -NOTFOUND)
-  set (VERSION "v1.7.1")
+  set (VERSION "v1.3.0")
  message (WARNING "Failed to retrieve UPM version with 'git describe' (using "
      "${VERSION}). Check that git is installed and this is a valid git repo.")
 endif ()
@ -258,6 +239,11 @@ set (upm_VERSION_MINOR ${VERSION_MINOR})
 set (upm_VERSION_PATCH ${VERSION_PATCH})
 set (upm_VERSION_STRING ${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH})

+# Detect arch
+include (TargetArch)
+target_architecture (DETECTED_ARCH)
+message (STATUS "Target arch is ${DETECTED_ARCH}")
+
 # enable c++11 standards support unconditionally
 include(CheckCXXCompilerFlag)
 if (CMAKE_VERSION VERSION_LESS "3.1")
@ -292,131 +278,151 @@ else()
  set (C_EXTENSIONS OFF)
 endif()

-# The doc target depends on the C/C++ source and all libraries
+# The doc target depends on each sensor target
 #
 # doc
-#   ├──> src
-#   ├──> include
 #   ├──> libupm_sensor0
 #   ├──> libupm_sensor1
-#   ├──> ...
+#   ├──> libupm_sensor2
 #   └──> libupm_sensor_n
 #
 # The pydoc target builds documentation with sphinx via inspection by loading
-# each python2 module.  Those modules must include the CXX documentation via
+# each python module.  Those modules must include the CXX documentation via
 # a monolithic swig file generated by doxy2swig
 #
 # pydoc
 #  └──> _pyupm_sensor0_python2
-#        ├──> libupm_sensor0
-#        └──> doxy2swig
+#        ├──────> libupm_sensor0
+#        └──────> doxy2swig
 #
 # The doxy2swig target is dependent upon the doc target IF BUILDDOC=ON,
+# otherwise doxy2swig uses an empty file.  Doxy2swig also depends on each
+# sensor target
 #
 # doxy2swig
-#  └──> BUILDDOC=ON───> doc
+#  ├──> BUILDDOC=ON───> doc
+#  └──> libupm_sensor0
 #
 # The jsdoc target builds js documentation via yuidoc and only requires
 # the doc target
 #
 # jsdoc ─> doc
 #
-function (CreateDocumentationTargets)
+if (BUILDDOC)
  # Add a target to generate API documentation with Doxygen
-  find_package (Doxygen 1.8 REQUIRED)
-  if (DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER "1.8")
-    configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-    if (BUILDSWIGJAVA)
-        configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
-    endif()
-    file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
-    foreach(PNG_FILE ${PNG_FILES})
-      configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
-    endforeach()
-
-    # Custom command to run doxygen (note depends on ALL UPM C++ targets)
-    add_custom_command (
-      OUTPUT ${CMAKE_BINARY_DIR}/xml/index.xml
-      DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile ${UPM_TARGETS_CXX}
-      COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-      COMMAND tar -czf html/xml.tar.gz -C xml .
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-      COMMENT "Generating C/C++ API documentation with Doxygen"
-      VERBATIM)
-    add_custom_target(doc DEPENDS ${CMAKE_BINARY_DIR}/xml/index.xml)
-  else ()
-    message (SEND_ERROR "ERROR - Failed to find a compatible version of Doxygen. API doc will not be generated")
-  endif (DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER "1.8")
+  find_package (Doxygen REQUIRED)
+  configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+  if (BUILDSWIGJAVA)
+      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
+  endif()
+  file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
+  foreach(PNG_FILE ${PNG_FILES})
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
+  endforeach()
+  add_custom_target (doc
+    ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+    COMMAND tar -czf html/xml.tar.gz -C xml .
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    COMMENT "Generating API documentation with Doxygen" VERBATIM
+  )

  # Check if Sphinx is installed and add target to generate API documentation
  # Currently, the per-module documentation for python is generated from the
  # python2 modules.
-  # Since python2 is required for documentation, only copy from python2 paths, this
-  # ensures that sphinx doesn't run across python2 and python3 binaries.  When running
-  # the sphinx tools, explicitly run from the python2 interpreter (tested with the sphinx
-  # 1.3.6 python2 and python3 modules).
  if(BUILDSWIGPYTHON)
-    # Generate python module documentation from doxygen collateral
-    #
-    # doxygen index.xml -> doxy2swig.py -> pyupm_doxy2swig.i
-    add_custom_command (
-      OUTPUT ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i
-      COMMAND ${PYTHON2_EXECUTABLE} ${CMAKE_SOURCE_DIR}/src/doxy2swig.py
-              ${CMAKE_BINARY_DIR}/xml/index.xml --quiet
-              ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i
-      COMMENT "Generating pyupm_doxy2swig.i from Doxygen output for use by SWIG"
+    find_package (Sphinx REQUIRED)
+    configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/pydoc/conf.py @ONLY)
+    configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/index.rst ${CMAKE_CURRENT_BINARY_DIR}/pydoc/index.rst COPYONLY)
+    add_custom_target (pydoc ALL
+      COMMAND rm -r -f ${CMAKE_BINARY_DIR}/pyupm && mkdir -p ${CMAKE_BINARY_DIR}/pyupm
+      COMMAND find ${CMAKE_BINARY_DIR}/src -name "_pyupm_*.so" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+      COMMAND find ${CMAKE_BINARY_DIR}/src -name "pyupm_*.py" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+      COMMAND ${SPHINX_API_EXECUTABLE} -f -o pydoc  ${CMAKE_BINARY_DIR}/pyupm
+      # TODO: use a separate cmake FILE module for string replacement instead
+      COMMAND ${SPHINX_EXECUTABLE} -b html pydoc html/python
+      COMMAND sed -i.bak s|\">pyupm_|\">|g html/python/index.html html/python/modules.html
+      COMMAND sed -i.bak s|[[:space:]][mM]odule</a>|</a>|g html/python/index.html html/python/modules.html
      DEPENDS doc
-      VERBATIM)
-    add_custom_target(pyupm_doxy2swig DEPENDS ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i)
-    foreach (_python2_target ${UPM_TARGETS_PYTHON2})
-      add_dependencies(${_python2_target} pyupm_doxy2swig)
-    endforeach()
-
-    find_package (Sphinx 1.3 REQUIRED)
-    if (SPHINX_FOUND AND SPHINX_VERSION VERSION_GREATER "1.3")
-      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/pydoc/conf.py @ONLY)
-      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/index.rst ${CMAKE_CURRENT_BINARY_DIR}/pydoc/index.rst COPYONLY)
-      add_custom_command (
-        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp
-        COMMAND rm -r -f ${CMAKE_BINARY_DIR}/pyupm && mkdir -p ${CMAKE_BINARY_DIR}/pyupm
-        COMMAND find ${CMAKE_BINARY_DIR}/src -path "*python${MIN_VER_PYTHON2}/_pyupm_*.so" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
-        COMMAND find ${CMAKE_BINARY_DIR}/src -path "*python${MIN_VER_PYTHON2}/pyupm_*.py" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
-        COMMAND ${PYTHON2_EXECUTABLE} ${SPHINX_API_EXECUTABLE} -f -o pydoc  ${CMAKE_BINARY_DIR}/pyupm
-        # TODO: use a separate cmake FILE module for string replacement instead
-        COMMAND ${PYTHON2_EXECUTABLE} ${SPHINX_EXECUTABLE} -b html pydoc html/python
-        COMMAND sed -i.bak s|\">pyupm_|\">|g html/python/index.html html/python/modules.html
-        COMMAND sed -i.bak s|[[:space:]][mM]odule</a>|</a>|g html/python/index.html html/python/modules.html
-        COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp
-        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-        COMMENT "Generating Python API documentation with Sphinx"
-        DEPENDS doc ${UPM_TARGETS_PYTHON2}
-        VERBATIM)
-      add_custom_target(pydoc DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp)
-    else ()
-      message (SEND_ERROR "ERROR - Failed to find a compatible version of Sphinx. Python API doc will not be generated")
-    endif ()
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+      COMMENT "Generating API documentation with Sphinx" VERBATIM
+    )
  endif(BUILDSWIGPYTHON)

  # Check if Yuidoc is installed and add target for API documentation
  if(BUILDSWIGNODE)
-    find_package (Yuidoc 0.10 REQUIRED)
-    if (YUIDOC_FOUND AND YUIDOC_VERSION VERSION_GREATER "0.10")
-      add_custom_command (
-        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp
-        COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/docgen.js -m upm -i xml -o jsdoc -t ${CMAKE_CURRENT_SOURCE_DIR}/src -g ../../
-        COMMAND ${YUIDOC_EXECUTABLE} -C --no-sort --helpers ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/helper.js --themedir ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/tmpl -o html/node jsdoc/yuidoc/upm
-        COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/tolower.js -i html/node
-        COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp
-        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-        COMMENT "Generating Javascript API documentation with Yuidoc"
-        DEPENDS doc
-        VERBATIM)
-      add_custom_target(jsdoc DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp)
-    else ()
-      message (SEND_ERROR "ERROR - Failed to find a compatible version of Yuidoc. Node.js API doc will not be generated")
-    endif ()
+    find_package(Yuidoc REQUIRED)
+    add_custom_target(jsdoc ALL
+      COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/docgen.js -m upm -i xml -o jsdoc -t ${CMAKE_CURRENT_SOURCE_DIR}/src -g ../../
+      COMMAND ${YUIDOC_EXECUTABLE} -C --no-sort --helpers ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/helper.js --themedir ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/tmpl -o html/node jsdoc/yuidoc/upm
+      COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/tolower.js -i html/node
+      DEPENDS doc
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+      COMMENT "Generating API documentation with Yuidoc" VERBATIM
+    )
  endif(BUILDSWIGNODE)
-endfunction()
+endif (BUILDDOC)
+
+if (IPK)
+ # Get target package arch from Yocto ADT sysroot if set or host OS, mapping to Ubuntu name if necessary
+  if (DEFINED ENV{OECORE_TARGET_SYSROOT})
+    GET_FILENAME_COMPONENT (DETECTED_SYSROOT $ENV{OECORE_TARGET_SYSROOT} NAME)
+    string (REGEX REPLACE "-poky-linux" "" TARGET_ARCH "${DETECTED_SYSROOT}")
+  else ()
+    # Debian uses amd64 to denote x86_64
+    if (DETECTED_ARCH STREQUAL "x86_64")
+      set (TARGET_ARCH "amd64")
+    else ()
+      set (TARGET_ARCH ${DETECTED_ARCH})
+    endif ()
+  endif ()
+  message (STATUS "Package arch is ${TARGET_ARCH}")
+
+  set(CPACK_GENERATOR "DEB")
+  set(OPKG_ARCH ${TARGET_ARCH})
+  set(CPACK_BINARY_DIR ${CMAKE_BINARY_DIR})
+  set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Intel IoT-Devkit") #required
+  set(upm_PACKAGE_ON_TAG ".")
+  if ("${VERSION_COMMIT}" STREQUAL "")
+    set(upm_PACKAGE_ON_TAG "")
+  endif()
+  set(CPACK_PACKAGE_VERSION
+      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
+  set(CPACK_PACKAGE_NAME "upm")
+  set(CPACK_DEBIAN_PACKAGE_SECTION "libs")
+  set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${TARGET_ARCH})
+  set(CPACK_SYSTEM_NAME ${TARGET_ARCH})
+  set(CPACK_DEBIAN_PACKAGE_DEPENDS "mraa (>= ${MRAA_VERSION})")
+  set(CPACK_DEBIAN_PACKAGE_PROVIDES "upm-dev, upm-dbg, upm-doc")
+  set(CPACK_DEBIAN_PACKAGE_REPLACES ${CPACK_DEBIAN_PACKAGE_PROVIDES})
+  set(CPACK_DEBIAN_PACKAGE_CONFLICTS ${CPACK_DEBIAN_PACKAGE_PROVIDES})
+  set(WDIR "${CPACK_TOPLEVEL_DIRECTORY}/${CPACK_PACKAGE_FILE_NAME}")
+  include (CPack)
+endif()
+
+if (RPM)
+  message (STATUS "RPM packaging enabled for ${DETECTED_ARCH}")
+  set(CPACK_GENERATOR "RPM")
+  set(CPACK_PACKAGE_NAME "upm")
+  set(upm_PACKAGE_ON_TAG ".")
+  if ("${VERSION_COMMIT}" STREQUAL "")
+    set(upm_PACKAGE_ON_TAG "")
+  endif()
+  set(CPACK_PACKAGE_VERSION
+      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
+  set(CPACK_PACKAGE_CONTACT "Intel IoT-Devkit")
+  set(CPACK_PACKAGE_VENDOR "Intel IoT-Devkit")
+  set(CPACK_RPM_PACKAGE_REQUIRES "mraa >= ${MRAA_VERSION}")
+  set(CPACK_RPM_PACKAGE_PROVIDES "${CPACK_PACKAGE_NAME}-devel")
+  set(CPACK_RPM_PACKAGE_LICENSE "MIT")
+  EXECUTE_PROCESS(COMMAND rpm --showrc
+    COMMAND grep -E "dist[[:space:]]*\\."
+    COMMAND sed -e "s/^.*dist\\s*\\.//"
+    COMMAND tr \\n \\t
+    COMMAND sed  -e s/\\t//
+    OUTPUT_VARIABLE DIST_TAG)
+  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}.${DIST_TAG}.${DETECTED_ARCH}")
+  include(CPack)
+endif()

 # UPM common headers
 set (UPM_COMMON_HEADER_DIRS ${CMAKE_HOME_DIRECTORY}/include)
@ -436,12 +442,6 @@ if (BUILDTESTS)
  add_subdirectory (tests)
 endif()

-# Setup documentation AFTER all source targets have been added
-if (BUILDDOC)
-  CreateDocumentationTargets()
-endif()
-
 # Install C headers
 install(DIRECTORY include/ DESTINATION include/upm
-    COMPONENT ${CMAKE_PROJECT_NAME}-dev
-    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
+    FILES_MATCHING PATTERN "*.h")
--- a/README.md
+++ b/README.md
@ -1,7 +1,3 @@
-<p align="center">
-  <img src="https://github.com/intel-iot-devkit/upm/blob/master/docs/icons/upm_logo.png" height="150px" width="auto" algt="UPM Logo"/>
-</p>
-
 UPM (Useful Packages & Modules) Sensor/Actuator repository for MRAA
 ==============

@ -14,21 +10,20 @@ Programmers can access the interfaces for each sensor by including the sensor’
 corresponding header file and instantiating the associated sensor class. In the
 typical use case, a constructor initializes the sensor based on parameters that
 identify the sensor, the I/O protocol used and the pin location of the sensor.
-As of UPM 2.0, sensor initialization can also be done, in most cases, via
-overloaded constructors that accept string identifiers.

-We endorse additions that implement the generic C and C++ interfaces provided
-with the libraries. With the 2.0 release, UPM introduces the following sensor
-interfaces: iAcceleration, iAngle, iButton, iClock, iCollision, iDistance,
-iDistanceInterrupter, iEC, iElectromagnet, iEmg, iGas, iGps, iGyroscope,
-iHallEffect, iHeartRate, iHumidity, iLight, iLineFinder, iMagnetometer,
-iMoisture, iMotion, iOrp, iPH, iPressure, iProximity, iTemperature, iVDiv,
-iWater.
+C++ interfaces have been defined for the following sensor/actuator types, but
+they are subject to change:

-The developer community is invited to propose new interfaces for actuator types.
+* Light controller 
+* Light sensor
+* Temperature sensor
+* Humidity sensor
+* Pressure sensor
+* Gas sensor
+* Analog to digital converter

-The UPM project is joining the Eclipse Foundation as an Eclipse IoT project.
-You can read more about this [here](https://projects.eclipse.org/proposals/eclipse-upm).
+The developer community is encouraged to help expand the list of supported
+sensors and actuators and provide feedback on interface design.

 ### Example

@ -72,16 +67,12 @@ Supported [sensor list](http://iotdk.intel.com/docs/master/upm/modules.html) fro

 You can also refer to the [Intel® IoT Developer Zone](https://software.intel.com/iot/hardware/sensors).

-### IDE Support
+### IDE Integration

-The UPM sensor libraries are directly supported by the IDEs listed on the Intel®
-Developer Zone Tools & IDEs page.
+If you would like to create projects and run the UPM samples using an Intel recommended IDE,
+please refer to the Intel Developer Zone IDE page.

-<a href="https://software.intel.com/iot/tools"><img src="docs/icons/iss.png"/></a>
-
-Intel® System Studio integration offers IoT specific features such as a sensor explorer,
-library sync tools and the ability to easily import existing projects and samples that
-use the UPM libraries. For further details please refer to the IoT User Guides on IDZ.
+<a href="https://software.intel.com/iot/software/ide"><img src="docs/icons/allides.png"/></a>

 ### Installing UPM

@ -97,16 +88,12 @@ See building documentation [here](docs/building.md).

 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 a MIT compatible license that
-allows unrestricted redistribution.
+assumes either ownership of the original code or licensing that allows
+unrestricted redistribution.

 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).

-We have an [on demand webinar](https://software.seek.intel.com/IoT_WebinarSeries_Reg)
-available that covers using an IDE to develop for the UPM project along with other
-considerations for new contributions.
-
 Read more on creating Java [bindings](docs/creating_java_bindings.md) for your
 new driver.

@ -118,8 +105,7 @@ The name you pick for a newly added sensor needs to be unique in the UPM library
 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 and acts as an
-acknowledgment of the committer agreement.
+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
@ -142,6 +128,9 @@ 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** - 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/cmake/Toolchains/oe-sdk_cross.cmake
+++ b/cmake/Toolchains/oe-sdk_cross.cmake
@ -0,0 +1,25 @@
+# this toolchain file comes from gnuradio project
+
+set( CMAKE_SYSTEM_NAME Linux )
+#set( CMAKE_C_COMPILER  $ENV{CC} )
+#set( CMAKE_CXX_COMPILER  $ENV{CXX} )
+string(REGEX MATCH "sysroots/([a-zA-Z0-9]+)" CMAKE_SYSTEM_PROCESSOR $ENV{SDKTARGETSYSROOT})
+string(REGEX REPLACE "sysroots/" "" CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR})
+set( CMAKE_CXX_FLAGS $ENV{CXXFLAGS}  CACHE STRING "" FORCE )
+set( CMAKE_C_FLAGS $ENV{CFLAGS} CACHE STRING "" FORCE ) #same flags for C sources
+set( CMAKE_LDFLAGS_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "" FORCE ) #same flags for C sources
+set( CMAKE_LIBRARY_PATH ${OECORE_TARGET_SYSROOT}/usr/lib )
+set( CMAKE_FIND_ROOT_PATH $ENV{OECORE_TARGET_SYSROOT} $ENV{OECORE_NATIVE_SYSROOT} )
+set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
+set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
+set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
+set( CMAKE_INSTALL_PREFIX $ENV{OECORE_TARGET_SYSROOT}/usr CACHE STRING "" FORCE)
+set( ORC_INCLUDE_DIRS $ENV{OECORE_TARGET_SYSROOT}/usr/include/orc-0.4 )
+set( ORC_LIBRARY_DIRS $ENV{OECORE_TARGET_SYSROOT}/usr/lib )
+
+# for java
+set( JAVA_AWT_INCLUDE_PATH $ENV{JAVA_HOME}/include CACHE PATH "" FORCE)
+set( JAVA_AWT_LIBRARY $ENV{JAVA_HOME}/jre/lib/amd64/libjawt.so CACHE FILEPATH "" FORCE)
+set( JAVA_INCLUDE_PATH $ENV{JAVA_HOME}/include CACHE PATH "" FORCE)
+set( JAVA_INCLUDE_PATH2 $ENV{JAVA_HOME}/include/linux CACHE PATH "" FORCE)
+set( JAVA_JVM_LIBRARY $ENV{JAVA_HOME}/jre/lib/amd64/libjvm.so CACHE FILEPATH "" FORCE)
--- a/cmake/modules/FindNode.cmake
+++ b/cmake/modules/FindNode.cmake
@ -1,66 +1,69 @@
-# Macro to add directory to NODEJS_INCLUDE_DIRS if it exists and is not /usr/include
-macro(add_include_dir dir)
+ # Macro to add directory to NODEJS_INCLUDE_DIRS if it exists and is not /usr/include
+ macro(add_include_dir dir)
    if (IS_DIRECTORY ${dir} AND NOT ${dir} STREQUAL "/usr/include")
-        set(NODEJS_INCLUDE_DIRS ${NODEJS_INCLUDE_DIRS} ${dir})
+      set(NODEJS_INCLUDE_DIRS ${NODEJS_INCLUDE_DIRS} ${dir})
    endif()
 endmacro()

+
 find_program (NODEJS_EXECUTABLE NAMES node nodejs
    HINTS
    $ENV{NODE_DIR}
    PATH_SUFFIXES bin
-    DOC "Node.js interpreter")
+    DOC "Node.js interpreter"
+)

 include (FindPackageHandleStandardArgs)

 # If compat-libuv package exists, it must be at start of include path
 find_path (UV_ROOT_DIR "uv.h" PATHS /usr/include/compat-libuv010 NO_DEFAULT_PATH)
 if (UV_ROOT_DIR)
-    # set (NODEJS_INCLUDE_DIRS ${UV_ROOT_DIR})
-    add_include_dir(${UV_ROOT_DIR})
+  # set (NODEJS_INCLUDE_DIRS ${UV_ROOT_DIR})
+  add_include_dir(${UV_ROOT_DIR})
 endif()

 # Now look for node. Flag an error if not found
-find_path (NODE_ROOT_DIR
-    NAMES node.h src/node.h
-    PATH_SUFFIXES node node4 node5 node6 node7 node8 nodejs
-    PATHS /usr/include /usr/local/include)
-
+find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h" "src/node.h"
+  PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
 if (NODE_ROOT_DIR)
-    add_include_dir(${NODE_ROOT_DIR})
-    add_include_dir(${NODE_ROOT_DIR}/deps/uv/include)
-    add_include_dir(${NODE_ROOT_DIR}/deps/v8/include)
-    add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
-    add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
-    add_include_dir(${NODE_ROOT_DIR}/include/node)
-    add_include_dir(${NODE_ROOT_DIR}/include/src)
-    add_include_dir(${NODE_ROOT_DIR}/src)
+  add_include_dir(${NODE_ROOT_DIR}/include/src)
+  add_include_dir(${NODE_ROOT_DIR}/src)
+  add_include_dir(${NODE_ROOT_DIR}/include/node)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
+  add_include_dir(${NODE_ROOT_DIR}/deps/v8/include)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
+  add_include_dir(${NODE_ROOT_DIR}/deps/uv/include)
 else()
-    unset(NODEJS_INCLUDE_DIRS)
-    message(ERROR " - node.h not found")
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - node.h not found")
 endif()

 # Check that v8.h is in NODEJS_INCLUDE_DIRS
 find_path (V8_ROOT_DIR "v8.h" PATHS ${NODEJS_INCLUDE_DIRS})
 if (NOT V8_ROOT_DIR)
-    unset(NODEJS_INCLUDE_DIRS)
-    message(ERROR " - v8.h not found")
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - v8.h not found")
 endif()

 # Check that uv.h is in NODEJS_INCLUDE_DIRS
 find_path (UV_ROOT_DIR "uv.h" PATHS ${NODEJS_INCLUDE_DIRS})
 if (NOT UV_ROOT_DIR)
-    unset(NODEJS_INCLUDE_DIRS)
-    message(ERROR " - uv.h not found")
+  unset(NODEJS_INCLUDE_DIRS)
+  message(ERROR " - uv.h not found")
 endif()

+find_package_handle_standard_args (Nodejs DEFAULT_MSG
+    NODEJS_EXECUTABLE
+    NODEJS_INCLUDE_DIRS
+)
+
 if (NODEJS_EXECUTABLE)
    execute_process(COMMAND ${NODEJS_EXECUTABLE} --version
-        OUTPUT_VARIABLE _VERSION
-        RESULT_VARIABLE _NODE_VERSION_RESULT)
+                    OUTPUT_VARIABLE _VERSION
+                    RESULT_VARIABLE _NODE_VERSION_RESULT)
    execute_process(COMMAND ${NODEJS_EXECUTABLE} -e "console.log(process.versions.v8)"
-        OUTPUT_VARIABLE _V8_VERSION
-        RESULT_VARIABLE _V8_RESULT)
+                    OUTPUT_VARIABLE _V8_VERSION
+                    RESULT_VARIABLE _V8_RESULT)
    if (NOT _NODE_VERSION_RESULT AND NOT _V8_RESULT)
        string (REPLACE "v" "" NODE_VERSION_STRING "${_VERSION}")
        string (REPLACE "." ";" _VERSION_LIST "${NODE_VERSION_STRING}")
@ -85,15 +88,13 @@ if (NODEJS_EXECUTABLE)
        set (V8_VERSION_MINOR "28")
        set (V8_VERSION_PATCH "72")
        set (V8_VERSION_STRING "3.28.72")
-        message (STATUS "defaulted to node 0.10.30")
+        message ("defaulted to node 0.10.30")
    endif ()
    string (REGEX REPLACE "\n" "" NODE_VERSION_STRING ${NODE_VERSION_STRING})
    string (REGEX REPLACE "\n" "" V8_VERSION_STRING ${V8_VERSION_STRING})
-
+    message (STATUS "Node version is ${NODE_VERSION_STRING}")
+    message (STATUS "Node using v8 ${V8_VERSION_STRING}")
    mark_as_advanced (NODEJS_EXECUTABLE)
-
-    find_package_handle_standard_args (Nodejs
-        REQUIRED_VARS NODEJS_EXECUTABLE NODEJS_INCLUDE_DIRS
-        VERSION_VAR NODE_VERSION_STRING)
-    message(STATUS "Found v8: ${V8_ROOT_DIR}/v8.h (found version \"${V8_VERSION_STRING}\")")
 endif ()
+
+mark_as_advanced (NODEJS_EXECUTABLE)
--- a/cmake/modules/FindNpm.cmake
+++ b/cmake/modules/FindNpm.cmake
@ -1,71 +1,13 @@
-# FindNpm
-# --------
-#
-# Find npm
-#
-# This module finds an installed npm.  It sets the following variables:
-#
-#   NPM_FOUND - Set to true if npm is found
-#   NPM_DIR - The directory where npm is installed
-#   NPM_GLOBAL_NODE_MODULE_DIR - The global node_modules directory
-#   NPM_EXECUTABLE - The path to the npm executable
-#   NPM_VERSION  - The version number of the npm executable
+# Finding and pointing a variable to the npm executable if found
+# Only works on Linux systems as of now

-find_program(NPM_EXECUTABLE NAMES npm HINTS /usr)
+find_program(NPM_EXECUTABLE NAMES npm
+    HINTS
+    /usr
+)

-# If npm was found, fill in the rest
-if (NPM_EXECUTABLE)
-    # Set the global node_modules location
-    execute_process(COMMAND ${NPM_EXECUTABLE} root -g
-        OUTPUT_VARIABLE NPM_GLOBAL_NODE_MODULE_DIR
-        ERROR_VARIABLE NPM_root_g_error
-        RESULT_VARIABLE NPM_root_g_result_code)
-    # Remove and newlines
-    string (STRIP ${NPM_GLOBAL_NODE_MODULE_DIR} NPM_GLOBAL_NODE_MODULE_DIR)
-    if(NPM_root_g_result_code)
-        if(NPM_FIND_REQUIRED)
-            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
-        else ()
-            message(STATUS "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
-        endif ()
-    endif()
-    unset(NPM_root_g_error)
-    unset(NPM_root_g_result_code)
-
-    # Set the NPM dir
-    if (EXISTS "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
-        set(NPM_DIR "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
-    endif()
-
-    # Set the VERSION
-    execute_process(COMMAND ${NPM_EXECUTABLE} -v
-        OUTPUT_VARIABLE NPM_VERSION
-        ERROR_VARIABLE NPM_version_error
-        RESULT_VARIABLE NPM_version_result_code)
-
-    if(NPM_version_result_code)
-        if(NPM_FIND_REQUIRED)
-            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
-        else()
-            message(STATUS "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
-        endif ()
-    endif ()
-    unset(NPM_version_error)
-    unset(NPM_version_result_code)
-
-    # Remove and newlines
-    string (STRIP ${NPM_VERSION} NPM_VERSION)
-
-    set (NPM_FOUND TRUE)
+if(NPM_EXECUTABLE)
+    message(STATUS "NPM Executable found at ${NPM_EXECUTABLE}")
 else()
-    # Fail on REQUIRED
-    if (Npm_FIND_REQUIRED)
-        message(SEND_ERROR "Failed to find npm executable")
-    endif()
-endif ()
-
-find_package_handle_standard_args(NPM
-    REQUIRED_VARS NPM_EXECUTABLE NPM_DIR
-    VERSION_VAR NPM_VERSION )
-
-mark_as_advanced(NPM_DIR NPM_GLOBAL_NODE_MODULE_DIR NPM_EXECUTABLE NPM_VERSION)
+    message(ERROR "Unable to find NPM installation, please install NPM")
+endif()
--- a/cmake/modules/FindSphinx.cmake
+++ b/cmake/modules/FindSphinx.cmake
@ -17,16 +17,14 @@ find_package_handle_standard_args (Sphinx DEFAULT_MSG
    SPHINX_API_EXECUTABLE
 )

-# Get Sphinx Version
+# Get Sphinx version
 if (SPHINX_EXECUTABLE)
    execute_process(COMMAND ${SPHINX_EXECUTABLE} --version
-                    OUTPUT_VARIABLE SPHINX_VERSION_STRING
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    ERROR_STRIP_TRAILING_WHITESPACE)
-    if (SPHINX_VERSION_STRING)
-        string(REPLACE "Sphinx (sphinx-build) " "" SPHINX_VERSION ${SPHINX_VERSION_STRING})
-        message (STATUS "Sphinx version is ${SPHINX_VERSION}")
-    endif ()
+                    OUTPUT_VARIABLE SPHINX_VERSION)
+    if(SPHINX_VERSION)
+      string(REGEX MATCH "([0-9]\\.[0-9]\\.[0-9])" SPHINX_VERSION_STR ${SPHINX_VERSION})
+      message (STATUS "Sphinx version is ${SPHINX_VERSION_STR}")
+    endif()
 endif ()

 mark_as_advanced (SPHINX_EXECUTABLE)
--- a/cmake/modules/FindUpmCordovaGenerator.cmake
+++ b/cmake/modules/FindUpmCordovaGenerator.cmake
@ -1,20 +0,0 @@
-find_program (UPM_CORDOVA_BINDING NAMES upm-cordova-binding
-    DOC "UPM Cordova binding generator")
-
-include (FindPackageHandleStandardArgs)
-
-# Get version
-if (UPM_CORDOVA_BINDING)
-    execute_process(COMMAND ${NPM_EXECUTABLE} info upm-cordova-binding version
-        OUTPUT_VARIABLE UPM_CORDOVA_BINDING_VERSION
-        ERROR_VARIABLE UPM_CORDOVA_BINDING_VERSION
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        ERROR_STRIP_TRAILING_WHITESPACE)
-endif()
-
-find_package_handle_standard_args(UpmCordovaGenerator
-    REQUIRED_VARS UPM_CORDOVA_BINDING
-    VERSION_VAR UPM_CORDOVA_BINDING_VERSION
-    FAIL_MESSAGE "Unable to find the npm package for generating UPM Cordova bindings.  The generator can be installed via: 'npm install -g upm-cordova-binding'")
-
-mark_as_advanced (UPM_CORDOVA_BINDING UPM_CORDOVA_BINDING_VERSION)
--- a/cmake/modules/TargetArch.cmake
+++ b/cmake/modules/TargetArch.cmake
@ -0,0 +1,136 @@
+# Based on the Qt 5 processor detection code, so should be very accurate
+# https://qt.gitorious.org/qt/qtbase/blobs/master/src/corelib/global/qprocessordetection.h
+# Currently handles arm (v5, v6, v7), x86 (32/64), ia64, and ppc (32/64)
+
+# Regarding POWER/PowerPC, just as is noted in the Qt source,
+# "There are many more known variants/revisions that we do not handle/detect."
+
+set(archdetect_c_code "
+#if defined(__arm__) || defined(__TARGET_ARCH_ARM)
+    #if defined(__ARM_ARCH_7__) \\
+        || defined(__ARM_ARCH_7A__) \\
+        || defined(__ARM_ARCH_7R__) \\
+        || defined(__ARM_ARCH_7M__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7)
+        #error cmake_ARCH armv7
+    #elif defined(__ARM_ARCH_6__) \\
+        || defined(__ARM_ARCH_6J__) \\
+        || defined(__ARM_ARCH_6T2__) \\
+        || defined(__ARM_ARCH_6Z__) \\
+        || defined(__ARM_ARCH_6K__) \\
+        || defined(__ARM_ARCH_6ZK__) \\
+        || defined(__ARM_ARCH_6M__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6)
+        #error cmake_ARCH armv6
+    #elif defined(__ARM_ARCH_5TEJ__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5)
+        #error cmake_ARCH armv5
+    #else
+        #error cmake_ARCH arm
+    #endif
+#elif defined(__i586) || defined(__i586__)
+    #error cmake_ARCH i586
+#elif defined(__i386) || defined(__i386__) || defined(_M_IX86)
+    #error cmake_ARCH i386
+#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64)
+    #error cmake_ARCH x86_64
+#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64)
+    #error cmake_ARCH ia64
+#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\
+      || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC)  \\
+      || defined(_M_MPPC) || defined(_M_PPC)
+    #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__)
+        #error cmake_ARCH ppc64
+    #else
+        #error cmake_ARCH ppc
+    #endif
+#endif
+
+#error cmake_ARCH unknown
+")
+
+# Set ppc_support to TRUE before including this file or ppc and ppc64
+# will be treated as invalid architectures since they are no longer supported by Apple
+
+function(target_architecture output_var)
+    if(APPLE AND CMAKE_OSX_ARCHITECTURES)
+        # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set
+        # First let's normalize the order of the values
+
+        # Note that it's not possible to compile PowerPC applications if you are using
+        # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we
+        # disable it by default
+        # See this page for more information:
+        # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4
+
+        # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime.
+        # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise.
+
+        foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES})
+            if("${osx_arch}" STREQUAL "ppc" AND ppc_support)
+                set(osx_arch_ppc TRUE)
+            elseif("${osx_arch}" STREQUAL "i386")
+                set(osx_arch_i386 TRUE)
+            elseif("${osx_arch}" STREQUAL "x86_64")
+                set(osx_arch_x86_64 TRUE)
+            elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support)
+                set(osx_arch_ppc64 TRUE)
+            else()
+                message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}")
+            endif()
+        endforeach()
+
+        # Now add all the architectures in our normalized order
+        if(osx_arch_ppc)
+            list(APPEND ARCH ppc)
+        endif()
+
+        if(osx_arch_i386)
+            list(APPEND ARCH i386)
+        endif()
+
+        if(osx_arch_x86_64)
+            list(APPEND ARCH x86_64)
+        endif()
+
+        if(osx_arch_ppc64)
+            list(APPEND ARCH ppc64)
+        endif()
+    else()
+        file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}")
+
+        enable_language(C)
+
+        # Detect the architecture in a rather creative way...
+        # This compiles a small C program which is a series of ifdefs that selects a
+        # particular #error preprocessor directive whose message string contains the
+        # target architecture. The program will always fail to compile (both because
+        # file is not a valid C program, and obviously because of the presence of the
+        # #error preprocessor directives... but by exploiting the preprocessor in this
+        # way, we can detect the correct target architecture even when cross-compiling,
+        # since the program itself never needs to be run (only the compiler/preprocessor)
+        try_run(
+            run_result_unused
+            compile_result_unused
+            "${CMAKE_BINARY_DIR}"
+            "${CMAKE_BINARY_DIR}/arch.c"
+            COMPILE_OUTPUT_VARIABLE ARCH
+            CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES}
+        )
+
+        # Parse the architecture name from the compiler output
+        string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}")
+
+        # Get rid of the value marker leaving just the architecture name
+        string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}")
+
+        # If we are compiling with an unknown architecture this variable should
+        # already be set to "unknown" but in the case that it's empty (i.e. due
+        # to a typo in the code), then set it to unknown
+        if (NOT ARCH)
+            set(ARCH unknown)
+        endif()
+    endif()
+
+    set(${output_var} "${ARCH}" PARENT_SCOPE)
+endfunction()
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@ -3,7 +3,7 @@ version: '2.1'
 services:

  base:
-    image: inteliotdevkit/upm-base
+    image: dnoliver/upm-base
    environment:
      - http_proxy
      - https_proxy
@ -13,10 +13,8 @@ services:
      - BUILDFTI=${BUILDFTI:-ON}
      - BUILDSWIGPYTHON=${BUILDSWIGPYTHON:-OFF}
      - BUILDSWIGJAVA=${BUILDSWIGJAVA:-OFF}
-      - BUILDCORDOVA=${BUILDCORDOVA:-OFF}
      - BUILDSWIGNODE=${BUILDSWIGNODE:-OFF}
-      - BUILDEXAMPLES=${BUILDEXAMPLES:-OFF}
-      - CMAKE_BUILD_TYPE
+      - BUILDEXAMPLES=${BUILDEXAMPLES:-ON}
      - IPK=${IPK:-OFF}
      - RPM=${RPM:-OFF}
      - NPM=${NPM:-OFF}
@ -28,18 +26,9 @@ services:
    volumes:
      - .:${UPM_SRC_DIR:-/usr/src/app}

-  all:
-    extends: base
-    image: inteliotdevkit/upm-all
-
-  minimal:
-    extends: base
-    environment:
-      - BUILDFTI=OFF
-    command: bash -c "./scripts/run-cmake.sh && cd build && make && ctest -R unit --output-on-failure"
-
  doc:
-    extends: all
+    extends: base
+    image: dnoliver/upm-all
    environment:
      - BUILDSWIGPYTHON=ON
      - BUILDSWIGJAVA=ON
@ -47,17 +36,22 @@ services:
      - BUILDDOC=ON
    command: bash -c "./scripts/run-cmake.sh && ./scripts/build-doc.sh"

-  examples:
-    extends: all
+  ipk:
+    extends: base
    environment:
-      - BUILDSWIGPYTHON=ON
-      - BUILDSWIGJAVA=ON
-      - BUILDSWIGNODE=ON
-      - BUILDEXAMPLES=ON
-    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8"
+      - IPK=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"
+
+  rpm:
+    extends: doc
+    environment:
+      - RPM=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"

  npm:
-    extends: all
+    extends: doc
    environment:
      - NPM=ON
      - BUILDDOC=OFF
@ -65,9 +59,12 @@ services:

  sonar-scan:
    extends: base
-    image: inteliotdevkit/upm-sonar
+    image: dnoliver/upm-all
    environment:
-      - BUILDTESTS=OFF
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGNODE=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDSWIGEXAMPLES=ON
      - SONAR_TOKEN
      - SONAR_ORG
      - SONAR_PROJ_KEY
@ -80,43 +77,36 @@ services:

  python:
    extends: base
-    image: inteliotdevkit/upm-python
+    image: dnoliver/upm-python
    environment:
      - BUILDSWIGPYTHON=ON
    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure"

  java:
    extends: base
-    image: inteliotdevkit/upm-java
+    image: dnoliver/upm-java
    environment:
      - BUILDSWIGJAVA=ON
    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure"

  android:
    extends: java
-    image: inteliotdevkit/upm-android
+    image: dnoliver/upm-android
    environment:
      - BUILDTESTS=OFF
    command: bash -c "./scripts/build-android.sh"

-  cordova:
-    extends: all
-    environment:
-      - BUILDSWIGJAVA=ON
-      - BUILDCORDOVA=ON
-    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8"
-
  node4:
    extends: base
-    image: inteliotdevkit/upm-node4
+    image: dnoliver/upm-node4
    environment:
      - BUILDSWIGNODE=ON
    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure -E examplenames_js"

  node5:
    extends: node4
-    image: inteliotdevkit/upm-node5
+    image: dnoliver/upm-node5

  node6:
    extends: node4
-    image: inteliotdevkit/upm-node6
+    image: dnoliver/upm-node6
--- a/docs/apichanges.md
+++ b/docs/apichanges.md
@ -4,42 +4,6 @@ API Changes                       {#apichanges}
 Here's a list of other API changes made to the library that break source/binary
 compatibility between releases:

-# v2.0.0
- * Sensors implementing the old interfaces (bme280, bmpx8x, si7005, si1132,
- max44009, lp8860, ds1808lc, hlg150h) have been updated to use the new ones,
- hence some function names and parameters will be different.
- * Removed deprecated basic grove classes from project, see API changes for
- v1.1.0 and prior for a complete list
-
-# v1.7.0
- * The interface of **kx122** has been modified to return values instead
- of receiving pointers. This applies to member functions: getWhoAmI,
- getInterruptSource, getBufferStatus, getRawBufferSamples, and
- getBufferSamples.
- * The **tm1637** constructor has been updated and the fast GPIO parameter
- has been removed with the deprecation of supporting MRAA functions. The
- GPIO lines will initialize by default in fast mode when available.
- * The generic **nmea_gps** library for GPS devices has been greatly enhanced
- with new APIs to offer better control over acquisition intervals and simplify
- parsing of the returned data.
-
-# v1.6.0
-
- * Several C libraries had their init function pin type modified from uint8_t
- to int allowing usage with subplatforms
- * Our **led** class constructor has been overloaded with a string based
- variant that uses the new MRAA LED APIs
- * The **i2clcd** library has finally been renamed to **lcd** and is now
- mostly considered a bundle for ssd lcd display controllers only
- * The **zfm20** class constructor has been overloaded with a string variant
- that allows initialization using any UART device
-
-# v1.5.0
-
- * **VEML6070** This sensor class no longer needs an I2C address when
- initialized, since they are fixed. Only the I2C bus number needs to
- be provided.
-
 # v1.3.0

 * **The lsm303 driver has been renamed** There are a variety of
@ -168,13 +132,13 @@ compatibility between releases:
 * **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 library for compatibility reasons with existing code.
+ 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 library.  In addition, the header
+    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/docs/building.md
+++ b/docs/building.md
@ -34,12 +34,7 @@ make install

 The last command will create the include/ and lib/ directories with a copy of
 the headers and library objects respectively in your build location. Note that
-doing an out-of-source build may cause issues when rebuilding later on. In many
-cases you'll need elevated permissions to install:
-
-~~~~~~~~~~~~~{.sh}
-sudo make install
-~~~~~~~~~~~~~
+doing an out-of-source build may cause issues when rebuilding later on.

 Our cmake configure has a number of options, *cmake-gui* or *ccmake* can show
 you all the options. The interesting ones are detailed below:
@ -96,35 +91,32 @@ You can also generate the include and lib directories containing all the sensor
 headers and library files respectively with *make install*. Further, you may
 choose to generate these only for a specific sensor you modified, and this can
 be achieved by building from the individual makefile of the sensor. Assuming
-you're in the build directory, to build/install the lcd module you would:
+you're in the build directory, to make the lcd module you would:

 ~~~~~~~~~~~~~
 cd src/lcd
 make install
 ~~~~~~~~~~~~~

-Note: 'make install' under src/lcd will build all targets (and dependencies)
-for the lcd but will NOT install dependencies.
-
 Often developers are only interested in building one module or even just the
 python/node module to do some quick testing using scripting. In order to do
 this you need to use the target name for the python or node module you want to
-rebuild. For example, the lcd module target will have a python2 target prefixed
-by _pyupm_ (_pyupm_lcd-python2). Modules not using the UPM cmake macros may
-have different naming.  To build the python2 lcd module (and all dependencies),
-use the following make target:
+rebuild. For example the lcd module target name is i2clcd. Therefore the python
+module target name will be prefixed by _pyupm_. Just do the following to build
+only that module. Modules not using the UPM cmake macros may have different
+naming.

 ~~~~~~~~~~~~~
-make _pyupm_lcd-python2
+make _pyupm_i2clcd
 ~~~~~~~~~~~~~

 Sometimes you want to build a small C++ example against an installed library.
 This is fairly easy if installed system-wide. Just link against the correct
-library (in this case libupm-lcd) and then add /usr/include/upm to the
+library (in this case libupm-i2clcd) and then add /usr/include/upm to the
 loader path:

 ~~~~~~~~~~~~
-g++ test.cxx -lupm-lcd -I/usr/include/upm
+g++ test.cxx -lupm-i2clcd -I/usr/include/upm
 ~~~~~~~~~~~~

 You can also use pkg-config to return the information to you, which is
@ -132,37 +124,9 @@ considered the correct way if including UPM in a build system like cmake or
 autotools on linux.

 ~~~~~~~~~~~
-pkg-config --cflags --libs upm-lcd
+pkg-config --cflags --libs upm-i2clcd
 ~~~~~~~~~~~

-## Building for Android Things
-
-Requirements:
-* [io.mraa.at](https://search.maven.org/#artifactdetails%7Cio.mraa.at%7Cmraa%7C1.8.0%7Caar)
-* [io.mraa.at.upm](https://search.maven.org/#artifactdetails%7Cio.mraa.at.upm%7Cupm_zfm20%7C1.3.0%7Caar)
-* [Android NDK](https://developer.android.com/ndk/downloads/index.html) >= 14b
-
-### Android NDK r14b
-
-~~~~~~~~~~~~~{.sh}
-NDK_HOME="/path/to/android-ndk-r14b"
-MRAA_INSTALL_DIR="/path/to/mraa/install"
-
-cmake -DBUILDSWIG=ON \
-      -DBUILDSWIGPYTHON=OFF \
-      -DBUILDSWIGNODE=OFF \
-      -DBUILDSWIGJAVA=ON \
-      -DANDROID_COMPILER_FLAGS_CXX='-std=c++11' \
-      -DANDROID_PIE=1 \
-      -DANDROID_PLATFORM=android-24 \
-      -DANDROID_STL_FORCE_FEATURES=ON \
-      -DANDROID_STL=c++_shared \
-      -DANDROID_TOOLCHAIN_NAME=x86-i686 \
-      -DCMAKE_TOOLCHAIN_FILE=$NDK_HOME/build/cmake/android.toolchain.cmake \
-      -DCMAKE_FIND_ROOT_PATH=$MRAA_INSTALL_DIR \
-      ..
-~~~~~~~~~~~~~
-
 ## Building with Docker

 You can use `docker` and `docker-compose` to generate a complete build environment
@ -223,7 +187,7 @@ $ docker run \
      --env BUILDSWIGPYTHON=ON \
      --env BUILDSWIGJAVA=OFF \
      --env BUILDSWIGNODE=OFF \
-      inteliotdevkit/upm-python \
+      dnoliver/upm-python \
      bash -c "./scripts/run-cmake.sh && make -Cbuild"
 ```

@ -257,6 +221,6 @@ $ docker run \
    --env http_proxy=$http_proxy \
    --env https_proxy=$https_proxy \
    --env no_proxy=$no_proxy \
-    inteliotdevkit/upm-python \
+    dnoliver/upm-python \
    bash -c "./scripts/run-cmake.sh && make -Cbuild"
 ```
--- a/docs/changelog.md
+++ b/docs/changelog.md
@ -4,61 +4,6 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:

-### v2.0.0
-
- * Reworked existing interfaces and extended the list to include iAcceleration,
- iAngle, iButton, iClock, iCollision, iDistance, iDistanceInterrupter, iEC,
- iElectromagnet, iEmg, iGas, iGps, iGyroscope, iHallEffect, iHeartRate, iHumidity,
- iLight, iLineFinder, iMagnetometer, iMoisture, iMotion, iOrp, iPH, iPressure,
- iProximity, iTemperature, iVDiv, iWater
- * Provided overloaded string based constructors for a good number of sensors,
- allowing initialization from external frameworks without type knowledge
- * Removed deprecated basic grove classes from project
- * Replaced 6 unsafe occurrences of sprintf() usage
- * Cleaned-up build system around target arch detection and cpack usage, added
- detection and resolution of tinyb library when used as a dependency
- * New sensors: 2jciebu01_ble, 2jciebu01_usb
-
-### v1.7.1
-
- * Bumped library compatibility to new MRAA 2.0 APIs
- * Added installation details for Fedora
- * Minor fixes based on static analysis vulnerability report
-
-### v1.7.0
-
- * Added Cordova bindings based on Java packages
- * Complete rework of the nmea_gps library giving more control over data
- acquisition and parsing
- * Added GTest support for unit tests
- * Removed calls to deprecated MRAA fast GPIO functions
- * Several bug fixes and improvements around SWIG type maps and gcc8 support
- * New sensors: kx122, kxtj3, bh1792, bh1749
-
-### v1.6.0
-
- * Extended LED library to support the new MRAA gpio-leds APIs
- * Many CMake changes around SWIG wrapper generation and improved FindNodejs
- detection module
- * Several code fixes based on static code analysis
- * Improved documentation generation and Travis CI builds
- * Cleaned-up doxygen tags in headers and class names in JSON library files
- * New sensor: lis3dh
-
-### v1.5.0
-
- * Introduced a flexible JSON format for technical sensor specifications, notes
- and classification. This is also used by our [new UPM website](http://upm.mraa.io)
- * Revised all C++ sensor examples and switched to stack allocations where
- possible along with other code and formatting clean-up
- * Significantly improved docker workflow, CI integration, sanity and
- consistency tests, static code scans and documentation generation
- * Several improvements to a couple of existing sensor drivers and better
- compatibility with subplatforms
- * Added new std::vector to AbstractList<> typemap for Java bindings and
- examples
- * New sensors: lis2ds12, lsm6ds3h, lsm6dsl, lidarlitev3
-
 ### v1.3.0

 * Finalized all required build system and JAVA binding changes to release the
--- a/docs/contributions.md
+++ b/docs/contributions.md
@ -125,8 +125,6 @@ function make_new_sensor {
    # 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}*
-    # Remove objects starting with "//" from the new library descriptor .json file
-    perl -p -i -e 'BEGIN{undef $/;} s/\s+"\/\/.*?},//smg' src/${sensorname}/${sensorname}.json
    # Add mynewmodule example target for java
    perl -p -i -e "s/^((.*)SensorTemplateSample sensortemplate(.*))/\1\n\2${SensorName}Sample ${sensorname}\3/g" examples/java/CMakeLists.txt
    # Add mynewmodule example mappings for doxygen
--- a/docs/creating_java_bindings.md
+++ b/docs/creating_java_bindings.md
@ -12,87 +12,89 @@ Creating Java Bindings Guide
  * [Implementing callbacks in Java](#implementing-callbacks-in-java)


-## Overview
+##Overview

 The "Creating Java Bindings Guide" serves as a basic tutorial for using the SWIG software development tool to create 'glue code' required for Java to call into C/C++ code. It contains: guides for dealing with type conversions, exception handling, callbacks; recommendations on how to write/modify the native API to avoid issues on the Java side, and also workarounds for those issues that can't be avoided.

 This guide was created with the [upm](https://github.com/intel-iot-devkit/upm/) and [mraa](https://github.com/intel-iot-devkit/mraa) libraries in mind, and uses examples taken from these sources, but its usage can be extended to any project of creating Java bindings for C/C++ libraries.

-## Tools of trade
+##Tools of trade

 [SWIG General Documentation](http://www.swig.org/Doc3.0/SWIGDocumentation.html)

 [SWIG Java-specific Documentation](http://www.swig.org/Doc3.0/Java.html)


-## Recommendations for the native API
+##Recommendations for the native API

-### Pointers
+###Pointers
 As much as possible, avoid passing values/returning values through pointers given as as arguments to methods. As the Java language does not have pointers, SWIG provides a [workaround](http://www.swig.org/Doc3.0/Java.html#Java_tips_techniques) in the typemaps.i library.

-#### Alternatives:
+####Alternatives:
 1. Functions that read data from a driver, return it through a pointer given as argument, and return a bool value, should be __replaced by__ functions that return the value directly and throw a std::runtime_error if a read error occurs. E.g.:
  ```c++
-  /*
-   * Function reads from sensor, places read value in variable bar and
-   * returns true if succesful. Function returns false if read failed.
-   */
-  bool func(int *bar);
+  /*  
+   * Function reads from sensor, places read value in variable bar and  
+   * returns true if succesful. Function returns false if read failed.  
+   */  
+  bool func(int *bar); 
  ```
  __Replaced by:__
  ```c++
-  /*
-   * Function reads from sensor and returns read value.
-   * Or throws std::runtime_error if a read error occurs
-   */
-  int func();
+  /*  
+   * Function reads from sensor and returns read value.  
+   * Or throws std::runtime_error if a read error occurs  
+   */  
+  int func();  
  ```

 2. Functions that return multiple values through pointers, that make sense to be grouped together into an array<sup>1</sup> (e.g. speed values, acceleration values), should be __replaced by__ functions that return a pointer to an array in which the elements are the returned values. Afterwards, [wrap the C array with a Java array](#wrapping-unbound-c-arrays-with-java-arrays-if-array-is-output). E.g.:
  ```c++
-  /*
-  * Function returns the acceleration on the three
-  * axis in the given variables.
-  */
-  void getAccel(int *accelX, int *accelY, int *accelZ);
+  /*  
+  * Function returns the acceleration on the three  
+  * axis in the given variables.  
+  */  
+  void getAccel(int *accelX, int *accelY, int *accelZ);  
  ```

-  __Replaced by:__
+  __Replaced by:__  
  ```c++
-  /*
-   * Function returns the acceleration on the three
-   * axis as elements of a 3-element array.
-   */
-  int *getAccel();
+  /*  
+   * Function returns the acceleration on the three  
+   * axis as elements of a 3-element array.  
+   */  
+  int *getAccel();  
  ```

 3. Functions that return N values through pointers, that do not make sense to grouped together (e.g. a general purpose function that returns both the light intensity and air pollution), should be __replaced by__ N functions (one for each value) that read only one specific value. E.g.:
+
  ```c++
-  /*
-   * Function returns the light intensity and air pollution
-   */
-  void getData(int *light, int *air);
+  /*  
+   * Function returns the light intensity and air pollution  
+   */  
+  void getData(int *light, int *air);  
  ```

-  __Replaced by:__
+  __Replaced by:__  
  ```c++
-  int getLight();
-  int getAir();
+  int getLight();  
+  int getAir();  
  ```

 4. Functions that return N values through pointers; values that do not make sense to be grouped together, but are time dependent, and make sense to be read at the same time. For example, a sensor that reads air humidity and temperature. A user may want to know the temperature value _temp_ read at the exact moment the humidity value _humid_ was read. These should be __replaced by__ N+1 functions: a _getData()_ function that reads all values at the same time and stores them in global variables; and N getter functions, one for each value. E.g.
+
  ```c++
-  /*
-   * Function returns the light intensity and air pollution
-   */
-  void getData(int *temp, int *humid);
+  /*  
+   * Function returns the light intensity and air pollution  
+   */  
+  void getData(int *temp, int *humid);  
  ```

-  __Replaced by:__
+  __Replaced by:__  
  ```c++
-  void getData();
-  int getTemp();
-  int getHumid();
+  void getData();  
+  int getTemp();  
+  int getHumid();   
  ```

  <sup>1</sup>this depends on the interpretation of the returned data. For example, arguments that return the temperature and light intensity, don't make sense to be grouped into an array of size 2. But acceleration on the three axis can be grouped together in an array of size 3. where accelX is accel[0], accelY is accel[1], accelZ is accel[2].
@ -101,8 +103,8 @@ __Notice:__
 Sometimes, you may be required to write JNI code. Be aware of the difference between the C JNI calling syntax and the C++ JNI calling syntax.The C++ calling syntax will not compile as C and also vice versa. It is however possible to write JNI calls which will compile under both C and C++ and is covered in the [Typemaps for both C and C++ compilation](http://www.swig.org/Doc3.0/Java.html#Java_typemaps_for_c_and_cpp) section of the SWIG Documentation.


-### Throwing Exceptions in Java
-#### Language independent:
+###Throwing Exceptions in Java
+####Language independent:
 The %exception directive allows you to define a general purpose exception handler. For example, you can specify the following:

 ```c++
@ -124,18 +126,18 @@ The exception.i library file provides support for creating language independent


 ```c++
-// Language independent exception handler
-%include exception.i
+// Language independent exception handler  
+%include exception.i  

-%exception {
-    try {
-            $action
-        } catch(OutOfMemory) {
-            SWIG_exception(SWIG_MemoryError, "Out of memory");
-    } catch(...) {
-            SWIG_exception(SWIG_RuntimeError,"Unknown exception");
-    }
-}
+%exception {  
+    try {  
+            $action  
+        } catch(OutOfMemory) {  
+            SWIG_exception(SWIG_MemoryError, "Out of memory");  
+    } catch(...) {  
+            SWIG_exception(SWIG_RuntimeError,"Unknown exception");  
+    }  
+}  
 ```

 In the upm library, the upm_exception.i interface file provides the functionality to catch common exceptions and propagate them through SWIG. It uses the exception.i library file and is language independent.
@ -153,19 +155,19 @@ The upm_exception.i interface file is included in the upm.i file, therefor SWIG
 * std::exception


-#### Java specific:
+####Java specific:
 To throw a specific Java exception:

 ```c++
-%exception {
-    try {
-        $action
-    } catch (std::out_of_range &e) {
-        jclass clazz = jenv->FindClass("java/lang/Exception");
-        jenv->ThrowNew(clazz, "Range error");
-        return $null;
-    }
-}
+%exception {  
+    try {  
+        $action  
+    } catch (std::out_of_range &e) {  
+        jclass clazz = jenv->FindClass("java/lang/Exception");  
+        jenv->ThrowNew(clazz, "Range error");  
+        return $null;  
+    }  
+}  
 ```

 Where FindClass and ThrowNew are [JNI functions](http://docs.oracle.com/javase/8/docs/technotes/guides/jni/spec/functions.html).
@ -177,99 +179,110 @@ The C++ compiler does not force the code to catch any exception.
 The %exception directive does not specify if a method throws a checked exception (does not add classes to the throws clause). For this, the  %javaexception(classes) directive is used; where classes is a string containing one or more comma separated Java classes.

 ```c++
-%javaexception("java.lang.Exception") {
-    try {
-        $action
-    } catch (std::out_of_range &e) {
-        jclass clazz = jenv->FindClass("java/lang/Exception");
-        jenv->ThrowNew(clazz, "Range error");
-        return $null;
-    }
-}
+%javaexception("java.lang.Exception") {  
+    try {  
+        $action  
+    } catch (std::out_of_range &e) {  
+        jclass clazz = jenv->FindClass("java/lang/Exception");  
+        jenv->ThrowNew(clazz, "Range error");  
+        return $null;  
+    }  
+}  
 ```

 In the upm library, the java_exceptions.i library file provides the functionality to catch exceptions and propagate them through SWIG as Java checked exceptions. The file provides SWIG wrappers, in the form of macros, that can be applied to methods.E.g. use the __READDATA_EXCEPTION(function)__ macro for functions that read data from a sensor and throw a std::runtime_error in case of a read failure. This will result in:

 ```java
-void function throws IOException ();
+void function throws IOException ();  
 ```

-## Caveats & Challenges
+##Caveats & Challenges

-### Wrapping C arrays with Java arrays
+###Wrapping C arrays with Java arrays
 SWIG can wrap arrays in a more natural Java manner than the default by using the arrays_java.i library file. Just include this file into your SWIG interface file.

-### Wrapping unbound C arrays with Java arrays if array is output
+###Wrapping unbound C arrays with Java arrays if array is output
 Functions that return arrays, return a pointer to that array. E.g.:

 ```c++
-/*
- * Function returns the acceleration on the three
- * axis as elements of a 3-element array.
- */
+/*  
+ * Function returns the acceleration on the three  
+ * axis as elements of a 3-element array.  
+ */  

-int *getAccel();
+int *getAccel();  
 ```

-__SWIG:__
+__SWIG:__  
 ```c++
-%typemap(jni) int* "jintArray"
-%typemap(jstype) int* "int[]"
-%typemap(jtype) int* "int[]"
+%typemap(jni) int* "jintArray"  
+%typemap(jstype) int* "int[]"  
+%typemap(jtype) int* "int[]"  

-%typemap(javaout) int* {
-    return $jnicall;
-}
+%typemap(javaout) int* {  
+    return $jnicall;  
+}  

-%typemap(out) int *getAccel {
-    $result = JCALL1(NewIntArray, jenv, 3);
-    JCALL4(SetIntArrayRegion, jenv, $result, 0, 3, (const signed int*)$1);
-}
+%typemap(out) int *getAccel {  
+    $result = JCALL1(NewIntArray, jenv, 3);  
+    JCALL4(SetIntArrayRegion, jenv, $result, 0, 3, (const signed int*)$1);  
+}  
 ```

-### Wrapping unbound C arrays with Java arrays if array is input
+###Wrapping unbound C arrays with Java arrays if array is input
 In C, arrays are tipically passed as pointers, with an integer value representig the length of the array. In Java, the length of an array is always known, so the length argument is redundant. This example shows how to wrap the C array and also get rid the length argument. E.g.:

 ```c++
-void func(uint8_t *buffer, int length);
+void func(uint8_t *buffer, int length);  
 ```

-__SWIG:__
+__SWIG:__  
 ```c++
-%typemap(jtype) (uint8_t *buffer, int length) "byte[]"
-%typemap(jstype) (uint8_t *buffer, int length) "byte[]"
-%typemap(jni) (uint8_t *buffer, int length) "jbyteArray"
-%typemap(javain) (uint8_t *buffer, int length) "$javainput"
+%typemap(jtype) (uint8_t *buffer, int length) "byte[]"  
+%typemap(jstype) (uint8_t *buffer, int length) "byte[]"  
+%typemap(jni) (uint8_t *buffer, int length) "jbyteArray"  
+%typemap(javain) (uint8_t *buffer, int length) "$javainput"  

-%typemap(in,numinputs=1) (uint8_t *buffer, int length) {
-	$1 = JCALL2(GetByteArrayElements, jenv, $input, NULL);
-	$2 = JCALL1(GetArrayLength, jenv, $input);
-}
+%typemap(in,numinputs=1) (uint8_t *buffer, int length) {  
+	$1 = JCALL2(GetByteArrayElements, jenv, $input, NULL);  
+	$2 = JCALL1(GetArrayLength, jenv, $input);  
+}  
 ```

 !!!! There is a difference between TYPE *name and TYPE * name in typemaps!!!!!


-### Implementing callbacks in Java
-Callbacks in the UPM Java library (as well as the MRAA Java library) make use of the _void mraa\_java\_isr\_callback(void\* data\)_ method from MRAA.
+###Implementing callbacks in Java
+Callbacks in the UPM Java library (as well as the MRAA Java library) make use of the _void mraa\_java\_isr\_callback(void\* data\)_ method from MRAA.  

 __Callbacks in the UPM Java library are implemented as follows (we use the a110x Hall Effect sensors as example):__

 We extend the sensor class with another method, _installISR\(jobject runnable\)_, which is a wrapper over the original _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ method. This will install the _mraa\_java\_isr\_callback\(\)_ method as the interrupt service routine \(ISR\) to be called, with _jobject runnable_ as argument.

-Java callbacks are added at the SWIG interface level.  For ease-of-use, a collection of macros are available in src/_upm.i.
+SWIGJAVA is a symbol that is always defined by SWIG when using Java. We enclose the _installISR\(jobject runnable\)_ method in a _\#if defined(SWIGJAVA)_ check, to ensure the code only exists when creating a wrapper for Java.

-src/a110x/a110x.i:
 ```c++
-JAVA_ADD_INSTALLISR(upm::A110X)
+#if defined(SWIGJAVA)
+void A110X::installISR(jobject runnable)
+{
+    installISR(mraa_java_isr_callback, runnable);
+}
+#endif
 ```

-Will expand to the following SWIG wrapper code:
+We hide the underlying method, _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ , and expose only the _installISR\(jobject runnable\)_ to SWIG, through the use of the SWIGJAVA symbol. When SWIGJAVA is defined, we change the access modifier of the underlying method to private.

 ```c++
-SWIGINTERN void upm_A110X_installISR__SWIG_1(upm::A110X *self,jobject runnable){
-self->installISR(mraa_java_isr_callback, runnable);
-}
+public:
+#if defined(SWIGJAVA)
+    void installISR(jobject runnable);
+#else
+    void installISR(void (*isr)(void *), void *arg);
+#endif
+private:
+#if defined(SWIGJAVA)
+    void installISR(void (*isr)(void *), void *arg);
+#endif
 ```

 To use callback in java, we create a ISR class, which implements the Java Runnable interface, and we override the _run\(\)_ method with the code to be executed when the interrupt is received. An example for the a110x Hall sensor that increments a counter each time an interrupt is received:
@ -277,13 +290,13 @@ To use callback in java, we create a ISR class, which implements the Java Runnab
 ```java
 public class A110X_intrSample {
    public static int counter=0;
-
+        
    public static void main(String[] args) throws InterruptedException {
        upm_a110x.A110X hall = new upm_a110x.A110X(2);

        A110XISR callback = new A110XISR();
        hall.installISR(callback);
-
+        
        while(true){
            System.out.println("Counter: " + counter);
            Thread.sleep(1000);
@ -300,3 +313,41 @@ class A110XISR implements Runnable {
    }
 }
 ```
+####Issues with java callbacks and workarounds
+
+__SWIGJAVA not defined at compile time__
+
+Consider the following files:
+* example.h - Header file for our source file
+* example.cxx - Source file containing the class Example, for which we build java bindings
+* example.i - The SWIG interface, that includes the example.h header file
+
+The build process of a java module using SWIG is split into two steps:
+
+1. Generating the intermediate files, from the SWIG interface file. This will produce the java class file (Example.java), the JNI file (exampleJNI.java) and wrapper file (example_wrap.cxx). The source file (example.cxx) is not needed in the first step.
+
+  ```
+swig -c++ -java example.i
+  ```
+
+2. Generating the shared library from the C++ sources and wrapper file
+  ```
+g++ -fPIC -c example.cxx example_wrap.cxx -I/usr/lib/jvm/java-1.8.0/include -I/usr/lib/jvm/java-1.8.0/include/linux
+g++ -shared example_wrap.o sensor.o -o libexample.so
+  ```
+
+
+SWIGJAVA is always defined when SWIG parses the interface file, meaning it will be defined when it parses the header file (example.h) that is included in the interface file (example.i).
+SWIG also adds the "#define SWIGJAVA" directive in the wrapper file (example_wrap.cxx).
+However, in generating the shared library the SWIGJAVA symbol is only defined in the example_wrap.cxx file, because of the added "#define SWIGJAVA" directive. But we have also used the "#if defined(SWIGJAVA)" check in the source file (example.cxx), and thus need to define SWIGJAVA for it too. If we define the SWIGJAVA symbol as a compile flag, when compiling the source code to object code, the SWIGJAVA compile flag and #define SWIGJAVA" directive will clash and give a double definition warning (only a warning).
+
+In this example it is simple to compile the two source codes separately, one with the compile flag, the other without, and then create the shared library (libexample.so).
+But in a big automatic build like the java upm libraries, this may prove too hard or too complicated to do. A workaround to this would be to define a custom symbol (e.q. JAVACALLBACK in the upm library) and also test for it. In short, replace:
+```c++
+#if defined(SWIGJAVA)
+```
+by
+```c++
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+```
+
--- a/docs/documentation.md
+++ b/docs/documentation.md
@ -10,132 +10,93 @@ sensors that you want to add to UPM:
 - Have the specific sensor manufacturer/model & version that you used, if you
  support multiple versions please list.
 - Simple comments do not need full stops.
- Stick to <80 chars per line where possible.
+- Stick to <80 chars per line even in comments.
 - No text is allowed on the same line as the start or end of a comment /** */.

-We currently document our libraries in the following way:
+####The sensor block

-* **Doxygen** is used for documenting the API and generating the categories on
-  the [UPM Libraries page](https://iotdk.intel.com/docs/master/upm/modules.html).
-  You can learn more about the Doxygen syntax [here](http://www.stack.nl/~dimitri/doxygen/manual/docblocks.html).
-* **JSON** is used to provide sensor specifications, descriptions, supported
-  platforms, links and other details.
+This is added just before the class declaration in your header(.h) file and has
+mandatory fields. For single sensor libraries, this block will actually
+follow immediately after the library block. If you have multiple physical
+sensors, add this to every one.
+Here's an example (disregard the "@verbatim" tags in your actual code):

-When submitting a new driver, you will have to at least fill out the mandatory
-fields as described below.
-
-### The library JSON file
-
-Let's use the BME280 class snippet from the bmp280.json file as an example:
-
-```json
-{
-    "Library": "bmp280",
-    "Description": "Bosch Atmospheric Sensor Library",
-    "Sensor Class":
-    {
-        "BME280":
-        {
-            "Name": "Digital Humidity, Pressure, and Temperature Sensor",
-            "Description": "The BME280 is as combined digital humidity, pressure and temperature sensor based on proven sensing principles. The sensor module is housed in an extremely compact metal-lid LGA package with a footprint of only 2.5 * 2.5 mm2 with a height of 0.93 mm. Its small dimensions and its low power consumption allow the implementation in battery driven devices such as handsets, GPS modules or watches. The BME280 is register and performance compatible to the Bosch Sensortec BMP280 digital pressure sensor",
-            "Aliases": ["bme280", "Grove - Barometer Sensor(BME280)"],
-            "Categories": ["pressure", "humidity", "temperature"],
-            "Connections": ["gpio", "i2c", "spi"],
-            "Project Type": ["prototyping", "industrial"],
-            "Manufacturers": ["adafruit", "seeed", "bosch"],
-            "Examples":
-            {
-                "Java": ["BMP280_Example.java"],
-                "Python": ["bmp280.py"],
-                "Node.js": ["bmp280.js"],
-                "C++": ["bmp280.cxx"],
-                "C": ["bmp280.c"]
-            },
-            "Specifications":
-            {
-                "Vdd": {"unit": "v", "low" : 1.7, "high": 3.6},
-                "Ioff" : {"unit": "mA", "low" : 0.0, "high": 0.0},
-                "Iavg": {"unit": "mA", "low" : 1, "high": 2},
-                "Pressure Range": {"unit": "hpA", "low" : 300, "high": 1100},
-                "Temperature Range": {"unit": "C", "low" : -40, "high": 85}
-            },
-            "Platforms":
-            {
-                "Intel Joule Module":
-                {
-                    "Notes": ["Requires pull-up resistors with carrier board"]
-                }
-            },
-            "Urls" :
-            {
-                "Product Pages": ["https://www.adafruit.com/products/2652"],
-                "Datasheets": ["https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BME280_DS001-11.pdf"],
-                "Schematics": ["https://learn.adafruit.com/assets/26693"]
-            }
-        }
-    }
-}
+```
+@verbatim
+/**
+ * @library <lib-name>
+ * @sensor <chip-id>
+ * @comname <component-name>
+ * @altname <alt-name>
+ * @altid <alt-id>
+ * @type <component-category>
+ * @man <component-manufacturer>
+ * @web <component-weblinks>
+ * @con <connection-type>
+ * @kit <component-kit>
+ *
+ * @brief Short class/sensor description
+ *
+ *   Then add a longer
+ *   description here.
+ *
+ * @image html <component-img.jpeg>
+ * @snippet <example-name.cxx> Interesting
+ */
+@endverbatim
 ```

-#### Mandatory fields:
+- `<lib-name>` When adding to an existing library this needs to match that
+  library's "@defgroup", otherwise this is a new library name, generally the
+  same as chip id. *Mandatory*
+- `<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>` 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*
+- `<component-category>` Mention one or more categories the sensor fits in. Can
+  be 'other'. *Mandatory*
+- `<component-manufacturer>` Sensor manufacturer. Can be 'generic'. *Mandatory*
+- `<component-weblinks>` Links to vendors or data-sheets. *Optional*
+- `<connection-type>` Specifies how does the sensor connect to the board
+  *Mandatory*
+- `<component-kit>` Specifies if the sensor is part of a kit. *Optional*

-For the library:
+Existing groups that can be used for the manufacturer, connection, category and
+kit tags are found in the *src/groups.md* file.

- `Library` The name of the library. This is appended to the upm prefix during
-  a build.
- `Description` A short description of the library and what it contains.
+Optionally, a small representative image can be placed in the "docs/images"
+subfolder and linked with the "@image" tag.
+**Please do not use existing, copyrighted images with your sensors!**

-For the sensor classes:
+The example should have an 'Interesting' section which will be highlighted as
+a code sample in doxygen. Everything in between such tags will show up in the
+class documentation when "@snippet" is added at the end of a class docstring.
+Tags use this format (in "example-name.cxx"):

- `Sensor Class` This is the object containing the sensor class(es) within the
-  library. Class objects need to match the name used in code.
- `Name` Title Case descriptive names for your sensor. Multiple values can be
-  used to capture the chip name, generic name, or specific name for a vendor.
-  Examples: Digital Pressure Sensor, Serial MP3 Module
- `Description` A more detailed explanation what the sensor does and how it
-  works.
- `Categories` Mention one or more categories the sensor fits in. Accepted
-  values are listed in the groups.md file.
- `Connections` Specifies how does the sensor connect to the board. Accepted
-  values are listed in the groups.md file.
- `Project Type` What time of projects is the sensor suited for. For example:
-  prototyping, industrial, commercial.
- `Manufacturers` List of sensor manufacturers or vendors. Can be 'generic',
-  other accepted values in groups.md.
- `Examples` Names of the example files provided with the library. At a minimum,
-  the `C++` example needs to be provided.
- `Urls` At least one link for `Product Pages` needs to be provided. Additional
-  links to `Datasheets` or `Schematics` can be added.
+```
+@verbatim
+ //! [Interesting]

-#### Optional and customizable fields
+    ...example code here...

- `Kits` Specifies if the sensor is part of a kit. Accepted values are listed
- in the groups.md file.
- `Image` Name of the image file provided with the sensor class.
- `Specifications` Relevant sensor specifications as listed in the datasheet.
- `Platforms` Platform specific notes or known limitations and workarounds.
+ //! [Interesting]
+@endverbatim
+```

-As mentioned, accepted values for some of the fields are listed under the
-[groups.md](../src/groups.md) file. If needed, you can add new categories
-for your sensor library following the existing format.
+For more examples take a look at the existing headers in our github repository.

-JSON files are automatically checked for correctness and required fields on
-code submissions.
-
-**Please do not use copyrighted images with your sensors!**
-
-Images from Seeed, DFRobot, Sparkfun or Adafruit are permitted.
-
-### Doxygen tags
-
-#### The library doxygen block
+####The library block

 New libraries must have the "@brief", "@defgroup" and "@ingroup" tags in one
 block. This usually follows the namespace and it is common to have one sensor
 per library.

-You should end up with something like this (disregard the "@verbatim" tags in
-your actual code):
+You should end up with something like this:

 ```
@verbatim
@ -150,43 +111,8 @@ your actual code):
@endverbatim
 ```

-Use `<lib-name>` to name the library.
-
+In "@defgroup" use the same `<lib-name>` used in the sensor block. Multiple
+sensors can be added to the same library this way.
 For "@ingroup" add the same values as in the sensor block for manufacturer,
 category, connection type and kit. If you have multiple classes or sensors
 per library, only use the "@ingroup" tags that are common for all of them.
-
-Existing groups that can be used for the manufacturer, connection, category and
-kit tags are found in the *src/groups.md* file.
-
-#### The sensor doxygen block
-
-This is added just before the class declaration in your header(.hpp) file and has
-one mandatory field. For single sensor libraries, this block will actually follow
-immediately after the library block. If you have multiple sensor classes, add
-this to every one.
-
-Here's an example:
-
-```
-@verbatim
-/**
- * @library <lib-name>
- * @brief Short class/sensor description
- *
- *   Then add a longer
- *   description here.
- */
-@endverbatim
-```
-
-When adding to an existing library, `<lib-name>` needs to match that library's
-"@defgroup".
-
-For more examples take a look at the existing headers in our github repository.
-Also, make sure to check our [sensortemplate](contributions.md#creating-a-new-sensor-library-using-the-sensortemplate)
-as it can facilitate new sensor additions.
-
-Existing header files might have additional fields under the sensor block. These
-have been used in the past to generate sensor pages outside of doxygen, but they
-are now deprecated and not required for new additions.
--- a/docs/icons/allides.png
+++ b/docs/icons/allides.png
--- a/docs/icons/iss.png
+++ b/docs/icons/iss.png
--- a/docs/icons/upm_logo.png
+++ b/docs/icons/upm_logo.png
--- a/docs/icons/wyliodrin.png
+++ b/docs/icons/wyliodrin.png
--- a/docs/icons/xdk.png
+++ b/docs/icons/xdk.png
--- a/docs/images/LICENSE_CC_3_0.txt
+++ b/docs/images/LICENSE_CC_3_0.txt
@ -0,0 +1,361 @@
+Creative Commons Legal Code
+
+Attribution-NonCommercial-ShareAlike 3.0 Unported
+
+    CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE
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+    INFORMATION ON AN "AS-IS" BASIS. CREATIVE COMMONS MAKES NO WARRANTIES
+    REGARDING THE INFORMATION PROVIDED, AND DISCLAIMS LIABILITY FOR
+    DAMAGES RESULTING FROM ITS USE.
+
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+
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+   
--- a/docs/images/grovebutton.jpg
+++ b/docs/images/grovebutton.jpg
--- a/docs/images/grovecollision.jpg
+++ b/docs/images/grovecollision.jpg
--- a/docs/images/groveehr.jpg
+++ b/docs/images/groveehr.jpg
--- a/docs/images/groveeldriver.jpg
+++ b/docs/images/groveeldriver.jpg
--- a/docs/images/groveelectromagnet.jpg
+++ b/docs/images/groveelectromagnet.jpg
--- a/docs/images/grovegprs.jpg
+++ b/docs/images/grovegprs.jpg
--- a/docs/images/groveled.jpg
+++ b/docs/images/groveled.jpg
--- a/docs/images/grovelight.jpg
+++ b/docs/images/grovelight.jpg
--- a/docs/images/grovelinefinder.jpg
+++ b/docs/images/grovelinefinder.jpg
--- a/docs/images/groveloudness.jpg
+++ b/docs/images/groveloudness.jpg
--- a/docs/images/grovemd.jpg
+++ b/docs/images/grovemd.jpg
--- a/docs/images/grovemoisture.jpg
+++ b/docs/images/grovemoisture.jpg
--- a/docs/images/groveo2.jpg
+++ b/docs/images/groveo2.jpg
--- a/docs/images/groverelay.jpg
+++ b/docs/images/groverelay.jpg
--- a/docs/images/grovergblcd.jpg
+++ b/docs/images/grovergblcd.jpg
--- a/docs/images/groverotary.jpg
+++ b/docs/images/groverotary.jpg
--- a/docs/images/grovescam.jpg
+++ b/docs/images/grovescam.jpg
--- a/docs/images/grovespeaker.jpg
+++ b/docs/images/grovespeaker.jpg
--- a/docs/images/grovetemp.jpg
+++ b/docs/images/grovetemp.jpg
--- a/docs/images/groveultrasonic.jpg
+++ b/docs/images/groveultrasonic.jpg
--- a/docs/images/grovevdiv.jpg
+++ b/docs/images/grovevdiv.jpg
--- a/docs/images/grovewfs.jpg
+++ b/docs/images/grovewfs.jpg
--- a/docs/images/kxtj3.png
+++ b/docs/images/kxtj3.png
--- a/docs/installing.md
+++ b/docs/installing.md
@ -48,23 +48,11 @@ To install:
 ```bash
 sudo add-apt-repository ppa:mraa/mraa
 sudo apt-get update
-sudo apt-get install libupm-dev libupm-java python-upm python3-upm node-upm upm-examples
+sudo apt-get install libupm-dev python-upm python3-upm upm-examples
 ```

-Running UPM applications on Ubuntu systems requires elevated permissions
-(e.g. run with `sudo`).
-
-### Fedora Linux
-
-MRAA and UPM are available through the default package repositories on Fedora and can be
-installed in the standard method using dnf.
-
-To install:
-
-```bash
-sudo dnf install upm
-sudo dnf install paython3-upm nodejs-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)

--- a/docs/max31855.md
+++ b/docs/max31855.md
@ -14,7 +14,8 @@ First thing to do is to create a tree structure like this in upm/src/max31855:

 * max31855.cxx
 * max31855.hpp
-* max31855.i
+* jsupm_max31855.i
+* pyupm_max31855.i
 * CMakeLists.txt

 And then an example file to use & test our lib with in upm/examples/max31855.cxx.
--- a/doxy/Doxyfile.in
+++ b/doxy/Doxyfile.in
@ -702,7 +702,7 @@ CITE_BIB_FILES         =
 # messages are off.
 # The default value is: NO.

-QUIET                  = YES
+QUIET                  = NO

 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
@ -860,8 +860,7 @@ EXCLUDE_SYMLINKS       = NO
 # bmi160 driver contains code provided by bosch.  This source contains
 # tags which are picked up by doxygen (namely \mainpage) and
 # incorrectly get added to docs.
-EXCLUDE_PATTERNS       = bosch_* \
-                         sensortemplate*
+EXCLUDE_PATTERNS       = bosch_*

 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the
--- a/doxy/Doxyfile.java.in
+++ b/doxy/Doxyfile.java.in
@ -702,7 +702,7 @@ CITE_BIB_FILES         =
 # messages are off.
 # The default value is: NO.

-QUIET                  = YES
+QUIET                  = NO

 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
--- a/doxy/README.npm.md
+++ b/doxy/README.npm.md
@ -34,6 +34,13 @@ var lib = require('jsupm_<module-name>');
 ### Supported Sensors
 The full list is available on [Intel® IoT Developer Zone](https://software.intel.com/en-us/iot/hardware/sensors).

+### IDE Integration
+Intel® XDK IoT Edition is the recommended IDE for Node.js development. Visit
+the Intel® Developer Zone [IDE page](https://software.intel.com/iot/software/ide)
+for more information on how to get started.
+
+![Intel XDK](http://iotdk.intel.com/docs/master/upm/docs/icons/xdk.png)
+
 ### Building UPM
 See building documentation [here](https://github.com/intel-iot-devkit/upm/blob/master/docs/building.md).

--- a/doxy/index.rst
+++ b/doxy/index.rst
@ -23,6 +23,15 @@ repository.

 Individual sensor usage examples for Python are available `here <https://github.com/intel-iot-devkit/upm/tree/master/examples/python>`_.

+``IDE Compatibility``
+################
+
+While there is no official IDE provided with our Python libraries, we do recommend the web-based IDE Wyliodrin. It can be used with multiple programming
+languages, including Python. More information can be found on the Intel Developer Zone IDE page.
+
+.. image:: ../docs/icons/wyliodrin.png
+   :target: https://software.intel.com/iot/software/ide
+
 ``Making your own UPM Module``
 ##############################

--- a/doxy/node/generators/yuidoc/tmpl/partials/index.handlebars
+++ b/doxy/node/generators/yuidoc/tmpl/partials/index.handlebars
@ -36,6 +36,19 @@
         href="https://github.com/intel-iot-devkit/upm/tree/master/examples/javascript">here</a>.</p>
      
    </div>
+    <div class="section" id="ide"> 
+      <h3><tt class="docutils literal"><span class="pre">IDE Compatibility</span> 
+      <span class="pre">UPM</span></tt><a class="headerlink"
+                                          href="#ide"
+                                          title="Permalink to this headline">*</a></h3>
+      
+
+      <p>Intel&reg; XDK IoT Edition is the recommended IDE for Node.js development.
+      Visit the Intel&reg; Developer Zone IDE page for more information on how to get
+      started.<br>
+      <a href="https://software.intel.com/iot/software/ide"><img src="../docs/icons/xdk.png"/></a>
+      </p>
+    </div>
    <div class="section" id="building-upm"> 
      <h3><tt class="docutils literal"><span class="pre">Building</span> 
      <span class="pre">UPM</span></tt><a class="headerlink"
--- a/doxy/samples.mapping.txt
+++ b/doxy/samples.mapping.txt
@ -1,82 +1,79 @@
 # Mapping examples across provided languages
-a110x.cxx A110X_Example.java a110x.js a110x.py
-a110x-intr.cxx A110X_intr_Example.java a110x-intr.js a110x-intr.py
-adc121c021.cxx ADC121C021_Example.java adc121c021.js adc121c021.py
-adxl345.cxx Adxl345_Example.java adxl345.js adxl345.py
-bh1749.cxx BH1749_Example.java bh1749.js bh1749.py
-bh1750.cxx BH1750_Example.java bh1750.js bh1750.py
-bh1792.cxx BH1792_Example.java bh1792.js bh1792.py
-biss0001.cxx BISS0001_Example.java biss0001.js biss0001.py
-bmpx8x.cxx BMPX8X_Example.java bmpx8x.js bmpx8x.py
-bno055.cxx BNO055_Example.java bno055.js bno055.py
-button.cxx Button_Example.java button.js button.py
-buzzer.cxx Buzzer_Example.java buzzer.js buzzer.py
-cjq4435.cxx CJQ4435_Example.java cjq4435.js cjq4435.py
-ds1307.cxx DS1307_Example.java ds1307.js ds1307.py
-enc03r.cxx ENC03R_Example.java enc03r.js enc03r.py
-servo-es08a.cxx ES08A_Example.java es08a.js es08a.py
-groveehr.cxx GroveEHR_Example.java groveehr.js groveehr.py
-my9221-groveledbar.cxx GroveLEDBar_Example.java groveledbar.js groveledbar.py
-grove-groveled.cxx GroveLED_Example.java groveled.js groveled.py
-grovelinefinder.cxx GroveLineFinder_Example.java grovelinefinder.js grovelinefinder.py
-grovemoisture.cxx GroveMoisture_Example.java grovemoisture.js grovemoisture.py
-grovescam.cxx GROVESCAM_Example.java grovescam.js grovescam.py
-grovewfs.cxx GroveWFS_Example.java grovewfs.js grovewfs.py
-guvas12d.cxx GUVAS12D_Example.java guvas12d.js guvas12d.py
-h3lis331dl.cxx H3LIS331DL_Example.java h3lis331dl.js h3lis331dl.py
-hcsr04.cxx HCSR04_Example.java hcsr04.js hcsr04.py
-hm11.cxx HM11_Example.java hm11.js hm11.py
-hmc5883l.cxx Hmc5883l_Example.java hmc5883l.js hmc5883l.py
-htu21d.cxx HTU21D_Example.java htu21d.js htu21d.py
-ims.cxx IMS_Example.java ims.js ims.py
-itg3200.cxx Itg3200_Example.java itg3200.js itg3200.py
-jhd1313m1-lcd.cxx Jhd1313m1_lcd_Example.java jhd1313m1-lcd.js jhd1313m1-lcd.py
-joystick12.cxx Joystick12_Example.java joystick12.js joystick12.py
-lcm1602-i2c.cxx Lcm1602_i2c_Example.java lcm1602-i2c.js lcm1602-i2c.py
-ldt0028.cxx LDT0028_Example.java ldt0028.js ldt0028.py
-light.cxx Light_Example.java light.js light.py
-lol.cxx LoL_Example.java lol.js lol.py
-lsm303dlh.cxx LSM303DLH_Example.java lsm303dlh.js lsm303dlh.py
-m24lr64e.cxx M24LR64E_Example.java m24lr64e.js m24lr64e.py
-max44000.cxx MAX44000_Example.java max44000.js max44000.py
-mic.cxx Microphone_Example.java mic.js mic.py
-mma7455.cxx MMA7455_Example.java mma7455.js mma7455.py
-mma7660.cxx MMA7660_Example.java mma7660.js mma7660.py
-mpl3115a2.cxx MPL3115A2_Example.java mpl3115a2.js mpl3115a2.py
-mpr121.cxx MPR121_Example.java mpr121.js mpr121.py
-mpu9150.cxx MPU9150_Example.java mpu9150.js mpu9150.py
-gas-mq2.cxx MQ2_Example.java mq2.js mq2.py
-mq303a.cxx MQ303A_Example.java mq303a.js mq303a.py
-gas-mq5.cxx MQ5_Example.java mq5.js mq5.py
-nrf24l01-receiver.cxx NRF24L01_receiver_Example.java nrf24l01-receiver.js nrf24l01-receiver.py
-nrf24l01-transmitter.cxx NRF24L01_transmitter_Example.java nrf24l01-transmitter.js nrf24l01-transmitter.py
-nunchuck.cxx NUNCHUCK_Example.java nunchuck.js nunchuck.py
-otp538u.cxx OTP538U_Example.java otp538u.js otp538u.py
-ppd42ns.cxx PPD42NS_Example.java ppd42ns.js ppd42ns.py
-pulsensor.cxx Pulsensor_Example.java pulsensor.js pulsensor.py
-relay.cxx Relay_Example.java relay.js relay.py
-rfr359f.cxx RFR359F_Example.java rfr359f.js rfr359f.py
-rotary.cxx Rotary_Example.java rotary.js rotary.py
-rotaryencoder.cxx RotaryEncoder_Example.java rotaryencoder.js rotaryencoder.py
-rpr220.cxx RPR220_Example.java rpr220.js rpr220.py
-rpr220-intr.cxx RPR220_intr_Example.java rpr220-intr.js rpr220-intr.py
-slide.cxx Slide_Example.java slide.js slide.py
-speaker.cxx Speaker_Example.java speaker.js speaker.py
-lcd-ssd1308-oled.cxx SSD1308_oled_Example.java ssd1308-oled.js ssd1308-oled.py
-lcd-ssd1327-oled.cxx SSD1327_oled_Example.java ssd1327-oled.js ssd1327-oled.py
-st7735.cxx ST7735_Example.java st7735.js st7735.py
-stepmotor.cxx StepMotor_Example.java stepmotor.js stepmotor.py
-tm1637.cxx TM1637_Example.java tm1637.js tm1637.py
-gas-tp401.cxx TP401_Example.java tp401.js tp401.py
-tsl2561.cxx TSL2561_Example.java tsl2561.js tsl2561.py
-ttp223.cxx TTP223_Example.java ttp223.js ttp223.py
-uln200xa.cxx ULN200XA_Example.java uln200xa.js uln200xa.py
-vdiv.cxx VDiv_Example.java vdiv.js vdiv.py
-water.cxx Water_Example.java water.js water.py
-wt5001.cxx WT5001_Example.java wt5001.js wt5001.py
-yg1006.cxx YG1006_Example.java yg1006.js yg1006.py
-sensortemplate.cxx SensorTemplate_Example.java sensortemplate.js sensortemplate.py
-p9813.cxx P9813_Example.java p9813.js p9813.py
+a110x.cxx	A110XSample.java	a110x.js	a110x.py
+a110x-intr.cxx	A110X_intrSample.java	a110x-intr.js	a110x-intr.py
+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
+servo-es08a.cxx	ES08ASample.java	es08a.js	es08a.py
+groveehr.cxx	GroveEHRSample.java	groveehr.js	groveehr.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
+grovewfs.cxx	GroveWFSSample.java	grovewfs.js	grovewfs.py
+guvas12d.cxx	GUVAS12DSample.java	guvas12d.js	guvas12d.py
+h3lis331dl.cxx	H3LIS331DLSample.java	h3lis331dl.js	h3lis331dl.py
+hcsr04.cxx	HCSR04Sample.java	hcsr04.js	hcsr04.py
+hm11.cxx	HM11Sample.java	hm11.js	hm11.py
+hmc5883l.cxx	Hmc5883lSample.java	hmc5883l.js	hmc5883l.py
+htu21d.cxx	HTU21DSample.java	htu21d.js	htu21d.py
+ims.cxx	IMS_Example.java	ims.js	ims.py
+itg3200.cxx	Itg3200Sample.java	itg3200.js	itg3200.py
+jhd1313m1-lcd.cxx	Jhd1313m1_lcdSample.java	jhd1313m1-lcd.js	jhd1313m1-lcd.py
+joystick12.cxx	Joystick12Sample.java	joystick12.js	joystick12.py
+lcm1602-i2c.cxx	Lcm1602_i2cSample.java	lcm1602-i2c.js	lcm1602-i2c.py
+ldt0028.cxx	LDT0028Sample.java	ldt0028.js	ldt0028.py
+light.cxx	LightSample.java	light.js	light.py
+lol.cxx	LoLSample.java	lol.js	lol.py
+lsm303dlh.cxx	LSM303DLHSample.java	lsm303dlh.js	lsm303dlh.py
+m24lr64e.cxx	M24LR64ESample.java	m24lr64e.js	m24lr64e.py
+max44000.cxx	MAX44000Sample.java	max44000.js	max44000.py
+mic.cxx	MicrophoneSample.java	mic.js	mic.py
+mma7455.cxx	MMA7455Sample.java	mma7455.js	mma7455.py
+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
+gas-mq2.cxx	MQ2Sample.java	mq2.js	mq2.py
+mq303a.cxx	MQ303ASample.java	mq303a.js	mq303a.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
+otp538u.cxx	OTP538USample.java	otp538u.js	otp538u.py
+ppd42ns.cxx	PPD42NSSample.java	ppd42ns.js	ppd42ns.py
+pulsensor.cxx	PulsensorSample.java	pulsensor.js	pulsensor.py
+relay.cxx	RelaySample.java	relay.js	relay.py
+rfr359f.cxx	RFR359FSample.java	rfr359f.js	rfr359f.py
+rotary.cxx	RotarySample.java	rotary.js	rotary.py
+rotaryencoder.cxx	RotaryEncoderSample.java	rotaryencoder.js	rotaryencoder.py
+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
+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
+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
+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
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@ -41,7 +41,7 @@
 #       a110x.c             Requires libupmc-a110x
 #       lcm1602-i2c.c       Requires libupmc-lcm1602
 #       bmp280-bme280.c     Requires libupmc-bmp280
-#       lcd-eboled.cxx   Requires libupm-lcd
+#       i2clcd-eboled.cxx   Requires libupm-i2clcd
 #
 #
 function (add_example example_src)
@ -99,7 +99,7 @@ function (add_example example_src)

    # Add each dependency to the library target
    foreach(_dep_target ${lib_target_names})
-        target_link_libraries(${this_target_name} ${_dep_target} ${CMAKE_THREAD_LIBS_INIT} utilities-c)
+        target_link_libraries(${this_target_name} ${_dep_target} ${CMAKE_THREAD_LIBS_INIT})
    endforeach ()
 endfunction (add_example example_src)

@ -117,16 +117,4 @@ if(BUILDEXAMPLES)
    if(BUILDSWIGJAVA)
        add_subdirectory (java)
    endif()
-
-    # Add all examples as an install component (if building examples)
-    install (DIRECTORY ${PROJECT_SOURCE_DIR}/examples
-        DESTINATION ${CMAKE_INSTALL_DATADIR}/upm
-        COMPONENT ${CMAKE_PROJECT_NAME}-examples
-        FILES_MATCHING
-            PATTERN "*.c"
-            PATTERN "*.cxx"
-            PATTERN "*.hpp"
-            PATTERN "*.java"
-            PATTERN "*.js"
-            PATTERN "*.py")
 endif()
--- a/examples/c++/2jciebu01_ble.cxx
+++ b/examples/c++/2jciebu01_ble.cxx
@ -1,539 +0,0 @@
-/*
-* Author: Hiroyuki Mino <omronsupportupm@omron.com>
-* Copyright (c) 2019 Omron Electronic Components - Americas
-*
-* 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.
-*/
-
-/* standard headers */
-#include <iostream>
-#include <signal.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-
-/* omron sensor headers */
-#include "2jciebu01_ble.hpp"
-
-using namespace std;
-using namespace upm;
-
-#define PREVIOUS_MENU_CHOICE           8
-
-volatile sig_atomic_t flag = 1;
-
-
-upm::OM2JCIEBU_BLE::om2jciebuData_t om2jciebuSensorData;
-
-void
-sig_handler(int signum)
-{
-    if(signum == SIGABRT) {
-        std::cout << "Exiting..." << std::endl;
-    }
-    if(signum == SIGINT) {
-        flag = 0;
-    }
-}
-
-
-void getSensorData(OM2JCIEBU_BLE *p_om2jcieble)
-{
-
-    if(p_om2jcieble == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    uint16_t parameterChoice = 0;
-    int displayDelay = 0;
-    uint16_t sensorParamData = 0;
-    uint32_t pressureData = 0;
-    bool seconds_validate = false;
-
-    p_om2jcieble->getDiscoveredServices(OM2JCIEBU_BLE::ALL_PARAM);
-    while(true) {
-        printf("************************************************************\r\n");
-        printf("Please select sensor attribute for display\r\n");
-        printf("0) All parameter\r\n");
-        printf("1) Temperature data\r\n");
-        printf("2) Relative humidity data\r\n");
-        printf("3) Ambient light data\r\n");
-        printf("4) Barometric pressure data\r\n");
-        printf("5) Sound noise data\r\n");
-        printf("6) eTVOC data\r\n");
-        printf("7) eCO2 data\r\n");
-        printf("8) Return to main menu\r\n");
-        printf("Note :: Press Ctrl+C for sensor attribute display menu\r\n");
-        printf("************************************************************\r\n");
-        while(!(std::cin >> parameterChoice)) {
-            std::cin.clear(); //clear bad input flag
-            std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-            std::cout << "Invalid input; please re-enter.\n";
-        }
-        if(parameterChoice >= OM2JCIEBU_BLE::ALL_PARAM && parameterChoice <= OM2JCIEBU_BLE::ECO2) {
-            flag = 1;
-            printf("Please enter time interval (in Seconds), for display sensor data\r\n");
-            while(!seconds_validate) {
-                cin >> displayDelay;
-                if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (displayDelay >= 1 && displayDelay <= 10)) {
-                    seconds_validate = true;
-                } else {
-                    cin.clear();
-                    cin.ignore();
-                    cout << "Error, enter an second between 1 to 10!" << endl;
-                }
-            }
-            while(flag) {
-                switch(parameterChoice) {
-                    case OM2JCIEBU_BLE::ALL_PARAM:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::ALL_PARAM, &om2jciebuSensorData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Sensor Attribute Values ***************\r\n");
-                            printf("Sequence Number     :: %d \r\n", om2jciebuSensorData.sequence_number);
-                            printf("Temperature         :: %d degC\r\n", om2jciebuSensorData.temperature);
-                            printf("Relative humidity   :: %d RH\r\n", om2jciebuSensorData.relative_humidity);
-                            printf("Ambient light       :: %d lx\r\n", om2jciebuSensorData.ambient_light);
-                            printf("Barometric pressure :: %d hPa\r\n", om2jciebuSensorData.pressure);
-                            printf("Sound noise         :: %d dB\r\n", om2jciebuSensorData.noise);
-                            printf("eTVOC               :: %d ppb\r\n", om2jciebuSensorData.eTVOC);
-                            printf("eCO2                :: %d ppm\r\n", om2jciebuSensorData.eCO2);
-                            printf("**********************************************************\r\n");
-                            memset(&om2jciebuSensorData, 0, sizeof(om2jciebuSensorData));
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::TEMP:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::TEMP, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Temperature Attribute Values ***************\r\n");
-                            printf("Temperature         :: %d degC\r\n", sensorParamData);
-                            printf("************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::HUMIDITY:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::HUMIDITY, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Relative humidity Attribute Values ***************\r\n");
-                            printf("Relative humidity   :: %d RH\r\n", sensorParamData);
-                            printf("******************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::AMBIENT_LIGHT:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::AMBIENT_LIGHT, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Ambient light Attribute Values ***************\r\n");
-                            printf("Ambient light       :: %d lx\r\n", sensorParamData);
-                            printf("***************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::PRESSURE:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::PRESSURE, &pressureData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Barometric pressure Attribute Values ***************\r\n");
-                            printf("Barometric pressure :: %d hPa\r\n", pressureData);
-                            printf("********************************************************************\r\n");
-                        }
-                        break;
-
-                    case OM2JCIEBU_BLE::NOISE:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::NOISE, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Sound noise Attribute Values ***************\r\n");
-                            printf("Sound noise         :: %d dB\r\n", sensorParamData);
-                            printf("*************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-
-                    case OM2JCIEBU_BLE::ETVOC:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::ETVOC, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  eTVOC Attribute Values ***************\r\n");
-                            printf("eTVOC               :: %d ppb\r\n", sensorParamData);
-                            printf("*******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::ECO2:
-                        if(p_om2jcieble->getSensorData(OM2JCIEBU_BLE::ECO2, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  eCO2 Attribute Values ***************\r\n");
-                            printf("eCO2                :: %d ppm\r\n\r\n", sensorParamData);
-                            printf("******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                }
-                printf("\r\n");
-                p_om2jcieble->delay(displayDelay);
-            }
-        } else if(parameterChoice == PREVIOUS_MENU_CHOICE) {
-            break;
-        } else {
-            printf("Invalid choice\r\n");
-        }
-        seconds_validate = false;
-    }
-}
-
-void getAdvSensorData(OM2JCIEBU_BLE *p_om2jcieble)
-{
-    if(p_om2jcieble == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-
-    uint16_t parameterChoice = 0, sensorParamData = 0;
-    int displayDelay = 0;
-    uint32_t pressureData = 0;
-    bool seconds_validate = false;
-
-    while(true) {
-        printf("************************************************************\r\n");
-        printf("Please select sensor attribute for display\r\n");
-        printf("0) All parameter\r\n");
-        printf("1) Temperature data\r\n");
-        printf("2) Relative humidity data\r\n");
-        printf("3) Ambient light data\r\n");
-        printf("4) Barometric pressure data\r\n");
-        printf("5) Sound noise data\r\n");
-        printf("6) eTVOC data\r\n");
-        printf("7) eCO2 data\r\n");
-        printf("8) Return to main menu\r\n");
-        printf("Note :: Press Ctrl+C for sensor attribute display menu\r\n");
-        printf("************************************************************\r\n");
-        while(!(std::cin >> parameterChoice)) {
-            std::cin.clear(); //clear bad input flag
-            std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-            std::cout << "Invalid input; please re-enter.\n";
-        }
-        if(parameterChoice >= OM2JCIEBU_BLE::ALL_PARAM && parameterChoice <= OM2JCIEBU_BLE::ECO2) {
-            flag = 1;
-            printf("Please enter time interval (in Seconds), for display sensor data\r\n");
-            while(!seconds_validate) {
-                cin >> displayDelay;
-                if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (displayDelay >= 1 && displayDelay <= 10)) {
-                    seconds_validate = true;
-                } else {
-                    cin.clear();
-                    cin.ignore();
-                    cout << "Error, enter an second between 1 and 10!" << endl;
-                }
-            }
-            while(flag) {
-                switch(parameterChoice) {
-                    case OM2JCIEBU_BLE::ALL_PARAM:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::ALL_PARAM, &om2jciebuSensorData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Advertisement Sensor Attribute Values ***************\r\n");
-                            printf("Sequence Number     :: %d \r\n", om2jciebuSensorData.sequence_number);
-                            printf("Temperature         :: %d degC\r\n", om2jciebuSensorData.temperature);
-                            printf("Relative humidity   :: %d RH\r\n", om2jciebuSensorData.relative_humidity);
-                            printf("Ambient light       :: %d lx\r\n", om2jciebuSensorData.ambient_light);
-                            printf("Barometric pressure :: %d hPa\r\n", om2jciebuSensorData.pressure);
-                            printf("Sound noise         :: %d dB\r\n", om2jciebuSensorData.noise);
-                            printf("eTVOC               :: %d ppb\r\n", om2jciebuSensorData.eTVOC);
-                            printf("eCO2                :: %d ppm\r\n", om2jciebuSensorData.eCO2);
-                            printf("*********************************************************************\r\n");
-                            memset(&om2jciebuSensorData, 0, sizeof(om2jciebuSensorData));
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::TEMP:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::TEMP, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Advertisement Temperature Attribute Values ***************\r\n");
-                            printf("Temperature         :: %d degC\r\n", sensorParamData);
-                            printf("**************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::HUMIDITY:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::HUMIDITY, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************  Advertisement Relative humidity Attribute Values ***************\r\n");
-                            printf("Relative humidity   :: %d RH\r\n", sensorParamData);
-                            printf("********************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::AMBIENT_LIGHT:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::AMBIENT_LIGHT, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("************** Advertisement Ambient light Attribute Values ***************\r\n");
-                            printf("Ambient light       :: %d lx\r\n", sensorParamData);
-                            printf("***************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::PRESSURE:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::PRESSURE, &pressureData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("************** Advertisement Barometric pressure Attribute Values ***************\r\n");
-                            printf("Barometric pressure :: %d hPa\r\n", pressureData);
-                            printf("*********************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-
-                    case OM2JCIEBU_BLE::NOISE:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::NOISE, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("************** Advertisement Sound noise Attribute Values ***************\r\n");
-                            printf("Sound noise         :: %d dB\r\n", sensorParamData);
-                            printf("*************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-
-                    case OM2JCIEBU_BLE::ETVOC:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::ETVOC, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("**************** Advertisement eTVOC Attribute Values ******************\r\n");
-                            printf("eTVOC               :: %d ppb\r\n", sensorParamData);
-                            printf("************************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_BLE::ECO2:
-                        if(p_om2jcieble->getAdvSensorData(OM2JCIEBU_BLE::ECO2, &sensorParamData) == OM2JCIEBU_BLE::SUCCESS) {
-                            printf("************** Advertisement eCO2 Attribute Values ***************\r\n");
-                            printf("eCO2                :: %d ppm\r\n\r\n", sensorParamData);
-                            printf("******************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                }
-                printf("\r\n");
-                p_om2jcieble->delay(displayDelay);
-            }
-        } else if(parameterChoice == PREVIOUS_MENU_CHOICE) {
-            break;
-        } else {
-            printf("Invalid choice\r\n");
-        }
-        seconds_validate = false;
-    }
-}
-
-void configureLEDSetting(OM2JCIEBU_BLE *p_om2jcieble)
-{
-    if(p_om2jcieble == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    int led_choice = 0;
-    unsigned short int red_scale = 0, green_scale = 0, blue_scale = 0;
-    bool red_scale_validate = false, green_scale_validate = false, blue_scale_validate = false;
-    printf("**************  Sensor LED Configuration ***************\r\n");
-    printf("Please select a operation for LED\r\n");
-    printf("0) Normally OFF\r\n");
-    printf("1) Normally ON\r\n");
-    printf("2) Temperature value scales\r\n");
-    printf("3) Relative humidity value scales\r\n");
-    printf("4) Ambient light value scales\r\n");
-    printf("5) Barometric pressure value scales\r\n");
-    printf("6) Sound noise value scales\r\n");
-    printf("7) eTVOC value scales\r\n");
-    printf("8) SI vale scales\r\n");
-    printf("9) PGA value scales\r\n");
-    printf("**********************************************************\r\n");
-    while(!(std::cin >> led_choice)) {
-        std::cin.clear(); //clear bad input flag
-        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-        std::cout << "Invalid input; please re-enter.\n";
-    }
-
-    if(led_choice == OM2JCIEBU_BLE::NORMALLY_ON) {
-        printf("Please select a LED color scale\r\n");
-        printf("Please enter Red Color scale (scale range 0 to 255)\r\n");
-        while(!red_scale_validate) {
-            cin >> red_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (red_scale >= 0 && red_scale <= 255)) {
-                red_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an red color scale between 0 and 255!" << endl;
-            }
-        }
-        printf("Please enter Green Color scale(scale range 0 to 255)\r\n");
-        while(!green_scale_validate) {
-            cin >> green_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (green_scale >= 0 && green_scale <= 255)) {
-                green_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an green color scale between 0 and 255!" << endl;
-            }
-        }
-        printf("Please enter Blue Color scale(scale range 0 to 255)\r\n");
-        while(!blue_scale_validate) {
-            cin >> blue_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (blue_scale >= 0 && blue_scale <= 255)) {
-                blue_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an blue color scale between 0 and 255!" << endl;
-            }
-        }
-        p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::NORMALLY_ON, red_scale, green_scale, blue_scale);
-    } else {
-        switch(led_choice) {
-            case OM2JCIEBU_BLE::NORMALLY_OFF:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::NORMALLY_OFF, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::TEMP_SACLE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::TEMP_SACLE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::HUMIDITY_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::HUMIDITY_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::AMBIENT_LIGHT_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::AMBIENT_LIGHT_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::PRESSURE_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::PRESSURE_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::NOISE_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::NOISE_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::ETVOC_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::ETVOC_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::SI_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::SI_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_BLE::PGA_SCALE:
-                p_om2jcieble->configureSensorLedState(OM2JCIEBU_BLE::PGA_SCALE, 0, 0, 0);
-                break;
-            default:
-                std::cout << "Wrong LED scale choice please try again" << std::endl;
-        }
-    }
-}
-
-void configureAdvInterval(OM2JCIEBU_BLE *p_om2jcieble)
-{
-    if(p_om2jcieble == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    uint16_t millisecond = 0;
-    bool milisecond_validate = false;
-    int advertising_mode = 0;
-    printf("**************  Sensor Advertise Configuration ***************\r\n");
-    printf("Please enter time interval (in Milliseconds), for changing Advertise interval, between 100 to 10240 milliseconds\r\n");
-    while(!milisecond_validate) {
-        cin >> millisecond;
-        if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (millisecond >= 100 && millisecond <= 10240)) {
-            milisecond_validate = true;
-        } else {
-            cin.clear();
-            cin.ignore();
-            cout << "Error, enter an millisecond between 100 and 10240!" << endl;
-        }
-    }
-    printf("Please select an Advertise mode with the selected Advertise interval \r\n");
-    printf("1) Sensor data\r\n");
-    printf("2) Calculation data\r\n");
-    printf("3) Sensor data and Calculation data\r\n");
-    printf("4) Sensor flag and Calculation flag\r\n");
-    printf("5) Serial number\r\n");
-    while(!(std::cin >> advertising_mode)) {
-        std::cin.clear(); //clear bad input flag
-        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-        std::cout << "Invalid input; please re-enter.\n";
-    }
-    switch(advertising_mode) {
-        case OM2JCIEBU_BLE::SENSOR_DATA:
-            p_om2jcieble->configureSensorAdvSetting(millisecond, OM2JCIEBU_BLE::SENSOR_DATA);
-            break;
-        case OM2JCIEBU_BLE::ACCELERATION_DATA:
-            p_om2jcieble->configureSensorAdvSetting(millisecond, OM2JCIEBU_BLE::ACCELERATION_DATA);
-            break;
-        case OM2JCIEBU_BLE::ACCELERATION_SENSOR_DATA:
-            p_om2jcieble->configureSensorAdvSetting(millisecond, OM2JCIEBU_BLE::ACCELERATION_SENSOR_DATA);
-            break;
-        case OM2JCIEBU_BLE::ACCELERATION_SENSOR_FLAG:
-            p_om2jcieble->configureSensorAdvSetting(millisecond, OM2JCIEBU_BLE::ACCELERATION_SENSOR_FLAG);
-            break;
-        case OM2JCIEBU_BLE::SERIAL_NUMBER:
-            p_om2jcieble->configureSensorAdvSetting(millisecond, OM2JCIEBU_BLE::SERIAL_NUMBER);
-            break;
-        default:
-            std::cout << "Invalid choice\n";
-    }
-    printf("**************************************************************\r\n");
-}
-
-int
-main(int argc, char *argv[])
-{
-    int operation_choice = 0;
-    if(argc <= 1) {
-        std::cout << "usage ./a.out xx:xx:xx:xx:xx:xx" << std::endl;
-        return 0;
-    }
-    signal(SIGABRT, sig_handler);
-    signal(SIGINT, sig_handler);
-    upm::OM2JCIEBU_BLE om2jciebu_ble(argv[1]);
-    while(true) {
-        std::cout << "*************************************************************" << std::endl;
-        std::cout << "Please choose one option for Omron sensor operation" << std::endl;
-        std::cout << "1) Display Advertisement Sensor attriutes" << std::endl;
-        std::cout << "2) Display Sensor attriutes" << std::endl;
-        std::cout << "3) Configure LED setting " << std::endl;
-        std::cout << "4) Configure advertise setting" << std::endl;
-        std::cout << "5) Exit" << std::endl;
-        std::cout << "*************************************************************" << std::endl;
-        while(!(std::cin >> operation_choice)) {
-            std::cin.clear(); //clear bad input flag
-            std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-            std::cout << "Invalid input; please re-enter.\n";
-        }
-
-        switch(operation_choice) {
-            case 1:
-                getAdvSensorData(&om2jciebu_ble);
-                break;
-            case 2:
-                getSensorData(&om2jciebu_ble);
-                break;
-            case 3:
-                configureLEDSetting(&om2jciebu_ble);
-                break;
-            case 4:
-                configureAdvInterval(&om2jciebu_ble);
-                break;
-            case 5:
-                std::cout << "Application Exited" << std::endl;
-                om2jciebu_ble.removeBleDevice();
-                exit(0);
-                break;
-            default:
-                std::cout << "Invalid choice" << std::endl;
-                break;
-        }
-    }
-}
--- a/examples/c++/2jciebu01_usb.cxx
+++ b/examples/c++/2jciebu01_usb.cxx
@ -1,414 +0,0 @@
-/*
-* Author: Hiroyuki Mino <omronsupportupm@omron.com>
-* Copyright (c) 2019 Omron Electronic Components - Americas
-*
-* 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.
-*/
-
-/* standard headers */
-#include <iostream>
-#include <signal.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-
-/* omron sensor headers */
-#include "2jciebu01_usb.hpp"
-
-using namespace std;
-using namespace upm;
-
-volatile sig_atomic_t flag = 1;
-#define PREVIOUS_MENU_CHOICE           10
-
-upm::OM2JCIEBU_UART::om2jciebuData_t om2jciebuSensorData;
-
-void
-sig_handler(int signum)
-{
-    if(signum == SIGABRT) { //check for Abort signal
-        std::cout << "Exiting..." << std::endl;
-    }
-    if(signum == SIGINT) { //check for Interrupt signal
-		std::cout << "Exiting..." << std::endl;
-        flag = 0;
-    }
-}
-
-
-void getSensorData(OM2JCIEBU_UART *p_om2jcieuart)
-{
-    if(p_om2jcieuart == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    uint16_t parameterChoice = 0;
-    int displayDelay = 0;
-    bool seconds_validate = false;
-    uint16_t sensorParamData = 0;
-    uint32_t pressureData = 0;
-
-    while(true) {
-        printf("************************************************************\r\n");
-        printf("Please select sensor attribute for display\r\n");
-        printf("0)  All parameter\r\n");
-        printf("1)  Temperature data\r\n");
-        printf("2)  Relative humidity data\r\n");
-        printf("3)  Ambient light data\r\n");
-        printf("4)  Barometric pressure data\r\n");
-        printf("5)  Sound noise data\r\n");
-        printf("6)  eTVOC data\r\n");
-        printf("7)  eCO2 data\r\n");
-        printf("8)  Discomfort index data\r\n");
-        printf("9)  Heat stroke data\r\n");
-        printf("10) Return to main menu\r\n");
-        printf("Note :: Press Ctrl+C for sensor attribute display menu\r\n");
-        printf("************************************************************\r\n");
-        while(!(std::cin >> parameterChoice)) {
-            std::cin.clear(); //clear bad input flag
-            std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-            std::cout << "Invalid input; please re-enter.\n";
-        }
-        if(parameterChoice >= OM2JCIEBU_UART::ALL_PARAM && parameterChoice <= OM2JCIEBU_UART::HEAT_STROKE) {
-            flag = 1;
-            printf("Please enter time interval (in Seconds), for display sensor data\r\n");
-            while(!seconds_validate) { //validate user input values
-                cin >> displayDelay;
-                if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (displayDelay >= 1 && displayDelay <= 10)) {
-                    seconds_validate = true;
-                } else {
-                    cin.clear();
-                    cin.ignore();
-                    cout << "Error, enter an second between 1 to 10!" << endl;
-                }
-            }
-            while(flag) {
-                switch(parameterChoice) {
-                    case OM2JCIEBU_UART::ALL_PARAM:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::ALL_PARAM, &om2jciebuSensorData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Sensor Attribute Values ***************\r\n");
-                            printf("Sequence Number     :: %d \r\n", om2jciebuSensorData.sequence_number);
-                            printf("Temperature         :: %d degC\r\n", om2jciebuSensorData.temperature);
-                            printf("Relative humidity   :: %d RH\r\n", om2jciebuSensorData.relative_humidity);
-                            printf("Ambient light       :: %d lx\r\n", om2jciebuSensorData.ambient_light);
-                            printf("Barometric pressure :: %d hPa\r\n", om2jciebuSensorData.pressure);
-                            printf("Sound noise         :: %d dB\r\n", om2jciebuSensorData.noise);
-                            printf("eTVOC               :: %d ppb\r\n", om2jciebuSensorData.eTVOC);
-                            printf("eCO2                :: %d ppm\r\n", om2jciebuSensorData.eCO2);
-                            printf("Discomfort index    :: %d \r\n", om2jciebuSensorData.discomfort_index);
-                            printf("Heat stroke         :: %d degC\r\n", om2jciebuSensorData.heat_stroke);
-                            printf("**********************************************************\r\n");
-                            memset(&om2jciebuSensorData, 0, sizeof(om2jciebuSensorData));
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::TEMP:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::TEMP, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Temperature Attribute Values ***************\r\n");
-                            printf("Temperature         :: %d degC\r\n", sensorParamData);
-                            printf("************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::HUMIDITY:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::HUMIDITY, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Relative humidity Attribute Values ***************\r\n");
-                            printf("Relative humidity   :: %d RH\r\n", sensorParamData);
-                            printf("******************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::AMBIENT_LIGHT:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::AMBIENT_LIGHT, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Ambient light Attribute Values ***************\r\n");
-                            printf("Ambient light       :: %d lx\r\n", sensorParamData);
-                            printf("**************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::PRESSURE:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::PRESSURE, &pressureData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Barometric pressure Attribute Values ***************\r\n");
-                            printf("Barometric pressure :: %d hPa\r\n", pressureData);
-                            printf("********************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-
-                    case OM2JCIEBU_UART::NOISE:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::NOISE, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  Sound noise Attribute Values ***************\r\n");
-                            printf("Sound noise         :: %d dB\r\n", sensorParamData);
-                            printf("************************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-
-                    case OM2JCIEBU_UART::ETVOC:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::ETVOC, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  eTVOC Attribute Values ***************\r\n");
-                            printf("eTVOC               :: %d ppb\r\n", sensorParamData);
-                            printf("******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::ECO2:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::ECO2, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  eCO2 Attribute Values ***************\r\n");
-                            printf("eCO2                :: %d ppm\r\n\r\n", sensorParamData);
-                            printf("******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::DISCOMFORT_INDEX:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::DISCOMFORT_INDEX, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  eCO2 Attribute Values ***************\r\n");
-                            printf("Discomfort index                :: %d \r\n\r\n", sensorParamData);
-                            printf("******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                    case OM2JCIEBU_UART::HEAT_STROKE:
-                        if(p_om2jcieuart->getSensorData(OM2JCIEBU_UART::HEAT_STROKE, &sensorParamData) == OM2JCIEBU_UART::SUCCESS) {
-                            printf("**************  eCO2 Attribute Values ***************\r\n");
-                            printf("Heat stroke                :: %d degC\r\n\r\n", sensorParamData);
-                            printf("******************************************************\r\n");
-                        } else {
-                            flag = 0;
-                        }
-                        break;
-                }
-                printf("\r\n");
-                p_om2jcieuart->delay(displayDelay);
-            }
-        } else if(parameterChoice == PREVIOUS_MENU_CHOICE) {
-            break;
-        } else {
-            printf("Invalid choice\r\n");
-        }
-        seconds_validate = false;
-    }
-}
-
-void configureLEDSetting(OM2JCIEBU_UART *p_om2jcieuart)
-{
-    if(p_om2jcieuart == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    int led_choice = 0;
-    bool red_scale_validate = false, green_scale_validate = false, blue_scale_validate = false;
-    unsigned short int red_scale = 0, green_scale = 0, blue_scale = 0;
-    printf("**************  Sensor LED Configuration ***************\r\n");
-    printf("Please select a operation for LED\r\n");
-    printf("0) Normally OFF\r\n");
-    printf("1) Normally ON\r\n");
-    printf("2) Temperature value scales\r\n");
-    printf("3) Relative humidity value scales\r\n");
-    printf("4) Ambient light value scales\r\n");
-    printf("5) Barometric pressure value scales\r\n");
-    printf("6) Sound noise value scales\r\n");
-    printf("7) eTVOC value scales\r\n");
-    printf("8) SI vale scales\r\n");
-    printf("9) PGA value scales\r\n");
-    printf("**********************************************************\r\n");
-    while(!(std::cin >> led_choice)) {
-        std::cin.clear(); //clear bad input flag
-        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-        std::cout << "Invalid input; please re-enter.\n";
-    }
-
-    if(led_choice == OM2JCIEBU_UART::NORMALLY_ON) {
-        printf("Please Select a LED color scale\r\n");
-        printf("Please enter Red Color scale (scale range 0 to 255)\r\n");
-        while(!red_scale_validate) {
-            cin >> red_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (red_scale >= 0 && red_scale <= 255)) {
-                red_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an red color scale between 0 and 255!" << endl;
-            }
-        }
-        printf("Please enter Green Color scale(scale range 0 to 255)\r\n");
-        while(!green_scale_validate) {
-            cin >> green_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (green_scale >= 0 && green_scale <= 255)) {
-                green_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an green color scale between 0 and 255!" << endl;
-            }
-        }
-        printf("Please enter Blue Color scale(scale range 0 to 255)\r\n");
-        while(!blue_scale_validate) {
-            cin >> blue_scale;
-            if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (blue_scale >= 0 && blue_scale <= 255)) {
-                blue_scale_validate = true;
-            } else {
-                cin.clear();
-                cin.ignore();
-                cout << "Error, enter an blue color scale between 0 and 255!" << endl;
-            }
-        }
-        p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::NORMALLY_ON, red_scale, green_scale, blue_scale);
-    } else {
-        switch(led_choice) {
-            case OM2JCIEBU_UART::NORMALLY_OFF:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::NORMALLY_OFF, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::TEMP_SACLE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::TEMP_SACLE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::HUMIDITY_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::HUMIDITY_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::AMBIENT_LIGHT_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::AMBIENT_LIGHT_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::PRESSURE_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::PRESSURE_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::NOISE_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::NOISE_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::ETVOC_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::ETVOC_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::SI_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::SI_SCALE, 0, 0, 0);
-                break;
-            case OM2JCIEBU_UART::PGA_SCALE:
-                p_om2jcieuart->configureSensorLedState(OM2JCIEBU_UART::PGA_SCALE, 0, 0, 0);
-                break;
-            default:
-                std::cout << "Wrong LED scale choice please try again" << std::endl;
-        }
-    }
-}
-
-void configureAdvInterval(OM2JCIEBU_UART *p_om2jcieuart)
-{
-    if(p_om2jcieuart == NULL) {
-        std::cout << "Null pointer received..." << std::endl;
-        return;
-    }
-    bool millisecond_validate = false;
-    uint16_t millisecond = 0;
-    int advertising_mode = 0;
-    printf("**************  Sensor Advertise Configuration ***************\r\n");
-    printf("Please enter time interval (in Milliseconds), for changing Advertise interval, between 100 to 10240 milliseconds\r\n");
-    while(!millisecond_validate) {//validate millisecond
-        cin >> millisecond;
-        if(!cin.fail() && (cin.peek() == EOF || cin.peek() == '\n') && (millisecond >= 100 && millisecond <= 10240)) {
-            millisecond_validate = true;
-        } else {
-            cin.clear();
-            cin.ignore();
-            cout << "Error, enter an milisecond between 100 and 10240!" << endl;
-        }
-    }
-    printf("Please select an Advertise mode with the selected Advertise interval \r\n");
-    printf("1) Sensor data\r\n");
-    printf("2) Calculation data\r\n");
-    printf("3) Sensor data and Calculation data\r\n");
-    printf("4) Sensor flag and Calculation flag\r\n");
-    printf("5) Serial number\r\n");
-    while(!(std::cin >> advertising_mode)) {
-        std::cin.clear(); //clear bad input flag
-        std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-        std::cout << "Invalid input; please re-enter.\n";
-    }
-    switch(advertising_mode) {
-        case OM2JCIEBU_UART::SENSOR_DATA:
-            p_om2jcieuart->configureSensorAdvSetting(millisecond, OM2JCIEBU_UART::SENSOR_DATA);
-            break;
-        case OM2JCIEBU_UART::ACCELERATION_DATA:
-            p_om2jcieuart->configureSensorAdvSetting(millisecond, OM2JCIEBU_UART::ACCELERATION_DATA);
-            break;
-        case OM2JCIEBU_UART::ACCELERATION_SENSOR_DATA:
-            p_om2jcieuart->configureSensorAdvSetting(millisecond, OM2JCIEBU_UART::ACCELERATION_SENSOR_DATA);
-            break;
-        case OM2JCIEBU_UART::ACCELERATION_SENSOR_FLAG:
-            p_om2jcieuart->configureSensorAdvSetting(millisecond, OM2JCIEBU_UART::ACCELERATION_SENSOR_FLAG);
-            break;
-        case OM2JCIEBU_UART::SERIAL_NUMBER:
-            p_om2jcieuart->configureSensorAdvSetting(millisecond, OM2JCIEBU_UART::SERIAL_NUMBER);
-            break;
-        default:
-            std::cout << "Invalid choice\n";
-    }
-    printf("**************************************************************\r\n");
-}
-
-int
-main(int argc, char *argv[])
-{
-    int operation_choice = 0;
-    if(argc <= 1) {
-        std::cout << "usage ./a.out /dev/ttyUSB*" << std::endl;
-        return 0;
-    }
-    signal(SIGABRT, sig_handler);
-    signal(SIGINT, sig_handler);
-    upm::OM2JCIEBU_UART om2jciebu_uart(argv[1], 115200);
-    om2jciebu_uart.setMode(8, mraa::UART_PARITY_NONE, 1);
-    om2jciebu_uart.setFlowControl(false, false);
-    while(true) {
-        std::cout << "*************************************************************" << std::endl;
-        std::cout << "Please choose one option for Omron sensor operation" << std::endl;
-        std::cout << "1) Display Sensor attriutes" << std::endl;
-        std::cout << "2) Configure LED setting " << std::endl;
-        std::cout << "3) Configure advertise setting" << std::endl;
-        std::cout << "4) Exit" << std::endl;
-        std::cout << "*************************************************************" << std::endl;
-        while(!(std::cin >> operation_choice)) { //validate operation choice from user input
-            std::cin.clear(); //clear bad input flag
-            std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n'); //discard input
-            std::cout << "Invalid input; please re-enter.\n";
-        }
-        switch(operation_choice) {
-            case 1:
-                getSensorData(&om2jciebu_uart);
-                break;
-            case 2:
-                configureLEDSetting(&om2jciebu_uart);
-                break;
-            case 3:
-                configureAdvInterval(&om2jciebu_uart);
-                break;
-            case 4:
-                std::cout << "Application Exited" << std::endl;
-                exit(0);
-                break;
-            default:
-                std::cout << "Invalid choice" << std::endl;
-        }
-    }
-}
--- a/examples/c++/CMakeLists.txt
+++ b/examples/c++/CMakeLists.txt
@ -3,10 +3,16 @@ file (GLOB example_src_list RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cxx")

 # - Handle special cases here --------------------------------------------------

-# Test temperature interface for 2 sensor libraries
-add_example(iTemperature_sample.cxx TARGETS interfaces lm35 abp)
-# Test light interface for 3 sensor libraries
-add_example(iLight_sample.cxx TARGETS interfaces apds9002 bh1750 max44009)
+# 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})
--- a/examples/c++/a110x-intr.cxx
+++ b/examples/c++/a110x-intr.cxx
@ -22,58 +22,55 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include <stddef.h>
-
 #include "a110x.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

 // Our pulse counter
 volatile unsigned int counter = 0;

 // Our interrupt handler
-void
-hallISR(void* arg)
+void hallISR(void *arg)
 {
-    counter++;
+  counter++;
 }

-int
-main()
+int main ()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate an A110X sensor on digital pin D2
-    upm::A110X hall(2);
+//! [Interesting]
+  // Instantiate an A110X sensor on digital pin D2
+  upm::A110X* hall = new upm::A110X(2);
+  
+  // This example uses a user-supplied interrupt handler to count
+  // pulses that occur when a magnetic field of the correct polarity
+  // is detected.  This could be used to measure the rotations per
+  // minute (RPM) of a rotor for example.

-    // This example uses a user-supplied interrupt handler to count
-    // pulses that occur when a magnetic field of the correct polarity
-    // is detected.  This could be used to measure the rotations per
-    // minute (RPM) of a rotor for example.
+  hall->installISR(hallISR, NULL);

-    hall.installISR(hallISR, NULL);
+  while (shouldRun)
+    {
+      cout << "Pulses detected: " << counter << endl;

-    while (shouldRun) {
-        cout << "Pulses detected: " << counter << endl;
-
-        upm_delay(1);
+      sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete hall;
+  return 0;
 }
--- a/examples/c++/a110x.cxx
+++ b/examples/c++/a110x.cxx
@ -22,46 +22,46 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "a110x.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate an A110X sensor on digital pin D2
-    upm::A110X hall(2);
+//! [Interesting]
+  // Instantiate an A110X sensor on digital pin D2
+  upm::A110X* hall = new upm::A110X(2);
+  
+  // check every second for the presence of a magnetic field (south
+  // polarity)
+  while (shouldRun)
+    {
+      bool val = hall->magnetDetected();
+      if (val)
+        cout << "Magnet (south polarity) detected." << endl;
+      else
+        cout << "No magnet detected." << endl;

-    // check every second for the presence of a magnetic field (south
-    // polarity)
-    while (shouldRun) {
-        bool val = hall.magnetDetected();
-        if (val)
-            cout << "Magnet (south polarity) detected." << endl;
-        else
-            cout << "No magnet detected." << endl;
-
-        upm_delay(1);
+      sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete hall;
+  return 0;
 }
--- a/examples/c++/abp.cxx
+++ b/examples/c++/abp.cxx
@ -21,42 +21,41 @@
 * 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 "abp.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
    if (signo == SIGINT)
        shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
    signal(SIGINT, sig_handler);

-    //! [Interesting]
+//! [Interesting]
    // Instantiate an ABP sensor on i2c bus 0
-    upm::ABP abp(0, ABP_DEFAULT_ADDRESS);
+    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;
+        abp->update();
+        cout << "Retrieved pressure: " << abp->getPressure() << endl;
+        cout << "Retrieved Temperature: " << abp->getTemperature() << endl;

-        upm_delay(1);
+        sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

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

+    delete abp;
    return 0;
 }
--- a/examples/c++/ad8232.cxx
+++ b/examples/c++/ad8232.cxx
@ -22,45 +22,44 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "ad8232.hpp"
-#include "upm_utilities.h"

 using namespace std;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+int main()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate a Ad8232 sensor on digital pins 10 (LO+), 11 (LO-)
-    // and an analog pin, 0 (OUTPUT)
-    upm::AD8232 ad8232(10, 11, 0);
-
-    // Output the raw numbers from the ADC, for plotting elsewhere.
-    // A return of 0 indicates a Lead Off (LO) condition.
-    // In theory, this data could be fed to software like Processing
-    // (https://www.processing.org/) to plot the data just like an
-    // EKG you would see in a hospital.
-    while (shouldRun) {
-        cout << ad8232.value() << endl;
-        upm_delay_us(1000);
+//! [Interesting]
+  // Instantiate a Ad8232 sensor on digital pins 10 (LO+), 11 (LO-)
+  // and an analog pin, 0 (OUTPUT)
+  upm::AD8232 *ad8232 = new upm::AD8232(10, 11, 0);
+  
+  // Output the raw numbers from the ADC, for plotting elsewhere.
+  // A return of 0 indicates a Lead Off (LO) condition.
+  // In theory, this data could be fed to software like Processing 
+  // (https://www.processing.org/) to plot the data just like an 
+  // EKG you would see in a hospital.
+  while (shouldRun)
+    {
+      cout << ad8232->value() << endl;      
+      usleep(1000);
    }
-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    return 0;
+  delete ad8232;
+  return 0;
 }
--- a/examples/c++/adafruitms1438-stepper.cxx
+++ b/examples/c++/adafruitms1438-stepper.cxx
@ -22,56 +22,61 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
+#include <signal.h>
 #include <iostream>
-
 #include "adafruitms1438.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;

-int
-main(int argc, char** argv)
+int main(int argc, char **argv)
 {
-    //! [Interesting]
-    // Instantiate an Adafruit MS 1438 on I2C bus 0
+//! [Interesting]
+  // Instantiate an Adafruit MS 1438 on I2C bus 0

-    upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+  upm::AdafruitMS1438 *ms = 
+    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
+                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);

-    // Setup for use with a stepper motor connected to the M1 & M2 ports
+  // Setup for use with a stepper motor connected to the M1 & M2 ports

-    // set a PWM period of 50Hz
+  // set a PWM period of 50Hz

-    // disable first, to be safe
-    ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+  // disable first, to be safe
+  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);

-    // configure for a NEMA-17, 200 steps per revolution
-    ms.stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
+  // configure for a NEMA-17, 200 steps per revolution
+  ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);

-    // set speed at 10 RPM's
-    ms.setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
-    ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CW);
+  // set speed at 10 RPM's
+  ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
+  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
+                          AdafruitMS1438::DIR_CW);

-    // enable
-    cout << "Enabling..." << endl;
-    ms.enableStepper(AdafruitMS1438::STEPMOTOR_M12);
+  // enable
+  cout << "Enabling..." << endl;
+  ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);

-    cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
-    ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
+  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
+  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);

-    cout << "Sleeping for 2 seconds..." << endl;
-    upm_delay(2);
-    cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." << endl;
+  cout << "Sleeping for 2 seconds..." << endl;
+  sleep(2);
+  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
+       << endl;

-    ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CCW);
-    ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
+  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
+                          AdafruitMS1438::DIR_CCW);
+  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);

-    cout << "Disabling..." << endl;
-    ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+  cout << "Disabling..." << endl;
+  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    //! [Interesting]
+//! [Interesting]

-    return 0;
+  delete ms;
+  return 0;
 }
--- a/examples/c++/adafruitms1438.cxx
+++ b/examples/c++/adafruitms1438.cxx
@ -22,51 +22,54 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
+#include <signal.h>
 #include <iostream>
-
 #include "adafruitms1438.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;

-int
-main(int argc, char** argv)
+int main(int argc, char **argv)
 {
-    //! [Interesting]
-    // Instantiate an Adafruit MS 1438 on I2C bus 0
+//! [Interesting]
+  // Instantiate an Adafruit MS 1438 on I2C bus 0

-    upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+  upm::AdafruitMS1438 *ms = 
+    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
+                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);

-    // Setup for use with a DC motor connected to the M3 port
+  // Setup for use with a DC motor connected to the M3 port

-    // set a PWM period of 50Hz
-    ms.setPWMPeriod(50);
+  // set a PWM period of 50Hz
+  ms->setPWMPeriod(50);

-    // disable first, to be safe
-    ms.disableMotor(AdafruitMS1438::MOTOR_M3);
+  // disable first, to be safe
+  ms->disableMotor(AdafruitMS1438::MOTOR_M3);

-    // set speed at 50%
-    ms.setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
-    ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
+  // set speed at 50%
+  ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
+  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);

-    cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds." << endl;
+  cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
+       << endl;

-    ms.enableMotor(AdafruitMS1438::MOTOR_M3);
+  ms->enableMotor(AdafruitMS1438::MOTOR_M3);

-    upm_delay(3);
+  sleep(3);

-    cout << "Reversing M3" << endl;
-    ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
+  cout << "Reversing M3" << endl;
+  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);

-    upm_delay(3);
+  sleep(3);

-    cout << "Stopping M3" << endl;
-    ms.disableMotor(AdafruitMS1438::MOTOR_M3);
+  cout << "Stopping M3" << endl;
+  ms->disableMotor(AdafruitMS1438::MOTOR_M3);

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    //! [Interesting]
+//! [Interesting]

-    return 0;
+  delete ms;
+  return 0;
 }
--- a/examples/c++/adafruitss.cxx
+++ b/examples/c++/adafruitss.cxx
@ -22,57 +22,56 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+
 /**
 * Description
 * Demo program for Adafruit 16 channel servo shield/controller
 * Physical setup for tests is a single servo attached to one channel.
 * Note - when 3 or more GWS servos attached results unpredictable.
- * Adafruit do recommend a Cap be installed on the board which should alleviate
- * the issue.
+ * Adafruit do recommend a Cap be installed on the board which should alleviate the issue.
 * I (and Adafruit) are unable to give any Capacitor sizing data.
 */

 #include <iostream>
-
 #include "adafruitss.hpp"
-#include "upm_utilities.h"
+#include <unistd.h>

 using namespace std;

-int
-main()
-{
-    int n;
+int main() {

-    //! [Interesting]
-    upm::adafruitss servos(6, 0x40);
+int n;

-    for (;;) {
-        cout << "Setting all to 0" << endl;
-        for (n = 0; n < 16; n++)
-            servos.servo(n, 1, 0); // GWS Mini Servo = Type 1.
-        upm_delay_us(1000000);     // Wait 1 second
+//! [Interesting]
+  upm::adafruitss* servos = new upm::adafruitss(6,0x40);

-        cout << "Setting all to 45" << endl;
-        for (n = 0; n < 16; n++)
-            servos.servo(n, 1, 45);
-        upm_delay_us(1000000); // Wait 1 second
+  for (;;)
+  {
+    cout << "Setting all to 0" << endl;
+    for (n = 0; n < 16; n++)
+        servos->servo(n, 1, 0); // GWS Mini Servo = Type 1.
+    usleep(1000000); // Wait 1 second

-        cout << "Setting all to 90" << endl;
-        for (n = 0; n < 16; n++)
-            servos.servo(n, 1, 90);
-        upm_delay_us(1000000); // Wait 1 second
+    cout << "Setting all to 45" << endl;
+    for (n = 0; n < 16; n++)
+        servos->servo(n, 1, 45);
+    usleep(1000000); // Wait 1 second

-        cout << "Setting all to 135" << endl;
-        for (n = 0; n < 16; n++)
-            servos.servo(n, 1, 135);
-        upm_delay_us(1000000); // Wait 1 second
+    cout << "Setting all to 90" << endl;
+    for (n = 0; n < 16; n++)
+        servos->servo(n, 1, 90);
+    usleep(1000000); // Wait 1 second

-        cout << "Setting all to 180" << endl;
-        for (n = 0; n < 16; n++)
-            servos.servo(n, 1, 160);
-        upm_delay_us(2000000); // Wait 1 second
-    }
-    //! [Interesting]
-    return 0;
+    cout << "Setting all to 135" << endl;
+    for (n = 0; n < 16; n++)
+        servos->servo(n, 1, 135);
+    usleep(1000000); // Wait 1 second
+
+    cout << "Setting all to 180" << endl;
+    for (n = 0; n < 16; n++)
+        servos->servo(n, 1, 160);
+    usleep(2000000); // Wait 1 second
+  }
+//! [Interesting]
+  return 0;
 }
--- a/examples/c++/adc121c021.cxx
+++ b/examples/c++/adc121c021.cxx
@ -22,44 +22,45 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

-#include <iostream>
+#include <unistd.h>
 #include <signal.h>
-
+#include <iostream>
 #include "adc121c021.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

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

-    //! [Interesting]
-    // Instantiate an ADC121C021 on I2C bus 0
+//! [Interesting]
+  // Instantiate an ADC121C021 on I2C bus 0

-    upm::ADC121C021 adc(ADC121C021_I2C_BUS, ADC121C021_DEFAULT_I2C_ADDR);
+  upm::ADC121C021 *adc = new upm::ADC121C021(ADC121C021_I2C_BUS, 
+                                             ADC121C021_DEFAULT_I2C_ADDR);

-    // An analog sensor, such as a Grove light sensor,
-    // must be attached to the adc
-    // Prints the value and corresponding voltage every 50 milliseconds
-    while (shouldRun) {
-        uint16_t val = adc.value();
-        cout << "ADC value: " << val << " Volts = " << adc.valueToVolts(val) << endl;
-        upm_delay_us(50000);
+  // An analog sensor, such as a Grove light sensor,
+  // must be attached to the adc 
+  // Prints the value and corresponding voltage every 50 milliseconds
+  while (shouldRun)
+    {
+      uint16_t val = adc->value();
+      cout << "ADC value: " << val << " Volts = " 
+           << adc->valueToVolts(val) << endl;
+      usleep(50000);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete adc;
+  return 0;
 }
--- a/examples/c++/adis16448.cxx
+++ b/examples/c++/adis16448.cxx
@ -12,12 +12,9 @@
 // This example code runs on an Intel Edison and uses mraa to acquire data
 // from an ADIS16448. This data is then scaled and printed onto the terminal.
 //
-// This software has been tested to connect to an ADIS16448 through a level
-// shifter
-// such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired
-// through
-// the level shifter and the ADIS16448 is also being powered by the Intel
-// Edison.
+// This software has been tested to connect to an ADIS16448 through a level shifter
+// such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired through
+// the level shifter and the ADIS16448 is also being powered by the Intel Edison.
 //
 // Permission is hereby granted, free of charge, to any person obtaining
 // a copy of this software and associated documentation files (the
@ -39,29 +36,31 @@
 // WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 //
 //////////////////////////////////////////////////////////////////////////////////////
+#include <unistd.h>
 #include <iostream>
+#include <signal.h>

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

 int
-main(int argc, char** argv)
+main(int argc, char **argv)
 {
-    while (true) {
-        //! [Interesting]
-        upm::ADIS16448 imu(0, 3); // upm::ADIS16448(SPI,RST)
+    while(true)
+    {
+    //! [Interesting]
+        upm::ADIS16448* imu = new upm::ADIS16448(0,3); //upm::ADIS16448(SPI,RST)

-        // Read the specified register, scale it, and display it on the screen
-        std::cout << "XGYRO_OUT:" << imu.gyroScale(imu.regRead(XGYRO_OUT)) << std::endl;
-        std::cout << "YGYRO_OUT:" << imu.gyroScale(imu.regRead(YGYRO_OUT)) << std::endl;
-        std::cout << "ZGYRO_OUT:" << imu.gyroScale(imu.regRead(ZGYRO_OUT)) << std::endl;
+        //Read the specified register, scale it, and display it on the screen
+        std::cout << "XGYRO_OUT:" << imu->gyroScale(imu->regRead(XGYRO_OUT)) << std::endl;
+        std::cout << "YGYRO_OUT:" << imu->gyroScale(imu->regRead(YGYRO_OUT)) << std::endl;
+        std::cout << "ZGYRO_OUT:" << imu->gyroScale(imu->regRead(ZGYRO_OUT)) << std::endl;
        std::cout << " " << std::endl;
-        std::cout << "XACCL_OUT:" << imu.accelScale(imu.regRead(XACCL_OUT)) << std::endl;
-        std::cout << "YACCL_OUT:" << imu.accelScale(imu.regRead(YACCL_OUT)) << std::endl;
-        std::cout << "ZACCL_OUT:" << imu.accelScale(imu.regRead(ZACCL_OUT)) << std::endl;
+        std::cout << "XACCL_OUT:" << imu->accelScale(imu->regRead(XACCL_OUT)) << std::endl;
+        std::cout << "YACCL_OUT:" << imu->accelScale(imu->regRead(YACCL_OUT)) << std::endl;
+        std::cout << "ZACCL_OUT:" << imu->accelScale(imu->regRead(ZACCL_OUT)) << std::endl;
        std::cout << " " << std::endl;
-        //! [Interesting]
-        upm_delay(1);
+    //! [Interesting]
+        sleep(1);
    }
    return (0);
 }
--- a/examples/c++/ads1x15-adc-sensor.cxx
+++ b/examples/c++/ads1x15-adc-sensor.cxx
@ -22,46 +22,59 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

-#include <exception>
+#include <unistd.h>
 #include <iostream>
-#include <stddef.h>
-
 #include "ads1015.hpp"
 #include "mraa/gpio.hpp"
-#include "upm_utilities.h"

 #define EDISON_I2C_BUS 1
 #define FT4222_I2C_BUS 0
 #define EDISON_GPIO_SI7005_CS 20

-int
-main()
+
+//! [Interesting]
+// Simple example of using IADC to determine
+// which sensor is present and return its name.
+// IADC is then used to get readings from sensor
+
+
+upm::IADC* getADC()
 {
-    /* Create an instance of the ADS1015 sensor */
-    upm::ADS1015 adc(EDISON_I2C_BUS);
-    mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
-    gpio.dir(mraa::DIR_OUT_HIGH);
+   upm::IADC* adc = NULL;
+   try {
+      adc = new upm::ADS1015(EDISON_I2C_BUS);
+      mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
+      gpio.dir(mraa::DIR_OUT_HIGH);
+      return adc;
+   } catch (std::exception& e) {
+      std::cerr << "ADS1015: " << e.what() << std::endl;
+   }
+   return adc;
+}

-    // if (adc == NULL) {
-    //     std::cout << "ADC not detected" << std::endl;
-    //     return 1;
-    // }
-    std::cout << "ADC " << adc.getModuleName() << " detected. ";
-    std::cout << adc.getNumInputs() << " inputs available" << std::endl;
-    while (true) {
-        for (unsigned int i = 0; i < adc.getNumInputs(); ++i) {
-            std::cout << "Input " << i;
-            try {
-                float voltage = adc.getVoltage(i);
-                std::cout << ": Voltage = " << voltage << "V" << std::endl;
-            } catch (std::exception& e) {
-                std::cerr << e.what() << std::endl;
-            }
-        }
-        upm_delay(1);
-    }
-
-    return 0;
+int main ()
+{
+   upm::IADC* adc = getADC();
+   if (adc == NULL) {
+      std::cout << "ADC not detected" << std::endl;
+      return 1;
+   }
+   std::cout << "ADC " << adc->getModuleName() << " detected. " ;
+   std::cout << adc->getNumInputs() << " inputs available" << std::endl;
+   while (true) {
+      for (unsigned int i=0; i<adc->getNumInputs(); ++i) {
+         std::cout << "Input " << i;
+         try {
+            float voltage = adc->getVoltage(i);
+            std::cout << ": Voltage = " << voltage << "V" << std::endl;
+         } catch (std::exception& e) {
+            std::cerr << e.what() << std::endl;
+         }
+      }
+      sleep(1);
+   }
+   delete adc;
+   return 0;
 }

 //! [Interesting]
--- a/examples/c++/ads1x15-ads1015.cxx
+++ b/examples/c++/ads1x15-ads1015.cxx
@ -29,13 +29,11 @@
 */

 #include <fstream>
-#include <iostream>
 #include <string>
 #include <thread>
+#include <unistd.h>

 #include "ads1015.hpp"
-#include "ads1x15.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;
@ -43,41 +41,39 @@ using namespace upm;
 bool running = true; // Controls main read/write loop

 // Thread function
-void
-stop()
+void stop()
 {
-    upm_delay(10);
+    sleep(10);
    running = false;
 }

-int
-main()
+int main()
 {
    //! [Interesting]
-    long id = 0;                        // Sample number
+    long id = 0; // Sample number
    string fileName = "./ads1015.data"; // Output filename
    ofstream f;

    // Initialize and configure the ADS1015
-    ADS1015 ads1015(0, 0x48);
+    ADS1015 *ads1015 = new upm::ADS1015(0, 0x48);

    // Put the ADC into differential mode for pins A0 and A1
-    ads1015.getSample(ADS1X15::DIFF_0_1);
+    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);
+    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);
+    ads1015->setSPS(ADS1015::SPS_3300);
+    ads1015->setContinuous(true);

    // Enable exceptions from the output stream
    f.exceptions(ofstream::failbit | ofstream::badbit);
    // Open the file
-    try {
+    try{
        f.open(fileName);

        // Output formatting
@ -85,18 +81,19 @@ main()
        f.precision(7);

        // Start the thread that will stop logging after 10 seconds
-        thread timer(stop);
+        thread timer (stop);

        // Read sensor data and write it to the output file every ms
-        while (running) {
-            f << id++ << " " << ads1015.getLastSample() << endl;
-            upm_delay_us(1000);
+        while(running){
+            f << id++ << " " << ads1015->getLastSample() << endl;
+            usleep(1000);
        }

        // Clean-up and exit
        timer.join();
        f.close();
-    } catch (ios_base::failure& e) {
+        delete ads1015;
+    } catch (ios_base::failure &e) {
        cout << "Failed to write to file: " << e.what() << endl;
        return 1;
    }
@ -104,3 +101,4 @@ main()
    //! [Interesting]
    return 0;
 }
+
--- a/examples/c++/ads1x15-ads1115.cxx
+++ b/examples/c++/ads1x15-ads1115.cxx
@ -28,13 +28,11 @@
 */

 #include <fstream>
-#include <iostream>
 #include <string>
 #include <thread>
+#include <unistd.h>

 #include "ads1115.hpp"
-#include "ads1x15.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;
@ -42,18 +40,16 @@ using namespace upm;
 bool running = true; // Controls main read/write loop

 // Thread function
-void
-stop()
+void stop()
 {
-    upm_delay(10);
+    sleep(10);
    running = false;
 }

-int
-main()
+int main()
 {
    //! [Interesting]
-    long id = 0;                        // Sample number
+    long id = 0; // Sample number
    string fileName = "./ads1115.data"; // Output filename
    ofstream f;

@ -61,26 +57,26 @@ main()
    // 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(0, 0x48);
+    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);
+    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);
+    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);
+    ads1115->setSPS(ADS1115::SPS_860);
+    ads1115->setContinuous(true);

    // Enable exceptions from the output stream
    f.exceptions(ofstream::failbit | ofstream::badbit);
    // Open the file
-    try {
+    try{
        f.open(fileName);

        // Output formatting
@ -88,18 +84,19 @@ main()
        f.precision(7);

        // Start the thread that will stop logging after 10 seconds
-        thread timer(stop);
+        thread timer (stop);

        // Read sensor data and write it to the output file every ms
-        while (running) {
-            f << id++ << " " << ads1115.getLastSample() << endl;
-            upm_delay_us(1000);
+        while(running){
+            f << id++ << " " << ads1115->getLastSample() << endl;
+            usleep(1000);
        }

        // Clean-up and exit
        timer.join();
        f.close();
-    } catch (ios_base::failure& e) {
+        delete ads1115;
+    } catch (ios_base::failure &e) {
        cout << "Failed to write to file: " << e.what() << endl;
        return 1;
    }
@ -107,3 +104,4 @@ main()
    //! [Interesting]
    return 0;
 }
+
--- a/examples/c++/ads1x15.cxx
+++ b/examples/c++/ads1x15.cxx
@ -22,306 +22,301 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

-#include <iostream>
+#include "mraa.hpp"

+#include <iostream>
+#include <unistd.h>
 #include "ads1015.hpp"
 #include "ads1115.hpp"
-#include "ads1x15.hpp"

-int
-main()
+
+
+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::ADS1115 ads(1, 0x49);
-    float inputVoltage;
-    int ans;

-    do {
-        cout << endl;
-        cout << "1 - get Conversion \t";
-        cout << "2 - get last conversion" << endl;
-        cout << "3 - get Gain \t\t";
-        cout << "4 - set Gain" << endl;
-        ;
-        cout << "5 - get Data Rate \t";
-        cout << "6 - set Data Rate" << endl;
-        cout << "7 - Set Upper Threshold \t";
-        cout << "8 - Set Lower Threshold \t";
-        cout << "9 - Display Thresholds \t";
-        cout << "10 - Set Default Thresholds \t";
-        cout << "11 - Set conversion ready" << endl;
-        cout << "12 - get Comp Que \t";
-        cout << "13 - set Comp Que" << endl;
-        cout << "14 - get Comp Pol \t";
-        cout << "15 - set Comp Pol" << endl;
-        cout << "16 - get Comp mode \t";
-        cout << "17 - set Comp mode " << endl;
-        cout << "18 - get Comp Latch\t";
-        cout << "19 - set Comp Latch " << endl;
-        cout << "20 - get Continuous \t";
-        cout << "21 - set Continuous \t" << endl;
-        cout << "-1 - exit" << endl;
-        cout << "Enter a command: ";
-        cin >> command;
+     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);
+     float inputVoltage;
+     int ans;

-        switch (command) {
-            case 2:
-                cout << ads.getLastSample() << endl;
-                break;
-            case 3:
-                cout << std::hex << ads.getGain() << endl;
-                break;
-            case 5:
-                cout << std::hex << ads.getSPS() << endl;
-                break;
-            case 4:
-                int gain;
-                ADS1015::ADSGAIN set_gain;
-                cout << "select one of the following:" << endl;
-                cout << "1 -> gain 2/3 \t 2 -> gain1 \t 3 -> gain 2" << endl;
-                cout << "4 -> gain 4 \t 5 -> gain 8 \t 6 -> gain 15" << endl;
-                cin >> gain;
-                switch (gain) {
-                    case 1:
-                        set_gain = ADS1X15::GAIN_TWOTHIRDS;
-                        break;
-                    case 2:
-                        set_gain = ADS1X15::GAIN_ONE;
-                        break;
-                    case 3:
-                        set_gain = ADS1X15::GAIN_TWO;
-                        break;
-                    case 4:
-                        set_gain = ADS1X15::GAIN_FOUR;
-                        break;
-                    case 5:
-                        set_gain = ADS1X15::GAIN_EIGHT;
-                        break;
-                    case 6:
-                        set_gain = ADS1X15::GAIN_SIXTEEN;
-                        break;
-                    default:
-                        set_gain = ADS1X15::GAIN_ONE;
-                }
-                ads.setGain(set_gain);
-                break;
-            case 6:
-                int rate;
-                /*ADS1015::ADSDATARATE set_rate;
-          cout << "select one of the following:" << endl;
-          cout << "1 -> SPS_120 \t 2 -> SPS_250 \t 3 -> SPS_490 \t 4 -> SPS_920" <<
-          endl;
-          cout << "5 -> SPS_1600 \t 6 -> SPS_2400 \t 7 -> SPS_3300" << endl;
-          cin >> rate;
-          switch(rate){
-          case 1:
-               set_rate = ADS1015::SPS_128;
-               break;
+     do
+     {
+
+          cout << endl;
+          cout << "1 - get Conversion \t" ;
+          cout << "2 - get last conversion" << endl;
+          cout << "3 - get Gain \t\t";
+          cout << "4 - set Gain"  << endl;;
+          cout << "5 - get Data Rate \t";
+          cout << "6 - set Data Rate" << endl;
+          cout << "7 - Set Upper Threshold \t" ;
+          cout << "8 - Set Lower Threshold \t";
+          cout << "9 - Display Thresholds \t";
+          cout << "10 - Set Default Thresholds \t";
+          cout << "11 - Set conversion ready" << endl;
+          cout << "12 - get Comp Que \t" ;
+          cout << "13 - set Comp Que" << endl;
+          cout << "14 - get Comp Pol \t";
+          cout << "15 - set Comp Pol" << endl;
+          cout << "16 - get Comp mode \t";
+          cout << "17 - set Comp mode " << endl;
+          cout << "18 - get Comp Latch\t";
+          cout << "19 - set Comp Latch " << endl;
+          cout << "20 - get Continuous \t";
+          cout << "21 - set Continuous \t" << endl;
+          cout << "-1 - exit" << endl;
+          cout << "Enter a command: ";
+          cin >> command;
+
+
+          switch(command)
+          {
          case 2:
-               set_rate = ADS1015::SPS_250;
+               cout << ads->getLastSample() << endl;
               break;
          case 3:
-               set_rate = ADS1015::SPS_490;
-               break;
-          case 4:
-               set_rate = ADS1015::SPS_920;
+               cout << std::hex << ads->getGain() << endl;
               break;
          case 5:
-               set_rate = ADS1015::SPS_1600;
+               cout << std::hex << ads->getSPS() << endl;
+               break;
+          case 4:
+               int gain;
+               ADS1015::ADSGAIN set_gain;
+               cout << "select one of the following:" << endl;
+               cout << "1 -> gain 2/3 \t 2 -> gain1 \t 3 -> gain 2" << endl;
+               cout << "4 -> gain 4 \t 5 -> gain 8 \t 6 -> gain 15" << endl;
+               cin >> gain;
+               switch(gain){
+               case 1:
+                    set_gain = ADS1X15::GAIN_TWOTHIRDS;
+                    break;
+               case 2:
+                    set_gain = ADS1X15::GAIN_ONE;
+                    break;
+               case 3:
+                    set_gain = ADS1X15::GAIN_TWO;
+                    break;
+               case 4:
+                    set_gain = ADS1X15::GAIN_FOUR;
+                    break;
+               case 5:
+                    set_gain = ADS1X15::GAIN_EIGHT;
+                    break;
+               case 6:
+                    set_gain = ADS1X15::GAIN_SIXTEEN;
+                    break;
+               default:
+                    set_gain = ADS1X15::GAIN_ONE;
+               }
+               ads->setGain(set_gain);
               break;
          case 6:
-               set_rate = ADS1015::SPS_2400;
+               int rate;
+               /*ADS1015::ADSDATARATE set_rate;
+               cout << "select one of the following:" << endl;
+               cout << "1 -> SPS_120 \t 2 -> SPS_250 \t 3 -> SPS_490 \t 4 -> SPS_920" << endl;
+               cout << "5 -> SPS_1600 \t 6 -> SPS_2400 \t 7 -> SPS_3300" << endl;
+               cin >> rate;
+               switch(rate){
+               case 1:
+                    set_rate = ADS1015::SPS_128;
+                    break;
+               case 2:
+                    set_rate = ADS1015::SPS_250;
+                    break;
+               case 3:
+                    set_rate = ADS1015::SPS_490;
+                    break;
+               case 4:
+                    set_rate = ADS1015::SPS_920;
+                    break;
+               case 5:
+                    set_rate = ADS1015::SPS_1600;
+                    break;
+               case 6:
+                    set_rate = ADS1015::SPS_2400;
+                    break;
+               case 7:
+                    set_rate = ADS1015::SPS_3300;
+                    break;
+               default:
+                    set_rate = ADS1015::SPS_1600;
+               } */
+               ADS1115::ADSDATARATE set_rate;
+               cout << "select one of the following:" << endl;
+               cout << "1 -> SPS_8 \t 2 -> SPS_16 \t 3 -> SPS_32 \t 4 -> SPS_64" << endl;
+               cout << "5 -> SPS_128 \t 6 -> SPS_250 \t 7 -> SPS_475 \t 8-> SPS_860" << endl;
+               cin >> rate;
+               switch(rate){
+               case 1:
+                    set_rate = ADS1115::SPS_8;
+                    break;
+               case 2:
+                    set_rate = ADS1115::SPS_16;
+                    break;
+               case 3:
+                    set_rate = ADS1115::SPS_32;
+                    break;
+               case 4:
+                    set_rate = ADS1115::SPS_64;
+                    break;
+               case 5:
+                    set_rate = ADS1115::SPS_128;
+                    break;
+               case 6:
+                    set_rate = ADS1115::SPS_250;
+                    break;
+               case 7:
+                    set_rate = ADS1115::SPS_475;
+                    break;
+               case 8:
+                    set_rate = ADS1115::SPS_860;
+                    break;
+               default:
+                    set_rate = ADS1115::SPS_128;
+               }
+
+               ads->setSPS(set_rate);
+               break;
+          case 1:
+               int mode;
+               ADS1X15::ADSMUXMODE set_mode;
+               cout << "select one of the following:" << endl;
+               cout << "1 -> MUX_0_1 \t 2 -> MUX_0_3 \t 3 -> MUX_1_3 \t 4 -> MUX_2_3" << endl;
+               cout << "5 -> SINGLE_0 \t 6 -> SINGLE_1 \t 7 -> SINGLE_2 \t 8 -> SINGLE_3" << endl;
+               cin >> mode;
+               switch(mode){
+               case 1:
+                    set_mode = ADS1X15::DIFF_0_1;
+                    break;
+               case 2:
+                    set_mode = ADS1X15::DIFF_0_3;
+                    break;
+               case 3:
+                    set_mode = ADS1X15::DIFF_1_3;
+                    break;
+               case 4:
+                    set_mode = ADS1X15::DIFF_2_3;
+                    break;
+               case 5:
+                    set_mode = ADS1X15::SINGLE_0;
+                    break;
+               case 6:
+                    set_mode = ADS1X15::SINGLE_1;
+                    break;
+               case 7:
+                    set_mode = ADS1X15::SINGLE_2;
+                    break;
+               case 8:
+                    set_mode = ADS1X15::SINGLE_3;
+                    break;
+               default:
+                    set_mode = ADS1X15::DIFF_0_1;
+                    break;
+               }
+               cout << ads->getSample(set_mode) << endl;
               break;
          case 7:
-               set_rate = ADS1015::SPS_3300;
+               cout << " enter a float value: " ;
+               cin >> inputVoltage;
+               ads->setThresh(ADS1115::THRESH_HIGH, inputVoltage);
+               break;
+          case 8:
+               cout << " enter a float value: " ;
+               cin >> inputVoltage;
+               ads->setThresh(ADS1115::THRESH_LOW, inputVoltage);
+               break;
+          case 9:
+               cout << "Upper " << ads->getThresh(ADS1X15::THRESH_HIGH) << endl;
+               cout << "Lower " << ads->getThresh(ADS1X15::THRESH_LOW) << endl;
+               break;
+          case 10:
+               ads->setThresh(ADS1115::THRESH_DEFAULT);
+               break;
+          case 11:
+               ads->setThresh(ADS1015::CONVERSION_RDY);
+               break;
+          case 12:
+               cout << ads->getCompQue() << endl;
+               break;
+          case 13:
+               int que;
+               cout << "select one of the following:" << endl;
+               cout << "1 -> CQUE_1CONV \t 2 -> CQUE_2CONV \t 3 -> CQUE_3CONV \t 4 -> CQUE_NONE" << endl;
+               cin >> que;
+               switch(que){
+               case 1:
+                    ads->setCompQue(ADS1X15::CQUE_1CONV);
+                    break;
+               case 2:
+                    ads->setCompQue(ADS1X15::CQUE_2CONV);
+                    break;
+               case 3:
+                    ads->setCompQue(ADS1X15::CQUE_4CONV);
+                    break;
+               case 4:
+               default:
+                    ads->setCompQue(ADS1X15::CQUE_NONE);
+                    break;
+               }
+               break;
+          case 14:
+               cout << ads->getCompPol() << endl;
+               break;
+          case 15:
+               cout << "select one of the following:" << endl;
+               cout << "1 -> active high \t 2 -> active low" << endl;
+               cin >> ans;
+               if(ans == 1) ads->setCompPol(true);
+                else ads->setCompPol(false);
+               break;
+          case 16:
+               cout << ads->getCompMode() << endl;
+               break;
+          case 17:
+               cout << "select one of the following:" << endl;
+               cout << "1 -> Window \t 2 -> Traditional (default)" << endl;
+               cin >> ans;
+               if(ans == 1) ads->setCompMode(true);
+                else ads->setCompMode();
+               break;
+          case 18:
+               cout << ads->getCompLatch() << endl;
+               break;
+          case 19:
+               cout << "select one of the following:" << endl;
+               cout << "1 -> Latching  \t 2 -> Non-latching (default)" << endl;
+               cin >> ans;
+               if(ans == 1) ads->setCompLatch(true);
+                else ads->setCompLatch();
+               break;
+          case 20:
+               cout << ads->getContinuous() << endl;
+               break;
+          case 21:
+               cout << "select one of the following:" << endl;
+               cout << "1 -> Power Down (default)  \t 2 -> Continuous" << endl;
+               cin >> ans;
+               if(ans == 1) ads->setContinuous(true);
+                else ads->setContinuous();
+               break;
+          case -1:
               break;
          default:
-               set_rate = ADS1015::SPS_1600;
-          } */
-                ADS1115::ADSDATARATE set_rate;
-                cout << "select one of the following:" << endl;
-                cout << "1 -> SPS_8 \t 2 -> SPS_16 \t 3 -> SPS_32 \t 4 -> SPS_64" << endl;
-                cout << "5 -> SPS_128 \t 6 -> SPS_250 \t 7 -> SPS_475 \t 8-> SPS_860" << endl;
-                cin >> rate;
-                switch (rate) {
-                    case 1:
-                        set_rate = ADS1115::SPS_8;
-                        break;
-                    case 2:
-                        set_rate = ADS1115::SPS_16;
-                        break;
-                    case 3:
-                        set_rate = ADS1115::SPS_32;
-                        break;
-                    case 4:
-                        set_rate = ADS1115::SPS_64;
-                        break;
-                    case 5:
-                        set_rate = ADS1115::SPS_128;
-                        break;
-                    case 6:
-                        set_rate = ADS1115::SPS_250;
-                        break;
-                    case 7:
-                        set_rate = ADS1115::SPS_475;
-                        break;
-                    case 8:
-                        set_rate = ADS1115::SPS_860;
-                        break;
-                    default:
-                        set_rate = ADS1115::SPS_128;
-                }

-                ads.setSPS(set_rate);
-                break;
-            case 1:
-                int mode;
-                ADS1X15::ADSMUXMODE set_mode;
-                cout << "select one of the following:" << endl;
-                cout << "1 -> MUX_0_1 \t 2 -> MUX_0_3 \t 3 -> MUX_1_3 \t 4 -> MUX_2_3" << endl;
-                cout << "5 -> SINGLE_0 \t 6 -> SINGLE_1 \t 7 -> SINGLE_2 \t 8 -> "
-                        "SINGLE_3"
-                     << endl;
-                cin >> mode;
-                switch (mode) {
-                    case 1:
-                        set_mode = ADS1X15::DIFF_0_1;
-                        break;
-                    case 2:
-                        set_mode = ADS1X15::DIFF_0_3;
-                        break;
-                    case 3:
-                        set_mode = ADS1X15::DIFF_1_3;
-                        break;
-                    case 4:
-                        set_mode = ADS1X15::DIFF_2_3;
-                        break;
-                    case 5:
-                        set_mode = ADS1X15::SINGLE_0;
-                        break;
-                    case 6:
-                        set_mode = ADS1X15::SINGLE_1;
-                        break;
-                    case 7:
-                        set_mode = ADS1X15::SINGLE_2;
-                        break;
-                    case 8:
-                        set_mode = ADS1X15::SINGLE_3;
-                        break;
-                    default:
-                        set_mode = ADS1X15::DIFF_0_1;
-                        break;
-                }
-                cout << ads.getSample(set_mode) << endl;
-                break;
-            case 7:
-                cout << " enter a float value: ";
-                cin >> inputVoltage;
-                ads.setThresh(ADS1115::THRESH_HIGH, inputVoltage);
-                break;
-            case 8:
-                cout << " enter a float value: ";
-                cin >> inputVoltage;
-                ads.setThresh(ADS1115::THRESH_LOW, inputVoltage);
-                break;
-            case 9:
-                cout << "Upper " << ads.getThresh(ADS1X15::THRESH_HIGH) << endl;
-                cout << "Lower " << ads.getThresh(ADS1X15::THRESH_LOW) << endl;
-                break;
-            case 10:
-                ads.setThresh(ADS1115::THRESH_DEFAULT);
-                break;
-            case 11:
-                ads.setThresh(ADS1015::CONVERSION_RDY);
-                break;
-            case 12:
-                cout << ads.getCompQue() << endl;
-                break;
-            case 13:
-                int que;
-                cout << "select one of the following:" << endl;
-                cout << "1 -> CQUE_1CONV \t 2 -> CQUE_2CONV \t 3 -> CQUE_3CONV \t 4 -> "
-                        "CQUE_NONE"
-                     << endl;
-                cin >> que;
-                switch (que) {
-                    case 1:
-                        ads.setCompQue(ADS1X15::CQUE_1CONV);
-                        break;
-                    case 2:
-                        ads.setCompQue(ADS1X15::CQUE_2CONV);
-                        break;
-                    case 3:
-                        ads.setCompQue(ADS1X15::CQUE_4CONV);
-                        break;
-                    case 4:
-                    default:
-                        ads.setCompQue(ADS1X15::CQUE_NONE);
-                        break;
-                }
-                break;
-            case 14:
-                cout << ads.getCompPol() << endl;
-                break;
-            case 15:
-                cout << "select one of the following:" << endl;
-                cout << "1 -> active high \t 2 -> active low" << endl;
-                cin >> ans;
-                if (ans == 1)
-                    ads.setCompPol(true);
-                else
-                    ads.setCompPol(false);
-                break;
-            case 16:
-                cout << ads.getCompMode() << endl;
-                break;
-            case 17:
-                cout << "select one of the following:" << endl;
-                cout << "1 -> Window \t 2 -> Traditional (default)" << endl;
-                cin >> ans;
-                if (ans == 1)
-                    ads.setCompMode(true);
-                else
-                    ads.setCompMode();
-                break;
-            case 18:
-                cout << ads.getCompLatch() << endl;
-                break;
-            case 19:
-                cout << "select one of the following:" << endl;
-                cout << "1 -> Latching  \t 2 -> Non-latching (default)" << endl;
-                cin >> ans;
-                if (ans == 1)
-                    ads.setCompLatch(true);
-                else
-                    ads.setCompLatch();
-                break;
-            case 20:
-                cout << ads.getContinuous() << endl;
-                break;
-            case 21:
-                cout << "select one of the following:" << endl;
-                cout << "1 -> Power Down (default)  \t 2 -> Continuous" << endl;
-                cin >> ans;
-                if (ans == 1)
-                    ads.setContinuous(true);
-                else
-                    ads.setContinuous();
-                break;
-            case -1:
-                break;
-            default:
+               break;
+          }

-                break;
-        }
-    } while (command != -1);
+     }while (command != -1 );

-    //! [Interesting]
+     delete ads;
+     //! [Interesting]

-    return 0;
+     return 0;
 }
--- a/examples/c++/adxl335.cxx
+++ b/examples/c++/adxl335.cxx
@ -22,58 +22,57 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include <string>
-
 #include "adxl335.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
-    upm::ADXL335 accel(0, 1, 2);
+//! [Interesting]
+  // Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
+  upm::ADXL335* accel = new upm::ADXL335(0, 1, 2);

-    cout << "Please make sure the sensor is completely still. Sleeping for"
-         << " 2 seconds." << endl;
-    upm_delay(2);
-    cout << "Calibrating..." << endl;
+  cout << "Please make sure the sensor is completely still. Sleeping for"
+       << " 2 seconds." << endl;
+  sleep(2);
+  cout << "Calibrating..." << endl;

-    accel.calibrate();
+  accel->calibrate();
+  
+  while (shouldRun)
+    {
+      int x, y, z;
+      float aX, aY, aZ;

-    while (shouldRun) {
-        int x, y, z;
-        float aX, aY, aZ;
+      accel->values(&x, &y, &z);
+      cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;

-        accel.values(&x, &y, &z);
-        cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
+      accel->acceleration(&aX, &aY, &aZ);
+      cout << "Acceleration: X: " << aX << "g" << endl;
+      cout << "Acceleration: Y: " << aY << "g" << endl;
+      cout << "Acceleration: Z: " << aZ << "g" << endl;
+      cout << endl;

-        accel.acceleration(&aX, &aY, &aZ);
-        cout << "Acceleration: X: " << aX << "g" << endl;
-        cout << "Acceleration: Y: " << aY << "g" << endl;
-        cout << "Acceleration: Z: " << aZ << "g" << endl;
-        cout << endl;
-
-        upm_delay_us(200000);
+      usleep(200000);
    }
-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    return 0;
+  delete accel;
+  return 0;
 }
--- a/examples/c++/adxl345.cxx
+++ b/examples/c++/adxl345.cxx
@ -22,32 +22,30 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

-#include <stdio.h>
-
+#include <unistd.h>
 #include "adxl345.hpp"
-#include "upm_utilities.h"

 int
-main(int argc, char** argv)
+main(int argc, char **argv)
 {
-    //! [Interesting]
-    int16_t* raw;
-    float* acc;
+//! [Interesting]
+    int16_t *raw;
+    float *acc;

    // Note: Sensor only works at 3.3V on the Intel Edison with Arduino breakout
-    upm::Adxl345 accel(0);
+    upm::Adxl345* accel = new upm::Adxl345(0);

-    while (true) {
-        accel.update();                // Update the data
-        raw = accel.getRawValues();    // Read raw sensor data
-        acc = accel.getAcceleration(); // Read acceleration (g)
-        fprintf(stdout, "Current scale: 0x%2xg\n", accel.getScale());
+    while(true){
+        accel->update(); // Update the data
+        raw = accel->getRawValues(); // Read raw sensor data
+        acc = accel->getAcceleration(); // Read acceleration (g)
+        fprintf(stdout, "Current scale: 0x%2xg\n", accel->getScale());
        fprintf(stdout, "Raw: %6d %6d %6d\n", raw[0], raw[1], raw[2]);
        fprintf(stdout, "AccX: %5.2f g\n", acc[0]);
        fprintf(stdout, "AccY: %5.2f g\n", acc[1]);
        fprintf(stdout, "AccZ: %5.2f g\n", acc[2]);
-        upm_delay(1);
+        sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]
    return 0;
 }
--- a/examples/c++/adxrs610.cxx
+++ b/examples/c++/adxrs610.cxx
@ -22,51 +22,50 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "adxrs610.hpp"
-#include "upm_utilities.h"

 using namespace std;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+int main()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
+//! [Interesting]

-    // Instantiate a ADXRS610 sensor on analog pin A0 (dataout), and
-    // analog A1 (temp out) with an analog reference voltage of
-    // 5.0
-    upm::ADXRS610 sensor(0, 1, 5.0);
+  // Instantiate a ADXRS610 sensor on analog pin A0 (dataout), and
+  // analog A1 (temp out) with an analog reference voltage of
+  // 5.0
+  upm::ADXRS610 *sensor = new upm::ADXRS610(0, 1, 5.0);
+  
+  // set a deadband region around the zero point to report 0.0 (optional)
+  sensor->setDeadband(0.015);

-    // set a deadband region around the zero point to report 0.0 (optional)
-    sensor.setDeadband(0.015);
+  // Every tenth of a second, sample the ADXRS610 and output it's
+  // corresponding temperature and angular velocity 

-    // Every tenth of a second, sample the ADXRS610 and output it's
-    // corresponding temperature and angular velocity
-
-    while (shouldRun) {
-        cout << "Vel (deg/s): " << sensor.getAngularVelocity() << endl;
-        cout << "Temp (C): " << sensor.getTemperature() << endl;
-
-        upm_delay_us(100000);
+  while (shouldRun)
+    {
+      cout << "Vel (deg/s): " << sensor->getAngularVelocity() << endl;
+      cout << "Temp (C): " << sensor->getTemperature() << endl;
+      
+      usleep(100000);
    }

-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    return 0;
+  delete sensor;
+  return 0;
 }
--- a/examples/c++/am2315.cxx
+++ b/examples/c++/am2315.cxx
@ -22,15 +22,16 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include <stdio.h>

 #include "am2315.hpp"
-#include "upm_utilities.h"

 volatile int doWork = 0;

+upm::AM2315 *sensor = NULL;
+
 void
 sig_handler(int signo)
 {
@ -41,30 +42,34 @@ sig_handler(int signo)
 }

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

    //! [Interesting]
-    float humidity = 0.0;
+    float humidity    = 0.0;
    float temperature = 0.0;

-    upm::AM2315 sensor(0, AM2315_I2C_ADDRESS);
+    sensor = new upm::AM2315(0, AM2315_I2C_ADDRESS);

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

    while (!doWork) {
-        humidity = sensor.getHumidity();
-        temperature = sensor.getTemperature();
+        humidity    = sensor->getHumidity();
+        temperature = sensor->getTemperature();

-        std::cout << "humidity value = " << humidity << ", temperature value = " << temperature
-                  << std::endl;
-        upm_delay_us(500000);
+        std::cout << "humidity value = " <<
+                    humidity <<
+                    ", temperature value = " <<
+                    temperature << std::endl;
+        usleep (500000);
    }
    //! [Interesting]

    std::cout << "exiting application" << std::endl;

+    delete sensor;
+
    return 0;
 }
--- a/examples/c++/apa102.cxx
+++ b/examples/c++/apa102.cxx
@ -23,6 +23,9 @@
 */

 #include "apa102.hpp"
+#include <iostream>
+#include <signal.h>
+#include <unistd.h>

 using namespace std;

@ -31,17 +34,18 @@ main(int argc, char** argv)
 {
    //! [Interesting]
    // Instantiate a strip of 30 LEDs on SPI bus 0
-    upm::APA102 ledStrip(800, 0);
+    upm::APA102* ledStrip = new upm::APA102(800, 0);

    // Set all LEDs to Red
-    ledStrip.setAllLeds(31, 255, 0, 0);
+    ledStrip->setAllLeds(31, 255, 0, 0);

    // Set a section (10 to 20) to blue
-    ledStrip.setLeds(10, 20, 31, 0, 0, 255);
+    ledStrip->setLeds(10, 20, 31, 0, 0, 255);

    // Set a single LED to green
-    ledStrip.setLed(15, 31, 0, 255, 0);
+    ledStrip->setLed(15, 31, 0, 255, 0);

+    delete ledStrip;
    //! [Interesting]
    return 0;
 }
--- a/examples/c++/apds9002.cxx
+++ b/examples/c++/apds9002.cxx
@ -22,41 +22,41 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "apds9002.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate a Grove Luminance sensor on analog pin A0
-    upm::APDS9002 luminance(0);
+//! [Interesting]
+  // Instantiate a Grove Luminance sensor on analog pin A0
+  upm::APDS9002* luminance = new upm::APDS9002(0);
+  
+  while (shouldRun)
+    {
+      int val = luminance->value();
+      cout << "Luminance value is " << val << endl;

-    while (shouldRun) {
-        int val = luminance.value();
-        cout << "Luminance value is " << val << endl;
-
-        upm_delay(1);
+      sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    return 0;
+  delete luminance;
+  return 0;
 }
--- a/examples/c++/apds9930.cxx
+++ b/examples/c++/apds9930.cxx
@ -22,11 +22,10 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "apds9930.hpp"
-#include "upm_utilities.h"

 using namespace std;

@ -45,30 +44,31 @@ main()
    signal(SIGINT, sig_handler);
    //! [Interesting]
    // Instantiate a Digital Proximity and Ambient Light sensor on iio device 4
-    upm::APDS9930 light_proximity(4);
+    upm::APDS9930* light_proximity = new upm::APDS9930(4);

-    // Kernel driver implement upm_delay 5000-5100us after enable illuminance
-    // sensor
-    light_proximity.enableIlluminance(true);
+    // Kernel driver implement sleep 5000-5100us after enable illuminance sensor
+    light_proximity->enableIlluminance(true);

-    // Kernel driver implement upm_delay 5000-5100us after enable proximity sensor
-    light_proximity.enableProximity(true);
+    // Kernel driver implement sleep 5000-5100us after enable proximity sensor
+    light_proximity->enableProximity(true);

    // Tested this value works. Please change it on your platform
-    upm_delay_us(120000);
+    usleep(120000);

    while (shouldRun) {
-        float lux = light_proximity.getAmbient();
+        float lux = light_proximity->getAmbient();
        cout << "Luminance value is " << lux << endl;
-        float proximity = light_proximity.getProximity();
+        float proximity = light_proximity->getProximity();
        cout << "Proximity value is " << proximity << endl;
-        upm_delay(1);
+        sleep(1);
    }
-    light_proximity.enableProximity(false);
-    light_proximity.enableIlluminance(false);
+    light_proximity->enableProximity(false);
+    light_proximity->enableIlluminance(false);
    //! [Interesting]

    cout << "Exiting" << endl;

+    delete light_proximity;
+
    return 0;
 }
--- a/examples/c++/at42qt1070.cxx
+++ b/examples/c++/at42qt1070.cxx
@ -22,68 +22,69 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

-#include <iostream>
+#include <unistd.h>
 #include <signal.h>
-
+#include <iostream>
 #include "at42qt1070.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-void
-printButtons(upm::AT42QT1070& touch)
+void printButtons(upm::AT42QT1070 *touch)
 {
-    bool buttonPressed = false;
-    uint8_t buttons = touch.getButtons();
+  bool buttonPressed = false;
+  uint8_t buttons = touch->getButtons();

-    cout << "Buttons Pressed: ";
-    for (int i = 0; i < 7; i++) {
-        if (buttons & (1 << i)) {
-            cout << i << " ";
-            buttonPressed = true;
+  cout << "Buttons Pressed: ";
+  for (int i=0; i<7; i++)
+    {
+      if (buttons & (1 << i))
+        {
+          cout << i << " ";
+          buttonPressed = true;
        }
    }

-    if (!buttonPressed)
-        cout << "None";
+  if (!buttonPressed)
+    cout << "None";

-    cout << endl;
+  cout << endl;

-    if (touch.isCalibrating())
-        cout << "Calibration is occurring." << endl;
+  if (touch->isCalibrating())
+    cout << "Calibration is occurring." << endl;

-    if (touch.isOverflowed())
-        cout << "Overflow was detected." << endl;
+  if (touch->isOverflowed())
+    cout << "Overflow was detected." << endl;
 }

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

-    //! [Interesting]
-    // Instantiate an AT42QT1070 on I2C bus 0
+//! [Interesting]
+  // Instantiate an AT42QT1070 on I2C bus 0

-    upm::AT42QT1070 touch(AT42QT1070_I2C_BUS, AT42QT1070_DEFAULT_I2C_ADDR);
+  upm::AT42QT1070 *touch = new upm::AT42QT1070(AT42QT1070_I2C_BUS, 
+                                               AT42QT1070_DEFAULT_I2C_ADDR);

-    while (shouldRun) {
-        touch.updateState();
-        printButtons(touch);
-        upm_delay_us(100000);
+  while (shouldRun)
+    {
+      touch->updateState();
+      printButtons(touch);
+      usleep(100000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete touch;
+  return 0;
 }
--- a/examples/c++/bh1749.cxx
+++ b/examples/c++/bh1749.cxx
@ -1,71 +0,0 @@
-/*
-* The MIT License (MIT)
-*
-* Author: Assam Boudjelthia
-* Copyright (c) 2018 Rohm Semiconductor.
-*
-* 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 <stdexcept>
-#include <signal.h>
-#include <vector>
-#include "bh1749.hpp"
-#include "upm_utilities.h"
-
-bool isStopped;
-upm::BH1749 dev;
-
-void signal_int_handler(int signo)
-{
-    if (signo == SIGINT)
-        isStopped = true;
-}
-
-//! [Interesting]
-void PrintData(void *args)
-{
-    std::vector<uint16_t> result = dev.GetMeasurements();
-    std::cout << "R: " << result.at(0) <<
-                ", G: " << result.at(1) <<
-                ", B: " << result.at(2) <<
-                ", IR: " << result.at(3) <<
-                ", G2: " << result.at(4) << std::endl;
-    dev.ResetInterrupt();
-}
-
-int main(int argc, char **argv)
-{
-    signal(SIGINT, signal_int_handler);
-    dev.SoftReset();
-    dev.SensorInit(INT_JUDGE_1, MEAS_240MS, RGB_GAIN_1X, IR_GAIN_1X, RED);
-    dev.SetThresholdHigh(511);
-    std::cout << "Installing ISR" << std::endl;
-    dev.InstallISR(MRAA_GPIO_EDGE_FALLING, 33, &PrintData, NULL);
-    dev.EnableInterrupt();
-    dev.Enable();
-
-    while(!isStopped) {
-        upm_delay_ms(1000);
-    }
-
-    return 0;
-}
-//! [Interesting]
--- a/examples/c++/bh1750.cxx
+++ b/examples/c++/bh1750.cxx
@ -22,45 +22,44 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bh1750.hpp"
-#include "upm_utilities.h"

 using namespace std;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+int main()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
+//! [Interesting]

-    // Instantiate a BH1750 sensor using defaults (I2C bus (0), using
-    // the default I2C address (0x23), and setting the mode to highest
-    // resolution, lowest power mode).
-    upm::BH1750 sensor;
+  // Instantiate a BH1750 sensor using defaults (I2C bus (0), using
+  // the default I2C address (0x23), and setting the mode to highest
+  // resolution, lowest power mode).
+  upm::BH1750 *sensor = new upm::BH1750();

-    // Every second, sample the BH1750 and output the measured lux value
+  // Every second, sample the BH1750 and output the measured lux value

-    while (shouldRun) {
-        cout << "Detected Light Level (lux): " << sensor.getLux() << endl;
-        upm_delay(1);
+  while (shouldRun)
+    {
+      cout << "Detected Light Level (lux): " << sensor->getLux() << endl;
+      sleep(1);
    }

-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting" << endl;
+  cout << "Exiting" << endl;

-    return 0;
+  delete sensor;
+  return 0;
 }
--- a/examples/c++/bh1792.cxx
+++ b/examples/c++/bh1792.cxx
@ -1,81 +0,0 @@
-/*
-* The MIT License (MIT)
-*
-* Author: Assam Boudjelthia
-* Copyright (c) 2018 Rohm Semiconductor.
-*
-* 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 <signal.h>
-#include  <sys/time.h>
-#include "bh1792.hpp"
-#include "upm_utilities.h"
-
-bool isStopped;
-upm::BH1792 dev;
-
-void signal_int_handler(int signo)
-{
-    if (signo == SIGINT)
-        isStopped = true;
-}
-
-//! [Interesting]
-void PrintData(void *args)
-{
-    std::vector<std::vector<int>> fifo;
-    struct timespec now;
-
-    clock_gettime(CLOCK_MONOTONIC_RAW, &now);
-    try {
-        fifo = dev.GetFifoData();
-
-        std::cout << "\nHeart beat sensor FIFO data:" << std::endl;
-        for(int i = 0; i < 32; i++)
-            std::cout << i << ": off: " << fifo.at(i).at(0) << ", on: " <<
-                        fifo.at(i).at(1) << std::endl;
-
-        std::cout << "timestamp " << now.tv_sec << " sec, " << now.tv_nsec <<
-                    " nsec" << std::endl;
-    } catch (std::exception& e) {
-        std::cout << "Failed to read FIFO data" << std::endl;
-        throw;
-    }
-}
-
-int main(int argc, char **argv)
-{
-    float measTime;
-
-    signal(SIGINT, signal_int_handler);
-    dev.SoftReset();
-    dev.EnableSyncMode(256, 32);
-    std::cout << "Installing ISR" << std::endl;
-    dev.InstallISR(MRAA_GPIO_EDGE_FALLING, 33, &PrintData, NULL);
-    measTime = dev.GetMeasurementTimeMS();
-    dev.StartMeasurement();
-
-    while(!isStopped) {
-        usleep(measTime * 1000);
-    }
-
-    return 0;
-}
-//! [Interesting]
--- a/examples/c++/biss0001.cxx
+++ b/examples/c++/biss0001.cxx
@ -22,47 +22,47 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "biss0001.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
-    signal(SIGINT, sig_handler);
+  signal(SIGINT, sig_handler);

-    //! [Interesting]
-    // Instantiate a Grove Motion sensor on GPIO pin D2
-    upm::BISS0001 motion(2);
+//! [Interesting]
+  // Instantiate a Grove Motion sensor on GPIO pin D2
+  upm::BISS0001* motion = new upm::BISS0001(2);
+  
+  while (shouldRun)
+  {
+      bool val = motion->value();

-    while (shouldRun) {
-        bool val = motion.value();
+      if (val)
+        cout << "Detecting moving object";
+      else
+        cout << "No moving objects detected";

-        if (val)
-            cout << "Detecting moving object";
-        else
-            cout << "No moving objects detected";
+      cout << endl;

-        cout << endl;
+      sleep(1);
+  }
+//! [Interesting]

-        upm_delay(1);
-    }
-    //! [Interesting]
+  cout << "Exiting" << endl;

-    cout << "Exiting" << endl;
-
-    return 0;
+  delete motion;
+  return 0;
 }
--- a/examples/c++/bma220.cxx
+++ b/examples/c++/bma220.cxx
@ -22,48 +22,49 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bma220.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
-    upm::BMA220 sensor;
+  // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
+  upm::BMA220 *sensor = new upm::BMA220();

-    // Output data every half second until interrupted
-    while (shouldRun) {
-        sensor.update();
+  // Output data every half second until interrupted
+  while (shouldRun)
+    {
+      sensor->update();
+      
+      float x, y, z;
+      
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer: ";
+      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;

-        float x, y, z;
-
-        sensor.getAccelerometer(&x, &y, &z);
-        cout << "Accelerometer: ";
-        cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
-
-        upm_delay_us(500000);
+      usleep(500000);
    }

-    //! [Interesting]
+//! [Interesting]

-    cout << "Exiting..." << endl;
-
-    return 0;
+  cout << "Exiting..." << endl;
+  
+  delete sensor;
+  
+  return 0;
 }
--- a/examples/c++/bma250e.cxx
+++ b/examples/c++/bma250e.cxx
@ -22,56 +22,60 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bma250e.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMA250E using default I2C parameters
-    upm::BMA250E sensor;
+  // Instantiate an BMA250E using default I2C parameters
+  upm::BMA250E sensor;

-    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-    // for CS: BMA250E(0, -1, 10);
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMA250E(0, -1, 10);

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

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

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

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

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bmg160.cxx
+++ b/examples/c++/bmg160.cxx
@ -22,56 +22,60 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmg160.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMG160 using default I2C parameters
-    upm::BMG160 sensor;
+  // Instantiate an BMG160 using default I2C parameters
+  upm::BMG160 sensor;

-    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-    // for CS: BMG160(0, -1, 10);
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMG160(0, -1, 10);

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

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

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

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

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bmi160.cxx
+++ b/examples/c++/bmi160.cxx
@ -22,57 +22,61 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmi160.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate a BMI160 instance using default i2c bus and address
-    upm::BMI160 sensor;
+  // Instantiate a BMI160 instance using default i2c bus and address
+  upm::BMI160 *sensor = new upm::BMI160();

-    while (shouldRun) {
-        // update our values from the sensor
-        sensor.update();
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();

-        float dataX, dataY, dataZ;
+      float dataX, dataY, dataZ;

-        sensor.getAccelerometer(&dataX, &dataY, &dataZ);
-        cout << "Accelerometer: ";
-        cout << "AX: " << dataX << " AY: " << dataY << " AZ: " << dataZ << endl;
+      sensor->getAccelerometer(&dataX, &dataY, &dataZ);
+      cout << "Accelerometer: ";
+      cout << "AX: " << dataX << " AY: " << dataY << " AZ: "
+           << dataZ << endl;

-        sensor.getGyroscope(&dataX, &dataY, &dataZ);
-        cout << "Gryoscope:     ";
-        cout << "GX: " << dataX << " GY: " << dataY << " GZ: " << dataZ << endl;
+      sensor->getGyroscope(&dataX, &dataY, &dataZ);
+      cout << "Gryoscope:     ";
+      cout << "GX: " << dataX << " GY: " << dataY << " GZ: "
+           << dataZ << endl;

-        sensor.getMagnetometer(&dataX, &dataY, &dataZ);
-        cout << "Magnetometer:  ";
-        cout << "MX: " << dataX << " MY: " << dataY << " MZ: " << dataZ << endl;
+      sensor->getMagnetometer(&dataX, &dataY, &dataZ);
+      cout << "Magnetometer:  ";
+      cout << "MX: " << dataX << " MY: " << dataY << " MZ: "
+           << dataZ << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay_us(500000);
+      usleep(500000);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete sensor;
+
+  return 0;
 }
--- a/examples/c++/bmm150.cxx
+++ b/examples/c++/bmm150.cxx
@ -22,52 +22,55 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmm150.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMM150 using default I2C parameters
-    upm::BMM150 sensor;
+  // Instantiate an BMM150 using default I2C parameters
+  upm::BMM150 sensor;

-    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-    // for CS: BMM150(0, -1, 10);
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMM150(0, -1, 10);

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

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

-        sensor.getMagnetometer(&x, &y, &z);
-        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
+      sensor.getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bmp280-bme280.cxx
+++ b/examples/c++/bmp280-bme280.cxx
@ -22,54 +22,57 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>

 #include "bme280.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate a BME280 instance using default i2c bus and address
-    upm::BME280 sensor;
+  // Instantiate a BME280 instance using default i2c bus and address
+  upm::BME280 *sensor = new upm::BME280();

-    // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
-    // BME280(0, -1, 10);
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+  // BME280(0, -1, 10);

-    while (shouldRun) {
-        // update our values from the sensor
-        sensor.update();
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();

-        // we show both C and F for temperature
-        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
-             << sensor.getTemperature(true) << " F" << endl;
-        cout << "Pressure: " << sensor.getPressure() << " Pa" << endl;
-        cout << "Computed Altitude: " << sensor.getAltitude() << " m" << endl;
-        cout << "Humidity: " << sensor.getHumidity() << " %RH" << endl;
+      // we show both C and F for temperature
+      cout << "Compensation Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+      cout << "Pressure: " << sensor->getPressure() << " Pa" << endl;
+      cout << "Computed Altitude: " << sensor->getAltitude() << " m" << endl;
+      cout << "Humidity: " << sensor->getHumidity() << " %RH" << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay(1);
+      sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete sensor;
+
+  return 0;
 }
--- a/examples/c++/bmp280.cxx
+++ b/examples/c++/bmp280.cxx
@ -24,53 +24,56 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>

 #include "bmp280.hpp"
-#include "upm_utilities.h"

 using namespace std;
 using namespace upm;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate a BMP280 instance using default i2c bus and address
-    upm::BMP280 sensor;
+  // Instantiate a BMP280 instance using default i2c bus and address
+  upm::BMP280 *sensor = new upm::BMP280();

-    // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
-    // BMP280(0, -1, 10);
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+  // BMP280(0, -1, 10);

-    while (shouldRun) {
-        // update our values from the sensor
-        sensor.update();
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();

-        // we show both C and F for temperature
-        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
-             << sensor.getTemperature(true) << " F" << endl;
-        cout << "Pressure: " << sensor.getPressure() << " Pa" << endl;
-        cout << "Computed Altitude: " << sensor.getAltitude() << " m" << endl;
+      // we show both C and F for temperature
+      cout << "Compensation Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+      cout << "Pressure: " << sensor->getPressure() << " Pa" << endl;
+      cout << "Computed Altitude: " << sensor->getAltitude() << " m" << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay(1);
+      sleep(1);
    }
-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete sensor;
+
+  return 0;
 }
--- a/examples/c++/bmpx8x.cxx
+++ b/examples/c++/bmpx8x.cxx
@ -27,47 +27,52 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>

 #include "bmpx8x.hpp"
-#include "upm_utilities.h"

 using namespace std;

 bool shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
    if (signo == SIGINT)
        shouldRun = false;
 }

-int
-main(int argc, char** argv)
+int main(int argc, char **argv)
 {
    signal(SIGINT, sig_handler);
-    //! [Interesting]
+//! [Interesting]

    // Instantiate a BMPX8X sensor on I2C using defaults.
    upm::BMPX8X sensor;

    // Print the pressure, altitude, sea level, and
    // temperature values every 0.5 seconds
-    while (shouldRun) {
+    while (shouldRun)
+    {
        sensor.update();

-        cout << "Pressure: " << sensor.getPressure()
-             << " Pa, Temperature: " << sensor.getTemperature()
-             << " C, Altitude: " << sensor.getAltitude()
-             << " m, Sea level: " << sensor.getSealevelPressure() << " Pa" << endl;
+        cout << "Pressure: "
+             << sensor.getPressure()
+             << " Pa, Temperature: "
+             << sensor.getTemperature()
+             << " C, Altitude: "
+             << sensor.getAltitude()
+             << " m, Sea level: "
+             << sensor.getSealevelPressure()
+             << " Pa"
+             << endl;

-        upm_delay_us(500000);
+        usleep(500000);
    }

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

-    //! [Interesting]
+//! [Interesting]
    return 0;
 }
--- a/examples/c++/bmx055-bmc150.cxx
+++ b/examples/c++/bmx055-bmc150.cxx
@ -22,52 +22,59 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmc150.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMC150 using default I2C parameters
-    upm::BMC150 sensor;
+  // Instantiate an BMC150 using default I2C parameters
+  upm::BMC150 sensor;

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

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

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

-        sensor.getMagnetometer(&x, &y, &z);
-        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
+      sensor.getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bmx055-bmi055.cxx
+++ b/examples/c++/bmx055-bmi055.cxx
@ -22,52 +22,59 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmi055.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMI055 using default I2C parameters
-    upm::BMI055 sensor;
+  // Instantiate an BMI055 using default I2C parameters
+  upm::BMI055 sensor;

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

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

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

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

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bmx055.cxx
+++ b/examples/c++/bmx055.cxx
@ -22,55 +22,66 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bmx055.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BMX055 using default I2C parameters
-    upm::BMX055 sensor;
+  // Instantiate an BMX055 using default I2C parameters
+  upm::BMX055 sensor;

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

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

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

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

-        sensor.getMagnetometer(&x, &y, &z);
-        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
+      sensor.getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;

-        cout << endl;
+      cout << endl;

-        upm_delay_us(250000);
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  return 0;
 }
--- a/examples/c++/bno055.cxx
+++ b/examples/c++/bno055.cxx
@ -22,82 +22,108 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "bno055.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

-int
-main(int argc, char** argv)
+
+int main(int argc, char **argv)
 {
-    signal(SIGINT, sig_handler);
-    //! [Interesting]
+  signal(SIGINT, sig_handler);
+//! [Interesting]

-    // Instantiate an BNO055 using default parameters (bus 0, addr
-    // 0x28).  The default running mode is NDOF absolute orientation
-    // mode.
-    upm::BNO055 sensor;
+  // Instantiate an BNO055 using default parameters (bus 0, addr
+  // 0x28).  The default running mode is NDOF absolute orientation
+  // mode.
+  upm::BNO055 *sensor = new upm::BNO055();

-    // First we need to calibrate....
-    cout << "First we need to calibrate.  4 numbers will be output every" << endl;
-    cout << "second for each sensor.  0 means uncalibrated, and 3 means" << endl;
-    cout << "fully calibrated." << endl;
-    cout << "See the UPM documentation on this sensor for instructions on" << endl;
-    cout << "what actions are required to calibrate." << endl;
-    cout << endl;
+  // First we need to calibrate....
+  cout << "First we need to calibrate.  4 numbers will be output every"
+       << endl;
+  cout << "second for each sensor.  0 means uncalibrated, and 3 means"
+       << endl;
+  cout << "fully calibrated."
+       << endl;
+  cout << "See the UPM documentation on this sensor for instructions on"
+       << endl;
+  cout << "what actions are required to calibrate."
+       << endl;
+  cout << endl;

-    // do the calibration...
-    while (shouldRun && !sensor.isFullyCalibrated()) {
-        int mag, acc, gyr, sys;
-        sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
+  // do the calibration...
+  while (shouldRun && !sensor->isFullyCalibrated())
+    {
+      int mag, acc, gyr, sys;
+      sensor->getCalibrationStatus(&mag, &acc, &gyr, &sys);

-        cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
-             << " System: " << sys << endl;
+      cout << "Magnetometer: " << mag
+           << " Accelerometer: " << acc
+           << " Gyroscope: " << gyr
+           << " System: " << sys
+           << endl;

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

-    cout << endl;
-    cout << "Calibration complete." << endl;
-    cout << endl;
+  cout << endl;
+  cout << "Calibration complete." << endl;
+  cout << endl;

-    // now output various fusion data every 250 milliseconds
-    while (shouldRun) {
-        float w, x, y, z;
+  // now output various fusion data every 250 milliseconds
+  while (shouldRun)
+    {
+      float w, x, y, z;

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

-        sensor.getEulerAngles(&x, &y, &z);
-        cout << "Euler: Heading: " << x << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
+      sensor->getEulerAngles(&x, &y, &z);
+      cout << "Euler: Heading: " << x
+           << " Roll: " << y
+           << " Pitch: " << z
+           << " degrees"
+           << endl;

-        sensor.getQuaternions(&w, &x, &y, &z);
-        cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
+      sensor->getQuaternions(&w, &x, &y, &z);
+      cout << "Quaternion: W: " << w
+           << " X: " << x
+           << " Y: " << y
+           << " Z: " << z
+           << endl;

-        sensor.getLinearAcceleration(&x, &y, &z);
-        cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
+      sensor->getLinearAcceleration(&x, &y, &z);
+      cout << "Linear Acceleration: X: " << x
+           << " Y: " << y
+           << " Z: " << z
+           << " m/s^2"
+           << endl;

-        sensor.getGravityVectors(&x, &y, &z);
-        cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
+      sensor->getGravityVectors(&x, &y, &z);
+      cout << "Gravity Vector: X: " << x
+           << " Y: " << y
+           << " Z: " << z
+           << " m/s^2"
+           << endl;

-        cout << endl;
-        upm_delay_us(250000);
+      cout << endl;
+      usleep(250000);
    }

-    //! [Interesting]
+//! [Interesting]

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

-    return 0;
+  delete sensor;
+
+  return 0;
 }
--- a/examples/c++/button.cxx
+++ b/examples/c++/button.cxx
@ -22,28 +22,28 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
-
 #include "button.hpp"
-#include "upm_utilities.h"

 int
-main(int argc, char** argv)
+main(int argc, char **argv)
 {
    // This example uses GPIO 0
-    //! [Interesting]
+//! [Interesting]

    // Create the button object using GPIO pin 0
-    upm::Button button(0);
+    upm::Button* button = new upm::Button(0);

    // Read the input and print, waiting one second between readings
-    while (1) {
-        std::cout << button.name() << " value is " << button.value() << std::endl;
-        upm_delay(1);
+    while( 1 ) {
+        std::cout << button->name() << " value is " << button->value() << std::endl;
+        sleep(1);
    }

    // Delete the button object
-    //! [Interesting]
+    delete button;
+//! [Interesting]

    return 0;
 }
--- a/examples/c++/buzzer-initio.cxx
+++ b/examples/c++/buzzer-initio.cxx
@ -1,12 +0,0 @@
-#include <iostream>
-
-#include "buzzer.hpp"
-#include "buzzer_tones.h"
-#include "upm_utilities.h"
-
-int
-main(int argc, char** argv)
-{
-  upm::Buzzer buzzer("p:32,vol:0.01,play:3800:500000");
-  return 0;
-}
--- a/examples/c++/buzzer.cxx
+++ b/examples/c++/buzzer.cxx
@ -22,32 +22,37 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
-
+#include <signal.h>
 #include "buzzer.hpp"
-#include "buzzer_tones.h"
 #include "upm_utilities.h"

+
 int
-main(int argc, char** argv)
-{
+main(int argc, char **argv) {
    //! [Interesting]
-    int chord[] = { BUZZER_DO, BUZZER_RE, BUZZER_MI, BUZZER_FA, BUZZER_SOL, BUZZER_LA, BUZZER_SI };
+    int chord[] = { BUZZER_DO, BUZZER_RE, BUZZER_MI,
+                    BUZZER_FA, BUZZER_SOL, BUZZER_LA,
+                    BUZZER_SI };

    // create Buzzer instance
-    upm::Buzzer sound(32);
+    upm::Buzzer* sound = new upm::Buzzer(5);
    // print sensor name
-    std::cout << sound.name() << std::endl;
+    std::cout << sound->name() << std::endl;

    // play each sound (DO, RE, MI, etc...) for .5 seconds, pausing
    // for 0.1 seconds between notes
-    for (int chord_ind = 0; chord_ind < 7; chord_ind++) {
-        std::cout << sound.playSound(chord[chord_ind], 500000) << std::endl;
+    for (int chord_ind = 0; chord_ind < 7; chord_ind++)
+    {
+        std::cout << sound->playSound(chord[chord_ind], 500000) << std::endl;
        upm_delay_ms(100);
    }
    //! [Interesting]

    std::cout << "exiting application" << std::endl;

+    delete sound;
+
    return 0;
 }
--- a/examples/c++/cjq4435.cxx
+++ b/examples/c++/cjq4435.cxx
@ -22,54 +22,56 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "cjq4435.hpp"
-#include "upm_utilities.h"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
    if (signo == SIGINT)
        shouldRun = false;
 }

-int
-main()
+
+int main ()
 {
    signal(SIGINT, sig_handler);

-    //! [Interesting]
+//! [Interesting]
    // Instantiate a CJQ4435 MOSFET on a PWM capable digital pin D3
-    upm::CJQ4435 mosfet(3);
+    upm::CJQ4435* mosfet = new upm::CJQ4435(3);

-    mosfet.setPeriodMS(10);
-    mosfet.enable(true);
+    mosfet->setPeriodMS(10);
+    mosfet->enable(true);

-    while (shouldRun) {
+    while (shouldRun)
+    {
        // start with a duty cycle of 0.0 (off) and increment to 1.0 (on)
-        for (float i = 0.0; i <= 1.0; i += 0.1) {
-            mosfet.setDutyCycle(i);
-            upm_delay_us(100000);
+        for (float i=0.0; i <= 1.0; i+=0.1)
+        {
+            mosfet->setDutyCycle(i);
+            usleep(100000);
        }
-        upm_delay(1);
+        sleep(1);
        // Now take it back down
        // start with a duty cycle of 1.0 (on) and decrement to 0.0 (off)
-        for (float i = 1.0; i >= 0.0; i -= 0.1) {
-            mosfet.setDutyCycle(i);
-            upm_delay_us(100000);
+        for (float i=1.0; i >= 0.0; i-=0.1)
+        {
+            mosfet->setDutyCycle(i);
+            usleep(100000);
        }
-        upm_delay(1);
+        sleep(1);
    }

-    //! [Interesting]
+//! [Interesting]

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

+    delete mosfet;
    return 0;
 }
--- a/examples/c++/collision.cxx
+++ b/examples/c++/collision.cxx
@ -22,45 +22,48 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 #include <iostream>
+#include <unistd.h>
 #include <signal.h>
-
 #include "collision.hpp"

 using namespace std;

 int shouldRun = true;

-void
-sig_handler(int signo)
+void sig_handler(int signo)
 {
-    if (signo == SIGINT)
-        shouldRun = false;
+  if (signo == SIGINT)
+    shouldRun = false;
 }

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

-    //! [Interesting]
-    // The was tested with the Collision Sensor
-    // Instantiate a Collision on digital pin D2
-    upm::Collision collision(2);
+//! [Interesting]
+  // The was tested with the Collision Sensor
+  // Instantiate a Collision on digital pin D2
+  upm::Collision* collision = new upm::Collision(2);

-    bool collisionState = false;
-    cout << "No collision" << endl;
-    while (shouldRun) {
-        if (collision.isColliding() && !collisionState) {
-            cout << "Collision!" << endl;
-            collisionState = true;
-        } else if (collisionState) {
-            cout << "No collision" << endl;
-            collisionState = false;
-        }
-    }
+  bool collisionState = false;
+  cout << "No collision" << endl;
+  while (shouldRun)
+  {
+	if (collision->isColliding() && !collisionState)
+	{
+		cout << "Collision!" << endl;
+		collisionState = true;
+	}
+	else if (collisionState)
+	{
+		cout << "No collision" << endl;
+		collisionState = false;
+	}
+  }

-    //! [Interesting]
-    cout << "Exiting" << endl;
+//! [Interesting]
+  cout << "Exiting" << endl;

-    return 0;
+  delete collision;
+  return 0;
 }
--- a/examples/c++/curieimu.cxx
+++ b/examples/c++/curieimu.cxx
@ -24,50 +24,58 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

+#include <unistd.h>
+#include <iostream>
 #include "curieimu.hpp"
-#include "upm_utilities.h"
 #include "mraa.h"
 #include "mraa/firmata.h"
-#include <iostream>
 #include <math.h>
-#include <unistd.h>

 int
-main(int argc, char** argv)
+main(int argc, char **argv)
 {
    //! [Interesting]
    mraa_init();
    mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");

-    upm::CurieImu sensor;
+    upm::CurieImu* sensor = new upm::CurieImu();

-    std::cout << "temperature is: " << (sensor.getTemperature() * pow(0.5, 9) + 23) << std::endl;
+    std::cout << "temperature is: " << (sensor->getTemperature() * pow(0.5, 9) + 23) << std::endl;

-    sensor.updateAccel();
-    int x = sensor.getAccelX(), y = sensor.getAccelY(), z = sensor.getAccelZ();
+    sensor->updateAccel();
+    int x = sensor->getAccelX(),
+        y = sensor->getAccelY(),
+        z = sensor->getAccelZ();
    printf("accelerometer is: %d, %d, %d\n", x, y, z);

-    sensor.updateGyro();
-    int a = sensor.getGyroX(), b = sensor.getGyroY(), c = sensor.getGyroZ();
+    sensor->updateGyro();
+    int a = sensor->getGyroX(),
+        b = sensor->getGyroY(),
+        c = sensor->getGyroZ();
    printf("gyroscope is: %d, %d, %d\n", a, b, c);

    int axis, direction;
-    sensor.enableShockDetection(true);
-    for (int i = 0; i < 300; i++) {
-        if (sensor.isShockDetected()) {
-            sensor.getNextShock();
-            axis = sensor.getAxis();
-            direction = sensor.getDirection();
-            printf("shock data is: %d, %d\n", axis, direction);
-        }
-        upm_delay_us(10000);
+    sensor->enableShockDetection(true);
+    for(int i=0; i<300; i++) {
+      if (sensor->isShockDetected()) {
+        sensor->getNextShock();
+        axis = sensor->getAxis();
+        direction = sensor->getDirection();
+        printf("shock data is: %d, %d\n", axis, direction);
+      }
+      usleep(10000);
    }

-    sensor.updateMotion();
-    int m = sensor.getAccelX(), n = sensor.getAccelY(), o = sensor.getAccelZ(),
-        p = sensor.getGyroX(), q = sensor.getGyroY(), r = sensor.getGyroZ();
+    sensor->updateMotion();
+    int m = sensor->getAccelX(),
+        n = sensor->getAccelY(),
+        o = sensor->getAccelZ(),
+        p = sensor->getGyroX(),
+        q = sensor->getGyroY(),
+        r = sensor->getGyroZ();
    printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);

+    delete sensor;
    //! [Interesting]

    return 0;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Abhishek Malik	c66bcc656a	Minor JSON fixes Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>	2017-08-30 17:19:30 -07:00
Abhishek Malik	d52c2df7c6	JSON: Adding ctest This commit adds node based tests provided by Nico to the ctest framework already established in UPM. Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>	2017-08-28 17:15:07 -07:00
Nicolas Oliver	02d8a16d4b	check for examples and images path	2017-08-17 13:30:41 -07:00
Nicolas Oliver	4bb652cb4b	use sensortemplate.json metadata to test json files	2017-08-17 11:17:24 -07:00
Mihai Tudor Panu	59dfed087e	sensortemplate: added JSON for sensortemplate Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>	2017-08-16 11:56:57 -07:00
Nicolas Oliver	e7f4529711	add initial jsonlint and mocha test for json files [ci skip]	2017-08-16 07:56:02 -07:00