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diff --git a/peripheral/libupm/src/hcsr04/hcsr04.hpp b/peripheral/libupm/src/hcsr04/hcsr04.hpp
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+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Author: Rafael Neri <rafael.neri@gmail.com>
+ * Copyright (c) 2014-2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+#include <mraa/pwm.h>
+#include <sys/time.h>
+
+#define CM 1
+#define INC 0
+
+namespace upm {
+/**
+ * @brief HC-SR04 Ultrasonic Sensor library
+ * @defgroup hcsr04 libupm-hcsr04
+ * @ingroup generic gpio sound
+ */
+
+/**
+ * @library hcsr04
+ * @sensor hcsr04
+ * @comname HC-SR04 Ultrasonic Sensor
+ * @type sound
+ * @man generic
+ * @con gpio
+ *
+ * @brief API for the HC-SR04 Ultrasonic Sensor
+ *
+ * This module defines the HC-SR04 interface for libhcsr04
+ *
+ * @image html groveultrasonic.jpg
+ * @snippet hcsr04.cxx Interesting
+ */
+class HCSR04 {
+    public:
+        /**
+         * Instantiates an HCSR04 object
+         *
+         * @param triggerPin Pin to trigger the sensor for distance
+         * @param echoPin Pulse response to triggering
+         * @param fptr Function pointer to handle rising-edge and
+         * falling-edge interrupts
+         */
+        HCSR04 (uint8_t triggerPin, uint8_t echoPin);
+        /**
+         * HCSR04 object destructor
+         */
+        ~HCSR04 ();
+
+        /**
+         * Gets the distance from the sensor
+         */
+        double getDistance (int sys);
+
+
+        uint8_t m_doWork; /**< Flag to control blocking function while waiting for a falling-edge interrupt */
+
+        /**
+         * Returns the name of the sensor
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+    private:
+        /**
+         * On each interrupt, this function detects if the interrupt
+         * was falling-edge or rising-edge.
+         */
+        static void ackEdgeDetected (void *ctx);
+
+        double timing();
+        mraa_gpio_context   m_triggerPinCtx;
+        mraa_gpio_context   m_echoPinCtx;
+
+        long    m_RisingTimeStamp;
+        long    m_FallingTimeStamp;
+        uint8_t m_InterruptCounter;
+
+        std::string         m_name;
+};
+
+}