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diff --git a/peripheral/libupm/src/groveultrasonic/groveultrasonic.h b/peripheral/libupm/src/groveultrasonic/groveultrasonic.h
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+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 <sys/time.h>
+
+#define HIGH                   1
+#define LOW                    0
+
+namespace upm {
+
+/**
+ * @brief Grove ultrasonic sensor library
+ * @defgroup groveultrasonic libupm-groveultrasonic
+ * @ingroup grove gpio sound
+ */
+
+/**
+ * @library groveultrasonic
+ * @sensor groveultrasonic
+ * @comname Grove Ultrasonic Ranger
+ * @type sound
+ * @man seeed
+ * @con gpio
+ *
+ * @brief API for Grove Ultrasonic Ranger
+ *
+ * This Grove Ultrasonic sensor is a non-contact distance measurement module
+ * which is compatible with the Grove system. It is designed for easy modular
+ * project usage with industrial performance. Detection ranges from 3 cm (1.2")
+ * to 4 m (13'1.5") and works best when the object is within a 30 degree angle
+ * relative to the sensor.
+ *
+ * @image html groveultrasonic.jpg
+ * @snippet groveultrasonic.cxx Interesting
+ */
+class GroveUltraSonic {
+    public:
+        /**
+         * Instantiates a GroveUltraSonic object
+         *
+         * @param pin pin for triggering the sensor for distance and for receiving pulse response
+         */
+        GroveUltraSonic (uint8_t pin);
+
+        /**
+         * GroveUltraSonic object destructor.
+         */
+        ~GroveUltraSonic ();
+
+        /**
+         * Returns the echo's pulse width from the sensor in microseconds.
+         * Divide by 58 to convert distance to centimetres. 
+         * Divide by 148 to convert distance to inches.
+         */
+        int getDistance ();
+
+        /**
+         * Return name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+        /**
+         * Returns true while the sensor is busy waiting for the echo pulse
+         */
+        bool working()
+        {
+            return m_doWork;
+        }
+
+    private:
+        bool m_doWork; /* Flag to control blocking function while waiting for falling edge interrupt */
+        mraa_gpio_context m_pinCtx;
+        uint8_t m_InterruptCounter;
+        struct timeval m_RisingTimeStamp;
+        struct timeval m_FallingTimeStamp;
+        std::string m_name;
+
+        /**
+         * ISR for the pulse signal
+         */
+        static void signalISR(void *ctx);
+
+        /**
+         * On each interrupt this function will detect if the interrupt
+         * was falling edge or rising.
+         * Should be called from the interrupt handler.
+         */
+        void ackEdgeDetected ();
+};
+
+}