espresso-common: add opensource sensor hal

Change-Id: I45912eb1b0820d4045704fdfa77769dd26b6b22c

16 files changed, 3248 insertions, 1 deletions

diff --git a/espresso-common.mk b/espresso-common.mk
index 0b54a03..0ec2e73 100644
--- a/espresso-common.mk
+++ b/espresso-common.mk
@@ -65,7 +65,10 @@ PRODUCT_PACKAGES += \
     hwcomposer.piranha \
     lights.piranha \
     libinvensense_mpl \
-    power.piranha
+    power.piranha \
+    sensors.piranha \
+    geomagneticd \
+    orientationd
 
 # F2FS filesystem
 PRODUCT_PACKAGES += \
diff --git a/libsensors/Android.mk b/libsensors/Android.mk
new file mode 100644
index 0000000..45edc5f
--- /dev/null
+++ b/libsensors/Android.mk
@@ -0,0 +1,85 @@
+#
+# Copyright (C) 2013 Paul Kocialkowski
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+
+LOCAL_PATH := $(call my-dir)
+PIRANHA_SENSORS_PATH := $(LOCAL_PATH)
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	piranha_sensors.c \
+	input.c \
+	bma250.c \
+	yas530c.c \
+	yas_orientation.c \
+	bh1721.c \
+	gp2a_light.c \
+	gp2a_proximity.c
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := sensors.piranha
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+LOCAL_MODULE_TAGS := optional
+
+ifeq ($(TARGET_DEVICE),p5100)
+	LOCAL_CFLAGS += -DTARGET_DEVICE_P5100
+endif
+ifeq ($(TARGET_DEVICE),p5110)
+	LOCAL_CFLAGS += -DTARGET_DEVICE_P5100
+endif
+ifeq ($(TARGET_DEVICE),p3100)
+	LOCAL_CFLAGS += -DTARGET_DEVICE_P3100
+endif
+ifeq ($(TARGET_DEVICE),p3110)
+	LOCAL_CFLAGS += -DTARGET_DEVICE_P3100
+endif
+
+include $(BUILD_SHARED_LIBRARY)
+
+LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/geomagneticd
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	geomagneticd.c
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := geomagneticd
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)
+
+LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/orientationd
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	input.c \
+	vector.c \
+	orientationd.c
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := orientationd
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)
diff --git a/libsensors/bh1721.c b/libsensors/bh1721.c
new file mode 100644
index 0000000..1486ef9
--- /dev/null
+++ b/libsensors/bh1721.c
@@ -0,0 +1,241 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct bh1721_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int bh1721_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct bh1721_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("light_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("light_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct bh1721_data *) calloc(1, sizeof(struct bh1721_data));
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int bh1721_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int bh1721_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct bh1721_data *data;
+	char enable[] = "1\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bh1721_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct bh1721_data *data;
+	char enable[] = "0\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int bh1721_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct bh1721_data *data;
+	char *value = NULL;
+	int c;
+	int fd;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	c = asprintf(&value, "%ld\n", (long int) delay);
+
+	fd = open(data->path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	if (value != NULL)
+		free(value);
+
+	return 0;
+}
+
+float bh1721_light(int value)
+{
+	return (float) value * 0.712f;
+}
+
+int bh1721_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	rc = read(input_fd, &input_event, sizeof(input_event));
+	if (rc < (int) sizeof(input_event))
+		return -EINVAL;
+
+	if (input_event.type != EV_ABS || input_event.code != ABS_MISC)
+		return -1;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+	event->timestamp = input_timestamp(&input_event);
+	event->light = bh1721_light(input_event.value);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers bh1721 = {
+	.name = "BH1721",
+	.handle = SENSOR_TYPE_LIGHT,
+	.init = bh1721_init,
+	.deinit = bh1721_deinit,
+	.activate = bh1721_activate,
+	.deactivate = bh1721_deactivate,
+	.set_delay = bh1721_set_delay,
+	.get_data = bh1721_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/bma250.c b/libsensors/bma250.c
new file mode 100644
index 0000000..ce851d7
--- /dev/null
+++ b/libsensors/bma250.c
@@ -0,0 +1,293 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+#define FLAG_X		(1 << 0)
+#define FLAG_Y		(1 << 1)
+#define FLAG_Z		(1 << 2)
+#define FLAG_ALL	(FLAG_X | FLAG_Y | FLAG_Z)
+
+struct bma250_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	sensors_vec_t acceleration;
+};
+
+int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct bma250_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("accelerometer");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("accelerometer", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct bma250_data *) calloc(1, sizeof(struct bma250_data));
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int bma250_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int bma250_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct bma250_data *data;
+	char enable[] = "1\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bma250_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct bma250_data *data;
+	char enable[] = "0\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int bma250_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct bma250_data *data;
+	char *value = NULL;
+	int d;
+	int c;
+	int fd;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	if (delay < 1000000)
+		d = 0;
+	else
+		d = (int) (delay / 1000000);
+
+	c = asprintf(&value, "%d\n", d);
+
+	fd = open(data->path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	if (value != NULL)
+		free(value);
+
+	return 0;
+}
+
+float bma250_acceleration(int value)
+{
+	return (float) (value * GRAVITY_EARTH) / 256.0f;
+}
+
+int bma250_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct bma250_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int flag;
+	int rc;
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->acceleration.x = data->acceleration.x;
+	event->acceleration.y = data->acceleration.y;
+	event->acceleration.z = data->acceleration.z;
+	event->acceleration.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	flag = 0;
+	while ((flag & FLAG_ALL) != FLAG_ALL) {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event)) {
+			if (flag & FLAG_ALL)
+				break;
+			else
+				return -1;
+		}
+
+		if (input_event.type != EV_ABS)
+			continue;
+
+		switch (input_event.code) {
+			case ABS_X:
+				flag |= FLAG_X;
+				event->acceleration.x = bma250_acceleration(input_event.value);
+				break;
+			case ABS_Y:
+				flag |= FLAG_Y;
+				event->acceleration.y = bma250_acceleration(input_event.value);
+				break;
+			case ABS_Z:
+				flag |= FLAG_Z;
+				event->acceleration.z = bma250_acceleration(input_event.value);
+				break;
+			default:
+				continue;
+		}
+		event->timestamp = input_timestamp(&input_event);
+	}
+
+	if (data->acceleration.x != event->acceleration.x)
+		data->acceleration.x = event->acceleration.x;
+	if (data->acceleration.y != event->acceleration.y)
+		data->acceleration.y = event->acceleration.y;
+	if (data->acceleration.z != event->acceleration.z)
+		data->acceleration.z = event->acceleration.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers bma250 = {
+	.name = "BMA250",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.init = bma250_init,
+	.deinit = bma250_deinit,
+	.activate = bma250_activate,
+	.deactivate = bma250_deactivate,
+	.set_delay = bma250_set_delay,
+	.get_data = bma250_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/geomagneticd/geomagneticd.c b/libsensors/geomagneticd/geomagneticd.c
new file mode 100644
index 0000000..918edbf
--- /dev/null
+++ b/libsensors/geomagneticd/geomagneticd.c
@@ -0,0 +1,368 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <sys/stat.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#define LOG_TAG "geomagneticd"
+#include <utils/Log.h>
+
+/*
+ * This is a very intuitive implementation of what's going on with p5100/p3100
+ * geomagneticd daemon. It seemed that geomagneticd sets an offset so that
+ * the biggest value (after setting the offset) is 45µT or negative -45µT.
+ * On the X axis, it happens more often to find the max around 40µT/-40µT.
+ * The reference offsets I used were: 5005 420432 1153869, and we're getting
+ * pretty close to this with that implementation.
+ *
+ */
+
+/*
+ * Input
+ */
+
+int input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
+
+/*
+ * Geomagneticd
+ */
+
+int offset_read(char *path, int *hard_offset, int *calib_offset, int *accuracy)
+{
+	char buf[100] = { 0 };
+	int fd;
+	int rc;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		return -1;
+
+	rc = read(fd, &buf, sizeof(buf));
+	close(fd);
+	if (rc <= 0)
+		return -1;
+
+	rc = sscanf(buf, "%d %d %d %d %d %d %d",
+		&hard_offset[0], &hard_offset[1], &hard_offset[2],
+		&calib_offset[0], &calib_offset[1], &calib_offset[2], accuracy);
+
+	if (rc != 7)
+		return -1;
+
+	return 0;
+}
+
+int offset_write(char *path, int *hard_offset, int *calib_offset, int accuracy)
+{
+	char buf[100] = { 0 };
+	int fd;
+	int rc;
+
+	sprintf(buf, "%d %d %d %d %d %d %d\n",
+		hard_offset[0], hard_offset[1], hard_offset[2],
+		calib_offset[0], calib_offset[1], calib_offset[2], accuracy);
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		return -1;
+
+	write(fd, buf, strlen(buf) + 1);
+	close(fd);
+
+	return 0;
+}
+
+int yas_cfg_read(int *hard_offset, int *calib_offset, int *accuracy)
+{
+	char buf[100] = { 0 };
+	int fd;
+	int rc;
+
+	fd = open("/data/system/yas.cfg", O_RDONLY);
+	if (fd < 0)
+		return -1;
+
+	rc = read(fd, &buf, sizeof(buf));
+	close(fd);
+	if (rc <= 0)
+		return -1;
+
+	rc = sscanf(buf, "%d,%d,%d,%d,%d,%d,%d",
+		&hard_offset[0], &hard_offset[1], &hard_offset[2],
+		&calib_offset[0], &calib_offset[1], &calib_offset[2], accuracy);
+
+	if (rc != 7)
+		return -1;
+
+	return 0;
+}
+
+int yas_cfg_write(int *hard_offset, int *calib_offset, int accuracy)
+{
+	char buf[100] = { 0 };
+	int fd;
+	int rc;
+
+	fd = open("/data/system/yas-backup.cfg", O_WRONLY | O_TRUNC | O_CREAT, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP);
+	if (fd < 0)
+		return -1;
+
+	sprintf(buf, "%d,%d,%d,%d,%d,%d,%d\n",
+		hard_offset[0], hard_offset[1], hard_offset[2],
+		calib_offset[0], calib_offset[1], calib_offset[2], accuracy);
+
+	write(fd, buf, strlen(buf) + 1);
+	close(fd);
+
+	chmod("/data/system/yas-backup.cfg", 0644);
+	rename("/data/system/yas-backup.cfg", "/data/system/yas.cfg");
+
+	return 0;
+}
+
+int main(int argc, char *argv[])
+{
+	struct input_event event;
+
+	char path[PATH_MAX] = { 0 };
+	char path_offset[PATH_MAX] = { 0 };
+
+	int offset_fd;
+	int input_fd;
+
+	int max_coeff[3] = { 40, 45, 45 };
+	int hard_offset[3] = { 0 };
+	int calib_offset[3] = { 0 };
+	int accuracy = 0;
+
+	int axis_min[3] = { 0 };
+	int axis_max[3] = { 0 };
+	int axis_calib[3] = { 0 };
+
+	int x, y, z;
+
+	int rc;
+	int i;
+
+	/*
+	 * Wait for something to be ready and properly report the hard coeff.
+	 * Without that, the hard coeff are reported to be around 127.
+	 */
+
+	ALOGD("Geomagneticd start");
+
+	input_fd = input_open("geomagnetic_raw");
+	if (input_fd < 0)
+		goto sleep_loop;
+
+	rc = sysfs_path_prefix("geomagnetic_raw", &path);
+	if (rc < 0)
+		goto sleep_loop;
+
+	snprintf(path_offset, PATH_MAX, "%s/offsets", path);
+
+	for (i=0 ; i < 3 ; i++) {
+		axis_min[i] = 0;
+		axis_max[i] = 0;
+		calib_offset[i] = 0;
+	}
+
+	ALOGD("Reading config");
+
+	rc = yas_cfg_read(&hard_offset, &calib_offset, &accuracy);
+	if (rc == 0) {
+		ALOGD("Setting initial offsets: %d %d %d, %d %d %d", hard_offset[0], hard_offset[1], hard_offset[2], calib_offset[0], calib_offset[1], calib_offset[2]);
+
+		offset_write(path_offset, &hard_offset, &calib_offset, accuracy);
+
+		for (i=0 ; i < 3 ; i++) {
+			axis_min[i] = - calib_offset[i] - max_coeff[i] * 1000;
+			axis_max[i] = calib_offset[i] + max_coeff[i] * 1000;
+			axis_calib[i] = calib_offset[i];
+		}
+	} else {
+		offset_read(path_offset, &hard_offset, &calib_offset, &accuracy);
+		ALOGD("Reading initial offsets: %d %d %d", hard_offset[0], hard_offset[1], hard_offset[2]);
+
+		for (i=0 ; i < 3 ; i++) {
+			axis_min[i] = 0;
+			axis_max[i] = 0;
+			calib_offset[i] = 0;
+		}
+	}
+
+loop:
+	while (1) {
+		read(input_fd, &event, sizeof(event));
+
+		if (event.type == EV_SYN) {
+			for (i=0 ; i < 3 ; i++) {
+				if (-axis_min[i] < axis_max[i]) {
+					axis_calib[i] = axis_max[i] - max_coeff[i] * 1000;
+				} else {
+					axis_calib[i] = axis_min[i] + max_coeff[i] * 1000;
+				}
+
+				axis_calib[i] = axis_calib[i] < 0 ? -axis_calib[i] : axis_calib[i];
+
+				if (axis_calib[i] != calib_offset[i]) {
+					calib_offset[i] = axis_calib[i];
+					accuracy = 1;
+
+					offset_write(path_offset, &hard_offset, &calib_offset, accuracy);
+					yas_cfg_write(&hard_offset, &calib_offset, accuracy);
+				}
+
+//				printf("axis_calib[%d]=%d\n", i, axis_calib[i]);
+			}
+
+			if (hard_offset[0] == 127 && hard_offset[1] == 127 && hard_offset[2] == 127) {
+				offset_read(path_offset, &hard_offset, &calib_offset, &accuracy);
+
+				if (hard_offset[0] != 127 || hard_offset[1] != 127 || hard_offset[2] != 127) {
+					ALOGD("Reading offsets: %d %d %d", hard_offset[0], hard_offset[1], hard_offset[2]);
+					yas_cfg_write(&hard_offset, &calib_offset, accuracy);
+				}
+			}
+		}
+
+		if(event.type == EV_ABS) {
+			switch (event.code) {
+				case ABS_X:
+					x = event.value;
+					if (x < axis_min[0])
+						axis_min[0] = x;
+					if (x > axis_max[0])
+						axis_max[0] = x;
+					break;
+				case ABS_Y:
+					y = event.value;
+					if (y < axis_min[1])
+						axis_min[1] = y;
+					if (y > axis_max[1])
+						axis_max[1] = y;
+					break;
+				case ABS_Z:
+					z = event.value;
+					if (z < axis_min[2])
+						axis_min[2] = z;
+					if (z > axis_max[2])
+						axis_max[2] = z;
+					break;
+			}
+		}
+	}
+
+sleep_loop:
+	while (1) {
+		sleep(3600);
+	}
+
+	return 0;
+}
diff --git a/libsensors/gp2a_light.c b/libsensors/gp2a_light.c
new file mode 100644
index 0000000..9f2d37e
--- /dev/null
+++ b/libsensors/gp2a_light.c
@@ -0,0 +1,242 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct gp2a_light_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int gp2a_light_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct gp2a_light_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("light_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("light_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct gp2a_light_data *) calloc(1, sizeof(struct gp2a_light_data));
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int gp2a_light_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int gp2a_light_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_light_data *data;
+	char enable[] = "1\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_light_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_light_data *data;
+	char enable[] = "0\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int gp2a_light_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct gp2a_light_data *data;
+	char *value = NULL;
+	int c;
+	int fd;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	c = asprintf(&value, "%ld\n", (long int) delay);
+
+	fd = open(data->path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	if (value != NULL)
+		free(value);
+
+	return 0;
+}
+
+float gp2a_light_light(int value)
+{
+	return (float) powf(10, value * (125.0f / 1023.0f / 24.0f)) * 4;
+}
+
+int gp2a_light_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	rc = read(input_fd, &input_event, sizeof(input_event));
+	if (rc < (int) sizeof(input_event))
+		return -EINVAL;
+
+	if (input_event.type != EV_ABS || input_event.code != ABS_MISC)
+		return -1;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+	event->timestamp = input_timestamp(&input_event);
+	event->light = gp2a_light_light(input_event.value);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers gp2a_light = {
+	.name = "GP2A Light",
+	.handle = SENSOR_TYPE_LIGHT,
+	.init = gp2a_light_init,
+	.deinit = gp2a_light_deinit,
+	.activate = gp2a_light_activate,
+	.deactivate = gp2a_light_deactivate,
+	.set_delay = gp2a_light_set_delay,
+	.get_data = gp2a_light_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/gp2a_proximity.c b/libsensors/gp2a_proximity.c
new file mode 100644
index 0000000..873ad94
--- /dev/null
+++ b/libsensors/gp2a_proximity.c
@@ -0,0 +1,224 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct gp2a_proximity_data {
+	char path_enable[PATH_MAX];
+};
+
+int gp2a_proximity_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct gp2a_proximity_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("proximity_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("proximity_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct gp2a_proximity_data *) calloc(1, sizeof(struct gp2a_proximity_data));
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int gp2a_proximity_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int gp2a_proximity_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_proximity_data *data;
+	char enable[] = "1\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_proximity_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_proximity_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_proximity_data *data;
+	char enable[] = "0\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_proximity_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int gp2a_proximity_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct gp2a_proximity_data *data;
+	char *value = NULL;
+	int c;
+	int fd;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	return 0;
+}
+
+float gp2a_proximity_proximity(int value)
+{
+	return (float) value * 5.0f;
+}
+
+int gp2a_proximity_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	rc = read(input_fd, &input_event, sizeof(input_event));
+	if (rc < (int) sizeof(input_event))
+		return -EINVAL;
+
+	if (input_event.type != EV_ABS || input_event.code != ABS_DISTANCE)
+		return -1;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+	event->timestamp = input_timestamp(&input_event);
+	event->distance = gp2a_proximity_proximity(input_event.value);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers gp2a_proximity = {
+	.name = "GP2A Proximity",
+	.handle = SENSOR_TYPE_PROXIMITY,
+	.init = gp2a_proximity_init,
+	.deinit = gp2a_proximity_deinit,
+	.activate = gp2a_proximity_activate,
+	.deactivate = gp2a_proximity_deactivate,
+	.set_delay = gp2a_proximity_set_delay,
+	.get_data = gp2a_proximity_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/input.c b/libsensors/input.c
new file mode 100644
index 0000000..f82cfd2
--- /dev/null
+++ b/libsensors/input.c
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+int64_t input_timestamp(struct input_event *event)
+{
+	if (event == NULL)
+		return -1;
+
+	return event->time.tv_sec*1000000000LL + event->time.tv_usec*1000;
+}
+
+int input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_RDONLY | O_NONBLOCK);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
diff --git a/libsensors/orientationd/input.c b/libsensors/orientationd/input.c
new file mode 100644
index 0000000..eea1494
--- /dev/null
+++ b/libsensors/orientationd/input.c
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include "orientationd.h"
+
+int64_t input_timestamp(struct input_event *event)
+{
+	if (event == NULL)
+		return -1;
+
+	return event->time.tv_sec*1000000000LL + event->time.tv_usec*1000;
+}
+
+int input_open(char *name, int write)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, write ? O_RDWR : O_RDONLY | O_NONBLOCK);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
diff --git a/libsensors/orientationd/orientationd.c b/libsensors/orientationd/orientationd.c
new file mode 100644
index 0000000..7cc9f0a
--- /dev/null
+++ b/libsensors/orientationd/orientationd.c
@@ -0,0 +1,372 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * Orientation calculation based on AK8975_FS:
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <poll.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+#include "orientationd.h"
+
+#include <hardware/sensors.h>
+
+#define ABS_CONTROL_REPORT	(ABS_THROTTLE)
+
+#define FLAG_X		(1 << 0)
+#define FLAG_Y		(1 << 1)
+#define FLAG_Z		(1 << 2)
+#define FLAG_ALL	(FLAG_X | FLAG_Y | FLAG_Z)
+
+struct sensor_device {
+	char *name;
+	int handle;
+	float (*get_data)(int value);
+	int (*set_data)(float value);
+
+	int fd;
+};
+
+struct sensor_data {
+	vector v;
+	int flags;
+};
+
+float rad2deg(float v)
+{
+	return (v * 180.0f / 3.1415926535f);
+}
+
+void orientation_calculate(vector *a, vector *m, vector *o)
+{
+	float azimuth, pitch, roll;
+	float la, sinp, cosp, sinr, cosr, x, y;
+
+	if (a == NULL || m == NULL || o == NULL)
+		return;
+
+	la = vector_length(a);
+	pitch = asinf(-(a->y) / la);
+	roll = asinf((a->x) / la);
+
+	sinp = sinf(pitch);
+	cosp = cosf(pitch);
+	sinr = sinf(roll);
+	cosr = cosf(roll);
+
+	y = -(m->x) * cosr + m->z * sinr;
+	x = m->x * sinp * sinr + m->y * cosp + m->z * sinp * cosr;
+	azimuth = atan2f(y, x);
+
+	o->x = rad2deg(azimuth);
+	o->y = rad2deg(pitch);
+	o->z = rad2deg(roll);
+
+	if (o->x < 0)
+		o->x += 360.0f;
+}
+
+float bma250_acceleration(int value)
+{
+	return (float) (value * GRAVITY_EARTH) / 256.0f;
+}
+
+float yas530c_magnetic(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int yas_orientation(float value)
+{
+	return (int) (value * 1000);
+}
+
+struct sensor_device bma250_device = {
+	.name = "accelerometer",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.get_data = bma250_acceleration,
+	.set_data = NULL,
+	.fd = -1,
+};
+
+struct sensor_device yas530c_device = {
+	.name = "geomagnetic",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.get_data = yas530c_magnetic,
+	.set_data = NULL,
+	.fd = -1,
+};
+
+struct sensor_device yas_orientation_device = {
+	.name = "orientation",
+	.handle = SENSOR_TYPE_ORIENTATION,
+	.get_data = NULL,
+	.set_data = yas_orientation,
+	.fd = -1,
+};
+
+struct sensor_device *sensor_devices[] = {
+	&bma250_device,
+	&yas530c_device,
+	&yas_orientation_device,
+};
+
+int sensors_devices_count = sizeof(sensor_devices) / sizeof(struct sensor_device *);
+
+int sensor_device_open(struct sensor_device *dev)
+{
+	int fd;
+
+	if (dev == NULL || dev->name == NULL)
+		return -EINVAL;
+
+	printf("Opening %s\n", dev->name);
+
+	fd = input_open(dev->name, dev->handle == SENSOR_TYPE_ORIENTATION ? 1 : 0);
+	if (fd < 0)
+		return -1;
+
+	dev->fd = fd;
+
+	return 0;
+}
+
+void sensor_device_close(struct sensor_device *dev)
+{
+	if (dev == NULL || dev->fd < 0)
+		return;
+
+	close(dev->fd);
+	dev->fd = -1;
+}
+
+struct sensor_device *sensor_device_find_handle(int handle)
+{
+	int i;
+
+	for (i=0 ; i < sensors_devices_count ; i++) {
+		if (sensor_devices[i]->handle == handle)
+			return sensor_devices[i];
+	}
+
+	return NULL;
+}
+
+struct sensor_device *sensor_device_find_fd(int fd)
+{
+	int i;
+
+	for (i=0 ; i < sensors_devices_count ; i++) {
+		if (sensor_devices[i]->fd == fd)
+			return sensor_devices[i];
+	}
+
+	return NULL;
+}
+
+int sensor_device_get_data(struct sensor_device *dev, struct sensor_data *d,
+	struct input_event *e)
+{
+	if (dev == NULL || d == NULL || e == NULL || dev->get_data == NULL)
+		return -EINVAL;
+
+	if (e->type == EV_ABS) {
+		switch (e->code) {
+			case ABS_X:
+				d->v.x = dev->get_data(e->value);
+				d->flags |= FLAG_X;
+				return 0;
+			case ABS_Y:
+				d->v.y = dev->get_data(e->value);
+				d->flags |= FLAG_Y;
+				return 0;
+			case ABS_Z:
+				d->v.z = dev->get_data(e->value);
+				d->flags |= FLAG_Z;
+				return 0;
+		}
+	}
+
+	return -1;
+}
+
+int sensor_device_set_data(struct sensor_device *dev, struct sensor_data *d)
+{
+	struct input_event event;
+
+	if (dev == NULL || d == NULL || dev->set_data == NULL)
+		return -EINVAL;
+
+	event.type = EV_ABS;
+	event.code = ABS_X;
+	event.value = dev->set_data(d->v.x);
+	gettimeofday(&event.time, NULL);
+	write(dev->fd, &event, sizeof(event));
+
+	event.type = EV_ABS;
+	event.code = ABS_Y;
+	event.value = dev->set_data(d->v.y);
+	gettimeofday(&event.time, NULL);
+	write(dev->fd, &event, sizeof(event));
+
+	event.type = EV_ABS;
+	event.code = ABS_Z;
+	event.value = dev->set_data(d->v.z);
+	gettimeofday(&event.time, NULL);
+	write(dev->fd, &event, sizeof(event));
+
+	event.type = EV_SYN;
+	event.code = SYN_REPORT;
+	event.value = 0;
+	gettimeofday(&event.time, NULL);
+	write(dev->fd, &event, sizeof(event));
+
+	return 0;
+}
+
+int sensor_device_control(struct sensor_device *dev, struct input_event *e)
+{
+	int enabled;
+
+	if (dev == NULL || e == NULL)
+		return -EINVAL;
+
+	if (e->type == EV_ABS && e->code == ABS_CONTROL_REPORT) {
+		enabled = e->value & (1 << 16);
+		if (enabled)
+			return 1;
+		else
+			return 0;
+	}
+
+	return -1;
+}
+
+int main(int argc, char *argv[])
+{
+	struct input_event event;
+	struct sensor_data a, m, o;
+
+	struct sensor_device *dev;
+	struct pollfd *poll_fds;
+
+	int enabled, data;
+	int index;
+
+	int rc, c, i;
+
+	memset(&a, 0, sizeof(a));
+	memset(&m, 0, sizeof(m));
+	memset(&o, 0, sizeof(o));
+
+	poll_fds = (struct pollfd *) calloc(1, sizeof(struct pollfd) * sensors_devices_count);
+
+	index = -1;
+	c = 0;
+
+	for (i=0 ; i < sensors_devices_count ; i++) {
+		rc = sensor_device_open(sensor_devices[i]);
+		if (rc < 0)
+			continue;
+
+		poll_fds[c].fd = sensor_devices[i]->fd;
+		poll_fds[c].events = POLLIN;
+
+		if (sensor_devices[i]->handle == SENSOR_TYPE_ORIENTATION && index < 0)
+			index = c;
+
+		c++;
+	}
+
+	if (c <= 0 || index <= 0)
+		goto exit;
+
+	printf("Starting main loop\n");
+
+	enabled = 0;
+	while (1) {
+		data = 0;
+
+		if (enabled)
+			rc = poll(poll_fds, c, -1);
+		else
+			rc = poll(&poll_fds[index], 1, -1);
+
+		if (rc < 0)
+			goto exit;
+
+		for (i=0 ; i < c ; i++) {
+			if (poll_fds[i].revents & POLLIN) {
+				dev = sensor_device_find_fd(poll_fds[i].fd);
+				if (dev == NULL)
+					continue;
+
+				read(dev->fd, &event, sizeof(event));
+
+				switch (dev->handle) {
+					case SENSOR_TYPE_ACCELEROMETER:
+						rc = sensor_device_get_data(dev, &a, &event);
+						if (rc >= 0)
+							data = 1;
+						break;
+					case SENSOR_TYPE_MAGNETIC_FIELD:
+						rc = sensor_device_get_data(dev, &m, &event);
+						if (rc >= 0)
+							data = 1;
+						break;
+					case SENSOR_TYPE_ORIENTATION:
+						rc = sensor_device_control(dev, &event);
+						if (rc == 1)
+							enabled = 1;
+						else if (rc == 0)
+							enabled = 0;
+						break;
+				}
+			}
+
+			if (data && a.flags & FLAG_ALL && m.flags & FLAG_ALL) {
+				dev = sensor_device_find_handle(SENSOR_TYPE_ORIENTATION);
+				if (dev == NULL)
+					continue;
+
+				orientation_calculate(&a.v, &m.v, &o.v);
+				sensor_device_set_data(dev, &o);
+			}
+		}
+	}
+
+
+exit:
+	for (i=0 ; i < sensors_devices_count ; i++)
+		sensor_device_close(sensor_devices[i]);
+
+	while (1) {
+		sleep(3600);
+	}
+
+	return 0;
+}
diff --git a/libsensors/orientationd/orientationd.h b/libsensors/orientationd/orientationd.h
new file mode 100644
index 0000000..41aad5e
--- /dev/null
+++ b/libsensors/orientationd/orientationd.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <linux/input.h>
+
+#ifndef _ORIENTATION_H_
+#define _ORIENTATION_H_
+
+/*
+ * Vector
+ */
+
+struct vector {
+	float x;
+	float y;
+	float z;
+
+};
+
+typedef struct vector vector;
+
+void vector_add(vector *v, vector *a);
+void vector_multiply(vector *v, float k);
+void vector_cross(vector *v, vector *c, vector *out);
+float vector_scalar(vector *v, vector *d);
+float vector_length(vector *v);
+
+/*
+ * Input
+ */
+
+int64_t input_timestamp(struct input_event *event);
+int input_open(char *name, int write);
+int sysfs_path_prefix(char *name, char *path_prefix);
+
+#endif
diff --git a/libsensors/orientationd/vector.c b/libsensors/orientationd/vector.c
new file mode 100644
index 0000000..ee8ba49
--- /dev/null
+++ b/libsensors/orientationd/vector.c
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+
+#include "orientationd.h"
+
+void vector_copy(vector *in, vector *out)
+{
+	out->x = in->x;
+	out->y = in->y;
+	out->z = in ->z;
+}
+
+void vector_add(vector *v, vector *a)
+{
+	v->x += a->x;
+	v->y += a->y;
+	v->z += a->z;
+}
+
+void vector_multiply(vector *v, float k)
+{
+	v->x *= k;
+	v->y *= k;
+	v->z *= k;
+}
+
+void vector_cross(vector *v, vector *c, vector *out)
+{
+	struct vector t;
+
+	t.x = v->x * c->z - v->z * c->y;
+	t.y = v->z * c->x - v->x * c->z;
+	t.y = v->y * c->y - v->y * c->x;
+	vector_copy(&t, out);
+}
+
+float vector_scalar(vector *v, vector *d)
+{
+	return v->x * d->x + v->y * d->y + v->z * d->z;
+}
+
+float vector_length(vector *v)
+{
+	return sqrtf(vector_scalar(v, v));
+}
diff --git a/libsensors/piranha_sensors.c b/libsensors/piranha_sensors.c
new file mode 100644
index 0000000..2d1ff71
--- /dev/null
+++ b/libsensors/piranha_sensors.c
@@ -0,0 +1,289 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+/*
+ * Sensors list
+ */
+
+struct sensor_t piranha_sensors[] = {
+	{ "BMA254 Acceleration Sensor", "Bosch", 1, SENSOR_TYPE_ACCELEROMETER,
+		SENSOR_TYPE_ACCELEROMETER, 19.6f, 0.0383f, 0.13f, 10000, {}, },
+	{ "YAS530 Magnetic Sensor", "Yamaha", 1, SENSOR_TYPE_MAGNETIC_FIELD,
+		SENSOR_TYPE_MAGNETIC_FIELD, 800.0f, 0.3f, 4.0f, 10000, {}, },
+	{ "YAS Orientation Sensor", "Yamaha", 1, SENSOR_TYPE_ORIENTATION,
+		SENSOR_TYPE_ORIENTATION, 360.0f, 0.1f, 0.0f, 10000, {}, },
+#ifdef TARGET_DEVICE_P5100
+	{ "BH1721 Light Sensor", "ROHM", 1, SENSOR_TYPE_LIGHT,
+		SENSOR_TYPE_LIGHT, 0.0f, 0.0f, 0.0f, 0, {}, },
+#endif
+#ifdef TARGET_DEVICE_P3100
+	{ "GP2A Light Sensor", "SHARP", 1, SENSOR_TYPE_LIGHT,
+		SENSOR_TYPE_LIGHT, 0.0f, 0.0f, 0.0f, 0, {}, },
+	{ "GP2A Proximity Sensor", "SHARP", 1, SENSOR_TYPE_PROXIMITY,
+		SENSOR_TYPE_PROXIMITY, 5.0f, 0.0f, 0.0f, 0, {}, },
+#endif
+};
+
+int piranha_sensors_count = sizeof(piranha_sensors) / sizeof(struct sensor_t);
+
+struct piranha_sensors_handlers *piranha_sensors_handlers[] = {
+	&bma250,
+	&yas530c,
+	&yas_orientation,
+#ifdef TARGET_DEVICE_P5100
+	&bh1721,
+#endif
+#ifdef TARGET_DEVICE_P3100
+	&gp2a_light,
+	&gp2a_proximity,
+#endif
+};
+
+int piranha_sensors_handlers_count = sizeof(piranha_sensors_handlers) /
+	sizeof(struct piranha_sensors_handlers *);
+
+/*
+ * Piranha Sensors
+ */
+
+int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled)
+{
+	struct piranha_sensors_device *device;
+	int i;
+
+	ALOGD("%s(%p, %d, %d)", __func__, dev, handle, enabled);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i=0 ; i < device->handlers_count ; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle) {
+			if (enabled && device->handlers[i]->activate != NULL)
+				return device->handlers[i]->activate(device->handlers[i]);
+			else if (!enabled && device->handlers[i]->deactivate != NULL)
+				return device->handlers[i]->deactivate(device->handlers[i]);
+		}
+	}
+
+	return -1;
+}
+
+int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns)
+{
+	struct piranha_sensors_device *device;
+	int i;
+
+	ALOGD("%s(%p, %d, %ld)", __func__, dev, handle, (long int) ns);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i=0 ; i < device->handlers_count ; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle && device->handlers[i]->set_delay != NULL)
+			return device->handlers[i]->set_delay(device->handlers[i], ns);
+	}
+
+	return 0;
+}
+
+int piranha_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, int count)
+{
+	struct piranha_sensors_device *device;
+	int i, j;
+	int c, n;
+	int poll_rc, rc;
+
+//	ALOGD("%s(%p, %p, %d)", __func__, dev, data, count);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0 ||
+		device->poll_fds == NULL || device->poll_fds_count <= 0)
+		return -EINVAL;
+
+	n = 0;
+
+	do {
+		poll_rc = poll(device->poll_fds, device->poll_fds_count, PIRANHA_POLL_DELAY);
+		if (poll_rc < 0)
+			return -1;
+
+		for (i=0 ; i < device->poll_fds_count ; i++) {
+			if (!(device->poll_fds[i].revents & POLLIN))
+				continue;
+
+			for (j=0 ; j < device->handlers_count ; j++) {
+				if (device->handlers[j] == NULL || device->handlers[j]->poll_fd != device->poll_fds[i].fd || device->handlers[j]->get_data == NULL)
+					continue;
+
+				rc = device->handlers[j]->get_data(device->handlers[j], &data[n]);
+				if (rc < 0) {
+					device->poll_fds[i].revents = 0;
+					poll_rc = -1;
+				} else {
+					n++;
+					count--;
+				}
+			}
+
+			if (count <= 0)
+				break;
+		}
+	} while ((poll_rc > 0 || n < 1) && count > 0);
+
+	return n;
+}
+
+/*
+ * Interface
+ */
+
+int piranha_sensors_close(hw_device_t *device)
+{
+	struct piranha_sensors_device *piranha_sensors_device;
+	int i;
+
+	ALOGD("%s(%p)", __func__, device);
+
+	if (device == NULL)
+		return -EINVAL;
+
+	piranha_sensors_device = (struct piranha_sensors_device *) device;
+
+	if (piranha_sensors_device->poll_fds != NULL)
+		free(piranha_sensors_device->poll_fds);
+
+	for (i=0 ; i < piranha_sensors_device->handlers_count ; i++) {
+		if (piranha_sensors_device->handlers[i] == NULL || piranha_sensors_device->handlers[i]->deinit == NULL)
+			continue;
+
+		piranha_sensors_device->handlers[i]->deinit(piranha_sensors_device->handlers[i]);
+	}
+
+	free(device);
+
+	return 0;
+}
+
+int piranha_sensors_open(const struct hw_module_t* module, const char *id,
+	struct hw_device_t** device)
+{
+	struct piranha_sensors_device *piranha_sensors_device;
+	int p, i;
+
+	ALOGD("%s(%p, %s, %p)", __func__, module, id, device);
+
+	if (module == NULL || device == NULL)
+		return -EINVAL;
+
+	piranha_sensors_device = (struct piranha_sensors_device *)
+		calloc(1, sizeof(struct piranha_sensors_device));
+	piranha_sensors_device->device.common.tag = HARDWARE_DEVICE_TAG;
+	piranha_sensors_device->device.common.version = 0;
+	piranha_sensors_device->device.common.module = (struct hw_module_t *) module;
+	piranha_sensors_device->device.common.close = piranha_sensors_close;
+	piranha_sensors_device->device.activate = piranha_sensors_activate;
+	piranha_sensors_device->device.setDelay = piranha_sensors_set_delay;
+	piranha_sensors_device->device.poll = piranha_sensors_poll;
+	piranha_sensors_device->handlers = piranha_sensors_handlers;
+	piranha_sensors_device->handlers_count = piranha_sensors_handlers_count;
+	piranha_sensors_device->poll_fds = (struct pollfd *)
+		calloc(1, piranha_sensors_handlers_count * sizeof(struct pollfd));
+
+	p = 0;
+	for (i=0 ; i < piranha_sensors_handlers_count ; i++) {
+		if (piranha_sensors_handlers[i] == NULL || piranha_sensors_handlers[i]->init == NULL)
+			continue;
+
+		piranha_sensors_handlers[i]->init(piranha_sensors_handlers[i], piranha_sensors_device);
+		if (piranha_sensors_handlers[i]->poll_fd >= 0) {
+			piranha_sensors_device->poll_fds[p].fd = piranha_sensors_handlers[i]->poll_fd;
+			piranha_sensors_device->poll_fds[p].events = POLLIN;
+			p++;
+		}
+	}
+
+	piranha_sensors_device->poll_fds_count = p;
+
+	*device = &(piranha_sensors_device->device.common);
+
+	return 0;
+}
+
+int piranha_sensors_get_sensors_list(struct sensors_module_t* module,
+	const struct sensor_t **sensors_p)
+{
+	ALOGD("%s(%p, %p)", __func__, module, sensors_p);
+
+	if (sensors_p == NULL)
+		return -EINVAL;
+
+	*sensors_p = piranha_sensors;
+	return piranha_sensors_count;
+}
+
+struct hw_module_methods_t piranha_sensors_module_methods = {
+	.open = piranha_sensors_open,
+};
+
+struct sensors_module_t HAL_MODULE_INFO_SYM = {
+	.common = {
+		.tag = HARDWARE_MODULE_TAG,
+		.version_major = 1,
+		.version_minor = 0,
+		.id = SENSORS_HARDWARE_MODULE_ID,
+		.name = "Piranha Sensors",
+		.author = "Paul Kocialkowski",
+		.methods = &piranha_sensors_module_methods,
+	},
+	.get_sensors_list = piranha_sensors_get_sensors_list,
+};
diff --git a/libsensors/piranha_sensors.h b/libsensors/piranha_sensors.h
new file mode 100644
index 0000000..b93f65e
--- /dev/null
+++ b/libsensors/piranha_sensors.h
@@ -0,0 +1,87 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <poll.h>
+
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _SENSORS_H_
+#define _SENSORS_H_
+
+#define PIRANHA_POLL_DELAY	100
+
+struct piranha_sensors_device;
+
+struct piranha_sensors_handlers {
+	char *name;
+	int handle;
+
+	int (*init)(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device);
+	int (*deinit)(struct piranha_sensors_handlers *handlers);
+	int (*activate)(struct piranha_sensors_handlers *handlers);
+	int (*deactivate)(struct piranha_sensors_handlers *handlers);
+	int (*set_delay)(struct piranha_sensors_handlers *handlers, int64_t delay);
+	int (*get_data)(struct piranha_sensors_handlers *handlers, struct sensors_event_t *event);
+
+	int activated;
+	int poll_fd;
+
+	void *data;
+};
+
+struct piranha_sensors_device {
+	struct sensors_poll_device_t device;
+
+	struct piranha_sensors_handlers **handlers;
+	int handlers_count;
+
+	struct pollfd *poll_fds;
+	int poll_fds_count;
+};
+
+extern struct piranha_sensors_handlers *piranha_sensors_handlers[];
+extern int piranha_sensors_handlers_count;
+
+int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled);
+int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns);
+int piranha_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, int count);
+
+/*
+ * Input
+ */
+
+int64_t input_timestamp(struct input_event *event);
+int input_open(char *name);
+int sysfs_path_prefix(char *name, char *path_prefix);
+
+/*
+ * Sensors
+ */
+
+extern struct piranha_sensors_handlers bma250;
+extern struct piranha_sensors_handlers yas530c;
+extern struct piranha_sensors_handlers yas_orientation;
+extern struct piranha_sensors_handlers bh1721;
+extern struct piranha_sensors_handlers gp2a_light;
+extern struct piranha_sensors_handlers gp2a_proximity;
+
+#endif
diff --git a/libsensors/yas530c.c b/libsensors/yas530c.c
new file mode 100644
index 0000000..f13fb61
--- /dev/null
+++ b/libsensors/yas530c.c
@@ -0,0 +1,293 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+#define FLAG_X		(1 << 0)
+#define FLAG_Y		(1 << 1)
+#define FLAG_Z		(1 << 2)
+#define FLAG_ALL	(FLAG_X | FLAG_Y | FLAG_Z)
+
+struct yas530c_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	sensors_vec_t magnetic;
+};
+
+int yas530c_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct yas530c_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("geomagnetic");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("geomagnetic", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct yas530c_data *) calloc(1, sizeof(struct yas530c_data));
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int yas530c_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int yas530c_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530c_data *data;
+	char enable[] = "1\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530c_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas530c_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530c_data *data;
+	char enable[] = "0\n";
+	int fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530c_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int yas530c_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct yas530c_data *data;
+	char *value = NULL;
+	int d;
+	int c;
+	int fd;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530c_data *) handlers->data;
+
+	if (delay < 1000000)
+		d = 0;
+	else
+		d = (int) (delay / 1000000);
+
+	c = asprintf(&value, "%d\n", d);
+
+	fd = open(data->path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	if (value != NULL)
+		free(value);
+
+	return 0;
+}
+
+float yas530c_magnetic(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int yas530c_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct yas530c_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int flag;
+	int rc;
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct yas530c_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->magnetic.x = data->magnetic.x;
+	event->magnetic.y = data->magnetic.y;
+	event->magnetic.z = data->magnetic.z;
+	event->magnetic.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	flag = 0;
+	while ((flag & FLAG_ALL) != FLAG_ALL) {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event)) {
+			if (flag & FLAG_ALL)
+				break;
+			else
+				return -EINVAL;
+		}
+
+		if (input_event.type != EV_ABS)
+			continue;
+
+		switch (input_event.code) {
+			case ABS_X:
+				flag |= FLAG_X;
+				event->magnetic.x = yas530c_magnetic(input_event.value);
+				break;
+			case ABS_Y:
+				flag |= FLAG_Y;
+				event->magnetic.y = yas530c_magnetic(input_event.value);
+				break;
+			case ABS_Z:
+				flag |= FLAG_Z;
+				event->magnetic.z = yas530c_magnetic(input_event.value);
+				break;
+			default:
+				continue;
+		}
+		event->timestamp = input_timestamp(&input_event);
+	}
+
+	if (data->magnetic.x != event->magnetic.x)
+		data->magnetic.x = event->magnetic.x;
+	if (data->magnetic.y != event->magnetic.y)
+		data->magnetic.y = event->magnetic.y;
+	if (data->magnetic.z != event->magnetic.z)
+		data->magnetic.z = event->magnetic.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers yas530c = {
+	.name = "YAS530C",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.init = yas530c_init,
+	.deinit = yas530c_deinit,
+	.activate = yas530c_activate,
+	.deactivate = yas530c_deactivate,
+	.set_delay = yas530c_set_delay,
+	.get_data = yas530c_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/yas_orientation.c b/libsensors/yas_orientation.c
new file mode 100644
index 0000000..2cd23d3
--- /dev/null
+++ b/libsensors/yas_orientation.c
@@ -0,0 +1,389 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+#define FLAG_X		(1 << 0)
+#define FLAG_Y		(1 << 1)
+#define FLAG_Z		(1 << 2)
+#define FLAG_ALL	(FLAG_X | FLAG_Y | FLAG_Z)
+
+struct yas_orientation_data {
+	struct piranha_sensors_device *device;
+
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	char acc_path_enable[PATH_MAX];
+	char acc_path_delay[PATH_MAX];
+
+	char mag_path_enable[PATH_MAX];
+	char mag_path_delay[PATH_MAX];
+
+	sensors_vec_t orientation;
+};
+
+int yas_orientation_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+{
+	struct yas_orientation_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL || device == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("orientation", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	data = (struct yas_orientation_data *) calloc(1, sizeof(struct yas_orientation_data));
+	data->device = device;
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	memset(&path, 0, sizeof(path));
+
+	rc = sysfs_path_prefix("accelerometer", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->acc_path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->acc_path_delay, PATH_MAX, "%s/delay", path);
+
+	memset(&path, 0, sizeof(path));
+
+	rc = sysfs_path_prefix("geomagnetic", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->mag_path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->mag_path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (data != NULL)
+		free(data);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int yas_orientation_deinit(struct piranha_sensors_handlers *handlers)
+{
+	int input_fd;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int yas_orientation_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas_orientation_data *data;
+	char enable[] = "1\n";
+	int fd;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	fd = open(data->acc_path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	fd = open(data->mag_path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas_orientation_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas_orientation_data *data;
+	char enable[] = "0\n";
+	int fd;
+	int i;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	fd = open(data->path_enable, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open enable path", __func__);
+		return -1;
+	}
+
+	write(fd, &enable, sizeof(enable));
+	close(fd);
+
+	for (i=0 ; i < data->device->handlers_count ; i++) {
+		if (data->device->handlers[i] == NULL)
+			continue;
+
+		if (data->device->handlers[i]->handle == SENSOR_TYPE_ACCELEROMETER && !data->device->handlers[i]->activated) {
+			fd = open(data->acc_path_enable, O_WRONLY);
+			if (fd < 0) {
+				ALOGE("%s: Unable to open enable path", __func__);
+				continue;
+			}
+
+			write(fd, &enable, sizeof(enable));
+			close(fd);
+		} else if (data->device->handlers[i]->handle == SENSOR_TYPE_MAGNETIC_FIELD && !data->device->handlers[i]->activated) {
+			fd = open(data->mag_path_enable, O_WRONLY);
+			if (fd < 0) {
+				ALOGE("%s: Unable to open enable path", __func__);
+				continue;
+			}
+
+			write(fd, &enable, sizeof(enable));
+			close(fd);
+		}
+	}
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int yas_orientation_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+{
+	struct yas_orientation_data *data;
+	char *value = NULL;
+	int d;
+	int c;
+	int fd;
+	int rc;
+
+//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	if (delay < 1000000)
+		d = 0;
+	else
+		d = (int) (delay / 1000000);
+
+	c = asprintf(&value, "%d\n", d);
+
+	fd = open(data->acc_path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	fd = open(data->mag_path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	fd = open(data->path_delay, O_WRONLY);
+	if (fd < 0) {
+		ALOGE("%s: Unable to open delay path", __func__);
+		return -1;
+	}
+
+	write(fd, value, c);
+	close(fd);
+
+	if (value != NULL)
+		free(value);
+
+	return 0;
+}
+
+float yas_orientation_orientation(int value)
+{
+	return (float) value / 1000.f;
+}
+
+int yas_orientation_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct yas_orientation_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int flag;
+	int rc;
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->orientation.x = data->orientation.x;
+	event->orientation.y = data->orientation.y;
+	event->orientation.z = data->orientation.z;
+	event->orientation.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	flag = 0;
+	while ((flag & FLAG_ALL) != FLAG_ALL) {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event)) {
+			if (flag & FLAG_ALL)
+				break;
+			else
+				return -EINVAL;
+		}
+
+		if (input_event.type != EV_ABS)
+			continue;
+
+		switch (input_event.code) {
+			case ABS_X:
+				flag |= FLAG_X;
+				event->orientation.x = yas_orientation_orientation(input_event.value);
+				break;
+			case ABS_Y:
+				flag |= FLAG_Y;
+				event->orientation.y = yas_orientation_orientation(input_event.value);
+				break;
+			case ABS_Z:
+				flag |= FLAG_Z;
+				event->orientation.z = yas_orientation_orientation(input_event.value);
+				break;
+			default:
+				continue;
+		}
+		event->timestamp = input_timestamp(&input_event);
+	}
+
+	if (data->orientation.x != event->orientation.x)
+		data->orientation.x = event->orientation.x;
+	if (data->orientation.y != event->orientation.y)
+		data->orientation.y = event->orientation.y;
+	if (data->orientation.z != event->orientation.z)
+		data->orientation.z = event->orientation.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers yas_orientation = {
+	.name = "YAS Orientation",
+	.handle = SENSOR_TYPE_ORIENTATION,
+	.init = yas_orientation_init,
+	.deinit = yas_orientation_deinit,
+	.activate = yas_orientation_activate,
+	.deactivate = yas_orientation_deactivate,
+	.set_delay = yas_orientation_set_delay,
+	.get_data = yas_orientation_get_data,
+	.activated = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};