espresso-common: libsensors: sync with replicant

Change-Id: Idcb9a57af699833c504f236692a6bdb1ef33c98e

6 files changed, 660 insertions, 350 deletions

diff --git a/libsensors/orientationd/bma250.c b/libsensors/orientationd/bma250.c
new file mode 100644
index 0000000..88819ea
--- /dev/null
+++ b/libsensors/orientationd/bma250.c
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * 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 <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+float bma250_convert(int value)
+{
+	return value * (GRAVITY_EARTH / 256.0f);
+}
+
+int bma250_get_data(struct orientationd_handlers *handlers,
+	struct orientationd_data *data)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || data == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -1;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					data->acceleration.x = bma250_convert(input_event.value);
+					break;
+				case ABS_Y:
+					data->acceleration.y = bma250_convert(input_event.value);
+					break;
+				case ABS_Z:
+					data->acceleration.z = bma250_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct orientationd_handlers bma250 = {
+	.input_name = "accelerometer",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.poll_fd = -1,
+	.get_data = bma250_get_data,
+};
diff --git a/libsensors/orientationd/input.c b/libsensors/orientationd/input.c
index eea1494..1afa2b8 100644
--- a/libsensors/orientationd/input.c
+++ b/libsensors/orientationd/input.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Paul Kocialkowski
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
  *
  * 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
@@ -16,28 +16,117 @@
  */
 
 #include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
 #include <unistd.h>
-#include <dirent.h>
-#include <stdio.h>
+#include <stdint.h>
 #include <fcntl.h>
 #include <errno.h>
-
+#include <dirent.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
+#include <linux/uinput.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
 
 #include "orientationd.h"
 
-int64_t input_timestamp(struct input_event *event)
+void input_event_set(struct input_event *event, int type, int code, int value)
 {
 	if (event == NULL)
+		return;
+
+	memset(event, 0, sizeof(struct input_event));
+
+	event->type = type,
+	event->code = code;
+	event->value = value;
+
+	gettimeofday(&event->time, NULL);
+}
+
+long int timestamp(struct timeval *time)
+{
+	if (time == NULL)
 		return -1;
 
-	return event->time.tv_sec*1000000000LL + event->time.tv_usec*1000;
+	return time->tv_sec * 1000000000LL + time->tv_usec * 1000;
 }
 
-int input_open(char *name, int write)
+long int input_timestamp(struct input_event *event)
+{
+	if (event == NULL)
+		return -1;
+
+	return timestamp(&event->time);
+}
+
+int uinput_rel_create(const char *name)
+{
+	struct uinput_user_dev uinput_dev;
+	int uinput_fd;
+	int rc;
+
+	if (name == NULL)
+		return -1;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		ALOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, name, sizeof(uinput_dev.name));
+	uinput_dev.id.bustype	= BUS_I2C;
+	uinput_dev.id.vendor	= 0;
+	uinput_dev.id.product	= 0;
+	uinput_dev.id.version	= 0;
+
+	rc = 0;
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	if (rc < 0) {
+		ALOGE("%s: Unable to set uinput bits", __func__);
+		goto error;
+	}
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		ALOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	return uinput_fd;
+
+error:
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	return -1;
+}
+
+void uinput_destroy(int uinput_fd)
+{
+	if (uinput_fd < 0)
+		return;
+
+	ioctl(uinput_fd, UI_DEV_DESTROY);
+}
+
+int input_open(char *name)
 {
 	DIR *d;
 	struct dirent *di;
@@ -60,7 +149,7 @@ int input_open(char *name, int write)
 			continue;
 
 		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
-		fd = open(path, write ? O_RDWR : O_RDONLY | O_NONBLOCK);
+		fd = open(path, O_RDWR | O_NONBLOCK);
 		if (fd < 0)
 			continue;
 
@@ -123,3 +212,124 @@ int sysfs_path_prefix(char *name, char *path_prefix)
 
 	return -1;
 }
+
+int sysfs_value_read(char *path)
+{
+	char buffer[100];
+	int value;
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, &buffer, sizeof(buffer));
+	if (rc <= 0)
+		goto error;
+
+	value = atoi(buffer);
+	goto complete;
+
+error:
+	value = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return value;
+}
+
+int sysfs_value_write(char *path, int value)
+{
+	char buffer[100];
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	snprintf((char *) &buffer, sizeof(buffer), "%d\n", value);
+
+	rc = write(fd, buffer, strlen(buffer));
+	if (rc < (int) strlen(buffer))
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_read(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_write(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = write(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
diff --git a/libsensors/orientationd/orientationd.c b/libsensors/orientationd/orientationd.c
index 7cc9f0a..8ad84c5 100644
--- a/libsensors/orientationd/orientationd.c
+++ b/libsensors/orientationd/orientationd.c
@@ -1,8 +1,5 @@
 /*
- * Copyright (C) 2013 Paul Kocialkowski
- *
- * Orientation calculation based on AK8975_FS:
- * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
  *
  * 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
@@ -18,56 +15,57 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.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>
+#include <hardware/hardware.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)
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
 
-struct sensor_device {
-	char *name;
-	int handle;
-	float (*get_data)(int value);
-	int (*set_data)(float value);
+#include "orientationd.h"
 
-	int fd;
+struct orientationd_handlers *orientationd_handlers[] = {
+	&bma250,
+	&yas530,
 };
 
-struct sensor_data {
-	vector v;
-	int flags;
-};
+int orientationd_handlers_count = sizeof(orientationd_handlers) /
+	sizeof(struct orientationd_handlers *);
 
-float rad2deg(float v)
+static float rad2deg(float v)
 {
 	return (v * 180.0f / 3.1415926535f);
 }
 
-void orientation_calculate(vector *a, vector *m, vector *o)
+static float vector_scalar(sensors_vec_t *v, sensors_vec_t *d)
+{
+	return v->x * d->x + v->y * d->y + v->z * d->z;
+}
+
+static float vector_length(sensors_vec_t *v)
+{
+	return sqrtf(vector_scalar(v, v));
+}
+
+int orientation_calculate(struct orientationd_data *data)
 {
+	sensors_vec_t *a, *m, *o;
 	float azimuth, pitch, roll;
 	float la, sinp, cosp, sinr, cosr, x, y;
 
-	if (a == NULL || m == NULL || o == NULL)
-		return;
+	if (data == NULL)
+		return -EINVAL;
+
+	a = &data->acceleration;
+	m = &data->magnetic;
+	o = &data->orientation;
 
 	la = vector_length(a);
 	pitch = asinf(-(a->y) / la);
@@ -82,291 +80,248 @@ void orientation_calculate(vector *a, vector *m, vector *o)
 	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);
+	o->azimuth = rad2deg(azimuth);
+	o->pitch = rad2deg(pitch);
+	o->roll = rad2deg(roll);
 
-	if (o->x < 0)
-		o->x += 360.0f;
-}
+	if (o->azimuth < 0)
+		o->azimuth += 360.0f;
 
-float bma250_acceleration(int value)
-{
-	return (float) (value * GRAVITY_EARTH) / 256.0f;
-}
-
-float yas530c_magnetic(int value)
-{
-	return (float) value / 1000.0f;
+	return 0;
 }
 
-int yas_orientation(float value)
+void *orientationd_thread(void *thread_data)
 {
-	return (int) (value * 1000);
-}
+	struct orientationd_data *data;
+	struct input_event event;
+	struct timeval time;
+	long int before, after;
+	int diff;
+	int input_fd;
+	int rc;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	data = (struct orientationd_data *) thread_data;
+
+	input_fd = data->input_fd;
+	if (input_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (data->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			rc = orientation_calculate(data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to calculate orientation", __func__);
+				goto next;
+			}
 
-struct sensor_device bma250_device = {
-	.name = "accelerometer",
-	.handle = SENSOR_TYPE_ACCELEROMETER,
-	.get_data = bma250_acceleration,
-	.set_data = NULL,
-	.fd = -1,
-};
+			input_event_set(&event, EV_ABS, ABS_X, (int) (data->orientation.azimuth * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_ABS, ABS_Y, (int) (data->orientation.pitch * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_ABS, ABS_Z, (int) (data->orientation.roll * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(input_fd, &event, sizeof(event));
 
-struct sensor_device yas530c_device = {
-	.name = "geomagnetic",
-	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
-	.get_data = yas530c_magnetic,
-	.set_data = NULL,
-	.fd = -1,
-};
+next:
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
 
-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,
-};
+			diff = (int) (data->delay * 1000000 - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
 
-int sensors_devices_count = sizeof(sensor_devices) / sizeof(struct sensor_device *);
+			usleep(diff);
+		}
+	}
+	return NULL;
+}
 
-int sensor_device_open(struct sensor_device *dev)
+int orientation_get_data(struct orientationd_data *data)
 {
-	int fd;
+	struct input_event input_event;
+	int input_fd;
+	int activated;
+	unsigned int delay;
+	int rc;
 
-	if (dev == NULL || dev->name == NULL)
+	if (data == NULL)
 		return -EINVAL;
 
-	printf("Opening %s\n", dev->name);
-
-	fd = input_open(dev->name, dev->handle == SENSOR_TYPE_ORIENTATION ? 1 : 0);
-	if (fd < 0)
+	input_fd = data->input_fd;
+	if (input_fd < 0)
 		return -1;
 
-	dev->fd = fd;
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
 
-	return 0;
-}
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_THROTTLE:
+					data->activated = input_event.value & (1 << 16) ? 1 : 0;
+					data->delay = input_event.value & ~(1 << 16);
 
-void sensor_device_close(struct sensor_device *dev)
-{
-	if (dev == NULL || dev->fd < 0)
-		return;
+					pthread_mutex_unlock(&data->mutex);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
 
-	close(dev->fd);
-	dev->fd = -1;
+	return 0;
 }
 
-struct sensor_device *sensor_device_find_handle(int handle)
+int orientationd_poll(struct orientationd_data *data)
 {
-	int i;
+	int count;
+	int i, j;
+	int rc;
 
-	for (i=0 ; i < sensors_devices_count ; i++) {
-		if (sensor_devices[i]->handle == handle)
-			return sensor_devices[i];
-	}
+	if (data == NULL)
+		return -EINVAL;
 
-	return NULL;
-}
+	ALOGD("Starting orientationd poll");
 
-struct sensor_device *sensor_device_find_fd(int fd)
-{
-	int i;
+	while (1) {
+		if (data->activated)
+			count = data->poll_fds_count;
+		else
+			count = 1;
 
-	for (i=0 ; i < sensors_devices_count ; i++) {
-		if (sensor_devices[i]->fd == fd)
-			return sensor_devices[i];
-	}
+		rc = poll(data->poll_fds, count, -1);
+		if (rc < 0) {
+			ALOGE("%s: poll failure", __func__);
+			goto error;
+		}
 
-	return NULL;
-}
+		for (i = 0; i < count; i++) {
+			if (data->poll_fds[i].revents & POLLIN) {
+				data->poll_fds[i].revents = 0;
 
-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 (data->poll_fds[i].fd == data->input_fd) {
+					orientation_get_data(data);
+					continue;
+				}
 
-	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;
+				for (j = 0; j < data->handlers_count; j++)
+					if (data->handlers[j] != NULL && data->handlers[j]->poll_fd == data->poll_fds[i].fd && data->handlers[j]->get_data != NULL)
+						data->handlers[j]->get_data(data->handlers[j], data);
+			}
 		}
 	}
 
-	return -1;
-}
+	rc = 0;
+	goto complete;
 
-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;
-	}
+error:
+	rc = -1;
 
-	return -1;
+complete:
+	return rc;
 }
 
 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));
+	struct orientationd_data *orientationd_data = NULL;
+	pthread_attr_t thread_attr;
+	int input_fd = -1;
+	int poll_fd;
+	int p, i;
+	int rc;
+
+	orientationd_data = (struct orientationd_data *)
+		calloc(1, sizeof(struct orientationd_data));
+	orientationd_data->handlers = orientationd_handlers;
+	orientationd_data->handlers_count = orientationd_handlers_count;
+	orientationd_data->activated = 0;
+	orientationd_data->poll_fds = (struct pollfd *)
+		calloc(1, (orientationd_handlers_count + 1) * sizeof(struct pollfd));
+
+	p = 0;
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
 
-	poll_fds = (struct pollfd *) calloc(1, sizeof(struct pollfd) * sensors_devices_count);
+	orientationd_data->input_fd = input_fd;
 
-	index = -1;
-	c = 0;
+	orientationd_data->poll_fds[p].fd = input_fd;
+	orientationd_data->poll_fds[p].events = POLLIN;
+	p++;
 
-	for (i=0 ; i < sensors_devices_count ; i++) {
-		rc = sensor_device_open(sensor_devices[i]);
-		if (rc < 0)
+	for (i = 0; i < orientationd_handlers_count; i++) {
+		if (orientationd_handlers[i] == NULL || orientationd_handlers[i]->input_name == NULL)
 			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;
+		poll_fd = input_open(orientationd_handlers[i]->input_name);
+		if (poll_fd < 0) {
+			ALOGE("%s: Unable to open input %s", __func__, orientationd_handlers[i]->input_name);
+			continue;
+		}
 
-		c++;
+		orientationd_handlers[i]->poll_fd = poll_fd;
+		orientationd_data->poll_fds[p].fd = poll_fd;
+		orientationd_data->poll_fds[p].events = POLLIN;
+		p++;
 	}
 
-	if (c <= 0 || index <= 0)
-		goto exit;
+	orientationd_data->poll_fds_count = p;
 
-	printf("Starting main loop\n");
+	orientationd_data->thread_continue = 1;
 
-	enabled = 0;
-	while (1) {
-		data = 0;
+	pthread_mutex_init(&orientationd_data->mutex, NULL);
+	pthread_mutex_lock(&orientationd_data->mutex);
 
-		if (enabled)
-			rc = poll(poll_fds, c, -1);
-		else
-			rc = poll(&poll_fds[index], 1, -1);
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
 
-		if (rc < 0)
-			goto exit;
+	rc = pthread_create(&orientationd_data->thread, &thread_attr, orientationd_thread, (void *) orientationd_data);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create orientationd thread", __func__);
+		goto error;
+	}
 
-		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;
+	rc = orientationd_poll(orientationd_data);
+	if (rc < 0)
+		goto error;
 
-				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;
-				}
-			}
+	rc = 0;
+	goto complete;
 
-			if (data && a.flags & FLAG_ALL && m.flags & FLAG_ALL) {
-				dev = sensor_device_find_handle(SENSOR_TYPE_ORIENTATION);
-				if (dev == NULL)
-					continue;
+error:
+	while (1)
+		sleep(3600);
 
-				orientation_calculate(&a.v, &m.v, &o.v);
-				sensor_device_set_data(dev, &o);
-			}
-		}
-	}
+	rc = 1;
 
+complete:
+	if (input_fd >= 0)
+		close(input_fd);
 
-exit:
-	for (i=0 ; i < sensors_devices_count ; i++)
-		sensor_device_close(sensor_devices[i]);
+	if (orientationd_data != NULL) {
+		orientationd_data->thread_continue = 0;
+		pthread_mutex_destroy(&orientationd_data->mutex);
 
-	while (1) {
-		sleep(3600);
+		if (orientationd_data->poll_fds != NULL)
+			free(orientationd_data->poll_fds);
+
+		free(orientationd_data);
 	}
 
-	return 0;
+	return rc;
 }
diff --git a/libsensors/orientationd/orientationd.h b/libsensors/orientationd/orientationd.h
index 41aad5e..7e169e4 100644
--- a/libsensors/orientationd/orientationd.h
+++ b/libsensors/orientationd/orientationd.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Paul Kocialkowski
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
  *
  * 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
@@ -15,36 +15,72 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <stdint.h>
+#include <poll.h>
 #include <linux/input.h>
 
-#ifndef _ORIENTATION_H_
-#define _ORIENTATION_H_
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
 
-/*
- * Vector
- */
+#ifndef _ORIENTATIOND_H_
+#define _ORIENTATIOND_H_
 
-struct vector {
-	float x;
-	float y;
-	float z;
+struct orientationd_data;
 
+struct orientationd_handlers {
+	char *input_name;
+	int handle;
+	int poll_fd;
+
+	int (*get_data)(struct orientationd_handlers *handlers,
+		struct orientationd_data *data);
 };
 
-typedef struct vector vector;
+struct orientationd_data {
+	struct orientationd_handlers **handlers;
+	int handlers_count;
+
+	struct pollfd *poll_fds;
+	int poll_fds_count;
 
-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);
+	sensors_vec_t orientation;
+	sensors_vec_t acceleration;
+	sensors_vec_t magnetic;
+
+	unsigned int delay;
+	int input_fd;
+
+	int activated;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+extern struct orientationd_handlers *orientationd_handlers[];
+extern int orientationd_handlers_count;
 
 /*
  * Input
  */
 
-int64_t input_timestamp(struct input_event *event);
-int input_open(char *name, int write);
+void input_event_set(struct input_event *event, int type, int code, int value);
+long int timestamp(struct timeval *time);
+long int input_timestamp(struct input_event *event);
+int uinput_rel_create(const char *name);
+void uinput_destroy(int uinput_fd);
+int input_open(char *name);
 int sysfs_path_prefix(char *name, char *path_prefix);
+int sysfs_value_read(char *path);
+int sysfs_value_write(char *path, int value);
+int sysfs_string_read(char *path, char *buffer, size_t length);
+int sysfs_string_write(char *path, char *buffer, size_t length);
+
+/*
+ * Sensors
+ */
+
+extern struct orientationd_handlers bma250;
+extern struct orientationd_handlers yas530;
 
 #endif
diff --git a/libsensors/orientationd/vector.c b/libsensors/orientationd/vector.c
deleted file mode 100644
index ee8ba49..0000000
--- a/libsensors/orientationd/vector.c
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * 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/orientationd/yas530.c b/libsensors/orientationd/yas530.c
new file mode 100644
index 0000000..7942c50
--- /dev/null
+++ b/libsensors/orientationd/yas530.c
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * 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 <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+float yas530_convert(int value)
+{
+	return value / 1000.0f;
+}
+
+int yas530_get_data(struct orientationd_handlers *handlers,
+	struct orientationd_data *data)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || data == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -1;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					data->magnetic.x = yas530_convert(input_event.value);
+					break;
+				case ABS_Y:
+					data->magnetic.y = yas530_convert(input_event.value);
+					break;
+				case ABS_Z:
+					data->magnetic.z = yas530_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct orientationd_handlers yas530 = {
+	.input_name = "geomagnetic",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.poll_fd = -1,
+	.get_data = yas530_get_data,
+};