espresso-common: libsensors: sync with replicant

Change-Id: Idcb9a57af699833c504f236692a6bdb1ef33c98e

20 files changed, 2290 insertions, 1378 deletions

diff --git a/libsensors/Android.mk b/libsensors/Android.mk
index 45edc5f..39cc493 100644
--- a/libsensors/Android.mk
+++ b/libsensors/Android.mk
@@ -1,5 +1,4 @@
-#
-# 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
@@ -13,7 +12,6 @@
 #
 # 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)
@@ -23,12 +21,15 @@ include $(CLEAR_VARS)
 LOCAL_SRC_FILES := \
 	piranha_sensors.c \
 	input.c \
-	bma250.c \
-	yas530c.c \
-	yas_orientation.c \
 	bh1721.c \
+	bma250.c \
 	gp2a_light.c \
-	gp2a_proximity.c
+	gp2a_proximity.c \
+	yas530.c \
+	yas_orientation.c
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)
 
 LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware
 LOCAL_PRELINK_MODULE := false
@@ -57,7 +58,8 @@ LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/geomagneticd
 include $(CLEAR_VARS)
 
 LOCAL_SRC_FILES := \
-	geomagneticd.c
+	geomagneticd.c \
+	input.c
 
 LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
 LOCAL_PRELINK_MODULE := false
@@ -72,9 +74,10 @@ LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/orientationd
 include $(CLEAR_VARS)
 
 LOCAL_SRC_FILES := \
+	orientationd.c \
 	input.c \
-	vector.c \
-	orientationd.c
+	bma250.c \
+	yas530.c
 
 LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
 LOCAL_PRELINK_MODULE := false
diff --git a/libsensors/bh1721.c b/libsensors/bh1721.c
index 1486ef9..34d4594 100644
--- a/libsensors/bh1721.c
+++ b/libsensors/bh1721.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
@@ -20,6 +20,8 @@
 #include <stdint.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <math.h>
+#include <sys/types.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
 
@@ -36,7 +38,8 @@ struct bh1721_data {
 	char path_delay[PATH_MAX];
 };
 
-int bh1721_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+int bh1721_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
 {
 	struct bh1721_data *data = NULL;
 	char path[PATH_MAX] = { 0 };
@@ -48,6 +51,8 @@ int bh1721_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 	if (handlers == NULL)
 		return -EINVAL;
 
+	data = (struct bh1721_data *) calloc(1, sizeof(struct bh1721_data));
+
 	input_fd = input_open("light_sensor");
 	if (input_fd < 0) {
 		ALOGE("%s: Unable to open input", __func__);
@@ -60,8 +65,6 @@ int bh1721_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 		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);
 
@@ -71,12 +74,12 @@ int bh1721_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 	return 0;
 
 error:
-	if (input_fd >= 0)
-		close(input_fd);
-
 	if (data != NULL)
 		free(data);
 
+	if (input_fd >= 0)
+		close(input_fd);
+
 	handlers->poll_fd = -1;
 	handlers->data = NULL;
 
@@ -85,22 +88,17 @@ error:
 
 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);
-
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
 	handlers->poll_fd = -1;
 
 	if (handlers->data != NULL)
 		free(handlers->data);
-
 	handlers->data = NULL;
 
 	return 0;
@@ -109,8 +107,7 @@ int bh1721_deinit(struct piranha_sensors_handlers *handlers)
 int bh1721_activate(struct piranha_sensors_handlers *handlers)
 {
 	struct bh1721_data *data;
-	char enable[] = "1\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -119,15 +116,12 @@ int bh1721_activate(struct piranha_sensors_handlers *handlers)
 
 	data = (struct bh1721_data *) handlers->data;
 
-	fd = open(data->path_enable, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open enable path", __func__);
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
 	handlers->activated = 1;
 
 	return 0;
@@ -136,8 +130,7 @@ int bh1721_activate(struct piranha_sensors_handlers *handlers)
 int bh1721_deactivate(struct piranha_sensors_handlers *handlers)
 {
 	struct bh1721_data *data;
-	char enable[] = "0\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -146,54 +139,41 @@ int bh1721_deactivate(struct piranha_sensors_handlers *handlers)
 
 	data = (struct bh1721_data *) handlers->data;
 
-	fd = open(data->path_enable, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open enable path", __func__);
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
-	handlers->activated = 0;
+	handlers->activated = 1;
 
 	return 0;
 }
 
-int bh1721_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+int bh1721_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
 {
 	struct bh1721_data *data;
-	char *value = NULL;
-	int c;
-	int fd;
+	int rc;
 
-//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+	ALOGD("%s(%p, %ld)", __func__, handlers, 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__);
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, value, c);
-	close(fd);
-
-	if (value != NULL)
-		free(value);
-
 	return 0;
 }
 
-float bh1721_light(int value)
+float bh1721_convert(int value)
 {
-	return (float) value * 0.712f;
+	return value * 0.712f;
 }
 
 int bh1721_get_data(struct piranha_sensors_handlers *handlers,
@@ -203,6 +183,8 @@ int bh1721_get_data(struct piranha_sensors_handlers *handlers,
 	int input_fd;
 	int rc;
 
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
 	if (handlers == NULL || event == NULL)
 		return -EINVAL;
 
@@ -210,18 +192,24 @@ int bh1721_get_data(struct piranha_sensors_handlers *handlers,
 	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;
-
+	memset(event, 0, sizeof(struct sensors_event_t));
 	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);
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			if (input_event.code == REL_MISC)
+				event->light = bh1721_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
 
 	return 0;
 }
@@ -236,6 +224,7 @@ struct piranha_sensors_handlers bh1721 = {
 	.set_delay = bh1721_set_delay,
 	.get_data = bh1721_get_data,
 	.activated = 0,
+	.needed = 0,
 	.poll_fd = -1,
 	.data = NULL,
 };
diff --git a/libsensors/bma250.c b/libsensors/bma250.c
index ce851d7..91d7fc0 100644
--- a/libsensors/bma250.c
+++ b/libsensors/bma250.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
@@ -20,6 +20,8 @@
 #include <stdint.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <math.h>
+#include <sys/types.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
 
@@ -31,11 +33,6 @@
 
 #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];
@@ -43,7 +40,8 @@ struct bma250_data {
 	sensors_vec_t acceleration;
 };
 
-int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+int bma250_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
 {
 	struct bma250_data *data = NULL;
 	char path[PATH_MAX] = { 0 };
@@ -55,6 +53,8 @@ int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 	if (handlers == NULL)
 		return -EINVAL;
 
+	data = (struct bma250_data *) calloc(1, sizeof(struct bma250_data));
+
 	input_fd = input_open("accelerometer");
 	if (input_fd < 0) {
 		ALOGE("%s: Unable to open input", __func__);
@@ -67,8 +67,6 @@ int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 		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);
 
@@ -78,12 +76,12 @@ int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensor
 	return 0;
 
 error:
-	if (input_fd >= 0)
-		close(input_fd);
-
 	if (data != NULL)
 		free(data);
 
+	if (input_fd >= 0)
+		close(input_fd);
+
 	handlers->poll_fd = -1;
 	handlers->data = NULL;
 
@@ -92,22 +90,17 @@ error:
 
 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);
-
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
 	handlers->poll_fd = -1;
 
 	if (handlers->data != NULL)
 		free(handlers->data);
-
 	handlers->data = NULL;
 
 	return 0;
@@ -116,8 +109,7 @@ int bma250_deinit(struct piranha_sensors_handlers *handlers)
 int bma250_activate(struct piranha_sensors_handlers *handlers)
 {
 	struct bma250_data *data;
-	char enable[] = "1\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -126,15 +118,12 @@ int bma250_activate(struct piranha_sensors_handlers *handlers)
 
 	data = (struct bma250_data *) handlers->data;
 
-	fd = open(data->path_enable, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open enable path", __func__);
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
 	handlers->activated = 1;
 
 	return 0;
@@ -143,8 +132,7 @@ int bma250_activate(struct piranha_sensors_handlers *handlers)
 int bma250_deactivate(struct piranha_sensors_handlers *handlers)
 {
 	struct bma250_data *data;
-	char enable[] = "0\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -153,60 +141,47 @@ int bma250_deactivate(struct piranha_sensors_handlers *handlers)
 
 	data = (struct bma250_data *) handlers->data;
 
-	fd = open(data->path_enable, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open enable path", __func__);
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
-	handlers->activated = 0;
+	handlers->activated = 1;
 
 	return 0;
 }
 
-int bma250_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+int bma250_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
 {
 	struct bma250_data *data;
-	char *value = NULL;
 	int d;
-	int c;
-	int fd;
+	int rc;
 
-//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
 
 	if (handlers == NULL || handlers->data == NULL)
 		return -EINVAL;
 
 	data = (struct bma250_data *) handlers->data;
 
-	if (delay < 1000000)
-		d = 0;
+	if (delay < 10000000)
+		d = 10;
 	else
-		d = (int) (delay / 1000000);
+		d = 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__);
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, value, c);
-	close(fd);
-
-	if (value != NULL)
-		free(value);
-
 	return 0;
 }
 
-float bma250_acceleration(int value)
+float bma250_convert(int value)
 {
-	return (float) (value * GRAVITY_EARTH) / 256.0f;
+	return value * (GRAVITY_EARTH / 256.0f);
 }
 
 int bma250_get_data(struct piranha_sensors_handlers *handlers,
@@ -215,9 +190,10 @@ int bma250_get_data(struct piranha_sensors_handlers *handlers,
 	struct bma250_data *data;
 	struct input_event input_event;
 	int input_fd;
-	int flag;
 	int rc;
 
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
 	if (handlers == NULL || handlers->data == NULL || event == NULL)
 		return -EINVAL;
 
@@ -227,6 +203,7 @@ int bma250_get_data(struct piranha_sensors_handlers *handlers,
 	if (input_fd < 0)
 		return -EINVAL;
 
+	memset(event, 0, sizeof(struct sensors_event_t));
 	event->version = sizeof(struct sensors_event_t);
 	event->sensor = handlers->handle;
 	event->type = handlers->handle;
@@ -234,46 +211,35 @@ int bma250_get_data(struct piranha_sensors_handlers *handlers,
 	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) {
+	do {
 		rc = read(input_fd, &input_event, sizeof(input_event));
-		if (rc < (int) sizeof(input_event)) {
-			if (flag & FLAG_ALL)
-				break;
-			else
-				return -1;
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					event->acceleration.x = bma250_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->acceleration.y = bma250_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->acceleration.z = bma250_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
 		}
+	} while (input_event.type != EV_SYN);
 
-		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;
+	data->acceleration.x = event->acceleration.x;
+	data->acceleration.y = event->acceleration.y;
+	data->acceleration.z = event->acceleration.z;
 
 	return 0;
 }
@@ -288,6 +254,7 @@ struct piranha_sensors_handlers bma250 = {
 	.set_delay = bma250_set_delay,
 	.get_data = bma250_get_data,
 	.activated = 0,
+	.needed = 0,
 	.poll_fd = -1,
 	.data = NULL,
 };
diff --git a/libsensors/geomagneticd/geomagneticd.c b/libsensors/geomagneticd/geomagneticd.c
index 918edbf..61c4795 100644
--- a/libsensors/geomagneticd/geomagneticd.c
+++ b/libsensors/geomagneticd/geomagneticd.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
@@ -16,353 +16,506 @@
  */
 
 #include <stdlib.h>
-#include <unistd.h>
-#include <stdint.h>
+#include <stdio.h>
 #include <fcntl.h>
 #include <errno.h>
-#include <dirent.h>
-#include <sys/stat.h>
-#include <linux/ioctl.h>
+#include <poll.h>
 #include <linux/input.h>
 
+#include <hardware/sensors.h>
+#include <hardware/hardware.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.
- *
- */
+#include "geomagneticd.h"
+
+// This geomagnetic daemon is in charge of finding the correct calibration
+// offsets to apply to the YAS530 magnetic field sensor.
+// This is done by finding raw data extrema (minimum and maximum) for each axis
+// and calculating the offset so that these values are -45uT and 45uT.
 
 /*
- * Input
+ * Config
  */
 
-int input_open(char *name)
+int geomagneticd_config_read(struct geomagneticd_data *data)
 {
-	DIR *d;
-	struct dirent *di;
-
-	char input_name[80] = { 0 };
-	char path[PATH_MAX];
-	char *c;
-	int fd;
+	char buffer[100] = { 0 };
+	int config_fd = -1;
 	int rc;
 
-	if (name == NULL)
+	if (data == NULL)
 		return -EINVAL;
 
-	d = opendir("/dev/input");
-	if (d == NULL)
-		return -1;
+	config_fd = open(GEOMAGNETICD_CONFIG_PATH, O_RDONLY);
+	if (config_fd < 0) {
+		ALOGE("%s: Unable to open config", __func__);
+		goto error;
+	}
 
-	while ((di = readdir(d))) {
-		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
-			continue;
+	rc = read(config_fd, buffer, sizeof(buffer));
+	if (rc <= 0) {
+		ALOGE("%s: Unable to read config", __func__);
+		goto error;
+	}
 
-		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
-		fd = open(path, O_RDONLY);
-		if (fd < 0)
-			continue;
+	rc = sscanf(buffer, "%d,%d,%d,%d,%d,%d,%d",
+		&data->hard_offsets[0], &data->hard_offsets[1], &data->hard_offsets[2],
+		&data->calib_offsets[0], &data->calib_offsets[1], &data->calib_offsets[2],
+		&data->accuracy);
+	if (rc != 7) {
+		ALOGE("%s: Unable to parse config", __func__);
+		goto error;
+	}
 
-		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
-		if (rc < 0)
-			continue;
+	rc = 0;
+	goto complete;
 
-		c = strstr((char *) &input_name, "\n");
-		if (c != NULL)
-			*c = '\0';
+error:
+	rc = -1;
 
-		if (strcmp(input_name, name) == 0)
-			return fd;
-		else
-			close(fd);
-	}
+complete:
+	if (config_fd >= 0)
+		close(config_fd);
 
-	return -1;
+	return rc;
 }
 
-int sysfs_path_prefix(char *name, char *path_prefix)
+int geomagneticd_config_write(struct geomagneticd_data *data)
 {
-	DIR *d;
-	struct dirent *di;
-
-	char input_name[80] = { 0 };
-	char path[PATH_MAX];
-	char *c;
-	int fd;
+	char buffer[100] = { 0 };
+	int config_fd = -1;
+	int rc;
 
-	if (name == NULL || path_prefix == NULL)
+	if (data == NULL)
 		return -EINVAL;
 
-	d = opendir("/sys/class/input");
-	if (d == NULL)
-		return -1;
+	config_fd = open(GEOMAGNETICD_CONFIG_BACKUP_PATH, O_WRONLY | O_TRUNC | O_CREAT, 0644);
+	if (config_fd < 0) {
+		ALOGE("%s: Unable to open config", __func__);
+		goto error;
+	}
 
-	while ((di = readdir(d))) {
-		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
-			continue;
+	sprintf(buffer, "%d,%d,%d,%d,%d,%d,%d",
+		data->hard_offsets[0], data->hard_offsets[1], data->hard_offsets[2],
+		data->calib_offsets[0], data->calib_offsets[1], data->calib_offsets[2],
+		data->accuracy);
 
-		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+	rc = write(config_fd, buffer, strlen(buffer) + 1);
+	if (rc < (int) strlen(buffer) + 1) {
+		ALOGE("%s: Unable to write config", __func__);
+		goto error;
+	}
 
-		fd = open(path, O_RDONLY);
-		if (fd < 0)
-			continue;
+	rename(GEOMAGNETICD_CONFIG_BACKUP_PATH, GEOMAGNETICD_CONFIG_PATH);
 
-		read(fd, &input_name, sizeof(input_name));
-		close(fd);
+	rc = 0;
+	goto complete;
 
-		c = strstr((char *) &input_name, "\n");
-		if (c != NULL)
-			*c = '\0';
+error:
+	rc = -1;
 
-		if (strcmp(input_name, name) == 0) {
-			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
-			return 0;
-		}
-	}
+complete:
+	if (config_fd >= 0)
+		close(config_fd);
 
-	return -1;
+	return rc;
 }
 
 /*
- * Geomagneticd
+ * Offsets
  */
 
-int offset_read(char *path, int *hard_offset, int *calib_offset, int *accuracy)
+int geomagneticd_offsets_read(struct geomagneticd_data *data)
 {
-	char buf[100] = { 0 };
-	int fd;
+	char buffer[100] = { 0 };
+	int offsets_fd = -1;
 	int rc;
 
-	fd = open(path, O_RDONLY);
-	if (fd < 0)
-		return -1;
+	if (data == NULL)
+		return -EINVAL;
 
-	rc = read(fd, &buf, sizeof(buf));
-	close(fd);
-	if (rc <= 0)
-		return -1;
+	offsets_fd = open(data->path_offsets, O_RDONLY);
+	if (offsets_fd < 0) {
+		ALOGE("%s: Unable to open offsets", __func__);
+		goto error;
+	}
 
-	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);
+	rc = read(offsets_fd, buffer, sizeof(buffer));
+	if (rc <= 0) {
+		ALOGE("%s: Unable to read offsets", __func__);
+		goto error;
+	}
 
-	if (rc != 7)
-		return -1;
+	rc = sscanf(buffer, "%d %d %d %d %d %d %d",
+		&data->hard_offsets[0], &data->hard_offsets[1], &data->hard_offsets[2],
+		&data->calib_offsets[0], &data->calib_offsets[1], &data->calib_offsets[2],
+		&data->accuracy);
+	if (rc != 7) {
+		ALOGE("%s: Unable to parse offsets", __func__);
+		goto error;
+	}
 
-	return 0;
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (offsets_fd >= 0)
+		close(offsets_fd);
+
+	return rc;
 }
 
-int offset_write(char *path, int *hard_offset, int *calib_offset, int accuracy)
+int geomagneticd_offsets_write(struct geomagneticd_data *data)
 {
-	char buf[100] = { 0 };
-	int fd;
+	char buffer[100] = { 0 };
+	int offsets_fd = -1;
 	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);
+	if (data == NULL)
+		return -EINVAL;
 
-	fd = open(path, O_WRONLY);
-	if (fd < 0)
-		return -1;
+	offsets_fd = open(data->path_offsets, O_WRONLY);
+	if (offsets_fd < 0) {
+		ALOGE("%s: Unable to open offsets", __func__);
+		goto error;
+	}
 
-	write(fd, buf, strlen(buf) + 1);
-	close(fd);
+	sprintf(buffer, "%d %d %d %d %d %d %d\n",
+		data->hard_offsets[0], data->hard_offsets[1], data->hard_offsets[2],
+		data->calib_offsets[0], data->calib_offsets[1], data->calib_offsets[2],
+		data->accuracy);
 
-	return 0;
+	rc = write(offsets_fd, buffer, strlen(buffer) + 1);
+	if (rc < (int) strlen(buffer) + 1) {
+		ALOGE("%s: Unable to write offsets", __func__);
+		goto error;
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (offsets_fd >= 0)
+		close(offsets_fd);
+
+	return rc;
 }
 
-int yas_cfg_read(int *hard_offset, int *calib_offset, int *accuracy)
+int geomagneticd_offsets_init(struct geomagneticd_data *data)
 {
-	char buf[100] = { 0 };
-	int fd;
-	int rc;
+	int count;
+	int i;
 
-	fd = open("/data/system/yas.cfg", O_RDONLY);
-	if (fd < 0)
-		return -1;
+	if (data == NULL)
+		return -EINVAL;
 
-	rc = read(fd, &buf, sizeof(buf));
-	close(fd);
-	if (rc <= 0)
-		return -1;
+	count = sizeof(data->hard_offsets) / sizeof(int);
 
-	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);
+	// 0x7f is an invalid value for hard offsets
+	for (i = 0; i < count; i++)
+		data->hard_offsets[i] = 0x7f;
 
-	if (rc != 7)
-		return -1;
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// 0x0x7fffffff is an invalid value for calib offsets
+	for (i = 0; i < count; i++)
+		data->calib_offsets[i] = 0x7fffffff;
 
 	return 0;
 }
 
-int yas_cfg_write(int *hard_offset, int *calib_offset, int accuracy)
+int geomagneticd_offsets_check(struct geomagneticd_data *data)
 {
-	char buf[100] = { 0 };
-	int fd;
-	int rc;
+	int count;
+	int i;
 
-	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;
+	if (data == NULL)
+		return -EINVAL;
 
-	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);
+	count = sizeof(data->hard_offsets) / sizeof(int);
 
-	write(fd, buf, strlen(buf) + 1);
-	close(fd);
+	// 0x7f is an invalid value for hard offsets
+	for (i = 0; i < count; i++)
+		if (data->hard_offsets[i] == 0x7f)
+			return 0;
 
-	chmod("/data/system/yas-backup.cfg", 0644);
-	rename("/data/system/yas-backup.cfg", "/data/system/yas.cfg");
+	count = sizeof(data->calib_offsets) / sizeof(int);
 
-	return 0;
+	// 0x0x7fffffff is an invalid value for calib offsets
+	for (i = 0; i < count; i++)
+		if (data->calib_offsets[i] == 0x7fffffff)
+			return 0;
+
+	return 1;
 }
 
-int main(int argc, char *argv[])
+/*
+ * Geomagneticd
+ */
+
+int geomagneticd_magnetic_extrema_init(struct geomagneticd_data *data)
 {
-	struct input_event event;
+	int count;
+	int i;
 
-	char path[PATH_MAX] = { 0 };
-	char path_offset[PATH_MAX] = { 0 };
+	if (data == NULL)
+		return -EINVAL;
+
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// Approximate the previous extrema from the calib offsets
+	for (i = 0; i < count; i++) {
+		data->magnetic_extrema[0][i] = -(data->calib_offsets[i] + 45) * 1000 + 5000;
+		data->magnetic_extrema[1][i] = (data->calib_offsets[i] + 45) * 1000 - 5000;
+	}
 
-	int offset_fd;
-	int input_fd;
+	return 0;
+}
+
+int geomagneticd_magnetic_extrema(struct geomagneticd_data *data, int index,
+	int value)
+{
+	if (data == NULL || index < 0 || index >= 3)
+		return -EINVAL;
 
-	int max_coeff[3] = { 40, 45, 45 };
-	int hard_offset[3] = { 0 };
-	int calib_offset[3] = { 0 };
-	int accuracy = 0;
+	if (value == 0)
+		return 0;
 
-	int axis_min[3] = { 0 };
-	int axis_max[3] = { 0 };
-	int axis_calib[3] = { 0 };
+	// Update the extrema from the current value if needed
+	if (value < data->magnetic_extrema[0][index] || data->magnetic_extrema[0][index] == 0)
+		data->magnetic_extrema[0][index] = value;
+	if (value > data->magnetic_extrema[1][index] || data->magnetic_extrema[1][index] == 0)
+		data->magnetic_extrema[1][index] = value;
 
-	int x, y, z;
+	return 0;
+}
 
+int geomagneticd_calib_offsets(struct geomagneticd_data *data)
+{
+	int calib_offsets[3];
+	int offsets[2];
+	int update;
+	int count;
 	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.
-	 */
+	if (data == NULL)
+		return -EINVAL;
 
-	ALOGD("Geomagneticd start");
+	// Calculating the offset is only meaningful when enough values were
+	// obtained. There is no need to calculate it too often either.
+	if (data->count % 10 != 0)
+		return 0;
 
-	input_fd = input_open("geomagnetic_raw");
-	if (input_fd < 0)
-		goto sleep_loop;
+	update = 0;
 
-	rc = sysfs_path_prefix("geomagnetic_raw", &path);
-	if (rc < 0)
-		goto sleep_loop;
+	count = sizeof(data->calib_offsets) / sizeof(int);
 
-	snprintf(path_offset, PATH_MAX, "%s/offsets", path);
+	// Calculate the calib offset for each axis to have values in [-45;45] uT
+	for (i = 0; i < count; i++) {
+		offsets[0] = data->magnetic_extrema[0][i] + 45 * 1000;
+		offsets[1] = data->magnetic_extrema[1][i] - 45 * 1000;
+		calib_offsets[i] = (offsets[0] + offsets[1]) / 2;
 
-	for (i=0 ; i < 3 ; i++) {
-		axis_min[i] = 0;
-		axis_max[i] = 0;
-		calib_offset[i] = 0;
+		if (calib_offsets[i] != data->calib_offsets[i]) {
+			data->calib_offsets[i] = calib_offsets[i];
+			update = 1;
+		}
 	}
 
-	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);
+	if (update) {
+		data->accuracy = 1;
 
-		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];
+		rc = geomagneticd_offsets_write(data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write offsets", __func__);
+			return -1;
 		}
-	} 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;
+		rc = geomagneticd_config_write(data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write config", __func__);
+			return -1;
 		}
 	}
 
-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;
-				}
+	return 0;
+}
 
-				axis_calib[i] = axis_calib[i] < 0 ? -axis_calib[i] : axis_calib[i];
+int geomagneticd_poll(struct geomagneticd_data *data)
+{
+	struct input_event input_event;
+	struct pollfd poll_fd;
+	int rc;
 
-				if (axis_calib[i] != calib_offset[i]) {
-					calib_offset[i] = axis_calib[i];
-					accuracy = 1;
+	if (data == NULL)
+		return -EINVAL;
 
-					offset_write(path_offset, &hard_offset, &calib_offset, accuracy);
-					yas_cfg_write(&hard_offset, &calib_offset, accuracy);
-				}
+	if (data->input_fd < 0)
+		return -1;
 
-//				printf("axis_calib[%d]=%d\n", i, axis_calib[i]);
-			}
+	memset(&poll_fd, 0, sizeof(poll_fd));
+	poll_fd.fd = data->input_fd;
+	poll_fd.events = POLLIN;
 
-			if (hard_offset[0] == 127 && hard_offset[1] == 127 && hard_offset[2] == 127) {
-				offset_read(path_offset, &hard_offset, &calib_offset, &accuracy);
+	while (1) {
+		rc = poll(&poll_fd, 1, -1);
+		if (rc < 0) {
+			ALOGE("%s: poll failure", __func__);
+			goto error;
+		}
 
-				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 (!(poll_fd.revents & POLLIN))
+			continue;
+
+		poll_fd.revents = 0;
+
+		rc = read(data->input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event)) {
+			ALOGE("%s: Unable to read input event", __func__);
+			continue;
 		}
 
-		if(event.type == EV_ABS) {
-			switch (event.code) {
+		// Update the extrema from the current value
+		if(input_event.type == EV_ABS) {
+			switch (input_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;
+					geomagneticd_magnetic_extrema(data, 0, input_event.value);
 					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;
+					geomagneticd_magnetic_extrema(data, 1, input_event.value);
 					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;
+					geomagneticd_magnetic_extrema(data, 2, input_event.value);
 					break;
 			}
 		}
+
+		if (input_event.type == EV_SYN) {
+			// Sometimes, the hard offsets cannot be read at startup
+			// so we need to do it now
+			if (!geomagneticd_offsets_check(data)) {
+				rc = geomagneticd_offsets_read(data);
+				if (rc < 0) {
+					ALOGE("%s: Unable to read offsets", __func__);
+					continue;
+				}
+
+				// Most likely, the calib offset will be invalid
+				if (geomagneticd_offsets_check(data)) {
+					data->accuracy = 1;
+					geomagneticd_magnetic_extrema_init(data);
+				}
+
+				rc = geomagneticd_config_write(data);
+				if (rc < 0) {
+					ALOGE("%s: Unable to write config", __func__);
+					continue;
+				}
+			}
+
+			data->count++;
+
+			rc = geomagneticd_calib_offsets(data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to calib offsets", __func__);
+				continue;
+			}
+		}
 	}
 
-sleep_loop:
-	while (1) {
-		sleep(3600);
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	return rc;
+}
+
+int main(int argc, char *argv[])
+{
+	struct geomagneticd_data *geomagneticd_data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	geomagneticd_data = (struct geomagneticd_data *)
+		calloc(1, sizeof(struct geomagneticd_data));
+
+	input_fd = input_open("geomagnetic_raw");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
 	}
 
-	return 0;
+	rc = sysfs_path_prefix("geomagnetic_raw", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(geomagneticd_data->path_offsets, PATH_MAX, "%s/offsets", path);
+
+	geomagneticd_data->input_fd = input_fd;
+
+	geomagneticd_offsets_init(geomagneticd_data);
+
+	// Attempt to read the offsets from the config
+	rc = geomagneticd_config_read(geomagneticd_data);
+	if (rc < 0 || !geomagneticd_offsets_check(geomagneticd_data)) {
+		// Read the offsets from the driver
+		rc = geomagneticd_offsets_read(geomagneticd_data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to read offsets", __func__);
+			goto error;
+		}
+
+		// Most likely, the calib offset will be invalid and the hard
+		// offset may be invalid as well
+		if (geomagneticd_offsets_check(geomagneticd_data)) {
+			geomagneticd_data->accuracy = 1;
+			geomagneticd_magnetic_extrema_init(geomagneticd_data);
+		}
+	} else {
+		// Get the magnetic extrema from the config's offsets
+		geomagneticd_magnetic_extrema_init(geomagneticd_data);
+
+		rc = geomagneticd_offsets_write(geomagneticd_data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write offsets", __func__);
+			goto error;
+		}
+	}
+
+	rc = geomagneticd_poll(geomagneticd_data);
+	if (rc < 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	while (1)
+		sleep(3600);
+
+	rc = 1;
+
+complete:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (geomagneticd_data != NULL)
+		free(geomagneticd_data);
+
+	return rc;
 }
diff --git a/libsensors/geomagneticd/geomagneticd.h b/libsensors/geomagneticd/geomagneticd.h
new file mode 100644
index 0000000..cd57eb9
--- /dev/null
+++ b/libsensors/geomagneticd/geomagneticd.h
@@ -0,0 +1,59 @@
+/*
+ * 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 <stdint.h>
+#include <poll.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _GEOMAGNETICD_H_
+#define _GEOMAGNETICD_H_
+
+#define GEOMAGNETICD_CONFIG_PATH		"/data/system/yas.cfg"
+#define GEOMAGNETICD_CONFIG_BACKUP_PATH		"/data/system/yas-backup.cfg"
+
+struct geomagneticd_data {
+	int magnetic_extrema[2][3];
+	int hard_offsets[3];
+	int calib_offsets[3];
+	int accuracy;
+
+	int input_fd;
+	char path_offsets[PATH_MAX];
+
+	int count;
+};
+
+/*
+ * Input
+ */
+
+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);
+
+#endif
diff --git a/libsensors/geomagneticd/input.c b/libsensors/geomagneticd/input.c
new file mode 100644
index 0000000..7e9ca4a
--- /dev/null
+++ b/libsensors/geomagneticd/input.c
@@ -0,0 +1,335 @@
+/*
+ * 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 <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+#include <linux/uinput.h>
+
+#define LOG_TAG "geomagneticd"
+#include <utils/Log.h>
+
+#include "geomagneticd.h"
+
+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 time->tv_sec * 1000000000LL + time->tv_usec * 1000;
+}
+
+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;
+
+	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_RDWR | 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;
+}
+
+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/gp2a_light.c b/libsensors/gp2a_light.c
index 9f2d37e..3a41187 100644
--- a/libsensors/gp2a_light.c
+++ b/libsensors/gp2a_light.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
@@ -21,6 +21,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <math.h>
+#include <sys/types.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
 
@@ -37,7 +38,8 @@ struct gp2a_light_data {
 	char path_delay[PATH_MAX];
 };
 
-int gp2a_light_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+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 };
@@ -49,6 +51,8 @@ int gp2a_light_init(struct piranha_sensors_handlers *handlers, struct piranha_se
 	if (handlers == NULL)
 		return -EINVAL;
 
+	data = (struct gp2a_light_data *) calloc(1, sizeof(struct gp2a_light_data));
+
 	input_fd = input_open("light_sensor");
 	if (input_fd < 0) {
 		ALOGE("%s: Unable to open input", __func__);
@@ -61,8 +65,6 @@ int gp2a_light_init(struct piranha_sensors_handlers *handlers, struct piranha_se
 		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);
 
@@ -72,12 +74,12 @@ int gp2a_light_init(struct piranha_sensors_handlers *handlers, struct piranha_se
 	return 0;
 
 error:
-	if (input_fd >= 0)
-		close(input_fd);
-
 	if (data != NULL)
 		free(data);
 
+	if (input_fd >= 0)
+		close(input_fd);
+
 	handlers->poll_fd = -1;
 	handlers->data = NULL;
 
@@ -86,22 +88,17 @@ error:
 
 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);
-
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
 	handlers->poll_fd = -1;
 
 	if (handlers->data != NULL)
 		free(handlers->data);
-
 	handlers->data = NULL;
 
 	return 0;
@@ -110,8 +107,7 @@ int gp2a_light_deinit(struct piranha_sensors_handlers *handlers)
 int gp2a_light_activate(struct piranha_sensors_handlers *handlers)
 {
 	struct gp2a_light_data *data;
-	char enable[] = "1\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -120,15 +116,12 @@ int gp2a_light_activate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
 	handlers->activated = 1;
 
 	return 0;
@@ -137,8 +130,7 @@ int gp2a_light_activate(struct piranha_sensors_handlers *handlers)
 int gp2a_light_deactivate(struct piranha_sensors_handlers *handlers)
 {
 	struct gp2a_light_data *data;
-	char enable[] = "0\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -147,54 +139,50 @@ int gp2a_light_deactivate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
-	handlers->activated = 0;
+	handlers->activated = 1;
 
 	return 0;
 }
 
-int gp2a_light_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+int gp2a_light_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
 {
 	struct gp2a_light_data *data;
-	char *value = NULL;
-	int c;
-	int fd;
+	int rc;
 
-//	ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay);
+	ALOGD("%s(%p, %ld)", __func__, handlers, 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__);
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, value, c);
-	close(fd);
-
-	if (value != NULL)
-		free(value);
-
 	return 0;
 }
 
-float gp2a_light_light(int value)
+float gp2a_light_convert(int value)
 {
-	return (float) powf(10, value * (125.0f / 1023.0f / 24.0f)) * 4;
+	// Converting the raw value to lux units is done with:
+	// I = 10 * log(light) uA
+	// U = raw * 3300 / 4095 (max ADC value is 3.3V for 4095 LSB)
+	// R = 47kOhm
+	// => light = 10 ^ (I / 10) = 10 ^ (U / R / 10)
+	// => light = 10 ^ (raw * 330 / 4095 / 47)
+	// Only 1/4 of light reaches the sensor:
+	// => light = 4 * (10 ^ (raw * 330 / 4095 / 47))
+
+	return powf(10, value * (330.0f / 4095.0f / 47.0f)) * 4;
 }
 
 int gp2a_light_get_data(struct piranha_sensors_handlers *handlers,
@@ -204,6 +192,8 @@ int gp2a_light_get_data(struct piranha_sensors_handlers *handlers,
 	int input_fd;
 	int rc;
 
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
 	if (handlers == NULL || event == NULL)
 		return -EINVAL;
 
@@ -211,18 +201,24 @@ int gp2a_light_get_data(struct piranha_sensors_handlers *handlers,
 	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;
-
+	memset(event, 0, sizeof(struct sensors_event_t));
 	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);
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			if (input_event.code == REL_MISC)
+				event->light = gp2a_light_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
 
 	return 0;
 }
@@ -237,6 +233,7 @@ struct piranha_sensors_handlers gp2a_light = {
 	.set_delay = gp2a_light_set_delay,
 	.get_data = gp2a_light_get_data,
 	.activated = 0,
+	.needed = 0,
 	.poll_fd = -1,
 	.data = NULL,
 };
diff --git a/libsensors/gp2a_proximity.c b/libsensors/gp2a_proximity.c
index 873ad94..b2c9813 100644
--- a/libsensors/gp2a_proximity.c
+++ b/libsensors/gp2a_proximity.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
@@ -20,7 +20,7 @@
 #include <stdint.h>
 #include <fcntl.h>
 #include <errno.h>
-#include <math.h>
+#include <sys/types.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
 
@@ -36,7 +36,8 @@ struct gp2a_proximity_data {
 	char path_enable[PATH_MAX];
 };
 
-int gp2a_proximity_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device)
+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 };
@@ -48,6 +49,8 @@ int gp2a_proximity_init(struct piranha_sensors_handlers *handlers, struct piranh
 	if (handlers == NULL)
 		return -EINVAL;
 
+	data = (struct gp2a_proximity_data *) calloc(1, sizeof(struct gp2a_proximity_data));
+
 	input_fd = input_open("proximity_sensor");
 	if (input_fd < 0) {
 		ALOGE("%s: Unable to open input", __func__);
@@ -60,8 +63,6 @@ int gp2a_proximity_init(struct piranha_sensors_handlers *handlers, struct piranh
 		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;
@@ -70,12 +71,12 @@ int gp2a_proximity_init(struct piranha_sensors_handlers *handlers, struct piranh
 	return 0;
 
 error:
-	if (input_fd >= 0)
-		close(input_fd);
-
 	if (data != NULL)
 		free(data);
 
+	if (input_fd >= 0)
+		close(input_fd);
+
 	handlers->poll_fd = -1;
 	handlers->data = NULL;
 
@@ -84,22 +85,17 @@ error:
 
 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);
-
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
 	handlers->poll_fd = -1;
 
 	if (handlers->data != NULL)
 		free(handlers->data);
-
 	handlers->data = NULL;
 
 	return 0;
@@ -108,8 +104,7 @@ int gp2a_proximity_deinit(struct piranha_sensors_handlers *handlers)
 int gp2a_proximity_activate(struct piranha_sensors_handlers *handlers)
 {
 	struct gp2a_proximity_data *data;
-	char enable[] = "1\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -118,15 +113,12 @@ int gp2a_proximity_activate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
 	handlers->activated = 1;
 
 	return 0;
@@ -135,8 +127,7 @@ int gp2a_proximity_activate(struct piranha_sensors_handlers *handlers)
 int gp2a_proximity_deactivate(struct piranha_sensors_handlers *handlers)
 {
 	struct gp2a_proximity_data *data;
-	char enable[] = "0\n";
-	int fd;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -145,36 +136,25 @@ int gp2a_proximity_deactivate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
-	handlers->activated = 0;
+	handlers->activated = 1;
 
 	return 0;
 }
 
-int gp2a_proximity_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+int gp2a_proximity_set_delay(struct piranha_sensors_handlers *handlers, long int 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;
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
 
 	return 0;
 }
 
-float gp2a_proximity_proximity(int value)
+float gp2a_proximity_convert(int value)
 {
 	return (float) value * 5.0f;
 }
@@ -186,6 +166,8 @@ int gp2a_proximity_get_data(struct piranha_sensors_handlers *handlers,
 	int input_fd;
 	int rc;
 
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
 	if (handlers == NULL || event == NULL)
 		return -EINVAL;
 
@@ -193,18 +175,24 @@ int gp2a_proximity_get_data(struct piranha_sensors_handlers *handlers,
 	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;
-
+	memset(event, 0, sizeof(struct sensors_event_t));
 	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);
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			if (input_event.code == ABS_DISTANCE)
+				event->distance = gp2a_proximity_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
 
 	return 0;
 }
@@ -219,6 +207,7 @@ struct piranha_sensors_handlers gp2a_proximity = {
 	.set_delay = gp2a_proximity_set_delay,
 	.get_data = gp2a_proximity_get_data,
 	.activated = 0,
+	.needed = 0,
 	.poll_fd = -1,
 	.data = NULL,
 };
diff --git a/libsensors/input.c b/libsensors/input.c
index f82cfd2..c48f17f 100644
--- a/libsensors/input.c
+++ b/libsensors/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
@@ -23,18 +23,107 @@
 #include <dirent.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
+#include <linux/uinput.h>
 
 #define LOG_TAG "piranha_sensors"
 #include <utils/Log.h>
 
 #include "piranha_sensors.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 time->tv_sec * 1000000000LL + time->tv_usec * 1000;
+}
+
+long int input_timestamp(struct input_event *event)
 {
 	if (event == NULL)
 		return -1;
 
-	return event->time.tv_sec*1000000000LL + event->time.tv_usec*1000;
+	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)
@@ -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/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,
+};
diff --git a/libsensors/piranha_sensors.c b/libsensors/piranha_sensors.c
index 2d1ff71..3600196 100644
--- a/libsensors/piranha_sensors.c
+++ b/libsensors/piranha_sensors.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
@@ -21,7 +21,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <poll.h>
-
+#include <sys/select.h>
 #include <hardware/sensors.h>
 #include <hardware/hardware.h>
 
@@ -35,8 +35,8 @@
  */
 
 struct sensor_t piranha_sensors[] = {
-	{ "BMA254 Acceleration Sensor", "Bosch", 1, SENSOR_TYPE_ACCELEROMETER,
-		SENSOR_TYPE_ACCELEROMETER, 19.6f, 0.0383f, 0.13f, 10000, {}, },
+	{ "BMA250 Acceleration Sensor", "Bosch", 1, SENSOR_TYPE_ACCELEROMETER,
+		SENSOR_TYPE_ACCELEROMETER, 2 * GRAVITY_EARTH, GRAVITY_EARTH / 256.0f, 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,
@@ -46,10 +46,10 @@ struct sensor_t piranha_sensors[] = {
 		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, {}, },
+	{ "GP2A Light Sensor", "Sharp", 1, SENSOR_TYPE_LIGHT,
+		SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.75f, 0, {}, },
+	{ "GP2A Proximity Sensor", "Sharp", 1, SENSOR_TYPE_PROXIMITY,
+		SENSOR_TYPE_PROXIMITY, 5.0f, 5.0f, 0.75f, 0, {}, },
 #endif
 };
 
@@ -57,7 +57,7 @@ int piranha_sensors_count = sizeof(piranha_sensors) / sizeof(struct sensor_t);
 
 struct piranha_sensors_handlers *piranha_sensors_handlers[] = {
 	&bma250,
-	&yas530c,
+	&yas530,
 	&yas_orientation,
 #ifdef TARGET_DEVICE_P5100
 	&bh1721,
@@ -75,7 +75,8 @@ int piranha_sensors_handlers_count = sizeof(piranha_sensors_handlers) /
  * Piranha Sensors
  */
 
-int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled)
+int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle,
+	int enabled)
 {
 	struct piranha_sensors_device *device;
 	int i;
@@ -90,22 +91,32 @@ int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle, int
 	if (device->handlers == NULL || device->handlers_count <= 0)
 		return -EINVAL;
 
-	for (i=0 ; i < device->handlers_count ; i++) {
+	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]);
+			if (enabled && device->handlers[i]->activate != NULL) {
+				device->handlers[i]->needed |= PIRANHA_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == PIRANHA_SENSORS_NEEDED_API)
+					return device->handlers[i]->activate(device->handlers[i]);
+				else
+					return 0;
+			} else if (!enabled && device->handlers[i]->deactivate != NULL) {
+				device->handlers[i]->needed &= ~PIRANHA_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == 0)
+					return device->handlers[i]->deactivate(device->handlers[i]);
+				else
+					return 0;
+			}
 		}
 	}
 
 	return -1;
 }
 
-int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns)
+int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle,
+	int64_t ns)
 {
 	struct piranha_sensors_device *device;
 	int i;
@@ -120,12 +131,12 @@ int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int
 	if (device->handlers == NULL || device->handlers_count <= 0)
 		return -EINVAL;
 
-	for (i=0 ; i < device->handlers_count ; i++) {
+	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 device->handlers[i]->set_delay(device->handlers[i], (long int) ns);
 	}
 
 	return 0;
@@ -153,15 +164,15 @@ int piranha_sensors_poll(struct sensors_poll_device_t *dev,
 	n = 0;
 
 	do {
-		poll_rc = poll(device->poll_fds, device->poll_fds_count, PIRANHA_POLL_DELAY);
+		poll_rc = poll(device->poll_fds, device->poll_fds_count, n > 0 ? 0 : -1);
 		if (poll_rc < 0)
 			return -1;
 
-		for (i=0 ; i < device->poll_fds_count ; i++) {
+		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++) {
+			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;
 
@@ -174,9 +185,6 @@ int piranha_sensors_poll(struct sensors_poll_device_t *dev,
 					count--;
 				}
 			}
-
-			if (count <= 0)
-				break;
 		}
 	} while ((poll_rc > 0 || n < 1) && count > 0);
 
@@ -202,7 +210,7 @@ int piranha_sensors_close(hw_device_t *device)
 	if (piranha_sensors_device->poll_fds != NULL)
 		free(piranha_sensors_device->poll_fds);
 
-	for (i=0 ; i < piranha_sensors_device->handlers_count ; i++) {
+	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;
 
@@ -240,7 +248,7 @@ int piranha_sensors_open(const struct hw_module_t* module, const char *id,
 		calloc(1, piranha_sensors_handlers_count * sizeof(struct pollfd));
 
 	p = 0;
-	for (i=0 ; i < piranha_sensors_handlers_count ; i++) {
+	for (i = 0; i < piranha_sensors_handlers_count; i++) {
 		if (piranha_sensors_handlers[i] == NULL || piranha_sensors_handlers[i]->init == NULL)
 			continue;
 
diff --git a/libsensors/piranha_sensors.h b/libsensors/piranha_sensors.h
index b93f65e..4de8c99 100644
--- a/libsensors/piranha_sensors.h
+++ b/libsensors/piranha_sensors.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
@@ -17,16 +17,16 @@
 
 #include <stdint.h>
 #include <poll.h>
-
 #include <linux/input.h>
 
 #include <hardware/sensors.h>
 #include <hardware/hardware.h>
 
-#ifndef _SENSORS_H_
-#define _SENSORS_H_
+#ifndef _PIRANHA_SENSORS_H_
+#define _PIRANHA_SENSORS_H_
 
-#define PIRANHA_POLL_DELAY	100
+#define PIRANHA_SENSORS_NEEDED_API		(1 << 0)
+#define PIRANHA_SENSORS_NEEDED_ORIENTATION	(1 << 1)
 
 struct piranha_sensors_device;
 
@@ -34,14 +34,18 @@ struct piranha_sensors_handlers {
 	char *name;
 	int handle;
 
-	int (*init)(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device);
+	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 (*set_delay)(struct piranha_sensors_handlers *handlers,
+		long int delay);
+	int (*get_data)(struct piranha_sensors_handlers *handlers,
+		struct sensors_event_t *event);
 
 	int activated;
+	int needed;
 	int poll_fd;
 
 	void *data;
@@ -60,8 +64,10 @@ struct piranha_sensors_device {
 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_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);
 
@@ -69,16 +75,27 @@ int piranha_sensors_poll(struct sensors_poll_device_t *dev,
  * Input
  */
 
-int64_t input_timestamp(struct input_event *event);
+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
  */
 
+int orientation_fill(struct piranha_sensors_handlers *handlers,
+	sensors_vec_t *acceleration, sensors_vec_t *magnetic);
+
 extern struct piranha_sensors_handlers bma250;
-extern struct piranha_sensors_handlers yas530c;
+extern struct piranha_sensors_handlers yas530;
 extern struct piranha_sensors_handlers yas_orientation;
 extern struct piranha_sensors_handlers bh1721;
 extern struct piranha_sensors_handlers gp2a_light;
diff --git a/libsensors/yas530.c b/libsensors/yas530.c
new file mode 100644
index 0000000..81ff60d
--- /dev/null
+++ b/libsensors/yas530.c
@@ -0,0 +1,260 @@
+/*
+ * 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 "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct yas530_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	sensors_vec_t magnetic;
+};
+
+int yas530_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct yas530_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;
+
+	data = (struct yas530_data *) calloc(1, sizeof(struct yas530_data));
+
+	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;
+	}
+
+	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 (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int yas530_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int yas530_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas530_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas530_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct yas530_data *data;
+	int d;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	if (delay < 10000000)
+		d = 10;
+	else
+		d = delay / 1000000;
+
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float yas530_convert(int value)
+{
+	return value / 1000.0f;
+}
+
+int yas530_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct yas530_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	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;
+
+	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:
+					event->magnetic.x = yas530_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->magnetic.y = yas530_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->magnetic.z = yas530_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	data->magnetic.x = event->magnetic.x;
+	data->magnetic.y = event->magnetic.y;
+	data->magnetic.z = event->magnetic.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers yas530 = {
+	.name = "YAS530",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.init = yas530_init,
+	.deinit = yas530_deinit,
+	.activate = yas530_activate,
+	.deactivate = yas530_deactivate,
+	.set_delay = yas530_set_delay,
+	.get_data = yas530_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/libsensors/yas530c.c b/libsensors/yas530c.c
deleted file mode 100644
index f13fb61..0000000
--- a/libsensors/yas530c.c
+++ /dev/null
@@ -1,293 +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 <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
index 2cd23d3..3668d8b 100644
--- a/libsensors/yas_orientation.c
+++ b/libsensors/yas_orientation.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
@@ -18,9 +18,10 @@
 #include <stdlib.h>
 #include <unistd.h>
 #include <stdint.h>
-#include <stddef.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <math.h>
+#include <sys/types.h>
 #include <linux/ioctl.h>
 #include <linux/input.h>
 
@@ -32,38 +33,45 @@
 
 #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;
+	struct piranha_sensors_handlers *acceleration_sensor;
+	struct piranha_sensors_handlers *magnetic_sensor;
 
 	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)
+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;
+	int i;
 
 	ALOGD("%s(%p, %p)", __func__, handlers, device);
 
-	if (handlers == NULL || device == NULL)
+	if (handlers == NULL)
 		return -EINVAL;
 
+	data = (struct yas_orientation_data *) calloc(1, sizeof(struct yas_orientation_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ACCELEROMETER)
+			data->acceleration_sensor = device->handlers[i];
+		else if (device->handlers[i]->handle == SENSOR_TYPE_MAGNETIC_FIELD)
+			data->magnetic_sensor = device->handlers[i];
+	}
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) {
+		ALOGE("%s: Missing sensors for orientation", __func__);
+		goto error;
+	}
+
 	input_fd = input_open("orientation");
 	if (input_fd < 0) {
 		ALOGE("%s: Unable to open input", __func__);
@@ -76,46 +84,21 @@ int yas_orientation_init(struct piranha_sensors_handlers *handlers, struct piran
 		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);
 
+	if (input_fd >= 0)
+		close(input_fd);
+
 	handlers->poll_fd = -1;
 	handlers->data = NULL;
 
@@ -124,22 +107,17 @@ error:
 
 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);
-
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
 	handlers->poll_fd = -1;
 
 	if (handlers->data != NULL)
 		free(handlers->data);
-
 	handlers->data = NULL;
 
 	return 0;
@@ -148,8 +126,6 @@ int yas_orientation_deinit(struct piranha_sensors_handlers *handlers)
 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);
@@ -159,33 +135,23 @@ int yas_orientation_activate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
 		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;
-	}
+	data->acceleration_sensor->needed |= PIRANHA_SENSORS_NEEDED_ORIENTATION;
+	if (data->acceleration_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->activate(data->acceleration_sensor);
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
+	data->magnetic_sensor->needed |= PIRANHA_SENSORS_NEEDED_ORIENTATION;
+	if (data->magnetic_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->activate(data->magnetic_sensor);
 
-	fd = open(data->path_enable, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open enable path", __func__);
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, &enable, sizeof(enable));
-	close(fd);
-
 	handlers->activated = 1;
 
 	return 0;
@@ -194,9 +160,7 @@ int yas_orientation_activate(struct piranha_sensors_handlers *handlers)
 int yas_orientation_deactivate(struct piranha_sensors_handlers *handlers)
 {
 	struct yas_orientation_data *data;
-	char enable[] = "0\n";
-	int fd;
-	int i;
+	int rc;
 
 	ALOGD("%s(%p)", __func__, handlers);
 
@@ -205,171 +169,114 @@ int yas_orientation_deactivate(struct piranha_sensors_handlers *handlers)
 
 	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__);
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
 		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;
-			}
+	data->acceleration_sensor->needed &= ~(PIRANHA_SENSORS_NEEDED_ORIENTATION);
+	if (data->acceleration_sensor->needed == 0)
+		data->acceleration_sensor->deactivate(data->acceleration_sensor);
 
-			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;
-			}
+	data->magnetic_sensor->needed &= ~(PIRANHA_SENSORS_NEEDED_ORIENTATION);
+	if (data->magnetic_sensor->needed == 0)
+		data->magnetic_sensor->deactivate(data->magnetic_sensor);
 
-			write(fd, &enable, sizeof(enable));
-			close(fd);
-		}
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
 	}
 
-	handlers->activated = 0;
+	handlers->activated = 1;
 
 	return 0;
 }
 
-int yas_orientation_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay)
+int yas_orientation_set_delay(struct piranha_sensors_handlers *handlers, long int 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);
+	ALOGD("%s(%p, %ld)", __func__, handlers, 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__);
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
 		return -1;
-	}
 
-	write(fd, value, c);
-	close(fd);
+	if (data->acceleration_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->set_delay(data->acceleration_sensor, delay);
 
-	fd = open(data->mag_path_delay, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open delay path", __func__);
-		return -1;
-	}
+	if (data->magnetic_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->set_delay(data->magnetic_sensor, delay);
 
-	write(fd, value, c);
-	close(fd);
+	if (delay < 10000000)
+		d = 10;
+	else
+		d = delay / 1000000;
 
-	fd = open(data->path_delay, O_WRONLY);
-	if (fd < 0) {
-		ALOGE("%s: Unable to open delay path", __func__);
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
 		return -1;
 	}
 
-	write(fd, value, c);
-	close(fd);
-
-	if (value != NULL)
-		free(value);
-
 	return 0;
 }
 
-float yas_orientation_orientation(int value)
+float yas_orientation_convert(int value)
 {
-	return (float) value / 1000.f;
+	return value / 1000.0f;
 }
 
 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;
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
 
-	data = (struct yas_orientation_data *) handlers->data;
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
 
 	input_fd = handlers->poll_fd;
 	if (input_fd < 0)
 		return -EINVAL;
 
+	memset(event, 0, sizeof(struct sensors_event_t));
 	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) {
+	do {
 		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;
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					event->orientation.azimuth = yas_orientation_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->orientation.pitch = yas_orientation_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->orientation.roll = yas_orientation_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
 		}
-		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;
+	} while (input_event.type != EV_SYN);
 
 	return 0;
 }
@@ -384,6 +291,7 @@ struct piranha_sensors_handlers yas_orientation = {
 	.set_delay = yas_orientation_set_delay,
 	.get_data = yas_orientation_get_data,
 	.activated = 0,
+	.needed = 0,
 	.poll_fd = -1,
 	.data = NULL,
 };