Galaxy S3 Exynos Sensors module

Signed-off-by: Paul Kocialkowski <contact@paulk.fr>

43 files changed, 7038 insertions, 0 deletions

diff --git a/galaxys3_base.mk b/galaxys3_base.mk
index d6de70a..a9452ed 100644
--- a/galaxys3_base.mk
+++ b/galaxys3_base.mk
@@ -98,6 +98,10 @@ PRODUCT_PACKAGES += \
 #   libTVOut
 #   libtinyalsa \
 
+# Sensors
+PRODUCT_PACKAGES += \
+    sensors.exynos4
+
 # MFC API
 PRODUCT_PACKAGES += \
     libsecmfcdecapi \
diff --git a/sensors/Android.mk b/sensors/Android.mk
new file mode 100644
index 0000000..bace26a
--- /dev/null
+++ b/sensors/Android.mk
@@ -0,0 +1,52 @@
+#
+# Copyright (C) 2013 Paul Kocialkowski
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+
+LOCAL_PATH := $(call my-dir)
+EXYNOS_SENSORS_PATH := $(LOCAL_PATH)
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	exynos_sensors.c \
+	input.c \
+	orientation.c \
+	akm8975.c \
+	akmdfs/AKFS_APIs_8975/AKFS_AK8975.c \
+	akmdfs/AKFS_APIs_8975/AKFS_AOC.c \
+	akmdfs/AKFS_APIs_8975/AKFS_Device.c \
+	akmdfs/AKFS_APIs_8975/AKFS_Direction.c \
+	akmdfs/AKFS_APIs_8975/AKFS_VNorm.c \
+	akmdfs/AKFS_FileIO.c \
+	cm36651_proximity.c \
+	cm36651_light.c \
+	lsm330dlc_acceleration.c \
+	lsm330dlc_gyroscope.c \
+	lps331ap.c \
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)/akmdfs \
+	$(LOCAL_PATH)/akmdfs/AKFS_APIs_8975 \
+	$(LOCAL_PATH)
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := sensors.exynos4
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_SHARED_LIBRARY)
diff --git a/sensors/akm8975-reg.h b/sensors/akm8975-reg.h
new file mode 100644
index 0000000..1a78a27
--- /dev/null
+++ b/sensors/akm8975-reg.h
@@ -0,0 +1,48 @@
+/* linux/drivers/misc/ak8975-reg.h
+ *
+ * Copyright (c) 2010 Samsung Electronics Co., Ltd.
+ *		http://www.samsung.com/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+*/
+#ifndef __AK8975_REG__
+#define __AK8975_REG__
+
+/* Compass device dependent definition */
+#define AK8975_MODE_SNG_MEASURE		0x01
+#define AK8975_MODE_SELF_TEST		0x08
+#define AK8975_MODE_FUSE_ACCESS		0x0F
+#define AK8975_MODE_POWER_DOWN		0x00
+
+/* Rx buffer size. i.e ST,TMPS,H1X,H1Y,H1Z*/
+#define SENSOR_DATA_SIZE		8
+
+/* Read/Write buffer size.*/
+#define RWBUF_SIZE			16
+
+/* AK8975 register address */
+#define AK8975_REG_WIA			0x00
+#define AK8975_REG_INFO			0x01
+#define AK8975_REG_ST1			0x02
+#define AK8975_REG_HXL			0x03
+#define AK8975_REG_HXH			0x04
+#define AK8975_REG_HYL			0x05
+#define AK8975_REG_HYH			0x06
+#define AK8975_REG_HZL			0x07
+#define AK8975_REG_HZH			0x08
+#define AK8975_REG_ST2			0x09
+#define AK8975_REG_CNTL			0x0A
+#define AK8975_REG_RSV			0x0B
+#define AK8975_REG_ASTC			0x0C
+#define AK8975_REG_TS1			0x0D
+#define AK8975_REG_TS2			0x0E
+#define AK8975_REG_I2CDIS		0x0F
+
+/* AK8975 fuse-rom address */
+#define AK8975_FUSE_ASAX		0x10
+#define AK8975_FUSE_ASAY		0x11
+#define AK8975_FUSE_ASAZ		0x12
+
+#endif /* __AK8975_REG__ */
diff --git a/sensors/akm8975.c b/sensors/akm8975.c
new file mode 100644
index 0000000..822ef61
--- /dev/null
+++ b/sensors/akm8975.c
@@ -0,0 +1,616 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+#include "akm8975.h"
+#include "akm8975-reg.h"
+
+#include <AKFS_Compass.h>
+#include <AKFS_FileIO.h>
+
+#define AKFS_CONFIG_PATH	"/data/misc/akfs.txt"
+#define AKFS_PAT		PAT3
+
+struct akm8975_data {
+	struct exynos_sensors_handlers *orientation_sensor;
+
+	AK8975PRMS akfs_params;
+	sensors_vec_t magnetic;
+
+	long int delay;
+	int device_fd;
+	int uinput_fd;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+int akfs_get_magnetic_field(struct akm8975_data *akm8975_data, short *mag_data)
+{
+	AK8975PRMS *params;
+	int rc;
+
+	if (akm8975_data == NULL || mag_data == NULL)
+		return -EINVAL;
+
+	params = &akm8975_data->akfs_params;
+
+	/* Decomposition */
+	/* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */
+	rc = AKFS_DecompAK8975(mag_data, 1, &params->mi_asa, AKFS_HDATA_SIZE, params->mfv_hdata);
+	if (rc == AKFS_ERROR) {
+		LOGE("Failed to decomp!");
+		return -1;
+	}
+
+	/* Adjust coordination */
+	rc = AKFS_Rotate(params->m_hpat, &params->mfv_hdata[0]);
+	if (rc == AKFS_ERROR) {
+		LOGE("Failed to rotate!");
+		return -1;
+	}
+
+	/* AOC for magnetometer */
+	/* Offset estimation is done in this function */
+	AKFS_AOC(&params->m_aocv, params->mfv_hdata, &params->mfv_ho);
+
+	/* Subtract offset */
+	/* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */
+	rc = AKFS_VbNorm(AKFS_HDATA_SIZE, params->mfv_hdata, 1,
+		&params->mfv_ho, &params->mfv_hs, AK8975_HSENSE_TARGET,
+		AKFS_HDATA_SIZE, params->mfv_hvbuf);
+	if (rc == AKFS_ERROR) {
+		LOGE("Failed to normalize!");
+		return -1;
+	}
+
+	/* Averaging */
+	rc = AKFS_VbAve(AKFS_HDATA_SIZE, params->mfv_hvbuf, CSPEC_HNAVE_V, &params->mfv_hvec);
+	if (rc == AKFS_ERROR) {
+		LOGE("Failed to average!");
+		return -1;
+	}
+
+	akm8975_data->magnetic.x = params->mfv_hvec.u.x;
+	akm8975_data->magnetic.y = params->mfv_hvec.u.y;
+	akm8975_data->magnetic.z = params->mfv_hvec.u.z;
+
+	return 0;
+}
+
+int akfs_init(struct akm8975_data *akm8975_data, char *asa, AKFS_PATNO pat)
+{
+	AK8975PRMS *params;
+
+	if (akm8975_data == NULL || asa == NULL)
+		return -EINVAL;
+
+	params = &akm8975_data->akfs_params;
+
+	memset(params, 0, sizeof(AK8975PRMS));
+
+	/* Sensitivity */
+	params->mfv_hs.u.x = AK8975_HSENSE_DEFAULT;
+	params->mfv_hs.u.y = AK8975_HSENSE_DEFAULT;
+	params->mfv_hs.u.z = AK8975_HSENSE_DEFAULT;
+	params->mfv_as.u.x = AK8975_ASENSE_DEFAULT;
+	params->mfv_as.u.y = AK8975_ASENSE_DEFAULT;
+	params->mfv_as.u.z = AK8975_ASENSE_DEFAULT;
+
+	/* Initialize variables that initial value is not 0. */
+	params->mi_hnaveV = CSPEC_HNAVE_V;
+	params->mi_hnaveD = CSPEC_HNAVE_D;
+	params->mi_anaveV = CSPEC_ANAVE_V;
+	params->mi_anaveD = CSPEC_ANAVE_D;
+
+	/* Copy ASA values */
+	params->mi_asa.u.x = asa[0];
+	params->mi_asa.u.y = asa[1];
+	params->mi_asa.u.z = asa[2];
+
+	/* Copy layout pattern */
+	params->m_hpat = pat;
+
+	return 0;
+}
+
+void *akm8975_thread(void *thread_data)
+{
+	struct exynos_sensors_handlers *handlers = NULL;
+	struct akm8975_data *data = NULL;
+	struct input_event event;
+	struct timeval time;
+	char i2c_data[SENSOR_DATA_SIZE] = { 0 };
+	short mag_data[3];
+	short mode;
+	long int before, after;
+	int diff;
+	int device_fd;
+	int uinput_fd;
+	int rc;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	handlers = (struct exynos_sensors_handlers *) thread_data;
+	if (handlers->data == NULL)
+		return NULL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return NULL;
+
+	uinput_fd = data->uinput_fd;
+	if (uinput_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (handlers->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			mode = AK8975_MODE_SNG_MEASURE;
+			rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+			if (rc < 0) {
+				LOGE("%s: Unable to set akm8975 mode", __func__);
+				return NULL;
+			}
+
+			memset(&i2c_data, 0, sizeof(i2c_data));
+			rc = ioctl(device_fd, ECS_IOCTL_GETDATA, &i2c_data);
+			if (rc < 0) {
+				LOGE("%s: Unable to get akm8975 data", __func__);
+				return NULL;
+			}
+
+			if (!(i2c_data[0] & 0x01)) {
+				LOGE("%s: akm8975 data is not ready", __func__);
+				continue;
+			}
+
+			if (i2c_data[7] & (1 << 2) || i2c_data[7] & (1 << 3)) {
+				LOGE("%s: akm8975 data read error or overflow", __func__);
+				continue;
+			}
+
+			mag_data[0] = (short) (i2c_data[2] << 8) | (i2c_data[1]);
+			mag_data[1] = (short) (i2c_data[4] << 8) | (i2c_data[3]);
+			mag_data[2] = (short) (i2c_data[6] << 8) | (i2c_data[5]);
+
+			rc = akfs_get_magnetic_field(data, (short *) &mag_data);
+			if (rc < 0) {
+				LOGE("%s: Unable to get AKFS magnetic field", __func__);
+				continue;
+			}
+
+			input_event_set(&event, EV_REL, REL_X, (int) (data->magnetic.x * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Y, (int) (data->magnetic.y * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Z, (int) (data->magnetic.z * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(uinput_fd, &event, sizeof(event));
+
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
+
+			diff = (int) (data->delay - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
+
+			usleep(diff);
+		}
+	}
+	return NULL;
+}
+
+int akm8975_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct akm8975_data *data = NULL;
+	pthread_attr_t thread_attr;
+	struct uinput_user_dev uinput_dev;
+	char i2c_data[4] = { 0 };
+	short mode;
+	int device_fd = -1;
+	int uinput_fd = -1;
+	int input_fd = -1;
+	int rc;
+	int i;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) calloc(1, sizeof(struct akm8975_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ORIENTATION)
+			data->orientation_sensor = device->handlers[i];
+	}
+
+	device_fd = open("/dev/akm8975", O_RDONLY);
+	if (device_fd < 0) {
+		LOGE("%s: Unable to open device", __func__);
+		goto error;
+	}
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		LOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	mode = AK8975_MODE_FUSE_ACCESS;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		LOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	i2c_data[0] = 3;
+	i2c_data[1] = AK8975_FUSE_ASAX;
+	rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data);
+	if (rc < 0) {
+		LOGE("%s: Unable to set read akm8975 FUSE data", __func__);
+		goto error;
+	}
+
+	LOGD("AKM8975 ASA (Sensitivity Adjustment) values are: (%d, %d, %d)",
+		i2c_data[1], i2c_data[2], i2c_data[3]);
+
+	rc = akfs_init(data, &i2c_data[1], AKFS_PAT);
+	if (rc < 0) {
+		LOGE("%s: Unable to init AKFS", __func__);
+		goto error;
+	}
+
+	i2c_data[0] = 1;
+	i2c_data[1] = AK8975_REG_WIA;
+	rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data);
+	if (rc < 0) {
+		LOGE("%s: Unable to set read akm8975 FUSE data", __func__);
+		goto error;
+	}
+
+	LOGD("AKM8975 WIA (Device ID) value is: 0x%x", i2c_data[1]);
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		LOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, "magnetic", 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;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		LOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		LOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		LOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	input_fd = input_open("magnetic");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open magnetic input", __func__);
+		goto error;
+	}
+
+	data->thread_continue = 1;
+
+	pthread_mutex_init(&data->mutex, NULL);
+	pthread_mutex_lock(&data->mutex);
+
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
+
+	rc = pthread_create(&data->thread, &thread_attr, akm8975_thread, (void *) handlers);
+	if (rc < 0) {
+		LOGE("%s: Unable to create acceleration thread", __func__);
+		pthread_mutex_destroy(&data->mutex);
+		goto error;
+	}
+
+	data->device_fd = device_fd;
+	data->uinput_fd = uinput_fd;
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (device_fd >= 0)
+		close(device_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int akm8975_deinit(struct exynos_sensors_handlers *handlers)
+{
+	struct akm8975_data *data = NULL;
+	short mode;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	handlers->activated = 0;
+	data->thread_continue = 0;
+	pthread_mutex_unlock(&data->mutex);
+
+	pthread_mutex_destroy(&data->mutex);
+
+	if (data->uinput_fd >= 0) {
+		ioctl(data->uinput_fd, UI_DEV_DESTROY);
+		close(data->uinput_fd);
+	}
+	data->uinput_fd = -1;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(data->device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0)
+		LOGE("%s: Unable to set akm8975 mode", __func__);
+
+	if (data->device_fd >= 0)
+		close(data->device_fd);
+	data->device_fd = -1;
+
+	free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int akm8975_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct akm8975_data *data;
+	AK8975PRMS *akfs_params;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+	akfs_params = &data->akfs_params;
+
+	/* Read setting files from a file */
+	rc = AKFS_LoadParameters(akfs_params, AKFS_CONFIG_PATH);
+	if (rc != AKM_SUCCESS)
+		LOGE("%s: Unable to read AKFS parameters", __func__);
+
+	/* Initialize buffer */
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, akfs_params->mfv_hdata);
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, akfs_params->mfv_hvbuf);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, akfs_params->mfv_adata);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, akfs_params->mfv_avbuf);
+
+	/* Initialize for AOC */
+	AKFS_InitAOC(&akfs_params->m_aocv);
+	/* Initialize magnetic status */
+	akfs_params->mi_hstatus = 0;
+
+	handlers->activated = 1;
+	pthread_mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+int akm8975_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct akm8975_data *data;
+	AK8975PRMS *akfs_params;
+	int device_fd;
+	short mode;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+	akfs_params = &data->akfs_params;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return -EINVAL;
+
+	/* Write setting files to a file */
+	rc = AKFS_SaveParameters(akfs_params, AKFS_CONFIG_PATH);
+	if (rc != AKM_SUCCESS)
+		LOGE("%s: Unable to write AKFS parameters", __func__);
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0)
+		LOGE("%s: Unable to set akm8975 mode", __func__);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int akm8975_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct akm8975_data *data;
+
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	data->delay = delay;
+
+	return 0;
+}
+
+float akm8975_convert(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int akm8975_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct akm8975_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_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.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			switch (input_event.code) {
+				case REL_X:
+					event->magnetic.x = akm8975_convert(input_event.value);
+					break;
+				case REL_Y:
+					event->magnetic.y = akm8975_convert(input_event.value);
+					break;
+				case REL_Z:
+					event->magnetic.z = akm8975_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 (data->orientation_sensor != NULL)
+		orientation_fill(data->orientation_sensor, NULL, &event->magnetic);
+
+	return 0;
+}
+
+
+struct exynos_sensors_handlers akm8975 = {
+	.name = "AKM8975",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.init = akm8975_init,
+	.deinit = akm8975_deinit,
+	.activate = akm8975_activate,
+	.deactivate = akm8975_deactivate,
+	.set_delay = akm8975_set_delay,
+	.get_data = akm8975_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/akm8975.h b/sensors/akm8975.h
new file mode 100644
index 0000000..79a5de4
--- /dev/null
+++ b/sensors/akm8975.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2010 Samsung Electronics. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * version 2 as published by the Free Software Foundation.
+ *
+ * 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA
+ * 02110-1301 USA
+ */
+#ifndef AKM8975_H
+#define AKM8975_H
+
+#include <linux/ioctl.h>
+
+#define AKM8975_I2C_NAME "ak8975"
+
+/* Rx buffer size, i.e from ST1 to ST2 */
+#define SENSOR_DATA_SIZE	8
+#define AKMIO			0xA1
+
+/* IOCTLs for AKM library */
+/* WRITE and READ sizes don't include data.  On WRITE, the first value is data
+ * size plus one and the second value is the register address.  On READ
+ * the first value is the data size and second value is the register
+ * address and the data is written back into the buffer starting at
+ * the second byte (the length is unchanged).
+ */
+#define ECS_IOCTL_WRITE			_IOW(AKMIO, 0x01, char*)
+#define ECS_IOCTL_READ			_IOWR(AKMIO, 0x02, char*)
+#define ECS_IOCTL_RESET			_IO(AKMIO, 0x03)
+#define ECS_IOCTL_SET_MODE		_IOW(AKMIO, 0x04, short)
+#define ECS_IOCTL_GETDATA		_IOR(AKMIO, 0x05, \
+						char[SENSOR_DATA_SIZE])
+#define ECS_IOCTL_SET_YPR		_IOW(AKMIO, 0x06, short[12])
+#define ECS_IOCTL_GET_OPEN_STATUS	_IOR(AKMIO, 0x07, int)
+#define ECS_IOCTL_GET_CLOSE_STATUS	_IOR(AKMIO, 0x08, int)
+#define ECS_IOCTL_GET_DELAY		_IOR(AKMIO, 0x30, int64_t)
+#define ECS_IOCTL_GET_PROJECT_NAME	_IOR(AKMIO, 0x0D, char[64])
+#define ECS_IOCTL_GET_MATRIX		_IOR(AKMIO, 0x0E, short[4][3][3])
+
+/* IOCTLs for APPs */
+#define ECS_IOCTL_APP_SET_MODE		_IOW(AKMIO, 0x10, short)
+#define ECS_IOCTL_APP_SET_MFLAG		_IOW(AKMIO, 0x11, short)
+#define ECS_IOCTL_APP_GET_MFLAG		_IOR(AKMIO, 0x12, short)
+#define ECS_IOCTL_APP_SET_AFLAG		_IOW(AKMIO, 0x13, short)
+#define ECS_IOCTL_APP_GET_AFLAG		_IOR(AKMIO, 0x14, short)
+#define ECS_IOCTL_APP_SET_TFLAG		_IOW(AKMIO, 0x15, short)
+#define ECS_IOCTL_APP_GET_TFLAG		_IOR(AKMIO, 0x16, short)
+#define ECS_IOCTL_APP_RESET_PEDOMETER	_IO(AKMIO, 0x17)
+#define ECS_IOCTL_APP_SET_DELAY		_IOW(AKMIO, 0x18, int64_t)
+#define ECS_IOCTL_APP_GET_DELAY		ECS_IOCTL_GET_DELAY
+
+/* Set raw magnetic vector flag */
+#define ECS_IOCTL_APP_SET_MVFLAG	_IOW(AKMIO, 0x19, short)
+
+/* Get raw magnetic vector flag */
+#define ECS_IOCTL_APP_GET_MVFLAG	_IOR(AKMIO, 0x1A, short)
+
+#ifdef __KERNEL__
+struct akm8975_platform_data {
+	int gpio_data_ready_int;
+};
+#endif
+
+#endif
diff --git a/sensors/akmdfs/AK8975Driver.c b/sensors/akmdfs/AK8975Driver.c
new file mode 100644
index 0000000..fa0e324
--- /dev/null
+++ b/sensors/akmdfs/AK8975Driver.c
@@ -0,0 +1,318 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include <fcntl.h>
+#include "AKFS_Common.h"
+#include "AK8975Driver.h"
+
+#define MSENSOR_NAME		"/dev/akm8975_dev"
+
+static int s_fdDev = -1;
+
+/*!
+ Open device driver.
+ This function opens both device drivers of magnetic sensor and acceleration
+ sensor. Additionally, some initial hardware settings are done, such as
+ measurement range, built-in filter function and etc.
+ @return If this function succeeds, the return value is #AKD_SUCCESS.
+ Otherwise the return value is #AKD_FAIL.
+ */
+int16_t AKD_InitDevice(void)
+{
+	if (s_fdDev < 0) {
+		/* Open magnetic sensor's device driver. */
+		if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) {
+			AKMERROR_STR("open");
+			return AKD_FAIL;
+		}
+	}
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Close device driver.
+ This function closes both device drivers of magnetic sensor and acceleration
+ sensor.
+ */
+void AKD_DeinitDevice(void)
+{
+	if (s_fdDev >= 0) {
+		close(s_fdDev);
+		s_fdDev = -1;
+	}
+}
+
+/*!
+ Writes data to a register of the AK8975.  When more than one byte of data is
+ specified, the data is written in contiguous locations starting at an address
+ specified in \a address.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] address Specify the address of a register in which data is to be
+ written.
+ @param[in] data Specify data to write or a pointer to a data array containing
+ the data.  When specifying more than one byte of data, specify the starting
+ address of the array.
+ @param[in] numberOfBytesToWrite Specify the number of bytes that make up the
+ data to write.  When a pointer to an array is specified in data, this argument
+ equals the number of elements of the array.
+ */
+int16_t AKD_TxData(
+				const BYTE address,
+				const BYTE * data,
+				const uint16_t numberOfBytesToWrite)
+{
+	int i;
+	char buf[RWBUF_SIZE];
+
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (numberOfBytesToWrite > (RWBUF_SIZE-2)) {
+		LOGE("%s: Tx size is too large.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	buf[0] = numberOfBytesToWrite + 1;
+	buf[1] = address;
+
+	for (i = 0; i < numberOfBytesToWrite; i++) {
+		buf[i + 2] = data[i];
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	} else {
+
+#if ENABLE_AKMDEBUG
+		AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x data(HEX)=", address);
+		for (i = 0; i < numberOfBytesToWrite; i++) {
+			AKMDATA(AKMDATA_DRV, " %02x", data[i]);
+		}
+		AKMDATA(AKMDATA_DRV, "\n");
+#endif
+		return AKD_SUCCESS;
+	}
+}
+
+/*!
+ Acquires data from a register or the EEPROM of the AK8975.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] address Specify the address of a register from which data is to be
+ read.
+ @param[out] data Specify a pointer to a data array which the read data are
+ stored.
+ @param[in] numberOfBytesToRead Specify the number of bytes that make up the
+ data to read.  When a pointer to an array is specified in data, this argument
+ equals the number of elements of the array.
+ */
+int16_t AKD_RxData(
+				const BYTE address,
+				BYTE * data,
+				const uint16_t numberOfBytesToRead)
+{
+	int i;
+	char buf[RWBUF_SIZE];
+
+	memset(data, 0, numberOfBytesToRead);
+
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (numberOfBytesToRead > (RWBUF_SIZE-1)) {
+		LOGE("%s: Rx size is too large.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	buf[0] = numberOfBytesToRead;
+	buf[1] = address;
+
+	if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	} else {
+		for (i = 0; i < numberOfBytesToRead; i++) {
+			data[i] = buf[i + 1];
+		}
+#if ENABLE_AKMDEBUG
+		AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x len=%d data(HEX)=",
+				address, numberOfBytesToRead);
+		for (i = 0; i < numberOfBytesToRead; i++) {
+			AKMDATA(AKMDATA_DRV, " %02x", data[i]);
+		}
+		AKMDATA(AKMDATA_DRV, "\n");
+#endif
+		return AKD_SUCCESS;
+	}
+}
+
+/*!
+ Acquire magnetic data from AK8975. If measurement is not done, this function
+ waits until measurement completion.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE.
+ */
+int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE])
+{
+	memset(data, 0, SENSOR_DATA_SIZE);
+
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	AKMDATA(AKMDATA_DRV,
+		"bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n",
+		data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Set calculated data to device driver.
+ @param[in] buf The order of input data depends on driver's specification.
+ */
+void AKD_SetYPR(const int buf[YPR_DATA_SIZE])
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+	} else {
+		if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) {
+			AKMERROR_STR("ioctl");
+		}
+	}
+}
+
+/*!
+ */
+int AKD_GetOpenStatus(int* status)
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ */
+int AKD_GetCloseStatus(int* status)
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ Set AK8975 to the specific mode.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] mode This value should be one of the AK8975_Mode which is defined in
+ akm8975.h file.
+ */
+int16_t AKD_SetMode(const BYTE mode)
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Acquire delay
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] delay A delay in nanosecond.
+ */
+int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS])
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.\n", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ Get layout information from device driver, i.e. platform data.
+ */
+int16_t AKD_GetLayout(int16_t* layout)
+{
+	char tmp;
+
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	*layout = tmp;
+	return AKD_SUCCESS;
+}
+
+/* Get acceleration data. */
+int16_t AKD_GetAccelerationData(int16_t data[3])
+{
+	if (s_fdDev < 0) {
+		LOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_ACCEL, data) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	AKMDATA(AKMDATA_DRV, "%s: acc=%d, %d, %d\n",
+			__FUNCTION__, data[0], data[1], data[2]);
+
+	return AKD_SUCCESS;
+}
diff --git a/sensors/akmdfs/AK8975Driver.h b/sensors/akmdfs/AK8975Driver.h
new file mode 100644
index 0000000..731210d
--- /dev/null
+++ b/sensors/akmdfs/AK8975Driver.h
@@ -0,0 +1,102 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKMD_INC_AK8975DRIVER_H
+#define AKMD_INC_AK8975DRIVER_H
+
+#include <linux/akm8975.h>	/* Device driver */
+#include <stdint.h>			/* int8_t, int16_t etc. */
+
+/*** Constant definition ******************************************************/
+#define AKD_TRUE	1		/*!< Represents true */
+#define AKD_FALSE	0		/*!< Represents false */
+#define AKD_SUCCESS	1		/*!< Represents success.*/
+#define AKD_FAIL	0		/*!< Represents fail. */
+#define AKD_ERROR	-1		/*!< Represents error. */
+
+/*! 0:Don't Output data, 1:Output data */
+#define AKD_DBG_DATA	0
+/*! Typical interval in ns */
+#define AK8975_MEASUREMENT_TIME_NS	((AK8975_MEASUREMENT_TIME_US) * 1000)
+/*! 720 LSG = 1G = 9.8 m/s2 */
+#define LSG			720
+
+
+/*** Type declaration *********************************************************/
+typedef unsigned char BYTE;
+
+/*!
+ Open device driver.
+ This function opens device driver of acceleration sensor.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ */
+typedef int16_t(*ACCFNC_INITDEVICE)(void);
+
+/*!
+ Close device driver.
+ This function closes device drivers of acceleration sensor.
+ */
+typedef void(*ACCFNC_DEINITDEVICE)(void);
+
+/*!
+ Acquire acceleration data from acceleration sensor and convert it to Android
+ coordinate system.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] data A acceleration data array. The coordinate system of the
+ acquired data follows the definition of Android. Unit is SmartCompass.
+ */
+typedef int16_t(*ACCFNC_GETACCDATA)(short data[3]);
+
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of Function  ***************************************************/
+
+int16_t AKD_InitDevice(void);
+
+void AKD_DeinitDevice(void);
+
+int16_t AKD_TxData(
+	const BYTE address,
+	const BYTE* data,
+	const uint16_t numberOfBytesToWrite);
+
+int16_t AKD_RxData(
+	const BYTE address,
+	BYTE* data,
+	const uint16_t numberOfBytesToRead);
+
+int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]);
+
+void AKD_SetYPR(const int buf[YPR_DATA_SIZE]);
+
+int AKD_GetOpenStatus(int* status);
+
+int AKD_GetCloseStatus(int* status);
+
+int16_t AKD_SetMode(const BYTE mode);
+
+int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]);
+
+int16_t AKD_GetLayout(int16_t* layout);
+
+int16_t AKD_GetAccelerationData(int16_t data[3]);
+
+#endif /* AKMD_INC_AK8975DRIVER_H */
+
diff --git a/sensors/akmdfs/AKFS_APIs.c b/sensors/akmdfs/AKFS_APIs.c
new file mode 100644
index 0000000..ace9bc1
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs.c
@@ -0,0 +1,389 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_Common.h"
+#include "AKFS_Disp.h"
+#include "AKFS_FileIO.h"
+#include "AKFS_APIs.h"
+
+#ifdef WIN32
+#include "AK8975_LinuxDriver.h"
+#endif
+
+static AK8975PRMS g_prms;
+
+/*!
+  Initialize library. At first, 0 is set to all parameters.  After that, some
+  parameters, which should not be 0, are set to specific value. Some of initial
+  values can be customized by editing the file \c "AKFS_CSpec.h".
+  @return The return value is #AKM_SUCCESS.
+  @param[in] hpat Specify a layout pattern number.  The number is determined
+  according to the mount orientation of the magnetometer.
+  @param[in] regs[3] Specify the ASA values which are read out from
+  fuse ROM.  regs[0] is ASAX, regs[1] is ASAY, regs[2] is ASAZ.
+ */
+int16 AKFS_Init(
+	const	AKFS_PATNO	hpat,
+	const	uint8		regs[]
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: hpat=%d, r[0]=0x%02X, r[1]=0x%02X, r[2]=0x%02X\n",
+		__FUNCTION__, hpat, regs[0], regs[1], regs[2]);
+
+	/* Set 0 to the AK8975 structure. */
+	memset(&g_prms, 0, sizeof(AK8975PRMS));
+
+	/* Sensitivity */
+	g_prms.mfv_hs.u.x = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_hs.u.y = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_hs.u.z = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_as.u.x = AK8975_ASENSE_DEFAULT;
+	g_prms.mfv_as.u.y = AK8975_ASENSE_DEFAULT;
+	g_prms.mfv_as.u.z = AK8975_ASENSE_DEFAULT;
+
+	/* Initialize variables that initial value is not 0. */
+	g_prms.mi_hnaveV = CSPEC_HNAVE_V;
+	g_prms.mi_hnaveD = CSPEC_HNAVE_D;
+	g_prms.mi_anaveV = CSPEC_ANAVE_V;
+	g_prms.mi_anaveD = CSPEC_ANAVE_D;
+
+	/* Copy ASA values */
+	g_prms.mi_asa.u.x = regs[0];
+	g_prms.mi_asa.u.y = regs[1];
+	g_prms.mi_asa.u.z = regs[2];
+
+	/* Copy layout pattern */
+	g_prms.m_hpat = hpat;
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Release resources. This function is for future expansion.
+  @return The return value is #AKM_SUCCESS.
+ */
+int16 AKFS_Release(void)
+{
+	return AKM_SUCCESS;
+}
+
+/*
+  This function is called just before a measurement sequence starts.
+  This function reads parameters from file, then initializes algorithm
+  parameters.
+  @return The return value is #AKM_SUCCESS.
+  @param[in] path Specify a path to the settings file.
+ */
+int16 AKFS_Start(
+	const char* path
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path);
+
+	/* Read setting files from a file */
+	if (AKFS_LoadParameters(&g_prms, path) != AKM_SUCCESS) {
+		AKMERROR_STR("AKFS_Load");
+	}
+
+	/* Initialize buffer */
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hdata);
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hvbuf);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_adata);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_avbuf);
+
+	/* Initialize for AOC */
+	AKFS_InitAOC(&g_prms.m_aocv);
+	/* Initialize magnetic status */
+	g_prms.mi_hstatus = 0;
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when a measurement sequence is done.
+  This fucntion writes parameters to file.
+  @return The return value is #AKM_SUCCESS.
+  @param[in] path Specify a path to the settings file.
+ */
+int16 AKFS_Stop(
+	const char* path
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path);
+
+	/* Write setting files to a file */
+	if (AKFS_SaveParameters(&g_prms, path) != AKM_SUCCESS) {
+		AKMERROR_STR("AKFS_Save");
+	}
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when new magnetometer data is available.  The output
+  vector format and coordination system follow the Android definition.
+  @return The return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param[in] mag A set of measurement data from magnetometer.  X axis value
+   should be in mag[0], Y axis value should be in mag[1], Z axis value should be 
+   in mag[2].
+  @param[in] status A status of magnetometer.  This status indicates the result
+   of measurement data, i.e. overflow, success or fail, etc.
+  @param[out] vx X axis value of magnetic field vector.
+  @param[out] vy Y axis value of magnetic field vector.
+  @param[out] vz Z axis value of magnetic field vector.
+  @param[out] accuracy Accuracy of magnetic field vector.
+ */
+int16 AKFS_Get_MAGNETIC_FIELD(
+	const	int16		mag[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+)
+{
+	int16 akret;
+	int16 aocret;
+	AKFLOAT radius;
+
+	AKMDATA(AKMDATA_DUMP, "%s: m[0]=%d, m[1]=%d, m[2]=%d, st=%d\n",
+		__FUNCTION__, mag[0], mag[1], mag[2], status);
+
+	/* Decomposition */
+	/* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */
+	akret = AKFS_DecompAK8975(
+		mag,
+		status,
+		&g_prms.mi_asa,
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hdata
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Adjust coordination */
+	akret = AKFS_Rotate(
+		g_prms.m_hpat,
+		&g_prms.mfv_hdata[0]
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* AOC for magnetometer */
+	/* Offset estimation is done in this function */
+	aocret = AKFS_AOC(
+		&g_prms.m_aocv,
+		g_prms.mfv_hdata,
+		&g_prms.mfv_ho
+	);
+
+	/* Subtract offset */
+	/* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */
+	akret = AKFS_VbNorm(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hdata,
+		1,
+		&g_prms.mfv_ho,
+		&g_prms.mfv_hs,
+		AK8975_HSENSE_TARGET,
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Averaging */
+	akret = AKFS_VbAve(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf,
+		CSPEC_HNAVE_V,
+		&g_prms.mfv_hvec
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Check the size of magnetic vector */
+	radius = AKFS_SQRT(
+			(g_prms.mfv_hvec.u.x * g_prms.mfv_hvec.u.x) +
+			(g_prms.mfv_hvec.u.y * g_prms.mfv_hvec.u.y) +
+			(g_prms.mfv_hvec.u.z * g_prms.mfv_hvec.u.z));
+
+	if (radius > AKFS_GEOMAG_MAX) {
+		g_prms.mi_hstatus = 0;
+	} else {
+		if (aocret) {
+			g_prms.mi_hstatus = 3;
+		}
+	}
+
+	*vx = g_prms.mfv_hvec.u.x;
+	*vy = g_prms.mfv_hvec.u.y;
+	*vz = g_prms.mfv_hvec.u.z;
+	*accuracy = g_prms.mi_hstatus;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_MAG, "Mag(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *vx, *vy, *vz);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when new accelerometer data is available.  The output
+  vector format and coordination system follow the Android definition.
+  @return The return value is #AKM_SUCCESS when function succeeds. Otherwise
+   the return value is #AKM_FAIL.
+  @param[in] acc A set of measurement data from accelerometer.  X axis value
+   should be in acc[0], Y axis value should be in acc[1], Z axis value should be 
+   in acc[2].
+  @param[in] status A status of accelerometer.  This status indicates the result
+   of acceleration data, i.e. overflow, success or fail, etc.
+  @param[out] vx X axis value of acceleration vector.
+  @param[out] vy Y axis value of acceleration vector.
+  @param[out] vz Z axis value of acceleration vector.
+  @param[out] accuracy Accuracy of acceleration vector.
+  This value is always 3.
+ */
+int16 AKFS_Get_ACCELEROMETER(
+	const   int16		acc[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+)
+{
+	int16 akret;
+
+	AKMDATA(AKMDATA_DUMP, "%s: a[0]=%d, a[1]=%d, a[2]=%d, st=%d\n",
+		__FUNCTION__, acc[0], acc[1], acc[2], status);
+
+	/* Save data to buffer */
+	AKFS_BufShift(
+		AKFS_ADATA_SIZE,
+		1,
+		g_prms.mfv_adata
+	);
+	g_prms.mfv_adata[0].u.x = acc[0];
+	g_prms.mfv_adata[0].u.y = acc[1];
+	g_prms.mfv_adata[0].u.z = acc[2];
+
+	/* Subtract offset, adjust sensitivity */
+	/* As a result, a unit of acceleration data in mfv_avbuf is '1G = 9.8' */
+	akret = AKFS_VbNorm(
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_adata,
+		1,
+		&g_prms.mfv_ao,
+		&g_prms.mfv_as,
+		AK8975_ASENSE_TARGET,
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Averaging */
+	akret = AKFS_VbAve(
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf,
+		CSPEC_ANAVE_V,
+		&g_prms.mfv_avec
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Adjust coordination */
+	/* It is not needed. Because, the data from AK8975 driver is already
+	   follows Android coordinate system. */
+
+	*vx = g_prms.mfv_avec.u.x;
+	*vy = g_prms.mfv_avec.u.y;
+	*vz = g_prms.mfv_avec.u.z;
+	*accuracy = 3;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_ACC, "Acc(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *vx, *vy, *vz);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Get orientation sensor's elements. The vector format and coordination system
+   follow the Android definition.  Before this function is called, magnetic
+   field vector and acceleration vector should be stored in the buffer by 
+   calling #AKFS_Get_MAGNETIC_FIELD and #AKFS_Get_ACCELEROMETER.
+  @return The return value is #AKM_SUCCESS when function succeeds. Otherwise
+   the return value is #AKM_FAIL.
+  @param[out] azimuth Azimuthal angle in degree.
+  @param[out] pitch Pitch angle in degree.
+  @param[out] roll Roll angle in degree.
+  @param[out] accuracy Accuracy of orientation sensor.
+ */
+int16 AKFS_Get_ORIENTATION(
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll,
+			int16*		accuracy
+)
+{
+	int16 akret;
+
+	/* Azimuth calculation */
+	/* Coordination system follows the Android coordination. */
+	akret = AKFS_Direction(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf,
+		CSPEC_HNAVE_D,
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf,
+		CSPEC_ANAVE_D,
+		&g_prms.mf_azimuth,
+		&g_prms.mf_pitch,
+		&g_prms.mf_roll
+	);
+
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+	*azimuth  = g_prms.mf_azimuth;
+	*pitch    = g_prms.mf_pitch;
+	*roll     = g_prms.mf_roll;
+	*accuracy = g_prms.mi_hstatus;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_ORI, "Ori(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *azimuth, *pitch, *roll);
+
+	return AKM_SUCCESS;
+}
+
diff --git a/sensors/akmdfs/AKFS_APIs.h b/sensors/akmdfs/AKFS_APIs.h
new file mode 100644
index 0000000..e4d1e48
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs.h
@@ -0,0 +1,69 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_APIS_H
+#define AKFS_INC_APIS_H
+
+/* Include files for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define AKFS_GEOMAG_MAX 70
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_Init(
+	const	AKFS_PATNO	hpat,
+	const	uint8		regs[]
+);
+
+int16 AKFS_Release(void);
+
+int16 AKFS_Start(const char* path);
+
+int16 AKFS_Stop(const char* path);
+
+int16 AKFS_Get_MAGNETIC_FIELD(
+	const	int16		mag[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+);
+
+int16 AKFS_Get_ACCELEROMETER(
+	const   int16		acc[3],
+	const	int16		status,
+			AKFLOAT*    vx,
+			AKFLOAT*    vy,
+			AKFLOAT*    vz,
+			int16*		accuracy
+);
+
+int16 AKFS_Get_ORIENTATION(
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll,
+			int16*		accuracy
+);
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c
new file mode 100644
index 0000000..7bac9a1
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c
@@ -0,0 +1,44 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_AK8975.h"
+#include "AKFS_Device.h"
+
+/*!
+ */
+int16 AKFS_DecompAK8975(
+	const	int16		mag[3],
+	const	int16		status,
+	const	uint8vec*	asa,
+	const	int16		nhdata,
+			AKFVEC		hdata[]
+)
+{
+	/* put st1 and st2 value */
+	if (AK8975_ST_ERROR(status)) {
+		return AKFS_ERROR;
+	}
+
+	/* magnetic */
+	AKFS_BufShift(nhdata, 1, hdata);
+	hdata[0].u.x = mag[0] * (((asa->u.x)/256.0f) + 0.5f);
+	hdata[0].u.y = mag[1] * (((asa->u.y)/256.0f) + 0.5f);
+	hdata[0].u.z = mag[2] * (((asa->u.z)/256.0f) + 0.5f);
+
+	return AKFS_SUCCESS;
+}
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h
new file mode 100644
index 0000000..25459e3
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h
@@ -0,0 +1,50 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_AK8975_H
+#define AKFS_INC_AK8975_H
+
+#include "AKFS_Device.h"
+
+/***** Constant definition ****************************************************/
+#define AK8975_BDATA_SIZE			8
+
+#define AK8975_HSENSE_DEFAULT		1
+#define AK8975_HSENSE_TARGET		0.3f
+#define AK8975_ASENSE_DEFAULT		720
+#define AK8975_ASENSE_TARGET		9.80665f
+
+#define AK8975_HDATA_CONVERTER(hi, low, asa) \
+	(AKFLOAT)((int16)((((uint16)(hi))<<8)+(uint16)(low))*(((asa)/256.0f) + 0.5f))
+
+#define AK8975_ST_ERROR(st)   (((st)&0x09) != 0x01)
+
+/***** Type declaration *******************************************************/
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_DecompAK8975(
+	const	int16		mag[3],
+	const	int16		status,
+	const	uint8vec*	asa,
+	const	int16		nhdata,
+			AKFVEC		hdata[]
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c
new file mode 100644
index 0000000..62b2361
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c
@@ -0,0 +1,333 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_AOC.h"
+#include "AKFS_Math.h"
+
+/*
+ * CalcR
+ */
+static AKFLOAT CalcR(
+	const	AKFVEC*	x,
+	const	AKFVEC*	y
+){
+	int16	i;
+	AKFLOAT	r;
+
+	r = 0.0;
+	for(i = 0; i < 3; i++){
+		r += (x->v[i]-y->v[i]) * (x->v[i]-y->v[i]);
+	}
+	r = sqrt(r);
+
+	return r;
+}
+
+/*
+ * From4Points2Sphere()
+ */
+static int16 From4Points2Sphere(
+	const	AKFVEC		points[],	/*! (i/o)	: input vectors  */
+			AKFVEC*		center,		/*! (o)	: center of sphere   */
+			AKFLOAT*	r			/*! (i)	: add/subtract value */
+){
+	AKFLOAT	dif[3][3];
+	AKFLOAT	r2[3];
+
+	AKFLOAT	A;
+	AKFLOAT	B;
+	AKFLOAT	C;
+	AKFLOAT	D;
+	AKFLOAT	E;
+	AKFLOAT	F;
+	AKFLOAT	G;
+
+	AKFLOAT	OU;
+	AKFLOAT	OD;
+
+	int16	i, j;
+
+	for(i = 0; i < 3; i++){
+		r2[i] = 0.0;
+		for(j = 0; j < 3; j++){
+			dif[i][j] = points[i].v[j] - points[3].v[j];
+			r2[i] += (points[i].v[j]*points[i].v[j]
+					- points[3].v[j]*points[3].v[j]);
+		}
+		r2[i] *= 0.5;
+	}
+
+	A = dif[0][0]*dif[2][2] - dif[0][2]*dif[2][0];
+	B = dif[0][1]*dif[2][0] - dif[0][0]*dif[2][1];
+	C = dif[0][0]*dif[2][1] - dif[0][1]*dif[2][0];
+	D = dif[0][0]*r2[2]		- dif[2][0]*r2[0];
+	E = dif[0][0]*dif[1][1] - dif[0][1]*dif[1][0];
+	F = dif[1][0]*dif[0][2] - dif[0][0]*dif[1][2];
+	G = dif[0][0]*r2[1]		- dif[1][0]*r2[0];
+
+	OU = D*E + B*G;
+	OD = C*F + A*E;
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[2] = OU / OD;
+
+	OU = F*center->v[2] + G;
+	OD = E;
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[1] = OU / OD;
+
+	OU = r2[0] - dif[0][1]*center->v[1] - dif[0][2]*center->v[2];
+	OD = dif[0][0];
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[0] = OU / OD;
+
+	*r = CalcR(&points[0], center);
+
+	return 0;
+
+}
+
+/*
+ * MeanVar
+ */
+static void MeanVar(
+	const	AKFVEC	v[],			/*!< (i)   : input vectors */
+	const	int16	n,				/*!< (i)   : number of vectors */
+			AKFVEC*	mean,			/*!< (o)   : (max+min)/2 */
+			AKFVEC*	var				/*!< (o)   : variation in vectors */
+){
+	int16	i;
+	int16	j;
+	AKFVEC	max;
+	AKFVEC	min;
+
+	for(j = 0; j < 3; j++){
+		min.v[j] = v[0].v[j];
+		max.v[j] = v[0].v[j];
+		for(i = 1; i < n; i++){
+			if(v[i].v[j] < min.v[j]){
+				min.v[j] = v[i].v[j];
+			}
+			if(v[i].v[j] > max.v[j]){
+				max.v[j] = v[i].v[j];
+			}
+		}
+		mean->v[j] = (max.v[j] + min.v[j]) / 2.0;	/*mean */
+		var->v[j] = max.v[j] - min.v[j];			/*var  */
+	}
+}
+
+/*
+ * Get4points
+ */
+static void Get4points(
+	const	AKFVEC	v[],			/*!< (i)   : input vectors */
+	const	int16	n,				/*!< (i)   : number of vectors */
+			AKFVEC	out[]			/*!< (o)   : */
+){
+	int16	i, j;
+	AKFLOAT temp;
+	AKFLOAT d;
+
+	AKFVEC	dv[AKFS_HBUF_SIZE];
+	AKFVEC	cross;
+	AKFVEC	tempv;
+
+	/* out 0 */
+	out[0] = v[0];
+
+	/* out 1 */
+	d = 0.0;
+	for(i = 1; i < n; i++){
+		temp = CalcR(&v[i], &out[0]);
+		if(d < temp){
+			d = temp;
+			out[1] = v[i];
+		}
+	}
+
+	/* out 2 */
+	d = 0.0;
+	for(j = 0; j < 3; j++){
+		dv[0].v[j] = out[1].v[j] - out[0].v[j];
+	}
+	for(i = 1; i < n; i++){
+		for(j = 0; j < 3; j++){
+			dv[i].v[j] = v[i].v[j] - out[0].v[j];
+		}
+		tempv.v[0] = dv[0].v[1]*dv[i].v[2] - dv[0].v[2]*dv[i].v[1];
+		tempv.v[1] = dv[0].v[2]*dv[i].v[0] - dv[0].v[0]*dv[i].v[2];
+		tempv.v[2] = dv[0].v[0]*dv[i].v[1] - dv[0].v[1]*dv[i].v[0];
+		temp =	tempv.u.x * tempv.u.x
+			  +	tempv.u.y * tempv.u.y
+			  +	tempv.u.z * tempv.u.z;
+		if(d < temp){
+			d = temp;
+			out[2] = v[i];
+			cross = tempv;
+		}
+	}
+
+	/* out 3 */
+	d = 0.0;
+	for(i = 1; i < n; i++){
+		temp =	  dv[i].u.x * cross.u.x
+				+ dv[i].u.y * cross.u.y
+				+ dv[i].u.z * cross.u.z;
+		temp = fabs(temp);
+		if(d < temp){
+			d = temp;
+			out[3] = v[i];
+		}
+	}
+}
+
+/*
+ * CheckInitFvec
+ */
+static int16 CheckInitFvec(
+	const	AKFVEC	*v		/*!< [in]	vector */
+){
+	int16 i;
+
+	for(i = 0; i < 3; i++){
+		if(AKFS_FMAX <= v->v[i]){
+			return 1;       /* initvalue */
+		}
+	}
+
+	return 0;       /* not initvalue */
+}
+
+/*
+ * AKFS_AOC
+ */
+int16 AKFS_AOC(				/*!< (o)   : calibration success(1), failure(0) */
+			AKFS_AOC_VAR*	haocv,	/*!< (i/o)	: a set of variables */
+	const	AKFVEC*			hdata,	/*!< (i)	: vectors of data    */
+			AKFVEC*			ho		/*!< (i/o)	: offset             */
+){
+	int16	i, j;
+	int16	num;
+	AKFLOAT	tempf;
+	AKFVEC	tempho;
+
+	AKFVEC	fourpoints[4];
+
+	AKFVEC	var;
+	AKFVEC	mean;
+
+	/* buffer new data */
+	for(i = 1; i < AKFS_HBUF_SIZE; i++){
+		haocv->hbuf[AKFS_HBUF_SIZE-i] = haocv->hbuf[AKFS_HBUF_SIZE-i-1];
+	}
+	haocv->hbuf[0] = *hdata;
+
+	/* Check Init */
+	num = 0;
+	for(i = AKFS_HBUF_SIZE; 3 < i; i--){
+		if(CheckInitFvec(&haocv->hbuf[i-1]) == 0){
+			num = i;
+			break;
+		}
+	}
+	if(num < 4){
+		return AKFS_ERROR;
+	}
+
+	/* get 4 points */
+	Get4points(haocv->hbuf, num, fourpoints);
+
+	/* estimate offset */
+	if(0 != From4Points2Sphere(fourpoints, &tempho, &haocv->hraoc)){
+		return AKFS_ERROR;
+	}
+
+	/* check distance */
+	for(i = 0; i < 4; i++){
+		for(j = (i+1); j < 4; j++){
+			tempf = CalcR(&fourpoints[i], &fourpoints[j]);
+			if((tempf < haocv->hraoc)||(tempf < AKFS_HR_TH)){
+				return AKFS_ERROR;
+			}
+		}
+	}
+
+	/* update offset buffer */
+	for(i = 1; i < AKFS_HOBUF_SIZE; i++){
+		haocv->hobuf[AKFS_HOBUF_SIZE-i] = haocv->hobuf[AKFS_HOBUF_SIZE-i-1];
+	}
+	haocv->hobuf[0] = tempho;
+
+	/* clear hbuf */
+	for(i = (AKFS_HBUF_SIZE>>1); i < AKFS_HBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hbuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+
+	/* Check Init */
+	if(CheckInitFvec(&haocv->hobuf[AKFS_HOBUF_SIZE-1]) == 1){
+		return AKFS_ERROR;
+	}
+
+	/* Check ovar */
+	tempf = haocv->hraoc * AKFS_HO_TH;
+	MeanVar(haocv->hobuf, AKFS_HOBUF_SIZE, &mean, &var);
+	if ((var.u.x >= tempf) || (var.u.y >= tempf) || (var.u.z >= tempf)){
+		return AKFS_ERROR;
+	}
+
+	*ho = mean;
+
+	return AKFS_SUCCESS;
+}
+
+/*
+ * AKFS_InitAOC
+ */
+void AKFS_InitAOC(
+			AKFS_AOC_VAR*	haocv
+){
+	int16 i, j;
+
+	/* Initialize buffer */
+	for(i = 0; i < AKFS_HBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hbuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+	for(i = 0; i < AKFS_HOBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hobuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+
+	haocv->hraoc = 0.0;
+}
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h
new file mode 100644
index 0000000..ffaaa88
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h
@@ -0,0 +1,53 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_AOC_H
+#define AKFS_INC_AOC_H
+
+#include "AKFS_Device.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_HBUF_SIZE	20
+#define AKFS_HOBUF_SIZE	4
+#define AKFS_HR_TH		10
+#define AKFS_HO_TH		0.15
+
+/***** Macro definition *******************************************************/
+
+/***** Type declaration *******************************************************/
+typedef struct _AKFS_AOC_VAR{
+	AKFVEC		hbuf[AKFS_HBUF_SIZE];
+	AKFVEC		hobuf[AKFS_HOBUF_SIZE];
+	AKFLOAT		hraoc;
+} AKFS_AOC_VAR;
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_AOC(
+			AKFS_AOC_VAR*	haocv,
+	const	AKFVEC*			hdata,
+			AKFVEC*			ho
+);
+
+void AKFS_InitAOC(
+			AKFS_AOC_VAR*	haocv
+);
+
+AKLIB_C_API_END
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h
new file mode 100644
index 0000000..1f80f48
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h
@@ -0,0 +1,37 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_CONFIG_H
+#define AKFS_INC_CONFIG_H
+
+/***** Language configuration *************************************************/
+#if defined(__cplusplus)
+#define AKLIB_C_API_START	extern "C" {
+#define AKLIB_C_API_END		}
+#else
+#define AKLIB_C_API_START
+#define AKLIB_C_API_END
+#endif
+
+/*! If following line is commented in, double type is used for floating point
+   calculation */
+/*
+#define AKFS_PRECISION_DOUBLE
+*/
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c
new file mode 100644
index 0000000..3d99ab1
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c
@@ -0,0 +1,110 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_Device.h"
+
+int16 AKFS_InitBuffer(
+	const	int16	ndata,		/*!< Size of vector buffer */
+			AKFVEC	vdata[]		/*!< Vector buffer */
+)
+{
+	int i;
+
+	/* size check */
+	if (ndata <= 0) {
+		return AKFS_ERROR;
+	}
+
+	for (i=0; i<ndata; i++) {
+		vdata[i].u.x = AKFS_INIT_VALUE_F;
+		vdata[i].u.y = AKFS_INIT_VALUE_F;
+		vdata[i].u.z = AKFS_INIT_VALUE_F;
+	}
+
+	return AKFS_SUCCESS;
+}
+
+int16 AKFS_BufShift(
+	const	int16	len,	/*!< size of buffer */
+	const	int16	shift,	/*!< shift size */
+			AKFVEC	v[] /*!< buffer */
+)
+{
+	int16 i;
+
+	if((shift < 1) || (len < shift)) {
+		return AKFS_ERROR;
+	}
+	for (i = len-1; i >= shift; i--) {
+		v[i] = v[i-shift];
+	}
+	return AKFS_SUCCESS;
+}
+
+int16 AKFS_Rotate(
+	const	AKFS_PATNO	pat,
+			AKFVEC*		vec
+)
+{
+	AKFLOAT tmp;
+	switch(pat){
+		/* Obverse */
+		case PAT1:
+			/* This is Android default */
+			break;
+		case PAT2:
+			tmp = vec->u.x;
+			vec->u.x = vec->u.y;
+			vec->u.y = -tmp;
+			break;
+		case PAT3:
+			vec->u.x = -(vec->u.x);
+			vec->u.y = -(vec->u.y);
+			break;
+		case PAT4:
+			tmp = vec->u.x;
+			vec->u.x = -(vec->u.y);
+			vec->u.y = tmp;
+			break;
+		/* Reverse */
+		case PAT5:
+			vec->u.x = -(vec->u.x);
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT6:
+			tmp = vec->u.x;
+			vec->u.x = vec->u.y;
+			vec->u.y = tmp;
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT7:
+			vec->u.y = -(vec->u.y);
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT8:
+			tmp = vec->u.x;
+			vec->u.x = -(vec->u.y);
+			vec->u.y = -tmp;
+			vec->u.z = -(vec->u.z);
+			break;
+		default:
+			return AKFS_ERROR;
+	}
+
+	return AKFS_SUCCESS;
+}
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h
new file mode 100644
index 0000000..0292d54
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h
@@ -0,0 +1,107 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_DEVICE_H
+#define AKFS_INC_DEVICE_H
+
+#include <float.h>
+#include "AKFS_Configure.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_ERROR			0
+#define AKFS_SUCCESS		1
+
+#define AKFS_HDATA_SIZE		32
+#define AKFS_ADATA_SIZE		32
+
+/***** Type declaration *******************************************************/
+typedef signed char     int8;
+typedef signed short    int16;
+typedef unsigned char   uint8;
+typedef unsigned short  uint16;
+
+
+#ifdef AKFS_PRECISION_DOUBLE
+typedef	double			AKFLOAT;
+#define AKFS_EPSILON	DBL_EPSILON
+#define AKFS_FMAX		DBL_MAX
+#define AKFS_FMIN		DBL_MIN
+
+#else
+typedef	float			AKFLOAT;
+#define AKFS_EPSILON	FLT_EPSILON
+#define AKFS_FMAX		FLT_MAX
+#define AKFS_FMIN		FLT_MIN
+
+#endif
+
+/* Treat maximum value as initial value */
+#define AKFS_INIT_VALUE_F	AKFS_FMAX
+
+/***** Vector *****/
+typedef union _uint8vec{
+	struct {
+		uint8	x;
+		uint8	y;
+		uint8	z;
+	}u;
+	uint8	v[3];
+} uint8vec;
+
+typedef union _AKFVEC{
+	struct {
+		AKFLOAT x;
+		AKFLOAT y;
+		AKFLOAT z;
+	}u;
+	AKFLOAT	v[3];
+} AKFVEC;
+
+/***** Layout pattern *****/
+typedef enum _AKFS_PATNO {
+	PAT_INVALID = 0,
+	PAT1,	/* obverse: 1st pin is right down */
+	PAT2,	/* obverse: 1st pin is left down */
+	PAT3,	/* obverse: 1st pin is left top */
+	PAT4,	/* obverse: 1st pin is right top */
+	PAT5,	/* reverse: 1st pin is left down (from top view) */
+	PAT6,	/* reverse: 1st pin is left top (from top view) */
+	PAT7,	/* reverse: 1st pin is right top (from top view) */
+	PAT8	/* reverse: 1st pin is right down (from top view) */
+} AKFS_PATNO;
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_InitBuffer(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+			AKFVEC	vdata[]		/*!< Raw vector buffer */
+);
+
+int16 AKFS_BufShift(
+	const	int16	len,
+	const	int16	shift,
+			AKFVEC	v[]
+);
+
+int16 AKFS_Rotate(
+	const   AKFS_PATNO  pat,
+			AKFVEC*     vec
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c
new file mode 100644
index 0000000..f47e930
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c
@@ -0,0 +1,133 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_Direction.h"
+#include "AKFS_VNorm.h"
+#include "AKFS_Math.h"
+
+/*
+  Coordinate system is right-handed.
+  X-Axis: from left to right.
+  Y-Axis: from bottom to top.
+  Z-Axis: from reverse to obverse.
+
+  azimuth: Rotaion around Z axis, with positive values 
+  	when y-axis moves toward the x-axis.
+  pitch: Rotation around X axis, with positive values
+  	when z-axis moves toward the y-axis.
+  roll: Rotation around Y axis, with positive values
+  	when x-axis moves toward the z-axis.
+*/
+
+/*
+   This function is used internaly, so output is RADIAN!
+ */
+static void AKFS_Angle(
+	const	AKFVEC*		avec,
+			AKFLOAT*	pitch,	/* radian */
+			AKFLOAT*	roll	/* radian */
+)
+{
+	AKFLOAT	av;	/* Size of vector */
+
+	av = AKFS_SQRT((avec->u.x)*(avec->u.x) + (avec->u.y)*(avec->u.y) + (avec->u.z)*(avec->u.z));
+
+	*pitch = AKFS_ASIN(-(avec->u.y) / av);
+	*roll  = AKFS_ASIN((avec->u.x) / av);
+}
+
+/*
+   This function is used internaly, so output is RADIAN!
+ */
+static void AKFS_Azimuth(
+	const	AKFVEC*		hvec,
+	const	AKFLOAT		pitch,	/* radian */
+	const	AKFLOAT		roll,	/* radian */
+			AKFLOAT*	azimuth	/* radian */
+)
+{
+	AKFLOAT sinP; /* sin value of pitch angle */
+	AKFLOAT cosP; /* cos value of pitch angle */
+	AKFLOAT sinR; /* sin value of roll angle */
+	AKFLOAT cosR; /* cos value of roll angle */
+	AKFLOAT Xh;   /* X axis element of vector which is projected to horizontal plane */
+	AKFLOAT Yh;   /* Y axis element of vector which is projected to horizontal plane */
+
+	sinP = AKFS_SIN(pitch);
+	cosP = AKFS_COS(pitch);
+	sinR = AKFS_SIN(roll);
+	cosR = AKFS_COS(roll);
+
+	Yh = -(hvec->u.x)*cosR + (hvec->u.z)*sinR;
+	Xh = (hvec->u.x)*sinP*sinR + (hvec->u.y)*cosP + (hvec->u.z)*sinP*cosR;
+
+	/* atan2(y, x) -> divisor and dividend is opposite from mathematical equation. */
+	*azimuth = AKFS_ATAN2(Yh, Xh);
+}
+
+int16 AKFS_Direction(
+	const	int16		nhvec,
+	const	AKFVEC		hvec[],
+	const	int16		hnave,
+	const	int16		navec,
+	const	AKFVEC		avec[],
+	const	int16		anave,
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll
+)
+{
+	AKFVEC have, aave;
+	AKFLOAT azimuthRad;
+	AKFLOAT pitchRad;
+	AKFLOAT rollRad;
+
+	/* arguments check */
+	if ((nhvec <= 0) || (navec <= 0) || (hnave <= 0) || (anave <= 0)) {
+		return AKFS_ERROR;
+	}
+	if ((nhvec < hnave) || (navec < anave)) {
+		return AKFS_ERROR;
+	}
+
+	/* average */
+	if (AKFS_VbAve(nhvec, hvec, hnave, &have) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+	if (AKFS_VbAve(navec, avec, anave, &aave) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate pitch and roll */
+	AKFS_Angle(&aave, &pitchRad, &rollRad);
+
+	/* calculate azimuth */
+	AKFS_Azimuth(&have, pitchRad, rollRad, &azimuthRad);
+
+	*azimuth = RAD2DEG(azimuthRad);
+	*pitch = RAD2DEG(pitchRad);
+	*roll = RAD2DEG(rollRad);
+
+	/* Adjust range of azimuth */
+	if (*azimuth < 0) {
+		*azimuth += 360.0f;
+	}
+
+	return AKFS_SUCCESS;
+}
+
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h
new file mode 100644
index 0000000..c08338d
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h
@@ -0,0 +1,39 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_DIRECTION_H
+#define AKFS_INC_DIRECTION_H
+
+#include "AKFS_Device.h"
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_Direction(
+	const	int16		nhvec,
+	const	AKFVEC		hvec[],
+	const	int16		hnave,
+	const	int16		navec,
+	const	AKFVEC		avec[],
+	const	int16		anave,
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h
new file mode 100644
index 0000000..dfe48b3
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h
@@ -0,0 +1,47 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_MATH_H
+#define AKFS_INC_MATH_H
+
+#include <math.h>
+#include "AKFS_Configure.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_PI			3.141592654f
+#define RAD2DEG(rad)	((rad)*180.0f/AKFS_PI)
+
+/***** Macro definition *******************************************************/
+
+#ifdef AKFS_PRECISION_DOUBLE
+#define AKFS_SIN(x)			sin(x)
+#define AKFS_COS(x)			cos(x)
+#define AKFS_ASIN(x)		asin(x)
+#define AKFS_ACOS(x)		acos(x)
+#define AKFS_ATAN2(y, x)	atan2((y), (x))
+#define AKFS_SQRT(x)		sqrt(x)
+#else
+#define AKFS_SIN(x)			sinf(x)
+#define AKFS_COS(x)			cosf(x)
+#define AKFS_ASIN(x)		asinf(x)
+#define AKFS_ACOS(x)		acosf(x)
+#define AKFS_ATAN2(y, x)	atan2f((y), (x))
+#define AKFS_SQRT(x)		sqrtf(x)
+#endif
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c b/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c
new file mode 100644
index 0000000..ffa934a
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c
@@ -0,0 +1,107 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_VNorm.h"
+#include "AKFS_Device.h"
+
+/*!
+ */
+int16 AKFS_VbNorm(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+	const	AKFVEC	vdata[],	/*!< Raw vector buffer */
+	const	int16	nbuf,		/*!< Size of data to be buffered */
+	const	AKFVEC*	o,			/*!< Offset */
+	const	AKFVEC*	s,			/*!< Sensitivity */
+	const	AKFLOAT	tgt,		/*!< Target sensitivity */
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+			AKFVEC	vvec[]		/*!< Normalized vector buffer */
+)
+{
+	int i;
+
+	/* size check */
+	if ((ndata <= 0) || (nvec <= 0) || (nbuf <= 0)) {
+		return AKFS_ERROR;
+	}
+	/* dependency check */
+	if ((nbuf < 1) || (ndata < nbuf) || (nvec < nbuf)) {
+		return AKFS_ERROR;
+	}
+	/* sensitivity check */
+	if ((s->u.x <= AKFS_EPSILON) ||
+		(s->u.y <= AKFS_EPSILON) ||
+		(s->u.z <= AKFS_EPSILON) ||
+		(tgt <= 0)) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate and store data to buffer */
+	if (AKFS_BufShift(nvec, nbuf, vvec) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+	for (i=0; i<nbuf; i++) {
+		vvec[i].u.x = ((vdata[i].u.x - o->u.x) / (s->u.x) * (AKFLOAT)tgt);
+		vvec[i].u.y = ((vdata[i].u.y - o->u.y) / (s->u.y) * (AKFLOAT)tgt);
+		vvec[i].u.z = ((vdata[i].u.z - o->u.z) / (s->u.z) * (AKFLOAT)tgt);
+	}
+
+	return AKFS_SUCCESS;
+}
+
+/*!
+ */
+int16 AKFS_VbAve(
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+	const	AKFVEC	vvec[],		/*!< Normalized vector buffer */
+	const	int16	nave,		/*!< Number of averaeg */
+			AKFVEC*	vave		/*!< Averaged vector */
+)
+{
+	int i;
+
+	/* arguments check */
+	if ((nave <= 0) || (nvec <= 0) || (nvec < nave)) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate average */
+	vave->u.x = 0;
+	vave->u.y = 0;
+	vave->u.z = 0;
+	for (i=0; i<nave; i++) {
+		if ((vvec[i].u.x == AKFS_INIT_VALUE_F) ||
+			(vvec[i].u.y == AKFS_INIT_VALUE_F) ||
+			(vvec[i].u.z == AKFS_INIT_VALUE_F)) {
+				break;
+		}
+		vave->u.x += vvec[i].u.x;
+		vave->u.y += vvec[i].u.y;
+		vave->u.z += vvec[i].u.z;
+	}
+	if (i == 0) {
+		vave->u.x = 0;
+		vave->u.y = 0;
+		vave->u.z = 0;
+	} else {
+		vave->u.x /= i;
+		vave->u.y /= i;
+		vave->u.z /= i;
+	}
+	return AKFS_SUCCESS;
+}
+
+
diff --git a/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h b/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h
new file mode 100644
index 0000000..c3c9bed
--- /dev/null
+++ b/sensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h
@@ -0,0 +1,46 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_VNORM_H
+#define AKFS_INC_VNORM_H
+
+#include "AKFS_Device.h"
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_VbNorm(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+	const	AKFVEC	vdata[],	/*!< Raw vector buffer */
+	const	int16	nbuf,		/*!< Size of data to be buffered */
+	const	AKFVEC*	o,			/*!< Offset */
+	const	AKFVEC*	s,			/*!< Sensitivity */
+	const	AKFLOAT	tgt,		/*!< Target sensitivity */
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+			AKFVEC	vvec[]		/*!< Normalized vector buffer */
+);
+
+int16 AKFS_VbAve(
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+	const	AKFVEC	vvec[],		/*!< Normalized vector buffer */
+	const	int16	nave,		/*!< Number of averaeg */
+			AKFVEC*	vave		/*!< Averaged vector */
+);
+
+AKLIB_C_API_END
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_CSpec.h b/sensors/akmdfs/AKFS_CSpec.h
new file mode 100644
index 0000000..380f06f
--- /dev/null
+++ b/sensors/akmdfs/AKFS_CSpec.h
@@ -0,0 +1,38 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_CSPEC_H
+#define AKFS_INC_CSPEC_H
+
+/*******************************************************************************
+ User defines parameters.
+ ******************************************************************************/
+/* Parameters for Average */
+/*	The number of magnetic/acceleration data to be averaged. */
+#define CSPEC_HNAVE_D	4
+#define CSPEC_ANAVE_D	4
+#define CSPEC_HNAVE_V	8
+#define CSPEC_ANAVE_V	8
+
+#ifdef WIN32
+#define CSPEC_SETTING_FILE	"akmdfs.txt"
+#else
+#define CSPEC_SETTING_FILE	"/data/misc/akmdfs.txt"
+#endif
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_Common.h b/sensors/akmdfs/AKFS_Common.h
new file mode 100644
index 0000000..b683d1d
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Common.h
@@ -0,0 +1,141 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_COMMON_H
+#define AKFS_INC_COMMON_H
+
+#ifdef WIN32
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501
+#endif    					
+  					
+#include <windows.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <conio.h>
+#include <stdarg.h>
+#include <crtdbg.h>
+#include "Android.h"
+
+#define DBG_LEVEL	DBG_LEVEL4
+#define ENABLE_AKMDEBUG	1
+
+#else
+#include <stdio.h>     /* frpintf */
+#include <stdlib.h>    /* atoi */
+#include <string.h>    /* memset */
+#include <unistd.h>
+#include <stdarg.h>    /* va_list */
+#include <utils/Log.h> /* LOGV */
+#include <errno.h>     /* errno */
+
+#endif
+
+/*** Constant definition ******************************************************/
+#define AKM_TRUE	1	/*!< Represents true */
+#define AKM_FALSE	0	/*!< Represents false */
+#define AKM_SUCCESS	1	/*!< Represents success */
+#define AKM_FAIL	0	/*!< Represents fail */
+
+#define DBG_LEVEL0	0	/* Critical */
+#define DBG_LEVEL1	1	/* Notice */
+#define DBG_LEVEL2	2	/* Information */
+#define DBG_LEVEL3	3	/* Debug */
+#define DBG_LEVEL4	4	/* Verbose */
+
+#ifndef DBG_LEVEL
+#define DBG_LEVEL	DBG_LEVEL0
+#endif
+
+#define DATA_AREA01	0x0001
+#define DATA_AREA02	0x0002
+#define DATA_AREA03	0x0004
+#define DATA_AREA04	0x0008
+#define DATA_AREA05	0x0010
+#define DATA_AREA06	0x0020
+#define DATA_AREA07	0x0040
+#define DATA_AREA08	0x0080
+#define DATA_AREA09	0x0100
+#define DATA_AREA10	0x0200
+#define DATA_AREA11	0x0400
+#define DATA_AREA12	0x0800
+#define DATA_AREA13	0x1000
+#define DATA_AREA14	0x2000
+#define DATA_AREA15	0x4000
+#define DATA_AREA16	0x8000
+
+
+/* Debug area definition */
+#define AKMDATA_DUMP		DATA_AREA01	/*<! Dump data */
+#define AKMDATA_BDATA		DATA_AREA02	/*<! BDATA */
+#define AKMDATA_MAG			DATA_AREA03 /*<! Magnetic Field */
+#define AKMDATA_ACC			DATA_AREA04 /*<! Accelerometer */
+#define AKMDATA_ORI			DATA_AREA05 /*<! Orientation */
+#define AKMDATA_GETINTERVAL	DATA_AREA06
+#define AKMDATA_LOOP		DATA_AREA07
+#define AKMDATA_DRV			DATA_AREA08
+
+#ifndef ENABLE_AKMDEBUG
+#define ENABLE_AKMDEBUG		0	/* Eanble debug output when it is 1. */
+#endif
+
+#define OPMODE_CONSOLE		0x01
+#define OPMODE_FST			0x02
+
+/***** Debug Level Output *************************************/
+#if ENABLE_AKMDEBUG
+#define AKMDEBUG(level, format, ...) \
+    (((level) <= DBG_LEVEL) \
+	  ? (fprintf(stdout, (format), ##__VA_ARGS__)) \
+	  : ((void)0))
+#else
+#define AKMDEBUG(level, format, ...)
+#endif
+
+/***** Dbg Zone Output ***************************************/
+#if ENABLE_AKMDEBUG
+#define AKMDATA(flag, format, ...)  \
+	((((int)flag) & g_dbgzone) \
+	  ? (fprintf(stdout, (format), ##__VA_ARGS__)) \
+	  : ((void)0))
+#else
+#define AKMDATA(flag, format, ...)
+#endif
+
+/***** Log output ********************************************/
+#ifdef AKM_LOG_ENABLE
+#define AKM_LOG(format, ...)	LOGD((format), ##__VA_ARGS__)
+#else
+#define AKM_LOG(format, ...)
+#endif
+
+/***** Error output *******************************************/
+#define AKMERROR \
+	LOGE("%s:%d Error.", __FUNCTION__, __LINE__)
+
+#define AKMERROR_STR(api) \
+	LOGE("%s:%d %s Error (%s).", \
+	  		  __FUNCTION__, __LINE__, (api), strerror(errno))
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+
+#endif /* AKMD_INC_AKCOMMON_H */
+
diff --git a/sensors/akmdfs/AKFS_Compass.h b/sensors/akmdfs/AKFS_Compass.h
new file mode 100644
index 0000000..aa59285
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Compass.h
@@ -0,0 +1,84 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_COMPASS_H
+#define AKFS_INC_COMPASS_H
+
+#include "AKFS_Common.h"
+#include "AKFS_CSpec.h"
+
+/****************************************/
+/* Include files for AK8975 library.    */
+/****************************************/
+#include "AKFS_AK8975.h"
+#include "AKFS_Configure.h"
+#include "AKFS_AOC.h"
+#include "AKFS_Device.h"
+#include "AKFS_Direction.h"
+#include "AKFS_Math.h"
+#include "AKFS_VNorm.h"
+
+/*** Constant definition ******************************************************/
+
+/*** Type declaration *********************************************************/
+typedef struct _AKSENSOR_DATA{
+	AKFLOAT	x;
+	AKFLOAT	y;
+	AKFLOAT	z;
+    int8	status;
+} AKSENSOR_DATA;
+
+/*! A parameter structure. */
+typedef struct _AK8975PRMS{
+	/* Variables for Decomp8975. */
+	AKFVEC			mfv_hdata[AKFS_HDATA_SIZE];
+	uint8vec		mi_asa;
+	uint8			mi_st;
+
+	/* Variables forAOC. */
+	AKFS_AOC_VAR	m_aocv;
+
+	/* Variables for Magnetometer buffer. */
+	AKFVEC			mfv_hvbuf[AKFS_HDATA_SIZE];
+	AKFVEC			mfv_ho;
+	AKFVEC			mfv_hs;
+	AKFS_PATNO		m_hpat;
+
+	/* Variables for Accelerometer buffer. */
+	AKFVEC			mfv_adata[AKFS_ADATA_SIZE];
+	AKFVEC			mfv_avbuf[AKFS_ADATA_SIZE];
+	AKFVEC			mfv_ao;
+	AKFVEC			mfv_as;
+
+	/* Variables for Direction. */
+	int16			mi_hnaveD;
+	int16			mi_anaveD;
+	AKFLOAT			mf_azimuth;
+	AKFLOAT			mf_pitch;
+	AKFLOAT			mf_roll;
+
+	/* Variables for vector output */
+	int16			mi_hnaveV;
+	int16			mi_anaveV;
+	AKFVEC			mfv_hvec;
+	AKFVEC			mfv_avec;
+	int16			mi_hstatus;
+
+} AK8975PRMS;
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_Disp.c b/sensors/akmdfs/AKFS_Disp.c
new file mode 100644
index 0000000..910af7a
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Disp.c
@@ -0,0 +1,89 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_Disp.h"
+#include "AKFS_Common.h"
+
+/*!
+ Print startup message to Android Log daemon.
+ */
+void Disp_StartMessage(void)
+{
+	LOGI("AK8975 Daemon for Open Source v20120329.");
+	LOGI("Debug: %s", ((ENABLE_AKMDEBUG)?("ON"):("OFF")));
+	LOGI("Debug level: %d", DBG_LEVEL);
+}
+
+/*!
+ Print ending message to Android Log daemon.
+ */
+void Disp_EndMessage(int ret)
+{
+	LOGI("AK8975 for Android end (%d).", ret);
+}
+
+/*!
+ Print result
+ */
+void Disp_Result(int buf[YPR_DATA_SIZE])
+{
+	AKMDEBUG(DBG_LEVEL1,
+		"Flag=%d\n", buf[0]);
+	AKMDEBUG(DBG_LEVEL1,
+		"Acc(%d):%8.2f, %8.2f, %8.2f\n",
+		buf[4], REVERT_ACC(buf[1]), REVERT_ACC(buf[2]), REVERT_ACC(buf[3]));
+	AKMDEBUG(DBG_LEVEL1,
+		"Mag(%d):%8.2f, %8.2f, %8.2f\n",
+		buf[8], REVERT_MAG(buf[5]), REVERT_MAG(buf[6]), REVERT_MAG(buf[7]));
+	AKMDEBUG(DBG_LEVEL1,
+		"Ori(%d)=%8.2f, %8.2f, %8.2f\n",
+		buf[8], REVERT_ORI(buf[9]), REVERT_ORI(buf[10]), REVERT_ORI(buf[11]));
+}
+
+/*!
+ Output main menu to stdout and wait for user input from stdin.
+ @return Selected mode.
+ */
+MODE Menu_Main(void)
+{
+	char msg[20];
+	memset(msg, 0, sizeof(msg));
+
+	AKMDEBUG(DBG_LEVEL1,
+	" --------------------  AK8975 Console Application -------------------- \n"
+	"   1. Start measurement. \n"
+	"   2. Self-test. \n"
+	"   Q. Quit application. \n"
+	" --------------------------------------------------------------------- \n"
+	" Please select a number.\n"
+	"   ---> ");
+	fgets(msg, 10, stdin);
+	AKMDEBUG(DBG_LEVEL1, "\n");
+
+	/* BUG : If 2-digits number is input, */
+	/*    only the first character is compared. */
+	if (!strncmp(msg, "1", 1)) {
+		return MODE_Measure;
+	} else if (!strncmp(msg, "2", 1)) {
+		return MODE_SelfTest;
+	} else if (strncmp(msg, "Q", 1) == 0 || strncmp(msg, "q", 1) == 0) {
+		return MODE_Quit;
+	} else {
+		return MODE_ERROR;
+	}
+}
+
diff --git a/sensors/akmdfs/AKFS_Disp.h b/sensors/akmdfs/AKFS_Disp.h
new file mode 100644
index 0000000..4769e3c
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Disp.h
@@ -0,0 +1,52 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_DISP_H
+#define AKFS_INC_DISP_H
+
+/* Include file for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define REVERT_ACC(a)	((float)((a) * 9.8f / 720.0f))
+#define REVERT_MAG(m)	((float)((m) * 0.06f))
+#define REVERT_ORI(o)	((float)((o) / 64.0f))
+
+/*** Type declaration *********************************************************/
+
+/*! These defined types represents the current mode. */
+typedef enum _MODE {
+	MODE_ERROR,			/*!< Error */
+	MODE_Measure,		/*!< Measurement */
+	MODE_SelfTest,		/*!< Self-test */
+	MODE_Quit			/*!< Quit */
+} MODE;
+
+/*** Prototype of function ****************************************************/
+/*
+	Disp_   : Display messages.
+	Menu_   : Display menu (two or more selection) and wait for user input.
+ */
+
+void Disp_StartMessage(void);
+void Disp_EndMessage(int ret);
+void Disp_Result(int buf[YPR_DATA_SIZE]);
+
+MODE Menu_Main(void);
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_FileIO.c b/sensors/akmdfs/AKFS_FileIO.c
new file mode 100644
index 0000000..92c2ce9
--- /dev/null
+++ b/sensors/akmdfs/AKFS_FileIO.c
@@ -0,0 +1,130 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_FileIO.h"
+
+/*** Constant definition ******************************************************/
+#ifdef AKFS_PRECISION_DOUBLE
+#define AKFS_SCANF_FORMAT	"%63s = %lf"
+#else
+#define AKFS_SCANF_FORMAT	"%63s = %f"
+#endif
+#define AKFS_PRINTF_FORMAT	"%s = %f\n"
+#define LOAD_BUF_SIZE	64
+
+/*!
+ Load parameters from file which is specified with #path.  This function reads 
+  data from a beginning of the file line by line, and check parameter name 
+  sequentially. In otherword, this function depends on the order of eache 
+  parameter described in the file.
+ @return If function fails, the return value is #AKM_FAIL. When function fails,
+  the output is undefined. Therefore, parameters which are possibly overwritten
+  by this function should be initialized again. If function succeeds, the
+  return value is #AKM_SUCCESS.
+ @param[out] prms A pointer to #AK8975PRMS structure. Loaded parameter is
+  stored to the member of this structure.
+ @param[in] path A path to the setting file.
+ */
+int16 AKFS_LoadParameters(AK8975PRMS * prms, const char* path)
+{
+	int16 ret;
+	char buf[LOAD_BUF_SIZE];
+	FILE *fp = NULL;
+
+	/* Open setting file for read. */
+	if ((fp = fopen(path, "r")) == NULL) {
+		AKMERROR_STR("fopen");
+		return AKM_FAIL;
+	}
+
+	ret = 1;
+
+	/* Load data to HO */
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.x) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.x", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.y) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.y", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.z) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.z", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+
+	if (fclose(fp) != 0) {
+		AKMERROR_STR("fclose");
+		ret = 0;
+	}
+
+	if (ret == 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	return AKM_SUCCESS;
+}
+
+/*!
+ Save parameters to file which is specified with #path. This function saves 
+  variables when the offsets of magnetic sensor estimated successfully.
+ @return If function fails, the return value is #AKM_FAIL. When function fails,
+  the parameter file may collapsed. Therefore, the parameters file should be
+  discarded. If function succeeds, the return value is #AKM_SUCCESS.
+ @param[out] prms A pointer to #AK8975PRMS structure. Member variables are
+  saved to the parameter file.
+ @param[in] path A path to the setting file.
+ */
+int16 AKFS_SaveParameters(AK8975PRMS *prms, const char* path)
+{
+	int16 ret = 1;
+	FILE *fp;
+
+	/*Open setting file for write. */
+	if ((fp = fopen(path, "w")) == NULL) {
+		AKMERROR_STR("fopen");
+		return AKM_FAIL;
+	}
+
+	/* Save data to HO */
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.x", prms->mfv_ho.u.x) < 0) { ret = 0; }
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.y", prms->mfv_ho.u.y) < 0) { ret = 0; }
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.z", prms->mfv_ho.u.z) < 0) { ret = 0; }
+
+	if (fclose(fp) != 0) {
+		AKMERROR_STR("fclose");
+		ret = 0;
+	}
+
+	if (ret == 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	return AKM_SUCCESS;
+}
+
diff --git a/sensors/akmdfs/AKFS_FileIO.h b/sensors/akmdfs/AKFS_FileIO.h
new file mode 100644
index 0000000..62f6e77
--- /dev/null
+++ b/sensors/akmdfs/AKFS_FileIO.h
@@ -0,0 +1,39 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_FILEIO_H
+#define AKFS_INC_FILEIO_H
+
+/* Common include files. */
+#include "AKFS_Common.h"
+
+/* Include file for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_LoadParameters(AK8975PRMS *prms, const char* path);
+
+int16 AKFS_SaveParameters(AK8975PRMS* prms, const char* path);
+
+#endif
+
diff --git a/sensors/akmdfs/AKFS_Measure.c b/sensors/akmdfs/AKFS_Measure.c
new file mode 100644
index 0000000..84c0843
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Measure.c
@@ -0,0 +1,410 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifdef WIN32
+#include "AK8975_LinuxDriver.h"
+#else
+#include "AK8975Driver.h"
+#endif
+
+#include "AKFS_Measure.h"
+#include "AKFS_Disp.h"
+#include "AKFS_APIs.h"
+
+/*!
+  Read sensitivity adjustment data from fuse ROM.
+  @return If data are read successfully, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param[out] regs The read ASA values. When this function succeeds, ASAX value
+   is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2].
+ */
+int16 AKFS_ReadAK8975FUSEROM(
+		uint8	regs[3]
+)
+{
+	/* Set to FUSE ROM access mode */
+	if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	/* Read values. ASAX, ASAY, ASAZ */
+	if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n",
+			__FUNCTION__, regs[0], regs[1], regs[2]);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Carry out self-test.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+ */
+int16 AKFS_SelfTest(void)
+{
+	BYTE	i2cData[SENSOR_DATA_SIZE];
+	BYTE	asa[3];
+	AKFLOAT	hdata[3];
+	int16	ret;
+
+	/* Set to FUSE ROM access mode */
+	if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Read values from ASAX to ASAZ */
+	if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to self-test mode */
+	i2cData[0] = 0x40;
+	if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to Self-test mode */
+	if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/*
+	   Wait for DRDY pin changes to HIGH.
+	   Get measurement data from AK8975
+	 */
+	if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]);
+	hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]);
+	hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]);
+
+	/* Test */
+	ret = 1;
+	if ((hdata[0] < AK8975_SELFTEST_MIN_X) ||
+		(AK8975_SELFTEST_MAX_X < hdata[0])) {
+		ret = 0;
+	}
+	if ((hdata[1] < AK8975_SELFTEST_MIN_Y) ||
+		(AK8975_SELFTEST_MAX_Y < hdata[1])) {
+		ret = 0;
+	}
+	if ((hdata[2] < AK8975_SELFTEST_MIN_Z) ||
+		(AK8975_SELFTEST_MAX_Z < hdata[2])) {
+		ret = 0;
+	}
+
+	AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n",
+		(ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]);
+
+	if (ret) {
+		return AKM_SUCCESS;
+	} else {
+		return AKM_FAIL;
+	}
+}
+
+/*!
+  This function calculate the duration of sleep for maintaining
+   the loop keep the period.
+  This function calculates "minimum - (end - start)".
+  @return The result of above equation in nanosecond.
+  @param end The time of after execution.
+  @param start The time of before execution.
+  @param minimum Loop period of each execution.
+ */
+struct timespec AKFS_CalcSleep(
+	const struct timespec* end,
+	const struct timespec* start,
+	const int64_t minimum
+)
+{
+	int64_t endL;
+	int64_t startL;
+	int64_t diff;
+
+	struct timespec ret;
+
+	endL = (end->tv_sec * 1000000000) + end->tv_nsec;
+	startL = (start->tv_sec * 1000000000) + start->tv_nsec;
+	diff = minimum;
+
+	diff -= (endL - startL);
+
+	/* Don't allow negative value */
+	if (diff < 0) {
+		diff = 0;
+	}
+
+	/* Convert to timespec */
+	if (diff > 1000000000) {
+	ret.tv_sec = diff / 1000000000;
+		ret.tv_nsec = diff % 1000000000;
+	} else {
+		ret.tv_sec = 0;
+		ret.tv_nsec = diff;
+	}
+	return ret;
+}
+
+/*!
+  Get interval of each sensors from device driver.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param flag This variable indicates what sensor frequency is updated.
+  @param minimum This value show the minimum loop period in all sensors.
+ */
+int16 AKFS_GetInterval(
+		uint16*  flag,
+		int64_t* minimum
+)
+{
+	/* Accelerometer, Magnetometer, Orientation */
+	/* Delay is in nano second unit. */
+	/* Negative value means the sensor is disabled.*/
+	int64_t delay[AKM_NUM_SENSORS];
+	int i;
+
+	if (AKD_GetDelay(delay) < 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+	AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n",
+		delay[0], delay[1], delay[2]);
+
+	/* update */
+	*minimum = 1000000000;
+	*flag = 0;
+	for (i=0; i<AKM_NUM_SENSORS; i++) {
+		/* Set flag */
+		if (delay[i] >= 0) {
+			*flag |= 1 << i;
+			if (*minimum > delay[i]) {
+				*minimum = delay[i];
+			}
+		}
+	}
+	return AKM_SUCCESS;
+}
+
+/*!
+  If this program run as console mode, measurement result will be displayed
+   on console terminal.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+ */
+void AKFS_OutputResult(
+	const	uint16			flag,
+	const	AKSENSOR_DATA*	acc,
+	const	AKSENSOR_DATA*	mag,
+	const	AKSENSOR_DATA*	ori
+)
+{
+	int buf[YPR_DATA_SIZE];
+
+	/* Store to buffer */
+	buf[0] = flag;					/* Data flag */
+	buf[1] = CONVERT_ACC(acc->x);	/* Ax */
+	buf[2] = CONVERT_ACC(acc->y);	/* Ay */
+	buf[3] = CONVERT_ACC(acc->z);	/* Az */
+	buf[4] = acc->status;			/* Acc status */
+	buf[5] = CONVERT_MAG(mag->x);	/* Mx */
+	buf[6] = CONVERT_MAG(mag->y);	/* My */
+	buf[7] = CONVERT_MAG(mag->z);	/* Mz */
+	buf[8] = mag->status;			/* Mag status */
+	buf[9] = CONVERT_ORI(ori->x);	/* yaw */
+	buf[10] = CONVERT_ORI(ori->y);	/* pitch */
+	buf[11] = CONVERT_ORI(ori->z);	/* roll */
+
+	if (g_opmode & OPMODE_CONSOLE) {
+		/* Console mode */
+		Disp_Result(buf);
+	}
+
+	/* Set result to driver */
+		AKD_SetYPR(buf);
+}
+
+/*!
+ This is the main routine of measurement.
+ */
+void AKFS_MeasureLoop(void)
+{
+	BYTE    i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */
+	int16	mag[3];
+	int16	mstat;
+	int16	acc[3];
+	struct	timespec tsstart= {0, 0};
+	struct	timespec tsend = {0, 0};
+	struct	timespec doze;
+	int64_t	minimum;
+	uint16	flag;
+	AKSENSOR_DATA sv_acc;
+	AKSENSOR_DATA sv_mag;
+	AKSENSOR_DATA sv_ori;
+	AKFLOAT tmpx, tmpy, tmpz;
+	int16 tmp_accuracy;
+
+	minimum = -1;
+
+#ifdef WIN32
+	clock_init_time();
+#endif
+
+	/* Initialize library functions and device */
+	if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
+		AKMERROR;
+		goto MEASURE_END;
+	}
+
+	while (g_stopRequest != AKM_TRUE) {
+		/* Beginning time */
+		if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		/* Get interval */
+		if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) {
+			/* Get accelerometer */
+			if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+
+			/* Calculate accelerometer vector */
+			if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_acc.x = tmpx;
+				sv_acc.y = tmpy;
+				sv_acc.z = tmpz;
+				sv_acc.status = tmp_accuracy;
+			} else {
+				flag &= ~ACC_DATA_READY;
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) {
+			/* Set to measurement mode  */
+			if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+
+			/* Wait for DRDY and get data from device */
+			if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+			/* raw data to x,y,z value */
+			mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1]));
+			mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3]));
+			mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5]));
+			mstat = i2cData[0] | i2cData[7];
+
+			AKMDATA(AKMDATA_BDATA,
+				"bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n",
+				i2cData[0], i2cData[1], i2cData[2], i2cData[3],
+				i2cData[4], i2cData[5], i2cData[6], i2cData[7]);
+
+			/* Calculate magnetic field vector */
+			if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_mag.x = tmpx;
+				sv_mag.y = tmpy;
+				sv_mag.z = tmpz;
+				sv_mag.status = tmp_accuracy;
+			} else {
+				flag &= ~MAG_DATA_READY;
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		if (flag & ORI_DATA_READY) {
+			if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_ori.x = tmpx;
+				sv_ori.y = tmpy;
+				sv_ori.z = tmpz;
+				sv_ori.status = tmp_accuracy;
+			} else {
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		/* Output result */
+		AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori);
+
+		/* Ending time */
+		if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		/* Calculate duration */
+		doze = AKFS_CalcSleep(&tsend, &tsstart, minimum);
+		AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f));
+		nanosleep(&doze, NULL);
+
+#ifdef WIN32
+		if (_kbhit()) {
+			_getch();
+			break;
+		}
+#endif
+	}
+
+MEASURE_END:
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return;
+	}
+
+	/* Save parameters */
+	if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
+		AKMERROR;
+	}
+}
+
+
diff --git a/sensors/akmdfs/AKFS_Measure.h b/sensors/akmdfs/AKFS_Measure.h
new file mode 100644
index 0000000..d156b95
--- /dev/null
+++ b/sensors/akmdfs/AKFS_Measure.h
@@ -0,0 +1,70 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#ifndef AKFS_INC_MEASURE_H
+#define AKFS_INC_MEASURE_H
+
+/* Include files for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define AK8975_SELFTEST_MIN_X	-100
+#define AK8975_SELFTEST_MAX_X	100
+
+#define AK8975_SELFTEST_MIN_Y	-100
+#define AK8975_SELFTEST_MAX_Y	100
+
+#define AK8975_SELFTEST_MIN_Z	-1000
+#define AK8975_SELFTEST_MAX_Z	-300
+
+#define CONVERT_ACC(a)	((int)((a) * 720 / 9.8f))
+#define CONVERT_MAG(m)	((int)((m) / 0.06f))
+#define CONVERT_ORI(o)	((int)((o) * 64))
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_ReadAK8975FUSEROM(
+		uint8 regs[3]
+);
+
+int16 AKFS_SelfTest(void);
+
+struct timespec AKFS_CalcSleep(
+	const struct timespec* end,
+	const struct timespec* start,
+	const int64_t minimum
+);
+
+int16 AKFS_GetInterval(
+		uint16*  flag,
+		int64_t* minimum
+);
+
+void AKFS_OutputResult(
+	const	uint16			flag,
+	const	AKSENSOR_DATA*	acc,
+	const	AKSENSOR_DATA*	mag,
+	const	AKSENSOR_DATA*	ori
+);
+
+void AKFS_MeasureLoop(void);
+
+#endif
+
diff --git a/sensors/akmdfs/NOTICE b/sensors/akmdfs/NOTICE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/sensors/akmdfs/NOTICE
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
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+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      file or class name and description of purpose be included on the
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+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/sensors/akmdfs/Version.txt b/sensors/akmdfs/Version.txt
new file mode 100644
index 0000000..3d56b30
--- /dev/null
+++ b/sensors/akmdfs/Version.txt
@@ -0,0 +1,31 @@
+Version
+ * Console Version 20120329
+    570 AK8975Driver.c
+    496 AK8975Driver.h
+    579 AKFS_APIs.c
+    572 AKFS_APIs.h
+    580 AKFS_APIs_8975/AKFS_AK8975.c
+    580 AKFS_APIs_8975/AKFS_AK8975.h
+    580 AKFS_APIs_8975/AKFS_AOC.c
+    580 AKFS_APIs_8975/AKFS_AOC.h
+    580 AKFS_APIs_8975/AKFS_Configure.h
+    580 AKFS_APIs_8975/AKFS_Device.c
+    580 AKFS_APIs_8975/AKFS_Device.h
+    580 AKFS_APIs_8975/AKFS_Direction.c
+    580 AKFS_APIs_8975/AKFS_Direction.h
+    580 AKFS_APIs_8975/AKFS_Math.h
+    580 AKFS_APIs_8975/AKFS_VNorm.c
+    580 AKFS_APIs_8975/AKFS_VNorm.h
+    568 AKFS_CSpec.h
+    573 AKFS_Common.h
+    572 AKFS_Compass.h
+    579 AKFS_Disp.c
+    568 AKFS_Disp.h
+    568 AKFS_FileIO.c
+    549 AKFS_FileIO.h
+    573 AKFS_Measure.c
+    568 AKFS_Measure.h
+    574 Android.mk
+    575 NOTICE
+    579 main.c
+
diff --git a/sensors/akmdfs/main.c b/sensors/akmdfs/main.c
new file mode 100644
index 0000000..548bb2a
--- /dev/null
+++ b/sensors/akmdfs/main.c
@@ -0,0 +1,293 @@
+/******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+#include "AKFS_Common.h"
+#include "AKFS_Compass.h"
+#include "AKFS_Disp.h"
+#include "AKFS_FileIO.h"
+#include "AKFS_Measure.h"
+#include "AKFS_APIs.h"
+
+#ifndef WIN32
+#include <sched.h>
+#include <pthread.h>
+#include <linux/input.h>
+#endif
+
+#define ERROR_INITDEVICE		(-1)
+#define ERROR_OPTPARSE			(-2)
+#define ERROR_SELF_TEST			(-3)
+#define ERROR_READ_FUSE			(-4)
+#define ERROR_INIT				(-5)
+#define ERROR_GETOPEN_STAT		(-6)
+#define ERROR_STARTCLONE		(-7)
+#define ERROR_GETCLOSE_STAT		(-8)
+
+/* Global variable. See AKFS_Common.h file. */
+int g_stopRequest = 0;
+int g_opmode = 0;
+int g_dbgzone = 0;
+int g_mainQuit = AKD_FALSE;
+
+/* Static variable. */
+static pthread_t s_thread;  /*!< Thread handle */
+
+/*!
+ A thread function which is raised when measurement is started.
+ @param[in] args This parameter is not used currently.
+ */
+static void* thread_main(void* args)
+{
+	AKFS_MeasureLoop();
+	return ((void*)0);
+}
+
+/*!
+  Signal handler.  This should be used only in DEBUG mode.
+  @param[in] sig Event
+ */
+static void signal_handler(int sig)
+{
+	if (sig == SIGINT) {
+		LOGE("SIGINT signal");
+		g_stopRequest = 1;
+		g_mainQuit = AKD_TRUE;
+	}
+}
+
+/*!
+ Starts new thread.
+ @return If this function succeeds, the return value is 1. Otherwise,
+ the return value is 0.
+ */
+static int startClone(void)
+{
+	pthread_attr_t attr;
+
+	pthread_attr_init(&attr);
+	g_stopRequest = 0;
+	if (pthread_create(&s_thread, &attr, thread_main, NULL) == 0) {
+		return 1;
+	} else {
+		return 0;
+	}
+}
+
+/*!
+ This function parse the option.
+ @retval 1 Parse succeeds.
+ @retval 0 Parse failed.
+ @param[in] argc Argument count
+ @param[in] argv Argument vector
+ @param[out] layout_patno
+ */
+int OptParse(
+	int		argc,
+	char*	argv[],
+	AKFS_PATNO*	layout_patno)
+{
+#ifdef WIN32
+	/* Static */
+#if defined(AKFS_WIN32_PAT1)
+	*layout_patno = PAT1;
+#elif defined(AKFS_WIN32_PAT2)
+	*layout_patno = PAT2;
+#elif defined(AKFS_WIN32_PAT3)
+	*layout_patno = PAT3;
+#elif defined(AKFS_WIN32_PAT4)
+	*layout_patno = PAT4;
+#elif defined(AKFS_WIN32_PAT5)
+	*layout_patno = PAT5;
+#else
+	*layout_patno = PAT1;
+#endif
+	g_opmode = OPMODE_CONSOLE;
+	/*g_opmode = 0;*/
+	g_dbgzone = AKMDATA_LOOP | AKMDATA_TEST;
+#else
+	int		opt;
+	char	optVal;
+
+	*layout_patno = PAT_INVALID;
+
+	while ((opt = getopt(argc, argv, "sm:z:")) != -1) {
+		switch(opt){
+			case 'm':
+				optVal = (char)(optarg[0] - '0');
+				if ((PAT1 <= optVal) && (optVal <= PAT8)) {
+					*layout_patno = (AKFS_PATNO)optVal;
+					AKMDEBUG(DBG_LEVEL2, "%s: Layout=%d\n", __FUNCTION__, optVal);
+				}
+				break;
+			case 's':
+				g_opmode |= OPMODE_CONSOLE;
+				break;
+            case 'z':
+                /* If error detected, hopefully 0 is returned. */
+                errno = 0;
+                g_dbgzone = (int)strtol(optarg, (char**)NULL, 0); 
+                AKMDEBUG(DBG_LEVEL2, "%s: Dbg Zone=%d\n", __FUNCTION__, g_dbgzone);
+                break;
+			default:
+				LOGE("%s: Invalid argument", argv[0]);
+				return 0;
+		}
+	}
+
+	/* If layout is not specified with argument, get parameter from driver */
+	if (*layout_patno == PAT_INVALID) {
+		int16_t n;
+		if (AKD_GetLayout(&n) == AKM_SUCCESS) {
+			if ((PAT1 <= n) && (n <= PAT8)) {
+				*layout_patno = (AKFS_PATNO)n;
+			}
+		}
+	}
+	/* Error */
+	if (*layout_patno == PAT_INVALID) {
+		LOGE("No layout is specified.");
+		return 0;
+	}
+#endif
+
+	return 1;
+}
+
+void ConsoleMode(void)
+{
+	/*** Console Mode *********************************************/
+	while (AKD_TRUE) {
+		/* Select operation */
+		switch (Menu_Main()) {
+		case MODE_SelfTest:
+			AKFS_SelfTest();
+			break;
+		case MODE_Measure:
+			/* Reset flag */
+			g_stopRequest = 0;
+			/* Measurement routine */
+			AKFS_MeasureLoop();
+			break;
+
+		case MODE_Quit:
+			return;
+
+		default:
+			AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n");
+			break;
+		}
+	}
+}
+
+int main(int argc, char **argv)
+{
+	int			retValue = 0;
+	AKFS_PATNO	pat;
+	uint8		regs[3];
+
+	/* Show the version info of this software. */
+	Disp_StartMessage();
+
+#if ENABLE_AKMDEBUG
+	/* Register signal handler */
+	signal(SIGINT, signal_handler);
+#endif
+
+	/* Open device driver */
+	if(AKD_InitDevice() != AKD_SUCCESS) {
+		retValue = ERROR_INITDEVICE;
+		goto MAIN_QUIT;
+	}
+
+	/* Parse command-line options */
+	/* This function calls device driver function to get layout */
+	if (OptParse(argc, argv, &pat) == 0) {
+		retValue = ERROR_OPTPARSE;
+		goto MAIN_QUIT;
+	}
+
+	/* Self Test */
+	if (g_opmode & OPMODE_FST){
+		if (AKFS_SelfTest() != AKD_SUCCESS) {
+			retValue = ERROR_SELF_TEST;
+			goto MAIN_QUIT;
+		}
+	}
+
+	/* OK, then start */
+	if (AKFS_ReadAK8975FUSEROM(regs) != AKM_SUCCESS) {
+		retValue = ERROR_READ_FUSE;
+		goto MAIN_QUIT;
+	}
+
+	/* Initialize library. */
+	if (AKFS_Init(pat, regs) != AKM_SUCCESS) {
+		retValue = ERROR_INIT;
+		goto MAIN_QUIT;
+	}
+
+	/* Start console mode */
+	if (g_opmode & OPMODE_CONSOLE) {
+		ConsoleMode();
+		goto MAIN_QUIT;
+	}
+
+	/*** Start Daemon ********************************************/
+	while (g_mainQuit == AKD_FALSE) {
+		int st = 0;
+		/* Wait until device driver is opened. */
+		if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
+			retValue = ERROR_GETOPEN_STAT;
+			goto MAIN_QUIT;
+		}
+		if (st == 0) {
+			LOGI("Suspended.");
+		} else {
+			LOGI("Compass Opened.");
+			/* Reset flag */
+			g_stopRequest = 0;
+			/* Start measurement thread. */
+			if (startClone() == 0) {
+				retValue = ERROR_STARTCLONE;
+				goto MAIN_QUIT;
+			}
+
+			/* Wait until device driver is closed. */
+			if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
+				retValue = ERROR_GETCLOSE_STAT;
+				g_mainQuit = AKD_TRUE;
+			}
+			/* Wait thread completion. */
+			g_stopRequest = 1;
+			pthread_join(s_thread, NULL);
+			LOGI("Compass Closed.");
+		}
+	}
+
+MAIN_QUIT:
+
+	/* Release library */
+	AKFS_Release();
+	/* Close device driver. */
+	AKD_DeinitDevice();
+	/* Show the last message. */
+	Disp_EndMessage(retValue);
+
+	return retValue;
+}
+
+
diff --git a/sensors/cm36651_light.c b/sensors/cm36651_light.c
new file mode 100644
index 0000000..a2538f2
--- /dev/null
+++ b/sensors/cm36651_light.c
@@ -0,0 +1,242 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+struct cm36651_light_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int cm36651_light_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct cm36651_light_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_light_data *) calloc(1, sizeof(struct cm36651_light_data));
+
+	input_fd = input_open("light_sensor");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("light_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		LOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int cm36651_light_deinit(struct exynos_sensors_handlers *handlers)
+{
+	LOGD("%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 cm36651_light_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct cm36651_light_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int cm36651_light_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct cm36651_light_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int cm36651_light_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct cm36651_light_data *data;
+	int rc;
+
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float cm36651_light_convert(int red, int green, int blue, int white)
+{
+	return (float) white * 1.7f - 0.5f;
+}
+
+int cm36651_light_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int red = 0;
+	int green = 0;
+	int blue = 0;
+	int white = 0;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	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;
+
+	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_X)
+				red = input_event.value;
+			if (input_event.code == REL_Y)
+				green = input_event.value;
+			if (input_event.code == REL_Z)
+				blue = input_event.value;
+			if (input_event.code == REL_MISC)
+				white = 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);
+
+	event->distance = cm36651_light_convert(red, green, blue, white);
+
+	return 0;
+}
+
+struct exynos_sensors_handlers cm36651_light = {
+	.name = "CM36651 Light",
+	.handle = SENSOR_TYPE_LIGHT,
+	.init = cm36651_light_init,
+	.deinit = cm36651_light_deinit,
+	.activate = cm36651_light_activate,
+	.deactivate = cm36651_light_deactivate,
+	.set_delay = cm36651_light_set_delay,
+	.get_data = cm36651_light_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/cm36651_proximity.c b/sensors/cm36651_proximity.c
new file mode 100644
index 0000000..aae9c1c
--- /dev/null
+++ b/sensors/cm36651_proximity.c
@@ -0,0 +1,214 @@
+/*
+ * 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 <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+struct cm36651_proximity_data {
+	char path_enable[PATH_MAX];
+};
+
+int cm36651_proximity_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct cm36651_proximity_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_proximity_data *) calloc(1, sizeof(struct cm36651_proximity_data));
+
+	input_fd = input_open("proximity_sensor");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("proximity_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		LOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", 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 cm36651_proximity_deinit(struct exynos_sensors_handlers *handlers)
+{
+	LOGD("%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 cm36651_proximity_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct cm36651_proximity_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_proximity_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int cm36651_proximity_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct cm36651_proximity_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct cm36651_proximity_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int cm36651_proximity_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	return 0;
+}
+
+float cm36651_proximity_convert(int value)
+{
+	return (float) value * 8.0f;
+}
+
+int cm36651_proximity_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	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;
+
+	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 = cm36651_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;
+}
+
+struct exynos_sensors_handlers cm36651_proximity = {
+	.name = "CM36651 Proximity",
+	.handle = SENSOR_TYPE_PROXIMITY,
+	.init = cm36651_proximity_init,
+	.deinit = cm36651_proximity_deinit,
+	.activate = cm36651_proximity_activate,
+	.deactivate = cm36651_proximity_deactivate,
+	.set_delay = cm36651_proximity_set_delay,
+	.get_data = cm36651_proximity_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/exynos_sensors.c b/sensors/exynos_sensors.c
new file mode 100644
index 0000000..61b20c9
--- /dev/null
+++ b/sensors/exynos_sensors.c
@@ -0,0 +1,296 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+
+
+
+#include <sys/select.h>
+
+
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+/*
+ * Sensors list
+ */
+
+struct sensor_t exynos_sensors[] = {
+	{ "LSM330DLC Acceleration Sensor", "STMicroelectronics", 1, SENSOR_TYPE_ACCELEROMETER,
+		SENSOR_TYPE_ACCELEROMETER, 19.61f, 0.0096f, 0.23f, 10000, {}, },
+	{ "AKM8975 Magnetic Sensor", "Asahi Kasei", 1, SENSOR_TYPE_MAGNETIC_FIELD,
+		SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 0.06f, 6.8f, 10000, {}, },
+	{ "Orientation Sensor", "Exynos Sensors", 1, SENSOR_TYPE_ORIENTATION,
+		SENSOR_TYPE_ORIENTATION, 360.0f, 0.1f, 0.0f, 10000, {}, },
+	{ "CM36651 Light Sensor", "Capella", 1, SENSOR_TYPE_LIGHT,
+		SENSOR_TYPE_LIGHT, 121240.0f, 1.0f, 0.2f, 0, {}, },
+	{ "CM36651 Proximity Sensor", "Capella", 1, SENSOR_TYPE_PROXIMITY,
+		SENSOR_TYPE_PROXIMITY, 8.0f, 8.0f, 1.3f, 0, {}, },
+	{ "LSM330DLC Gyroscope Sensor", "STMicroelectronics", 1, SENSOR_TYPE_GYROSCOPE,
+		SENSOR_TYPE_GYROSCOPE, 8.73f, 0.00031f, 6.1f, 5000, {}, },
+	{ "LPS331AP Pressure Sensor", "STMicroelectronics", 1, SENSOR_TYPE_PRESSURE,
+		SENSOR_TYPE_PRESSURE, 1260.0f, 0.00024f, 0.045f, 40000, {}, },
+};
+
+int exynos_sensors_count = sizeof(exynos_sensors) / sizeof(struct sensor_t);
+
+struct exynos_sensors_handlers *exynos_sensors_handlers[] = {
+	&lsm330dlc_acceleration,
+	&akm8975,
+	&orientation,
+	&cm36651_proximity,
+	&cm36651_light,
+	&lsm330dlc_gyroscope,
+	&lps331ap,
+};
+
+int exynos_sensors_handlers_count = sizeof(exynos_sensors_handlers) /
+	sizeof(struct exynos_sensors_handlers *);
+
+/*
+ * Exynos Sensors
+ */
+
+int exynos_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled)
+{
+	struct exynos_sensors_device *device;
+	int i;
+
+	LOGD("%s(%p, %d, %d)", __func__, dev, handle, enabled);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct exynos_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle) {
+			if (enabled && device->handlers[i]->activate != NULL) {
+				device->handlers[i]->needed |= EXYNOS_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == EXYNOS_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 &= ~EXYNOS_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == 0)
+					return device->handlers[i]->deactivate(device->handlers[i]);
+				else
+					return 0;
+			}
+		}
+	}
+
+	return -1;
+}
+
+int exynos_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns)
+{
+	struct exynos_sensors_device *device;
+	int i;
+
+	LOGD("%s(%p, %d, %ld)", __func__, dev, handle, (long int) ns);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct exynos_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle && device->handlers[i]->set_delay != NULL)
+			return device->handlers[i]->set_delay(device->handlers[i], (long int) ns);
+	}
+
+	return 0;
+}
+
+int exynos_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, int count)
+{
+	struct exynos_sensors_device *device;
+	int i, j;
+	int c, n;
+	int poll_rc, rc;
+
+//	LOGD("%s(%p, %p, %d)", __func__, dev, data, count);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct exynos_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0 ||
+		device->poll_fds == NULL || device->poll_fds_count <= 0)
+		return -EINVAL;
+
+	n = 0;
+
+	do {
+		poll_rc = poll(device->poll_fds, device->poll_fds_count, n > 0 ? 0 : -1);
+		if (poll_rc < 0)
+			return -1;
+
+		for (i = 0; i < device->poll_fds_count; i++) {
+			if (!(device->poll_fds[i].revents & POLLIN))
+				continue;
+
+			for (j = 0; j < device->handlers_count; j++) {
+				if (device->handlers[j] == NULL || device->handlers[j]->poll_fd != device->poll_fds[i].fd || device->handlers[j]->get_data == NULL)
+					continue;
+
+				rc = device->handlers[j]->get_data(device->handlers[j], &data[n]);
+				if (rc < 0) {
+					device->poll_fds[i].revents = 0;
+					poll_rc = -1;
+				} else {
+					n++;
+					count--;
+				}
+			}
+		}
+	} while ((poll_rc > 0 || n < 1) && count > 0);
+
+	return n;
+}
+
+/*
+ * Interface
+ */
+
+int exynos_sensors_close(hw_device_t *device)
+{
+	struct exynos_sensors_device *exynos_sensors_device;
+	int i;
+
+	LOGD("%s(%p)", __func__, device);
+
+	if (device == NULL)
+		return -EINVAL;
+
+	exynos_sensors_device = (struct exynos_sensors_device *) device;
+
+	if (exynos_sensors_device->poll_fds != NULL)
+		free(exynos_sensors_device->poll_fds);
+
+	for (i = 0; i < exynos_sensors_device->handlers_count; i++) {
+		if (exynos_sensors_device->handlers[i] == NULL || exynos_sensors_device->handlers[i]->deinit == NULL)
+			continue;
+
+		exynos_sensors_device->handlers[i]->deinit(exynos_sensors_device->handlers[i]);
+	}
+
+	free(device);
+
+	return 0;
+}
+
+int exynos_sensors_open(const struct hw_module_t* module, const char *id,
+	struct hw_device_t** device)
+{
+	struct exynos_sensors_device *exynos_sensors_device;
+	int p, i;
+
+	LOGD("%s(%p, %s, %p)", __func__, module, id, device);
+
+	if (module == NULL || device == NULL)
+		return -EINVAL;
+
+	exynos_sensors_device = (struct exynos_sensors_device *)
+		calloc(1, sizeof(struct exynos_sensors_device));
+	exynos_sensors_device->device.common.tag = HARDWARE_DEVICE_TAG;
+	exynos_sensors_device->device.common.version = 0;
+	exynos_sensors_device->device.common.module = (struct hw_module_t *) module;
+	exynos_sensors_device->device.common.close = exynos_sensors_close;
+	exynos_sensors_device->device.activate = exynos_sensors_activate;
+	exynos_sensors_device->device.setDelay = exynos_sensors_set_delay;
+	exynos_sensors_device->device.poll = exynos_sensors_poll;
+	exynos_sensors_device->handlers = exynos_sensors_handlers;
+	exynos_sensors_device->handlers_count = exynos_sensors_handlers_count;
+	exynos_sensors_device->poll_fds = (struct pollfd *)
+		calloc(1, exynos_sensors_handlers_count * sizeof(struct pollfd));
+
+	p = 0;
+	for (i = 0; i < exynos_sensors_handlers_count; i++) {
+		if (exynos_sensors_handlers[i] == NULL || exynos_sensors_handlers[i]->init == NULL)
+			continue;
+
+		exynos_sensors_handlers[i]->init(exynos_sensors_handlers[i], exynos_sensors_device);
+		if (exynos_sensors_handlers[i]->poll_fd >= 0) {
+			exynos_sensors_device->poll_fds[p].fd = exynos_sensors_handlers[i]->poll_fd;
+			exynos_sensors_device->poll_fds[p].events = POLLIN;
+			p++;
+		}
+	}
+
+	exynos_sensors_device->poll_fds_count = p;
+
+	*device = &(exynos_sensors_device->device.common);
+
+	return 0;
+}
+
+int exynos_sensors_get_sensors_list(struct sensors_module_t* module,
+	const struct sensor_t **sensors_p)
+{
+	LOGD("%s(%p, %p)", __func__, module, sensors_p);
+
+	if (sensors_p == NULL)
+		return -EINVAL;
+
+	*sensors_p = exynos_sensors;
+	return exynos_sensors_count;
+}
+
+struct hw_module_methods_t exynos_sensors_module_methods = {
+	.open = exynos_sensors_open,
+};
+
+struct sensors_module_t HAL_MODULE_INFO_SYM = {
+	.common = {
+		.tag = HARDWARE_MODULE_TAG,
+		.version_major = 1,
+		.version_minor = 0,
+		.id = SENSORS_HARDWARE_MODULE_ID,
+		.name = "Exynos Sensors",
+		.author = "Paul Kocialkowski",
+		.methods = &exynos_sensors_module_methods,
+	},
+	.get_sensors_list = exynos_sensors_get_sensors_list,
+};
diff --git a/sensors/exynos_sensors.h b/sensors/exynos_sensors.h
new file mode 100644
index 0000000..827e4fa
--- /dev/null
+++ b/sensors/exynos_sensors.h
@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <poll.h>
+
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _EXYNOS_SENSORS_H_
+#define _EXYNOS_SENSORS_H_
+
+#define EXYNOS_SENSORS_NEEDED_API		(1 << 0)
+#define EXYNOS_SENSORS_NEEDED_ORIENTATION	(1 << 1)
+
+struct exynos_sensors_device;
+
+struct exynos_sensors_handlers {
+	char *name;
+	int handle;
+
+	int (*init)(struct exynos_sensors_handlers *handlers, struct exynos_sensors_device *device);
+	int (*deinit)(struct exynos_sensors_handlers *handlers);
+	int (*activate)(struct exynos_sensors_handlers *handlers);
+	int (*deactivate)(struct exynos_sensors_handlers *handlers);
+	int (*set_delay)(struct exynos_sensors_handlers *handlers, long int delay);
+	int (*get_data)(struct exynos_sensors_handlers *handlers, struct sensors_event_t *event);
+
+	int activated;
+	int needed;
+	int poll_fd;
+
+	void *data;
+};
+
+struct exynos_sensors_device {
+	struct sensors_poll_device_t device;
+
+	struct exynos_sensors_handlers **handlers;
+	int handlers_count;
+
+	struct pollfd *poll_fds;
+	int poll_fds_count;
+};
+
+extern struct exynos_sensors_handlers *exynos_sensors_handlers[];
+extern int exynos_sensors_handlers_count;
+
+int exynos_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled);
+int exynos_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns);
+int exynos_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, 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 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, int length);
+int sysfs_string_write(char *path, char *buffer, int length);
+
+/*
+ * Sensors
+ */
+
+int orientation_fill(struct exynos_sensors_handlers *handlers,
+	sensors_vec_t *acceleration, sensors_vec_t *magnetic);
+
+extern struct exynos_sensors_handlers lsm330dlc_acceleration;
+extern struct exynos_sensors_handlers akm8975;
+extern struct exynos_sensors_handlers orientation;
+extern struct exynos_sensors_handlers cm36651_proximity;
+extern struct exynos_sensors_handlers cm36651_light;
+extern struct exynos_sensors_handlers lsm330dlc_gyroscope;
+extern struct exynos_sensors_handlers lps331ap;
+
+#endif
diff --git a/sensors/input.c b/sensors/input.c
new file mode 100644
index 0000000..c2e267b
--- /dev/null
+++ b/sensors/input.c
@@ -0,0 +1,268 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.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 input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_RDONLY | O_NONBLOCK);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
+
+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, int 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, int 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/sensors/lps331ap.c b/sensors/lps331ap.c
new file mode 100644
index 0000000..1958cf5
--- /dev/null
+++ b/sensors/lps331ap.c
@@ -0,0 +1,230 @@
+/*
+ * 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 <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+struct lps331ap_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int lps331ap_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct lps331ap_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct lps331ap_data *) calloc(1, sizeof(struct lps331ap_data));
+
+	input_fd = input_open("barometer_sensor");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("barometer_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		LOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int lps331ap_deinit(struct exynos_sensors_handlers *handlers)
+{
+	LOGD("%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 lps331ap_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct lps331ap_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lps331ap_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int lps331ap_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct lps331ap_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lps331ap_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int lps331ap_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct lps331ap_data *data;
+	int rc;
+
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lps331ap_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_delay, (int) delay / 1000000);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float lps331ap_convert(int value)
+{
+	return (float) value / 4096.0f;
+}
+
+int lps331ap_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	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;
+
+	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_X)
+				event->pressure = lps331ap_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;
+}
+
+struct exynos_sensors_handlers lps331ap = {
+	.name = "LPS331AP",
+	.handle = SENSOR_TYPE_PRESSURE,
+	.init = lps331ap_init,
+	.deinit = lps331ap_deinit,
+	.activate = lps331ap_activate,
+	.deactivate = lps331ap_deactivate,
+	.set_delay = lps331ap_set_delay,
+	.get_data = lps331ap_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/lsm330dlc_accel.h b/sensors/lsm330dlc_accel.h
new file mode 100644
index 0000000..ff5f666
--- /dev/null
+++ b/sensors/lsm330dlc_accel.h
@@ -0,0 +1,185 @@
+/*
+ *	Copyright (C) 2011, Samsung Electronics Co. Ltd. All Rights Reserved.
+ *
+ *	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 2 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.
+ *
+ */
+
+#ifndef __LSM330DLC_ACCEL_HEADER__
+#define __LSM330DLC_ACCEL_HEADER__
+
+#include <linux/types.h>
+#include <linux/ioctl.h>
+
+/*lsm330dlc_accel registers */
+#define STATUS_AUX		0x07
+#define OUT_1_L			0x08
+#define OUT_1_H			0x09
+#define OUT_2_L			0x0A
+#define OUT_2_H			0x0B
+#define OUT_3_L			0x0C
+#define OUT_3_H			0x0D
+#define INT_COUNTER		0x0E
+#define WHO_AM_I		0x0F
+#define TEMP_CFG_REG		0x1F
+#define CTRL_REG1		0x20	/* power control reg */
+#define CTRL_REG2		0x21	/* power control reg */
+#define CTRL_REG3		0x22	/* power control reg */
+#define CTRL_REG4		0x23	/* interrupt control reg */
+#define CTRL_REG5		0x24	/* interrupt control reg */
+#define CTRL_REG6		0x25
+#define REFERENCE		0x26
+#define STATUS_REG		0x27
+#define OUT_X_L			0x28
+#define OUT_X_H			0x29
+#define OUT_Y_L			0x2A
+#define OUT_Y_H			0x2B
+#define OUT_Z_L			0x2C
+#define OUT_Z_H			0x2D
+#define FIFO_CTRL_REG		0x2E
+#define FIFO_SRC_REG		0x2F
+#define INT1_CFG		0x30
+#define INT1_SRC		0x31
+#define INT1_THS		0x32
+#define INT1_DURATION		0x33
+#define INT2_CFG		0x34
+#define INT2_SRC		0x35
+#define INT2_THS		0x36
+#define INT2_DURATION		0x37
+#define CLICK_CFG		0x38
+#define CLICK_SRC		0x39
+#define CLICK_THS		0x3A
+#define TIME_LIMIT		0x3B
+#define TIME_LATENCY		0x3C
+#define TIME_WINDOW		0x3D
+
+/* CTRL_REG1 */
+#define CTRL_REG1_ODR3		(1 << 7)
+#define CTRL_REG1_ODR2		(1 << 6)
+#define CTRL_REG1_ODR1		(1 << 5)
+#define CTRL_REG1_ODR0		(1 << 4)
+#define CTRL_REG1_LPEN		(1 << 3)
+#define CTRL_REG1_Zen		(1 << 2)
+#define CTRL_REG1_Yen		(1 << 1)
+#define CTRL_REG1_Xen		(1 << 0)
+
+#define PM_OFF			0x00
+#define LOW_PWR_MODE		0x4F /* 50HZ */
+#define FASTEST_MODE		0x9F /* 1344Hz */
+#define ENABLE_ALL_AXES		0x07
+
+#define ODR1			0x10	/* 1Hz output data rate */
+#define ODR10			0x20	/* 10Hz output data rate */
+#define ODR25			0x30	/* 25Hz output data rate */
+#define ODR50			0x40	/* 50Hz output data rate */
+#define ODR100			0x50	/* 100Hz output data rate */
+#define ODR200			0x60	/* 100Hz output data rate */
+#define ODR400			0x70	/* 400Hz output data rate */
+#define ODR1344			0x90	/* 1344Hz output data rate */
+#define ODR_MASK		0xf0
+
+/* CTRL_REG2 */
+#define CTRL_REG2_HPM1		(1 << 7)
+#define CTRL_REG2_HPM0		(1 << 6)
+#define CTRL_REG2_HPCF2		(1 << 5)
+#define CTRL_REG2_HPCF1		(1 << 4)
+#define CTRL_REG2_FDS		(1 << 3)
+#define CTRL_REG2_HPPCLICK	(1 << 2)
+#define CTRL_REG2_HPIS2		(1 << 1)
+#define CTRL_REG2_HPIS1		(1 << 0)
+
+#define HPM_Normal		(CTRL_REG2_HPM1)
+#define HPM_Filter		(CTRL_REG2_HPM0)
+
+/* CTRL_REG3 */
+#define I1_CLICK		(1 << 7)
+#define I1_AOI1			(1 << 6)
+#define I1_AOI2			(1 << 5)
+#define I1_DRDY1		(1 << 4)
+#define I1_DRDY2		(1 << 3)
+#define I1_WTM			(1 << 2)
+#define I1_OVERRUN		(1 << 1)
+
+/* CTRL_REG4 */
+#define CTRL_REG4_BLE		(1 << 6)
+#define CTRL_REG4_FS1		(1 << 5)
+#define CTRL_REG4_FS0		(1 << 4)
+#define CTRL_REG4_HR		(1 << 3)
+#define CTRL_REG4_ST1		(1 << 2)
+#define CTRL_REG4_ST0		(1 << 1)
+#define CTRL_REG4_SIM		(1 << 0)
+
+#define FS2g			0x00
+#define FS4g			(CTRL_REG4_FS0)
+#define FS8g			(CTRL_REG4_FS1)
+#define FS16g			(CTRL_REG4_FS1|CTRL_REG4_FS0)
+
+/* CTRL_REG5 */
+#define BOOT			(1 << 7)
+#define FIFO_EN			(1 << 6)
+#define LIR_INT1		(1 << 3)
+#define D4D_INT1		(1 << 2)
+
+/* STATUS_REG */
+#define ZYXOR			(1 << 7)
+#define ZOR			(1 << 6)
+#define YOR			(1 << 5)
+#define XOR			(1 << 4)
+#define ZYXDA			(1 << 3)
+#define ZDA			(1 << 2)
+#define YDA			(1 << 1)
+#define XDA			(1 << 0)
+
+/* INT1_CFG */
+#define INT_CFG_AOI		(1 << 7)
+#define INT_CFG_6D		(1 << 6)
+#define INT_CFG_ZHIE		(1 << 5)
+#define INT_CFG_ZLIE		(1 << 4)
+#define INT_CFG_YHIE		(1 << 3)
+#define INT_CFG_YLIE		(1 << 2)
+#define INT_CFG_XHIE		(1 << 1)
+#define INT_CFG_XLIE		(1 << 0)
+
+/* INT1_SRC */
+#define IA			(1 << 6)
+#define ZH			(1 << 5)
+#define ZL			(1 << 4)
+#define YH			(1 << 3)
+#define YL			(1 << 2)
+#define XH			(1 << 1)
+#define XL			(1 << 0)
+
+/* Register Auto-increase */
+#define AC			(1 << 7)
+
+/* dev info */
+#define ACC_DEV_NAME "accelerometer"
+
+struct lsm330dlc_acc {
+	__s16 x;
+	__s16 y;
+	__s16 z;
+};
+
+/* For movement recognition*/
+#define USES_MOVEMENT_RECOGNITION
+
+/* LSM330DLC_ACCEL ioctl command label */
+#define LSM330DLC_ACCEL_IOCTL_BASE 'a'
+#define LSM330DLC_ACCEL_IOCTL_SET_DELAY   \
+	_IOW(LSM330DLC_ACCEL_IOCTL_BASE, 0, int64_t)
+#define LSM330DLC_ACCEL_IOCTL_GET_DELAY  \
+	_IOR(LSM330DLC_ACCEL_IOCTL_BASE, 1, int64_t)
+#define LSM330DLC_ACCEL_IOCTL_READ_XYZ\
+	_IOR(LSM330DLC_ACCEL_IOCTL_BASE, 8, struct lsm330dlc_acc)
+#define LSM330DLC_ACCEL_IOCTL_SET_ENABLE   \
+	_IOW(LSM330DLC_ACCEL_IOCTL_BASE, 9, int)
+#endif
diff --git a/sensors/lsm330dlc_acceleration.c b/sensors/lsm330dlc_acceleration.c
new file mode 100644
index 0000000..3642740
--- /dev/null
+++ b/sensors/lsm330dlc_acceleration.c
@@ -0,0 +1,433 @@
+/*
+ * 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 <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+#include "lsm330dlc_accel.h"
+
+struct lsm330dlc_acceleration_data {
+	struct exynos_sensors_handlers *orientation_sensor;
+
+	long int delay;
+	int device_fd;
+	int uinput_fd;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+void *lsm330dlc_acceleration_thread(void *thread_data)
+{
+	struct exynos_sensors_handlers *handlers = NULL;
+	struct lsm330dlc_acceleration_data *data = NULL;
+	struct lsm330dlc_acc values;
+	struct input_event event;
+	struct timeval time;
+	long int before, after;
+	int diff;
+	int device_fd;
+	int uinput_fd;
+	int rc;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	handlers = (struct exynos_sensors_handlers *) thread_data;
+	if (handlers->data == NULL)
+		return NULL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return NULL;
+
+	uinput_fd = data->uinput_fd;
+	if (uinput_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (handlers->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			memset(&values, 0, sizeof(values));
+			rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_READ_XYZ, &values);
+			if (rc < 0) {
+				LOGE("%s: Unable to set read XYZ", __func__);
+				return NULL;
+			}
+
+			input_event_set(&event, EV_REL, REL_X, (int) values.x);
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Y, (int) values.y);
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Z, (int) values.z);
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(uinput_fd, &event, sizeof(event));
+
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
+
+			diff = (int) (data->delay - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
+
+			usleep(diff);
+		}
+	}
+	return NULL;
+}
+
+int lsm330dlc_acceleration_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct lsm330dlc_acceleration_data *data = NULL;
+	pthread_attr_t thread_attr;
+	struct uinput_user_dev uinput_dev;
+	int device_fd = -1;
+	int uinput_fd = -1;
+	int input_fd = -1;
+	int rc;
+	int i;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) calloc(1, sizeof(struct lsm330dlc_acceleration_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ORIENTATION)
+			data->orientation_sensor = device->handlers[i];
+	}
+
+	device_fd = open("/dev/accelerometer", O_RDONLY);
+	if (device_fd < 0) {
+		LOGE("%s: Unable to open device", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, "acceleration", 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;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		LOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		LOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		LOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	input_fd = input_open("acceleration");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open acceleration input", __func__);
+		goto error;
+	}
+
+	data->thread_continue = 1;
+
+	pthread_mutex_init(&data->mutex, NULL);
+	pthread_mutex_lock(&data->mutex);
+
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
+
+	rc = pthread_create(&data->thread, &thread_attr, lsm330dlc_acceleration_thread, (void *) handlers);
+	if (rc < 0) {
+		LOGE("%s: Unable to create acceleration thread", __func__);
+		pthread_mutex_destroy(&data->mutex);
+		goto error;
+	}
+
+	data->device_fd = device_fd;
+	data->uinput_fd = uinput_fd;
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (device_fd >= 0)
+		close(device_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int lsm330dlc_acceleration_deinit(struct exynos_sensors_handlers *handlers)
+{
+	struct lsm330dlc_acceleration_data *data;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	handlers->activated = 0;
+	data->thread_continue = 0;
+	pthread_mutex_unlock(&data->mutex);
+
+	pthread_mutex_destroy(&data->mutex);
+
+	if (data->uinput_fd >= 0) {
+		ioctl(data->uinput_fd, UI_DEV_DESTROY);
+		close(data->uinput_fd);
+	}
+	data->uinput_fd = -1;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (data->device_fd >= 0)
+		close(data->device_fd);
+	data->device_fd = -1;
+
+	free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int lsm330dlc_acceleration_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct lsm330dlc_acceleration_data *data;
+	int device_fd;
+	int enable;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return -EINVAL;
+
+	enable = 1;
+	rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable);
+	if (rc < 0) {
+		LOGE("%s: Unable to set enable", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+	pthread_mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+int lsm330dlc_acceleration_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct lsm330dlc_acceleration_data *data;
+	int device_fd;
+	int enable;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return -EINVAL;
+
+	enable = 0;
+	rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable);
+	if (rc < 0) {
+		LOGE("%s: Unable to set enable", __func__);
+		return -1;
+	}
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int lsm330dlc_acceleration_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct lsm330dlc_acceleration_data *data;
+	unsigned long long d;
+	int device_fd;
+	int rc;
+
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return -EINVAL;
+
+	d = (unsigned long long) delay;
+	rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_DELAY, &d);
+	if (rc < 0) {
+		LOGE("%s: Unable to set delay", __func__);
+		return -1;
+	}
+
+	data->delay = delay;
+
+	return 0;
+}
+
+float lsm330dlc_acceleration_convert(int value)
+{
+	return (float) (value * GRAVITY_EARTH) / 1024.0f;
+}
+
+int lsm330dlc_acceleration_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct lsm330dlc_acceleration_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->acceleration.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			switch (input_event.code) {
+				case REL_X:
+					event->acceleration.x = lsm330dlc_acceleration_convert(input_event.value);
+					break;
+				case REL_Y:
+					event->acceleration.y = lsm330dlc_acceleration_convert(input_event.value);
+					break;
+				case REL_Z:
+					event->acceleration.z = lsm330dlc_acceleration_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 (data->orientation_sensor != NULL)
+		orientation_fill(data->orientation_sensor, &event->acceleration, NULL);
+
+	return 0;
+}
+
+struct exynos_sensors_handlers lsm330dlc_acceleration = {
+	.name = "LSM330DLC Acceleration",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.init = lsm330dlc_acceleration_init,
+	.deinit = lsm330dlc_acceleration_deinit,
+	.activate = lsm330dlc_acceleration_activate,
+	.deactivate = lsm330dlc_acceleration_deactivate,
+	.set_delay = lsm330dlc_acceleration_set_delay,
+	.get_data = lsm330dlc_acceleration_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/lsm330dlc_gyroscope.c b/sensors/lsm330dlc_gyroscope.c
new file mode 100644
index 0000000..9d0475f
--- /dev/null
+++ b/sensors/lsm330dlc_gyroscope.c
@@ -0,0 +1,241 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+struct lsm330dlc_gyroscope_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int lsm330dlc_gyroscope_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct lsm330dlc_gyroscope_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_gyroscope_data *) calloc(1, sizeof(struct lsm330dlc_gyroscope_data));
+
+	input_fd = input_open("gyro_sensor");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("gyro_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		LOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int lsm330dlc_gyroscope_deinit(struct exynos_sensors_handlers *handlers)
+{
+	LOGD("%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 lsm330dlc_gyroscope_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct lsm330dlc_gyroscope_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int lsm330dlc_gyroscope_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct lsm330dlc_gyroscope_data *data;
+	int rc;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int lsm330dlc_gyroscope_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct lsm330dlc_gyroscope_data *data;
+	int rc;
+
+	LOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		LOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float lsm330dlc_gyroscope_convert(int value)
+{
+	return ((float) value * 0.3054326f) / 1000.0f;
+}
+
+int lsm330dlc_gyroscope_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	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;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			switch (input_event.code) {
+				case REL_RX:
+					event->magnetic.x = lsm330dlc_gyroscope_convert(input_event.value);
+					break;
+				case REL_RY:
+					event->magnetic.y = lsm330dlc_gyroscope_convert(input_event.value);
+					break;
+				case REL_RZ:
+					event->magnetic.z = lsm330dlc_gyroscope_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);
+
+	return 0;
+}
+
+struct exynos_sensors_handlers lsm330dlc_gyroscope = {
+	.name = "LSM330DLC Gyroscope",
+	.handle = SENSOR_TYPE_GYROSCOPE,
+	.init = lsm330dlc_gyroscope_init,
+	.deinit = lsm330dlc_gyroscope_deinit,
+	.activate = lsm330dlc_gyroscope_activate,
+	.deactivate = lsm330dlc_gyroscope_deactivate,
+	.set_delay = lsm330dlc_gyroscope_set_delay,
+	.get_data = lsm330dlc_gyroscope_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/orientation.c b/sensors/orientation.c
new file mode 100644
index 0000000..732fb20
--- /dev/null
+++ b/sensors/orientation.c
@@ -0,0 +1,474 @@
+/*
+ * 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 <stddef.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "exynos_sensors"
+#include <utils/Log.h>
+
+#include "exynos_sensors.h"
+
+struct orientation_data {
+	struct exynos_sensors_handlers *acceleration_sensor;
+	struct exynos_sensors_handlers *magnetic_sensor;
+
+	sensors_vec_t orientation;
+	sensors_vec_t acceleration;
+	sensors_vec_t magnetic;
+
+	long int delay;
+	int uinput_fd;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+static float rad2deg(float v)
+{
+	return (v * 180.0f / 3.1415926535f);
+}
+
+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));
+}
+
+void orientation_calculate(sensors_vec_t *a, sensors_vec_t *m, sensors_vec_t *o)
+{
+	float azimuth, pitch, roll;
+	float la, sinp, cosp, sinr, cosr, x, y;
+
+	if (a == NULL || m == NULL || o == NULL)
+		return;
+
+	la = vector_length(a);
+	pitch = asinf(-(a->y) / la);
+	roll = asinf((a->x) / la);
+
+	sinp = sinf(pitch);
+	cosp = cosf(pitch);
+	sinr = sinf(roll);
+	cosr = cosf(roll);
+
+	y = -(m->x) * cosr + m->z * sinr;
+	x = m->x * sinp * sinr + m->y * cosp + m->z * sinp * cosr;
+	azimuth = atan2f(y, x);
+
+	o->x = rad2deg(azimuth);
+	o->y = rad2deg(pitch);
+	o->z = rad2deg(roll);
+
+	if (o->x < 0)
+		o->x += 360.0f;
+}
+
+void *orientation_thread(void *thread_data)
+{
+	struct exynos_sensors_handlers *handlers = NULL;
+	struct orientation_data *data = NULL;
+	struct input_event event;
+	struct timeval time;
+	long int before, after;
+	int diff;
+	int uinput_fd;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	handlers = (struct exynos_sensors_handlers *) thread_data;
+	if (handlers->data == NULL)
+		return NULL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	uinput_fd = data->uinput_fd;
+	if (uinput_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (handlers->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			orientation_calculate(&data->acceleration, &data->magnetic, &data->orientation);
+
+			input_event_set(&event, EV_REL, REL_X, (int) (data->orientation.x * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Y, (int) (data->orientation.y * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Z, (int) (data->orientation.z * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(uinput_fd, &event, sizeof(event));
+
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
+
+			diff = (int) (data->delay - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
+
+			usleep(diff);
+		}
+	}
+
+	return NULL;
+}
+
+int orientation_fill(struct exynos_sensors_handlers *handlers,
+	sensors_vec_t *acceleration, sensors_vec_t *magnetic)
+{
+	struct orientation_data *data;
+
+//	LOGD("%s(%p, %p, %p)", __func__, handlers, acceleration, magnetic);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (acceleration != NULL) {
+		data->acceleration.x = acceleration->x;
+		data->acceleration.y = acceleration->y;
+		data->acceleration.z = acceleration->z;
+	}
+
+	if (magnetic != NULL) {
+		data->magnetic.x = magnetic->x;
+		data->magnetic.y = magnetic->y;
+		data->magnetic.z = magnetic->z;
+	}
+
+	return 0;
+}
+
+int orientation_init(struct exynos_sensors_handlers *handlers,
+	struct exynos_sensors_device *device)
+{
+	struct orientation_data *data = NULL;
+	pthread_attr_t thread_attr;
+	struct uinput_user_dev uinput_dev;
+	int uinput_fd = -1;
+	int input_fd = -1;
+	int rc;
+	int i;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL || device == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) calloc(1, sizeof(struct 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) {
+		LOGE("%s: Missing sensors for orientation", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, "orientation", 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;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		LOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		LOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		LOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open orientation input", __func__);
+		goto error;
+	}
+
+	data->thread_continue = 1;
+
+	pthread_mutex_init(&data->mutex, NULL);
+	pthread_mutex_lock(&data->mutex);
+
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
+
+	rc = pthread_create(&data->thread, &thread_attr, orientation_thread, (void *) handlers);
+	if (rc < 0) {
+		LOGE("%s: Unable to create orientation thread", __func__);
+		pthread_mutex_destroy(&data->mutex);
+		goto error;
+	}
+
+	data->uinput_fd = uinput_fd;
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int orientation_deinit(struct exynos_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	handlers->activated = 0;
+	data->thread_continue = 0;
+	pthread_mutex_unlock(&data->mutex);
+
+	pthread_mutex_destroy(&data->mutex);
+
+	if (data->uinput_fd >= 0) {
+		ioctl(data->uinput_fd, UI_DEV_DESTROY);
+		close(data->uinput_fd);
+	}
+	data->uinput_fd = -1;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int orientation_activate(struct exynos_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed |= EXYNOS_SENSORS_NEEDED_ORIENTATION;
+	if (data->acceleration_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->activate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed |= EXYNOS_SENSORS_NEEDED_ORIENTATION;
+	if (data->magnetic_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->activate(data->magnetic_sensor);
+
+	handlers->activated = 1;
+	pthread_mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+int orientation_deactivate(struct exynos_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed &= ~(EXYNOS_SENSORS_NEEDED_ORIENTATION);
+	if (data->acceleration_sensor->needed == 0)
+		data->acceleration_sensor->deactivate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed &= ~(EXYNOS_SENSORS_NEEDED_ORIENTATION);
+	if (data->magnetic_sensor->needed == 0)
+		data->magnetic_sensor->deactivate(data->magnetic_sensor);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int orientation_set_delay(struct exynos_sensors_handlers *handlers, long int delay)
+{
+	struct orientation_data *data;
+
+	LOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	if (data->acceleration_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->set_delay(data->acceleration_sensor, delay);
+
+	if (data->magnetic_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->set_delay(data->magnetic_sensor, delay);
+
+	data->delay = delay;
+
+	return 0;
+}
+
+float orientation_convert(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int orientation_get_data(struct exynos_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct orientation_data *data;
+	struct input_event input_event;
+	int input_fd = -1;
+	int rc;
+
+//	LOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->orientation.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			switch (input_event.code) {
+				case REL_X:
+					event->orientation.x = orientation_convert(input_event.value);
+					break;
+				case REL_Y:
+					event->orientation.y = orientation_convert(input_event.value);
+					break;
+				case REL_Z:
+					event->orientation.z = 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);
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct exynos_sensors_handlers orientation = {
+	.name = "Orientation",
+	.handle = SENSOR_TYPE_ORIENTATION,
+	.init = orientation_init,
+	.deinit = orientation_deinit,
+	.activate = orientation_activate,
+	.deactivate = orientation_deactivate,
+	.set_delay = orientation_set_delay,
+	.get_data = orientation_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};