Piranha Sensors

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

18 files changed, 4130 insertions, 0 deletions

diff --git a/sensors/Android.mk b/sensors/Android.mk
new file mode 100644
index 0000000..7aacd13
--- /dev/null
+++ b/sensors/Android.mk
@@ -0,0 +1,74 @@
+# Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+LOCAL_PATH := $(call my-dir)
+PIRANHA_SENSORS_PATH := $(LOCAL_PATH)
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	piranha_sensors.c \
+	input.c \
+	bma250.c \
+	gp2a_light.c \
+	gp2a_proximity.c \
+	yas530.c \
+	yas_orientation.c
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := sensors.piranha
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_SHARED_LIBRARY)
+
+LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/geomagneticd
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	geomagneticd.c \
+	input.c
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := geomagneticd
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)
+
+LOCAL_PATH := $(PIRANHA_SENSORS_PATH)/orientationd
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := \
+	orientationd.c \
+	input.c \
+	bma250.c \
+	yas530.c
+
+LOCAL_SHARED_LIBRARIES := libutils libcutils liblog
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE := orientationd
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)
diff --git a/sensors/bh1721.c b/sensors/bh1721.c
new file mode 100644
index 0000000..34d4594
--- /dev/null
+++ b/sensors/bh1721.c
@@ -0,0 +1,230 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct bh1721_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int bh1721_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct bh1721_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) calloc(1, sizeof(struct bh1721_data));
+
+	input_fd = input_open("light_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("light_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	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 bh1721_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int bh1721_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct bh1721_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bh1721_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct bh1721_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bh1721_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct bh1721_data *data;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bh1721_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float bh1721_convert(int value)
+{
+	return value * 0.712f;
+}
+
+int bh1721_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			if (input_event.code == REL_MISC)
+				event->light = bh1721_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers bh1721 = {
+	.name = "BH1721",
+	.handle = SENSOR_TYPE_LIGHT,
+	.init = bh1721_init,
+	.deinit = bh1721_deinit,
+	.activate = bh1721_activate,
+	.deactivate = bh1721_deactivate,
+	.set_delay = bh1721_set_delay,
+	.get_data = bh1721_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/bma250.c b/sensors/bma250.c
new file mode 100644
index 0000000..91d7fc0
--- /dev/null
+++ b/sensors/bma250.c
@@ -0,0 +1,260 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct bma250_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	sensors_vec_t acceleration;
+};
+
+int bma250_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct bma250_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) calloc(1, sizeof(struct bma250_data));
+
+	input_fd = input_open("accelerometer");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("accelerometer", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int bma250_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int bma250_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct bma250_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bma250_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct bma250_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int bma250_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct bma250_data *data;
+	int d;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	if (delay < 10000000)
+		d = 10;
+	else
+		d = delay / 1000000;
+
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float bma250_convert(int value)
+{
+	return value * (GRAVITY_EARTH / 256.0f);
+}
+
+int bma250_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct bma250_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct bma250_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->acceleration.x = data->acceleration.x;
+	event->acceleration.y = data->acceleration.y;
+	event->acceleration.z = data->acceleration.z;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					event->acceleration.x = bma250_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->acceleration.y = bma250_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->acceleration.z = bma250_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	data->acceleration.x = event->acceleration.x;
+	data->acceleration.y = event->acceleration.y;
+	data->acceleration.z = event->acceleration.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers bma250 = {
+	.name = "BMA250",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.init = bma250_init,
+	.deinit = bma250_deinit,
+	.activate = bma250_activate,
+	.deactivate = bma250_deactivate,
+	.set_delay = bma250_set_delay,
+	.get_data = bma250_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/geomagneticd/geomagneticd.c b/sensors/geomagneticd/geomagneticd.c
new file mode 100644
index 0000000..61c4795
--- /dev/null
+++ b/sensors/geomagneticd/geomagneticd.c
@@ -0,0 +1,521 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "geomagneticd"
+#include <utils/Log.h>
+
+#include "geomagneticd.h"
+
+// This geomagnetic daemon is in charge of finding the correct calibration
+// offsets to apply to the YAS530 magnetic field sensor.
+// This is done by finding raw data extrema (minimum and maximum) for each axis
+// and calculating the offset so that these values are -45uT and 45uT.
+
+/*
+ * Config
+ */
+
+int geomagneticd_config_read(struct geomagneticd_data *data)
+{
+	char buffer[100] = { 0 };
+	int config_fd = -1;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	config_fd = open(GEOMAGNETICD_CONFIG_PATH, O_RDONLY);
+	if (config_fd < 0) {
+		ALOGE("%s: Unable to open config", __func__);
+		goto error;
+	}
+
+	rc = read(config_fd, buffer, sizeof(buffer));
+	if (rc <= 0) {
+		ALOGE("%s: Unable to read config", __func__);
+		goto error;
+	}
+
+	rc = sscanf(buffer, "%d,%d,%d,%d,%d,%d,%d",
+		&data->hard_offsets[0], &data->hard_offsets[1], &data->hard_offsets[2],
+		&data->calib_offsets[0], &data->calib_offsets[1], &data->calib_offsets[2],
+		&data->accuracy);
+	if (rc != 7) {
+		ALOGE("%s: Unable to parse config", __func__);
+		goto error;
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (config_fd >= 0)
+		close(config_fd);
+
+	return rc;
+}
+
+int geomagneticd_config_write(struct geomagneticd_data *data)
+{
+	char buffer[100] = { 0 };
+	int config_fd = -1;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	config_fd = open(GEOMAGNETICD_CONFIG_BACKUP_PATH, O_WRONLY | O_TRUNC | O_CREAT, 0644);
+	if (config_fd < 0) {
+		ALOGE("%s: Unable to open config", __func__);
+		goto error;
+	}
+
+	sprintf(buffer, "%d,%d,%d,%d,%d,%d,%d",
+		data->hard_offsets[0], data->hard_offsets[1], data->hard_offsets[2],
+		data->calib_offsets[0], data->calib_offsets[1], data->calib_offsets[2],
+		data->accuracy);
+
+	rc = write(config_fd, buffer, strlen(buffer) + 1);
+	if (rc < (int) strlen(buffer) + 1) {
+		ALOGE("%s: Unable to write config", __func__);
+		goto error;
+	}
+
+	rename(GEOMAGNETICD_CONFIG_BACKUP_PATH, GEOMAGNETICD_CONFIG_PATH);
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (config_fd >= 0)
+		close(config_fd);
+
+	return rc;
+}
+
+/*
+ * Offsets
+ */
+
+int geomagneticd_offsets_read(struct geomagneticd_data *data)
+{
+	char buffer[100] = { 0 };
+	int offsets_fd = -1;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	offsets_fd = open(data->path_offsets, O_RDONLY);
+	if (offsets_fd < 0) {
+		ALOGE("%s: Unable to open offsets", __func__);
+		goto error;
+	}
+
+	rc = read(offsets_fd, buffer, sizeof(buffer));
+	if (rc <= 0) {
+		ALOGE("%s: Unable to read offsets", __func__);
+		goto error;
+	}
+
+	rc = sscanf(buffer, "%d %d %d %d %d %d %d",
+		&data->hard_offsets[0], &data->hard_offsets[1], &data->hard_offsets[2],
+		&data->calib_offsets[0], &data->calib_offsets[1], &data->calib_offsets[2],
+		&data->accuracy);
+	if (rc != 7) {
+		ALOGE("%s: Unable to parse offsets", __func__);
+		goto error;
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (offsets_fd >= 0)
+		close(offsets_fd);
+
+	return rc;
+}
+
+int geomagneticd_offsets_write(struct geomagneticd_data *data)
+{
+	char buffer[100] = { 0 };
+	int offsets_fd = -1;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	offsets_fd = open(data->path_offsets, O_WRONLY);
+	if (offsets_fd < 0) {
+		ALOGE("%s: Unable to open offsets", __func__);
+		goto error;
+	}
+
+	sprintf(buffer, "%d %d %d %d %d %d %d\n",
+		data->hard_offsets[0], data->hard_offsets[1], data->hard_offsets[2],
+		data->calib_offsets[0], data->calib_offsets[1], data->calib_offsets[2],
+		data->accuracy);
+
+	rc = write(offsets_fd, buffer, strlen(buffer) + 1);
+	if (rc < (int) strlen(buffer) + 1) {
+		ALOGE("%s: Unable to write offsets", __func__);
+		goto error;
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (offsets_fd >= 0)
+		close(offsets_fd);
+
+	return rc;
+}
+
+int geomagneticd_offsets_init(struct geomagneticd_data *data)
+{
+	int count;
+	int i;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	count = sizeof(data->hard_offsets) / sizeof(int);
+
+	// 0x7f is an invalid value for hard offsets
+	for (i = 0; i < count; i++)
+		data->hard_offsets[i] = 0x7f;
+
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// 0x0x7fffffff is an invalid value for calib offsets
+	for (i = 0; i < count; i++)
+		data->calib_offsets[i] = 0x7fffffff;
+
+	return 0;
+}
+
+int geomagneticd_offsets_check(struct geomagneticd_data *data)
+{
+	int count;
+	int i;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	count = sizeof(data->hard_offsets) / sizeof(int);
+
+	// 0x7f is an invalid value for hard offsets
+	for (i = 0; i < count; i++)
+		if (data->hard_offsets[i] == 0x7f)
+			return 0;
+
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// 0x0x7fffffff is an invalid value for calib offsets
+	for (i = 0; i < count; i++)
+		if (data->calib_offsets[i] == 0x7fffffff)
+			return 0;
+
+	return 1;
+}
+
+/*
+ * Geomagneticd
+ */
+
+int geomagneticd_magnetic_extrema_init(struct geomagneticd_data *data)
+{
+	int count;
+	int i;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// Approximate the previous extrema from the calib offsets
+	for (i = 0; i < count; i++) {
+		data->magnetic_extrema[0][i] = -(data->calib_offsets[i] + 45) * 1000 + 5000;
+		data->magnetic_extrema[1][i] = (data->calib_offsets[i] + 45) * 1000 - 5000;
+	}
+
+	return 0;
+}
+
+int geomagneticd_magnetic_extrema(struct geomagneticd_data *data, int index,
+	int value)
+{
+	if (data == NULL || index < 0 || index >= 3)
+		return -EINVAL;
+
+	if (value == 0)
+		return 0;
+
+	// Update the extrema from the current value if needed
+	if (value < data->magnetic_extrema[0][index] || data->magnetic_extrema[0][index] == 0)
+		data->magnetic_extrema[0][index] = value;
+	if (value > data->magnetic_extrema[1][index] || data->magnetic_extrema[1][index] == 0)
+		data->magnetic_extrema[1][index] = value;
+
+	return 0;
+}
+
+int geomagneticd_calib_offsets(struct geomagneticd_data *data)
+{
+	int calib_offsets[3];
+	int offsets[2];
+	int update;
+	int count;
+	int rc;
+	int i;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	// Calculating the offset is only meaningful when enough values were
+	// obtained. There is no need to calculate it too often either.
+	if (data->count % 10 != 0)
+		return 0;
+
+	update = 0;
+
+	count = sizeof(data->calib_offsets) / sizeof(int);
+
+	// Calculate the calib offset for each axis to have values in [-45;45] uT
+	for (i = 0; i < count; i++) {
+		offsets[0] = data->magnetic_extrema[0][i] + 45 * 1000;
+		offsets[1] = data->magnetic_extrema[1][i] - 45 * 1000;
+		calib_offsets[i] = (offsets[0] + offsets[1]) / 2;
+
+		if (calib_offsets[i] != data->calib_offsets[i]) {
+			data->calib_offsets[i] = calib_offsets[i];
+			update = 1;
+		}
+	}
+
+	if (update) {
+		data->accuracy = 1;
+
+		rc = geomagneticd_offsets_write(data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write offsets", __func__);
+			return -1;
+		}
+
+		rc = geomagneticd_config_write(data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write config", __func__);
+			return -1;
+		}
+	}
+
+	return 0;
+}
+
+int geomagneticd_poll(struct geomagneticd_data *data)
+{
+	struct input_event input_event;
+	struct pollfd poll_fd;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	if (data->input_fd < 0)
+		return -1;
+
+	memset(&poll_fd, 0, sizeof(poll_fd));
+	poll_fd.fd = data->input_fd;
+	poll_fd.events = POLLIN;
+
+	while (1) {
+		rc = poll(&poll_fd, 1, -1);
+		if (rc < 0) {
+			ALOGE("%s: poll failure", __func__);
+			goto error;
+		}
+
+		if (!(poll_fd.revents & POLLIN))
+			continue;
+
+		poll_fd.revents = 0;
+
+		rc = read(data->input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event)) {
+			ALOGE("%s: Unable to read input event", __func__);
+			continue;
+		}
+
+		// Update the extrema from the current value
+		if(input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					geomagneticd_magnetic_extrema(data, 0, input_event.value);
+					break;
+				case ABS_Y:
+					geomagneticd_magnetic_extrema(data, 1, input_event.value);
+					break;
+				case ABS_Z:
+					geomagneticd_magnetic_extrema(data, 2, input_event.value);
+					break;
+			}
+		}
+
+		if (input_event.type == EV_SYN) {
+			// Sometimes, the hard offsets cannot be read at startup
+			// so we need to do it now
+			if (!geomagneticd_offsets_check(data)) {
+				rc = geomagneticd_offsets_read(data);
+				if (rc < 0) {
+					ALOGE("%s: Unable to read offsets", __func__);
+					continue;
+				}
+
+				// Most likely, the calib offset will be invalid
+				if (geomagneticd_offsets_check(data)) {
+					data->accuracy = 1;
+					geomagneticd_magnetic_extrema_init(data);
+				}
+
+				rc = geomagneticd_config_write(data);
+				if (rc < 0) {
+					ALOGE("%s: Unable to write config", __func__);
+					continue;
+				}
+			}
+
+			data->count++;
+
+			rc = geomagneticd_calib_offsets(data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to calib offsets", __func__);
+				continue;
+			}
+		}
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	return rc;
+}
+
+int main(int argc, char *argv[])
+{
+	struct geomagneticd_data *geomagneticd_data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	geomagneticd_data = (struct geomagneticd_data *)
+		calloc(1, sizeof(struct geomagneticd_data));
+
+	input_fd = input_open("geomagnetic_raw");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("geomagnetic_raw", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(geomagneticd_data->path_offsets, PATH_MAX, "%s/offsets", path);
+
+	geomagneticd_data->input_fd = input_fd;
+
+	geomagneticd_offsets_init(geomagneticd_data);
+
+	// Attempt to read the offsets from the config
+	rc = geomagneticd_config_read(geomagneticd_data);
+	if (rc < 0 || !geomagneticd_offsets_check(geomagneticd_data)) {
+		// Read the offsets from the driver
+		rc = geomagneticd_offsets_read(geomagneticd_data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to read offsets", __func__);
+			goto error;
+		}
+
+		// Most likely, the calib offset will be invalid and the hard
+		// offset may be invalid as well
+		if (geomagneticd_offsets_check(geomagneticd_data)) {
+			geomagneticd_data->accuracy = 1;
+			geomagneticd_magnetic_extrema_init(geomagneticd_data);
+		}
+	} else {
+		// Get the magnetic extrema from the config's offsets
+		geomagneticd_magnetic_extrema_init(geomagneticd_data);
+
+		rc = geomagneticd_offsets_write(geomagneticd_data);
+		if (rc < 0) {
+			ALOGE("%s: Unable to write offsets", __func__);
+			goto error;
+		}
+	}
+
+	rc = geomagneticd_poll(geomagneticd_data);
+	if (rc < 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	while (1)
+		sleep(3600);
+
+	rc = 1;
+
+complete:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (geomagneticd_data != NULL)
+		free(geomagneticd_data);
+
+	return rc;
+}
diff --git a/sensors/geomagneticd/geomagneticd.h b/sensors/geomagneticd/geomagneticd.h
new file mode 100644
index 0000000..cd57eb9
--- /dev/null
+++ b/sensors/geomagneticd/geomagneticd.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <poll.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _GEOMAGNETICD_H_
+#define _GEOMAGNETICD_H_
+
+#define GEOMAGNETICD_CONFIG_PATH		"/data/system/yas.cfg"
+#define GEOMAGNETICD_CONFIG_BACKUP_PATH		"/data/system/yas-backup.cfg"
+
+struct geomagneticd_data {
+	int magnetic_extrema[2][3];
+	int hard_offsets[3];
+	int calib_offsets[3];
+	int accuracy;
+
+	int input_fd;
+	char path_offsets[PATH_MAX];
+
+	int count;
+};
+
+/*
+ * Input
+ */
+
+void input_event_set(struct input_event *event, int type, int code, int value);
+long int timestamp(struct timeval *time);
+long int input_timestamp(struct input_event *event);
+int uinput_rel_create(const char *name);
+void uinput_destroy(int uinput_fd);
+int input_open(char *name);
+int sysfs_path_prefix(char *name, char *path_prefix);
+int sysfs_value_read(char *path);
+int sysfs_value_write(char *path, int value);
+int sysfs_string_read(char *path, char *buffer, size_t length);
+int sysfs_string_write(char *path, char *buffer, size_t length);
+
+#endif
diff --git a/sensors/geomagneticd/input.c b/sensors/geomagneticd/input.c
new file mode 100644
index 0000000..7e9ca4a
--- /dev/null
+++ b/sensors/geomagneticd/input.c
@@ -0,0 +1,335 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+#include <linux/uinput.h>
+
+#define LOG_TAG "geomagneticd"
+#include <utils/Log.h>
+
+#include "geomagneticd.h"
+
+void input_event_set(struct input_event *event, int type, int code, int value)
+{
+	if (event == NULL)
+		return;
+
+	memset(event, 0, sizeof(struct input_event));
+
+	event->type = type,
+	event->code = code;
+	event->value = value;
+
+	gettimeofday(&event->time, NULL);
+}
+
+long int timestamp(struct timeval *time)
+{
+	if (time == NULL)
+		return -1;
+
+	return time->tv_sec * 1000000000LL + time->tv_usec * 1000;
+}
+
+long int input_timestamp(struct input_event *event)
+{
+	if (event == NULL)
+		return -1;
+
+	return timestamp(&event->time);
+}
+
+int uinput_rel_create(const char *name)
+{
+	struct uinput_user_dev uinput_dev;
+	int uinput_fd;
+	int rc;
+
+	if (name == NULL)
+		return -1;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		ALOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, name, sizeof(uinput_dev.name));
+	uinput_dev.id.bustype	= BUS_I2C;
+	uinput_dev.id.vendor	= 0;
+	uinput_dev.id.product	= 0;
+	uinput_dev.id.version	= 0;
+
+	rc = 0;
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	if (rc < 0) {
+		ALOGE("%s: Unable to set uinput bits", __func__);
+		goto error;
+	}
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		ALOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	return uinput_fd;
+
+error:
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	return -1;
+}
+
+void uinput_destroy(int uinput_fd)
+{
+	if (uinput_fd < 0)
+		return;
+
+	ioctl(uinput_fd, UI_DEV_DESTROY);
+}
+
+int input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_RDWR | O_NONBLOCK);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
+
+int sysfs_value_read(char *path)
+{
+	char buffer[100];
+	int value;
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, &buffer, sizeof(buffer));
+	if (rc <= 0)
+		goto error;
+
+	value = atoi(buffer);
+	goto complete;
+
+error:
+	value = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return value;
+}
+
+int sysfs_value_write(char *path, int value)
+{
+	char buffer[100];
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	snprintf((char *) &buffer, sizeof(buffer), "%d\n", value);
+
+	rc = write(fd, buffer, strlen(buffer));
+	if (rc < (int) strlen(buffer))
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_read(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_write(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = write(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
diff --git a/sensors/gp2a_light.c b/sensors/gp2a_light.c
new file mode 100644
index 0000000..3a41187
--- /dev/null
+++ b/sensors/gp2a_light.c
@@ -0,0 +1,239 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct gp2a_light_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int gp2a_light_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct gp2a_light_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) calloc(1, sizeof(struct gp2a_light_data));
+
+	input_fd = input_open("light_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("light_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	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 gp2a_light_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int gp2a_light_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_light_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_light_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_light_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_light_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct gp2a_light_data *data;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_light_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_delay, (int) delay);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float gp2a_light_convert(int value)
+{
+	// Converting the raw value to lux units is done with:
+	// I = 10 * log(light) uA
+	// U = raw * 3300 / 4095 (max ADC value is 3.3V for 4095 LSB)
+	// R = 47kOhm
+	// => light = 10 ^ (I / 10) = 10 ^ (U / R / 10)
+	// => light = 10 ^ (raw * 330 / 4095 / 47)
+	// Only 1/4 of light reaches the sensor:
+	// => light = 4 * (10 ^ (raw * 330 / 4095 / 47))
+
+	return powf(10, value * (330.0f / 4095.0f / 47.0f)) * 4;
+}
+
+int gp2a_light_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			if (input_event.code == REL_MISC)
+				event->light = gp2a_light_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers gp2a_light = {
+	.name = "GP2A Light",
+	.handle = SENSOR_TYPE_LIGHT,
+	.init = gp2a_light_init,
+	.deinit = gp2a_light_deinit,
+	.activate = gp2a_light_activate,
+	.deactivate = gp2a_light_deactivate,
+	.set_delay = gp2a_light_set_delay,
+	.get_data = gp2a_light_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/gp2a_proximity.c b/sensors/gp2a_proximity.c
new file mode 100644
index 0000000..b2c9813
--- /dev/null
+++ b/sensors/gp2a_proximity.c
@@ -0,0 +1,213 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct gp2a_proximity_data {
+	char path_enable[PATH_MAX];
+};
+
+int gp2a_proximity_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct gp2a_proximity_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_proximity_data *) calloc(1, sizeof(struct gp2a_proximity_data));
+
+	input_fd = input_open("proximity_sensor");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("proximity_sensor", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	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 gp2a_proximity_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int gp2a_proximity_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_proximity_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_proximity_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_proximity_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct gp2a_proximity_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct gp2a_proximity_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int gp2a_proximity_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	return 0;
+}
+
+float gp2a_proximity_convert(int value)
+{
+	return (float) value * 5.0f;
+}
+
+int gp2a_proximity_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			if (input_event.code == ABS_DISTANCE)
+				event->distance = gp2a_proximity_convert(input_event.value);
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers gp2a_proximity = {
+	.name = "GP2A Proximity",
+	.handle = SENSOR_TYPE_PROXIMITY,
+	.init = gp2a_proximity_init,
+	.deinit = gp2a_proximity_deinit,
+	.activate = gp2a_proximity_activate,
+	.deactivate = gp2a_proximity_deactivate,
+	.set_delay = gp2a_proximity_set_delay,
+	.get_data = gp2a_proximity_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/input.c b/sensors/input.c
new file mode 100644
index 0000000..c48f17f
--- /dev/null
+++ b/sensors/input.c
@@ -0,0 +1,335 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+#include <linux/uinput.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_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 uinput_rel_create(const char *name)
+{
+	struct uinput_user_dev uinput_dev;
+	int uinput_fd;
+	int rc;
+
+	if (name == NULL)
+		return -1;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		ALOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, name, sizeof(uinput_dev.name));
+	uinput_dev.id.bustype	= BUS_I2C;
+	uinput_dev.id.vendor	= 0;
+	uinput_dev.id.product	= 0;
+	uinput_dev.id.version	= 0;
+
+	rc = 0;
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	if (rc < 0) {
+		ALOGE("%s: Unable to set uinput bits", __func__);
+		goto error;
+	}
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		ALOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	return uinput_fd;
+
+error:
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	return -1;
+}
+
+void uinput_destroy(int uinput_fd)
+{
+	if (uinput_fd < 0)
+		return;
+
+	ioctl(uinput_fd, UI_DEV_DESTROY);
+}
+
+int input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_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, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_write(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = write(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
diff --git a/sensors/orientationd/bma250.c b/sensors/orientationd/bma250.c
new file mode 100644
index 0000000..88819ea
--- /dev/null
+++ b/sensors/orientationd/bma250.c
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+float bma250_convert(int value)
+{
+	return value * (GRAVITY_EARTH / 256.0f);
+}
+
+int bma250_get_data(struct orientationd_handlers *handlers,
+	struct orientationd_data *data)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || data == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -1;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					data->acceleration.x = bma250_convert(input_event.value);
+					break;
+				case ABS_Y:
+					data->acceleration.y = bma250_convert(input_event.value);
+					break;
+				case ABS_Z:
+					data->acceleration.z = bma250_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct orientationd_handlers bma250 = {
+	.input_name = "accelerometer",
+	.handle = SENSOR_TYPE_ACCELEROMETER,
+	.poll_fd = -1,
+	.get_data = bma250_get_data,
+};
diff --git a/sensors/orientationd/input.c b/sensors/orientationd/input.c
new file mode 100644
index 0000000..1afa2b8
--- /dev/null
+++ b/sensors/orientationd/input.c
@@ -0,0 +1,335 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+#include <linux/uinput.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+void input_event_set(struct input_event *event, int type, int code, int value)
+{
+	if (event == NULL)
+		return;
+
+	memset(event, 0, sizeof(struct input_event));
+
+	event->type = type,
+	event->code = code;
+	event->value = value;
+
+	gettimeofday(&event->time, NULL);
+}
+
+long int timestamp(struct timeval *time)
+{
+	if (time == NULL)
+		return -1;
+
+	return time->tv_sec * 1000000000LL + time->tv_usec * 1000;
+}
+
+long int input_timestamp(struct input_event *event)
+{
+	if (event == NULL)
+		return -1;
+
+	return timestamp(&event->time);
+}
+
+int uinput_rel_create(const char *name)
+{
+	struct uinput_user_dev uinput_dev;
+	int uinput_fd;
+	int rc;
+
+	if (name == NULL)
+		return -1;
+
+	uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if (uinput_fd < 0) {
+		ALOGE("%s: Unable to open uinput device", __func__);
+		goto error;
+	}
+
+	memset(&uinput_dev, 0, sizeof(uinput_dev));
+
+	strncpy(uinput_dev.name, name, sizeof(uinput_dev.name));
+	uinput_dev.id.bustype	= BUS_I2C;
+	uinput_dev.id.vendor	= 0;
+	uinput_dev.id.product	= 0;
+	uinput_dev.id.version	= 0;
+
+	rc = 0;
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y);
+	rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z);
+	rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN);
+
+	if (rc < 0) {
+		ALOGE("%s: Unable to set uinput bits", __func__);
+		goto error;
+	}
+
+	rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev));
+	if (rc < 0) {
+		ALOGE("%s: Unable to write uinput device", __func__);
+		goto error;
+	}
+
+	rc = ioctl(uinput_fd, UI_DEV_CREATE);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create uinput device", __func__);
+		goto error;
+	}
+
+	usleep(3000);
+
+	return uinput_fd;
+
+error:
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	return -1;
+}
+
+void uinput_destroy(int uinput_fd)
+{
+	if (uinput_fd < 0)
+		return;
+
+	ioctl(uinput_fd, UI_DEV_DESTROY);
+}
+
+int input_open(char *name)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+	int rc;
+
+	if (name == NULL)
+		return -EINVAL;
+
+	d = opendir("/dev/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name);
+		fd = open(path, O_RDWR | O_NONBLOCK);
+		if (fd < 0)
+			continue;
+
+		rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name);
+		if (rc < 0)
+			continue;
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0)
+			return fd;
+		else
+			close(fd);
+	}
+
+	return -1;
+}
+
+int sysfs_path_prefix(char *name, char *path_prefix)
+{
+	DIR *d;
+	struct dirent *di;
+
+	char input_name[80] = { 0 };
+	char path[PATH_MAX];
+	char *c;
+	int fd;
+
+	if (name == NULL || path_prefix == NULL)
+		return -EINVAL;
+
+	d = opendir("/sys/class/input");
+	if (d == NULL)
+		return -1;
+
+	while ((di = readdir(d))) {
+		if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0)
+			continue;
+
+		snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name);
+
+		fd = open(path, O_RDONLY);
+		if (fd < 0)
+			continue;
+
+		read(fd, &input_name, sizeof(input_name));
+		close(fd);
+
+		c = strstr((char *) &input_name, "\n");
+		if (c != NULL)
+			*c = '\0';
+
+		if (strcmp(input_name, name) == 0) {
+			snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name);
+			return 0;
+		}
+	}
+
+	return -1;
+}
+
+int sysfs_value_read(char *path)
+{
+	char buffer[100];
+	int value;
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, &buffer, sizeof(buffer));
+	if (rc <= 0)
+		goto error;
+
+	value = atoi(buffer);
+	goto complete;
+
+error:
+	value = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return value;
+}
+
+int sysfs_value_write(char *path, int value)
+{
+	char buffer[100];
+	int fd = -1;
+	int rc;
+
+	if (path == NULL)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	snprintf((char *) &buffer, sizeof(buffer), "%d\n", value);
+
+	rc = write(fd, buffer, strlen(buffer));
+	if (rc < (int) strlen(buffer))
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_read(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
+
+int sysfs_string_write(char *path, char *buffer, size_t length)
+{
+	int fd = -1;
+	int rc;
+
+	if (path == NULL || buffer == NULL || length == 0)
+		return -1;
+
+	fd = open(path, O_WRONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = write(fd, buffer, length);
+	if (rc <= 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	if (fd >= 0)
+		close(fd);
+
+	return rc;
+}
diff --git a/sensors/orientationd/orientationd.c b/sensors/orientationd/orientationd.c
new file mode 100644
index 0000000..8ad84c5
--- /dev/null
+++ b/sensors/orientationd/orientationd.c
@@ -0,0 +1,327 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+#include <math.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+struct orientationd_handlers *orientationd_handlers[] = {
+	&bma250,
+	&yas530,
+};
+
+int orientationd_handlers_count = sizeof(orientationd_handlers) /
+	sizeof(struct orientationd_handlers *);
+
+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));
+}
+
+int orientation_calculate(struct orientationd_data *data)
+{
+	sensors_vec_t *a, *m, *o;
+	float azimuth, pitch, roll;
+	float la, sinp, cosp, sinr, cosr, x, y;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	a = &data->acceleration;
+	m = &data->magnetic;
+	o = &data->orientation;
+
+	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->azimuth = rad2deg(azimuth);
+	o->pitch = rad2deg(pitch);
+	o->roll = rad2deg(roll);
+
+	if (o->azimuth < 0)
+		o->azimuth += 360.0f;
+
+	return 0;
+}
+
+void *orientationd_thread(void *thread_data)
+{
+	struct orientationd_data *data;
+	struct input_event event;
+	struct timeval time;
+	long int before, after;
+	int diff;
+	int input_fd;
+	int rc;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	data = (struct orientationd_data *) thread_data;
+
+	input_fd = data->input_fd;
+	if (input_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (data->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			rc = orientation_calculate(data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to calculate orientation", __func__);
+				goto next;
+			}
+
+			input_event_set(&event, EV_ABS, ABS_X, (int) (data->orientation.azimuth * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_ABS, ABS_Y, (int) (data->orientation.pitch * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_ABS, ABS_Z, (int) (data->orientation.roll * 1000));
+			write(input_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(input_fd, &event, sizeof(event));
+
+next:
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
+
+			diff = (int) (data->delay * 1000000 - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
+
+			usleep(diff);
+		}
+	}
+	return NULL;
+}
+
+int orientation_get_data(struct orientationd_data *data)
+{
+	struct input_event input_event;
+	int input_fd;
+	int activated;
+	unsigned int delay;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	input_fd = data->input_fd;
+	if (input_fd < 0)
+		return -1;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_THROTTLE:
+					data->activated = input_event.value & (1 << 16) ? 1 : 0;
+					data->delay = input_event.value & ~(1 << 16);
+
+					pthread_mutex_unlock(&data->mutex);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+int orientationd_poll(struct orientationd_data *data)
+{
+	int count;
+	int i, j;
+	int rc;
+
+	if (data == NULL)
+		return -EINVAL;
+
+	ALOGD("Starting orientationd poll");
+
+	while (1) {
+		if (data->activated)
+			count = data->poll_fds_count;
+		else
+			count = 1;
+
+		rc = poll(data->poll_fds, count, -1);
+		if (rc < 0) {
+			ALOGE("%s: poll failure", __func__);
+			goto error;
+		}
+
+		for (i = 0; i < count; i++) {
+			if (data->poll_fds[i].revents & POLLIN) {
+				data->poll_fds[i].revents = 0;
+
+				if (data->poll_fds[i].fd == data->input_fd) {
+					orientation_get_data(data);
+					continue;
+				}
+
+				for (j = 0; j < data->handlers_count; j++)
+					if (data->handlers[j] != NULL && data->handlers[j]->poll_fd == data->poll_fds[i].fd && data->handlers[j]->get_data != NULL)
+						data->handlers[j]->get_data(data->handlers[j], data);
+			}
+		}
+	}
+
+	rc = 0;
+	goto complete;
+
+error:
+	rc = -1;
+
+complete:
+	return rc;
+}
+
+int main(int argc, char *argv[])
+{
+	struct orientationd_data *orientationd_data = NULL;
+	pthread_attr_t thread_attr;
+	int input_fd = -1;
+	int poll_fd;
+	int p, i;
+	int rc;
+
+	orientationd_data = (struct orientationd_data *)
+		calloc(1, sizeof(struct orientationd_data));
+	orientationd_data->handlers = orientationd_handlers;
+	orientationd_data->handlers_count = orientationd_handlers_count;
+	orientationd_data->activated = 0;
+	orientationd_data->poll_fds = (struct pollfd *)
+		calloc(1, (orientationd_handlers_count + 1) * sizeof(struct pollfd));
+
+	p = 0;
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	orientationd_data->input_fd = input_fd;
+
+	orientationd_data->poll_fds[p].fd = input_fd;
+	orientationd_data->poll_fds[p].events = POLLIN;
+	p++;
+
+	for (i = 0; i < orientationd_handlers_count; i++) {
+		if (orientationd_handlers[i] == NULL || orientationd_handlers[i]->input_name == NULL)
+			continue;
+
+		poll_fd = input_open(orientationd_handlers[i]->input_name);
+		if (poll_fd < 0) {
+			ALOGE("%s: Unable to open input %s", __func__, orientationd_handlers[i]->input_name);
+			continue;
+		}
+
+		orientationd_handlers[i]->poll_fd = poll_fd;
+		orientationd_data->poll_fds[p].fd = poll_fd;
+		orientationd_data->poll_fds[p].events = POLLIN;
+		p++;
+	}
+
+	orientationd_data->poll_fds_count = p;
+
+	orientationd_data->thread_continue = 1;
+
+	pthread_mutex_init(&orientationd_data->mutex, NULL);
+	pthread_mutex_lock(&orientationd_data->mutex);
+
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
+
+	rc = pthread_create(&orientationd_data->thread, &thread_attr, orientationd_thread, (void *) orientationd_data);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create orientationd thread", __func__);
+		goto error;
+	}
+
+	rc = orientationd_poll(orientationd_data);
+	if (rc < 0)
+		goto error;
+
+	rc = 0;
+	goto complete;
+
+error:
+	while (1)
+		sleep(3600);
+
+	rc = 1;
+
+complete:
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (orientationd_data != NULL) {
+		orientationd_data->thread_continue = 0;
+		pthread_mutex_destroy(&orientationd_data->mutex);
+
+		if (orientationd_data->poll_fds != NULL)
+			free(orientationd_data->poll_fds);
+
+		free(orientationd_data);
+	}
+
+	return rc;
+}
diff --git a/sensors/orientationd/orientationd.h b/sensors/orientationd/orientationd.h
new file mode 100644
index 0000000..7e169e4
--- /dev/null
+++ b/sensors/orientationd/orientationd.h
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <poll.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _ORIENTATIOND_H_
+#define _ORIENTATIOND_H_
+
+struct orientationd_data;
+
+struct orientationd_handlers {
+	char *input_name;
+	int handle;
+	int poll_fd;
+
+	int (*get_data)(struct orientationd_handlers *handlers,
+		struct orientationd_data *data);
+};
+
+struct orientationd_data {
+	struct orientationd_handlers **handlers;
+	int handlers_count;
+
+	struct pollfd *poll_fds;
+	int poll_fds_count;
+
+	sensors_vec_t orientation;
+	sensors_vec_t acceleration;
+	sensors_vec_t magnetic;
+
+	unsigned int delay;
+	int input_fd;
+
+	int activated;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+extern struct orientationd_handlers *orientationd_handlers[];
+extern int orientationd_handlers_count;
+
+/*
+ * Input
+ */
+
+void input_event_set(struct input_event *event, int type, int code, int value);
+long int timestamp(struct timeval *time);
+long int input_timestamp(struct input_event *event);
+int uinput_rel_create(const char *name);
+void uinput_destroy(int uinput_fd);
+int input_open(char *name);
+int sysfs_path_prefix(char *name, char *path_prefix);
+int sysfs_value_read(char *path);
+int sysfs_value_write(char *path, int value);
+int sysfs_string_read(char *path, char *buffer, size_t length);
+int sysfs_string_write(char *path, char *buffer, size_t length);
+
+/*
+ * Sensors
+ */
+
+extern struct orientationd_handlers bma250;
+extern struct orientationd_handlers yas530;
+
+#endif
diff --git a/sensors/orientationd/yas530.c b/sensors/orientationd/yas530.c
new file mode 100644
index 0000000..7942c50
--- /dev/null
+++ b/sensors/orientationd/yas530.c
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "orientationd"
+#include <utils/Log.h>
+
+#include "orientationd.h"
+
+float yas530_convert(int value)
+{
+	return value / 1000.0f;
+}
+
+int yas530_get_data(struct orientationd_handlers *handlers,
+	struct orientationd_data *data)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+	if (handlers == NULL || data == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -1;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					data->magnetic.x = yas530_convert(input_event.value);
+					break;
+				case ABS_Y:
+					data->magnetic.y = yas530_convert(input_event.value);
+					break;
+				case ABS_Z:
+					data->magnetic.z = yas530_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct orientationd_handlers yas530 = {
+	.input_name = "geomagnetic",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.poll_fd = -1,
+	.get_data = yas530_get_data,
+};
diff --git a/sensors/piranha_sensors.c b/sensors/piranha_sensors.c
new file mode 100644
index 0000000..bfb9f94
--- /dev/null
+++ b/sensors/piranha_sensors.c
@@ -0,0 +1,286 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+#include <sys/select.h>
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+/*
+ * Sensors list
+ */
+
+struct sensor_t piranha_sensors[] = {
+	{ "BMA250 Acceleration Sensor", "Bosch", 1, SENSOR_TYPE_ACCELEROMETER,
+		SENSOR_TYPE_ACCELEROMETER, 2 * GRAVITY_EARTH, GRAVITY_EARTH / 256.0f, 0.13f, 10000, {}, },
+	{ "YAS530 Magnetic Sensor", "Yamaha", 1, SENSOR_TYPE_MAGNETIC_FIELD,
+		SENSOR_TYPE_MAGNETIC_FIELD, 800.0f, 0.3f, 4.0f, 10000, {}, },
+	{ "YAS Orientation Sensor", "Yamaha", 1, SENSOR_TYPE_ORIENTATION,
+		SENSOR_TYPE_ORIENTATION, 360.0f, 0.1f, 0.0f, 10000, {}, },
+	{ "GP2A Light Sensor", "Sharp", 1, SENSOR_TYPE_LIGHT,
+		SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.75f, 0, {}, },
+	{ "GP2A Proximity Sensor", "Sharp", 1, SENSOR_TYPE_PROXIMITY,
+		SENSOR_TYPE_PROXIMITY, 5.0f, 5.0f, 0.75f, 0, {}, },
+};
+
+int piranha_sensors_count = sizeof(piranha_sensors) / sizeof(struct sensor_t);
+
+struct piranha_sensors_handlers *piranha_sensors_handlers[] = {
+	&bma250,
+	&yas530,
+	&yas_orientation,
+	&gp2a_light,
+	&gp2a_proximity,
+};
+
+int piranha_sensors_handlers_count = sizeof(piranha_sensors_handlers) /
+	sizeof(struct piranha_sensors_handlers *);
+
+/*
+ * Piranha Sensors
+ */
+
+int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle,
+	int enabled)
+{
+	struct piranha_sensors_device *device;
+	int i;
+
+	ALOGD("%s(%p, %d, %d)", __func__, dev, handle, enabled);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle) {
+			if (enabled && device->handlers[i]->activate != NULL) {
+				device->handlers[i]->needed |= PIRANHA_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == PIRANHA_SENSORS_NEEDED_API)
+					return device->handlers[i]->activate(device->handlers[i]);
+				else
+					return 0;
+			} else if (!enabled && device->handlers[i]->deactivate != NULL) {
+				device->handlers[i]->needed &= ~PIRANHA_SENSORS_NEEDED_API;
+				if (device->handlers[i]->needed == 0)
+					return device->handlers[i]->deactivate(device->handlers[i]);
+				else
+					return 0;
+			}
+		}
+	}
+
+	return -1;
+}
+
+int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle,
+	int64_t ns)
+{
+	struct piranha_sensors_device *device;
+	int i;
+
+	ALOGD("%s(%p, %d, %ld)", __func__, dev, handle, (long int) ns);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0)
+		return -EINVAL;
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == handle && device->handlers[i]->set_delay != NULL)
+			return device->handlers[i]->set_delay(device->handlers[i], (long int) ns);
+	}
+
+	return 0;
+}
+
+int piranha_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, int count)
+{
+	struct piranha_sensors_device *device;
+	int i, j;
+	int c, n;
+	int poll_rc, rc;
+
+//	ALOGD("%s(%p, %p, %d)", __func__, dev, data, count);
+
+	if (dev == NULL)
+		return -EINVAL;
+
+	device = (struct piranha_sensors_device *) dev;
+
+	if (device->handlers == NULL || device->handlers_count <= 0 ||
+		device->poll_fds == NULL || device->poll_fds_count <= 0)
+		return -EINVAL;
+
+	n = 0;
+
+	do {
+		poll_rc = poll(device->poll_fds, device->poll_fds_count, 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 piranha_sensors_close(hw_device_t *device)
+{
+	struct piranha_sensors_device *piranha_sensors_device;
+	int i;
+
+	ALOGD("%s(%p)", __func__, device);
+
+	if (device == NULL)
+		return -EINVAL;
+
+	piranha_sensors_device = (struct piranha_sensors_device *) device;
+
+	if (piranha_sensors_device->poll_fds != NULL)
+		free(piranha_sensors_device->poll_fds);
+
+	for (i = 0; i < piranha_sensors_device->handlers_count; i++) {
+		if (piranha_sensors_device->handlers[i] == NULL || piranha_sensors_device->handlers[i]->deinit == NULL)
+			continue;
+
+		piranha_sensors_device->handlers[i]->deinit(piranha_sensors_device->handlers[i]);
+	}
+
+	free(device);
+
+	return 0;
+}
+
+int piranha_sensors_open(const struct hw_module_t* module, const char *id,
+	struct hw_device_t** device)
+{
+	struct piranha_sensors_device *piranha_sensors_device;
+	int p, i;
+
+	ALOGD("%s(%p, %s, %p)", __func__, module, id, device);
+
+	if (module == NULL || device == NULL)
+		return -EINVAL;
+
+	piranha_sensors_device = (struct piranha_sensors_device *)
+		calloc(1, sizeof(struct piranha_sensors_device));
+	piranha_sensors_device->device.common.tag = HARDWARE_DEVICE_TAG;
+	piranha_sensors_device->device.common.version = 0;
+	piranha_sensors_device->device.common.module = (struct hw_module_t *) module;
+	piranha_sensors_device->device.common.close = piranha_sensors_close;
+	piranha_sensors_device->device.activate = piranha_sensors_activate;
+	piranha_sensors_device->device.setDelay = piranha_sensors_set_delay;
+	piranha_sensors_device->device.poll = piranha_sensors_poll;
+	piranha_sensors_device->handlers = piranha_sensors_handlers;
+	piranha_sensors_device->handlers_count = piranha_sensors_handlers_count;
+	piranha_sensors_device->poll_fds = (struct pollfd *)
+		calloc(1, piranha_sensors_handlers_count * sizeof(struct pollfd));
+
+	p = 0;
+	for (i = 0; i < piranha_sensors_handlers_count; i++) {
+		if (piranha_sensors_handlers[i] == NULL || piranha_sensors_handlers[i]->init == NULL)
+			continue;
+
+		piranha_sensors_handlers[i]->init(piranha_sensors_handlers[i], piranha_sensors_device);
+		if (piranha_sensors_handlers[i]->poll_fd >= 0) {
+			piranha_sensors_device->poll_fds[p].fd = piranha_sensors_handlers[i]->poll_fd;
+			piranha_sensors_device->poll_fds[p].events = POLLIN;
+			p++;
+		}
+	}
+
+	piranha_sensors_device->poll_fds_count = p;
+
+	*device = &(piranha_sensors_device->device.common);
+
+	return 0;
+}
+
+int piranha_sensors_get_sensors_list(struct sensors_module_t* module,
+	const struct sensor_t **sensors_p)
+{
+	ALOGD("%s(%p, %p)", __func__, module, sensors_p);
+
+	if (sensors_p == NULL)
+		return -EINVAL;
+
+	*sensors_p = piranha_sensors;
+	return piranha_sensors_count;
+}
+
+struct hw_module_methods_t piranha_sensors_module_methods = {
+	.open = piranha_sensors_open,
+};
+
+struct sensors_module_t HAL_MODULE_INFO_SYM = {
+	.common = {
+		.tag = HARDWARE_MODULE_TAG,
+		.version_major = 1,
+		.version_minor = 0,
+		.id = SENSORS_HARDWARE_MODULE_ID,
+		.name = "Piranha Sensors",
+		.author = "Paul Kocialkowski",
+		.methods = &piranha_sensors_module_methods,
+	},
+	.get_sensors_list = piranha_sensors_get_sensors_list,
+};
diff --git a/sensors/piranha_sensors.h b/sensors/piranha_sensors.h
new file mode 100644
index 0000000..3de5367
--- /dev/null
+++ b/sensors/piranha_sensors.h
@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <poll.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#ifndef _PIRANHA_SENSORS_H_
+#define _PIRANHA_SENSORS_H_
+
+#define PIRANHA_SENSORS_NEEDED_API		(1 << 0)
+#define PIRANHA_SENSORS_NEEDED_ORIENTATION	(1 << 1)
+
+struct piranha_sensors_device;
+
+struct piranha_sensors_handlers {
+	char *name;
+	int handle;
+
+	int (*init)(struct piranha_sensors_handlers *handlers,
+		struct piranha_sensors_device *device);
+	int (*deinit)(struct piranha_sensors_handlers *handlers);
+	int (*activate)(struct piranha_sensors_handlers *handlers);
+	int (*deactivate)(struct piranha_sensors_handlers *handlers);
+	int (*set_delay)(struct piranha_sensors_handlers *handlers,
+		long int delay);
+	int (*get_data)(struct piranha_sensors_handlers *handlers,
+		struct sensors_event_t *event);
+
+	int activated;
+	int needed;
+	int poll_fd;
+
+	void *data;
+};
+
+struct piranha_sensors_device {
+	struct sensors_poll_device_t device;
+
+	struct piranha_sensors_handlers **handlers;
+	int handlers_count;
+
+	struct pollfd *poll_fds;
+	int poll_fds_count;
+};
+
+extern struct piranha_sensors_handlers *piranha_sensors_handlers[];
+extern int piranha_sensors_handlers_count;
+
+int piranha_sensors_activate(struct sensors_poll_device_t *dev, int handle,
+	int enabled);
+int piranha_sensors_set_delay(struct sensors_poll_device_t *dev, int handle,
+	int64_t ns);
+int piranha_sensors_poll(struct sensors_poll_device_t *dev,
+	struct sensors_event_t* data, int count);
+
+/*
+ * Input
+ */
+
+void input_event_set(struct input_event *event, int type, int code, int value);
+long int timestamp(struct timeval *time);
+long int input_timestamp(struct input_event *event);
+int uinput_rel_create(const char *name);
+void uinput_destroy(int uinput_fd);
+int input_open(char *name);
+int sysfs_path_prefix(char *name, char *path_prefix);
+int sysfs_value_read(char *path);
+int sysfs_value_write(char *path, int value);
+int sysfs_string_read(char *path, char *buffer, size_t length);
+int sysfs_string_write(char *path, char *buffer, size_t length);
+
+/*
+ * Sensors
+ */
+
+int orientation_fill(struct piranha_sensors_handlers *handlers,
+	sensors_vec_t *acceleration, sensors_vec_t *magnetic);
+
+extern struct piranha_sensors_handlers bma250;
+extern struct piranha_sensors_handlers yas530;
+extern struct piranha_sensors_handlers yas_orientation;
+extern struct piranha_sensors_handlers gp2a_light;
+extern struct piranha_sensors_handlers gp2a_proximity;
+
+#endif
diff --git a/sensors/yas530.c b/sensors/yas530.c
new file mode 100644
index 0000000..81ff60d
--- /dev/null
+++ b/sensors/yas530.c
@@ -0,0 +1,260 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct yas530_data {
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+
+	sensors_vec_t magnetic;
+};
+
+int yas530_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct yas530_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) calloc(1, sizeof(struct yas530_data));
+
+	input_fd = input_open("geomagnetic");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("geomagnetic", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int yas530_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int yas530_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas530_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas530_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas530_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct yas530_data *data;
+	int d;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	if (delay < 10000000)
+		d = 10;
+	else
+		d = delay / 1000000;
+
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float yas530_convert(int value)
+{
+	return value / 1000.0f;
+}
+
+int yas530_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct yas530_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct yas530_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->magnetic.x = data->magnetic.x;
+	event->magnetic.y = data->magnetic.y;
+	event->magnetic.z = data->magnetic.z;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					event->magnetic.x = yas530_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->magnetic.y = yas530_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->magnetic.z = yas530_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	data->magnetic.x = event->magnetic.x;
+	data->magnetic.y = event->magnetic.y;
+	data->magnetic.z = event->magnetic.z;
+
+	return 0;
+}
+
+struct piranha_sensors_handlers yas530 = {
+	.name = "YAS530",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.init = yas530_init,
+	.deinit = yas530_deinit,
+	.activate = yas530_activate,
+	.deactivate = yas530_deactivate,
+	.set_delay = yas530_set_delay,
+	.get_data = yas530_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};
diff --git a/sensors/yas_orientation.c b/sensors/yas_orientation.c
new file mode 100644
index 0000000..3668d8b
--- /dev/null
+++ b/sensors/yas_orientation.c
@@ -0,0 +1,297 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+struct yas_orientation_data {
+	struct piranha_sensors_handlers *acceleration_sensor;
+	struct piranha_sensors_handlers *magnetic_sensor;
+
+	char path_enable[PATH_MAX];
+	char path_delay[PATH_MAX];
+};
+
+int yas_orientation_init(struct piranha_sensors_handlers *handlers,
+	struct piranha_sensors_device *device)
+{
+	struct yas_orientation_data *data = NULL;
+	char path[PATH_MAX] = { 0 };
+	int input_fd = -1;
+	int rc;
+	int i;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) calloc(1, sizeof(struct yas_orientation_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ACCELEROMETER)
+			data->acceleration_sensor = device->handlers[i];
+		else if (device->handlers[i]->handle == SENSOR_TYPE_MAGNETIC_FIELD)
+			data->magnetic_sensor = device->handlers[i];
+	}
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) {
+		ALOGE("%s: Missing sensors for orientation", __func__);
+		goto error;
+	}
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("orientation", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		ALOGE("%s: Unable to open sysfs", __func__);
+		goto error;
+	}
+
+	snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+	snprintf(data->path_delay, PATH_MAX, "%s/delay", path);
+
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int yas_orientation_deinit(struct piranha_sensors_handlers *handlers)
+{
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	if (handlers->data != NULL)
+		free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int yas_orientation_activate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas_orientation_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed |= PIRANHA_SENSORS_NEEDED_ORIENTATION;
+	if (data->acceleration_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->activate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed |= PIRANHA_SENSORS_NEEDED_ORIENTATION;
+	if (data->magnetic_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->activate(data->magnetic_sensor);
+
+	rc = sysfs_value_write(data->path_enable, 1);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas_orientation_deactivate(struct piranha_sensors_handlers *handlers)
+{
+	struct yas_orientation_data *data;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed &= ~(PIRANHA_SENSORS_NEEDED_ORIENTATION);
+	if (data->acceleration_sensor->needed == 0)
+		data->acceleration_sensor->deactivate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed &= ~(PIRANHA_SENSORS_NEEDED_ORIENTATION);
+	if (data->magnetic_sensor->needed == 0)
+		data->magnetic_sensor->deactivate(data->magnetic_sensor);
+
+	rc = sysfs_value_write(data->path_enable, 0);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	handlers->activated = 1;
+
+	return 0;
+}
+
+int yas_orientation_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+	struct yas_orientation_data *data;
+	int d;
+	int rc;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct yas_orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	if (data->acceleration_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->set_delay(data->acceleration_sensor, delay);
+
+	if (data->magnetic_sensor->needed == PIRANHA_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->set_delay(data->magnetic_sensor, delay);
+
+	if (delay < 10000000)
+		d = 10;
+	else
+		d = delay / 1000000;
+
+	rc = sysfs_value_write(data->path_delay, d);
+	if (rc < 0) {
+		ALOGE("%s: Unable to write sysfs value", __func__);
+		return -1;
+	}
+
+	return 0;
+}
+
+float yas_orientation_convert(int value)
+{
+	return value / 1000.0f;
+}
+
+int yas_orientation_get_data(struct piranha_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_ABS) {
+			switch (input_event.code) {
+				case ABS_X:
+					event->orientation.azimuth = yas_orientation_convert(input_event.value);
+					break;
+				case ABS_Y:
+					event->orientation.pitch = yas_orientation_convert(input_event.value);
+					break;
+				case ABS_Z:
+					event->orientation.roll = yas_orientation_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	return 0;
+}
+
+struct piranha_sensors_handlers yas_orientation = {
+	.name = "YAS Orientation",
+	.handle = SENSOR_TYPE_ORIENTATION,
+	.init = yas_orientation_init,
+	.deinit = yas_orientation_deinit,
+	.activate = yas_orientation_activate,
+	.deactivate = yas_orientation_deactivate,
+	.set_delay = yas_orientation_set_delay,
+	.get_data = yas_orientation_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};