libsensors: Big cleanup.

- Some formatting nitpicks.
- Removed useless 'dev_name'/'dev_fd' stuff for SensorBase.
- Merged sensor structs together.
- Added handleToDriver for MPLSensor.

13 files changed, 104 insertions, 203 deletions

diff --git a/libsensors/Android.mk b/libsensors/Android.mk
index 2d2d274..42fadb8 100644
--- a/libsensors/Android.mk
+++ b/libsensors/Android.mk
@@ -48,7 +48,6 @@ LOCAL_SRC_FILES := \
 LOCAL_SHARED_LIBRARIES := liblog libcutils libutils libdl libmllite libmlplatform
 LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
 LOCAL_CPPFLAGS := -DLINUX=1
-LOCAL_LDFLAGS := -rdynamic
 LOCAL_CLANG := true
 LOCAL_CFLAGS += -Wall -Werror
 
diff --git a/libsensors/InputEventReader.cpp b/libsensors/InputEventReader.cpp
index 964eda5..4d1ebbd 100644
--- a/libsensors/InputEventReader.cpp
+++ b/libsensors/InputEventReader.cpp
@@ -65,8 +65,7 @@ ssize_t InputEventCircularReader::fill(int fd)
         iov[0].iov_base = mHead;
         iov[0].iov_len = numFirst * sizeof(input_event);
 
-        if (numSecond > 0)
-        {
+        if (numSecond > 0) {
             iovcnt++;
             iov[1].iov_base = mBuffer;
             iov[1].iov_len = numSecond * sizeof(input_event);
diff --git a/libsensors/LightSensor.cpp b/libsensors/LightSensor.cpp
index 29b222b..a11ee1f 100644
--- a/libsensors/LightSensor.cpp
+++ b/libsensors/LightSensor.cpp
@@ -27,7 +27,7 @@
 #include "LightSensor.h"
 
 LightSensor::LightSensor()
-    : SamsungSensorBase(NULL, "lightsensor-level", ABS_MISC)
+    : SamsungSensorBase("lightsensor-level", ABS_MISC)
 {
     mPendingEvent.sensor = ID_L;
     mPendingEvent.type = SENSOR_TYPE_LIGHT;
diff --git a/libsensors/MPLSensor.cpp b/libsensors/MPLSensor.cpp
index bbdcf3a..d06a39a 100644
--- a/libsensors/MPLSensor.cpp
+++ b/libsensors/MPLSensor.cpp
@@ -56,7 +56,6 @@ extern "C" {
 }
 
 #include "mlcontrol.h"
-#include "sensor_params.h"
 
 #define EXTRA_VERBOSE (0)
 //#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__)
@@ -69,39 +68,6 @@ extern "C" {
 
 /******************************************/
 
-/* Base values for the sensor list, these need to be in the order defined in MPLSensor.h */
-static struct sensor_t sSensorList[] =
-{
-    {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE,
-     SENSOR_TYPE_GYROSCOPE, GYRO_MPU3050_RANGE, GYRO_MPU3050_RESOLUTION,
-     GYRO_MPU3050_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GYROSCOPE, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE,
-     SENSOR_TYPE_ACCELEROMETER, ACCEL_BMA250_RANGE, ACCEL_BMA250_RESOLUTION,
-     ACCEL_BMA250_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ACCELEROMETER, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE,
-     SENSOR_TYPE_MAGNETIC_FIELD, COMPASS_YAS530_RANGE, COMPASS_YAS530_RESOLUTION,
-     COMPASS_YAS530_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_MAGNETIC_FIELD, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE,
-     SENSOR_TYPE_ORIENTATION, NINEAXIS_ORIENTATION_RANGE, NINEAXIS_ORIENTATION_RESOLUTION,
-     NINEAXIS_ORIENTATION_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ORIENTATION, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE,
-     SENSOR_TYPE_ROTATION_VECTOR, NINEAXIS_ROTATION_VECTOR_RANGE, NINEAXIS_ROTATION_VECTOR_RESOLUTION,
-     NINEAXIS_ROTATION_VECTOR_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ORIENTATION, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE,
-     SENSOR_TYPE_LINEAR_ACCELERATION, NINEAXIS_LINEAR_ACCEL_RANGE, NINEAXIS_LINEAR_ACCEL_RESOLUTION,
-     NINEAXIS_LINEAR_ACCEL_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-    {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE,
-     SENSOR_TYPE_GRAVITY, NINEAXIS_GRAVITY_RANGE, NINEAXIS_GRAVITY_RESOLUTION,
-     NINEAXIS_GRAVITY_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GRAVITY, "",
-     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-};
-
 static unsigned long long irq_timestamp = 0;
 /* ***************************************************************************
  * MPL interface misc.
@@ -149,7 +115,7 @@ void setCallbackObject(MPLSensor* gbpt)
 #define RV_ENABLED ((1<<ID_RV) & enabled_sensors)
 
 MPLSensor::MPLSensor() :
-    SensorBase(NULL, NULL),
+    SensorBase(NULL),
             mNewData(0),
             mDmpStarted(false),
             mMasterSensorMask(INV_ALL_SENSORS),
@@ -157,7 +123,8 @@ MPLSensor::MPLSensor() :
             mCurFifoRate(-1), mHaveGoodMpuCal(false), mHaveGoodCompassCal(false),
             mUseTimerIrqAccel(false), mUsetimerIrqCompass(true),
             mUseTimerirq(false),
-            mEnabled(0), mPendingMask(0)
+            mEnabled(0), mPendingMask(0),
+            mForceSleep(false), mNineAxisEnabled(false)
 {
     FUNC_LOG;
     int mpu_int_fd;
@@ -167,13 +134,6 @@ MPLSensor::MPLSensor() :
 
     pthread_mutex_init(&mMplMutex, NULL);
 
-    mForceSleep = false;
-
-    /* used for identifying whether 9axis is enabled or not             */
-    /* this variable will be changed in initMPL() when libmpl is loaded */
-    /* sensor list will be changed based on this variable               */
-    mNineAxisEnabled = false;
-
     for (size_t i = 0; i < ARRAY_SIZE(mPollFds); i++) {
         mPollFds[i].fd = -1;
         mPollFds[i].events = 0;
@@ -214,7 +174,7 @@ MPLSensor::MPLSensor() :
     data_fd = mpu_int_fd;
 
     if ((accel_fd == -1) && (timer_fd != -1)) {
-        //no accel irq and timer available
+        // no accel irq, but timer is available
         mUseTimerIrqAccel = true;
     }
 
@@ -248,8 +208,7 @@ MPLSensor::MPLSensor() :
     mPendingEvents[Orientation].version = sizeof(sensors_event_t);
     mPendingEvents[Orientation].sensor = ID_O;
     mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION;
-    mPendingEvents[Orientation].orientation.status
-            = SENSOR_STATUS_ACCURACY_HIGH;
+    mPendingEvents[Orientation].orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
 
     mHandlers[RotationVector] = &MPLSensor::rvHandler;
     mHandlers[LinearAccel] = &MPLSensor::laHandler;
@@ -272,7 +231,6 @@ MPLSensor::MPLSensor() :
     //setup the FIFO contents
     setupFIFO();
 
-
     pthread_mutex_unlock(&mMplMutex);
 }
 
@@ -325,17 +283,11 @@ void MPLSensor::setPowerStates(int enabled_sensors)
     FUNC_LOG;
     bool irq_set[5] = { false, false, false, false, false };
 
-    do {
-        if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
-            mLocalSensorMask = ALL_MPL_SENSORS_NP;
-            break;
-        }
-
-        if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) {
-            mLocalSensorMask = 0;
-            break;
-        }
-
+    if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
+        mLocalSensorMask = ALL_MPL_SENSORS_NP;
+    } else if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) {
+        mLocalSensorMask = 0;
+    } else {
         if (GY_ENABLED) {
             mLocalSensorMask |= INV_THREE_AXIS_GYRO;
         } else {
@@ -353,7 +305,7 @@ void MPLSensor::setPowerStates(int enabled_sensors)
         } else {
             mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS);
         }
-    } while (0);
+    }
 
     //record the new sensor state
     inv_error_t rv;
@@ -446,13 +398,13 @@ void MPLSensor::initMPL()
     }
 
     //check for the 9axis fusion library: if available load it and start 9x
-    void* h_dmp_lib=dlopen("libinvensense_mpl.so", RTLD_NOW);
-    if(h_dmp_lib) {
+    void* h_dmp_lib = dlopen("libinvensense_mpl.so", RTLD_NOW);
+    if (h_dmp_lib) {
         const char* error;
         error = dlerror();
         inv_error_t (*fp_inv_enable_9x_fusion)() =
               (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion");
-        if((error = dlerror()) != NULL) {
+        if ((error = dlerror()) != NULL) {
             ALOGE("%s %s", error, "inv_enable_9x_fusion");
         } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) {
             ALOGE( "Warning : 9 axis sensor fusion not available "
@@ -534,12 +486,10 @@ void MPLSensor::setupCallbacks()
     FUNC_LOG;
     if (inv_set_motion_callback(mot_cb_wrapper) != INV_SUCCESS) {
         ALOGE("Error : Motion callback could not be set.\n");
-
     }
 
     if (inv_set_fifo_processed_callback(procData_cb_wrapper) != INV_SUCCESS) {
         ALOGE("Error : Processed data callback could not be set.");
-
     }
 }
 
@@ -552,7 +502,7 @@ void MPLSensor::cbOnMotion(uint16_t val)
     //after the first no motion, the gyro should be calibrated well
     if (val == 2) {
         if ((inv_get_dl_config()->requested_sensors) & INV_THREE_AXIS_GYRO) {
-            //if gyros are on and we got a no motion, set a flag
+            // if gyros are on and we got a no motion, set a flag
             // indicating that the cal file can be written.
             mHaveGoodMpuCal = true;
         }
@@ -567,8 +517,8 @@ void MPLSensor::cbProcData()
     mNewData = 1;
 }
 
-//these handlers transform mpl data into one of the Android sensor types
-//  scaling and coordinate transforms should be done in the handlers
+// these handlers transform mpl data into one of the Android sensor types.
+// scaling and coordinate transforms should be done in the handlers
 
 void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask,
                              int index)
@@ -603,7 +553,7 @@ int MPLSensor::estimateCompassAccuracy()
     int rv;
 
     res = inv_get_compass_accuracy(&rv);
-    if(rv >= SENSOR_STATUS_ACCURACY_MEDIUM) {
+    if (rv >= SENSOR_STATUS_ACCURACY_MEDIUM) {
          mHaveGoodCompassCal = true;
     }
     ALOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy");
@@ -763,34 +713,7 @@ int MPLSensor::enable(int32_t handle, int en)
 {
     FUNC_LOG;
 
-    int what = -1;
-
-    switch (handle) {
-    case ID_A:
-        what = Accelerometer;
-        break;
-    case ID_M:
-        what = MagneticField;
-        break;
-    case ID_O:
-        what = Orientation;
-        break;
-    case ID_GY:
-        what = Gyro;
-        break;
-    case ID_GR:
-        what = Gravity;
-        break;
-    case ID_RV:
-        what = RotationVector;
-        break;
-    case ID_LA:
-        what = LinearAccel;
-        break;
-    default: //this takes care of all the gestures
-        what = handle;
-        break;
-    }
+    int what = handleToDriver(handle);
 
     if (uint32_t(what) >= numSensors)
         return -EINVAL;
@@ -819,33 +742,8 @@ int MPLSensor::setDelay(int32_t handle, int64_t ns)
     FUNC_LOG;
     ALOGV_IF(EXTRA_VERBOSE,
             " setDelay handle: %d rate %d", handle, (int) (ns / 1000000LL));
-    int what = -1;
-    switch (handle) {
-    case ID_A:
-        what = Accelerometer;
-        break;
-    case ID_M:
-        what = MagneticField;
-        break;
-    case ID_O:
-        what = Orientation;
-        break;
-    case ID_GY:
-        what = Gyro;
-        break;
-    case ID_GR:
-        what = Gravity;
-        break;
-    case ID_RV:
-        what = RotationVector;
-        break;
-    case ID_LA:
-        what = LinearAccel;
-        break;
-    default:
-        what = handle;
-        break;
-    }
+
+    int what = handleToDriver(handle);
 
     if (uint32_t(what) >= numSensors)
         return -EINVAL;
@@ -895,7 +793,7 @@ int MPLSensor::update_delay()
             rv = (res == INV_SUCCESS);
         }
 
-        if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) {
+        if ((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0) {
             if (mUseTimerirq) {
                 ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0);
                 clearIrqData(irq_set);
@@ -934,9 +832,7 @@ int MPLSensor::readEvents(sensors_event_t* data, int count)
     if (mDmpStarted) {
         rv = inv_update_data();
         ALOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv);
-    }
-
-    else {
+    } else {
         //probably just one extra read after shutting down
         ALOGV_IF(EXTRA_VERBOSE,
                 "MPLSensor::readEvents called, but there's nothing to do.");
@@ -1032,8 +928,8 @@ void MPLSensor::wakeEvent()
     pthread_mutex_lock(&mMplMutex);
     if (mForceSleep) {
         setPowerStates((mOldEnabledMask | mEnabled));
+        mForceSleep = false;
     }
-    mForceSleep = false;
     pthread_mutex_unlock(&mMplMutex);
 }
 
@@ -1042,25 +938,19 @@ void MPLSensor::wakeEvent()
  *  parameter list must point to a memory region of at least 7*sizeof(sensor_t)
  *  parameter len gives the length of the buffer pointed to by list
  */
-
 int MPLSensor::populateSensorList(struct sensor_t *list, size_t len)
 {
-    int numsensors;
+    int numsensors = 7;
 
-    if(len < 7*sizeof(sensor_t)) {
+    if (len < numsensors * sizeof(sensor_t)) {
         ALOGE("sensor list too small, not populating.");
         return 0;
     }
 
-    /* fill in the base values */
-    memcpy(list, sSensorList, sizeof (struct sensor_t) * 7);
-
-    if (mNineAxisEnabled) {
-        numsensors = 7;
-    } else {
+    if (!mNineAxisEnabled) {
         /* no 9-axis sensors, zero fill that part of the list */
         numsensors = 3;
-        memset(list+3, 0, 4*sizeof(struct sensor_t));
+        memset(list + numsensors, 0, (7 - numsensors) * sizeof(struct sensor_t));
     }
 
     return numsensors;
diff --git a/libsensors/MPLSensor.h b/libsensors/MPLSensor.h
index eba750a..fc65708 100644
--- a/libsensors/MPLSensor.h
+++ b/libsensors/MPLSensor.h
@@ -118,8 +118,27 @@ private:
     long int mOldEnabledMask;
     android::KeyedVector<int, int> mIrqFds;
 
-    /* added for dynamic get sensor list              */
     bool mNineAxisEnabled;
+
+    int handleToDriver(int handle) const {
+        switch (handle) {
+            case ID_A:
+                return Accelerometer;
+            case ID_M:
+                return MagneticField;
+            case ID_O:
+                return Orientation;
+            case ID_GY:
+                return Gyro;
+            case ID_GR:
+                return Gravity;
+            case ID_RV:
+                return RotationVector;
+            case ID_LA:
+                return LinearAccel;
+        }
+        return handle;
+    }
 };
 
 void setCallbackObject(MPLSensor*);
diff --git a/libsensors/PressureSensor.cpp b/libsensors/PressureSensor.cpp
index dc34b95..a273811 100644
--- a/libsensors/PressureSensor.cpp
+++ b/libsensors/PressureSensor.cpp
@@ -33,7 +33,7 @@
 #define PRESSURE_HECTO (1.0f/100.0f)
 
 PressureSensor::PressureSensor()
-    : SamsungSensorBase(NULL, "barometer", ABS_PRESSURE)
+    : SamsungSensorBase("barometer", ABS_PRESSURE)
 {
     mPendingEvent.sensor = ID_PR;
     mPendingEvent.type = SENSOR_TYPE_PRESSURE;
diff --git a/libsensors/ProximitySensor.cpp b/libsensors/ProximitySensor.cpp
index 56efc8d..b29485d 100644
--- a/libsensors/ProximitySensor.cpp
+++ b/libsensors/ProximitySensor.cpp
@@ -30,7 +30,7 @@
 /*****************************************************************************/
 
 ProximitySensor::ProximitySensor()
-    : SamsungSensorBase(NULL, "proximity", ABS_DISTANCE)
+    : SamsungSensorBase("proximity", ABS_DISTANCE)
 {
     mPendingEvent.sensor = ID_P;
     mPendingEvent.type = SENSOR_TYPE_PROXIMITY;
diff --git a/libsensors/SamsungSensorBase.cpp b/libsensors/SamsungSensorBase.cpp
index 0492d94..4cea484 100644
--- a/libsensors/SamsungSensorBase.cpp
+++ b/libsensors/SamsungSensorBase.cpp
@@ -55,10 +55,9 @@ int SamsungSensorBase::handleEnable(int en __unused) {
     return 0;
 }
 
-SamsungSensorBase::SamsungSensorBase(const char *dev_name,
-                                     const char *data_name,
+SamsungSensorBase::SamsungSensorBase(const char *data_name,
                                      int sensor_code)
-    : SensorBase(dev_name, data_name),
+    : SensorBase(data_name),
       mEnabled(true),
       mHasPendingEvent(false),
       mInputReader(4),
@@ -182,5 +181,4 @@ int SamsungSensorBase::readEvents(sensors_event_t* data, int count)
 done:
     pthread_mutex_unlock(&mLock);
     return numEventReceived;
-
 }
diff --git a/libsensors/SamsungSensorBase.h b/libsensors/SamsungSensorBase.h
index 1440e37..8faa978 100644
--- a/libsensors/SamsungSensorBase.h
+++ b/libsensors/SamsungSensorBase.h
@@ -52,8 +52,7 @@ protected:
     virtual bool handleEvent(input_event const * event);
 
 public:
-    SamsungSensorBase(const char* dev_name,
-                      const char* data_name,
+    SamsungSensorBase(const char* data_name,
                       int sensor_code);
 
     virtual ~SamsungSensorBase();
diff --git a/libsensors/SensorBase.cpp b/libsensors/SensorBase.cpp
index 6d6ab25..5649d90 100644
--- a/libsensors/SensorBase.cpp
+++ b/libsensors/SensorBase.cpp
@@ -31,11 +31,9 @@
 
 /*****************************************************************************/
 
-SensorBase::SensorBase(
-        const char* dev_name,
-        const char* data_name)
-    : dev_name(dev_name), data_name(data_name),
-      dev_fd(-1), data_fd(-1)
+SensorBase::SensorBase(const char* data_name)
+    : data_name(data_name),
+      data_fd(-1)
 {
     if (data_name) {
         data_fd = openInput(data_name);
@@ -46,31 +44,9 @@ SensorBase::~SensorBase() {
     if (data_fd >= 0) {
         close(data_fd);
     }
-    if (dev_fd >= 0) {
-        close(dev_fd);
-    }
-}
-
-int SensorBase::open_device() {
-    if (dev_fd<0 && dev_name) {
-        dev_fd = open(dev_name, O_RDONLY);
-        ALOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno));
-    }
-    return 0;
-}
-
-int SensorBase::close_device() {
-    if (dev_fd >= 0) {
-        close(dev_fd);
-        dev_fd = -1;
-    }
-    return 0;
 }
 
 int SensorBase::getFd() const {
-    if (!data_name) {
-        return dev_fd;
-    }
     return data_fd;
 }
 
@@ -90,19 +66,19 @@ int SensorBase::openInput(const char* inputName) {
     DIR *dir;
     struct dirent *de;
     dir = opendir(dirname);
-    if(dir == NULL)
+    if (dir == NULL)
         return -1;
     strcpy(devname, dirname);
     filename = devname + strlen(devname);
     *filename++ = '/';
-    while((de = readdir(dir))) {
-        if(de->d_name[0] == '.' &&
+    while ((de = readdir(dir))) {
+        if (de->d_name[0] == '.' &&
                 (de->d_name[1] == '\0' ||
                         (de->d_name[1] == '.' && de->d_name[2] == '\0')))
             continue;
         strcpy(filename, de->d_name);
         fd = open(devname, O_RDONLY);
-        if (fd>=0) {
+        if (fd >= 0) {
             char name[80];
             if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
                 name[0] = '\0';
@@ -117,6 +93,6 @@ int SensorBase::openInput(const char* inputName) {
         }
     }
     closedir(dir);
-    ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
+    ALOGE_IF(fd < 0, "couldn't find '%s' input device", inputName);
     return fd;
 }
diff --git a/libsensors/SensorBase.h b/libsensors/SensorBase.h
index eb50550..b76748b 100644
--- a/libsensors/SensorBase.h
+++ b/libsensors/SensorBase.h
@@ -29,21 +29,14 @@ struct sensors_event_t;
 
 class SensorBase {
 protected:
-    const char* dev_name;
     const char* data_name;
     char        input_name[PATH_MAX];
-    int         dev_fd;
     int         data_fd;
 
     int openInput(const char* inputName);
 
-    int open_device();
-    int close_device();
-
 public:
-            SensorBase(
-                    const char* dev_name,
-                    const char* data_name);
+    SensorBase(const char* data_name);
 
     virtual ~SensorBase();
 
diff --git a/libsensors/TemperatureSensor.cpp b/libsensors/TemperatureSensor.cpp
index 74a6cd5..b782e0a 100644
--- a/libsensors/TemperatureSensor.cpp
+++ b/libsensors/TemperatureSensor.cpp
@@ -29,7 +29,7 @@
 #define TEMPERATURE_CELCIUS (1.0f/10.0f)
 
 TemperatureSensor::TemperatureSensor()
-    : SamsungSensorBase(NULL, "barometer", ABS_MISC)
+    : SamsungSensorBase("barometer", ABS_MISC)
 {
     mPendingEvent.sensor = ID_T;
     mPendingEvent.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
diff --git a/libsensors/sensors.cpp b/libsensors/sensors.cpp
index fe2070e..84b2682 100644
--- a/libsensors/sensors.cpp
+++ b/libsensors/sensors.cpp
@@ -34,6 +34,7 @@
 #include <utils/Log.h>
 
 #include "sensors.h"
+#include "sensor_params.h"
 
 #include "MPLSensor.h"
 #include "LightSensor.h"
@@ -93,6 +94,34 @@ static struct sensor_t sSensorList[LOCAL_SENSORS + MPLSensor::numSensors] =
     {"BMP180 Temperature", "Bosch", 1, SENSORS_TEMPERATURE_HANDLE,
      SENSOR_TYPE_AMBIENT_TEMPERATURE, 850.0f, 0.1f, 0.67f, 20000, 0, 0,
      SENSOR_STRING_TYPE_AMBIENT_TEMPERATURE, "", 20000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE,
+     SENSOR_TYPE_GYROSCOPE, GYRO_MPU3050_RANGE, GYRO_MPU3050_RESOLUTION,
+     GYRO_MPU3050_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GYROSCOPE, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE,
+     SENSOR_TYPE_ACCELEROMETER, ACCEL_BMA250_RANGE, ACCEL_BMA250_RESOLUTION,
+     ACCEL_BMA250_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ACCELEROMETER, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE,
+     SENSOR_TYPE_MAGNETIC_FIELD, COMPASS_YAS530_RANGE, COMPASS_YAS530_RESOLUTION,
+     COMPASS_YAS530_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_MAGNETIC_FIELD, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE,
+     SENSOR_TYPE_ORIENTATION, NINEAXIS_ORIENTATION_RANGE, NINEAXIS_ORIENTATION_RESOLUTION,
+     NINEAXIS_ORIENTATION_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ORIENTATION, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE,
+     SENSOR_TYPE_ROTATION_VECTOR, NINEAXIS_ROTATION_VECTOR_RANGE, NINEAXIS_ROTATION_VECTOR_RESOLUTION,
+     NINEAXIS_ROTATION_VECTOR_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_ORIENTATION, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE,
+     SENSOR_TYPE_LINEAR_ACCELERATION, NINEAXIS_LINEAR_ACCEL_RANGE, NINEAXIS_LINEAR_ACCEL_RESOLUTION,
+     NINEAXIS_LINEAR_ACCEL_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
+    {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE,
+     SENSOR_TYPE_GRAVITY, NINEAXIS_GRAVITY_RANGE, NINEAXIS_GRAVITY_RESOLUTION,
+     NINEAXIS_GRAVITY_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GRAVITY, "",
+     0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
 };
 static int numSensors = LOCAL_SENSORS;
 
@@ -253,7 +282,7 @@ sensors_poll_context_t::sensors_poll_context_t()
 sensors_poll_context_t::~sensors_poll_context_t()
 {
     FUNC_LOG;
-    for (int i=0 ; i<numSensorDrivers ; i++) {
+    for (int i = 0; i < numSensorDrivers; i++) {
         delete mSensors[i];
     }
     close(mPollFds[wake].fd);
@@ -269,7 +298,7 @@ int sensors_poll_context_t::activate(int handle, int enabled)
     if (!err) {
         const char wakeMessage(WAKE_MESSAGE);
         int result = write(mWritePipeFd, &wakeMessage, 1);
-        ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
+        ALOGE_IF(result < 0, "error sending wake message (%s)", strerror(errno));
     }
     return err;
 }
@@ -291,7 +320,7 @@ int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
 
     do {
         // see if we have some leftover from the last poll()
-        for (int i=0 ; count && i<numSensorDrivers ; i++) {
+        for (int i = 0; count && i < numSensorDrivers; i++) {
             SensorBase* const sensor(mSensors[i]);
             if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
                 int nb = sensor->readEvents(data, count);
@@ -304,13 +333,12 @@ int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
                 data += nb;
 
                 //special handling for the mpl, which has multiple handles
-                if(i==mpl) {
-                    i+=2; //skip accel and timer
+                if (i == mpl) {
+                    i += 2; //skip accel and timer
                     mPollFds[mpl_accel].revents = 0;
                     mPollFds[mpl_timer].revents = 0;
-                }
-                if(i==mpl_accel) {
-                    i+=1; //skip timer
+                } else if (i == mpl_accel) {
+                    i += 1; //skip timer
                     mPollFds[mpl_timer].revents = 0;
                 }
             }
@@ -323,18 +351,18 @@ int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
             do {
                 n = poll(mPollFds, numFds, nbEvents ? 0 : polltime);
             } while (n < 0 && errno == EINTR);
-            if (n<0) {
+            if (n < 0) {
                 ALOGE("poll() failed (%s)", strerror(errno));
                 return -errno;
             }
             if (mPollFds[wake].revents & POLLIN) {
                 char msg;
                 int result = read(mPollFds[wake].fd, &msg, 1);
-                ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
+                ALOGE_IF(result < 0, "error reading from wake pipe (%s)", strerror(errno));
                 ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
                 mPollFds[wake].revents = 0;
             }
-            if(mPollFds[mpl_power].revents & POLLIN) {
+            if (mPollFds[mpl_power].revents & POLLIN) {
                 ((MPLSensor*)mSensors[mpl])->handlePowerEvent();
                 mPollFds[mpl_power].revents = 0;
             }