Merge "AKM sensor code for AK8975"tools_r22.2jb-mr1.1-dev-plus-aosp

41 files changed, 5304 insertions, 0 deletions

diff --git a/AK8975_FS/akmdfs/AK8975Driver.c b/AK8975_FS/akmdfs/AK8975Driver.c
new file mode 100644
index 0000000..14fe6bd
--- /dev/null
+++ b/AK8975_FS/akmdfs/AK8975Driver.c
@@ -0,0 +1,319 @@
+/******************************************************************************
+ * $Id: AK8975Driver.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include <fcntl.h>
+#include "AKFS_Common.h"
+#include "AK8975Driver.h"
+
+#define MSENSOR_NAME		"/dev/akm8975_dev"
+
+static int s_fdDev = -1;
+
+/*!
+ Open device driver.
+ This function opens both device drivers of magnetic sensor and acceleration
+ sensor. Additionally, some initial hardware settings are done, such as
+ measurement range, built-in filter function and etc.
+ @return If this function succeeds, the return value is #AKD_SUCCESS.
+ Otherwise the return value is #AKD_FAIL.
+ */
+int16_t AKD_InitDevice(void)
+{
+	if (s_fdDev < 0) {
+		/* Open magnetic sensor's device driver. */
+		if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) {
+			AKMERROR_STR("open");
+			return AKD_FAIL;
+		}
+	}
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Close device driver.
+ This function closes both device drivers of magnetic sensor and acceleration
+ sensor.
+ */
+void AKD_DeinitDevice(void)
+{
+	if (s_fdDev >= 0) {
+		close(s_fdDev);
+		s_fdDev = -1;
+	}
+}
+
+/*!
+ Writes data to a register of the AK8975.  When more than one byte of data is
+ specified, the data is written in contiguous locations starting at an address
+ specified in \a address.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] address Specify the address of a register in which data is to be
+ written.
+ @param[in] data Specify data to write or a pointer to a data array containing
+ the data.  When specifying more than one byte of data, specify the starting
+ address of the array.
+ @param[in] numberOfBytesToWrite Specify the number of bytes that make up the
+ data to write.  When a pointer to an array is specified in data, this argument
+ equals the number of elements of the array.
+ */
+int16_t AKD_TxData(
+				const BYTE address,
+				const BYTE * data,
+				const uint16_t numberOfBytesToWrite)
+{
+	int i;
+	char buf[RWBUF_SIZE];
+
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (numberOfBytesToWrite > (RWBUF_SIZE-2)) {
+		ALOGE("%s: Tx size is too large.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	buf[0] = numberOfBytesToWrite + 1;
+	buf[1] = address;
+
+	for (i = 0; i < numberOfBytesToWrite; i++) {
+		buf[i + 2] = data[i];
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	} else {
+
+#if ENABLE_AKMDEBUG
+		AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x data(HEX)=", address);
+		for (i = 0; i < numberOfBytesToWrite; i++) {
+			AKMDATA(AKMDATA_DRV, " %02x", data[i]);
+		}
+		AKMDATA(AKMDATA_DRV, "\n");
+#endif
+		return AKD_SUCCESS;
+	}
+}
+
+/*!
+ Acquires data from a register or the EEPROM of the AK8975.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] address Specify the address of a register from which data is to be
+ read.
+ @param[out] data Specify a pointer to a data array which the read data are
+ stored.
+ @param[in] numberOfBytesToRead Specify the number of bytes that make up the
+ data to read.  When a pointer to an array is specified in data, this argument
+ equals the number of elements of the array.
+ */
+int16_t AKD_RxData(
+				const BYTE address,
+				BYTE * data,
+				const uint16_t numberOfBytesToRead)
+{
+	int i;
+	char buf[RWBUF_SIZE];
+
+	memset(data, 0, numberOfBytesToRead);
+
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (numberOfBytesToRead > (RWBUF_SIZE-1)) {
+		ALOGE("%s: Rx size is too large.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	buf[0] = numberOfBytesToRead;
+	buf[1] = address;
+
+	if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	} else {
+		for (i = 0; i < numberOfBytesToRead; i++) {
+			data[i] = buf[i + 1];
+		}
+#if ENABLE_AKMDEBUG
+		AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x len=%d data(HEX)=",
+				address, numberOfBytesToRead);
+		for (i = 0; i < numberOfBytesToRead; i++) {
+			AKMDATA(AKMDATA_DRV, " %02x", data[i]);
+		}
+		AKMDATA(AKMDATA_DRV, "\n");
+#endif
+		return AKD_SUCCESS;
+	}
+}
+
+/*!
+ Acquire magnetic data from AK8975. If measurement is not done, this function
+ waits until measurement completion.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE.
+ */
+int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE])
+{
+	memset(data, 0, SENSOR_DATA_SIZE);
+
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	AKMDATA(AKMDATA_DRV,
+		"bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n",
+		data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Set calculated data to device driver.
+ @param[in] buf The order of input data depends on driver's specification.
+ */
+void AKD_SetYPR(const int buf[YPR_DATA_SIZE])
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+	} else {
+		if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) {
+			AKMERROR_STR("ioctl");
+		}
+	}
+}
+
+/*!
+ */
+int AKD_GetOpenStatus(int* status)
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ */
+int AKD_GetCloseStatus(int* status)
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ Set AK8975 to the specific mode.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[in] mode This value should be one of the AK8975_Mode which is defined in
+ akm8975.h file.
+ */
+int16_t AKD_SetMode(const BYTE mode)
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	return AKD_SUCCESS;
+}
+
+/*!
+ Acquire delay
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] delay A delay in nanosecond.
+ */
+int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS])
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.\n", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+	return AKD_SUCCESS;
+}
+
+/*!
+ Get layout information from device driver, i.e. platform data.
+ */
+int16_t AKD_GetLayout(int16_t* layout)
+{
+	char tmp;
+
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	*layout = tmp;
+	return AKD_SUCCESS;
+}
+
+/* Get acceleration data. */
+int16_t AKD_GetAccelerationData(int16_t data[3])
+{
+	if (s_fdDev < 0) {
+		ALOGE("%s: Device file is not opened.", __FUNCTION__);
+		return AKD_FAIL;
+	}
+	if (ioctl(s_fdDev, ECS_IOCTL_GET_ACCEL, data) < 0) {
+		AKMERROR_STR("ioctl");
+		return AKD_FAIL;
+	}
+
+	AKMDATA(AKMDATA_DRV, "%s: acc=%d, %d, %d\n",
+			__FUNCTION__, data[0], data[1], data[2]);
+
+	return AKD_SUCCESS;
+}
diff --git a/AK8975_FS/akmdfs/AK8975Driver.h b/AK8975_FS/akmdfs/AK8975Driver.h
new file mode 100644
index 0000000..2f226ac
--- /dev/null
+++ b/AK8975_FS/akmdfs/AK8975Driver.h
@@ -0,0 +1,103 @@
+/******************************************************************************
+ * $Id: AK8975Driver.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKMD_INC_AK8975DRIVER_H
+#define AKMD_INC_AK8975DRIVER_H
+
+#include "platform/include/linux/akm8975.h"	/* Device driver */
+#include <stdint.h>			/* int8_t, int16_t etc. */
+
+/*** Constant definition ******************************************************/
+#define AKD_TRUE	1		/*!< Represents true */
+#define AKD_FALSE	0		/*!< Represents false */
+#define AKD_SUCCESS	1		/*!< Represents success.*/
+#define AKD_FAIL	0		/*!< Represents fail. */
+#define AKD_ERROR	-1		/*!< Represents error. */
+
+/*! 0:Don't Output data, 1:Output data */
+#define AKD_DBG_DATA	0
+/*! Typical interval in ns */
+#define AK8975_MEASUREMENT_TIME_NS	((AK8975_MEASUREMENT_TIME_US) * 1000)
+/*! 720 LSG = 1G = 9.8 m/s2 */
+#define LSG			720
+
+
+/*** Type declaration *********************************************************/
+typedef unsigned char BYTE;
+
+/*!
+ Open device driver.
+ This function opens device driver of acceleration sensor.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ */
+typedef int16_t(*ACCFNC_INITDEVICE)(void);
+
+/*!
+ Close device driver.
+ This function closes device drivers of acceleration sensor.
+ */
+typedef void(*ACCFNC_DEINITDEVICE)(void);
+
+/*!
+ Acquire acceleration data from acceleration sensor and convert it to Android
+ coordinate system.
+ @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
+ the return value is #AKD_FAIL.
+ @param[out] data A acceleration data array. The coordinate system of the
+ acquired data follows the definition of Android. Unit is SmartCompass.
+ */
+typedef int16_t(*ACCFNC_GETACCDATA)(short data[3]);
+
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of Function  ***************************************************/
+
+int16_t AKD_InitDevice(void);
+
+void AKD_DeinitDevice(void);
+
+int16_t AKD_TxData(
+	const BYTE address,
+	const BYTE* data,
+	const uint16_t numberOfBytesToWrite);
+
+int16_t AKD_RxData(
+	const BYTE address,
+	BYTE* data,
+	const uint16_t numberOfBytesToRead);
+
+int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]);
+
+void AKD_SetYPR(const int buf[YPR_DATA_SIZE]);
+
+int AKD_GetOpenStatus(int* status);
+
+int AKD_GetCloseStatus(int* status);
+
+int16_t AKD_SetMode(const BYTE mode);
+
+int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]);
+
+int16_t AKD_GetLayout(int16_t* layout);
+
+int16_t AKD_GetAccelerationData(int16_t data[3]);
+
+#endif /* AKMD_INC_AK8975DRIVER_H */
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs.c b/AK8975_FS/akmdfs/AKFS_APIs.c
new file mode 100644
index 0000000..e153c98
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs.c
@@ -0,0 +1,390 @@
+/******************************************************************************
+ * $Id: AKFS_APIs.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_Common.h"
+#include "AKFS_Disp.h"
+#include "AKFS_FileIO.h"
+#include "AKFS_APIs.h"
+
+#ifdef WIN32
+#include "AK8975_LinuxDriver.h"
+#endif
+
+static AK8975PRMS g_prms;
+
+/*!
+  Initialize library. At first, 0 is set to all parameters.  After that, some
+  parameters, which should not be 0, are set to specific value. Some of initial
+  values can be customized by editing the file \c "AKFS_CSpec.h".
+  @return The return value is #AKM_SUCCESS.
+  @param[in] hpat Specify a layout pattern number.  The number is determined
+  according to the mount orientation of the magnetometer.
+  @param[in] regs[3] Specify the ASA values which are read out from
+  fuse ROM.  regs[0] is ASAX, regs[1] is ASAY, regs[2] is ASAZ.
+ */
+int16 AKFS_Init(
+	const	AKFS_PATNO	hpat,
+	const	uint8		regs[]
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: hpat=%d, r[0]=0x%02X, r[1]=0x%02X, r[2]=0x%02X\n",
+		__FUNCTION__, hpat, regs[0], regs[1], regs[2]);
+
+	/* Set 0 to the AK8975 structure. */
+	memset(&g_prms, 0, sizeof(AK8975PRMS));
+
+	/* Sensitivity */
+	g_prms.mfv_hs.u.x = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_hs.u.y = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_hs.u.z = AK8975_HSENSE_DEFAULT;
+	g_prms.mfv_as.u.x = AK8975_ASENSE_DEFAULT;
+	g_prms.mfv_as.u.y = AK8975_ASENSE_DEFAULT;
+	g_prms.mfv_as.u.z = AK8975_ASENSE_DEFAULT;
+
+	/* Initialize variables that initial value is not 0. */
+	g_prms.mi_hnaveV = CSPEC_HNAVE_V;
+	g_prms.mi_hnaveD = CSPEC_HNAVE_D;
+	g_prms.mi_anaveV = CSPEC_ANAVE_V;
+	g_prms.mi_anaveD = CSPEC_ANAVE_D;
+
+	/* Copy ASA values */
+	g_prms.mi_asa.u.x = regs[0];
+	g_prms.mi_asa.u.y = regs[1];
+	g_prms.mi_asa.u.z = regs[2];
+
+	/* Copy layout pattern */
+	g_prms.m_hpat = hpat;
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Release resources. This function is for future expansion.
+  @return The return value is #AKM_SUCCESS.
+ */
+int16 AKFS_Release(void)
+{
+	return AKM_SUCCESS;
+}
+
+/*
+  This function is called just before a measurement sequence starts.
+  This function reads parameters from file, then initializes algorithm
+  parameters.
+  @return The return value is #AKM_SUCCESS.
+  @param[in] path Specify a path to the settings file.
+ */
+int16 AKFS_Start(
+	const char* path
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path);
+
+	/* Read setting files from a file */
+	if (AKFS_LoadParameters(&g_prms, path) != AKM_SUCCESS) {
+		AKMERROR_STR("AKFS_Load");
+	}
+
+	/* Initialize buffer */
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hdata);
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hvbuf);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_adata);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_avbuf);
+
+	/* Initialize for AOC */
+	AKFS_InitAOC(&g_prms.m_aocv);
+	/* Initialize magnetic status */
+	g_prms.mi_hstatus = 0;
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when a measurement sequence is done.
+  This fucntion writes parameters to file.
+  @return The return value is #AKM_SUCCESS.
+  @param[in] path Specify a path to the settings file.
+ */
+int16 AKFS_Stop(
+	const char* path
+)
+{
+	AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path);
+
+	/* Write setting files to a file */
+	if (AKFS_SaveParameters(&g_prms, path) != AKM_SUCCESS) {
+		AKMERROR_STR("AKFS_Save");
+	}
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when new magnetometer data is available.  The output
+  vector format and coordination system follow the Android definition.
+  @return The return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param[in] mag A set of measurement data from magnetometer.  X axis value
+   should be in mag[0], Y axis value should be in mag[1], Z axis value should be 
+   in mag[2].
+  @param[in] status A status of magnetometer.  This status indicates the result
+   of measurement data, i.e. overflow, success or fail, etc.
+  @param[out] vx X axis value of magnetic field vector.
+  @param[out] vy Y axis value of magnetic field vector.
+  @param[out] vz Z axis value of magnetic field vector.
+  @param[out] accuracy Accuracy of magnetic field vector.
+ */
+int16 AKFS_Get_MAGNETIC_FIELD(
+	const	int16		mag[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+)
+{
+	int16 akret;
+	int16 aocret;
+	AKFLOAT radius;
+
+	AKMDATA(AKMDATA_DUMP, "%s: m[0]=%d, m[1]=%d, m[2]=%d, st=%d\n",
+		__FUNCTION__, mag[0], mag[1], mag[2], status);
+
+	/* Decomposition */
+	/* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */
+	akret = AKFS_DecompAK8975(
+		mag,
+		status,
+		&g_prms.mi_asa,
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hdata
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Adjust coordination */
+	akret = AKFS_Rotate(
+		g_prms.m_hpat,
+		&g_prms.mfv_hdata[0]
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* AOC for magnetometer */
+	/* Offset estimation is done in this function */
+	aocret = AKFS_AOC(
+		&g_prms.m_aocv,
+		g_prms.mfv_hdata,
+		&g_prms.mfv_ho
+	);
+
+	/* Subtract offset */
+	/* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */
+	akret = AKFS_VbNorm(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hdata,
+		1,
+		&g_prms.mfv_ho,
+		&g_prms.mfv_hs,
+		AK8975_HSENSE_TARGET,
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Averaging */
+	akret = AKFS_VbAve(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf,
+		CSPEC_HNAVE_V,
+		&g_prms.mfv_hvec
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Check the size of magnetic vector */
+	radius = AKFS_SQRT(
+			(g_prms.mfv_hvec.u.x * g_prms.mfv_hvec.u.x) +
+			(g_prms.mfv_hvec.u.y * g_prms.mfv_hvec.u.y) +
+			(g_prms.mfv_hvec.u.z * g_prms.mfv_hvec.u.z));
+
+	if (radius > AKFS_GEOMAG_MAX) {
+		g_prms.mi_hstatus = 0;
+	} else {
+		if (aocret) {
+			g_prms.mi_hstatus = 3;
+		}
+	}
+
+	*vx = g_prms.mfv_hvec.u.x;
+	*vy = g_prms.mfv_hvec.u.y;
+	*vz = g_prms.mfv_hvec.u.z;
+	*accuracy = g_prms.mi_hstatus;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_MAG, "Mag(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *vx, *vy, *vz);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  This function is called when new accelerometer data is available.  The output
+  vector format and coordination system follow the Android definition.
+  @return The return value is #AKM_SUCCESS when function succeeds. Otherwise
+   the return value is #AKM_FAIL.
+  @param[in] acc A set of measurement data from accelerometer.  X axis value
+   should be in acc[0], Y axis value should be in acc[1], Z axis value should be 
+   in acc[2].
+  @param[in] status A status of accelerometer.  This status indicates the result
+   of acceleration data, i.e. overflow, success or fail, etc.
+  @param[out] vx X axis value of acceleration vector.
+  @param[out] vy Y axis value of acceleration vector.
+  @param[out] vz Z axis value of acceleration vector.
+  @param[out] accuracy Accuracy of acceleration vector.
+  This value is always 3.
+ */
+int16 AKFS_Get_ACCELEROMETER(
+	const   int16		acc[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+)
+{
+	int16 akret;
+
+	AKMDATA(AKMDATA_DUMP, "%s: a[0]=%d, a[1]=%d, a[2]=%d, st=%d\n",
+		__FUNCTION__, acc[0], acc[1], acc[2], status);
+
+	/* Save data to buffer */
+	AKFS_BufShift(
+		AKFS_ADATA_SIZE,
+		1,
+		g_prms.mfv_adata
+	);
+	g_prms.mfv_adata[0].u.x = acc[0];
+	g_prms.mfv_adata[0].u.y = acc[1];
+	g_prms.mfv_adata[0].u.z = acc[2];
+
+	/* Subtract offset, adjust sensitivity */
+	/* As a result, a unit of acceleration data in mfv_avbuf is '1G = 9.8' */
+	akret = AKFS_VbNorm(
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_adata,
+		1,
+		&g_prms.mfv_ao,
+		&g_prms.mfv_as,
+		AK8975_ASENSE_TARGET,
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf
+	);
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Averaging */
+	akret = AKFS_VbAve(
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf,
+		CSPEC_ANAVE_V,
+		&g_prms.mfv_avec
+	);
+	if (akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Adjust coordination */
+	/* It is not needed. Because, the data from AK8975 driver is already
+	   follows Android coordinate system. */
+
+	*vx = g_prms.mfv_avec.u.x;
+	*vy = g_prms.mfv_avec.u.y;
+	*vz = g_prms.mfv_avec.u.z;
+	*accuracy = 3;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_ACC, "Acc(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *vx, *vy, *vz);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Get orientation sensor's elements. The vector format and coordination system
+   follow the Android definition.  Before this function is called, magnetic
+   field vector and acceleration vector should be stored in the buffer by 
+   calling #AKFS_Get_MAGNETIC_FIELD and #AKFS_Get_ACCELEROMETER.
+  @return The return value is #AKM_SUCCESS when function succeeds. Otherwise
+   the return value is #AKM_FAIL.
+  @param[out] azimuth Azimuthal angle in degree.
+  @param[out] pitch Pitch angle in degree.
+  @param[out] roll Roll angle in degree.
+  @param[out] accuracy Accuracy of orientation sensor.
+ */
+int16 AKFS_Get_ORIENTATION(
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll,
+			int16*		accuracy
+)
+{
+	int16 akret;
+
+	/* Azimuth calculation */
+	/* Coordination system follows the Android coordination. */
+	akret = AKFS_Direction(
+		AKFS_HDATA_SIZE,
+		g_prms.mfv_hvbuf,
+		CSPEC_HNAVE_D,
+		AKFS_ADATA_SIZE,
+		g_prms.mfv_avbuf,
+		CSPEC_ANAVE_D,
+		&g_prms.mf_azimuth,
+		&g_prms.mf_pitch,
+		&g_prms.mf_roll
+	);
+
+	if(akret == AKFS_ERROR) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+	*azimuth  = g_prms.mf_azimuth;
+	*pitch    = g_prms.mf_pitch;
+	*roll     = g_prms.mf_roll;
+	*accuracy = g_prms.mi_hstatus;
+
+	/* Debug output */
+	AKMDATA(AKMDATA_ORI, "Ori(%d):%8.2f, %8.2f, %8.2f\n",
+			*accuracy, *azimuth, *pitch, *roll);
+
+	return AKM_SUCCESS;
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs.h b/AK8975_FS/akmdfs/AKFS_APIs.h
new file mode 100644
index 0000000..32076b8
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs.h
@@ -0,0 +1,70 @@
+/******************************************************************************
+ * $Id: AKFS_APIs.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_APIS_H
+#define AKFS_INC_APIS_H
+
+/* Include files for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define AKFS_GEOMAG_MAX 70
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_Init(
+	const	AKFS_PATNO	hpat,
+	const	uint8		regs[]
+);
+
+int16 AKFS_Release(void);
+
+int16 AKFS_Start(const char* path);
+
+int16 AKFS_Stop(const char* path);
+
+int16 AKFS_Get_MAGNETIC_FIELD(
+	const	int16		mag[3],
+	const	int16		status,
+			AKFLOAT*	vx,
+			AKFLOAT*	vy,
+			AKFLOAT*	vz,
+			int16*		accuracy
+);
+
+int16 AKFS_Get_ACCELEROMETER(
+	const   int16		acc[3],
+	const	int16		status,
+			AKFLOAT*    vx,
+			AKFLOAT*    vy,
+			AKFLOAT*    vz,
+			int16*		accuracy
+);
+
+int16 AKFS_Get_ORIENTATION(
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll,
+			int16*		accuracy
+);
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c
new file mode 100644
index 0000000..48c2f23
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c
@@ -0,0 +1,45 @@
+/******************************************************************************
+ * $Id: AKFS_AK8975.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_AK8975.h"
+#include "AKFS_Device.h"
+
+/*!
+ */
+int16 AKFS_DecompAK8975(
+	const	int16		mag[3],
+	const	int16		status,
+	const	uint8vec*	asa,
+	const	int16		nhdata,
+			AKFVEC		hdata[]
+)
+{
+	/* put st1 and st2 value */
+	if (AK8975_ST_ERROR(status)) {
+		return AKFS_ERROR;
+	}
+
+	/* magnetic */
+	AKFS_BufShift(nhdata, 1, hdata);
+	hdata[0].u.x = mag[0] * (((asa->u.x)/256.0f) + 0.5f);
+	hdata[0].u.y = mag[1] * (((asa->u.y)/256.0f) + 0.5f);
+	hdata[0].u.z = mag[2] * (((asa->u.z)/256.0f) + 0.5f);
+
+	return AKFS_SUCCESS;
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h
new file mode 100644
index 0000000..65e45fe
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h
@@ -0,0 +1,51 @@
+/******************************************************************************
+ * $Id: AKFS_AK8975.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_AK8975_H
+#define AKFS_INC_AK8975_H
+
+#include "AKFS_Device.h"
+
+/***** Constant definition ****************************************************/
+#define AK8975_BDATA_SIZE			8
+
+#define AK8975_HSENSE_DEFAULT		1
+#define AK8975_HSENSE_TARGET		0.3f
+#define AK8975_ASENSE_DEFAULT		720
+#define AK8975_ASENSE_TARGET		9.80665f
+
+#define AK8975_HDATA_CONVERTER(hi, low, asa) \
+	(AKFLOAT)((int16)((((uint16)(hi))<<8)+(uint16)(low))*(((asa)/256.0f) + 0.5f))
+
+#define AK8975_ST_ERROR(st)   (((st)&0x09) != 0x01)
+
+/***** Type declaration *******************************************************/
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_DecompAK8975(
+	const	int16		mag[3],
+	const	int16		status,
+	const	uint8vec*	asa,
+	const	int16		nhdata,
+			AKFVEC		hdata[]
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.c b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.c
new file mode 100644
index 0000000..f597103
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.c
@@ -0,0 +1,334 @@
+/******************************************************************************
+ * $Id: AKFS_AOC.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_AOC.h"
+#include "AKFS_Math.h"
+
+/*
+ * CalcR
+ */
+static AKFLOAT CalcR(
+	const	AKFVEC*	x,
+	const	AKFVEC*	y
+){
+	int16	i;
+	AKFLOAT	r;
+
+	r = 0.0;
+	for(i = 0; i < 3; i++){
+		r += (x->v[i]-y->v[i]) * (x->v[i]-y->v[i]);
+	}
+	r = sqrt(r);
+
+	return r;
+}
+
+/*
+ * From4Points2Sphere()
+ */
+static int16 From4Points2Sphere(
+	const	AKFVEC		points[],	/*! (i/o)	: input vectors  */
+			AKFVEC*		center,		/*! (o)	: center of sphere   */
+			AKFLOAT*	r			/*! (i)	: add/subtract value */
+){
+	AKFLOAT	dif[3][3];
+	AKFLOAT	r2[3];
+
+	AKFLOAT	A;
+	AKFLOAT	B;
+	AKFLOAT	C;
+	AKFLOAT	D;
+	AKFLOAT	E;
+	AKFLOAT	F;
+	AKFLOAT	G;
+
+	AKFLOAT	OU;
+	AKFLOAT	OD;
+
+	int16	i, j;
+
+	for(i = 0; i < 3; i++){
+		r2[i] = 0.0;
+		for(j = 0; j < 3; j++){
+			dif[i][j] = points[i].v[j] - points[3].v[j];
+			r2[i] += (points[i].v[j]*points[i].v[j]
+					- points[3].v[j]*points[3].v[j]);
+		}
+		r2[i] *= 0.5;
+	}
+
+	A = dif[0][0]*dif[2][2] - dif[0][2]*dif[2][0];
+	B = dif[0][1]*dif[2][0] - dif[0][0]*dif[2][1];
+	C = dif[0][0]*dif[2][1] - dif[0][1]*dif[2][0];
+	D = dif[0][0]*r2[2]		- dif[2][0]*r2[0];
+	E = dif[0][0]*dif[1][1] - dif[0][1]*dif[1][0];
+	F = dif[1][0]*dif[0][2] - dif[0][0]*dif[1][2];
+	G = dif[0][0]*r2[1]		- dif[1][0]*r2[0];
+
+	OU = D*E + B*G;
+	OD = C*F + A*E;
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[2] = OU / OD;
+
+	OU = F*center->v[2] + G;
+	OD = E;
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[1] = OU / OD;
+
+	OU = r2[0] - dif[0][1]*center->v[1] - dif[0][2]*center->v[2];
+	OD = dif[0][0];
+
+	if(fabs(OD) < AKFS_EPSILON){
+		return -1;
+	}
+
+	center->v[0] = OU / OD;
+
+	*r = CalcR(&points[0], center);
+
+	return 0;
+
+}
+
+/*
+ * MeanVar
+ */
+static void MeanVar(
+	const	AKFVEC	v[],			/*!< (i)   : input vectors */
+	const	int16	n,				/*!< (i)   : number of vectors */
+			AKFVEC*	mean,			/*!< (o)   : (max+min)/2 */
+			AKFVEC*	var				/*!< (o)   : variation in vectors */
+){
+	int16	i;
+	int16	j;
+	AKFVEC	max;
+	AKFVEC	min;
+
+	for(j = 0; j < 3; j++){
+		min.v[j] = v[0].v[j];
+		max.v[j] = v[0].v[j];
+		for(i = 1; i < n; i++){
+			if(v[i].v[j] < min.v[j]){
+				min.v[j] = v[i].v[j];
+			}
+			if(v[i].v[j] > max.v[j]){
+				max.v[j] = v[i].v[j];
+			}
+		}
+		mean->v[j] = (max.v[j] + min.v[j]) / 2.0;	/*mean */
+		var->v[j] = max.v[j] - min.v[j];			/*var  */
+	}
+}
+
+/*
+ * Get4points
+ */
+static void Get4points(
+	const	AKFVEC	v[],			/*!< (i)   : input vectors */
+	const	int16	n,				/*!< (i)   : number of vectors */
+			AKFVEC	out[]			/*!< (o)   : */
+){
+	int16	i, j;
+	AKFLOAT temp;
+	AKFLOAT d;
+
+	AKFVEC	dv[AKFS_HBUF_SIZE];
+	AKFVEC	cross;
+	AKFVEC	tempv;
+
+	/* out 0 */
+	out[0] = v[0];
+
+	/* out 1 */
+	d = 0.0;
+	for(i = 1; i < n; i++){
+		temp = CalcR(&v[i], &out[0]);
+		if(d < temp){
+			d = temp;
+			out[1] = v[i];
+		}
+	}
+
+	/* out 2 */
+	d = 0.0;
+	for(j = 0; j < 3; j++){
+		dv[0].v[j] = out[1].v[j] - out[0].v[j];
+	}
+	for(i = 1; i < n; i++){
+		for(j = 0; j < 3; j++){
+			dv[i].v[j] = v[i].v[j] - out[0].v[j];
+		}
+		tempv.v[0] = dv[0].v[1]*dv[i].v[2] - dv[0].v[2]*dv[i].v[1];
+		tempv.v[1] = dv[0].v[2]*dv[i].v[0] - dv[0].v[0]*dv[i].v[2];
+		tempv.v[2] = dv[0].v[0]*dv[i].v[1] - dv[0].v[1]*dv[i].v[0];
+		temp =	tempv.u.x * tempv.u.x
+			  +	tempv.u.y * tempv.u.y
+			  +	tempv.u.z * tempv.u.z;
+		if(d < temp){
+			d = temp;
+			out[2] = v[i];
+			cross = tempv;
+		}
+	}
+
+	/* out 3 */
+	d = 0.0;
+	for(i = 1; i < n; i++){
+		temp =	  dv[i].u.x * cross.u.x
+				+ dv[i].u.y * cross.u.y
+				+ dv[i].u.z * cross.u.z;
+		temp = fabs(temp);
+		if(d < temp){
+			d = temp;
+			out[3] = v[i];
+		}
+	}
+}
+
+/*
+ * CheckInitFvec
+ */
+static int16 CheckInitFvec(
+	const	AKFVEC	*v		/*!< [in]	vector */
+){
+	int16 i;
+
+	for(i = 0; i < 3; i++){
+		if(AKFS_FMAX <= v->v[i]){
+			return 1;       /* initvalue */
+		}
+	}
+
+	return 0;       /* not initvalue */
+}
+
+/*
+ * AKFS_AOC
+ */
+int16 AKFS_AOC(				/*!< (o)   : calibration success(1), failure(0) */
+			AKFS_AOC_VAR*	haocv,	/*!< (i/o)	: a set of variables */
+	const	AKFVEC*			hdata,	/*!< (i)	: vectors of data    */
+			AKFVEC*			ho		/*!< (i/o)	: offset             */
+){
+	int16	i, j;
+	int16	num;
+	AKFLOAT	tempf;
+	AKFVEC	tempho;
+
+	AKFVEC	fourpoints[4];
+
+	AKFVEC	var;
+	AKFVEC	mean;
+
+	/* buffer new data */
+	for(i = 1; i < AKFS_HBUF_SIZE; i++){
+		haocv->hbuf[AKFS_HBUF_SIZE-i] = haocv->hbuf[AKFS_HBUF_SIZE-i-1];
+	}
+	haocv->hbuf[0] = *hdata;
+
+	/* Check Init */
+	num = 0;
+	for(i = AKFS_HBUF_SIZE; 3 < i; i--){
+		if(CheckInitFvec(&haocv->hbuf[i-1]) == 0){
+			num = i;
+			break;
+		}
+	}
+	if(num < 4){
+		return AKFS_ERROR;
+	}
+
+	/* get 4 points */
+	Get4points(haocv->hbuf, num, fourpoints);
+
+	/* estimate offset */
+	if(0 != From4Points2Sphere(fourpoints, &tempho, &haocv->hraoc)){
+		return AKFS_ERROR;
+	}
+
+	/* check distance */
+	for(i = 0; i < 4; i++){
+		for(j = (i+1); j < 4; j++){
+			tempf = CalcR(&fourpoints[i], &fourpoints[j]);
+			if((tempf < haocv->hraoc)||(tempf < AKFS_HR_TH)){
+				return AKFS_ERROR;
+			}
+		}
+	}
+
+	/* update offset buffer */
+	for(i = 1; i < AKFS_HOBUF_SIZE; i++){
+		haocv->hobuf[AKFS_HOBUF_SIZE-i] = haocv->hobuf[AKFS_HOBUF_SIZE-i-1];
+	}
+	haocv->hobuf[0] = tempho;
+
+	/* clear hbuf */
+	for(i = (AKFS_HBUF_SIZE>>1); i < AKFS_HBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hbuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+
+	/* Check Init */
+	if(CheckInitFvec(&haocv->hobuf[AKFS_HOBUF_SIZE-1]) == 1){
+		return AKFS_ERROR;
+	}
+
+	/* Check ovar */
+	tempf = haocv->hraoc * AKFS_HO_TH;
+	MeanVar(haocv->hobuf, AKFS_HOBUF_SIZE, &mean, &var);
+	if ((var.u.x >= tempf) || (var.u.y >= tempf) || (var.u.z >= tempf)){
+		return AKFS_ERROR;
+	}
+
+	*ho = mean;
+
+	return AKFS_SUCCESS;
+}
+
+/*
+ * AKFS_InitAOC
+ */
+void AKFS_InitAOC(
+			AKFS_AOC_VAR*	haocv
+){
+	int16 i, j;
+
+	/* Initialize buffer */
+	for(i = 0; i < AKFS_HBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hbuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+	for(i = 0; i < AKFS_HOBUF_SIZE; i++) {
+		for(j = 0; j < 3; j++) {
+			haocv->hobuf[i].v[j]= AKFS_FMAX;
+		}
+	}
+
+	haocv->hraoc = 0.0;
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.h
new file mode 100644
index 0000000..a305eed
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_AOC.h
@@ -0,0 +1,54 @@
+/******************************************************************************
+ * $Id: AKFS_AOC.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_AOC_H
+#define AKFS_INC_AOC_H
+
+#include "AKFS_Device.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_HBUF_SIZE	20
+#define AKFS_HOBUF_SIZE	4
+#define AKFS_HR_TH		10
+#define AKFS_HO_TH		0.15
+
+/***** Macro definition *******************************************************/
+
+/***** Type declaration *******************************************************/
+typedef struct _AKFS_AOC_VAR{
+	AKFVEC		hbuf[AKFS_HBUF_SIZE];
+	AKFVEC		hobuf[AKFS_HOBUF_SIZE];
+	AKFLOAT		hraoc;
+} AKFS_AOC_VAR;
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_AOC(
+			AKFS_AOC_VAR*	haocv,
+	const	AKFVEC*			hdata,
+			AKFVEC*			ho
+);
+
+void AKFS_InitAOC(
+			AKFS_AOC_VAR*	haocv
+);
+
+AKLIB_C_API_END
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Configure.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Configure.h
new file mode 100644
index 0000000..ecec01c
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Configure.h
@@ -0,0 +1,38 @@
+/******************************************************************************
+ * $Id: AKFS_Configure.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_CONFIG_H
+#define AKFS_INC_CONFIG_H
+
+/***** Language configuration *************************************************/
+#if defined(__cplusplus)
+#define AKLIB_C_API_START	extern "C" {
+#define AKLIB_C_API_END		}
+#else
+#define AKLIB_C_API_START
+#define AKLIB_C_API_END
+#endif
+
+/*! If following line is commented in, double type is used for floating point
+   calculation */
+/*
+#define AKFS_PRECISION_DOUBLE
+*/
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.c b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.c
new file mode 100644
index 0000000..9b91030
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.c
@@ -0,0 +1,111 @@
+/******************************************************************************
+ * $Id: AKFS_Device.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_Device.h"
+
+int16 AKFS_InitBuffer(
+	const	int16	ndata,		/*!< Size of vector buffer */
+			AKFVEC	vdata[]		/*!< Vector buffer */
+)
+{
+	int i;
+
+	/* size check */
+	if (ndata <= 0) {
+		return AKFS_ERROR;
+	}
+
+	for (i=0; i<ndata; i++) {
+		vdata[i].u.x = AKFS_INIT_VALUE_F;
+		vdata[i].u.y = AKFS_INIT_VALUE_F;
+		vdata[i].u.z = AKFS_INIT_VALUE_F;
+	}
+
+	return AKFS_SUCCESS;
+}
+
+int16 AKFS_BufShift(
+	const	int16	len,	/*!< size of buffer */
+	const	int16	shift,	/*!< shift size */
+			AKFVEC	v[] /*!< buffer */
+)
+{
+	int16 i;
+
+	if((shift < 1) || (len < shift)) {
+		return AKFS_ERROR;
+	}
+	for (i = len-1; i >= shift; i--) {
+		v[i] = v[i-shift];
+	}
+	return AKFS_SUCCESS;
+}
+
+int16 AKFS_Rotate(
+	const	AKFS_PATNO	pat,
+			AKFVEC*		vec
+)
+{
+	AKFLOAT tmp;
+	switch(pat){
+		/* Obverse */
+		case PAT1:
+			/* This is Android default */
+			break;
+		case PAT2:
+			tmp = vec->u.x;
+			vec->u.x = vec->u.y;
+			vec->u.y = -tmp;
+			break;
+		case PAT3:
+			vec->u.x = -(vec->u.x);
+			vec->u.y = -(vec->u.y);
+			break;
+		case PAT4:
+			tmp = vec->u.x;
+			vec->u.x = -(vec->u.y);
+			vec->u.y = tmp;
+			break;
+		/* Reverse */
+		case PAT5:
+			vec->u.x = -(vec->u.x);
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT6:
+			tmp = vec->u.x;
+			vec->u.x = vec->u.y;
+			vec->u.y = tmp;
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT7:
+			vec->u.y = -(vec->u.y);
+			vec->u.z = -(vec->u.z);
+			break;
+		case PAT8:
+			tmp = vec->u.x;
+			vec->u.x = -(vec->u.y);
+			vec->u.y = -tmp;
+			vec->u.z = -(vec->u.z);
+			break;
+		default:
+			return AKFS_ERROR;
+	}
+
+	return AKFS_SUCCESS;
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.h
new file mode 100644
index 0000000..149f0c6
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Device.h
@@ -0,0 +1,108 @@
+/******************************************************************************
+ * $Id: AKFS_Device.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_DEVICE_H
+#define AKFS_INC_DEVICE_H
+
+#include <float.h>
+#include "AKFS_Configure.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_ERROR			0
+#define AKFS_SUCCESS		1
+
+#define AKFS_HDATA_SIZE		32
+#define AKFS_ADATA_SIZE		32
+
+/***** Type declaration *******************************************************/
+typedef signed char     int8;
+typedef signed short    int16;
+typedef unsigned char   uint8;
+typedef unsigned short  uint16;
+
+
+#ifdef AKFS_PRECISION_DOUBLE
+typedef	double			AKFLOAT;
+#define AKFS_EPSILON	DBL_EPSILON
+#define AKFS_FMAX		DBL_MAX
+#define AKFS_FMIN		DBL_MIN
+
+#else
+typedef	float			AKFLOAT;
+#define AKFS_EPSILON	FLT_EPSILON
+#define AKFS_FMAX		FLT_MAX
+#define AKFS_FMIN		FLT_MIN
+
+#endif
+
+/* Treat maximum value as initial value */
+#define AKFS_INIT_VALUE_F	AKFS_FMAX
+
+/***** Vector *****/
+typedef union _uint8vec{
+	struct {
+		uint8	x;
+		uint8	y;
+		uint8	z;
+	}u;
+	uint8	v[3];
+} uint8vec;
+
+typedef union _AKFVEC{
+	struct {
+		AKFLOAT x;
+		AKFLOAT y;
+		AKFLOAT z;
+	}u;
+	AKFLOAT	v[3];
+} AKFVEC;
+
+/***** Layout pattern *****/
+typedef enum _AKFS_PATNO {
+	PAT_INVALID = 0,
+	PAT1,	/* obverse: 1st pin is right down */
+	PAT2,	/* obverse: 1st pin is left down */
+	PAT3,	/* obverse: 1st pin is left top */
+	PAT4,	/* obverse: 1st pin is right top */
+	PAT5,	/* reverse: 1st pin is left down (from top view) */
+	PAT6,	/* reverse: 1st pin is left top (from top view) */
+	PAT7,	/* reverse: 1st pin is right top (from top view) */
+	PAT8	/* reverse: 1st pin is right down (from top view) */
+} AKFS_PATNO;
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_InitBuffer(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+			AKFVEC	vdata[]		/*!< Raw vector buffer */
+);
+
+int16 AKFS_BufShift(
+	const	int16	len,
+	const	int16	shift,
+			AKFVEC	v[]
+);
+
+int16 AKFS_Rotate(
+	const   AKFS_PATNO  pat,
+			AKFVEC*     vec
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.c b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.c
new file mode 100644
index 0000000..2c7265e
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.c
@@ -0,0 +1,134 @@
+/******************************************************************************
+ * $Id: AKFS_Direction.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_Direction.h"
+#include "AKFS_VNorm.h"
+#include "AKFS_Math.h"
+
+/*
+  Coordinate system is right-handed.
+  X-Axis: from left to right.
+  Y-Axis: from bottom to top.
+  Z-Axis: from reverse to obverse.
+
+  azimuth: Rotaion around Z axis, with positive values 
+  	when y-axis moves toward the x-axis.
+  pitch: Rotation around X axis, with positive values
+  	when z-axis moves toward the y-axis.
+  roll: Rotation around Y axis, with positive values
+  	when x-axis moves toward the z-axis.
+*/
+
+/*
+   This function is used internaly, so output is RADIAN!
+ */
+static void AKFS_Angle(
+	const	AKFVEC*		avec,
+			AKFLOAT*	pitch,	/* radian */
+			AKFLOAT*	roll	/* radian */
+)
+{
+	AKFLOAT	av;	/* Size of vector */
+
+	av = AKFS_SQRT((avec->u.x)*(avec->u.x) + (avec->u.y)*(avec->u.y) + (avec->u.z)*(avec->u.z));
+
+	*pitch = AKFS_ASIN(-(avec->u.y) / av);
+	*roll  = AKFS_ASIN((avec->u.x) / av);
+}
+
+/*
+   This function is used internaly, so output is RADIAN!
+ */
+static void AKFS_Azimuth(
+	const	AKFVEC*		hvec,
+	const	AKFLOAT		pitch,	/* radian */
+	const	AKFLOAT		roll,	/* radian */
+			AKFLOAT*	azimuth	/* radian */
+)
+{
+	AKFLOAT sinP; /* sin value of pitch angle */
+	AKFLOAT cosP; /* cos value of pitch angle */
+	AKFLOAT sinR; /* sin value of roll angle */
+	AKFLOAT cosR; /* cos value of roll angle */
+	AKFLOAT Xh;   /* X axis element of vector which is projected to horizontal plane */
+	AKFLOAT Yh;   /* Y axis element of vector which is projected to horizontal plane */
+
+	sinP = AKFS_SIN(pitch);
+	cosP = AKFS_COS(pitch);
+	sinR = AKFS_SIN(roll);
+	cosR = AKFS_COS(roll);
+
+	Yh = -(hvec->u.x)*cosR + (hvec->u.z)*sinR;
+	Xh = (hvec->u.x)*sinP*sinR + (hvec->u.y)*cosP + (hvec->u.z)*sinP*cosR;
+
+	/* atan2(y, x) -> divisor and dividend is opposite from mathematical equation. */
+	*azimuth = AKFS_ATAN2(Yh, Xh);
+}
+
+int16 AKFS_Direction(
+	const	int16		nhvec,
+	const	AKFVEC		hvec[],
+	const	int16		hnave,
+	const	int16		navec,
+	const	AKFVEC		avec[],
+	const	int16		anave,
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll
+)
+{
+	AKFVEC have, aave;
+	AKFLOAT azimuthRad;
+	AKFLOAT pitchRad;
+	AKFLOAT rollRad;
+
+	/* arguments check */
+	if ((nhvec <= 0) || (navec <= 0) || (hnave <= 0) || (anave <= 0)) {
+		return AKFS_ERROR;
+	}
+	if ((nhvec < hnave) || (navec < anave)) {
+		return AKFS_ERROR;
+	}
+
+	/* average */
+	if (AKFS_VbAve(nhvec, hvec, hnave, &have) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+	if (AKFS_VbAve(navec, avec, anave, &aave) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate pitch and roll */
+	AKFS_Angle(&aave, &pitchRad, &rollRad);
+
+	/* calculate azimuth */
+	AKFS_Azimuth(&have, pitchRad, rollRad, &azimuthRad);
+
+	*azimuth = RAD2DEG(azimuthRad);
+	*pitch = RAD2DEG(pitchRad);
+	*roll = RAD2DEG(rollRad);
+
+	/* Adjust range of azimuth */
+	if (*azimuth < 0) {
+		*azimuth += 360.0f;
+	}
+
+	return AKFS_SUCCESS;
+}
+
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.h
new file mode 100644
index 0000000..a7d6fcc
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Direction.h
@@ -0,0 +1,40 @@
+/******************************************************************************
+ * $Id: AKFS_Direction.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_DIRECTION_H
+#define AKFS_INC_DIRECTION_H
+
+#include "AKFS_Device.h"
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_Direction(
+	const	int16		nhvec,
+	const	AKFVEC		hvec[],
+	const	int16		hnave,
+	const	int16		navec,
+	const	AKFVEC		avec[],
+	const	int16		anave,
+			AKFLOAT*	azimuth,
+			AKFLOAT*	pitch,
+			AKFLOAT*	roll
+);
+AKLIB_C_API_END
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Math.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Math.h
new file mode 100644
index 0000000..0673c54
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_Math.h
@@ -0,0 +1,48 @@
+/******************************************************************************
+ * $Id: AKFS_Math.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_MATH_H
+#define AKFS_INC_MATH_H
+
+#include <math.h>
+#include "AKFS_Configure.h"
+
+/***** Constant definition ****************************************************/
+#define AKFS_PI			3.141592654f
+#define RAD2DEG(rad)	((rad)*180.0f/AKFS_PI)
+
+/***** Macro definition *******************************************************/
+
+#ifdef AKFS_PRECISION_DOUBLE
+#define AKFS_SIN(x)			sin(x)
+#define AKFS_COS(x)			cos(x)
+#define AKFS_ASIN(x)		asin(x)
+#define AKFS_ACOS(x)		acos(x)
+#define AKFS_ATAN2(y, x)	atan2((y), (x))
+#define AKFS_SQRT(x)		sqrt(x)
+#else
+#define AKFS_SIN(x)			sinf(x)
+#define AKFS_COS(x)			cosf(x)
+#define AKFS_ASIN(x)		asinf(x)
+#define AKFS_ACOS(x)		acosf(x)
+#define AKFS_ATAN2(y, x)	atan2f((y), (x))
+#define AKFS_SQRT(x)		sqrtf(x)
+#endif
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c
new file mode 100644
index 0000000..7ae5bfa
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c
@@ -0,0 +1,108 @@
+/******************************************************************************
+ * $Id: AKFS_VNorm.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_VNorm.h"
+#include "AKFS_Device.h"
+
+/*!
+ */
+int16 AKFS_VbNorm(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+	const	AKFVEC	vdata[],	/*!< Raw vector buffer */
+	const	int16	nbuf,		/*!< Size of data to be buffered */
+	const	AKFVEC*	o,			/*!< Offset */
+	const	AKFVEC*	s,			/*!< Sensitivity */
+	const	AKFLOAT	tgt,		/*!< Target sensitivity */
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+			AKFVEC	vvec[]		/*!< Normalized vector buffer */
+)
+{
+	int i;
+
+	/* size check */
+	if ((ndata <= 0) || (nvec <= 0) || (nbuf <= 0)) {
+		return AKFS_ERROR;
+	}
+	/* dependency check */
+	if ((nbuf < 1) || (ndata < nbuf) || (nvec < nbuf)) {
+		return AKFS_ERROR;
+	}
+	/* sensitivity check */
+	if ((s->u.x <= AKFS_EPSILON) ||
+		(s->u.y <= AKFS_EPSILON) ||
+		(s->u.z <= AKFS_EPSILON) ||
+		(tgt <= 0)) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate and store data to buffer */
+	if (AKFS_BufShift(nvec, nbuf, vvec) != AKFS_SUCCESS) {
+		return AKFS_ERROR;
+	}
+	for (i=0; i<nbuf; i++) {
+		vvec[i].u.x = ((vdata[i].u.x - o->u.x) / (s->u.x) * (AKFLOAT)tgt);
+		vvec[i].u.y = ((vdata[i].u.y - o->u.y) / (s->u.y) * (AKFLOAT)tgt);
+		vvec[i].u.z = ((vdata[i].u.z - o->u.z) / (s->u.z) * (AKFLOAT)tgt);
+	}
+
+	return AKFS_SUCCESS;
+}
+
+/*!
+ */
+int16 AKFS_VbAve(
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+	const	AKFVEC	vvec[],		/*!< Normalized vector buffer */
+	const	int16	nave,		/*!< Number of averaeg */
+			AKFVEC*	vave		/*!< Averaged vector */
+)
+{
+	int i;
+
+	/* arguments check */
+	if ((nave <= 0) || (nvec <= 0) || (nvec < nave)) {
+		return AKFS_ERROR;
+	}
+
+	/* calculate average */
+	vave->u.x = 0;
+	vave->u.y = 0;
+	vave->u.z = 0;
+	for (i=0; i<nave; i++) {
+		if ((vvec[i].u.x == AKFS_INIT_VALUE_F) ||
+			(vvec[i].u.y == AKFS_INIT_VALUE_F) ||
+			(vvec[i].u.z == AKFS_INIT_VALUE_F)) {
+				break;
+		}
+		vave->u.x += vvec[i].u.x;
+		vave->u.y += vvec[i].u.y;
+		vave->u.z += vvec[i].u.z;
+	}
+	if (i == 0) {
+		vave->u.x = 0;
+		vave->u.y = 0;
+		vave->u.z = 0;
+	} else {
+		vave->u.x /= i;
+		vave->u.y /= i;
+		vave->u.z /= i;
+	}
+	return AKFS_SUCCESS;
+}
+
+
diff --git a/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h
new file mode 100644
index 0000000..1c79ad1
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h
@@ -0,0 +1,47 @@
+/******************************************************************************
+ * $Id: AKFS_VNorm.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_VNORM_H
+#define AKFS_INC_VNORM_H
+
+#include "AKFS_Device.h"
+
+/***** Prototype of function **************************************************/
+AKLIB_C_API_START
+int16 AKFS_VbNorm(
+	const	int16	ndata,		/*!< Size of raw vector buffer */
+	const	AKFVEC	vdata[],	/*!< Raw vector buffer */
+	const	int16	nbuf,		/*!< Size of data to be buffered */
+	const	AKFVEC*	o,			/*!< Offset */
+	const	AKFVEC*	s,			/*!< Sensitivity */
+	const	AKFLOAT	tgt,		/*!< Target sensitivity */
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+			AKFVEC	vvec[]		/*!< Normalized vector buffer */
+);
+
+int16 AKFS_VbAve(
+	const	int16	nvec,		/*!< Size of normalized vector buffer */
+	const	AKFVEC	vvec[],		/*!< Normalized vector buffer */
+	const	int16	nave,		/*!< Number of averaeg */
+			AKFVEC*	vave		/*!< Averaged vector */
+);
+
+AKLIB_C_API_END
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_CSpec.h b/AK8975_FS/akmdfs/AKFS_CSpec.h
new file mode 100644
index 0000000..9acb68d
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_CSpec.h
@@ -0,0 +1,39 @@
+/******************************************************************************
+ * $Id: AKFS_CSpec.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_CSPEC_H
+#define AKFS_INC_CSPEC_H
+
+/*******************************************************************************
+ User defines parameters.
+ ******************************************************************************/
+/* Parameters for Average */
+/*	The number of magnetic/acceleration data to be averaged. */
+#define CSPEC_HNAVE_D	4
+#define CSPEC_ANAVE_D	4
+#define CSPEC_HNAVE_V	8
+#define CSPEC_ANAVE_V	8
+
+#ifdef WIN32
+#define CSPEC_SETTING_FILE	"akmdfs.txt"
+#else
+#define CSPEC_SETTING_FILE	"/data/misc/akmdfs.txt"
+#endif
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_Common.h b/AK8975_FS/akmdfs/AKFS_Common.h
new file mode 100644
index 0000000..4b6874d
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Common.h
@@ -0,0 +1,153 @@
+/******************************************************************************
+ * $Id: AKFS_Common.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_COMMON_H
+#define AKFS_INC_COMMON_H
+
+#ifdef WIN32
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501
+#endif    					
+  					
+#include <windows.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <conio.h>
+#include <stdarg.h>
+#include <crtdbg.h>
+#include "Android.h"
+
+#define DBG_LEVEL	DBG_LEVEL4
+#define ENABLE_AKMDEBUG	1
+
+#else
+#include <stdio.h>     /* frpintf */
+#include <stdlib.h>    /* atoi */
+#include <string.h>    /* memset */
+#include <unistd.h>
+#include <stdarg.h>    /* va_list */
+#include <utils/Log.h> /* LOGV */
+#include <errno.h>     /* errno */
+
+#endif
+
+/*** Constant definition ******************************************************/
+#define AKM_TRUE	1	/*!< Represents true */
+#define AKM_FALSE	0	/*!< Represents false */
+#define AKM_SUCCESS	1	/*!< Represents success */
+#define AKM_FAIL	0	/*!< Represents fail */
+
+#undef LOG_TAG
+#define LOG_TAG "AKMD_FS"
+
+#define DBG_LEVEL0	0	/* Critical */
+#define DBG_LEVEL1	1	/* Notice */
+#define DBG_LEVEL2	2	/* Information */
+#define DBG_LEVEL3	3	/* Debug */
+#define DBG_LEVEL4	4	/* Verbose */
+
+#ifndef DBG_LEVEL
+#define DBG_LEVEL	DBG_LEVEL0
+#endif
+
+#define DATA_AREA01	0x0001
+#define DATA_AREA02	0x0002
+#define DATA_AREA03	0x0004
+#define DATA_AREA04	0x0008
+#define DATA_AREA05	0x0010
+#define DATA_AREA06	0x0020
+#define DATA_AREA07	0x0040
+#define DATA_AREA08	0x0080
+#define DATA_AREA09	0x0100
+#define DATA_AREA10	0x0200
+#define DATA_AREA11	0x0400
+#define DATA_AREA12	0x0800
+#define DATA_AREA13	0x1000
+#define DATA_AREA14	0x2000
+#define DATA_AREA15	0x4000
+#define DATA_AREA16	0x8000
+
+
+/* Debug area definition */
+#define AKMDATA_DUMP		DATA_AREA01	/*<! Dump data */
+#define AKMDATA_BDATA		DATA_AREA02	/*<! BDATA */
+#define AKMDATA_MAG			DATA_AREA03 /*<! Magnetic Field */
+#define AKMDATA_ACC			DATA_AREA04 /*<! Accelerometer */
+#define AKMDATA_ORI			DATA_AREA05 /*<! Orientation */
+#define AKMDATA_GETINTERVAL	DATA_AREA06
+#define AKMDATA_LOOP		DATA_AREA07
+#define AKMDATA_DRV			DATA_AREA08
+
+#ifndef ENABLE_AKMDEBUG
+#define ENABLE_AKMDEBUG		0	/* Eanble debug output when it is 1. */
+#endif
+
+#define OPMODE_CONSOLE		0x01
+#define OPMODE_FST			0x02
+
+/***** Debug Level Output *************************************/
+#if ENABLE_AKMDEBUG
+#define AKMDEBUG(level, format, ...) \
+    (((level) <= DBG_LEVEL) \
+	  ? (fprintf(stdout, (format), ##__VA_ARGS__)) \
+	  : ((void)0))
+#else
+#define AKMDEBUG(level, format, ...)
+#endif
+
+/***** Dbg Zone Output ***************************************/
+#if ENABLE_AKMDEBUG
+#define AKMDATA(flag, format, ...)  \
+	((((int)flag) & g_dbgzone) \
+	  ? (fprintf(stdout, (format), ##__VA_ARGS__)) \
+	  : ((void)0))
+#else
+#define AKMDATA(flag, format, ...)
+#endif
+
+/***** Log output ********************************************/
+#ifdef AKM_LOG_ENABLE
+#define AKM_LOG(format, ...)	ALOGD((format), ##__VA_ARGS__)
+#else
+#define AKM_LOG(format, ...)
+#endif
+
+/***** Error output *******************************************/
+#define AKMERROR \
+	((g_opmode & OPMODE_CONSOLE) \
+	  ? (fprintf(stderr, "%s:%d Error.\n", __FUNCTION__, __LINE__)) \
+	  : (ALOGE("%s:%d Error.", __FUNCTION__, __LINE__))) 
+
+#define AKMERROR_STR(api) \
+	((g_opmode & OPMODE_CONSOLE) \
+	  ? (fprintf(stderr, "%s:%d %s Error (%s).\n", \
+	  		  __FUNCTION__, __LINE__, (api), strerror(errno))) \
+	  : (ALOGE("%s:%d %s Error (%s).", \
+	  		  __FUNCTION__, __LINE__, (api), strerror(errno))))
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+extern int g_stopRequest;	/*!< 0:Not stop,  1:Stop */
+extern int g_opmode;		/*!< 0:Daemon mode, 1:Console mode. */
+extern int g_dbgzone;		/*!< Debug zone. */
+
+/*** Prototype of function ****************************************************/
+
+#endif /* AKMD_INC_AKCOMMON_H */
+
diff --git a/AK8975_FS/akmdfs/AKFS_Compass.h b/AK8975_FS/akmdfs/AKFS_Compass.h
new file mode 100644
index 0000000..98bbf28
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Compass.h
@@ -0,0 +1,91 @@
+/******************************************************************************
+ * $Id: AKFS_Compass.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_COMPASS_H
+#define AKFS_INC_COMPASS_H
+
+#include "AKFS_Common.h"
+#include "AKFS_CSpec.h"
+
+#ifdef WIN32
+#include "AK8975_LinuxDriver.h"
+#else
+#include "AK8975Driver.h"
+#endif
+
+/****************************************/
+/* Include files for AK8975 library.    */
+/****************************************/
+#include "AKFS_AK8975.h"
+#include "AKFS_Configure.h"
+#include "AKFS_AOC.h"
+#include "AKFS_Device.h"
+#include "AKFS_Direction.h"
+#include "AKFS_Math.h"
+#include "AKFS_VNorm.h"
+
+/*** Constant definition ******************************************************/
+
+/*** Type declaration *********************************************************/
+typedef struct _AKSENSOR_DATA{
+	AKFLOAT	x;
+	AKFLOAT	y;
+	AKFLOAT	z;
+    int8	status;
+} AKSENSOR_DATA;
+
+/*! A parameter structure. */
+typedef struct _AK8975PRMS{
+	/* Variables for Decomp8975. */
+	AKFVEC			mfv_hdata[AKFS_HDATA_SIZE];
+	uint8vec		mi_asa;
+	uint8			mi_st;
+
+	/* Variables forAOC. */
+	AKFS_AOC_VAR	m_aocv;
+
+	/* Variables for Magnetometer buffer. */
+	AKFVEC			mfv_hvbuf[AKFS_HDATA_SIZE];
+	AKFVEC			mfv_ho;
+	AKFVEC			mfv_hs;
+	AKFS_PATNO		m_hpat;
+
+	/* Variables for Accelerometer buffer. */
+	AKFVEC			mfv_adata[AKFS_ADATA_SIZE];
+	AKFVEC			mfv_avbuf[AKFS_ADATA_SIZE];
+	AKFVEC			mfv_ao;
+	AKFVEC			mfv_as;
+
+	/* Variables for Direction. */
+	int16			mi_hnaveD;
+	int16			mi_anaveD;
+	AKFLOAT			mf_azimuth;
+	AKFLOAT			mf_pitch;
+	AKFLOAT			mf_roll;
+
+	/* Variables for vector output */
+	int16			mi_hnaveV;
+	int16			mi_anaveV;
+	AKFVEC			mfv_hvec;
+	AKFVEC			mfv_avec;
+	int16			mi_hstatus;
+
+} AK8975PRMS;
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_Disp.c b/AK8975_FS/akmdfs/AKFS_Disp.c
new file mode 100644
index 0000000..d22cffb
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Disp.c
@@ -0,0 +1,90 @@
+/******************************************************************************
+ * $Id: AKFS_Disp.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_Disp.h"
+#include "AKFS_Common.h"
+
+/*!
+ Print startup message to Android Log daemon.
+ */
+void Disp_StartMessage(void)
+{
+	ALOGI("AK8975 Daemon for Open Source v20120329.");
+	ALOGI("Debug: %s", ((ENABLE_AKMDEBUG)?("ON"):("OFF")));
+	ALOGI("Debug level: %d", DBG_LEVEL);
+}
+
+/*!
+ Print ending message to Android Log daemon.
+ */
+void Disp_EndMessage(int ret)
+{
+	ALOGI("AK8975 for Android end (%d).", ret);
+}
+
+/*!
+ Print result
+ */
+void Disp_Result(int buf[YPR_DATA_SIZE])
+{
+	AKMDEBUG(DBG_LEVEL1,
+		"Flag=%d\n", buf[0]);
+	AKMDEBUG(DBG_LEVEL1,
+		"Acc(%d):%8.2f, %8.2f, %8.2f\n",
+		buf[4], REVERT_ACC(buf[1]), REVERT_ACC(buf[2]), REVERT_ACC(buf[3]));
+	AKMDEBUG(DBG_LEVEL1,
+		"Mag(%d):%8.2f, %8.2f, %8.2f\n",
+		buf[8], REVERT_MAG(buf[5]), REVERT_MAG(buf[6]), REVERT_MAG(buf[7]));
+	AKMDEBUG(DBG_LEVEL1,
+		"Ori(%d)=%8.2f, %8.2f, %8.2f\n",
+		buf[8], REVERT_ORI(buf[9]), REVERT_ORI(buf[10]), REVERT_ORI(buf[11]));
+}
+
+/*!
+ Output main menu to stdout and wait for user input from stdin.
+ @return Selected mode.
+ */
+MODE Menu_Main(void)
+{
+	char msg[20];
+	memset(msg, 0, sizeof(msg));
+
+	AKMDEBUG(DBG_LEVEL1,
+	" --------------------  AK8975 Console Application -------------------- \n"
+	"   1. Start measurement. \n"
+	"   2. Self-test. \n"
+	"   Q. Quit application. \n"
+	" --------------------------------------------------------------------- \n"
+	" Please select a number.\n"
+	"   ---> ");
+	fgets(msg, 10, stdin);
+	AKMDEBUG(DBG_LEVEL1, "\n");
+
+	/* BUG : If 2-digits number is input, */
+	/*    only the first character is compared. */
+	if (!strncmp(msg, "1", 1)) {
+		return MODE_Measure;
+	} else if (!strncmp(msg, "2", 1)) {
+		return MODE_SelfTest;
+	} else if (strncmp(msg, "Q", 1) == 0 || strncmp(msg, "q", 1) == 0) {
+		return MODE_Quit;
+	} else {
+		return MODE_ERROR;
+	}
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_Disp.h b/AK8975_FS/akmdfs/AKFS_Disp.h
new file mode 100644
index 0000000..f33fd8d
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Disp.h
@@ -0,0 +1,53 @@
+/******************************************************************************
+ * $Id: AKFS_Disp.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_DISP_H
+#define AKFS_INC_DISP_H
+
+/* Include file for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define REVERT_ACC(a)	((float)((a) * 9.8f / 720.0f))
+#define REVERT_MAG(m)	((float)((m) * 0.06f))
+#define REVERT_ORI(o)	((float)((o) / 64.0f))
+
+/*** Type declaration *********************************************************/
+
+/*! These defined types represents the current mode. */
+typedef enum _MODE {
+	MODE_ERROR,			/*!< Error */
+	MODE_Measure,		/*!< Measurement */
+	MODE_SelfTest,		/*!< Self-test */
+	MODE_Quit			/*!< Quit */
+} MODE;
+
+/*** Prototype of function ****************************************************/
+/*
+	Disp_   : Display messages.
+	Menu_   : Display menu (two or more selection) and wait for user input.
+ */
+
+void Disp_StartMessage(void);
+void Disp_EndMessage(int ret);
+void Disp_Result(int buf[YPR_DATA_SIZE]);
+
+MODE Menu_Main(void);
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_FileIO.c b/AK8975_FS/akmdfs/AKFS_FileIO.c
new file mode 100644
index 0000000..cb69628
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_FileIO.c
@@ -0,0 +1,131 @@
+/******************************************************************************
+ * $Id: AKFS_FileIO.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_FileIO.h"
+
+/*** Constant definition ******************************************************/
+#ifdef AKFS_PRECISION_DOUBLE
+#define AKFS_SCANF_FORMAT	"%63s = %lf"
+#else
+#define AKFS_SCANF_FORMAT	"%63s = %f"
+#endif
+#define AKFS_PRINTF_FORMAT	"%s = %f\n"
+#define LOAD_BUF_SIZE	64
+
+/*!
+ Load parameters from file which is specified with #path.  This function reads 
+  data from a beginning of the file line by line, and check parameter name 
+  sequentially. In otherword, this function depends on the order of eache 
+  parameter described in the file.
+ @return If function fails, the return value is #AKM_FAIL. When function fails,
+  the output is undefined. Therefore, parameters which are possibly overwritten
+  by this function should be initialized again. If function succeeds, the
+  return value is #AKM_SUCCESS.
+ @param[out] prms A pointer to #AK8975PRMS structure. Loaded parameter is
+  stored to the member of this structure.
+ @param[in] path A path to the setting file.
+ */
+int16 AKFS_LoadParameters(AK8975PRMS * prms, const char* path)
+{
+	int16 ret;
+	char buf[LOAD_BUF_SIZE];
+	FILE *fp = NULL;
+
+	/* Open setting file for read. */
+	if ((fp = fopen(path, "r")) == NULL) {
+		AKMERROR_STR("fopen");
+		return AKM_FAIL;
+	}
+
+	ret = 1;
+
+	/* Load data to HO */
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.x) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.x", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.y) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.y", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+	if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.z) != 2) {
+		ret = 0;
+	} else {
+		if (strncmp(buf, "HO.z", sizeof(buf)) != 0) {
+			ret = 0;
+		}
+	}
+
+	if (fclose(fp) != 0) {
+		AKMERROR_STR("fclose");
+		ret = 0;
+	}
+
+	if (ret == 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	return AKM_SUCCESS;
+}
+
+/*!
+ Save parameters to file which is specified with #path. This function saves 
+  variables when the offsets of magnetic sensor estimated successfully.
+ @return If function fails, the return value is #AKM_FAIL. When function fails,
+  the parameter file may collapsed. Therefore, the parameters file should be
+  discarded. If function succeeds, the return value is #AKM_SUCCESS.
+ @param[out] prms A pointer to #AK8975PRMS structure. Member variables are
+  saved to the parameter file.
+ @param[in] path A path to the setting file.
+ */
+int16 AKFS_SaveParameters(AK8975PRMS *prms, const char* path)
+{
+	int16 ret = 1;
+	FILE *fp;
+
+	/*Open setting file for write. */
+	if ((fp = fopen(path, "w")) == NULL) {
+		AKMERROR_STR("fopen");
+		return AKM_FAIL;
+	}
+
+	/* Save data to HO */
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.x", prms->mfv_ho.u.x) < 0) { ret = 0; }
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.y", prms->mfv_ho.u.y) < 0) { ret = 0; }
+	if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.z", prms->mfv_ho.u.z) < 0) { ret = 0; }
+
+	if (fclose(fp) != 0) {
+		AKMERROR_STR("fclose");
+		ret = 0;
+	}
+
+	if (ret == 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	return AKM_SUCCESS;
+}
+
diff --git a/AK8975_FS/akmdfs/AKFS_FileIO.h b/AK8975_FS/akmdfs/AKFS_FileIO.h
new file mode 100644
index 0000000..fff5533
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_FileIO.h
@@ -0,0 +1,40 @@
+/******************************************************************************
+ * $Id: AKFS_FileIO.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_FILEIO_H
+#define AKFS_INC_FILEIO_H
+
+/* Common include files. */
+#include "AKFS_Common.h"
+
+/* Include file for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_LoadParameters(AK8975PRMS *prms, const char* path);
+
+int16 AKFS_SaveParameters(AK8975PRMS* prms, const char* path);
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/AKFS_Measure.c b/AK8975_FS/akmdfs/AKFS_Measure.c
new file mode 100644
index 0000000..849c921
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Measure.c
@@ -0,0 +1,411 @@
+/******************************************************************************
+ * $Id: AKFS_Measure.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifdef WIN32
+#include "AK8975_LinuxDriver.h"
+#else
+#include "AK8975Driver.h"
+#endif
+
+#include "AKFS_Measure.h"
+#include "AKFS_Disp.h"
+#include "AKFS_APIs.h"
+
+/*!
+  Read sensitivity adjustment data from fuse ROM.
+  @return If data are read successfully, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param[out] regs The read ASA values. When this function succeeds, ASAX value
+   is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2].
+ */
+int16 AKFS_ReadAK8975FUSEROM(
+		uint8	regs[3]
+)
+{
+	/* Set to FUSE ROM access mode */
+	if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	/* Read values. ASAX, ASAY, ASAZ */
+	if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}    
+
+	AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n",
+			__FUNCTION__, regs[0], regs[1], regs[2]);
+
+	return AKM_SUCCESS;
+}
+
+/*!
+  Carry out self-test.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+ */
+int16 AKFS_SelfTest(void)
+{
+	BYTE	i2cData[SENSOR_DATA_SIZE];
+	BYTE	asa[3];
+	AKFLOAT	hdata[3];
+	int16	ret;
+
+	/* Set to FUSE ROM access mode */
+	if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Read values from ASAX to ASAZ */
+	if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to self-test mode */
+	i2cData[0] = 0x40;
+	if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/* Set to Self-test mode */
+	if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	/*
+	   Wait for DRDY pin changes to HIGH.
+	   Get measurement data from AK8975
+	 */
+	if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+
+	hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]);
+	hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]);
+	hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]);
+
+	/* Test */
+	ret = 1;
+	if ((hdata[0] < AK8975_SELFTEST_MIN_X) ||
+		(AK8975_SELFTEST_MAX_X < hdata[0])) {
+		ret = 0;
+	}
+	if ((hdata[1] < AK8975_SELFTEST_MIN_Y) ||
+		(AK8975_SELFTEST_MAX_Y < hdata[1])) {
+		ret = 0;
+	}
+	if ((hdata[2] < AK8975_SELFTEST_MIN_Z) ||
+		(AK8975_SELFTEST_MAX_Z < hdata[2])) {
+		ret = 0;
+	}
+
+	AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n",
+		(ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]);
+
+	if (ret) {
+		return AKM_SUCCESS;
+	} else {
+		return AKM_FAIL;
+	}
+}
+
+/*!
+  This function calculate the duration of sleep for maintaining
+   the loop keep the period.
+  This function calculates "minimum - (end - start)".
+  @return The result of above equation in nanosecond.
+  @param end The time of after execution.
+  @param start The time of before execution.
+  @param minimum Loop period of each execution.
+ */
+struct timespec AKFS_CalcSleep(
+	const struct timespec* end,
+	const struct timespec* start,
+	const int64_t minimum
+)
+{
+	int64_t endL;
+	int64_t startL;
+	int64_t diff;
+
+	struct timespec ret;
+
+	endL = (end->tv_sec * 1000000000) + end->tv_nsec;
+	startL = (start->tv_sec * 1000000000) + start->tv_nsec;
+	diff = minimum;
+
+	diff -= (endL - startL);
+
+	/* Don't allow negative value */
+	if (diff < 0) {
+		diff = 0;
+	}
+
+	/* Convert to timespec */
+	if (diff > 1000000000) {
+	ret.tv_sec = diff / 1000000000;
+		ret.tv_nsec = diff % 1000000000;
+	} else {
+		ret.tv_sec = 0;
+		ret.tv_nsec = diff;
+	}
+	return ret;
+}
+
+/*!
+  Get interval of each sensors from device driver.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+  @param flag This variable indicates what sensor frequency is updated.
+  @param minimum This value show the minimum loop period in all sensors.
+ */
+int16 AKFS_GetInterval(
+		uint16*  flag,
+		int64_t* minimum
+)
+{
+	/* Accelerometer, Magnetometer, Orientation */
+	/* Delay is in nano second unit. */
+	/* Negative value means the sensor is disabled.*/
+	int64_t delay[AKM_NUM_SENSORS];
+	int i;
+
+	if (AKD_GetDelay(delay) < 0) {
+		AKMERROR;
+		return AKM_FAIL;
+	}
+	AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n",
+		delay[0], delay[1], delay[2]);
+
+	/* update */
+	*minimum = 1000000000;
+	*flag = 0;
+	for (i=0; i<AKM_NUM_SENSORS; i++) {
+		/* Set flag */
+		if (delay[i] >= 0) {
+			*flag |= 1 << i;
+			if (*minimum > delay[i]) {
+				*minimum = delay[i];
+			}
+		}
+	}
+	return AKM_SUCCESS;
+}
+
+/*!
+  If this program run as console mode, measurement result will be displayed
+   on console terminal.
+  @return If this function succeeds, the return value is #AKM_SUCCESS.
+   Otherwise the return value is #AKM_FAIL.
+ */
+void AKFS_OutputResult(
+	const	uint16			flag,
+	const	AKSENSOR_DATA*	acc,
+	const	AKSENSOR_DATA*	mag,
+	const	AKSENSOR_DATA*	ori
+)
+{
+	int buf[YPR_DATA_SIZE];
+
+	/* Store to buffer */
+	buf[0] = flag;					/* Data flag */
+	buf[1] = CONVERT_ACC(acc->x);	/* Ax */
+	buf[2] = CONVERT_ACC(acc->y);	/* Ay */
+	buf[3] = CONVERT_ACC(acc->z);	/* Az */
+	buf[4] = acc->status;			/* Acc status */
+	buf[5] = CONVERT_MAG(mag->x);	/* Mx */
+	buf[6] = CONVERT_MAG(mag->y);	/* My */
+	buf[7] = CONVERT_MAG(mag->z);	/* Mz */
+	buf[8] = mag->status;			/* Mag status */
+	buf[9] = CONVERT_ORI(ori->x);	/* yaw */
+	buf[10] = CONVERT_ORI(ori->y);	/* pitch */
+	buf[11] = CONVERT_ORI(ori->z);	/* roll */
+
+	if (g_opmode & OPMODE_CONSOLE) {
+		/* Console mode */
+		Disp_Result(buf);
+	}
+
+	/* Set result to driver */
+		AKD_SetYPR(buf);
+}
+
+/*!
+ This is the main routine of measurement.
+ */
+void AKFS_MeasureLoop(void)
+{
+	BYTE    i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */
+	int16	mag[3];
+	int16	mstat;
+	int16	acc[3];
+	struct	timespec tsstart= {0, 0};
+	struct	timespec tsend = {0, 0};
+	struct	timespec doze;
+	int64_t	minimum;
+	uint16	flag;
+	AKSENSOR_DATA sv_acc;
+	AKSENSOR_DATA sv_mag;
+	AKSENSOR_DATA sv_ori;
+	AKFLOAT tmpx, tmpy, tmpz;
+	int16 tmp_accuracy;
+
+	minimum = -1;
+
+#ifdef WIN32
+	clock_init_time();
+#endif
+
+	/* Initialize library functions and device */
+	if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
+		AKMERROR;
+		goto MEASURE_END;
+	}
+
+	while (g_stopRequest != AKM_TRUE) {
+		/* Beginning time */
+		if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		/* Get interval */
+		if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) {
+			/* Get accelerometer */
+			if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+
+			/* Calculate accelerometer vector */
+			if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_acc.x = tmpx;
+				sv_acc.y = tmpy;
+				sv_acc.z = tmpz;
+				sv_acc.status = tmp_accuracy;
+			} else {
+				flag &= ~ACC_DATA_READY;
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) {
+			/* Set to measurement mode  */
+			if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+
+			/* Wait for DRDY and get data from device */
+			if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
+				AKMERROR;
+				goto MEASURE_END;
+			}
+			/* raw data to x,y,z value */
+			mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1]));
+			mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3]));
+			mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5]));
+			mstat = i2cData[0] | i2cData[7];
+
+			AKMDATA(AKMDATA_BDATA,
+				"bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n",
+				i2cData[0], i2cData[1], i2cData[2], i2cData[3],
+				i2cData[4], i2cData[5], i2cData[6], i2cData[7]);
+
+			/* Calculate magnetic field vector */
+			if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_mag.x = tmpx;
+				sv_mag.y = tmpy;
+				sv_mag.z = tmpz;
+				sv_mag.status = tmp_accuracy;
+			} else {
+				flag &= ~MAG_DATA_READY;
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		if (flag & ORI_DATA_READY) {
+			if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
+				sv_ori.x = tmpx;
+				sv_ori.y = tmpy;
+				sv_ori.z = tmpz;
+				sv_ori.status = tmp_accuracy;
+			} else {
+				flag &= ~ORI_DATA_READY;
+			}
+		}
+
+		/* Output result */
+		AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori);
+
+		/* Ending time */
+		if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) {
+			AKMERROR;
+			goto MEASURE_END;
+		}
+
+		/* Calculate duration */
+		doze = AKFS_CalcSleep(&tsend, &tsstart, minimum);
+		AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f));
+		nanosleep(&doze, NULL);
+
+#ifdef WIN32
+		if (_kbhit()) {
+			_getch();
+			break;
+		}
+#endif
+	}
+
+MEASURE_END:
+	/* Set to PowerDown mode */
+	if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
+		AKMERROR;
+		return;
+	}
+
+	/* Save parameters */
+	if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
+		AKMERROR;
+	}
+}
+
+
diff --git a/AK8975_FS/akmdfs/AKFS_Measure.h b/AK8975_FS/akmdfs/AKFS_Measure.h
new file mode 100644
index 0000000..c41e363
--- /dev/null
+++ b/AK8975_FS/akmdfs/AKFS_Measure.h
@@ -0,0 +1,71 @@
+/******************************************************************************
+ * $Id: AKFS_Measure.h 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef AKFS_INC_MEASURE_H
+#define AKFS_INC_MEASURE_H
+
+/* Include files for AK8975 library. */
+#include "AKFS_Compass.h"
+
+/*** Constant definition ******************************************************/
+#define AK8975_SELFTEST_MIN_X	-100
+#define AK8975_SELFTEST_MAX_X	100
+
+#define AK8975_SELFTEST_MIN_Y	-100
+#define AK8975_SELFTEST_MAX_Y	100
+
+#define AK8975_SELFTEST_MIN_Z	-1000
+#define AK8975_SELFTEST_MAX_Z	-300
+
+#define CONVERT_ACC(a)	((int)((a) * 720 / 9.8f))
+#define CONVERT_MAG(m)	((int)((m) / 0.06f))
+#define CONVERT_ORI(o)	((int)((o) * 64))
+
+/*** Type declaration *********************************************************/
+
+/*** Global variables *********************************************************/
+
+/*** Prototype of function ****************************************************/
+int16 AKFS_ReadAK8975FUSEROM(
+		uint8 regs[3]
+);
+
+int16 AKFS_SelfTest(void);
+
+struct timespec AKFS_CalcSleep(
+	const struct timespec* end,
+	const struct timespec* start,
+	const int64_t minimum
+);
+
+int16 AKFS_GetInterval(
+		uint16*  flag,
+		int64_t* minimum
+);
+
+void AKFS_OutputResult(
+	const	uint16			flag,
+	const	AKSENSOR_DATA*	acc,
+	const	AKSENSOR_DATA*	mag,
+	const	AKSENSOR_DATA*	ori
+);
+
+void AKFS_MeasureLoop(void);
+
+#endif
+
diff --git a/AK8975_FS/akmdfs/Android.mk b/AK8975_FS/akmdfs/Android.mk
new file mode 100644
index 0000000..8c39be6
--- /dev/null
+++ b/AK8975_FS/akmdfs/Android.mk
@@ -0,0 +1,42 @@
+ifneq ($(TARGET_SIMULATOR),true)
+
+LOCAL_PATH:= $(call my-dir)
+
+# dmtd
+AKM_FS_LIB=AKFS_APIs_8975
+
+##### AKM daemon ###############################################################
+include $(CLEAR_VARS)
+
+LOCAL_C_INCLUDES := \
+	$(KERNEL_HEADERS) \
+	$(LOCAL_PATH)/$(AKM_FS_LIB)
+
+LOCAL_SRC_FILES:= \
+	$(AKM_FS_LIB)/AKFS_AK8975.c \
+	$(AKM_FS_LIB)/AKFS_AOC.c \
+	$(AKM_FS_LIB)/AKFS_Device.c \
+	$(AKM_FS_LIB)/AKFS_Direction.c \
+	$(AKM_FS_LIB)/AKFS_VNorm.c \
+	AK8975Driver.c \
+	AKFS_APIs.c \
+	AKFS_Disp.c \
+	AKFS_FileIO.c \
+	AKFS_Measure.c \
+	main.c
+
+LOCAL_CFLAGS += \
+	-Wall \
+	-DENABLE_AKMDEBUG=1 \
+	-DOUTPUT_STDOUT=1 \
+	-DDBG_LEVEL=2 \
+
+LOCAL_MODULE := akmdfs
+LOCAL_MODULE_TAGS := optional
+LOCAL_FORCE_STATIC_EXECUTABLE := false
+LOCAL_SHARED_LIBRARIES := libc libm libutils libcutils
+include $(BUILD_EXECUTABLE)
+
+
+endif  # TARGET_SIMULATOR != true
+
diff --git a/AK8975_FS/akmdfs/main.c b/AK8975_FS/akmdfs/main.c
new file mode 100644
index 0000000..6db52e4
--- /dev/null
+++ b/AK8975_FS/akmdfs/main.c
@@ -0,0 +1,294 @@
+/******************************************************************************
+ * $Id: main.c 580 2012-03-29 09:56:21Z yamada.rj $
+ ******************************************************************************
+ *
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "AKFS_Common.h"
+#include "AKFS_Compass.h"
+#include "AKFS_Disp.h"
+#include "AKFS_FileIO.h"
+#include "AKFS_Measure.h"
+#include "AKFS_APIs.h"
+
+#ifndef WIN32
+#include <sched.h>
+#include <pthread.h>
+#include <linux/input.h>
+#endif
+
+#define ERROR_INITDEVICE		(-1)
+#define ERROR_OPTPARSE			(-2)
+#define ERROR_SELF_TEST			(-3)
+#define ERROR_READ_FUSE			(-4)
+#define ERROR_INIT				(-5)
+#define ERROR_GETOPEN_STAT		(-6)
+#define ERROR_STARTCLONE		(-7)
+#define ERROR_GETCLOSE_STAT		(-8)
+
+/* Global variable. See AKFS_Common.h file. */
+int g_stopRequest = 0;
+int g_opmode = 0;
+int g_dbgzone = 0;
+int g_mainQuit = AKD_FALSE;
+
+/* Static variable. */
+static pthread_t s_thread;  /*!< Thread handle */
+
+/*!
+ A thread function which is raised when measurement is started.
+ @param[in] args This parameter is not used currently.
+ */
+static void* thread_main(void* args)
+{
+	AKFS_MeasureLoop();
+	return ((void*)0);
+}
+
+/*!
+  Signal handler.  This should be used only in DEBUG mode.
+  @param[in] sig Event
+ */
+static void signal_handler(int sig)
+{
+	if (sig == SIGINT) {
+		ALOGE("SIGINT signal");
+		g_stopRequest = 1;
+		g_mainQuit = AKD_TRUE;
+	}
+}
+
+/*!
+ Starts new thread.
+ @return If this function succeeds, the return value is 1. Otherwise,
+ the return value is 0.
+ */
+static int startClone(void)
+{
+	pthread_attr_t attr;
+
+	pthread_attr_init(&attr);
+	g_stopRequest = 0;
+	if (pthread_create(&s_thread, &attr, thread_main, NULL) == 0) {
+		return 1;
+	} else {
+		return 0;
+	}
+}
+
+/*!
+ This function parse the option.
+ @retval 1 Parse succeeds.
+ @retval 0 Parse failed.
+ @param[in] argc Argument count
+ @param[in] argv Argument vector
+ @param[out] layout_patno
+ */
+int OptParse(
+	int		argc,
+	char*	argv[],
+	AKFS_PATNO*	layout_patno)
+{
+#ifdef WIN32
+	/* Static */
+#if defined(AKFS_WIN32_PAT1)
+	*layout_patno = PAT1;
+#elif defined(AKFS_WIN32_PAT2)
+	*layout_patno = PAT2;
+#elif defined(AKFS_WIN32_PAT3)
+	*layout_patno = PAT3;
+#elif defined(AKFS_WIN32_PAT4)
+	*layout_patno = PAT4;
+#elif defined(AKFS_WIN32_PAT5)
+	*layout_patno = PAT5;
+#else
+	*layout_patno = PAT1;
+#endif
+	g_opmode = OPMODE_CONSOLE;
+	/*g_opmode = 0;*/
+	g_dbgzone = AKMDATA_LOOP | AKMDATA_TEST;
+#else
+	int		opt;
+	char	optVal;
+
+	*layout_patno = PAT_INVALID;
+
+	while ((opt = getopt(argc, argv, "sm:z:")) != -1) {
+		switch(opt){
+			case 'm':
+				optVal = (char)(optarg[0] - '0');
+				if ((PAT1 <= optVal) && (optVal <= PAT8)) {
+					*layout_patno = (AKFS_PATNO)optVal;
+					AKMDEBUG(DBG_LEVEL2, "%s: Layout=%d\n", __FUNCTION__, optVal);
+				}
+				break;
+			case 's':
+				g_opmode |= OPMODE_CONSOLE;
+				break;
+            case 'z':
+                /* If error detected, hopefully 0 is returned. */
+                errno = 0;
+                g_dbgzone = (int)strtol(optarg, (char**)NULL, 0); 
+                AKMDEBUG(DBG_LEVEL2, "%s: Dbg Zone=%d\n", __FUNCTION__, g_dbgzone);
+                break;
+			default:
+				ALOGE("%s: Invalid argument", argv[0]);
+				return 0;
+		}
+	}
+
+	/* If layout is not specified with argument, get parameter from driver */
+	if (*layout_patno == PAT_INVALID) {
+		int16_t n;
+		if (AKD_GetLayout(&n) == AKM_SUCCESS) {
+			if ((PAT1 <= n) && (n <= PAT8)) {
+				*layout_patno = (AKFS_PATNO)n;
+			}
+		}
+	}
+	/* Error */
+	if (*layout_patno == PAT_INVALID) {
+		ALOGE("No layout is specified.");
+		return 0;
+	}
+#endif
+
+	return 1;
+}
+
+void ConsoleMode(void)
+{
+	/*** Console Mode *********************************************/
+	while (AKD_TRUE) {
+		/* Select operation */
+		switch (Menu_Main()) {
+		case MODE_SelfTest:
+			AKFS_SelfTest();
+			break;
+		case MODE_Measure:
+			/* Reset flag */
+			g_stopRequest = 0;
+			/* Measurement routine */
+			AKFS_MeasureLoop();
+			break;
+
+		case MODE_Quit:
+			return;
+
+		default:
+			AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n");
+			break;
+		}
+	}
+}
+
+int main(int argc, char **argv)
+{
+	int			retValue = 0;
+	AKFS_PATNO	pat;
+	uint8		regs[3];
+
+	/* Show the version info of this software. */
+	Disp_StartMessage();
+
+#if ENABLE_AKMDEBUG
+	/* Register signal handler */
+	signal(SIGINT, signal_handler);
+#endif
+
+	/* Open device driver */
+	if(AKD_InitDevice() != AKD_SUCCESS) {
+		retValue = ERROR_INITDEVICE;
+		goto MAIN_QUIT;
+	}
+
+	/* Parse command-line options */
+	/* This function calls device driver function to get layout */
+	if (OptParse(argc, argv, &pat) == 0) {
+		retValue = ERROR_OPTPARSE;
+		goto MAIN_QUIT;
+	}
+
+	/* Self Test */
+	if (g_opmode & OPMODE_FST){
+		if (AKFS_SelfTest() != AKD_SUCCESS) {
+			retValue = ERROR_SELF_TEST;
+			goto MAIN_QUIT;
+		}
+	}
+
+	/* OK, then start */
+	if (AKFS_ReadAK8975FUSEROM(regs) != AKM_SUCCESS) {
+		retValue = ERROR_READ_FUSE;
+		goto MAIN_QUIT;
+	}
+
+	/* Initialize library. */
+	if (AKFS_Init(pat, regs) != AKM_SUCCESS) {
+		retValue = ERROR_INIT;
+		goto MAIN_QUIT;
+	}
+
+	/* Start console mode */
+	if (g_opmode & OPMODE_CONSOLE) {
+		ConsoleMode();
+		goto MAIN_QUIT;
+	}
+
+	/*** Start Daemon ********************************************/
+	while (g_mainQuit == AKD_FALSE) {
+		int st = 0;
+		/* Wait until device driver is opened. */
+		if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
+			retValue = ERROR_GETOPEN_STAT;
+			goto MAIN_QUIT;
+		}
+		if (st == 0) {
+			ALOGI("Suspended.");
+		} else {
+			ALOGI("Compass Opened.");
+			/* Reset flag */
+			g_stopRequest = 0;
+			/* Start measurement thread. */
+			if (startClone() == 0) {
+				retValue = ERROR_STARTCLONE;
+				goto MAIN_QUIT;
+			}
+
+			/* Wait until device driver is closed. */
+			if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
+				retValue = ERROR_GETCLOSE_STAT;
+				g_mainQuit = AKD_TRUE;
+			}
+			/* Wait thread completion. */
+			g_stopRequest = 1;
+			pthread_join(s_thread, NULL);
+			ALOGI("Compass Closed.");
+		}
+	}
+
+MAIN_QUIT:
+
+	/* Release library */
+	AKFS_Release();
+	/* Close device driver. */
+	AKD_DeinitDevice();
+	/* Show the last message. */
+	Disp_EndMessage(retValue);
+
+	return retValue;
+}
+
+
diff --git a/AK8975_FS/akmdfs/platform/include/linux/akm8975.h b/AK8975_FS/akmdfs/platform/include/linux/akm8975.h
new file mode 100644
index 0000000..27cf22e
--- /dev/null
+++ b/AK8975_FS/akmdfs/platform/include/linux/akm8975.h
@@ -0,0 +1,90 @@
+/*
+ * Definitions for akm8975 compass chip.
+ */
+#ifndef AKM8975_H
+#define AKM8975_H
+
+#include <linux/ioctl.h>
+
+#define AKM8975_I2C_NAME "akm8975"
+
+#define SENSOR_DATA_SIZE	8
+#define YPR_DATA_SIZE		12
+#define RWBUF_SIZE			16
+
+#define ACC_DATA_FLAG		0
+#define MAG_DATA_FLAG		1
+#define ORI_DATA_FLAG		2
+#define AKM_NUM_SENSORS		3
+
+#define ACC_DATA_READY		(1<<(ACC_DATA_FLAG))
+#define MAG_DATA_READY		(1<<(MAG_DATA_FLAG))
+#define ORI_DATA_READY		(1<<(ORI_DATA_FLAG))
+
+/*! \name AK8975 constant definition
+ \anchor AK8975_Def
+ Constant definitions of the AK8975.*/
+#define AK8975_MEASUREMENT_TIME_US	10000
+
+/*! \name AK8975 operation mode
+ \anchor AK8975_Mode
+ Defines an operation mode of the AK8975.*/
+/*! @{*/
+#define AK8975_MODE_SNG_MEASURE	0x01
+#define	AK8975_MODE_SELF_TEST	0x08
+#define	AK8975_MODE_FUSE_ACCESS	0x0F
+#define	AK8975_MODE_POWERDOWN	0x00
+/*! @}*/
+
+/*! \name AK8975 register address
+\anchor AK8975_REG
+Defines a register address of the AK8975.*/
+/*! @{*/
+#define AK8975_REG_WIA		0x00
+#define AK8975_REG_INFO		0x01
+#define AK8975_REG_ST1		0x02
+#define AK8975_REG_HXL		0x03
+#define AK8975_REG_HXH		0x04
+#define AK8975_REG_HYL		0x05
+#define AK8975_REG_HYH		0x06
+#define AK8975_REG_HZL		0x07
+#define AK8975_REG_HZH		0x08
+#define AK8975_REG_ST2		0x09
+#define AK8975_REG_CNTL		0x0A
+#define AK8975_REG_RSV		0x0B
+#define AK8975_REG_ASTC		0x0C
+#define AK8975_REG_TS1		0x0D
+#define AK8975_REG_TS2		0x0E
+#define AK8975_REG_I2CDIS	0x0F
+/*! @}*/
+
+/*! \name AK8975 fuse-rom address
+\anchor AK8975_FUSE
+Defines a read-only address of the fuse ROM of the AK8975.*/
+/*! @{*/
+#define AK8975_FUSE_ASAX	0x10
+#define AK8975_FUSE_ASAY	0x11
+#define AK8975_FUSE_ASAZ	0x12
+/*! @}*/
+
+#define AKMIO                   0xA1
+
+/* IOCTLs for AKM library */
+#define ECS_IOCTL_READ              _IOWR(AKMIO, 0x01, char*)
+#define ECS_IOCTL_WRITE             _IOW(AKMIO, 0x02, char*)
+#define ECS_IOCTL_SET_MODE          _IOW(AKMIO, 0x03, short)
+#define ECS_IOCTL_GETDATA           _IOR(AKMIO, 0x04, char[SENSOR_DATA_SIZE])
+#define ECS_IOCTL_SET_YPR           _IOW(AKMIO, 0x05, int[YPR_DATA_SIZE])
+#define ECS_IOCTL_GET_OPEN_STATUS   _IOR(AKMIO, 0x06, int)
+#define ECS_IOCTL_GET_CLOSE_STATUS  _IOR(AKMIO, 0x07, int)
+#define ECS_IOCTL_GET_DELAY         _IOR(AKMIO, 0x08, long long int[AKM_NUM_SENSORS])
+#define ECS_IOCTL_GET_LAYOUT        _IOR(AKMIO, 0x09, char)
+#define ECS_IOCTL_GET_ACCEL			_IOR(AKMIO, 0x30, short[3])
+
+struct akm8975_platform_data {
+	char layout;
+	int gpio_DRDY;
+};
+
+#endif
+
diff --git a/AK8975_FS/libsensors/AdxlSensor.cpp b/AK8975_FS/libsensors/AdxlSensor.cpp
new file mode 100644
index 0000000..7b905bf
--- /dev/null
+++ b/AK8975_FS/libsensors/AdxlSensor.cpp
@@ -0,0 +1,224 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+
+#include "AdxlSensor.h"
+
+#define ADXL_DATA_NAME				"ADXL34x accelerometer"
+#define ADXL_MAX_SAMPLE_RATE_VAL	11 /* 200 Hz */
+
+#define ADXL_UNIT_CONVERSION(value) ((value) * GRAVITY_EARTH / (256.0f))
+
+/*****************************************************************************/
+
+AdxlSensor::AdxlSensor()
+    : SensorBase(NULL, ADXL_DATA_NAME),
+      mEnabled(0),
+      mDelay(-1),
+      mInputReader(4),
+      mHasPendingEvent(false)
+{
+    mPendingEvent.version = sizeof(sensors_event_t);
+    mPendingEvent.sensor = ID_A;
+    mPendingEvent.type = SENSOR_TYPE_ACCELEROMETER;
+    memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+    if (data_fd >= 0) {
+        strcpy(input_sysfs_path, "/sys/class/input/");
+        strcat(input_sysfs_path, input_name);
+        strcat(input_sysfs_path, "/device/device/");
+        input_sysfs_path_len = strlen(input_sysfs_path);
+		ALOGD("AdxlSensor: sysfs_path=%s", input_sysfs_path);
+    } else {
+		input_sysfs_path[0] = '\0';
+		input_sysfs_path_len = 0;
+	}
+}
+
+AdxlSensor::~AdxlSensor() {
+    if (mEnabled) {
+        setEnable(0, 0);
+    }
+}
+
+int AdxlSensor::setInitialState() {
+    struct input_absinfo absinfo;
+
+	if (mEnabled) {
+    	if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo)) {
+			mPendingEvent.acceleration.x = ADXL_UNIT_CONVERSION(absinfo.value);
+		}
+    	if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo)) {
+			mPendingEvent.acceleration.y = ADXL_UNIT_CONVERSION(absinfo.value);
+		}
+		if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo)) {
+			mPendingEvent.acceleration.z = ADXL_UNIT_CONVERSION(absinfo.value);
+		}
+	}
+    return 0;
+}
+
+bool AdxlSensor::hasPendingEvents() const {
+    return mHasPendingEvent;
+}
+
+int AdxlSensor::setEnable(int32_t handle, int enabled) {
+    int err = 0;
+	char buffer[2];
+
+	/* handle check */
+	if (handle != ID_A) {
+		ALOGE("AdxlSensor: Invalid handle (%d)", handle);
+		return -EINVAL;
+	}
+
+	buffer[0] = '\0';
+	buffer[1] = '\0';
+
+	if (mEnabled <= 0) {
+		if(enabled) buffer[0] = '0';
+	} else if (mEnabled == 1) {
+		if(!enabled) buffer[0] = '1';
+	}
+    if (buffer[0] != '\0') {
+        strcpy(&input_sysfs_path[input_sysfs_path_len], "disable");
+		err = write_sys_attribute(input_sysfs_path, buffer, 1);
+		if (err != 0) {
+			return err;
+		}
+		ALOGD("AdxlSensor: Control set %s", buffer);
+   		setInitialState();
+    }
+
+	if (enabled) {
+		mEnabled++;
+		if (mEnabled > 32767) mEnabled = 32767;
+	} else {
+		mEnabled--;
+		if (mEnabled < 0) mEnabled = 0;
+	}
+	ALOGD("AdxlSensor: mEnabled = %d", mEnabled);
+
+    return err;
+}
+
+int AdxlSensor::setDelay(int32_t handle, int64_t delay_ns)
+{
+	int err = 0;
+	int rate_val;
+	int32_t us; 
+	char buffer[16];
+	int bytes;
+
+	/* handle check */
+	if (handle != ID_A) {
+		ALOGE("AdxlSensor: Invalid handle (%d)", handle);
+		return -EINVAL;
+	}
+
+	if (mDelay != delay_ns) {
+		/*  
+	 	* The ADXL34x Supports 16 sample rates ranging from 3200Hz-0.098Hz
+	 	* Calculate best fit and limit to max 200Hz (rate_val 11)
+	 	*/
+
+		us = (int32_t)(delay_ns / 1000);
+		for (rate_val = 0; rate_val < 16; rate_val++)
+			if (us  >= ((10000000) >> rate_val))
+				break;
+
+		if (rate_val > ADXL_MAX_SAMPLE_RATE_VAL) {
+			rate_val = ADXL_MAX_SAMPLE_RATE_VAL;
+		}
+
+    	strcpy(&input_sysfs_path[input_sysfs_path_len], "rate");
+   		bytes = sprintf(buffer, "%d", rate_val);
+		err = write_sys_attribute(input_sysfs_path, buffer, bytes);
+		if (err == 0) {
+			mDelay = delay_ns;
+			ALOGD("AdxlSensor: Control set delay %f ms requetsed, using %f ms",
+				delay_ns/1000000.0f, 1e6 / (3200000 >> (15 - rate_val)));
+		}
+	}
+
+	return err;
+}
+
+int64_t AdxlSensor::getDelay(int32_t handle)
+{
+	return (handle == ID_A) ? mDelay : 0;
+}
+
+int AdxlSensor::getEnable(int32_t handle)
+{
+	return (handle == ID_A) ? mEnabled : 0;
+}
+
+int AdxlSensor::readEvents(sensors_event_t* data, int count)
+{
+    if (count < 1)
+        return -EINVAL;
+
+    if (mHasPendingEvent) {
+        mHasPendingEvent = false;
+        mPendingEvent.timestamp = getTimestamp();
+        *data = mPendingEvent;
+        return mEnabled ? 1 : 0;
+    }
+
+    ssize_t n = mInputReader.fill(data_fd);
+    if (n < 0)
+        return n;
+
+    int numEventReceived = 0;
+    input_event const* event;
+
+    while (count && mInputReader.readEvent(&event)) {
+        int type = event->type;
+        if (type == EV_ABS) {
+            float value = event->value;
+            if (event->code == EVENT_TYPE_ACCEL_X) {
+                mPendingEvent.acceleration.x = ADXL_UNIT_CONVERSION(value);
+            } else if (event->code == EVENT_TYPE_ACCEL_Y) {
+                mPendingEvent.acceleration.y = ADXL_UNIT_CONVERSION(value);
+            } else if (event->code == EVENT_TYPE_ACCEL_Z) {
+                mPendingEvent.acceleration.z = ADXL_UNIT_CONVERSION(value);
+            }
+        } else if (type == EV_SYN) {
+            mPendingEvent.timestamp = timevalToNano(event->time);
+            if (mEnabled) {
+                *data++ = mPendingEvent;
+                count--;
+                numEventReceived++;
+            }
+        } else {
+            ALOGE("AdxlSensor: unknown event (type=%d, code=%d)",
+                    type, event->code);
+        }
+        mInputReader.next();
+    }
+
+    return numEventReceived;
+}
+
diff --git a/AK8975_FS/libsensors/AdxlSensor.h b/AK8975_FS/libsensors/AdxlSensor.h
new file mode 100644
index 0000000..c419efa
--- /dev/null
+++ b/AK8975_FS/libsensors/AdxlSensor.h
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_ADXL_SENSOR_H
+#define ANDROID_ADXL_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "sensors.h"
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class AdxlSensor : public SensorBase {
+    int mEnabled;
+	int64_t mDelay;
+    InputEventCircularReader mInputReader;
+    sensors_event_t mPendingEvent;
+    bool mHasPendingEvent;
+    char input_sysfs_path[PATH_MAX];
+    int input_sysfs_path_len;
+
+    int setInitialState();
+
+public:
+            AdxlSensor();
+    virtual ~AdxlSensor();
+    virtual int readEvents(sensors_event_t* data, int count);
+    virtual bool hasPendingEvents() const;
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int setEnable(int32_t handle, int enabled);
+    virtual int64_t getDelay(int32_t handle);
+    virtual int getEnable(int32_t handle);
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_ADXL_SENSOR_H
diff --git a/AK8975_FS/libsensors/AkmSensor.cpp b/AK8975_FS/libsensors/AkmSensor.cpp
new file mode 100644
index 0000000..6c8da8b
--- /dev/null
+++ b/AK8975_FS/libsensors/AkmSensor.cpp
@@ -0,0 +1,323 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <dlfcn.h>
+
+#include <cutils/log.h>
+
+#include "AkmSensor.h"
+
+#define AKMD_DEFAULT_INTERVAL	200000000
+
+/*****************************************************************************/
+
+AkmSensor::AkmSensor()
+: SensorBase(NULL, "compass"),
+      mPendingMask(0),
+      mInputReader(32)
+{
+	for (int i=0; i<numSensors; i++) {
+		mEnabled[i] = 0;
+		mDelay[i] = -1;
+	}
+    memset(mPendingEvents, 0, sizeof(mPendingEvents));
+
+    mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
+    mPendingEvents[Accelerometer].sensor = ID_A;
+    mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
+    mPendingEvents[Accelerometer].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+    mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
+    mPendingEvents[MagneticField].sensor = ID_M;
+    mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
+    mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+    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;
+
+    if (data_fd) {
+		strcpy(input_sysfs_path, "/sys/class/compass/akm8975/");
+		input_sysfs_path_len = strlen(input_sysfs_path);
+	} else {
+		input_sysfs_path[0] = '\0';
+		input_sysfs_path_len = 0;
+	}
+}
+
+AkmSensor::~AkmSensor()
+{
+	for (int i=0; i<numSensors; i++) {
+		setEnable(i, 0);
+	}
+}
+
+int AkmSensor::setEnable(int32_t handle, int enabled)
+{
+	int id = handle2id(handle);
+	int err = 0;
+	char buffer[2];
+
+	switch (id) {
+	case Accelerometer:
+		strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_acc");
+		break;
+	case MagneticField:
+		strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_mag");
+		break;
+	case Orientation:
+		strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_ori");
+		break;
+	default:
+		ALOGE("AkmSensor: unknown handle (%d)", handle);
+		return -EINVAL;
+	}
+
+	buffer[0] = '\0';
+	buffer[1] = '\0';
+
+	if (mEnabled[id] <= 0) {
+		if(enabled) buffer[0] = '1';
+	} else if (mEnabled[id] == 1) {
+		if(!enabled) buffer[0] = '0';
+	}
+
+    if (buffer[0] != '\0') {
+		err = write_sys_attribute(input_sysfs_path, buffer, 1);
+		if (err != 0) {
+			return err;
+		}
+		ALOGD("AkmSensor: set %s to %s",
+			&input_sysfs_path[input_sysfs_path_len], buffer);
+
+		/* for AKMD specification */
+		if (buffer[0] == '1') {
+			setDelay(handle, AKMD_DEFAULT_INTERVAL);
+		} else {
+			setDelay(handle, -1);
+		}
+    }
+
+	if (enabled) {
+		(mEnabled[id])++;
+		if (mEnabled[id] > 32767) mEnabled[id] = 32767;
+	} else {
+		(mEnabled[id])--;
+		if (mEnabled[id] < 0) mEnabled[id] = 0;
+	}
+	ALOGD("AkmSensor: mEnabled[%d] = %d", id, mEnabled[id]);
+
+    return err;
+}
+
+int AkmSensor::setDelay(int32_t handle, int64_t ns)
+{
+	int id = handle2id(handle);
+	int err = 0;
+	char buffer[32];
+	int bytes;
+
+    if (ns < -1 || 2147483647 < ns) {
+		ALOGE("AkmSensor: invalid delay (%lld)", ns);
+        return -EINVAL;
+	}
+
+    switch (id) {
+        case Accelerometer:
+			strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_acc");
+			break;
+        case MagneticField:
+			strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_mag");
+			break;
+        case Orientation:
+			strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_ori");
+			break;
+		default:
+			ALOGE("AkmSensor: unknown handle (%d)", handle);
+			return -EINVAL;
+    }
+
+	if (ns != mDelay[id]) {
+   		bytes = sprintf(buffer, "%lld", ns);
+		err = write_sys_attribute(input_sysfs_path, buffer, bytes);
+		if (err == 0) {
+			mDelay[id] = ns;
+			ALOGD("AkmSensor: set %s to %f ms.",
+				&input_sysfs_path[input_sysfs_path_len], ns/1000000.0f);
+		}
+	}
+
+    return err;
+}
+
+int64_t AkmSensor::getDelay(int32_t handle)
+{
+	int id = handle2id(handle);
+	if (id > 0) {
+		return mDelay[id];
+	} else {
+		return 0;
+	}
+}
+
+int AkmSensor::getEnable(int32_t handle)
+{
+	int id = handle2id(handle);
+	if (id >= 0) {
+		return mEnabled[id];
+	} else {
+		return 0;
+	}
+}
+
+int AkmSensor::readEvents(sensors_event_t* data, int count)
+{
+    if (count < 1)
+        return -EINVAL;
+
+    ssize_t n = mInputReader.fill(data_fd);
+    if (n < 0)
+        return n;
+
+    int numEventReceived = 0;
+    input_event const* event;
+
+    while (count && mInputReader.readEvent(&event)) {
+        int type = event->type;
+        if (type == EV_ABS) {
+            processEvent(event->code, event->value);
+            mInputReader.next();
+        } else if (type == EV_SYN) {
+            int64_t time = timevalToNano(event->time);
+            for (int j=0 ; count && mPendingMask && j<numSensors ; j++) {
+                if (mPendingMask & (1<<j)) {
+                    mPendingMask &= ~(1<<j);
+                    mPendingEvents[j].timestamp = time;
+					//ALOGD("data=%8.5f,%8.5f,%8.5f",
+						//mPendingEvents[j].data[0],
+						//mPendingEvents[j].data[1],
+						//mPendingEvents[j].data[2]);
+                    if (mEnabled[j]) {
+                        *data++ = mPendingEvents[j];
+                        count--;
+                        numEventReceived++;
+                    }
+                }
+            }
+            if (!mPendingMask) {
+                mInputReader.next();
+            }
+        } else {
+            ALOGE("AkmSensor: unknown event (type=%d, code=%d)",
+                    type, event->code);
+            mInputReader.next();
+        }
+    }
+    return numEventReceived;
+}
+
+int AkmSensor::setAccel(sensors_event_t* data)
+{
+	int err;
+	int16_t acc[3];
+
+	acc[0] = (int16_t)(data->acceleration.x / GRAVITY_EARTH * AKSC_LSG);
+	acc[1] = (int16_t)(data->acceleration.y / GRAVITY_EARTH * AKSC_LSG);
+	acc[2] = (int16_t)(data->acceleration.z / GRAVITY_EARTH * AKSC_LSG);
+
+	strcpy(&input_sysfs_path[input_sysfs_path_len], "accel");
+	err = write_sys_attribute(input_sysfs_path, (char*)acc, 6);
+	if (err < 0) {
+		ALOGD("AkmSensor: %s write failed.",
+			&input_sysfs_path[input_sysfs_path_len]);
+	}
+	return err;
+}
+
+int AkmSensor::handle2id(int32_t handle)
+{
+    switch (handle) {
+        case ID_A:
+			return Accelerometer;
+        case ID_M:
+			return MagneticField;
+        case ID_O:
+			return Orientation;
+		default:
+			ALOGE("AkmSensor: unknown handle (%d)", handle);
+			return -EINVAL;
+    }
+}
+
+void AkmSensor::processEvent(int code, int value)
+{
+    switch (code) {
+        case EVENT_TYPE_ACCEL_X:
+            mPendingMask |= 1<<Accelerometer;
+            mPendingEvents[Accelerometer].acceleration.x = value * CONVERT_A;
+            break;
+        case EVENT_TYPE_ACCEL_Y:
+            mPendingMask |= 1<<Accelerometer;
+            mPendingEvents[Accelerometer].acceleration.y = value * CONVERT_A;
+            break;
+        case EVENT_TYPE_ACCEL_Z:
+            mPendingMask |= 1<<Accelerometer;
+            mPendingEvents[Accelerometer].acceleration.z = value * CONVERT_A;
+            break;
+
+        case EVENT_TYPE_MAGV_X:
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M;
+            break;
+        case EVENT_TYPE_MAGV_Y:
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M;
+            break;
+        case EVENT_TYPE_MAGV_Z:
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M;
+            break;
+        case EVENT_TYPE_MAGV_STATUS:
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.status = value;
+            break;
+
+        case EVENT_TYPE_YAW:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.azimuth = value * CONVERT_O;
+            break;
+        case EVENT_TYPE_PITCH:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.pitch = value * CONVERT_O;
+            break;
+        case EVENT_TYPE_ROLL:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.roll = value * CONVERT_O;
+            break;
+        case EVENT_TYPE_ORIENT_STATUS:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.status = value;
+            break;
+    }
+}
diff --git a/AK8975_FS/libsensors/AkmSensor.h b/AK8975_FS/libsensors/AkmSensor.h
new file mode 100644
index 0000000..65d6715
--- /dev/null
+++ b/AK8975_FS/libsensors/AkmSensor.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_AKM_SENSOR_H
+#define ANDROID_AKM_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+
+#include "sensors.h"
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class AkmSensor : public SensorBase {
+public:
+            AkmSensor();
+    virtual ~AkmSensor();
+
+    enum {
+		Accelerometer = 0,
+        MagneticField,
+        Orientation,
+        numSensors
+    };
+
+    virtual int readEvents(sensors_event_t* data, int count);
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int setEnable(int32_t handle, int enabled);
+    virtual int64_t getDelay(int32_t handle);
+    virtual int getEnable(int32_t handle);
+	int setAccel(sensors_event_t* data);
+
+private:
+    int mEnabled[numSensors];
+	int64_t mDelay[numSensors];
+    uint32_t mPendingMask;
+    InputEventCircularReader mInputReader;
+    sensors_event_t mPendingEvents[numSensors];
+	char input_sysfs_path[PATH_MAX];
+	int input_sysfs_path_len;
+
+	int handle2id(int32_t handle);
+    void processEvent(int code, int value);
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_AKM_SENSOR_H
diff --git a/AK8975_FS/libsensors/Android.mk b/AK8975_FS/libsensors/Android.mk
new file mode 100644
index 0000000..49dfd81
--- /dev/null
+++ b/AK8975_FS/libsensors/Android.mk
@@ -0,0 +1,48 @@
+# Copyright (C) 2008 The Android Open Source Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+LOCAL_PATH := $(call my-dir)
+
+ifneq ($(TARGET_SIMULATOR),true)
+
+# HAL module implemenation, not prelinked, and stored in
+# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.product.board>.so
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := sensors.default
+
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\" \
+				-Wall \
+				-DSENSORHAL_ACC_ADXL346
+#				-DSENSORHAL_ACC_KXTF9
+
+LOCAL_SRC_FILES := \
+			SensorBase.cpp \
+			InputEventReader.cpp \
+			AkmSensor.cpp \
+			sensors.cpp \
+			AdxlSensor.cpp
+#			KionixSensor.cpp
+
+LOCAL_SHARED_LIBRARIES := liblog libcutils libdl
+LOCAL_PRELINK_MODULE := false
+
+include $(BUILD_SHARED_LIBRARY)
+
+endif # !TARGET_SIMULATOR
diff --git a/AK8975_FS/libsensors/InputEventReader.cpp b/AK8975_FS/libsensors/InputEventReader.cpp
new file mode 100644
index 0000000..1014f29
--- /dev/null
+++ b/AK8975_FS/libsensors/InputEventReader.cpp
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdint.h>
+#include <errno.h>
+#include <unistd.h>
+#include <poll.h>
+
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include <linux/input.h>
+
+#include <cutils/log.h>
+
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+InputEventCircularReader::InputEventCircularReader(size_t numEvents)
+    : mBuffer(new input_event[numEvents * 2]),
+      mBufferEnd(mBuffer + numEvents),
+      mHead(mBuffer),
+      mCurr(mBuffer),
+      mFreeSpace(numEvents)
+{
+}
+
+InputEventCircularReader::~InputEventCircularReader()
+{
+    delete [] mBuffer;
+}
+
+ssize_t InputEventCircularReader::fill(int fd)
+{
+    size_t numEventsRead = 0;
+    if (mFreeSpace) {
+        const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event));
+        if (nread<0 || nread % sizeof(input_event)) {
+            // we got a partial event!!
+            return nread<0 ? -errno : -EINVAL;
+        }
+
+        numEventsRead = nread / sizeof(input_event);
+        if (numEventsRead) {
+            mHead += numEventsRead;
+            mFreeSpace -= numEventsRead;
+            if (mHead > mBufferEnd) {
+                size_t s = mHead - mBufferEnd;
+                memcpy(mBuffer, mBufferEnd, s * sizeof(input_event));
+                mHead = mBuffer + s;
+            }
+        }
+    }
+
+    return numEventsRead;
+}
+
+ssize_t InputEventCircularReader::readEvent(input_event const** events)
+{
+    *events = mCurr;
+    ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace;
+    return available ? 1 : 0;
+}
+
+void InputEventCircularReader::next()
+{
+    mCurr++;
+    mFreeSpace++;
+    if (mCurr >= mBufferEnd) {
+        mCurr = mBuffer;
+    }
+}
diff --git a/AK8975_FS/libsensors/InputEventReader.h b/AK8975_FS/libsensors/InputEventReader.h
new file mode 100644
index 0000000..180aade
--- /dev/null
+++ b/AK8975_FS/libsensors/InputEventReader.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_INPUT_EVENT_READER_H
+#define ANDROID_INPUT_EVENT_READER_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+/*****************************************************************************/
+
+struct input_event;
+
+class InputEventCircularReader
+{
+    struct input_event* const mBuffer;
+    struct input_event* const mBufferEnd;
+    struct input_event* mHead;
+    struct input_event* mCurr;
+    ssize_t mFreeSpace;
+
+public:
+    InputEventCircularReader(size_t numEvents);
+    ~InputEventCircularReader();
+    ssize_t fill(int fd);
+    ssize_t readEvent(input_event const** events);
+    void next();
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_INPUT_EVENT_READER_H
diff --git a/AK8975_FS/libsensors/KionixSensor.cpp b/AK8975_FS/libsensors/KionixSensor.cpp
new file mode 100644
index 0000000..a2e3229
--- /dev/null
+++ b/AK8975_FS/libsensors/KionixSensor.cpp
@@ -0,0 +1,202 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+#include <linux/kxtf9.h>
+
+#include "KionixSensor.h"
+
+#define KIONIX_IOCTL_ENABLE_OUTPUT	KXTF9_IOCTL_ENABLE_OUTPUT
+#define KIONIX_IOCTL_DISABLE_OUTPUT	KXTF9_IOCTL_DISABLE_OUTPUT
+#define KIONIX_IOCTL_GET_ENABLE		KXTF9_IOCTL_GET_ENABLE
+#define KIONIX_IOCTL_UPDATE_ODR		KXTF9_IOCTL_UPDATE_ODR
+
+#define KIONIX_UNIT_CONVERSION(value) ((value) * GRAVITY_EARTH / (1024.0f))
+
+/*****************************************************************************/
+
+KionixSensor::KionixSensor()
+    : SensorBase(DIR_DEV, INPUT_NAME_ACC),
+      mEnabled(0),
+      mDelay(-1),
+      mInputReader(32),
+      mHasPendingEvent(false)
+{
+    mPendingEvent.version = sizeof(sensors_event_t);
+    mPendingEvent.sensor = ID_A;
+    mPendingEvent.type = SENSOR_TYPE_ACCELEROMETER;
+    memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+	open_device();
+}
+
+KionixSensor::~KionixSensor() {
+    if (mEnabled) {
+        setEnable(0, 0);
+    }
+
+	close_device();
+}
+
+int KionixSensor::setInitialState() {
+    struct input_absinfo absinfo;
+
+	if (mEnabled) {
+    	if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo)) {
+			mPendingEvent.acceleration.x = KIONIX_UNIT_CONVERSION(absinfo.value);
+		}
+    	if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo)) {
+			mPendingEvent.acceleration.y = KIONIX_UNIT_CONVERSION(absinfo.value);
+		}
+		if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo)) {
+			mPendingEvent.acceleration.z = KIONIX_UNIT_CONVERSION(absinfo.value);
+		}
+	}
+    return 0;
+}
+
+bool KionixSensor::hasPendingEvents() const {
+    return mHasPendingEvent;
+}
+
+int KionixSensor::setEnable(int32_t handle, int enabled) {
+    int err = 0;
+	int opDone = 0;
+
+	/* handle check */
+	if (handle != ID_A) {
+		ALOGE("KionixSensor: Invalid handle (%d)", handle);
+		return -EINVAL;
+	}
+
+	if (mEnabled <= 0) {
+		if (enabled) {
+			err = ioctl(dev_fd, KIONIX_IOCTL_ENABLE_OUTPUT);
+			opDone = 1;
+		}
+	} else if (mEnabled == 1) {
+		if (!enabled) {
+			err = ioctl(dev_fd, KIONIX_IOCTL_DISABLE_OUTPUT);
+			opDone = 1;
+		}
+	}
+	if (err != 0) {
+		ALOGE("KionixSensor: IOCTL failed (%s)", strerror(errno));
+		return err;
+	}
+	if (opDone) {
+		ALOGD("KionixSensor: Control set %d", enabled);
+		setInitialState();
+	}
+
+	if (enabled) {
+		mEnabled++;
+		if (mEnabled > 32767) mEnabled = 32767;
+	} else {
+		mEnabled--;
+		if (mEnabled < 0) mEnabled = 0;
+	}
+	ALOGD("KionixSensor: mEnabled = %d", mEnabled);
+
+    return err;
+}
+
+int KionixSensor::setDelay(int32_t handle, int64_t delay_ns)
+{
+	int err = 0;
+	int ms; 
+
+	/* handle check */
+	if (handle != ID_A) {
+		ALOGE("KionixSensor: Invalid handle (%d)", handle);
+		return -EINVAL;
+	}
+
+	if (mDelay != delay_ns) {
+		ms = delay_ns / 1000000;
+        if (ioctl(dev_fd, KIONIX_IOCTL_UPDATE_ODR, &ms)) {
+			return -errno;
+		}
+		mDelay = delay_ns;
+	}
+
+	return err;
+}
+
+int64_t KionixSensor::getDelay(int32_t handle)
+{
+	return (handle == ID_A) ? mDelay : 0;
+}
+
+int KionixSensor::getEnable(int32_t handle)
+{
+	return (handle == ID_A) ? mEnabled : 0;
+}
+
+int KionixSensor::readEvents(sensors_event_t* data, int count)
+{
+    if (count < 1)
+        return -EINVAL;
+
+    if (mHasPendingEvent) {
+        mHasPendingEvent = false;
+        mPendingEvent.timestamp = getTimestamp();
+        *data = mPendingEvent;
+        return mEnabled ? 1 : 0;
+    }
+
+    ssize_t n = mInputReader.fill(data_fd);
+    if (n < 0)
+        return n;
+
+    int numEventReceived = 0;
+    input_event const* event;
+
+    while (count && mInputReader.readEvent(&event)) {
+        int type = event->type;
+        if (type == EV_ABS) {
+            float value = event->value;
+            if (event->code == EVENT_TYPE_ACCEL_X) {
+                mPendingEvent.acceleration.x = KIONIX_UNIT_CONVERSION(value);
+            } else if (event->code == EVENT_TYPE_ACCEL_Y) {
+                mPendingEvent.acceleration.y = KIONIX_UNIT_CONVERSION(value);
+            } else if (event->code == EVENT_TYPE_ACCEL_Z) {
+                mPendingEvent.acceleration.z = KIONIX_UNIT_CONVERSION(value);
+            }
+        } else if (type == EV_SYN) {
+            mPendingEvent.timestamp = timevalToNano(event->time);
+            if (mEnabled) {
+                *data++ = mPendingEvent;
+                count--;
+                numEventReceived++;
+            }
+        } else {
+            ALOGE("KionixSensor: unknown event (type=%d, code=%d)",
+                    type, event->code);
+        }
+        mInputReader.next();
+    }
+
+    return numEventReceived;
+}
+
diff --git a/AK8975_FS/libsensors/KionixSensor.h b/AK8975_FS/libsensors/KionixSensor.h
new file mode 100644
index 0000000..6f29de4
--- /dev/null
+++ b/AK8975_FS/libsensors/KionixSensor.h
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_KIONIX_SENSOR_H
+#define ANDROID_KIONIX_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "sensors.h"
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class KionixSensor : public SensorBase {
+    int mEnabled;
+	int64_t mDelay;
+    InputEventCircularReader mInputReader;
+    sensors_event_t mPendingEvent;
+    bool mHasPendingEvent;
+    char input_sysfs_path[PATH_MAX];
+    int input_sysfs_path_len;
+
+    int setInitialState();
+
+public:
+            KionixSensor();
+    virtual ~KionixSensor();
+    virtual int readEvents(sensors_event_t* data, int count);
+    virtual bool hasPendingEvents() const;
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int setEnable(int32_t handle, int enabled);
+    virtual int64_t getDelay(int32_t handle);
+    virtual int getEnable(int32_t handle);
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_KIONIX_SENSOR_H
diff --git a/AK8975_FS/libsensors/SensorBase.cpp b/AK8975_FS/libsensors/SensorBase.cpp
new file mode 100644
index 0000000..3f24fae
--- /dev/null
+++ b/AK8975_FS/libsensors/SensorBase.cpp
@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+
+#include <cutils/log.h>
+
+#include <linux/input.h>
+
+#include "SensorBase.h"
+
+/*****************************************************************************/
+
+SensorBase::SensorBase(
+        const char* dev_name,
+        const char* data_name)
+    : dev_name(dev_name), data_name(data_name),
+      dev_fd(-1), data_fd(-1)
+{
+    if (data_name) {
+        data_fd = openInput(data_name);
+    }
+}
+
+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::write_sys_attribute(
+	const char *path, const char *value, int bytes)
+{
+    int fd, amt;
+
+	fd = open(path, O_WRONLY);
+    if (fd < 0) {
+        ALOGE("SensorBase: write_attr failed to open %s (%s)",
+			path, strerror(errno));
+        return -1;
+	}
+
+    amt = write(fd, value, bytes);
+	amt = ((amt == -1) ? -errno : 0);
+	ALOGE_IF(amt < 0, "SensorBase: write_int failed to write %s (%s)",
+		path, strerror(errno));
+    close(fd);
+	return amt;
+}
+
+int SensorBase::getFd() const {
+    if (!data_name) {
+        return dev_fd;
+    }
+    return data_fd;
+}
+
+int SensorBase::setDelay(int32_t handle, int64_t ns) {
+    return 0;
+}
+
+int64_t SensorBase::getDelay(int32_t handle) {
+    return 0;
+}
+
+bool SensorBase::hasPendingEvents() const {
+    return false;
+}
+
+int64_t SensorBase::getTimestamp() {
+    struct timespec t;
+    t.tv_sec = t.tv_nsec = 0;
+    clock_gettime(CLOCK_MONOTONIC, &t);
+    return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec;
+}
+
+int SensorBase::openInput(const char* inputName) {
+    int fd = -1;
+    const char *dirname = "/dev/input";
+    char devname[PATH_MAX];
+    char *filename;
+    DIR *dir;
+    struct dirent *de;
+    dir = opendir(dirname);
+    if(dir == NULL)
+        return -1;
+    strcpy(devname, dirname);
+    filename = devname + strlen(devname);
+    *filename++ = '/';
+    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) {
+            char name[80];
+            if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
+                name[0] = '\0';
+            }
+            if (!strcmp(name, inputName)) {
+                strcpy(input_name, filename);
+                break;
+            } else {
+                close(fd);
+                fd = -1;
+            }
+        }
+    }
+    closedir(dir);
+    ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
+    return fd;
+}
diff --git a/AK8975_FS/libsensors/SensorBase.h b/AK8975_FS/libsensors/SensorBase.h
new file mode 100644
index 0000000..4d16784
--- /dev/null
+++ b/AK8975_FS/libsensors/SensorBase.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSOR_BASE_H
+#define ANDROID_SENSOR_BASE_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+
+/*****************************************************************************/
+
+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);
+    static int64_t getTimestamp();
+
+
+    static int64_t timevalToNano(timeval const& t) {
+        return t.tv_sec*1000000000LL + t.tv_usec*1000;
+    }
+
+    int open_device();
+    int close_device();
+	int write_int(char const *path, int value);
+	int write_sys_attribute(
+		char const *path, char const *value, int bytes);
+
+public:
+            SensorBase(
+                    const char* dev_name,
+                    const char* data_name);
+
+    virtual ~SensorBase();
+
+    virtual int readEvents(sensors_event_t* data, int count) = 0;
+    virtual bool hasPendingEvents() const;
+    virtual int getFd() const;
+
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int64_t getDelay(int32_t handle);
+
+	/* When this function is called, increments the reference counter. */
+    virtual int setEnable(int32_t handle, int enabled) = 0;
+	/* It returns the number of reference. */
+    virtual int getEnable(int32_t handle) = 0;
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_SENSOR_BASE_H
diff --git a/AK8975_FS/libsensors/sensors.cpp b/AK8975_FS/libsensors/sensors.cpp
new file mode 100644
index 0000000..68be4fb
--- /dev/null
+++ b/AK8975_FS/libsensors/sensors.cpp
@@ -0,0 +1,374 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "Sensors"
+
+#include <hardware/sensors.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <math.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdlib.h>
+
+#include <linux/input.h>
+
+#include <utils/Atomic.h>
+#include <utils/Log.h>
+
+#include "sensors.h"
+
+#if defined SENSORHAL_ACC_ADXL346
+#include "AdxlSensor.h"
+#elif defined SENSORHAL_ACC_KXTF9
+#include "KionixSensor.h"
+#else
+#error "Sensor configuration ERROR: No sensor is defined."
+#endif
+
+#include "AkmSensor.h"
+
+/*****************************************************************************/
+
+#define DELAY_OUT_TIME 0x7FFFFFFF
+
+#define LIGHT_SENSOR_POLLTIME    2000000000
+
+
+#define SENSORS_ACCELERATION     (1<<ID_A)
+#define SENSORS_MAGNETIC_FIELD   (1<<ID_M)
+#define SENSORS_ORIENTATION      (1<<ID_O)
+
+#define SENSORS_ACCELERATION_HANDLE     0
+#define SENSORS_MAGNETIC_FIELD_HANDLE   1
+#define SENSORS_ORIENTATION_HANDLE      2
+
+/*****************************************************************************/
+
+/* The SENSORS Module */
+static const struct sensor_t sSensorList[] = {
+        { "AK8975 3-axis Magnetic field sensor",
+          "Asahi Kasei Microdevices",
+          1,
+		  SENSORS_MAGNETIC_FIELD_HANDLE,
+          SENSOR_TYPE_MAGNETIC_FIELD, 1228.8f,
+		  CONVERT_M, 0.35f, 10000, { } },
+#ifdef SENSORHAL_ACC_ADXL346
+        { "Analog Devices ADXL345/6 3-axis Accelerometer",
+          "ADI",
+          1, SENSORS_ACCELERATION_HANDLE,
+          SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 16.0f),
+		  (GRAVITY_EARTH * 16.0f) / 4096.0f, 0.145f, 10000, { } },
+        { "AK8975 Orientation sensor",
+          "Asahi Kasei Microdevices",
+          1, SENSORS_ORIENTATION_HANDLE,
+          SENSOR_TYPE_ORIENTATION, 360.0f,
+		  CONVERT_O, 0.495f, 10000, { } }
+#endif
+#ifdef SENSORHAL_ACC_KXTF9
+        { "Kionix KXTF9 3-axis Accelerometer",
+          "Kionix",
+          1, SENSORS_ACCELERATION_HANDLE,
+          SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 2.0f),
+		  (GRAVITY_EARTH) / 1024.0f, 0.7f, 10000, { } },
+        { "AK8975 Orientation sensor",
+          "Asahi Kasei Microdevices",
+          1, SENSORS_ORIENTATION_HANDLE,
+          SENSOR_TYPE_ORIENTATION, 360.0f,
+		  CONVERT_O, 1.05f, 10000, { } }
+#endif
+};
+
+
+static int open_sensors(const struct hw_module_t* module, const char* id,
+                        struct hw_device_t** device);
+
+static int sensors__get_sensors_list(struct sensors_module_t* module,
+                                     struct sensor_t const** list) 
+{
+        *list = sSensorList;
+        return ARRAY_SIZE(sSensorList);
+}
+
+static struct hw_module_methods_t sensors_module_methods = {
+        open: open_sensors
+};
+
+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: "AKM Sensor module",
+                author: "Asahi Kasei Microdevices",
+                methods: &sensors_module_methods,
+        },
+        get_sensors_list: sensors__get_sensors_list,
+};
+
+struct sensors_poll_context_t {
+    struct sensors_poll_device_t device; // must be first
+
+        sensors_poll_context_t();
+        ~sensors_poll_context_t();
+    int activate(int handle, int enabled);
+    int setDelay(int handle, int64_t ns);
+    int setDelay_sub(int handle, int64_t ns);
+    int pollEvents(sensors_event_t* data, int count);
+
+private:
+    enum {
+        acc          = 0,
+        akm          = 1,
+        numSensorDrivers,
+        numFds,
+    };
+
+    static const size_t wake = numFds - 1;
+    static const char WAKE_MESSAGE = 'W';
+    struct pollfd mPollFds[numFds];
+    int mWritePipeFd;
+    SensorBase* mSensors[numSensorDrivers];
+
+	/* These function will be different depends on 
+	 * which sensor is implemented in AKMD program.
+	 */
+    int handleToDriver(int handle);
+	int proxy_enable(int handle, int enabled);
+	int proxy_setDelay(int handle, int64_t ns);
+};
+
+/*****************************************************************************/
+
+sensors_poll_context_t::sensors_poll_context_t()
+{
+#ifdef SENSORHAL_ACC_ADXL346
+    mSensors[acc] = new AdxlSensor();
+#endif
+#ifdef SENSORHAL_ACC_KXTF9
+    mSensors[acc] = new KionixSensor();
+#endif
+    mPollFds[acc].fd = mSensors[acc]->getFd();
+    mPollFds[acc].events = POLLIN;
+    mPollFds[acc].revents = 0;
+
+    mSensors[akm] = new AkmSensor();
+    mPollFds[akm].fd = mSensors[akm]->getFd();
+    mPollFds[akm].events = POLLIN;
+    mPollFds[akm].revents = 0;
+
+    int wakeFds[2];
+    int result = pipe(wakeFds);
+    ALOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
+    fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
+    fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
+    mWritePipeFd = wakeFds[1];
+
+    mPollFds[wake].fd = wakeFds[0];
+    mPollFds[wake].events = POLLIN;
+    mPollFds[wake].revents = 0;
+}
+
+sensors_poll_context_t::~sensors_poll_context_t() {
+    for (int i=0 ; i<numSensorDrivers ; i++) {
+        delete mSensors[i];
+    }
+    close(mPollFds[wake].fd);
+    close(mWritePipeFd);
+}
+
+int sensors_poll_context_t::handleToDriver(int handle) {
+	switch (handle) {
+		case ID_A:
+			return acc;
+		case ID_M:
+		case ID_O:
+			return akm;
+	}
+	return -EINVAL;
+}
+
+int sensors_poll_context_t::activate(int handle, int enabled) {
+	int drv = handleToDriver(handle);
+	int err;
+
+	switch (handle) {
+		case ID_A:
+		case ID_M:
+			/* No dependencies */
+			break;
+
+		case ID_O:
+			/* These sensors depend on ID_A and ID_M */
+			mSensors[handleToDriver(ID_A)]->setEnable(ID_A, enabled);
+			mSensors[handleToDriver(ID_M)]->setEnable(ID_M, enabled);
+			break;
+
+		default:
+			return -EINVAL;
+	}
+	err = mSensors[drv]->setEnable(handle, enabled);
+
+    if (enabled && !err) {
+        const char wakeMessage(WAKE_MESSAGE);
+        int result = write(mWritePipeFd, &wakeMessage, 1);
+        ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
+    }
+    return err;
+}
+
+int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
+	switch (handle) {
+		case ID_A:
+		case ID_M:
+			/* No dependencies */
+			break;
+
+		case ID_O:
+			/* These sensors depend on ID_A and ID_M */
+			setDelay_sub(ID_A, ns);
+			setDelay_sub(ID_M, ns);
+			break;
+
+		default:
+			return -EINVAL;
+	}
+	return setDelay_sub(handle, ns);
+}
+
+int sensors_poll_context_t::setDelay_sub(int handle, int64_t ns) {
+	int drv = handleToDriver(handle);
+	int en = mSensors[drv]->getEnable(handle);
+	int64_t cur = mSensors[drv]->getDelay(handle);
+	int err = 0;
+
+	if (en <= 1) {
+		/* no dependencies */
+		if (cur != ns) {
+			err = mSensors[drv]->setDelay(handle, ns);
+		}
+	} else {
+		/* has dependencies, choose shorter interval */
+		if (cur > ns) {
+			err = mSensors[drv]->setDelay(handle, ns);
+		} 
+	}
+	return err;
+}
+
+int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
+{
+    int nbEvents = 0;
+    int n = 0;
+
+    do {
+        // see if we have some leftover from the last poll()
+        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);
+                if (nb < count) {
+                    // no more data for this sensor
+                    mPollFds[i].revents = 0;
+                }
+				if ((0 != nb) && (acc == i)) {
+					((AkmSensor*)(mSensors[akm]))->setAccel(&data[nb-1]);
+				}
+                count -= nb;
+                nbEvents += nb;
+                data += nb;
+            }
+        }
+
+        if (count) {
+            // we still have some room, so try to see if we can get
+            // some events immediately or just wait if we don't have
+            // anything to return
+            n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
+            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(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
+                mPollFds[wake].revents = 0;
+            }
+        }
+        // if we have events and space, go read them
+    } while (n && count);
+
+    return nbEvents;
+}
+
+/*****************************************************************************/
+
+static int poll__close(struct hw_device_t *dev)
+{
+    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+    if (ctx) {
+        delete ctx;
+    }
+    return 0;
+}
+
+static int poll__activate(struct sensors_poll_device_t *dev,
+        int handle, int enabled) {
+    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+    return ctx->activate(handle, enabled);
+}
+
+static int poll__setDelay(struct sensors_poll_device_t *dev,
+        int handle, int64_t ns) {
+    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+    return ctx->setDelay(handle, ns);
+}
+
+static int poll__poll(struct sensors_poll_device_t *dev,
+        sensors_event_t* data, int count) {
+    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+    return ctx->pollEvents(data, count);
+}
+
+/*****************************************************************************/
+
+/** Open a new instance of a sensor device using name */
+static int open_sensors(const struct hw_module_t* module, const char* id,
+                        struct hw_device_t** device)
+{
+        int status = -EINVAL;
+        sensors_poll_context_t *dev = new sensors_poll_context_t();
+
+        memset(&dev->device, 0, sizeof(sensors_poll_device_t));
+
+        dev->device.common.tag = HARDWARE_DEVICE_TAG;
+        dev->device.common.version  = 0;
+        dev->device.common.module   = const_cast<hw_module_t*>(module);
+        dev->device.common.close    = poll__close;
+        dev->device.activate        = poll__activate;
+        dev->device.setDelay        = poll__setDelay;
+        dev->device.poll            = poll__poll;
+
+        *device = &dev->device.common;
+        status = 0;
+
+        return status;
+}
+
diff --git a/AK8975_FS/libsensors/sensors.h b/AK8975_FS/libsensors/sensors.h
new file mode 100644
index 0000000..6060e6a
--- /dev/null
+++ b/AK8975_FS/libsensors/sensors.h
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSORS_H
+#define ANDROID_SENSORS_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include <linux/input.h>
+
+#include <hardware/hardware.h>
+#include <hardware/sensors.h>
+
+__BEGIN_DECLS
+
+/*****************************************************************************/
+
+#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
+
+#define ID_A  (0)
+#define ID_M  (1)
+#define ID_O  (2)
+
+/*****************************************************************************/
+
+/*
+ * The SENSORS Module
+ */
+
+/*****************************************************************************/
+
+/* For ADXL346 */
+#define EVENT_TYPE_ACCEL_X          ABS_X
+#define EVENT_TYPE_ACCEL_Y          ABS_Y
+#define EVENT_TYPE_ACCEL_Z          ABS_Z
+#define EVENT_TYPE_ACCEL_STATUS     ABS_THROTTLE
+
+/* For AK8975 */
+#define EVENT_TYPE_MAGV_X           ABS_RX
+#define EVENT_TYPE_MAGV_Y           ABS_RY
+#define EVENT_TYPE_MAGV_Z           ABS_RZ
+#define EVENT_TYPE_MAGV_STATUS      ABS_RUDDER
+
+/* Fro AKM Algorithm */
+#define EVENT_TYPE_YAW              ABS_HAT0X
+#define EVENT_TYPE_PITCH            ABS_HAT0Y
+#define EVENT_TYPE_ROLL             ABS_HAT1X
+#define EVENT_TYPE_ORIENT_STATUS    ABS_HAT1Y
+
+
+/* conversion of acceleration data to SI units (m/s^2) */
+/* 720 LSB = 1G */
+#define LSG                         (256.0f)
+#define AKSC_LSG					(720.0f)
+#define CONVERT_A                   (GRAVITY_EARTH / LSG)
+
+/* conversion of magnetic data to uT units */
+#define CONVERT_M                   (0.06f)
+
+/* conversion of orientation data to degree units */
+#define CONVERT_O                   (0.015625f)
+
+#define SENSOR_STATE_MASK           (0x7FFF)
+
+/*****************************************************************************/
+
+__END_DECLS
+
+#endif  // ANDROID_SENSORS_H