Official MA 5.1.2 - RC11 Release

Signed-off-by: Rosa Chow <rchow@invensense.com>

30 files changed, 2139 insertions, 4780 deletions

diff --git a/libsensors_iio/software/simple_apps/common/external_hardware.h b/libsensors_iio/software/simple_apps/common/external_hardware.h
deleted file mode 100644
index 55e3b20..0000000
--- a/libsensors_iio/software/simple_apps/common/external_hardware.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
-    Accelerometer
-*/
-#define get_accel_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_ADXL34X	/* ADI accelerometer */
-struct ext_slave_descr *adxl34x_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr adxl34x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA150	/* Bosch accelerometer */
-struct ext_slave_descr *bma150_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma150_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA222	/* Bosch 222 accelerometer */
-struct ext_slave_descr *bma222_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma222_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA250	/* Bosch accelerometer */
-struct ext_slave_descr *bma250_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma250_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_KXSD9	/* Kionix accelerometer */
-struct ext_slave_descr *kxsd9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxsd9_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_KXTF9	/* Kionix accelerometer */
-struct ext_slave_descr *kxtf9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxtf9_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_LIS331DLH	/* ST accelerometer */
-struct ext_slave_descr *lis331_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lis331_get_slave_descr
-#endif
-
-
-#ifdef CONFIG_MPU_SENSORS_LIS3DH	/* ST accelerometer */
-struct ext_slave_descr *lis3dh_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lis3dh_get_slave_descr
-#endif
-
-/* ST accelerometer in LSM303DLx combo */
-#if defined CONFIG_MPU_SENSORS_LSM303DLX_A
-struct ext_slave_descr *lsm303dlx_a_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lsm303dlx_a_get_slave_descr
-#endif
-
-/* MPU6050 Accel */
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
-	defined CONFIG_MPU_SENSORS_MPU6050B1
-struct ext_slave_descr *mpu6050_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mpu6050_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMA8450	/* Freescale accelerometer */
-struct ext_slave_descr *mma8450_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma8450_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMA845X	/* Freescale accelerometer */
-struct ext_slave_descr *mma845x_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma845x_get_slave_descr
-#endif
-
-
-/*
-    Compass
-*/
-#define get_compass_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_AK8975	/* AKM compass */
-struct ext_slave_descr *ak8975_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ak8975_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_AMI30X	/* AICHI Steel  AMI304/305 compass */
-struct ext_slave_descr *ami30x_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ami30x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_AMI306	/* AICHI Steel AMI306 compass */
-struct ext_slave_descr *ami306_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ami306_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HMC5883	/* Honeywell compass */
-struct ext_slave_descr *hmc5883_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hmc5883_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMC314X	/* MEMSIC compass */
-struct ext_slave_descr *mmc314x_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr mmc314x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_LSM303DLX_M	/* ST compass */
-struct ext_slave_descr *lsm303dlx_m_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr lsm303dlx_m_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_YAS529	/* Yamaha compass */
-struct ext_slave_descr *yas529_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr yas529_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_YAS530	/* Yamaha compass */
-struct ext_slave_descr *yas530_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr yas530_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HSCDTD002B	/* Alps HSCDTD002B compass */
-struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hscdtd002b_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HSCDTD004A	/* Alps HSCDTD004A compass */
-struct ext_slave_descr *hscdtd004a_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hscdtd004a_get_slave_descr
-#endif
-/*
-    Pressure
-*/
-#define get_pressure_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_BMA085	/* BMA pressure */
-struct ext_slave_descr *bma085_get_slave_descr(void);
-#undef get_pressure_slave_descr
-#define get_pressure_slave_descr bma085_get_slave_descr
-#endif
diff --git a/libsensors_iio/software/simple_apps/common/fopenCMake.c b/libsensors_iio/software/simple_apps/common/fopenCMake.c
deleted file mode 100644
index 2936109..0000000
--- a/libsensors_iio/software/simple_apps/common/fopenCMake.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/******************************************************************************
- *
- * $Id: fopenCMake.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *****************************************************************************/
-
-#include <string.h>
-
-#include "fopenCMake.h"
-#include "path_configure.h"
-
-/**
- *  @brief  Replacement for fopen that concatenates the location of the 
- *          source tree onto the filename path. 
- *          It looks in 3 locations:
- *              - in the current directory, 
- *              - then it looks in "..", 
- *              - lastly in the define UNITTEST_SOURCE_DIR which 
- *                gets defined by CMake.
- * @param filename 
- *              Filename relative to base of source directory.
- * @param prop 
- *              Second argument to fopen.
- */
-FILE *fopenCMake(const char *filename, const char *prop)
-{
-    char path[150];
-    FILE *file;
-
-    // Look first in current directory
-    file = fopen(filename, prop);
-    if (file == NULL) {
-        // Now look in ".."
-#ifdef WIN32
-        strcpy(path, "..\\");
-#else
-        strcpy(path, "../");
-#endif
-        strcat(path, filename);
-        file = fopen(path, prop);
-        if (file == NULL) {
-            // Now look in definition by CMake
-            strcpy(path, PATH_SOURCE_DIR);
-            strcat(path, filename);
-            file = fopen(path, prop);
-        }
-    }
-    return file;
-}
-
-
diff --git a/libsensors_iio/software/simple_apps/common/fopenCMake.h b/libsensors_iio/software/simple_apps/common/fopenCMake.h
deleted file mode 100644
index c5eba39..0000000
--- a/libsensors_iio/software/simple_apps/common/fopenCMake.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef FOPEN_CMAKE_H__
-#define FOPEN_CMAKE_H__
-
-#include <stdio.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-FILE *fopenCMake( const char *filename, const char *prop );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // FOPEN_CMAKE_H__
diff --git a/libsensors_iio/software/simple_apps/common/gestureMenu.c b/libsensors_iio/software/simple_apps/common/gestureMenu.c
deleted file mode 100644
index 2a9487c..0000000
--- a/libsensors_iio/software/simple_apps/common/gestureMenu.c
+++ /dev/null
@@ -1,725 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- * $Id: gestureMenu.c 5705 2011-06-28 19:32:29Z nroyer $
- *****************************************************************************/
-
-#define _USE_MATH_DEFINES
-#include <stdio.h>
-#include <stddef.h>
-#include <math.h>
-#include <string.h>
-
-#include "ml.h"
-#include "mlmath.h"
-#include "gesture.h"
-#include "orientation.h"
-#include "gestureMenu.h"
-#include "fifo.h"
-
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "gest"
-#include "log.h"
-#include "mldl_cfg.h"
-
-static unsigned long sensors[] = {
-    INV_NINE_AXIS,
-    INV_THREE_AXIS_GYRO,
-    INV_DMP_PROCESSOR | INV_THREE_AXIS_ACCEL,
-    INV_THREE_AXIS_ACCEL,
-    INV_DMP_PROCESSOR | INV_THREE_AXIS_COMPASS,
-    INV_THREE_AXIS_COMPASS,
-    INV_SIX_AXIS_GYRO_ACCEL,
-    INV_DMP_PROCESSOR | INV_SIX_AXIS_ACCEL_COMPASS,
-    INV_SIX_AXIS_ACCEL_COMPASS,
-};
-
-static char *sensors_string[] = {
-    "INV_NINE_AXIS",
-    "INV_THREE_AXIS_GYRO",
-    "INV_DMP_PROCESSOR | INV_THREE_AXIS_ACCEL",
-    "INV_THREE_AXIS_ACCEL",
-    "INV_DMP_PROCESSOR | INV_THREE_AXIS_COMPASS",
-    "INV_THREE_AXIS_COMPASS",
-    "INV_SIX_AXIS_GYRO_ACCEL",
-    "INV_DMP_PROCESSOR | INV_SIX_AXIS_ACCEL_COMPASS",
-    "INV_SIX_AXIS_ACCEL_COMPASS",
-};
-
-/**
- * Prints the menu with the current thresholds
- *
- * @param params The parameters to print
- */
-void PrintGestureMenu(tGestureMenuParams const * const params)
-{
-    MPL_LOGI("Press h at any time to re-display this menu\n");
-    MPL_LOGI("TAP PARAMETERS:\n");
-    MPL_LOGI("    Use LEFT and RIGHT arrows to adjust Tap Time     \n\n");
-    MPL_LOGI("    j          : Increase X threshold     : %5d\n",
-             params->xTapThreshold);
-    MPL_LOGI("    J (Shift-j): Decrease X threshold\n");
-    MPL_LOGI("    k          : Increase Y threshold     : %5d\n",
-             params->yTapThreshold);
-    MPL_LOGI("    K (Shift-k): Decrease Y threshold\n");
-    MPL_LOGI("    i          : Increase Z threshold     : %5d\n",
-             params->zTapThreshold);
-    MPL_LOGI("    I (Shift-i): Decrease Z threshold\n");
-    MPL_LOGI("    l          : Increase tap time        : %5d\n",
-             params->tapTime);
-    MPL_LOGI("    L (Shift-l): Decrease tap time\n");
-    MPL_LOGI("    o          : Increase next tap time   : %5d\n",
-             params->nextTapTime);
-    MPL_LOGI("    O (Shift-o): Increase next tap time\n");
-    MPL_LOGI("    u          : Increase max Taps        : %5d\n",
-             params->maxTaps);
-    MPL_LOGI("    U (Shift-u): Increase max Taps\n");
-
-    MPL_LOGI("SHAKE PARAMETERS:\n");
-    MPL_LOGI("    x          : Increase X threshold     : %5d\n",
-             params->xShakeThresh);
-    MPL_LOGI("    X (Shift-x): Decrease X threshold\n");
-    MPL_LOGI("    y          : Increase Y threshold     : %5d\n",
-             params->yShakeThresh);
-    MPL_LOGI("    Y (Shift-y): Decrease Y threshold\n");
-    MPL_LOGI("    z          : Increase Z threshold     : %5d\n",
-             params->zShakeThresh);
-    MPL_LOGI("    Z (Shift-z): Decrease Z threshold\n");
-    MPL_LOGI("    s          : Toggle Shake Function    : %5d\n",
-             params->shakeFunction);
-    MPL_LOGI("    t          : Increase Shake Time      : %5d\n",
-             params->shakeTime);
-    MPL_LOGI("    T (Shift-T): Decrease Shake Time\n");
-    MPL_LOGI("    n          : Increase Next Shake Time : %5d\n",
-             params->nextShakeTime);
-    MPL_LOGI("    N (Shift-n): Decrease Next Shake Time\n");
-    MPL_LOGI("    m          : Increase max Shakes      : %5d\n",
-             params->maxShakes);
-    MPL_LOGI("    M (Shift-m): Decrease max Shakes\n");
-    MPL_LOGI("SNAP  PARAMETERS:\n");
-    MPL_LOGI("    p          : Increase Pitch threshold : %5d\n",
-             params->xSnapThresh);
-    MPL_LOGI("    P (Shift-p): Decrease Pitch threshold\n");
-    MPL_LOGI("    r          : Increase Roll  threshold : %5d\n",
-             params->ySnapThresh);
-    MPL_LOGI("    R (Shift-r): Decrease Roll  threshold\n");
-    MPL_LOGI("    a          : Increase yAw   threshold : %5d\n",
-             params->zSnapThresh);
-    MPL_LOGI("    A (Shift-a): Decrease yAw   threshold\n");
-    MPL_LOGI("YAW ROTATION PARAMETERS:\n");
-    MPL_LOGI("    e          : Increase yaW Rotate time : %5d\n",
-             params->yawRotateTime);
-    MPL_LOGI("    E (Shift-r): Decrease yaW Rotate time\n");
-    MPL_LOGI("    w          : Increase yaW Rotate threshold : %5d\n",
-             params->yawRotateThreshold);
-    MPL_LOGI("    W (Shift-w): Decrease yaW Rotate threshold\n");
-    MPL_LOGI("ORIENTATION PARAMETER:\n");
-    MPL_LOGI("    d          : Increase orientation angle threshold : %5f\n",
-             params->orientationThreshold);
-    MPL_LOGI("    D (Shift-d): Decrease orientation angle threshold\n");
-    MPL_LOGI("FIFO RATE:\n");
-    MPL_LOGI("    f          : Increase fifo divider    : %5d\n",
-             inv_get_fifo_rate());
-    MPL_LOGI("    F (Shift-f): Decrease fifo divider\n");
-    MPL_LOGI("REQUESTED SENSORS:\n");
-    MPL_LOGI("    S (Shift-s): Toggle in use sensors : %s\n",
-             sensors_string[params->sensorsIndex]);
-    MPL_LOGI("    F (Shift-f): Decrease fifo divider\n");
-
-    /* V,v, B,b, Q,q, C,c, G,g, are available letters upper and lowercase */
-    /* S is available */
-
-    MPL_LOGI("\n\n");
-}
-
-/**
- * Handles a keyboard input and updates an appropriate threshold, prints then
- * menu or returns false if the character is not processed.
- *
- * @param params The parameters to modify if the thresholds are updated
- * @param ch     The input character
- *
- * @return        true if the character was processed, false otherwise
- */
-inv_error_t GestureMenuProcessChar(tGestureMenuParams * const params, char ch)
-{
-    int result = INV_SUCCESS;
-    /* Dynamic keyboard processing */
-
-    switch (ch) {
-    case 'j':
-        params->xTapThreshold += 20;
-        // Intentionally fall through
-    case 'J':  {
-        params->xTapThreshold -= 10;
-        if (params->xTapThreshold < 0) params->xTapThreshold = 0;
-        result = inv_set_tap_threshold(INV_TAP_AXIS_X, params->xTapThreshold);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("MLSetTapThresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_X, %d)\n",
-                 params->xTapThreshold);
-    } break;
-    case 'k':
-        params->yTapThreshold += 20;
-        // Intentionally fall through
-    case 'K':  {
-        params->yTapThreshold -= 10;
-        if (params->yTapThreshold < 0) params->yTapThreshold = 0;
-        result = inv_set_tap_threshold(INV_TAP_AXIS_Y, params->yTapThreshold);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("MLSetTapThresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_Y, %d)\n",
-                 params->yTapThreshold);
-    } break;
-    case 'i':
-        params->zTapThreshold += 20;
-        // Intentionally fall through
-    case 'I':  {
-        params->zTapThreshold -= 10;
-        if (params->zTapThreshold < 0) params->zTapThreshold = 0;
-        result = inv_set_tap_threshold(INV_TAP_AXIS_Z, params->zTapThreshold);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("MLSetTapThresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_Z, %d)\n",
-                 params->zTapThreshold);
-    } break;
-
-    case  'l':
-        params->tapTime += 20;
-        // Intentionally fall through
-    case 'L':  {
-        params->tapTime -= 10;
-        if (params->tapTime < 0) params->tapTime = 0;
-        result = inv_set_next_tap_time(params->tapTime);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_next_tap_time returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_next_tap_time(%d)\n", params->tapTime);
-    } break;
-    case  'o':
-        params->nextTapTime += 20;
-        // Intentionally fall through
-    case 'O':  {
-        params->nextTapTime -= 10;
-        if (params->nextTapTime < 0) params->nextTapTime = 0;
-        result = MLSetNextTapTime(params->nextTapTime);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("MLSetNextTapTime returned :%d\n", result);
-        }
-        MPL_LOGI("MLSetNextTapTime(%d)\n", params->nextTapTime);
-    } break;
-    case  'u':
-        params->maxTaps += 2;
-        // Intentionally fall through
-    case 'U':  {
-        params->maxTaps -= 1;
-        if (params->maxTaps < 0) params->maxTaps = 0;
-        result = inv_set_max_taps(params->maxTaps);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_max_taps returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_max_taps(%d)\n", params->maxTaps);
-    } break;
-    case 's': {
-        int shakeParam;
-        params->shakeFunction = (params->shakeFunction + 1) % 2;
-        switch (params->shakeFunction)
-        {
-        case 0:
-            shakeParam = INV_NO_RETRACTION;
-            MPL_LOGE("inv_set_shake_func(INV_NO_RETRACTION)\n");
-            break;
-        case 1:
-            shakeParam = INV_RETRACTION;
-            MPL_LOGI("inv_set_shake_func(INV_RETRACTION)\n");
-            break;
-        };
-        result = inv_set_shake_func(shakeParam);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_shake_func returned :%d\n", result);
-        }
-    } break;
-    case 'x':
-        params->xShakeThresh += 200;
-        // Intentionally fall through
-    case 'X': {
-        params->xShakeThresh -= 100;
-        result = inv_set_shake_thresh(INV_PITCH_SHAKE, params->xShakeThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_shake_thresh(INV_PITCH_SHAKE, %d)\n", params->xShakeThresh);
-    } break;
-    case 'y':
-        params->yShakeThresh += 200;
-        // Intentionally fall through
-    case 'Y': {
-        params->yShakeThresh -= 100;
-        result = inv_set_shake_thresh(INV_ROLL_SHAKE, params->yShakeThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_shake_thresh(INV_ROLL_SHAKE, %d)\n", params->yShakeThresh);
-    } break;
-    case 'z':
-        params->zShakeThresh += 200;
-        // Intentionally fall through
-    case 'Z':{
-        params->zShakeThresh -= 100;
-        result = inv_set_shake_thresh(INV_YAW_SHAKE, params->zShakeThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_shake_thresh(INV_YAW_SHAKE, %d)\n",params->zShakeThresh);
-    } break;
-    case 'r':
-        params->ySnapThresh += 20;
-        // Intentionally fall through
-    case 'R': {
-        params->ySnapThresh -= 10;
-        result = inv_set_hard_shake_thresh(INV_ROLL_SHAKE, params->ySnapThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_hard_shake_thresh(INV_ROLL_SHAKE, %d)\n",params->ySnapThresh);
-    } break;
-    case 'p':
-        params->xSnapThresh += 20;
-        // Intentionally fall through
-    case 'P': {
-        params->xSnapThresh -= 10;
-        result = inv_set_hard_shake_thresh(INV_PITCH_SHAKE, params->xSnapThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_hard_shake_thresh(INV_PITCH_SHAKE, %d)\n",
-                 params->xSnapThresh);
-    } break;
-    case 'a':
-        params->zSnapThresh += 20;
-    case 'A': {
-        params->zSnapThresh -= 10;
-        result = inv_set_hard_shake_thresh(INV_YAW_SHAKE, params->zSnapThresh);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_hard_shake_thresh(INV_YAW_SHAKE, %d)\n",params->zSnapThresh);
-    } break;
-
-    case 't':
-        params->shakeTime += 20;
-    case 'T':{
-        params->shakeTime -= 10;
-        result = inv_set_shake_time(params->shakeTime);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_shake_time returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_shake_time(%d)\n", params->shakeTime);
-    } break;
-    case 'n':
-        params->nextShakeTime += 20;
-    case 'N':{
-        params->nextShakeTime -= 10;
-        result = inv_set_next_shake_time(params->nextShakeTime);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_next_shake_time returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_next_shake_time(%d)\n", params->nextShakeTime);
-    } break;
-    case 'm':
-        params->maxShakes += 2;
-    case 'M':{
-        params->maxShakes -= 1;
-        result = inv_set_max_shakes(INV_SHAKE_ALL, params->maxShakes);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_max_shakes returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_max_shakes(%d)\n", params->maxShakes);
-    } break;
-    case 'e':
-        params->yawRotateTime += 20;
-    case 'E':{
-        params->yawRotateTime -= 10;
-        result = inv_set_yaw_rotate_time(params->yawRotateTime);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_yaw_rotate_time returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_yaw_rotate_time(%d)\n", params->yawRotateTime);
-    } break;
-    case 'w':
-        params->yawRotateThreshold += 2;
-    case 'W':{
-        params->yawRotateThreshold -= 1;
-        result = inv_set_yaw_rotate_thresh(params->yawRotateThreshold);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_yaw_rotate_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_yaw_rotate_thresh(%d)\n", params->yawRotateThreshold);
-    } break;
-    case 'c':
-        params->shakeRejectValue += 0.20f;
-    case 'C':{
-        params->shakeRejectValue -= 0.10f;
-        result = inv_set_tap_shake_reject(params->shakeRejectValue);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_tap_shake_reject returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_tap_shake_reject(%f)\n", params->shakeRejectValue);
-    } break;
-    case 'd':
-        params->orientationThreshold += 10;
-    case 'D':{
-        params->orientationThreshold -= 5;
-        if (params->orientationThreshold > 90) {
-            params->orientationThreshold = 90;
-        }
-
-        if (params->orientationThreshold < 0 ) {
-            params->orientationThreshold = 0;
-        }
-
-        result = inv_set_orientation_thresh(params->orientationThreshold,
-                                           5, 80,
-                                           INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS);
-        if (INV_SUCCESS != result) {
-            MPL_LOGE("inv_set_orientation_thresh returned :%d\n", result);
-        }
-        MPL_LOGI("inv_set_orientation_thresh(%f, %d, %d,"
-                 " INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS)\n",
-                 params->orientationThreshold, 5, 80);
-    } break;
-    case 'f':
-        result = inv_set_fifo_rate(inv_get_fifo_rate() + 1);
-        MPL_LOGI("inv_set_fifo_rate(%d)\n",inv_get_fifo_rate());
-        break;
-    case 'F':
-    {
-        unsigned short newRate = inv_get_fifo_rate();
-        if (newRate > 0)
-            newRate--;
-        result = inv_set_fifo_rate(newRate);
-        MPL_LOGI("inv_set_fifo_rate(%d)\n",inv_get_fifo_rate());
-        break;
-    }
-    case 'S':
-        params->sensorsIndex++;
-        if (params->sensorsIndex >= ARRAY_SIZE(sensors)) {
-            params->sensorsIndex = 0;
-        }
-        result = inv_set_mpu_sensors(
-            sensors[params->sensorsIndex] & params->available_sensors);
-        if (result) {
-            LOG_RESULT_LOCATION(result);
-            return result;
-        }
-        MPL_LOGI("%d = inv_set_mpu_sensors(%s)\n", result,
-                 sensors_string[params->sensorsIndex]);
-        break;
-    case 'h':
-    case 'H': {
-        PrintGestureMenu(params);
-    } break;
-    default: {
-        result = INV_ERROR;
-    } break;
-    };
-    return result;
-}
-
-/**
- * Initializes the tGestureMenuParams to a set of defaults.
- *
- * @param params The parameters to initialize.
- */
-void GestureMenuSetDefaults(tGestureMenuParams * const params)
-{
-    params->xTapThreshold           = 100;
-    params->yTapThreshold           = 100;
-    params->zTapThreshold           = 100;
-    params->tapTime                 = 100;
-    params->nextTapTime             = 600;
-    params->maxTaps                 = 2;
-    params->shakeRejectValue        = 0.8f;
-    params->xShakeThresh            = 750;
-    params->yShakeThresh            = 750;
-    params->zShakeThresh            = 750;
-    params->xSnapThresh             = 160;
-    params->ySnapThresh             = 320;
-    params->zSnapThresh             = 160;
-    params->shakeTime               = 100;
-    params->nextShakeTime           = 1000;
-    params->shakeFunction           = 0;
-    params->maxShakes               = 3;
-    params->yawRotateTime           = 80;
-    params->yawRotateThreshold      = 70;
-    params->orientationThreshold    = 60;
-    params->sensorsIndex            = 0;
-    params->available_sensors       = INV_NINE_AXIS;
-}
-
-void GestureMenuSetAvailableSensors(tGestureMenuParams * const params,
-                                    unsigned long available_sensors)
-{
-    params->available_sensors       = available_sensors;
-}
-/**
- * Call the appropriate MPL set threshold functions and checkes the error codes
- *
- * @param params The parametrs to use in setting the thresholds
- *
- * @return INV_SUCCESS or the first error code encountered.
- */
-inv_error_t GestureMenuSetMpl(tGestureMenuParams const * const params)
-{
-    inv_error_t result = INV_SUCCESS;
-
-    result = inv_set_tap_threshold(INV_TAP_AXIS_X, params->xTapThreshold);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_tap_threshold(INV_TAP_AXIS_Y, params->yTapThreshold);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_tap_threshold(INV_TAP_AXIS_Z, params->zTapThreshold);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_next_tap_time(params->tapTime);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_next_tap_time returned :%d\n", result);
-        return result;
-    }
-    result = MLSetNextTapTime(params->nextTapTime);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("MLSetNextTapTime returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_max_taps(params->maxTaps);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_max_taps returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_tap_shake_reject(params->shakeRejectValue);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_tap_shake_reject returned :%d\n", result);
-        return result;
-    }
-
-    //Set up shake gesture
-    result = inv_set_shake_func(params->shakeFunction);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_shake_func returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_shake_thresh(INV_ROLL_SHAKE, params->xShakeThresh);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_shake_thresh(INV_PITCH_SHAKE, params->yShakeThresh);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_shake_thresh(INV_YAW_SHAKE, params->zShakeThresh);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_shake_time(params->shakeTime);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_shake_time returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_next_shake_time(params->nextShakeTime);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_next_shake_time returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_max_shakes(INV_SHAKE_ALL,params->maxShakes);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_max_shakes returned :%d\n", result);
-        return result;
-    }
-
-    // Yaw rotate settings
-    result = inv_set_yaw_rotate_time(params->yawRotateTime);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_yaw_rotate_time returned :%d\n", result);
-        return result;
-    }
-    result = inv_set_yaw_rotate_thresh(params->yawRotateThreshold);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_yaw_rotate_thresh returned :%d\n", result);
-        return result;
-    }
-
-    // Orientation settings
-    result = inv_set_orientation_thresh(params->orientationThreshold, 5, 80,
-                                       INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("inv_set_orientation_thresh returned: %d\n", result);
-        return result;
-    }
-
-    // Requested Sensors
-    result = inv_set_mpu_sensors(
-        sensors[params->sensorsIndex] & params->available_sensors);
-    if (INV_SUCCESS != result) {
-        MPL_LOGE("MLSetMPUSesnors returned: %d %lx\n", result,
-                 sensors[params->sensorsIndex] & params->available_sensors);
-        return result;
-    }
-
-    return INV_SUCCESS;
-}
-
-void PrintGesture(tGesture* gesture)
-{
-    float speed;
-    char type[1024];
-    switch (gesture->type)
-    {
-    case INV_TAP:
-    {
-        if (gesture->meta < 0) {
-            snprintf(type,sizeof(type),"-");
-        } else {
-            snprintf(type,sizeof(type),"+");
-        }
-
-        switch (ABS(gesture->meta))
-        {
-        case 1:
-            strcat(type,"X");
-            break;
-        case 2:
-            strcat(type,"Y");
-            break;
-        case 3:
-            strcat(type,"Z");
-            break;
-        default:
-            strcat(type,"ERROR");
-            break;
-        };
-        MPL_LOGI("TAP: %s  %2d, X: %6d Y: %6d Z: %6d XY: %6.2f, YZ: %6.2f, XZ: %6.2f\n",
-                 type,
-                 gesture->num,
-                 gesture->strength,
-                 gesture->speed,
-                 gesture->reserved,
-                 (180 / M_PI) * atan2(
-                    (float)gesture->strength, (float)gesture->speed),
-                 (180 / M_PI) * atan2(
-                    (float)gesture->speed, (float)gesture->reserved),
-                 (180 / M_PI) * atan2(
-                    (float)gesture->strength, (float)gesture->reserved)
-            );
-    }
-    break;
-    case INV_ROLL_SHAKE:
-    case INV_PITCH_SHAKE:
-    case INV_YAW_SHAKE:
-    {
-        if (gesture->strength){
-            snprintf(type, sizeof(type), "Snap : ");
-        } else {
-            snprintf(type, sizeof(type), "Shake: ");
-        }
-
-        if (gesture->meta==0) {
-            strcat(type, "+");
-        } else {
-            strcat(type, "-");
-        }
-
-        if (gesture->type == INV_ROLL_SHAKE) {
-            strcat(type, "Roll  ");
-        } else if (gesture->type == INV_PITCH_SHAKE) {
-            strcat(type, "Pitch ");
-        } else if (gesture->type == INV_YAW_SHAKE) {
-            strcat(type, "Yaw   ");
-        }
-
-        speed = (float)gesture->speed +
-            (float)(gesture->reserved / (float)(1 << 16));
-        MPL_LOGI("%s:%3d (speed: %8.2f)\n",type, gesture->num, speed);
-    }
-    break;
-    case INV_YAW_IMAGE_ROTATE:
-    {
-        if (gesture->meta == 0) {
-            snprintf(type, sizeof(type), "Positive ");
-        } else {
-            snprintf(type, sizeof(type), "Negative ");
-        }
-        MPL_LOGI("%s Yaw Image Rotation\n", type);
-    }
-    break;
-    default:
-        MPL_LOGE("Unknown Gesture received\n");
-        break;
-    }
-}
-
-/**
- * Prints the new or current orientation using MPL_LOGI and remembers the last
- * orientation to print orientation flips.
- *
- * @param orientation the new or current orientation.  0 to reset.
- */
-void PrintOrientation(unsigned short orientation)
-{
-    // Determine if it was a flip
-    static int sLastOrientation = 0;
-    int flip = orientation | sLastOrientation;
-
-    if ((INV_X_UP | INV_X_DOWN) == flip) {
-        MPL_LOGI("Flip about the X Axis: \n");
-    } else if ((INV_Y_UP | INV_Y_DOWN) == flip) {
-        MPL_LOGI("Flip about the Y axis: \n");
-    } else if ((INV_Z_UP | INV_Z_DOWN) == flip) {
-        MPL_LOGI("Flip about the Z axis: \n");
-    }
-    sLastOrientation = orientation;
-
-    switch (orientation) {
-    case INV_X_UP:
-        MPL_LOGI("X Axis is up\n");
-        break;
-    case INV_X_DOWN:
-        MPL_LOGI("X Axis is down\n");
-        break;
-    case INV_Y_UP:
-        MPL_LOGI("Y Axis is up\n");
-        break;
-    case INV_Y_DOWN:
-        MPL_LOGI("Y Axis is down\n");
-        break;
-    case INV_Z_UP:
-        MPL_LOGI("Z Axis is up\n");
-        break;
-    case INV_Z_DOWN:
-        MPL_LOGI("Z Axis is down\n");
-        break;
-    case 0:
-        break; /* Not an error.  Resets sLastOrientation */
-    default:
-        MPL_LOGE("%s: Unreconized orientation %hx\n", __func__, orientation);
-        break;
-    }
-}
-
-
diff --git a/libsensors_iio/software/simple_apps/common/gestureMenu.h b/libsensors_iio/software/simple_apps/common/gestureMenu.h
deleted file mode 100644
index 8f804e1..0000000
--- a/libsensors_iio/software/simple_apps/common/gestureMenu.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/***************************************************************************** *
- * $Id: gestureMenu.h 5705 2011-06-28 19:32:29Z nroyer $ 
- ******************************************************************************/
-/**
- * @defgroup 
- * @brief  
- *
- * @{
- *      @file     gestureMenu.h
- *      @brief    
- *
- *
- */
-
-#ifndef __GESTUREMENU_H__
-#define __GESTUREMENU_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-    typedef struct sGestureMenuParams {
-        /* Tap Params */
-        int xTapThreshold;
-        int yTapThreshold;
-        int zTapThreshold;
-        int tapTime;
-        int nextTapTime;
-        int maxTaps;
-        float shakeRejectValue;
-
-        /* Shake Params */
-        int xShakeThresh;
-        int yShakeThresh;
-        int zShakeThresh;
-        int xSnapThresh;
-        int ySnapThresh;
-        int zSnapThresh;
-        int shakeTime;
-        int nextShakeTime;
-        int shakeFunction;
-        int maxShakes;
-
-        /* Yaw rotate params */
-        int yawRotateTime;
-        int yawRotateThreshold;
-
-        /* Orientation */
-        float orientationThreshold;
-        int sensorsIndex;
-        unsigned long available_sensors;
-    } tGestureMenuParams;
-
-    void     PrintGestureMenu(tGestureMenuParams const * const params) ;
-    inv_error_t GestureMenuProcessChar(tGestureMenuParams * const params,char ch);
-    void     PrintGesture(gesture_t* gesture);
-    void     PrintOrientation(unsigned short orientation);
-    void     GestureMenuSetDefaults(tGestureMenuParams * const params);
-    void GestureMenuSetAvailableSensors(tGestureMenuParams * const params,
-                                        unsigned long available_sensors);
-    inv_error_t GestureMenuSetMpl(tGestureMenuParams const * const params);
-
-/******************************************************************************/
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __GESTUREMENU_H__
diff --git a/libsensors_iio/software/simple_apps/common/helper.c b/libsensors_iio/software/simple_apps/common/helper.c
deleted file mode 100644
index 4d634bd..0000000
--- a/libsensors_iio/software/simple_apps/common/helper.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: helper.c 4367 2010-12-21 03:02:55Z prao $
- *
- *******************************************************************************/
-
-#include <stdio.h>
-#ifdef _WIN32
-#include <windows.h>
-#include <conio.h>
-#endif
-#ifdef LINUX
-#include <sys/select.h>
-#endif
-#include <time.h>
-#include <string.h>
-
-#include "ml.h"
-#include "slave.h"
-#include "mldl.h"
-#include "mltypes.h"
-#include "mlstates.h"
-#include "compass.h"
-
-#include "mlsl.h"
-#include "ml.h"
-
-#include "helper.h"
-#include "mlsetup.h"
-#include "fopenCMake.h"
-#include "int.h"
-#include "mlos.h"
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-helper"
-
-#ifdef AIO
-extern inv_error_t MLSLSetYamahaCompassDataMode(unsigned char mode);
-#endif
-
-// Keyboard hit function
-int ConsoleKbhit(void)
-{
-#ifdef _WIN32
-    return _kbhit();
-#else
-    struct timeval tv;
-    fd_set read_fd;
-
-    tv.tv_sec=0;
-    tv.tv_usec=0;
-    FD_ZERO(&read_fd);
-    FD_SET(0,&read_fd);
-
-    if(select(1, &read_fd, NULL, NULL, &tv) == -1)
-        return 0;
-
-    if(FD_ISSET(0,&read_fd))
-        return 1;
-
-    return 0;
-#endif
-}
-
-char ConsoleGetChar(void) {
-#ifdef _WIN32
-    return _getch();
-#else
-    return getchar();
-#endif
-}
-struct mpuirq_data** InterruptPoll(int *handles, int numHandles, long tv_sec, long tv_usec)
-{
-    struct mpuirq_data **data;
-    void *tmp;
-    int ii;
-    const int irq_data_size = sizeof(**data) * numHandles + 
-        sizeof(*data) * numHandles;
-
-    tmp = (void *)inv_malloc(irq_data_size);
-    memset(tmp, 0, irq_data_size);
-    data = (struct mpuirq_data **)tmp;
-    for (ii = 0; ii < numHandles; ii++) {
-        data[ii] = (struct mpuirq_data *)((unsigned long)tmp +
-            (sizeof(*data) * numHandles) + sizeof(**data) * ii);
-    }
-
-    if (IntProcess(handles, numHandles, data, tv_sec, tv_usec) > 0) {
-        for (ii = 0; ii < numHandles; ii++) {
-            if (data[ii]->interruptcount) {
-                inv_interrupt_handler(ii);
-            }
-        }
-    }
-    
-    /* Return data incase the application needs to look at the timestamp or
-       other part of the data */
-    return data;
-}
-
-void InterruptPollDone(struct mpuirq_data ** data)
-{
-    inv_free(data);
-}
diff --git a/libsensors_iio/software/simple_apps/common/helper.h b/libsensors_iio/software/simple_apps/common/helper.h
deleted file mode 100644
index b2da520..0000000
--- a/libsensors_iio/software/simple_apps/common/helper.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id: helper-customer.h 5770 2011-07-14 01:34:10Z mcaramello $
- *
- *******************************************************************************/
-
-#ifndef HELPER_C_H
-#define HELPER_C_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "mltypes.h"
-#include "mlerrorcode.h"
-
-/*
-    Defines 
-*/
-
-#define CALL_N_CHECK(f) {                                                   \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-    }                                                                       \
-}
-
-#define CALL_CHECK_N_RETURN_ERROR(f) {                                      \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        return r35uLt;                                                      \
-    }                                                                       \
-}
-
-// for functions returning void
-#define CALL_CHECK_N_RETURN(f) {                                            \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        return;                                                             \
-    }                                                                       \
-}
-
-#define CALL_CHECK_N_EXIT(f) {                                              \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        exit (r35uLt);                                                      \
-    }                                                                       \
-}
-
-    
-#define CALL_CHECK_N_CALLBACK(f, cb) {                                      \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        cb;                                                                 \
-    }                                                                       \
-}
-
-#define CALL_CHECK_N_GOTO(f, label) {                                       \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                              \
-        printf("Error in file %s, line %d : %s returned code %s (#%d)\n",   \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        goto label;                                                         \
-    }                                                                       \
-}
-
-#define DEFAULT_PLATFORM        PLATFORM_ID_MSB_V2
-#define DEFAULT_ACCEL_ID        ACCEL_ID_KXTF9
-#define DEFAULT_COMPASS_ID      COMPASS_ID_AK8975
-
-#define DataLogger(x)           NULL
-#define DataLoggerSelector(x)   //
-#define DataLoggerCb(x)         NULL
-#define findComm()              (9)
-#define MenuHwChoice(p,a,c)     (*p = DEFAULT_PLATFORM, *a = DEFAULT_ACCEL_ID, \
-                                 *c = DEFAULT_COMPASS_ID, INV_ERROR)
-
-    char ConsoleGetChar(void);
-    int ConsoleKbhit(void);
-    struct mpuirq_data **InterruptPoll(
-        int *handles, int numHandles, long tv_sec, long tv_usec);
-    void InterruptPollDone(struct mpuirq_data ** data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // HELPER_C_H
diff --git a/libsensors_iio/software/simple_apps/common/mlerrorcode.c b/libsensors_iio/software/simple_apps/common/mlerrorcode.c
deleted file mode 100644
index 25b0df6..0000000
--- a/libsensors_iio/software/simple_apps/common/mlerrorcode.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id: mlerrorcode.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *****************************************************************************/
-
-#include <stdio.h>
-#include <string.h>
-
-#include "mltypes.h"
-#include "mlerrorcode.h"
-
-#define ERROR_CODE_CASE(CODE)   \
-    case CODE:                  \
-        return #CODE            \
-
-/**
- *  @brief  return a string containing the label assigned to the error code.
- *  
- *  @param  errorcode   
- *              The errorcode value of which the label has to be returned.
- *
- *  @return A string containing the error code label.
- */
-char* MLErrorCode(inv_error_t errorcode) 
-{
-    switch(errorcode) {
-        ERROR_CODE_CASE(INV_SUCCESS);
-        ERROR_CODE_CASE(INV_ERROR);
-        ERROR_CODE_CASE(INV_ERROR_INVALID_PARAMETER);
-        ERROR_CODE_CASE(INV_ERROR_FEATURE_NOT_ENABLED);
-        ERROR_CODE_CASE(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        ERROR_CODE_CASE(INV_ERROR_DMP_NOT_STARTED);
-        ERROR_CODE_CASE(INV_ERROR_DMP_STARTED);
-        ERROR_CODE_CASE(INV_ERROR_NOT_OPENED);
-        ERROR_CODE_CASE(INV_ERROR_OPENED);
-        ERROR_CODE_CASE(INV_ERROR_INVALID_MODULE);
-        ERROR_CODE_CASE(INV_ERROR_MEMORY_EXAUSTED);
-        ERROR_CODE_CASE(INV_ERROR_DIVIDE_BY_ZERO);
-        ERROR_CODE_CASE(INV_ERROR_ASSERTION_FAILURE);
-        ERROR_CODE_CASE(INV_ERROR_FILE_OPEN);
-        ERROR_CODE_CASE(INV_ERROR_FILE_READ);
-        ERROR_CODE_CASE(INV_ERROR_FILE_WRITE);
-
-        ERROR_CODE_CASE(INV_ERROR_SERIAL_CLOSED);
-        ERROR_CODE_CASE(INV_ERROR_SERIAL_OPEN_ERROR);
-        ERROR_CODE_CASE(INV_ERROR_SERIAL_READ);
-        ERROR_CODE_CASE(INV_ERROR_SERIAL_WRITE);
-        ERROR_CODE_CASE(INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED);
-
-        ERROR_CODE_CASE(INV_ERROR_SM_TRANSITION);
-        ERROR_CODE_CASE(INV_ERROR_SM_IMPROPER_STATE);
-
-        ERROR_CODE_CASE(INV_ERROR_FIFO_OVERFLOW);
-        ERROR_CODE_CASE(INV_ERROR_FIFO_FOOTER);
-        ERROR_CODE_CASE(INV_ERROR_FIFO_READ_COUNT);
-        ERROR_CODE_CASE(INV_ERROR_FIFO_READ_DATA);
-        ERROR_CODE_CASE(INV_ERROR_MEMORY_SET);
-
-        ERROR_CODE_CASE(INV_ERROR_LOG_MEMORY_ERROR);
-        ERROR_CODE_CASE(INV_ERROR_LOG_OUTPUT_ERROR);
-
-        ERROR_CODE_CASE(INV_ERROR_OS_BAD_PTR);
-        ERROR_CODE_CASE(INV_ERROR_OS_BAD_HANDLE);
-        ERROR_CODE_CASE(INV_ERROR_OS_CREATE_FAILED);
-        ERROR_CODE_CASE(INV_ERROR_OS_LOCK_FAILED);
-
-        ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_OVERFLOW);
-        ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_UNDERFLOW);
-        ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_NOT_READY);
-        ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_ERROR);
-
-        ERROR_CODE_CASE(INV_ERROR_CALIBRATION_LOAD);
-        ERROR_CODE_CASE(INV_ERROR_CALIBRATION_STORE);
-        ERROR_CODE_CASE(INV_ERROR_CALIBRATION_LEN);
-        ERROR_CODE_CASE(INV_ERROR_CALIBRATION_CHECKSUM);
-
-        default:
-        {
-            #define UNKNOWN_ERROR_CODE 1234
-            return ERROR_NAME(UNKNOWN_ERROR_CODE);
-            break;
-        }
-
-    }
-}
-
-/**
- *  @}
- */
diff --git a/libsensors_iio/software/simple_apps/common/mlerrorcode.h b/libsensors_iio/software/simple_apps/common/mlerrorcode.h
deleted file mode 100644
index 9a35792..0000000
--- a/libsensors_iio/software/simple_apps/common/mlerrorcode.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: mltypes.h 3680 2010-09-04 03:13:32Z mcaramello $
- *
- *******************************************************************************/
-
-#ifndef _MLERRORCODE_H_
-#define _MLERRORCODE_H_
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
-    Defines 
-*/
-#define CALL_N_CHECK(f) {                                                   \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-    }                                                                       \
-}
-
-#define CALL_CHECK_N_RETURN_ERROR(f) {                                      \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        return r35uLt;                                                      \
-    }                                                                       \
-}
-
-// for functions returning void
-#define CALL_CHECK_N_RETURN(f) do {                                         \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        return;                                                             \
-    }                                                                       \
-    } while(0)
-
-#define CALL_CHECK_N_EXIT(f) {                                              \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        exit (r35uLt);                                                      \
-    }                                                                       \
-}
-
-    
-#define CALL_CHECK_N_CALLBACK(f, cb) {                                      \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        cb;                                                                 \
-    }                                                                       \
-}
-
-#define CALL_CHECK_N_GOTO(f, label) {                                       \
-    unsigned int r35uLt = f;                                                \
-    if(INV_SUCCESS != r35uLt) {                                             \
-        MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
-                __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt);       \
-        goto label;                                                         \
-    }                                                                       \
-}
-
-char* MLErrorCode(inv_error_t errorcode);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/libsensors_iio/software/simple_apps/common/mlsetup.c b/libsensors_iio/software/simple_apps/common/mlsetup.c
deleted file mode 100644
index f11bce9..0000000
--- a/libsensors_iio/software/simple_apps/common/mlsetup.c
+++ /dev/null
@@ -1,1722 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/******************************************************************************
- *
- * $Id: mlsetup.c 6113 2011-09-29 23:40:55Z jcalizo $
- *
- *****************************************************************************/
-#undef MPL_LOG_NDEBUG
-#ifdef UNITTESTING
-#define MPL_LOG_NDEBUG 1
-#else
-#define MPL_LOG_NDEBUG 0
-#endif
-
-/**
- *  @defgroup MLSETUP
- *  @brief  The Motion Library external slaves setup override suite.
- *
- *          Use these APIs to override the kernel/default settings in the
- *          corresponding data structures for gyros, accel, and compass.
- *
- *  @{
- *      @file mlsetup.c
- *      @brief The Motion Library external slaves setup override suite.
- */
-
-/* ------------------ */
-/* - Include Files. - */
-/* ------------------ */
-
-/*
-    Defines
-*/
-/* these have to appear before inclusion of mpu.h */
-#define CONFIG_MPU_SENSORS_KXSD9         y   // Kionix accel
-#define CONFIG_MPU_SENSORS_KXTF9         y   // Kionix accel
-#define CONFIG_MPU_SENSORS_LIS331DLH     y   // ST accelerometer
-#define CONFIG_MPU_SENSORS_LSM303DLX_A   y   // ST accelerometer in LSM303DLx combo
-#define CONFIG_MPU_SENSORS_LIS3DH        y   // ST accelerometer
-#define CONFIG_MPU_SENSORS_BMA150        y   // Bosch 150 accelerometer
-#define CONFIG_MPU_SENSORS_BMA222        y   // Bosch 222 accelerometer
-#define CONFIG_MPU_SENSORS_BMA250        y   // Bosch 250 accelerometer
-#define CONFIG_MPU_SENSORS_ADXL34X       y   // AD 345 or 346 accelerometer
-#define CONFIG_MPU_SENSORS_MMA8450       y   // Freescale MMA8450 accelerometer
-#define CONFIG_MPU_SENSORS_MMA845X       y   // Freescale MMA845X accelerometer
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
-#define CONFIG_MPU_SENSORS_MPU6050_ACCEL y   // Invensense MPU6050 built-in accelerometer
-#endif
-
-#define CONFIG_MPU_SENSORS_AK8975        y   // AKM compass
-#define CONFIG_MPU_SENSORS_AMI30X        y   // AICHI AMI304/305 compass
-#define CONFIG_MPU_SENSORS_AMI306        y   // AICHI AMI306 compass
-#define CONFIG_MPU_SENSORS_HMC5883       y   // Honeywell compass
-#define CONFIG_MPU_SENSORS_LSM303DLX_M   y   // ST compass in LSM303DLx combo
-#define CONFIG_MPU_SENSORS_YAS529        y   // Yamaha compass
-#define CONFIG_MPU_SENSORS_YAS530        y   // Yamaha compass
-#define CONFIG_MPU_SENSORS_MMC314X       y   // MEMSIC compass
-#define CONFIG_MPU_SENSORS_HSCDTD002B    y   // ALPS compass
-#define CONFIG_MPU_SENSORS_HSCDTD004A    y   // ALPS HSCDTD004A compass
-
-#define CONFIG_MPU_SENSORS_BMA085        y   // Bosch 085 pressure
-
-#include "external_hardware.h"
-
-#include <stdio.h>
-#include <string.h>
-
-#include "slave.h"
-#include "compass.h"
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-mlsetup"
-
-#include "linux/mpu.h"
-
-#include "mlsetup.h"
-
-#ifdef LINUX
-#include "errno.h"
-#endif
-
-/* Override these structures from mldl.c */
-extern struct ext_slave_descr          g_slave_accel;
-extern struct ext_slave_descr          g_slave_compass;
-//extern struct ext_slave_descr          g_slave_pressure;
-/* Platform Data */
-//extern struct mpu_platform_data        g_pdata;
-extern struct ext_slave_platform_data  g_pdata_slave_accel;
-extern struct ext_slave_platform_data  g_pdata_slave_compass;
-//extern struct ext_slave_platform_data  g_pdata_slave_pressure;
-signed char g_gyro_orientation[9];
-
-/*
-    Typedefs
-*/
-typedef void tSetupFuncAccel(void);
-typedef void tSetupFuncCompass(void);
-typedef void tSetupFuncPressure(void);
-
-#ifdef LINUX
-#include <sys/ioctl.h>
-#endif
-
-/*********************************************************************
-              Dragon - PLATFORM_ID_DRAGON_PROTOTYPE
-*********************************************************************/
-/**
- * @internal
- * @brief  performs a 180' rotation around Z axis to reflect
- *         usage of the multi sensor board (MSB) with the
- *         beagleboard
- * @note   assumes well formed mounting matrix, with only
- *         one 1 for each row.
- */
-static void Rotate180DegAroundZAxis(signed char matrix[])
-{
-    int ii;
-    for(ii=0; ii<6; ii++) {
-        matrix[ii] = -matrix[ii];
-    }
-}
-
-/**
- * @internal
- * Sets the orientation based on the position of the mounting.  For different
- * devices the relative position to pin 1 will be different.
- *
- * Positions are:
- * - 0-3 are Z up
- * - 4-7 are Z down
- * - 8-11 are Z right
- * - 12-15 are Z left
- * - 16-19 are Z front
- * - 20-23 are Z back
- *
- * @param position The position of the orientation
- * @param orientation the location to store the new oreintation
- */
-static inv_error_t SetupOrientation(unsigned int position,
-                                 signed char *orientation)
-{
-    memset(orientation, 0, 9);
-    switch (position){
-    case 0:
-        /*-------------------------*/
-        orientation[0] = +1;
-        orientation[4] =     +1;
-        orientation[8] =         +1;
-        break;
-    case 1:
-        /*-------------------------*/
-        orientation[1] =     +1;
-        orientation[3] = -1;
-        orientation[8] =         +1;
-        break;
-    case 2:
-        /*-------------------------*/
-        orientation[0] = -1;
-        orientation[4] =     -1;
-        orientation[8] =         +1;
-        break;
-    case 3:
-        /*-------------------------*/
-        orientation[1] =     -1;
-        orientation[3] = +1;
-        orientation[8] =         +1;
-        break;
-    case 4:
-        /*-------------------------*/
-        orientation[0] = -1;
-        orientation[4] =     +1;
-        orientation[8] =         -1;
-        break;
-    case 5:
-        /*-------------------------*/
-        orientation[1] =     -1;
-        orientation[3] = -1;
-        orientation[8] =         -1;
-        break;
-    case 6:
-        /*-------------------------*/
-        orientation[0] = +1;
-        orientation[4] =     -1;
-        orientation[8] =         -1;
-        break;
-    case 7:
-        /*-------------------------*/
-        orientation[1] =     +1;
-        orientation[3] = +1;
-        orientation[8] =         -1;
-        break;
-    case 8:
-        /*-------------------------*/
-        orientation[2] =         +1;
-        orientation[3] = +1;
-        orientation[7] =     +1;
-        break;
-    case 9:
-        /*-------------------------*/
-        orientation[2] = +1;
-        orientation[4] = +1;
-        orientation[6] = -1;
-        break;
-    case 10:
-        orientation[2] = +1;
-        orientation[3] = -1;
-        orientation[7] = -1;
-        break;
-    case 11:
-        orientation[2] = +1;
-        orientation[4] = -1;
-        orientation[6] = +1;
-        break;
-    case 12:
-        orientation[2] = -1;
-        orientation[3] = -1;
-        orientation[7] = +1;
-        break;
-    case 13:
-        orientation[2] = -1;
-        orientation[4] = -1;
-        orientation[6] = -1;
-        break;
-    case 14:
-        orientation[2] = -1;
-        orientation[3] = +1;
-        orientation[7] = -1;
-        break;
-    case 15:
-        orientation[2] = -1;
-        orientation[4] = +1;
-        orientation[6] = +1;
-        break;
-    case 16:
-        orientation[0] = -1;
-        orientation[5] = +1;
-        orientation[7] = +1;
-        break;
-    case 17:
-        orientation[1] = -1;
-        orientation[5] = +1;
-        orientation[6] = -1;
-        break;
-    case 18:
-        orientation[0] = +1;
-        orientation[5] = -1;
-        orientation[7] = -1;
-        break;
-    case 19:
-        orientation[1] = -1;
-        orientation[5] = +1;
-        orientation[6] = +1;
-        break;
-    case 20:
-        orientation[0] = +1;
-        orientation[5] = -1;
-        orientation[7] = +1;
-        break;
-    case 21:
-        orientation[1] = -1;
-        orientation[5] = -1;
-        orientation[6] = +1;
-        break;
-    case 22:
-        orientation[0] = -1;
-        orientation[5] = -1;
-        orientation[7] = -1;
-        break;
-    case 23:
-        orientation[1] = +1;
-        orientation[5] = -1;
-        orientation[6] = -1;
-        break;
-    default:
-        MPL_LOGE("Invalid position %d\n", position);
-        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
-        return INV_ERROR_INVALID_PARAMETER;
-    }
-
-    return INV_SUCCESS;
-}
-
-static void PrintMountingOrientation(
-    const char * header, signed char *orientation)
-{
-    MPL_LOGV("%s:\n", header);
-    MPL_LOGV("\t[[%3d, %3d, %3d]\n",
-             orientation[0], orientation[1], orientation[2]);
-    MPL_LOGV("\t [%3d, %3d, %3d]\n",
-             orientation[3], orientation[4], orientation[5]);
-    MPL_LOGV("\t [%3d, %3d, %3d]]\n",
-             orientation[6], orientation[7], orientation[8]);
-}
-
-/*****************************
- *   Accel Setup Functions   *
- *****************************/
-
-static inv_error_t SetupAccelSTLIS331Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 5;
-        break;
-    case PLATFORM_ID_ST_6AXIS:
-        position = 0;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *lis331_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_LIS331;
-    return INV_SUCCESS;
-}
-
-static inv_error_t SetupAccelSTLIS3DHCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 1;
-        break;
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 3;
-        break;
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *lis3dh_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_LIS3DH;
-    return result;
-}
-
-static inv_error_t SetupAccelKionixKXSD9Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 7;
-        break;
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *kxsd9_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_KXSD9;
-    return result;
-}
-
-static inv_error_t SetupAccelKionixKXTF9Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB_EVB:
-        position =0;
-            break;
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 7;
-        break;
-#ifdef WIN32
-    case PLATFORM_ID_DONGLE:
-        position = 1;
-        break;
-#endif
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 1;
-        break;
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *kxtf9_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_KXTF9;
-    return result;
-}
-
-static inv_error_t SetupAccelLSM303Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-        position = 3;
-        break;
-    case PLATFORM_ID_MSB_V2:
-        position = 1;
-        break;
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *lsm303dlx_a_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_LSM303;
-    return result;
-}
-
-static inv_error_t SetupAccelBMA150Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 6;
-        break;
-#ifdef WIN32
-    case PLATFORM_ID_DONGLE:
-        position = 3;
-        break;
-#endif
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *bma150_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_BMA150;
-    return result;
-}
-
-static inv_error_t SetupAccelBMA222Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 0;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *bma222_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_BMA222;
-    return result;
-}
-
-static inv_error_t SetupAccelBMA250Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 0;
-        break;
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 3;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *bma250_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_BMA250;
-    return result;
-}
-
-static inv_error_t SetupAccelADXL34XCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 6;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *adxl34x_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_ADXL34X;
-    return result;
-}
-
-
-static inv_error_t SetupAccelMMA8450Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 5;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *mma8450_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_MMA8450;
-    return result;
-}
-
-
-static inv_error_t SetupAccelMMA845XCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 5;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_accel.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_accel = *mma845x_get_slave_descr();
-#endif
-    g_pdata_slave_accel.address         = ACCEL_SLAVEADDR_MMA845X;
-    return result;
-}
-
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the gyro was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupAccelMPU6050Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_MANTIS_MSB:
-        position = 6;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-	case PLATFORM_ID_DRAGON_USB_DONGLE:
-        position = 1;
-        break;
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    case PLATFORM_ID_MANTIS_EVB:
-        position = 0;
-        break;
-    case PLATFORM_ID_MSB_V3:
-        position = 2;
-        break;
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        return INV_ERROR_INVALID_PARAMETER;
-    };
-
-    SetupOrientation(position, g_pdata_slave_accel.orientation);
-    /* Interrupt */
-#ifndef LINUX
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
-   // g_slave_accel = // fixme *mpu6050_get_slave_descr();
-#endif
-#endif
-    g_pdata_slave_accel.address         = 0x68;
-    return result;
-}
-
-/*****************************
-    Compass Setup Functions
-******************************/
-static inv_error_t SetupCompassAKM8975Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_MANTIS_MSB:
-        position = 2;
-        break;
-#ifdef WIN32
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-        position = 4;
-        break;
-#endif
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-        position = 7;
-        break;
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V3:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 6;
-        break;
-    case PLATFORM_ID_DRAGON_USB_DONGLE:
-    case PLATFORM_ID_MSB_EVB:
-        position = 5;
-        break;
-    case PLATFORM_ID_MANTIS_EVB:
-        position = 4;
-        break;
-	 case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *ak8975_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_AKM;
-    return result;
-}
-
-static inv_error_t SetupCompassMMCCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 7;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *mmc314x_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_MMC314X;
-    return result;
-}
-
-static inv_error_t SetupCompassAMI304Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 4;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_AMI304;
-#ifndef LINUX
-    g_slave_compass = *ami30x_get_slave_descr();
-#endif
-    return result;
-}
-
-static inv_error_t SetupCompassAMI306Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 3;
-        break;
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 1;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *ami306_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_AMI306;
-    return result;
-}
-
-static inv_error_t SetupCompassHMC5883Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 6;
-        break;
-#ifdef WIN32
-    case PLATFORM_ID_DONGLE:
-        position = 2;
-        break;
-#endif
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *hmc5883_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_HMC5883;
-    return result;
-}
-
-
-static inv_error_t SetupCompassLSM303DLHCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 1;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-#ifndef LINUX
-    g_slave_compass = *lsm303dlx_m_get_slave_descr();
-    g_slave_compass.id = COMPASS_ID_LSM303DLH;
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_HMC5883;
-    return result;
-}
-
-static inv_error_t SetupCompassLSM303DLMCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-        position = 8;
-        break;
-    case PLATFORM_ID_MSB_V2:
-        position = 12;
-        break;
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *lsm303dlx_m_get_slave_descr();
-    g_slave_compass.id = COMPASS_ID_LSM303DLM;
-#endif
-    g_pdata_slave_compass.address       = COMPASS_SLAVEADDR_HMC5883;
-    return result;
-}
-
-static inv_error_t SetupCompassYAS530Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-        position = 1;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *yas530_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_YAS530;
-    return result;
-}
-
-static inv_error_t SetupCompassYAS529Calibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 6;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *yas529_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_YAS529;
-    return result;
-}
-
-
-static inv_error_t SetupCompassHSCDTD002BCalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 2;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *hscdtd002b_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_HSCDTD00XX;
-    return result;
-}
-
-static inv_error_t SetupCompassHSCDTD004ACalibration(unsigned short platformId)
-{
-    inv_error_t result = INV_SUCCESS;
-    unsigned int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-        position = 1;
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_MANTIS_MSB:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
-        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-    };
-    result = SetupOrientation(position, g_pdata_slave_compass.orientation);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-#ifndef LINUX
-    g_slave_compass = *hscdtd004a_get_slave_descr();
-#endif
-    g_pdata_slave_compass.address         = COMPASS_SLAVEADDR_HSCDTD00XX;
-    return result;
-}
-
-
-/*****************************
-    Pressure Setup Functions
-******************************/
-#if 0
-static inv_error_t SetupPressureBMA085Calibration(unsigned short platformId)
-{
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    memset(g_pdata_slave_pressure.orientation, 0, sizeof(g_pdata_slave_pressure.orientation));
-
-    g_pdata_slave_pressure.bus             = EXT_SLAVE_BUS_PRIMARY;
-#ifndef LINUX
-    g_slave_pressure = *bma085_get_slave_descr();
-#endif
-    g_pdata_slave_pressure.address         = PRESSURE_SLAVEADDR_BMA085;
-    return INV_SUCCESS;
-}
-#endif
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupAccelCalibration(unsigned short platformId,
-                                      unsigned short accelId)
-{
-    /*----  setup the accels ----*/
-    switch(accelId) {
-    case ACCEL_ID_LSM303DLX:
-        SetupAccelLSM303Calibration(platformId);
-        break;
-    case ACCEL_ID_LIS331:
-        SetupAccelSTLIS331Calibration(platformId);
-        break;
-    case ACCEL_ID_KXSD9:
-        SetupAccelKionixKXSD9Calibration(platformId);
-        break;
-    case ACCEL_ID_KXTF9:
-        SetupAccelKionixKXTF9Calibration(platformId);
-        break;
-    case ACCEL_ID_BMA150:
-        SetupAccelBMA150Calibration(platformId);
-        break;
-    case ACCEL_ID_BMA222:
-        SetupAccelBMA222Calibration(platformId);
-        break;
-    case ACCEL_ID_BMA250:
-        SetupAccelBMA250Calibration(platformId);
-        break;
-    case ACCEL_ID_ADXL34X:
-        SetupAccelADXL34XCalibration(platformId);
-        break;
-    case ACCEL_ID_MMA8450:
-        SetupAccelMMA8450Calibration(platformId);
-        break;
-    case ACCEL_ID_MMA845X:
-        SetupAccelMMA845XCalibration(platformId);
-        break;
-    case ACCEL_ID_LIS3DH:
-        SetupAccelSTLIS3DHCalibration(platformId);
-        break;
-    case ACCEL_ID_MPU6050:
-        SetupAccelMPU6050Calibration(platformId);
-        break;
-    case ID_INVALID:
-        break;
-    default:
-        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
-        return INV_ERROR_INVALID_PARAMETER;
-    }
-
-    if (accelId != ID_INVALID && accelId != ACCEL_ID_MPU6050) {
-        g_pdata_slave_accel.bus             = EXT_SLAVE_BUS_SECONDARY;
-    } else if (accelId != ACCEL_ID_MPU6050) {
-        g_pdata_slave_accel.bus             = EXT_SLAVE_BUS_PRIMARY;
-    }
-
-#ifndef WIN32
-    if (accelId != ID_INVALID)
-        Rotate180DegAroundZAxis(g_pdata_slave_accel.orientation);
-#endif
-
-    return INV_SUCCESS;
-}
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-inv_error_t SetupCompassCalibration(unsigned short platformId,
-                                 unsigned short compassId)
-{
-    /*----  setup the compass ----*/
-    switch(compassId) {
-    case COMPASS_ID_AK8975:
-        SetupCompassAKM8975Calibration(platformId);
-        break;
-    case COMPASS_ID_AMI30X:
-        SetupCompassAMI304Calibration(platformId);
-        break;
-    case COMPASS_ID_AMI306:
-        SetupCompassAMI306Calibration(platformId);
-        break;
-    case COMPASS_ID_LSM303DLH:
-        SetupCompassLSM303DLHCalibration(platformId);
-        break;
-    case COMPASS_ID_LSM303DLM:
-        SetupCompassLSM303DLMCalibration(platformId);
-        break;
-    case COMPASS_ID_HMC5883:
-        SetupCompassHMC5883Calibration(platformId);
-        break;
-    case COMPASS_ID_YAS529:
-        SetupCompassYAS529Calibration(platformId);
-        break;
-    case COMPASS_ID_YAS530:
-        SetupCompassYAS530Calibration(platformId);
-        break;
-    case COMPASS_ID_MMC314X:
-        SetupCompassMMCCalibration(platformId);
-        break;
-    case COMPASS_ID_HSCDTD002B:
-        SetupCompassHSCDTD002BCalibration(platformId);
-        break;
-    case COMPASS_ID_HSCDTD004A:
-        SetupCompassHSCDTD004ACalibration(platformId);
-        break;
-    case ID_INVALID:
-        break;
-    default:
-        if (INV_ERROR_INVALID_PARAMETER) {
-            LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
-            return INV_ERROR_INVALID_PARAMETER;
-        }
-        break;
-    }
-
-    if (platformId == PLATFORM_ID_MSB_V2_MANTIS     ||
-        platformId == PLATFORM_ID_MANTIS_MSB        ||
-        platformId == PLATFORM_ID_MANTIS_USB_DONGLE ||
-        platformId == PLATFORM_ID_MANTIS_PROTOTYPE  ||
-        platformId == PLATFORM_ID_DRAGON_PROTOTYPE) {
-        switch (compassId) {
-        case ID_INVALID:
-            g_pdata_slave_compass.bus = EXT_SLAVE_BUS_INVALID;
-            break;
-        case COMPASS_ID_AK8975:
-        case COMPASS_ID_AMI306:
-            g_pdata_slave_compass.bus             = EXT_SLAVE_BUS_SECONDARY;
-            break;
-        default:
-            g_pdata_slave_compass.bus             = EXT_SLAVE_BUS_PRIMARY;
-        };
-    } else {
-        g_pdata_slave_compass.bus             = EXT_SLAVE_BUS_PRIMARY;
-    }
-
-#ifndef WIN32
-    if (compassId != ID_INVALID)
-        Rotate180DegAroundZAxis(g_pdata_slave_compass.orientation);
-#endif
-
-    return INV_SUCCESS;
-}
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-#if 0
-inv_error_t SetupPressureCalibration(unsigned short platformId,
-                                  unsigned short pressureId)
-{
-    inv_error_t result = INV_SUCCESS;
-    /*----  setup the compass ----*/
-    switch(pressureId) {
-        case PRESSURE_ID_BMA085:
-            result = SetupPressureBMA085Calibration(platformId);
-            break;
-        default:
-            if (INV_ERROR_INVALID_PARAMETER) {
-                LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
-                return INV_ERROR_INVALID_PARAMETER;
-            }
-    };
-
-    return result;
-}
-#endif
-/**
- * @internal
- * Sets up the orientation matrix according to how the gyro was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupGyroCalibration(unsigned short platformId)
-{
-    int position;
-    MPL_LOGV("Calibrating '%s'\n", __func__);
-
-    /* Orientation */
-    switch (platformId) {
-    case PLATFORM_ID_SPIDER_PROTOTYPE:
-        position = 2;
-        break;
-    case PLATFORM_ID_MSB:
-    case PLATFORM_ID_MSB_10AXIS:
-    case PLATFORM_ID_MANTIS_MSB:
-#ifndef WIN32
-        position = 4;
-#else
-        position = 6;
-#endif
-        break;
-    case PLATFORM_ID_DONGLE:
-    case PLATFORM_ID_MANTIS_USB_DONGLE:
-        position = 1;
-        break;
-    case PLATFORM_ID_DRAGON_USB_DONGLE:
-        position = 3;
-        break;
-    case PLATFORM_ID_MANTIS_PROTOTYPE:
-    case PLATFORM_ID_DRAGON_PROTOTYPE:
-    case PLATFORM_ID_ST_6AXIS:
-    case PLATFORM_ID_MSB_V2:
-    case PLATFORM_ID_MSB_V2_MANTIS:
-#ifndef WIN32
-        position = 2;
-#else
-        position = 0;
-#endif
-        break;
-    case PLATFORM_ID_MANTIS_EVB:
-    case PLATFORM_ID_MSB_EVB:
-        position = 0;
-        break;
-    case PLATFORM_ID_MSB_V3:
-        position = 2;
-        break;
-    default:
-        MPL_LOGE("Unsupported platform %d\n", platformId);
-        return INV_ERROR_INVALID_PARAMETER;
-    };
-
-    SetupOrientation(position, g_gyro_orientation);
-
-    return INV_SUCCESS;
-}
-
-/**
- *  @brief  Setup the Hw orientation and full scale.
- *  @param  platfromId
- *              an user defined Id to distinguish the Hw platform in
- *              use from others.
- *  @param  accelId
- *              the accelerometer specific id, as specified in the MPL.
- *  @param  compassId
- *              the compass specific id, as specified in the MPL.
- *  @return INV_SUCCESS or a non-zero error code.
- */
-inv_error_t SetupPlatform(
-                unsigned short platformId,
-                unsigned short accelId,
-                unsigned short compassId)
-{
-    int result;
-
-    memset(&g_slave_accel, 0, sizeof(g_slave_accel));
-    memset(&g_slave_compass, 0, sizeof(g_slave_compass));
-//    memset(&g_slave_pressure, 0, sizeof(g_slave_pressure));
-//    memset(&g_pdata, 0, sizeof(g_pdata));
-
-#ifdef LINUX
-    /* On Linux initialize the global platform data with the driver defaults */
-    {
-        void *mpu_handle;
-        int ii;
-
-        struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
-        struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
-        slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
-        slave[EXT_SLAVE_TYPE_ACCEL] = &g_slave_accel;
-        slave[EXT_SLAVE_TYPE_COMPASS] = &g_slave_compass;
-        //slave[EXT_SLAVE_TYPE_PRESSURE] = &g_slave_pressure;
-
-        pdata_slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
-        pdata_slave[EXT_SLAVE_TYPE_ACCEL] = &g_pdata_slave_accel;
-        pdata_slave[EXT_SLAVE_TYPE_COMPASS] = &g_pdata_slave_compass;
-        //pdata_slave[EXT_SLAVE_TYPE_PRESSURE] = &g_pdata_slave_pressure;
-
-        MPL_LOGI("Getting the MPU_GET_PLATFORM_DATA\n");
-        result = inv_serial_open("/dev/mpu",&mpu_handle);
-        if (result) {
-            MPL_LOGE("MPU_GET_PLATFORM_DATA failed %d\n", result);
-        }
-        for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
-            if (!slave[ii])
-                continue;
-            slave[ii]->type = ii;
-            result = ioctl((int)mpu_handle, MPU_GET_EXT_SLAVE_DESCR,
-                           slave[ii]);
-            if (result)
-                result = errno;
-            if(result == INV_ERROR_INVALID_MODULE) {
-                slave[ii] = NULL;
-                result = 0;
-            } else if (result) {
-                LOG_RESULT_LOCATION(result);
-                LOG_RESULT_LOCATION(INV_ERROR_INVALID_MODULE);
-                return result;
-            }
-        }
-        //result = ioctl((int)mpu_handle, MPU_GET_MPU_PLATFORM_DATA, &g_pdata);
-        if (result) {
-            result = errno;
-            LOG_RESULT_LOCATION(result);
-            return result;
-        }
-        for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
-            if (!pdata_slave[ii])
-                continue;
-            pdata_slave[ii]->type = ii;
-            result = ioctl(
-                (int)mpu_handle, MPU_GET_EXT_SLAVE_PLATFORM_DATA,
-                pdata_slave[ii]);
-            if (result)
-                result = errno;
-            if (result == INV_ERROR_INVALID_MODULE) {
-                pdata_slave[ii] = NULL;
-                result = 0;
-            } else if (result) {
-                LOG_RESULT_LOCATION(result);
-                return result;
-            }
-        }
-        if (result) {
-            MPL_LOGE("MPU_GET_PLATFORM_DATA failed %d\n", result);
-        }
-        inv_serial_close(mpu_handle);
-    }
-#endif
-
-    result = SetupGyroCalibration(platformId);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    PrintMountingOrientation("Gyroscope", g_gyro_orientation);
-    result = SetupAccelCalibration(platformId, accelId);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    PrintMountingOrientation("Accelerometer", g_pdata_slave_accel.orientation);
-    result = SetupCompassCalibration(platformId, compassId);
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    PrintMountingOrientation("Compass", g_pdata_slave_compass.orientation);
-#if 0
-    if (platformId == PLATFORM_ID_MSB_10AXIS) {
-        result = SetupPressureCalibration(platformId, PRESSURE_ID_BMA085);
-        if (result) {
-            LOG_RESULT_LOCATION(result);
-            return result;
-        }
-        PrintMountingOrientation("Pressure", g_pdata_slave_pressure.orientation);
-    }
-#endif
-#ifdef LINUX
-    /* On Linux override the orientation, level shifter etc */
-    {
-        void *mpu_handle;
-        int ii;
-        struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
-        struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
-        slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
-        slave[EXT_SLAVE_TYPE_ACCEL] = &g_slave_accel;
-        slave[EXT_SLAVE_TYPE_COMPASS] = &g_slave_compass;
-        //slave[EXT_SLAVE_TYPE_PRESSURE] = &g_slave_pressure;
-
-        pdata_slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
-        pdata_slave[EXT_SLAVE_TYPE_ACCEL] = &g_pdata_slave_accel;
-        pdata_slave[EXT_SLAVE_TYPE_COMPASS] = &g_pdata_slave_compass;
-        //pdata_slave[EXT_SLAVE_TYPE_PRESSURE] = &g_pdata_slave_pressure;
-
-        MPL_LOGI("Setting the MPU_SET_PLATFORM_DATA\n");
-        result = inv_serial_open("/dev/mpu",&mpu_handle);
-        if (result) {
-            MPL_LOGE("MPU_SET_PLATFORM_DATA failed %d\n", result);
-        }
-        for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
-            if (!slave[ii])
-                continue;
-            slave[ii]->type = ii;
-            result = ioctl((int)mpu_handle, MPU_SET_EXT_SLAVE_PLATFORM_DATA,
-                           slave[ii]);
-            if (result)
-                result = errno;
-            if (result == INV_ERROR_INVALID_MODULE) {
-                slave[ii] = NULL;
-                result = 0;
-            } else if (result) {
-                LOG_RESULT_LOCATION(result);
-                return result;
-            }
-        }
-        //result = ioctl((int)mpu_handle, MPU_SET_MPU_PLATFORM_DATA, &g_pdata);
-        if (result) {
-            result = errno;
-            LOG_RESULT_LOCATION(result);
-            return result;
-        }
-        for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
-            if (!pdata_slave[ii])
-                continue;
-            pdata_slave[ii]->type = ii;
-            result = ioctl((int)mpu_handle, MPU_SET_EXT_SLAVE_PLATFORM_DATA,
-                pdata_slave[ii]);
-            if (result)
-                result = errno;
-            if (result == INV_ERROR_INVALID_MODULE) {
-                pdata_slave[ii] = NULL;
-                result = 0;
-            } else if (result) {
-                LOG_RESULT_LOCATION(result);
-                return result;
-            }
-        }
-        if (result) {
-            MPL_LOGE("MPU_SET_PLATFORM_DATA failed %d\n", result);
-        }
-        inv_serial_close(mpu_handle);
-    }
-#endif
-    return INV_SUCCESS;
-}
-
-/**
- * @}
- */
-
-
diff --git a/libsensors_iio/software/simple_apps/common/mlsetup.h b/libsensors_iio/software/simple_apps/common/mlsetup.h
deleted file mode 100644
index 06fa9f4..0000000
--- a/libsensors_iio/software/simple_apps/common/mlsetup.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
- 
-/*******************************************************************************
- *
- * $Id: mlsetup.h 6101 2011-09-29 00:30:33Z kkatingari $
- *
- *******************************************************************************/
-
-#ifndef MLSETUP_H
-#define MLSETUP_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "linux/mpu.h"
-#include "mltypes.h"
-
-    enum mpu_platform_id {
-        PLATFORM_ID_INVALID = ID_INVALID, // 0
-        PLATFORM_ID_MSB,              // (0x0001) MSB (Multi sensors board)
-        PLATFORM_ID_ST_6AXIS,         // (0x0002) 6 Axis with ST accelerometer
-        PLATFORM_ID_DONGLE,           // (0x0003) 9 Axis USB dongle with
-        PLATFORM_ID_MANTIS_PROTOTYPE, // (0x0004) Mantis prototype board
-        PLATFORM_ID_MANTIS_MSB,       // (0x0005) MSB with Mantis
-        PLATFORM_ID_MANTIS_USB_DONGLE,// (0x0006) Mantis and AKM on USB dongle.
-        PLATFORM_ID_MSB_10AXIS,       // (0x0007) MSB with pressure sensor
-        PLATFORM_ID_DRAGON_PROTOTYPE, // (0x0008) Dragon prototype board
-        PLATFORM_ID_MSB_V2,           // (0x0009) Version 2 MSB
-        PLATFORM_ID_MSB_V2_MANTIS,    // (0x000A) Version 2 MSB with mantis
-        PLATFORM_ID_MANTIS_EVB,       // (0x000B) Mantis EVB (shipped to cust.)
-        PLATFORM_ID_DRAGON_USB_DONGLE,// (0x000C) Dragon USB Dongle with Mantis Rev C
-        PLATFORM_ID_MSB_EVB,          // (0X000D) MSB with 3050. 
-        PLATFORM_ID_SPIDER_PROTOTYPE,
-        PLATFORM_ID_MSB_V3,
-
-        NUM_PLATFORM_IDS
-    };
-    // Main entry APIs
-inv_error_t SetupPlatform(unsigned short platformId, 
-                       unsigned short accelSelection, 
-                       unsigned short compassSelection);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* MLSETUP_H */
diff --git a/libsensors_iio/software/simple_apps/common/slave.h b/libsensors_iio/software/simple_apps/common/slave.h
deleted file mode 100644
index 7b40a8c..0000000
--- a/libsensors_iio/software/simple_apps/common/slave.h
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: slave.h 5732 2011-07-07 01:11:34Z vbhatt $
- *
- *******************************************************************************/
-
-#ifndef SLAVE_H
-#define SLAVE_H
-
-/**
- *  @addtogroup SLAVEDL
- *
- *  @{
- *      @file     slave.h
- *      @brief    Top level descriptions for Accelerometer support
- *
- */
-
-#include "mltypes.h"
-#include "linux/mpu.h"
-
-    /* ------------ */
-    /* - Defines. - */
-    /* ------------ */
-
-/*--- default accel support - selection ---*/
-#define ACCEL_ST_LIS331                 0
-#define ACCEL_KIONIX_KXTF9              1
-#define ACCEL_BOSCH                     0
-#define ACCEL_ADI                       0
-
-#define ACCEL_SLAVEADDR_INVALID         0x00
-
-#define ACCEL_SLAVEADDR_LIS331          0x18
-#define ACCEL_SLAVEADDR_LSM303          0x18
-#define ACCEL_SLAVEADDR_LIS3DH          0x18
-#define ACCEL_SLAVEADDR_KXSD9           0x18
-#define ACCEL_SLAVEADDR_KXTF9           0x0F
-#define ACCEL_SLAVEADDR_BMA150          0x38
-#define ACCEL_SLAVEADDR_BMA222          0x08
-#define ACCEL_SLAVEADDR_BMA250          0x18
-#define ACCEL_SLAVEADDR_ADXL34X         0x53
-#define ACCEL_SLAVEADDR_ADXL34X_ALT     0x1D /* alternative addr */
-#define ACCEL_SLAVEADDR_MMA8450         0x1C
-#define ACCEL_SLAVEADDR_MMA845X         0x1C
-
-#define ACCEL_SLAVEADDR_INVENSENSE      0x68
-/*
-    Define default accelerometer to use if no selection is made
-*/
-#if ACCEL_ST_LIS331
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_LIS331
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_LIS331
-#endif
-
-#if ACCEL_ST_LSM303
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_LSM303
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_LSM303DLX
-#endif
-
-#if ACCEL_KIONIX_KXSD9
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_KXSD9
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_KXSD9
-#endif
-
-#if ACCEL_KIONIX_KXTF9
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_KXTF9
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_KXTF9
-#endif
-
-#if ACCEL_BOSCH
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA150
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA150
-#endif
-
-#if ACCEL_BMA222
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA222
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA222
-#endif
-
-#if ACCEL_BOSCH
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA250
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA250
-#endif
-
-#if ACCEL_ADI
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_ADXL34X
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_ADXL34X
-#endif
-
-#if ACCEL_MMA8450
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_MMA8450
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_MMA8450
-#endif
-
-#if ACCEL_MMA845X
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_MMA845X
-#define DEFAULT_ACCEL_ID                  ACCEL_ID_MMA845X
-#endif
-
-/*--- if no default accelerometer was selected ---*/
-#ifndef DEFAULT_ACCEL_SLAVEADDR
-#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_INVALID
-#endif
-
-#define USE_COMPASS_AICHI                  0
-#define USE_COMPASS_AKM                    0
-#define USE_COMPASS_YAS529                 0
-#define USE_COMPASS_YAS530                 0
-#define USE_COMPASS_HMC5883                0
-#define USE_COMPASS_MMC314X                0
-#define USE_COMPASS_HSCDTD002B             0
-#define USE_COMPASS_HSCDTD004A             0
-
-#define COMPASS_SLAVEADDR_INVALID          0x00
-#define COMPASS_SLAVEADDR_AKM_BASE         0x0C
-#define COMPASS_SLAVEADDR_AKM              0x0E
-#define COMPASS_SLAVEADDR_AMI304           0x0E
-#define COMPASS_SLAVEADDR_AMI305           0x0F /*Slave address for AMI 305/306*/
-#define COMPASS_SLAVEADDR_AMI306           0x0E /*Slave address for AMI 305/306*/
-#define COMPASS_SLAVEADDR_YAS529           0x2E
-#define COMPASS_SLAVEADDR_YAS530           0x2E
-#define COMPASS_SLAVEADDR_HMC5883          0x1E
-#define COMPASS_SLAVEADDR_MMC314X          0x30
-#define COMPASS_SLAVEADDR_HSCDTD00XX       0x0C
-
-/*
-    Define default compass to use if no selection is made
-*/
- #if USE_COMPASS_AKM
- #define DEFAULT_COMPASS_TYPE              COMPASS_ID_AK8975
- #endif
-
- #if USE_COMPASS_AICHI
- #define DEFAULT_COMPASS_TYPE              COMPASS_ID_AMI30X
- #endif
-
- #if USE_COMPASS_YAS529
- #define DEFAULT_COMPASS_TYPE              COMPASS_ID_YAS529
- #endif
-
- #if USE_COMPASS_YAS530
- #define DEFAULT_COMPASS_TYPE              COMPASS_ID_YAS530
- #endif
-
- #if USE_COMPASS_HMC5883
- #define DEFAULT_COMPASS_TYPE              COMPASS_ID_HMC5883
- #endif
-
-#if USE_COMPASS_MMC314X
-#define DEFAULT_COMPASS_TYPE              COMPASS_ID_MMC314X
-#endif
-
-#if USE_COMPASS_HSCDTD002B
-#define DEFAULT_COMPASS_TYPE              COMPASS_ID_HSCDTD002B
-#endif
-
-#if USE_COMPASS_HSCDTD004A
-#define DEFAULT_COMPASS_TYPE              COMPASS_ID_HSCDTD004A
-#endif
-
-#ifndef DEFAULT_COMPASS_TYPE
-#define DEFAULT_COMPASS_TYPE               ID_INVALID
-#endif
-
-
-#endif // SLAVE_H
-
-/**
- *  @}
- */
diff --git a/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared b/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared
deleted file mode 100644
index 228abf7..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared
+++ /dev/null
diff --git a/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk b/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk
deleted file mode 100644
index b01fdfb..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#### filelist.mk for console_test ####
-
-# helper headers
-HEADERS := $(COMMON_DIR)/external_hardware.h
-HEADERS += $(COMMON_DIR)/fopenCMake.h
-HEADERS += $(COMMON_DIR)/helper.h
-HEADERS += $(COMMON_DIR)/mlerrorcode.h
-HEADERS += $(COMMON_DIR)/mlsetup.h
-HEADERS += $(COMMON_DIR)/slave.h
-
-HEADERS += $(HAL_DIR)/include/mlos.h
-HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/console_test.c
-
-# helper sources
-SOURCES += $(HAL_DIR)/linux/inv_sysfs_utils.c
-SOURCES += $(HAL_DIR)/linux/mlos_linux.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/libsensors_iio/software/simple_apps/console/linux/console_test.c b/libsensors_iio/software/simple_apps/console/linux/console_test.c
deleted file mode 100644
index e15b20d..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/console_test.c
+++ /dev/null
@@ -1,742 +0,0 @@
-/*******************************************************************************
- * $Id: $
- ******************************************************************************/
- 
-/*******************************************************************************
- *
- * Copyright (c) 2011 InvenSense Corporation, All Rights Reserved.
- *
- ******************************************************************************/
-//#include <linux/conio.h>
-//#include <fcntl.h>
-//#include <termios.h>
-//#include <unistd.h>
-
-//#if 0
-#include <stdio.h>
-#include <time.h>
-#include <sys/select.h>
-#include <unistd.h>
-#include <string.h>
-#include <sys/ioctl.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <linux/input.h>
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "console_test"
-
-#include "mlos.h"
-#include "invensense.h"
-#include "invensense_adv.h"
-#include "inv_sysfs_utils.h"
-#include "ml_stored_data.h"
-#include "ml_math_func.h"
-#include "ml_load_dmp.h"
-/*#else
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <features.h>
-#include <dirent.h>
-#include <string.h>
-#include <poll.h>
-#include <stddef.h>
-#include <linux/input.h>
-#include <time.h>
-#include <linux/time.h>
-#include "inv_sysfs_utils.h"
-#include "invensense.h"
-#include "invensense_adv.h"
-#include "ml_stored_data.h"
-#include "ml_math_func.h"
-#include "ml_load_dmp.h"
-#include "log.h"
-#endif*/
-
-/* TODO: add devices as needed. */
-#define ITG3500         (0)
-#define MPU6050         (1)
-#define BMA250          (2)
-#define NUM_DEVICES     (ITG3500 + MPU6050 + BMA250)
-
-#define DEVICE          MPU6050
-#define DMP_IMAGE       dmp_firmware_200_latest
-#define SIX_AXES        6
-#define NINE_AXES       9
-
-#if 0
-struct input_event {
-       struct timeval time;
-       __u16 type;
-       __u16 code;
-       __s32 value;
-};
-#endif
-
-/* TODO: Add paths to other attributes.
- * TODO: Input device paths depend on the module installation order.
- */
-const struct inv_sysfs_names_s filenames[NUM_DEVICES] = {
-    {        /* ITG3500 */
-        .buffer             = "/dev/input/event0",
-        .enable             = "/sys/bus/i2c/devices/4-0068/inv_gyro/fifo_enable",
-        .raw_data           = "/sys/bus/i2c/devices/4-0068/inv_gyro/raw_gyro",
-        .temperature        = "/sys/bus/i2c/devices/4-0068/inv_gyro/temperature",
-        .fifo_rate          = "/sys/bus/i2c/devices/4-0068/inv_gyro/fifo_rate",
-        .power_state        = "/sys/bus/i2c/devices/4-0068/inv_gyro/power_state",
-        .fsr                = "/sys/bus/i2c/devices/4-0068/inv_gyro/FSR",
-        .lpf                = "/sys/bus/i2c/devices/4-0068/inv_gyro/lpf",
-        .scale              = "/sys/bus/i2c/devices/4-0068/inv_gyro/gyro_scale",
-        .temp_scale         = "/sys/bus/i2c/devices/4-0068/inv_gyro/temp_scale",
-        .temp_offset        = "/sys/bus/i2c/devices/4-0068/inv_gyro/temp_offset",
-        .self_test          = "/sys/bus/i2c/devices/4-0068/inv_gyro/self_test",
-        .accel_en           = NULL,
-        .accel_fifo_en      = NULL,
-        .accel_fs           = NULL,
-        .clock_source       = NULL,
-        .early_suspend_en   = NULL,
-        .firmware_loaded    = NULL,
-        .gyro_en            = NULL,
-        .gyro_fifo_en       = NULL,
-        .key                = NULL,
-        .raw_accel          = NULL,
-        .reg_dump           = NULL,
-        .tap_on             = NULL,
-        .dmp_firmware       = NULL
-    },
-
-    {        /* MPU6050 */
-        .buffer             = "/dev/input/event0",
-        .enable             = "/sys/class/invensense/mpu/enable",
-        .raw_data           = "/sys/class/invensense/mpu/raw_gyro",
-        .temperature        = "/sys/class/invensense/mpu/temperature",
-        .fifo_rate          = "/sys/class/invensense/mpu/fifo_rate",
-        .power_state        = "/sys/class/invensense/mpu/power_state",
-        .fsr                = "/sys/class/invensense/mpu/FSR",
-        .lpf                = "/sys/class/invensense/mpu/lpf",
-        .scale              = "/sys/class/invensense/mpu/gyro_scale",
-        .temp_scale         = "/sys/class/invensense/mpu/temp_scale",
-        .temp_offset        = "/sys/class/invensense/mpu/temp_offset",
-        .self_test          = "/sys/class/invensense/mpu/self_test",
-        .accel_en           = "/sys/class/invensense/mpu/accl_enable",
-        .accel_fifo_en      = "/sys/class/invensense/mpu/accl_fifo_enable",
-        .accel_fs           = "/sys/class/invensense/mpu/accl_fs",
-        .clock_source       = "/sys/class/invensense/mpu/clock_source",
-        .early_suspend_en   = "/sys/class/invensense/mpu/early_suspend_enable",
-           .firmware_loaded = "/sys/class/invensense/mpu/firmware_loaded",
-        .gyro_en            = "/sys/class/invensense/mpu/gyro_enable",
-        .gyro_fifo_en       = "/sys/class/invensense/mpu/gyro_fifo_enable",
-        .key                = "/sys/class/invensense/mpu/key",
-        .raw_accel          = "/sys/class/invensense/mpu/raw_accl",
-        .reg_dump           = "/sys/class/invensense/mpu/reg_dump",
-        .tap_on             = "/sys/class/invensense/mpu/tap_on",
-         .dmp_firmware      = "/sys/class/invensense/mpu/dmp_firmware"
-    },
-
-    {        /* BMA250 */
-        .buffer             = "/dev/input/input/event1",
-        .enable             = "/sys/devices/virtual/input/input1/enable",
-        .raw_data           = "/sys/devices/virtual/input/input1/value",
-        .temperature        = NULL,
-        .fifo_rate          = NULL,
-        .power_state        = NULL,
-        .fsr                = NULL,
-        .lpf                = NULL,
-        .scale              = NULL,
-        .temp_scale         = NULL,
-        .temp_offset        = NULL,
-        .self_test          = NULL,
-        .accel_en           = NULL,
-        .accel_fifo_en      = NULL,
-        .accel_fs           = NULL,
-        .clock_source       = NULL,
-        .early_suspend_en   = NULL,
-        .firmware_loaded    = NULL,
-        .gyro_en            = NULL,
-        .gyro_fifo_en       = NULL,
-        .key                = NULL,
-        .raw_accel          = NULL,
-        .reg_dump           = NULL,
-        .tap_on             = NULL,
-        .dmp_firmware       = NULL
-    }
-};
-
-static void (*s_func_cb) (void);
-
-int inv_read_data(char *names, char *data)
-{
-    char str[8];
-    int count;
-    short s_data;
-
-    count = inv_sysfs_read((char*)names, sizeof(str), str);
-    if (count < 0)
-        return count;
-    count = sscanf(str, "%hd", &s_data);
-    *data = s_data;
-    if (count < 1)
-        return -EAGAIN;
-    return count;
-
-}
-
-void fifoCB(void)
-{
-    if (1) {
-        float gyro[3];
-        float accel[3];
-        float orient[3];
-        float rv[3];
-
-        int8_t accuracy;
-        inv_time_t timestamp;
-
-        printf("/*************************************************\n"); 
-        inv_get_sensor_type_gyroscope(gyro, &accuracy, &timestamp);
-        printf("Gyro %13.6f %13.4f %13.4f %5d %9lld\n", 
-                     gyro[0],
-                     gyro[1],
-                     gyro[2],
-                     accuracy,
-                     timestamp);
-
-        inv_get_sensor_type_accelerometer(accel, &accuracy, &timestamp);
-        printf("Accel %13.6f %13.4f %13.4f %5d %9lld\n", 
-                     accel[0],
-                     accel[1],
-                     accel[2],
-                     accuracy,
-                     timestamp);
-
-        inv_get_sensor_type_rotation_vector(rv, &accuracy, &timestamp);
-        printf("RV %7.3f %7.3f %7.3f %5d %9lld\n",
-                     rv[0],rv[1],rv[2],accuracy,timestamp);
-
-        inv_get_sensor_type_orientation(orient, &accuracy, &timestamp);
-        printf("Orientation %7.3f %7.3f %7.3f %5d %9lld\n",
-                     orient[0],orient[1],orient[2],accuracy,timestamp);
-        printf("/*************************************************\n"); 
-    }
-}
-
-unsigned short orient;
-signed char g_gyro_orientation[9] = {1, 0, 0,
-                                     0, 1, 0,
-                                     0, 0, 1};
-
-signed char g_accel_orientation[9] = {-1, 0, 0,
-                                      0, -1, 0,
-                                      0, 0, 1};
-float scale;
-float range;
-long sens;
-
-
-
-short mTempOffset = 0;
-short mTempScale = 0;
-bool mFirstRead = 1;
-
-/******************* FUNCTIONS *******************************/
-#if 0
-static unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;                  // error
-    return b;
-}
-#endif 
-
-inv_error_t inv_set_fifo_processed_callback(void (*func_cb)(void))
-{
-    s_func_cb = func_cb;
-    return INV_SUCCESS;
-}
-
-/**
- * @brief Keyboard hit function.
- */
-int kbhit(void)
-{
-#if 1
-    struct timeval tv;
-    fd_set read_fd;
-
-    tv.tv_sec=0;
-    tv.tv_usec=0;
-    FD_ZERO(&read_fd);
-    FD_SET(0,&read_fd);
-
-    if (select(1, &read_fd, NULL, NULL, &tv) == -1)
-        return 0;
-
-    if (FD_ISSET(0,&read_fd))
-        return 1;
-
-    return 0;
-#else
-    struct timeval tv;  
-    fd_set rdfs;   
-    
-    tv.tv_sec = 0;  
-    tv.tv_usec = 0;   
-    
-    FD_ZERO(&rdfs);  
-    FD_SET (STDIN_FILENO, &rdfs);   
-    
-    select(STDIN_FILENO+1, &rdfs, NULL, NULL, &tv);  
-    return FD_ISSET(STDIN_FILENO, &rdfs); 
-#endif
-}
-
-inv_error_t inv_constructor_default_enable()
-{
-    inv_error_t result;
-  
-    result = inv_enable_quaternion();
-    if (result) {
-        if (result == INV_ERROR_NOT_AUTHORIZED) {
-            LOGE("Enable Quaternion failed: not authorized");
-        }
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    result = inv_enable_motion_no_motion();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    result = inv_enable_gyro_tc();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    result = inv_enable_hal_outputs();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    result = inv_enable_9x_sensor_fusion();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-    return result;
-}
-
-int read_attribute_sensor(int fd, char *data, unsigned int size)
-{
-    int count = 0;
-        if (fd >=0) {
-            count = read(fd, data, size);
-            if(count < 0) {
-                MPL_LOGE("read fails with error code=%d", count);
-            }
-            close(fd);
-        }
-        return count;
-}
-
-int inv_read_temperature(long long *data)
-{
-        int count = 0;
-        int fd;
-
-        if(mFirstRead) {
-            char buf[4];
-            fd = open(filenames[ITG3500].temp_scale, O_RDONLY);
-            if(fd < 0) {
-                MPL_LOGE("errors opening tempscale");
-                return -1;
-            }
-
-            memset(buf, 0, sizeof(buf));
-
-            count = read_attribute_sensor(fd, buf, sizeof(buf));
-            if(count < 0) {
-                MPL_LOGE("errors reading temp_scale");
-                return -1;
-            }
-
-            count = sscanf(buf, "%hd", &mTempScale);
-            if(count < 1)
-                return -1;
-            MPL_LOGI("temp scale = %d", mTempScale);
- 
-            fd = open(filenames[ITG3500].temp_offset, O_RDONLY);
-            if(fd < 0) {
-                MPL_LOGE("errors opening tempoffset");
-                return -1;
-            }
-
-            memset(buf, 0, sizeof(buf));
-
-            count = read_attribute_sensor(fd, buf, sizeof(buf));
-            if(count < 0) {
-                MPL_LOGE("errors reading temp_offset");
-                return -1;
-            }
-
-            count = sscanf(buf, "%hd", &mTempOffset);
-            if(count < 1)
-                return -1;
-            MPL_LOGI("temp offset = %d", mTempOffset);
-
-            mFirstRead = false;
-        }
-
-        char raw_buf[25];
-        short raw;
-        long long timestamp;
-        fd = open(filenames[ITG3500].temperature, O_RDONLY);
-        if(fd < 0) {
-            MPL_LOGE("errors opening temperature");
-            return -1;
-        }
-
-        memset(raw_buf, 0, sizeof(raw_buf));
-
-        count = read_attribute_sensor(fd, raw_buf, sizeof(raw_buf));
-        if(count < 0) {
-            MPL_LOGE("errors reading temperature");
-            return -1;
-        }
-        count = sscanf(raw_buf, "%hd%lld", &raw, &timestamp);
-        if(count < -1)
-            return -1;
-        MPL_LOGI("temperature raw = %d, timestamp = %lld", raw, timestamp);
-        MPL_LOGI("temperature offset = %d", mTempOffset);
-        MPL_LOGI("temperature scale = %d", mTempScale);
-        int adjuster = 35 + ((raw-mTempOffset)/mTempScale);
-        MPL_LOGI("pre-scaled temperature = %d", adjuster);
-        MPL_LOGI("adjusted temperature = %d", adjuster*65536);
-        //data[0] = adjuster * 65536;
-        data[0] = (35 + ((raw - mTempOffset) / mTempScale)) * 65536.f;
-        data[1] = timestamp;
-        return 0;
-}
-
-int self_test(void)
-{
-        int err = 0;
-        char str[50];
-        char x[9], y[9], z[9];
-        char pass[2];
-        int fd;
-
-        fd = open((char*)filenames[DEVICE].self_test, O_RDONLY);
-        if(fd < 0) {
-            return fd;
-        }
-        memset(str, 0, sizeof(str));
-        err = read_attribute_sensor(fd, str, sizeof(str));
-        if(err < 0) {
-            return err;
-        }
-        MPL_LOGI("self_test result: %s", str);
-        printf("Self test result: %s ", str);
-        err = sscanf(str, "%[^','],%[^','],%[^','],%[^',']", x, y, z, pass);
-        if(err < 1) {
-            return err;
-        }
-        MPL_LOGI("Bias   : X:Y:Z (%ld, %ld, %ld)", atol(x), atol(y), atol(z));
-        //printf("Bias   : X:Y:Z (%ld, %ld, %ld)", atol(x), atol(y), atol(z));
-        if (atoi(pass)) {
-            MPL_LOGI("Result : PASS (1)");
-            printf("----> PASS (1)\n");
-        } else {
-            MPL_LOGI("Result : FAIL (0)");
-            printf("----> FAIL (0)\n");
-        }
-        return err;
-}
-
-/*******************************************************************************
- ******************************* MAIN ******************************************
- ******************************************************************************/
-
-/**
- * @brief Main function
- */
-int main(int argc, char *argv[])
-{
-    int key = 0;
-    int ready;
-    long accel[3];
-    short gyro[3];
-    long long timestamp = 0;
-    inv_error_t result;
-
-    char data;
-    unsigned char i;
-    int fd, bytes_read;
-    struct pollfd pfd;
-    unsigned long long time_stamp;
-    unsigned int time_H;
-    struct input_event ev[100];
-#ifdef INV_PLAYBACK_DBG
-    int logging = false;
-    FILE *logfile = NULL;
-#endif
-
-    result = inv_init_mpl();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    }
-
-    // Master Enabling.  This also turns on power_state
-    if (inv_sysfs_write((char *)filenames[DEVICE].enable, 1) < 0)
-       printf("ERR- Failed to enable event generation\n");
-    else {
-          inv_read_data((char *)filenames[DEVICE].enable, &data);
-       printf("Event enable= %d\n", data);
-    }
-
-    // Power ON - No need after master enable above but do it anyway
-    if (inv_sysfs_write((char *)filenames[DEVICE].power_state, 1) < 0)
-       printf("ERR- Failed to set power state=1\n");
-    else {
-          inv_read_data((char *)filenames[DEVICE].power_state, &data);
-       printf("Power state: %d\n", data);
-    }
-    
-    // Turn on tap
-    if (inv_sysfs_write((char *)filenames[DEVICE].tap_on, 1) < 0) {
-       printf("ERR- Failed to enable Tap On\n");
-    } 
-    else {
-          inv_read_data((char *)filenames[DEVICE].tap_on, &data);
-       printf("Tap-on: %d\n", data);
-    }
-
-    // Program DMP code.  No longer required to enable tap-on first
-    if ((result = 
-            inv_sysfs_write((char *)filenames[DEVICE].firmware_loaded, 0)) < 0) {
-        printf("ERR- Failed to initiate DMP re-programming %d\n",result);
-    } else {
-         if ((fd = open(filenames[DEVICE].dmp_firmware, O_WRONLY)) < 0 ) {
-            printf("ERR- Failed file open to write DMP\n");
-            close(fd);
-            exit(0);
-        } else {
-            // Program 200Hz version
-            //result = write(fd, DMP_IMAGE, sizeof(DMP_IMAGE));
-            //printf("Downloaded %d byte(s) to DMP\n", result);
-            result = inv_load_dmp(fd);
-            //LOG_RESULT_LOCATION(result);
-            close(fd);
-        }
-    }
-
-    // Query DMP running.  For now check by 'firmware_loaded' status 
-    if (inv_read_data((char *)filenames[DEVICE].firmware_loaded, &data) < 0) {
-        printf("ERR- Failed to read 'firmware_loaded'\n");
-    } else {
-        printf("Firmware Loaded/ DMP running: %d\n", data);
-    }
-
-    inv_set_fifo_processed_callback(fifoCB);
-    result = inv_constructor_default_enable();
-    result = inv_start_mpl();
-    if (result) {
-        LOG_RESULT_LOCATION(result);
-        return result;
-    } else {
-        printf ("MPL started\n");
-    }
-
-    /* Gyro Setup */
-    orient = inv_orientation_matrix_to_scalar(g_gyro_orientation);
-    inv_set_gyro_orientation_and_scale(orient,2000L<<15);
-
-    /* Accel Setup */
-    orient = inv_orientation_matrix_to_scalar(g_accel_orientation);
-    /* NOTE: sens expected to be 2 (FSR) * 1L<<15 for 16 bit hardware data.
-     * The BMA250 only uses a 10 bit ADC, so we shift the data by 6 bits.
-     * 2 * 1L<<15 * 1<<6 ==  1LL<<22
-     */
-    inv_set_accel_orientation_and_scale(orient, 1LL<<22); 
-
-    // Enable Gyro
-    if (inv_sysfs_write((char *)filenames[DEVICE].gyro_en, 1) <0)
-        printf("ERR- Failed to enable Gyro\n");
-    else {
-        inv_read_data((char *)filenames[DEVICE].gyro_en, &data);
-        printf("Gyro enable: %d\n", data);
-    }
-
-    // Enable Accel
-    if (inv_sysfs_write((char *)filenames[DEVICE].accel_en, 1) <0)
-        printf("ERR- Failed to enable Accel\n");
-    else {
-        inv_read_data((char *)filenames[DEVICE].accel_en, &data);
-        printf("Accel enable: %d\n", data);
-    }
-
-    // polling for data
-    fd = open(filenames[DEVICE].buffer, O_RDONLY);
-    if(fd < 0) {
-         MPL_LOGE("Cannot open device event buffer");
-    }
-    
-    pfd.fd = fd;
-    pfd.events = POLLIN;
-
-    while (1) {
-
-       result = kbhit();
-        if (result) {
-           key = getchar();
-        } else {
-           key = 0;
-        }
-        if (key == 'l') {
-           MPL_LOGI(" 'l' - load calibration file");
-           inv_load_calibration();
-        }
-        if (key == 't') {
-           MPL_LOGI(" 't' - self test");
-           self_test();
-        }
-        if (key == 'q') {
-            MPL_LOGI(" 'q' - store calibration file");
-            inv_store_calibration();
-            break;
-        }
-#ifdef INV_PLAYBACK_DBG
-        if (key == 's') {
-            if (!logging) {
-                MPL_LOGI(" 's' - toggle logging on");
-                logfile = fopen("/data/playback.bin", "wb");
-                if (logfile) {
-                    inv_turn_on_data_logging(logfile);
-                    logging = true;
-                } else {
-                    MPL_LOGI("Error : "
-                             "cannot open log file '/data/playback.bin'");
-                }
-            } else {
-                MPL_LOGI(" 's' - toggle logging off");
-                inv_turn_off_data_logging();
-                fclose(logfile);
-                logging = false;
-            }
-            break;
-        }
-#endif
-
-        ready = poll(&pfd, 1, 100);
-        if (ready) {
-            bytes_read = read_attribute_sensor(fd, (char *)ev,
-                                      sizeof(struct input_event) * SIX_AXES);
-            //bytes_read= read(fd, &ev, sizeof(struct input_event) * SIX_AXES);
-            if (bytes_read > 0) {
-                int executed;
-
-                for (i = 0; i < bytes_read / sizeof(struct input_event); i++) {
-                    if (ev[i].type == EV_REL) {
-                        switch (ev[i].code) {
-                        case REL_X:
-                            printf("REL_X\n");
-                            gyro[0]= ev[i].value;                    //Gyro X
-                            printf("Gyro X:%5d ", gyro[0]);        
-                            break;
-                        case REL_Y:
-                            printf("REL_Y\n");
-                            gyro[1]= ev[i].value;                    //Gyro Y
-                            printf("Gyro Y:%5d ", gyro[1]);    
-                            break;
-                        case REL_Z:
-                            printf("REL_Z\n");
-                            gyro[2]= ev[i].value;                    //Gyro Z
-                            printf("Gyro Z:%5d ", gyro[2]);        
-                            break;
-                        case REL_RX:
-                            printf("REL_RX\n");
-                            accel[0]= ev[i].value;                   //Accel X
-                            printf("Accl X:%5ld ", accel[0]);
-                            break;
-                        case REL_RY:
-                            printf("REL_RY\n");
-                            accel[1]= ev[i].value;                   //Accel Y
-                            printf("Accl Y:%5ld ", accel[1]);    
-                            break;
-                        case REL_RZ:
-                            printf("REL_RZ\n");
-                            accel[2]= ev[i].value;                   //Accel Z
-                            printf("Accl Z:%5ld ", accel[2]);    
-                            break;
-                        case REL_MISC:
-                            time_H= ev[i].value;
-                            break;
-                        case REL_WHEEL:
-                            time_stamp = ((unsigned long long)(time_H) << 32) + 
-                                           (unsigned int)ev[i].value;
-                            break;
-                        default:
-                            printf("ERR- Un-recognized event code:  %5d ", ev[i].code);
-                            break;
-                        }
-                    } else {
-#if 0
-                        clock_gettime(CLOCK_MONOTONIC, &timer);
-                        curr_time= timer.tv_nsec + timer.tv_sec * 1000000000LL;                        
-                        printf("Curr time= %lld, Dev time stamp= %lld, Time diff= %d ms\n", curr_time, time_stamp, (curr_time-time_stamp)/1000000LL);
-#endif
-                    }
-                }
-
-                // build & process gyro + accel data
-                result = inv_build_gyro(gyro, (inv_time_t)timestamp, &executed);
-                if (result) {
-                    LOG_RESULT_LOCATION(result);
-                } else if ((result = inv_build_accel(accel, 0,
-                                                    (inv_time_t)timestamp,
-                                                    &executed))) {
-                    LOG_RESULT_LOCATION(result);
-                } 
-                if (executed) {
-                    printf("Exec on data Ok\n");
-                    s_func_cb();
-                }
-
-           } else {
-               //printf ("ERR- No data!\n");
-           }
-
-        } else { MPL_LOGV("Device not ready"); }
-    }
-    close(fd);
-    
-#ifdef INV_PLAYBACK_DBG
-    if (logging) {
-        inv_turn_off_data_logging();
-        fclose(logfile);
-    }
-#endif
-
-    return 0;
-}
diff --git a/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
new file mode 100644
index 0000000..ede049d
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/android/shared.mk b/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
index 7f6cc43..7655e4d 100644
--- a/libsensors_iio/software/simple_apps/input_sub/build/android/shared.mk
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
@@ -1,4 +1,4 @@
-EXEC = input_gyro$(SHARED_APP_SUFFIX)
+EXEC = inv_gesture_test$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
@@ -11,9 +11,7 @@ OBJFOLDER = $(CURDIR)/obj
 INV_ROOT   = ../../../../..
 APP_DIR    = $(CURDIR)/../..
 MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
 MPL_DIR    = $(INV_ROOT)/software/core/mpl
-HAL_DIR    = $(INV_ROOT)/software/core/HAL
 
 include $(INV_ROOT)/software/build/android/common.mk
 
@@ -49,20 +47,8 @@ LLINK += -lstdc++
 LLINK += -llog
 LLINK += -lz
 
-PRE_LFLAGS := -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
-
 LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,--gc-sections 
-LFLAGS += -Wl,--no-whole-archive 
-LFLAGS += -Wl,-dynamic-linker,/system/bin/linker
-LFLAGS += $(ANDROID_LINK)
-ifneq ($(PRODUCT),panda)
-LFLAGS += -rdynamic
-endif
+LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
 
@@ -87,7 +73,7 @@ all: $(EXEC) $(MK_NAME)
 
 $(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
 	@$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
-	$(LINK) $(PRE_LFLAGS) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
+	$(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
 
 $(OBJFOLDER) :
 	@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
diff --git a/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk b/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
new file mode 100644
index 0000000..75d93cf
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
@@ -0,0 +1,11 @@
+#### filelist.mk for inv_gesture_test ####
+
+# headers
+#HEADERS += 
+
+# sources
+SOURCES := $(APP_DIR)/inv_gesture_test.c
+
+INV_SOURCES += $(SOURCES)
+
+VPATH += $(APP_DIR)
diff --git a/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c b/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
new file mode 100644
index 0000000..d38d478
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
@@ -0,0 +1,535 @@
+/**
+ *  Gesture Test application for Invensense's MPU6/9xxx (w/ DMP).
+ */
+
+#include <unistd.h>
+#include <dirent.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <features.h>
+#include <dirent.h>
+#include <string.h>
+#include <poll.h>
+#include <stddef.h>
+#include <linux/input.h>
+#include <time.h>
+#include <linux/time.h>
+#include <unistd.h>
+#include <termios.h>
+
+#include "invensense.h"
+#include "ml_math_func.h"
+#include "storage_manager.h"
+#include "ml_stored_data.h"
+#include "ml_sysfs_helper.h"
+
+#define DEBUG_PRINT     /* Uncomment to print Gyro & Accel read from Driver */
+
+#define MAX_SYSFS_NAME_LEN  (100)
+#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
+
+#define FLICK_UPPER_THRES       3147790
+#define FLICK_LOWER_THRES       -3147790
+#define FLICK_COUNTER           50
+#define POLL_TIME               2000 // 2sec
+
+#define FALSE   0
+#define TRUE    1
+
+char *sysfs_names_ptr;
+
+struct sysfs_attrbs {
+    char *enable;
+    char *power_state;
+    char *dmp_on;
+    char *dmp_int_on;
+    char *self_test;
+    char *dmp_firmware;
+    char *firmware_loaded;
+    char *display_orientation_on;
+    char *orientation_on;
+    char *event_flick;
+    char *event_display_orientation;
+    char *event_orientation;
+    char *event_tap;
+    char *flick_axis;
+    char *flick_counter;
+    char *flick_int_on;
+    char *flick_lower;
+    char *flick_upper;
+    char *flick_message_on;
+    char *tap_min_count;
+    char *tap_on;
+    char *tap_threshold;
+    char *tap_time;
+} mpu;
+
+enum {
+    tap,
+    flick,
+    gOrient,
+    orient,
+    numDMPFeatures
+};
+
+struct pollfd pfd[numDMPFeatures];
+
+/*******************************************************************************
+ *                       DMP Feature Supported Functions
+ ******************************************************************************/
+
+int read_sysfs_int(char *filename, int *var)
+{
+    int res=0;
+    FILE *fp;
+
+    fp = fopen(filename, "r");
+    if (fp!=NULL) {
+        fscanf(fp, "%d\n", var);
+	fclose(fp);
+    } else {
+        MPL_LOGE("ERR open file to read");
+        res= -1;
+    }
+    return res;
+}
+
+int write_sysfs_int(char *filename, int data)
+{
+    int res=0;
+    FILE  *fp;
+
+    fp = fopen(filename, "w");
+    if (fp!=NULL) {
+        fprintf(fp, "%d\n", data);
+	fclose(fp);
+    } else {
+        MPL_LOGE("ERR open file to write");
+        res= -1;
+    }
+    return res;
+}
+
+/**************************************************
+    This _kbhit() function is courtesy from Web
+***************************************************/
+int _kbhit() {
+    static const int STDIN = 0;
+    static bool initialized = false;
+
+    if (! initialized) {
+        // Use termios to turn off line buffering
+        struct termios term;
+        tcgetattr(STDIN, &term);
+        term.c_lflag &= ~ICANON;
+        tcsetattr(STDIN, TCSANOW, &term);
+        setbuf(stdin, NULL);
+        initialized = true;
+    }
+
+    int bytesWaiting;
+    ioctl(STDIN, FIONREAD, &bytesWaiting);
+    return bytesWaiting;
+}
+
+int inv_init_sysfs_attributes(void)
+{
+    unsigned char i = 0;
+    char sysfs_path[MAX_SYSFS_NAME_LEN];
+    char *sptr;
+    char **dptr;
+
+    sysfs_names_ptr =
+            (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
+    sptr = sysfs_names_ptr;
+    if (sptr != NULL) {
+        dptr = (char**)&mpu;
+        do {
+            *dptr++ = sptr;
+            sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
+        } while (++i < MAX_SYSFS_ATTRB);
+    } else {
+        MPL_LOGE("couldn't alloc mem for sysfs paths");
+        return -1;
+    }
+
+    // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
+    inv_get_sysfs_path(sysfs_path);
+
+    sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
+    sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
+    sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
+    sprintf(mpu.dmp_int_on, "%s%s", sysfs_path, "/dmp_int_on");
+    sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
+    sprintf(mpu.dmp_firmware, "%s%s", sysfs_path, "/dmp_firmware");
+    sprintf(mpu.firmware_loaded, "%s%s", sysfs_path, "/firmware_loaded");
+    sprintf(mpu.display_orientation_on, "%s%s", sysfs_path, "/display_orientation_on");
+    sprintf(mpu.orientation_on, "%s%s", sysfs_path, "/orientation_on");
+    sprintf(mpu.event_flick, "%s%s", sysfs_path, "/event_flick");
+    sprintf(mpu.event_display_orientation, "%s%s", sysfs_path, "/event_display_orientation");
+    sprintf(mpu.event_orientation, "%s%s", sysfs_path, "/event_orientation");
+    sprintf(mpu.event_tap, "%s%s", sysfs_path, "/event_tap");
+    sprintf(mpu.flick_axis, "%s%s", sysfs_path, "/flick_axis");
+    sprintf(mpu.flick_counter, "%s%s", sysfs_path, "/flick_counter");
+    sprintf(mpu.flick_int_on, "%s%s", sysfs_path, "/flick_int_on");
+    sprintf(mpu.flick_lower, "%s%s", sysfs_path, "/flick_lower");
+    sprintf(mpu.flick_upper, "%s%s", sysfs_path, "/flick_upper");
+    sprintf(mpu.flick_message_on, "%s%s", sysfs_path, "/flick_message_on");
+    sprintf(mpu.tap_min_count, "%s%s", sysfs_path, "/tap_min_count");
+    sprintf(mpu.tap_on, "%s%s", sysfs_path, "/tap_on");
+    sprintf(mpu.tap_threshold, "%s%s", sysfs_path, "/tap_threshold");
+    sprintf(mpu.tap_time, "%s%s", sysfs_path, "/tap_time");
+
+#if 0
+    // test print sysfs paths
+    dptr = (char**)&mpu;
+    for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
+        MPL_LOGE("sysfs path: %s", *dptr++);
+    }
+#endif
+    return 0;
+}
+
+int DmpFWloaded()
+{
+    int res;
+    read_sysfs_int(mpu.firmware_loaded, &res);
+    return res;
+}
+
+int enable_flick(int en)
+{
+   int res=0;
+   int flickUpper=0, flickLower=0, flickCounter=0;
+
+   if (write_sysfs_int(mpu.flick_int_on, en) < 0) {
+       printf("GT:ERR-can't write 'flick_int_on'");
+       res= -1;
+   }
+
+   if (en) {
+       flickUpper= FLICK_UPPER_THRES;
+       flickLower= FLICK_LOWER_THRES;
+       flickCounter= FLICK_COUNTER;
+   }
+
+   if (write_sysfs_int(mpu.flick_upper, flickUpper) < 0) {
+       printf("GT:ERR-can't write 'flick_upper'");
+       res= -1;
+   }
+
+   if (write_sysfs_int(mpu.flick_lower, flickLower) < 0) {
+       printf("GT:ERR-can't write 'flick_lower'");
+       res= -1;
+   }
+
+   if (write_sysfs_int(mpu.flick_counter, flickCounter) < 0) {
+       printf("GT:ERR-can't write 'flick_counter'");
+       res= -1;
+   }
+
+   if (write_sysfs_int(mpu.flick_message_on, 0) < 0) {
+       printf("GT:ERR-can't write 'flick_message_on'");
+       res= -1;
+   }
+
+   if (write_sysfs_int(mpu.flick_axis, 0) < 0) {
+       printf("GT:ERR_can't write 'flick_axis'");
+       res= -1;
+   }
+
+   return res;
+}
+
+int enable_tap(int en)
+{
+    if (write_sysfs_int(mpu.tap_on, en) < 0) {
+        printf("GT:ERR-can't write 'tap_on'");
+        return -1;
+    }
+
+    return 0;
+}
+
+int enable_displ_orient(int en)
+{
+    if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
+        printf("GT:ERR-can't write 'display_orientation_en'");
+        return -1;
+    }
+
+    return 0;
+}
+
+int enable_orient(int en)
+{
+    if (write_sysfs_int(mpu.orientation_on, en) < 0) {
+        printf("GT:ERR-can't write 'orientation_on'");
+        return -1;
+    }
+
+    return 0;
+}
+
+int flickHandler()
+{
+    FILE *fp;
+    int data;
+
+#ifdef DEBUG_PRINT
+    printf("GT:Flick Handler\n");
+#endif
+
+    fp = fopen(mpu.event_flick, "rt");
+    fscanf(fp, "%d\n", &data);
+    fclose (fp);
+
+    printf("Flick= %x\n", data);
+
+    return 0;
+}
+
+int tapHandler()
+{
+    FILE *fp;
+    int tap, tap_dir, tap_num;
+
+    fp = fopen(mpu.event_tap, "rt");
+    fscanf(fp, "%d\n", &tap);
+    fclose(fp);
+
+    tap_dir = tap/8;
+    tap_num = tap%8 + 1;
+
+#ifdef DEBUG_PRINT
+    printf("GT:Tap Handler **\n");
+    printf("Tap= %x\n", tap);
+    printf("Tap Dir= %x\n", tap_dir);
+    printf("Tap Num= %x\n", tap_num);
+#endif
+
+    switch (tap_dir) {
+        case 1:
+            printf("Tap Axis->X Pos\n");
+            break;
+        case 2:
+            printf("Tap Axis->X Neg\n");
+            break;
+        case 3:
+            printf("Tap Axis->Y Pos\n");
+            break;
+        case 4:
+            printf("Tap Axis->Y Neg\n");
+            break;
+        case 5:
+            printf("Tap Axis->Z Pos\n");
+            break;
+        case 6:
+            printf("Tap Axis->Z Neg\n");
+            break;
+        default:
+            printf("Tap Axis->Unknown\n");
+            break;
+    }
+
+    return 0;
+}
+
+int googleOrientHandler()
+{
+    FILE *fp;
+    int orient;
+
+#ifdef DEBUG_PRINT
+    printf("GT:Google Orient Handler\n");
+#endif
+
+    fp = fopen(mpu.event_display_orientation, "rt");
+    fscanf(fp, "%d\n", &orient);
+    fclose(fp);
+
+    printf("Google Orient-> %d\n", orient);
+
+    return 0;
+}
+
+int orientHandler()
+{
+    FILE *fp;
+    int orient;
+
+    fp = fopen(mpu.event_orientation, "rt");
+    fscanf(fp, "%d\n", &orient);
+    fclose(fp);
+
+#ifdef DEBUG_PRINT
+    printf("GT:Reg Orient Handler\n");
+#endif
+
+    if (orient & 0x01)
+	printf("Orient->X Up\n");
+
+    if (orient & 0x02)
+	printf("Orient->X Down\n");
+
+    if (orient & 0x04)
+	printf("Orient->Y Up\n");
+
+    if (orient & 0x08)
+	printf("Orient->Y Down\n");
+
+    if (orient & 0x10)
+	printf("Orient->Z Up\n");
+
+    if (orient & 0x20)
+	printf("Orient->Z Down\n");
+
+    if (orient & 0x40)
+	printf("Orient->Flip\n");
+
+    return 0;
+}
+
+int enableDMPFeatures(int en)
+{
+    int res= -1;
+
+    if (DmpFWloaded())
+    {
+        /* Currently there's no info regarding DMP's supported features/capabilities */
+        /* An error in enabling features below could be an indication of the feature */
+        /* not supported in current loaded DMP firmware */
+
+        enable_flick(en);
+        enable_tap(en);
+        enable_displ_orient(en);
+        enable_orient(en);
+        res= 0;
+    }
+
+    return res;
+}
+
+int initFds()
+{
+    int i;
+
+    for (i=0; i< numDMPFeatures; i++) {
+        switch(i) {
+            case tap:
+                pfd[i].fd = open(mpu.event_tap, O_RDONLY | O_NONBLOCK);
+                break;
+
+            case flick:
+                pfd[i].fd = open(mpu.event_flick, O_RDONLY | O_NONBLOCK);
+                break;
+
+            case gOrient:
+                pfd[i].fd = open(mpu.event_display_orientation, O_RDONLY | O_NONBLOCK);
+                break;
+
+            case orient:
+                pfd[i].fd = open(mpu.event_orientation, O_RDONLY | O_NONBLOCK);
+                break;
+
+            default:
+                pfd[i].fd = -1;
+         }
+
+        pfd[i].events = POLLPRI|POLLERR,
+        pfd[i].revents = 0;
+#ifdef DEBUG_PRINT
+        printf("GT:pfd[%d].fd= %d\n", i, pfd[i].fd);
+#endif
+    }
+
+    return 0;
+}
+
+int closeFds()
+{
+    int i;
+    for (i = 0; i < numDMPFeatures; i++) {
+        if (!pfd[i].fd)
+            close(pfd[i].fd);
+    }
+    return 0;
+}
+
+/*******************************************************************************
+ *                       M a i n  S e l f  T e s t
+ ******************************************************************************/
+
+int main(int argc, char **argv)
+{
+    char data[4];
+    int i, res= 0;
+
+    res = inv_init_sysfs_attributes();
+    if (res) {
+        printf("GT:ERR-Can't allocate mem");
+        return -1;
+    }
+
+    /* On Gesture/DMP supported features */
+    enableDMPFeatures(1);
+
+    /* init Fds to poll for Gesture data */
+    initFds();
+
+    /* prompt user to make gesture and how to stop program */
+    printf("\n**Please make Gesture to see data.  Press any key to stop Prog**\n\n");
+
+    do {
+        for (i=0; i< numDMPFeatures; i++) {
+            read(pfd[i].fd, data, 4);
+        }
+
+        poll(pfd, numDMPFeatures, POLL_TIME);
+
+        for (i=0; i< numDMPFeatures; i++) {
+           if(pfd[i].revents != 0) {
+               switch(i) {
+                   case tap:
+                       tapHandler();
+                       break;
+
+                   case flick:
+                       flickHandler();
+                       break;
+
+                   case gOrient:
+                       googleOrientHandler();
+                       break;
+
+                   case orient:
+                       orientHandler();
+                       break;
+
+                   default:
+                       printf("GT:ERR-Not supported");
+                       break;
+               }
+               pfd[i].revents= 0;	//no need. reset anyway
+           }
+        }
+
+    } while (!_kbhit());
+
+    /* Off DMP features */
+    enableDMPFeatures(0);
+
+    /* release resources */
+    closeFds();
+    if (sysfs_names_ptr) {
+        free(sysfs_names_ptr);
+    }
+
+    printf("\nThank You!\n");
+
+    return res;
+}
+
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared b/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared
deleted file mode 100644
index 5d52b21..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared
+++ /dev/null
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk b/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk
deleted file mode 100644
index 0936212..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-#### filelist.mk for input_gyro ####
-
-# helper headers
-HEADERS := $(MPL_DIR)/authenticate.h
-#HEADERS += 
-
-# sources
-SOURCES := $(APP_DIR)/test_input_gyro.c
-
-INV_SOURCES += $(SOURCES)
-
-#VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
-VPATH += $(APP_DIR)
diff --git a/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c b/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c
deleted file mode 100644
index 6fa9aab..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c
+++ /dev/null
@@ -1,485 +0,0 @@
-/*
- * input interface testing
- */
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <time.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/input.h>
-#include <linux/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include "linux/ml_sysfs_helper.h"
-#include "authenticate.h"
-#include "ml_load_dmp.h"
-
-#if 0
-struct input_event {
-       struct timeval time;
-       __u16 type;
-       __u16 code;
-       __s32 value;
-};
-#endif
-
-void HandleOrient(int orient)
-{    
-    if (orient & 0x01)
-        printf("INV_X_UP\n");
-    if (orient & 0x02) 
-        printf("INV_X_DOWN\n");
-    if (orient & 0x04) 
-        printf("INV_Y_UP\n");
-    if (orient & 0x08) 
-        printf("INV_Y_DOWN\n");
-    if (orient & 0x10) 
-        printf("INV_Z_UP\n");
-    if (orient & 0x20) 
-        printf("INV_Z_DOWN\n");
-    if (orient & 0x40) 
-        printf("INV_ORIENTATION_FLIP\n");
-}
-
-void HandleTap(int tap)
-{
-    int tap_dir = tap/8;
-    int tap_num = tap%8 + 1;
-
-    switch (tap_dir) {
-        case 1:
-            printf("INV_TAP_AXIS_X_POS\n");
-            break;
-        case 2:
-            printf("INV_TAP_AXIS_X_NEG\n");
-            break;
-        case 3:
-            printf("INV_TAP_AXIS_Y_POS\n");
-            break;
-        case 4:
-            printf("INV_TAP_AXIS_Y_NEG\n");
-            break;
-        case 5:
-            printf("INV_TAP_AXIS_Z_POS\n");
-            break;
-        case 6:
-            printf("INV_TAP_AXIS_Z_NEG\n");
-            break;
-        default:
-            break;
-    }
-    printf("Tap number: %d\n", tap_num);
-}
-
-static void read_compass(int event_number) 
-{
-    int ev_size, ret_byte, ii;
-    int fd = -1;
-    struct input_event ev[10];
-    char name[64];
-    char file_name[64];
-    unsigned int RX;
-    unsigned long long time0, time1, time2;
-    struct timespec tsp;
-    ev_size = sizeof(struct input_event);
-    sprintf(file_name, "/dev/input/event%d", event_number);
-    if ((fd = open(file_name, O_RDONLY)) < 0 ) {
-        printf("fail to open compass\n");
-        return;
-    }
-
-    /* NOTE: Use this to pass device name to HAL. */
-    ioctl (fd, EVIOCGNAME (sizeof (name)), name);
-    printf ("Reading From : (%s)\n", name);
-    while (1) {
-    clock_gettime(CLOCK_MONOTONIC, &tsp);
-        /*read compass data here */
-        if(fd > 0){
-            ret_byte = read(fd, ev, ev_size);
-        } else {
-            ret_byte = -1;
-        }
-        time0 = tsp.tv_nsec/1000000 + tsp.tv_sec * 1000LL;
-        if (ret_byte < 0)
-            continue;
-        for (ii = 0; ii < ret_byte/ev_size; ii++) {
-            if(EV_REL != ev[ii].type) {
-                time2 = ev[ii].time.tv_usec/1000 + ev[ii].time.tv_sec * 1000LL;
-                printf("mono=%lldms, diff=%d\n", time2, (int)(time1-time0));
-                continue;
-            }
-            switch (ev[ii].code) {
-            case REL_X:
-                printf("CX:%5d ", ev[ii].value);
-                break;
-            case REL_Y:
-                printf("CY:%5d ", ev[ii].value);
-                break;
-            case REL_Z:
-                printf("CZ:%5d ", ev[ii].value);
-                break;
-            case REL_MISC:
-                RX = ev[ii].value;
-                break;
-            case REL_WHEEL:
-                time1 = ((unsigned long long)(RX)<<32) + (unsigned int)ev[ii].value;
-                time1 = time1/1000000;
-                printf("time1: %lld ", time1);
-                break;
-            default:
-                printf("GES?:  %5d ", ev[ii].code);
-                break;
-            }
-        }
-    }
-    close(fd);
-}
-
-static void read_gesture(int num)
-{
-    int ev_size, ret_byte, ii;
-    int fd = -1;
-    struct input_event ev[10];
-    char name[64];
-    char file_name[64];
-    unsigned long long time;
-    struct timespec tsp;
-    ev_size = sizeof(struct input_event);
-    sprintf(file_name, "/dev/input/event%d", num);
-    MPL_LOGI("%s\n", file_name);
-    if ((fd = open(file_name, O_RDONLY)) < 0 ) {
-        printf("fail to open gusture.\n");
-        return;
-    }
-
-    /* NOTE: Use this to pass device name to HAL. */
-    ioctl (fd, EVIOCGNAME (sizeof (name)), name);
-    printf ("Reading From : (%s)\n", name);
-    while(1){
-        clock_gettime(CLOCK_MONOTONIC, &tsp);
-        if(fd > 0){
-            ret_byte = read(fd, ev, ev_size);
-        } else {
-            ret_byte = -1;
-        }
-        time = tsp.tv_nsec + tsp.tv_sec * 1000000000LL;
-        //printf("retbyte=%d, ev3=%d\n", ret_byte, ev_size*3);
-        if (ret_byte < 0)
-            continue;
-        for (ii = 0; ii < ret_byte/ev_size; ii++) {
-            if(EV_REL != ev[ii].type) {
-                time = ev[ii].time.tv_usec + ev[ii].time.tv_sec * 1000000LL;
-                printf("mono=%lld\n", time);
-                continue;
-            }
-            switch (ev[ii].code) {
-            case REL_RX:
-                printf("GESX:%5x\n", ev[ii].value);
-                HandleTap(ev[ii].value);
-                break;
-            case REL_RY:
-                printf("GESY:%5x\n", ev[ii].value);
-                HandleOrient(ev[ii].value);
-                break;
-            case REL_RZ:
-                printf("FLICK:%5x\n", ev[ii].value);
-                break;
-            default:
-                printf("?:  %5d ", ev[ii].code);
-                break;
-            }
-        }
-        }
-}
-
-static void read_gyro_accel(int num)
-{
-    int ev_size, ret_byte, ii;
-    int fd = -1;
-    unsigned int RX;
-    struct input_event ev[10];
-    char name[64];
-    char file_name[64];
-    unsigned long long time0, time1, time2;
-    struct timespec tsp;
-    ev_size = sizeof(struct input_event);
-    sprintf(file_name, "/dev/input/event%d", num);
-    if ((fd = open(file_name, O_RDONLY)) < 0 ) {
-        printf("fail to open gyro/accel\n");
-        return;
-    }    
-        
-    /* NOTE: Use this to pass device name to HAL. */
-    ioctl (fd, EVIOCGNAME (sizeof (name)), name);
-    printf ("Reading From : (%s)\n", name);
-    while (1){
-        //usleep(20000);
-        ret_byte = read(fd, ev, ev_size);
-        if (ret_byte < 0)
-            continue;
-        //ret_byte = 0;
-
-        for (ii = 0; ii < ret_byte/ev_size; ii++) {
-            if(EV_REL != ev[ii].type) {
-                time0 = ev[ii].time.tv_usec/1000 + ev[ii].time.tv_sec * 1000LL;
-                printf("T: %lld diff=%d ", time0, (int)(time1 - time0));
-                clock_gettime(CLOCK_MONOTONIC, &tsp);
-                time2 = tsp.tv_nsec/1000000 + tsp.tv_sec * 1000LL;
-                printf("mono=%lld, diff2=%d\n", time2, (int)(time1 - time2));
-                continue;
-            }
-            switch (ev[ii].code) {
-            case REL_X:
-                printf("GX:%5d ", ev[ii].value);
-                break;
-            case REL_Y:
-                printf("GY:%5d ", ev[ii].value);
-                break;
-            case REL_Z:
-                printf("GZ:%5d ", ev[ii].value);
-                break;
-            case REL_RX:
-                printf("AX:%5d ", ev[ii].value);
-                break;
-            case REL_RY:
-                printf("AY:%5d ", ev[ii].value);
-                break;
-            case REL_RZ:
-                printf("AZ:%5d ", ev[ii].value);
-                break;
-            case REL_MISC:
-                RX = ev[ii].value;
-                break;
-            case REL_WHEEL:
-                time1 = ((unsigned long long)(RX)<<32) + (unsigned int)ev[ii].value;
-                time1 = time1/1000000;
-                printf("time1: %lld ", time1);
-                break;
-            default:
-                printf("?:  %5d ", ev[ii].code);
-                break;
-            }
-        }
-    }
-    close(fd);
-}
-int inv_sysfs_write(char *filename, long data)
-{
-    FILE *fp;
-    int count;
-
-    if (!filename)
-        return -1;
-    fp = fopen(filename, "w");
-    if (!fp)
-        return -errno;
-    count = fprintf(fp, "%ld", data);
-    fclose(fp);
-    return count;
-}
-int inv_sysfs_read(char *filename, long num_bytes, char *data)
-{
-    FILE *fp;
-    int count;
-
-    if (!filename)
-        return -1;
-    fp = fopen(filename, "r");
-    if (!fp)
-        return -errno;
-    count = fread(data, 1, num_bytes, fp);
-    fclose(fp);
-    return count;
-}
-
-void enable_flick(char *p)
-{
-    char sysfs_file[200];
-    printf("flick:%s\n", p);
-    sprintf(sysfs_file, "%s/flick_int_on", p);
-    inv_sysfs_write(sysfs_file, 1);
-    sprintf(sysfs_file, "%s/flick_upper", p);
-    inv_sysfs_write(sysfs_file, 3147790);
-    sprintf(sysfs_file, "%s/flick_lower", p);
-    inv_sysfs_write(sysfs_file, -3147790);
-    sprintf(sysfs_file, "%s/flick_counter", p);
-    inv_sysfs_write(sysfs_file, 50);
-    sprintf(sysfs_file, "%s/flick_message_on", p);
-    inv_sysfs_write(sysfs_file, 0);
-    sprintf(sysfs_file, "%s/flick_axis", p);
-    inv_sysfs_write(sysfs_file, 2);
-}
-
-void setup_dmp(char *sysfs_path)
-{
-    char sysfs_file[200];
-    char firmware_loaded[200], dmp_path[200];
-    char dd[10];
-    
-    inv_get_dmpfile(dmp_path);
-    sprintf(sysfs_file, "%s/fifo_rate", sysfs_path);
-    inv_sysfs_write(sysfs_file, 200);    
-    sprintf(sysfs_file, "%s/FSR", sysfs_path);
-    inv_sysfs_write(sysfs_file, 2000);    
-    sprintf(sysfs_file, "%s/accl_fs", sysfs_path);
-    inv_sysfs_write(sysfs_file, 4);
-    /*
-    sprintf(firmware_loaded, "%s/%s", sysfs_path, "firmware_loaded");
-    printf("%s\n", firmware_loaded);
-    inv_sysfs_write(firmware_loaded, 0);
-    inv_sysfs_read(firmware_loaded, 1, dd);
-    printf("beforefirmware_loaded=%c\n", dd[0]);
-
-    if ((fd = open(dmp_path, O_WRONLY)) < 0 ) {
-        perror("dmp fail");
-    }
-    inv_load_dmp(fd);
-    close(fd);
-    */
-    inv_sysfs_read(firmware_loaded, 1, dd);
-    printf("firmware_loaded=%c\n", dd[0]);
-}
-void read_pedometer(char *sysfs_path){
-    int steps;
-    char sysfs_file[200];
-    char dd[4];
-    sprintf(sysfs_file, "%s/pedometer_steps", sysfs_path);
-    inv_sysfs_read(sysfs_file, 4, dd);
-    steps = dd[0] << 8 | dd[1];
-    printf("fff=%d\n", steps);
-}
-/* The running sequence:
-    "input_gyro 2 &". 
-    This will setup the dmp firmware and let it run on background. 
-    tap and flick will work at this time. 
-    To see accelerometer data and gyro data.
-    type :
-    "input_gyro ". 
-    This will print out gyro data and accelerometer data
-    To see Compass data
-    type:
-    "input_gyro 1" */
-
-int main(int argc, char *argv[])
-{
-    unsigned int RX, i, sel;
-    unsigned char key[16];
-    struct timeval tv;
-    struct timespec tsp0, tsp1, tsp2, tsp3;
-    int event_num;
-    char sysfs_path[200];
-    char chip_name[20];
-    char sysfs_file[200];
-    if (INV_SUCCESS != inv_check_key()) {
-        printf("key check fail\n");
-        exit(0);
-    }else
-        printf("key authenticated\n");
-
-    for(i=0;i<16;i++){
-        key[i] = 0xff;
-    }
-    RX = inv_get_sysfs_key(key);
-    if(RX == INV_SUCCESS){
-        for(i=0;i<16;i++){
-            printf("%d, ", key[i]);
-        }
-        printf("\n");
-    }else{
-        printf("get key failed\n");
-    }
-    memset(sysfs_path, 0, 200);
-    memset(sysfs_file, 0, 200);
-    memset(chip_name, 0, 20);
-    inv_get_sysfs_path(sysfs_path);
-    inv_get_chip_name(chip_name);
-    printf("sysfs path: %s\n", sysfs_path);
-    printf("chip name: %s\n", chip_name);
-    /*set up driver*/
-    sprintf(sysfs_file, "%s/enable", sysfs_path);
-    inv_sysfs_write(sysfs_file, 0);
-    sprintf(sysfs_file, "%s/power_state", sysfs_path);
-    inv_sysfs_write(sysfs_file, 1);    
-    if ((getuid ()) != 0)
-        printf ("You are not root! This may not work...\n");
-    
-    if(argc ==2 )
-        sel = argv[1][0] - 0x30;
-    else
-        sel = 0;
-    switch(sel){
-    case 0:
-        printf("-------------------------------\n");
-        printf("--- log gyro and accel data ---\n");
-        printf("-------------------------------\n");
-        sprintf(sysfs_file, "%s/enable", sysfs_path);
-        inv_sysfs_write(sysfs_file, 1);
-        if(inv_get_handler_number(chip_name, &event_num) < 0)
-            printf("mpu not installed\n");
-        else
-            read_gyro_accel(event_num);
-         break;
-         
-    case 1:
-        printf("------------------------\n");
-        printf("--- log compass data ---\n");
-        printf("------------------------\n");
-        sprintf(sysfs_file, "%s/compass_enable", sysfs_path);
-        inv_sysfs_write(sysfs_file, 1);
-        sprintf(sysfs_file, "%s/enable", sysfs_path);
-        inv_sysfs_write(sysfs_file, 1);
-        if(inv_get_handler_number("INV_COMPASS", &event_num) < 0)
-            printf("compass is not enabled\n");
-        else
-            read_compass(event_num);
-        break;
-        
-    case 2:
-        printf("--------------------\n");
-        printf("--- log gestures ---\n");
-        printf("--------------------\n");
-        setup_dmp(sysfs_path);
-        enable_flick(sysfs_path);
-        sprintf(sysfs_file, "%s/tap_on", sysfs_path);
-        inv_sysfs_write(sysfs_file, 1);
-        sprintf(sysfs_file, "%s/enable", sysfs_path);
-        inv_sysfs_write(sysfs_file, 1);
-        if(inv_get_handler_number("INV_DMP", &event_num) < 0)
-            printf("DMP not enabled\n");
-        else
-            read_gesture(event_num);
-        break;
-        
-    case 3:
-        printf("-----------------\n");
-        printf("--- pedometer ---\n");
-        printf("-----------------\n");
-        read_pedometer(sysfs_path);
-        break;
-        
-    default:
-        printf("error choice\n");
-        break;
-    }
-    
-    gettimeofday(&tv, NULL);
-    clock_gettime(CLOCK_MONOTONIC, &tsp1);
-    clock_gettime(CLOCK_REALTIME, &tsp0);
-
-    clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &tsp2);
-    clock_gettime(CLOCK_THREAD_CPUTIME_ID, &tsp3);
-    //printf("id=%d, %d, %d, %d\n", CLOCK_MONOTONIC,  CLOCK_REALTIME,
-    //    CLOCK_PROCESS_CPUTIME_ID, CLOCK_THREAD_CPUTIME_ID);
-    //printf("sec0=%lu , nsec=%ld\n", tsp0.tv_sec, tsp0.tv_nsec);
-    //printf("sec1=%lu , nsec=%ld\n", tsp1.tv_sec, tsp1.tv_nsec);
-    //printf("sec=%lu , nsec=%ld\n", tsp2.tv_sec, tsp2.tv_nsec);
-    //printf("sec=%lu , nsec=%ld\n", tsp3.tv_sec, tsp3.tv_nsec);
-
-    //ioctl (fd, EVIOCGNAME (sizeof (name)), name);
-    //printf ("Reading From : %s (%s)\n", argv[1], name);
-
-
-    return 0;
-}
-
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
new file mode 100644
index 0000000..14ca523
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
diff --git a/libsensors_iio/software/simple_apps/console/linux/build/android/shared.mk b/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
index b1d881c..cd79cfa 100644
--- a/libsensors_iio/software/simple_apps/console/linux/build/android/shared.mk
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
@@ -1,4 +1,4 @@
-EXEC = consoledmp$(SHARED_APP_SUFFIX)
+EXEC = inv_mpu_iio$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
@@ -8,16 +8,15 @@ LINK  ?= $(CROSS)gcc
 
 OBJFOLDER = $(CURDIR)/obj
 
-INV_ROOT   = ../../../../../..
+INV_ROOT   = ../../../../..
 APP_DIR    = $(CURDIR)/../..
 MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
 MPL_DIR    = $(INV_ROOT)/software/core/mpl
-HAL_DIR    = $(INV_ROOT)/software/core/HAL
 
 include $(INV_ROOT)/software/build/android/common.mk
 
 CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
 CFLAGS += -fpic
 CFLAGS += -nostdlib
@@ -49,20 +48,8 @@ LLINK += -lstdc++
 LLINK += -llog
 LLINK += -lz
 
-PRE_LFLAGS := -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
-
 LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,--gc-sections 
-LFLAGS += -Wl,--no-whole-archive 
-LFLAGS += -Wl,-dynamic-linker,/system/bin/linker
-LFLAGS += $(ANDROID_LINK)
-ifneq ($(PRODUCT),panda)
-LFLAGS += -rdynamic
-endif
+LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
 
@@ -87,7 +74,7 @@ all: $(EXEC) $(MK_NAME)
 
 $(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
 	@$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
-	$(LINK) $(PRE_LFLAGS) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
+	$(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
 
 $(OBJFOLDER) :
 	@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk b/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
new file mode 100644
index 0000000..8a3977a
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
@@ -0,0 +1,12 @@
+#### filelist.mk for mpu_iio ####
+
+# headers
+#HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
+HEADERS += $(APP_DIR)/iio_utils.h
+
+# sources
+SOURCES := $(APP_DIR)/mpu_iio.c
+
+INV_SOURCES += $(SOURCES)
+
+VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h b/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
new file mode 100644
index 0000000..773ff2c
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
@@ -0,0 +1,643 @@
+/* IIO - useful set of util functionality
+ *
+ * Copyright (c) 2008 Jonathan Cameron
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 as published by
+ * the Free Software Foundation.
+ */
+
+/* Made up value to limit allocation sizes */
+#include <string.h>
+#include <stdlib.h>
+#include <ctype.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <dirent.h>
+
+#define IIO_MAX_NAME_LENGTH 30
+
+#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
+#define FORMAT_TYPE_FILE "%s_type"
+
+const char *iio_dir = "/sys/bus/iio/devices/";
+
+/**
+ * iioutils_break_up_name() - extract generic name from full channel name
+ * @full_name: the full channel name
+ * @generic_name: the output generic channel name
+ **/
+static int iioutils_break_up_name(const char *full_name,
+				  char **generic_name)
+{
+	char *current;
+	char *w, *r;
+	char *working;
+	current = strdup(full_name);
+	working = strtok(current, "_\0");
+	w = working;
+	r = working;
+
+	while (*r != '\0') {
+		if (!isdigit(*r)) {
+			*w = *r;
+			w++;
+		}
+		r++;
+	}
+	*w = '\0';
+	*generic_name = strdup(working);
+	free(current);
+
+	return 0;
+}
+
+/**
+ * struct iio_channel_info - information about a given channel
+ * @name: channel name
+ * @generic_name: general name for channel type
+ * @scale: scale factor to be applied for conversion to si units
+ * @offset: offset to be applied for conversion to si units
+ * @index: the channel index in the buffer output
+ * @bytes: number of bytes occupied in buffer output
+ * @mask: a bit mask for the raw output
+ * @is_signed: is the raw value stored signed
+ * @enabled: is this channel enabled
+ **/
+struct iio_channel_info {
+	char *name;
+	char *generic_name;
+	float scale;
+	float offset;
+	unsigned index;
+	unsigned bytes;
+	unsigned bits_used;
+	unsigned shift;
+	uint64_t mask;
+	unsigned be;
+	unsigned is_signed;
+	unsigned enabled;
+	unsigned location;
+};
+
+/**
+ * iioutils_get_type() - find and process _type attribute data
+ * @is_signed: output whether channel is signed
+ * @bytes: output how many bytes the channel storage occupies
+ * @mask: output a bit mask for the raw data
+ * @be: big endian
+ * @device_dir: the iio device directory
+ * @name: the channel name
+ * @generic_name: the channel type name
+ **/
+inline int iioutils_get_type(unsigned *is_signed,
+			     unsigned *bytes,
+			     unsigned *bits_used,
+			     unsigned *shift,
+			     uint64_t *mask,
+			     unsigned *be,
+			     const char *device_dir,
+			     const char *name,
+			     const char *generic_name)
+{
+	FILE *sysfsfp;
+	int ret;
+	DIR *dp;
+	char *scan_el_dir, *builtname, *builtname_generic, *filename = 0;
+	char signchar, endianchar;
+	unsigned padint;
+	const struct dirent *ent;
+
+	ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	ret = asprintf(&builtname, FORMAT_TYPE_FILE, name);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_free_scan_el_dir;
+	}
+	ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_free_builtname;
+	}
+
+	dp = opendir(scan_el_dir);
+	if (dp == NULL) {
+		ret = -errno;
+		goto error_free_builtname_generic;
+	}
+	while (ent = readdir(dp), ent != NULL)
+		/*
+		 * Do we allow devices to override a generic name with
+		 * a specific one?
+		 */
+		if ((strcmp(builtname, ent->d_name) == 0) ||
+		    (strcmp(builtname_generic, ent->d_name) == 0)) {
+			ret = asprintf(&filename,
+				       "%s/%s", scan_el_dir, ent->d_name);
+			if (ret < 0) {
+				ret = -ENOMEM;
+				goto error_closedir;
+			}
+			sysfsfp = fopen(filename, "r");
+			if (sysfsfp == NULL) {
+				printf("failed to open %s\n", filename);
+				ret = -errno;
+				goto error_free_filename;
+			}
+
+			ret = fscanf(sysfsfp,
+				     "%ce:%c%u/%u>>%u",
+				     &endianchar,
+				     &signchar,
+				     bits_used,
+				     &padint, shift);
+			if (ret < 0) {
+				printf("failed to pass scan type description\n");
+				return ret;
+			}
+			*be = (endianchar == 'b');
+			*bytes = padint / 8;
+			if (*bits_used == 64)
+				*mask = ~0;
+			else
+				*mask = (1 << *bits_used) - 1;
+			if (signchar == 's')
+				*is_signed = 1;
+			else
+				*is_signed = 0;
+			fclose(sysfsfp);
+			free(filename);
+
+			filename = 0;
+		}
+error_free_filename:
+	if (filename)
+		free(filename);
+error_closedir:
+	closedir(dp);
+error_free_builtname_generic:
+	free(builtname_generic);
+error_free_builtname:
+	free(builtname);
+error_free_scan_el_dir:
+	free(scan_el_dir);
+error_ret:
+	return ret;
+}
+
+inline int iioutils_get_param_float(float *output,
+				    const char *param_name,
+				    const char *device_dir,
+				    const char *name,
+				    const char *generic_name)
+{
+	FILE *sysfsfp;
+	int ret;
+	DIR *dp;
+	char *builtname, *builtname_generic;
+	char *filename = NULL;
+	const struct dirent *ent;
+
+	ret = asprintf(&builtname, "%s_%s", name, param_name);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	ret = asprintf(&builtname_generic,
+		       "%s_%s", generic_name, param_name);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_free_builtname;
+	}
+	dp = opendir(device_dir);
+	if (dp == NULL) {
+		ret = -errno;
+		goto error_free_builtname_generic;
+	}
+	while (ent = readdir(dp), ent != NULL)
+		if ((strcmp(builtname, ent->d_name) == 0) ||
+		    (strcmp(builtname_generic, ent->d_name) == 0)) {
+			ret = asprintf(&filename,
+				       "%s/%s", device_dir, ent->d_name);
+			if (ret < 0) {
+				ret = -ENOMEM;
+				goto error_closedir;
+			}
+			sysfsfp = fopen(filename, "r");
+			if (!sysfsfp) {
+				ret = -errno;
+				goto error_free_filename;
+			}
+			fscanf(sysfsfp, "%f", output);
+			break;
+		}
+error_free_filename:
+	if (filename)
+		free(filename);
+error_closedir:
+	closedir(dp);
+error_free_builtname_generic:
+	free(builtname_generic);
+error_free_builtname:
+	free(builtname);
+error_ret:
+	return ret;
+}
+
+/**
+ * bsort_channel_array_by_index() - reorder so that the array is in index order
+ *
+ **/
+
+inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array,
+					 int cnt)
+{
+
+	struct iio_channel_info temp;
+	int x, y;
+
+	for (x = 0; x < cnt; x++)
+		for (y = 0; y < (cnt - 1); y++)
+			if ((*ci_array)[y].index > (*ci_array)[y+1].index) {
+				temp = (*ci_array)[y + 1];
+				(*ci_array)[y + 1] = (*ci_array)[y];
+				(*ci_array)[y] = temp;
+			}
+}
+
+/**
+ * build_channel_array() - function to figure out what channels are present
+ * @device_dir: the IIO device directory in sysfs
+ * @
+ **/
+inline int build_channel_array(const char *device_dir,
+			      struct iio_channel_info **ci_array,
+			      int *counter)
+{
+	DIR *dp;
+	FILE *sysfsfp;
+	int count, i;
+	struct iio_channel_info *current;
+	int ret;
+	const struct dirent *ent;
+	char *scan_el_dir;
+	char *filename;
+
+	*counter = 0;
+	ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	dp = opendir(scan_el_dir);
+	if (dp == NULL) {
+		ret = -errno;
+		goto error_free_name;
+	}
+	while (ent = readdir(dp), ent != NULL)
+		if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
+			   "_en") == 0) {
+			ret = asprintf(&filename,
+				       "%s/%s", scan_el_dir, ent->d_name);
+			if (ret < 0) {
+				ret = -ENOMEM;
+				goto error_close_dir;
+			}
+			sysfsfp = fopen(filename, "r");
+			if (sysfsfp == NULL) {
+				ret = -errno;
+				free(filename);
+				goto error_close_dir;
+			}
+			fscanf(sysfsfp, "%u", &ret);
+			printf("%s, %d\n", filename, ret);
+			if (ret == 1)
+				(*counter)++;
+			fclose(sysfsfp);
+			free(filename);
+		}
+	*ci_array = malloc(sizeof(**ci_array) * (*counter));
+	if (*ci_array == NULL) {
+		ret = -ENOMEM;
+		goto error_close_dir;
+	}
+	closedir(dp);
+	dp = opendir(scan_el_dir);
+	//seekdir(dp, 0);
+	count = 0;
+	while (ent = readdir(dp), ent != NULL) {
+		if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
+			   "_en") == 0) {
+			current = &(*ci_array)[count++];
+			ret = asprintf(&filename,
+				       "%s/%s", scan_el_dir, ent->d_name);
+			if (ret < 0) {
+				ret = -ENOMEM;
+				/* decrement count to avoid freeing name */
+				count--;
+				goto error_cleanup_array;
+			}
+			sysfsfp = fopen(filename, "r");
+			if (sysfsfp == NULL) {
+				free(filename);
+				ret = -errno;
+				goto error_cleanup_array;
+			}
+			fscanf(sysfsfp, "%u", &current->enabled);
+			fclose(sysfsfp);
+
+			if (!current->enabled) {
+				free(filename);
+				count--;
+				continue;
+			}
+
+			current->scale = 1.0;
+			current->offset = 0;
+			current->name = strndup(ent->d_name,
+						strlen(ent->d_name) -
+						strlen("_en"));
+			if (current->name == NULL) {
+				free(filename);
+				ret = -ENOMEM;
+				goto error_cleanup_array;
+			}
+			/* Get the generic and specific name elements */
+			ret = iioutils_break_up_name(current->name,
+						     &current->generic_name);
+			if (ret) {
+				free(filename);
+				goto error_cleanup_array;
+			}
+			ret = asprintf(&filename,
+				       "%s/%s_index",
+				       scan_el_dir,
+				       current->name);
+			if (ret < 0) {
+				free(filename);
+				ret = -ENOMEM;
+				goto error_cleanup_array;
+			}
+			sysfsfp = fopen(filename, "r");
+			fscanf(sysfsfp, "%u", &current->index);
+			fclose(sysfsfp);
+			free(filename);
+			/* Find the scale */
+			ret = iioutils_get_param_float(&current->scale,
+						       "scale",
+						       device_dir,
+						       current->name,
+						       current->generic_name);
+			if (ret < 0)
+				goto error_cleanup_array;
+			ret = iioutils_get_param_float(&current->offset,
+						       "offset",
+						       device_dir,
+						       current->name,
+						       current->generic_name);
+			if (ret < 0)
+				goto error_cleanup_array;
+			ret = iioutils_get_type(&current->is_signed,
+						&current->bytes,
+						&current->bits_used,
+						&current->shift,
+						&current->mask,
+						&current->be,
+						device_dir,
+						current->name,
+						current->generic_name);
+		}
+	}
+
+	closedir(dp);
+	/* reorder so that the array is in index order */
+	bsort_channel_array_by_index(ci_array, *counter);
+
+	return 0;
+
+error_cleanup_array:
+	for (i = count - 1;  i >= 0; i--)
+		free((*ci_array)[i].name);
+	free(*ci_array);
+error_close_dir:
+	closedir(dp);
+error_free_name:
+	free(scan_el_dir);
+error_ret:
+	return ret;
+}
+
+inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify)
+{
+	int ret;
+	FILE *sysfsfp;
+	int test;
+	char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
+	if (temp == NULL)
+		return -ENOMEM;
+	sprintf(temp, "%s/%s", basedir, filename);
+	sysfsfp = fopen(temp, "w");
+	if (sysfsfp == NULL) {
+		printf("failed to open %s\n", temp);
+		ret = -errno;
+		goto error_free;
+	}
+	fprintf(sysfsfp, "%d", val);
+	fclose(sysfsfp);
+	if (verify) {
+		sysfsfp = fopen(temp, "r");
+		if (sysfsfp == NULL) {
+			printf("failed to open %s\n", temp);
+			ret = -errno;
+			goto error_free;
+		}
+		fscanf(sysfsfp, "%d", &test);
+		if (test != val) {
+			printf("Possible failure in int write %d to %s%s\n",
+				val,
+				basedir,
+				filename);
+			ret = -1;
+		}
+	}
+error_free:
+	free(temp);
+	return ret;
+}
+
+int write_sysfs_int(char *filename, char *basedir, int val)
+{
+	return _write_sysfs_int(filename, basedir, val, 0);
+}
+
+int write_sysfs_int_and_verify(char *filename, char *basedir, int val)
+{
+	return _write_sysfs_int(filename, basedir, val, 1);
+}
+
+int _write_sysfs_string(char *filename, char *basedir, char *val, int verify)
+{
+	int ret = 0;
+	FILE  *sysfsfp;
+	char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
+	if (temp == NULL) {
+		printf("Memory allocation failed\n");
+		return -ENOMEM;
+	}
+	sprintf(temp, "%s/%s", basedir, filename);
+	sysfsfp = fopen(temp, "w");
+	if (sysfsfp == NULL) {
+		printf("Could not open %s\n", temp);
+		ret = -errno;
+		goto error_free;
+	}
+	fprintf(sysfsfp, "%s", val);
+	fclose(sysfsfp);
+	if (verify) {
+		sysfsfp = fopen(temp, "r");
+		if (sysfsfp == NULL) {
+			printf("could not open file to verify\n");
+			ret = -errno;
+			goto error_free;
+		}
+		fscanf(sysfsfp, "%s", temp);
+		if (strcmp(temp, val) != 0) {
+			printf("Possible failure in string write of %s "
+				"Should be %s "
+				"written to %s\%s\n",
+				temp,
+				val,
+				basedir,
+				filename);
+			ret = -1;
+		}
+	}
+error_free:
+	free(temp);
+
+	return ret;
+}
+
+/**
+ * write_sysfs_string_and_verify() - string write, readback and verify
+ * @filename: name of file to write to
+ * @basedir: the sysfs directory in which the file is to be found
+ * @val: the string to write
+ **/
+int write_sysfs_string_and_verify(char *filename, char *basedir, char *val)
+{
+	return _write_sysfs_string(filename, basedir, val, 1);
+}
+
+int write_sysfs_string(char *filename, char *basedir, char *val)
+{
+	return _write_sysfs_string(filename, basedir, val, 0);
+}
+
+int read_sysfs_posint(char *filename, char *basedir)
+{
+	int ret;
+	FILE  *sysfsfp;
+	char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
+	if (temp == NULL) {
+		printf("Memory allocation failed");
+		return -ENOMEM;
+	}
+	sprintf(temp, "%s/%s", basedir, filename);
+	sysfsfp = fopen(temp, "r");
+	if (sysfsfp == NULL) {
+		ret = -errno;
+		goto error_free;
+	}
+	fscanf(sysfsfp, "%d\n", &ret);
+	fclose(sysfsfp);
+error_free:
+	free(temp);
+	return ret;
+}
+
+int read_sysfs_float(char *filename, char *basedir, float *val)
+{
+	float ret = 0;
+	FILE  *sysfsfp;
+	char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
+	if (temp == NULL) {
+		printf("Memory allocation failed");
+		return -ENOMEM;
+	}
+	sprintf(temp, "%s/%s", basedir, filename);
+	sysfsfp = fopen(temp, "r");
+	if (sysfsfp == NULL) {
+		ret = -errno;
+		goto error_free;
+	}
+	fscanf(sysfsfp, "%f\n", val);
+	fclose(sysfsfp);
+error_free:
+	free(temp);
+	return ret;
+}
+int enable(const char *device_dir,
+			      struct iio_channel_info **ci_array,
+			      int *counter)
+{
+	DIR *dp;
+	int ret;
+	const struct dirent *ent;
+	char *scan_el_dir;
+
+	*counter = 0;
+	ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	dp = opendir(scan_el_dir);
+	if (dp == NULL) {
+		ret = -errno;
+		goto error_free_name;
+	}
+	while (ent = readdir(dp), ent != NULL)
+		if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
+			   "_en") == 0) {
+			write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 1);
+		}
+	return 0;
+error_ret:
+error_free_name:
+	return -1;
+}
+int disable_q_out(const char *device_dir,
+			      struct iio_channel_info **ci_array,
+			      int *counter) {
+	DIR *dp;
+	int ret;
+	const struct dirent *ent;
+	char *scan_el_dir;
+
+	*counter = 0;
+	ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
+	if (ret < 0) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	dp = opendir(scan_el_dir);
+	if (dp == NULL) {
+		ret = -errno;
+		goto error_free_name;
+	}
+	while (ent = readdir(dp), ent != NULL)
+		if (strncmp(ent->d_name, "in_quaternion", strlen("in_quaternion")) == 0) {
+			write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 0);
+		}
+	return 0;
+error_ret:
+error_free_name:
+	return -1;
+
+}
+
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
new file mode 100644
index 0000000..b3d323c
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
@@ -0,0 +1,685 @@
+/* Industrialio buffer test code.
+ *
+ * Copyright (c) 2008 Jonathan Cameron
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 as published by
+ * the Free Software Foundation.
+ *
+ * This program is primarily intended as an example application.
+ * Reads the current buffer setup from sysfs and starts a short capture
+ * from the specified device, pretty printing the result after appropriate
+ * conversion.
+ *
+ * Command line parameters
+ * generic_buffer -n <device_name> -t <trigger_name>
+ * If trigger name is not specified the program assumes you want a dataready
+ * trigger associated with the device and goes looking for it.
+ *
+ */
+
+#include <unistd.h>
+#include <dirent.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <dirent.h>
+#include <linux/types.h>
+#include <string.h>
+#include <poll.h>
+#include "iio_utils.h"
+#include "ml_load_dmp.h"
+#include "ml_sysfs_helper.h"
+#include "authenticate.h"
+
+#define FLICK_SUPPORTED (0)
+
+/**
+ * size_from_channelarray() - calculate the storage size of a scan
+ * @channels: the channel info array
+ * @num_channels: size of the channel info array
+ *
+ * Has the side effect of filling the channels[i].location values used
+ * in processing the buffer output.
+ **/
+int size_from_channelarray(struct iio_channel_info *channels, int num_channels)
+{
+    int bytes = 0;
+    int i = 0;
+    while (i < num_channels) {
+        if (bytes % channels[i].bytes == 0)
+            channels[i].location = bytes;
+        else
+            channels[i].location = bytes - bytes%channels[i].bytes
+                + channels[i].bytes;
+        bytes = channels[i].location + channels[i].bytes;
+        i++;
+    }
+    return bytes;
+}
+
+void print2byte(int input, struct iio_channel_info *info)
+{
+    /* shift before conversion to avoid sign extension
+       of left aligned data */
+    input = input >> info->shift;
+    if (info->is_signed) {
+        int16_t val = input;
+        val &= (1 << info->bits_used) - 1;
+        val = (int16_t)(val << (16 - info->bits_used)) >>
+            (16 - info->bits_used);
+        /*printf("%d, %05f, scale=%05f", val,
+               (float)(val + info->offset)*info->scale, info->scale);*/
+        printf("%d, ", val);
+
+    } else {
+        uint16_t val = input;
+        val &= (1 << info->bits_used) - 1;
+        printf("%05f ", ((float)val + info->offset)*info->scale);
+    }
+}
+/**
+ * process_scan() - print out the values in SI units
+ * @data:        pointer to the start of the scan
+ * @infoarray:        information about the channels. Note
+ *  size_from_channelarray must have been called first to fill the
+ *  location offsets.
+ * @num_channels:    the number of active channels
+ **/
+void process_scan(char *data,
+          struct iio_channel_info *infoarray,
+          int num_channels)
+{
+    int k;
+    //char *tmp;
+    for (k = 0; k < num_channels; k++) {
+        switch (infoarray[k].bytes) {
+            /* only a few cases implemented so far */
+        case 2:
+            print2byte(*(uint16_t *)(data + infoarray[k].location),
+                   &infoarray[k]);
+            //tmp = data + infoarray[k].location;
+            break;
+        case 4:
+            if (infoarray[k].is_signed) {
+                int32_t val = *(int32_t *)
+                    (data +
+                     infoarray[k].location);
+                if ((val >> infoarray[k].bits_used) & 1)
+                    val = (val & infoarray[k].mask) |
+                        ~infoarray[k].mask;
+                /* special case for timestamp */
+                printf(" %d ", val);
+            }
+            break;
+        case 8:
+            if (infoarray[k].is_signed) {
+                int64_t val = *(int64_t *)
+                    (data +
+                     infoarray[k].location);
+                if ((val >> infoarray[k].bits_used) & 1)
+                    val = (val & infoarray[k].mask) |
+                        ~infoarray[k].mask;
+                /* special case for timestamp */
+                if (infoarray[k].scale == 1.0f &&
+                    infoarray[k].offset == 0.0f)
+                    printf(" %lld", val);
+                else
+                    printf("%05f ", ((float)val +
+                             infoarray[k].offset)*
+                           infoarray[k].scale);
+            }
+            break;
+        default:
+            break;
+        }
+    }
+    printf("\n");
+}
+
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+void enable_flick(char *p, int on){
+    int ret;
+    printf("flick:%s\n", p);
+    ret = write_sysfs_int_and_verify("flick_int_on", p, on);
+    if (ret < 0)
+        return;
+    ret = write_sysfs_int_and_verify("flick_upper", p, 3147790);
+    if (ret < 0)
+        return;
+    ret = write_sysfs_int_and_verify("flick_lower", p, -3147790);
+    if (ret < 0)
+        return;
+
+    ret = write_sysfs_int_and_verify("flick_counter", p, 50);
+    if (ret < 0)
+        return;
+    ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
+    if (ret < 0)
+        return;
+    ret = write_sysfs_int_and_verify("flick_axis", p, 0);
+}
+#endif
+
+void HandleOrient(int orient)
+{    
+    if (orient & 0x01)
+    printf("INV_X_UP\n");
+    if (orient & 0x02) 
+    printf("INV_X_DOWN\n");
+    if (orient & 0x04) 
+    printf("INV_Y_UP\n");
+    if (orient & 0x08) 
+    printf("INV_Y_DOWN\n");
+    if (orient & 0x10) 
+    printf("INV_Z_UP\n");
+    if (orient & 0x20) 
+    printf("INV_Z_DOWN\n");
+    if (orient & 0x40) 
+    printf("INV_ORIENTATION_FLIP\n");
+}
+
+void HandleTap(int tap)
+{
+    int tap_dir = tap/8;
+    int tap_num = tap%8 + 1;
+
+    switch (tap_dir) {
+        case 1:
+            printf("INV_TAP_AXIS_X_POS\n");
+            break;
+        case 2:
+            printf("INV_TAP_AXIS_X_NEG\n");
+            break;
+        case 3:
+            printf("INV_TAP_AXIS_Y_POS\n");
+            break;
+        case 4:
+            printf("INV_TAP_AXIS_Y_NEG\n");
+            break;
+        case 5:
+            printf("INV_TAP_AXIS_Z_POS\n");
+            break;
+        case 6:
+            printf("INV_TAP_AXIS_Z_NEG\n");
+            break;
+        default:
+            break;
+    }
+    printf("Tap number: %d\n", tap_num);
+}
+#define DMP_CODE_SIZE 3060
+void verify_img(char *dmp_path){
+    FILE *fp;
+    int i;
+    char dmp_img[DMP_CODE_SIZE];
+    if ((fp = fopen(dmp_path, "rb")) < 0 ) {
+        perror("dmp fail");
+    }
+    i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
+    printf("Result=%d\n", i);
+    fclose(fp);
+    fp = fopen("/dev/read_img.h", "wt");
+    fprintf(fp, "char rec[]={\n");
+    for(i=0; i<DMP_CODE_SIZE; i++) {
+      fprintf(fp, "0x%02x, ", dmp_img[i]);
+      if(((i+1)%16) == 0) {
+        fprintf(fp, "\n");
+      }
+    }
+    fprintf(fp, "};\n ");
+    fclose(fp);
+}
+
+void setup_dmp(char *dev_path, int p_event){
+    char sysfs_path[200];
+    char dmp_path[200];
+    int  ret;
+    FILE *fd;
+    sprintf(sysfs_path, "%s", dev_path);
+    printf("sysfs: %s\n", sysfs_path);
+    ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
+    if (ret < 0)
+        return;
+
+	ret = write_sysfs_int("in_accel_scale", dev_path, 0);
+	if (ret < 0)
+		return;
+	ret = write_sysfs_int("in_anglvel_scale", dev_path, 2);
+	if (ret < 0)
+		return;	
+	ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
+	if (ret < 0)
+		return;	
+	ret = write_sysfs_int_and_verify("firmware_loaded", sysfs_path, 0);
+	if (ret < 0)
+		return;
+	sprintf(dmp_path, "%s/dmp_firmware", dev_path);
+	if ((fd = fopen(dmp_path, "wb")) < 0 ) {
+		perror("dmp fail");
+	}	
+	inv_load_dmp(fd);
+	fclose(fd);
+	printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
+	ret = write_sysfs_int_and_verify("in_accel_x_offset", sysfs_path, 0xabcd0000);
+	ret = write_sysfs_int_and_verify("in_accel_y_offset", sysfs_path, 0xffff0000);
+	ret = write_sysfs_int_and_verify("in_accel_z_offset", sysfs_path, 0xcdef0000);
+
+	ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
+	if (ret < 0)
+		return;
+	ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
+	if (ret < 0)
+		return;
+	/* selelct which event to enable and interrupt on/off here */
+	//enable_flick(sysfs_path, 1);
+	ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
+	if (ret < 0)
+		return;
+	ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
+	if (ret < 0)
+		return;
+	ret = write_sysfs_int_and_verify("orientation_on", sysfs_path, 1);
+	if (ret < 0)
+		return;
+	printf("rate\n");
+	ret = write_sysfs_int_and_verify("dmp_output_rate", sysfs_path, 25);
+	if (ret < 0)
+		return;
+	ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, p_event);
+	if (ret < 0)
+		return;
+	//verify_img(dmp_path);
+}
+
+void get_dmp_event(char *dev_dir_name)
+{
+    char file_name[100];
+    int i;
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+    int fp_tap, fp_orient, fp_disp, fp_flick;
+    const int n_gest = 6;
+#else
+    int fp_tap, fp_orient, fp_disp, fp_motion;
+    //int fp_no_motion;
+    const int n_gest = 4;
+#endif
+    int data;
+    char d[6];
+    FILE *fp;
+    struct pollfd pfd[4];
+    printf("%s\n", dev_dir_name);
+    while(1) {
+        sprintf(file_name, "%s/event_tap", dev_dir_name);
+        fp_tap = open(file_name, O_RDONLY | O_NONBLOCK);
+        sprintf(file_name, "%s/event_orientation", dev_dir_name);
+        fp_orient = open(file_name, O_RDONLY | O_NONBLOCK);
+        sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
+        fp_disp = open(file_name, O_RDONLY | O_NONBLOCK);
+
+        //sprintf(file_name, "%s/event_accel_motion", dev_dir_name);
+        sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
+        fp_motion = open(file_name, O_RDONLY | O_NONBLOCK);
+        //sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
+        //fp_no_motion = open(file_name, O_RDONLY | O_NONBLOCK);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+        sprintf(file_name, "%s/event_flick", dev_dir_name);
+        fp_flick = open(file_name, O_RDONLY | O_NONBLOCK);
+#endif
+
+        pfd[0].fd = fp_tap;
+        pfd[0].events = POLLPRI|POLLERR,
+        pfd[0].revents = 0;
+
+        pfd[1].fd = fp_orient;
+        pfd[1].events = POLLPRI|POLLERR,
+        pfd[1].revents = 0;
+
+        pfd[2].fd = fp_disp;
+        pfd[2].events = POLLPRI|POLLERR,
+        pfd[2].revents = 0;
+
+        pfd[3].fd = fp_motion;
+        pfd[3].events = POLLPRI|POLLERR,
+        pfd[3].revents = 0;
+
+        //pfd[4].fd = fp_no_motion;
+        //pfd[4].events = POLLPRI|POLLERR,
+        //pfd[4].revents = 0;
+
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+        pfd[5].fd = fp_flick;
+        pfd[5].events = POLLPRI|POLLERR,
+        pfd[5].revents = 0;    
+#endif
+
+        read(fp_tap, d, 4);
+        read(fp_orient, d, 4);
+        read(fp_disp, d, 4);
+        read(fp_motion, d, 4);
+        //read(fp_no_motion, d, 4);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+        read(fp_flick, d, 4);
+#endif
+
+        poll(pfd, n_gest, -1);
+        close(fp_tap);
+        close(fp_orient);
+        close(fp_disp);
+        close(fp_motion);
+        //close(fp_no_motion);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+        close(fp_flick);
+#endif
+        for (i = 0; i < ARRAY_SIZE(pfd); i++) {
+            if(pfd[i].revents != 0) {
+                switch (i){
+                case 0:
+                    sprintf(file_name, "%s/event_tap", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("tap=%x\n", data);
+                    HandleTap(data);
+                    fclose(fp);
+                break;
+                case 1:
+                    sprintf(file_name, "%s/event_orientation", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("orient=%x\n", data);
+                    HandleOrient(data);
+                    fclose(fp);
+                break;
+                case 2:
+                    sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("display_orient=%x\n", data);
+                    fclose(fp);
+                break;
+                case 3:
+                    sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("motion=%x\n", data);
+                    fclose(fp);
+                break;
+                case 4:
+                    sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("No motion=%x\n", data);
+                    fclose(fp);
+                break;
+
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+                case 5:
+                    sprintf(file_name, "%s/event_flick", dev_dir_name);
+                    fp = fopen(file_name, "rt");
+                    fscanf(fp, "%d\n", &data);
+                    printf("flick=%x\n", data);
+                    fclose(fp);
+                break;
+#endif
+                }
+            }
+        }                        
+    }
+}
+
+
+int main(int argc, char **argv)
+{
+    unsigned long num_loops = 2;
+    unsigned long timedelay = 100000;
+    unsigned long buf_len = 128;
+
+    int ret, c, i, j, toread;
+    int fp;
+
+    int num_channels;
+    char *trigger_name = NULL;
+    char *dev_dir_name, *buf_dir_name;
+
+    int datardytrigger = 1;
+    char *data;
+    int read_size;
+    int dev_num, trig_num;
+    char *buffer_access;
+    int scan_size;
+    int noevents = 0;
+    int p_event = 0, nodmp = 0;
+    char *dummy;
+    char chip_name[10];
+    char device_name[10];
+    char sysfs[100];
+
+    struct iio_channel_info *infoarray;
+    /* -r means no DMP is enabled (raw) -> should be used for mpu3050.
+       -p means no print of data */
+    /* when using -p, 1 means orientation, 2 means tap, 3 means flick */
+    while ((c = getopt(argc, argv, "l:w:c:pret:")) != -1) {
+        switch (c) {
+        case 't':
+            trigger_name = optarg;
+            datardytrigger = 0;
+            break;
+        case 'e':
+            noevents = 1;
+            break;
+        case 'p':
+            p_event = 1;
+            break;
+        case 'r':
+            nodmp = 1;
+            break;
+        case 'c':
+            num_loops = strtoul(optarg, &dummy, 10);
+            break;
+        case 'w':
+            timedelay = strtoul(optarg, &dummy, 10);
+            break;
+        case 'l':
+            buf_len = strtoul(optarg, &dummy, 10);
+            break;
+        case '?':
+            return -1;
+        }
+    }
+    inv_get_sysfs_path(sysfs);
+    printf("sss:::%s\n", sysfs);
+    if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
+        printf("get chip name fail\n");
+        exit(0);
+    }
+    printf("chip_name=%s\n", chip_name);
+    if (INV_SUCCESS != inv_check_key())
+            printf("key check fail\n");
+    else
+            printf("key authenticated\n");
+
+    for (i=0; i<strlen(chip_name); i++) {
+        device_name[i] = tolower(chip_name[i]);
+    }
+    device_name[strlen(chip_name)] = '\0';
+    printf("device name: %s\n", device_name);
+
+    /* Find the device requested */
+    dev_num = find_type_by_name(device_name, "iio:device");
+    if (dev_num < 0) {
+        printf("Failed to find the %s\n", device_name);
+        ret = -ENODEV;
+        goto error_ret;
+    }
+    printf("iio device number being used is %d\n", dev_num);
+    asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
+    if (trigger_name == NULL) {
+        /*
+         * Build the trigger name. If it is device associated it's
+         * name is <device_name>_dev[n] where n matches the device
+         * number found above
+         */
+        ret = asprintf(&trigger_name,
+                   "%s-dev%d", device_name, dev_num);
+        if (ret < 0) {
+            ret = -ENOMEM;
+            goto error_ret;
+        }
+    }
+    ret = write_sysfs_int("buffer/enable", dev_dir_name, 0);
+
+	ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 1);
+/*
+	ret = write_sysfs_int_and_verify("zero_motion_on", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("zero_motion_dur", dev_dir_name, 12);
+	ret = write_sysfs_int_and_verify("zero_motion_threshold", dev_dir_name, 13);
+
+	ret = write_sysfs_int_and_verify("motion_on", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("motion_dur", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("motion_threshold", dev_dir_name, 1);
+*/
+	ret = write_sysfs_int_and_verify("accel_wom_on", dev_dir_name, 1);
+	ret = write_sysfs_int_and_verify("accel_wom_threshold", dev_dir_name, 100);
+    /* Verify the trigger exists */
+    trig_num = find_type_by_name(trigger_name, "trigger");
+    if (trig_num < 0) {
+        printf("Failed to find the trigger %s\n", trigger_name);
+        ret = -ENODEV;
+        goto error_free_triggername;
+    }
+    printf("iio trigger number being used is %d\n", trig_num);
+    /*
+     * Parse the files in scan_elements to identify what channels are
+     * present
+     */
+    ret = 0;
+    ret = enable(dev_dir_name, &infoarray, &num_channels);
+    if (ret) {
+        printf("error enable\n");
+        goto error_free_triggername;
+    }
+    if (!nodmp)
+        setup_dmp(dev_dir_name, p_event);
+
+    /*
+     * Construct the directory name for the associated buffer.
+     * As we know that the lis3l02dq has only one buffer this may
+     * be built rather than found.
+     */
+    ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
+    if (ret < 0) {
+        ret = -ENOMEM;
+        goto error_free_triggername;
+    }
+    printf("%s %s\n", dev_dir_name, trigger_name);
+
+    /* Set the device trigger to be the data rdy trigger found above */
+    ret = write_sysfs_string_and_verify("trigger/current_trigger",
+                    dev_dir_name,
+                    trigger_name);
+    if (ret < 0) {
+        printf("Failed to write current_trigger file\n");
+        goto error_free_buf_dir_name;
+    }
+    /* Setup ring buffer parameters */
+    /* length must be even number because iio_store_to_sw_ring is expecting 
+        half pointer to be equal to the read pointer, which is impossible
+        when buflen is odd number. This is actually a bug in the code */
+    ret = write_sysfs_int("length", buf_dir_name, buf_len*2);
+    if (ret < 0)
+        goto exit_here;
+    ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
+    ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
+    //ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 0);
+    if (nodmp == 0) {
+        ret = write_sysfs_int_and_verify("quaternion_on", dev_dir_name, 1);
+    } else {
+        ret = disable_q_out(dev_dir_name, &infoarray, &num_channels);        
+        ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
+    }
+    ret = build_channel_array(dev_dir_name, &infoarray, &num_channels);
+    if (ret) {
+        printf("Problem reading scan element information\n");
+        goto exit_here;
+    }
+
+    /* Enable the buffer */
+    ret = write_sysfs_int("enable", buf_dir_name, 1);
+    if (ret < 0)
+        goto exit_here;
+    scan_size = size_from_channelarray(infoarray, num_channels);
+    data = malloc(scan_size*buf_len);
+    if (!data) {
+        ret = -ENOMEM;
+        goto exit_here;
+    }
+
+    ret = asprintf(&buffer_access,
+               "/dev/iio:device%d",
+               dev_num);
+    if (ret < 0) {
+        ret = -ENOMEM;
+        goto error_free_data;
+    }
+    if (p_event) {
+        get_dmp_event(dev_dir_name);
+        goto error_free_buffer_access;
+    }
+    /* Attempt to open non blocking the access dev */
+    fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
+    if (fp == -1) { /*If it isn't there make the node */
+        printf("Failed to open %s\n", buffer_access);
+        ret = -errno;
+        goto error_free_buffer_access;
+    }
+    /* Wait for events 10 times */
+    for (j = 0; j < num_loops; j++) {
+        if (!noevents) {
+            struct pollfd pfd = {
+                .fd = fp,
+                .events = POLLIN,
+            };
+            poll(&pfd, 1, -1);
+            toread = 1;
+            if ((j%128)==0)
+                usleep(timedelay);
+
+        } else {
+            usleep(timedelay);
+            toread = 1;
+        }
+        read_size = read(fp,
+                 data,
+                 toread*scan_size);
+        if (read_size == -EAGAIN) {
+            printf("nothing available\n");
+            continue;
+        }
+        if (0 == p_event) {
+            for (i = 0; i < read_size/scan_size; i++)
+                process_scan(data + scan_size*i,
+                         infoarray,
+                         num_channels);
+        }
+    }
+    close(fp);
+error_free_buffer_access:
+    free(buffer_access);
+error_free_data:
+    free(data);
+exit_here:
+    /* Stop the ring buffer */
+    ret = write_sysfs_int("enable", buf_dir_name, 0);
+
+error_free_buf_dir_name:
+    free(buf_dir_name);
+error_free_triggername:
+    if (datardytrigger)
+        free(trigger_name);
+error_ret:
+    return ret;
+}
diff --git a/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
index 33c9eef..01d1425 100644
--- a/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
diff --git a/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk b/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
index 3a055cc..ed5fbf6 100644
--- a/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
@@ -18,6 +18,7 @@ HAL_DIR    = $(INV_ROOT)/software/core/HAL
 include $(INV_ROOT)/software/build/android/common.mk
 
 CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
 CFLAGS += -fpic
 CFLAGS += -nostdlib
@@ -49,20 +50,8 @@ LLINK += -lstdc++
 LLINK += -llog
 LLINK += -lz
 
-PRE_LFLAGS := -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
-
 LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,--gc-sections 
-LFLAGS += -Wl,--no-whole-archive 
-LFLAGS += -Wl,-dynamic-linker,/system/bin/linker
-LFLAGS += $(ANDROID_LINK)
-ifneq ($(PRODUCT),panda)
-LFLAGS += -rdynamic
-endif
+LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
 
@@ -87,7 +76,7 @@ all: $(EXEC) $(MK_NAME)
 
 $(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
 	@$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
-	$(LINK) $(PRE_LFLAGS) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
+	$(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
 
 $(OBJFOLDER) :
 	@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
diff --git a/libsensors_iio/software/simple_apps/self_test/inv_self_test.c b/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
index 4f9996c..2fe2cff 100644
--- a/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
+++ b/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
@@ -22,13 +22,19 @@
 #include "ml_math_func.h"
 #include "storage_manager.h"
 #include "ml_stored_data.h"
+#include "ml_sysfs_helper.h"
 
 #ifndef ABS
 #define ABS(x)(((x) >= 0) ? (x) : -(x))
 #endif
 
+//#define DEBUG_PRINT     /* Uncomment to print Gyro & Accel read from Driver */
+
+#define MAX_SYSFS_NAME_LEN  (100)
+#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
+
 /** Change this key if the data being stored by this file changes */
-#define INV_DB_SAVE_KEY 53394
+#define INV_DB_SAVE_KEY 53395
 
 #define FALSE   0
 #define TRUE    1
@@ -38,26 +44,29 @@
 #define COMPASS_PASS_STATUS_BIT 0x04
 
 typedef union {
-    long l; 
+    long l;
     int i;
 } bias_dtype;
 
-struct inv_sysfs_names_s {
+char *sysfs_names_ptr;
+
+struct sysfs_attrbs {
     char *enable;
     char *power_state;
+    char *dmp_on;
+    char *dmp_int_on;
     char *self_test;
     char *temperature;
-    char *accl_bias;
-};
-
-const struct inv_sysfs_names_s mpu= {
-     /* MPU6050 & MPU9150 */
-    .enable         = "/sys/class/invensense/mpu/enable",
-    .power_state    = "/sys/class/invensense/mpu/power_state",
-    .self_test      = "/sys/class/invensense/mpu/self_test",
-    .temperature    = "/sys/class/invensense/mpu/temperature",
-    .accl_bias      = "/sys/class/invensense/mpu/accl_bias"
-};
+    char *gyro_enable;
+    char *gyro_x_bias;
+    char *gyro_y_bias;
+    char *gyro_z_bias;
+    char *accel_enable;
+    char *accel_x_bias;
+    char *accel_y_bias;
+    char *accel_z_bias;
+    char *compass_enable;
+} mpu;
 
 struct inv_db_save_t {
     /** Compass Bias in Chip Frame in Hardware units scaled by 2^16 */
@@ -71,46 +80,123 @@ struct inv_db_save_t {
     /** Temperature when accel bias was stored. */
     long accel_temp;
     long gyro_temp_slope[3];
+    /** Sensor Accuracy */
+    int gyro_accuracy;
+    int accel_accuracy;
+    int compass_accuracy;
 };
 
 static struct inv_db_save_t save_data;
 
-/** This function receives the data that was stored in non-volatile memory between power off */
+/** This function receives the data that was stored in non-volatile memory
+    between power off */
 static inv_error_t inv_db_load_func(const unsigned char *data)
 {
     memcpy(&save_data, data, sizeof(save_data));
     return INV_SUCCESS;
 }
 
-/** This function returns the data to be stored in non-volatile memory between power off */
+/** This function returns the data to be stored in non-volatile memory between
+    power off */
 static inv_error_t inv_db_save_func(unsigned char *data)
 {
     memcpy(data, &save_data, sizeof(save_data));
     return INV_SUCCESS;
 }
 
-int inv_sysfs_write(char *filename, long data)
+/** read a sysfs entry that represents an integer */
+int read_sysfs_int(char *filename, int *var)
 {
+    int res=0;
     FILE *fp;
-    int count;
 
-    if (!filename)
-        return -1;
+    fp = fopen(filename, "r");
+    if (fp != NULL) {
+        fscanf(fp, "%d\n", var);
+        fclose(fp);
+    } else {
+        MPL_LOGE("inv_self_test: ERR open file to read");
+        res= -1;   
+    }
+    return res;
+}
+
+/** write a sysfs entry that represents an integer */
+int write_sysfs_int(char *filename, int data)
+{
+    int res=0;
+    FILE  *fp;
+
     fp = fopen(filename, "w");
-    if (!fp)
-        return -errno;
-    count = fprintf(fp, "%ld", data);
-    fclose(fp);
-    return count;
+    if (fp!=NULL) {
+        fprintf(fp, "%d\n", data);
+        fclose(fp);
+    } else {
+        MPL_LOGE("inv_self_test: ERR open file to write");
+        res= -1;   
+    }
+    return res;
 }
 
-/**
- *  Main Self test 
- */
+int inv_init_sysfs_attributes(void)
+{
+    unsigned char i = 0;
+    char sysfs_path[MAX_SYSFS_NAME_LEN];
+    char *sptr;
+    char **dptr;
+
+    sysfs_names_ptr = 
+            (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
+    sptr = sysfs_names_ptr;
+    if (sptr != NULL) {
+        dptr = (char**)&mpu;
+        do {
+            *dptr++ = sptr;
+            sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
+        } while (++i < MAX_SYSFS_ATTRB);
+    } else {
+        MPL_LOGE("inv_self_test: couldn't alloc mem for sysfs paths");
+        return -1;
+    }
+
+    // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
+    inv_get_sysfs_path(sysfs_path);
+
+    sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
+    sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
+    sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
+    sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
+    sprintf(mpu.temperature, "%s%s", sysfs_path, "/temperature");
+
+    sprintf(mpu.gyro_enable, "%s%s", sysfs_path, "/gyro_enable");
+    sprintf(mpu.gyro_x_bias, "%s%s", sysfs_path, "/in_anglvel_x_calibbias");
+    sprintf(mpu.gyro_y_bias, "%s%s", sysfs_path, "/in_anglvel_y_calibbias");
+    sprintf(mpu.gyro_z_bias, "%s%s", sysfs_path, "/in_anglvel_z_calibbias");
+
+    sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/accl_enable");
+    sprintf(mpu.accel_x_bias, "%s%s", sysfs_path, "/in_accel_x_calibbias");
+    sprintf(mpu.accel_y_bias, "%s%s", sysfs_path, "/in_accel_y_calibbias");
+    sprintf(mpu.accel_z_bias, "%s%s", sysfs_path, "/in_accel_z_calibbias");
+
+    sprintf(mpu.compass_enable, "%s%s", sysfs_path, "/compass_enable");
+
+#if 0
+    // test print sysfs paths
+    dptr = (char**)&mpu;
+    for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
+        MPL_LOGE("inv_self_test: sysfs path: %s", *dptr++);
+    }
+#endif
+    return 0;
+}
+
+/*******************************************************************************
+ *                       M a i n  S e l f  T e s t 
+ ******************************************************************************/
 int main(int argc, char **argv)
 {
     FILE *fptr;
-    int self_test_status;
+    int self_test_status = 0;
     inv_error_t result;
     bias_dtype gyro_bias[3];
     bias_dtype accel_bias[3];
@@ -119,76 +205,133 @@ int main(int argc, char **argv)
     int axis_sign = 1;
     unsigned char *buffer;
     long timestamp;
-    int temperature=0;
+    int temperature = 0;
+    bool compass_present = TRUE;
+
+    result = inv_init_sysfs_attributes();
+    if (result)
+        return -1;
 
-    // Initialize storage manager
     inv_init_storage_manager();
 
     // Clear out data.
     memset(&save_data, 0, sizeof(save_data));
-    memset(gyro_bias,0, sizeof(gyro_bias));
-    memset(accel_bias,0, sizeof(accel_bias));
+    memset(gyro_bias, 0, sizeof(gyro_bias));
+    memset(accel_bias, 0, sizeof(accel_bias));
 
     // Register packet to be saved.
-    result = inv_register_load_store(inv_db_load_func, inv_db_save_func,
-                                     sizeof(save_data),
-                                     INV_DB_SAVE_KEY);
+    result = inv_register_load_store(
+                inv_db_load_func, inv_db_save_func,
+                sizeof(save_data), INV_DB_SAVE_KEY);
 
     // Power ON MPUxxxx chip
-    if (inv_sysfs_write(mpu.power_state, 1) <0) {
-        printf("ERR- Failed to set power state=1\n");
+    if (write_sysfs_int(mpu.power_state, 1) < 0) {
+        printf("Self-Test:ERR-Failed to set power state=1\n");
     } else {
         // Note: Driver turns on power automatically when self-test invoked
     }
 
+    // Disable Master enable 
+    if (write_sysfs_int(mpu.enable, 0) < 0) {
+        printf("Self-Test:ERR-Failed to disable master enable\n");
+    }
+
+    // Disable DMP
+    if (write_sysfs_int(mpu.dmp_on, 0) < 0) {
+        printf("Self-Test:ERR-Failed to disable DMP\n");
+    }
+
+    // Enable Accel
+    if (write_sysfs_int(mpu.accel_enable, 1) < 0) {
+        printf("Self-Test:ERR-Failed to enable accel\n");
+    }
+
+    // Enable Gyro
+    if (write_sysfs_int(mpu.gyro_enable, 1) < 0) {
+        printf("Self-Test:ERR-Failed to enable gyro\n");
+    }
+
+    // Enable Compass
+    if (write_sysfs_int(mpu.compass_enable, 1) < 0) {
+#ifdef DEBUG_PRINT
+        printf("Self-Test:ERR-Failed to enable compass\n");
+#endif
+        compass_present= FALSE;
+    }
+
     fptr = fopen(mpu.self_test, "r");
-    if (fptr != NULL) {
-        // Invoke self-test and read gyro bias
-        fscanf(fptr, "%d,%d,%d,%d",
-               &gyro_bias[0].i, &gyro_bias[1].i, &gyro_bias[2].i, &self_test_status);
-
-        printf("Self-Test:Self test result- Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
-                      (self_test_status & GYRO_PASS_STATUS_BIT), 
-                      (self_test_status & ACCEL_PASS_STATUS_BIT) >>1,
-                      (self_test_status & COMPASS_PASS_STATUS_BIT) >>2);
-        printf("Self-Test:Gyro bias data[0..2] read from Driver= [%d %d %d]\n",gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
-        fclose(fptr);
-        
-        if (!(self_test_status & GYRO_PASS_STATUS_BIT)) {
-            // Reset gyro bias data if gyro self-test failed
-            memset(gyro_bias,0, sizeof(gyro_bias));
-            printf("Self-Test:Failed Gyro self-test\n");
-        }
+    if (!fptr) {
+        printf("Self-Test:ERR-Couldn't invoke self-test\n");
+        result = -1;
+        goto free_sysfs_storage;
+    }
 
-        if (self_test_status & ACCEL_PASS_STATUS_BIT) {
-            // Read Accel Bias
-            fptr= fopen(mpu.accl_bias, "r");
-            if (fptr != NULL) {
-                fscanf(fptr, "%d,%d,%d", &accel_bias[0].i, &accel_bias[1].i, &accel_bias[2].i);
-                printf("Self-Test:Accel bias data[0..2] read from Driver= [%d %d %d]\n", accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
-                fclose(fptr);
-            } else {
-                printf("Self-Test:ERR-Couldn't read accel bias\n");
-            }
+    // Invoke self-test 
+    fscanf(fptr, "%d", &self_test_status);
+	if (compass_present == TRUE) {
+        printf("Self-Test:Self test result- "
+           "Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
+           (self_test_status & GYRO_PASS_STATUS_BIT),
+           (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
+           (self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
+	} else {
+		printf("Self-Test:Self test result- "
+			   "Gyro passed= %x, Accel passed= %x\n",
+			   (self_test_status & GYRO_PASS_STATUS_BIT),
+			   (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1);
+	}
+    fclose(fptr);
+
+    if (self_test_status & GYRO_PASS_STATUS_BIT) {
+        // Read Gyro Bias
+        if (read_sysfs_int(mpu.gyro_x_bias, &gyro_bias[0].i) < 0 ||
+            read_sysfs_int(mpu.gyro_y_bias, &gyro_bias[1].i) < 0 ||
+            read_sysfs_int(mpu.gyro_z_bias, &gyro_bias[2].i) < 0) {
+            memset(gyro_bias, 0, sizeof(gyro_bias));
+            printf("Self-Test:Failed to read Gyro bias\n");
         } else {
-            memset(accel_bias,0, sizeof(accel_bias));
-            printf("Self-Test:Failed Accel self-test\n");
+            save_data.gyro_accuracy = 3;
+#ifdef DEBUG_PRINT
+            printf("Self-Test:Gyro bias[0..2]= [%d %d %d]\n", 
+                   gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
+#endif
         }
+    } else {
+        printf("Self-Test:Failed Gyro self-test\n");
+    }
 
-        // Read temperature
-        if (self_test_status & (GYRO_PASS_STATUS_BIT|ACCEL_PASS_STATUS_BIT))
-        {
-            fptr= fopen(mpu.temperature, "r");
-            if (fptr != NULL) {
-                fscanf(fptr,"%d %ld", &temperature, &timestamp);
-                fclose(fptr);
-            } else {
-                printf("Self-Test:ERR-Couldn't read temperature\n");
-            }
-        }
-        
+    if (self_test_status & ACCEL_PASS_STATUS_BIT) {
+        // Read Accel Bias
+        if (read_sysfs_int(mpu.accel_x_bias, &accel_bias[0].i) < 0 ||
+            read_sysfs_int(mpu.accel_y_bias, &accel_bias[1].i) < 0 ||
+            read_sysfs_int(mpu.accel_z_bias, &accel_bias[2].i) < 0) {
+            memset(accel_bias,0, sizeof(accel_bias));
+            printf("Self-Test:Failed to read Accel bias\n");
+        } else {
+            save_data.accel_accuracy = 3;
+#ifdef DEBUG_PRINT
+            printf("Self-Test:Accel bias[0..2]= [%d %d %d]\n",
+                   accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
+#endif
+       }
     } else {
-        printf("Self-Test:ERR-Couldn't invoke self-test\n");
+        printf("Self-Test:Failed Accel self-test\n");
+    }
+
+    if (!(self_test_status & (GYRO_PASS_STATUS_BIT | ACCEL_PASS_STATUS_BIT))) {
+        printf("Self-Test:Failed Gyro and Accel self-test, "
+               "nothing left to do\n");
+        result = -1;
+        goto free_sysfs_storage;
+    }
+
+    // Read temperature
+    fptr= fopen(mpu.temperature, "r");
+    if (fptr != NULL) {
+        fscanf(fptr,"%d %ld", &temperature, &timestamp);
+        fclose(fptr);
+    } else {
+        printf("Self-Test:ERR-Couldn't read temperature\n");
     }
 
     // When we read gyro bias, the bias is in raw units scaled by 1000.
@@ -225,12 +368,16 @@ int main(int argc, char **argv)
     save_data.accel_bias[2] = (long)(accel_bias[2].l * 65536.f / 1000.f * 4.f);
 
 #if 1
-    printf("Self-Test:Saved Accel bias[0..2]= [%ld %ld %ld]\n", save_data.accel_bias[0],
-                    save_data.accel_bias[1], save_data.accel_bias[2]);
-    printf("Self-Test:Saved Gyro bias[0..2]= [%ld %ld %ld]\n", save_data.gyro_bias[0],
-                    save_data.gyro_bias[1], save_data.gyro_bias[2]);
-    printf("Self-Test:Gyro temperature @ time stored %ld\n", save_data.gyro_temp);
-    printf("Self-Test:Accel temperature @ time stored %ld\n", save_data.accel_temp);
+    printf("Self-Test:Saved Accel bias[0..2]= [%ld %ld %ld]\n",
+           save_data.accel_bias[0], save_data.accel_bias[1], 
+           save_data.accel_bias[2]);
+    printf("Self-Test:Saved Gyro bias[0..2]= [%ld %ld %ld]\n",
+           save_data.gyro_bias[0], save_data.gyro_bias[1], 
+           save_data.gyro_bias[2]);
+    printf("Self-Test:Gyro temperature @ time stored %ld\n", 
+           save_data.gyro_temp);
+    printf("Self-Test:Accel temperature @ time stored %ld\n", 
+           save_data.accel_temp);
 #endif
 
     // Get size of packet to store.
@@ -240,25 +387,30 @@ int main(int argc, char **argv)
     buffer = (unsigned char *)malloc(packet_sz + 10);
     if (buffer == NULL) {
         printf("Self-Test:Can't allocate buffer\n");
-        return -1;
+        result = -1;
+        goto free_sysfs_storage;
     }
 
+    // Store the data
     result = inv_save_mpl_states(buffer, packet_sz);
     if (result) {
-        result= -1;
+        result = -1;
     } else {
         fptr= fopen(MLCAL_FILE, "wb+");
         if (fptr != NULL) {
             fwrite(buffer, 1, packet_sz, fptr);
             fclose(fptr);
         } else {
-            printf("Self-Test:ERR- Can't open calibration file to write - %s\n", 
+            printf("Self-Test:ERR- Can't open calibration file to write - %s\n",
                    MLCAL_FILE);
-            result= -1;
+            result = -1;
         }
     }
 
     free(buffer);
+
+free_sysfs_storage:
+    free(sysfs_names_ptr);
     return result;
 }