diff --git a/services/sensorservice/Android.bp b/services/sensorservice/Android.bp
index 5246c78..532a2e5 100644
--- a/services/sensorservice/Android.bp
+++ b/services/sensorservice/Android.bp
@@ -33,6 +33,10 @@
         "-fvisibility=hidden"
     ],
 
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+
     shared_libs: [
         "libcutils",
         "libhardware",
@@ -49,9 +53,12 @@
         "libfmq",
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
     ],
 
-    static_libs: ["android.hardware.sensors@1.0-convert"],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+    ],
 
     generated_headers: ["framework-cppstream-protos"],
 
diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index 33f940f..3b68e0e 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -16,8 +16,10 @@
 
 #include "SensorDevice.h"
 
-#include "android/hardware/sensors/2.0/ISensorsCallback.h"
 #include "android/hardware/sensors/2.0/types.h"
+#include "android/hardware/sensors/2.1/ISensorsCallback.h"
+#include "android/hardware/sensors/2.1/types.h"
+#include "convertV2_1.h"
 #include "SensorService.h"
 
 #include <android-base/logging.h>
@@ -35,9 +37,15 @@
 using namespace android::hardware::sensors;
 using namespace android::hardware::sensors::V1_0;
 using namespace android::hardware::sensors::V1_0::implementation;
-using android::hardware::sensors::V2_0::ISensorsCallback;
 using android::hardware::sensors::V2_0::EventQueueFlagBits;
 using android::hardware::sensors::V2_0::WakeLockQueueFlagBits;
+using android::hardware::sensors::V2_1::ISensorsCallback;
+using android::hardware::sensors::V2_1::implementation::convertToOldSensorInfo;
+using android::hardware::sensors::V2_1::implementation::convertToNewSensorInfos;
+using android::hardware::sensors::V2_1::implementation::convertToNewEvents;
+using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV1_0;
+using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV2_0;
+using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV2_1;
 using android::hardware::hidl_vec;
 using android::hardware::Return;
 using android::SensorDeviceUtils::HidlServiceRegistrationWaiter;
@@ -87,11 +95,19 @@
 
 struct SensorsCallback : public ISensorsCallback {
     using Result = ::android::hardware::sensors::V1_0::Result;
-    Return<void> onDynamicSensorsConnected(
+    using SensorInfo = ::android::hardware::sensors::V2_1::SensorInfo;
+
+    Return<void> onDynamicSensorsConnected_2_1(
             const hidl_vec<SensorInfo> &dynamicSensorsAdded) override {
         return SensorDevice::getInstance().onDynamicSensorsConnected(dynamicSensorsAdded);
     }
 
+    Return<void> onDynamicSensorsConnected(
+            const hidl_vec<V1_0::SensorInfo> &dynamicSensorsAdded) override {
+        return SensorDevice::getInstance().onDynamicSensorsConnected(
+                convertToNewSensorInfos(dynamicSensorsAdded));
+    }
+
     Return<void> onDynamicSensorsDisconnected(
             const hidl_vec<int32_t> &dynamicSensorHandlesRemoved) override {
         return SensorDevice::getInstance().onDynamicSensorsDisconnected(
@@ -126,7 +142,7 @@
                 Info model;
                 for (size_t i=0 ; i < count; i++) {
                     sensor_t sensor;
-                    convertToSensor(list[i], &sensor);
+                    convertToSensor(convertToOldSensorInfo(list[i]), &sensor);
                     // Sanity check and clamp power if it is 0 (or close)
                     if (sensor.power < minPowerMa) {
                         ALOGI("Reported power %f not deemed sane, clamping to %f",
@@ -160,7 +176,11 @@
 }
 
 bool SensorDevice::connectHidlService() {
-    HalConnectionStatus status = connectHidlServiceV2_0();
+    HalConnectionStatus status = connectHidlServiceV2_1();
+    if (status == HalConnectionStatus::DOES_NOT_EXIST) {
+        status = connectHidlServiceV2_0();
+    }
+
     if (status == HalConnectionStatus::DOES_NOT_EXIST) {
         status = connectHidlServiceV1_0();
     }
@@ -180,7 +200,7 @@
             break;
         }
 
-        mSensors = new SensorServiceUtil::SensorsWrapperV1_0(sensors);
+        mSensors = new ISensorsWrapperV1_0(sensors);
         mRestartWaiter->reset();
         // Poke ISensor service. If it has lingering connection from previous generation of
         // system server, it will kill itself. There is no intention to handle the poll result,
@@ -208,40 +228,55 @@
     if (sensors == nullptr) {
         connectionStatus = HalConnectionStatus::DOES_NOT_EXIST;
     } else {
-        mSensors = new SensorServiceUtil::SensorsWrapperV2_0(sensors);
+        mSensors = new ISensorsWrapperV2_0(sensors);
+        connectionStatus = initializeHidlServiceV2_X();
+    }
 
-        mEventQueue = std::make_unique<EventMessageQueue>(
-                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
-                true /* configureEventFlagWord */);
+    return connectionStatus;
+}
 
-        mWakeLockQueue = std::make_unique<WakeLockQueue>(
-                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
-                true /* configureEventFlagWord */);
+SensorDevice::HalConnectionStatus SensorDevice::connectHidlServiceV2_1() {
+    HalConnectionStatus connectionStatus = HalConnectionStatus::UNKNOWN;
+    sp<V2_1::ISensors> sensors = V2_1::ISensors::getService();
 
-        hardware::EventFlag::deleteEventFlag(&mEventQueueFlag);
-        hardware::EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);
+    if (sensors == nullptr) {
+        connectionStatus = HalConnectionStatus::DOES_NOT_EXIST;
+    } else {
+        mSensors = new ISensorsWrapperV2_1(sensors);
+        connectionStatus = initializeHidlServiceV2_X();
+    }
 
-        hardware::EventFlag::deleteEventFlag(&mWakeLockQueueFlag);
-        hardware::EventFlag::createEventFlag(mWakeLockQueue->getEventFlagWord(),
-                                             &mWakeLockQueueFlag);
+    return connectionStatus;
+}
 
-        CHECK(mSensors != nullptr && mEventQueue != nullptr &&
-                mWakeLockQueue != nullptr && mEventQueueFlag != nullptr &&
-                mWakeLockQueueFlag != nullptr);
+SensorDevice::HalConnectionStatus SensorDevice::initializeHidlServiceV2_X() {
+    HalConnectionStatus connectionStatus = HalConnectionStatus::UNKNOWN;
 
-        status_t status = checkReturnAndGetStatus(mSensors->initialize(
-                *mEventQueue->getDesc(),
-                *mWakeLockQueue->getDesc(),
-                new SensorsCallback()));
+    mWakeLockQueue = std::make_unique<WakeLockQueue>(
+            SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
+            true /* configureEventFlagWord */);
 
-        if (status != NO_ERROR) {
-            connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
-            ALOGE("Failed to initialize Sensors HAL (%s)", strerror(-status));
-        } else {
-            connectionStatus = HalConnectionStatus::CONNECTED;
-            mSensorsHalDeathReceiver = new SensorsHalDeathReceivier();
-            sensors->linkToDeath(mSensorsHalDeathReceiver, 0 /* cookie */);
-        }
+    hardware::EventFlag::deleteEventFlag(&mEventQueueFlag);
+    hardware::EventFlag::createEventFlag(mSensors->getEventQueue()->getEventFlagWord(), &mEventQueueFlag);
+
+    hardware::EventFlag::deleteEventFlag(&mWakeLockQueueFlag);
+    hardware::EventFlag::createEventFlag(mWakeLockQueue->getEventFlagWord(),
+                                            &mWakeLockQueueFlag);
+
+    CHECK(mSensors != nullptr && mWakeLockQueue != nullptr &&
+            mEventQueueFlag != nullptr && mWakeLockQueueFlag != nullptr);
+
+    status_t status = checkReturnAndGetStatus(mSensors->initialize(
+            *mWakeLockQueue->getDesc(),
+            new SensorsCallback()));
+
+    if (status != NO_ERROR) {
+        connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
+        ALOGE("Failed to initialize Sensors HAL (%s)", strerror(-status));
+    } else {
+        connectionStatus = HalConnectionStatus::CONNECTED;
+        mSensorsHalDeathReceiver = new SensorsHalDeathReceivier();
+        mSensors->linkToDeath(mSensorsHalDeathReceiver, 0 /* cookie */);
     }
 
     return connectionStatus;
@@ -473,7 +508,8 @@
                     const auto &events,
                     const auto &dynamicSensorsAdded) {
                     if (result == Result::OK) {
-                        convertToSensorEvents(events, dynamicSensorsAdded, buffer);
+                        convertToSensorEvents(convertToNewEvents(events),
+                                convertToNewSensorInfos(dynamicSensorsAdded), buffer);
                         err = (ssize_t)events.size();
                     } else {
                         err = statusFromResult(result);
@@ -507,7 +543,7 @@
 
 ssize_t SensorDevice::pollFmq(sensors_event_t* buffer, size_t maxNumEventsToRead) {
     ssize_t eventsRead = 0;
-    size_t availableEvents = mEventQueue->availableToRead();
+    size_t availableEvents = mSensors->getEventQueue()->availableToRead();
 
     if (availableEvents == 0) {
         uint32_t eventFlagState = 0;
@@ -518,7 +554,7 @@
         // additional latency in delivering events to applications.
         mEventQueueFlag->wait(asBaseType(EventQueueFlagBits::READ_AND_PROCESS) |
                               asBaseType(INTERNAL_WAKE), &eventFlagState);
-        availableEvents = mEventQueue->availableToRead();
+        availableEvents = mSensors->getEventQueue()->availableToRead();
 
         if ((eventFlagState & asBaseType(INTERNAL_WAKE)) && mReconnecting) {
             ALOGD("Event FMQ internal wake, returning from poll with no events");
@@ -528,7 +564,7 @@
 
     size_t eventsToRead = std::min({availableEvents, maxNumEventsToRead, mEventBuffer.size()});
     if (eventsToRead > 0) {
-        if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {
+        if (mSensors->getEventQueue()->read(mEventBuffer.data(), eventsToRead)) {
             // Notify the Sensors HAL that sensor events have been read. This is required to support
             // the use of writeBlocking by the Sensors HAL.
             mEventQueueFlag->wake(asBaseType(EventQueueFlagBits::EVENTS_READ));
@@ -557,7 +593,7 @@
         CHECK(it == mConnectedDynamicSensors.end());
 
         sensor_t *sensor = new sensor_t();
-        convertToSensor(info, sensor);
+        convertToSensor(convertToOldSensorInfo(info), sensor);
 
         mConnectedDynamicSensors.insert(
                 std::make_pair(sensor->handle, sensor));
@@ -858,7 +894,7 @@
             injected_sensor_event->data[5]);
 
     Event ev;
-    convertFromSensorEvent(*injected_sensor_event, &ev);
+    V2_1::implementation::convertFromSensorEvent(*injected_sensor_event, &ev);
 
     return checkReturnAndGetStatus(mSensors->injectSensorData(ev));
 }
@@ -1021,10 +1057,9 @@
 
 void SensorDevice::convertToSensorEvent(
         const Event &src, sensors_event_t *dst) {
-    ::android::hardware::sensors::V1_0::implementation::convertToSensorEvent(
-            src, dst);
+    V2_1::implementation::convertToSensorEvent(src, dst);
 
-    if (src.sensorType == SensorType::DYNAMIC_SENSOR_META) {
+    if (src.sensorType == V2_1::SensorType::DYNAMIC_SENSOR_META) {
         const DynamicSensorInfo &dyn = src.u.dynamic;
 
         dst->dynamic_sensor_meta.connected = dyn.connected;
@@ -1052,7 +1087,7 @@
     }
 
     for (size_t i = 0; i < src.size(); ++i) {
-        convertToSensorEvent(src[i], &dst[i]);
+        V2_1::implementation::convertToSensorEvent(src[i], &dst[i]);
     }
 }
 
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 33aa7d6..24d03c6 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -19,7 +19,7 @@
 
 #include "SensorDeviceUtils.h"
 #include "SensorServiceUtils.h"
-#include "SensorsWrapper.h"
+#include "ISensorsWrapper.h"
 
 #include <fmq/MessageQueue.h>
 #include <sensor/SensorEventQueue.h>
@@ -112,7 +112,7 @@
 
     using Result = ::android::hardware::sensors::V1_0::Result;
     hardware::Return<void> onDynamicSensorsConnected(
-            const hardware::hidl_vec<hardware::sensors::V1_0::SensorInfo> &dynamicSensorsAdded);
+            const hardware::hidl_vec<hardware::sensors::V2_1::SensorInfo> &dynamicSensorsAdded);
     hardware::Return<void> onDynamicSensorsDisconnected(
             const hardware::hidl_vec<int32_t> &dynamicSensorHandlesRemoved);
 
@@ -128,7 +128,7 @@
 private:
     friend class Singleton<SensorDevice>;
 
-    sp<SensorServiceUtil::ISensorsWrapper> mSensors;
+    sp<::android::hardware::sensors::V2_1::implementation::ISensorsWrapperBase> mSensors;
     Vector<sensor_t> mSensorList;
     std::unordered_map<int32_t, sensor_t*> mConnectedDynamicSensors;
 
@@ -205,6 +205,8 @@
     };
     HalConnectionStatus connectHidlServiceV1_0();
     HalConnectionStatus connectHidlServiceV2_0();
+    HalConnectionStatus connectHidlServiceV2_1();
+    HalConnectionStatus initializeHidlServiceV2_X();
 
     ssize_t pollHal(sensors_event_t* buffer, size_t count);
     ssize_t pollFmq(sensors_event_t* buffer, size_t count);
@@ -226,8 +228,8 @@
     bool isClientDisabled(void* ident);
     bool isClientDisabledLocked(void* ident);
 
-    using Event = hardware::sensors::V1_0::Event;
-    using SensorInfo = hardware::sensors::V1_0::SensorInfo;
+    using Event = hardware::sensors::V2_1::Event;
+    using SensorInfo = hardware::sensors::V2_1::SensorInfo;
 
     void convertToSensorEvent(const Event &src, sensors_event_t *dst);
 
@@ -238,9 +240,7 @@
 
     bool mIsDirectReportSupported;
 
-    typedef hardware::MessageQueue<Event, hardware::kSynchronizedReadWrite> EventMessageQueue;
     typedef hardware::MessageQueue<uint32_t, hardware::kSynchronizedReadWrite> WakeLockQueue;
-    std::unique_ptr<EventMessageQueue> mEventQueue;
     std::unique_ptr<WakeLockQueue> mWakeLockQueue;
 
     hardware::EventFlag* mEventQueueFlag;
diff --git a/services/sensorservice/SensorsWrapper.h b/services/sensorservice/SensorsWrapper.h
deleted file mode 100644
index d1a7234..0000000
--- a/services/sensorservice/SensorsWrapper.h
+++ /dev/null
@@ -1,194 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_SENSORS_WRAPPER_H
-#define ANDROID_SENSORS_WRAPPER_H
-
-#include "android/hardware/sensors/1.0/ISensors.h"
-#include "android/hardware/sensors/2.0/ISensors.h"
-#include "android/hardware/sensors/2.0/ISensorsCallback.h"
-
-#include <utils/LightRefBase.h>
-
-namespace android {
-namespace SensorServiceUtil {
-
-using ::android::hardware::MQDescriptorSync;
-using ::android::hardware::Return;
-using ::android::hardware::sensors::V1_0::Event;
-using ::android::hardware::sensors::V1_0::ISensors;
-using ::android::hardware::sensors::V1_0::OperationMode;
-using ::android::hardware::sensors::V1_0::RateLevel;
-using ::android::hardware::sensors::V1_0::Result;
-using ::android::hardware::sensors::V1_0::SharedMemInfo;
-using ::android::hardware::sensors::V2_0::ISensorsCallback;
-
-/*
- * The ISensorsWrapper interface includes all function from supported Sensors HAL versions. This
- * allows for the SensorDevice to use the ISensorsWrapper interface to interact with the Sensors
- * HAL regardless of the current version of the Sensors HAL that is loaded. Each concrete
- * instantiation of ISensorsWrapper must correspond to a specific Sensors HAL version. This design
- * is beneficial because only the functions that change between Sensors HAL versions must be newly
- * newly implemented, any previously implemented function that does not change may remain the same.
- *
- * Functions that exist across all versions of the Sensors HAL should be implemented as pure
- * virtual functions which forces the concrete instantiations to implement the functions.
- *
- * Functions that do not exist across all versions of the Sensors HAL should include a default
- * implementation that generates an error if called. The default implementation should never
- * be called and must be overridden by Sensors HAL versions that support the function.
- */
-class ISensorsWrapper : public VirtualLightRefBase {
-public:
-    virtual bool supportsPolling() const = 0;
-
-    virtual bool supportsMessageQueues() const = 0;
-
-    virtual Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) = 0;
-
-    virtual Return<Result> setOperationMode(OperationMode mode) = 0;
-
-    virtual Return<Result> activate(int32_t sensorHandle, bool enabled) = 0;
-
-    virtual Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
-                                 int64_t maxReportLatencyNs) = 0;
-
-    virtual Return<Result> flush(int32_t sensorHandle) = 0;
-
-    virtual Return<Result> injectSensorData(const Event& event) = 0;
-
-    virtual Return<void> registerDirectChannel(const SharedMemInfo& mem,
-                                               ISensors::registerDirectChannel_cb _hidl_cb) = 0;
-
-    virtual Return<Result> unregisterDirectChannel(int32_t channelHandle) = 0;
-
-    virtual Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle,
-                                            RateLevel rate,
-                                            ISensors::configDirectReport_cb _hidl_cb) = 0;
-
-    virtual Return<void> poll(int32_t maxCount, ISensors::poll_cb _hidl_cb) {
-        (void)maxCount;
-        (void)_hidl_cb;
-        // TODO (b/111070257): Generate an assert-level error since this should never be called
-        // directly
-        return Return<void>();
-    }
-
-    virtual Return<Result> initialize(const MQDescriptorSync<Event>& eventQueueDesc,
-                                      const MQDescriptorSync<uint32_t>& wakeLockDesc,
-                                      const ::android::sp<ISensorsCallback>& callback) {
-        (void)eventQueueDesc;
-        (void)wakeLockDesc;
-        (void)callback;
-        // TODO (b/111070257): Generate an assert-level error since this should never be called
-        // directly
-        return Result::INVALID_OPERATION;
-    }
-};
-
-template<typename T>
-class SensorsWrapperBase : public ISensorsWrapper {
-public:
-    SensorsWrapperBase(sp<T> sensors) :
-        mSensors(sensors) { };
-
-    Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) override {
-        return mSensors->getSensorsList(_hidl_cb);
-    }
-
-    Return<Result> setOperationMode(OperationMode mode) override {
-        return mSensors->setOperationMode(mode);
-    }
-
-    Return<Result> activate(int32_t sensorHandle, bool enabled) override {
-        return mSensors->activate(sensorHandle, enabled);
-    }
-
-    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
-                         int64_t maxReportLatencyNs) override {
-        return mSensors->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
-    }
-
-    Return<Result> flush(int32_t sensorHandle) override {
-        return mSensors->flush(sensorHandle);
-    }
-
-    Return<Result> injectSensorData(const Event& event) override {
-        return mSensors->injectSensorData(event);
-    }
-
-    Return<void> registerDirectChannel(const SharedMemInfo& mem,
-                                       ISensors::registerDirectChannel_cb _hidl_cb) override {
-        return mSensors->registerDirectChannel(mem, _hidl_cb);
-    }
-
-    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
-        return mSensors->unregisterDirectChannel(channelHandle);
-    }
-
-    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle,
-                                    RateLevel rate,
-                                    ISensors::configDirectReport_cb _hidl_cb) override {
-        return mSensors->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
-    }
-
-protected:
-    sp<T> mSensors;
-};
-
-class SensorsWrapperV1_0 : public SensorsWrapperBase<hardware::sensors::V1_0::ISensors> {
-public:
-    SensorsWrapperV1_0(sp<hardware::sensors::V1_0::ISensors> sensors) :
-        SensorsWrapperBase(sensors) { };
-
-    bool supportsPolling() const override {
-        return true;
-    }
-
-    bool supportsMessageQueues() const override {
-        return false;
-    }
-
-    Return<void> poll(int32_t maxCount,
-                      hardware::sensors::V1_0::ISensors::poll_cb _hidl_cb) override {
-        return mSensors->poll(maxCount, _hidl_cb);
-    }
-};
-
-class SensorsWrapperV2_0 : public SensorsWrapperBase<hardware::sensors::V2_0::ISensors> {
-public:
-    SensorsWrapperV2_0(sp<hardware::sensors::V2_0::ISensors> sensors)
-        : SensorsWrapperBase(sensors) { };
-
-    bool supportsPolling() const override {
-        return false;
-    }
-
-    bool supportsMessageQueues() const override {
-        return true;
-    }
-
-    Return<Result> initialize(const MQDescriptorSync<Event>& eventQueueDesc,
-                              const MQDescriptorSync<uint32_t>& wakeLockDesc,
-                              const ::android::sp<ISensorsCallback>& callback) override {
-        return mSensors->initialize(eventQueueDesc, wakeLockDesc, callback);
-    }
-};
-
-}; // namespace SensorServiceUtil
-}; // namespace android
-
-#endif // ANDROID_SENSORS_WRAPPER_H