diff --git a/sensors/2.1/default/Android.bp b/sensors/2.1/default/Android.bp
new file mode 100644
index 0000000..27b439d
--- /dev/null
+++ b/sensors/2.1/default/Android.bp
@@ -0,0 +1,45 @@
+//
+// 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.
+
+cc_binary {
+    name: "android.hardware.sensors@2.1-service.mock",
+    defaults: ["hidl_defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "SensorsV2_1.cpp",
+        "service.cpp",
+    ],
+    init_rc: ["android.hardware.sensors@2.1-service-mock.rc"],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-shared-impl",
+    ],
+    vintf_fragments: ["android.hardware.sensors@2.1.xml"],
+}
diff --git a/sensors/2.1/default/OWNERS b/sensors/2.1/default/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/2.1/default/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/2.1/default/SensorsV2_1.cpp b/sensors/2.1/default/SensorsV2_1.cpp
new file mode 100644
index 0000000..adf874e
--- /dev/null
+++ b/sensors/2.1/default/SensorsV2_1.cpp
@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "SensorsV2_1.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+// Methods from ::android::hardware::sensors::V2_1::ISensors follow.
+Return<void> SensorsV2_1::getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb) {
+    std::vector<SensorInfo> sensors;
+    for (const auto& sensor : mSensors) {
+        sensors.push_back(convertToNewSensorInfo(sensor.second->getSensorInfo()));
+    }
+
+    // Call the HIDL callback with the SensorInfo
+    _hidl_cb(sensors);
+
+    return Void();
+}
+
+Return<Result> SensorsV2_1::initialize_2_1(
+        const ::android::hardware::MQDescriptorSync<V2_1::Event>& eventQueueDescriptor,
+        const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+        const sp<V2_1::ISensorsCallback>& sensorsCallback) {
+    auto eventQueue = std::make_unique<MessageQueue<V2_1::Event, kSynchronizedReadWrite>>(
+            eventQueueDescriptor, true /* resetPointers */);
+    std::unique_ptr<EventMessageQueueWrapperBase> wrapper =
+            std::make_unique<EventMessageQueueWrapperV2_1>(eventQueue);
+    mCallbackWrapper = new ISensorsCallbackWrapper(sensorsCallback);
+    return initializeBase(wrapper, wakeLockDescriptor, mCallbackWrapper);
+}
+
+Return<Result> SensorsV2_1::injectSensorData_2_1(const V2_1::Event& event) {
+    return injectSensorData(convertToOldEvent(event));
+}
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
\ No newline at end of file
diff --git a/sensors/2.1/default/SensorsV2_1.h b/sensors/2.1/default/SensorsV2_1.h
new file mode 100644
index 0000000..9cd16a7
--- /dev/null
+++ b/sensors/2.1/default/SensorsV2_1.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2020 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_HARDWARE_SENSORS_V2_1_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_H
+
+#include "Sensors.h"
+
+#include "EventMessageQueueWrapper.h"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+using Result = ::android::hardware::sensors::V1_0::Result;
+using Sensors = ::android::hardware::sensors::V2_X::implementation::Sensors<ISensors>;
+
+class ISensorsCallbackWrapper : public V2_0::ISensorsCallback {
+  public:
+    ISensorsCallbackWrapper(const sp<V2_1::ISensorsCallback>& callback) : mCallback(callback) {}
+
+    Return<void> onDynamicSensorsConnected(const hidl_vec<V1_0::SensorInfo>& sensorInfos) override {
+        return mCallback->onDynamicSensorsConnected_2_1(convertToNewSensorInfos(sensorInfos));
+    }
+
+    Return<void> onDynamicSensorsDisconnected(const hidl_vec<int32_t>& sensorHandles) override {
+        return mCallback->onDynamicSensorsDisconnected(sensorHandles);
+    }
+
+  private:
+    sp<V2_1::ISensorsCallback> mCallback;
+};
+
+struct SensorsV2_1 : public Sensors {
+    // Methods from ::android::hardware::sensors::V2_1::ISensors follow.
+    Return<void> getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb) override;
+
+    Return<Result> initialize_2_1(
+            const ::android::hardware::MQDescriptorSync<V2_1::Event>& eventQueueDescriptor,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<V2_1::ISensorsCallback>& sensorsCallback) override;
+
+    Return<Result> injectSensorData_2_1(const V2_1::Event& event) override;
+
+  private:
+    sp<ISensorsCallbackWrapper> mCallbackWrapper;
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_H
\ No newline at end of file
diff --git a/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc b/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc
new file mode 100644
index 0000000..d4147e7
--- /dev/null
+++ b/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc
@@ -0,0 +1,7 @@
+service vendor.sensors-hal-2-1-mock /vendor/bin/hw/android.hardware.sensors@2.1-service.mock
+    interface android.hardware.sensors@2.0::ISensors default
+    interface android.hardware.sensors@2.1::ISensors default
+    class hal
+    user system
+    group system
+    rlimit rtprio 10 10
diff --git a/sensors/2.1/default/android.hardware.sensors@2.1.xml b/sensors/2.1/default/android.hardware.sensors@2.1.xml
new file mode 100644
index 0000000..18bd3ae
--- /dev/null
+++ b/sensors/2.1/default/android.hardware.sensors@2.1.xml
@@ -0,0 +1,11 @@
+<manifest version="1.0" type="device">
+    <hal format="hidl">
+        <name>android.hardware.sensors</name>
+        <transport>hwbinder</transport>
+        <version>2.1</version>
+        <interface>
+            <name>ISensors</name>
+            <instance>default</instance>
+        </interface>
+    </hal>
+</manifest>
diff --git a/sensors/2.1/default/service.cpp b/sensors/2.1/default/service.cpp
new file mode 100644
index 0000000..1f3087c
--- /dev/null
+++ b/sensors/2.1/default/service.cpp
@@ -0,0 +1,41 @@
+/*
+ * 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.
+ */
+
+#define LOG_TAG "android.hardware.sensors@2.1-service"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+#include <hidl/HidlTransportSupport.h>
+#include <log/log.h>
+#include <utils/StrongPointer.h>
+#include "SensorsV2_1.h"
+
+using android::hardware::configureRpcThreadpool;
+using android::hardware::joinRpcThreadpool;
+using android::hardware::sensors::V2_1::ISensors;
+using android::hardware::sensors::V2_1::implementation::SensorsV2_1;
+
+int main(int /* argc */, char** /* argv */) {
+    configureRpcThreadpool(1, true);
+
+    android::sp<ISensors> sensors = new SensorsV2_1();
+    if (sensors->registerAsService() != ::android::OK) {
+        ALOGE("Failed to register Sensors HAL instance");
+        return -1;
+    }
+
+    joinRpcThreadpool();
+    return 1;  // joinRpcThreadpool shouldn't exit
+}