diff --git a/sensors/aidl/Android.bp b/sensors/aidl/Android.bp
index d04017c..9673190 100644
--- a/sensors/aidl/Android.bp
+++ b/sensors/aidl/Android.bp
@@ -11,6 +11,7 @@
     name: "android.hardware.sensors",
     vendor_available: true,
     srcs: ["android/hardware/sensors/*.aidl"],
+    host_supported: true,
     imports: [
         "android.hardware.common-V2",
         "android.hardware.common.fmq-V1",
diff --git a/sensors/aidl/convert/Android.bp b/sensors/aidl/convert/Android.bp
new file mode 100644
index 0000000..8e2146d
--- /dev/null
+++ b/sensors/aidl/convert/Android.bp
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library_static {
+    name: "android.hardware.sensors-V1-convert",
+    vendor_available: true,
+    srcs: ["convert.cpp"],
+    export_include_dirs: ["include"],
+    shared_libs: [
+        "liblog",
+        "libcutils",
+        "libhardware",
+        "libbase",
+        "libutils",
+        "android.hardware.sensors-V1-ndk",
+    ],
+    local_include_dirs: ["include/aidl/sensors"],
+    export_shared_lib_headers: [
+        "libhardware",
+    ],
+}
diff --git a/sensors/aidl/convert/convert.cpp b/sensors/aidl/convert/convert.cpp
new file mode 100644
index 0000000..415f435
--- /dev/null
+++ b/sensors/aidl/convert/convert.cpp
@@ -0,0 +1,496 @@
+/*
+ * Copyright (C) 2022 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 "aidl/sensors/convert.h"
+#include "android-base/logging.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+using aidl::android::hardware::sensors::AdditionalInfo;
+using aidl::android::hardware::sensors::DynamicSensorInfo;
+using aidl::android::hardware::sensors::Event;
+using aidl::android::hardware::sensors::ISensors;
+using aidl::android::hardware::sensors::SensorInfo;
+using aidl::android::hardware::sensors::SensorStatus;
+using aidl::android::hardware::sensors::SensorType;
+
+status_t convertToStatus(ndk::ScopedAStatus status) {
+    if (status.isOk()) {
+        return OK;
+    } else {
+        switch (status.getExceptionCode()) {
+            case EX_ILLEGAL_ARGUMENT: {
+                return BAD_VALUE;
+            }
+            case EX_SECURITY: {
+                return PERMISSION_DENIED;
+            }
+            case EX_UNSUPPORTED_OPERATION: {
+                return INVALID_OPERATION;
+            }
+            case EX_SERVICE_SPECIFIC: {
+                switch (status.getServiceSpecificError()) {
+                    case ISensors::ERROR_BAD_VALUE: {
+                        return BAD_VALUE;
+                    }
+                    case ISensors::ERROR_NO_MEMORY: {
+                        return NO_MEMORY;
+                    }
+                    default: {
+                        return UNKNOWN_ERROR;
+                    }
+                }
+            }
+            default: {
+                return UNKNOWN_ERROR;
+            }
+        }
+    }
+}
+
+void convertToSensor(const SensorInfo& src, sensor_t* dst) {
+    dst->name = strdup(src.name.c_str());
+    dst->vendor = strdup(src.vendor.c_str());
+    dst->version = src.version;
+    dst->handle = src.sensorHandle;
+    dst->type = (int)src.type;
+    dst->maxRange = src.maxRange;
+    dst->resolution = src.resolution;
+    dst->power = src.power;
+    dst->minDelay = src.minDelayUs;
+    dst->fifoReservedEventCount = src.fifoReservedEventCount;
+    dst->fifoMaxEventCount = src.fifoMaxEventCount;
+    dst->stringType = strdup(src.typeAsString.c_str());
+    dst->requiredPermission = strdup(src.requiredPermission.c_str());
+    dst->maxDelay = src.maxDelayUs;
+    dst->flags = src.flags;
+    dst->reserved[0] = dst->reserved[1] = 0;
+}
+
+void convertToSensorEvent(const Event& src, sensors_event_t* dst) {
+    *dst = {.version = sizeof(sensors_event_t),
+            .sensor = src.sensorHandle,
+            .type = (int32_t)src.sensorType,
+            .reserved0 = 0,
+            .timestamp = src.timestamp};
+
+    switch (src.sensorType) {
+        case SensorType::META_DATA: {
+            // Legacy HALs expect the handle reference in the meta data field.
+            // Copy it over from the handle of the event.
+            dst->meta_data.what = (int32_t)src.payload.get<Event::EventPayload::meta>().what;
+            dst->meta_data.sensor = src.sensorHandle;
+            // Set the sensor handle to 0 to maintain compatibility.
+            dst->sensor = 0;
+            break;
+        }
+
+        case SensorType::ACCELEROMETER:
+        case SensorType::MAGNETIC_FIELD:
+        case SensorType::ORIENTATION:
+        case SensorType::GYROSCOPE:
+        case SensorType::GRAVITY:
+        case SensorType::LINEAR_ACCELERATION: {
+            dst->acceleration.x = src.payload.get<Event::EventPayload::vec3>().x;
+            dst->acceleration.y = src.payload.get<Event::EventPayload::vec3>().y;
+            dst->acceleration.z = src.payload.get<Event::EventPayload::vec3>().z;
+            dst->acceleration.status = (int32_t)src.payload.get<Event::EventPayload::vec3>().status;
+            break;
+        }
+
+        case SensorType::GAME_ROTATION_VECTOR: {
+            dst->data[0] = src.payload.get<Event::EventPayload::vec4>().x;
+            dst->data[1] = src.payload.get<Event::EventPayload::vec4>().y;
+            dst->data[2] = src.payload.get<Event::EventPayload::vec4>().z;
+            dst->data[3] = src.payload.get<Event::EventPayload::vec4>().w;
+            break;
+        }
+
+        case SensorType::ROTATION_VECTOR:
+        case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+            dst->data[0] = src.payload.get<Event::EventPayload::data>().values[0];
+            dst->data[1] = src.payload.get<Event::EventPayload::data>().values[1];
+            dst->data[2] = src.payload.get<Event::EventPayload::data>().values[2];
+            dst->data[3] = src.payload.get<Event::EventPayload::data>().values[3];
+            dst->data[4] = src.payload.get<Event::EventPayload::data>().values[4];
+            break;
+        }
+
+        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case SensorType::GYROSCOPE_UNCALIBRATED:
+        case SensorType::ACCELEROMETER_UNCALIBRATED: {
+            dst->uncalibrated_gyro.x_uncalib = src.payload.get<Event::EventPayload::uncal>().x;
+            dst->uncalibrated_gyro.y_uncalib = src.payload.get<Event::EventPayload::uncal>().y;
+            dst->uncalibrated_gyro.z_uncalib = src.payload.get<Event::EventPayload::uncal>().z;
+            dst->uncalibrated_gyro.x_bias = src.payload.get<Event::EventPayload::uncal>().xBias;
+            dst->uncalibrated_gyro.y_bias = src.payload.get<Event::EventPayload::uncal>().yBias;
+            dst->uncalibrated_gyro.z_bias = src.payload.get<Event::EventPayload::uncal>().zBias;
+            break;
+        }
+
+        case SensorType::HINGE_ANGLE:
+        case SensorType::DEVICE_ORIENTATION:
+        case SensorType::LIGHT:
+        case SensorType::PRESSURE:
+        case SensorType::PROXIMITY:
+        case SensorType::RELATIVE_HUMIDITY:
+        case SensorType::AMBIENT_TEMPERATURE:
+        case SensorType::SIGNIFICANT_MOTION:
+        case SensorType::STEP_DETECTOR:
+        case SensorType::TILT_DETECTOR:
+        case SensorType::WAKE_GESTURE:
+        case SensorType::GLANCE_GESTURE:
+        case SensorType::PICK_UP_GESTURE:
+        case SensorType::WRIST_TILT_GESTURE:
+        case SensorType::STATIONARY_DETECT:
+        case SensorType::MOTION_DETECT:
+        case SensorType::HEART_BEAT:
+        case SensorType::LOW_LATENCY_OFFBODY_DETECT: {
+            dst->data[0] = src.payload.get<Event::EventPayload::scalar>();
+            break;
+        }
+
+        case SensorType::STEP_COUNTER: {
+            dst->u64.step_counter = src.payload.get<Event::EventPayload::stepCount>();
+            break;
+        }
+
+        case SensorType::HEART_RATE: {
+            dst->heart_rate.bpm = src.payload.get<Event::EventPayload::heartRate>().bpm;
+            dst->heart_rate.status =
+                    (int8_t)src.payload.get<Event::EventPayload::heartRate>().status;
+            break;
+        }
+
+        case SensorType::POSE_6DOF: {  // 15 floats
+            for (size_t i = 0; i < 15; ++i) {
+                dst->data[i] = src.payload.get<Event::EventPayload::pose6DOF>().values[i];
+            }
+            break;
+        }
+
+        case SensorType::DYNAMIC_SENSOR_META: {
+            dst->dynamic_sensor_meta.connected =
+                    src.payload.get<Event::EventPayload::dynamic>().connected;
+            dst->dynamic_sensor_meta.handle =
+                    src.payload.get<Event::EventPayload::dynamic>().sensorHandle;
+            dst->dynamic_sensor_meta.sensor = NULL;  // to be filled in later
+
+            memcpy(dst->dynamic_sensor_meta.uuid,
+                   src.payload.get<Event::EventPayload::dynamic>().uuid.values.data(), 16);
+
+            break;
+        }
+
+        case SensorType::ADDITIONAL_INFO: {
+            const AdditionalInfo& srcInfo = src.payload.get<Event::EventPayload::additional>();
+
+            additional_info_event_t* dstInfo = &dst->additional_info;
+            dstInfo->type = (int32_t)srcInfo.type;
+            dstInfo->serial = srcInfo.serial;
+
+            switch (srcInfo.payload.getTag()) {
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
+                    const auto& values =
+                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
+                                    .values;
+                    CHECK_EQ(values.size() * sizeof(int32_t), sizeof(dstInfo->data_int32));
+                    memcpy(dstInfo->data_int32, values.data(), sizeof(dstInfo->data_int32));
+                    break;
+                }
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
+                    const auto& values =
+                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
+                                    .values;
+                    CHECK_EQ(values.size() * sizeof(float), sizeof(dstInfo->data_float));
+                    memcpy(dstInfo->data_float, values.data(), sizeof(dstInfo->data_float));
+                    break;
+                }
+                default: {
+                    LOG(ERROR) << "Invalid sensor additional info tag: ",
+                            (int)srcInfo.payload.getTag();
+                }
+            }
+            break;
+        }
+
+        case SensorType::HEAD_TRACKER: {
+            const auto& ht = src.payload.get<Event::EventPayload::headTracker>();
+            dst->head_tracker.rx = ht.rx;
+            dst->head_tracker.ry = ht.ry;
+            dst->head_tracker.rz = ht.rz;
+            dst->head_tracker.vx = ht.vx;
+            dst->head_tracker.vy = ht.vy;
+            dst->head_tracker.vz = ht.vz;
+            dst->head_tracker.discontinuity_count = ht.discontinuityCount;
+            break;
+        }
+
+        case SensorType::ACCELEROMETER_LIMITED_AXES:
+        case SensorType::GYROSCOPE_LIMITED_AXES:
+            dst->limited_axes_imu.x = src.payload.get<Event::EventPayload::limitedAxesImu>().x;
+            dst->limited_axes_imu.y = src.payload.get<Event::EventPayload::limitedAxesImu>().y;
+            dst->limited_axes_imu.z = src.payload.get<Event::EventPayload::limitedAxesImu>().z;
+            dst->limited_axes_imu.x_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImu>().xSupported;
+            dst->limited_axes_imu.y_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImu>().ySupported;
+            dst->limited_axes_imu.z_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImu>().zSupported;
+            break;
+
+        case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+        case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+            dst->limited_axes_imu_uncalibrated.x_uncalib =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().x;
+            dst->limited_axes_imu_uncalibrated.y_uncalib =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().y;
+            dst->limited_axes_imu_uncalibrated.z_uncalib =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().z;
+            dst->limited_axes_imu_uncalibrated.x_bias =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xBias;
+            dst->limited_axes_imu_uncalibrated.y_bias =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().yBias;
+            dst->limited_axes_imu_uncalibrated.z_bias =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zBias;
+            dst->limited_axes_imu_uncalibrated.x_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xSupported;
+            dst->limited_axes_imu_uncalibrated.y_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().ySupported;
+            dst->limited_axes_imu_uncalibrated.z_supported =
+                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zSupported;
+            break;
+
+        case SensorType::HEADING:
+            dst->heading.heading = src.payload.get<Event::EventPayload::heading>().heading;
+            dst->heading.accuracy = src.payload.get<Event::EventPayload::heading>().accuracy;
+            break;
+
+        default: {
+            CHECK_GE((int32_t)src.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+            memcpy(dst->data, src.payload.get<Event::EventPayload::data>().values.data(),
+                   16 * sizeof(float));
+            break;
+        }
+    }
+}
+
+void convertFromSensorEvent(const sensors_event_t& src, Event* dst) {
+    *dst = {
+            .timestamp = src.timestamp,
+            .sensorHandle = src.sensor,
+            .sensorType = (SensorType)src.type,
+    };
+
+    switch (dst->sensorType) {
+        case SensorType::META_DATA: {
+            Event::EventPayload::MetaData meta;
+            meta.what = (Event::EventPayload::MetaData::MetaDataEventType)src.meta_data.what;
+            // Legacy HALs contain the handle reference in the meta data field.
+            // Copy that over to the handle of the event. In legacy HALs this
+            // field was expected to be 0.
+            dst->sensorHandle = src.meta_data.sensor;
+            dst->payload.set<Event::EventPayload::Tag::meta>(meta);
+            break;
+        }
+
+        case SensorType::ACCELEROMETER:
+        case SensorType::MAGNETIC_FIELD:
+        case SensorType::ORIENTATION:
+        case SensorType::GYROSCOPE:
+        case SensorType::GRAVITY:
+        case SensorType::LINEAR_ACCELERATION: {
+            Event::EventPayload::Vec3 vec3;
+            vec3.x = src.acceleration.x;
+            vec3.y = src.acceleration.y;
+            vec3.z = src.acceleration.z;
+            vec3.status = (SensorStatus)src.acceleration.status;
+            dst->payload.set<Event::EventPayload::Tag::vec3>(vec3);
+            break;
+        }
+
+        case SensorType::GAME_ROTATION_VECTOR: {
+            Event::EventPayload::Vec4 vec4;
+            vec4.x = src.data[0];
+            vec4.y = src.data[1];
+            vec4.z = src.data[2];
+            vec4.w = src.data[3];
+            dst->payload.set<Event::EventPayload::Tag::vec4>(vec4);
+            break;
+        }
+
+        case SensorType::ROTATION_VECTOR:
+        case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+            Event::EventPayload::Data data;
+            memcpy(data.values.data(), src.data, 5 * sizeof(float));
+            dst->payload.set<Event::EventPayload::Tag::data>(data);
+            break;
+        }
+
+        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case SensorType::GYROSCOPE_UNCALIBRATED:
+        case SensorType::ACCELEROMETER_UNCALIBRATED: {
+            Event::EventPayload::Uncal uncal;
+            uncal.x = src.uncalibrated_gyro.x_uncalib;
+            uncal.y = src.uncalibrated_gyro.y_uncalib;
+            uncal.z = src.uncalibrated_gyro.z_uncalib;
+            uncal.xBias = src.uncalibrated_gyro.x_bias;
+            uncal.yBias = src.uncalibrated_gyro.y_bias;
+            uncal.zBias = src.uncalibrated_gyro.z_bias;
+            dst->payload.set<Event::EventPayload::Tag::uncal>(uncal);
+            break;
+        }
+
+        case SensorType::DEVICE_ORIENTATION:
+        case SensorType::LIGHT:
+        case SensorType::PRESSURE:
+        case SensorType::PROXIMITY:
+        case SensorType::RELATIVE_HUMIDITY:
+        case SensorType::AMBIENT_TEMPERATURE:
+        case SensorType::SIGNIFICANT_MOTION:
+        case SensorType::STEP_DETECTOR:
+        case SensorType::TILT_DETECTOR:
+        case SensorType::WAKE_GESTURE:
+        case SensorType::GLANCE_GESTURE:
+        case SensorType::PICK_UP_GESTURE:
+        case SensorType::WRIST_TILT_GESTURE:
+        case SensorType::STATIONARY_DETECT:
+        case SensorType::MOTION_DETECT:
+        case SensorType::HEART_BEAT:
+        case SensorType::LOW_LATENCY_OFFBODY_DETECT:
+        case SensorType::HINGE_ANGLE: {
+            dst->payload.set<Event::EventPayload::Tag::scalar>((float)src.data[0]);
+            break;
+        }
+
+        case SensorType::STEP_COUNTER: {
+            dst->payload.set<Event::EventPayload::Tag::stepCount>(src.u64.step_counter);
+            break;
+        }
+
+        case SensorType::HEART_RATE: {
+            Event::EventPayload::HeartRate heartRate;
+            heartRate.bpm = src.heart_rate.bpm;
+            heartRate.status = (SensorStatus)src.heart_rate.status;
+            dst->payload.set<Event::EventPayload::Tag::heartRate>(heartRate);
+            break;
+        }
+
+        case SensorType::POSE_6DOF: {  // 15 floats
+            Event::EventPayload::Pose6Dof pose6DOF;
+            for (size_t i = 0; i < 15; ++i) {
+                pose6DOF.values[i] = src.data[i];
+            }
+            dst->payload.set<Event::EventPayload::Tag::pose6DOF>(pose6DOF);
+            break;
+        }
+
+        case SensorType::DYNAMIC_SENSOR_META: {
+            DynamicSensorInfo dynamic;
+            dynamic.connected = src.dynamic_sensor_meta.connected;
+            dynamic.sensorHandle = src.dynamic_sensor_meta.handle;
+
+            memcpy(dynamic.uuid.values.data(), src.dynamic_sensor_meta.uuid, 16);
+            dst->payload.set<Event::EventPayload::Tag::dynamic>(dynamic);
+            break;
+        }
+
+        case SensorType::ADDITIONAL_INFO: {
+            AdditionalInfo info;
+            const additional_info_event_t& srcInfo = src.additional_info;
+            info.type = (AdditionalInfo::AdditionalInfoType)srcInfo.type;
+            info.serial = srcInfo.serial;
+
+            AdditionalInfo::AdditionalInfoPayload::Int32Values data;
+            CHECK_EQ(data.values.size() * sizeof(int32_t), sizeof(srcInfo.data_int32));
+            memcpy(data.values.data(), srcInfo.data_int32, sizeof(srcInfo.data_int32));
+            info.payload.set<AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32>(data);
+
+            dst->payload.set<Event::EventPayload::Tag::additional>(info);
+            break;
+        }
+
+        case SensorType::HEAD_TRACKER: {
+            Event::EventPayload::HeadTracker headTracker;
+            headTracker.rx = src.head_tracker.rx;
+            headTracker.ry = src.head_tracker.ry;
+            headTracker.rz = src.head_tracker.rz;
+            headTracker.vx = src.head_tracker.vx;
+            headTracker.vy = src.head_tracker.vy;
+            headTracker.vz = src.head_tracker.vz;
+            headTracker.discontinuityCount = src.head_tracker.discontinuity_count;
+
+            dst->payload.set<Event::EventPayload::Tag::headTracker>(headTracker);
+            break;
+        }
+
+        case SensorType::ACCELEROMETER_LIMITED_AXES:
+        case SensorType::GYROSCOPE_LIMITED_AXES: {
+            Event::EventPayload::LimitedAxesImu limitedAxesImu;
+            limitedAxesImu.x = src.limited_axes_imu.x;
+            limitedAxesImu.y = src.limited_axes_imu.y;
+            limitedAxesImu.z = src.limited_axes_imu.z;
+            limitedAxesImu.xSupported = src.limited_axes_imu.x_supported;
+            limitedAxesImu.ySupported = src.limited_axes_imu.y_supported;
+            limitedAxesImu.zSupported = src.limited_axes_imu.z_supported;
+            dst->payload.set<Event::EventPayload::Tag::limitedAxesImu>(limitedAxesImu);
+            break;
+        }
+
+        case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+        case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED: {
+            Event::EventPayload::LimitedAxesImuUncal limitedAxesImuUncal;
+            limitedAxesImuUncal.x = src.limited_axes_imu_uncalibrated.x_uncalib;
+            limitedAxesImuUncal.y = src.limited_axes_imu_uncalibrated.y_uncalib;
+            limitedAxesImuUncal.z = src.limited_axes_imu_uncalibrated.z_uncalib;
+            limitedAxesImuUncal.xBias = src.limited_axes_imu_uncalibrated.x_bias;
+            limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
+            limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
+            limitedAxesImuUncal.zBias = src.limited_axes_imu_uncalibrated.z_bias;
+            limitedAxesImuUncal.xSupported = src.limited_axes_imu_uncalibrated.x_supported;
+            limitedAxesImuUncal.ySupported = src.limited_axes_imu_uncalibrated.y_supported;
+            limitedAxesImuUncal.zSupported = src.limited_axes_imu_uncalibrated.z_supported;
+            dst->payload.set<Event::EventPayload::Tag::limitedAxesImuUncal>(limitedAxesImuUncal);
+            break;
+        }
+
+        case SensorType::HEADING: {
+            Event::EventPayload::Heading heading;
+            heading.heading = src.heading.heading;
+            heading.accuracy = src.heading.accuracy;
+            dst->payload.set<Event::EventPayload::heading>(heading);
+            break;
+        }
+
+        default: {
+            CHECK_GE((int32_t)dst->sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+            Event::EventPayload::Data data;
+            memcpy(data.values.data(), src.data, 16 * sizeof(float));
+            dst->payload.set<Event::EventPayload::Tag::data>(data);
+            break;
+        }
+    }
+}
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/aidl/convert/include/aidl/sensors/convert.h b/sensors/aidl/convert/include/aidl/sensors/convert.h
new file mode 100644
index 0000000..702b226
--- /dev/null
+++ b/sensors/aidl/convert/include/aidl/sensors/convert.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/sensors/ISensors.h>
+#include <hardware/sensors.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+status_t convertToStatus(ndk::ScopedAStatus status);
+void convertToSensor(const aidl::android::hardware::sensors::SensorInfo& src, sensor_t* dst);
+void convertToSensorEvent(const aidl::android::hardware::sensors::Event& src, sensors_event_t* dst);
+void convertFromSensorEvent(const sensors_event_t& src,
+                            aidl::android::hardware::sensors::Event* dst);
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android