diff --git a/compatibility_matrices/Android.mk b/compatibility_matrices/Android.mk
index 2a01480..1c86f11 100644
--- a/compatibility_matrices/Android.mk
+++ b/compatibility_matrices/Android.mk
@@ -16,123 +16,78 @@
 
 LOCAL_PATH := $(call my-dir)
 
+BUILD_FRAMEWORK_COMPATIBILITY_MATRIX := $(LOCAL_PATH)/compatibility_matrix.mk
+
+# Clear potential input variables to BUILD_FRAMEWORK_COMPATIBILITY_MATRIX
+LOCAL_ADD_VBMETA_VERSION :=
+LOCAL_ASSEMBLE_VINTF_ENV_VARS :=
+LOCAL_ASSEMBLE_VINTF_FLAGS :=
+LOCAL_KERNEL_VERSIONS :=
+LOCAL_GEN_FILE_DEPENDENCIES :=
+
 # Install all compatibility_matrix.*.xml to /system/etc/vintf
 
+
 include $(CLEAR_VARS)
-LOCAL_MODULE := framework_compatibility_matrix.legacy.xml
 LOCAL_MODULE_STEM := compatibility_matrix.legacy.xml
 LOCAL_SRC_FILES := $(LOCAL_MODULE_STEM)
-LOCAL_MODULE_CLASS := ETC
-LOCAL_MODULE_PATH := $(TARGET_OUT)/etc/vintf
-include $(BUILD_PREBUILT)
+LOCAL_KERNEL_VERSIONS := 3.18.0 4.4.0 4.9.0
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
 
 include $(CLEAR_VARS)
-LOCAL_MODULE := framework_compatibility_matrix.1.xml
 LOCAL_MODULE_STEM := compatibility_matrix.1.xml
 LOCAL_SRC_FILES := $(LOCAL_MODULE_STEM)
-LOCAL_MODULE_CLASS := ETC
-LOCAL_MODULE_PATH := $(TARGET_OUT)/etc/vintf
-include $(BUILD_PREBUILT)
+LOCAL_KERNEL_VERSIONS := 3.18.0 4.4.0 4.9.0
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
 
 include $(CLEAR_VARS)
-LOCAL_MODULE := framework_compatibility_matrix.2.xml
 LOCAL_MODULE_STEM := compatibility_matrix.2.xml
 LOCAL_SRC_FILES := $(LOCAL_MODULE_STEM)
-LOCAL_MODULE_CLASS := ETC
-LOCAL_MODULE_PATH := $(TARGET_OUT)/etc/vintf
-include $(BUILD_PREBUILT)
+LOCAL_KERNEL_VERSIONS := 3.18.0 4.4.0 4.9.0
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
+
+# TODO(b/72409164): STOPSHIP: update kernel version requirements
 
 include $(CLEAR_VARS)
-LOCAL_MODULE := framework_compatibility_matrix.current.xml
 LOCAL_MODULE_STEM := compatibility_matrix.current.xml
 LOCAL_SRC_FILES := $(LOCAL_MODULE_STEM)
-LOCAL_MODULE_CLASS := ETC
-LOCAL_MODULE_PATH := $(TARGET_OUT)/etc/vintf
-include $(BUILD_PREBUILT)
+LOCAL_KERNEL_VERSIONS := 4.4.0 4.9.0
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
 
-# Framework Compatibility Matrix without HALs
+# Framework Compatibility Matrix (common to all FCM versions)
+
 include $(CLEAR_VARS)
-LOCAL_MODULE        := framework_compatibility_matrix.empty.xml
-LOCAL_MODULE_STEM   := compatibility_matrix.empty.xml
-LOCAL_MODULE_CLASS  := ETC
-LOCAL_MODULE_PATH   := $(TARGET_OUT)/etc/vintf
+LOCAL_MODULE_STEM := compatibility_matrix.empty.xml
+LOCAL_SRC_FILES := $(LOCAL_MODULE_STEM)
+LOCAL_ADD_VBMETA_VERSION := true
+LOCAL_ASSEMBLE_VINTF_ENV_VARS := \
+	POLICYVERS \
+	BOARD_SEPOLICY_VERS
 
-GEN := $(local-generated-sources-dir)/$(LOCAL_MODULE_STEM)
-
-$(GEN): PRIVATE_FLAGS :=
-
-ifeq (true,$(BOARD_AVB_ENABLE))
-$(GEN): $(AVBTOOL)
-# INTERNAL_AVB_SYSTEM_SIGNING_ARGS consists of BOARD_AVB_SYSTEM_KEY_PATH and
-# BOARD_AVB_SYSTEM_ALGORITHM. We should add the dependency of key path, which
-# is a file, here.
-$(GEN): $(BOARD_AVB_SYSTEM_KEY_PATH)
-# Use deferred assignment (=) instead of immediate assignment (:=).
-# Otherwise, cannot get INTERNAL_AVB_SYSTEM_SIGNING_ARGS.
-$(GEN): FRAMEWORK_VBMETA_VERSION = $$("$(AVBTOOL)" add_hashtree_footer \
-                           --print_required_libavb_version \
-                           $(INTERNAL_AVB_SYSTEM_SIGNING_ARGS) \
-                           $(BOARD_AVB_SYSTEM_ADD_HASHTREE_FOOTER_ARGS))
-else
-$(GEN): FRAMEWORK_VBMETA_VERSION := 0.0
-endif
-
-# Specify kernel versions that the current framework supports. These versions,
-# along with kernel configurations, are written to the framework compatibility
-# matrix.
-$(GEN): KERNEL_VERSIONS := 3.18 4.4 4.9
-
-# Specify the location of android-base*.cfg files.
-$(GEN): KERNEL_CONFIG_DATA := kernel/configs
-
-$(GEN): $(foreach version,$(KERNEL_VERSIONS),\
-	$(wildcard $(KERNEL_CONFIG_DATA)/android-$(version)/android-base*.cfg))
-$(GEN): PRIVATE_FLAGS += $(foreach version,$(KERNEL_VERSIONS),\
-	--kernel=$(version):$(call normalize-path-list,\
-		$(wildcard $(KERNEL_CONFIG_DATA)/android-$(version)/android-base*.cfg)))
-
-$(GEN): $(LOCAL_PATH)/compatibility_matrix.empty.xml $(HOST_OUT_EXECUTABLES)/assemble_vintf
-	POLICYVERS=$(POLICYVERS) \
-		BOARD_SEPOLICY_VERS=$(BOARD_SEPOLICY_VERS) \
-		FRAMEWORK_VBMETA_VERSION=$(FRAMEWORK_VBMETA_VERSION) \
-		$(HOST_OUT_EXECUTABLES)/assemble_vintf \
-		-i $< -o $@ $(PRIVATE_FLAGS)
-LOCAL_PREBUILT_MODULE_FILE := $(GEN)
-include $(BUILD_PREBUILT)
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
 
 # Framework Compatibility Matrix
-include $(CLEAR_VARS)
-LOCAL_MODULE        := framework_compatibility_matrix.xml
-LOCAL_MODULE_STEM   := compatibility_matrix.xml
-LOCAL_MODULE_CLASS  := ETC
-LOCAL_MODULE_PATH   := $(TARGET_OUT)
 
+include $(CLEAR_VARS)
+LOCAL_MODULE := framework_compatibility_matrix.xml
+LOCAL_MODULE_STEM := compatibility_matrix.xml
+LOCAL_MODULE_PATH := $(TARGET_OUT)
 LOCAL_REQUIRED_MODULES := \
     framework_compatibility_matrix.legacy.xml \
     framework_compatibility_matrix.1.xml \
     framework_compatibility_matrix.2.xml \
     framework_compatibility_matrix.current.xml \
     framework_compatibility_matrix.empty.xml
-
-GEN := $(local-generated-sources-dir)/compatibility_matrix.xml
-
-$(GEN): PRIVATE_FLAGS :=
+LOCAL_GENERATED_SOURCES := $(call module-installed-files,$(LOCAL_REQUIRED_MODULES))
 
 ifdef BUILT_VENDOR_MANIFEST
-$(GEN): $(BUILT_VENDOR_MANIFEST)
-$(GEN): PRIVATE_FLAGS += -c "$(BUILT_VENDOR_MANIFEST)"
+LOCAL_GEN_FILE_DEPENDENCIES += $(BUILT_VENDOR_MANIFEST)
+LOCAL_ASSEMBLE_VINTF_FLAGS += -c "$(BUILT_VENDOR_MANIFEST)"
 endif
 
-MATRIX_SRC_FILES := $(call module-installed-files,$(LOCAL_REQUIRED_MODULES))
-$(GEN): PRIVATE_MATRIX_SRC_FILES := $(MATRIX_SRC_FILES)
-$(GEN): $(MATRIX_SRC_FILES) $(HOST_OUT_EXECUTABLES)/assemble_vintf
-	PRODUCT_ENFORCE_VINTF_MANIFEST=$(PRODUCT_ENFORCE_VINTF_MANIFEST) \
-		$(HOST_OUT_EXECUTABLES)/assemble_vintf \
-		-i $(call normalize-path-list,$(PRIVATE_MATRIX_SRC_FILES)) \
-		-o $@ $(PRIVATE_FLAGS)
+LOCAL_ASSEMBLE_VINTF_ENV_VARS := PRODUCT_ENFORCE_VINTF_MANIFEST
 
-MATRIX_SRC_FILES :=
-
-LOCAL_PREBUILT_MODULE_FILE := $(GEN)
-include $(BUILD_PREBUILT)
+include $(BUILD_FRAMEWORK_COMPATIBILITY_MATRIX)
 BUILT_SYSTEM_COMPATIBILITY_MATRIX := $(LOCAL_BUILT_MODULE)
+
+BUILD_FRAMEWORK_COMPATIBILITY_MATRIX :=
diff --git a/compatibility_matrices/compatibility_matrix.mk b/compatibility_matrices/compatibility_matrix.mk
new file mode 100644
index 0000000..14c60ab
--- /dev/null
+++ b/compatibility_matrices/compatibility_matrix.mk
@@ -0,0 +1,100 @@
+#
+# 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.
+#
+
+###########################################################
+## Remove minor revision from a kernel version. For example,
+## 3.18.0 becomes 3.18.
+## $(1): kernel version
+###########################################################
+define remove-minor-revision
+$(strip $(subst $(space),.,$(wordlist 1,2,$(subst .,$(space),$(strip $(1))))))
+endef
+
+# $(warning $(call remove-minor-revision,3.18.0))
+
+ifndef LOCAL_MODULE_STEM
+$(error LOCAL_MODULE_STEM must be defined.)
+endif
+
+LOCAL_MODULE := framework_$(LOCAL_MODULE_STEM)
+LOCAL_MODULE_CLASS := ETC
+
+ifndef LOCAL_MODULE_PATH
+LOCAL_MODULE_PATH := $(TARGET_OUT)/etc/vintf
+endif
+
+GEN := $(local-generated-sources-dir)/$(LOCAL_MODULE_STEM)
+
+$(GEN): PRIVATE_ENV_VARS := $(LOCAL_ASSEMBLE_VINTF_ENV_VARS)
+$(GEN): PRIVATE_FLAGS := $(LOCAL_ASSEMBLE_VINTF_FLAGS)
+
+$(GEN): $(LOCAL_GEN_FILE_DEPENDENCIES)
+
+ifeq (true,$(strip $(LOCAL_ADD_VBMETA_VERSION)))
+ifeq (true,$(BOARD_AVB_ENABLE))
+$(GEN): $(AVBTOOL)
+# INTERNAL_AVB_SYSTEM_SIGNING_ARGS consists of BOARD_AVB_SYSTEM_KEY_PATH and
+# BOARD_AVB_SYSTEM_ALGORITHM. We should add the dependency of key path, which
+# is a file, here.
+$(GEN): $(BOARD_AVB_SYSTEM_KEY_PATH)
+# Use deferred assignment (=) instead of immediate assignment (:=).
+# Otherwise, cannot get INTERNAL_AVB_SYSTEM_SIGNING_ARGS.
+$(GEN): FRAMEWORK_VBMETA_VERSION = $$("$(AVBTOOL)" add_hashtree_footer \
+                           --print_required_libavb_version \
+                           $(INTERNAL_AVB_SYSTEM_SIGNING_ARGS) \
+                           $(BOARD_AVB_SYSTEM_ADD_HASHTREE_FOOTER_ARGS))
+else
+$(GEN): FRAMEWORK_VBMETA_VERSION := 0.0
+endif # BOARD_AVB_ENABLE
+$(GEN): PRIVATE_ENV_VARS += FRAMEWORK_VBMETA_VERSION
+endif # LOCAL_ADD_VBMETA_VERSION
+
+ifneq (,$(strip $(LOCAL_KERNEL_VERSIONS)))
+$(GEN): PRIVATE_KERNEL_CONFIG_DATA := kernel/configs
+$(GEN): PRIVATE_KERNEL_VERSIONS := $(LOCAL_KERNEL_VERSIONS)
+$(GEN): $(foreach version,$(PRIVATE_KERNEL_VERSIONS),\
+    $(wildcard $(PRIVATE_KERNEL_CONFIG_DATA)/android-$(call remove-minor-revision,$(version))/android-base*.cfg))
+$(GEN): PRIVATE_FLAGS += $(foreach version,$(PRIVATE_KERNEL_VERSIONS),\
+    --kernel=$(version):$(call normalize-path-list,\
+        $(wildcard $(PRIVATE_KERNEL_CONFIG_DATA)/android-$(call remove-minor-revision,$(version))/android-base*.cfg)))
+endif
+
+my_matrix_src_files := \
+	$(addprefix $(LOCAL_PATH)/,$(LOCAL_SRC_FILES)) \
+	$(LOCAL_GENERATED_SOURCES)
+
+$(GEN): PRIVATE_SRC_FILES := $(my_matrix_src_files)
+$(GEN): $(my_matrix_src_files) $(HOST_OUT_EXECUTABLES)/assemble_vintf
+	$(foreach varname,$(PRIVATE_ENV_VARS),$(varname)=$($(varname))) \
+		$(HOST_OUT_EXECUTABLES)/assemble_vintf \
+		-i $(call normalize-path-list,$(PRIVATE_SRC_FILES)) \
+		-o $@ \
+		$(PRIVATE_FLAGS)
+
+LOCAL_PREBUILT_MODULE_FILE := $(GEN)
+LOCAL_SRC_FILES :=
+LOCAL_GENERATED_SOURCES :=
+
+LOCAL_ADD_VBMETA_VERSION :=
+LOCAL_ASSEMBLE_VINTF_ENV_VARS :=
+LOCAL_ASSEMBLE_VINTF_FLAGS :=
+LOCAL_KERNEL_VERSIONS :=
+LOCAL_GEN_FILE_DEPENDENCIES :=
+my_matrix_src_files :=
+
+include $(BUILD_PREBUILT)
+
+remove-minor-revision :=
diff --git a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
index ca3d3e4..24b58a7 100644
--- a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
+++ b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
@@ -15,8 +15,8 @@
  */
 
 #define LOG_TAG "sensors_hidl_hal_test"
-#include "GrallocWrapper.h"
 #include <VtsHalHidlTargetTestBase.h>
+#include <VtsHalHidlTargetTestEnvBase.h>
 #include <android-base/logging.h>
 #include <android/hardware/sensors/1.0/ISensors.h>
 #include <android/hardware/sensors/1.0/types.h>
@@ -24,6 +24,7 @@
 #include <hardware/sensors.h>  // for sensor type strings
 #include <log/log.h>
 #include <utils/SystemClock.h>
+#include "GrallocWrapper.h"
 
 #include <algorithm>
 #include <cinttypes>
@@ -46,63 +47,65 @@
 
 // Test environment for sensors
 class SensorsHidlTest;
-class SensorsHidlEnvironment : public ::testing::Environment {
- public:
-  // get the test environment singleton
-  static SensorsHidlEnvironment* Instance() {
-    static SensorsHidlEnvironment* instance = new SensorsHidlEnvironment;
-    return instance;
-  }
+class SensorsHidlEnvironment : public ::testing::VtsHalHidlTargetTestEnvBase {
+   public:
+    // get the test environment singleton
+    static SensorsHidlEnvironment* Instance() {
+        static SensorsHidlEnvironment* instance = new SensorsHidlEnvironment;
+        return instance;
+    }
 
-  virtual void SetUp();
-  virtual void TearDown();
+    virtual void HidlSetUp() override;
+    virtual void HidlTearDown() override;
 
-  // Get and clear all events collected so far (like "cat" shell command).
-  // If output is nullptr, it clears all collected events.
-  void catEvents(std::vector<Event>* output);
+    virtual void registerTestServices() override { registerTestService<ISensors>(); }
 
-  // set sensor event collection status
-  void setCollection(bool enable);
+    // Get and clear all events collected so far (like "cat" shell command).
+    // If output is nullptr, it clears all collected events.
+    void catEvents(std::vector<Event>* output);
 
- private:
-  friend SensorsHidlTest;
-  // sensors hidl service
-  sp<ISensors> sensors;
+    // set sensor event collection status
+    void setCollection(bool enable);
 
-  SensorsHidlEnvironment() {}
+   private:
+    friend SensorsHidlTest;
+    // sensors hidl service
+    sp<ISensors> sensors;
 
-  void addEvent(const Event& ev);
-  void startPollingThread();
-  void resetHal();
-  static void pollingThread(SensorsHidlEnvironment* env, std::shared_ptr<bool> stop);
+    SensorsHidlEnvironment() {}
 
-  bool collectionEnabled;
-  std::shared_ptr<bool> stopThread;
-  std::thread pollThread;
-  std::vector<Event> events;
-  std::mutex events_mutex;
+    void addEvent(const Event& ev);
+    void startPollingThread();
+    void resetHal();
+    static void pollingThread(SensorsHidlEnvironment* env, std::shared_ptr<bool> stop);
 
-  GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironment);
+    bool collectionEnabled;
+    std::shared_ptr<bool> stopThread;
+    std::thread pollThread;
+    std::vector<Event> events;
+    std::mutex events_mutex;
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironment);
 };
 
-void SensorsHidlEnvironment::SetUp() {
-  resetHal();
+void SensorsHidlEnvironment::HidlSetUp() {
+    resetHal();
 
-  ASSERT_NE(sensors, nullptr) << "sensors is nullptr, cannot get hidl service";
+    ASSERT_NE(sensors, nullptr) << "sensors is nullptr, cannot get hidl service";
 
-  collectionEnabled = false;
-  startPollingThread();
+    collectionEnabled = false;
+    startPollingThread();
 
-  // In case framework just stopped for test and there is sensor events in the pipe,
-  // wait some time for those events to be cleared to avoid them messing up the test.
-  std::this_thread::sleep_for(std::chrono::seconds(3));
+    // In case framework just stopped for test and there is sensor events in the pipe,
+    // wait some time for those events to be cleared to avoid them messing up the test.
+    std::this_thread::sleep_for(std::chrono::seconds(3));
 }
 
-void SensorsHidlEnvironment::TearDown() {
-  if (stopThread) {
-    *stopThread = true;
-  }
-  pollThread.detach();
+void SensorsHidlEnvironment::HidlTearDown() {
+    if (stopThread) {
+        *stopThread = true;
+    }
+    pollThread.detach();
 }
 
 void SensorsHidlEnvironment::resetHal() {
@@ -115,7 +118,8 @@
     // this do ... while is for easy error handling
     do {
       step = "getService()";
-      sensors = ISensors::getService();
+      sensors = ISensors::getService(
+          SensorsHidlEnvironment::Instance()->getServiceName<ISensors>());
       if (sensors == nullptr) {
         break;
       }
@@ -1500,6 +1504,7 @@
 int main(int argc, char **argv) {
   ::testing::AddGlobalTestEnvironment(SensorsHidlEnvironment::Instance());
   ::testing::InitGoogleTest(&argc, argv);
+  SensorsHidlEnvironment::Instance()->init(&argc, argv);
   int status = RUN_ALL_TESTS();
   ALOGI("Test result = %d", status);
   return status;