diff --git a/sensors/common/utils/Android.bp b/sensors/common/utils/Android.bp
new file mode 100644
index 0000000..aec6c4b
--- /dev/null
+++ b/sensors/common/utils/Android.bp
@@ -0,0 +1,36 @@
+//
+// 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.
+
+cc_library_headers {
+    name: "android.hardware.sensors@2.X-shared-utils",
+    vendor_available: true,
+    defaults: ["hidl_defaults"],
+    export_include_dirs: ["."],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libbinder",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+    ],
+}
diff --git a/sensors/common/utils/EventMessageQueueWrapper.h b/sensors/common/utils/EventMessageQueueWrapper.h
new file mode 100644
index 0000000..bf3261f
--- /dev/null
+++ b/sensors/common/utils/EventMessageQueueWrapper.h
@@ -0,0 +1,109 @@
+/*
+ * 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_EVENTMESSAGEQUEUEWRAPPER_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_EVENTMESSAGEQUEUEWRAPPER_H
+
+#include "convertV2_1.h"
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/MessageQueue.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+#include <log/log.h>
+
+#include <atomic>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+class EventMessageQueueWrapperBase : public RefBase {
+  public:
+    virtual ~EventMessageQueueWrapperBase() {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() = 0;
+    virtual size_t availableToRead() = 0;
+    virtual bool read(V2_1::Event* events, size_t numToRead) = 0;
+    virtual bool write(const std::vector<V2_1::Event>& events) = 0;
+};
+
+class EventMessageQueueWrapperV1_0 : public EventMessageQueueWrapperBase {
+  public:
+    using EventMessageQueue = MessageQueue<V1_0::Event, kSynchronizedReadWrite>;
+
+    EventMessageQueueWrapperV1_0(std::unique_ptr<EventMessageQueue>& queue)
+        : mQueue(std::move(queue)) {}
+
+    const ::android::hardware::MQDescriptorSync<V1_0::Event>* getDesc() {
+        return mQueue->getDesc();
+    }
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    virtual bool read(V2_1::Event* events, size_t numToRead) override {
+        return mQueue->read(reinterpret_cast<V1_0::Event*>(events), numToRead);
+    }
+
+    virtual bool write(const std::vector<V2_1::Event>& events) override {
+        const std::vector<V1_0::Event>& oldEvents = convertToOldEvents(events);
+        return mQueue->write(oldEvents.data(), oldEvents.size());
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueue> mQueue;
+};
+
+class EventMessageQueueWrapperV2_1 : public EventMessageQueueWrapperBase {
+  public:
+    using EventMessageQueue = MessageQueue<V2_1::Event, kSynchronizedReadWrite>;
+
+    EventMessageQueueWrapperV2_1(std::unique_ptr<EventMessageQueue>& queue)
+        : mQueue(std::move(queue)) {}
+
+    const ::android::hardware::MQDescriptorSync<V2_1::Event>* getDesc() {
+        return mQueue->getDesc();
+    }
+
+    std::atomic<uint32_t>* getEventFlagWord() override { return mQueue->getEventFlagWord(); }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    virtual bool read(V2_1::Event* events, size_t numToRead) override {
+        return mQueue->read(events, numToRead);
+    }
+
+    bool write(const std::vector<V2_1::Event>& events) override {
+        return mQueue->write(events.data(), events.size());
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueue> mQueue;
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_EVENTMESSAGEQUEUEWRAPPER_H
\ No newline at end of file
diff --git a/sensors/common/utils/ISensorsWrapper.h b/sensors/common/utils/ISensorsWrapper.h
new file mode 100644
index 0000000..4c8b442
--- /dev/null
+++ b/sensors/common/utils/ISensorsWrapper.h
@@ -0,0 +1,209 @@
+/*
+ * 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_ISENSORSWRAPPER_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_ISENSORSWRAPPER_H
+
+#include "EventMessageQueueWrapper.h"
+#include "convertV2_1.h"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+#include <android/hardware/sensors/2.1/types.h>
+#include <binder/IBinder.h>
+#include <fmq/MessageQueue.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+#include <log/log.h>
+
+#include <atomic>
+
+/**
+ * ISensorsWrapperBase wraps around the V2_1::ISensors APIs to make any HAL 2.0/2.1 interface
+ * appear as a HAL 2.1 implementation. This ensures the maximum amount of code can be shared
+ * between VTS, default implementations, and the sensors framework.
+ */
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+using ::android::sp;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+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;
+
+// TODO: Look into providing this as a param if it needs to be a different value
+// than the framework.
+static constexpr size_t MAX_RECEIVE_BUFFER_EVENT_COUNT = 256;
+
+class ISensorsWrapperBase : public RefBase {
+  public:
+    virtual ~ISensorsWrapperBase() {}
+
+    virtual EventMessageQueueWrapperBase& getEventQueue() = 0;
+    virtual Return<void> getSensorsList(V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) = 0;
+    virtual Return<Result> injectSensorData(const V2_1::Event& event) = 0;
+    virtual Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<V2_1::ISensorsCallback>& sensorsCallback) = 0;
+
+    // V2_0::ISensors implementation
+    void linkToDeath(android::sp<android::hardware::hidl_death_recipient> deathRecipient,
+                     uint64_t cookie) {
+        getSensors()->linkToDeath(deathRecipient, cookie);
+    }
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) {
+        return getSensors()->activate(sensorHandle, enabled);
+    }
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) {
+        return getSensors()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
+    }
+
+    Return<Result> flush(int32_t sensorHandle) { return getSensors()->flush(sensorHandle); }
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       V2_0::ISensors::registerDirectChannel_cb _hidl_cb) {
+        return getSensors()->registerDirectChannel(mem, _hidl_cb);
+    }
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) {
+        return getSensors()->unregisterDirectChannel(channelHandle);
+    }
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    V2_0::ISensors::configDirectReport_cb _hidl_cb) {
+        return getSensors()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
+    }
+
+    Return<Result> setOperationMode(OperationMode mode) {
+        return getSensors()->setOperationMode(mode);
+    }
+
+  private:
+    virtual V2_0::ISensors* getSensors() = 0;
+};
+
+class ISensorsWrapperV2_0 : public ISensorsWrapperBase {
+  public:
+    typedef MessageQueue<V1_0::Event, ::android::hardware::kSynchronizedReadWrite>
+            EventMessageQueue;
+
+    ISensorsWrapperV2_0(sp<V2_0::ISensors>& sensors) : mSensors(sensors) {
+        auto eventQueue = std::make_unique<EventMessageQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                                                              true /* configureEventFlagWord */);
+        mEventQueue = std::make_unique<EventMessageQueueWrapperV1_0>(eventQueue);
+    }
+
+    EventMessageQueueWrapperBase& getEventQueue() override { return *mEventQueue; }
+
+    Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<V2_1::ISensorsCallback>& sensorsCallback) override {
+        return mSensors->initialize(*mEventQueue->getDesc(), wakeLockDescriptor, sensorsCallback);
+    }
+
+    Return<void> getSensorsList(V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) override {
+        return getSensors()->getSensorsList(
+                [&](const auto& list) { _hidl_cb(convertToNewSensorInfos(list)); });
+    }
+
+    Return<Result> injectSensorData(const V2_1::Event& event) override {
+        return mSensors->injectSensorData(convertToOldEvent(event));
+    }
+
+  private:
+    V2_0::ISensors* getSensors() override { return mSensors.get(); }
+
+    sp<V2_0::ISensors> mSensors;
+    std::unique_ptr<EventMessageQueueWrapperV1_0> mEventQueue;
+};
+
+class ISensorsWrapperV2_1 : public ISensorsWrapperBase {
+  public:
+    typedef MessageQueue<V2_1::Event, ::android::hardware::kSynchronizedReadWrite>
+            EventMessageQueue;
+
+    ISensorsWrapperV2_1(sp<V2_1::ISensors>& sensors) : mSensors(sensors) {
+        auto eventQueue = std::make_unique<EventMessageQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                                                              true /* configureEventFlagWord */);
+        mEventQueue = std::make_unique<EventMessageQueueWrapperV2_1>(eventQueue);
+    }
+
+    EventMessageQueueWrapperBase& getEventQueue() override { return *mEventQueue; }
+
+    Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<V2_1::ISensorsCallback>& sensorsCallback) override {
+        return mSensors->initialize_2_1(*mEventQueue->getDesc(), wakeLockDescriptor,
+                                        sensorsCallback);
+    }
+
+    Return<void> getSensorsList(V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) override {
+        return mSensors->getSensorsList_2_1(_hidl_cb);
+    }
+
+    Return<Result> injectSensorData(const V2_1::Event& event) override {
+        return mSensors->injectSensorData_2_1(event);
+    }
+
+  private:
+    V2_0::ISensors* getSensors() override { return mSensors.get(); }
+
+    sp<V2_1::ISensors> mSensors;
+    std::unique_ptr<EventMessageQueueWrapperV2_1> mEventQueue;
+};
+
+inline sp<ISensorsWrapperV2_0> wrapISensors(sp<V2_0::ISensors> sensors) {
+    return new ISensorsWrapperV2_0(sensors);
+}
+
+inline sp<ISensorsWrapperV2_1> wrapISensors(sp<V2_1::ISensors> sensors) {
+    return new ISensorsWrapperV2_1(sensors);
+}
+
+class NoOpSensorsCallback : public ISensorsCallback {
+  public:
+    Return<void> onDynamicSensorsConnected(
+            const hidl_vec<V1_0::SensorInfo>& /* sensorInfos */) override {
+        return Return<void>();
+    }
+
+    Return<void> onDynamicSensorsDisconnected(
+            const hidl_vec<int32_t>& /* sensorHandles */) override {
+        return Return<void>();
+    }
+
+    Return<void> onDynamicSensorsConnected_2_1(
+            const hidl_vec<SensorInfo>& /* sensorInfos */) override {
+        return Return<void>();
+    }
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_ISENSORSWRAPPER_H
diff --git a/sensors/common/utils/OWNERS b/sensors/common/utils/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/common/utils/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/common/utils/convertV2_1.h b/sensors/common/utils/convertV2_1.h
new file mode 100644
index 0000000..9231011
--- /dev/null
+++ b/sensors/common/utils/convertV2_1.h
@@ -0,0 +1,122 @@
+/*
+ * 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_CONVERT_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_CONVERT_H
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <hardware/sensors.h>
+#include <sensors/convert.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+static_assert(sizeof(V1_0::Event) == sizeof(V2_1::Event),
+              "New and old Event types must have the same size");
+static_assert(sizeof(V1_0::SensorInfo) == sizeof(V2_1::SensorInfo),
+              "New and old SensorInfo types must have the same size");
+
+// The following conversion methods are safe as the only difference between
+// V1_0 and V2_1 for these types is an added enum value to SensorType which doesn't
+// change the memory layout of the types.
+inline const V1_0::Event& convertToOldEvent(const V2_1::Event& event) {
+    return reinterpret_cast<const V1_0::Event&>(event);
+}
+
+inline const std::vector<V1_0::Event>& convertToOldEvents(const std::vector<V2_1::Event>& events) {
+    return reinterpret_cast<const std::vector<V1_0::Event>&>(events);
+}
+
+inline V1_0::Event* convertToOldEvent(V2_1::Event* event) {
+    return reinterpret_cast<V1_0::Event*>(event);
+}
+
+inline const V2_1::SensorInfo& convertToNewSensorInfo(const V1_0::SensorInfo& info) {
+    return reinterpret_cast<const V2_1::SensorInfo&>(info);
+}
+
+inline const V1_0::SensorInfo& convertToOldSensorInfo(const V2_1::SensorInfo& info) {
+    return reinterpret_cast<const V1_0::SensorInfo&>(info);
+}
+
+inline const V2_1::Event& convertToNewEvent(const V1_0::Event& event) {
+    return reinterpret_cast<const V2_1::Event&>(event);
+}
+
+inline const std::vector<V2_1::Event>& convertToNewEvents(const std::vector<V1_0::Event>& events) {
+    return reinterpret_cast<const std::vector<V2_1::Event>&>(events);
+}
+
+inline const hidl_vec<V2_1::Event>& convertToNewEvents(const hidl_vec<V1_0::Event>& events) {
+    return reinterpret_cast<const hidl_vec<V2_1::Event>&>(events);
+}
+
+inline const hidl_vec<V2_1::SensorInfo>& convertToNewSensorInfos(
+        const hidl_vec<V1_0::SensorInfo>& infos) {
+    return reinterpret_cast<const hidl_vec<V2_1::SensorInfo>&>(infos);
+}
+
+inline const hidl_vec<V1_0::SensorInfo>& convertToOldSensorInfos(
+        const hidl_vec<V2_1::SensorInfo>& infos) {
+    return reinterpret_cast<const hidl_vec<V1_0::SensorInfo>&>(infos);
+}
+
+inline void convertFromSensorEvent(const sensors_event_t& src, V2_1::Event* dst) {
+    switch ((SensorType)src.type) {
+        case SensorType::HINGE_ANGLE:
+            // Only fill in values for hinge angle as other sensors
+            // will have it filled in by legacy code.
+            *dst = {
+                    .timestamp = src.timestamp,
+                    .sensorHandle = src.sensor,
+                    .sensorType = (SensorType)src.type,
+            };
+            dst->u.scalar = src.data[0];
+            break;
+        default:
+            V1_0::implementation::convertFromSensorEvent(src, convertToOldEvent(dst));
+            break;
+    }
+}
+
+inline void convertToSensorEvent(const V2_1::Event& src, sensors_event_t* dst) {
+    switch (src.sensorType) {
+        case SensorType::HINGE_ANGLE:
+            // Only fill in values for hinge angle as other sensors
+            // will have it filled in by legacy code.
+            *dst = {.version = sizeof(sensors_event_t),
+                    .sensor = src.sensorHandle,
+                    .type = (int32_t)src.sensorType,
+                    .reserved0 = 0,
+                    .timestamp = src.timestamp};
+            dst->data[0] = src.u.scalar;
+            break;
+        default:
+            V1_0::implementation::convertToSensorEvent(convertToOldEvent(src), dst);
+            break;
+    }
+}
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_CONVERT_H