diff --git a/current.txt b/current.txt
index 29e95fe..73a18ff 100644
--- a/current.txt
+++ b/current.txt
@@ -693,6 +693,9 @@
 a2977755bc5f1ef47f04b7f2400632efda6218e1515dba847da487145cfabc4f android.hardware.radio.config@1.3::IRadioConfig
 742360c775313438b0f82256eac62fb5bbc76a6ae6f388573f3aa142fb2c1eea android.hardware.radio.config@1.3::IRadioConfigIndication
 0006ab8e8b0910cbd3bbb08d5f17d5fac7d65a2bdad5f2334e4851db9d1e6fa8 android.hardware.radio.config@1.3::IRadioConfigResponse
+3ca6616381080bdd6c08141ad12775a94ae868c58b02b1274ae3326f7de724ab android.hardware.sensors@2.1::ISensors
+3d4141c6373cd9ca02fe221a7d12343840de2255d032c38248fe8e35816b58b2 android.hardware.sensors@2.1::ISensorsCallback
+8051cc50fc90ed447f058a8b15d81f35a65f1bd9004b1de4f127edeb89b47978 android.hardware.sensors@2.1::types
 4a6517ea4ad807855428b0101d8e1a486497bd88ab4300ba3b2be43d46d32580 android.hardware.soundtrigger@2.3::types
 12d7533ff0754f45bf59ab300799074570a99a676545652c2c23abc73cb4515d android.hardware.soundtrigger@2.3::ISoundTriggerHw
 7746fda1fbf9c7c132bae701cc5a161309e4f5e7f3e8065811045975ee86196d android.hardware.usb.gadget@1.1::IUsbGadget
diff --git a/sensors/2.1/Android.bp b/sensors/2.1/Android.bp
new file mode 100644
index 0000000..8e80e1f
--- /dev/null
+++ b/sensors/2.1/Android.bp
@@ -0,0 +1,21 @@
+// This file is autogenerated by hidl-gen -Landroidbp.
+
+hidl_interface {
+    name: "android.hardware.sensors@2.1",
+    root: "android.hardware",
+    vndk: {
+        enabled: true,
+    },
+    srcs: [
+        "types.hal",
+        "ISensors.hal",
+        "ISensorsCallback.hal",
+    ],
+    interfaces: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hidl.base@1.0",
+    ],
+    gen_java: false,
+    gen_java_constants: true,
+}
diff --git a/sensors/2.1/ISensors.hal b/sensors/2.1/ISensors.hal
new file mode 100644
index 0000000..d401fa5
--- /dev/null
+++ b/sensors/2.1/ISensors.hal
@@ -0,0 +1,148 @@
+/*
+ * 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.
+ */
+
+package android.hardware.sensors@2.1;
+
+import @1.0::Result;
+import @2.0::ISensors;
+import @2.1::ISensorsCallback;
+
+interface ISensors extends @2.0::ISensors {
+    /**
+     * Enumerate all available (static) sensors.
+     *
+     * The SensorInfo for each sensor returned by getSensorsList must be stable
+     * from the initial call to getSensorsList after a device boot until the
+     * entire system restarts. The SensorInfo for each sensor must not change
+     * between subsequent calls to getSensorsList, even across restarts of the
+     * HAL and its dependencies (for example, the sensor handle for a given
+     * sensor must not change across HAL restarts).
+     */
+    getSensorsList_2_1() generates (vec<SensorInfo> list);
+
+    /**
+     * Initialize the Sensors HAL's Fast Message Queues (FMQ) and callback.
+     *
+     * The Fast Message Queues (FMQ) that are used to send data between the
+     * framework and the HAL. The callback is used by the HAL to notify the
+     * framework of asynchronous events, such as a dynamic sensor connection.
+     *
+     * The Event FMQ is used to transport sensor events from the HAL to the
+     * framework. The Event FMQ is created using the eventQueueDescriptor.
+     * Data may only be written to the Event FMQ. Data must not be read from
+     * the Event FMQ since the framework is the only reader. Upon receiving
+     * sensor events, the HAL writes the sensor events to the Event FMQ.
+     *
+     * Once the HAL is finished writing sensor events to the Event FMQ, the HAL
+     * must notify the framework that sensor events are available to be read and
+     * processed. This is accomplished by either:
+     *     1) Calling the Event FMQ’s EventFlag::wake() function with
+              EventQueueFlagBits::READ_AND_PROCESS
+     *     2) Setting the write notification in the Event FMQ’s writeBlocking()
+     *        function to EventQueueFlagBits::READ_AND_PROCESS.
+     *
+     * If the Event FMQ’s writeBlocking() function is used, the read
+     * notification must be set to EventQueueFlagBits::EVENTS_READ in order to
+     * be notified and unblocked when the framework has successfully read events
+     * from the Event FMQ.
+     *
+     * The Wake Lock FMQ is used by the framework to notify the HAL when it is
+     * safe to release its wake_lock. When the framework receives WAKE_UP events
+     * from the Event FMQ and the framework has acquired a wake_lock, the
+     * framework must write the number of WAKE_UP events processed to the Wake
+     * Lock FMQ. When the HAL reads the data from the Wake Lock FMQ, the HAL
+     * decrements its current count of unprocessed WAKE_UP events and releases
+     * its wake_lock if the current count of unprocessed WAKE_UP events is
+     * zero. It is important to note that the HAL must acquire the wake lock and
+     * update its internal state regarding the number of outstanding WAKE_UP
+     * events _before_ posting the event to the Wake Lock FMQ, in order to avoid
+     * a race condition that can lead to loss of wake lock synchronization with
+     * the framework.
+     *
+     * The framework must use the WakeLockQueueFlagBits::DATA_WRITTEN value to
+     * notify the HAL that data has been written to the Wake Lock FMQ and must
+     * be read by HAL.
+     *
+     * The ISensorsCallback is used by the HAL to notify the framework of
+     * asynchronous events, such as a dynamic sensor connection.
+     *
+     * The name of any wake_lock acquired by the Sensors HAL for WAKE_UP events
+     * must begin with "SensorsHAL_WAKEUP".
+     *
+     * If WAKE_LOCK_TIMEOUT_SECONDS has elapsed since the most recent WAKE_UP
+     * event was written to the Event FMQ without receiving a message on the
+     * Wake Lock FMQ, then any held wake_lock for WAKE_UP events must be
+     * released.
+     *
+     * If either the Event FMQ or the Wake Lock FMQ is already initialized when
+     * initialize is invoked, then both existing FMQs must be discarded and the
+     * new descriptors must be used to create new FMQs within the HAL. The
+     * number of outstanding WAKE_UP events should also be reset to zero, and
+     * any outstanding wake_locks held as a result of WAKE_UP events should be
+     * released.
+     *
+     * All active sensor requests and direct channels must be closed and
+     * properly cleaned up when initialize is called in order to ensure that the
+     * HAL and framework's state is consistent (e.g. after a runtime restart).
+     *
+     * initialize must be thread safe and prevent concurrent calls
+     * to initialize from simultaneously modifying state.
+     *
+     * @param eventQueueDescriptor Fast Message Queue descriptor that is used to
+     *     create the Event FMQ which is where sensor events are written. The
+     *     descriptor is obtained from the framework's FMQ that is used to read
+     *     sensor events.
+     * @param wakeLockDescriptor Fast Message Queue descriptor that is used to
+     *     create the Wake Lock FMQ which is where wake_lock events are read
+     *     from. The descriptor is obtained from the framework's FMQ that is
+     *     used to write wake_lock events.
+     * @param sensorsCallback sensors callback that receives asynchronous data
+     *     from the Sensors HAL.
+     * @return result OK on success; BAD_VALUE if descriptor is invalid (such
+     *     as null)
+     */
+    @entry
+    @callflow(next = {"getSensorsList"})
+    initialize_2_1(fmq_sync<Event> eventQueueDescriptor,
+                   fmq_sync<uint32_t> wakeLockDescriptor,
+                   ISensorsCallback sensorsCallback)
+        generates
+              (Result result);
+
+    /**
+     * Inject a single sensor event or push operation environment parameters to
+     * device.
+     *
+     * When device is in NORMAL mode, this function is called to push operation
+     * environment data to device. In this operation, Event is always of
+     * SensorType::AdditionalInfo type. See operation evironment parameters
+     * section in AdditionalInfoType.
+     *
+     * When device is in DATA_INJECTION mode, this function is also used for
+     * injecting sensor events.
+     *
+     * Regardless of OperationMode, injected SensorType::ADDITIONAL_INFO
+     * type events should not be routed back to the sensor event queue.
+     *
+     * @see AdditionalInfoType
+     * @see OperationMode
+     * @param event sensor event to be injected
+     * @return result OK on success; PERMISSION_DENIED if operation is not
+     *     allowed; INVALID_OPERATION, if this functionality is unsupported;
+     *     BAD_VALUE if sensor event cannot be injected.
+     */
+    injectSensorData_2_1(Event event) generates (Result result);
+};
diff --git a/sensors/2.1/ISensorsCallback.hal b/sensors/2.1/ISensorsCallback.hal
new file mode 100644
index 0000000..de521d5
--- /dev/null
+++ b/sensors/2.1/ISensorsCallback.hal
@@ -0,0 +1,33 @@
+/*
+ * 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.
+ */
+
+package android.hardware.sensors@2.1;
+
+import @2.0::ISensorsCallback;
+import @2.1::SensorInfo;
+
+interface ISensorsCallback extends @2.0::ISensorsCallback {
+    /**
+     * Notify the framework that new dynamic sensors have been connected.
+     *
+     * If a dynamic sensor was previously connected and has not been
+     * disconnected, then that sensor must not be included in sensorInfos.
+     *
+     * @param sensorInfos vector of SensorInfo for each dynamic sensor that
+     *     was connected.
+     */
+    oneway onDynamicSensorsConnected_2_1(vec<SensorInfo> sensorInfos);
+};
diff --git a/sensors/2.1/types.hal b/sensors/2.1/types.hal
new file mode 100644
index 0000000..503bece
--- /dev/null
+++ b/sensors/2.1/types.hal
@@ -0,0 +1,160 @@
+/*
+ * 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.
+ */
+
+package android.hardware.sensors@2.1;
+
+import @1.0::EventPayload;
+import @1.0::SensorType;
+import @1.0::SensorFlagBits;
+
+@export(name="", value_prefix="SENSOR_TYPE_")
+enum SensorType : @1.0::SensorType {
+    /**
+     * HINGE_ANGLE
+     * reporting-mode: on-change
+     * wake-up sensor: yes
+     *
+     * A sensor of this type measures the angle, in degrees, between two
+     * integral parts of the device. Movement of a hinge measured by this sensor
+     * type is expected to alter the ways in which the user may interact with
+     * the device, for example by unfolding or revealing a display.
+     *
+     * Sensor data is output using @1.0::EventPayload.scalar.
+     *
+     * Implement wake-up proximity sensor before implementing a non wake-up
+     * proximity sensor.
+     */
+    HINGE_ANGLE                     = 36,
+};
+
+struct Event {
+    /** Time measured in nanoseconds, in "elapsedRealtimeNano()'s" timebase. */
+    int64_t timestamp;
+
+    /** sensor identifier */
+    int32_t sensorHandle;
+
+    @2.1::SensorType sensorType;
+
+    /** Union discriminated on sensorType */
+    EventPayload u;
+};
+
+struct SensorInfo {
+    /**
+     * handle that identifies this sensors. This handle is used to reference
+     * this sensor throughout the HAL API.
+     */
+    int32_t sensorHandle;
+
+    /**
+     * Name of this sensor.
+     * All sensors of the same "type" must have a different "name".
+     */
+    string name;
+
+    /** vendor of the hardware part */
+    string vendor;
+
+    /**
+     * version of the hardware part + driver. The value of this field
+     * must increase when the driver is updated in a way that changes the
+     * output of this sensor. This is important for fused sensors when the
+     * fusion algorithm is updated.
+     */
+    int32_t version;
+
+    /** this sensor's type. */
+    @2.1::SensorType type;
+
+    /**
+     * type of this sensor as a string.
+     *
+     * When defining an OEM specific sensor or sensor manufacturer specific
+     * sensor, use your reserve domain name as a prefix.
+     * e.g. com.google.glass.onheaddetector
+     *
+     * For sensors of known type defined in SensorType (value <
+     * SensorType::DEVICE_PRIVATE_BASE), this can be an empty string.
+     */
+    string typeAsString;
+
+    /** maximum range of this sensor's value in SI units */
+    float maxRange;
+
+    /** smallest difference between two values reported by this sensor */
+    float resolution;
+
+    /** rough estimate of this sensor's power consumption in mA */
+    float power;
+
+    /**
+     * this value depends on the reporting mode:
+     *
+     *   continuous: minimum sample period allowed in microseconds
+     *   on-change : 0
+     *   one-shot  :-1
+     *   special   : 0, unless otherwise noted
+     */
+    int32_t minDelay;
+
+    /**
+     * number of events reserved for this sensor in the batch mode FIFO.
+     * If there is a dedicated FIFO for this sensor, then this is the
+     * size of this FIFO. If the FIFO is shared with other sensors,
+     * this is the size reserved for that sensor and it can be zero.
+     */
+    uint32_t fifoReservedEventCount;
+
+    /**
+     * maximum number of events of this sensor that could be batched.
+     * This is especially relevant when the FIFO is shared between
+     * several sensors; this value is then set to the size of that FIFO.
+     */
+    uint32_t fifoMaxEventCount;
+
+    /**
+     * permission required to see this sensor, register to it and receive data.
+     * Set to "" if no permission is required. Some sensor types like the
+     * heart rate monitor have a mandatory require_permission.
+     * For sensors that always require a specific permission, like the heart
+     * rate monitor, the android framework might overwrite this string
+     * automatically.
+     */
+    string requiredPermission;
+
+    /**
+     * This value is defined only for continuous mode and on-change sensors.
+     * It is the delay between two sensor events corresponding to the lowest
+     * frequency that this sensor supports. When lower frequencies are requested
+     * through batch()/setDelay() the events will be generated at this frequency
+     * instead.
+     * It can be used by the framework or applications to estimate when the
+     * batch FIFO may be full.
+     *
+     * NOTE: periodNs is in nanoseconds where as maxDelay/minDelay are in
+     *       microseconds.
+     *
+     *       continuous, on-change: maximum sampling period allowed in
+     *                              microseconds.
+     *
+     *          one-shot, special : 0
+     */
+    int32_t maxDelay;
+
+    /** Bitmask of SensorFlagBits */
+    bitfield<SensorFlagBits> flags;
+};
\ No newline at end of file