diff --git a/healthd/Android.bp b/healthd/Android.bp
index 24777c8..f180006 100644
--- a/healthd/Android.bp
+++ b/healthd/Android.bp
@@ -22,9 +22,15 @@
         "libutils",
         "libbase",
 
-        // Need latest HealthInfo definition from headers of this shared
-        // library. Clients don't need to link to this.
+        // Need HealthInfo definition from headers of these shared
+        // libraries. Clients don't need to link to these.
         "android.hardware.health@2.1",
+        "android.hardware.health-V1-ndk",
+    ],
+    whole_static_libs: [
+        // Need to translate HIDL to AIDL to support legacy APIs in
+        // BatteryMonitor.
+        "android.hardware.health-translate-ndk",
     ],
     header_libs: ["libhealthd_headers"],
     export_header_lib_headers: ["libhealthd_headers"],
diff --git a/healthd/BatteryMonitor.cpp b/healthd/BatteryMonitor.cpp
index 5890f9a..18076fb 100644
--- a/healthd/BatteryMonitor.cpp
+++ b/healthd/BatteryMonitor.cpp
@@ -31,10 +31,12 @@
 #include <memory>
 #include <optional>
 
+#include <aidl/android/hardware/health/HealthInfo.h>
 #include <android-base/file.h>
 #include <android-base/parseint.h>
 #include <android-base/strings.h>
 #include <android/hardware/health/2.1/types.h>
+#include <android/hardware/health/translate-ndk.h>
 #include <batteryservice/BatteryService.h>
 #include <cutils/klog.h>
 #include <cutils/properties.h>
@@ -52,10 +54,54 @@
 using HealthInfo_1_0 = android::hardware::health::V1_0::HealthInfo;
 using HealthInfo_2_0 = android::hardware::health::V2_0::HealthInfo;
 using HealthInfo_2_1 = android::hardware::health::V2_1::HealthInfo;
-using android::hardware::health::V1_0::BatteryHealth;
-using android::hardware::health::V1_0::BatteryStatus;
-using android::hardware::health::V2_1::BatteryCapacityLevel;
-using android::hardware::health::V2_1::Constants;
+using aidl::android::hardware::health::BatteryCapacityLevel;
+using aidl::android::hardware::health::BatteryHealth;
+using aidl::android::hardware::health::BatteryStatus;
+using aidl::android::hardware::health::HealthInfo;
+
+namespace {
+
+// Translate from AIDL back to HIDL definition for getHealthInfo_*_* calls.
+// Skips storageInfo and diskStats.
+void translateToHidl(const ::aidl::android::hardware::health::HealthInfo& in,
+                     ::android::hardware::health::V1_0::HealthInfo* out) {
+    out->chargerAcOnline = in.chargerAcOnline;
+    out->chargerUsbOnline = in.chargerUsbOnline;
+    out->chargerWirelessOnline = in.chargerWirelessOnline;
+    out->maxChargingCurrent = in.maxChargingCurrentMicroamps;
+    out->maxChargingVoltage = in.maxChargingVoltageMicrovolts;
+    out->batteryStatus =
+            static_cast<::android::hardware::health::V1_0::BatteryStatus>(in.batteryStatus);
+    out->batteryHealth =
+            static_cast<::android::hardware::health::V1_0::BatteryHealth>(in.batteryHealth);
+    out->batteryPresent = in.batteryPresent;
+    out->batteryLevel = in.batteryLevel;
+    out->batteryVoltage = in.batteryVoltageMillivolts;
+    out->batteryTemperature = in.batteryTemperatureTenthsCelsius;
+    out->batteryCurrent = in.batteryCurrentMicroamps;
+    out->batteryCycleCount = in.batteryCycleCount;
+    out->batteryFullCharge = in.batteryFullChargeUah;
+    out->batteryChargeCounter = in.batteryChargeCounterUah;
+    out->batteryTechnology = in.batteryTechnology;
+}
+
+void translateToHidl(const ::aidl::android::hardware::health::HealthInfo& in,
+                     ::android::hardware::health::V2_0::HealthInfo* out) {
+    translateToHidl(in, &out->legacy);
+    out->batteryCurrentAverage = in.batteryCurrentAverageMicroamps;
+    // Skip storageInfo and diskStats
+}
+
+void translateToHidl(const ::aidl::android::hardware::health::HealthInfo& in,
+                     ::android::hardware::health::V2_1::HealthInfo* out) {
+    translateToHidl(in, &out->legacy);
+    out->batteryCapacityLevel = static_cast<android::hardware::health::V2_1::BatteryCapacityLevel>(
+            in.batteryCapacityLevel);
+    out->batteryChargeTimeToFullNowSeconds = in.batteryChargeTimeToFullNowSeconds;
+    out->batteryFullChargeDesignCapacityUah = in.batteryFullChargeDesignCapacityUah;
+}
+
+}  // namespace
 
 namespace android {
 
@@ -74,17 +120,15 @@
     return std::nullopt;
 }
 
-static void initHealthInfo(HealthInfo_2_1* health_info_2_1) {
-    *health_info_2_1 = HealthInfo_2_1{};
+static void initHealthInfo(HealthInfo* health_info) {
+    *health_info = HealthInfo{};
 
-    // HIDL enum values are zero initialized, so they need to be initialized
-    // properly.
-    health_info_2_1->batteryCapacityLevel = BatteryCapacityLevel::UNSUPPORTED;
-    health_info_2_1->batteryChargeTimeToFullNowSeconds =
-            (int64_t)Constants::BATTERY_CHARGE_TIME_TO_FULL_NOW_SECONDS_UNSUPPORTED;
-    auto* props = &health_info_2_1->legacy.legacy;
-    props->batteryStatus = BatteryStatus::UNKNOWN;
-    props->batteryHealth = BatteryHealth::UNKNOWN;
+    // Enum values may be zero initialized, so they need to be initialized properly.
+    health_info->batteryCapacityLevel = BatteryCapacityLevel::UNSUPPORTED;
+    health_info->batteryChargeTimeToFullNowSeconds =
+            (int64_t)HealthInfo::BATTERY_CHARGE_TIME_TO_FULL_NOW_SECONDS_UNSUPPORTED;
+    health_info->batteryStatus = BatteryStatus::UNKNOWN;
+    health_info->batteryHealth = BatteryHealth::UNKNOWN;
 }
 
 BatteryMonitor::BatteryMonitor()
@@ -92,22 +136,31 @@
       mBatteryDevicePresent(false),
       mBatteryFixedCapacity(0),
       mBatteryFixedTemperature(0),
-      mChargerDockOnline(false),
-      mHealthInfo(std::make_unique<HealthInfo_2_1>()) {
+      mHealthInfo(std::make_unique<HealthInfo>()) {
     initHealthInfo(mHealthInfo.get());
 }
 
 BatteryMonitor::~BatteryMonitor() {}
 
-const HealthInfo_1_0& BatteryMonitor::getHealthInfo_1_0() const {
-    return getHealthInfo_2_0().legacy;
+HealthInfo_1_0 BatteryMonitor::getHealthInfo_1_0() const {
+    HealthInfo_1_0 health_info_1_0;
+    translateToHidl(*mHealthInfo, &health_info_1_0);
+    return health_info_1_0;
 }
 
-const HealthInfo_2_0& BatteryMonitor::getHealthInfo_2_0() const {
-    return getHealthInfo_2_1().legacy;
+HealthInfo_2_0 BatteryMonitor::getHealthInfo_2_0() const {
+    HealthInfo_2_0 health_info_2_0;
+    translateToHidl(*mHealthInfo, &health_info_2_0);
+    return health_info_2_0;
 }
 
-const HealthInfo_2_1& BatteryMonitor::getHealthInfo_2_1() const {
+HealthInfo_2_1 BatteryMonitor::getHealthInfo_2_1() const {
+    HealthInfo_2_1 health_info_2_1;
+    translateToHidl(*mHealthInfo, &health_info_2_1);
+    return health_info_2_1;
+}
+
+const HealthInfo& BatteryMonitor::getHealthInfo() const {
     return *mHealthInfo;
 }
 
@@ -247,32 +300,31 @@
 void BatteryMonitor::updateValues(void) {
     initHealthInfo(mHealthInfo.get());
 
-    HealthInfo_1_0& props = mHealthInfo->legacy.legacy;
-
     if (!mHealthdConfig->batteryPresentPath.isEmpty())
-        props.batteryPresent = getBooleanField(mHealthdConfig->batteryPresentPath);
+        mHealthInfo->batteryPresent = getBooleanField(mHealthdConfig->batteryPresentPath);
     else
-        props.batteryPresent = mBatteryDevicePresent;
+        mHealthInfo->batteryPresent = mBatteryDevicePresent;
 
-    props.batteryLevel = mBatteryFixedCapacity ?
-        mBatteryFixedCapacity :
-        getIntField(mHealthdConfig->batteryCapacityPath);
-    props.batteryVoltage = getIntField(mHealthdConfig->batteryVoltagePath) / 1000;
+    mHealthInfo->batteryLevel = mBatteryFixedCapacity
+                                        ? mBatteryFixedCapacity
+                                        : getIntField(mHealthdConfig->batteryCapacityPath);
+    mHealthInfo->batteryVoltageMillivolts = getIntField(mHealthdConfig->batteryVoltagePath) / 1000;
 
     if (!mHealthdConfig->batteryCurrentNowPath.isEmpty())
-        props.batteryCurrent = getIntField(mHealthdConfig->batteryCurrentNowPath);
+        mHealthInfo->batteryCurrentMicroamps = getIntField(mHealthdConfig->batteryCurrentNowPath);
 
     if (!mHealthdConfig->batteryFullChargePath.isEmpty())
-        props.batteryFullCharge = getIntField(mHealthdConfig->batteryFullChargePath);
+        mHealthInfo->batteryFullChargeUah = getIntField(mHealthdConfig->batteryFullChargePath);
 
     if (!mHealthdConfig->batteryCycleCountPath.isEmpty())
-        props.batteryCycleCount = getIntField(mHealthdConfig->batteryCycleCountPath);
+        mHealthInfo->batteryCycleCount = getIntField(mHealthdConfig->batteryCycleCountPath);
 
     if (!mHealthdConfig->batteryChargeCounterPath.isEmpty())
-        props.batteryChargeCounter = getIntField(mHealthdConfig->batteryChargeCounterPath);
+        mHealthInfo->batteryChargeCounterUah =
+                getIntField(mHealthdConfig->batteryChargeCounterPath);
 
     if (!mHealthdConfig->batteryCurrentAvgPath.isEmpty())
-        mHealthInfo->legacy.batteryCurrentAverage =
+        mHealthInfo->batteryCurrentAverageMicroamps =
                 getIntField(mHealthdConfig->batteryCurrentAvgPath);
 
     if (!mHealthdConfig->batteryChargeTimeToFullNowPath.isEmpty())
@@ -283,9 +335,9 @@
         mHealthInfo->batteryFullChargeDesignCapacityUah =
                 getIntField(mHealthdConfig->batteryFullChargeDesignCapacityUahPath);
 
-    props.batteryTemperature = mBatteryFixedTemperature ?
-        mBatteryFixedTemperature :
-        getIntField(mHealthdConfig->batteryTemperaturePath);
+    mHealthInfo->batteryTemperatureTenthsCelsius =
+            mBatteryFixedTemperature ? mBatteryFixedTemperature
+                                     : getIntField(mHealthdConfig->batteryTemperaturePath);
 
     std::string buf;
 
@@ -293,13 +345,13 @@
         mHealthInfo->batteryCapacityLevel = getBatteryCapacityLevel(buf.c_str());
 
     if (readFromFile(mHealthdConfig->batteryStatusPath, &buf) > 0)
-        props.batteryStatus = getBatteryStatus(buf.c_str());
+        mHealthInfo->batteryStatus = getBatteryStatus(buf.c_str());
 
     if (readFromFile(mHealthdConfig->batteryHealthPath, &buf) > 0)
-        props.batteryHealth = getBatteryHealth(buf.c_str());
+        mHealthInfo->batteryHealth = getBatteryHealth(buf.c_str());
 
     if (readFromFile(mHealthdConfig->batteryTechnologyPath, &buf) > 0)
-        props.batteryTechnology = String8(buf.c_str());
+        mHealthInfo->batteryTechnology = String8(buf.c_str());
 
     double MaxPower = 0;
 
@@ -313,29 +365,26 @@
                               mChargerNames[i].string());
             switch(readPowerSupplyType(path)) {
             case ANDROID_POWER_SUPPLY_TYPE_AC:
-                props.chargerAcOnline = true;
+                mHealthInfo->chargerAcOnline = true;
                 break;
             case ANDROID_POWER_SUPPLY_TYPE_USB:
-                props.chargerUsbOnline = true;
+                mHealthInfo->chargerUsbOnline = true;
                 break;
             case ANDROID_POWER_SUPPLY_TYPE_WIRELESS:
-                props.chargerWirelessOnline = true;
+                mHealthInfo->chargerWirelessOnline = true;
                 break;
             case ANDROID_POWER_SUPPLY_TYPE_DOCK:
-                mChargerDockOnline = true;
+                mHealthInfo->chargerDockOnline = true;
                 break;
             default:
                 path.clear();
                 path.appendFormat("%s/%s/is_dock", POWER_SUPPLY_SYSFS_PATH,
                                   mChargerNames[i].string());
-                if (access(path.string(), R_OK) == 0) {
-                    mChargerDockOnline = true;
-                    KLOG_INFO(LOG_TAG, "%s: online\n",
-                              mChargerNames[i].string());
-                } else {
+                if (access(path.string(), R_OK) == 0)
+                    mHealthInfo->chargerDockOnline = true;
+                else
                     KLOG_WARNING(LOG_TAG, "%s: Unknown power supply type\n",
                                  mChargerNames[i].string());
-                }
             }
             path.clear();
             path.appendFormat("%s/%s/current_max", POWER_SUPPLY_SYSFS_PATH,
@@ -354,8 +403,8 @@
             double power = ((double)ChargingCurrent / MILLION) *
                            ((double)ChargingVoltage / MILLION);
             if (MaxPower < power) {
-                props.maxChargingCurrent = ChargingCurrent;
-                props.maxChargingVoltage = ChargingVoltage;
+                mHealthInfo->maxChargingCurrentMicroamps = ChargingCurrent;
+                mHealthInfo->maxChargingVoltageMicrovolts = ChargingVoltage;
                 MaxPower = power;
             }
         }
@@ -366,26 +415,34 @@
     logValues(*mHealthInfo, *mHealthdConfig);
 }
 
-void BatteryMonitor::logValues(const android::hardware::health::V2_1::HealthInfo& health_info,
+void BatteryMonitor::logValues(const HealthInfo_2_1& health_info,
+                               const struct healthd_config& healthd_config) {
+    HealthInfo aidl_health_info;
+    (void)android::h2a::translate(health_info, &aidl_health_info);
+    logValues(aidl_health_info, healthd_config);
+}
+
+void BatteryMonitor::logValues(const HealthInfo& props,
                                const struct healthd_config& healthd_config) {
     char dmesgline[256];
     size_t len;
-    const HealthInfo_1_0& props = health_info.legacy.legacy;
     if (props.batteryPresent) {
         snprintf(dmesgline, sizeof(dmesgline), "battery l=%d v=%d t=%s%d.%d h=%d st=%d",
-                 props.batteryLevel, props.batteryVoltage, props.batteryTemperature < 0 ? "-" : "",
-                 abs(props.batteryTemperature / 10), abs(props.batteryTemperature % 10),
-                 props.batteryHealth, props.batteryStatus);
+                 props.batteryLevel, props.batteryVoltageMillivolts,
+                 props.batteryTemperatureTenthsCelsius < 0 ? "-" : "",
+                 abs(props.batteryTemperatureTenthsCelsius / 10),
+                 abs(props.batteryTemperatureTenthsCelsius % 10), props.batteryHealth,
+                 props.batteryStatus);
 
         len = strlen(dmesgline);
         if (!healthd_config.batteryCurrentNowPath.isEmpty()) {
             len += snprintf(dmesgline + len, sizeof(dmesgline) - len, " c=%d",
-                            props.batteryCurrent);
+                            props.batteryCurrentMicroamps);
         }
 
         if (!healthd_config.batteryFullChargePath.isEmpty()) {
             len += snprintf(dmesgline + len, sizeof(dmesgline) - len, " fc=%d",
-                            props.batteryFullCharge);
+                            props.batteryFullChargeUah);
         }
 
         if (!healthd_config.batteryCycleCountPath.isEmpty()) {
@@ -396,17 +453,17 @@
         len = snprintf(dmesgline, sizeof(dmesgline), "battery none");
     }
 
-    snprintf(dmesgline + len, sizeof(dmesgline) - len, " chg=%s%s%s",
+    snprintf(dmesgline + len, sizeof(dmesgline) - len, " chg=%s%s%s%s",
              props.chargerAcOnline ? "a" : "", props.chargerUsbOnline ? "u" : "",
-             props.chargerWirelessOnline ? "w" : "");
+             props.chargerWirelessOnline ? "w" : "", props.chargerDockOnline ? "d" : "");
 
     KLOG_WARNING(LOG_TAG, "%s\n", dmesgline);
 }
 
 bool BatteryMonitor::isChargerOnline() {
-    const HealthInfo_1_0& props = mHealthInfo->legacy.legacy;
+    const HealthInfo& props = *mHealthInfo;
     return props.chargerAcOnline | props.chargerUsbOnline | props.chargerWirelessOnline |
-           mChargerDockOnline;
+           props.chargerDockOnline;
 }
 
 int BatteryMonitor::getChargeStatus() {
@@ -489,19 +546,19 @@
 void BatteryMonitor::dumpState(int fd) {
     int v;
     char vs[128];
-    const HealthInfo_1_0& props = mHealthInfo->legacy.legacy;
+    const HealthInfo& props = *mHealthInfo;
 
     snprintf(vs, sizeof(vs),
              "ac: %d usb: %d wireless: %d dock: %d current_max: %d voltage_max: %d\n",
              props.chargerAcOnline, props.chargerUsbOnline, props.chargerWirelessOnline,
-             mChargerDockOnline, props.maxChargingCurrent, props.maxChargingVoltage);
+             props.chargerDockOnline, props.maxChargingCurrentMicroamps,
+             props.maxChargingVoltageMicrovolts);
     write(fd, vs, strlen(vs));
     snprintf(vs, sizeof(vs), "status: %d health: %d present: %d\n",
              props.batteryStatus, props.batteryHealth, props.batteryPresent);
     write(fd, vs, strlen(vs));
-    snprintf(vs, sizeof(vs), "level: %d voltage: %d temp: %d\n",
-             props.batteryLevel, props.batteryVoltage,
-             props.batteryTemperature);
+    snprintf(vs, sizeof(vs), "level: %d voltage: %d temp: %d\n", props.batteryLevel,
+             props.batteryVoltageMillivolts, props.batteryTemperatureTenthsCelsius);
     write(fd, vs, strlen(vs));
 
     if (!mHealthdConfig->batteryCurrentNowPath.isEmpty()) {
@@ -523,7 +580,7 @@
     }
 
     if (!mHealthdConfig->batteryCurrentNowPath.isEmpty()) {
-        snprintf(vs, sizeof(vs), "current now: %d\n", props.batteryCurrent);
+        snprintf(vs, sizeof(vs), "current now: %d\n", props.batteryCurrentMicroamps);
         write(fd, vs, strlen(vs));
     }
 
@@ -533,7 +590,7 @@
     }
 
     if (!mHealthdConfig->batteryFullChargePath.isEmpty()) {
-        snprintf(vs, sizeof(vs), "Full charge: %d\n", props.batteryFullCharge);
+        snprintf(vs, sizeof(vs), "Full charge: %d\n", props.batteryFullChargeUah);
         write(fd, vs, strlen(vs));
     }
 }
diff --git a/healthd/include/healthd/BatteryMonitor.h b/healthd/include/healthd/BatteryMonitor.h
index 89c2e25..2a7e353 100644
--- a/healthd/include/healthd/BatteryMonitor.h
+++ b/healthd/include/healthd/BatteryMonitor.h
@@ -25,6 +25,10 @@
 
 #include <healthd/healthd.h>
 
+namespace aidl::android::hardware::health {
+class HealthInfo;
+}  // namespace aidl::android::hardware::health
+
 namespace android {
 namespace hardware {
 namespace health {
@@ -59,9 +63,10 @@
     status_t getProperty(int id, struct BatteryProperty *val);
     void dumpState(int fd);
 
-    const android::hardware::health::V1_0::HealthInfo& getHealthInfo_1_0() const;
-    const android::hardware::health::V2_0::HealthInfo& getHealthInfo_2_0() const;
-    const android::hardware::health::V2_1::HealthInfo& getHealthInfo_2_1() const;
+    android::hardware::health::V1_0::HealthInfo getHealthInfo_1_0() const;
+    android::hardware::health::V2_0::HealthInfo getHealthInfo_2_0() const;
+    android::hardware::health::V2_1::HealthInfo getHealthInfo_2_1() const;
+    const aidl::android::hardware::health::HealthInfo& getHealthInfo() const;
 
     void updateValues(void);
     void logValues(void);
@@ -76,15 +81,16 @@
     bool mBatteryDevicePresent;
     int mBatteryFixedCapacity;
     int mBatteryFixedTemperature;
-    // TODO(b/214126090): to migrate to AIDL HealthInfo
-    bool mChargerDockOnline;
-    std::unique_ptr<android::hardware::health::V2_1::HealthInfo> mHealthInfo;
+    std::unique_ptr<aidl::android::hardware::health::HealthInfo> mHealthInfo;
 
     int readFromFile(const String8& path, std::string* buf);
     PowerSupplyType readPowerSupplyType(const String8& path);
     bool getBooleanField(const String8& path);
     int getIntField(const String8& path);
     bool isScopedPowerSupply(const char* name);
+
+    static void logValues(const aidl::android::hardware::health::HealthInfo& health_info,
+                          const struct healthd_config& healthd_config);
 };
 
 }; // namespace android