diff --git a/hidl/sensors/Android.bp b/hidl/sensors/Android.bp
new file mode 100644
index 00000000..4edf7b9c
--- /dev/null
+++ b/hidl/sensors/Android.bp
@@ -0,0 +1,22 @@
+cc_library_shared {
+    name: "android.hardware.sensors@1.0-impl",
+    defaults: ["hidl_defaults"],
+    proprietary: true,
+    relative_install_path: "hw",
+    srcs: ["Sensors.cpp"],
+    shared_libs: [
+        "liblog",
+        "libcutils",
+        "libhardware",
+        "libbase",
+        "libutils",
+        "libhidlbase",
+        "libhidltransport",
+        "android.hardware.sensors@1.0",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "multihal",
+    ],
+    local_include_dirs: ["include/sensors"],
+}
diff --git a/hidl/sensors/Sensors.cpp b/hidl/sensors/Sensors.cpp
new file mode 100644
index 00000000..1100dd6a
--- /dev/null
+++ b/hidl/sensors/Sensors.cpp
@@ -0,0 +1,360 @@
+/*
+ * Copyright (C) 2016 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 "Sensors.h"
+#include "convert.h"
+#include "multihal.h"
+
+#include <android-base/logging.h>
+
+#include <sys/stat.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+/*
+ * If a multi-hal configuration file exists in the proper location,
+ * return true indicating we need to use multi-hal functionality.
+ */
+static bool UseMultiHal() {
+    const std::string& name = MULTI_HAL_CONFIG_FILE_PATH;
+    struct stat buffer;
+    return (stat (name.c_str(), &buffer) == 0);
+}
+
+static Result ResultFromStatus(status_t err) {
+    switch (err) {
+        case OK:
+            return Result::OK;
+        case PERMISSION_DENIED:
+            return Result::PERMISSION_DENIED;
+        case NO_MEMORY:
+            return Result::NO_MEMORY;
+        case BAD_VALUE:
+            return Result::BAD_VALUE;
+        default:
+            return Result::INVALID_OPERATION;
+    }
+}
+
+Sensors::Sensors()
+    : mInitCheck(NO_INIT),
+      mSensorModule(nullptr),
+      mSensorDevice(nullptr) {
+    status_t err = OK;
+    if (UseMultiHal()) {
+        mSensorModule = ::get_multi_hal_module_info();
+    } else {
+        err = hw_get_module(
+            SENSORS_HARDWARE_MODULE_ID,
+            (hw_module_t const **)&mSensorModule);
+    }
+    if (mSensorModule == NULL) {
+        err = UNKNOWN_ERROR;
+    }
+
+    if (err != OK) {
+        LOG(ERROR) << "Couldn't load "
+                   << SENSORS_HARDWARE_MODULE_ID
+                   << " module ("
+                   << strerror(-err)
+                   << ")";
+
+        mInitCheck = err;
+        return;
+    }
+
+    err = sensors_open_1(&mSensorModule->common, &mSensorDevice);
+
+    if (err != OK) {
+        LOG(ERROR) << "Couldn't open device for module "
+                   << SENSORS_HARDWARE_MODULE_ID
+                   << " ("
+                   << strerror(-err)
+                   << ")";
+
+        mInitCheck = err;
+        return;
+    }
+
+    // Require all the old HAL APIs to be present except for injection, which
+    // is considered optional.
+    CHECK_GE(getHalDeviceVersion(), SENSORS_DEVICE_API_VERSION_1_3);
+
+    if (getHalDeviceVersion() == SENSORS_DEVICE_API_VERSION_1_4) {
+        if (mSensorDevice->inject_sensor_data == nullptr) {
+            LOG(ERROR) << "HAL specifies version 1.4, but does not implement inject_sensor_data()";
+        }
+        if (mSensorModule->set_operation_mode == nullptr) {
+            LOG(ERROR) << "HAL specifies version 1.4, but does not implement set_operation_mode()";
+        }
+    }
+
+    mInitCheck = OK;
+}
+
+status_t Sensors::initCheck() const {
+    return mInitCheck;
+}
+
+Return<void> Sensors::getSensorsList(getSensorsList_cb _hidl_cb) {
+    sensor_t const *list;
+    size_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
+
+    hidl_vec<SensorInfo> out;
+    out.resize(count);
+
+    for (size_t i = 0; i < count; ++i) {
+        const sensor_t *src = &list[i];
+        SensorInfo *dst = &out[i];
+
+        convertFromSensor(*src, dst);
+    }
+
+    _hidl_cb(out);
+
+    return Void();
+}
+
+int Sensors::getHalDeviceVersion() const {
+    if (!mSensorDevice) {
+        return -1;
+    }
+
+    return mSensorDevice->common.version;
+}
+
+Return<Result> Sensors::setOperationMode(OperationMode mode) {
+    if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4
+            || mSensorModule->set_operation_mode == nullptr) {
+        return Result::INVALID_OPERATION;
+    }
+    return ResultFromStatus(mSensorModule->set_operation_mode((uint32_t)mode));
+}
+
+Return<Result> Sensors::activate(
+        int32_t sensor_handle, bool enabled) {
+    return ResultFromStatus(
+            mSensorDevice->activate(
+                reinterpret_cast<sensors_poll_device_t *>(mSensorDevice),
+                sensor_handle,
+                enabled));
+}
+
+Return<void> Sensors::poll(int32_t maxCount, poll_cb _hidl_cb) {
+
+    hidl_vec<Event> out;
+    hidl_vec<SensorInfo> dynamicSensorsAdded;
+
+    std::unique_ptr<sensors_event_t[]> data;
+    int err = android::NO_ERROR;
+
+    { // scope of reentry lock
+
+        // This enforces a single client, meaning that a maximum of one client can call poll().
+        // If this function is re-entred, it means that we are stuck in a state that may prevent
+        // the system from proceeding normally.
+        //
+        // Exit and let the system restart the sensor-hal-implementation hidl service.
+        //
+        // This function must not call _hidl_cb(...) or return until there is no risk of blocking.
+        std::unique_lock<std::mutex> lock(mPollLock, std::try_to_lock);
+        if(!lock.owns_lock()){
+            // cannot get the lock, hidl service will go into deadlock if it is not restarted.
+            // This is guaranteed to not trigger in passthrough mode.
+            LOG(ERROR) <<
+                    "ISensors::poll() re-entry. I do not know what to do except killing myself.";
+            ::exit(-1);
+        }
+
+        if (maxCount <= 0) {
+            err = android::BAD_VALUE;
+        } else {
+            int bufferSize = maxCount <= kPollMaxBufferSize ? maxCount : kPollMaxBufferSize;
+            data.reset(new sensors_event_t[bufferSize]);
+            err = mSensorDevice->poll(
+                    reinterpret_cast<sensors_poll_device_t *>(mSensorDevice),
+                    data.get(), bufferSize);
+        }
+    }
+
+    if (err < 0) {
+        _hidl_cb(ResultFromStatus(err), out, dynamicSensorsAdded);
+        return Void();
+    }
+
+    const size_t count = (size_t)err;
+
+    for (size_t i = 0; i < count; ++i) {
+        if (data[i].type != SENSOR_TYPE_DYNAMIC_SENSOR_META) {
+            continue;
+        }
+
+        const dynamic_sensor_meta_event_t *dyn = &data[i].dynamic_sensor_meta;
+
+        if (!dyn->connected) {
+            continue;
+        }
+
+        CHECK(dyn->sensor != nullptr);
+        CHECK_EQ(dyn->sensor->handle, dyn->handle);
+
+        SensorInfo info;
+        convertFromSensor(*dyn->sensor, &info);
+
+        size_t numDynamicSensors = dynamicSensorsAdded.size();
+        dynamicSensorsAdded.resize(numDynamicSensors + 1);
+        dynamicSensorsAdded[numDynamicSensors] = info;
+    }
+
+    out.resize(count);
+    convertFromSensorEvents(err, data.get(), &out);
+
+    _hidl_cb(Result::OK, out, dynamicSensorsAdded);
+
+    return Void();
+}
+
+Return<Result> Sensors::batch(
+        int32_t sensor_handle,
+        int64_t sampling_period_ns,
+        int64_t max_report_latency_ns) {
+    return ResultFromStatus(
+            mSensorDevice->batch(
+                mSensorDevice,
+                sensor_handle,
+                0, /*flags*/
+                sampling_period_ns,
+                max_report_latency_ns));
+}
+
+Return<Result> Sensors::flush(int32_t sensor_handle) {
+    return ResultFromStatus(mSensorDevice->flush(mSensorDevice, sensor_handle));
+}
+
+Return<Result> Sensors::injectSensorData(const Event& event) {
+    if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4
+            || mSensorDevice->inject_sensor_data == nullptr) {
+        return Result::INVALID_OPERATION;
+    }
+
+    sensors_event_t out;
+    convertToSensorEvent(event, &out);
+
+    return ResultFromStatus(
+            mSensorDevice->inject_sensor_data(mSensorDevice, &out));
+}
+
+Return<void> Sensors::registerDirectChannel(
+        const SharedMemInfo& mem, registerDirectChannel_cb _hidl_cb) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        _hidl_cb(Result::INVALID_OPERATION, -1);
+        return Void();
+    }
+
+    sensors_direct_mem_t m;
+    if (!convertFromSharedMemInfo(mem, &m)) {
+      _hidl_cb(Result::BAD_VALUE, -1);
+      return Void();
+    }
+
+    int err = mSensorDevice->register_direct_channel(mSensorDevice, &m, -1);
+
+    if (err < 0) {
+        _hidl_cb(ResultFromStatus(err), -1);
+    } else {
+        int32_t channelHandle = static_cast<int32_t>(err);
+        _hidl_cb(Result::OK, channelHandle);
+    }
+    return Void();
+}
+
+Return<Result> Sensors::unregisterDirectChannel(int32_t channelHandle) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        return Result::INVALID_OPERATION;
+    }
+
+    mSensorDevice->register_direct_channel(mSensorDevice, nullptr, channelHandle);
+
+    return Result::OK;
+}
+
+Return<void> Sensors::configDirectReport(
+        int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+        configDirectReport_cb _hidl_cb) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        _hidl_cb(Result::INVALID_OPERATION, -1);
+        return Void();
+    }
+
+    sensors_direct_cfg_t cfg = {
+        .rate_level = convertFromRateLevel(rate)
+    };
+    if (cfg.rate_level < 0) {
+        _hidl_cb(Result::BAD_VALUE, -1);
+        return Void();
+    }
+
+    int err = mSensorDevice->config_direct_report(mSensorDevice,
+            sensorHandle, channelHandle, &cfg);
+
+    if (rate == RateLevel::STOP) {
+        _hidl_cb(ResultFromStatus(err), -1);
+    } else {
+        _hidl_cb(err > 0 ? Result::OK : ResultFromStatus(err), err);
+    }
+    return Void();
+}
+
+// static
+void Sensors::convertFromSensorEvents(
+        size_t count,
+        const sensors_event_t *srcArray,
+        hidl_vec<Event> *dstVec) {
+    for (size_t i = 0; i < count; ++i) {
+        const sensors_event_t &src = srcArray[i];
+        Event *dst = &(*dstVec)[i];
+
+        convertFromSensorEvent(src, dst);
+    }
+}
+
+ISensors *HIDL_FETCH_ISensors(const char * /* hal */) {
+    Sensors *sensors = new Sensors;
+    if (sensors->initCheck() != OK) {
+        delete sensors;
+        sensors = nullptr;
+
+        return nullptr;
+    }
+
+    return sensors;
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/hidl/sensors/Sensors.h b/hidl/sensors/Sensors.h
new file mode 100644
index 00000000..be00a961
--- /dev/null
+++ b/hidl/sensors/Sensors.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2016 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 HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_
+
+#define HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_
+
+#include <android-base/macros.h>
+#include <android/hardware/sensors/1.0/ISensors.h>
+#include <hardware/sensors.h>
+#include <mutex>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+
+struct Sensors : public ::android::hardware::sensors::V1_0::ISensors {
+    Sensors();
+
+    status_t initCheck() const;
+
+    Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
+
+    Return<Result> setOperationMode(OperationMode mode) override;
+
+    Return<Result> activate(
+            int32_t sensor_handle, bool enabled) override;
+
+    Return<void> poll(int32_t maxCount, poll_cb _hidl_cb) override;
+
+    Return<Result> batch(
+            int32_t sensor_handle,
+            int64_t sampling_period_ns,
+            int64_t max_report_latency_ns) override;
+
+    Return<Result> flush(int32_t sensor_handle) override;
+
+    Return<Result> injectSensorData(const Event& event) override;
+
+    Return<void> registerDirectChannel(
+            const SharedMemInfo& mem, registerDirectChannel_cb _hidl_cb) override;
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
+
+    Return<void> configDirectReport(
+            int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+            configDirectReport_cb _hidl_cb) override;
+
+private:
+    static constexpr int32_t kPollMaxBufferSize = 128;
+    status_t mInitCheck;
+    sensors_module_t *mSensorModule;
+    sensors_poll_device_1_t *mSensorDevice;
+    std::mutex mPollLock;
+
+    int getHalDeviceVersion() const;
+
+    static void convertFromSensorEvents(
+            size_t count, const sensors_event_t *src, hidl_vec<Event> *dst);
+
+    DISALLOW_COPY_AND_ASSIGN(Sensors);
+};
+
+extern "C" ISensors *HIDL_FETCH_ISensors(const char *name);
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_