diff --git a/common.mk b/common.mk
index 974baa9..2ea8581 100644
--- a/common.mk
+++ b/common.mk
@@ -381,7 +381,8 @@ PRODUCT_PACKAGES += \
 # Sensors
 PRODUCT_PACKAGES += \
     android.hardware.sensors@2.1-service.samsung-multihal \
-    android.hardware.sensors@2.0-ScopedWakelock.vendor
+    android.hardware.sensors@2.0-ScopedWakelock.vendor \
+    sensors.samsung
 
 PRODUCT_COPY_FILES += \
     $(COMMON_PATH)/sensors/hals.conf:$(TARGET_COPY_OUT_VENDOR)/etc/sensors/hals.conf
diff --git a/sensors/.clang-format b/sensors/.clang-format
new file mode 100644
index 0000000..ae4a451
--- /dev/null
+++ b/sensors/.clang-format
@@ -0,0 +1,11 @@
+BasedOnStyle: Google
+AccessModifierOffset: -2
+AllowShortFunctionsOnASingleLine: Inline
+ColumnLimit: 100
+CommentPragmas: NOLINT:.*
+DerivePointerAlignment: false
+IndentWidth: 4
+PointerAlignment: Left
+TabWidth: 4
+UseTab: Never
+PenaltyExcessCharacter: 32
diff --git a/sensors/Android.bp b/sensors/Android.bp
new file mode 100644
index 0000000..2ce7f2e
--- /dev/null
+++ b/sensors/Android.bp
@@ -0,0 +1,35 @@
+//
+// Copyright (C) 2022 The LineageOS Project
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+
+cc_library_shared {
+    name: "sensors.samsung",
+    defaults: ["hidl_defaults"],
+    srcs: [
+        "Sensor.cpp",
+        "SensorsSubHal.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.0-ScopedWakelock",
+        "android.hardware.sensors@2.1",
+        "libcutils",
+        "libfmq",
+        "libhardware",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-multihal",
+    ],
+    cflags: [
+        "-DLOG_TAG=\"sensors.samsung\"",
+    ],
+    vendor: true,
+}
diff --git a/sensors/Sensor.cpp b/sensors/Sensor.cpp
new file mode 100644
index 0000000..f59bf0c
--- /dev/null
+++ b/sensors/Sensor.cpp
@@ -0,0 +1,192 @@
+/*
+ * Copyright (C) 2019 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 "Sensor.h"
+
+#include <hardware/sensors.h>
+#include <utils/SystemClock.h>
+
+#include <cmath>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace subhal {
+namespace implementation {
+
+using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V1_0::SensorFlagBits;
+using ::android::hardware::sensors::V1_0::SensorStatus;
+using ::android::hardware::sensors::V2_1::Event;
+using ::android::hardware::sensors::V2_1::SensorInfo;
+using ::android::hardware::sensors::V2_1::SensorType;
+
+Sensor::Sensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : mIsEnabled(false),
+      mSamplingPeriodNs(0),
+      mLastSampleTimeNs(0),
+      mCallback(callback),
+      mMode(OperationMode::NORMAL) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.vendor = "The LineageOS Project";
+    mSensorInfo.version = 1;
+    constexpr float kDefaultMaxDelayUs = 1000 * 1000;
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+    mRunThread = std::thread(startThread, this);
+}
+
+Sensor::~Sensor() {
+    // Ensure that lock is unlocked before calling mRunThread.join() or a
+    // deadlock will occur.
+    {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mStopThread = true;
+        mIsEnabled = false;
+        mWaitCV.notify_all();
+    }
+    mRunThread.join();
+}
+
+const SensorInfo& Sensor::getSensorInfo() const {
+    return mSensorInfo;
+}
+
+void Sensor::batch(int32_t samplingPeriodNs) {
+    samplingPeriodNs =
+        std::clamp(samplingPeriodNs, mSensorInfo.minDelay * 1000, mSensorInfo.maxDelay * 1000);
+
+    if (mSamplingPeriodNs != samplingPeriodNs) {
+        mSamplingPeriodNs = samplingPeriodNs;
+        // Wake up the 'run' thread to check if a new event should be generated now
+        mWaitCV.notify_all();
+    }
+}
+
+void Sensor::activate(bool enable) {
+    if (mIsEnabled != enable) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mIsEnabled = enable;
+        mWaitCV.notify_all();
+    }
+}
+
+Result Sensor::flush() {
+    // Only generate a flush complete event if the sensor is enabled and if the sensor is not a
+    // one-shot sensor.
+    if (!mIsEnabled || (mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::ONE_SHOT_MODE))) {
+        return Result::BAD_VALUE;
+    }
+
+    // Note: If a sensor supports batching, write all of the currently batched events for the sensor
+    // to the Event FMQ prior to writing the flush complete event.
+    Event ev;
+    ev.sensorHandle = mSensorInfo.sensorHandle;
+    ev.sensorType = SensorType::META_DATA;
+    ev.u.meta.what = MetaDataEventType::META_DATA_FLUSH_COMPLETE;
+    std::vector<Event> evs{ev};
+    mCallback->postEvents(evs, isWakeUpSensor());
+
+    return Result::OK;
+}
+
+void Sensor::startThread(Sensor* sensor) {
+    sensor->run();
+}
+
+void Sensor::run() {
+    std::unique_lock<std::mutex> runLock(mRunMutex);
+    constexpr int64_t kNanosecondsInSeconds = 1000 * 1000 * 1000;
+
+    while (!mStopThread) {
+        if (!mIsEnabled || mMode == OperationMode::DATA_INJECTION) {
+            mWaitCV.wait(runLock, [&] {
+                return ((mIsEnabled && mMode == OperationMode::NORMAL) || mStopThread);
+            });
+        } else {
+            timespec curTime;
+            clock_gettime(CLOCK_REALTIME, &curTime);
+            int64_t now = (curTime.tv_sec * kNanosecondsInSeconds) + curTime.tv_nsec;
+            int64_t nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+
+            if (now >= nextSampleTime) {
+                mLastSampleTimeNs = now;
+                nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+                mCallback->postEvents(readEvents(), isWakeUpSensor());
+            }
+
+            mWaitCV.wait_for(runLock, std::chrono::nanoseconds(nextSampleTime - now));
+        }
+    }
+}
+
+bool Sensor::isWakeUpSensor() {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::WAKE_UP);
+}
+
+std::vector<Event> Sensor::readEvents() {
+    std::vector<Event> events;
+    Event event;
+    event.sensorHandle = mSensorInfo.sensorHandle;
+    event.sensorType = mSensorInfo.type;
+    event.timestamp = ::android::elapsedRealtimeNano();
+    event.u.vec3.x = 0;
+    event.u.vec3.y = 0;
+    event.u.vec3.z = 0;
+    event.u.vec3.status = SensorStatus::ACCURACY_HIGH;
+    events.push_back(event);
+    return events;
+}
+
+void Sensor::setOperationMode(OperationMode mode) {
+    if (mMode != mode) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mMode = mode;
+        mWaitCV.notify_all();
+    }
+}
+
+bool Sensor::supportsDataInjection() const {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION);
+}
+
+Result Sensor::injectEvent(const Event& event) {
+    Result result = Result::OK;
+    if (event.sensorType == SensorType::ADDITIONAL_INFO) {
+        // When in OperationMode::NORMAL, SensorType::ADDITIONAL_INFO is used to push operation
+        // environment data into the device.
+    } else if (!supportsDataInjection()) {
+        result = Result::INVALID_OPERATION;
+    } else if (mMode == OperationMode::DATA_INJECTION) {
+        mCallback->postEvents(std::vector<Event>{event}, isWakeUpSensor());
+    } else {
+        result = Result::BAD_VALUE;
+    }
+    return result;
+}
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/Sensor.h b/sensors/Sensor.h
new file mode 100644
index 0000000..7923820
--- /dev/null
+++ b/sensors/Sensor.h
@@ -0,0 +1,87 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/2.1/types.h>
+
+#include <condition_variable>
+#include <memory>
+#include <mutex>
+#include <thread>
+#include <vector>
+
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V2_1::Event;
+using ::android::hardware::sensors::V2_1::SensorInfo;
+using ::android::hardware::sensors::V2_1::SensorType;
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace subhal {
+namespace implementation {
+
+class ISensorsEventCallback {
+  public:
+    virtual ~ISensorsEventCallback(){};
+    virtual void postEvents(const std::vector<Event>& events, bool wakeup) = 0;
+};
+
+class Sensor {
+  public:
+    Sensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+    virtual ~Sensor();
+
+    const SensorInfo& getSensorInfo() const;
+    void batch(int32_t samplingPeriodNs);
+    virtual void activate(bool enable);
+    Result flush();
+
+    void setOperationMode(OperationMode mode);
+    bool supportsDataInjection() const;
+    Result injectEvent(const Event& event);
+
+  protected:
+    void run();
+    virtual std::vector<Event> readEvents();
+    static void startThread(Sensor* sensor);
+
+    bool isWakeUpSensor();
+
+    bool mIsEnabled;
+    int64_t mSamplingPeriodNs;
+    int64_t mLastSampleTimeNs;
+    SensorInfo mSensorInfo;
+
+    std::atomic_bool mStopThread;
+    std::condition_variable mWaitCV;
+    std::mutex mRunMutex;
+    std::thread mRunThread;
+
+    ISensorsEventCallback* mCallback;
+
+    OperationMode mMode;
+};
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/SensorsSubHal.cpp b/sensors/SensorsSubHal.cpp
new file mode 100644
index 0000000..6cbcb56
--- /dev/null
+++ b/sensors/SensorsSubHal.cpp
@@ -0,0 +1,160 @@
+/*
+ * Copyright (C) 2019 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 "SensorsSubHal.h"
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <log/log.h>
+
+using ::android::hardware::sensors::V2_1::implementation::ISensorsSubHal;
+using ::android::hardware::sensors::V2_1::subhal::implementation::SensorsSubHal;
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace subhal {
+namespace implementation {
+
+using ::android::hardware::Void;
+using ::android::hardware::sensors::V2_0::implementation::ScopedWakelock;
+
+SensorsSubHal::SensorsSubHal() : mCallback(nullptr), mNextHandle(1) {}
+
+Return<void> SensorsSubHal::getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb) {
+    std::vector<SensorInfo> sensors;
+    for (const auto& sensor : mSensors) {
+        sensors.push_back(sensor.second->getSensorInfo());
+    }
+    _hidl_cb(sensors);
+    return Void();
+}
+
+Return<Result> SensorsSubHal::setOperationMode(OperationMode mode) {
+    for (auto sensor : mSensors) {
+        sensor.second->setOperationMode(mode);
+    }
+    mCurrentOperationMode = mode;
+    return Result::OK;
+}
+
+Return<Result> SensorsSubHal::activate(int32_t sensorHandle, bool enabled) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->activate(enabled);
+        return Result::OK;
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                                    int64_t /* maxReportLatencyNs */) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->batch(samplingPeriodNs);
+        return Result::OK;
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::flush(int32_t sensorHandle) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->flush();
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::injectSensorData_2_1(const Event& event) {
+    auto sensor = mSensors.find(event.sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->injectEvent(event);
+    }
+
+    return Result::BAD_VALUE;
+}
+
+Return<void> SensorsSubHal::registerDirectChannel(const SharedMemInfo& /* mem */,
+                                                  ISensors::registerDirectChannel_cb _hidl_cb) {
+    _hidl_cb(Result::INVALID_OPERATION, -1 /* channelHandle */);
+    return Return<void>();
+}
+
+Return<Result> SensorsSubHal::unregisterDirectChannel(int32_t /* channelHandle */) {
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> SensorsSubHal::configDirectReport(int32_t /* sensorHandle */,
+                                               int32_t /* channelHandle */, RateLevel /* rate */,
+                                               ISensors::configDirectReport_cb _hidl_cb) {
+    _hidl_cb(Result::INVALID_OPERATION, 0 /* reportToken */);
+    return Return<void>();
+}
+
+Return<void> SensorsSubHal::debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) {
+    if (fd.getNativeHandle() == nullptr || fd->numFds < 1) {
+        ALOGE("%s: missing fd for writing", __FUNCTION__);
+        return Void();
+    }
+
+    FILE* out = fdopen(dup(fd->data[0]), "w");
+
+    if (args.size() != 0) {
+        fprintf(out,
+                "Note: sub-HAL %s currently does not support args. Input arguments are "
+                "ignored.\n",
+                getName().c_str());
+    }
+
+    std::ostringstream stream;
+    stream << "Available sensors:" << std::endl;
+    for (auto sensor : mSensors) {
+        SensorInfo info = sensor.second->getSensorInfo();
+        stream << "Name: " << info.name << std::endl;
+        stream << "Min delay: " << info.minDelay << std::endl;
+        stream << "Flags: " << info.flags << std::endl;
+    }
+    stream << std::endl;
+
+    fprintf(out, "%s", stream.str().c_str());
+
+    fclose(out);
+    return Return<void>();
+}
+
+Return<Result> SensorsSubHal::initialize(const sp<IHalProxyCallback>& halProxyCallback) {
+    mCallback = halProxyCallback;
+    setOperationMode(OperationMode::NORMAL);
+    return Result::OK;
+}
+
+void SensorsSubHal::postEvents(const std::vector<Event>& events, bool wakeup) {
+    ScopedWakelock wakelock = mCallback->createScopedWakelock(wakeup);
+    mCallback->postEvents(events, std::move(wakelock));
+}
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+ISensorsSubHal* sensorsHalGetSubHal_2_1(uint32_t* version) {
+    static SensorsSubHal subHal;
+    *version = SUB_HAL_2_1_VERSION;
+    return &subHal;
+}
diff --git a/sensors/SensorsSubHal.h b/sensors/SensorsSubHal.h
new file mode 100644
index 0000000..6dccd42
--- /dev/null
+++ b/sensors/SensorsSubHal.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "Sensor.h"
+#include "V2_1/SubHal.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace subhal {
+namespace implementation {
+
+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;
+using ::android::hardware::sensors::V2_1::Event;
+using ::android::hardware::sensors::V2_1::implementation::IHalProxyCallback;
+using ::android::hardware::sensors::V2_1::implementation::ISensorsSubHal;
+
+class SensorsSubHal : public ISensorsSubHal, public ISensorsEventCallback {
+  public:
+    SensorsSubHal();
+
+    Return<void> getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb);
+    Return<Result> injectSensorData_2_1(const Event& event);
+    Return<Result> initialize(const sp<IHalProxyCallback>& halProxyCallback);
+
+    virtual Return<Result> setOperationMode(OperationMode mode);
+
+    OperationMode getOperationMode() const { return mCurrentOperationMode; }
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled);
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs, int64_t maxReportLatencyNs);
+
+    Return<Result> flush(int32_t sensorHandle);
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       ISensors::registerDirectChannel_cb _hidl_cb);
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle);
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    ISensors::configDirectReport_cb _hidl_cb);
+
+    Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args);
+
+    const std::string getName() { return "FakeSubHal"; }
+
+    void postEvents(const std::vector<Event>& events, bool wakeup) override;
+
+  protected:
+    template <class SensorType>
+    void AddSensor() {
+        std::shared_ptr<SensorType> sensor =
+            std::make_shared<SensorType>(mNextHandle++ /* sensorHandle */, this /* callback */);
+        mSensors[sensor->getSensorInfo().sensorHandle] = sensor;
+    }
+
+    std::map<int32_t, std::shared_ptr<Sensor>> mSensors;
+
+    sp<IHalProxyCallback> mCallback;
+
+  private:
+    OperationMode mCurrentOperationMode = OperationMode::NORMAL;
+
+    int32_t mNextHandle;
+};
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/hals.conf b/sensors/hals.conf
index 03fbb56..ae2f725 100644
--- a/sensors/hals.conf
+++ b/sensors/hals.conf
@@ -1,2 +1,3 @@
 sensors.ssc.so
 sensors.grip.so
+sensors.samsung.so