diff --git a/services/sensor/hdi_connection/hardware/include/hdi_service_impl.h b/services/sensor/hdi_connection/hardware/include/hdi_service_impl.h
index d26fe5028f2bf28b84582fdc9cf90c08795be2f0..125326e25b3138f19ad250604ef046b64c7da2d8 100644
--- a/services/sensor/hdi_connection/hardware/include/hdi_service_impl.h
+++ b/services/sensor/hdi_connection/hardware/include/hdi_service_impl.h
@@ -27,7 +27,7 @@ namespace Sensors {
 class HdiServiceImpl : public Singleton<HdiServiceImpl> {
 public:
     HdiServiceImpl() = default;
-    virtual ~HdiServiceImpl() {}
+    ~HdiServiceImpl();
     int32_t GetSensorList(std::vector<SensorInfo> &sensorList);
     int32_t EnableSensor(int32_t sensorId);
     int32_t DisableSensor(int32_t sensorId);
diff --git a/services/sensor/hdi_connection/hardware/src/hdi_service_impl.cpp b/services/sensor/hdi_connection/hardware/src/hdi_service_impl.cpp
index 2d3763f50d16adc960c4f13137fe521a506469e5..67714a2d45a952932c47819c0923ea99b8a31bbd 100644
--- a/services/sensor/hdi_connection/hardware/src/hdi_service_impl.cpp
+++ b/services/sensor/hdi_connection/hardware/src/hdi_service_impl.cpp
@@ -62,6 +62,15 @@ int64_t HdiServiceImpl::samplingInterval_ = -1;
 int64_t HdiServiceImpl::reportInterval_ = -1;
 std::atomic_bool HdiServiceImpl::isStop_ = false;
 
+HdiServiceImpl::~HdiServiceImpl()
+{
+    CALL_LOG_ENTER;
+    isStop_ = true;
+    if (dataReportThread_.joinable()) {
+        dataReportThread_.join();
+    }
+}
+
 void HdiServiceImpl::GenerateEvent()
 {
     for (const auto &sensorId : enableSensors_) {
@@ -236,6 +245,12 @@ int32_t HdiServiceImpl::SetMode(int32_t sensorId, int32_t mode)
 int32_t HdiServiceImpl::Register(RecordSensorCallback cb)
 {
     CHKPR(cb, ERROR);
+    for (auto it = callbacks_.begin(); it != callbacks_.end(); it++) {
+        if (*it == cb) {
+            SEN_HILOGW("Same recordSensorCallback has been registered");
+            return ERR_OK;
+        }
+    }
     callbacks_.push_back(cb);
     return ERR_OK;
 }
diff --git a/services/sensor/hdi_connection/interface/include/sensor_hdi_connection.h b/services/sensor/hdi_connection/interface/include/sensor_hdi_connection.h
index f609516c0e53f30da7e1b10d84f178d4818dcf80..0ccb07ef18a2c0b0b6f6757673e7217e41e16c4e 100644
--- a/services/sensor/hdi_connection/interface/include/sensor_hdi_connection.h
+++ b/services/sensor/hdi_connection/interface/include/sensor_hdi_connection.h
@@ -36,6 +36,7 @@ public:
     int32_t SetMode(int32_t sensorId, int32_t mode) override;
     int32_t RegisterDataReport(ReportDataCb cb, sptr<ReportDataCallback> reportDataCallback) override;
     int32_t DestroyHdiConnection() override;
+    int32_t ConnectCompatible();
 
 private:
     DISALLOW_COPY_AND_MOVE(SensorHdiConnection);
diff --git a/services/sensor/hdi_connection/interface/src/sensor_hdi_connection.cpp b/services/sensor/hdi_connection/interface/src/sensor_hdi_connection.cpp
index ec893f8916cf0cf91ba4c3124fd6ac343fe1462d..202373f2cf037451bf6a357df640d3b276a06d76 100644
--- a/services/sensor/hdi_connection/interface/src/sensor_hdi_connection.cpp
+++ b/services/sensor/hdi_connection/interface/src/sensor_hdi_connection.cpp
@@ -57,6 +57,21 @@ int32_t SensorHdiConnection::ConnectHdi()
     return ERR_OK;
 }
 
+int32_t SensorHdiConnection::ConnectCompatible()
+{
+    iSensorHdiConnection_ = std::make_unique<CompatibleConnection>();
+    int32_t ret = ConnectHdiService();
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Connect compatible connection failed, ret:%{public}d", ret);
+        return ret;
+    }
+    ret = ConnectCompatibleHdi();
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Connect color and sar compatible connection failed, ret:%{public}d", ret);
+    }
+    return ret;
+}
+
 int32_t SensorHdiConnection::ConnectHdiService()
 {
     int32_t ret = iSensorHdiConnection_->ConnectHdi();
diff --git a/services/sensor/include/sensor_data_processer.h b/services/sensor/include/sensor_data_processer.h
index bd229494d89ed51d3c0ab1061d7b97d0ffee8c53..e8ec187c0b08e26c773a7290cb0bd1af9720f024 100644
--- a/services/sensor/include/sensor_data_processer.h
+++ b/services/sensor/include/sensor_data_processer.h
@@ -16,6 +16,7 @@
 #ifndef SENSORS_DATA_PROCESSER_H
 #define SENSORS_DATA_PROCESSER_H
 
+#include <atomic>
 #include <unordered_map>
 #include <vector>
 
@@ -41,6 +42,7 @@ public:
     int32_t SendEvents(sptr<SensorBasicDataChannel> &channel, SensorData &data);
     static int DataThread(sptr<SensorDataProcesser> dataProcesser, sptr<ReportDataCallback> dataCallback);
     int32_t CacheSensorEvent(const SensorData &data, sptr<SensorBasicDataChannel> &channel);
+    void StopThread();
 
 private:
     DISALLOW_COPY_AND_MOVE(SensorDataProcesser);
@@ -61,6 +63,7 @@ private:
     std::unordered_map<int32_t, std::vector<sptr<FifoCacheData>>> dataCountMap_;
     std::mutex sensorMutex_;
     std::unordered_map<int32_t, Sensor> sensorMap_;
+    static std::atomic_bool isStop_;
 };
 }  // namespace Sensors
 }  // namespace OHOS
diff --git a/services/sensor/include/sensor_manager.h b/services/sensor/include/sensor_manager.h
index 5f8d19056a433d2a088ee15ae54223f18cdffe2d..58913dbede2e0bc6c9cca4092fd8fad1ee4e186e 100644
--- a/services/sensor/include/sensor_manager.h
+++ b/services/sensor/include/sensor_manager.h
@@ -34,6 +34,7 @@ namespace Sensors {
 using namespace Security::AccessToken;
 class SensorManager : public Singleton<SensorManager> {
 public:
+    ~SensorManager();
 #ifdef HDF_DRIVERS_INTERFACE_SENSOR
     void InitSensorMap(const std::unordered_map<int32_t, Sensor> &sensorMap, sptr<SensorDataProcesser> dataProcesser,
                        sptr<ReportDataCallback> dataCallback);
diff --git a/services/sensor/include/sensor_service.h b/services/sensor/include/sensor_service.h
index 98a0e9dcade7c95182d9948444c12ac8deb4ad3a..6111029e49197fda8027cebfd7454a0c932963cb 100644
--- a/services/sensor/include/sensor_service.h
+++ b/services/sensor/include/sensor_service.h
@@ -50,6 +50,7 @@ public:
     void OnDump() override;
     void OnStart() override;
     void OnStop() override;
+    void OnStartFuzz();
     int Dump(int fd, const std::vector<std::u16string> &args) override;
     ErrCode EnableSensor(int32_t sensorId, int64_t samplingPeriodNs, int64_t maxReportDelayNs) override;
     ErrCode DisableSensor(int32_t sensorId) override;
@@ -97,7 +98,7 @@ private:
     std::vector<Sensor> sensors_;
     std::unordered_map<int32_t, Sensor> sensorMap_;
 #ifdef HDF_DRIVERS_INTERFACE_SENSOR
-    bool InitInterface();
+    bool InitInterface(bool status);
     bool InitDataCallback();
     bool InitSensorList();
     SensorHdiConnection &sensorHdiConnection_ = SensorHdiConnection::GetInstance();
diff --git a/services/sensor/src/sensor_data_processer.cpp b/services/sensor/src/sensor_data_processer.cpp
index 48258d4ef715eb04ef5d3f68af93a6a8396bc3a6..3ed86daee3d88d185269ef8898f1918a82e3bc5c 100644
--- a/services/sensor/src/sensor_data_processer.cpp
+++ b/services/sensor/src/sensor_data_processer.cpp
@@ -32,6 +32,7 @@ using namespace OHOS::HiviewDFX;
 namespace {
 constexpr HiLogLabel LABEL = { LOG_CORE, SENSOR_LOG_DOMAIN, "SensorDataProcesser" };
 }  // namespace
+std::atomic_bool SensorDataProcesser::isStop_ = false;
 
 SensorDataProcesser::SensorDataProcesser(const std::unordered_map<int32_t, Sensor> &sensorMap)
 {
@@ -45,6 +46,11 @@ SensorDataProcesser::~SensorDataProcesser()
     sensorMap_.clear();
 }
 
+void SensorDataProcesser::StopThread()
+{
+    isStop_ = true;
+}
+
 void SensorDataProcesser::SendNoneFifoCacheData(std::unordered_map<int32_t, SensorData> &cacheBuf,
                                                 sptr<SensorBasicDataChannel> &channel, SensorData &data,
                                                 uint64_t periodCount)
@@ -296,6 +302,10 @@ int32_t SensorDataProcesser::DataThread(sptr<SensorDataProcesser> dataProcesser,
             SEN_HILOGE("Callback cannot be null");
             return INVALID_POINTER;
         }
+        if (dataProcesser->isStop_) {
+            SEN_HILOGI("Thread stop");
+            return THREAD_STOP;
+        }
     } while (1);
 }
 }  // namespace Sensors
diff --git a/services/sensor/src/sensor_manager.cpp b/services/sensor/src/sensor_manager.cpp
index 337c6b1f95546d68e786687f40b4dfb482d97329..f7bae26d6d32be48b82e4b743886f69390be7f53 100644
--- a/services/sensor/src/sensor_manager.cpp
+++ b/services/sensor/src/sensor_manager.cpp
@@ -35,6 +35,21 @@ constexpr uint32_t PROXIMITY_SENSOR_ID = 50331904;
 constexpr float PROXIMITY_FAR = 5.0;
 }  // namespace
 
+SensorManager::~SensorManager()
+{
+    CALL_LOG_ENTER;
+#ifdef HDF_DRIVERS_INTERFACE_SENSOR
+    sensorDataProcesser_->StopThread();
+    if (dataThread_.joinable()) {
+        {
+            std::unique_lock<std::mutex> lk(ISensorHdiConnection::dataMutex_);
+            ISensorHdiConnection::dataCondition_.notify_one();
+        }
+        dataThread_.join();
+    }
+#endif // HDF_DRIVERS_INTERFACE_SENSOR
+}
+
 #ifdef HDF_DRIVERS_INTERFACE_SENSOR
 void SensorManager::InitSensorMap(const std::unordered_map<int32_t, Sensor> &sensorMap,
                                   sptr<SensorDataProcesser> dataProcesser, sptr<ReportDataCallback> dataCallback)
diff --git a/services/sensor/src/sensor_service.cpp b/services/sensor/src/sensor_service.cpp
index 6ada9b6fbc21febc097c8490bd341f19efb29fee..8fc41f8fa019bcb1b7c370c45a46796a69020611 100644
--- a/services/sensor/src/sensor_service.cpp
+++ b/services/sensor/src/sensor_service.cpp
@@ -66,7 +66,7 @@ void SensorService::OnStart()
         CHKPV(clientDeathObserver_);
     }
 #ifdef HDF_DRIVERS_INTERFACE_SENSOR
-    if (!InitInterface()) {
+    if (!InitInterface(true)) {
         SEN_HILOGE("Init interface error");
         return;
     }
@@ -96,10 +96,48 @@ void SensorService::OnStart()
     state_ = SensorServiceState::STATE_RUNNING;
 }
 
+void SensorService::OnStartFuzz()
+{
+    CALL_LOG_ENTER;
+    if (state_ == SensorServiceState::STATE_RUNNING) {
+        SEN_HILOGD("SensorService has already started");
+        return;
+    }
+    if (clientDeathObserver_ == nullptr) {
+        clientDeathObserver_ = new (std::nothrow) DeathRecipientTemplate(*const_cast<SensorService *>(this));
+        CHKPV(clientDeathObserver_);
+    }
+#ifdef HDF_DRIVERS_INTERFACE_SENSOR
+    if (!InitInterface(false)) {
+        SEN_HILOGE("Init interface error");
+        return;
+    }
+    if (!InitDataCallback()) {
+        SEN_HILOGE("Init data callback error");
+        return;
+    }
+    if (!InitSensorList()) {
+        SEN_HILOGE("Init sensor list error");
+        return;
+    }
+    sensorDataProcesser_ = new (std::nothrow) SensorDataProcesser(sensorMap_);
+    CHKPV(sensorDataProcesser_);
+#endif // HDF_DRIVERS_INTERFACE_SENSOR
+    if (!InitSensorPolicy()) {
+        SEN_HILOGE("Init sensor policy error");
+    }
+#ifdef HDF_DRIVERS_INTERFACE_SENSOR
+    sensorManager_.InitSensorMap(sensorMap_, sensorDataProcesser_, reportDataCallback_);
+#else
+    sensorManager_.InitSensorMap(sensorMap_);
+#endif // HDF_DRIVERS_INTERFACE_SENSOR
+    state_ = SensorServiceState::STATE_RUNNING;
+}
+
 #ifdef HDF_DRIVERS_INTERFACE_SENSOR
-bool SensorService::InitInterface()
+bool SensorService::InitInterface(bool status)
 {
-    auto ret = sensorHdiConnection_.ConnectHdi();
+    int32_t ret = status ? sensorHdiConnection_.ConnectHdi() : sensorHdiConnection_.ConnectCompatible();
     if (ret != ERR_OK) {
         SEN_HILOGE("Connect hdi failed");
         return false;
diff --git a/services/sensor/test/fuzztest/sensoronremoterequest_fuzzer/sensoronremoterequest_fuzzer.cpp b/services/sensor/test/fuzztest/sensoronremoterequest_fuzzer/sensoronremoterequest_fuzzer.cpp
index 81224c1c827b0f8cbb47b5197a6a6329d1808b59..3693e7d584a1580adc3ff59df58dee0bdd1adc67 100644
--- a/services/sensor/test/fuzztest/sensoronremoterequest_fuzzer/sensoronremoterequest_fuzzer.cpp
+++ b/services/sensor/test/fuzztest/sensoronremoterequest_fuzzer/sensoronremoterequest_fuzzer.cpp
@@ -78,6 +78,7 @@ bool OnRemoteRequestFuzzTest(const uint8_t *data, size_t size)
     datas.RewindRead(0);
     MessageParcel reply;
     MessageOption option;
+    g_service->OnStartFuzz();
     g_service->OnRemoteRequest(code, datas, reply, option);
     return true;
 }
diff --git a/utils/common/include/sensor_errors.h b/utils/common/include/sensor_errors.h
index f4330c3300f4de3949fa8aa3202ce98810094cda..d12f79412fc9951378d0a2345ae0ba7f7b01380e 100644
--- a/utils/common/include/sensor_errors.h
+++ b/utils/common/include/sensor_errors.h
@@ -96,6 +96,7 @@ enum {
     SUSPEND_ERR = REGIST_CALLBACK_ERR + 1,
     RESUME_ERR = SUSPEND_ERR + 1,
     RESET_ERR = RESUME_ERR + 1,
+    THREAD_STOP = RESET_ERR + 1,
 };
 
 // Error code for Sensor utils