diff --git a/drivers/sensors/l3gd20.c b/drivers/sensors/l3gd20.c
index 716d0448615..99679ce239a 100644
--- a/drivers/sensors/l3gd20.c
+++ b/drivers/sensors/l3gd20.c
@@ -558,8 +558,7 @@ int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
   priv->timestamp        = 0;
 
   priv->lower.type = SENSOR_TYPE_GYROSCOPE;
-  priv->lower.buffer_size = sizeof(struct sensor_event_gyro) *
-                            CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
+  priv->lower.buffer_number = CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
   priv->lower.ops = &g_l2gd20_ops;
   priv->lower.uncalibrated = true;
 
diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 0b637136a41..e6ed29ad74f 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -195,7 +195,8 @@ static int sensor_open(FAR struct file *filep)
     {
       /* Initialize sensor buffer */
 
-      ret = circbuf_init(&upper->buffer, NULL, lower->buffer_size);
+      ret = circbuf_init(&upper->buffer, NULL, lower->buffer_number *
+                         upper->esize);
       if (ret < 0)
         {
           goto err;
@@ -314,11 +315,12 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
        * in buffer is less than the number of bytes origin.
        */
 
+      uint32_t buffer_size = lower->buffer_number * upper->esize;
       if (upper->latency == 0 &&
-          circbuf_size(&upper->buffer) > lower->buffer_size &&
-          circbuf_used(&upper->buffer) <= lower->buffer_size)
+          circbuf_size(&upper->buffer) > buffer_size &&
+          circbuf_used(&upper->buffer) <= buffer_size)
         {
-          ret = circbuf_resize(&upper->buffer, lower->buffer_size);
+          ret = circbuf_resize(&upper->buffer, buffer_size);
         }
     }
 
@@ -333,7 +335,6 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
   FAR struct sensor_upperhalf_s *upper = inode->i_private;
   FAR struct sensor_lowerhalf_s *lower = upper->lower;
   FAR unsigned int *val = (unsigned int *)(uintptr_t)arg;
-  size_t bytes;
   int ret;
 
   sninfo("cmd=%x arg=%08lx\n", cmd, arg);
@@ -400,11 +401,12 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
                 {
                   /* Adjust length of buffer in batch mode */
 
-                  bytes = ROUNDUP(ROUNDUP(*val, upper->interval) /
-                                  upper->interval * upper->esize +
-                                  lower->buffer_size, upper->esize);
+                  uint32_t buffer_size = (ROUNDUP(*val, upper->interval) /
+                                         upper->interval +
+                                         lower->buffer_number) *
+                                         upper->esize;
 
-                  ret = circbuf_resize(&upper->buffer, bytes);
+                  ret = circbuf_resize(&upper->buffer, buffer_size);
                 }
             }
         }
@@ -412,20 +414,16 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 
       case SNIOC_GET_NEVENTBUF:
         {
-          *val = lower->buffer_size / upper->esize;
+          *val = lower->buffer_number;
         }
         break;
 
-      case SNIOC_SET_BUFFER_SIZE:
+      case SNIOC_SET_BUFFER_NUMBER:
         {
-          if (*val != 0)
+          if (arg != 0)
             {
-              lower->buffer_size = ROUNDUP(*val, upper->esize);
-              ret = circbuf_resize(&upper->buffer, lower->buffer_size);
-              if (ret >= 0)
-                {
-                  *val = lower->buffer_size;
-                }
+              lower->buffer_number = arg;
+              ret = circbuf_resize(&upper->buffer, arg * upper->esize);
             }
         }
         break;
@@ -680,13 +678,9 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
 
   if (!lower->ops->fetch)
     {
-      if (!lower->buffer_size)
+      if (!lower->buffer_number)
         {
-          lower->buffer_size = esize;
-        }
-      else
-        {
-          lower->buffer_size = ROUNDUP(lower->buffer_size, esize);
+          lower->buffer_number = 1;
         }
 
       lower->push_event = sensor_push_event;
@@ -694,7 +688,7 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
   else
     {
       lower->notify_event = sensor_notify_event;
-      lower->buffer_size = 0;
+      lower->buffer_number = 0;
     }
 
   sninfo("Registering %s\n", path);
diff --git a/drivers/sensors/wtgahrs2.c b/drivers/sensors/wtgahrs2.c
index d3bd41b73fb..af5e76bd289 100644
--- a/drivers/sensors/wtgahrs2.c
+++ b/drivers/sensors/wtgahrs2.c
@@ -479,7 +479,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   tmp = &rtdata->dev[WTGAHRS2_ACCEL_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
   tmp->lower.type = SENSOR_TYPE_ACCELEROMETER;
-  tmp->lower.buffer_size = sizeof(struct sensor_event_accel);
+  tmp->lower.buffer_number = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
@@ -491,7 +491,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   tmp = &rtdata->dev[WTGAHRS2_GYRO_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
   tmp->lower.type = SENSOR_TYPE_GYROSCOPE;
-  tmp->lower.buffer_size = sizeof(struct sensor_event_gyro);
+  tmp->lower.buffer_number = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
@@ -503,7 +503,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   tmp = &rtdata->dev[WTGAHRS2_MAG_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
   tmp->lower.type = SENSOR_TYPE_MAGNETIC_FIELD;
-  tmp->lower.buffer_size = sizeof(struct sensor_event_mag);
+  tmp->lower.buffer_number = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
@@ -515,7 +515,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   tmp = &rtdata->dev[WTGAHRS2_BARO_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
   tmp->lower.type = SENSOR_TYPE_BAROMETER;
-  tmp->lower.buffer_size = sizeof(struct sensor_event_baro);
+  tmp->lower.buffer_number = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
@@ -527,7 +527,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   tmp = &rtdata->dev[WTGAHRS2_GPS_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
   tmp->lower.type = SENSOR_TYPE_GPS;
-  tmp->lower.buffer_size = sizeof(struct sensor_event_gps);
+  tmp->lower.buffer_number = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
diff --git a/include/nuttx/sensors/ioctl.h b/include/nuttx/sensors/ioctl.h
index 57fd8b16739..49fae29806f 100644
--- a/include/nuttx/sensors/ioctl.h
+++ b/include/nuttx/sensors/ioctl.h
@@ -261,16 +261,14 @@
 
 #define SNIOC_GET_NEVENTBUF        _SNIOC(0x0070)
 
-/* Command:      SNIOC_SET_BUFFER_SIZE
- * Description:  Set size of intermediate circualr buffer in upper half
- *               driver.
- * Argument:     This is the size of buffer pointer.
- * Note:         The application layer can set size of intermediate circualr
- *               buffer
- *               by this ioctl command. The size is in bytes, it should be a
- *               multiple of an event.
+/* Command:      SNIOC_SET_BUFFER_NUMBER
+ * Description:  Set the number of events intermediate circualr buffer can
+ *               hold in upper half driver.
+ * Argument:     This is the number of events that buffer can hold.
+ * Note:         The application layer can set number of events intermediate
+ *               circualr buffer can hold by this ioctl command.
  */
 
-#define SNIOC_SET_BUFFER_SIZE      _SNIOC(0x0071)
+#define SNIOC_SET_BUFFER_NUMBER    _SNIOC(0x0071)
 
 #endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index e40138a383d..90595baae68 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -573,18 +573,16 @@ struct sensor_lowerhalf_s
 
   int type;
 
-  /* The size of the circular buffer used, in bytes units.
-   * This sensor circular buffer is used to solve the issue where the
-   * application can't read sensor event in time. If this length of buffer
-   * is too large, the latency of the sensor event will be too large.
-   * If the length of buffer is too small, the events will be overwriten
-   * before the application can read them.
-   * So, it's recommended to set the size according to sensor ODR. If ODR is
-   * low, you can set to a length of sensor event. If ODR is high, you can
-   * set to two or three times the length of sensor event.
+  /* The number of events that the circular buffer can hold.
+   * This sensor circular buffer is used to slove issue that application
+   * can't read sensor event in time. If this number of events is too large,
+   * the latency of sensor event will be too larage. If the number of events
+   * is too small, the event will be overwrite before application read them.
+   * So, it's recommended to set according to sensor odr. If odr is low, you
+   * can set to one. If odr is high, you can set to two or three.
    */
 
-  uint32_t buffer_size;
+  uint32_t buffer_number;
 
   /* The uncalibrated use to describe whether the sensor event is
    * uncalibrated. True is uncalibrated data, false is calibrated data,