diff --git a/arch/arm/src/stm32/Make.defs b/arch/arm/src/stm32/Make.defs
index e7817c8c532..512872a8974 100644
--- a/arch/arm/src/stm32/Make.defs
+++ b/arch/arm/src/stm32/Make.defs
@@ -249,7 +249,7 @@ ifeq ($(CONFIG_PWM),y)
 CHIP_CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CHIP_CSRCS += stm32_qencoder.c
 endif
 
diff --git a/arch/arm/src/stm32/stm32_qencoder.c b/arch/arm/src/stm32/stm32_qencoder.c
index 09ed7669a0a..5bc98ad3229 100644
--- a/arch/arm/src/stm32/stm32_qencoder.c
+++ b/arch/arm/src/stm32/stm32_qencoder.c
@@ -60,7 +60,7 @@
 #include "stm32_tim.h"
 #include "stm32_qencoder.h"
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -1219,4 +1219,4 @@ int stm32_qeinitialize(FAR const char *devpath, int tim)
   return OK;
 }
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
diff --git a/arch/arm/src/stm32/stm32_qencoder.h b/arch/arm/src/stm32/stm32_qencoder.h
index 5effa7163d7..bea28531b67 100644
--- a/arch/arm/src/stm32/stm32_qencoder.h
+++ b/arch/arm/src/stm32/stm32_qencoder.h
@@ -44,7 +44,7 @@
 
 #include "chip.h"
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /************************************************************************************
  * Included Files
@@ -137,6 +137,6 @@
 
 int stm32_qeinitialize(FAR const char *devpath, int tim);
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
 #endif /* __ARCH_ARM_SRC_STM32_STM32_QENCODER_H */
 
diff --git a/arch/arm/src/stm32l4/Make.defs b/arch/arm/src/stm32l4/Make.defs
index 341f62e33d5..271a2ff6293 100644
--- a/arch/arm/src/stm32l4/Make.defs
+++ b/arch/arm/src/stm32l4/Make.defs
@@ -208,7 +208,7 @@ ifeq ($(CONFIG_PWM),y)
 CHIP_CSRCS += stm32l4_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CHIP_CSRCS += stm32l4_qencoder.c
 endif
 
diff --git a/arch/arm/src/stm32l4/stm32l4_qencoder.c b/arch/arm/src/stm32l4/stm32l4_qencoder.c
index 7c65b95d5a9..9f8a20fc9f8 100644
--- a/arch/arm/src/stm32l4/stm32l4_qencoder.c
+++ b/arch/arm/src/stm32l4/stm32l4_qencoder.c
@@ -60,7 +60,7 @@
 #include "stm32l4_tim.h"
 #include "stm32l4_qencoder.h"
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -1154,4 +1154,4 @@ int stm32l4_qeinitialize(FAR const char *devpath, int tim)
   return OK;
 }
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
diff --git a/arch/arm/src/stm32l4/stm32l4_qencoder.h b/arch/arm/src/stm32l4/stm32l4_qencoder.h
index fca0b88b8bd..7fccca772b3 100644
--- a/arch/arm/src/stm32l4/stm32l4_qencoder.h
+++ b/arch/arm/src/stm32l4/stm32l4_qencoder.h
@@ -44,7 +44,7 @@
 
 #include "chip.h"
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /************************************************************************************
  * Included Files
@@ -136,6 +136,6 @@
 
 int stm32l4_qeinitialize(FAR const char *devpath, int tim);
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
 #endif /* __ARCH_ARM_SRC_STM32L4_STM32L4_QENCODER_H */
 
diff --git a/configs/freedom-kl25z/src/Makefile b/configs/freedom-kl25z/src/Makefile
index 37f83bc1ffb..843155c3bca 100644
--- a/configs/freedom-kl25z/src/Makefile
+++ b/configs/freedom-kl25z/src/Makefile
@@ -74,7 +74,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += kl_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += kl_qencoder.c
 endif
 
diff --git a/configs/mikroe-stm32f4/src/Makefile b/configs/mikroe-stm32f4/src/Makefile
index 3fba8bdc715..aa62ed68c53 100644
--- a/configs/mikroe-stm32f4/src/Makefile
+++ b/configs/mikroe-stm32f4/src/Makefile
@@ -54,7 +54,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/mikroe-stm32f4/src/mikroe-stm32f4.h b/configs/mikroe-stm32f4/src/mikroe-stm32f4.h
index be7b4edc17d..18e98d1ff64 100644
--- a/configs/mikroe-stm32f4/src/mikroe-stm32f4.h
+++ b/configs/mikroe-stm32f4/src/mikroe-stm32f4.h
@@ -260,7 +260,7 @@ int stm32_pwm_setup(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/configs/mikroe-stm32f4/src/stm32_appinit.c b/configs/mikroe-stm32f4/src/stm32_appinit.c
index b0fee207c24..134f819fc4c 100644
--- a/configs/mikroe-stm32f4/src/stm32_appinit.c
+++ b/configs/mikroe-stm32f4/src/stm32_appinit.c
@@ -373,7 +373,7 @@ int board_app_initialize(uintptr_t arg)
 
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_MIKROE_QETIMER);
diff --git a/configs/nucleo-f4x1re/src/Makefile b/configs/nucleo-f4x1re/src/Makefile
index 7778dd7f001..0636f64f5ce 100644
--- a/configs/nucleo-f4x1re/src/Makefile
+++ b/configs/nucleo-f4x1re/src/Makefile
@@ -62,7 +62,7 @@ CSRCS += stm32_ajoystick.c
 endif
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/nucleo-f4x1re/src/nucleo-f4x1re.h b/configs/nucleo-f4x1re/src/nucleo-f4x1re.h
index c3d1a62ea05..88a7cf44409 100644
--- a/configs/nucleo-f4x1re/src/nucleo-f4x1re.h
+++ b/configs/nucleo-f4x1re/src/nucleo-f4x1re.h
@@ -328,7 +328,7 @@ int stm32_adc_setup(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/configs/nucleo-f4x1re/src/stm32_appinit.c b/configs/nucleo-f4x1re/src/stm32_appinit.c
index e82a0ef32b8..05b0c54880b 100644
--- a/configs/nucleo-f4x1re/src/stm32_appinit.c
+++ b/configs/nucleo-f4x1re/src/stm32_appinit.c
@@ -143,7 +143,7 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_NUCLEO_F401RE_QETIMER);
diff --git a/configs/nucleo-l432kc/src/Makefile b/configs/nucleo-l432kc/src/Makefile
index fe944ec4437..35d3560ee78 100644
--- a/configs/nucleo-l432kc/src/Makefile
+++ b/configs/nucleo-l432kc/src/Makefile
@@ -52,7 +52,7 @@ ifeq ($(CONFIG_ADC),y)
 CSRCS += stm32_adc.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/nucleo-l432kc/src/nucleo-l432kc.h b/configs/nucleo-l432kc/src/nucleo-l432kc.h
index 7b6b2194d6d..a9ce4bee647 100644
--- a/configs/nucleo-l432kc/src/nucleo-l432kc.h
+++ b/configs/nucleo-l432kc/src/nucleo-l432kc.h
@@ -182,7 +182,7 @@ int board_timer_driver_initialize(FAR const char *devpath, int timer);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32l4_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/configs/nucleo-l432kc/src/stm32_appinit.c b/configs/nucleo-l432kc/src/stm32_appinit.c
index 34d703372ef..0422e0cf20c 100644
--- a/configs/nucleo-l432kc/src/stm32_appinit.c
+++ b/configs/nucleo-l432kc/src/stm32_appinit.c
@@ -112,7 +112,7 @@ int board_app_initialize(uintptr_t arg)
 #ifdef HAVE_RTC_DRIVER
   FAR struct rtc_lowerhalf_s *rtclower;
 #endif
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   int index;
   char buf[9];
 #endif
@@ -223,7 +223,7 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
   /* Initialize and register the qencoder driver */
 
diff --git a/configs/nucleo-l476rg/src/Makefile b/configs/nucleo-l476rg/src/Makefile
index 7c908435278..1a5357555d4 100644
--- a/configs/nucleo-l476rg/src/Makefile
+++ b/configs/nucleo-l476rg/src/Makefile
@@ -62,7 +62,7 @@ CSRCS += stm32_ajoystick.c
 endif
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/nucleo-l476rg/src/nucleo-l476rg.h b/configs/nucleo-l476rg/src/nucleo-l476rg.h
index a6f676da547..b249da652c2 100644
--- a/configs/nucleo-l476rg/src/nucleo-l476rg.h
+++ b/configs/nucleo-l476rg/src/nucleo-l476rg.h
@@ -383,7 +383,7 @@ int board_timer_driver_initialize(FAR const char *devpath, int timer);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32l4_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/configs/nucleo-l476rg/src/stm32_appinit.c b/configs/nucleo-l476rg/src/stm32_appinit.c
index 479481417e0..65357c162b8 100644
--- a/configs/nucleo-l476rg/src/stm32_appinit.c
+++ b/configs/nucleo-l476rg/src/stm32_appinit.c
@@ -112,7 +112,7 @@ int board_app_initialize(uintptr_t arg)
 #ifdef HAVE_RTC_DRIVER
   FAR struct rtc_lowerhalf_s *rtclower;
 #endif
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   int index;
   char buf[9];
 #endif
@@ -236,7 +236,7 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
   /* Initialize and register the qencoder driver */
 
diff --git a/configs/nutiny-nuc120/src/Makefile b/configs/nutiny-nuc120/src/Makefile
index 21840d8a371..5e61cfada65 100644
--- a/configs/nutiny-nuc120/src/Makefile
+++ b/configs/nutiny-nuc120/src/Makefile
@@ -54,7 +54,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += nuc_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += nuc_qencoder.c
 endif
 
diff --git a/configs/stm3240g-eval/src/Makefile b/configs/stm3240g-eval/src/Makefile
index 28b1b4f702f..92b0a2d6cba 100644
--- a/configs/stm3240g-eval/src/Makefile
+++ b/configs/stm3240g-eval/src/Makefile
@@ -81,7 +81,7 @@ ifeq ($(CONFIG_INPUT_STMPE811),y)
 CSRCS += stm32_stmpe811.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/stm32f0discovery/src/Makefile b/configs/stm32f0discovery/src/Makefile
index f1458e3cfb1..585d6dce802 100644
--- a/configs/stm32f0discovery/src/Makefile
+++ b/configs/stm32f0discovery/src/Makefile
@@ -57,7 +57,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/stm32f103-minimum/README.txt b/configs/stm32f103-minimum/README.txt
index 111598ed7f3..7920009787d 100644
--- a/configs/stm32f103-minimum/README.txt
+++ b/configs/stm32f103-minimum/README.txt
@@ -255,7 +255,7 @@ Quadrature Encoder:
   - These setting enable support for the common QEncode upper half driver:
 
    CONFIG_SENSORS=y
-     CONFIG_QENCODER=y
+     CONFIG_SENSORS_QENCODER=y
 
   - This is a board setting that selected timer 4 for use with the
     quadrature encode:
diff --git a/configs/stm32f103-minimum/src/Makefile b/configs/stm32f103-minimum/src/Makefile
index 360aa0a08eb..58acfc880f0 100644
--- a/configs/stm32f103-minimum/src/Makefile
+++ b/configs/stm32f103-minimum/src/Makefile
@@ -97,11 +97,11 @@ ifeq ($(CONFIG_LCD_PCD8544),y)
   CSRCS += stm32_pcd8544.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
   CSRCS += stm32_qencoder.c
 endif
 
-ifeq ($(CONFIG_VEML6070),y)
+ifeq ($(CONFIG_SENSORS_VEML6070),y)
   CSRCS += stm32_veml6070.c
 endif
 
diff --git a/configs/stm32f103-minimum/src/stm32_bringup.c b/configs/stm32f103-minimum/src/stm32_bringup.c
index 0c5aaa15976..bd5515cb810 100644
--- a/configs/stm32f103-minimum/src/stm32_bringup.c
+++ b/configs/stm32f103-minimum/src/stm32_bringup.c
@@ -250,7 +250,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32F103MINIMUM_QETIMER);
@@ -272,7 +272,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_VEML6070
+#ifdef CONFIG_SENSORS_VEML6070
   /* Register the UV-A light sensor */
 
   ret = stm32_veml6070initialize("/dev/uvlight0");
diff --git a/configs/stm32f103-minimum/src/stm32_veml6070.c b/configs/stm32f103-minimum/src/stm32_veml6070.c
index 72c6583bbcb..5e8765e9e71 100644
--- a/configs/stm32f103-minimum/src/stm32_veml6070.c
+++ b/configs/stm32f103-minimum/src/stm32_veml6070.c
@@ -49,7 +49,7 @@
 #include "stm32_i2c.h"
 #include "stm32f103_minimum.h"
 
-#if defined(CONFIG_I2C) && defined(CONFIG_VEML6070)
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_VEML6070)
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -102,4 +102,4 @@ int stm32_veml6070initialize(FAR const char *devpath)
   return ret;
 }
 
-#endif /* CONFIG_I2C && CONFIG_VEML6070 && CONFIG_STM32_I2C1 */
+#endif /* CONFIG_I2C && CONFIG_SENSORS_VEML6070 && CONFIG_STM32_I2C1 */
diff --git a/configs/stm32f103-minimum/src/stm32f103_minimum.h b/configs/stm32f103-minimum/src/stm32f103_minimum.h
index 9c3e69b726c..f346b87c530 100644
--- a/configs/stm32f103-minimum/src/stm32f103_minimum.h
+++ b/configs/stm32f103-minimum/src/stm32f103_minimum.h
@@ -225,7 +225,7 @@ int stm32_w25initialize(int minor);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
@@ -334,7 +334,7 @@ int stm32_tone_setup(void);
  *
  ***********************************************************************************/
 
-#ifdef CONFIG_VEML6070
+#ifdef CONFIG_SENSORS_VEML6070
 int stm32_veml6070initialize(FAR const char *devpath);
 #endif
 
diff --git a/configs/stm32f103-minimum/veml6070/defconfig b/configs/stm32f103-minimum/veml6070/defconfig
index 8ac33205767..a077d0c0d33 100644
--- a/configs/stm32f103-minimum/veml6070/defconfig
+++ b/configs/stm32f103-minimum/veml6070/defconfig
@@ -53,5 +53,5 @@ CONFIG_SYMTAB_ORDEREDBYNAME=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USART1_SERIAL_CONSOLE=y
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_VEML6070=y
+CONFIG_SENSORS_VEML6070=y
 CONFIG_WDOG_INTRESERVE=0
diff --git a/configs/stm32f3discovery/src/Makefile b/configs/stm32f3discovery/src/Makefile
index 119bca3f598..30a527de262 100644
--- a/configs/stm32f3discovery/src/Makefile
+++ b/configs/stm32f3discovery/src/Makefile
@@ -56,7 +56,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/stm32f3discovery/src/stm32_appinit.c b/configs/stm32f3discovery/src/stm32_appinit.c
index f3da7a8025b..68e9da548f3 100644
--- a/configs/stm32f3discovery/src/stm32_appinit.c
+++ b/configs/stm32f3discovery/src/stm32_appinit.c
@@ -137,7 +137,7 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32F3DISCO_QETIMER);
diff --git a/configs/stm32f3discovery/src/stm32f3discovery.h b/configs/stm32f3discovery/src/stm32f3discovery.h
index 0926778d8ab..de3dd3b4f82 100644
--- a/configs/stm32f3discovery/src/stm32f3discovery.h
+++ b/configs/stm32f3discovery/src/stm32f3discovery.h
@@ -181,7 +181,7 @@ int stm32_pwm_setup(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/configs/stm32f429i-disco/README.txt b/configs/stm32f429i-disco/README.txt
index fc2719ad009..7bfd00c1819 100644
--- a/configs/stm32f429i-disco/README.txt
+++ b/configs/stm32f429i-disco/README.txt
@@ -726,7 +726,7 @@ Where <subdir> is one of the following:
 
        CONFIG_EXAMPLES_QENCODER=y : Enable the apps/examples/qencoder
        CONFIG_SENSORS=y           : Enable support for sensors
-       CONFIG_QENCODER=y          : Enable the generic Quadrature Encoder infrastructure
+       CONFIG_SENSORS_QENCODER=y          : Enable the generic Quadrature Encoder infrastructure
        CONFIG_STM32_TIM8=y        : Enable TIM8
        CONFIG_STM32_TIM2=n        : (Or optionally TIM2)
        CONFIG_STM32_TIM8_QE=y     : Use TIM8 as the quadrature encoder
diff --git a/configs/stm32f4discovery/README.txt b/configs/stm32f4discovery/README.txt
index ff516d04c5f..9f173e38e99 100644
--- a/configs/stm32f4discovery/README.txt
+++ b/configs/stm32f4discovery/README.txt
@@ -458,7 +458,7 @@ Quadrature Encoder:
    CONFIG_BOARD_INITIALIZE=y
 
    CONFIG_SENSORS=y
-     CONFIG_QENCODER=y
+     CONFIG_SENSORS_QENCODER=y
 
   - The timer 2 needs to be enabled:
 
@@ -1691,7 +1691,7 @@ Where <subdir> is one of the following:
 
        CONFIG_EXAMPLES_QENCODER=y : Enable the apps/examples/qencoder
        CONFIG_SENSORS=y           : Enable support for sensors
-       CONFIG_QENCODER=y          : Enable the generic Quadrature Encoder infrastructure
+       CONFIG_SENSORS_QENCODER=y          : Enable the generic Quadrature Encoder infrastructure
        CONFIG_STM32_TIM8=y        : Enable TIM8
        CONFIG_STM32_TIM2=n        : (Or optionally TIM2)
        CONFIG_STM32_TIM8_QE=y     : Use TIM8 as the quadrature encoder
diff --git a/configs/stm32f4discovery/src/Makefile b/configs/stm32f4discovery/src/Makefile
index 90a31b04814..5c26078c68a 100644
--- a/configs/stm32f4discovery/src/Makefile
+++ b/configs/stm32f4discovery/src/Makefile
@@ -96,11 +96,11 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
-ifeq ($(CONFIG_XEN1210),y)
+ifeq ($(CONFIG_SENSORS_XEN1210),y)
 CSRCS += stm32_xen1210.c
 endif
 
@@ -116,7 +116,7 @@ ifeq ($(CONFIG_PM_BUTTONS),y)
 CSRCS += stm32_pmbuttons.c
 endif
 
-ifeq ($(CONFIG_ZEROCROSS),y)
+ifeq ($(CONFIG_SENSORS_ZEROCROSS),y)
 CSRCS += stm32_zerocross.c
 endif
 
diff --git a/configs/stm32f4discovery/src/stm32_bringup.c b/configs/stm32f4discovery/src/stm32_bringup.c
index a92256635a7..79d7f003301 100644
--- a/configs/stm32f4discovery/src/stm32_bringup.c
+++ b/configs/stm32f4discovery/src/stm32_bringup.c
@@ -110,7 +110,7 @@ int stm32_bringup(void)
   stm32_bh1750initialize("/dev/light0");
 #endif
 
-#ifdef CONFIG_ZEROCROSS
+#ifdef CONFIG_SENSORS_ZEROCROSS
   /* Configure the zero-crossing driver */
 
   stm32_zerocross_initialize();
@@ -197,7 +197,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32F4DISCO_QETIMER);
@@ -283,7 +283,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_XEN1210
+#ifdef CONFIG_SENSORS_XEN1210
   ret = xen1210_archinitialize(0);
 #endif
 
diff --git a/configs/stm32f4discovery/src/stm32_xen1210.c b/configs/stm32f4discovery/src/stm32_xen1210.c
index b6363a1e2ec..531dd2388f3 100644
--- a/configs/stm32f4discovery/src/stm32_xen1210.c
+++ b/configs/stm32f4discovery/src/stm32_xen1210.c
@@ -65,15 +65,15 @@
  ****************************************************************************/
 /* Configuration ************************************************************/
 
-#ifdef CONFIG_XEN1210
+#ifdef CONFIG_SENSORS_XEN1210
 #ifndef CONFIG_STM32_SPI1
 #  error "XEN1210 support requires CONFIG_STM32_SPI1"
 #endif
 
-#define CONFIG_XEN1210_SPIDEV 1
+#define BOARD_XEN1210_SPIDEV 1
 
-#ifndef CONFIG_XEN1210_DEVMINOR
-#  define CONFIG_XEN1210_DEVMINOR 0
+#ifndef BOARD_XEN1210_DEVMINOR
+#  define BOARD_XEN1210_DEVMINOR 0
 #endif
 
 #ifndef CONFIG_STM32_TIM1
@@ -323,10 +323,10 @@ int xen1210_archinitialize(int minor)
 
       /* Get an instance of the I2C interface */
 
-      dev = stm32_spibus_initialize(CONFIG_XEN1210_SPIDEV);
+      dev = stm32_spibus_initialize(BOARD_XEN1210_SPIDEV);
       if (!dev)
         {
-          snerr("ERROR: Failed to initialize SPI bus %d\n", CONFIG_XEN1210_SPIDEV);
+          snerr("ERROR: Failed to initialize SPI bus %d\n", BOARD_XEN1210_SPIDEV);
           return -ENODEV;
         }
 
@@ -342,7 +342,7 @@ int xen1210_archinitialize(int minor)
 
       /* Initialize and register the XEN1210 driver */
 
-      ret = xen1210_register(g_xen1210config.handle, CONFIG_XEN1210_DEVMINOR);
+      ret = xen1210_register(g_xen1210config.handle, BOARD_XEN1210_DEVMINOR);
       if (ret < 0)
         {
           snerr("ERROR: Failed to register XEN1210 driver: %d\n", ret);
diff --git a/configs/stm32f4discovery/src/stm32_zerocross.c b/configs/stm32f4discovery/src/stm32_zerocross.c
index 92703f56615..aff78fba2b1 100644
--- a/configs/stm32f4discovery/src/stm32_zerocross.c
+++ b/configs/stm32f4discovery/src/stm32_zerocross.c
@@ -49,7 +49,7 @@
 #include "stm32_gpio.h"
 #include "stm32f4discovery.h"
 
-#ifdef CONFIG_ZEROCROSS
+#ifdef CONFIG_SENSORS_ZEROCROSS
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -202,4 +202,4 @@ int stm32_zerocross_initialize(void)
   return zc_register("/dev/zc0", &g_zcrosslower);
 }
 
-#endif /* CONFIG_ZEROCROSS */
+#endif /* CONFIG_SENSORS_ZEROCROSS */
diff --git a/configs/stm32f4discovery/src/stm32f4discovery.h b/configs/stm32f4discovery/src/stm32f4discovery.h
index 75478932288..bad8918fdad 100644
--- a/configs/stm32f4discovery/src/stm32f4discovery.h
+++ b/configs/stm32f4discovery/src/stm32f4discovery.h
@@ -614,7 +614,7 @@ void weak_function stm32_netinitialize(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
@@ -626,7 +626,7 @@ int stm32_qencoder_initialize(FAR const char *devpath, int timer);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_ZEROCROSS
+#ifdef CONFIG_SENSORS_ZEROCROSS
 int stm32_zerocross_initialize(void);
 #endif
 
@@ -740,7 +740,7 @@ int stm32_timer_driver_setup(FAR const char *devpath, int timer);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_XEN1210
+#ifdef CONFIG_SENSORS_XEN1210
 int xen1210_archinitialize(int minor);
 #endif
 
diff --git a/configs/stm32f4discovery/xen1210/defconfig b/configs/stm32f4discovery/xen1210/defconfig
index ff9477d4ce1..d725e4d104e 100644
--- a/configs/stm32f4discovery/xen1210/defconfig
+++ b/configs/stm32f4discovery/xen1210/defconfig
@@ -55,4 +55,4 @@ CONFIG_USART2_RXBUFSIZE=128
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=128
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_XEN1210=y
+CONFIG_SENSORS_XEN1210=y
diff --git a/configs/stm32ldiscovery/src/Makefile b/configs/stm32ldiscovery/src/Makefile
index 84f146b7cb2..0bfb618418d 100644
--- a/configs/stm32ldiscovery/src/Makefile
+++ b/configs/stm32ldiscovery/src/Makefile
@@ -56,7 +56,7 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
diff --git a/configs/stm32ldiscovery/src/stm32_appinit.c b/configs/stm32ldiscovery/src/stm32_appinit.c
index b49827fd04f..c87229509d1 100644
--- a/configs/stm32ldiscovery/src/stm32_appinit.c
+++ b/configs/stm32ldiscovery/src/stm32_appinit.c
@@ -101,7 +101,7 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 
   ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32LDISCO_QETIMER);
diff --git a/configs/stm32ldiscovery/src/stm32ldiscovery.h b/configs/stm32ldiscovery/src/stm32ldiscovery.h
index c8d05a2c44e..161e3c6401e 100644
--- a/configs/stm32ldiscovery/src/stm32ldiscovery.h
+++ b/configs/stm32ldiscovery/src/stm32ldiscovery.h
@@ -263,7 +263,7 @@ int stm32_pwm_setup(void);
  *
  ****************************************************************************/
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 47981b1cee4..226466ad6ea 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -343,7 +343,7 @@ config LM75_I2C_FREQUENCY
 	range 1 100000
 	depends on LM75_I2C
 
-config LM92
+config SENSORS_LM92
 	bool "TI LM92 Temperature Sensor support"
 	default n
 	select I2C
@@ -356,24 +356,35 @@ config LM92_I2C_FREQUENCY
 	range 1 400000
 	depends on LM92
 
-config QENCODER
+config SENSORS_QENCODER
 	bool "Qencoder"
 	default n
 
-config VEML6070
+config SENSORS_VEML6070
 	bool "Vishay VEML6070 UV-A Light Sensor support"
 	default n
 	select I2C
 	---help---
 		Enable driver support for the Vishay VEML6070 UV-A light sensor.
 
-config XEN1210
+config VEML6070_I2C_FREQUENCY
+	int "VEML6070 I2C frequency"
+	default 100000
+	depends on SENSORS_VEML6070
+
+config SENSORS_XEN1210
 	bool "Sensixs XEN1210 Magnetometer"
 	default n
 	select SPI
 	---help---
 		Enable driver support for the Sensixs XEN1210 Magnetometer.
 
-config ZEROCROSS
+config XEN1210_REGDBUG
+	bool "Debug support for the XEN1210"
+	default n
+	---help---
+		Enables register level debug features for the XEN1210
+
+config SENSORS_ZEROCROSS
 	bool "Zero Cross Sensor"
 	default n
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index 8ab2d3da851..dbcd515a4ee 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -158,25 +158,25 @@ endif # CONFIG_SPI
 
 # Quadrature encoder upper half
 
-ifeq ($(CONFIG_QENCODER),y)
+ifeq ($(CONFIG_SENSORS_QENCODER),y)
   CSRCS += qencoder.c
 endif
 
 # Vishay VEML6070
 
-ifeq ($(CONFIG_VEML6070),y)
+ifeq ($(CONFIG_SENSORS_VEML6070),y)
   CSRCS += veml6070.c
 endif
 
 # Sensixs XEN1210
 
-ifeq ($(CONFIG_XEN1210),y)
+ifeq ($(CONFIG_SENSORS_XEN1210),y)
   CSRCS += xen1210.c
 endif
 
 # Zero Cross upper half
 
-ifeq ($(CONFIG_ZEROCROSS),y)
+ifeq ($(CONFIG_SENSORS_ZEROCROSS),y)
   CSRCS += zerocross.c
 endif
 
diff --git a/drivers/sensors/as5048b.c b/drivers/sensors/as5048b.c
index a0cc34ee3c3..e9eb3c1eac3 100644
--- a/drivers/sensors/as5048b.c
+++ b/drivers/sensors/as5048b.c
@@ -52,7 +52,7 @@
 #include <nuttx/i2c/i2c_master.h>
 #include <nuttx/sensors/as5048b.h>
 
-#if defined(CONFIG_I2C) && defined(CONFIG_QENCODER) && defined(CONFIG_SENSORS_AS5048B)
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_QENCODER) && defined(CONFIG_SENSORS_AS5048B)
 
 /****************************************************************************
  * Private Types
@@ -619,4 +619,4 @@ FAR struct qe_lowerhalf_s *as5048b_initialize(FAR struct i2c_master_s *i2c,
   return &priv->lower;
 }
 
-#endif /* CONFIG_I2C && CONFIG_QENCODER && CONFIG_SENSORS_AS5048B */
+#endif /* CONFIG_I2C && CONFIG_SENSORS_QENCODER && CONFIG_SENSORS_AS5048B */
diff --git a/drivers/sensors/qencoder.c b/drivers/sensors/qencoder.c
index ead9ec6de75..894581664f6 100644
--- a/drivers/sensors/qencoder.c
+++ b/drivers/sensors/qencoder.c
@@ -58,7 +58,7 @@
 
 #include <arch/irq.h>
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -385,4 +385,4 @@ int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower)
   return register_driver(devpath, &g_qeops, 0666, upper);
 }
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
diff --git a/drivers/sensors/veml6070.c b/drivers/sensors/veml6070.c
index 443782458a2..215a23c0d5d 100644
--- a/drivers/sensors/veml6070.c
+++ b/drivers/sensors/veml6070.c
@@ -50,7 +50,7 @@
 #include <nuttx/sensors/veml6070.h>
 #include <nuttx/random.h>
 
-#if defined(CONFIG_I2C) && defined(CONFIG_VEML6070)
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_VEML6070)
 
 /****************************************************************************
  * Pre-process Definitions
@@ -354,4 +354,4 @@ int veml6070_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
   return ret;
 }
 
-#endif /* CONFIG_I2C && CONFIG_VEML6070 */
+#endif /* CONFIG_I2C && CONFIG_SENSORS_VEML6070 */
diff --git a/drivers/sensors/xen1210.c b/drivers/sensors/xen1210.c
index 0603b4486fc..bb7858ae39a 100644
--- a/drivers/sensors/xen1210.c
+++ b/drivers/sensors/xen1210.c
@@ -53,7 +53,7 @@
 
 #include "xen1210.h"
 
-#if defined(CONFIG_XEN1210)
+#if defined(CONFIG_SENSORS_XEN1210)
 
 /****************************************************************************
  * Private Function Prototypes
diff --git a/drivers/sensors/xen1210.h b/drivers/sensors/xen1210.h
index 08e7b4aba4f..22ac33553ca 100644
--- a/drivers/sensors/xen1210.h
+++ b/drivers/sensors/xen1210.h
@@ -49,7 +49,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/sensors/xen1210.h>
 
-#if defined(CONFIG_XEN1210)
+#if defined(CONFIG_SENSORS_XEN1210)
 
 /********************************************************************************************
  * Pre-processor Definitions
diff --git a/drivers/sensors/zerocross.c b/drivers/sensors/zerocross.c
index 0140b9ba728..770ca556907 100644
--- a/drivers/sensors/zerocross.c
+++ b/drivers/sensors/zerocross.c
@@ -58,7 +58,7 @@
 
 #include <nuttx/irq.h>
 
-#ifdef CONFIG_ZEROCROSS
+#ifdef CONFIG_SENSORS_ZEROCROSS
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -541,4 +541,4 @@ int zc_register(FAR const char *devname, FAR struct zc_lowerhalf_s *lower)
   return ret;
 }
 
-#endif /* CONFIG_ZEROCROSS */
+#endif /* CONFIG_SENSORS_ZEROCROSS */
diff --git a/include/nuttx/sensors/as5048b.h b/include/nuttx/sensors/as5048b.h
index 79d8244a60f..377012f501a 100644
--- a/include/nuttx/sensors/as5048b.h
+++ b/include/nuttx/sensors/as5048b.h
@@ -43,7 +43,7 @@
 #include <nuttx/config.h>
 #include <nuttx/sensors/qencoder.h>
 
-#if defined(CONFIG_I2C) && defined(CONFIG_QENCODER) && defined(CONFIG_SENSORS_AS5048B)
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_QENCODER) && defined(CONFIG_SENSORS_AS5048B)
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -137,5 +137,5 @@ FAR struct qe_lowerhalf_s *as5048b_initialize(FAR struct i2c_master_s *i2c,
 }
 #endif
 
-#endif /* CONFIG_I2C && CONFIG_QENCODER && CONFIG_SENSORS_AS5048B */
+#endif /* CONFIG_I2C && CONFIG_SENSORS_QENCODER && CONFIG_SENSORS_AS5048B */
 #endif /* __INCLUDE_NUTTX_SENSORS_AS5048B */
diff --git a/include/nuttx/sensors/qencoder.h b/include/nuttx/sensors/qencoder.h
index 33041f254e9..c9239f1d6af 100644
--- a/include/nuttx/sensors/qencoder.h
+++ b/include/nuttx/sensors/qencoder.h
@@ -43,13 +43,13 @@
 #include <nuttx/config.h>
 #include <nuttx/fs/ioctl.h>
 
-#ifdef CONFIG_QENCODER
+#ifdef CONFIG_SENSORS_QENCODER
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 /* Configuration ************************************************************
- * CONFIG_QENCODER - Enables support for the quadrature encoder upper half
+ * CONFIG_SENSORS_QENCODER - Enables support for the quadrature encoder upper half
  */
 
 /* IOCTL Commands ***********************************************************/
@@ -187,5 +187,5 @@ int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower);
 }
 #endif
 
-#endif /* CONFIG_QENCODER */
+#endif /* CONFIG_SENSORS_QENCODER */
 #endif /* __INCLUDE_NUTTX_SENSORS_QENCODER_H */
diff --git a/include/nuttx/sensors/veml6070.h b/include/nuttx/sensors/veml6070.h
index 487eb539599..bd06326eae0 100644
--- a/include/nuttx/sensors/veml6070.h
+++ b/include/nuttx/sensors/veml6070.h
@@ -45,7 +45,7 @@
 #include <nuttx/irq.h>
 #include <nuttx/sensors/ioctl.h>
 
-#if defined(CONFIG_VEML6070)
+#if defined(CONFIG_SENSORS_VEML6070)
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -118,5 +118,5 @@ int veml6070_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
 }
 #endif
 
-#endif /* CONFIG_VEML6070 */
+#endif /* CONFIG_SENSORS_VEML6070 */
 #endif /* __INCLUDE_NUTTX_SENSORS_VEML6070_H */
diff --git a/include/nuttx/sensors/xen1210.h b/include/nuttx/sensors/xen1210.h
index d76b5048331..e06a05894b8 100644
--- a/include/nuttx/sensors/xen1210.h
+++ b/include/nuttx/sensors/xen1210.h
@@ -43,7 +43,7 @@
 #include <nuttx/config.h>
 #include <nuttx/irq.h>
 
-#if defined(CONFIG_XEN1210)
+#if defined(CONFIG_SENSORS_XEN1210)
 
 /********************************************************************************************
  * Pre-processor Definitions
@@ -56,7 +56,7 @@
  *
  * Settings that effect the driver: CONFIG_DISABLE_POLL
  *
- * CONFIG_XEN1210
+ * CONFIG_SENSORS_XEN1210
  *   Enables support for the XEN1210 driver
  */
 
diff --git a/include/nuttx/sensors/zerocross.h b/include/nuttx/sensors/zerocross.h
index 6d7ce40b87e..a1446aa9d27 100644
--- a/include/nuttx/sensors/zerocross.h
+++ b/include/nuttx/sensors/zerocross.h
@@ -43,13 +43,13 @@
 #include <nuttx/config.h>
 #include <nuttx/fs/ioctl.h>
 
-#ifdef CONFIG_ZEROCROSS
+#ifdef CONFIG_SENSORS_ZEROCROSS
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 /* Configuration ************************************************************
- * CONFIG_ZEROCROSS - Enables support for the zero cross AC detection upper
+ * CONFIG_SENSORS_ZEROCROSS - Enables support for the zero cross AC detection upper
  *   half
  */
 
@@ -147,5 +147,5 @@ int zc_register(FAR const char *devpath, FAR struct zc_lowerhalf_s *lower);
 }
 #endif
 
-#endif /* CONFIG_ZEROCROSS */
+#endif /* CONFIG_SENSORS_ZEROCROSS */
 #endif /* __INCLUDE_NUTTX_SENSORS_ZEROCROSS_H */