diff --git a/system/sensorscope/CMakeLists.txt b/system/sensorscope/CMakeLists.txt
new file mode 100644
index 0000000..554114f
--- /dev/null
+++ b/system/sensorscope/CMakeLists.txt
@@ -0,0 +1,31 @@
+# ##############################################################################
+# apps/system/sensorscope/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you 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.
+#
+# ##############################################################################
+
+if(CONFIG_SYSTEM_SENSORSCOPE)
+  nuttx_add_application(
+    NAME
+    ${CONFIG_SYSTEM_SENSORSCOPE_PROGNAME}
+    SRCS
+    sensorscope_main.c
+    STACKSIZE
+    ${CONFIG_SYSTEM_SENSORSCOPE_STACKSIZE}
+    PRIORITY
+    ${CONFIG_SYSTEM_SENSORSCOPE_PRIORITY})
+endif()
diff --git a/system/sensorscope/Kconfig b/system/sensorscope/Kconfig
new file mode 100644
index 0000000..a8dd84e
--- /dev/null
+++ b/system/sensorscope/Kconfig
@@ -0,0 +1,72 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig SYSTEM_SENSORSCOPE
+	bool "NxScope sensors stream app"
+	default n
+	depends on LOGGING_NXSCOPE
+	select LOGGING_NXSCOPE_INTF_SERIAL
+	select LOGGING_NXSCOPE_PROTO_SER
+
+if SYSTEM_SENSORSCOPE
+
+config SYSTEM_SENSORSCOPE_PROGNAME
+	string "Program name"
+	default "sensorscope"
+
+config SYSTEM_SENSORSCOPE_PRIORITY
+	int "nxscope task priority"
+	default 100
+
+config SYSTEM_SENSORSCOPE_STACKSIZE
+	int "nxscope stack size"
+	default DEFAULT_TASK_STACKSIZE
+
+config SYSTEM_SENSORSCOPE_SERIAL_PATH
+	string "nxscope serial path"
+	default "/dev/ttyUSB0"
+
+config SYSTEM_SENSORSCOPE_SERIAL_BAUD
+	int "nxscope serial baud"
+	default 115200
+	---help---
+		Ignored if set to 0 (for example for RTT interface)
+
+config SYSTEM_SENSORSCOPE_CDCACM
+	bool "nxscope CDCACM device support"
+	depends on CDCACM
+	default n
+
+config SYSTEM_SENSORSCOPE_FORCE_ENABLE
+	bool "nxscope force enable"
+	default n
+
+config SYSTEM_SENSORSCOPE_STREAMBUF_LEN
+	int "nxscope stream buffer length"
+	default 512
+
+config SYSTEM_SENSORSCOPE_RXBUF_LEN
+	int "nxscope RX buffer length"
+	default 32
+
+config SYSTEM_SENSORSCOPE_RX_PADDING
+	int "nxscope RX padding"
+	default 0
+
+config SYSTEM_SENSORSCOPE_MAIN_INTERVAL
+	int "nxscope main interval (microseconds)"
+	default 100000
+	---help---
+		This value is responsible for the frequency at which stream
+		frames will be sent and incoming frames will be received.
+
+config SYSTEM_SENSORSCOPE_FETCH_INTERVAL
+	int "nxscope sensor fetch interval (microseconds)"
+	default 1000
+	---help---
+		This value is responsible for the frequency at which the sensors
+		are read
+
+endif # SYSTEM_SENSORSCOPE
diff --git a/system/sensorscope/Make.defs b/system/sensorscope/Make.defs
new file mode 100644
index 0000000..2e76647
--- /dev/null
+++ b/system/sensorscope/Make.defs
@@ -0,0 +1,23 @@
+############################################################################
+# apps/systen/sensorscope/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_SYSTEM_SENSORSCOPE),)
+CONFIGURED_APPS += $(APPDIR)/system/sensorscope
+endif
diff --git a/system/sensorscope/Makefile b/system/sensorscope/Makefile
new file mode 100644
index 0000000..18ee631
--- /dev/null
+++ b/system/sensorscope/Makefile
@@ -0,0 +1,34 @@
+############################################################################
+# apps/system/sensorscope/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you 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 $(APPDIR)/Make.defs
+
+# sensorscope built-in application info
+
+PROGNAME  = $(CONFIG_SYSTEM_SENSORSCOPE_PROGNAME)
+PRIORITY  = $(CONFIG_SYSTEM_SENSORSCOPE_PRIORITY)
+STACKSIZE = $(CONFIG_SYSTEM_SENSORSCOPE_STACKSIZE)
+MODULE    = $(CONFIG_SYSTEM_SENSORSCOPE)
+
+MAINSRC = sensorscope_main.c
+
+CSRCS =
+
+include $(APPDIR)/Application.mk
diff --git a/system/sensorscope/sensorscope_main.c b/system/sensorscope/sensorscope_main.c
new file mode 100644
index 0000000..ab80be5
--- /dev/null
+++ b/system/sensorscope/sensorscope_main.c
@@ -0,0 +1,555 @@
+/****************************************************************************
+ * apps/system/sensorscope/sensorscope_main.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/boardctl.h>
+#include <sys/param.h>
+
+#include <assert.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <dirent.h>
+#include <libgen.h>
+
+#include <nuttx/sensors/sensor.h>
+
+#include "logging/nxscope/nxscope.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define SENSOR_PATH        "/dev/uorb/"
+#define SENSOR_PATH_MAX    62
+#define SENSOR_CHNAME_MAX  16
+
+/****************************************************************************
+ * Private Type Definition
+ ****************************************************************************/
+
+struct nxsensor_info_s
+{
+  FAR const char *name;
+  size_t          data_size;    /* Sensor read data size */
+  size_t          data_offset;  /* Read data offset (no timestamp) */
+  size_t          dim;          /* Data vector dimenstion */
+  int             dtype;        /* Data vector type */
+};
+
+struct listen_object_s
+{
+  /* Node of object info list */
+
+  struct list_node node;
+
+  /* Sensor data */
+
+  int          fd;
+  FAR uint8_t *data;
+
+  /* Sensor info */
+
+  FAR struct nxsensor_info_s *info;
+
+  /* nxscope channel data */
+
+  int  chanid;
+  char chname[SENSOR_CHNAME_MAX];
+};
+
+struct nxscope_thr_env_s
+{
+  struct nxscope_s nxs;
+  struct list_node objlist;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* This array defines supported sensors. */
+
+struct nxsensor_info_s g_nxsensor[] =
+{
+  {"accel", sizeof(struct sensor_accel), 0, 3, NXSCOPE_TYPE_FLOAT},
+  {"mag", sizeof(struct sensor_mag), 0, 3, NXSCOPE_TYPE_FLOAT},
+  {"gyro", sizeof(struct sensor_gyro), 0, 3, NXSCOPE_TYPE_FLOAT},
+  {"light", sizeof(struct sensor_light), 0, 2, NXSCOPE_TYPE_FLOAT},
+  {"baro", sizeof(struct sensor_baro), 0, 2, NXSCOPE_TYPE_FLOAT},
+  {"prox", sizeof(struct sensor_prox), 0, 1, NXSCOPE_TYPE_FLOAT},
+  {"humi", sizeof(struct sensor_humi), 0, 1, NXSCOPE_TYPE_FLOAT},
+  {"temp", sizeof(struct sensor_temp), 0, 1, NXSCOPE_TYPE_FLOAT},
+  {"rgb", sizeof(struct sensor_rgb), 0, 3, NXSCOPE_TYPE_FLOAT},
+  {"hall", sizeof(struct sensor_hall), 0, 1, NXSCOPE_TYPE_INT32},
+  {"ir", sizeof(struct sensor_ir), 0, 1, NXSCOPE_TYPE_FLOAT},
+  {"gas", sizeof(struct sensor_gas), 0, 1, NXSCOPE_TYPE_FLOAT},
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxscope_samples_thr
+ ****************************************************************************/
+
+static FAR void *nxscope_samples_thr(FAR void *arg)
+{
+  FAR struct nxscope_thr_env_s *envp   = arg;
+  FAR struct listen_object_s   *tmp;
+  FAR float                    *data;
+  int                           ret;
+  size_t                        offset;
+
+  DEBUGASSERT(envp);
+
+  printf("nxscope_samples_thr\n");
+
+  while (1)
+    {
+      list_for_every_entry(&envp->objlist, tmp, struct listen_object_s, node)
+        {
+          /* Read data from sensor */
+
+          ret = read(tmp->fd, tmp->data, tmp->info->data_size);
+          if (ret < 0)
+            {
+              printf("ERROR: read failed %d\n", -errno);
+            }
+          else
+            {
+              /* Get vector from a given offset */
+
+              offset = tmp->info->data_offset + sizeof(uint64_t);
+              data = (float *)&tmp->data[offset];
+
+              nxscope_put_vfloat(&envp->nxs, tmp->chanid, data,
+                                 tmp->info->dim);
+            }
+        }
+
+      usleep(CONFIG_SYSTEM_SENSORSCOPE_FETCH_INTERVAL);
+    }
+
+  return NULL;
+}
+
+#ifdef CONFIG_SYSTEM_SENSORSCOPE_CDCACM
+/****************************************************************************
+ * Name: nxscope_cdcacm_init
+ ****************************************************************************/
+
+static int nxscope_cdcacm_init(void)
+{
+  struct boardioc_usbdev_ctrl_s  ctrl;
+  FAR void                      *handle;
+  int                            ret;
+
+  ctrl.usbdev   = BOARDIOC_USBDEV_CDCACM;
+  ctrl.action   = BOARDIOC_USBDEV_CONNECT;
+  ctrl.instance = 0;
+  ctrl.handle   = &handle;
+
+  ret = boardctl(BOARDIOC_USBDEV_CONTROL, (uintptr_t)&ctrl);
+  if (ret < 0)
+    {
+      printf("ERROR: BOARDIOC_USBDEV_CONTROL failed %d\n", ret);
+      goto errout;
+    }
+
+errout:
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: listener_add_object
+ ****************************************************************************/
+
+static FAR struct listen_object_s *
+listener_add_object(FAR struct list_node *objlist,
+                    FAR struct nxsensor_info_s *info,
+                    int fd, int chanid, FAR char *chname)
+{
+  FAR struct listen_object_s *tmp;
+
+  tmp = malloc(sizeof(struct listen_object_s));
+  if (tmp == NULL)
+    {
+      return NULL;
+    }
+
+  /* Initialize object */
+
+  strncpy(tmp->chname, chname, SENSOR_CHNAME_MAX);
+
+  tmp->info   = info;
+  tmp->chanid = chanid;
+  tmp->fd     = fd;
+
+  /* Allocate space for data */
+
+  tmp->data = malloc(info->data_size);
+
+  /* Add node to list */
+
+  list_add_tail(objlist, &tmp->node);
+
+  return tmp;
+}
+
+/****************************************************************************
+ * Name: listener_delete_object_list
+ ****************************************************************************/
+
+static void listener_delete_object_list(FAR struct list_node *objlist)
+{
+  FAR struct listen_object_s *tmp;
+  FAR struct listen_object_s *next;
+
+  list_for_every_entry_safe(objlist, tmp, next, struct listen_object_s, node)
+    {
+      free(tmp->data);
+      list_delete(&tmp->node);
+      free(tmp);
+    }
+
+  list_initialize(objlist);
+}
+
+/****************************************************************************
+ * Name: sensorscope_chinfo
+ ****************************************************************************/
+
+static int sensorscope_chinfo(FAR char *path,
+                                 FAR struct nxsensor_info_s **info)
+{
+  int i;
+
+  for (i = 0; i < nitems(g_nxsensor); i++)
+    {
+      if (strstr(path, g_nxsensor[i].name) != NULL)
+        {
+          *info = &g_nxsensor[i];
+          return OK;
+        }
+    }
+
+  return -EINVAL;
+}
+
+/****************************************************************************
+ * Name: nxscope_channels_num
+ ****************************************************************************/
+
+static int nxscope_channels_num(void)
+{
+  FAR struct dirent *entry;
+  FAR DIR           *dir;
+  int                i = 0;
+
+  dir = opendir(SENSOR_PATH);
+  if (!dir)
+    {
+      return 0;
+    }
+
+  while ((entry = readdir(dir)) != NULL)
+    {
+      if (entry->d_type == DT_CHR)
+        {
+          i++;
+        }
+    }
+
+  closedir(dir);
+
+  return i;
+}
+
+/****************************************************************************
+ * Name: nxscope_channels
+ ****************************************************************************/
+
+static int nxscope_channels(FAR struct nxscope_thr_env_s *envp)
+{
+  union nxscope_chinfo_type_u  u;
+  FAR struct nxsensor_info_s  *info;
+  FAR struct dirent           *entry;
+  FAR struct listen_object_s  *obj;
+  FAR DIR                     *dir;
+  int                          chanid;
+  int                          ret;
+  int                          fd;
+  char                         path[SENSOR_PATH_MAX];
+
+  /* Initialize objects list */
+
+  list_initialize(&envp->objlist);
+
+  /* Open sensors direcotry */
+
+  dir = opendir(SENSOR_PATH);
+  if (!dir)
+    {
+      return 0;
+    }
+
+  /* Get available sensors */
+
+  chanid = 0;
+  while ((entry = readdir(dir)) != NULL)
+    {
+      if (entry->d_type != DT_CHR)
+        {
+          continue;
+        }
+
+      /* Get sensor info */
+
+      ret = sensorscope_chinfo(entry->d_name, &info);
+      if (ret != OK)
+        {
+          printf("ERROR: not supported sensor %s\n", entry->d_name);
+        }
+      else
+        {
+          snprintf(path, SENSOR_PATH_MAX, SENSOR_PATH"%s", entry->d_name);
+          fd = open(path, O_CLOEXEC | O_RDWR | O_NONBLOCK);
+          if (fd < 0)
+            {
+              printf("ERROR: failed to open %s %d\n", entry->d_name, -errno);
+            }
+          else
+            {
+              /* Add new object */
+
+              obj = listener_add_object(&envp->objlist,
+                                        info, fd, chanid,
+                                        basename(entry->d_name));
+              if (obj == NULL)
+                {
+                  printf("ERROR: failed to add listener object %d\n",
+                         chanid);
+                  return -ENOMEM;
+                }
+
+              /* Register nxscope channel */
+
+              u.s.dtype = NXSCOPE_TYPE_FLOAT;
+              u.s._res  = 0;
+              u.s.cri   = 0;
+
+              nxscope_chan_init(&envp->nxs, obj->chanid, obj->chname,
+                                u.u8, obj->info->dim, 0);
+
+              /* Next channel */
+
+              chanid++;
+            }
+        }
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: nxscope_cb_start
+ ****************************************************************************/
+
+static int nxscope_cb_start(FAR void *priv, bool start)
+{
+  UNUSED(priv);
+
+  printf("--> nxscope_cb_start: start=%d\n", start);
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxscope_main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+  struct nxscope_thr_env_s    env;
+  struct nxscope_cfg_s        nxs_cfg;
+  struct nxscope_intf_s       intf;
+  struct nxscope_proto_s      proto;
+  struct nxscope_ser_cfg_s    nxs_ser_cfg;
+  struct nxscope_callbacks_s  cbs;
+  pthread_t                   thread;
+  int                         ret;
+
+#ifndef CONFIG_NSH_ARCHINIT
+  /* Perform architecture-specific initialization (if configured) */
+
+  boardctl(BOARDIOC_INIT, 0);
+
+#  ifdef CONFIG_BOARDCTL_FINALINIT
+  /* Perform architecture-specific final-initialization (if configured) */
+
+  boardctl(BOARDIOC_FINALINIT, 0);
+#  endif
+#endif
+
+#ifdef CONFIG_SYSTEM_SENSORSCOPE_CDCACM
+  /* Initialize the USB CDCACM device */
+
+  ret = nxscope_cdcacm_init();
+  if (ret < 0)
+    {
+      printf("ERROR: nxscope_cdcacm_init failed %d\n", ret);
+      goto errout_noproto;
+    }
+#endif
+
+  /* Default serial protocol */
+
+  ret = nxscope_proto_ser_init(&proto, NULL);
+  if (ret < 0)
+    {
+      printf("ERROR: nxscope_proto_ser_init failed %d\n", ret);
+      goto errout_noproto;
+    }
+
+  /* Configuration */
+
+  nxs_ser_cfg.path     = CONFIG_SYSTEM_SENSORSCOPE_SERIAL_PATH;
+  nxs_ser_cfg.nonblock = true;
+  nxs_ser_cfg.baud     = CONFIG_SYSTEM_SENSORSCOPE_SERIAL_BAUD;
+
+  /* Initialize serial interface */
+
+  ret = nxscope_ser_init(&intf, &nxs_ser_cfg);
+  if (ret < 0)
+    {
+      printf("ERROR: nxscope_ser_init failed %d\n", ret);
+      goto errout_nointf;
+    }
+
+  /* Connect callbacks */
+
+  cbs.start_priv = NULL;
+  cbs.start = nxscope_cb_start;
+
+  /* Initialize nxscope */
+
+  nxs_cfg.intf_cmd      = &intf;
+  nxs_cfg.intf_stream   = &intf;
+  nxs_cfg.proto_cmd     = &proto;
+  nxs_cfg.proto_stream  = &proto;
+  nxs_cfg.callbacks     = &cbs;
+  nxs_cfg.channels      = nxscope_channels_num();
+  nxs_cfg.streambuf_len = CONFIG_SYSTEM_SENSORSCOPE_STREAMBUF_LEN;
+  nxs_cfg.rxbuf_len     = CONFIG_SYSTEM_SENSORSCOPE_RXBUF_LEN;
+  nxs_cfg.rx_padding    = CONFIG_SYSTEM_SENSORSCOPE_RX_PADDING;
+
+  ret = nxscope_init(&env.nxs, &nxs_cfg);
+  if (ret < 0)
+    {
+      printf("ERROR: nxscope_init failed %d\n", ret);
+      goto errout_nonxscope;
+    }
+
+  /* Create channels */
+
+  ret = nxscope_channels(&env);
+  if (ret != OK)
+    {
+      printf("ERROR: nxscope_channels failed %d\n", ret);
+      goto errout;
+    }
+
+  /* Create samples thread */
+
+  ret = pthread_create(&thread, NULL, nxscope_samples_thr, &env);
+  if (ret != OK)
+    {
+      printf("ERROR: pthread_create failed %d\n", ret);
+      goto errout;
+    }
+
+#ifdef CONFIG_SYSTEM_SENSORSCOPE_FORCE_ENABLE
+  /* Enable channels and enable stream */
+
+  nxscope_chan_all_en(&nxs, true);
+  nxscope_stream_start(&nxs, true);
+#endif
+
+  /* Main loop */
+
+  while (1)
+    {
+      /* Flush stream data */
+
+      ret = nxscope_stream(&env.nxs);
+      if (ret < 0)
+        {
+          printf("ERROR: nxscope_stream failed %d\n", ret);
+        }
+
+      /* Handle recv data */
+
+      ret = nxscope_recv(&env.nxs);
+      if (ret < 0)
+        {
+          printf("ERROR: nxscope_recv failed %d\n", ret);
+        }
+
+      usleep(CONFIG_SYSTEM_SENSORSCOPE_MAIN_INTERVAL);
+    }
+
+errout:
+
+  /* Delete objects */
+
+  listener_delete_object_list(&env.objlist);
+
+  /* Deinit nxscope */
+
+  nxscope_deinit(&env.nxs);
+
+errout_nonxscope:
+
+  /* Deinit interface */
+
+  nxscope_ser_deinit(&intf);
+
+errout_nointf:
+
+  /* Deinit protocol */
+
+  nxscope_proto_ser_deinit(&proto);
+
+errout_noproto:
+  return 0;
+}