diff --git a/brickpi/brickpi_i2c_sensor.c b/brickpi/brickpi_i2c_sensor.c
index 58159251..1000723d 100644
--- a/brickpi/brickpi_i2c_sensor.c
+++ b/brickpi/brickpi_i2c_sensor.c
@@ -76,6 +76,7 @@ static int brickpi_i2c_sensor_set_mode(void *context, u8 mode)
 		return err;
 
 	lego_port_set_raw_data_ptr_and_func(port, mode_info->raw_data, size,
+					    &mode_info->last_changed_time,
 					    NULL, NULL);
 
 	return 0;
@@ -205,7 +206,8 @@ static int brickpi_i2c_sensor_remove(struct lego_device *ldev)
 {
 	struct brickpi_i2c_sensor_data *data = dev_get_drvdata(&ldev->dev);
 
-	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL, NULL);
+	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL,
+					    NULL, NULL);
 	unregister_lego_sensor(&data->sensor);
 	dev_set_drvdata(&ldev->dev, NULL);
 	kfree(data->sensor.mode_info);
diff --git a/brickpi/brickpi_serdev.c b/brickpi/brickpi_serdev.c
index 40f73348..cb55dc19 100644
--- a/brickpi/brickpi_serdev.c
+++ b/brickpi/brickpi_serdev.c
@@ -401,11 +401,25 @@ int brickpi_get_values(struct brickpi_channel_data *ch_data)
 
 		if (port->sensor_type == BRICKPI_SENSOR_TYPE_NXT_I2C
 		   || port->sensor_type == BRICKPI_SENSOR_TYPE_NXT_I2C_9V) {
-			memcpy(raw_data, port->i2c_msg[0].read_data,
-				port->i2c_msg[0].read_size);
+
+			if (port->port.last_changed_time
+			   && memcmp(raw_data, port->i2c_msg[0].read_data,
+				     port->i2c_msg[0].read_size) != 0) {
+				*port->port.last_changed_time = ktime_get();
+				memcpy(raw_data, port->i2c_msg[0].read_data,
+				       port->i2c_msg[0].read_size);
+			}
+
+
 		} else {
-			memcpy(raw_data, sensor_values,
-			       sizeof(s32) * NUM_BRICKPI_SENSOR_VALUES);
+			int bytes = sizeof(s32) * NUM_BRICKPI_SENSOR_VALUES;
+
+			if (port->port.last_changed_time
+			   && memcmp(raw_data, sensor_values, bytes) != 0) {
+				*port->port.last_changed_time = ktime_get();
+				memcpy(raw_data, sensor_values, bytes);
+			}
+
 		}
 		lego_port_call_raw_data_func(&port->port);
 	}
diff --git a/brickpi3/brickpi3_ports_in.c b/brickpi3/brickpi3_ports_in.c
index c3c50542..287d8a55 100644
--- a/brickpi3/brickpi3_ports_in.c
+++ b/brickpi3/brickpi3_ports_in.c
@@ -165,9 +165,20 @@ static void brickpi3_in_port_poll_work(struct work_struct *work)
 	struct brickpi3_in_port *data =
 		container_of(work, struct brickpi3_in_port, poll_work);
 	u8 *raw_data = data->port.raw_data;
+	ktime_t *last_changed_ptr = data->port.last_changed_time;
+	u8 old_data[32];
+	int check_size = 0;
 	u8 msg[16];
 	int ret;
 
+	if (raw_data && last_changed_ptr) {
+		check_size = data->port.raw_data_size <= 32
+				? data->port.raw_data_size : 32;
+	}
+
+	if (check_size)
+		memcpy(old_data, raw_data, check_size);
+
 	switch (data->sensor_type) {
 	case BRICKPI3_SENSOR_TYPE_CUSTOM:
 		ret = brickpi3_read_sensor(data->bp, data->address, data->index,
@@ -277,6 +288,11 @@ static void brickpi3_in_port_poll_work(struct work_struct *work)
 		return;
 	}
 
+	if (check_size) {
+		if (memcmp(old_data, raw_data, check_size) != 0)
+			*last_changed_ptr = ktime_get();
+	}
+
 	if (raw_data) {
 		lego_port_call_raw_data_func(&data->port);
 	}
diff --git a/ev3/ev3_ports_in.c b/ev3/ev3_ports_in.c
index 29bf46e6..c1425225 100644
--- a/ev3/ev3_ports_in.c
+++ b/ev3/ev3_ports_in.c
@@ -526,16 +526,30 @@ static struct lego_port_nxt_analog_ops ev3_input_port_nxt_analog_ops = {
 
 static void ev3_input_port_nxt_analog_cb(struct ev3_input_port_data *data)
 {
-	if (data->port.raw_data)
-		*(s32 *)data->port.raw_data = data->pin1_mv;
+	s32 new_value = data->pin1_mv;
+	s32 *raw_data = (s32 *)data->port.raw_data;
+
+	if (raw_data) {
+		if (*raw_data != new_value && data->port.last_changed_time)
+			*data->port.last_changed_time = ktime_get();
+
+		*raw_data = new_value;
+	}
 	if (data->port.notify_raw_data_func)
 		data->port.notify_raw_data_func(data->port.notify_raw_data_context);
 }
 
 static void ev3_input_port_ev3_analog_cb(struct ev3_input_port_data *data)
 {
-	if (data->port.raw_data)
-		*(s32 *)data->port.raw_data = data->pin6_mv;
+	s32 new_value = data->pin6_mv;
+	s32 *raw_data = (s32 *)data->port.raw_data;
+
+	if (raw_data) {
+		if (*raw_data != new_value && data->port.last_changed_time)
+			*data->port.last_changed_time = ktime_get();
+
+		*raw_data = new_value;
+	}
 	if (data->port.notify_raw_data_func)
 		data->port.notify_raw_data_func(data->port.notify_raw_data_context);
 }
diff --git a/include/lego_port_class.h b/include/lego_port_class.h
index 5eae8908..1410749b 100644
--- a/include/lego_port_class.h
+++ b/include/lego_port_class.h
@@ -84,6 +84,7 @@ struct lego_port_ev3_uart_ops {
  * @dev: The device data structure.
  * @raw_data: Pointer to raw data storage.
  * @raw_data_size: Size of raw_data in bytes.
+ * @last_changed_time: Time at which the raw_data last changed its contents.
  * @notify_raw_data_func: Registered by sensor drivers to be notified of new
  * 	raw data.
  * @notify_raw_data_context: Send to notify_raw_data_func as parameter.
@@ -112,6 +113,7 @@ struct lego_port_device {
 	struct device dev;
 	u8 *raw_data;
 	unsigned raw_data_size;
+	ktime_t *last_changed_time;
 	lego_port_notify_raw_data_func_t notify_raw_data_func;
 	void *notify_raw_data_context;
 };
@@ -126,11 +128,13 @@ extern void lego_port_unregister(struct lego_port_device *lego_port);
 static inline void
 lego_port_set_raw_data_ptr_and_func(struct lego_port_device *port,
 				    u8 *raw_data, unsigned raw_data_size,
+				    ktime_t *last_changed_time,
 				    lego_port_notify_raw_data_func_t func,
 				    void *context)
 {
 	port->raw_data = raw_data;
 	port->raw_data_size = raw_data_size;
+	port->last_changed_time = last_changed_time;
 	port->notify_raw_data_func = func;
 	port->notify_raw_data_context = context;
 }
diff --git a/include/lego_sensor_class.h b/include/lego_sensor_class.h
index 09cb8044..6fce3d9b 100644
--- a/include/lego_sensor_class.h
+++ b/include/lego_sensor_class.h
@@ -19,6 +19,7 @@
 
 #include <linux/device.h>
 #include <linux/types.h>
+#include <linux/ktime.h>
 
 #define LEGO_SENSOR_NAME_SIZE		30
 #define LEGO_SENSOR_FW_VERSION_SIZE	8
@@ -62,6 +63,7 @@ extern size_t lego_sensor_data_size[];
  * @figures: Number of digits that should be displayed, including decimal point.
  * @decimals: Decimal point position.
  * @raw_data: Raw data read from the sensor.
+ * @last_changed_time: Time at which the raw_data last changed its contents.
  */
 struct lego_sensor_mode_info {
 	char name[LEGO_SENSOR_MODE_NAME_SIZE + 1];
@@ -80,6 +82,7 @@ struct lego_sensor_mode_info {
 	u8 figures;
 	u8 decimals;
 	u8 raw_data[LEGO_SENSOR_RAW_DATA_SIZE];
+	ktime_t last_changed_time;
 };
 
 /**
diff --git a/pistorms/pistorms_ports_in.c b/pistorms/pistorms_ports_in.c
index 1743fcbc..6309b76e 100644
--- a/pistorms/pistorms_ports_in.c
+++ b/pistorms/pistorms_ports_in.c
@@ -230,10 +230,21 @@ static void pistorms_poll_work(struct work_struct *work)
 		container_of(work, struct pistorms_in_port_data, poll_work);
 	u8 *raw_data = in_port->port.raw_data;
 	int ret;
+	u32 old_data[32];
+	int check_size = 0;
 
 	if (!raw_data)
 		return;
 
+	if (in_port->port.last_changed_time) {
+		check_size = in_port->port.raw_data_size <= 32
+				 ? in_port->port.raw_data_size : 32;
+	}
+
+	if (check_size) {
+		memcpy(old_data, raw_data, check_size);
+	}
+
 	switch (in_port->port.mode) {
 	case PS_IN_PORT_MODE_NXT_ANALOG:
 		ret = i2c_smbus_read_word_data(in_port->client,
@@ -277,6 +288,11 @@ static void pistorms_poll_work(struct work_struct *work)
 	}
 
 	lego_port_call_raw_data_func(&in_port->port);
+
+	if (check_size) {
+		if (memcmp(old_data, raw_data, check_size) != 0)
+			*in_port->port.last_changed_time = ktime_get();
+	}
 }
 
 enum hrtimer_restart pistorms_poll_timer_function(struct hrtimer *timer)
diff --git a/sensors/ev3_analog_sensor_core.c b/sensors/ev3_analog_sensor_core.c
index f9e38c8c..84beddcc 100644
--- a/sensors/ev3_analog_sensor_core.c
+++ b/sensors/ev3_analog_sensor_core.c
@@ -61,7 +61,8 @@ static int ev3_analog_sensor_set_mode(void *context, u8 mode)
 	else
 		context = NULL;
 	lego_port_set_raw_data_ptr_and_func(data->ldev->port, mode_info->raw_data,
-		lego_sensor_get_raw_data_size(mode_info), func, context);
+		lego_sensor_get_raw_data_size(mode_info),
+		&mode_info->last_changed_time, func, context);
 
 	return 0;
 }
@@ -108,7 +109,8 @@ static int ev3_analog_sensor_remove(struct lego_device *ldev)
 {
 	struct ev3_analog_sensor_data *data = dev_get_drvdata(&ldev->dev);
 
-	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL, NULL);
+	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL,
+					    NULL, NULL);
 	unregister_lego_sensor(&data->sensor);
 	dev_set_drvdata(&ldev->dev, NULL);
 	kfree(data);
diff --git a/sensors/ev3_uart_sensor_core.c b/sensors/ev3_uart_sensor_core.c
index 02320d8d..bcf0c7f0 100644
--- a/sensors/ev3_uart_sensor_core.c
+++ b/sensors/ev3_uart_sensor_core.c
@@ -59,7 +59,8 @@ static int ev3_uart_sensor_set_mode(void *context, u8 mode)
 		return -EOPNOTSUPP;
 
 	lego_port_set_raw_data_ptr_and_func(data->ldev->port, mode_info->raw_data,
-		lego_sensor_get_raw_data_size(mode_info), NULL, NULL);
+		lego_sensor_get_raw_data_size(mode_info),
+		&mode_info->last_changed_time, NULL, NULL);
 
 	return 0;
 }
@@ -112,7 +113,8 @@ static int ev3_uart_sensor_remove(struct lego_device *ldev)
 {
 	struct ev3_uart_sensor_data *data = dev_get_drvdata(&ldev->dev);
 
-	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL, NULL);
+	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL,
+					    NULL, NULL);
 	unregister_lego_sensor(&data->sensor);
 	dev_set_drvdata(&ldev->dev, NULL);
 	kfree(data);
diff --git a/sensors/ev3_uart_sensor_ld.c b/sensors/ev3_uart_sensor_ld.c
index 0988f489..d2485e3e 100644
--- a/sensors/ev3_uart_sensor_ld.c
+++ b/sensors/ev3_uart_sensor_ld.c
@@ -953,7 +953,16 @@ static int ev3_uart_receive_buf2(struct tty_struct *tty,
 			if (!completion_done(&port->set_mode_completion)
 			    && mode == port->new_mode)
 				complete(&port->set_mode_completion);
-			memcpy(port->mode_info[mode].raw_data, message + 1, msg_size - 2);
+
+			if (memcmp(port->mode_info[mode].raw_data, message + 1,
+				   msg_size - 2) != 0) {
+				port->mode_info[mode].last_changed_time =
+					ktime_get();
+				memcpy(port->mode_info[mode].raw_data,
+				       message + 1,
+				       msg_size - 2);
+			}
+
 			port->data_rec = 1;
 			if (port->num_data_err)
 				port->num_data_err--;
diff --git a/sensors/ht_nxt_smux.c b/sensors/ht_nxt_smux.c
index 7ce5dee8..55e80c56 100644
--- a/sensors/ht_nxt_smux.c
+++ b/sensors/ht_nxt_smux.c
@@ -469,16 +469,36 @@ void ht_nxt_smux_poll_cb(struct nxt_i2c_sensor_data *data)
 	struct ht_nxt_smux_port_data *ports = data->callback_data;
 	int i;
 	u8 raw_analog[2];
+	u8 old_data[32];
+	int raw_data_size;
+	int check_size;
+
+	raw_data_size = lego_sensor_get_raw_data_size(mode_info);
+	check_size = raw_data_size <= 32 ? raw_data_size : 32;
+	memcpy(old_data, mode_info->raw_data, raw_data_size);
 
 	i2c_smbus_read_i2c_block_data(data->client, i2c_info->read_data_reg,
-		lego_sensor_get_raw_data_size(mode_info), mode_info->raw_data);
+		raw_data_size, mode_info->raw_data);
+
+	if (memcmp(old_data, mode_info->raw_data, check_size) != 0)
+		mode_info->last_changed_time = ktime_get();
 
 	for (i = 0; i < NUM_HT_NXT_SMUX_CH; i++) {
+		ktime_t *last_change_ptr = ports[i].port.last_changed_time;
 		u8 *raw_data = ports[i].port.raw_data;
-		int raw_data_size = ports[i].port.raw_data_size;
+		raw_data_size = ports[i].port.raw_data_size;
 
 		if (!raw_data)
 			continue;
+
+		if (last_change_ptr)
+			check_size = raw_data_size <= 32 ? raw_data_size : 32;
+		else
+			check_size = 0;
+
+		if (check_size)
+			memcpy(old_data, raw_data, check_size);
+
 		if (ports[i].port.mode == HT_NXT_SMUX_PORT_MODE_ANALOG) {
 			i2c_smbus_read_i2c_block_data(data->client,
 				ht_nxt_smux_analog_data_reg[i], 2, raw_analog);
@@ -490,6 +510,12 @@ void ht_nxt_smux_poll_cb(struct nxt_i2c_sensor_data *data)
 				ht_nxt_smux_i2c_data_reg[i],
 				raw_data_size, raw_data);
 		}
+
+		if (check_size) {
+			if (memcmp(old_data, raw_data, check_size) != 0)
+				*last_change_ptr = ktime_get();
+		}
+
 		lego_port_call_raw_data_func(&ports[i].port);
 	}
 }
diff --git a/sensors/ht_nxt_smux_i2c_sensor.c b/sensors/ht_nxt_smux_i2c_sensor.c
index 1c3303a7..cd3aab14 100644
--- a/sensors/ht_nxt_smux_i2c_sensor.c
+++ b/sensors/ht_nxt_smux_i2c_sensor.c
@@ -57,6 +57,7 @@ static int ht_nxt_smux_i2c_sensor_set_mode(void *context, u8 mode)
 	ht_nxt_smux_port_set_i2c_data_reg(port, i2c_mode_info[mode].read_data_reg,
 					  size);
 	lego_port_set_raw_data_ptr_and_func(port, mode_info->raw_data, size,
+					    &mode_info->last_changed_time,
 					    NULL, NULL);
 
 	return 0;
@@ -155,7 +156,8 @@ static int ht_nxt_smux_i2c_sensor_remove(struct lego_device *ldev)
 {
 	struct ht_nxt_smux_i2c_sensor_data *data = dev_get_drvdata(&ldev->dev);
 
-	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL, NULL);
+	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL,
+					    NULL, NULL);
 	ldev->port->nxt_i2c_ops->set_pin1_gpio(ldev->port->context,
 					       LEGO_PORT_GPIO_FLOAT);
 	unregister_lego_sensor(&data->sensor);
diff --git a/sensors/lego_sensor_class.c b/sensors/lego_sensor_class.c
index 888a9899..8a0e2246 100644
--- a/sensors/lego_sensor_class.c
+++ b/sensors/lego_sensor_class.c
@@ -63,6 +63,11 @@
  *        attributes. Use ``bin_data_format``, ``num_values`` and the individual
  *        sensor documentation to determine how to interpret the data.
  *
+ *    * - ``bin_data_age``
+ *      - read-only
+ *      - Returns the number of milliseconds elapsed since the last change
+ *        of ``bin_data``.
+ *
  *    * - ``bin_data_format``
  *      - read-only
  *      - Returns the format of the values in ``bin_data`` for the current
@@ -298,13 +303,18 @@ static ssize_t mode_store(struct device *dev, struct device_attribute *attr,
 			  const char *buf, size_t count)
 {
 	struct lego_sensor_device *sensor = to_lego_sensor_device(dev);
+	struct lego_sensor_mode_info *mode_info;
 	int i, err;
 
 	for (i = 0; i < sensor->num_modes; i++) {
-		if (sysfs_streq(buf, sensor->mode_info[i].name)) {
+		mode_info = &sensor->mode_info[i];
+		if (sysfs_streq(buf, mode_info->name)) {
 			err = sensor->set_mode(sensor->context, i);
 			if (err)
 				return err;
+			if (mode_info->last_changed_time == 0) {
+				mode_info->last_changed_time = ktime_get();
+			}
 			if (sensor->mode != i) {
 				sensor->mode = i;
 				kobject_uevent(&dev->kobj, KOBJ_CHANGE);
@@ -503,6 +513,24 @@ static ssize_t bin_data_format_show(struct device *dev,
 	return sprintf(buf, "%s\n", value);
 }
 
+static ssize_t bin_data_age_show(struct device *dev,
+				 struct device_attribute *attr,
+				 char *buf)
+{
+	struct lego_sensor_device *sensor = to_lego_sensor_device(dev);
+	ktime_t last_change = sensor->mode_info[sensor->mode].last_changed_time;
+	struct timespec64 elapsed;
+	s64 msec;
+
+	if (last_change == 0)
+		return sprintf(buf, "0\n");
+
+	elapsed = ktime_to_timespec64(ktime_sub(ktime_get(), last_change));
+	msec = elapsed.tv_sec * 1000 + elapsed.tv_nsec / 1000000;
+
+	return sprintf(buf, "%lld\n", msec);
+}
+
 static ssize_t poll_ms_show(struct device *dev, struct device_attribute *attr,
 			    char *buf)
 {
@@ -553,10 +581,10 @@ static ssize_t text_value_show(struct device *dev, struct device_attribute *attr
 {
 	struct lego_sensor_device *sensor = to_lego_sensor_device(dev);
 	const char *value;
- 
+
 	if (!sensor->get_text_value)
 		return -EOPNOTSUPP;
- 
+
 	value = sensor->get_text_value(sensor->context);
 
 	if(IS_ERR(value))
@@ -622,6 +650,7 @@ static DEVICE_ATTR_RO(units);
 static DEVICE_ATTR_RO(decimals);
 static DEVICE_ATTR_RO(num_values);
 static DEVICE_ATTR_RO(bin_data_format);
+static DEVICE_ATTR_RO(bin_data_age);
 static DEVICE_ATTR_RO(text_value);
 /*
  * Technically, it is possible to have 32 8-bit values from UART sensors
@@ -652,6 +681,7 @@ static struct attribute *lego_sensor_class_attrs[] = {
 	&dev_attr_decimals.attr,
 	&dev_attr_num_values.attr,
 	&dev_attr_bin_data_format.attr,
+	&dev_attr_bin_data_age.attr,
 	&dev_attr_text_value.attr,
 	&dev_attr_value0.attr,
 	&dev_attr_value1.attr,
diff --git a/sensors/ms_ev3_smux.c b/sensors/ms_ev3_smux.c
index 01e6ae76..41992f40 100644
--- a/sensors/ms_ev3_smux.c
+++ b/sensors/ms_ev3_smux.c
@@ -187,13 +187,28 @@ static int ms_ev3_smux_set_mode(void *context, u8 mode)
 void ms_ev3_smux_poll_cb(struct nxt_i2c_sensor_data *data)
 {
 	struct ms_ev3_smux_data *smux = data->callback_data;
+	u8 *raw_data = smux->port.raw_data;
+	unsigned int raw_data_size = smux->port.raw_data_size;
+	u8 old_data[32];
+	int check_size = 0;
 
-	if (!smux->sensor || !smux->port.raw_data)
+	if (!smux->sensor || !raw_data)
 		return;
 
+	if (smux->port.last_changed_time)
+		check_size = raw_data_size <= 32 ? raw_data_size : 32;
+
+	if (check_size)
+		memcpy(old_data, smux->port.raw_data, check_size);
+
 	i2c_smbus_read_i2c_block_data(data->client, MS_EV3_SMUX_DATA_REG,
-		smux->port.raw_data_size, smux->port.raw_data);
+		raw_data_size, raw_data);
 	lego_port_call_raw_data_func(&smux->port);
+
+	if (check_size) {
+		if (memcmp(old_data, raw_data, check_size) != 0)
+			*smux->port.last_changed_time = ktime_get();
+	}
 }
 
 static struct lego_port_ev3_analog_ops ms_ev3_smux_ev3_analog_ops = {
diff --git a/sensors/nxt_analog_sensor_core.c b/sensors/nxt_analog_sensor_core.c
index ff0ae417..03bc5316 100644
--- a/sensors/nxt_analog_sensor_core.c
+++ b/sensors/nxt_analog_sensor_core.c
@@ -63,7 +63,8 @@ static int nxt_analog_sensor_set_mode(void *context, u8 mode)
 	else
 		context = NULL;
 	lego_port_set_raw_data_ptr_and_func(data->ldev->port, mode_info->raw_data,
-		lego_sensor_get_raw_data_size(mode_info), func, context);
+		lego_sensor_get_raw_data_size(mode_info),
+		&mode_info->last_changed_time, func, context);
 	data->ldev->port->nxt_analog_ops->set_pin5_gpio(data->ldev->port->context,
 		data->info.analog_mode_info[mode].pin5_state);
 
@@ -116,7 +117,8 @@ static int nxt_analog_sensor_remove(struct lego_device *ldev)
 
 	ldev->port->nxt_analog_ops->set_pin5_gpio(ldev->port->context,
 		LEGO_PORT_GPIO_FLOAT);
-	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL, NULL);
+	lego_port_set_raw_data_ptr_and_func(ldev->port, NULL, 0, NULL,
+					    NULL, NULL);
 	unregister_lego_sensor(&data->sensor);
 	dev_set_drvdata(&ldev->dev, NULL);
 	kfree(data);
diff --git a/sensors/nxt_i2c_sensor_core.c b/sensors/nxt_i2c_sensor_core.c
index cfb381c4..d6dede2b 100644
--- a/sensors/nxt_i2c_sensor_core.c
+++ b/sensors/nxt_i2c_sensor_core.c
@@ -198,13 +198,26 @@ void nxt_i2c_sensor_poll_work(struct work_struct *work)
 	struct lego_sensor_mode_info *mode_info =
 			&data->sensor.mode_info[data->sensor.mode];
 
-	if (data->info->ops && data->info->ops->poll_cb)
+	u8 old_data[32];
+	int raw_data_size = lego_sensor_get_raw_data_size(mode_info);
+	int check_size = raw_data_size <= 32 ? raw_data_size : 32;
+
+
+	if (data->info->ops && data->info->ops->poll_cb) {
 		data->info->ops->poll_cb(data);
-	else
+	} else {
+
+		memcpy(old_data, mode_info->raw_data, check_size);
+
 		i2c_smbus_read_i2c_block_data(data->client,
 			i2c_mode_info->read_data_reg,
-			lego_sensor_get_raw_data_size(mode_info),
+			raw_data_size,
 			mode_info->raw_data);
+
+		if (memcmp(old_data, mode_info->raw_data, check_size) != 0) {
+			mode_info->last_changed_time = ktime_get();
+		}
+	}
 }
 
 static int nxt_i2c_sensor_probe(struct i2c_client *client,
diff --git a/wedo/wedo_hub.c b/wedo/wedo_hub.c
index fdf70937..ef79d4ee 100644
--- a/wedo/wedo_hub.c
+++ b/wedo/wedo_hub.c
@@ -224,7 +224,9 @@ static void wedo_in_callback(struct urb *urb)
 	struct lego_sensor_device *hub = &wedo->wedo_hub;
 	struct wedo_port_data *wpd1 = wedo->wedo_ports[WEDO_PORT_1];
 	struct wedo_port_data *wpd2 = wedo->wedo_ports[WEDO_PORT_2];
-	u16 *hub_raw_data = (u16 *)hub->mode_info[hub->mode].raw_data;
+	struct lego_sensor_mode_info *mode_info = &hub->mode_info[hub->mode];
+	u16 *hub_raw_data = (u16 *)mode_info->raw_data;
+	ktime_t *hub_last_changed = &mode_info->last_changed_time;
 	unsigned long flags;
 
 	if (status) {
@@ -238,14 +240,22 @@ static void wedo_in_callback(struct urb *urb)
 	 * is the only reader, and each byte of data is atomic.
 	 */
 	if (urb->actual_length == 8) {
+		u16 new_data[2];
+
 		if (wedo->in_buf[0] & WEDO_HUB_CTL_BIT_ECHO)
 			wedo->output_bits &= ~WEDO_HUB_CTL_BIT_ECHO;
 		else
 			wedo->output_bits |= WEDO_HUB_CTL_BIT_ECHO;
 
-		hub_raw_data[0] = wedo->in_buf[0];
+		new_data[0] = wedo->in_buf[0];
 		/* multiplying by 49 scales the raw value to millivolts */
-		hub_raw_data[1] = wedo->in_buf[1] * 49;
+		new_data[1] = wedo->in_buf[1] * 49;
+
+		if (memcmp(hub_raw_data, new_data, 4) != 0) {
+			*hub_last_changed = ktime_get();
+			memcpy(hub_raw_data, new_data, 4);
+		}
+
 		wpd1->input	= wedo->in_buf[2];
 		wpd1->id	= wedo->in_buf[3];
 		/* WEDO_HUB_CTL_BIT_ERROR indicates that outputs are turned off */
diff --git a/wedo/wedo_port.c b/wedo/wedo_port.c
index 6653ba67..7f23428e 100644
--- a/wedo/wedo_port.c
+++ b/wedo/wedo_port.c
@@ -538,6 +538,7 @@ void wedo_port_update_status(struct wedo_port_data *wpd)
 	struct wedo_sensor_data *wsd = NULL;
 	struct wedo_motor_data *wmd = NULL;
 	struct wedo_servo_data *wvd = NULL;
+	struct lego_sensor_mode_info *mode_info;
 
 	switch (wpd->type_id) {
 
@@ -545,7 +546,11 @@ void wedo_port_update_status(struct wedo_port_data *wpd)
 	case WEDO_TYPE_MOTION:
 		wsd = wpd->sensor_data;
 		if (wsd) {
-			wsd->info.mode_info[wsd->sensor.mode].raw_data[0] = wpd->input;
+			mode_info = &wsd->info.mode_info[wsd->sensor.mode];
+
+			if (mode_info->raw_data[0] != wpd->input)
+				mode_info->last_changed_time = ktime_get();
+			mode_info->raw_data[0] = wpd->input;
 		}
 		break;
 	case WEDO_TYPE_SERVO: