Snap for 8564071 from ef6f0d8519172dec7efdb2be9063751ff7a5ad88 to mainline-permission-releaseaml_per_331913010aml_per_331812030aml_per_331710050aml_per_331611010aml_per_331512020aml_per_331411000aml_per_331313010aml_per_331115020aml_per_331019040aml_per_330912010aml_per_330811030android13-mainline-permission-release

Change-Id: I710646a8a6972dea25fc6e7fa7959da06a838bc2

32 files changed, 1409 insertions, 365 deletions

diff --git a/Android.bp b/Android.bp
index ebdd2544..92c77faa 100644
--- a/Android.bp
+++ b/Android.bp
@@ -58,6 +58,11 @@ cc_library_headers {
             ],
         },
     },
+    apex_available: [
+        "//apex_available:platform",
+        "com.android.bluetooth",
+        "com.android.media.swcodec",
+    ],
     min_sdk_version: "29",
     host_supported: true,
 
diff --git a/OWNERS b/OWNERS
index b6b18dac..53e5f73f 100644
--- a/OWNERS
+++ b/OWNERS
@@ -5,3 +5,4 @@ malchev@google.com
 smoreland@google.com
 swillden@google.com
 per-file include/hardware/camera*=etalvala@google.com
+per-file include/hardware/sensors*=bduddie@google.com
diff --git a/include/hardware/audio.h b/include/hardware/audio.h
index adec3da8..daaa16f1 100644
--- a/include/hardware/audio.h
+++ b/include/hardware/audio.h
@@ -247,6 +247,10 @@ typedef struct sink_metadata_v7 {
     struct record_track_metadata_v7* tracks;
 } sink_metadata_v7_t;
 
+/** output stream callback method to indicate changes in supported latency modes */
+typedef void (*stream_latency_mode_callback_t)(
+        audio_latency_mode_t *modes, size_t num_modes, void *cookie);
+
 /**
  * audio_stream_out is the abstraction interface for the audio output hardware.
  *
@@ -533,7 +537,68 @@ struct audio_stream_out {
      */
     int (*set_playback_rate_parameters)(struct audio_stream_out *stream,
                                         const audio_playback_rate_t *playbackRate);
+
+    /**
+     * Indicates the requested latency mode for this output stream.
+     *
+     * The requested mode can be one of the modes returned by
+     * get_recommended_latency_modes().
+     *
+     * Support for this method is optional but mandated on specific spatial audio
+     * streams indicated by AUDIO_OUTPUT_FLAG_SPATIALIZER flag if they can be routed
+     * to a BT classic sink.
+     *
+     * \param[in] stream the stream object.
+     * \param[in] mode the requested latency mode.
+     * \return 0 in case of success.
+     *         -EINVAL if the arguments are invalid
+     *         -ENOSYS if the function is not available
+     */
+    int (*set_latency_mode)(struct audio_stream_out *stream, audio_latency_mode_t mode);
+
+    /**
+     * Indicates which latency modes are currently supported on this output stream.
+     * If the transport protocol (e.g Bluetooth A2DP) used by this output stream to reach
+     * the output device supports variable latency modes, the HAL indicates which
+     * modes are currently supported.
+     * The framework can then call setLatencyMode() with one of the supported modes to select
+     * the desired operation mode.
+     *
+     * Support for this method is optional but mandated on specific spatial audio
+     * streams indicated by AUDIO_OUTPUT_FLAG_SPATIALIZER flag if they can be routed
+     * to a BT classic sink.
+     *
+     * \return 0 in case of success.
+     *         -EINVAL if the arguments are invalid
+     *         -ENOSYS if the function is not available
+     * \param[in] stream the stream object.
+     * \param[out] modes the supported latency modes.
+     * \param[in/out] num_modes as input the maximum number of modes to return,
+     *                as output the actual number of modes returned.
+     */
+    int (*get_recommended_latency_modes)(struct audio_stream_out *stream,
+            audio_latency_mode_t *modes, size_t *num_modes);
+
+    /**
+     * Set the callback interface for notifying changes in supported latency modes.
+     *
+     * Calling this method with a null pointer will result in clearing a previously set callback.
+     *
+     * Support for this method is optional but mandated on specific spatial audio
+     * streams indicated by AUDIO_OUTPUT_FLAG_SPATIALIZER flag if they can be routed
+     * to a BT classic sink.
+     *
+     * \param[in] stream the stream object.
+     * \param[in] callback the registered callback or null to unregister.
+     * \param[in] cookie the context to pass when calling the callback.
+     * \return 0 in case of success.
+     *         -EINVAL if the arguments are invalid
+     *         -ENOSYS if the function is not available
+     */
+    int (*set_latency_mode_callback)(struct audio_stream_out *stream,
+            stream_latency_mode_callback_t callback, void *cookie);
 };
+
 typedef struct audio_stream_out audio_stream_out_t;
 
 struct audio_stream_in {
@@ -982,6 +1047,24 @@ struct audio_hw_device {
      */
     int (*get_audio_port_v7)(struct audio_hw_device *dev,
                              struct audio_port_v7 *port);
+
+    /**
+     * Called when the state of the connection of an external device has been changed.
+     * The "port" parameter is only used as input and besides identifying the device
+     * port, also may contain additional information such as extra audio descriptors.
+     *
+     * HAL version 3.2 and higher only. If the HAL does not implement this method,
+     * it must leave the function entry as null, or return -ENOSYS. In this case
+     * the framework will use 'set_parameters', which can only pass the device address.
+     *
+     * @param dev the audio HAL device context.
+     * @param port device port identification and extra information.
+     * @param connected whether the external device is connected.
+     * @return retval operation completion status.
+     */
+    int (*set_device_connected_state_v7)(struct audio_hw_device *dev,
+                                         struct audio_port_v7 *port,
+                                         bool connected);
 };
 typedef struct audio_hw_device audio_hw_device_t;
 
diff --git a/include/hardware/bluetooth.h b/include/hardware/bluetooth.h
index afa0eef7..95a0b6e3 100644
--- a/include/hardware/bluetooth.h
+++ b/include/hardware/bluetooth.h
@@ -261,6 +261,7 @@ typedef struct
 /** Represents the actual Out of Band data itself */
 typedef struct {
     // Both
+    bool is_valid = false; /* Default to invalid data; force caller to verify */
     uint8_t address[7]; /* Bluetooth Device Address (6) plus Address Type (1) */
     uint8_t c[16];      /* Simple Pairing Hash C-192/256 (Classic or LE) */
     uint8_t r[16];      /* Simple Pairing Randomizer R-192/256 (Classic or LE) */
diff --git a/include/hardware/keymaster_defs.h b/include/hardware/keymaster_defs.h
index c0b3800e..930aceb0 100644
--- a/include/hardware/keymaster_defs.h
+++ b/include/hardware/keymaster_defs.h
@@ -304,6 +304,7 @@ typedef enum {
     KM_EC_CURVE_P_256 = 1,
     KM_EC_CURVE_P_384 = 2,
     KM_EC_CURVE_P_521 = 3,
+    KM_EC_CURVE_CURVE_25519 = 4,
 } keymaster_ec_curve_t;
 
 /**
diff --git a/include/hardware/sensors-base.h b/include/hardware/sensors-base.h
index ef7eead4..dbf99f57 100644
--- a/include/hardware/sensors-base.h
+++ b/include/hardware/sensors-base.h
@@ -52,6 +52,12 @@ enum {
     SENSOR_TYPE_LOW_LATENCY_OFFBODY_DETECT = 34,
     SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED = 35,
     SENSOR_TYPE_HINGE_ANGLE = 36,
+    SENSOR_TYPE_HEAD_TRACKER = 37,
+    SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES = 38,
+    SENSOR_TYPE_GYROSCOPE_LIMITED_AXES = 39,
+    SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,
+    SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,
+    SENSOR_TYPE_HEADING = 42,
     SENSOR_TYPE_DEVICE_PRIVATE_BASE = 65536 /* 0x10000 */,
 };
 
diff --git a/include/hardware/sensors.h b/include/hardware/sensors.h
index a03a4095..6f4baf8f 100644
--- a/include/hardware/sensors.h
+++ b/include/hardware/sensors.h
@@ -186,6 +186,12 @@ enum {
 #define SENSOR_STRING_TYPE_LOW_LATENCY_OFFBODY_DETECT   "android.sensor.low_latency_offbody_detect"
 #define SENSOR_STRING_TYPE_ACCELEROMETER_UNCALIBRATED   "android.sensor.accelerometer_uncalibrated"
 #define SENSOR_STRING_TYPE_HINGE_ANGLE                  "android.sensor.hinge_angle"
+#define SENSOR_STRING_TYPE_HEAD_TRACKER                 "android.sensor.head_tracker"
+#define SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES   "android.sensor.accelerometer_limited_axes"
+#define SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES       "android.sensor.gyroscope_limited_axes"
+#define SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED "android.sensor.accelerometer_limited_axes_uncalibrated"
+#define SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED "android.sensor.gyroscope_limited_axes_uncalibrated"
+#define SENSOR_STRING_TYPE_HEADING                      "android.sensor.heading"
 
 /**
  * Values returned by the accelerometer in various locations in the universe.
@@ -291,6 +297,76 @@ typedef struct {
     };
 } additional_info_event_t;
 
+typedef struct {
+    float rx;
+    float ry;
+    float rz;
+    float vx;
+    float vy;
+    float vz;
+    int32_t discontinuity_count;
+} head_tracker_event_t;
+
+/**
+ * limited axes imu event data
+ */
+typedef struct {
+    union {
+        float calib[3];
+        struct {
+            float x;
+            float y;
+            float z;
+        };
+    };
+    union {
+        float supported[3];
+        struct {
+            float x_supported;
+            float y_supported;
+            float z_supported;
+        };
+    };
+} limited_axes_imu_event_t;
+
+/**
+ * limited axes uncalibrated imu event data
+ */
+typedef struct {
+    union {
+        float uncalib[3];
+        struct {
+            float x_uncalib;
+            float y_uncalib;
+            float z_uncalib;
+        };
+    };
+    union {
+        float bias[3];
+        struct {
+            float x_bias;
+            float y_bias;
+            float z_bias;
+        };
+    };
+    union {
+        float supported[3];
+        struct {
+            float x_supported;
+            float y_supported;
+            float z_supported;
+        };
+    };
+} limited_axes_imu_uncalibrated_event_t;
+
+/**
+ * Heading event data
+ */
+typedef struct {
+  float heading;
+  float accuracy;
+} heading_event_t;
+
 /**
  * Union of the various types of sensor data
  * that can be returned.
@@ -368,6 +444,26 @@ typedef struct sensors_event_t {
              * SENSOR_TYPE_ADDITIONAL_INFO for details.
              */
             additional_info_event_t additional_info;
+
+            /* vector describing head orientation (added for legacy code support only) */
+            head_tracker_event_t head_tracker;
+
+            /*
+             * limited axes imu event, See
+             * SENSOR_TYPE_GYROSCOPE_LIMITED_AXES and
+             * SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES for details.
+             */
+            limited_axes_imu_event_t limited_axes_imu;
+
+            /*
+             * limited axes imu uncalibrated event, See
+             * SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED and
+             * SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED for details.
+             */
+            limited_axes_imu_uncalibrated_event_t limited_axes_imu_uncalibrated;
+
+            /* heading data containing value in degrees and its accuracy */
+            heading_event_t heading;
         };
 
         union {
diff --git a/modules/audio_remote_submix/OWNERS b/modules/audio_remote_submix/OWNERS
new file mode 100644
index 00000000..67da0f90
--- /dev/null
+++ b/modules/audio_remote_submix/OWNERS
@@ -0,0 +1,3 @@
+elaurent@google.com
+mnaganov@google.com
+jmtrivi@google.com
diff --git a/modules/audio_remote_submix/audio_hw.cpp b/modules/audio_remote_submix/audio_hw.cpp
index b43a44dc..f96854b5 100644
--- a/modules/audio_remote_submix/audio_hw.cpp
+++ b/modules/audio_remote_submix/audio_hw.cpp
@@ -63,7 +63,7 @@ namespace android {
 #endif // SUBMIX_VERBOSE_LOGGING
 
 // NOTE: This value will be rounded up to the nearest power of 2 by MonoPipe().
-#define DEFAULT_PIPE_SIZE_IN_FRAMES  (1024*4)
+#define DEFAULT_PIPE_SIZE_IN_FRAMES  (1024*4) // size at default sample rate
 // Value used to divide the MonoPipe() buffer into segments that are written to the source and
 // read from the sink.  The maximum latency of the device is the size of the MonoPipe's buffer
 // the minimum latency is the MonoPipe buffer size divided by this value.
@@ -83,10 +83,7 @@ namespace android {
 // multiple input streams from this device.  If this option is enabled, each input stream returned
 // is *the same stream* which means that readers will race to read data from these streams.
 #define ENABLE_LEGACY_INPUT_OPEN     1
-// Whether channel conversion (16-bit signed PCM mono->stereo, stereo->mono) is enabled.
-#define ENABLE_CHANNEL_CONVERSION    1
-// Whether resampling is enabled.
-#define ENABLE_RESAMPLING            1
+
 #if LOG_STREAMS_TO_FILES
 // Folder to save stream log files to.
 #define LOG_STREAM_FOLDER "/data/misc/audioserver"
@@ -130,11 +127,6 @@ struct submix_config {
     // channel bitfields are not equivalent.
     audio_channel_mask_t input_channel_mask;
     audio_channel_mask_t output_channel_mask;
-#if ENABLE_RESAMPLING
-    // Input stream and output stream sample rates.
-    uint32_t input_sample_rate;
-    uint32_t output_sample_rate;
-#endif // ENABLE_RESAMPLING
     size_t pipe_frame_size;  // Number of bytes in each audio frame in the pipe.
     size_t buffer_size_frames; // Size of the audio pipe in frames.
     // Maximum number of frames buffered by the input and output streams.
@@ -159,11 +151,6 @@ typedef struct route_config {
     // destroyed if both and input and output streams are destroyed.
     struct submix_stream_out *output;
     struct submix_stream_in *input;
-#if ENABLE_RESAMPLING
-    // Buffer used as temporary storage for resampled data prior to returning data to the output
-    // stream.
-    int16_t resampler_buffer[DEFAULT_PIPE_SIZE_IN_FRAMES];
-#endif // ENABLE_RESAMPLING
 } route_config_t;
 
 struct submix_audio_device {
@@ -221,6 +208,11 @@ static bool sample_rate_supported(const uint32_t sample_rate)
     return return_value;
 }
 
+static size_t pipe_size_in_frames(const uint32_t sample_rate)
+{
+    return DEFAULT_PIPE_SIZE_IN_FRAMES * ((float) sample_rate / DEFAULT_SAMPLE_RATE_HZ);
+}
+
 // Determine whether the specified sample rate is supported, if it is return the specified sample
 // rate, otherwise return the default sample rate for the submix module.
 static uint32_t get_supported_sample_rate(uint32_t sample_rate)
@@ -325,7 +317,6 @@ static struct submix_audio_device * audio_hw_device_get_submix_audio_device(
 static bool audio_config_compare(const audio_config * const input_config,
         const audio_config * const output_config)
 {
-#if !ENABLE_CHANNEL_CONVERSION
     const uint32_t input_channels = audio_channel_count_from_in_mask(input_config->channel_mask);
     const uint32_t output_channels = audio_channel_count_from_out_mask(output_config->channel_mask);
     if (input_channels != output_channels) {
@@ -333,13 +324,8 @@ static bool audio_config_compare(const audio_config * const input_config,
               input_channels, output_channels);
         return false;
     }
-#endif // !ENABLE_CHANNEL_CONVERSION
-#if ENABLE_RESAMPLING
-    if (input_config->sample_rate != output_config->sample_rate &&
-            audio_channel_count_from_in_mask(input_config->channel_mask) != 1) {
-#else
+
     if (input_config->sample_rate != output_config->sample_rate) {
-#endif // ENABLE_RESAMPLING
         ALOGE("audio_config_compare() sample rate mismatch %ul vs. %ul",
               input_config->sample_rate, output_config->sample_rate);
         return false;
@@ -376,24 +362,11 @@ static void submix_audio_device_create_pipe_l(struct submix_audio_device * const
         in->route_handle = route_idx;
         rsxadev->routes[route_idx].input = in;
         rsxadev->routes[route_idx].config.input_channel_mask = config->channel_mask;
-#if ENABLE_RESAMPLING
-        rsxadev->routes[route_idx].config.input_sample_rate = config->sample_rate;
-        // If the output isn't configured yet, set the output sample rate to the maximum supported
-        // sample rate such that the smallest possible input buffer is created, and put a default
-        // value for channel count
-        if (!rsxadev->routes[route_idx].output) {
-            rsxadev->routes[route_idx].config.output_sample_rate = 48000;
-            rsxadev->routes[route_idx].config.output_channel_mask = AUDIO_CHANNEL_OUT_STEREO;
-        }
-#endif // ENABLE_RESAMPLING
     }
     if (out) {
         out->route_handle = route_idx;
         rsxadev->routes[route_idx].output = out;
         rsxadev->routes[route_idx].config.output_channel_mask = config->channel_mask;
-#if ENABLE_RESAMPLING
-        rsxadev->routes[route_idx].config.output_sample_rate = config->sample_rate;
-#endif // ENABLE_RESAMPLING
     }
     // Save the address
     strncpy(rsxadev->routes[route_idx].address, address, AUDIO_DEVICE_MAX_ADDRESS_LEN);
@@ -403,18 +376,14 @@ static void submix_audio_device_create_pipe_l(struct submix_audio_device * const
     {
         struct submix_config * const device_config = &rsxadev->routes[route_idx].config;
         uint32_t channel_count;
-        if (out)
+        if (out) {
             channel_count = audio_channel_count_from_out_mask(config->channel_mask);
-        else
+        } else {
             channel_count = audio_channel_count_from_in_mask(config->channel_mask);
-#if ENABLE_CHANNEL_CONVERSION
-        // If channel conversion is enabled, allocate enough space for the maximum number of
-        // possible channels stored in the pipe for the situation when the number of channels in
-        // the output stream don't match the number in the input stream.
-        const uint32_t pipe_channel_count = max(channel_count, 2);
-#else
+        }
+
         const uint32_t pipe_channel_count = channel_count;
-#endif // ENABLE_CHANNEL_CONVERSION
+
         const NBAIO_Format format = Format_from_SR_C(config->sample_rate, pipe_channel_count,
             config->format);
         const NBAIO_Format offers[1] = {format};
@@ -444,11 +413,7 @@ static void submix_audio_device_create_pipe_l(struct submix_audio_device * const
                 buffer_period_count;
         if (in) device_config->pipe_frame_size = audio_stream_in_frame_size(&in->stream);
         if (out) device_config->pipe_frame_size = audio_stream_out_frame_size(&out->stream);
-#if ENABLE_CHANNEL_CONVERSION
-        // Calculate the pipe frame size based upon the number of channels.
-        device_config->pipe_frame_size = (device_config->pipe_frame_size * pipe_channel_count) /
-                channel_count;
-#endif // ENABLE_CHANNEL_CONVERSION
+
         SUBMIX_ALOGV("submix_audio_device_create_pipe_l(): pipe frame size %zd, pipe size %zd, "
                      "period size %zd", device_config->pipe_frame_size,
                      device_config->buffer_size_frames, device_config->buffer_period_size_frames);
@@ -473,10 +438,6 @@ static void submix_audio_device_release_pipe_l(struct submix_audio_device * cons
         rsxadev->routes[route_idx].rsxSource.clear();
     }
     memset(rsxadev->routes[route_idx].address, 0, AUDIO_DEVICE_MAX_ADDRESS_LEN);
-#if ENABLE_RESAMPLING
-    memset(rsxadev->routes[route_idx].resampler_buffer, 0,
-            sizeof(int16_t) * DEFAULT_PIPE_SIZE_IN_FRAMES);
-#endif
 }
 
 // Remove references to the specified input and output streams.  When the device no longer
@@ -624,11 +585,7 @@ static uint32_t out_get_sample_rate(const struct audio_stream *stream)
 {
     const struct submix_stream_out * const out = audio_stream_get_submix_stream_out(
             const_cast<struct audio_stream *>(stream));
-#if ENABLE_RESAMPLING
-    const uint32_t out_rate = out->dev->routes[out->route_handle].config.output_sample_rate;
-#else
     const uint32_t out_rate = out->dev->routes[out->route_handle].config.common.sample_rate;
-#endif // ENABLE_RESAMPLING
     SUBMIX_ALOGV("out_get_sample_rate() returns %u for addr %s",
             out_rate, out->dev->routes[out->route_handle].address);
     return out_rate;
@@ -637,17 +594,6 @@ static uint32_t out_get_sample_rate(const struct audio_stream *stream)
 static int out_set_sample_rate(struct audio_stream *stream, uint32_t rate)
 {
     struct submix_stream_out * const out = audio_stream_get_submix_stream_out(stream);
-#if ENABLE_RESAMPLING
-    // The sample rate of the stream can't be changed once it's set since this would change the
-    // output buffer size and hence break playback to the shared pipe.
-    if (rate != out->dev->routes[out->route_handle].config.output_sample_rate) {
-        ALOGE("out_set_sample_rate() resampling enabled can't change sample rate from "
-              "%u to %u for addr %s",
-              out->dev->routes[out->route_handle].config.output_sample_rate, rate,
-              out->dev->routes[out->route_handle].address);
-        return -ENOSYS;
-    }
-#endif // ENABLE_RESAMPLING
     if (!sample_rate_supported(rate)) {
         ALOGE("out_set_sample_rate(rate=%u) rate unsupported", rate);
         return -ENOSYS;
@@ -994,11 +940,7 @@ static uint32_t in_get_sample_rate(const struct audio_stream *stream)
 {
     const struct submix_stream_in * const in = audio_stream_get_submix_stream_in(
         const_cast<struct audio_stream*>(stream));
-#if ENABLE_RESAMPLING
-    const uint32_t rate = in->dev->routes[in->route_handle].config.input_sample_rate;
-#else
     const uint32_t rate = in->dev->routes[in->route_handle].config.common.sample_rate;
-#endif // ENABLE_RESAMPLING
     SUBMIX_ALOGV("in_get_sample_rate() returns %u", rate);
     return rate;
 }
@@ -1006,15 +948,6 @@ static uint32_t in_get_sample_rate(const struct audio_stream *stream)
 static int in_set_sample_rate(struct audio_stream *stream, uint32_t rate)
 {
     const struct submix_stream_in * const in = audio_stream_get_submix_stream_in(stream);
-#if ENABLE_RESAMPLING
-    // The sample rate of the stream can't be changed once it's set since this would change the
-    // input buffer size and hence break recording from the shared pipe.
-    if (rate != in->dev->routes[in->route_handle].config.input_sample_rate) {
-        ALOGE("in_set_sample_rate() resampling enabled can't change sample rate from "
-              "%u to %u", in->dev->routes[in->route_handle].config.input_sample_rate, rate);
-        return -ENOSYS;
-    }
-#endif // ENABLE_RESAMPLING
     if (!sample_rate_supported(rate)) {
         ALOGE("in_set_sample_rate(rate=%u) rate unsupported", rate);
         return -ENOSYS;
@@ -1033,13 +966,6 @@ static size_t in_get_buffer_size(const struct audio_stream *stream)
                             audio_stream_in_frame_size((const struct audio_stream_in *)stream);
     size_t buffer_size_frames = calculate_stream_pipe_size_in_frames(
         stream, config, config->buffer_period_size_frames, stream_frame_size);
-#if ENABLE_RESAMPLING
-    // Scale the size of the buffer based upon the maximum number of frames that could be returned
-    // given the ratio of output to input sample rate.
-    buffer_size_frames = (size_t)(((float)buffer_size_frames *
-                                   (float)config->input_sample_rate) /
-                                  (float)config->output_sample_rate);
-#endif // ENABLE_RESAMPLING
     const size_t buffer_size_bytes = buffer_size_frames * stream_frame_size;
     SUBMIX_ALOGV("in_get_buffer_size() returns %zu bytes, %zu frames", buffer_size_bytes,
                  buffer_size_frames);
@@ -1168,65 +1094,10 @@ static ssize_t in_read(struct audio_stream_in *stream, void* buffer,
         // read the data from the pipe (it's non blocking)
         int attempts = 0;
         char* buff = (char*)buffer;
-#if ENABLE_CHANNEL_CONVERSION
-        // Determine whether channel conversion is required.
-        const uint32_t input_channels = audio_channel_count_from_in_mask(
-            rsxadev->routes[in->route_handle].config.input_channel_mask);
-        const uint32_t output_channels = audio_channel_count_from_out_mask(
-            rsxadev->routes[in->route_handle].config.output_channel_mask);
-        if (input_channels != output_channels) {
-            SUBMIX_ALOGV("in_read(): %d output channels will be converted to %d "
-                         "input channels", output_channels, input_channels);
-            // Only support 16-bit PCM channel conversion from mono to stereo or stereo to mono.
-            ALOG_ASSERT(rsxadev->routes[in->route_handle].config.common.format ==
-                    AUDIO_FORMAT_PCM_16_BIT);
-            ALOG_ASSERT((input_channels == 1 && output_channels == 2) ||
-                        (input_channels == 2 && output_channels == 1));
-        }
-#endif // ENABLE_CHANNEL_CONVERSION
-
-#if ENABLE_RESAMPLING
-        const uint32_t input_sample_rate = in_get_sample_rate(&stream->common);
-        const uint32_t output_sample_rate =
-                rsxadev->routes[in->route_handle].config.output_sample_rate;
-        const size_t resampler_buffer_size_frames =
-            sizeof(rsxadev->routes[in->route_handle].resampler_buffer) /
-                sizeof(rsxadev->routes[in->route_handle].resampler_buffer[0]);
-        float resampler_ratio = 1.0f;
-        // Determine whether resampling is required.
-        if (input_sample_rate != output_sample_rate) {
-            resampler_ratio = (float)output_sample_rate / (float)input_sample_rate;
-            // Only support 16-bit PCM mono resampling.
-            // NOTE: Resampling is performed after the channel conversion step.
-            ALOG_ASSERT(rsxadev->routes[in->route_handle].config.common.format ==
-                    AUDIO_FORMAT_PCM_16_BIT);
-            ALOG_ASSERT(audio_channel_count_from_in_mask(
-                    rsxadev->routes[in->route_handle].config.input_channel_mask) == 1);
-        }
-#endif // ENABLE_RESAMPLING
 
         while ((remaining_frames > 0) && (attempts < MAX_READ_ATTEMPTS)) {
             ssize_t frames_read = -1977;
             size_t read_frames = remaining_frames;
-#if ENABLE_RESAMPLING
-            char* const saved_buff = buff;
-            if (resampler_ratio != 1.0f) {
-                // Calculate the number of frames from the pipe that need to be read to generate
-                // the data for the input stream read.
-                const size_t frames_required_for_resampler = (size_t)(
-                    (float)read_frames * (float)resampler_ratio);
-                read_frames = min(frames_required_for_resampler, resampler_buffer_size_frames);
-                // Read into the resampler buffer.
-                buff = (char*)rsxadev->routes[in->route_handle].resampler_buffer;
-            }
-#endif // ENABLE_RESAMPLING
-#if ENABLE_CHANNEL_CONVERSION
-            if (output_channels == 1 && input_channels == 2) {
-                // Need to read half the requested frames since the converted output
-                // data will take twice the space (mono->stereo).
-                read_frames /= 2;
-            }
-#endif // ENABLE_CHANNEL_CONVERSION
 
             SUBMIX_ALOGV("in_read(): frames available to read %zd", source->availableToRead());
 
@@ -1234,56 +1105,6 @@ static ssize_t in_read(struct audio_stream_in *stream, void* buffer,
 
             SUBMIX_ALOGV("in_read(): frames read %zd", frames_read);
 
-#if ENABLE_CHANNEL_CONVERSION
-            // Perform in-place channel conversion.
-            // NOTE: In the following "input stream" refers to the data returned by this function
-            // and "output stream" refers to the data read from the pipe.
-            if (input_channels != output_channels && frames_read > 0) {
-                int16_t *data = (int16_t*)buff;
-                if (output_channels == 2 && input_channels == 1) {
-                    // Offset into the output stream data in samples.
-                    ssize_t output_stream_offset = 0;
-                    for (ssize_t input_stream_frame = 0; input_stream_frame < frames_read;
-                         input_stream_frame++, output_stream_offset += 2) {
-                        // Average the content from both channels.
-                        data[input_stream_frame] = ((int32_t)data[output_stream_offset] +
-                                                    (int32_t)data[output_stream_offset + 1]) / 2;
-                    }
-                } else if (output_channels == 1 && input_channels == 2) {
-                    // Offset into the input stream data in samples.
-                    ssize_t input_stream_offset = (frames_read - 1) * 2;
-                    for (ssize_t output_stream_frame = frames_read - 1; output_stream_frame >= 0;
-                         output_stream_frame--, input_stream_offset -= 2) {
-                        const short sample = data[output_stream_frame];
-                        data[input_stream_offset] = sample;
-                        data[input_stream_offset + 1] = sample;
-                    }
-                }
-            }
-#endif // ENABLE_CHANNEL_CONVERSION
-
-#if ENABLE_RESAMPLING
-            if (resampler_ratio != 1.0f) {
-                SUBMIX_ALOGV("in_read(): resampling %zd frames", frames_read);
-                const int16_t * const data = (int16_t*)buff;
-                int16_t * const resampled_buffer = (int16_t*)saved_buff;
-                // Resample with *no* filtering - if the data from the ouptut stream was really
-                // sampled at a different rate this will result in very nasty aliasing.
-                const float output_stream_frames = (float)frames_read;
-                size_t input_stream_frame = 0;
-                for (float output_stream_frame = 0.0f;
-                     output_stream_frame < output_stream_frames &&
-                     input_stream_frame < remaining_frames;
-                     output_stream_frame += resampler_ratio, input_stream_frame++) {
-                    resampled_buffer[input_stream_frame] = data[(size_t)output_stream_frame];
-                }
-                ALOG_ASSERT(input_stream_frame <= (ssize_t)resampler_buffer_size_frames);
-                SUBMIX_ALOGV("in_read(): resampler produced %zd frames", input_stream_frame);
-                frames_read = input_stream_frame;
-                buff = saved_buff;
-            }
-#endif // ENABLE_RESAMPLING
-
             if (frames_read > 0) {
 #if LOG_STREAMS_TO_FILES
                 if (in->log_fd >= 0) write(in->log_fd, buff, frames_read * frame_size);
@@ -1411,7 +1232,6 @@ static int adev_open_output_stream(struct audio_hw_device *dev,
     struct submix_audio_device * const rsxadev = audio_hw_device_get_submix_audio_device(dev);
     ALOGD("adev_open_output_stream(address=%s)", address);
     struct submix_stream_out *out;
-    bool force_pipe_creation = false;
     (void)handle;
     (void)devices;
     (void)flags;
@@ -1464,25 +1284,20 @@ static int adev_open_output_stream(struct audio_hw_device *dev,
     out->stream.get_next_write_timestamp = out_get_next_write_timestamp;
     out->stream.get_presentation_position = out_get_presentation_position;
 
-#if ENABLE_RESAMPLING
-    // Recreate the pipe with the correct sample rate so that MonoPipe.write() rate limits
-    // writes correctly.
-    force_pipe_creation = rsxadev->routes[route_idx].config.common.sample_rate
-            != config->sample_rate;
-#endif // ENABLE_RESAMPLING
-
     // If the sink has been shutdown or pipe recreation is forced (see above), delete the pipe so
     // that it's recreated.
     if ((rsxadev->routes[route_idx].rsxSink != NULL
-            && rsxadev->routes[route_idx].rsxSink->isShutdown()) || force_pipe_creation) {
+            && rsxadev->routes[route_idx].rsxSink->isShutdown())) {
         submix_audio_device_release_pipe_l(rsxadev, route_idx);
     }
 
     // Store a pointer to the device from the output stream.
     out->dev = rsxadev;
     // Initialize the pipe.
-    ALOGV("adev_open_output_stream(): about to create pipe at index %d", route_idx);
-    submix_audio_device_create_pipe_l(rsxadev, config, DEFAULT_PIPE_SIZE_IN_FRAMES,
+    const size_t pipeSizeInFrames = pipe_size_in_frames(config->sample_rate);
+    ALOGI("adev_open_output_stream(): about to create pipe at index %d, rate %u, pipe size %zu",
+          route_idx, config->sample_rate, pipeSizeInFrames);
+    submix_audio_device_create_pipe_l(rsxadev, config, pipeSizeInFrames,
             DEFAULT_PIPE_PERIOD_COUNT, NULL, out, address, route_idx);
 #if LOG_STREAMS_TO_FILES
     out->log_fd = open(LOG_STREAM_OUT_FILENAME, O_CREAT | O_TRUNC | O_WRONLY,
@@ -1611,7 +1426,8 @@ static size_t adev_get_input_buffer_size(const struct audio_hw_device *dev,
         const size_t frame_size_in_bytes = audio_channel_count_from_in_mask(config->channel_mask) *
                 audio_bytes_per_sample(config->format);
         if (max_buffer_period_size_frames == 0) {
-            max_buffer_period_size_frames = DEFAULT_PIPE_SIZE_IN_FRAMES;
+            max_buffer_period_size_frames =
+                    pipe_size_in_frames(get_supported_sample_rate(config->sample_rate));;
         }
         const size_t buffer_size = max_buffer_period_size_frames * frame_size_in_bytes;
         SUBMIX_ALOGV("adev_get_input_buffer_size() returns %zu bytes, %zu frames",
@@ -1724,8 +1540,10 @@ static int adev_open_input_stream(struct audio_hw_device *dev,
 
     in->read_error_count = 0;
     // Initialize the pipe.
-    ALOGV("adev_open_input_stream(): about to create pipe");
-    submix_audio_device_create_pipe_l(rsxadev, config, DEFAULT_PIPE_SIZE_IN_FRAMES,
+    const size_t pipeSizeInFrames = pipe_size_in_frames(config->sample_rate);
+    ALOGI("adev_open_input_stream(): about to create pipe at index %d, rate %u, pipe size %zu",
+          route_idx, config->sample_rate, pipeSizeInFrames);
+    submix_audio_device_create_pipe_l(rsxadev, config, pipeSizeInFrames,
                                     DEFAULT_PIPE_PERIOD_COUNT, in, NULL, address, route_idx);
 
     sp <MonoPipe> sink = rsxadev->routes[route_idx].rsxSink;
@@ -1779,16 +1597,9 @@ static int adev_dump(const audio_hw_device_t *device, int fd)
     int n = snprintf(msg, sizeof(msg), "\nReroute submix audio module:\n");
     write(fd, &msg, n);
     for (int i=0 ; i < MAX_ROUTES ; i++) {
-#if ENABLE_RESAMPLING
-        n = snprintf(msg, sizeof(msg), " route[%d] rate in=%d out=%d, addr=[%s]\n", i,
-                rsxadev->routes[i].config.input_sample_rate,
-                rsxadev->routes[i].config.output_sample_rate,
-                rsxadev->routes[i].address);
-#else
         n = snprintf(msg, sizeof(msg), " route[%d], rate=%d addr=[%s]\n", i,
                 rsxadev->routes[i].config.common.sample_rate,
                 rsxadev->routes[i].address);
-#endif
         write(fd, &msg, n);
     }
     return 0;
diff --git a/modules/gralloc/Android.mk b/modules/gralloc/Android.mk
index 439c95dd..4c4899ea 100644
--- a/modules/gralloc/Android.mk
+++ b/modules/gralloc/Android.mk
@@ -38,5 +38,8 @@ LOCAL_CFLAGS:= -DLOG_TAG=\"gralloc\" -Wno-missing-field-initializers
 ifeq ($(TARGET_USE_PAN_DISPLAY),true)
 LOCAL_CFLAGS += -DUSE_PAN_DISPLAY=1
 endif
+ifneq ($(GRALLOC_FRAMEBUFFER_NUM),)
+LOCAL_CFLAGS += -DNUM_BUFFERS=$(GRALLOC_FRAMEBUFFER_NUM)
+endif
 
 include $(BUILD_SHARED_LIBRARY)
diff --git a/modules/gralloc/framebuffer.cpp b/modules/gralloc/framebuffer.cpp
index b2ec3e44..fc220dbc 100644
--- a/modules/gralloc/framebuffer.cpp
+++ b/modules/gralloc/framebuffer.cpp
@@ -45,8 +45,10 @@
 #define USE_PAN_DISPLAY 0
 #endif
 
-// numbers of buffers for page flipping
+// Enabling page flipping by default
+#ifndef NUM_BUFFERS
 #define NUM_BUFFERS 2
+#endif
 
 
 enum {
@@ -157,7 +159,8 @@ int mapFrameBufferLocked(struct private_module_t* module, int format)
     info.activate = FB_ACTIVATE_NOW;
 
     /*
-     * Request NUM_BUFFERS screens (at lest 2 for page flipping)
+     * Request NUM_BUFFERS screens
+     * To enable page flipping, NUM_BUFFERS should be at least 2.
      */
     info.yres_virtual = info.yres * NUM_BUFFERS;
 
diff --git a/modules/sensors/dynamic_sensor/Android.bp b/modules/sensors/dynamic_sensor/Android.bp
index 1ebc04d2..bad60481 100644
--- a/modules/sensors/dynamic_sensor/Android.bp
+++ b/modules/sensors/dynamic_sensor/Android.bp
@@ -108,7 +108,23 @@ cc_library_shared {
 
     cflags: ["-DLOG_TAG=\"DynamicSensorHal\""],
 
-    srcs: ["sensors.cpp"],
+    srcs: [
+        "DynamicSensorsSubHal.cpp",
+        "sensors.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.0-ScopedWakelock",
+        "android.hardware.sensors@2.1",
+        "libhidlbase",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.X-multihal.header",
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
 }
 
 //
diff --git a/modules/sensors/dynamic_sensor/BaseSensorObject.cpp b/modules/sensors/dynamic_sensor/BaseSensorObject.cpp
index 4ec76b27..69fc7d86 100644
--- a/modules/sensors/dynamic_sensor/BaseSensorObject.cpp
+++ b/modules/sensors/dynamic_sensor/BaseSensorObject.cpp
@@ -42,6 +42,7 @@ void BaseSensorObject::getUuid(uint8_t* uuid) const {
 int BaseSensorObject::flush() {
     static const sensors_event_t event = {
         .type = SENSOR_TYPE_META_DATA,
+        .meta_data.what = META_DATA_FLUSH_COMPLETE,
         .timestamp = TIMESTAMP_AUTO_FILL  // timestamp will be filled at dispatcher
     };
     generateEvent(event);
diff --git a/modules/sensors/dynamic_sensor/ConnectionDetector.cpp b/modules/sensors/dynamic_sensor/ConnectionDetector.cpp
index c51e9125..85b99017 100644
--- a/modules/sensors/dynamic_sensor/ConnectionDetector.cpp
+++ b/modules/sensors/dynamic_sensor/ConnectionDetector.cpp
@@ -57,8 +57,6 @@ SocketConnectionDetector::SocketConnectionDetector(BaseDynamicSensorDaemon *d, i
     std::ostringstream s;
     s << "socket:" << port;
     mDevice = s.str();
-
-    run("ddad_socket");
 }
 
 SocketConnectionDetector::~SocketConnectionDetector() {
@@ -67,6 +65,12 @@ SocketConnectionDetector::~SocketConnectionDetector() {
     }
 }
 
+void SocketConnectionDetector::Init() {
+    // run adds a strong reference to this object, so it can't be invoked from
+    // the constructor.
+    run("ddad_socket");
+}
+
 int SocketConnectionDetector::waitForConnection() {
     return ::accept(mListenFd, nullptr, nullptr);
 }
@@ -124,9 +128,6 @@ FileConnectionDetector::FileConnectionDetector (
         ALOGE("Cannot setup watch on dir %s", path.c_str());
         return;
     }
-
-    // mLooper != null && mInotifyFd added to looper
-    run("ddad_file");
 }
 
 FileConnectionDetector::~FileConnectionDetector() {
@@ -138,6 +139,13 @@ FileConnectionDetector::~FileConnectionDetector() {
     }
 }
 
+void FileConnectionDetector::Init() {
+    // mLooper != null && mInotifyFd added to looper
+    // run adds a strong reference to this object, so it can't be invoked from
+    // the constructor.
+    run("ddad_file");
+}
+
 bool FileConnectionDetector::matches(const std::string &name) const {
     return std::regex_match(name, mRegex);
 }
@@ -148,6 +156,10 @@ std::string FileConnectionDetector::getFullName(const std::string name) const {
 
 void FileConnectionDetector::processExistingFiles() const {
     auto dirp = ::opendir(mPath.c_str());
+    if(dirp == NULL) {
+      ALOGE("Problem open dir %s, errno: %s", mPath.c_str(), ::strerror(errno));
+      return;
+    }
     struct dirent *dp;
     while ((dp = ::readdir(dirp)) != NULL) {
         const std::string name(dp->d_name);
diff --git a/modules/sensors/dynamic_sensor/ConnectionDetector.h b/modules/sensors/dynamic_sensor/ConnectionDetector.h
index 0ee1df29..75fbb0bc 100644
--- a/modules/sensors/dynamic_sensor/ConnectionDetector.h
+++ b/modules/sensors/dynamic_sensor/ConnectionDetector.h
@@ -34,6 +34,7 @@ class ConnectionDetector : virtual public RefBase {
 public:
     ConnectionDetector(BaseDynamicSensorDaemon *d) : mDaemon(d) { }
     virtual ~ConnectionDetector() = default;
+    virtual void Init() {}
 protected:
     BaseDynamicSensorDaemon* mDaemon;
 };
@@ -45,6 +46,7 @@ class SocketConnectionDetector : public ConnectionDetector, public Thread {
 public:
     SocketConnectionDetector(BaseDynamicSensorDaemon *d, int port);
     virtual ~SocketConnectionDetector();
+    void Init() override;
 private:
     // implement virtual of Thread
     virtual bool threadLoop();
@@ -62,6 +64,7 @@ public:
     FileConnectionDetector(
             BaseDynamicSensorDaemon *d, const std::string &path, const std::string &regex);
     virtual ~FileConnectionDetector();
+    void Init() override;
 private:
     static constexpr int POLL_IDENT = 1;
     // implement virtual of Thread
diff --git a/modules/sensors/dynamic_sensor/DummyDynamicAccelDaemon.cpp b/modules/sensors/dynamic_sensor/DummyDynamicAccelDaemon.cpp
index a1a47e81..10771e32 100644
--- a/modules/sensors/dynamic_sensor/DummyDynamicAccelDaemon.cpp
+++ b/modules/sensors/dynamic_sensor/DummyDynamicAccelDaemon.cpp
@@ -28,7 +28,7 @@
 #include <netinet/in.h>
 #include <algorithm>            //std::max
 
-#define SYSPROP_PREFIX                  "dynamic_sensor.dummy"
+#define SYSPROP_PREFIX                  "vendor.dynamic_sensor.mock"
 #define FILE_NAME_BASE                  "dummy_accel_file"
 #define FILE_NAME_REGEX                 ("^" FILE_NAME_BASE "[0-9]$")
 
@@ -43,11 +43,13 @@ DummyDynamicAccelDaemon::DummyDynamicAccelDaemon(DynamicSensorManager& manager)
     if (strcmp(property, "") != 0) {
         mFileDetector = new FileConnectionDetector(
                 this, std::string(property), std::string(FILE_NAME_REGEX));
+        mFileDetector->Init();
     }
 
     property_get(SYSPROP_PREFIX ".socket", property, "");
     if (strcmp(property, "") != 0) {
         mSocketDetector = new SocketConnectionDetector(this, atoi(property));
+        mSocketDetector->Init();
     }
 }
 
diff --git a/modules/sensors/dynamic_sensor/DynamicSensorManager.cpp b/modules/sensors/dynamic_sensor/DynamicSensorManager.cpp
index 37b43132..efac5e95 100644
--- a/modules/sensors/dynamic_sensor/DynamicSensorManager.cpp
+++ b/modules/sensors/dynamic_sensor/DynamicSensorManager.cpp
@@ -76,7 +76,7 @@ bool DynamicSensorManager::owns(int handle) const {
 
 int DynamicSensorManager::activate(int handle, bool enable) {
     if (handle == mHandleRange.first) {
-        // ignored
+        mMetaSensorActive = enable;
         return 0;
     }
 
@@ -87,7 +87,7 @@ int DynamicSensorManager::activate(int handle, bool enable) {
     }
 
     return operateSensor(handle,
-            [&enable] (sp<BaseSensorObject> s)->int {
+            [=] (sp<BaseSensorObject> s)->int {
                 return s->enable(enable);
             });
 }
@@ -98,7 +98,7 @@ int DynamicSensorManager::batch(int handle, nsecs_t sample_period, nsecs_t batch
         return 0;
     }
     return operateSensor(handle,
-            [&sample_period, &batch_period] (sp<BaseSensorObject> s)->int {
+            [=] (sp<BaseSensorObject> s)->int {
                 return s->batch(sample_period, batch_period);
             });
 }
@@ -109,13 +109,17 @@ int DynamicSensorManager::setDelay(int handle, nsecs_t sample_period) {
 
 int DynamicSensorManager::flush(int handle) {
     if (handle == mHandleRange.first) {
-        // submit a flush complete here
-        static const sensors_event_t event = {
-            .sensor = mHandleRange.first,
-            .type = SENSOR_TYPE_META_DATA,
-            .timestamp = TIMESTAMP_AUTO_FILL,  // timestamp will be filled at dispatcher
-        };
-        submitEvent(nullptr, event);
+        if (mMetaSensorActive) {
+            static const sensors_event_t event = {
+                .sensor = mHandleRange.first,
+                .type = SENSOR_TYPE_META_DATA,
+                .meta_data.what = META_DATA_FLUSH_COMPLETE,
+                .timestamp = TIMESTAMP_AUTO_FILL,  // timestamp will be filled at dispatcher
+            };
+            submitEvent(nullptr, event);
+        } else {
+            return -EINVAL;
+        }
         return 0;
     }
     return operateSensor(handle, [] (sp<BaseSensorObject> s)->int {return s->flush();});
@@ -235,6 +239,87 @@ const sensor_t& DynamicSensorManager::getDynamicMetaSensor() const {
     return mMetaSensor;
 }
 
+int DynamicSensorManager::operateSensor(
+        int handle, OperateSensorFunc sensorFunc) {
+    std::shared_future<int> sensorOp;
+    {
+        std::lock_guard<std::mutex> lock(mSensorOpQueueLock);
+
+        // Invoke the function asynchronously.
+        sensorOp = std::async(
+                [this, handle = handle, sensorFunc = sensorFunc,
+                 sensorOpIndex = mNextSensorOpIndex] ()->int {
+            return operateSensor(handle, sensorFunc, sensorOpIndex);
+        }).share();
+
+        // Add sensor operation to the queue.
+        mSensorOpQueue.push({mNextSensorOpIndex, sensorOp});
+        mNextSensorOpIndex++;
+    }
+
+    // Wait for the sensor operation to complete.
+    if (sensorOp.wait_for(kSensorOpTimeout) != std::future_status::ready) {
+        ALOGE("sensor operation timed out");
+        return TIMED_OUT;
+    }
+
+    return sensorOp.get();
+}
+
+int DynamicSensorManager::operateSensor(
+        int handle, OperateSensorFunc sensorFunc, uint64_t sensorOpIndex) {
+    int rv = 0;
+
+    // Wait until this sensor operation is at the head of the queue.
+    while (1) {
+        std::shared_future<int> headSensorOp;
+
+        {
+            std::lock_guard<std::mutex> lock(mSensorOpQueueLock);
+
+            if (mSensorOpQueue.front().first == sensorOpIndex) {
+                break;
+            }
+            headSensorOp = mSensorOpQueue.front().second;
+        }
+        headSensorOp.wait();
+    }
+
+    // Perform sensor operation.
+    sp<BaseSensorObject> sensor;
+    {
+        std::lock_guard<std::mutex> lk(mLock);
+        const auto i = mMap.find(handle);
+        if (i == mMap.end()) {
+            rv = BAD_VALUE;
+        }
+        if (rv == 0) {
+            sensor = i->second.promote();
+            if (sensor == nullptr) {
+                // sensor object is already gone
+                rv = BAD_VALUE;
+            }
+        }
+    }
+    if (rv == 0) {
+        rv = sensorFunc(sensor);
+    }
+
+    // Remove sensor operation from queue. When the operation's shared state is
+    // destroyed, execution of this function ceases. Thus, if the state is
+    // destroyed when the operation is removed from the queue, the lock will
+    // never be released. To prevent that, the state is shared locally, so it
+    // isn't destroyed until this function completes.
+    std::shared_future<int> sensorOp;
+    {
+        std::lock_guard<std::mutex> lock(mSensorOpQueueLock);
+        sensorOp = mSensorOpQueue.front().second;
+        mSensorOpQueue.pop();
+    }
+
+    return rv;
+}
+
 DynamicSensorManager::ConnectionReport::ConnectionReport(
         int handle, sp<BaseSensorObject> sensor) :
         mSensor(*(sensor->getSensor())),
diff --git a/modules/sensors/dynamic_sensor/DynamicSensorManager.h b/modules/sensors/dynamic_sensor/DynamicSensorManager.h
index b6f39da6..b8a73203 100644
--- a/modules/sensors/dynamic_sensor/DynamicSensorManager.h
+++ b/modules/sensors/dynamic_sensor/DynamicSensorManager.h
@@ -22,7 +22,9 @@
 #include <hardware/sensors.h>
 #include <utils/RefBase.h>
 
+#include <future>
 #include <mutex>
+#include <queue>
 #include <string>
 #include <unordered_map>
 #include <vector>
@@ -92,25 +94,18 @@ private:
     // returns next available handle to use upon a new sensor connection, or -1 if we run out.
     int getNextAvailableHandle();
 
-    // TF:  int foo(sp<BaseSensorObject> obj);
-    template <typename TF>
-    int operateSensor(int handle, TF f) const {
-        std::lock_guard<std::mutex> lk(mLock);
-        const auto i = mMap.find(handle);
-        if (i == mMap.end()) {
-            return BAD_VALUE;
-        }
-        sp<BaseSensorObject> s = i->second.promote();
-        if (s == nullptr) {
-            // sensor object is already gone
-            return BAD_VALUE;
-        }
-        return f(s);
-    }
+    // Runs a sensor function with a timeout. On timeout, function could still
+    // be running, so any function parameter or closure lifetimes should match
+    // the function's lifetime.
+    using OperateSensorFunc = std::function<int(sp<BaseSensorObject>)>;
+    int operateSensor(int handle, OperateSensorFunc sensorFunc);
+    int operateSensor(int handle, OperateSensorFunc sensorFunc,
+                      uint64_t sensorOpIndex);
 
     // available sensor handle space
     const std::pair<int, int> mHandleRange;
     sensor_t mMetaSensor;
+    bool mMetaSensorActive = false;
 
     // immutable pointer to event callback, used in extention mode.
     SensorEventCallback * const mCallback;
@@ -129,6 +124,14 @@ private:
 
     // daemons
     std::vector<sp<BaseDynamicSensorDaemon>> mDaemonVector;
+
+    // Sensor operation queue. Calls to the sensor HAL must complete within 1
+    // second.
+    static constexpr std::chrono::milliseconds
+            kSensorOpTimeout = std::chrono::milliseconds(900);
+    std::mutex mSensorOpQueueLock;
+    std::queue<std::pair<uint64_t, std::shared_future<int>>> mSensorOpQueue;
+    uint64_t mNextSensorOpIndex = 0;
 };
 
 } // namespace SensorHalExt
diff --git a/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.cpp b/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.cpp
new file mode 100644
index 00000000..d5a9b3c0
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.cpp
@@ -0,0 +1,239 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed 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 "BaseSensorObject.h"
+#include "DynamicSensorsSubHal.h"
+
+#include <convertV2_1.h>
+#include <hardware/sensors-base.h>
+#include <log/log.h>
+
+#include <chrono>
+#include <thread>
+
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V2_0::implementation::ScopedWakelock;
+using ::android::hardware::sensors::V2_1::implementation::convertFromSensorEvent;
+using ::android::hardware::sensors::V2_1::SensorInfo;
+using ::android::hardware::sensors::V2_1::SensorType;
+template<class T> using Return = ::android::hardware::Return<T>;
+using ::android::hardware::Void;
+
+namespace android {
+namespace SensorHalExt {
+
+static Result ResultFromStatus(status_t err) {
+    switch (err) {
+        case ::android::OK:
+            return Result::OK;
+        case ::android::PERMISSION_DENIED:
+            return Result::PERMISSION_DENIED;
+        case ::android::NO_MEMORY:
+            return Result::NO_MEMORY;
+        case ::android::BAD_VALUE:
+            return Result::BAD_VALUE;
+        default:
+            return Result::INVALID_OPERATION;
+    }
+}
+
+DynamicSensorsSubHal::DynamicSensorsSubHal() {
+    // initialize dynamic sensor manager
+    mDynamicSensorManager.reset(
+            DynamicSensorManager::createInstance(kDynamicHandleBase,
+                                                 kMaxDynamicHandleCount,
+                                                 this /* callback */));
+}
+
+// ISensors.
+Return<Result> DynamicSensorsSubHal::setOperationMode(OperationMode mode) {
+    return (mode == static_cast<OperationMode>(SENSOR_HAL_NORMAL_MODE) ?
+            Result::OK : Result::BAD_VALUE);
+}
+
+Return<Result> DynamicSensorsSubHal::activate(int32_t sensor_handle,
+                                              bool enabled) {
+    int rc = mDynamicSensorManager->activate(sensor_handle, enabled);
+    return ResultFromStatus(rc);
+}
+
+Return<Result> DynamicSensorsSubHal::batch(
+        int32_t sensor_handle, int64_t sampling_period_ns,
+        int64_t max_report_latency_ns) {
+    int rc = mDynamicSensorManager->batch(sensor_handle, sampling_period_ns,
+                                          max_report_latency_ns);
+    return ResultFromStatus(rc);
+}
+
+Return<Result> DynamicSensorsSubHal::flush(int32_t sensor_handle) {
+    int rc = mDynamicSensorManager->flush(sensor_handle);
+    return ResultFromStatus(rc);
+}
+
+Return<void> DynamicSensorsSubHal::registerDirectChannel(
+        const SharedMemInfo& mem __unused,
+        registerDirectChannel_cb callback __unused) {
+    ALOGE("DynamicSensorsSubHal::registerDirectChannel not supported.");
+
+    return Void();
+}
+
+Return<Result> DynamicSensorsSubHal::unregisterDirectChannel(
+        int32_t channel_handle __unused) {
+    ALOGE("DynamicSensorsSubHal::unregisterDirectChannel not supported.");
+
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> DynamicSensorsSubHal::configDirectReport(
+        int32_t sensor_handle __unused, int32_t channel_handle __unused,
+        RateLevel rate __unused, configDirectReport_cb callback __unused) {
+    ALOGE("DynamicSensorsSubHal::configDirectReport not supported.");
+
+    return Void();
+}
+
+Return<void> DynamicSensorsSubHal::getSensorsList_2_1(
+        getSensorsList_2_1_cb callback) {
+    const sensor_t& sensor_info = mDynamicSensorManager->getDynamicMetaSensor();
+    std::vector<SensorInfo> sensors;
+
+    ALOGD("DynamicSensorsSubHal::getSensorsList_2_1 invoked.");
+
+    // get the dynamic sensor info
+    sensors.resize(1);
+    sensors[0].sensorHandle = sensor_info.handle;
+    sensors[0].name = sensor_info.name;
+    sensors[0].vendor = sensor_info.vendor;
+    sensors[0].version = 1;
+    sensors[0].type = static_cast<SensorType>(sensor_info.type);
+    sensors[0].typeAsString = sensor_info.stringType;
+    sensors[0].maxRange = sensor_info.maxRange;
+    sensors[0].resolution = sensor_info.resolution;
+    sensors[0].power = sensor_info.power;
+    sensors[0].minDelay = sensor_info.minDelay;
+    sensors[0].fifoReservedEventCount = sensor_info.fifoReservedEventCount;
+    sensors[0].fifoMaxEventCount = sensor_info.fifoMaxEventCount;
+    sensors[0].requiredPermission = sensor_info.requiredPermission;
+    sensors[0].maxDelay = sensor_info.maxDelay;
+    sensors[0].flags = sensor_info.flags;
+
+    callback(sensors);
+
+    return Void();
+}
+
+Return<Result> DynamicSensorsSubHal::injectSensorData_2_1(
+        const Event& event __unused) {
+    ALOGE("DynamicSensorsSubHal::injectSensorData_2_1 not supported.");
+
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> DynamicSensorsSubHal::debug(
+        const hidl_handle& handle __unused,
+        const hidl_vec<hidl_string>& args __unused) {
+    return Void();
+}
+
+// ISensorsSubHal.
+Return<Result> DynamicSensorsSubHal::initialize(
+        const sp<IHalProxyCallback>& hal_proxy_callback) {
+    ALOGD("DynamicSensorsSubHal::initialize invoked.");
+
+    mHalProxyCallback = hal_proxy_callback;
+
+    return Result::OK;
+}
+
+// SensorEventCallback.
+int DynamicSensorsSubHal::submitEvent(SP(BaseSensorObject) sensor,
+                                      const sensors_event_t& e) {
+    std::vector<Event> events;
+    Event hal_event;
+    bool wakeup;
+
+    if (e.type == SENSOR_TYPE_DYNAMIC_SENSOR_META) {
+        const dynamic_sensor_meta_event_t* sensor_meta;
+
+        sensor_meta = static_cast<const dynamic_sensor_meta_event_t*>(
+                &(e.dynamic_sensor_meta));
+        if (sensor_meta->connected != 0) {
+            // The sensor framework must be notified of the connected sensor
+            // through the callback before handling the sensor added event. If
+            // it isn't, it will assert when looking up the sensor handle when
+            // processing the sensor added event.
+            //
+            // TODO (b/201529167): Fix dynamic sensors addition / removal when
+            //                     converting to AIDL.
+            // The sensor framework runs in a separate process from the sensor
+            // HAL, and it processes events in a dedicated thread, so it's
+            // possible the event handling can be done before the callback is
+            // run. Thus, a delay is added after sending notification of the
+            // connected sensor.
+            onSensorConnected(sensor_meta->handle, sensor_meta->sensor);
+            std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+       }
+    }
+
+    convertFromSensorEvent(e, &hal_event);
+    events.push_back(hal_event);
+    if (sensor && sensor->getSensor()) {
+        wakeup = sensor->getSensor()->flags & SENSOR_FLAG_WAKE_UP;
+    } else {
+        wakeup = false;
+    }
+    ScopedWakelock wakelock = mHalProxyCallback->createScopedWakelock(wakeup);
+    mHalProxyCallback->postEvents(events, std::move(wakelock));
+
+    return 0;
+}
+
+void DynamicSensorsSubHal::onSensorConnected(
+        int handle, const sensor_t* sensor_info) {
+    hidl_vec<SensorInfo> sensor_list;
+
+    sensor_list.resize(1);
+    sensor_list[0].sensorHandle = handle;
+    sensor_list[0].name = sensor_info->name;
+    sensor_list[0].vendor = sensor_info->vendor;
+    sensor_list[0].version = 1;
+    sensor_list[0].type = static_cast<SensorType>(sensor_info->type);
+    sensor_list[0].typeAsString = sensor_info->stringType;
+    sensor_list[0].maxRange = sensor_info->maxRange;
+    sensor_list[0].resolution = sensor_info->resolution;
+    sensor_list[0].power = sensor_info->power;
+    sensor_list[0].minDelay = sensor_info->minDelay;
+    sensor_list[0].fifoReservedEventCount = sensor_info->fifoReservedEventCount;
+    sensor_list[0].fifoMaxEventCount = sensor_info->fifoMaxEventCount;
+    sensor_list[0].requiredPermission = sensor_info->requiredPermission;
+    sensor_list[0].maxDelay = sensor_info->maxDelay;
+    sensor_list[0].flags = sensor_info->flags;
+
+    mHalProxyCallback->onDynamicSensorsConnected_2_1(sensor_list);
+}
+
+} // namespace SensorHalExt
+} // namespace android
+
+using ::android::hardware::sensors::V2_1::implementation::ISensorsSubHal;
+ISensorsSubHal* sensorsHalGetSubHal_2_1(uint32_t* version) {
+    static android::SensorHalExt::DynamicSensorsSubHal subHal;
+
+    *version = SUB_HAL_2_1_VERSION;
+    return &subHal;
+}
+
diff --git a/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.h b/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.h
new file mode 100644
index 00000000..f59b00ae
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/DynamicSensorsSubHal.h
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed 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.
+ */
+
+#ifndef ANDROID_SENSORHAL_EXT_DYNAMIC_SENSORS_SUB_HAL_H
+#define ANDROID_SENSORHAL_EXT_DYNAMIC_SENSORS_SUB_HAL_H
+
+#include "DynamicSensorManager.h"
+
+#include <V2_1/SubHal.h>
+
+namespace android {
+namespace SensorHalExt {
+
+class DynamicSensorsSubHal :
+        public SensorEventCallback,
+        public ::android::hardware::sensors::V2_1::implementation::ISensorsSubHal {
+    using Event = ::android::hardware::sensors::V2_1::Event;
+    using hidl_handle = ::android::hardware::hidl_handle;
+    using hidl_string = ::android::hardware::hidl_string;
+    template<class T> using hidl_vec = ::android::hardware::hidl_vec<T>;
+    using IHalProxyCallback =
+        ::android::hardware::sensors::V2_1::implementation::IHalProxyCallback;
+    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+    using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
+    using Result = ::android::hardware::sensors::V1_0::Result;
+    template<class T> using Return = ::android::hardware::Return<T>;
+    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+
+public:
+    DynamicSensorsSubHal();
+
+    // ISensors.
+    Return<Result> setOperationMode(OperationMode mode) override;
+    Return<Result> activate(int32_t sensor_handle, bool enabled) override;
+    Return<Result> batch(int32_t sensor_handle, int64_t sampling_period_ns,
+                         int64_t max_report_latency_ns) override;
+    Return<Result> flush(int32_t sensor_handle) override;
+    Return<void> registerDirectChannel(
+            const SharedMemInfo& mem,
+            registerDirectChannel_cb callback) override;
+    Return<Result> unregisterDirectChannel(int32_t channel_handle) override;
+    Return<void> configDirectReport(
+            int32_t sensor_handle, int32_t channel_handle, RateLevel rate,
+            configDirectReport_cb callback) override;
+    Return<void> getSensorsList_2_1(getSensorsList_2_1_cb callback) override;
+    Return<Result> injectSensorData_2_1(const Event& event) override;
+    Return<void> debug(
+            const hidl_handle& handle,
+            const hidl_vec<hidl_string>& args) override;
+
+    // ISensorsSubHal.
+    const std::string getName() override { return "Dynamic-SubHAL"; }
+    Return<Result> initialize(
+            const sp<IHalProxyCallback>& hal_proxy_callback) override;
+
+    // SensorEventCallback.
+    int submitEvent(SP(BaseSensorObject) sensor,
+                    const sensors_event_t& e) override;
+
+private:
+    static constexpr int32_t kDynamicHandleBase = 1;
+    static constexpr int32_t kDynamicHandleEnd = 0x1000000;
+    static constexpr int32_t kMaxDynamicHandleCount = kDynamicHandleEnd -
+                                                      kDynamicHandleBase;
+
+    void onSensorConnected(int handle, const sensor_t* sensor_info);
+
+    std::unique_ptr<DynamicSensorManager> mDynamicSensorManager;
+    sp<IHalProxyCallback> mHalProxyCallback;
+};
+
+} // namespace SensorHalExt
+} // namespace android
+
+#endif // ANDROID_SENSORHAL_EXT_DYNAMIC_SENSORS_SUB_HAL_H
+
diff --git a/modules/sensors/dynamic_sensor/HidRawSensor.cpp b/modules/sensors/dynamic_sensor/HidRawSensor.cpp
index f3c8a27b..3759e7e9 100644
--- a/modules/sensors/dynamic_sensor/HidRawSensor.cpp
+++ b/modules/sensors/dynamic_sensor/HidRawSensor.cpp
@@ -19,6 +19,8 @@
 #include <utils/Errors.h>
 #include "HidLog.h"
 
+#include <HidUtils.h>
+
 #include <algorithm>
 #include <cfloat>
 #include <codecvt>
@@ -437,6 +439,7 @@ void HidRawSensor::initFeatureValueFromHidDeviceInfo(
 
     featureValue->reportModeFlag = SENSOR_FLAG_SPECIAL_REPORTING_MODE;
     featureValue->isWakeUp = false;
+    featureValue->useUniqueIdForUuid = false;
     memset(featureValue->uuid, 0, sizeof(featureValue->uuid));
     featureValue->isAndroidCustom = false;
 }
@@ -463,40 +466,23 @@ bool HidRawSensor::populateFeatureValueFromFeatureReport(
         for (const auto & r : packet.reports) {
             switch (r.usage) {
                 case FRIENDLY_NAME:
-                    if (!r.isByteAligned() || r.bitSize != 16 || r.count < 1) {
-                        // invalid friendly name
-                        break;
-                    }
                     if (decodeString(r, buffer, &str) && !str.empty()) {
                         featureValue->name = str;
                     }
                     break;
                 case SENSOR_MANUFACTURER:
-                    if (!r.isByteAligned() || r.bitSize != 16 || r.count < 1) {
-                        // invalid manufacturer
-                        break;
-                    }
                     if (decodeString(r, buffer, &str) && !str.empty()) {
                         featureValue->vendor = str;
                     }
                     break;
                 case PERSISTENT_UNIQUE_ID:
-                    if (!r.isByteAligned() || r.bitSize != 16 || r.count < 1) {
-                        // invalid unique id string
-                        break;
-                    }
                     if (decodeString(r, buffer, &str) && !str.empty()) {
                         featureValue->uniqueId = str;
                     }
                     break;
                 case SENSOR_DESCRIPTION:
-                    if (!r.isByteAligned() || r.bitSize != 16 || r.count < 1
-                            || (r.bitOffset / 8 + r.count * 2) > buffer.size() ) {
-                        // invalid description
-                        break;
-                    }
                     if (decodeString(r, buffer, &str)) {
-                        mFeatureInfo.isAndroidCustom = detectAndroidCustomSensor(str);
+                        detectSensorFromDescription(str);
                     }
                     break;
                 default:
@@ -544,10 +530,19 @@ bool HidRawSensor::validateFeatureValueAndBuildSensor() {
     }
 
     // initialize uuid field, use name, vendor and uniqueId
-    if (mFeatureInfo.name.size() >= 4
-            && mFeatureInfo.vendor.size() >= 4
-            && mFeatureInfo.typeString.size() >= 4
-            && mFeatureInfo.uniqueId.size() >= 4) {
+    // initialize uuid field using one of the following methods:
+    //
+    // 1. use uniqueId
+    // 2. use name, vendor and uniqueId
+    if (mFeatureInfo.useUniqueIdForUuid) {
+        if (mFeatureInfo.uniqueId.size() == sizeof(mFeatureInfo.uuid)) {
+            memcpy(mFeatureInfo.uuid, mFeatureInfo.uniqueId.c_str(),
+                   sizeof(mFeatureInfo.uuid));
+        }
+    } else if (mFeatureInfo.name.size() >= 4
+                   && mFeatureInfo.vendor.size() >= 4
+                   && mFeatureInfo.typeString.size() >= 4
+                   && mFeatureInfo.uniqueId.size() >= 4) {
         uint32_t tmp[4], h;
         std::hash<std::string> stringHash;
         h = stringHash(mFeatureInfo.uniqueId);
@@ -581,26 +576,34 @@ bool HidRawSensor::validateFeatureValueAndBuildSensor() {
 
 bool HidRawSensor::decodeString(
         const HidParser::ReportItem &report, const std::vector<uint8_t> &buffer, std::string *d) {
-    if (!report.isByteAligned() || report.bitSize != 16 || report.count < 1) {
+    if (!report.isByteAligned() ||
+        (report.bitSize != 8 && report.bitSize != 16) || report.count < 1) {
         return false;
     }
 
+    size_t charSize = report.bitSize / 8;
     size_t offset = report.bitOffset / 8;
-    if (offset + report.count * 2 > buffer.size()) {
+    if (offset + report.count * charSize > buffer.size()) {
         return false;
     }
 
-    std::vector<uint16_t> data(report.count);
-    auto i = data.begin();
-    auto j = buffer.begin() + offset;
-    for ( ; i != data.end(); ++i, j += sizeof(uint16_t)) {
-        // hid specified little endian
-        *i = *j + (*(j + 1) << 8);
+    if (charSize == 1) {
+        *d = std::string(buffer.begin() + offset,
+                         buffer.begin() + offset + report.count);
+    } else {
+        std::vector<uint16_t> data(report.count);
+        auto i = data.begin();
+        auto j = buffer.begin() + offset;
+        for ( ; i != data.end(); ++i, j += sizeof(uint16_t)) {
+            // hid specified little endian
+            *i = *j + (*(j + 1) << 8);
+        }
+        std::wstring wstr(data.begin(), data.end());
+
+        std::wstring_convert<std::codecvt_utf8<wchar_t>, wchar_t> converter;
+        *d = converter.to_bytes(wstr);
     }
-    std::wstring wstr(data.begin(), data.end());
 
-    std::wstring_convert<std::codecvt_utf8<wchar_t>, wchar_t> converter;
-    *d = converter.to_bytes(wstr);
     return true;
 }
 
@@ -619,6 +622,33 @@ std::vector<std::string> split(const std::string &text, char sep) {
     return tokens;
 }
 
+void HidRawSensor::detectSensorFromDescription(const std::string &description) {
+    if (detectAndroidHeadTrackerSensor(description) ||
+        detectAndroidCustomSensor(description)) {
+        mFeatureInfo.isAndroidCustom = true;
+    }
+}
+
+bool HidRawSensor::detectAndroidHeadTrackerSensor(
+        const std::string &description) {
+    if (description.find("#AndroidHeadTracker#1.") != 0) {
+        return false;
+    }
+
+    mFeatureInfo.type = SENSOR_TYPE_HEAD_TRACKER;
+    mFeatureInfo.typeString = SENSOR_STRING_TYPE_HEAD_TRACKER;
+    mFeatureInfo.reportModeFlag = SENSOR_FLAG_CONTINUOUS_MODE;
+    mFeatureInfo.permission = "";
+    mFeatureInfo.isWakeUp = false;
+
+    // HID head tracker sensors must use the HID unique ID for the sensor UUID
+    // to permit association between the sensor and audio device (see
+    // specification for HEAD_TRACKER in SensorType).
+    mFeatureInfo.useUniqueIdForUuid = true;
+
+    return true;
+}
+
 bool HidRawSensor::detectAndroidCustomSensor(const std::string &description) {
     size_t nullPosition = description.find('\0');
     if (nullPosition == std::string::npos) {
@@ -784,54 +814,95 @@ bool HidRawSensor::detectAndroidCustomSensor(const std::string &description) {
 }
 
 bool HidRawSensor::findSensorControlUsage(const std::vector<HidParser::ReportPacket> &packets) {
+    using namespace Hid::Sensor::PowerStateUsage;
     using namespace Hid::Sensor::PropertyUsage;
-    using namespace Hid::Sensor::RawMinMax;
+    using namespace Hid::Sensor::ReportingStateUsage;
 
     //REPORTING_STATE
     const HidParser::ReportItem *reportingState
             = find(packets, REPORTING_STATE, HidParser::REPORT_TYPE_FEATURE);
 
-    if (reportingState == nullptr
-            || !reportingState->isByteAligned()
-            || reportingState->bitSize != 8
-            || reportingState->minRaw != REPORTING_STATE_MIN
-            || reportingState->maxRaw != REPORTING_STATE_MAX) {
+    if (reportingState == nullptr) {
         LOG_W << "Cannot find valid reporting state feature" << LOG_ENDL;
     } else {
         mReportingStateId = reportingState->id;
-        mReportingStateOffset = reportingState->bitOffset / 8;
+        mReportingStateBitOffset = reportingState->bitOffset;
+        mReportingStateBitSize = reportingState->bitSize;
+
+        mReportingStateDisableIndex = -1;
+        mReportingStateEnableIndex = -1;
+        for (unsigned i = 0; i < reportingState->usageVector.size(); ++i) {
+            if (reportingState->usageVector[i] == REPORTING_STATE_NO_EVENTS) {
+                mReportingStateDisableIndex = i;
+            }
+            if (reportingState->usageVector[i] == REPORTING_STATE_ALL_EVENTS) {
+                mReportingStateEnableIndex = i;
+            }
+        }
+        if (mReportingStateDisableIndex < 0) {
+            LOG_W << "Cannot find reporting state to disable sensor"
+                  << LOG_ENDL;
+            mReportingStateId = -1;
+        }
+        if (mReportingStateEnableIndex < 0) {
+            LOG_W << "Cannot find reporting state to enable sensor" << LOG_ENDL;
+            mReportingStateId = -1;
+        }
     }
 
     //POWER_STATE
     const HidParser::ReportItem *powerState
             = find(packets, POWER_STATE, HidParser::REPORT_TYPE_FEATURE);
-    if (powerState == nullptr
-            || !powerState->isByteAligned()
-            || powerState->bitSize != 8
-            || powerState->minRaw != POWER_STATE_MIN
-            || powerState->maxRaw != POWER_STATE_MAX) {
+    if (powerState == nullptr) {
         LOG_W << "Cannot find valid power state feature" << LOG_ENDL;
     } else {
         mPowerStateId = powerState->id;
-        mPowerStateOffset = powerState->bitOffset / 8;
+        mPowerStateBitOffset = powerState->bitOffset;
+        mPowerStateBitSize = powerState->bitSize;
+
+        mPowerStateOffIndex = -1;
+        mPowerStateOnIndex = -1;
+        for (unsigned i = 0; i < powerState->usageVector.size(); ++i) {
+            if (powerState->usageVector[i] == POWER_STATE_D4_POWER_OFF) {
+                mPowerStateOffIndex = i;
+            }
+            if (powerState->usageVector[i] == POWER_STATE_D0_FULL_POWER) {
+                mPowerStateOnIndex = i;
+            }
+        }
+        if (mPowerStateOffIndex < 0) {
+            LOG_W << "Cannot find power state to power off sensor"
+                  << LOG_ENDL;
+            mPowerStateId = -1;
+        }
+        if (mPowerStateOnIndex < 0) {
+            LOG_W << "Cannot find power state to power on sensor" << LOG_ENDL;
+            mPowerStateId = -1;
+        }
     }
 
     //REPORT_INTERVAL
     const HidParser::ReportItem *reportInterval
             = find(packets, REPORT_INTERVAL, HidParser::REPORT_TYPE_FEATURE);
     if (reportInterval == nullptr
-            || !reportInterval->isByteAligned()
-            || reportInterval->minRaw < 0
-            || (reportInterval->bitSize != 16 && reportInterval->bitSize != 32)) {
+            || reportInterval->minRaw < 0) {
         LOG_W << "Cannot find valid report interval feature" << LOG_ENDL;
     } else {
         mReportIntervalId = reportInterval->id;
-        mReportIntervalOffset = reportInterval->bitOffset / 8;
-        mReportIntervalSize = reportInterval->bitSize / 8;
-
-        mFeatureInfo.minDelay = std::max(static_cast<int64_t>(1), reportInterval->minRaw) * 1000;
-        mFeatureInfo.maxDelay = std::min(static_cast<int64_t>(1000000),
-                                    reportInterval->maxRaw) * 1000; // maximum 1000 second
+        mReportIntervalBitOffset = reportInterval->bitOffset;
+        mReportIntervalBitSize = reportInterval->bitSize;
+        mReportIntervalScale = reportInterval->a;
+        mReportIntervalOffset = reportInterval->b;
+
+        mFeatureInfo.minDelay = 1000000.0
+                                * (reportInterval->minRaw + reportInterval->b)
+                                * reportInterval->a;
+        mFeatureInfo.minDelay = std::max(1000, mFeatureInfo.minDelay);
+        mFeatureInfo.maxDelay = 1000000.0
+                                * (reportInterval->maxRaw + reportInterval->b)
+                                * reportInterval->a;
+        mFeatureInfo.maxDelay = std::min(static_cast<int64_t>(1000000000),
+                                         mFeatureInfo.maxDelay);
     }
     return true;
     return (mPowerStateId >= 0 || mReportingStateId >= 0) && mReportIntervalId >= 0;
@@ -846,7 +917,6 @@ void HidRawSensor::getUuid(uint8_t* uuid) const {
 }
 
 int HidRawSensor::enable(bool enable) {
-    using namespace Hid::Sensor::StateValue;
     SP(HidDevice) device = PROMOTE(mDevice);
 
     if (device == nullptr) {
@@ -863,8 +933,11 @@ int HidRawSensor::enable(bool enable) {
         setPowerOk = false;
         uint8_t id = static_cast<uint8_t>(mPowerStateId);
         if (device->getFeature(id, &buffer)
-                && buffer.size() > mPowerStateOffset) {
-            buffer[mPowerStateOffset] = enable ? POWER_STATE_FULL_POWER : POWER_STATE_POWER_OFF;
+                && (8 * buffer.size()) >=
+                   (mPowerStateBitOffset + mPowerStateBitSize)) {
+            uint8_t index = enable ? mPowerStateOnIndex : mPowerStateOffIndex;
+            HidUtil::copyBits(&index, &(buffer[0]), buffer.size(),
+                              0, mPowerStateBitOffset, mPowerStateBitSize);
             setPowerOk = device->setFeature(id, buffer);
         } else {
             LOG_E << "enable: changing POWER STATE failed" << LOG_ENDL;
@@ -876,9 +949,12 @@ int HidRawSensor::enable(bool enable) {
         setReportingOk = false;
         uint8_t id = static_cast<uint8_t>(mReportingStateId);
         if (device->getFeature(id, &buffer)
-                && buffer.size() > mReportingStateOffset) {
-            buffer[mReportingStateOffset]
-                    = enable ? REPORTING_STATE_ALL_EVENT : REPORTING_STATE_NO_EVENT;
+                && (8 * buffer.size()) >
+                   (mReportingStateBitOffset + mReportingStateBitSize)) {
+            uint8_t index = enable ? mReportingStateEnableIndex :
+                                     mReportingStateDisableIndex;
+            HidUtil::copyBits(&index, &(buffer[0]), buffer.size(),0,
+                              mReportingStateBitOffset, mReportingStateBitSize);
             setReportingOk = device->setFeature(id, buffer);
         } else {
             LOG_E << "enable: changing REPORTING STATE failed" << LOG_ENDL;
@@ -911,22 +987,17 @@ int HidRawSensor::batch(int64_t samplingPeriod, int64_t batchingPeriod) {
         ok = false;
         uint8_t id = static_cast<uint8_t>(mReportIntervalId);
         if (device->getFeature(id, &buffer)
-                && buffer.size() >= mReportIntervalOffset + mReportIntervalSize) {
-            int64_t periodMs = samplingPeriod / 1000000; //ns -> ms
-            switch (mReportIntervalSize) {
-                case sizeof(uint16_t):
-                    periodMs = std::min(periodMs, static_cast<int64_t>(UINT16_MAX));
-                    buffer[mReportIntervalOffset] = periodMs & 0xFF;
-                    buffer[mReportIntervalOffset + 1] = (periodMs >> 8) & 0xFF;
-                    break;
-                case sizeof(uint32_t):
-                    periodMs = std::min(periodMs, static_cast<int64_t>(UINT32_MAX));
-                    buffer[mReportIntervalOffset] = periodMs & 0xFF;
-                    buffer[mReportIntervalOffset + 1] = (periodMs >> 8) & 0xFF;
-                    buffer[mReportIntervalOffset + 2] = (periodMs >> 16) & 0xFF;
-                    buffer[mReportIntervalOffset + 3] = (periodMs >> 24) & 0xFF;
-                    break;
-            }
+                && (8 * buffer.size()) >=
+                   (mReportIntervalBitOffset + mReportIntervalBitSize)) {
+            int64_t periodMs =
+                    (((static_cast<double>(samplingPeriod)) / 1000000000.0)
+                     / mReportIntervalScale) - mReportIntervalOffset;
+            int64_t maxPeriodMs =
+                (1LL << std::min(mReportIntervalBitSize, 63U)) - 1;
+            periodMs = std::min(periodMs, maxPeriodMs);
+            HidUtil::copyBits(&periodMs, &(buffer[0]), buffer.size(),
+                              0, mReportIntervalBitOffset,
+                              mReportIntervalBitSize);
             ok = device->setFeature(id, buffer);
         }
     }
@@ -950,6 +1021,50 @@ void HidRawSensor::handleInput(uint8_t id, const std::vector<uint8_t> &message)
         .type = mSensor.type
     };
     bool valid = true;
+
+    switch (mFeatureInfo.type) {
+        case SENSOR_TYPE_HEAD_TRACKER:
+            valid = getHeadTrackerEventData(message, &event);
+            break;
+        default:
+            valid = getSensorEventData(message, &event);
+            break;
+    }
+    if (!valid) {
+        LOG_E << "Invalid data observed in decoding, discard" << LOG_ENDL;
+        return;
+    }
+    event.timestamp = -1;
+    generateEvent(event);
+}
+
+bool HidRawSensor::getHeadTrackerEventData(const std::vector<uint8_t> &message,
+                                           sensors_event_t *event) {
+    head_tracker_event_t *head_tracker;
+
+    head_tracker = &(event->head_tracker);
+    if (!getReportFieldValue(message, &(mTranslateTable[0]),
+                             &(head_tracker->rx))
+            || !getReportFieldValue(message, &(mTranslateTable[1]),
+                                    &(head_tracker->ry))
+            || !getReportFieldValue(message, &(mTranslateTable[2]),
+                                    &(head_tracker->rz))
+            || !getReportFieldValue(message, &(mTranslateTable[3]),
+                                    &(head_tracker->vx))
+            || !getReportFieldValue(message, &(mTranslateTable[4]),
+                                    &(head_tracker->vy))
+            || !getReportFieldValue(message, &(mTranslateTable[5]),
+                                    &(head_tracker->vz))
+            || !getReportFieldValue(message, &(mTranslateTable[6]),
+                                    &(head_tracker->discontinuity_count))) {
+        return false;
+    }
+
+    return true;
+}
+
+bool HidRawSensor::getSensorEventData(const std::vector<uint8_t> &message,
+                                      sensors_event_t *event) {
     for (const auto &rec : mTranslateTable) {
         int64_t v = (message[rec.byteOffset + rec.byteSize - 1] & 0x80) ? -1 : 0;
         for (int i = static_cast<int>(rec.byteSize) - 1; i >= 0; --i) {
@@ -959,26 +1074,23 @@ void HidRawSensor::handleInput(uint8_t id, const std::vector<uint8_t> &message)
         switch (rec.type) {
             case TYPE_FLOAT:
                 if (v > rec.maxValue || v < rec.minValue) {
-                    valid = false;
+                    return false;
                 }
-                event.data[rec.index] = rec.a * (v + rec.b);
+                event->data[rec.index] = rec.a * (v + rec.b);
                 break;
             case TYPE_INT64:
                 if (v > rec.maxValue || v < rec.minValue) {
-                    valid = false;
+                    return false;
                 }
-                event.u64.data[rec.index] = v + rec.b;
+                event->u64.data[rec.index] = v + rec.b;
                 break;
             case TYPE_ACCURACY:
-                event.magnetic.status = (v & 0xFF) + rec.b;
+                event->magnetic.status = (v & 0xFF) + rec.b;
                 break;
         }
     }
-    if (!valid) {
-        LOG_V << "Range error observed in decoding, discard" << LOG_ENDL;
-    }
-    event.timestamp = -1;
-    generateEvent(event);
+
+    return true;
 }
 
 std::string HidRawSensor::dump() const {
@@ -997,11 +1109,15 @@ std::string HidRawSensor::dump() const {
           << "  fifoSize: " << mFeatureInfo.fifoSize << LOG_ENDL
           << "  fifoMaxSize: " << mFeatureInfo.fifoMaxSize << LOG_ENDL
           << "  reportModeFlag: " << mFeatureInfo.reportModeFlag << LOG_ENDL
-          << "  isWakeUp: " << (mFeatureInfo.isWakeUp ? "true" : "false") << LOG_ENDL
-          << "  uniqueId: " << mFeatureInfo.uniqueId << LOG_ENDL
-          << "  uuid: ";
+          << "  isWakeUp: " << (mFeatureInfo.isWakeUp ? "true" : "false") << LOG_ENDL;
+
+    ss << "  uniqueId: " << std::hex << std::setfill('0');
+    for (auto d : mFeatureInfo.uniqueId) {
+          ss << std::setw(2) << static_cast<int>(d) << " ";
+    }
+    ss << std::dec << std::setfill(' ') << LOG_ENDL;
 
-    ss << std::hex << std::setfill('0');
+    ss << "  uuid: " << std::hex << std::setfill('0');
     for (auto d : mFeatureInfo.uuid) {
           ss << std::setw(2) << static_cast<int>(d) << " ";
     }
@@ -1019,7 +1135,11 @@ std::string HidRawSensor::dump() const {
     ss << "  Power state ";
     if (mPowerStateId >= 0) {
         ss << "found, id: " << mPowerStateId
-              << " offset: " << mPowerStateOffset << LOG_ENDL;
+              << " bit offset: " << mPowerStateBitOffset
+              << " bit size: " << mPowerStateBitSize
+              << " power off index: " << mPowerStateOffIndex
+              << " power on index: " << mPowerStateOnIndex
+              << LOG_ENDL;
     } else {
         ss << "not found" << LOG_ENDL;
     }
@@ -1027,7 +1147,11 @@ std::string HidRawSensor::dump() const {
     ss << "  Reporting state ";
     if (mReportingStateId >= 0) {
         ss << "found, id: " << mReportingStateId
-              << " offset: " << mReportingStateOffset << LOG_ENDL;
+              << " bit offset: " << mReportingStateBitOffset
+              << " bit size: " << mReportingStateBitSize
+              << " disable index: " << mReportingStateDisableIndex
+              << " enable index: " << mReportingStateEnableIndex
+              << LOG_ENDL;
     } else {
         ss << "not found" << LOG_ENDL;
     }
@@ -1035,8 +1159,8 @@ std::string HidRawSensor::dump() const {
     ss << "  Report interval ";
     if (mReportIntervalId >= 0) {
         ss << "found, id: " << mReportIntervalId
-              << " offset: " << mReportIntervalOffset
-              << " size: " << mReportIntervalSize << LOG_ENDL;
+              << " bit offset: " << mReportIntervalBitOffset
+              << " bit size: " << mReportIntervalBitSize << LOG_ENDL;
     } else {
         ss << "not found" << LOG_ENDL;
     }
diff --git a/modules/sensors/dynamic_sensor/HidRawSensor.h b/modules/sensors/dynamic_sensor/HidRawSensor.h
index 2dd32b61..074482a8 100644
--- a/modules/sensors/dynamic_sensor/HidRawSensor.h
+++ b/modules/sensors/dynamic_sensor/HidRawSensor.h
@@ -46,6 +46,14 @@ public:
     // handle input report received
     void handleInput(uint8_t id, const std::vector<uint8_t> &message);
 
+    // get head tracker sensor event data
+    bool getHeadTrackerEventData(const std::vector<uint8_t> &message,
+                                 sensors_event_t *event);
+
+    // get generic sensor event data
+    bool getSensorEventData(const std::vector<uint8_t> &message,
+                            sensors_event_t *event);
+
     // indicate if the HidRawSensor is a valid one
     bool isValid() const { return mValid; };
 
@@ -86,6 +94,7 @@ private:
         size_t fifoMaxSize;
         uint32_t reportModeFlag;
         bool isWakeUp;
+        bool useUniqueIdForUuid;
 
         // dynamic sensor specific
         std::string uniqueId;
@@ -121,6 +130,14 @@ private:
     // helper function to find sensor control feature usage from packets
     bool findSensorControlUsage(const std::vector<HidParser::ReportPacket> &packets);
 
+    // try to parse sensor description feature value to see if it matches any
+    // known sensors
+    void detectSensorFromDescription(const std::string &description);
+
+    // try to parse sensor description feature value to see if it matches the
+    // Android header tracker sensor
+    bool detectAndroidHeadTrackerSensor(const std::string &description);
+
     // try to parse sensor description feature value to see if it matches
     // android specified custom sensor definition.
     bool detectAndroidCustomSensor(const std::string &description);
@@ -132,19 +149,54 @@ private:
     // process HID snesor spec defined orientation(quaternion) sensor usages.
     bool processQuaternionUsage(const std::vector<HidParser::ReportPacket> &packets);
 
+    // get the value of a report field
+    template<typename ValueType>
+    bool getReportFieldValue(const std::vector<uint8_t> &message,
+                             ReportTranslateRecord* rec, ValueType* value) {
+        bool valid = true;
+        int64_t v;
+
+        v = (message[rec->byteOffset + rec->byteSize - 1] & 0x80) ? -1 : 0;
+        for (int i = static_cast<int>(rec->byteSize) - 1; i >= 0; --i) {
+            v = (v << 8) | message[rec->byteOffset + i]; // HID is little endian
+        }
+        if (v > rec->maxValue || v < rec->minValue) {
+            valid = false;
+        }
+
+        switch (rec->type) {
+            case TYPE_FLOAT:
+                *value = rec->a * (v + rec->b);
+                break;
+            case TYPE_INT64:
+                *value = v + rec->b;
+                break;
+        }
+
+        return valid;
+    }
+
     // dump data for test/debug purpose
     std::string dump() const;
 
     // Features for control sensor
     int mReportingStateId;
-    unsigned int mReportingStateOffset;
+    unsigned int mReportingStateBitOffset;
+    unsigned int mReportingStateBitSize;
+    int mReportingStateDisableIndex;
+    int mReportingStateEnableIndex;
 
     int mPowerStateId;
-    unsigned int mPowerStateOffset;
+    unsigned int mPowerStateBitOffset;
+    unsigned int mPowerStateBitSize;
+    int mPowerStateOffIndex;
+    int mPowerStateOnIndex;
 
     int mReportIntervalId;
-    unsigned int mReportIntervalOffset;
-    unsigned int mReportIntervalSize;
+    unsigned int mReportIntervalBitOffset;
+    unsigned int mReportIntervalBitSize;
+    double mReportIntervalScale;
+    int64_t mReportIntervalOffset;
 
     // Input report translate table
     std::vector<ReportTranslateRecord> mTranslateTable;
diff --git a/modules/sensors/dynamic_sensor/HidRawSensorDaemon.cpp b/modules/sensors/dynamic_sensor/HidRawSensorDaemon.cpp
index 6bf34bc8..4b447ac1 100644
--- a/modules/sensors/dynamic_sensor/HidRawSensorDaemon.cpp
+++ b/modules/sensors/dynamic_sensor/HidRawSensorDaemon.cpp
@@ -39,6 +39,7 @@ HidRawSensorDaemon::HidRawSensorDaemon(DynamicSensorManager& manager)
         : BaseDynamicSensorDaemon(manager) {
     mDetector = new FileConnectionDetector(
             this, std::string(DEV_PATH), std::string(DEV_NAME_REGEX));
+    mDetector->Init();
 }
 
 BaseSensorVector HidRawSensorDaemon::createSensor(const std::string &deviceKey) {
diff --git a/modules/sensors/dynamic_sensor/HidSensorDef.h b/modules/sensors/dynamic_sensor/HidSensorDef.h
index 2728b28a..8f47a850 100644
--- a/modules/sensors/dynamic_sensor/HidSensorDef.h
+++ b/modules/sensors/dynamic_sensor/HidSensorDef.h
@@ -77,24 +77,28 @@ enum {
 };
 } // namespace ReportUsage
 
-namespace RawMinMax {
+namespace ReportingStateUsage {
 enum {
-    REPORTING_STATE_MIN = 0,
-    REPORTING_STATE_MAX = 5,
-    POWER_STATE_MIN = 0,
-    POWER_STATE_MAX = 5,
+    REPORTING_STATE_NO_EVENTS = 0x0840,
+    REPORTING_STATE_ALL_EVENTS = 0x0841,
+    REPORTING_STATE_REPORT_THRESHOLD_EVENTS = 0x0842,
+    REPORTING_STATE_REPORT_WAKE_ON_NO_EVENTS = 0x0843,
+    REPORTING_STATE_REPORT_WAKE_ON_ALL_EVENTS = 0x0844,
+    REPORTING_STATE_REPORT_WAKE_ON_THRESHOLD_EVENTS = 0x0845,
 };
-} // namespace RawMinMax
+} // namespace ReportingStateUsage
 
-namespace StateValue {
+namespace PowerStateUsage {
 enum {
-    POWER_STATE_FULL_POWER = 1,
-    POWER_STATE_POWER_OFF = 5,
-
-    REPORTING_STATE_ALL_EVENT = 1,
-    REPORTING_STATE_NO_EVENT = 0,
+    POWER_STATE_UNDEFINED = 0x0850,
+    POWER_STATE_D0_FULL_POWER = 0x0851,
+    POWER_STATE_D1_LOW_POWER = 0x0852,
+    POWER_STATE_D2_STANDBY_POWER_WITH_WAKEUP = 0x0853,
+    POWER_STATE_D3_SLEEP_WITH_WAKEUP = 0x0854,
+    POWER_STATE_D4_POWER_OFF = 0x0855,
 };
-} // StateValue
+} // namespace PowerStateUsage
+
 } // namespace Sensor
 } // namespace Hid
 #endif // HID_SENSOR_DEF_H_
diff --git a/modules/sensors/dynamic_sensor/HidUtils/Android.bp b/modules/sensors/dynamic_sensor/HidUtils/Android.bp
index bbed0327..5823c794 100644
--- a/modules/sensors/dynamic_sensor/HidUtils/Android.bp
+++ b/modules/sensors/dynamic_sensor/HidUtils/Android.bp
@@ -45,6 +45,7 @@ cc_library {
         "HidParser.cpp",
         "HidReport.cpp",
         "HidTree.cpp",
+        "HidUtils.cpp",
     ],
     export_include_dirs: ["."],
 
@@ -99,3 +100,20 @@ cc_test_host {
 
     local_include_dirs: ["test"],
 }
+
+//
+// Test for HidUtils
+//
+cc_test_host {
+    name: "hid_utils_test",
+    defaults: ["hid_defaults"],
+
+    srcs: ["test/CopyBitsTest.cpp"],
+
+    shared_libs: [
+        "libhidparser",
+    ],
+
+    local_include_dirs: ["test"],
+}
+
diff --git a/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp b/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
index 264f13c2..63210200 100644
--- a/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
+++ b/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
@@ -240,14 +240,23 @@ std::vector<HidParser::ReportPacket> HidParser::convertGroupToPacket(
                 auto logical = r.getLogicalRange();
                 auto physical = r.getPhysicalRange();
 
-                int64_t offset = physical.first - logical.first;
-                double scale = static_cast<double>((physical.second - physical.first))
-                        / (logical.second - logical.first);
+                double scale;
+                if ((physical.first != physical.second) &&
+                    (logical.first != logical.second)) {
+                    scale = static_cast<double>(physical.second - physical.first)
+                            / (logical.second - logical.first);
+                } else {
+                    scale = (physical.first != 0) ? physical.first : 1.0;
+                }
                 scale *= r.getExponentValue();
+                int64_t offset =
+                        (physical.first * r.getExponentValue() / scale) -
+                        logical.first;
 
                 ReportItem digest = {
                     .usage = r.getFullUsage(),
                     .id = id,
+                    .usageVector = r.getUsageVector(),
                     .minRaw = logical.first,
                     .maxRaw = logical.second,
                     .a = scale,
@@ -316,4 +325,5 @@ std::ostream& operator<<(std::ostream &os, const HidParser::DigestVector &digest
     os << LOG_ENDL;
     return os;
 }
+
 } // namespace HidUtil
diff --git a/modules/sensors/dynamic_sensor/HidUtils/HidParser.h b/modules/sensors/dynamic_sensor/HidUtils/HidParser.h
index 4ef5ec6c..cb4a92a8 100644
--- a/modules/sensors/dynamic_sensor/HidUtils/HidParser.h
+++ b/modules/sensors/dynamic_sensor/HidUtils/HidParser.h
@@ -89,6 +89,7 @@ struct HidParser::ReportItem {
     unsigned int usage;
     unsigned int id;
     int type; // feature, input or output
+    std::vector<unsigned int> usageVector;
 
     int64_t minRaw;
     int64_t maxRaw;
@@ -173,6 +174,7 @@ struct HidParser::ReportPacket {
 };
 
 std::ostream& operator<<(std::ostream &os, const HidParser::DigestVector &digest2);
+
 } // namespace HidUtil
 
 #endif // HIDUTIL_HIDPARSER_H_
diff --git a/modules/sensors/dynamic_sensor/HidUtils/HidUtils.cpp b/modules/sensors/dynamic_sensor/HidUtils/HidUtils.cpp
new file mode 100644
index 00000000..0cce2a39
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/HidUtils/HidUtils.cpp
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed 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 "HidUtils.h"
+#include <stdint.h>
+#include <algorithm>
+
+namespace HidUtil {
+
+void copyBits(const void *src, void *dst, size_t dst_size,
+              unsigned int src_bit_offset, unsigned int dst_bit_offset,
+              unsigned int bit_count) {
+    const uint8_t *p_src;
+    uint8_t       *p_dst;
+    uint8_t        dst_mask;
+    unsigned int   bits_rem;
+    unsigned int   bit_block_count;
+
+    // Do nothing if copying past the end of the destination buffer.
+    if ((static_cast<size_t>(dst_bit_offset) > (8 * dst_size)) ||
+        (static_cast<size_t>(bit_count) > (8 * dst_size)) ||
+        (static_cast<size_t>(dst_bit_offset + bit_count) > (8 * dst_size))) {
+        return;
+    }
+
+    // Copy bits from source to destination buffer.
+    p_src = static_cast<const uint8_t*>(src) + (src_bit_offset / 8);
+    src_bit_offset = src_bit_offset % 8;
+    p_dst = static_cast<uint8_t*>(dst) + (dst_bit_offset / 8);
+    dst_bit_offset = dst_bit_offset % 8;
+    bits_rem = bit_count;
+    while (bits_rem > 0) {
+        // Determine the size of the next block of bits to copy. The block must
+        // not cross a source or desintation byte boundary.
+        bit_block_count = std::min(bits_rem, 8 - src_bit_offset);
+        bit_block_count = std::min(bit_block_count, 8 - dst_bit_offset);
+
+        // Determine the destination bit block mask.
+        dst_mask = ((1 << bit_block_count) - 1) << dst_bit_offset;
+
+        // Copy the block of bits.
+        *p_dst = (*p_dst & ~dst_mask) |
+                 (((*p_src >> src_bit_offset) << dst_bit_offset) & dst_mask);
+
+        // Advance past the block of copied bits in the source.
+        src_bit_offset += bit_block_count;
+        p_src += src_bit_offset / 8;
+        src_bit_offset = src_bit_offset % 8;
+
+        // Advance past the block of copied bits in the destination.
+        dst_bit_offset += bit_block_count;
+        p_dst += dst_bit_offset / 8;
+        dst_bit_offset = dst_bit_offset % 8;
+
+        // Decrement the number of bits remaining.
+        bits_rem -= bit_block_count;
+    }
+}
+
+} // namespace HidUtil
diff --git a/modules/sensors/dynamic_sensor/HidUtils/HidUtils.h b/modules/sensors/dynamic_sensor/HidUtils/HidUtils.h
new file mode 100644
index 00000000..54aa31e9
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/HidUtils/HidUtils.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed 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.
+ */
+#ifndef HIDUTIL_HIDUTILS_H_
+#define HIDUTIL_HIDUTILS_H_
+
+#include <stddef.h>
+
+namespace HidUtil {
+
+void copyBits(const void *src, void *dst, size_t dst_size,
+              unsigned int src_bit_offset, unsigned int dst_bit_offset,
+              unsigned int bit_count);
+
+} // namespace HidUtil
+
+#endif // HIDUTIL_HIDUTILS_H_
diff --git a/modules/sensors/dynamic_sensor/HidUtils/test/CopyBitsTest.cpp b/modules/sensors/dynamic_sensor/HidUtils/test/CopyBitsTest.cpp
new file mode 100644
index 00000000..1b1ca709
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/HidUtils/test/CopyBitsTest.cpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed 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 "HidUtils.h"
+#include <gtest/gtest.h>
+
+using HidUtil::copyBits;
+
+TEST(CopyBitsTest, CopyBits) {
+    const struct {
+        uint32_t src;
+        uint32_t dst;
+        int src_bit_offset;
+        int dst_bit_offset;
+        int bit_count;
+        uint32_t expected_dst;
+    } kTestVectorList[] = {
+        { 0x00000005, 0x00000000,  0,  0,  8, 0x00000005 },
+        { 0x00000005, 0x00000000,  0,  4,  8, 0x00000050 },
+        { 0x0000000C, 0x00000020,  0,  4,  8, 0x000000C0 },
+        { 0x00000005, 0x0000F02F,  0,  4,  8, 0x0000F05F },
+        { 0x12345678, 0x87654321,  5, 11, 17, 0x8D159B21 },
+        { 0x12345678, 0x87654321, 11,  5, 17, 0x8748D141 },
+    };
+
+    for (auto test_vector : kTestVectorList) {
+        uint32_t dst = test_vector.dst;
+        copyBits(&(test_vector.src), &dst, sizeof(dst),
+                 test_vector.src_bit_offset, test_vector.dst_bit_offset,
+                 test_vector.bit_count);
+        EXPECT_EQ(test_vector.expected_dst, dst);
+    }
+}
+
+TEST(CopyBitsTest, Overflow) {
+    const struct {
+        uint32_t src;
+        uint32_t dst;
+        unsigned int src_bit_offset;
+        unsigned int dst_bit_offset;
+        unsigned int bit_count;
+        uint32_t expected_dst;
+    } kTestVectorList[] = {
+        { 0x000000FF, 0x00000000,  0,        0,        8, 0x000000FF },
+        { 0x000000FF, 0x00000000,  0,       24,        8, 0xFF000000 },
+        { 0x000000FF, 0x00000000,  0,       25,        8, 0x00000000 },
+        { 0x000000FF, 0x00000000,  0,       32,        8, 0x00000000 },
+        { 0x000000FF, 0x00000000,  0, UINT_MAX,        8, 0x00000000 },
+        { 0x000000FF, 0x00000000,  0,        8, UINT_MAX, 0x00000000 },
+    };
+
+    for (auto test_vector : kTestVectorList) {
+        uint32_t dst = test_vector.dst;
+        copyBits(&(test_vector.src), &dst, sizeof(dst),
+                 test_vector.src_bit_offset, test_vector.dst_bit_offset,
+                 test_vector.bit_count);
+        EXPECT_EQ(test_vector.expected_dst, dst);
+    }
+}
+
diff --git a/modules/sensors/dynamic_sensor/README.md b/modules/sensors/dynamic_sensor/README.md
new file mode 100644
index 00000000..5d5bd6d3
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/README.md
@@ -0,0 +1,153 @@
+# Dynamic Sensors
+
+[TOC]
+
+## Links
+
+*   [Sensor HAL dynamic sensor support](https://source.android.com/devices/sensors/sensors-hal2#dynamic-sensors)
+*   [Sensors Multi-HAL](https://source.android.com/devices/sensors/sensors-multihal)
+
+## Adding dynamic sensor support to a device
+
+A few files need to be modified to add dynamic sensor support to a device. The
+dynamic sensor HAL must be enabled in the device product makefile and in the
+sensor sub-HAL configuration file, raw HID devices must be configured, and raw
+HID device and dynamic sensor property permissions must be set up in the SELinux
+policy files.
+
+```shell
+acme-co$ git -C device/acme/rocket-phone diff
+diff --git a/sensor_hal/hals.conf b/sensor_hal/hals.conf
+index a1f4b8b..d112546 100644
+--- a/sensor_hal/hals.conf
++++ b/sensor_hal/hals.conf
+@@ -1 +1,2 @@
++sensors.dynamic_sensor_hal.so
+ sensors.rocket-phone.so
+diff --git a/rocket-phone.mk b/rocket-phone.mk
+index 3fc8538..b1bd8a1 100644
+--- a/rocket-phone.mk
++++ b/rocket-phone.mk
+@@ -73,6 +73,9 @@
+ PRODUCT_PACKAGES += sensors.rocket-phone
+ PRODUCT_PACKAGES += thruster_stats
+
++# Add the dynamic sensor HAL.
++PRODUCT_PACKAGES += sensors.dynamic_sensor_hal
++
+ # Only install test tools in debug build or eng build.
+ ifneq ($(filter userdebug eng,$(TARGET_BUILD_VARIANT)),)
+   PRODUCT_PACKAGES += thruster_test
+diff --git a/conf/ueventd.rc b/conf/ueventd.rc
+index 88ee00b..2f03009 100644
+--- a/conf/ueventd.rc
++++ b/conf/ueventd.rc
+@@ -209,3 +209,7 @@
+
+ # Thrusters
+ /dev/thruster*                         0600   system     system
++
++# Raw HID devices
++/dev/hidraw*                           0660   system     system
++
+diff --git a/sepolicy/sensor_hal.te b/sepolicy/sensor_hal.te
+index 0797253..22a4208 100644
+--- a/sepolicy/sensor_hal.te
++++ b/sepolicy/sensor_hal.te
+@@ -52,6 +52,9 @@
+ # Allow sensor HAL to read thruster state.
+ allow hal_sensors_default thruster_state:file r_file_perms;
+
++# Allow access for dynamic sensor properties.
++get_prop(hal_sensors_default, vendor_dynamic_sensor_prop)
++
++# Allow access to raw HID devices for dynamic sensors.
++allow hal_sensors_default device:dir r_dir_perms;
++allow hal_sensors_default hidraw_device:chr_file rw_file_perms;
++
+ #
+ # Thruster sensor enforcements.
+ #
+diff --git a/sepolicy/device.te b/sepolicy/device.te
+index bc3c947..bad0be0 100644
+--- a/sepolicy/device.te
++++ b/sepolicy/device.te
+@@ -55,3 +55,7 @@
+
+ # Thruster
+ type thruster_device, dev_type;
++
++# Raw HID device
++type hidraw_device, dev_type;
++
+diff --git a/sepolicy/property.te b/sepolicy/property.te
+index 4b671a4..bb0894f 100644
+--- a/sepolicy/property.te
++++ b/sepolicy/property.te
+@@ -49,3 +49,7 @@
+
+ # Thruster
+ vendor_internal_prop(vendor_thruster_debug_prop)
++
++# Dynamic sensor
++vendor_internal_prop(vendor_dynamic_sensor_prop)
++
+diff --git a/sepolicy/file_contexts b/sepolicy/file_contexts
+index bc03a78..ff401dc 100644
+--- a/sepolicy/file_contexts
++++ b/sepolicy/file_contexts
+@@ -441,3 +441,7 @@
+ /dev/thruster-fuel                  u:object_r:thruster_device:s0
+ /dev/thruster-output                u:object_r:thruster_device:s0
+ /dev/thruster-telemetry             u:object_r:thruster_device:s0
++
++# Raw HID device
++/dev/hidraw[0-9]*                  u:object_r:hidraw_device:s0
++
+diff --git a/sepolicy/property_contexts b/sepolicy/property_contexts
+index 5d2f018..18a6059 100644
+--- a/sepolicy/property_contexts
++++ b/sepolicy/property_contexts
+@@ -104,3 +104,7 @@
+
+ # Thruster
+ vendor.thruster.debug                           u:object_r:vendor_thruster_debug_prop:s0
++
++# Dynamic sensor
++vendor.dynamic_sensor.                          u:object_r:vendor_dynamic_sensor_prop:s0
++
+acme-co$
+```
+
+Once the file modifications are made, rebuild and flash. The dynamic sensor HAL
+should be initialized and appear in the sensor service.
+
+```shell
+acme-co$ make -j28 && fastboot flashall
+.
+.
+.
+acme-co$ adb logcat -d | grep DynamicSensorHal
+12-15 18:18:45.735   791   791 D DynamicSensorHal: DynamicSensorsSubHal::getSensorsList_2_1 invoked.
+12-15 18:18:47.474   791   791 D DynamicSensorHal: DynamicSensorsSubHal::initialize invoked.
+acme-co$ adb shell dumpsys sensorservice | grep Dynamic
+0000000000) Dynamic Sensor Manager    | Google          | ver: 1 | type: android.sensor.dynamic_sensor_meta(32) | perm: n/a | flags: 0x00000007
+Dynamic Sensor Manager (handle=0x00000000, connections=1)
+         Dynamic Sensor Manager 0x00000000 | status: active | pending flush events 0
+acme-co$ adb logcat -c
+acme-co$
+```
+
+When a dynamic sensor is paired with the device (e.g., Bluetooth rocket buds),
+it will appear in the sensor service.
+
+```shell
+acme-co$ adb logcat -d | grep "DynamicSensorHal\|hidraw\|Rocket"
+12-15 18:19:55.268   157   157 I hid-generic 0003: 1234:5678.0001: hidraw0: BLUETOOTH HID v0.00 Device [RocketBuds] on
+12-15 18:19:55.235   791   809 E DynamicSensorHal: return 1 sensors
+12-15 18:19:56.239  1629  1787 I SensorService: Dynamic sensor handle 0x1 connected, type 65536, name RocketBuds
+acme-co$ adb shell dumpsys sensorservice | grep Rocket
+0x00000001) RocketBuds                | BLUETOOTH 1234:1234   | ver: 1 | type: com.google.hardware.sensor.hid_dynamic.headtracker(65536) | perm: n/a | flags: 0x00000020
+acme-co$
+```
+
diff --git a/modules/usbaudio/audio_hal.c b/modules/usbaudio/audio_hal.c
index 39c0fb5c..fe921d69 100644
--- a/modules/usbaudio/audio_hal.c
+++ b/modules/usbaudio/audio_hal.c
@@ -460,6 +460,41 @@ static unsigned int populate_sample_rates_from_profile(const alsa_device_profile
     return num_sample_rates;
 }
 
+static bool are_all_devices_found(unsigned int num_devices_to_find,
+                                  const int cards_to_find[],
+                                  const int devices_to_find[],
+                                  unsigned int num_devices,
+                                  const int cards[],
+                                  const int devices[]) {
+    for (unsigned int i = 0; i < num_devices_to_find; ++i) {
+        unsigned int j = 0;
+        for (; j < num_devices; ++j) {
+            if (cards_to_find[i] == cards[j] && devices_to_find[i] == devices[j]) {
+                break;
+            }
+        }
+        if (j >= num_devices) {
+            return false;
+        }
+    }
+    return true;
+}
+
+static bool are_devices_the_same(unsigned int left_num_devices,
+                                 const int left_cards[],
+                                 const int left_devices[],
+                                 unsigned int right_num_devices,
+                                 const int right_cards[],
+                                 const int right_devices[]) {
+    if (left_num_devices != right_num_devices) {
+        return false;
+    }
+    return are_all_devices_found(left_num_devices, left_cards, left_devices,
+                                 right_num_devices, right_cards, right_devices) &&
+           are_all_devices_found(right_num_devices, right_cards, right_devices,
+                                 left_num_devices, left_cards, left_devices);
+}
+
 /*
  * HAl Functions
  */
@@ -548,10 +583,11 @@ static void stream_dump_alsa_devices(const struct listnode *alsa_devices, int fd
     list_for_each(node, alsa_devices) {
         struct alsa_device_info *device_info =
                 node_to_item(node, struct alsa_device_info, list_node);
-        dprintf(fd, "Output Profile %zu:\n", i);
+        const char* direction = device_info->profile.direction == PCM_OUT ? "Output" : "Input";
+        dprintf(fd, "%s Profile %zu:\n", direction, i);
         profile_dump(&device_info->profile, fd);
 
-        dprintf(fd, "Output Proxy %zu:\n", i);
+        dprintf(fd, "%s Proxy %zu:\n", direction, i);
         proxy_dump(&device_info->proxy, fd);
     }
 }
@@ -1648,6 +1684,13 @@ static int adev_create_audio_patch(struct audio_hw_device *dev,
         saved_devices[num_saved_devices++] = device_info->profile.device;
     }
 
+    if (are_devices_the_same(
+                num_configs, cards, devices, num_saved_devices, saved_cards, saved_devices)) {
+        // The new devices are the same as original ones. No need to update.
+        stream_unlock(lock);
+        return 0;
+    }
+
     device_lock(adev);
     stream_standby_l(alsa_devices, out == NULL ? &in->standby : &out->standby);
     device_unlock(adev);