diff --git a/cmds/dumpstate/Android.mk b/cmds/dumpstate/Android.mk
index 791a7c4..7a9f9ad 100644
--- a/cmds/dumpstate/Android.mk
+++ b/cmds/dumpstate/Android.mk
@@ -14,7 +14,7 @@
 
 LOCAL_MODULE := dumpstate
 
-LOCAL_SHARED_LIBRARIES := libcutils liblog libselinux libbase
+LOCAL_SHARED_LIBRARIES := libcutils liblog libselinux libbase libhardware_legacy
 # ZipArchive support, the order matters here to get all symbols.
 LOCAL_STATIC_LIBRARIES := libziparchive libz libmincrypt
 LOCAL_HAL_STATIC_LIBRARIES := libdumpstate
diff --git a/cmds/dumpstate/dumpstate.cpp b/cmds/dumpstate/dumpstate.cpp
index 23629b3..97dfd92 100644
--- a/cmds/dumpstate/dumpstate.cpp
+++ b/cmds/dumpstate/dumpstate.cpp
@@ -22,6 +22,7 @@
 #include <memory>
 #include <regex>
 #include <set>
+#include <signal.h>
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -35,7 +36,9 @@
 #include <unistd.h>
 
 #include <android-base/stringprintf.h>
+#include <android-base/file.h>
 #include <cutils/properties.h>
+#include <hardware_legacy/power.h>
 
 #include "private/android_filesystem_config.h"
 
@@ -81,6 +84,7 @@
 #define TOMBSTONE_MAX_LEN (sizeof(TOMBSTONE_FILE_PREFIX) + 4)
 #define NUM_TOMBSTONES  10
 #define WLUTIL "/vendor/xbin/wlutil"
+#define WAKE_LOCK_NAME "dumpstate_wakelock"
 
 typedef struct {
   char name[TOMBSTONE_MAX_LEN];
@@ -179,6 +183,136 @@
     closedir(d);
 }
 
+// return pid of a userspace process. If not found or error, return 0.
+static unsigned int pid_of_process(const char* ps_name) {
+    DIR *proc_dir;
+    struct dirent *ps;
+    unsigned int pid;
+    std::string cmdline;
+
+    if (!(proc_dir = opendir("/proc"))) {
+        MYLOGE("Can't open /proc\n");
+        return 0;
+    }
+
+    while ((ps = readdir(proc_dir))) {
+        if (!(pid = atoi(ps->d_name))) {
+            continue;
+        }
+        android::base::ReadFileToString("/proc/"
+                + std::string(ps->d_name) + "/cmdline", &cmdline);
+        if (cmdline.find(ps_name) == std::string::npos) {
+            continue;
+        } else {
+            closedir(proc_dir);
+            return pid;
+        }
+    }
+    closedir(proc_dir);
+    return 0;
+}
+
+// dump anrd's trace and add to the zip file.
+// 1. check if anrd is running on this device.
+// 2. send a SIGUSR1 to its pid which will dump anrd's trace.
+// 3. wait until the trace generation completes and add to the zip file.
+static bool dump_anrd_trace() {
+    unsigned int pid;
+    char buf[50], path[PATH_MAX];
+    struct dirent *trace;
+    struct stat st;
+    DIR *trace_dir;
+    int retry = 5;
+    long max_ctime = 0, old_mtime;
+    long long cur_size = 0;
+    const char *trace_path = "/data/misc/anrd/";
+
+    if (!zip_writer) {
+        MYLOGE("Not dumping anrd trace because zip_writer is not set\n");
+        return false;
+    }
+
+    // find anrd's pid if it is running.
+    pid = pid_of_process("/system/xbin/anrd");
+
+    if (pid > 0) {
+        if (stat(trace_path, &st) == 0) {
+            old_mtime = st.st_mtime;
+        } else {
+            MYLOGE("Failed to find: %s\n", trace_path);
+            return false;
+        }
+
+        // send SIGUSR1 to the anrd to generate a trace.
+        sprintf(buf, "%u", pid);
+        if (run_command("ANRD_DUMP", 1, "kill", "-SIGUSR1", buf, NULL)) {
+            MYLOGE("anrd signal timed out. Please manually collect trace\n");
+            return false;
+        }
+
+        while (retry-- > 0 && old_mtime == st.st_mtime) {
+            sleep(1);
+            stat(trace_path, &st);
+        }
+
+        if (retry < 0 && old_mtime == st.st_mtime) {
+            MYLOGE("Failed to stat %s or trace creation timeout\n", trace_path);
+            return false;
+        }
+
+        // identify the trace file by its creation time.
+        if (!(trace_dir = opendir(trace_path))) {
+            MYLOGE("Can't open trace file under %s\n", trace_path);
+        }
+        while ((trace = readdir(trace_dir))) {
+            if (strcmp(trace->d_name, ".") == 0
+                    || strcmp(trace->d_name, "..") == 0) {
+                continue;
+            }
+            sprintf(path, "%s%s", trace_path, trace->d_name);
+            if (stat(path, &st) == 0) {
+                if (st.st_ctime > max_ctime) {
+                    max_ctime = st.st_ctime;
+                    sprintf(buf, "%s", trace->d_name);
+                }
+            }
+        }
+        closedir(trace_dir);
+
+        // Wait until the dump completes by checking the size of the trace.
+        if (max_ctime > 0) {
+            sprintf(path, "%s%s", trace_path, buf);
+            while(true) {
+                sleep(1);
+                if (stat(path, &st) == 0) {
+                    if (st.st_size == cur_size) {
+                        break;
+                    } else if (st.st_size > cur_size) {
+                        cur_size = st.st_size;
+                    } else {
+                        return false;
+                    }
+                } else {
+                    MYLOGE("Cant stat() %s anymore\n", path);
+                    return false;
+                }
+            }
+            // Add to the zip file.
+            if (!add_zip_entry("anrd_trace.txt", path)) {
+                MYLOGE("Unable to add anrd_trace file %s to zip file\n", path);
+            } else {
+                if (remove(path)) {
+                    MYLOGE("Error removing anrd_trace file %s: %s", path, strerror(errno));
+                }
+                return true;
+            }
+        } else {
+            MYLOGE("Can't stats any trace file under %s\n", trace_path);
+        }
+    }
+    return false;
+}
+
 static void dump_systrace() {
     if (!zip_writer) {
         MYLOGD("Not dumping systrace because zip_writer is not set\n");
@@ -1016,11 +1150,31 @@
           VERSION_DEFAULT.c_str());
 }
 
-static void sigpipe_handler(int n) {
-    // don't complain to stderr or stdout
+static void wake_lock_releaser() {
+    if (release_wake_lock(WAKE_LOCK_NAME) < 0) {
+        MYLOGE("Failed to release wake lock: %s \n", strerror(errno));
+    } else {
+        MYLOGD("Wake lock released.\n");
+    }
+}
+
+static void sig_handler(int signo) {
+    wake_lock_releaser();
     _exit(EXIT_FAILURE);
 }
 
+static void register_sig_handler() {
+    struct sigaction sa;
+    sigemptyset(&sa.sa_mask);
+    sa.sa_flags = 0;
+    sa.sa_handler = sig_handler;
+    sigaction(SIGPIPE, &sa, NULL); // broken pipe
+    sigaction(SIGSEGV, &sa, NULL); // segment fault
+    sigaction(SIGINT, &sa, NULL); // ctrl-c
+    sigaction(SIGTERM, &sa, NULL); // killed
+    sigaction(SIGQUIT, &sa, NULL); // quit
+}
+
 /* adds the temporary report to the existing .zip file, closes the .zip file, and removes the
    temporary file.
  */
@@ -1088,7 +1242,6 @@
 }
 
 int main(int argc, char *argv[]) {
-    struct sigaction sigact;
     int do_add_date = 0;
     int do_zip_file = 0;
     int do_vibrate = 1;
@@ -1105,6 +1258,14 @@
 
     MYLOGI("begin\n");
 
+    if (acquire_wake_lock(PARTIAL_WAKE_LOCK, WAKE_LOCK_NAME) < 0) {
+        MYLOGE("Failed to acquire wake lock: %s \n", strerror(errno));
+    } else {
+        MYLOGD("Wake lock acquired.\n");
+        atexit(wake_lock_releaser);
+        register_sig_handler();
+    }
+
     /* gets the sequential id */
     char last_id[PROPERTY_VALUE_MAX];
     property_get("dumpstate.last_id", last_id, "0");
@@ -1113,11 +1274,6 @@
     property_set("dumpstate.last_id", last_id);
     MYLOGI("dumpstate id: %lu\n", id);
 
-    /* clear SIGPIPE handler */
-    memset(&sigact, 0, sizeof(sigact));
-    sigact.sa_handler = sigpipe_handler;
-    sigaction(SIGPIPE, &sigact, NULL);
-
     /* set as high priority, and protect from OOM killer */
     setpriority(PRIO_PROCESS, 0, -20);
 
@@ -1348,7 +1504,11 @@
     print_header(version);
 
     // Dumps systrace right away, otherwise it will be filled with unnecessary events.
-    dump_systrace();
+    // First try to dump anrd trace if the daemon is running. Otherwise, dump
+    // the raw trace.
+    if (!dump_anrd_trace()) {
+        dump_systrace();
+    }
 
     // TODO: Drop root user and move into dumpstate() once b/28633932 is fixed.
     dump_raft();
diff --git a/cmds/dumpstate/utils.cpp b/cmds/dumpstate/utils.cpp
index fd6413d..1035cde 100644
--- a/cmds/dumpstate/utils.cpp
+++ b/cmds/dumpstate/utils.cpp
@@ -828,7 +828,7 @@
     }
 
     gid_t groups[] = { AID_LOG, AID_SDCARD_R, AID_SDCARD_RW,
-            AID_MOUNT, AID_INET, AID_NET_BW_STATS, AID_READPROC };
+            AID_MOUNT, AID_INET, AID_NET_BW_STATS, AID_READPROC, AID_WAKELOCK };
     if (setgroups(sizeof(groups)/sizeof(groups[0]), groups) != 0) {
         MYLOGE("Unable to setgroups, aborting: %s\n", strerror(errno));
         return false;
@@ -849,8 +849,10 @@
     capheader.version = _LINUX_CAPABILITY_VERSION_3;
     capheader.pid = 0;
 
-    capdata[CAP_TO_INDEX(CAP_SYSLOG)].permitted = CAP_TO_MASK(CAP_SYSLOG);
-    capdata[CAP_TO_INDEX(CAP_SYSLOG)].effective = CAP_TO_MASK(CAP_SYSLOG);
+    capdata[CAP_TO_INDEX(CAP_SYSLOG)].permitted =
+            (CAP_TO_MASK(CAP_SYSLOG) | CAP_TO_MASK(CAP_BLOCK_SUSPEND));
+    capdata[CAP_TO_INDEX(CAP_SYSLOG)].effective =
+            (CAP_TO_MASK(CAP_SYSLOG) | CAP_TO_MASK(CAP_BLOCK_SUSPEND));
     capdata[0].inheritable = 0;
     capdata[1].inheritable = 0;
 
diff --git a/data/etc/wearable_core_hardware.xml b/data/etc/wearable_core_hardware.xml
index 4ff00b5..84230da 100644
--- a/data/etc/wearable_core_hardware.xml
+++ b/data/etc/wearable_core_hardware.xml
@@ -24,6 +24,7 @@
     <feature name="android.hardware.location" />
     <!-- devices supporting compass/magnitometer sensor must include
 	 android.hardware.sensor.compass.xml -->
+    <feature name="android.hardware.sensor.gyroscope" />
     <feature name="android.hardware.sensor.accelerometer" />
     <feature name="android.hardware.bluetooth" />
     <feature name="android.hardware.touchscreen" />
diff --git a/services/sensorservice/RecentEventLogger.cpp b/services/sensorservice/RecentEventLogger.cpp
index 754b603..62e9ce0 100644
--- a/services/sensorservice/RecentEventLogger.cpp
+++ b/services/sensorservice/RecentEventLogger.cpp
@@ -31,7 +31,7 @@
 
 RecentEventLogger::RecentEventLogger(int sensorType) :
         mSensorType(sensorType), mEventSize(eventSizeBySensorType(mSensorType)),
-        mRecentEvents(logSizeBySensorType(sensorType)) {
+        mRecentEvents(logSizeBySensorType(sensorType)), mMaskData(false) {
     // blank
 }
 
@@ -60,18 +60,30 @@
                 (int) ns2ms(ev.mWallTime.tv_nsec));
 
         // data
-        if (mSensorType == SENSOR_TYPE_STEP_COUNTER) {
-            buffer.appendFormat("%" PRIu64 ", ", ev.mEvent.u64.step_counter);
-        } else {
-            for (size_t k = 0; k < mEventSize; ++k) {
-                buffer.appendFormat("%.2f, ", ev.mEvent.data[k]);
+        if (!mMaskData) {
+            if (mSensorType == SENSOR_TYPE_STEP_COUNTER) {
+                buffer.appendFormat("%" PRIu64 ", ", ev.mEvent.u64.step_counter);
+            } else {
+                for (size_t k = 0; k < mEventSize; ++k) {
+                    buffer.appendFormat("%.2f, ", ev.mEvent.data[k]);
+                }
             }
+        } else {
+            buffer.append("[value masked]");
         }
         buffer.append("\n");
     }
     return std::string(buffer.string());
 }
 
+void RecentEventLogger::setFormat(std::string format) {
+    if (format == "mask_data" ) {
+        mMaskData = true;
+    } else {
+        mMaskData = false;
+    }
+}
+
 bool RecentEventLogger::populateLastEvent(sensors_event_t *event) const {
     std::lock_guard<std::mutex> lk(mLock);
 
diff --git a/services/sensorservice/RecentEventLogger.h b/services/sensorservice/RecentEventLogger.h
index 4f9bc4a..8b15e5a 100644
--- a/services/sensorservice/RecentEventLogger.h
+++ b/services/sensorservice/RecentEventLogger.h
@@ -43,6 +43,7 @@
 
     // Dumpable interface
     virtual std::string dump() const override;
+    virtual void setFormat(std::string format) override;
 
 protected:
     struct SensorEventLog {
@@ -57,6 +58,8 @@
     mutable std::mutex mLock;
     RingBuffer<SensorEventLog> mRecentEvents;
 
+    bool mMaskData;
+
 private:
     static size_t logSizeBySensorType(int sensorType);
 };
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index dbd0624..2930637 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -322,6 +322,7 @@
                 IPCThreadState::self()->getCallingPid(),
                 IPCThreadState::self()->getCallingUid());
     } else {
+        bool privileged = IPCThreadState::self()->getCallingUid() == 0;
         if (args.size() > 2) {
            return INVALID_OPERATION;
         }
@@ -393,8 +394,12 @@
             result.append("Recent Sensor events:\n");
             for (auto&& i : mRecentEvent) {
                 sp<SensorInterface> s = mSensors.getInterface(i.first);
-                if (!i.second->isEmpty() &&
-                    s->getSensor().getRequiredPermission().isEmpty()) {
+                if (!i.second->isEmpty()) {
+                    if (privileged || s->getSensor().getRequiredPermission().isEmpty()) {
+                        i.second->setFormat("normal");
+                    } else {
+                        i.second->setFormat("mask_data");
+                    }
                     // if there is events and sensor does not need special permission.
                     result.appendFormat("%s: ", s->getSensor().getName().string());
                     result.append(i.second->dump().c_str());