diff --git a/audio/2.0/default/Device.cpp b/audio/2.0/default/Device.cpp
index 5ced0bc..9a4aff6 100644
--- a/audio/2.0/default/Device.cpp
+++ b/audio/2.0/default/Device.cpp
@@ -225,7 +225,7 @@
     if (version() >= AUDIO_DEVICE_API_VERSION_3_0) {
         std::unique_ptr<audio_port_config[]> halSources(HidlUtils::audioPortConfigsToHal(sources));
         std::unique_ptr<audio_port_config[]> halSinks(HidlUtils::audioPortConfigsToHal(sinks));
-        audio_patch_handle_t halPatch;
+        audio_patch_handle_t halPatch = AUDIO_PATCH_HANDLE_NONE;
         retval = analyzeStatus(
                 "create_audio_patch",
                 mDevice->create_audio_patch(
diff --git a/automotive/vehicle/2.0/default/VehicleService.cpp b/automotive/vehicle/2.0/default/VehicleService.cpp
index e6d292e..ff112c6 100644
--- a/automotive/vehicle/2.0/default/VehicleService.cpp
+++ b/automotive/vehicle/2.0/default/VehicleService.cpp
@@ -33,7 +33,7 @@
     auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());
     auto service = std::make_unique<VehicleHalManager>(hal.get());
 
-    configureRpcThreadpool(1, true /* callerWillJoin */);
+    configureRpcThreadpool(4, true /* callerWillJoin */);
 
     ALOGI("Registering as service...");
     service->registerAsService();
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index c4f935b..4835288 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -77,6 +77,8 @@
             .prop = toInt(VehicleProperty::PERF_VEHICLE_SPEED),
             .access = VehiclePropertyAccess::READ,
             .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+            .minSampleRate = 1.0f,
+            .maxSampleRate = 1000.0f,
         },
         .initialValue = { .floatValues = {0.0f} }
     },
@@ -95,8 +97,10 @@
             .prop = toInt(VehicleProperty::ENGINE_RPM),
             .access = VehiclePropertyAccess::READ,
             .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+            .minSampleRate = 1.0f,
+            .maxSampleRate = 1000.0f,
         },
-        .initialValue = { .floatValues = {0.0f} }
+        .initialValue = { .floatValues = {0.0f} },
     },
 
     {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
index c8bcd60..1a8cfe2 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
@@ -52,8 +52,7 @@
 protected:
     VehicleEmulator* getEmulatorOrDie() {
         std::lock_guard<std::mutex> g(mEmulatorLock);
-        ALOGI("%s, emulator: %p", __func__, mEmulator);
-        assert(mEmulator != nullptr);
+        if (mEmulator == nullptr) abort();
         return mEmulator;
     }
 
diff --git a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
index aa9aa3c..0f10086 100644
--- a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
+++ b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
@@ -42,6 +42,8 @@
         .prop = WHEEL_TICK,
         .access = V2_0::VehiclePropertyAccess::READ,
         .changeMode = V2_0::VehiclePropertyChangeMode::CONTINUOUS,
+        .minSampleRate = 1.0f,
+        .maxSampleRate = 100.0f,
     },
 
     {
diff --git a/boot/1.0/default/android.hardware.boot@1.0-service.rc b/boot/1.0/default/android.hardware.boot@1.0-service.rc
index ef5dd91..68e7c22 100644
--- a/boot/1.0/default/android.hardware.boot@1.0-service.rc
+++ b/boot/1.0/default/android.hardware.boot@1.0-service.rc
@@ -1,4 +1,4 @@
 service boot-hal-1-0 /vendor/bin/hw/android.hardware.boot@1.0-service
-    class hal
+    class early_hal
     user root
     group root
diff --git a/current.txt b/current.txt
index 1d2801e..575e8fa 100644
--- a/current.txt
+++ b/current.txt
@@ -76,7 +76,7 @@
 da13bd69282fb275767abb18704c57ff8038e6c139ad17157dc702810f70d06a android.hardware.gatekeeper@1.0::types
 37c7da4f823ec958dfa9c960e2d341c48f877e0bfa758f3fa9e2d9c1e1bd66d9 android.hardware.gnss@1.0::IAGnss
 7ec9afdb964bfb8369866913caf018f2636592885bcb558a65de2c5436ab4f60 android.hardware.gnss@1.0::IAGnssCallback
-f3219d8f33d5186a01f617bb7812b64620f9f28b65758ede939423ab0ba798fa android.hardware.gnss@1.0::IAGnssRil
+d16e6a359be6963ea753d7138e84ecf2b93052097938938c4d36d7a47ea2e2ae android.hardware.gnss@1.0::IAGnssRil
 2f907708d74d94b1e121ed27651c9c72af65952d347b58ff07dac5d5d7a7f678 android.hardware.gnss@1.0::IAGnssRilCallback
 5ac7edad06d76064b882be161f3f9d9692a997ec72e9f36addb7fe8918f49992 android.hardware.gnss@1.0::IGnss
 b05c983c87c3376e145223688c3b541b5e11b827f211e38d5a31af1ca3a2e222 android.hardware.gnss@1.0::IGnssBatching
@@ -89,7 +89,7 @@
 9ea8987bb1089c8c5d7b67866575b866ef516045021d9efcc37c6352bce072a3 android.hardware.gnss@1.0::IGnssMeasurement
 d6a00007b30f0e3ed196df677f311b3e25b15082c5e82756f392677d3b66ec0a android.hardware.gnss@1.0::IGnssMeasurementCallback
 af85aa0f48ae99a39f4688c344e4419304f681f9af818a5c8d759286fc4418de android.hardware.gnss@1.0::IGnssNavigationMessage
-8afadd3b15858bba57cfc2a1093e3704cf687245d8267f59604a48ac9d889973 android.hardware.gnss@1.0::IGnssNavigationMessageCallback
+649b1b0fb98bdd3a1ace84f4e08bfa2df813afdd4862856693f107c281a929ba android.hardware.gnss@1.0::IGnssNavigationMessageCallback
 248bcf51da4273d64f367bf6877baef2feeaca365459842fd3c214a2dc6e0224 android.hardware.gnss@1.0::IGnssNi
 e4f2c1b80172a73e2e743fba3ddc24ef58bc42d40bdb8f7352c9e19440b220eb android.hardware.gnss@1.0::IGnssNiCallback
 c1142657de16fdb292a502372fe938614d65270ab8359217d6e13604fe4dbca4 android.hardware.gnss@1.0::IGnssXtra
@@ -114,7 +114,7 @@
 d4ed2f0e14f9e914d0b1275d2e0363192fe30aca9059c84edb5fad15995f9ec4 android.hardware.light@2.0::ILight
 d9584bfcaedd6e62cf337881748246b23e36cbc2bc3aa84c01b6a1e622061400 android.hardware.light@2.0::types
 16c0cf0f73de1e5208a95020c6c6474903e7094f76b2d782651afaca0e5fd86f android.hardware.media@1.0::types
-f65c927479a4cde505326773681217cde4ebe9191b66d8b7a422e463bee24161 android.hardware.media.omx@1.0::IGraphicBufferSource
+8bc2f5fdcad68856eb61a62fe4cc043fa064bb7f1dab95a71d1918ec1eef7b55 android.hardware.media.omx@1.0::IGraphicBufferSource
 0d3de9cd89d4718ea3b772f2d8b93be004feb3abb7e7dc5402e37047cc730d05 android.hardware.media.omx@1.0::IOmx
 32002e1c358c64de106c977a6dc6af7da27be4803a5bb66fd6f891a5ba0a1617 android.hardware.media.omx@1.0::IOmxBufferSource
 81ad8d8bb1cf6f41923cf11dd39354a8fe433db284a234cc675de7e75a82224c android.hardware.media.omx@1.0::IOmxNode
@@ -177,12 +177,12 @@
 56b5c7267cb3d3337f44eb8b0b38ff4c6260dcc70e07687fcab94b1ccea8d159 android.hardware.wifi.supplicant@1.0::ISupplicantCallback
 35ba7bcdf18f24a866a7e5429548f06768bb20a257f75b10a397c4d825ef8438 android.hardware.wifi.supplicant@1.0::ISupplicantIface
 cda01008c06922fa37c1213e9bb831a109b3174532805616fb7161edc403866f android.hardware.wifi.supplicant@1.0::ISupplicantNetwork
-f41e9e2a8f9eb9196b829cc9442c279a0135ddb0937e7b0c01d2d25b3d593c3d android.hardware.wifi.supplicant@1.0::ISupplicantP2pIface
+4907410338c5e8dbeec4b5edc2608ea323f5561945f8810af81810c47b019184 android.hardware.wifi.supplicant@1.0::ISupplicantP2pIface
 8b63f5efa2e3be3a7cb8a428760d82285a4ab79bcbdea6ef90aa547555e582d4 android.hardware.wifi.supplicant@1.0::ISupplicantP2pIfaceCallback
 56128f74560571b6777d59453f35c6b35693ee377e2a23c807708906928f09de android.hardware.wifi.supplicant@1.0::ISupplicantP2pNetwork
 2067c22197bca9743dab66a6f561a8a8375c67b4f76aed05f776839499bd4c8f android.hardware.wifi.supplicant@1.0::ISupplicantP2pNetworkCallback
 7752e1de93aaf5fed37011c219ac247069f6af320b0810daa98510584a10e7b4 android.hardware.wifi.supplicant@1.0::ISupplicantStaIface
 d781c8d7e7b3fe5cca8cf6e1d8806e770982ae5358c7816ed51b0f0ec272e70d android.hardware.wifi.supplicant@1.0::ISupplicantStaIfaceCallback
-5da0aa908aae85e8d81a5e393390030024a30b499f8a48b3dac67358b4752ca6 android.hardware.wifi.supplicant@1.0::ISupplicantStaNetwork
+b12ef0bdd8a4d247a8a6e960b227ed32383f2b0241f55d67fcea6eff6a6737fa android.hardware.wifi.supplicant@1.0::ISupplicantStaNetwork
 d8f0877ae1d321c1d884c7631dfe36cab0ec8a4b2863d4b687f85d3549a63bcc android.hardware.wifi.supplicant@1.0::ISupplicantStaNetworkCallback
 fe3c3c2f572b72f15f8594c538b0577bd5c28722c31879cfe6231330cddb6747 android.hardware.wifi.supplicant@1.0::types
diff --git a/gnss/1.0/IAGnssRil.hal b/gnss/1.0/IAGnssRil.hal
index 6f91f7f..12289f6 100644
--- a/gnss/1.0/IAGnssRil.hal
+++ b/gnss/1.0/IAGnssRil.hal
@@ -131,14 +131,13 @@
         generates (bool success);
 
     /**
-     * Notify GNSS of network status changes.
+     * Notify GNSS of network status changes and current APN.
      *
      * @param available Indicates whether network connectivity is available.
-     * @param apn String containing the Access Point Name.
+     * @param apn String containing the telephony preferred Access Point Name.
      *
      * @return success True if all parameters were valid and the operation was
      * successful.
-     * TODO(b/32022567): Add VTS test to validate the format of APN.
      */
     updateNetworkAvailability(bool available, string apn) generates (bool success);
 
diff --git a/gnss/1.0/IGnssNavigationMessageCallback.hal b/gnss/1.0/IGnssNavigationMessageCallback.hal
index 714351b..e18f7e2 100644
--- a/gnss/1.0/IGnssNavigationMessageCallback.hal
+++ b/gnss/1.0/IGnssNavigationMessageCallback.hal
@@ -51,11 +51,11 @@
     /**
      * Status of Navigation Message
      * When a message is received properly without any parity error in its
-     * navigation words, the status must be set to PARITY_PASSED. But if a message is
-     * received with words that failed parity check, but GNSS is able to correct
-     * those words, the status must be set to PARITY_REBUILT.
-     * No need to send any navigation message that contains words with parity error
-     * and cannot be corrected.
+     * navigation words, the status must be set to PARITY_PASSED.
+     * If a message is received with words that failed a parity check, but the GNSS
+     * receiver has corrected those words, the status must be set to PARITY_REBUILT.
+     * Do not send any navigation message that contains words with parity errors
+     * that cannot be corrected.
      */
     @export(name="navigation_message_status", value_prefix="NAV_MESSAGE_STATUS_")
     enum NavigationMessageStatus : uint16_t {
@@ -80,7 +80,7 @@
         /**
          * The status of the received navigation message.
          * No need to send any navigation message that contains words with parity
-         * error and cannot be corrected.
+         * errors that cannot be corrected.
          */
         bitfield<NavigationMessageStatus> status;
 
@@ -125,8 +125,7 @@
 
         /**
          * The data of the reported GNSS message. The bytes (or words) are specified
-         * using big endian format (MSB first). The data is stored and decoded
-         * in a server for research purposes.
+         * using big endian format (MSB first).
          *
          * - For GNSS L1 C/A, Beidou D1 & Beidou D2, each subframe contains 10 30-bit
          *   words. Each word (30 bits) must fit into the last 30 bits in a
@@ -150,10 +149,9 @@
          *   into 29 bytes, with MSB first (skip B229-B232). The standard followed
          *   is same as above.
          *
-         * TODO(b/32022567): Describe this relationship with data to the VTS
-         * via custom annotations and plug in a VTS test to verify that the data
-         * correctly follows the standard.
-         *
+         * The data reported here must be the raw data as demodulated by the GNSS
+         * receiver, not data received from an external source (i.e. not from a server
+         * download.)
          */
         vec<uint8_t> data;
     };
diff --git a/media/omx/1.0/IGraphicBufferSource.hal b/media/omx/1.0/IGraphicBufferSource.hal
index 62073ad..494d0cb 100644
--- a/media/omx/1.0/IGraphicBufferSource.hal
+++ b/media/omx/1.0/IGraphicBufferSource.hal
@@ -37,12 +37,14 @@
 
     setMaxFps(float maxFps) generates (Status status);
 
-    setTimeLapseConfig(int64_t timePerFrameUs, int64_t timePerCaptureUs) generates (Status status);
+    setTimeLapseConfig(double fps, double captureFps) generates (Status status);
 
     setStartTimeUs(int64_t startTimeUs) generates (Status status);
 
     setStopTimeUs(int64_t stopTimeUs) generates (Status status);
 
+    getStopTimeOffsetUs() generates (Status status, int64_t stopTimeOffsetUs);
+
     setColorAspects(ColorAspects aspects) generates (Status status);
 
     setTimeOffsetUs(int64_t timeOffsetUs) generates (Status status);
diff --git a/wifi/supplicant/1.0/ISupplicantP2pIface.hal b/wifi/supplicant/1.0/ISupplicantP2pIface.hal
index fb4323c..9b6ec5b 100644
--- a/wifi/supplicant/1.0/ISupplicantP2pIface.hal
+++ b/wifi/supplicant/1.0/ISupplicantP2pIface.hal
@@ -154,6 +154,7 @@
    *         |SupplicantStatusCode.SUCCESS|,
    *         |SupplicantStatusCode.FAILURE_UNKNOWN|,
    *         |SupplicantStatusCode.FAILURE_IFACE_INVALID|
+   *         |SupplicantStatusCode.FAILURE_IFACE_DISABLED|
    */
   find(uint32_t timeoutInSec) generates (SupplicantStatus status);
 
@@ -165,6 +166,7 @@
    *         |SupplicantStatusCode.SUCCESS|,
    *         |SupplicantStatusCode.FAILURE_UNKNOWN|,
    *         |SupplicantStatusCode.FAILURE_IFACE_INVALID|
+   *         |SupplicantStatusCode.FAILURE_IFACE_DISABLED|
    */
   stopFind() generates (SupplicantStatus status);
 
@@ -292,6 +294,7 @@
    *         |SupplicantStatusCode.SUCCESS|,
    *         |SupplicantStatusCode.FAILURE_UNKNOWN|,
    *         |SupplicantStatusCode.FAILURE_IFACE_INVALID|
+   *         |SupplicantStatusCode.FAILURE_IFACE_DISABLED|
    */
   reject(MacAddress peerAddress) generates (SupplicantStatus status);
 
diff --git a/wifi/supplicant/1.0/ISupplicantStaNetwork.hal b/wifi/supplicant/1.0/ISupplicantStaNetwork.hal
index 7d5159a..269d7ef 100644
--- a/wifi/supplicant/1.0/ISupplicantStaNetwork.hal
+++ b/wifi/supplicant/1.0/ISupplicantStaNetwork.hal
@@ -354,6 +354,8 @@
   /**
    * Set EAP Phase2 Method for this network.
    *
+   * EAP method needs to be set for this to work.
+   *
    * @param method value to set.
    *        Must be one of |EapPhase2Method| values.
    * @return status Status of the operation.