diff --git a/fs_mgr/fs_mgr_fstab.cpp b/fs_mgr/fs_mgr_fstab.cpp
index 7df7cfd99b30..b7145d53814c 100644
--- a/fs_mgr/fs_mgr_fstab.cpp
+++ b/fs_mgr/fs_mgr_fstab.cpp
@@ -329,6 +329,8 @@ void ParseFsMgrFlags(const std::string& flags, FstabEntry* entry) {
             }
         } else if (StartsWith(flag, "zram_backing_dev_path=")) {
             entry->zram_backing_dev_path = arg;
+        } else if (StartsWith(flag, "wrappedkey")) {
+            entry->fs_mgr_flags.wrappedkey = true;
         } else {
             LWARNING << "Warning: unknown flag: " << flag;
         }
diff --git a/fs_mgr/fs_mgr_roots.cpp b/fs_mgr/fs_mgr_roots.cpp
index 58ef9b6cd309..04030880e1df 100644
--- a/fs_mgr/fs_mgr_roots.cpp
+++ b/fs_mgr/fs_mgr_roots.cpp
@@ -117,18 +117,7 @@ bool EnsurePathMounted(Fstab* fstab, const std::string& path, const std::string&
         return false;
     }
 
-    int result = fs_mgr_do_mount_one(*rec, mount_point);
-    if (result == -1 && rec->fs_mgr_flags.formattable) {
-        PERROR << "Failed to mount " << mount_point << "; formatting";
-        bool crypt_footer = rec->is_encryptable() && rec->key_loc == "footer";
-        if (fs_mgr_do_format(*rec, crypt_footer) != 0) {
-            PERROR << "Failed to format " << mount_point;
-            return false;
-        }
-        result = fs_mgr_do_mount_one(*rec, mount_point);
-    }
-
-    if (result == -1) {
+    if (fs_mgr_do_mount_one(*rec, mount_point) == -1) {
         PERROR << "Failed to mount " << mount_point;
         return false;
     }
diff --git a/fs_mgr/include_fstab/fstab/fstab.h b/fs_mgr/include_fstab/fstab/fstab.h
index d7afed654892..9ab8ddc02a50 100644
--- a/fs_mgr/include_fstab/fstab/fstab.h
+++ b/fs_mgr/include_fstab/fstab/fstab.h
@@ -84,6 +84,7 @@ struct FstabEntry {
         bool first_stage_mount : 1;
         bool slot_select_other : 1;
         bool fs_verity : 1;
+        bool wrappedkey : 1;
     } fs_mgr_flags = {};
 
     bool is_encryptable() const {
diff --git a/healthd/Android.mk b/healthd/Android.mk
index 05123af80d35..4eb98dae0d48 100644
--- a/healthd/Android.mk
+++ b/healthd/Android.mk
@@ -200,8 +200,13 @@ include $$(BUILD_PREBUILT)
 endef
 
 _img_modules :=
+ifeq ($(strip $(BOARD_HEALTHD_CUSTOM_CHARGER_RES)),)
+IMAGES_DIR := images
+else
+IMAGES_DIR := ../../../$(BOARD_HEALTHD_CUSTOM_CHARGER_RES)
+endif
 _images :=
-$(foreach _img, $(call find-subdir-subdir-files, "images", "*.png"), \
+$(foreach _img, $(call find-subdir-subdir-files, "$(IMAGES_DIR)", "*.png"), \
   $(eval $(call _add-charger-image,$(_img))))
 
 include $(CLEAR_VARS)
diff --git a/healthd/BatteryMonitor.cpp b/healthd/BatteryMonitor.cpp
index 06c8176e9588..5b24b23a9db3 100644
--- a/healthd/BatteryMonitor.cpp
+++ b/healthd/BatteryMonitor.cpp
@@ -158,12 +158,14 @@ BatteryMonitor::PowerSupplyType BatteryMonitor::readPowerSupplyType(const String
             { "USB", ANDROID_POWER_SUPPLY_TYPE_USB },
             { "USB_DCP", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_HVDCP", ANDROID_POWER_SUPPLY_TYPE_AC },
+            { "USB_HVDCP_3", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_CDP", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_ACA", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_C", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_PD", ANDROID_POWER_SUPPLY_TYPE_AC },
             { "USB_PD_DRP", ANDROID_POWER_SUPPLY_TYPE_USB },
             { "Wireless", ANDROID_POWER_SUPPLY_TYPE_WIRELESS },
+            { "DASH", ANDROID_POWER_SUPPLY_TYPE_AC },
             { NULL, 0 },
     };
 
@@ -244,6 +246,40 @@ bool BatteryMonitor::update(void) {
 
     double MaxPower = 0;
 
+    // Rescan for the available charger types
+    std::unique_ptr<DIR, decltype(&closedir)> dir(opendir(POWER_SUPPLY_SYSFS_PATH), closedir);
+    if (dir == NULL) {
+        KLOG_ERROR(LOG_TAG, "Could not open %s\n", POWER_SUPPLY_SYSFS_PATH);
+    } else {
+        struct dirent* entry;
+        String8 path;
+
+        mChargerNames.clear();
+
+        while ((entry = readdir(dir.get()))) {
+            const char* name = entry->d_name;
+
+            if (!strcmp(name, ".") || !strcmp(name, ".."))
+                continue;
+
+            // Look for "type" file in each subdirectory
+            path.clear();
+            path.appendFormat("%s/%s/type", POWER_SUPPLY_SYSFS_PATH, name);
+            switch(BatteryMonitor::readPowerSupplyType(path)) {
+            case ANDROID_POWER_SUPPLY_TYPE_AC:
+            case ANDROID_POWER_SUPPLY_TYPE_USB:
+            case ANDROID_POWER_SUPPLY_TYPE_WIRELESS:
+                path.clear();
+                path.appendFormat("%s/%s/online", POWER_SUPPLY_SYSFS_PATH, name);
+                if (access(path.string(), R_OK) == 0)
+                    mChargerNames.add(String8(name));
+                break;
+            default:
+                break;
+            }
+        }
+    }
+
     for (size_t i = 0; i < mChargerNames.size(); i++) {
         String8 path;
         path.appendFormat("%s/%s/online", POWER_SUPPLY_SYSFS_PATH,
@@ -280,6 +316,11 @@ bool BatteryMonitor::update(void) {
                 (access(path.string(), R_OK) == 0) ? getIntField(path) :
                 DEFAULT_VBUS_VOLTAGE;
 
+            // there are devices that have the file but with a value of 0
+            if (ChargingVoltage == 0) {
+                ChargingVoltage = DEFAULT_VBUS_VOLTAGE;
+            }
+
             double power = ((double)ChargingCurrent / MILLION) *
                            ((double)ChargingVoltage / MILLION);
             if (MaxPower < power) {
diff --git a/init/Android.bp b/init/Android.bp
index 6be7290e3278..ac95f288d445 100644
--- a/init/Android.bp
+++ b/init/Android.bp
@@ -26,7 +26,7 @@ cc_defaults {
         "-Wextra",
         "-Wno-unused-parameter",
         "-Werror",
-        "-DALLOW_LOCAL_PROP_OVERRIDE=0",
+        "-DALLOW_LOCAL_PROP_OVERRIDE=1",
         "-DALLOW_PERMISSIVE_SELINUX=0",
         "-DREBOOT_BOOTLOADER_ON_PANIC=0",
         "-DWORLD_WRITABLE_KMSG=0",
@@ -136,6 +136,7 @@ cc_library_static {
         "ueventd.cpp",
         "ueventd_parser.cpp",
         "util.cpp",
+        "vendor_init.cpp",
     ],
     whole_static_libs: ["libcap", "com.android.sysprop.apex"],
     header_libs: ["bootimg_headers"],
@@ -150,6 +151,14 @@ cc_library_static {
             exclude_shared_libs: ["libbinder", "libutils"],
         },
     },
+
+    product_variables: {
+        rr: {
+            target_init_vendor_lib: {
+                whole_static_libs: ["%s"],
+            },
+        },
+    },
 }
 
 cc_binary {
diff --git a/init/Android.mk b/init/Android.mk
index c4f7d34b2d7d..4f29b68a929f 100644
--- a/init/Android.mk
+++ b/init/Android.mk
@@ -113,6 +113,7 @@ LOCAL_STATIC_LIBRARIES := \
 LOCAL_SANITIZE := signed-integer-overflow
 # First stage init is weird: it may start without stdout/stderr, and no /proc.
 LOCAL_NOSANITIZE := hwaddress
+
 include $(BUILD_EXECUTABLE)
 endif
 
diff --git a/init/NOTICE b/init/NOTICE
index c5b1efa7aac7..383d0f5418a6 100644
--- a/init/NOTICE
+++ b/init/NOTICE
@@ -188,3 +188,29 @@
 
    END OF TERMS AND CONDITIONS
 
+Copyright (c) 2013, The Linux Foundation. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of The Linux Foundation nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
+ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
+BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
+IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/init/property_service.cpp b/init/property_service.cpp
index f2c7462abf02..470f6e06c46e 100644
--- a/init/property_service.cpp
+++ b/init/property_service.cpp
@@ -64,6 +64,7 @@
 #include "selinux.h"
 #include "subcontext.h"
 #include "util.h"
+#include "vendor_init.h"
 
 using namespace std::literals;
 
@@ -912,6 +913,9 @@ void property_load_boot_defaults(bool load_debug_prop) {
         }
     }
 
+    // Update with vendor-specific property runtime overrides
+    vendor_load_properties();
+
     property_initialize_ro_product_props();
     property_derive_build_fingerprint();
 
diff --git a/init/service.cpp b/init/service.cpp
index ccc37b70cb40..ad9a3e0aff27 100644
--- a/init/service.cpp
+++ b/init/service.cpp
@@ -94,11 +94,16 @@ static Result<std::string> ComputeContextFromExecutable(const std::string& servi
         free(new_con);
     }
     if (rc == 0 && computed_context == mycon.get()) {
-        return Error() << "File " << service_path << "(labeled \"" << filecon.get()
-                       << "\") has incorrect label or no domain transition from " << mycon.get()
-                       << " to another SELinux domain defined. Have you configured your "
-                          "service correctly? https://source.android.com/security/selinux/"
-                          "device-policy#label_new_services_and_address_denials";
+        std::string error = StringPrintf(
+                "File %s (labeled \"%s\") has incorrect label or no domain transition from %s to "
+                "another SELinux domain defined. Have you configured your "
+                "service correctly? https://source.android.com/security/selinux/"
+                "device-policy#label_new_services_and_address_denials",
+                service_path.c_str(), filecon.get(), mycon.get());
+        if (selinux_status_getenforce() > 0) {
+            return Error() << error;
+        }
+        LOG(ERROR) << error;
     }
     if (rc < 0) {
         return Error() << "Could not get process context";
diff --git a/init/ueventd.cpp b/init/ueventd.cpp
index 399ea4c5c2b4..2668b6575f79 100644
--- a/init/ueventd.cpp
+++ b/init/ueventd.cpp
@@ -17,12 +17,15 @@
 #include "ueventd.h"
 
 #include <ctype.h>
+#include <dirent.h>
 #include <fcntl.h>
 #include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <sys/stat.h>
 #include <sys/wait.h>
+#include <unistd.h>
 
 #include <set>
 #include <thread>
@@ -120,8 +123,9 @@ class ColdBoot {
     void UeventHandlerMain(unsigned int process_num, unsigned int total_processes);
     void RegenerateUevents();
     void ForkSubProcesses();
-    void DoRestoreCon();
     void WaitForSubProcesses();
+    void RestoreConHandler(unsigned int process_num, unsigned int total_processes);
+    void GenerateRestoreCon(const std::string& directory);
 
     UeventListener& uevent_listener_;
     std::vector<std::unique_ptr<UeventHandler>>& uevent_handlers_;
@@ -130,6 +134,8 @@ class ColdBoot {
     std::vector<Uevent> uevent_queue_;
 
     std::set<pid_t> subprocess_pids_;
+
+    std::vector<std::string> restorecon_queue_;
 };
 
 void ColdBoot::UeventHandlerMain(unsigned int process_num, unsigned int total_processes) {
@@ -140,9 +146,38 @@ void ColdBoot::UeventHandlerMain(unsigned int process_num, unsigned int total_pr
             uevent_handler->HandleUevent(uevent);
         }
     }
+}
+
+void ColdBoot::RestoreConHandler(unsigned int process_num, unsigned int total_processes) {
+    for (unsigned int i = process_num; i < restorecon_queue_.size(); i += total_processes) {
+        auto& dir = restorecon_queue_[i];
+
+        selinux_android_restorecon(dir.c_str(), SELINUX_ANDROID_RESTORECON_RECURSE);
+    }
     _exit(EXIT_SUCCESS);
 }
 
+void ColdBoot::GenerateRestoreCon(const std::string& directory) {
+    std::unique_ptr<DIR, decltype(&closedir)> dir(opendir(directory.c_str()), &closedir);
+
+    if (!dir) return;
+
+    struct dirent* dent;
+    while ((dent = readdir(dir.get())) != NULL) {
+        if (strcmp(dent->d_name, ".") == 0 || strcmp(dent->d_name, "..") == 0) continue;
+
+        struct stat st;
+        if (fstatat(dirfd(dir.get()), dent->d_name, &st, 0) == -1) continue;
+
+        if (S_ISDIR(st.st_mode)) {
+            std::string fullpath = directory + "/" + dent->d_name;
+            if (fullpath != "/sys/devices") {
+                restorecon_queue_.emplace_back(fullpath);
+            }
+        }
+    }
+}
+
 void ColdBoot::RegenerateUevents() {
     uevent_listener_.RegenerateUevents([this](const Uevent& uevent) {
         uevent_queue_.emplace_back(std::move(uevent));
@@ -159,16 +194,13 @@ void ColdBoot::ForkSubProcesses() {
 
         if (pid == 0) {
             UeventHandlerMain(i, num_handler_subprocesses_);
+            RestoreConHandler(i, num_handler_subprocesses_);
         }
 
         subprocess_pids_.emplace(pid);
     }
 }
 
-void ColdBoot::DoRestoreCon() {
-    selinux_android_restorecon("/sys", SELINUX_ANDROID_RESTORECON_RECURSE);
-}
-
 void ColdBoot::WaitForSubProcesses() {
     // Treat subprocesses that crash or get stuck the same as if ueventd itself has crashed or gets
     // stuck.
@@ -207,9 +239,13 @@ void ColdBoot::Run() {
 
     RegenerateUevents();
 
-    ForkSubProcesses();
+    selinux_android_restorecon("/sys", 0);
+    selinux_android_restorecon("/sys/devices", 0);
+    GenerateRestoreCon("/sys");
+    // takes long time for /sys/devices, parallelize it
+    GenerateRestoreCon("/sys/devices");
 
-    DoRestoreCon();
+    ForkSubProcesses();
 
     WaitForSubProcesses();
 
diff --git a/init/vendor_init.cpp b/init/vendor_init.cpp
new file mode 100644
index 000000000000..d3fd5ffe2be9
--- /dev/null
+++ b/init/vendor_init.cpp
@@ -0,0 +1,37 @@
+/*
+Copyright (c) 2013, The Linux Foundation. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of The Linux Foundation nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
+ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
+BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
+IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "vendor_init.h"
+
+/* init vendor override stubs */
+
+__attribute__ ((weak))
+void vendor_load_properties()
+{
+}
diff --git a/init/vendor_init.h b/init/vendor_init.h
new file mode 100644
index 000000000000..9afb449be013
--- /dev/null
+++ b/init/vendor_init.h
@@ -0,0 +1,33 @@
+/*
+Copyright (c) 2013, The Linux Foundation. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of The Linux Foundation nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
+ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
+BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
+IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef __INIT_VENDOR__H__
+#define __INIT_VENDOR__H__
+extern void vendor_load_properties(void);
+#endif /* __INIT_VENDOR__H__ */
diff --git a/libcutils/fs_config.cpp b/libcutils/fs_config.cpp
index a5f4f0e5579d..27e450bee9e6 100644
--- a/libcutils/fs_config.cpp
+++ b/libcutils/fs_config.cpp
@@ -220,6 +220,7 @@ static const struct fs_path_config android_files[] = {
     { 00755, AID_ROOT,      AID_SHELL,     0, "product/bin/*" },
     { 00750, AID_ROOT,      AID_SHELL,     0, "sbin/*" },
     { 00755, AID_ROOT,      AID_SHELL,     0, "system/bin/*" },
+    { 00755, AID_ROOT,      AID_SHELL,     0, "system/etc/init.d/*" },
     { 00755, AID_ROOT,      AID_SHELL,     0, "system/xbin/*" },
     { 00755, AID_ROOT,      AID_SHELL,     0, "system/apex/*/bin/*" },
     { 00755, AID_ROOT,      AID_SHELL,     0, "vendor/bin/*" },
diff --git a/libsystem/include/system/camera.h b/libsystem/include/system/camera.h
index 2ca90c395ba1..1b5154e3c028 100644
--- a/libsystem/include/system/camera.h
+++ b/libsystem/include/system/camera.h
@@ -88,9 +88,20 @@ enum {
     // Notify on autofocus start and stop. This is useful in continuous
     // autofocus - FOCUS_MODE_CONTINUOUS_VIDEO and FOCUS_MODE_CONTINUOUS_PICTURE.
     CAMERA_MSG_FOCUS_MOVE = 0x0800,       // notifyCallback
+    CAMERA_MSG_VENDOR_START = 0x1000,
+    CAMERA_MSG_STATS_DATA = CAMERA_MSG_VENDOR_START,
+    CAMERA_MSG_META_DATA = 0x2000,
+    CAMERA_MSG_VENDOR_END = 0x8000,
     CAMERA_MSG_ALL_MSGS = 0xFFFF
 };
 
+/** meta data type in CameraMetaDataCallback */
+enum {
+    CAMERA_META_DATA_ASD = 0x001,    //ASD data
+    CAMERA_META_DATA_FD = 0x002,     //FD/FP data
+    CAMERA_META_DATA_HDR = 0x003,    //Auto HDR data
+};
+
 /** cmdType in sendCommand functions */
 enum {
     CAMERA_CMD_START_SMOOTH_ZOOM = 1,
@@ -189,7 +200,40 @@ enum {
      * IMPLEMENTATION_DEFINED, then HALv3 devices will use gralloc usage flags
      * of SW_READ_OFTEN.
      */
-    CAMERA_CMD_SET_VIDEO_FORMAT = 11
+#ifndef CAMERA_VENDOR_L_COMPAT
+    CAMERA_CMD_SET_VIDEO_FORMAT = 11,
+
+    CAMERA_CMD_VENDOR_START = 20,
+    /**
+     * Commands to enable/disable preview histogram
+     *
+     * Based on user's input to enable/disable histogram from the camera
+     * UI, send the appropriate command to the HAL to turn on/off the histogram
+     * stats and start sending the data to the application.
+     */
+    CAMERA_CMD_HISTOGRAM_ON = CAMERA_CMD_VENDOR_START,
+    CAMERA_CMD_HISTOGRAM_OFF = CAMERA_CMD_VENDOR_START + 1,
+    CAMERA_CMD_HISTOGRAM_SEND_DATA  = CAMERA_CMD_VENDOR_START + 2,
+    CAMERA_CMD_LONGSHOT_ON = CAMERA_CMD_VENDOR_START + 3,
+    CAMERA_CMD_LONGSHOT_OFF = CAMERA_CMD_VENDOR_START + 4,
+    CAMERA_CMD_STOP_LONGSHOT = CAMERA_CMD_VENDOR_START + 5,
+    CAMERA_CMD_METADATA_ON = CAMERA_CMD_VENDOR_START + 6,
+    CAMERA_CMD_METADATA_OFF = CAMERA_CMD_VENDOR_START + 7,
+    CAMERA_CMD_VENDOR_END = 200,
+#else
+    /**
+     * Values used by older HALs, provided as an option for compatibility
+     */
+    CAMERA_CMD_HISTOGRAM_ON = 11,
+    CAMERA_CMD_HISTOGRAM_OFF = 12,
+    CAMERA_CMD_HISTOGRAM_SEND_DATA = 13,
+    CAMERA_CMD_LONGSHOT_ON = 14,
+    CAMERA_CMD_LONGSHOT_OFF = 15,
+    CAMERA_CMD_STOP_LONGSHOT = 16,
+    CAMERA_CMD_METADATA_ON = 100,
+    CAMERA_CMD_METADATA_OFF = 101,
+    CAMERA_CMD_SET_VIDEO_FORMAT = 102,
+#endif
 };
 
 /** camera fatal errors */
@@ -284,9 +328,31 @@ typedef struct camera_face {
      * -2000, -2000 if this is not supported.
      */
     int32_t mouth[2];
+    int32_t smile_degree;
+    int32_t smile_score;
+    int32_t blink_detected;
+    int32_t face_recognised;
+    int32_t gaze_angle;
+    int32_t updown_dir;
+    int32_t leftright_dir;
+    int32_t roll_dir;
+    int32_t left_right_gaze;
+    int32_t top_bottom_gaze;
+    int32_t leye_blink;
+    int32_t reye_blink;
 
 } camera_face_t;
 
+/**
+ * The information of a data type received in a camera frame.
+ */
+typedef enum {
+    /** Data buffer */
+    CAMERA_FRAME_DATA_BUF = 0x000,
+    /** File descriptor */
+    CAMERA_FRAME_DATA_FD = 0x100
+} camera_frame_data_type_t;
+
 /**
  * The metadata of the frame data.
  */
diff --git a/libutils/Threads.cpp b/libutils/Threads.cpp
index 31ca1383e7a2..78fec09e2bb1 100644
--- a/libutils/Threads.cpp
+++ b/libutils/Threads.cpp
@@ -663,7 +663,10 @@ status_t Thread::readyToRun()
 
 status_t Thread::run(const char* name, int32_t priority, size_t stack)
 {
-    LOG_ALWAYS_FATAL_IF(name == nullptr, "thread name not provided to Thread::run");
+    if (name == nullptr) {
+        ALOGW("Thread name not provided to Thread::run");
+        name = 0;
+    }
 
     Mutex::Autolock _l(mLock);
 
diff --git a/logcat/logcat.cpp b/logcat/logcat.cpp
index 15e07feefb95..400635d9be24 100644
--- a/logcat/logcat.cpp
+++ b/logcat/logcat.cpp
@@ -492,6 +492,7 @@ static void show_help(android_logcat_context_internal* context) {
                     "                  other pruning activity is oldest first. Special case ~!\n"
                     "                  represents an automatic quicker pruning for the noisiest\n"
                     "                  UID as determined by the current statistics.\n"
+                    "  -C              colored output\n"
                     "  -P '<list> ...', --prune='<list> ...'\n"
                     "                  Set prune white and ~black list, using same format as\n"
                     "                  listed above. Must be quoted.\n"
@@ -867,6 +868,7 @@ static int __logcat(android_logcat_context_internal* context) {
           { "dividers",      no_argument,       nullptr, 'D' },
           { "file",          required_argument, nullptr, 'f' },
           { "format",        required_argument, nullptr, 'v' },
+          { "color",         no_argument,       NULL,   'C' },
           // hidden and undocumented reserved alias for --regex
           { "grep",          required_argument, nullptr, 'e' },
           // hidden and undocumented reserved alias for --max-count
@@ -890,7 +892,7 @@ static int __logcat(android_logcat_context_internal* context) {
         };
         // clang-format on
 
-        int c = getopt_long(argc, argv, ":cdDhLt:T:gG:sQf:r:n:v:b:BSpP:m:e:", long_options,
+        int c = getopt_long(argc, argv, ":cdDhLt:T:gG:sQf:r:n:v:b:BSpCP:m:e:", long_options,
                             &option_index);
         if (c == -1) break;
 
@@ -1058,6 +1060,10 @@ static int __logcat(android_logcat_context_internal* context) {
                 setPruneList = optarg;
                 break;
 
+            case 'C':
+                setLogFormat(context, "color");
+            break;
+
             case 'b': {
                 std::unique_ptr<char, void (*)(void*)> buffers(strdup(optarg), free);
                 char* arg = buffers.get();
diff --git a/mkbootimg/mkbootimg.py b/mkbootimg/mkbootimg.py
index 92b11a56d40f..7e556d0c1eca 100644
--- a/mkbootimg/mkbootimg.py
+++ b/mkbootimg/mkbootimg.py
@@ -79,7 +79,7 @@ def write_header(args):
         args.base + args.second_offset,                 # physical load addr
         args.base + args.tags_offset,                   # physical addr for kernel tags
         args.pagesize,                                  # flash page size we assume
-        args.header_version,                            # version of bootimage header
+        max(args.header_version, filesize(args.dt)),    # version of bootimage header or dt size in bytes
         (args.os_version << 11) | args.os_patch_level)) # os version and patch level
     args.output.write(pack('16s', args.board.encode())) # asciiz product name
     args.output.write(pack('512s', args.cmdline[:512].encode()))
@@ -88,6 +88,7 @@ def write_header(args):
     update_sha(sha, args.kernel)
     update_sha(sha, args.ramdisk)
     update_sha(sha, args.second)
+    update_sha(sha, args.dt)
 
     if args.header_version > 0:
         update_sha(sha, args.recovery_dtbo)
@@ -199,19 +200,26 @@ def parse_cmdline():
     parser.add_argument('--board', help='board name', default='', action=ValidateStrLenAction,
                         maxlen=16)
     parser.add_argument('--pagesize', help='page size', type=parse_int,
-                        choices=[2**i for i in range(11,15)], default=2048)
+                        choices=[2**i for i in range(11,18)], default=2048)
     parser.add_argument('--id', help='print the image ID on standard output',
                         action='store_true')
     parser.add_argument('--header_version', help='boot image header version', type=parse_int, default=0)
+    parser.add_argument('--dt', help='path to the device tree image', type=FileType('rb'))
     parser.add_argument('-o', '--output', help='output file name', type=FileType('wb'),
                         required=True)
-    return parser.parse_args()
+
+    args = parser.parse_args()
+    if args.header_version > 0 and args.dt != None:
+        raise ValueError('header_version and dt cannot be set at the same time')
+
+    return args
 
 
 def write_data(args):
     write_padded_file(args.output, args.kernel, args.pagesize)
     write_padded_file(args.output, args.ramdisk, args.pagesize)
     write_padded_file(args.output, args.second, args.pagesize)
+    write_padded_file(args.output, args.dt, args.pagesize)
 
     if args.header_version > 0:
         write_padded_file(args.output, args.recovery_dtbo, args.pagesize)
diff --git a/rootdir/init.rc b/rootdir/init.rc
index 893998cee967..f2e65fccb459 100644
--- a/rootdir/init.rc
+++ b/rootdir/init.rc
@@ -848,3 +848,9 @@ on property:ro.debuggable=1
 service flash_recovery /system/bin/install-recovery.sh
     class main
     oneshot
+    disabled
+
+# update recovery if enabled
+on property:persist.sys.recovery_update=true
+    start flash_recovery
+