diff --git a/camera/CaptureResult.cpp b/camera/CaptureResult.cpp
index be47898..bb880d1 100644
--- a/camera/CaptureResult.cpp
+++ b/camera/CaptureResult.cpp
@@ -52,7 +52,10 @@
     parcel->readInt64(&lastCompletedRegularFrameNumber);
     parcel->readInt64(&lastCompletedReprocessFrameNumber);
     parcel->readInt64(&lastCompletedZslFrameNumber);
-
+    parcel->readBool(&hasReadoutTimestamp);
+    if (hasReadoutTimestamp) {
+        parcel->readInt64(&readoutTimestamp);
+    }
     return OK;
 }
 
@@ -82,6 +85,10 @@
     parcel->writeInt64(lastCompletedRegularFrameNumber);
     parcel->writeInt64(lastCompletedReprocessFrameNumber);
     parcel->writeInt64(lastCompletedZslFrameNumber);
+    parcel->writeBool(hasReadoutTimestamp);
+    if (hasReadoutTimestamp) {
+        parcel->writeInt64(readoutTimestamp);
+    }
 
     return OK;
 }
diff --git a/camera/include/camera/CaptureResult.h b/camera/include/camera/CaptureResult.h
index f163c1e..de534ab 100644
--- a/camera/include/camera/CaptureResult.h
+++ b/camera/include/camera/CaptureResult.h
@@ -103,6 +103,17 @@
      */
     int64_t lastCompletedZslFrameNumber;
 
+    /**
+     * Whether the readoutTimestamp variable is valid and should be used.
+     */
+    bool hasReadoutTimestamp;
+
+    /**
+     * The readout timestamp of the capture. Its value is equal to the
+     * start-of-exposure timestamp plus the exposure time (and a possible fixed
+     * offset due to sensor crop).
+     */
+    int64_t readoutTimestamp;
 
     /**
      * Constructor initializes object as invalid by setting requestId to be -1.
@@ -118,7 +129,9 @@
           errorPhysicalCameraId(),
           lastCompletedRegularFrameNumber(-1),
           lastCompletedReprocessFrameNumber(-1),
-          lastCompletedZslFrameNumber(-1) {
+          lastCompletedZslFrameNumber(-1),
+          hasReadoutTimestamp(false),
+          readoutTimestamp(0) {
     }
 
     /**
diff --git a/camera/include/camera/camera2/OutputConfiguration.h b/camera/include/camera/camera2/OutputConfiguration.h
index b842885..b7c7f7f 100644
--- a/camera/include/camera/camera2/OutputConfiguration.h
+++ b/camera/include/camera/camera2/OutputConfiguration.h
@@ -43,7 +43,9 @@
         TIMESTAMP_BASE_SENSOR = 1,
         TIMESTAMP_BASE_MONOTONIC = 2,
         TIMESTAMP_BASE_REALTIME = 3,
-        TIMESTAMP_BASE_CHOREOGRAPHER_SYNCED = 4
+        TIMESTAMP_BASE_CHOREOGRAPHER_SYNCED = 4,
+        TIMESTAMP_BASE_READOUT_SENSOR = 5,
+        TIMESTAMP_BASE_MAX = TIMESTAMP_BASE_READOUT_SENSOR,
     };
     enum MirrorModeType {
         MIRROR_MODE_AUTO = 0,
diff --git a/camera/ndk/ndk_vendor/impl/ACameraDevice.cpp b/camera/ndk/ndk_vendor/impl/ACameraDevice.cpp
index 85ab0c2..0a57590 100644
--- a/camera/ndk/ndk_vendor/impl/ACameraDevice.cpp
+++ b/camera/ndk/ndk_vendor/impl/ACameraDevice.cpp
@@ -491,6 +491,7 @@
     }
 
     if (mRemote != nullptr) {
+        ALOGD("%s: binder disconnect reached", __FUNCTION__);
         auto ret = mRemote->disconnect();
         if (!ret.isOk()) {
             ALOGE("%s: Transaction error while disconnecting device %s", __FUNCTION__,
diff --git a/services/camera/libcameraservice/common/Camera2ClientBase.cpp b/services/camera/libcameraservice/common/Camera2ClientBase.cpp
index 0ac047a..a7097fb 100644
--- a/services/camera/libcameraservice/common/Camera2ClientBase.cpp
+++ b/services/camera/libcameraservice/common/Camera2ClientBase.cpp
@@ -243,20 +243,23 @@
 template <typename TClientBase>
 binder::Status Camera2ClientBase<TClientBase>::disconnect() {
     ATRACE_CALL();
+    ALOGD("Camera %s: start to disconnect", TClientBase::mCameraIdStr.string());
     Mutex::Autolock icl(mBinderSerializationLock);
 
+    ALOGD("Camera %s: serializationLock acquired", TClientBase::mCameraIdStr.string());
     binder::Status res = binder::Status::ok();
     // Allow both client and the media server to disconnect at all times
     int callingPid = CameraThreadState::getCallingPid();
     if (callingPid != TClientBase::mClientPid &&
         callingPid != TClientBase::mServicePid) return res;
 
-    ALOGV("Camera %s: Shutting down", TClientBase::mCameraIdStr.string());
+    ALOGD("Camera %s: Shutting down", TClientBase::mCameraIdStr.string());
 
     // Before detaching the device, cache the info from current open session.
     // The disconnected check avoids duplication of info and also prevents
     // deadlock while acquiring service lock in cacheDump.
     if (!TClientBase::mDisconnected) {
+        ALOGD("Camera %s: start to cacheDump", TClientBase::mCameraIdStr.string());
         Camera2ClientBase::getCameraService()->cacheDump();
     }
 
diff --git a/services/camera/libcameraservice/common/CameraProviderManager.cpp b/services/camera/libcameraservice/common/CameraProviderManager.cpp
index 6edf1ac..54c826f 100644
--- a/services/camera/libcameraservice/common/CameraProviderManager.cpp
+++ b/services/camera/libcameraservice/common/CameraProviderManager.cpp
@@ -1405,6 +1405,28 @@
     return res;
 }
 
+status_t CameraProviderManager::ProviderInfo::DeviceInfo3::addReadoutTimestampTag() {
+    status_t res = OK;
+    auto& c = mCameraCharacteristics;
+
+    auto entry = c.find(ANDROID_SENSOR_READOUT_TIMESTAMP);
+    if (entry.count != 0) {
+        ALOGE("%s: CameraCharacteristics must not contain ANDROID_SENSOR_READOUT_TIMESTAMP!",
+                __FUNCTION__);
+    }
+
+    uint8_t readoutTimestamp = ANDROID_SENSOR_READOUT_TIMESTAMP_NOT_SUPPORTED;
+    int deviceVersion = HARDWARE_DEVICE_API_VERSION(
+            mVersion.get_major(), mVersion.get_minor());
+    if (deviceVersion >= CAMERA_DEVICE_API_VERSION_3_8) {
+        readoutTimestamp = ANDROID_SENSOR_READOUT_TIMESTAMP_HARDWARE;
+    }
+
+    res = c.update(ANDROID_SENSOR_READOUT_TIMESTAMP, &readoutTimestamp, 1);
+
+    return res;
+}
+
 status_t CameraProviderManager::ProviderInfo::DeviceInfo3::removeAvailableKeys(
         CameraMetadata& c, const std::vector<uint32_t>& keys, uint32_t keyTag) {
     status_t res = OK;
diff --git a/services/camera/libcameraservice/common/CameraProviderManager.h b/services/camera/libcameraservice/common/CameraProviderManager.h
index 3a366e5..352a6e3 100644
--- a/services/camera/libcameraservice/common/CameraProviderManager.h
+++ b/services/camera/libcameraservice/common/CameraProviderManager.h
@@ -672,6 +672,7 @@
             status_t deriveHeicTags(bool maxResolution = false);
             status_t addRotateCropTags();
             status_t addPreCorrectionActiveArraySize();
+            status_t addReadoutTimestampTag();
 
             static void getSupportedSizes(const CameraMetadata& ch, uint32_t tag,
                     android_pixel_format_t format,
diff --git a/services/camera/libcameraservice/common/aidl/AidlProviderInfo.cpp b/services/camera/libcameraservice/common/aidl/AidlProviderInfo.cpp
index 81b4779..ef68f28 100644
--- a/services/camera/libcameraservice/common/aidl/AidlProviderInfo.cpp
+++ b/services/camera/libcameraservice/common/aidl/AidlProviderInfo.cpp
@@ -532,6 +532,11 @@
         ALOGE("%s: Unable to override zoomRatio related tags: %s (%d)",
                 __FUNCTION__, strerror(-res), res);
     }
+    res = addReadoutTimestampTag();
+    if (OK != res) {
+        ALOGE("%s: Unable to add sensorReadoutTimestamp tag: %s (%d)",
+                __FUNCTION__, strerror(-res), res);
+    }
 
     camera_metadata_entry flashAvailable =
             mCameraCharacteristics.find(ANDROID_FLASH_INFO_AVAILABLE);
diff --git a/services/camera/libcameraservice/common/hidl/HidlProviderInfo.cpp b/services/camera/libcameraservice/common/hidl/HidlProviderInfo.cpp
index 7415e0f..f96c354 100644
--- a/services/camera/libcameraservice/common/hidl/HidlProviderInfo.cpp
+++ b/services/camera/libcameraservice/common/hidl/HidlProviderInfo.cpp
@@ -656,6 +656,11 @@
         ALOGE("%s: Unable to override zoomRatio related tags: %s (%d)",
                 __FUNCTION__, strerror(-res), res);
     }
+    res = addReadoutTimestampTag();
+    if (OK != res) {
+        ALOGE("%s: Unable to add sensorReadoutTimestamp tag: %s (%d)",
+                __FUNCTION__, strerror(-res), res);
+    }
 
     camera_metadata_entry flashAvailable =
             mCameraCharacteristics.find(ANDROID_FLASH_INFO_AVAILABLE);
diff --git a/services/camera/libcameraservice/device3/Camera3OutputStream.cpp b/services/camera/libcameraservice/device3/Camera3OutputStream.cpp
index c5bdd00..111c053 100644
--- a/services/camera/libcameraservice/device3/Camera3OutputStream.cpp
+++ b/services/camera/libcameraservice/device3/Camera3OutputStream.cpp
@@ -59,6 +59,7 @@
         mTraceFirstBuffer(true),
         mUseBufferManager(false),
         mTimestampOffset(timestampOffset),
+        mUseReadoutTime(false),
         mConsumerUsage(0),
         mDropBuffers(false),
         mMirrorMode(mirrorMode),
@@ -91,6 +92,7 @@
         mTraceFirstBuffer(true),
         mUseBufferManager(false),
         mTimestampOffset(timestampOffset),
+        mUseReadoutTime(false),
         mConsumerUsage(0),
         mDropBuffers(false),
         mMirrorMode(mirrorMode),
@@ -130,6 +132,7 @@
         mTraceFirstBuffer(true),
         mUseBufferManager(false),
         mTimestampOffset(timestampOffset),
+        mUseReadoutTime(false),
         mConsumerUsage(consumerUsage),
         mDropBuffers(false),
         mMirrorMode(mirrorMode),
@@ -176,6 +179,7 @@
         mTraceFirstBuffer(true),
         mUseBufferManager(false),
         mTimestampOffset(timestampOffset),
+        mUseReadoutTime(false),
         mConsumerUsage(consumerUsage),
         mDropBuffers(false),
         mMirrorMode(mirrorMode),
@@ -376,8 +380,10 @@
             dumpImageToDisk(timestamp, anwBuffer, anwReleaseFence);
         }
 
+        nsecs_t captureTime = (mUseReadoutTime && readoutTimestamp != 0 ?
+                readoutTimestamp : timestamp) - mTimestampOffset;
         if (mPreviewFrameSpacer != nullptr) {
-            res = mPreviewFrameSpacer->queuePreviewBuffer(timestamp - mTimestampOffset, transform,
+            res = mPreviewFrameSpacer->queuePreviewBuffer(captureTime, transform,
                     anwBuffer, anwReleaseFence);
             if (res != OK) {
                 ALOGE("%s: Stream %d: Error queuing buffer to preview buffer spacer: %s (%d)",
@@ -385,8 +391,6 @@
                 return res;
             }
         } else {
-            nsecs_t captureTime = (mSyncToDisplay ? readoutTimestamp : timestamp)
-                    - mTimestampOffset;
             nsecs_t presentTime = mSyncToDisplay ?
                     syncTimestampToDisplayLocked(captureTime) : captureTime;
 
@@ -616,12 +620,16 @@
     mFrameCount = 0;
     mLastTimestamp = 0;
 
+    mUseReadoutTime =
+            (timestampBase == OutputConfiguration::TIMESTAMP_BASE_READOUT_SENSOR || mSyncToDisplay);
+
     if (isDeviceTimeBaseRealtime()) {
         if (isDefaultTimeBase && !isConsumedByHWComposer() && !isVideoStream()) {
             // Default time base, but not hardware composer or video encoder
             mTimestampOffset = 0;
         } else if (timestampBase == OutputConfiguration::TIMESTAMP_BASE_REALTIME ||
-                timestampBase == OutputConfiguration::TIMESTAMP_BASE_SENSOR) {
+                timestampBase == OutputConfiguration::TIMESTAMP_BASE_SENSOR ||
+                timestampBase == OutputConfiguration::TIMESTAMP_BASE_READOUT_SENSOR) {
             mTimestampOffset = 0;
         }
         // If timestampBase is CHOREOGRAPHER SYNCED or MONOTONIC, leave
@@ -631,7 +639,7 @@
             // Reverse offset for monotonicTime -> bootTime
             mTimestampOffset = -mTimestampOffset;
         } else {
-            // If timestampBase is DEFAULT, MONOTONIC, SENSOR, or
+            // If timestampBase is DEFAULT, MONOTONIC, SENSOR, READOUT_SENSOR or
             // CHOREOGRAPHER_SYNCED, timestamp offset is 0.
             mTimestampOffset = 0;
         }
diff --git a/services/camera/libcameraservice/device3/Camera3OutputStream.h b/services/camera/libcameraservice/device3/Camera3OutputStream.h
index e68bc67..b6d1631 100644
--- a/services/camera/libcameraservice/device3/Camera3OutputStream.h
+++ b/services/camera/libcameraservice/device3/Camera3OutputStream.h
@@ -334,6 +334,11 @@
     nsecs_t mTimestampOffset;
 
     /**
+     * If camera readout time is used rather than the start-of-exposure time.
+     */
+    bool mUseReadoutTime;
+
+    /**
      * Consumer end point usage flag set by the constructor for the deferred
      * consumer case.
      */
diff --git a/services/camera/libcameraservice/device3/Camera3OutputUtils.cpp b/services/camera/libcameraservice/device3/Camera3OutputUtils.cpp
index ed66df0..f4e3fad 100644
--- a/services/camera/libcameraservice/device3/Camera3OutputUtils.cpp
+++ b/services/camera/libcameraservice/device3/Camera3OutputUtils.cpp
@@ -787,10 +787,12 @@
         SessionStatsBuilder& sessionStatsBuilder) {
     bool timestampIncreasing =
             !((request.zslCapture && request.stillCapture) || request.hasInputBuffer);
+    nsecs_t readoutTimestamp = request.resultExtras.hasReadoutTimestamp ?
+            request.resultExtras.readoutTimestamp : 0;
     returnOutputBuffers(useHalBufManager, listener,
             request.pendingOutputBuffers.array(),
             request.pendingOutputBuffers.size(),
-            request.shutterTimestamp, request.shutterReadoutTimestamp,
+            request.shutterTimestamp, readoutTimestamp,
             /*requested*/true, request.requestTimeNs, sessionStatsBuilder, timestampIncreasing,
             request.outputSurfaces, request.resultExtras,
             request.errorBufStrategy, request.transform);
@@ -852,7 +854,10 @@
             }
 
             r.shutterTimestamp = msg.timestamp;
-            r.shutterReadoutTimestamp = msg.readout_timestamp;
+            if (msg.readout_timestamp_valid) {
+                r.resultExtras.hasReadoutTimestamp = true;
+                r.resultExtras.readoutTimestamp = msg.readout_timestamp;
+            }
             if (r.minExpectedDuration != states.minFrameDuration) {
                 for (size_t i = 0; i < states.outputStreams.size(); i++) {
                     auto outputStream = states.outputStreams[i];
diff --git a/services/camera/libcameraservice/device3/InFlightRequest.h b/services/camera/libcameraservice/device3/InFlightRequest.h
index 493a9e2..fa00495 100644
--- a/services/camera/libcameraservice/device3/InFlightRequest.h
+++ b/services/camera/libcameraservice/device3/InFlightRequest.h
@@ -65,6 +65,7 @@
 typedef struct camera_shutter_msg {
     uint32_t frame_number;
     uint64_t timestamp;
+    bool readout_timestamp_valid;
     uint64_t readout_timestamp;
 } camera_shutter_msg_t;
 
@@ -104,8 +105,6 @@
 struct InFlightRequest {
     // Set by notify() SHUTTER call.
     nsecs_t shutterTimestamp;
-    // Set by notify() SHUTTER call with readout time.
-    nsecs_t shutterReadoutTimestamp;
     // Set by process_capture_result().
     nsecs_t sensorTimestamp;
     int     requestStatus;
diff --git a/services/camera/libcameraservice/device3/aidl/AidlCamera3OutputUtils.cpp b/services/camera/libcameraservice/device3/aidl/AidlCamera3OutputUtils.cpp
index 3809f37..b462d44 100644
--- a/services/camera/libcameraservice/device3/aidl/AidlCamera3OutputUtils.cpp
+++ b/services/camera/libcameraservice/device3/aidl/AidlCamera3OutputUtils.cpp
@@ -110,6 +110,7 @@
             m.type = CAMERA_MSG_SHUTTER;
             m.message.shutter.frame_number = msg.get<Tag::shutter>().frameNumber;
             m.message.shutter.timestamp = msg.get<Tag::shutter>().timestamp;
+            m.message.shutter.readout_timestamp_valid = true;
             m.message.shutter.readout_timestamp = msg.get<Tag::shutter>().readoutTimestamp;
             break;
     }
diff --git a/services/camera/libcameraservice/device3/hidl/HidlCamera3OutputUtils.cpp b/services/camera/libcameraservice/device3/hidl/HidlCamera3OutputUtils.cpp
index 60e4e42..a9a6c66 100644
--- a/services/camera/libcameraservice/device3/hidl/HidlCamera3OutputUtils.cpp
+++ b/services/camera/libcameraservice/device3/hidl/HidlCamera3OutputUtils.cpp
@@ -127,8 +127,8 @@
             m.type = CAMERA_MSG_SHUTTER;
             m.message.shutter.frame_number = msg.msg.shutter.frameNumber;
             m.message.shutter.timestamp = msg.msg.shutter.timestamp;
-            m.message.shutter.readout_timestamp = hasReadoutTime ?
-                    readoutTime : m.message.shutter.timestamp;
+            m.message.shutter.readout_timestamp_valid = hasReadoutTime;
+            m.message.shutter.readout_timestamp = readoutTime;
             break;
     }
     notify(states, &m);
diff --git a/services/camera/libcameraservice/utils/SessionConfigurationUtils.cpp b/services/camera/libcameraservice/utils/SessionConfigurationUtils.cpp
index a46266e..ed77692 100644
--- a/services/camera/libcameraservice/utils/SessionConfigurationUtils.cpp
+++ b/services/camera/libcameraservice/utils/SessionConfigurationUtils.cpp
@@ -462,7 +462,7 @@
         return STATUS_ERROR(CameraService::ERROR_ILLEGAL_ARGUMENT, msg.string());
     }
     if (timestampBase < OutputConfiguration::TIMESTAMP_BASE_DEFAULT ||
-            timestampBase > OutputConfiguration::TIMESTAMP_BASE_CHOREOGRAPHER_SYNCED) {
+            timestampBase > OutputConfiguration::TIMESTAMP_BASE_MAX) {
         String8 msg = String8::format("Camera %s: invalid timestamp base %d",
                 logicalCameraId.string(), timestampBase);
         ALOGE("%s: %s", __FUNCTION__, msg.string());