diff --git a/camera/device/3.4/default/ExternalCameraDevice.cpp b/camera/device/3.4/default/ExternalCameraDevice.cpp
index e7361dd..38a78e0 100644
--- a/camera/device/3.4/default/ExternalCameraDevice.cpp
+++ b/camera/device/3.4/default/ExternalCameraDevice.cpp
@@ -38,9 +38,8 @@
 // Other formats to consider in the future:
 // * V4L2_PIX_FMT_YVU420 (== YV12)
 // * V4L2_PIX_FMT_YVYU (YVYU: can be converted to YV12 or other YUV420_888 formats)
-const std::array<uint32_t, /*size*/1> kSupportedFourCCs {{
-    V4L2_PIX_FMT_MJPEG
-}}; // double braces required in C++11
+const std::array<uint32_t, /*size*/ 2> kSupportedFourCCs{
+    {V4L2_PIX_FMT_MJPEG, V4L2_PIX_FMT_Z16}};  // double braces required in C++11
 
 constexpr int MAX_RETRY = 5; // Allow retry v4l2 open failures a few times.
 constexpr int OPEN_RETRY_SLEEP_US = 100000; // 100ms * MAX_RETRY = 0.5 seconds
@@ -224,6 +223,13 @@
             mCameraCharacteristics.clear();
             return ret;
         }
+
+        ret = initAvailableCapabilities(&mCameraCharacteristics);
+        if (ret != OK) {
+            ALOGE("%s: init available capabilities key failed: errorno %d", __FUNCTION__, ret);
+            mCameraCharacteristics.clear();
+            return ret;
+        }
     }
     return OK;
 }
@@ -237,6 +243,39 @@
   }                                                \
 } while (0)
 
+status_t ExternalCameraDevice::initAvailableCapabilities(
+        ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata) {
+
+    if (mSupportedFormats.empty()) {
+        ALOGE("%s: Supported formats list is empty", __FUNCTION__);
+        return UNKNOWN_ERROR;
+    }
+
+    bool hasDepth = false;
+    bool hasColor = false;
+    for (const auto& fmt : mSupportedFormats) {
+        switch (fmt.fourcc) {
+            case V4L2_PIX_FMT_Z16: hasDepth = true; break;
+            case V4L2_PIX_FMT_MJPEG: hasColor = true; break;
+            default: ALOGW("%s: Unsupported format found", __FUNCTION__);
+        }
+    }
+
+    std::vector<uint8_t> availableCapabilities;
+    if (hasDepth) {
+        availableCapabilities.push_back(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT);
+    }
+    if (hasColor) {
+        availableCapabilities.push_back(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_BACKWARD_COMPATIBLE);
+    }
+    if(!availableCapabilities.empty()) {
+        UPDATE(ANDROID_REQUEST_AVAILABLE_CAPABILITIES, availableCapabilities.data(),
+            availableCapabilities.size());
+    }
+
+    return OK;
+}
+
 status_t ExternalCameraDevice::initDefaultCharsKeys(
         ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata) {
     const uint8_t hardware_level = ANDROID_INFO_SUPPORTED_HARDWARE_LEVEL_EXTERNAL;
@@ -323,12 +362,6 @@
            &noiseReductionMode, 1);
     UPDATE(ANDROID_NOISE_REDUCTION_MODE, &noiseReductionMode, 1);
 
-    // android.request
-    const uint8_t availableCapabilities[] = {
-        ANDROID_REQUEST_AVAILABLE_CAPABILITIES_BACKWARD_COMPATIBLE};
-    UPDATE(ANDROID_REQUEST_AVAILABLE_CAPABILITIES, availableCapabilities,
-           ARRAY_SIZE(availableCapabilities));
-
     const int32_t partialResultCount = 1;
     UPDATE(ANDROID_REQUEST_PARTIAL_RESULT_COUNT, &partialResultCount, 1);
 
@@ -576,9 +609,11 @@
     return OK;
 }
 
-status_t ExternalCameraDevice::initOutputCharsKeys(int fd,
-        ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata) {
-    initSupportedFormatsLocked(fd);
+template <size_t SIZE>
+status_t ExternalCameraDevice::initOutputCharskeysByFormat(
+        ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata,
+        uint32_t fourcc, const std::array<int, SIZE>& halFormats,
+        int streamConfigTag, int streamConfiguration, int minFrameDuration, int stallDuration) {
     if (mSupportedFormats.empty()) {
         ALOGE("%s: Init supported format list failed", __FUNCTION__);
         return UNKNOWN_ERROR;
@@ -587,22 +622,17 @@
     std::vector<int32_t> streamConfigurations;
     std::vector<int64_t> minFrameDurations;
     std::vector<int64_t> stallDurations;
-    int32_t maxFps = std::numeric_limits<int32_t>::min();
-    int32_t minFps = std::numeric_limits<int32_t>::max();
-    std::set<int32_t> framerates;
-
-    std::array<int, /*size*/3> halFormats{{
-        HAL_PIXEL_FORMAT_BLOB,
-        HAL_PIXEL_FORMAT_YCbCr_420_888,
-        HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED}};
 
     for (const auto& supportedFormat : mSupportedFormats) {
+        if (supportedFormat.fourcc != fourcc) {
+            // Skip 4CCs not meant for the halFormats
+            continue;
+        }
         for (const auto& format : halFormats) {
             streamConfigurations.push_back(format);
             streamConfigurations.push_back(supportedFormat.width);
             streamConfigurations.push_back(supportedFormat.height);
-            streamConfigurations.push_back(
-                    ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT);
+            streamConfigurations.push_back(streamConfigTag);
         }
 
         int64_t minFrameDuration = std::numeric_limits<int64_t>::max();
@@ -614,14 +644,6 @@
             if (frameDuration < minFrameDuration) {
                 minFrameDuration = frameDuration;
             }
-            int32_t frameRateInt = static_cast<int32_t>(fr.getDouble());
-            if (minFps > frameRateInt) {
-                minFps = frameRateInt;
-            }
-            if (maxFps < frameRateInt) {
-                maxFps = frameRateInt;
-            }
-            framerates.insert(frameRateInt);
         }
 
         for (const auto& format : halFormats) {
@@ -645,6 +667,30 @@
         }
     }
 
+    UPDATE(streamConfiguration, streamConfigurations.data(), streamConfigurations.size());
+
+    UPDATE(minFrameDuration, minFrameDurations.data(), minFrameDurations.size());
+
+    UPDATE(stallDuration, stallDurations.data(), stallDurations.size());
+
+    return true;
+}
+
+bool ExternalCameraDevice::calculateMinFps(
+    ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata) {
+    std::set<int32_t> framerates;
+    int32_t minFps = std::numeric_limits<int32_t>::max();
+
+    for (const auto& supportedFormat : mSupportedFormats) {
+        for (const auto& fr : supportedFormat.frameRates) {
+            int32_t frameRateInt = static_cast<int32_t>(fr.getDouble());
+            if (minFps > frameRateInt) {
+                minFps = frameRateInt;
+            }
+            framerates.insert(frameRateInt);
+        }
+    }
+
     std::vector<int32_t> fpsRanges;
     // FPS ranges
     for (const auto& framerate : framerates) {
@@ -658,17 +704,60 @@
     UPDATE(ANDROID_CONTROL_AE_AVAILABLE_TARGET_FPS_RANGES, fpsRanges.data(),
            fpsRanges.size());
 
-    UPDATE(ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS,
-           streamConfigurations.data(), streamConfigurations.size());
-
-    UPDATE(ANDROID_SCALER_AVAILABLE_MIN_FRAME_DURATIONS,
-           minFrameDurations.data(), minFrameDurations.size());
-
-    UPDATE(ANDROID_SCALER_AVAILABLE_STALL_DURATIONS, stallDurations.data(),
-           stallDurations.size());
-
     UPDATE(ANDROID_SENSOR_INFO_MAX_FRAME_DURATION, &maxFrameDuration, 1);
 
+    return true;
+}
+
+status_t ExternalCameraDevice::initOutputCharsKeys(
+    int fd, ::android::hardware::camera::common::V1_0::helper::CameraMetadata* metadata) {
+    initSupportedFormatsLocked(fd);
+    if (mSupportedFormats.empty()) {
+        ALOGE("%s: Init supported format list failed", __FUNCTION__);
+        return UNKNOWN_ERROR;
+    }
+
+    bool hasDepth = false;
+    bool hasColor = false;
+
+    // For V4L2_PIX_FMT_Z16
+    std::array<int, /*size*/ 1> halDepthFormats{{HAL_PIXEL_FORMAT_Y16}};
+    // For V4L2_PIX_FMT_MJPEG
+    std::array<int, /*size*/ 3> halFormats{{HAL_PIXEL_FORMAT_BLOB, HAL_PIXEL_FORMAT_YCbCr_420_888,
+                                            HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED}};
+
+    for (const auto& supportedFormat : mSupportedFormats) {
+        switch (supportedFormat.fourcc) {
+            case V4L2_PIX_FMT_Z16:
+                hasDepth = true;
+                break;
+            case V4L2_PIX_FMT_MJPEG:
+                hasColor = true;
+                break;
+            default:
+                ALOGW("%s: format %c%c%c%c is not supported!", __FUNCTION__,
+                      supportedFormat.fourcc & 0xFF, (supportedFormat.fourcc >> 8) & 0xFF,
+                      (supportedFormat.fourcc >> 16) & 0xFF, (supportedFormat.fourcc >> 24) & 0xFF);
+        }
+    }
+
+    if (hasDepth) {
+        initOutputCharskeysByFormat(metadata, V4L2_PIX_FMT_Z16, halDepthFormats,
+                ANDROID_DEPTH_AVAILABLE_DEPTH_STREAM_CONFIGURATIONS_OUTPUT,
+                ANDROID_DEPTH_AVAILABLE_DEPTH_STREAM_CONFIGURATIONS,
+                ANDROID_DEPTH_AVAILABLE_DEPTH_MIN_FRAME_DURATIONS,
+                ANDROID_DEPTH_AVAILABLE_DEPTH_STALL_DURATIONS);
+    }
+    if (hasColor) {
+        initOutputCharskeysByFormat(metadata, V4L2_PIX_FMT_MJPEG, halFormats,
+                ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT,
+                ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS,
+                ANDROID_SCALER_AVAILABLE_MIN_FRAME_DURATIONS,
+                ANDROID_SCALER_AVAILABLE_STALL_DURATIONS);
+    }
+
+    calculateMinFps(metadata);
+
     SupportedV4L2Format maximumFormat {.width = 0, .height = 0};
     for (const auto& supportedFormat : mSupportedFormats) {
         if (supportedFormat.width >= maximumFormat.width &&
@@ -790,11 +879,12 @@
     sortedFmts = out;
 }
 
-std::vector<SupportedV4L2Format>
-ExternalCameraDevice::getCandidateSupportedFormatsLocked(
-        int fd, CroppingType cropType,
-        const std::vector<ExternalCameraConfig::FpsLimitation>& fpsLimits,
-        const Size& minStreamSize) {
+std::vector<SupportedV4L2Format> ExternalCameraDevice::getCandidateSupportedFormatsLocked(
+    int fd, CroppingType cropType,
+    const std::vector<ExternalCameraConfig::FpsLimitation>& fpsLimits,
+    const std::vector<ExternalCameraConfig::FpsLimitation>& depthFpsLimits,
+    const Size& minStreamSize,
+    bool depthEnabled) {
     std::vector<SupportedV4L2Format> outFmts;
     struct v4l2_fmtdesc fmtdesc {
         .index = 0,
@@ -840,28 +930,10 @@
                             .fourcc = fmtdesc.pixelformat
                         };
 
-                        double fpsUpperBound = -1.0;
-                        for (const auto& limit : fpsLimits) {
-                            if (cropType == VERTICAL) {
-                                if (format.width <= limit.size.width) {
-                                    fpsUpperBound = limit.fpsUpperBound;
-                                    break;
-                                }
-                            } else { // HORIZONTAL
-                                if (format.height <= limit.size.height) {
-                                    fpsUpperBound = limit.fpsUpperBound;
-                                    break;
-                                }
-                            }
-
-                        }
-                        if (fpsUpperBound < 0.f) {
-                            continue;
-                        }
-
-                        getFrameRateList(fd, fpsUpperBound, &format);
-                        if (!format.frameRates.empty()) {
-                            outFmts.push_back(format);
+                        if (format.fourcc == V4L2_PIX_FMT_Z16 && depthEnabled) {
+                            updateFpsBounds(fd, cropType, depthFpsLimits, format, outFmts);
+                        } else {
+                            updateFpsBounds(fd, cropType, fpsLimits, format, outFmts);
                         }
                     }
                 }
@@ -873,12 +945,39 @@
     return outFmts;
 }
 
-void ExternalCameraDevice::initSupportedFormatsLocked(int fd) {
+void ExternalCameraDevice::updateFpsBounds(
+    int fd, CroppingType cropType,
+    const std::vector<ExternalCameraConfig::FpsLimitation>& fpsLimits, SupportedV4L2Format format,
+    std::vector<SupportedV4L2Format>& outFmts) {
+    double fpsUpperBound = -1.0;
+    for (const auto& limit : fpsLimits) {
+        if (cropType == VERTICAL) {
+            if (format.width <= limit.size.width) {
+                fpsUpperBound = limit.fpsUpperBound;
+                break;
+            }
+        } else {  // HORIZONTAL
+            if (format.height <= limit.size.height) {
+                fpsUpperBound = limit.fpsUpperBound;
+                break;
+            }
+        }
+    }
+    if (fpsUpperBound < 0.f) {
+        return;
+    }
 
-    std::vector<SupportedV4L2Format> horizontalFmts =
-            getCandidateSupportedFormatsLocked(fd, HORIZONTAL, mCfg.fpsLimits, mCfg.minStreamSize);
-    std::vector<SupportedV4L2Format> verticalFmts =
-            getCandidateSupportedFormatsLocked(fd, VERTICAL, mCfg.fpsLimits, mCfg.minStreamSize);
+    getFrameRateList(fd, fpsUpperBound, &format);
+    if (!format.frameRates.empty()) {
+        outFmts.push_back(format);
+    }
+}
+
+void ExternalCameraDevice::initSupportedFormatsLocked(int fd) {
+    std::vector<SupportedV4L2Format> horizontalFmts = getCandidateSupportedFormatsLocked(
+        fd, HORIZONTAL, mCfg.fpsLimits, mCfg.depthFpsLimits, mCfg.minStreamSize, mCfg.depthEnabled);
+    std::vector<SupportedV4L2Format> verticalFmts = getCandidateSupportedFormatsLocked(
+        fd, VERTICAL, mCfg.fpsLimits, mCfg.depthFpsLimits, mCfg.minStreamSize, mCfg.depthEnabled);
 
     size_t horiSize = horizontalFmts.size();
     size_t vertSize = verticalFmts.size();
diff --git a/camera/device/3.4/default/ExternalCameraDeviceSession.cpp b/camera/device/3.4/default/ExternalCameraDeviceSession.cpp
index dce40ff..a12d8e4 100644
--- a/camera/device/3.4/default/ExternalCameraDeviceSession.cpp
+++ b/camera/device/3.4/default/ExternalCameraDeviceSession.cpp
@@ -1724,7 +1724,7 @@
         return false;
     };
 
-    if (req->frameIn->mFourcc != V4L2_PIX_FMT_MJPEG) {
+    if (req->frameIn->mFourcc != V4L2_PIX_FMT_MJPEG && req->frameIn->mFourcc != V4L2_PIX_FMT_Z16) {
         return onDeviceError("%s: do not support V4L2 format %c%c%c%c", __FUNCTION__,
                 req->frameIn->mFourcc & 0xFF,
                 (req->frameIn->mFourcc >> 8) & 0xFF,
@@ -1743,29 +1743,26 @@
     }
 
     // TODO: in some special case maybe we can decode jpg directly to gralloc output?
-    ATRACE_BEGIN("MJPGtoI420");
-    int res = libyuv::MJPGToI420(
-            inData, inDataSize,
-            static_cast<uint8_t*>(mYu12FrameLayout.y),
-            mYu12FrameLayout.yStride,
-            static_cast<uint8_t*>(mYu12FrameLayout.cb),
-            mYu12FrameLayout.cStride,
-            static_cast<uint8_t*>(mYu12FrameLayout.cr),
-            mYu12FrameLayout.cStride,
-            mYu12Frame->mWidth, mYu12Frame->mHeight,
-            mYu12Frame->mWidth, mYu12Frame->mHeight);
-    ATRACE_END();
+    if (req->frameIn->mFourcc == V4L2_PIX_FMT_MJPEG) {
+        ATRACE_BEGIN("MJPGtoI420");
+        int res = libyuv::MJPGToI420(
+            inData, inDataSize, static_cast<uint8_t*>(mYu12FrameLayout.y), mYu12FrameLayout.yStride,
+            static_cast<uint8_t*>(mYu12FrameLayout.cb), mYu12FrameLayout.cStride,
+            static_cast<uint8_t*>(mYu12FrameLayout.cr), mYu12FrameLayout.cStride,
+            mYu12Frame->mWidth, mYu12Frame->mHeight, mYu12Frame->mWidth, mYu12Frame->mHeight);
+        ATRACE_END();
 
-    if (res != 0) {
-        // For some webcam, the first few V4L2 frames might be malformed...
-        ALOGE("%s: Convert V4L2 frame to YU12 failed! res %d", __FUNCTION__, res);
-        lk.unlock();
-        Status st = parent->processCaptureRequestError(req);
-        if (st != Status::OK) {
-            return onDeviceError("%s: failed to process capture request error!", __FUNCTION__);
+        if (res != 0) {
+            // For some webcam, the first few V4L2 frames might be malformed...
+            ALOGE("%s: Convert V4L2 frame to YU12 failed! res %d", __FUNCTION__, res);
+            lk.unlock();
+            Status st = parent->processCaptureRequestError(req);
+            if (st != Status::OK) {
+                return onDeviceError("%s: failed to process capture request error!", __FUNCTION__);
+            }
+            signalRequestDone();
+            return true;
         }
-        signalRequestDone();
-        return true;
     }
 
     ALOGV("%s processing new request", __FUNCTION__);
@@ -1796,6 +1793,16 @@
                           __FUNCTION__, ret);
                 }
             } break;
+            case PixelFormat::Y16: {
+                void* outLayout = sHandleImporter.lock(*(halBuf.bufPtr), halBuf.usage, inDataSize);
+
+                std::memcpy(outLayout, inData, inDataSize);
+
+                int relFence = sHandleImporter.unlock(*(halBuf.bufPtr));
+                if (relFence >= 0) {
+                    halBuf.acquireFence = relFence;
+                }
+            } break;
             case PixelFormat::YCBCR_420_888:
             case PixelFormat::YV12: {
                 IMapper::Rect outRect {0, 0,
@@ -2063,11 +2070,6 @@
         return false;
     }
 
-    if (ds & Dataspace::DEPTH) {
-        ALOGI("%s: does not support depth output", __FUNCTION__);
-        return false;
-    }
-
     switch (fmt) {
         case PixelFormat::BLOB:
             if (ds != static_cast<int32_t>(Dataspace::V0_JFIF)) {
@@ -2081,6 +2083,16 @@
             // TODO: check what dataspace we can support here.
             // intentional no-ops.
             break;
+        case PixelFormat::Y16:
+            if (!mCfg.depthEnabled) {
+                ALOGI("%s: Depth is not Enabled", __FUNCTION__);
+                return false;
+            }
+            if (!(ds & Dataspace::DEPTH)) {
+                ALOGI("%s: Y16 supports only dataSpace DEPTH", __FUNCTION__);
+                return false;
+            }
+            break;
         default:
             ALOGI("%s: does not support format %x", __FUNCTION__, fmt);
             return false;
@@ -2609,6 +2621,7 @@
             case PixelFormat::BLOB:
             case PixelFormat::YCBCR_420_888:
             case PixelFormat::YV12: // Used by SurfaceTexture
+            case PixelFormat::Y16:
                 // No override
                 out->streams[i].v3_2.overrideFormat = config.streams[i].format;
                 break;
diff --git a/camera/device/3.4/default/ExternalCameraUtils.cpp b/camera/device/3.4/default/ExternalCameraUtils.cpp
index 680c95a..a07c629 100644
--- a/camera/device/3.4/default/ExternalCameraUtils.cpp
+++ b/camera/device/3.4/default/ExternalCameraUtils.cpp
@@ -21,7 +21,6 @@
 #include <sys/mman.h>
 #include <linux/videodev2.h>
 #include "ExternalCameraUtils.h"
-#include "tinyxml2.h" // XML parsing
 
 namespace android {
 namespace hardware {
@@ -243,28 +242,28 @@
     if (fpsList == nullptr) {
         ALOGI("%s: no fps list specified", __FUNCTION__);
     } else {
-        std::vector<FpsLimitation> limits;
-        XMLElement *row = fpsList->FirstChildElement("Limit");
-        while (row != nullptr) {
-            FpsLimitation prevLimit {{0, 0}, 1000.0};
-            FpsLimitation limit;
-            limit.size = {
-                row->UnsignedAttribute("width", /*Default*/0),
-                row->UnsignedAttribute("height", /*Default*/0)};
-            limit.fpsUpperBound = row->DoubleAttribute("fpsBound", /*Default*/1000.0);
-            if (limit.size.width <= prevLimit.size.width ||
-                    limit.size.height <= prevLimit.size.height ||
-                    limit.fpsUpperBound >= prevLimit.fpsUpperBound) {
-                ALOGE("%s: FPS limit list must have increasing size and decreasing fps!"
-                        " Prev %dx%d@%f, Current %dx%d@%f", __FUNCTION__,
-                        prevLimit.size.width, prevLimit.size.height, prevLimit.fpsUpperBound,
-                        limit.size.width, limit.size.height, limit.fpsUpperBound);
+        if (!updateFpsList(fpsList, ret.fpsLimits)) {
+            return ret;
+        }
+    }
+
+    XMLElement *depth = deviceCfg->FirstChildElement("Depth16Supported");
+    if (depth == nullptr) {
+        ret.depthEnabled = false;
+        ALOGI("%s: depth output is not enabled", __FUNCTION__);
+    } else {
+        ret.depthEnabled = depth->BoolAttribute("enabled", false);
+    }
+
+    if(ret.depthEnabled) {
+        XMLElement *depthFpsList = deviceCfg->FirstChildElement("DepthFpsList");
+        if (depthFpsList == nullptr) {
+            ALOGW("%s: no depth fps list specified", __FUNCTION__);
+        } else {
+            if(!updateFpsList(depthFpsList, ret.depthFpsLimits)) {
                 return ret;
             }
-            limits.push_back(limit);
-            row = row->NextSiblingElement("Limit");
         }
-        ret.fpsLimits = limits;
     }
 
     XMLElement *minStreamSize = deviceCfg->FirstChildElement("MinimumStreamSize");
@@ -284,15 +283,48 @@
         ALOGI("%s: fpsLimitList: %dx%d@%f", __FUNCTION__,
                 limit.size.width, limit.size.height, limit.fpsUpperBound);
     }
+    for (const auto& limit : ret.depthFpsLimits) {
+        ALOGI("%s: depthFpsLimitList: %dx%d@%f", __FUNCTION__, limit.size.width, limit.size.height,
+              limit.fpsUpperBound);
+    }
     ALOGI("%s: minStreamSize: %dx%d" , __FUNCTION__,
          ret.minStreamSize.width, ret.minStreamSize.height);
     return ret;
 }
 
+bool ExternalCameraConfig::updateFpsList(tinyxml2::XMLElement* fpsList,
+        std::vector<FpsLimitation>& fpsLimits) {
+    using namespace tinyxml2;
+    std::vector<FpsLimitation> limits;
+    XMLElement* row = fpsList->FirstChildElement("Limit");
+    while (row != nullptr) {
+        FpsLimitation prevLimit{{0, 0}, 1000.0};
+        FpsLimitation limit;
+        limit.size = {row->UnsignedAttribute("width", /*Default*/ 0),
+                      row->UnsignedAttribute("height", /*Default*/ 0)};
+        limit.fpsUpperBound = row->DoubleAttribute("fpsBound", /*Default*/ 1000.0);
+        if (limit.size.width <= prevLimit.size.width ||
+            limit.size.height <= prevLimit.size.height ||
+            limit.fpsUpperBound >= prevLimit.fpsUpperBound) {
+            ALOGE(
+                "%s: FPS limit list must have increasing size and decreasing fps!"
+                " Prev %dx%d@%f, Current %dx%d@%f",
+                __FUNCTION__, prevLimit.size.width, prevLimit.size.height, prevLimit.fpsUpperBound,
+                limit.size.width, limit.size.height, limit.fpsUpperBound);
+            return false;
+        }
+        limits.push_back(limit);
+        row = row->NextSiblingElement("Limit");
+    }
+    fpsLimits = limits;
+    return true;
+}
+
 ExternalCameraConfig::ExternalCameraConfig() :
         maxJpegBufSize(kDefaultJpegBufSize),
         numVideoBuffers(kDefaultNumVideoBuffer),
-        numStillBuffers(kDefaultNumStillBuffer) {
+        numStillBuffers(kDefaultNumStillBuffer),
+        depthEnabled(false) {
     fpsLimits.push_back({/*Size*/{ 640,  480}, /*FPS upper bound*/30.0});
     fpsLimits.push_back({/*Size*/{1280,  720}, /*FPS upper bound*/7.5});
     fpsLimits.push_back({/*Size*/{1920, 1080}, /*FPS upper bound*/5.0});
diff --git a/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraDevice_3_4.h b/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraDevice_3_4.h
index ff0cfb3..28b9cef 100644
--- a/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraDevice_3_4.h
+++ b/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraDevice_3_4.h
@@ -82,6 +82,9 @@
     void initSupportedFormatsLocked(int fd);
 
     status_t initCameraCharacteristics();
+    // Init available capabilities keys
+    status_t initAvailableCapabilities(
+            ::android::hardware::camera::common::V1_0::helper::CameraMetadata*);
     // Init non-device dependent keys
     status_t initDefaultCharsKeys(::android::hardware::camera::common::V1_0::helper::CameraMetadata*);
     // Init camera control chars keys. Caller still owns fd
@@ -91,13 +94,30 @@
     status_t initOutputCharsKeys(int fd,
             ::android::hardware::camera::common::V1_0::helper::CameraMetadata*);
 
+    // Helper function for initOutputCharskeys
+    template <size_t SIZE>
+    status_t initOutputCharskeysByFormat(
+            ::android::hardware::camera::common::V1_0::helper::CameraMetadata*,
+            uint32_t fourcc, const std::array<int, SIZE>& formats,
+            int scaler_stream_config_tag,
+            int stream_configuration, int min_frame_duration, int stall_duration);
+
+    bool calculateMinFps(::android::hardware::camera::common::V1_0::helper::CameraMetadata*);
+
     static void getFrameRateList(int fd, double fpsUpperBound, SupportedV4L2Format* format);
 
+    static void updateFpsBounds(int fd, CroppingType cropType,
+            const std::vector<ExternalCameraConfig::FpsLimitation>& fpsLimits,
+            SupportedV4L2Format format,
+            std::vector<SupportedV4L2Format>& outFmts);
+
     // Get candidate supported formats list of input cropping type.
     static std::vector<SupportedV4L2Format> getCandidateSupportedFormatsLocked(
             int fd, CroppingType cropType,
             const std::vector<ExternalCameraConfig::FpsLimitation>& fpsLimits,
-            const Size& minStreamSize);
+            const std::vector<ExternalCameraConfig::FpsLimitation>& depthFpsLimits,
+            const Size& minStreamSize,
+            bool depthEnabled);
     // Trim supported format list by the cropping type. Also sort output formats by width/height
     static void trimSupportedFormats(CroppingType cropType,
             /*inout*/std::vector<SupportedV4L2Format>* pFmts);
diff --git a/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraUtils.h b/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraUtils.h
index 5754ccb..f696057 100644
--- a/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraUtils.h
+++ b/camera/device/3.4/default/include/ext_device_v3_4_impl/ExternalCameraUtils.h
@@ -17,12 +17,13 @@
 #ifndef ANDROID_HARDWARE_CAMERA_DEVICE_V3_4_EXTCAMUTIL_H
 #define ANDROID_HARDWARE_CAMERA_DEVICE_V3_4_EXTCAMUTIL_H
 
-#include <inttypes.h>
-#include "utils/LightRefBase.h"
-#include <mutex>
-#include <vector>
-#include <unordered_set>
 #include <android/hardware/graphics/mapper/2.0/IMapper.h>
+#include <inttypes.h>
+#include <mutex>
+#include <unordered_set>
+#include <vector>
+#include "tinyxml2.h"  // XML parsing
+#include "utils/LightRefBase.h"
 
 using android::hardware::graphics::mapper::V2_0::IMapper;
 using android::hardware::graphics::mapper::V2_0::YCbCrLayout;
@@ -71,17 +72,22 @@
     // Size of v4l2 buffer queue when streaming > kMaxVideoSize
     uint32_t numStillBuffers;
 
+    // Indication that the device connected supports depth output
+    bool depthEnabled;
+
     struct FpsLimitation {
         Size size;
         double fpsUpperBound;
     };
     std::vector<FpsLimitation> fpsLimits;
+    std::vector<FpsLimitation> depthFpsLimits;
 
     // Minimum output stream size
     Size minStreamSize;
 
 private:
     ExternalCameraConfig();
+    static bool updateFpsList(tinyxml2::XMLElement* fpsList, std::vector<FpsLimitation>& fpsLimits);
 };
 
 } // common