diff --git a/audio/aidl/default/config/audio_policy_configuration.xsd b/audio/aidl/default/config/audio_policy_configuration.xsd
index 823b217..2c18a1e 100644
--- a/audio/aidl/default/config/audio_policy_configuration.xsd
+++ b/audio/aidl/default/config/audio_policy_configuration.xsd
@@ -424,6 +424,8 @@
             <xs:enumeration value="AUDIO_FORMAT_DRA"/>
             <xs:enumeration value="AUDIO_FORMAT_APTX_ADAPTIVE_QLEA"/>
             <xs:enumeration value="AUDIO_FORMAT_APTX_ADAPTIVE_R4"/>
+            <xs:enumeration value="AUDIO_FORMAT_DTS_HD_MA"/>
+            <xs:enumeration value="AUDIO_FORMAT_DTS_UHD_P2"/>
         </xs:restriction>
     </xs:simpleType>
     <xs:simpleType name="extendableAudioFormat">
diff --git a/automotive/remoteaccess/test_grpc_server/README.md b/automotive/remoteaccess/test_grpc_server/README.md
index 28035de..6bc1829 100644
--- a/automotive/remoteaccess/test_grpc_server/README.md
+++ b/automotive/remoteaccess/test_grpc_server/README.md
@@ -79,6 +79,8 @@
 
 * `make -j TestWakeupClientServer`
 
+* `make -j ApPowerControlLib`
+
 ## How to push the test wakeup client to a TCU which runs Android.
 
 * Make the target device writable:
@@ -97,6 +99,8 @@
 
 * `adb push vendor/bin/TestWakeupClientServer /vendor/bin`
 
+* `adb push vendor/lib/ApPowerControlLib.so /vendor/lib`
+
 * `adb shell`
 
 * `su`
diff --git a/automotive/remoteaccess/test_grpc_server/impl/Android.bp b/automotive/remoteaccess/test_grpc_server/impl/Android.bp
index e978c8c..152b528 100644
--- a/automotive/remoteaccess/test_grpc_server/impl/Android.bp
+++ b/automotive/remoteaccess/test_grpc_server/impl/Android.bp
@@ -31,6 +31,7 @@
         "libutils",
         "libgrpc++",
         "libprotobuf-cpp-full",
+        "//hardware/interfaces/automotive/remoteaccess/test_grpc_server/lib:ApPowerControlLib",
     ],
     whole_static_libs: [
         "wakeup_client_protos",
diff --git a/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp b/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp
index 795265f..7dcd31e 100644
--- a/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp
+++ b/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp
@@ -16,6 +16,8 @@
 
 #include "TestWakeupClientServiceImpl.h"
 
+#include "ApPowerControl.h"
+
 #include <android-base/stringprintf.h>
 #include <inttypes.h>
 #include <utils/Looper.h>
@@ -245,8 +247,7 @@
 }
 
 void TestWakeupClientServiceImpl::wakeupApplicationProcessor() {
-    printf("Waking up application processor...\n");
-    // TODO(b/254547153): Send can bus message using socket CAN once we know what the message is.
+    wakeupAp();
 }
 
 }  // namespace remoteaccess
diff --git a/automotive/remoteaccess/test_grpc_server/lib/Android.bp b/automotive/remoteaccess/test_grpc_server/lib/Android.bp
new file mode 100644
index 0000000..7e95f53
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/lib/Android.bp
@@ -0,0 +1,32 @@
+// Copyright (C) 2022 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+soong_namespace {}
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library_shared {
+    name: "ApPowerControlLib",
+    vendor: true,
+    srcs: ["*.cpp"],
+    local_include_dirs: ["."],
+    export_include_dirs: ["."],
+}
diff --git a/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.cpp b/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.cpp
new file mode 100644
index 0000000..862fed1
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.cpp
@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "ApPowerControl.h"
+
+#include <cstdio>
+
+void wakeupAp() {
+    printf("Waking up application processor...\n");
+}
diff --git a/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.h b/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.h
new file mode 100644
index 0000000..9560576
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/lib/ApPowerControl.h
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Wakeup application processor if not already waken up.
+void wakeupAp();
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 7c8e1f5..9e4f252 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -1632,10 +1632,8 @@
      *
      * The Android properties are:
      *
-     * int32Values[0] : Input code identifying the function representing this event. Valid event
-     *                  types are defined by CustomInputType.CUSTOM_EVENT_F1 up to
-     *                  CustomInputType.CUSTOM_EVENT_F10. They represent the custom event to be
-     *                  defined by OEM partners.
+     * int32Values[0] : Input code identifying the function representing this event. OEMs are free
+     *                  to use any signed 32 bits number to represent the input code value.
      * int32Values[1] : target display type defined in VehicleDisplay. Events not tied to specific
      *                  display must be sent to VehicleDisplay#MAIN.
      * int32Values[2] : repeat counter, if 0 then event is not repeated. Values 1 or above means
@@ -5326,10 +5324,11 @@
  */
 enum CustomInputType : int32_t {
     /**
-     * Ten functions representing the custom input code to be defined and implemented by OEM
-     * partners.
+     * Ten optional function codes to be used in case OEM don't need more than 10 input code values.
      *
-     * OEMs need to formally contact Android team if more than 10 functions are required.
+     * OEMs are free to use any signed 32 bits number to represent the input code value.
+     * The following function keys are only for convenience and any other integer values are
+     * also allowed.
      */
     CUSTOM_EVENT_F1 = 1001,
     CUSTOM_EVENT_F2 = 1002,
diff --git a/common/aidl/Android.bp b/common/aidl/Android.bp
index 43f8c4d..7f6890c 100644
--- a/common/aidl/Android.bp
+++ b/common/aidl/Android.bp
@@ -37,6 +37,7 @@
             min_sdk_version: "29",
         },
     },
+    frozen: true,
     versions: [
         "1",
         "2",
diff --git a/common/fmq/aidl/Android.bp b/common/fmq/aidl/Android.bp
index a85597c..95fcc41 100644
--- a/common/fmq/aidl/Android.bp
+++ b/common/fmq/aidl/Android.bp
@@ -37,5 +37,6 @@
             min_sdk_version: "29",
         },
     },
+    frozen: true,
     versions: ["1"],
 }
diff --git a/current.txt b/current.txt
index afde7b1..146ded6 100644
--- a/current.txt
+++ b/current.txt
@@ -929,4 +929,7 @@
 1bac6a7c8136dfb0414fe5639eec115aa2d12927e64a0642a43fb53225f099b2 android.hardware.wifi@1.6::IWifiStaIface
 0a800e010e8eb6eecdfdc96f04fd2ae2f417a79a74a7c0eec3a9f539199bccd4 android.hardware.wifi@1.6::types
 
+# ABI preserving changes to HALs during Android U
+2aa559cda86c358c6429114ef6bc72c1b43281e98f9eb6b4df5e7073c8d05767 android.hardware.automotive.vehicle@2.0::types
+
 # There will be no more HIDL HALs. Use AIDL instead.
diff --git a/graphics/composer/aidl/Android.bp b/graphics/composer/aidl/Android.bp
index 9b88d98..56e6ed2 100644
--- a/graphics/composer/aidl/Android.bp
+++ b/graphics/composer/aidl/Android.bp
@@ -31,6 +31,7 @@
         enabled: true,
         support_system_process: true,
     },
+    frozen: true,
     srcs: [
         "android/hardware/graphics/composer3/*.aidl",
     ],
diff --git a/memtrack/aidl/Android.bp b/memtrack/aidl/Android.bp
index 79effcb..0d1c241 100644
--- a/memtrack/aidl/Android.bp
+++ b/memtrack/aidl/Android.bp
@@ -39,5 +39,6 @@
             },
         },
     },
+    frozen: true,
     versions: ["1"],
 }
diff --git a/security/keymint/aidl/android/hardware/security/keymint/KeyCreationResult.aidl b/security/keymint/aidl/android/hardware/security/keymint/KeyCreationResult.aidl
index 4c2be89..294c205 100644
--- a/security/keymint/aidl/android/hardware/security/keymint/KeyCreationResult.aidl
+++ b/security/keymint/aidl/android/hardware/security/keymint/KeyCreationResult.aidl
@@ -125,9 +125,9 @@
      * straightforward translation of the KeyMint tag/value parameter lists to ASN.1.
      *
      * KeyDescription ::= SEQUENCE {
-     *     attestationVersion         INTEGER, # Value 200
+     *     attestationVersion         INTEGER, # Value 300
      *     attestationSecurityLevel   SecurityLevel, # See below
-     *     keyMintVersion             INTEGER, # Value 200
+     *     keyMintVersion             INTEGER, # Value 300
      *     keymintSecurityLevel       SecurityLevel, # See below
      *     attestationChallenge       OCTET_STRING, # Tag::ATTESTATION_CHALLENGE from attestParams
      *     uniqueId                   OCTET_STRING, # Empty unless key has Tag::INCLUDE_UNIQUE_ID
@@ -209,6 +209,7 @@
      *     vendorPatchLevel           [718] EXPLICIT INTEGER OPTIONAL,
      *     bootPatchLevel             [719] EXPLICIT INTEGER OPTIONAL,
      *     deviceUniqueAttestation    [720] EXPLICIT NULL OPTIONAL,
+     *     attestationIdSecondImei    [723] EXPLICIT OCTET_STRING OPTIONAL,
      * }
      */
     Certificate[] certificateChain;
diff --git a/security/rkp/aidl/Android.bp b/security/rkp/aidl/Android.bp
index 4c479f4..5285477 100644
--- a/security/rkp/aidl/Android.bp
+++ b/security/rkp/aidl/Android.bp
@@ -21,6 +21,10 @@
     backend: {
         java: {
             min_sdk_version: "33",
+            apex_available: [
+                "//apex_available:platform",
+                "com.android.rkpd",
+            ],
         },
         rust: {
             enabled: true,
diff --git a/sensors/aidl/convert/Android.bp b/sensors/aidl/convert/Android.bp
index 8e2146d..d47de8e 100644
--- a/sensors/aidl/convert/Android.bp
+++ b/sensors/aidl/convert/Android.bp
@@ -26,6 +26,7 @@
 cc_library_static {
     name: "android.hardware.sensors-V1-convert",
     vendor_available: true,
+    host_supported: true,
     srcs: ["convert.cpp"],
     export_include_dirs: ["include"],
     shared_libs: [
diff --git a/sensors/aidl/default/Sensor.cpp b/sensors/aidl/default/Sensor.cpp
index 62193d6..3bdd8b6 100644
--- a/sensors/aidl/default/Sensor.cpp
+++ b/sensors/aidl/default/Sensor.cpp
@@ -223,7 +223,7 @@
     EventPayload::Vec3 vec3 = {
             .x = 0,
             .y = 0,
-            .z = -9.8,
+            .z = 9.8,
             .status = SensorStatus::ACCURACY_HIGH,
     };
     payload.set<EventPayload::Tag::vec3>(vec3);
diff --git a/sensors/common/default/2.X/Sensor.cpp b/sensors/common/default/2.X/Sensor.cpp
index fd701fd..2c1cdfb 100644
--- a/sensors/common/default/2.X/Sensor.cpp
+++ b/sensors/common/default/2.X/Sensor.cpp
@@ -218,7 +218,7 @@
 void AccelSensor::readEventPayload(EventPayload& payload) {
     payload.vec3.x = 0;
     payload.vec3.y = 0;
-    payload.vec3.z = -9.8;
+    payload.vec3.z = 9.8;
     payload.vec3.status = SensorStatus::ACCURACY_HIGH;
 }
 
diff --git a/sensors/common/default/2.X/multihal/tests/fake_subhal/Sensor.cpp b/sensors/common/default/2.X/multihal/tests/fake_subhal/Sensor.cpp
index f5745c5..a0bb67a 100644
--- a/sensors/common/default/2.X/multihal/tests/fake_subhal/Sensor.cpp
+++ b/sensors/common/default/2.X/multihal/tests/fake_subhal/Sensor.cpp
@@ -237,7 +237,7 @@
     event.timestamp = ::android::elapsedRealtimeNano();
     event.u.vec3.x = 0;
     event.u.vec3.y = 0;
-    event.u.vec3.z = -9.815;
+    event.u.vec3.z = 9.815;
     event.u.vec3.status = SensorStatus::ACCURACY_HIGH;
     events.push_back(event);
     return events;
diff --git a/vibrator/aidl/Android.bp b/vibrator/aidl/Android.bp
index 86ef027..c5936e3 100644
--- a/vibrator/aidl/Android.bp
+++ b/vibrator/aidl/Android.bp
@@ -17,7 +17,7 @@
     stability: "vintf",
     backend: {
         java: {
-            sdk_version: "module_current",
+            sdk_version: "system_current",
         },
     },
     versions: [
diff --git a/vibrator/aidl/default/example_vendor_java_client/Android.bp b/vibrator/aidl/default/example_vendor_java_client/Android.bp
new file mode 100644
index 0000000..f615cb1
--- /dev/null
+++ b/vibrator/aidl/default/example_vendor_java_client/Android.bp
@@ -0,0 +1,34 @@
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library {
+    name: "libexample_vib_getter",
+    srcs: ["getter.cpp"],
+    vendor: true,
+    shared_libs: [
+        "liblog",
+        "libbinder_ndk",
+    ],
+    header_libs: ["jni_headers"],
+    stl: "c++_shared",
+    visibility: [":__subpackages__"],
+}
+
+android_app {
+    name: "ExampleVibratorJavaVendorClient",
+    privileged: true,
+    vendor: true,
+    static_libs: ["android.hardware.vibrator-V1-java"],
+    jni_libs: ["libexample_vib_getter"],
+    jarjar_rules: "jarjar.txt",
+    stl: "c++_shared",
+    srcs: ["example/vib/MyActivity.java"],
+    sdk_version: "system_current",
+    visibility: [":__subpackages__"],
+}
diff --git a/vibrator/aidl/default/example_vendor_java_client/AndroidManifest.xml b/vibrator/aidl/default/example_vendor_java_client/AndroidManifest.xml
new file mode 100644
index 0000000..0561066
--- /dev/null
+++ b/vibrator/aidl/default/example_vendor_java_client/AndroidManifest.xml
@@ -0,0 +1,7 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+          xmlns:tools="http://schemas.android.com/tools"
+          package="example.vib">
+    <application>
+        <activity android:name=".MyActivity"/>
+    </application>
+</manifest>
diff --git a/vibrator/aidl/default/example_vendor_java_client/example/vib/MyActivity.java b/vibrator/aidl/default/example_vendor_java_client/example/vib/MyActivity.java
new file mode 100644
index 0000000..aadce8e
--- /dev/null
+++ b/vibrator/aidl/default/example_vendor_java_client/example/vib/MyActivity.java
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package example.vib;
+
+import android.app.Activity;
+import android.hardware.vibrator.IVibrator;
+import android.os.Bundle;
+import android.os.IBinder;
+import android.os.RemoteException;
+
+public class MyActivity extends Activity {
+    private static native IBinder gimme(String name);
+
+    @Override
+    public void onCreate(Bundle b) {
+        super.onCreate(b);
+        System.loadLibrary("example_vib_getter");
+
+        // There is no API to get ahold of a Stable AIDL service from a vendor app
+        // in Java. This is because this is not the recommended way to get ahold
+        // of functionality in Android. The Android API Council recommendation is to
+        // implement uses-library APIs in the system/system_ext partition which add
+        // new APIs. AIDL as an API in Java is not recommended or supported way to
+        // communicate by apps - the recommendation is to use Java APIs. However,
+        // there also exists a large number of vendor apps which are coupled with
+        // hardware-specific code, and are therefore on the vendor partition. A
+        // large number of these use HIDL, and this is how they can continue to
+        // use that structure with AIDL.
+        IVibrator v =
+                IVibrator.Stub.asInterface(gimme("android.hardware.vibrator.IVibrator/default"));
+
+        try {
+            v.on(100 /*ms*/, null /*cb*/);
+        } catch (RemoteException e) {
+            throw new RuntimeException(e);
+        }
+
+        finish();
+    }
+}
diff --git a/vibrator/aidl/default/example_vendor_java_client/getter.cpp b/vibrator/aidl/default/example_vendor_java_client/getter.cpp
new file mode 100644
index 0000000..6115445
--- /dev/null
+++ b/vibrator/aidl/default/example_vendor_java_client/getter.cpp
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <android/binder_auto_utils.h>
+#include <android/binder_ibinder_jni.h>
+#include <android/binder_manager.h>
+#include <jni.h>
+#include <log/log.h>
+
+extern "C" JNIEXPORT jobject JNICALL
+Java_example_vib_MyActivity_gimme__Ljava_lang_String_2(JNIEnv* env, jclass /**/, jstring str) {
+    ALOGI("%s", __func__);
+
+    // Best practice is probably libnativehelper ScopedUtfChars or
+    // libbase ScopeGuard (for platform code), but this is with minimal
+    // dependencies.
+    const char* name = env->GetStringUTFChars(str, nullptr);
+
+    ALOGI("example vib gimme %s", name);
+
+    jobject jbinder = nullptr;
+
+    // Java does not have vendor variants. It's only safe to pass a service when
+    // 'vendor: true' if it is @VintfStability.
+    if (AServiceManager_isDeclared(name)) {
+        ndk::SpAIBinder binder = ndk::SpAIBinder(AServiceManager_waitForService(name));
+        jbinder = AIBinder_toJavaBinder(env, binder.get());
+    } else {
+        ALOGI("not declared");
+    }
+
+    env->ReleaseStringUTFChars(str, name);
+
+    return jbinder;
+}
diff --git a/vibrator/aidl/default/example_vendor_java_client/jarjar.txt b/vibrator/aidl/default/example_vendor_java_client/jarjar.txt
new file mode 100644
index 0000000..e7613a0
--- /dev/null
+++ b/vibrator/aidl/default/example_vendor_java_client/jarjar.txt
@@ -0,0 +1,2 @@
+rule android.hardware.** example.vib.ah.@1
+