diff --git a/automotive/can/1.0/default/Android.bp b/automotive/can/1.0/default/Android.bp
index ee2e92b..f5cf425 100644
--- a/automotive/can/1.0/default/Android.bp
+++ b/automotive/can/1.0/default/Android.bp
@@ -51,5 +51,6 @@
     ],
     static_libs: [
         "android.hardware.automotive.can@libnetdevice",
+        "android.hardware.automotive@libc++fs",
     ],
 }
diff --git a/automotive/can/1.0/default/CanBusSlcan.cpp b/automotive/can/1.0/default/CanBusSlcan.cpp
index 5005ecd..f08566c 100644
--- a/automotive/can/1.0/default/CanBusSlcan.cpp
+++ b/automotive/can/1.0/default/CanBusSlcan.cpp
@@ -56,7 +56,7 @@
      * that has already been configured and brought up.
      */
     if (ioctl(uartFd.get(), SIOCGIFNAME, ifrequest.ifr_name) < 0) {
-        LOG(ERROR) << "Failed to get the name of the created device: " << strerror(errno);
+        PLOG(ERROR) << "Failed to get the name of the created device";
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
@@ -80,7 +80,7 @@
      * controlling terminal */
     mFd = base::unique_fd(open(mUartName.c_str(), O_RDWR | O_NONBLOCK | O_NOCTTY));
     if (!mFd.ok()) {
-        LOG(ERROR) << "SLCAN Failed to open " << mUartName << ": " << strerror(errno);
+        PLOG(ERROR) << "SLCAN Failed to open " << mUartName;
         return ICanController::Result::BAD_INTERFACE_ID;
     }
 
@@ -92,7 +92,7 @@
     // blank terminal settings and pull them from the device
     struct termios terminalSettings = {};
     if (tcgetattr(mFd.get(), &terminalSettings) < 0) {
-        LOG(ERROR) << "Failed to read attrs of" << mUartName << ": " << strerror(errno);
+        PLOG(ERROR) << "Failed to read attrs of" << mUartName;
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
@@ -107,42 +107,40 @@
     struct serial_struct serialSettings;
     // get serial settings
     if (ioctl(mFd.get(), TIOCGSERIAL, &serialSettings) < 0) {
-        LOG(ERROR) << "Failed to read serial settings from " << mUartName << ": "
-                   << strerror(errno);
+        PLOG(ERROR) << "Failed to read serial settings from " << mUartName;
         return ICanController::Result::UNKNOWN_ERROR;
     }
     // set low latency mode
     serialSettings.flags |= ASYNC_LOW_LATENCY;
     // apply serial settings
     if (ioctl(mFd.get(), TIOCSSERIAL, &serialSettings) < 0) {
-        LOG(ERROR) << "Failed to set low latency mode on " << mUartName << ": " << strerror(errno);
+        PLOG(ERROR) << "Failed to set low latency mode on " << mUartName;
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
     /* TCSADRAIN applies settings after we finish writing the rest of our
      * changes (as opposed to TCSANOW, which changes immediately) */
     if (tcsetattr(mFd.get(), TCSADRAIN, &terminalSettings) < 0) {
-        LOG(ERROR) << "Failed to apply terminal settings to " << mUartName << ": "
-                   << strerror(errno);
+        PLOG(ERROR) << "Failed to apply terminal settings to " << mUartName;
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
     // apply speed setting for CAN
     if (write(mFd.get(), canBitrateCommand->c_str(), canBitrateCommand->length()) <= 0) {
-        LOG(ERROR) << "Failed to apply CAN bitrate: " << strerror(errno);
+        PLOG(ERROR) << "Failed to apply CAN bitrate";
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
     // TODO(b/144775286): set open flag & support listen only
     if (write(mFd.get(), slcanprotocol::kOpenCommand.c_str(),
               slcanprotocol::kOpenCommand.length()) <= 0) {
-        LOG(ERROR) << "Failed to set open flag: " << strerror(errno);
+        PLOG(ERROR) << "Failed to set open flag";
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
     // set line discipline to slcan
     if (ioctl(mFd.get(), TIOCSETD, &slcanprotocol::kSlcanDiscipline) < 0) {
-        LOG(ERROR) << "Failed to set line discipline to slcan: " << strerror(errno);
+        PLOG(ERROR) << "Failed to set line discipline to slcan";
         return ICanController::Result::UNKNOWN_ERROR;
     }
 
diff --git a/automotive/can/1.0/default/CanController.cpp b/automotive/can/1.0/default/CanController.cpp
index 0700c77..a2643af 100644
--- a/automotive/can/1.0/default/CanController.cpp
+++ b/automotive/can/1.0/default/CanController.cpp
@@ -23,6 +23,8 @@
 #include <android-base/logging.h>
 #include <android/hidl/manager/1.2/IServiceManager.h>
 
+#include <filesystem>
+#include <fstream>
 #include <regex>
 
 namespace android::hardware::automotive::can::V1_0::implementation {
@@ -30,6 +32,29 @@
 using IfId = ICanController::BusConfig::InterfaceId;
 using IfIdDisc = ICanController::BusConfig::InterfaceId::hidl_discriminator;
 
+namespace fsErrors {
+static const std::error_code ok;
+static const std::error_code eperm(EPERM, std::generic_category());
+static const std::error_code enoent(ENOENT, std::generic_category());
+static const std::error_code eacces(EACCES, std::generic_category());
+}  // namespace fsErrors
+
+/* In the /sys/devices tree, there are files called "serial", which contain the serial numbers
+ * for various devices. The exact location inside of this directory is dependent upon the
+ * hardware we are running on, so we have to start from /sys/devices and work our way down. */
+static const std::filesystem::path kDevPath("/sys/devices/");
+static const std::regex kTtyRe("^tty[A-Z]+[0-9]+$");
+static constexpr auto kOpts = ~(std::filesystem::directory_options::follow_directory_symlink |
+                                std::filesystem::directory_options::skip_permission_denied);
+
+/**
+ * A helper object to associate the interface name and type of a USB to CAN adapter.
+ */
+struct UsbCanIface {
+    ICanController::InterfaceType iftype;
+    std::string ifaceName;
+};
+
 Return<void> CanController::getSupportedInterfaceTypes(getSupportedInterfaceTypes_cb _hidl_cb) {
     _hidl_cb({ICanController::InterfaceType::VIRTUAL, ICanController::InterfaceType::SOCKETCAN,
               ICanController::InterfaceType::SLCAN});
@@ -41,6 +66,152 @@
     return std::regex_match(name, nameRE);
 }
 
+/**
+ * Given a UsbCanIface object, get the ifaceName given the serialPath.
+ *
+ * \param serialPath - Absolute path to a "serial" file for a given device in /sys.
+ * \return A populated UsbCanIface. On failure, nullopt is returned.
+ */
+static std::optional<UsbCanIface> getIfaceName(std::filesystem::path serialPath) {
+    std::error_code fsStatus;
+    // Since the path is to a file called "serial", we need to search its parent directory.
+    std::filesystem::recursive_directory_iterator fsItr(serialPath.parent_path(), kOpts, fsStatus);
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed to open " << serialPath.parent_path();
+        return std::nullopt;
+    }
+
+    for (; fsStatus == fsErrors::ok && fsItr != std::filesystem::recursive_directory_iterator();
+         fsItr.increment(fsStatus)) {
+        /* We want either a directory called "net" or a directory that looks like tty<something>, so
+         * skip files. */
+        bool isDir = fsItr->is_directory(fsStatus);
+        if (fsStatus != fsErrors::ok || !isDir) continue;
+
+        /* path() returns an iterator that steps through directories from / to the leaf.
+         * end() returns one past the leaf of the path, but we want the leaf. Decrementing the
+         * path gives us a pointer to the leaf, which we then dereference.*/
+        std::string currentDir = *(--(fsItr->path().end()));
+        if (currentDir == "net") {
+            /* This device is a SocketCAN device. The iface name is the only directory under
+             * net/. Multiple directories under net/ is an error.*/
+            std::filesystem::directory_iterator netItr(fsItr->path(), kOpts, fsStatus);
+            if (fsStatus != fsErrors::ok) {
+                LOG(ERROR) << "Failed to open " << fsItr->path() << " to get net name!";
+                return std::nullopt;
+            }
+
+            // Get the leaf of the path. This is the interface name, assuming it's the only leaf.
+            std::string netName = *(--(netItr->path().end()));
+
+            // Check if there is more than one item in net/
+            netItr.increment(fsStatus);
+            if (fsStatus != fsErrors::ok) {
+                // It's possible we have a valid net name, but this is most likely an error.
+                LOG(ERROR) << "Failed to verify " << fsItr->path() << " has valid net name!";
+                return std::nullopt;
+            }
+            if (netItr != std::filesystem::directory_iterator()) {
+                // There should never be more than one name under net/
+                LOG(ERROR) << "Found more than one net name in " << fsItr->path() << "!";
+                return std::nullopt;
+            }
+            return {{ICanController::InterfaceType::SOCKETCAN, netName}};
+        } else if (std::regex_match(currentDir, kTtyRe)) {
+            // This device is a USB serial device, and currentDir is the tty name.
+            return {{ICanController::InterfaceType::SLCAN, "/dev/" + currentDir}};
+        }
+    }
+
+    // check if the loop above exited due to a c++fs error.
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed search filesystem: " << fsStatus;
+    }
+    return std::nullopt;
+}
+
+/**
+ * A helper function to read the serial number from a "serial" file in /sys/devices/
+ *
+ * \param serialnoPath - path to the file to read.
+ * \return the serial number, or nullopt on failure.
+ */
+static std::optional<std::string> readSerialNo(const std::string& serialnoPath) {
+    std::ifstream serialnoStream(serialnoPath);
+    std::string serialno;
+    if (!serialnoStream.good()) {
+        LOG(ERROR) << "Failed to read serial number from " << serialnoPath;
+        return std::nullopt;
+    }
+    std::getline(serialnoStream, serialno);
+    return serialno;
+}
+
+/**
+ * Searches for USB devices found in /sys/devices/, and attempts to find a device matching the
+ * provided list of serial numbers.
+ *
+ * \param configSerialnos - a list of serial number (suffixes) from the HAL config.
+ * \param iftype - the type of the interface to be located.
+ * \return a matching USB device. On failure, std::nullopt is returned.
+ */
+static std::optional<UsbCanIface> findUsbDevice(const hidl_vec<hidl_string>& configSerialnos) {
+    std::error_code fsStatus;
+    std::filesystem::recursive_directory_iterator fsItr(kDevPath, kOpts, fsStatus);
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed to open " << kDevPath;
+        return std::nullopt;
+    }
+
+    for (; fsStatus == fsErrors::ok && fsItr != std::filesystem::recursive_directory_iterator();
+         fsItr.increment(fsStatus)) {
+        // We want to find a file called "serial", which is in a directory somewhere. Skip files.
+        bool isDir = fsItr->is_directory(fsStatus);
+        if (fsStatus != fsErrors::ok) {
+            LOG(ERROR) << "Failed check if " << fsStatus;
+            return std::nullopt;
+        }
+        if (!isDir) continue;
+
+        auto serialnoPath = fsItr->path() / "serial";
+        bool isReg = std::filesystem::is_regular_file(serialnoPath, fsStatus);
+
+        /* Make sure we have permissions to this directory, ignore enoent, since the file
+         * "serial" may not exist, which is ok. */
+        if (fsStatus == fsErrors::eperm || fsStatus == fsErrors::eacces) {
+            /* This means we  don't have access to this directory. If we recurse into it, this
+             * will cause the iterator to loose its state and we'll crash. */
+            fsItr.disable_recursion_pending();
+            continue;
+        }
+        if (fsStatus == fsErrors::enoent) continue;
+        if (fsStatus != fsErrors::ok) {
+            LOG(WARNING) << "An unexpected error occurred while checking for serialno: "
+                         << fsStatus;
+            continue;
+        }
+        if (!isReg) continue;
+
+        // we found a serial number
+        auto serialno = readSerialNo(serialnoPath);
+        if (!serialno.has_value()) continue;
+
+        // see if the serial number exists in the config
+        for (auto&& cfgSn : configSerialnos) {
+            if (serialno->ends_with(std::string(cfgSn))) {
+                auto ifaceInfo = getIfaceName(serialnoPath);
+                if (!ifaceInfo.has_value()) break;
+                return ifaceInfo;
+            }
+        }
+    }
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Error searching filesystem: " << fsStatus;
+        return std::nullopt;
+    }
+    return std::nullopt;
+}
+
 Return<ICanController::Result> CanController::upInterface(const ICanController::BusConfig& config) {
     LOG(VERBOSE) << "Attempting to bring interface up: " << toString(config);
 
@@ -58,24 +229,46 @@
 
     sp<CanBus> busService;
 
+    // SocketCAN native type interface.
     if (config.interfaceId.getDiscriminator() == IfIdDisc::socketcan) {
-        // TODO(b/142654031): support serialno
         auto& socketcan = config.interfaceId.socketcan();
-        if (socketcan.getDiscriminator() == IfId::Socketcan::hidl_discriminator::ifname) {
-            busService = new CanBusNative(socketcan.ifname(), config.bitrate);
+        std::string ifaceName;
+        if (socketcan.getDiscriminator() == IfId::Socketcan::hidl_discriminator::serialno) {
+            // Configure by serial number.
+            auto selectedDevice = findUsbDevice(socketcan.serialno());
+            // verify the returned device is the correct one
+            if (!selectedDevice.has_value() ||
+                selectedDevice->iftype != ICanController::InterfaceType::SOCKETCAN) {
+                return ICanController::Result::BAD_INTERFACE_ID;
+            }
+            ifaceName = selectedDevice->ifaceName;
         } else {
-            return ICanController::Result::BAD_INTERFACE_ID;
+            // configure by iface name.
+            ifaceName = socketcan.ifname();
         }
-    } else if (config.interfaceId.getDiscriminator() == IfIdDisc::virtualif) {
+        busService = new CanBusNative(ifaceName, config.bitrate);
+    }
+    // Virtual interface.
+    else if (config.interfaceId.getDiscriminator() == IfIdDisc::virtualif) {
         busService = new CanBusVirtual(config.interfaceId.virtualif().ifname);
-    } else if (config.interfaceId.getDiscriminator() == IfIdDisc::slcan) {
-        // TODO(b/142654031): support serialno
+    }
+    // SLCAN interface.
+    else if (config.interfaceId.getDiscriminator() == IfIdDisc::slcan) {
         auto& slcan = config.interfaceId.slcan();
-        if (slcan.getDiscriminator() == IfId::Slcan::hidl_discriminator::ttyname) {
-            busService = new CanBusSlcan(slcan.ttyname(), config.bitrate);
+        std::string ttyName;
+        if (slcan.getDiscriminator() == IfId::Slcan::hidl_discriminator::serialno) {
+            // Configure by serial number.
+            auto selectedDevice = findUsbDevice(slcan.serialno());
+            if (!selectedDevice.has_value() ||
+                selectedDevice->iftype != ICanController::InterfaceType::SLCAN) {
+                return ICanController::Result::BAD_INTERFACE_ID;
+            }
+            ttyName = selectedDevice->ifaceName;
         } else {
-            return ICanController::Result::BAD_INTERFACE_ID;
+            // Configure by tty name.
+            ttyName = slcan.ttyname();
         }
+        busService = new CanBusSlcan(ttyName, config.bitrate);
     } else {
         return ICanController::Result::NOT_SUPPORTED;
     }
diff --git a/automotive/can/1.0/default/CanSocket.cpp b/automotive/can/1.0/default/CanSocket.cpp
index 86ccc0e..f379d5a 100644
--- a/automotive/can/1.0/default/CanSocket.cpp
+++ b/automotive/can/1.0/default/CanSocket.cpp
@@ -67,7 +67,7 @@
 bool CanSocket::send(const struct canfd_frame& frame) {
     const auto res = write(mSocket.get(), &frame, CAN_MTU);
     if (res < 0) {
-        LOG(DEBUG) << "CanSocket send failed: " << errno;
+        PLOG(DEBUG) << "CanSocket send failed";
         return false;
     }
     if (res != CAN_MTU) {
@@ -102,7 +102,7 @@
         const auto sel = selectRead(mSocket, kReadPooling);
         if (sel == 0) continue;  // timeout
         if (sel == -1) {
-            LOG(ERROR) << "Select failed: " << errno;
+            PLOG(ERROR) << "Select failed";
             break;
         }
 
@@ -130,7 +130,7 @@
             if (errno == EAGAIN) continue;
 
             errnoCopy = errno;
-            LOG(ERROR) << "Failed to read CAN packet: " << strerror(errno) << " (" << errno << ")";
+            PLOG(ERROR) << "Failed to read CAN packet";
             break;
         }
 
diff --git a/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp
index 6a7f506..7817169 100644
--- a/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp
+++ b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp
@@ -23,7 +23,7 @@
 NetlinkSocket::NetlinkSocket(int protocol) {
     mFd.reset(socket(AF_NETLINK, SOCK_RAW, protocol));
     if (!mFd.ok()) {
-        LOG(ERROR) << "Can't open Netlink socket: " << errno;
+        PLOG(ERROR) << "Can't open Netlink socket";
         mFailed = true;
         return;
     }
@@ -32,7 +32,7 @@
     sa.nl_family = AF_NETLINK;
 
     if (bind(mFd.get(), reinterpret_cast<struct sockaddr*>(&sa), sizeof(sa)) < 0) {
-        LOG(ERROR) << "Can't bind Netlink socket: " << errno;
+        PLOG(ERROR) << "Can't bind Netlink socket";
         mFd.reset();
         mFailed = true;
     }
@@ -57,7 +57,7 @@
     msg.msg_iovlen = 1;
 
     if (sendmsg(mFd.get(), &msg, 0) < 0) {
-        LOG(ERROR) << "Can't send Netlink message: " << errno;
+        PLOG(ERROR) << "Can't send Netlink message";
         return false;
     }
     return true;
@@ -79,7 +79,7 @@
 
     const ssize_t status = recvmsg(mFd.get(), &msg, 0);
     if (status < 0) {
-        LOG(ERROR) << "Failed to receive Netlink message: " << errno;
+        PLOG(ERROR) << "Failed to receive Netlink message";
         return false;
     }
     size_t remainingLen = status;
diff --git a/automotive/can/1.0/default/libnetdevice/can.cpp b/automotive/can/1.0/default/libnetdevice/can.cpp
index 06d45d3..a2a85dc 100644
--- a/automotive/can/1.0/default/libnetdevice/can.cpp
+++ b/automotive/can/1.0/default/libnetdevice/can.cpp
@@ -48,7 +48,7 @@
     }
 
     if (setsockopt(sock.get(), SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &kErrMask, sizeof(kErrMask)) < 0) {
-        LOG(ERROR) << "Can't receive error frames, CAN setsockpt failed: " << strerror(errno);
+        PLOG(ERROR) << "Can't receive error frames, CAN setsockpt failed";
         return {};
     }
 
diff --git a/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp b/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp
index aee8205..b051442 100644
--- a/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp
+++ b/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp
@@ -41,7 +41,7 @@
     }
 
     if (ioctl(sock.get(), request, &ifr) < 0) {
-        LOG(ERROR) << "ioctl(" << std::hex << request << std::dec << ") failed: " << errno;
+        PLOG(ERROR) << "ioctl(" << std::hex << request << std::dec << ") failed";
         return false;
     }
 
diff --git a/automotive/can/1.0/tools/canhalctrl.cpp b/automotive/can/1.0/tools/canhalctrl.cpp
index c186b74..bf1c3b1 100644
--- a/automotive/can/1.0/tools/canhalctrl.cpp
+++ b/automotive/can/1.0/tools/canhalctrl.cpp
@@ -15,6 +15,7 @@
  */
 
 #include <android-base/logging.h>
+#include <android-base/parseint.h>
 #include <android/hardware/automotive/can/1.0/ICanController.h>
 #include <android/hidl/manager/1.2/IServiceManager.h>
 #include <hidl-utils/hidl-utils.h>
@@ -72,8 +73,8 @@
             slcan.ttyname(interface);
             config.interfaceId.slcan(slcan);
         } else if (type == ICanController::InterfaceType::INDEXED) {
-            auto idx = std::stol(interface);
-            if (idx < 0 || idx > UINT8_MAX) {
+            unsigned idx;
+            if (!android::base::ParseUint(interface, &idx, unsigned(UINT8_MAX))) {
                 std::cerr << "Interface index out of range: " << idx;
                 return -1;
             }
@@ -146,9 +147,11 @@
             return -1;
         }
 
-        long long bitrate = 0;
-        if (argc == 4) {
-            bitrate = std::stoll(argv[3]);
+        uint32_t bitrate = 0;
+        if (argc == 4 && !android::base::ParseUint(argv[3], &bitrate)) {
+            std::cerr << "Invalid bitrate!" << std::endl;
+            usage();
+            return -1;
         }
 
         return up(busName, *type, interface, bitrate);
diff --git a/automotive/can/1.0/tools/canhalsend.cpp b/automotive/can/1.0/tools/canhalsend.cpp
index 7e6833a..f0f9d10 100644
--- a/automotive/can/1.0/tools/canhalsend.cpp
+++ b/automotive/can/1.0/tools/canhalsend.cpp
@@ -15,6 +15,8 @@
  */
 
 #include <android-base/logging.h>
+#include <android-base/parseint.h>
+#include <android-base/strings.h>
 #include <android/hardware/automotive/can/1.0/ICanBus.h>
 #include <android/hidl/manager/1.2/IServiceManager.h>
 
@@ -27,13 +29,13 @@
 using Result = V1_0::Result;
 
 static void usage() {
-    std::cerr << "cansend - simple command line tool to send raw CAN frames" << std::endl;
+    std::cerr << "canhalsend - simple command line tool to send raw CAN frames" << std::endl;
     std::cerr << std::endl << "usage:" << std::endl << std::endl;
     std::cerr << "canhalsend <bus name> <can id>#<data>" << std::endl;
     std::cerr << "where:" << std::endl;
-    std::cerr << " bus name - name under which ICanBus is be published" << std::endl;
-    std::cerr << " can id - such as 1a5" << std::endl;
-    std::cerr << " data - such as deadbeef or 010203" << std::endl;
+    std::cerr << " bus name - name under which ICanBus is published" << std::endl;
+    std::cerr << " can id - such as 1a5 or 1fab5982" << std::endl;
+    std::cerr << " data - such as deadbeef, 010203, or R for a remote frame" << std::endl;
 }
 
 // TODO(b/135918744): extract to a new library
@@ -53,18 +55,13 @@
     return ICanBus::castFrom(ret);
 }
 
-static int cansend(const std::string& busname, V1_0::CanMessageId msgid,
-                   std::vector<uint8_t> payload) {
+static int cansend(const std::string& busname, const V1_0::CanMessage& msg) {
     auto bus = tryOpen(busname);
     if (bus == nullptr) {
         std::cerr << "Bus " << busname << " is not available" << std::endl;
         return -1;
     }
 
-    V1_0::CanMessage msg = {};
-    msg.id = msgid;
-    msg.payload = payload;
-
     const auto result = bus->send(msg);
     if (result != Result::OK) {
         std::cerr << "Send call failed: " << toString(result) << std::endl;
@@ -73,27 +70,54 @@
     return 0;
 }
 
-static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parseCanMessage(
-        const std::string& msg) {
+static std::optional<V1_0::CanMessage> parseCanMessage(const std::string& msg) {
     const auto hashpos = msg.find("#");
     if (hashpos == std::string::npos) return std::nullopt;
 
     const std::string msgidStr = msg.substr(0, hashpos);
     const std::string payloadStr = msg.substr(hashpos + 1);
 
-    size_t idx = 0;
-    V1_0::CanMessageId msgid = std::stoi(msgidStr, &idx, 16);
-    if (msgidStr[idx] != '\0') return std::nullopt;
+    V1_0::CanMessageId msgid;
+    // "0x" must be prepended to msgidStr, since ParseUint doesn't accept a base argument.
+    if (!android::base::ParseUint("0x" + msgidStr, &msgid)) return std::nullopt;
+
+    V1_0::CanMessage canmsg = {};
+    canmsg.id = msgid;
+    if (msgid > 0x7FF) {
+        canmsg.isExtendedId = true;
+    }
+
+    if (android::base::StartsWith(payloadStr, "R")) {
+        canmsg.remoteTransmissionRequest = true;
+
+        /* The CAN bus HAL doesn't define a data length code (DLC) field, since it is inferrred
+         * from the payload size. RTR messages indicate to the receiver how many bytes they are
+         * expecting to receive back via the DLC sent with the RTR frame. */
+        if (payloadStr.size() <= 1) return canmsg;
+
+        unsigned int dlc = 0;
+
+        /* The maximum DLC for CAN-FD is 64 bytes and CAN 2.0 is 8 bytes. Limit the size of the DLC
+         * to something memory safe and let the HAL determine if the DLC is valid. */
+        if (!android::base::ParseUint(payloadStr.substr(1), &dlc, 10000u)) {
+            std::cerr << "Invalid DLC for RTR frame!" << std::endl;
+            return std::nullopt;
+        }
+        canmsg.payload.resize(dlc);
+        return canmsg;
+    }
 
     std::vector<uint8_t> payload;
     if (payloadStr.size() % 2 != 0) return std::nullopt;
     for (size_t i = 0; i < payloadStr.size(); i += 2) {
         std::string byteStr(payloadStr, i, 2);
-        payload.emplace_back(std::stoi(byteStr, &idx, 16));
-        if (byteStr[idx] != '\0') return std::nullopt;
+        uint8_t byteBuf;
+        if (!android::base::ParseUint("0x" + byteStr, &byteBuf)) return std::nullopt;
+        payload.emplace_back(byteBuf);
     }
+    canmsg.payload = payload;
 
-    return {{msgid, payload}};
+    return canmsg;
 }
 
 static int main(int argc, char* argv[]) {
@@ -117,9 +141,8 @@
         std::cerr << "Failed to parse CAN message argument" << std::endl;
         return -1;
     }
-    const auto [msgid, payload] = *canmsg;
 
-    return cansend(busname, msgid, payload);
+    return cansend(busname, *canmsg);
 }
 
 }  // namespace android::hardware::automotive::can
diff --git a/automotive/can/1.0/tools/configurator/canprototools.cpp b/automotive/can/1.0/tools/configurator/canprototools.cpp
index 8e6b2b1..e7e3642 100644
--- a/automotive/can/1.0/tools/configurator/canprototools.cpp
+++ b/automotive/can/1.0/tools/configurator/canprototools.cpp
@@ -85,26 +85,31 @@
     switch (pb_bus.iface_type_case()) {
         case Bus::kNative: {
             const auto ifname = pb_bus.native().ifname();
-            if (ifname.empty()) {
-                LOG(ERROR) << "Invalid config: native type bus must have an iface name";
+            const auto serialno = pb_bus.native().serialno();
+            if (ifname.empty() == serialno.empty()) {
+                LOG(ERROR) << "Invalid config: native type bus must have an iface name xor a "
+                           << "serial number";
                 return std::nullopt;
             }
             bus_cfg.bitrate = pb_bus.bitrate();
             ICanController::BusConfig::InterfaceId::Socketcan socketcan = {};
-            socketcan.ifname(ifname);
+            if (!ifname.empty()) socketcan.ifname(ifname);
+            if (!serialno.empty()) socketcan.serialno({serialno.begin(), serialno.end()});
             bus_cfg.interfaceId.socketcan(socketcan);
             // TODO(b/142654031) - add support for serial number as an option instead of ifname.
             break;
         }
         case Bus::kSlcan: {
             const auto ttyname = pb_bus.slcan().ttyname();
-            if (ttyname.empty()) {
+            const auto serialno = pb_bus.slcan().serialno();
+            if (ttyname.empty() == serialno.empty()) {
                 LOG(ERROR) << "Invalid config: slcan type bus must have a tty name";
                 return std::nullopt;
             }
             bus_cfg.bitrate = pb_bus.bitrate();
             ICanController::BusConfig::InterfaceId::Slcan slcan = {};
-            slcan.ttyname(pb_bus.slcan().ttyname());
+            if (!ttyname.empty()) slcan.ttyname(ttyname);
+            if (!serialno.empty()) slcan.serialno({serialno.begin(), serialno.end()});
             bus_cfg.interfaceId.slcan(slcan);
             break;
         }
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
index a983c71..84354c1 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
@@ -15,8 +15,9 @@
  */
 #define LOG_TAG "DefaultVehicleHal_v2_0"
 
-#include <android/log.h>
 #include <android-base/macros.h>
+#include <android/log.h>
+#include <sys/system_properties.h>
 
 #include "EmulatedVehicleHal.h"
 #include "JsonFakeValueGenerator.h"
@@ -188,6 +189,14 @@
         return StatusCode::NOT_AVAILABLE;
     }
 
+    if (mInEmulator && propValue.prop == toInt(VehicleProperty::DISPLAY_BRIGHTNESS)) {
+        // Emulator does not support remote brightness control, b/139959479
+        // do not send it down so that it does not bring unnecessary property change event
+        // return other error code, such NOT_AVAILABLE, causes Emulator to be freezing
+        // TODO: return StatusCode::NOT_AVAILABLE once the above issue is fixed
+        return StatusCode::OK;
+    }
+
     /**
      * After checking all conditions, such as the property is available, a real vhal will
      * sent the events to Car ECU to take actions.
@@ -213,6 +222,17 @@
     return false;
 }
 
+// determine if it's running inside Android Emulator
+static bool isInEmulator() {
+    char propValue[PROP_VALUE_MAX];
+    bool isEmulator = (__system_property_get("ro.kernel.qemu", propValue) != 0);
+    if (!isEmulator) {
+        isEmulator = (__system_property_get("ro.hardware", propValue) != 0) &&
+                     (!strcmp(propValue, "ranchu") || !strcmp(propValue, "goldfish"));
+    }
+    return isEmulator;
+}
+
 // Parse supported properties list and generate vector of property values to hold current values.
 void EmulatedVehicleHal::onCreate() {
     static constexpr bool shouldUpdateStatus = true;
@@ -263,6 +283,8 @@
     }
     initObd2LiveFrame(*mPropStore->getConfigOrDie(OBD2_LIVE_FRAME));
     initObd2FreezeFrame(*mPropStore->getConfigOrDie(OBD2_FREEZE_FRAME));
+    mInEmulator = isInEmulator();
+    ALOGD("mInEmulator=%s", mInEmulator ? "true" : "false");
 }
 
 std::vector<VehiclePropConfig> EmulatedVehicleHal::listProperties()  {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
index ebf1995..dc05145 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
@@ -86,6 +86,7 @@
     std::unordered_set<int32_t> mHvacPowerProps;
     RecurrentTimer mRecurrentTimer;
     VehicleHalClient* mVehicleClient;
+    bool mInEmulator;
 };
 
 }  // impl
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.cpp
index a91ca8e..3f6ea5e 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.cpp
@@ -320,7 +320,7 @@
     // mInitialUserResponseFromCmd is used for just one request
     std::unique_ptr<VehiclePropValue> response = std::move(mInitialUserResponseFromCmd);
 
-    // TODO(b/138709788): rather than populate the raw values directly, it should use the
+    // TODO(b/150409377): rather than populate the raw values directly, it should use the
     // libraries that convert a InitialUserInfoResponse into a VehiclePropValue)
 
     switch (response->areaId) {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.h
index b1ae106..4d7dbea 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleHalServer.h
@@ -58,7 +58,7 @@
   // data members
 
   protected:
-    // TODO(b/146207078): it might be clearer to move members below to an EmulatedUserHal class
+    // TODO(b/150413515): it might be clearer to move members below to an EmulatedUserHal class
     std::unique_ptr<VehiclePropValue> mInitialUserResponseFromCmd;
 
   private:
diff --git a/drm/1.3/vts/functional/AndroidTest.xml b/drm/1.3/vts/functional/AndroidTest.xml
new file mode 100644
index 0000000..338430f
--- /dev/null
+++ b/drm/1.3/vts/functional/AndroidTest.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2020 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.
+-->
+<configuration description="Runs VtsHalDrmV1_3TargetTest.">
+    <option name="test-suite-tag" value="apct" />
+    <option name="test-suite-tag" value="apct-native" />
+
+    <target_preparer class="com.android.tradefed.targetprep.RootTargetPreparer"/>
+
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push-file" key="VtsHalDrmV1_3TargetTest" value="/data/local/tmp/VtsHalDrmV1_3TargetTest" />
+        <option name="push-file" key="libvtswidevine64.so" value="/data/local/tmp/64/lib/libvtswidevine.so" />
+        <option name="push-file" key="libvtswidevine32.so" value="/data/local/tmp/32/lib/libvtswidevine.so" />
+    </target_preparer>
+
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="VtsHalDrmV1_3TargetTest" />
+    </test>
+</configuration>
diff --git a/gnss/2.1/default/GnssAntennaInfo.h b/gnss/2.1/default/GnssAntennaInfo.h
index 94b2111..f2ce9a8 100644
--- a/gnss/2.1/default/GnssAntennaInfo.h
+++ b/gnss/2.1/default/GnssAntennaInfo.h
@@ -64,4 +64,4 @@
 }  // namespace hardware
 }  // namespace android
 
-#endif  // ANDROID_HARDWARE_GNSS_V2_1_GNSSCONFIGURATION_H
+#endif  // ANDROID_HARDWARE_GNSS_V2_1_GNSSCONFIGURATION_H
\ No newline at end of file
diff --git a/graphics/composer/2.2/utils/vts/RenderEngineVts.cpp b/graphics/composer/2.2/utils/vts/RenderEngineVts.cpp
index c78c358..3becace 100644
--- a/graphics/composer/2.2/utils/vts/RenderEngineVts.cpp
+++ b/graphics/composer/2.2/utils/vts/RenderEngineVts.cpp
@@ -69,9 +69,8 @@
                    [](renderengine::LayerSettings& settings) -> renderengine::LayerSettings* {
                        return &settings;
                    });
-    mRenderEngine->drawLayers(mDisplaySettings, compositionLayerPointers,
-                              mGraphicBuffer->getNativeBuffer(), true, std::move(bufferFence),
-                              &readyFence);
+    mRenderEngine->drawLayers(mDisplaySettings, compositionLayerPointers, mGraphicBuffer, true,
+                              std::move(bufferFence), &readyFence);
     int fd = readyFence.release();
     if (fd != -1) {
         ASSERT_EQ(0, sync_wait(fd, -1));
diff --git a/wifi/1.4/default/android.hardware.wifi@1.0-service.rc b/wifi/1.4/default/android.hardware.wifi@1.0-service.rc
index 2317bac..64a51b0 100644
--- a/wifi/1.4/default/android.hardware.wifi@1.0-service.rc
+++ b/wifi/1.4/default/android.hardware.wifi@1.0-service.rc
@@ -2,6 +2,8 @@
     interface android.hardware.wifi@1.0::IWifi default
     interface android.hardware.wifi@1.1::IWifi default
     interface android.hardware.wifi@1.2::IWifi default
+    interface android.hardware.wifi@1.3::IWifi default
+    interface android.hardware.wifi@1.4::IWifi default
     class hal
     capabilities NET_ADMIN NET_RAW SYS_MODULE
     user wifi