diff --git a/audio/5.0/config/api/current.txt b/audio/5.0/config/api/current.txt
index 17f38c1..c665781 100644
--- a/audio/5.0/config/api/current.txt
+++ b/audio/5.0/config/api/current.txt
@@ -114,6 +114,7 @@
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_APTX;
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_APTX_ADAPTIVE;
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_APTX_HD;
+    enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_APTX_TWSP;
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_CELT;
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_DOLBY_TRUEHD;
     enum_constant public static final audio.policy.configuration.V5_0.AudioFormat AUDIO_FORMAT_DSD;
diff --git a/audio/5.0/config/audio_policy_configuration.xsd b/audio/5.0/config/audio_policy_configuration.xsd
index c580b25..2e1a722 100644
--- a/audio/5.0/config/audio_policy_configuration.xsd
+++ b/audio/5.0/config/audio_policy_configuration.xsd
@@ -374,6 +374,7 @@
             <xs:enumeration value="AUDIO_FORMAT_APTX_ADAPTIVE"/>
             <xs:enumeration value="AUDIO_FORMAT_LHDC"/>
             <xs:enumeration value="AUDIO_FORMAT_LHDC_LL"/>
+            <xs:enumeration value="AUDIO_FORMAT_APTX_TWSP"/>
         </xs:restriction>
     </xs:simpleType>
     <xs:simpleType name="extendableAudioFormat">
diff --git a/audio/common/5.0/types.hal b/audio/common/5.0/types.hal
index 0a8d75b..0cbf35e 100644
--- a/audio/common/5.0/types.hal
+++ b/audio/common/5.0/types.hal
@@ -240,6 +240,7 @@
     APTX_ADAPTIVE       = 0x27000000UL,
     LHDC                = 0x28000000UL,
     LHDC_LL             = 0x29000000UL,
+    APTX_TWSP           = 0x2A000000UL,
 
     /** Deprecated */
     MAIN_MASK           = 0xFF000000UL,
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 435e19c..b04d096 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -1139,7 +1139,6 @@
      * Indicates which units the car is using to display fuel volume to the user. Eg. Liter or
      * Gallon.
      *
-     * Distance units are defined in VehicleUnit.
      * VehiclePropConfig.configArray is used to indicate the supported fuel volume display units.
      * Volume units are defined in VehicleUnit.
      * For example: configArray[0] = 0x41 // LITER
@@ -1160,7 +1159,6 @@
      * Indicates which units the car is using to display tire pressure to the user. Eg. PSI, Bar or
      * Kilopascal.
      *
-     * Distance units are defined in VehicleUnit.
      * VehiclePropConfig.configArray is used to indicate the supported pressure display units.
      * Pressure units are defined in VehicleUnit.
      * For example: configArray[0] = 0x70 // KILOPASCAL
@@ -1182,7 +1180,6 @@
      * Indicates which units the car is using to display EV battery information to the user. Eg.
      * watt-hours(Wh), kilowatt-hours(kWh) or ampere-hours(Ah).
      *
-     * Distance units are defined in VehicleUnit.
      * VehiclePropConfig.configArray is used to indicate the supported electrical energy units.
      * Electrical energy units are defined in VehicleUnit.
      * For example: configArray[0] = 0x60 // watt-hours
@@ -1199,6 +1196,22 @@
         | VehicleArea:GLOBAL),
 
     /**
+     * Fuel consumption units for display
+     *
+     * Indicates type of units the car is using to display fuel consumption information to user
+     * True indicates units are distance over volume such as MPG.
+     * False indicates units are volume over distance such as L/100KM.
+     *
+     * @change_mode VehiclePropertyChangeMode:ON_CHANGE
+     * @access VehiclePropertyAccess:READ_WRITE
+     */
+    FUEL_CONSUMPTION_UNITS_DISTANCE_OVER_VOLUME = (
+        0x0604
+        | VehiclePropertyGroup:SYSTEM
+        | VehiclePropertyType:BOOLEAN
+        | VehicleArea:GLOBAL),
+
+    /**
      * Outside temperature
      *
      * @change_mode VehiclePropertyChangeMode:CONTINUOUS
@@ -2588,7 +2601,11 @@
     KELVIN         = 0x32,
     MILLILITER     = 0x40,
     LITER          = 0x41,
+
+    /** deprecated. Use US_GALLON instead. */
     GALLON         = 0x42,
+    US_GALLON      = 0x42,
+    IMPERIAL_GALLON= 0x43,
     NANO_SECS      = 0x50,
     SECS           = 0x53,
     YEAR           = 0x59,
diff --git a/broadcastradio/2.0/default/BroadcastRadio.cpp b/broadcastradio/2.0/default/BroadcastRadio.cpp
index 28a0dd5..88a726f 100644
--- a/broadcastradio/2.0/default/BroadcastRadio.cpp
+++ b/broadcastradio/2.0/default/BroadcastRadio.cpp
@@ -49,6 +49,7 @@
         static_cast<uint32_t>(IdentifierType::AMFM_FREQUENCY),
         static_cast<uint32_t>(IdentifierType::RDS_PI),
         static_cast<uint32_t>(IdentifierType::HD_STATION_ID_EXT),
+        static_cast<uint32_t>(IdentifierType::DAB_SID_EXT),
     });
     prop.vendorInfo = hidl_vec<VendorKeyValue>({
         {"com.google.dummy", "dummy"},
diff --git a/broadcastradio/2.0/default/VirtualRadio.cpp b/broadcastradio/2.0/default/VirtualRadio.cpp
index 0b65979..c59fd8f 100644
--- a/broadcastradio/2.0/default/VirtualRadio.cpp
+++ b/broadcastradio/2.0/default/VirtualRadio.cpp
@@ -28,6 +28,7 @@
 using std::mutex;
 using std::vector;
 using utils::make_selector_amfm;
+using utils::make_selector_dab;
 
 VirtualRadio gAmFmRadio(
     "AM/FM radio mock",
@@ -41,6 +42,16 @@
         {make_selector_amfm(106100), "106 KMEL", "Drake", "Marvins Room"},
     });
 
+// clang-format off
+VirtualRadio gDabRadio(
+    "DAB radio mock",
+    {
+        {make_selector_dab(12345, 225648), "BBC Radio 1", "Khalid", "Talk"},  // 12B
+        {make_selector_dab(22345, 222064), "Classic FM", "Jean Sibelius", "Andante Festivo"},  // 11D
+        {make_selector_dab(32345, 222064), "Absolute Radio", "Coldplay", "Clocks"},  // 11D
+    });
+// clang-format on
+
 VirtualRadio::VirtualRadio(const std::string& name, const vector<VirtualProgram>& initialList)
     : mName(name), mPrograms(initialList) {}
 
diff --git a/broadcastradio/2.0/default/VirtualRadio.h b/broadcastradio/2.0/default/VirtualRadio.h
index 9c07816..6fa70c5 100644
--- a/broadcastradio/2.0/default/VirtualRadio.h
+++ b/broadcastradio/2.0/default/VirtualRadio.h
@@ -52,6 +52,9 @@
 /** AM/FM virtual radio space. */
 extern VirtualRadio gAmFmRadio;
 
+/** DAB virtual radio space. */
+extern VirtualRadio gDabRadio;
+
 }  // namespace implementation
 }  // namespace V2_0
 }  // namespace broadcastradio
diff --git a/broadcastradio/2.0/default/service.cpp b/broadcastradio/2.0/default/service.cpp
index af96dad..349aba2 100644
--- a/broadcastradio/2.0/default/service.cpp
+++ b/broadcastradio/2.0/default/service.cpp
@@ -23,6 +23,7 @@
 using android::hardware::joinRpcThreadpool;
 using android::hardware::broadcastradio::V2_0::implementation::BroadcastRadio;
 using android::hardware::broadcastradio::V2_0::implementation::gAmFmRadio;
+using android::hardware::broadcastradio::V2_0::implementation::gDabRadio;
 
 int main() {
     android::base::SetDefaultTag("BcRadioDef");
@@ -30,8 +31,13 @@
     configureRpcThreadpool(4, true);
 
     BroadcastRadio broadcastRadio(gAmFmRadio);
-    auto status = broadcastRadio.registerAsService();
-    CHECK_EQ(status, android::OK) << "Failed to register Broadcast Radio HAL implementation";
+    auto amFmStatus = broadcastRadio.registerAsService("amfm");
+    CHECK_EQ(amFmStatus, android::OK)
+        << "Failed to register Broadcast Radio AM/FM HAL implementation";
+
+    BroadcastRadio dabRadio(gDabRadio);
+    auto dabStatus = dabRadio.registerAsService("dab");
+    CHECK_EQ(dabStatus, android::OK) << "Failed to register Broadcast Radio DAB HAL implementation";
 
     joinRpcThreadpool();
     return 1;  // joinRpcThreadpool shouldn't exit
diff --git a/broadcastradio/common/utils2x/Utils.cpp b/broadcastradio/common/utils2x/Utils.cpp
index 7892653..43f272e 100644
--- a/broadcastradio/common/utils2x/Utils.cpp
+++ b/broadcastradio/common/utils2x/Utils.cpp
@@ -299,6 +299,20 @@
     return sel;
 }
 
+ProgramSelector make_selector_dab(uint32_t sidExt, uint32_t ensemble) {
+    ProgramSelector sel = {};
+    // TODO(maryabad): Have a helper function to create the sidExt instead of
+    // passing the whole identifier here. Something like make_dab_sid_ext.
+    sel.primaryId = make_identifier(IdentifierType::DAB_SID_EXT, sidExt);
+    hidl_vec<ProgramIdentifier> secondaryIds = {
+        make_identifier(IdentifierType::DAB_ENSEMBLE, ensemble),
+        // TODO(maryabad): Include frequency here when the helper method to
+        // translate between ensemble and frequency is implemented.
+    };
+    sel.secondaryIds = secondaryIds;
+    return sel;
+}
+
 Metadata make_metadata(MetadataKey key, int64_t value) {
     Metadata meta = {};
     meta.key = static_cast<uint32_t>(key);
diff --git a/broadcastradio/common/utils2x/include/broadcastradio-utils-2x/Utils.h b/broadcastradio/common/utils2x/include/broadcastradio-utils-2x/Utils.h
index c4aecb2..f4e0732 100644
--- a/broadcastradio/common/utils2x/include/broadcastradio-utils-2x/Utils.h
+++ b/broadcastradio/common/utils2x/include/broadcastradio-utils-2x/Utils.h
@@ -126,6 +126,7 @@
 
 V2_0::ProgramIdentifier make_identifier(V2_0::IdentifierType type, uint64_t value);
 V2_0::ProgramSelector make_selector_amfm(uint32_t frequency);
+V2_0::ProgramSelector make_selector_dab(uint32_t sidExt, uint32_t ensemble);
 V2_0::Metadata make_metadata(V2_0::MetadataKey key, int64_t value);
 V2_0::Metadata make_metadata(V2_0::MetadataKey key, std::string value);
 
diff --git a/current.txt b/current.txt
index 9df0406..0c50140 100644
--- a/current.txt
+++ b/current.txt
@@ -420,7 +420,7 @@
 9471b12b1c255bb530695720bc4174bd74987b75b1f820854af8944bc8c215c9 android.hardware.audio@5.0::IStreamOut
 1b0500367ed2b32a841667ac3200edf3d3a164e8004aca445ff1b085ac831e93 android.hardware.audio@5.0::IStreamOutCallback
 83e365479cc77d8717c155e1787ee668cd2ae4c557b467cf75b8e7cd53697ad8 android.hardware.audio@5.0::types
-c25ae57a9197fdf83aa6f7b31ab1ac4922dea4f19f92cdb1f9013ad49fa56594 android.hardware.audio.common@5.0::types
+a0df6961e65444e1ca40a206d7f31304d313e8b7e5b122855e3272ab02720cd4 android.hardware.audio.common@5.0::types
 f269297866765b95ddd1825676cc8a772f0c7c9863286df596fc302781a42ff5 android.hardware.audio.effect@5.0::IAcousticEchoCancelerEffect
 fa187b602d8939644ef708ed7627f2e3deac97899a4bda1de07f2ff126abe243 android.hardware.audio.effect@5.0::IAutomaticGainControlEffect
 e1bf864ccb8458c0da1dcc74a2e748b1dca8ac360df590591cf82d98292d7981 android.hardware.audio.effect@5.0::IBassBoostEffect
@@ -495,13 +495,13 @@
 aee53b2865b4f7939fb3df6fae758d9750c14f93dd454b479fc74aa7978fda4f android.hardware.media.bufferpool@2.0::IConnection
 0bf3758eeeb05767830ea87041214be80968c4679fb73577ac5b3091841ee71f android.hardware.media.bufferpool@2.0::IObserver
 82255e252ae215382473ad2e5ac7a2814a439a24f0092551aad7a2f89c6e9546 android.hardware.media.bufferpool@2.0::types
-277161ea99236a0858e9fcc021c357db03be2de500acf5701d125e73e3e8071a android.hardware.media.c2@1.0::IComponent
+7faa207e2507c6a2617e5ec2554b83383ebe392b6e627dddf2e3b0eae5715ba8 android.hardware.media.c2@1.0::IComponent
 389d06e4a4ecf60f828a260045b0c327a5ae883ee0856a3c054556dd22b1f450 android.hardware.media.c2@1.0::IComponentInterface
 5ee0c02265c5505ade189796bef46697df4e0563e3544bb0c934855b34694b07 android.hardware.media.c2@1.0::IComponentListener
 43d70bcdc63b3d042bac3c3297f5d941dfabbd08f3ceb96b6016cc14f6e34ba3 android.hardware.media.c2@1.0::IComponentStore
 d36f747f9c9a8f2f21db2f8323c2d755dd08b34ce813932d7339979f7d490dab android.hardware.media.c2@1.0::IConfigurable
-cd2bd9f424515aeb0c2b91f3bb879797defb5b846b8660784b68d225285bcdff android.hardware.media.c2@1.0::IInputSink
-c3dfaa1fcd452c6cfc26d8dcbb67b71b08a1fe6dad5f87427e93d11a95372b05 android.hardware.media.c2@1.0::IInputSurface
+21aa259585caaa27b6470ebcd8509aabde0ef5d039160aa6425d589cb787488b android.hardware.media.c2@1.0::IInputSink
+b9422a9aca84df1ff9623dc12c0562abce97716e28d63a965f2bfb88f9ad9607 android.hardware.media.c2@1.0::IInputSurface
 0a786a19e6753f9774a7ca7781c2a2edfe5c0b5fa112355dfa0e50ebedeb08b9 android.hardware.media.c2@1.0::IInputSurfaceConnection
 4cb139f729c29d8d6f4ecdab149c4feb571dad8a06e56cd57fcb52e70208bab4 android.hardware.media.c2@1.0::types
 4880af120fc1640225abdc2c60bda6d79617d73484d5124913c7278af3b11e2d android.hardware.neuralnetworks@1.2::IBurstCallback
diff --git a/keymaster/4.0/support/Keymaster.cpp b/keymaster/4.0/support/Keymaster.cpp
index 9325cc0..e8db074 100644
--- a/keymaster/4.0/support/Keymaster.cpp
+++ b/keymaster/4.0/support/Keymaster.cpp
@@ -106,6 +106,19 @@
     return result;
 }
 
+void Keymaster::logIfKeymasterVendorError(ErrorCode ec) const {
+    static constexpr int32_t k_keymaster_vendor_error_code_range_max = -10000;
+    if (static_cast<int32_t>(ec) <= k_keymaster_vendor_error_code_range_max) {
+        const auto& versionInfo = halVersion();
+        LOG(ERROR) << "Keymaster reported error: " << static_cast<int32_t>(ec) << "\n"
+                   << "NOTE: This is an error in the vendor specific error range.\n"
+                   << "      Refer to the vendor of the implementation for details.\n"
+                   << "      Implementation name: " << versionInfo.keymasterName << "\n"
+                   << "      Vendor name:         " << versionInfo.authorName << "\n"
+                   << "      MajorVersion:        " << versionInfo.majorVersion;
+    }
+}
+
 Keymaster::KeymasterSet Keymaster::enumerateAvailableDevices() {
     auto serviceManager = IServiceManager::getService();
     CHECK(serviceManager) << "Could not retrieve ServiceManager";
diff --git a/keymaster/4.0/support/include/keymasterV4_0/Keymaster.h b/keymaster/4.0/support/include/keymasterV4_0/Keymaster.h
index 458053a..43a34b0 100644
--- a/keymaster/4.0/support/include/keymasterV4_0/Keymaster.h
+++ b/keymaster/4.0/support/include/keymasterV4_0/Keymaster.h
@@ -65,6 +65,12 @@
     const hidl_string& instanceName() const { return instanceName_; }
 
     /**
+     * If ec is in the vendor error code range (<-10000), logs the fact to logcat.
+     * There are no side effects otherwise.
+     */
+    void logIfKeymasterVendorError(ErrorCode ec) const;
+
+    /**
      * Returns all available Keymaster3 and Keymaster4 instances, in order of most secure to least
      * secure (as defined by VersionResult::operator<).
      */
diff --git a/media/c2/1.0/Android.bp b/media/c2/1.0/Android.bp
index 6c836af..7307a81 100644
--- a/media/c2/1.0/Android.bp
+++ b/media/c2/1.0/Android.bp
@@ -19,7 +19,10 @@
     ],
     interfaces: [
         "android.hardware.graphics.bufferqueue@1.0",
+        "android.hardware.graphics.bufferqueue@2.0",
         "android.hardware.graphics.common@1.0",
+        "android.hardware.graphics.common@1.1",
+        "android.hardware.graphics.common@1.2",
         "android.hardware.media.bufferpool@2.0",
         "android.hardware.media.omx@1.0",
         "android.hardware.media@1.0",
diff --git a/media/c2/1.0/IComponent.hal b/media/c2/1.0/IComponent.hal
index abd1448..51ef4e1 100644
--- a/media/c2/1.0/IComponent.hal
+++ b/media/c2/1.0/IComponent.hal
@@ -17,6 +17,7 @@
 package android.hardware.media.c2@1.0;
 
 import android.hardware.graphics.bufferqueue@1.0::IGraphicBufferProducer;
+import android.hardware.graphics.bufferqueue@2.0::IGraphicBufferProducer;
 import android.hardware.media.omx@1.0::IGraphicBufferSource;
 
 import IConfigurable;
@@ -128,7 +129,7 @@
      */
     setOutputSurface(
             uint64_t blockPoolId,
-            IGraphicBufferProducer surface
+            @2.0::IGraphicBufferProducer surface
         ) generates (
             Status status
         );
@@ -184,7 +185,7 @@
      *     null.
      */
     connectToOmxInputSurface(
-            IGraphicBufferProducer producer,
+            @1.0::IGraphicBufferProducer producer,
             IGraphicBufferSource source
         ) generates (
             Status status,
diff --git a/media/c2/1.0/IInputSink.hal b/media/c2/1.0/IInputSink.hal
index 809c27a..767eb73 100644
--- a/media/c2/1.0/IInputSink.hal
+++ b/media/c2/1.0/IInputSink.hal
@@ -16,8 +16,6 @@
 
 package android.hardware.media.c2@1.0;
 
-import android.hardware.graphics.bufferqueue@1.0::IGraphicBufferProducer;
-
 import IConfigurable;
 
 /**
diff --git a/media/c2/1.0/IInputSurface.hal b/media/c2/1.0/IInputSurface.hal
index d11ce15..3eee7f1 100644
--- a/media/c2/1.0/IInputSurface.hal
+++ b/media/c2/1.0/IInputSurface.hal
@@ -16,7 +16,7 @@
 
 package android.hardware.media.c2@1.0;
 
-import android.hardware.graphics.bufferqueue@1.0::IGraphicBufferProducer;
+import android.hardware.graphics.bufferqueue@2.0::IGraphicBufferProducer;
 
 import IConfigurable;
 import IInputSink;