diff --git a/bluetooth/audio/aidl/Android.bp b/bluetooth/audio/aidl/Android.bp
index 32f8cca..16b22fe 100644
--- a/bluetooth/audio/aidl/Android.bp
+++ b/bluetooth/audio/aidl/Android.bp
@@ -29,7 +29,7 @@
     imports: [
         "android.hardware.common-V2",
         "android.hardware.common.fmq-V1",
-        "android.hardware.audio.common-V1",
+        "android.hardware.audio.common-V2",
     ],
     backend: {
         cpp: {
@@ -69,7 +69,7 @@
             imports: [
                 "android.hardware.common-V2",
                 "android.hardware.common.fmq-V1",
-                "android.hardware.audio.common-V1",
+                "android.hardware.audio.common-V2",
             ],
         },
 
diff --git a/bluetooth/audio/aidl/vts/Android.bp b/bluetooth/audio/aidl/vts/Android.bp
index 5a604a1..fe297e0 100644
--- a/bluetooth/audio/aidl/vts/Android.bp
+++ b/bluetooth/audio/aidl/vts/Android.bp
@@ -16,7 +16,7 @@
     tidy_timeout_srcs: ["VtsHalBluetoothAudioTargetTest.cpp"],
     srcs: ["VtsHalBluetoothAudioTargetTest.cpp"],
     static_libs: [
-        "android.hardware.audio.common-V1-ndk",
+        "android.hardware.audio.common-V2-ndk",
         "android.hardware.bluetooth.audio-V3-ndk",
         "android.hardware.common-V2-ndk",
         "android.hardware.common.fmq-V1-ndk",
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
index 25d704e..21951b6 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
@@ -34,23 +34,25 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorCapabilityTlvTypes {
-  SUPPORTED_POWER_STATS_QUERY = 192,
-  CCC_SUPPORTED_CHAPS_PER_SLOT = 160,
-  CCC_SUPPORTED_SYNC_CODES = 161,
-  CCC_SUPPORTED_HOPPING_CONFIG_MODES_AND_SEQUENCES = 162,
-  CCC_SUPPORTED_CHANNELS = 163,
-  CCC_SUPPORTED_VERSIONS = 164,
-  CCC_SUPPORTED_UWB_CONFIGS = 165,
-  CCC_SUPPORTED_PULSE_SHAPE_COMBOS = 166,
-  CCC_SUPPORTED_RAN_MULTIPLIER = 167,
-  CCC_SUPPORTED_MAX_RANGING_SESSION_NUMBER = 168,
-  CCC_SUPPORTED_MIN_UWB_INITIATION_TIME_MS = 169,
-  SUPPORTED_AOA_RESULT_REQ_ANTENNA_INTERLEAVING = 227,
-  SUPPORTED_MIN_RANGING_INTERVAL_MS = 228,
-  SUPPORTED_RANGE_DATA_NTF_CONFIG = 229,
-  SUPPORTED_RSSI_REPORTING = 230,
-  SUPPORTED_DIAGNOSTICS = 231,
-  SUPPORTED_MIN_SLOT_DURATION_RSTU = 232,
-  SUPPORTED_MAX_RANGING_SESSION_NUMBER = 233,
-  SUPPORTED_CHANNELS_AOA = 234,
+  SUPPORTED_POWER_STATS_QUERY = 0xC0,
+  CCC_SUPPORTED_CHAPS_PER_SLOT = 0xA0,
+  CCC_SUPPORTED_SYNC_CODES = 0xA1,
+  CCC_SUPPORTED_HOPPING_CONFIG_MODES_AND_SEQUENCES = 0xA2,
+  CCC_SUPPORTED_CHANNELS = 0xA3,
+  CCC_SUPPORTED_VERSIONS = 0xA4,
+  CCC_SUPPORTED_UWB_CONFIGS = 0xA5,
+  CCC_SUPPORTED_PULSE_SHAPE_COMBOS = 0xA6,
+  CCC_SUPPORTED_RAN_MULTIPLIER = 0xA7,
+  CCC_SUPPORTED_MAX_RANGING_SESSION_NUMBER = 0xA8,
+  CCC_SUPPORTED_MIN_UWB_INITIATION_TIME_MS = 0xA9,
+  CCC_PRIORITIZED_CHANNEL_LIST = 0xAA,
+  RADAR_SUPPORT = 0xB0,
+  SUPPORTED_AOA_RESULT_REQ_ANTENNA_INTERLEAVING = 0xE3,
+  SUPPORTED_MIN_RANGING_INTERVAL_MS = 0xE4,
+  SUPPORTED_RANGE_DATA_NTF_CONFIG = 0xE5,
+  SUPPORTED_RSSI_REPORTING = 0xE6,
+  SUPPORTED_DIAGNOSTICS = 0xE7,
+  SUPPORTED_MIN_SLOT_DURATION_RSTU = 0xE8,
+  SUPPORTED_MAX_RANGING_SESSION_NUMBER = 0xE9,
+  SUPPORTED_CHANNELS_AOA = 0xEA,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
index 0e33f70..702e561 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
@@ -40,17 +40,19 @@
   PULSE_SHAPE_PRECURSOR_FREE = 1,
   PULSE_SHAPE_PRECURSOR_FREE_SPECIAL = 2,
   CHAPS_PER_SLOT_3 = 1,
-  CHAPS_PER_SLOT_4 = 2,
-  CHAPS_PER_SLOT_6 = 4,
-  CHAPS_PER_SLOT_8 = 8,
-  CHAPS_PER_SLOT_9 = 16,
-  CHAPS_PER_SLOT_12 = 32,
-  CHAPS_PER_SLOT_24 = 64,
-  HOPPING_SEQUENCE_DEFAULT = 16,
-  HOPPING_SEQUENCE_AES = 8,
-  HOPPING_CONFIG_MODE_NONE = 128,
-  HOPPING_CONFIG_MODE_CONTINUOUS = 64,
-  HOPPING_CONFIG_MODE_ADAPTIVE = 32,
+  CHAPS_PER_SLOT_4 = (1 << 1) /* 2 */,
+  CHAPS_PER_SLOT_6 = (1 << 2) /* 4 */,
+  CHAPS_PER_SLOT_8 = (1 << 3) /* 8 */,
+  CHAPS_PER_SLOT_9 = (1 << 4) /* 16 */,
+  CHAPS_PER_SLOT_12 = (1 << 5) /* 32 */,
+  CHAPS_PER_SLOT_24 = (1 << 6) /* 64 */,
+  HOPPING_SEQUENCE_DEFAULT = (1 << 4) /* 16 */,
+  HOPPING_SEQUENCE_AES = (1 << 3) /* 8 */,
+  HOPPING_CONFIG_MODE_NONE = (1 << 7) /* 128 */,
+  HOPPING_CONFIG_MODE_CONTINUOUS = (1 << 6) /* 64 */,
+  HOPPING_CONFIG_MODE_ADAPTIVE = (1 << 5) /* 32 */,
   CCC_CHANNEL_5 = 1,
-  CCC_CHANNEL_9 = 2,
+  CCC_CHANNEL_9 = (1 << 1) /* 2 */,
+  RADAR_NOT_SUPPORTED = 0,
+  RADAR_SWEEP_SAMPLES_SUPPORTED = 1,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl
new file mode 100644
index 0000000..efafa32
--- /dev/null
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.uwb.fira_android;
+@Backing(type="byte") @VintfStability
+enum UwbVendorDataPacketFormat {
+  RADAR_DATA_MESSAGE = 0xF,
+}
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
index fbcfbff..1506406 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
@@ -34,7 +34,9 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="byte") @VintfStability
 enum UwbVendorGidAndroidOids {
-  ANDROID_GET_POWER_STATS = 0,
-  ANDROID_SET_COUNTRY_CODE = 1,
-  ANDROID_RANGE_DIAGNOSTICS = 2,
+  ANDROID_GET_POWER_STATS = 0x0,
+  ANDROID_SET_COUNTRY_CODE = 0x1,
+  ANDROID_RANGE_DIAGNOSTICS = 0x2,
+  RADAR_SET_APP_CONFIG = 0x11,
+  RADAR_GET_APP_CONFIG = 0x12,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGids.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGids.aidl
index 5515c67..f02ed70 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGids.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorGids.aidl
@@ -34,5 +34,5 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="byte") @VintfStability
 enum UwbVendorGids {
-  ANDROID = 12,
+  ANDROID = 0xC,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl
new file mode 100644
index 0000000..760166c
--- /dev/null
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.uwb.fira_android;
+@Backing(type="int") @VintfStability
+enum UwbVendorRadarAppConfigTlvTypes {
+  RADAR_TIMING_PARAMS = 0x0,
+  SAMPLES_PER_SWEEP = 0x1,
+  RADAR_CHANNEL_NUMBER = 0x2,
+  SWEEP_OFFSET = 0x3,
+  RADAR_RFRAME_CONFIG = 0x4,
+  RADAR_PREAMBLE_DURATION = 0x5,
+  RADAR_PREAMBLE_CODE_INDEX = 0x6,
+  RADAR_SESSION_PRIORITY = 0x7,
+  BITS_PER_SAMPLE = 0x8,
+  RADAR_PRF_MODE = 0x9,
+  NUMBER_OF_BURSTS = 0xA,
+  RADAR_DATA_TYPE = 0xB,
+}
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl
new file mode 100644
index 0000000..1eb2ce9
--- /dev/null
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.uwb.fira_android;
+@Backing(type="int") @VintfStability
+enum UwbVendorRadarAppConfigTlvValues {
+  RADAR_DATA_TYPE_RADAR_SWEEP_SAMPLES = 0x0,
+}
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorReasonCodes.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorReasonCodes.aidl
index a438cbe..db1e0db 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorReasonCodes.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorReasonCodes.aidl
@@ -34,7 +34,7 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorReasonCodes {
-  REASON_ERROR_INVALID_CHANNEL_WITH_AOA = 128,
-  REASON_ERROR_STOPPED_DUE_TO_OTHER_SESSION_CONFLICT = 129,
-  REASON_REGULATION_UWB_OFF = 130,
+  REASON_ERROR_INVALID_CHANNEL_WITH_AOA = 0x80,
+  REASON_ERROR_STOPPED_DUE_TO_OTHER_SESSION_CONFLICT = 0x81,
+  REASON_REGULATION_UWB_OFF = 0x82,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvTypes.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvTypes.aidl
index c3ac401..d02cf4d 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvTypes.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvTypes.aidl
@@ -34,16 +34,16 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorSessionAppConfigTlvTypes {
-  CCC_HOP_MODE_KEY = 160,
-  CCC_UWB_TIME0 = 161,
-  CCC_RANGING_PROTOCOL_VER = 163,
-  CCC_UWB_CONFIG_ID = 164,
-  CCC_PULSESHAPE_COMBO = 165,
-  CCC_URSK_TTL = 166,
-  CCC_LAST_INDEX_USED = 168,
-  NB_OF_RANGE_MEASUREMENTS = 227,
-  NB_OF_AZIMUTH_MEASUREMENTS = 228,
-  NB_OF_ELEVATION_MEASUREMENTS = 229,
-  ENABLE_DIAGNOSTICS = 232,
-  DIAGRAMS_FRAME_REPORTS_FIELDS = 233,
+  CCC_HOP_MODE_KEY = 0xA0,
+  CCC_UWB_TIME0 = 0xA1,
+  CCC_RANGING_PROTOCOL_VER = 0xA3,
+  CCC_UWB_CONFIG_ID = 0xA4,
+  CCC_PULSESHAPE_COMBO = 0xA5,
+  CCC_URSK_TTL = 0xA6,
+  CCC_LAST_INDEX_USED = 0xA8,
+  NB_OF_RANGE_MEASUREMENTS = 0xE3,
+  NB_OF_AZIMUTH_MEASUREMENTS = 0xE4,
+  NB_OF_ELEVATION_MEASUREMENTS = 0xE5,
+  ENABLE_DIAGNOSTICS = 0xE8,
+  DIAGRAMS_FRAME_REPORTS_FIELDS = 0xE9,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvValues.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvValues.aidl
index a7f487b..5216e1f 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvValues.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionAppConfigTlvValues.aidl
@@ -34,5 +34,5 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorSessionAppConfigTlvValues {
-  AOA_RESULT_REQ_ANTENNA_INTERLEAVING = 240,
+  AOA_RESULT_REQ_ANTENNA_INTERLEAVING = 0xF0,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
index 30a0a1b..bf968bd 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
@@ -34,5 +34,6 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorSessionInitSessionType {
-  CCC = 160,
+  CCC = 0xA0,
+  RADAR = 0xA1,
 }
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorStatusCodes.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorStatusCodes.aidl
index 28cf7fe..52f1350 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorStatusCodes.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorStatusCodes.aidl
@@ -34,8 +34,8 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="byte") @VintfStability
 enum UwbVendorStatusCodes {
-  STATUS_ERROR_CCC_SE_BUSY = 80,
-  STATUS_ERROR_CCC_LIFECYCLE = 81,
-  STATUS_ERROR_STOPPED_DUE_TO_OTHER_SESSION_CONFLICT = 82,
-  STATUS_REGULATION_UWB_OFF = 83,
+  STATUS_ERROR_CCC_SE_BUSY = 0x50,
+  STATUS_ERROR_CCC_LIFECYCLE = 0x51,
+  STATUS_ERROR_STOPPED_DUE_TO_OTHER_SESSION_CONFLICT = 0x52,
+  STATUS_REGULATION_UWB_OFF = 0x53,
 }
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/README.md b/uwb/aidl/android/hardware/uwb/fira_android/README.md
index e658d93..7912bbc 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/README.md
+++ b/uwb/aidl/android/hardware/uwb/fira_android/README.md
@@ -10,6 +10,3 @@
 All other interactions sent/received over the HAL interface is expected to
 comply with the UCI specification that can be found [here](
 https://groups.firaconsortium.org/wg/Technical/document/folder/127).
-
-TODO([b/196004116](b/196004116)): Link to the published specification.
-
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
index 22b7bfe..2141b5a 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvTypes.aidl
@@ -149,6 +149,21 @@
      */
     CCC_SUPPORTED_MIN_UWB_INITIATION_TIME_MS = 0xA9,
 
+    /**
+     * Byte array of channels supported by the device, ordered by priority from highest to lowest.
+     */
+    CCC_PRIORITIZED_CHANNEL_LIST = 0xAA,
+
+    /*********************************************
+     * RADAR specific
+     ********************************************/
+    /**
+     * 1 byte bitmask to indicate the supported Radar data types.
+     * Each "1" in this bitmap corresponds to a specific radar data type where:
+     * 0x01 = "Radar Sweep Samples",
+     */
+    RADAR_SUPPORT = 0xB0,
+
     /*********************************************
      * FIRA specific
      ********************************************/
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
index 7c86b79..6ef52fe 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorCapabilityTlvValues.aidl
@@ -51,4 +51,10 @@
 
     CCC_CHANNEL_5 = 1,
     CCC_CHANNEL_9 = 1 << 1,
+
+    /*********************************************
+     * RADAR specific
+     ********************************************/
+    RADAR_NOT_SUPPORTED = 0,
+    RADAR_SWEEP_SAMPLES_SUPPORTED = 1,
 }
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl
new file mode 100644
index 0000000..7a1b033
--- /dev/null
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorDataPacketFormat.aidl
@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2023 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 android.hardware.uwb.fira_android;
+
+/**
+ * Android specific vendor DPF (Data Packet Format) should be defined here.
+ */
+@VintfStability
+@Backing(type="byte")
+enum UwbVendorDataPacketFormat {
+    // Used to send radar data messages from UWBS to the host.
+    RADAR_DATA_MESSAGE = 0xF,
+}
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
index 4768f55..95c10a8 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorGidAndroidOids.aidl
@@ -37,4 +37,13 @@
     // Supported only if the UwbVendorCapabilityTlvTypes.SUPPORTED_DIAGNOSTICS set
     // to 1.
     ANDROID_RANGE_DIAGNOSTICS = 0x2,
+
+    /*********************************************
+     * Range 0x10 - 0x1F reserved for RADAR specific
+     * Supported only if the UwbVendorCapabilityTlvTypes.RADAR_SUPPORT is not 0x00.
+     ********************************************/
+    // Used to set application configurations for radar session.
+    RADAR_SET_APP_CONFIG = 0x11,
+    // Used to get application configurations for radar session.
+    RADAR_GET_APP_CONFIG = 0x12,
 }
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl
new file mode 100644
index 0000000..a5ea688
--- /dev/null
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvTypes.aidl
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2023 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 android.hardware.uwb.fira_android;
+
+/**
+ * Android specific radar app params set/expected in UCI command:
+ * GID: 1100b (Android specific Group)
+ * OID: 010001b (RADAR_SET_APP_CONFIG_CMD)
+ * OID: 010010b (RADAR_GET_APP_CONFIG_CMD)
+ */
+@VintfStability
+@Backing(type="int")
+enum UwbVendorRadarAppConfigTlvTypes {
+    /**
+     * 7 byte data
+     * Radar frame timing parameters:
+     * Octet [3:0] - BURST_PERIOD
+     *   Duration between the start of two consecutive Radar bursts in ms.
+     * Octet [5:4] - SWEEP_PERIOD
+     *   Duration between the start times of two consecutive Radar sweeps in
+     *   RSTU.
+     * Octet [6] - SWEEPS_PER_BURST
+     *   Number of Radar sweeps within the Radar burst.
+     */
+    RADAR_TIMING_PARAMS = 0x0,
+    /**
+     * 1 byte data
+     * The number of samples captured for each radar sweep. (default = 64)
+     */
+    SAMPLES_PER_SWEEP = 0x1,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config.
+     * (default = 9)
+     */
+    RADAR_CHANNEL_NUMBER = 0x2,
+    /**
+     * 2 byte data
+     * Defines the start offset with respect to 0cm distance to limit the sweep
+     * range. Signed value and unit in samples.
+     * (default = 0)
+     */
+    SWEEP_OFFSET = 0x3,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config.
+     * (default = 0x0)
+     */
+    RADAR_RFRAME_CONFIG = 0x4,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config, but extended to 0xA.
+     * (default = 0x2 : 128 symbols)
+     */
+    RADAR_PREAMBLE_DURATION = 0x5,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config, but extended to 127.
+     * (default = 25)
+     */
+    RADAR_PREAMBLE_CODE_INDEX = 0x6,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config.
+     * (default = 50)
+     */
+    RADAR_SESSION_PRIORITY = 0x7,
+    /**
+     * 1 byte data
+     * Bits per sample in the radar sweep.
+     * 0x00 = 32 bits per sample (default)
+     * 0x01 = 48 bits per sample
+     * 0x02 = 64 bits per sample
+     */
+    BITS_PER_SAMPLE = 0x8,
+    /**
+     * 1 byte data
+     * Same as in FiRa UCI Session App Config.
+     * (default = 0x1)
+     */
+    RADAR_PRF_MODE = 0x9,
+    /**
+     * 2 byte data
+     * Maximum number of Radar bursts to be executed in the session. The
+     * session is stopped and moved to SESSION_STATE_IDLE Session State when
+     * configured radar bursts are elapsed.
+     * 0x00 = Unlimited (default)
+     */
+    NUMBER_OF_BURSTS = 0xA,
+    /**
+     * 2 byte data
+     * Type of radar data to be reported.
+     * 0x00: Radar Sweep Samples. Reported in RADAR_DATA_NTF. (default)
+     */
+    RADAR_DATA_TYPE = 0xB,
+}
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl
new file mode 100644
index 0000000..81c0a4d
--- /dev/null
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorRadarAppConfigTlvValues.aidl
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2023 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 android.hardware.uwb.fira_android;
+
+/**
+ * Android specific radar app config values set/expected in UCI command:
+ * GID: 1100b (Android specific Group)
+ * OID: 010001b (RADAR_SET_APP_CONFIG_CMD)
+ * OID: 010010b (RADAR_GET_APP_CONFIG_CMD)
+ */
+@VintfStability
+@Backing(type="int")
+enum UwbVendorRadarAppConfigTlvValues {
+    RADAR_DATA_TYPE_RADAR_SWEEP_SAMPLES = 0x0,
+}
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
index 1e2c817..d3df672 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionInitSessionType.aidl
@@ -29,4 +29,5 @@
 enum UwbVendorSessionInitSessionType {
     /** Added in vendor version 0. */
     CCC = 0xA0,
+    RADAR = 0xA1,
 }