diff --git a/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp b/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
index 28d87d9..19aa429 100644
--- a/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
+++ b/modules/sensors/dynamic_sensor/HidUtils/HidParser.cpp
@@ -240,10 +240,12 @@
                 auto logical = r.getLogicalRange();
                 auto physical = r.getPhysicalRange();
 
-                int64_t offset = physical.first - logical.first;
                 double scale = static_cast<double>((physical.second - physical.first))
                         / (logical.second - logical.first);
                 scale *= r.getExponentValue();
+                int64_t offset =
+                        (physical.first * r.getExponentValue() / scale) -
+                        logical.first;
 
                 ReportItem digest = {
                     .usage = r.getFullUsage(),
diff --git a/modules/sensors/dynamic_sensor/README.md b/modules/sensors/dynamic_sensor/README.md
new file mode 100644
index 0000000..49e541e
--- /dev/null
+++ b/modules/sensors/dynamic_sensor/README.md
@@ -0,0 +1,152 @@
+# Dynamic Sensors
+
+[TOC]
+
+## Links
+
+*   [Sensor HAL dynamic sensor support](https://source.android.com/devices/sensors/sensors-hal2#dynamic-sensors)
+*   [Sensors Multi-HAL](https://source.android.com/devices/sensors/sensors-multihal)
+
+## Adding dynamic sensor support to a device
+
+A few files need to be modified to add dynamic sensor support to a device. The
+dynamic sensor HAL must be enabled in the device product makefile and in the
+sensor sub-HAL configuration file, raw HID devices must be configured, and raw
+HID device and dynamic sensor property permissions must be set up in the SELinux
+policy files.
+
+```shell
+acme-co$ git -C device/acme/rocket-phone diff
+diff --git a/sensor_hal/hals.conf b/sensor_hal/hals.conf
+index a1f4b8b..d112546 100644
+--- a/sensor_hal/hals.conf
++++ b/sensor_hal/hals.conf
+@@ -1 +1,2 @@
++sensors.dynamic_sensor_hal.so
+ sensors.rocket-phone.so
+diff --git a/rocket-phone.mk b/rocket-phone.mk
+index 3fc8538..b1bd8a1 100644
+--- a/rocket-phone.mk
++++ b/rocket-phone.mk
+@@ -73,6 +73,9 @@
+ PRODUCT_PACKAGES += sensors.rocket-phone
+ PRODUCT_PACKAGES += thruster_stats
+
++# Add the dynamic sensor HAL.
++PRODUCT_PACKAGES += sensors.dynamic_sensor_hal
++
+ # Only install test tools in debug build or eng build.
+ ifneq ($(filter userdebug eng,$(TARGET_BUILD_VARIANT)),)
+   PRODUCT_PACKAGES += thruster_test
+diff --git a/conf/ueventd.rc b/conf/ueventd.rc
+index 88ee00b..2f03009 100644
+--- a/conf/ueventd.rc
++++ b/conf/ueventd.rc
+@@ -209,3 +209,7 @@
+
+ # Thrusters
+ /dev/thruster*                         0600   system     system
++
++# Raw HID devices
++/dev/hidraw*                           0660   system     system
++
+diff --git a/sepolicy/sensor_hal.te b/sepolicy/sensor_hal.te
+index 0797253..22a4208 100644
+--- a/sepolicy/sensor_hal.te
++++ b/sepolicy/sensor_hal.te
+@@ -52,6 +52,9 @@
+ # Allow sensor HAL to read thruster state.
+ allow hal_sensors_default thruster_state:file r_file_perms;
+
++# Allow access for dynamic sensor properties.
++get_prop(hal_sensors_default, vendor_dynamic_sensor_prop)
++
++# Allow access to raw HID devices for dynamic sensors.
++allow hal_sensors_default hidraw_device:chr_file rw_file_perms;
++
+ #
+ # Thruster sensor enforcements.
+ #
+diff --git a/sepolicy/device.te b/sepolicy/device.te
+index bc3c947..bad0be0 100644
+--- a/sepolicy/device.te
++++ b/sepolicy/device.te
+@@ -55,3 +55,7 @@
+
+ # Thruster
+ type thruster_device, dev_type;
++
++# Raw HID device
++type hidraw_device, dev_type;
++
+diff --git a/sepolicy/property.te b/sepolicy/property.te
+index 4b671a4..bb0894f 100644
+--- a/sepolicy/property.te
++++ b/sepolicy/property.te
+@@ -49,3 +49,7 @@
+
+ # Thruster
+ vendor_internal_prop(vendor_thruster_debug_prop)
++
++# Dynamic sensor
++vendor_internal_prop(vendor_dynamic_sensor_prop)
++
+diff --git a/sepolicy/file_contexts b/sepolicy/file_contexts
+index bc03a78..ff401dc 100644
+--- a/sepolicy/file_contexts
++++ b/sepolicy/file_contexts
+@@ -441,3 +441,7 @@
+ /dev/thruster-fuel                  u:object_r:thruster_device:s0
+ /dev/thruster-output                u:object_r:thruster_device:s0
+ /dev/thruster-telemetry             u:object_r:thruster_device:s0
++
++# Raw HID device
++/dev/hidraw[0-9]*                  u:object_r:hidraw_device:s0
++
+diff --git a/sepolicy/property_contexts b/sepolicy/property_contexts
+index 5d2f018..18a6059 100644
+--- a/sepolicy/property_contexts
++++ b/sepolicy/property_contexts
+@@ -104,3 +104,7 @@
+
+ # Thruster
+ vendor.thruster.debug                           u:object_r:vendor_thruster_debug_prop:s0
++
++# Dynamic sensor
++vendor.dynamic_sensor.                          u:object_r:vendor_dynamic_sensor_prop:s0
++
+acme-co$
+```
+
+Once the file modifications are made, rebuild and flash. The dynamic sensor HAL
+should be initialized and appear in the sensor service.
+
+```shell
+acme-co$ make -j28 && fastboot flashall
+.
+.
+.
+acme-co$ adb logcat -d | grep DynamicSensorHal
+12-15 18:18:45.735   791   791 D DynamicSensorHal: DynamicSensorsSubHal::getSensorsList_2_1 invoked.
+12-15 18:18:47.474   791   791 D DynamicSensorHal: DynamicSensorsSubHal::initialize invoked.
+acme-co$ adb shell dumpsys sensorservice | grep Dynamic
+0000000000) Dynamic Sensor Manager    | Google          | ver: 1 | type: android.sensor.dynamic_sensor_meta(32) | perm: n/a | flags: 0x00000007
+Dynamic Sensor Manager (handle=0x00000000, connections=1)
+         Dynamic Sensor Manager 0x00000000 | status: active | pending flush events 0
+acme-co$ adb logcat -c
+acme-co$
+```
+
+When a dynamic sensor is paired with the device (e.g., Bluetooth rocket buds),
+it will appear in the sensor service.
+
+```shell
+acme-co$ adb logcat -d | grep "DynamicSensorHal\|hidraw\|Rocket"
+12-15 18:19:55.268   157   157 I hid-generic 0003: 1234:5678.0001: hidraw0: BLUETOOTH HID v0.00 Device [RocketBuds] on
+12-15 18:19:55.235   791   809 E DynamicSensorHal: return 1 sensors
+12-15 18:19:56.239  1629  1787 I SensorService: Dynamic sensor handle 0x1 connected, type 65536, name RocketBuds
+acme-co$ adb shell dumpsys sensorservice | grep Rocket
+0x00000001) RocketBuds                | BLUETOOTH 1234:1234   | ver: 1 | type: com.google.hardware.sensor.hid_dynamic.headtracker(65536) | perm: n/a | flags: 0x00000020
+acme-co$
+```
+
diff --git a/modules/usbaudio/audio_hal.c b/modules/usbaudio/audio_hal.c
index 39c0fb5..fe921d6 100644
--- a/modules/usbaudio/audio_hal.c
+++ b/modules/usbaudio/audio_hal.c
@@ -460,6 +460,41 @@
     return num_sample_rates;
 }
 
+static bool are_all_devices_found(unsigned int num_devices_to_find,
+                                  const int cards_to_find[],
+                                  const int devices_to_find[],
+                                  unsigned int num_devices,
+                                  const int cards[],
+                                  const int devices[]) {
+    for (unsigned int i = 0; i < num_devices_to_find; ++i) {
+        unsigned int j = 0;
+        for (; j < num_devices; ++j) {
+            if (cards_to_find[i] == cards[j] && devices_to_find[i] == devices[j]) {
+                break;
+            }
+        }
+        if (j >= num_devices) {
+            return false;
+        }
+    }
+    return true;
+}
+
+static bool are_devices_the_same(unsigned int left_num_devices,
+                                 const int left_cards[],
+                                 const int left_devices[],
+                                 unsigned int right_num_devices,
+                                 const int right_cards[],
+                                 const int right_devices[]) {
+    if (left_num_devices != right_num_devices) {
+        return false;
+    }
+    return are_all_devices_found(left_num_devices, left_cards, left_devices,
+                                 right_num_devices, right_cards, right_devices) &&
+           are_all_devices_found(right_num_devices, right_cards, right_devices,
+                                 left_num_devices, left_cards, left_devices);
+}
+
 /*
  * HAl Functions
  */
@@ -548,10 +583,11 @@
     list_for_each(node, alsa_devices) {
         struct alsa_device_info *device_info =
                 node_to_item(node, struct alsa_device_info, list_node);
-        dprintf(fd, "Output Profile %zu:\n", i);
+        const char* direction = device_info->profile.direction == PCM_OUT ? "Output" : "Input";
+        dprintf(fd, "%s Profile %zu:\n", direction, i);
         profile_dump(&device_info->profile, fd);
 
-        dprintf(fd, "Output Proxy %zu:\n", i);
+        dprintf(fd, "%s Proxy %zu:\n", direction, i);
         proxy_dump(&device_info->proxy, fd);
     }
 }
@@ -1648,6 +1684,13 @@
         saved_devices[num_saved_devices++] = device_info->profile.device;
     }
 
+    if (are_devices_the_same(
+                num_configs, cards, devices, num_saved_devices, saved_cards, saved_devices)) {
+        // The new devices are the same as original ones. No need to update.
+        stream_unlock(lock);
+        return 0;
+    }
+
     device_lock(adev);
     stream_standby_l(alsa_devices, out == NULL ? &in->standby : &out->standby);
     device_unlock(adev);