diff --git a/include/hardware/bluetooth.h b/include/hardware/bluetooth.h
index da7f4b8..3427213 100644
--- a/include/hardware/bluetooth.h
+++ b/include/hardware/bluetooth.h
@@ -542,6 +542,12 @@
      * Function is synchronous and |fd| is owned by caller.
      */
     void (*dump)(int fd);
+
+    /**
+     * Clear /data/misc/bt_config.conf and erase all stored connections
+     */
+    int (*config_clear)(void);
+
 } bt_interface_t;
 
 /** TODO: Need to add APIs for Service Discovery, Service authorization and
diff --git a/include/hardware/fingerprint.h b/include/hardware/fingerprint.h
index 075e18b..ac88c10 100644
--- a/include/hardware/fingerprint.h
+++ b/include/hardware/fingerprint.h
@@ -31,23 +31,41 @@
     FINGERPRINT_AUTHENTICATED = 5
 } fingerprint_msg_type_t;
 
+/*
+ * Fingerprint errors are meant to tell the framework to terminate the current operation and ask
+ * for the user to correct the situation. These will almost always result in messaging and user
+ * interaction to correct the problem.
+ *
+ * For example, FINGERPRINT_ERROR_CANCELED should follow any acquisition message that results in
+ * a situation where the current operation can't continue without user interaction. For example,
+ * if the sensor is dirty during enrollment and no further enrollment progress can be made,
+ * send FINGERPRINT_ACQUIRED_IMAGER_DIRTY followed by FINGERPRINT_ERROR_CANCELED.
+ */
 typedef enum fingerprint_error {
-    FINGERPRINT_ERROR_HW_UNAVAILABLE = 1,
-    FINGERPRINT_ERROR_UNABLE_TO_PROCESS = 2,
-    FINGERPRINT_ERROR_TIMEOUT = 3,
+    FINGERPRINT_ERROR_HW_UNAVAILABLE = 1, /* The hardware has an error that can't be resolved. */
+    FINGERPRINT_ERROR_UNABLE_TO_PROCESS = 2, /* Bad data; operation can't continue */
+    FINGERPRINT_ERROR_TIMEOUT = 3, /* The operation has timed out waiting for user input. */
     FINGERPRINT_ERROR_NO_SPACE = 4, /* No space available to store a template */
-    FINGERPRINT_ERROR_CANCELED = 5,
-    FINGERPRINT_ERROR_UNABLE_TO_REMOVE = 6, /* fingerprint id can't be removed */
+    FINGERPRINT_ERROR_CANCELED = 5, /* The current operation can't proceed. See above. */
+    FINGERPRINT_ERROR_UNABLE_TO_REMOVE = 6, /* fingerprint with given id can't be removed */
     FINGERPRINT_ERROR_VENDOR_BASE = 1000 /* vendor-specific error messages start here */
 } fingerprint_error_t;
 
+/*
+ * Fingerprint acquisition info is meant as feedback for the current operation.  Anything but
+ * FINGERPRINT_ACQUIRED_GOOD will be shown to the user as feedback on how to take action on the
+ * current operation. For example, FINGERPRINT_ACQUIRED_IMAGER_DIRTY can be used to tell the user
+ * to clean the sensor.  If this will cause the current operation to fail, an additional
+ * FINGERPRINT_ERROR_CANCELED can be sent to stop the operation in progress (e.g. enrollment).
+ * In general, these messages will result in a "Try again" message.
+ */
 typedef enum fingerprint_acquired_info {
     FINGERPRINT_ACQUIRED_GOOD = 0,
-    FINGERPRINT_ACQUIRED_PARTIAL = 1,
-    FINGERPRINT_ACQUIRED_INSUFFICIENT = 2,
-    FINGERPRINT_ACQUIRED_IMAGER_DIRTY = 3,
-    FINGERPRINT_ACQUIRED_TOO_SLOW = 4,
-    FINGERPRINT_ACQUIRED_TOO_FAST = 5,
+    FINGERPRINT_ACQUIRED_PARTIAL = 1, /* sensor needs more data, i.e. longer swipe. */
+    FINGERPRINT_ACQUIRED_INSUFFICIENT = 2, /* image doesn't contain enough detail for recognition*/
+    FINGERPRINT_ACQUIRED_IMAGER_DIRTY = 3, /* sensor needs to be cleaned */
+    FINGERPRINT_ACQUIRED_TOO_SLOW = 4, /* mostly swipe-type sensors; not enough data collected */
+    FINGERPRINT_ACQUIRED_TOO_FAST = 5, /* for swipe and area sensors; tell user to slow down*/
     FINGERPRINT_ACQUIRED_VENDOR_BASE = 1000 /* vendor-specific acquisition messages start here */
 } fingerprint_acquired_info_t;
 
diff --git a/modules/gralloc/framebuffer.cpp b/modules/gralloc/framebuffer.cpp
index 486e27a..eadcdaa 100644
--- a/modules/gralloc/framebuffer.cpp
+++ b/modules/gralloc/framebuffer.cpp
@@ -33,7 +33,7 @@
 #include <cutils/log.h>
 #include <cutils/atomic.h>
 
-#if HAVE_ANDROID_OS
+#ifdef __ANDROID__
 #include <linux/fb.h>
 #endif
 
diff --git a/modules/sensors/Android.mk b/modules/sensors/Android.mk
index 445f69e..94d100b 100644
--- a/modules/sensors/Android.mk
+++ b/modules/sensors/Android.mk
@@ -20,9 +20,9 @@
 
 include $(CLEAR_VARS)
 
-LOCAL_MODULE := sensors.$(TARGET_DEVICE)
+LOCAL_MODULE := sensors.$(TARGET_BOARD_PLATFORM)
 
-LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+LOCAL_MODULE_RELATIVE_PATH := hw
 
 LOCAL_CFLAGS := -DLOG_TAG=\"MultiHal\"
 
diff --git a/modules/sensors/multihal.cpp b/modules/sensors/multihal.cpp
index cd67f6d..8330ff3 100644
--- a/modules/sensors/multihal.cpp
+++ b/modules/sensors/multihal.cpp
@@ -27,6 +27,8 @@
 #include <cutils/log.h>
 
 #include <vector>
+#include <string>
+#include <fstream>
 #include <map>
 #include <string>
 
@@ -34,10 +36,10 @@
 #include <dlfcn.h>
 #include <SensorEventQueue.h>
 
+#include <limits.h>
+#include <stdlib.h>
 
 static const char* CONFIG_FILENAME = "/system/etc/sensors/hals.conf";
-static const char* LEGAL_SUBHAL_PATH_PREFIX = "/system/lib/hw/";
-static const char* LEGAL_SUBHAL_ALTERNATE_PATH_PREFIX = "/system/vendor/lib/";
 static const int MAX_CONF_LINE_LENGTH = 1024;
 
 static pthread_mutex_t init_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
@@ -463,39 +465,19 @@
  * Adds valid paths from the config file to the vector passed in.
  * The vector must not be null.
  */
-static void get_so_paths(std::vector<char*> *so_paths) {
-    FILE *conf_file = fopen(CONFIG_FILENAME, "r");
-    if (conf_file == NULL) {
+static void get_so_paths(std::vector<std::string> *so_paths) {
+    std::string line;
+    std::ifstream conf_file(CONFIG_FILENAME);
+
+    if(!conf_file) {
         ALOGW("No multihal config file found at %s", CONFIG_FILENAME);
         return;
     }
     ALOGV("Multihal config file found at %s", CONFIG_FILENAME);
-    char *line = NULL;
-    size_t len = 0;
-    int line_count = 0;
-    while (getline(&line, &len, conf_file) != -1) {
-        // overwrite trailing eoln with null char
-        char* pch = strchr(line, '\n');
-        if (pch != NULL) {
-            *pch = '\0';
-        }
-        ALOGV("config file line #%d: '%s'", ++line_count, line);
-        char *real_path = realpath(line, NULL);
-        if (starts_with(real_path, LEGAL_SUBHAL_PATH_PREFIX) ||
-		starts_with(real_path, LEGAL_SUBHAL_ALTERNATE_PATH_PREFIX)) {
-            ALOGV("accepting valid path '%s'", real_path);
-            char* compact_line = new char[strlen(real_path) + 1];
-            strcpy(compact_line, real_path);
-            so_paths->push_back(compact_line);
-        } else {
-            ALOGW("rejecting path '%s' because it does not start with '%s' or '%s'",
-                    real_path, LEGAL_SUBHAL_PATH_PREFIX, LEGAL_SUBHAL_ALTERNATE_PATH_PREFIX);
-        }
-        free(real_path);
+    while (std::getline(conf_file, line)) {
+        ALOGV("config file line: '%s'", line.c_str());
+        so_paths->push_back(line);
     }
-    free(line);
-    fclose(conf_file);
-    ALOGV("hals.conf contained %d lines", line_count);
 }
 
 /*
@@ -508,15 +490,15 @@
         pthread_mutex_unlock(&init_modules_mutex);
         return;
     }
-    std::vector<char*> *so_paths = new std::vector<char*>();
+    std::vector<std::string> *so_paths = new std::vector<std::string>();
     get_so_paths(so_paths);
 
     // dlopen the module files and cache their module symbols in sub_hw_modules
     sub_hw_modules = new std::vector<hw_module_t *>();
     dlerror(); // clear any old errors
     const char* sym = HAL_MODULE_INFO_SYM_AS_STR;
-    for (std::vector<char*>::iterator it = so_paths->begin(); it != so_paths->end(); it++) {
-        char* path = *it;
+    for (std::vector<std::string>::iterator it = so_paths->begin(); it != so_paths->end(); it++) {
+        const char* path = it->c_str();
         void* lib_handle = dlopen(path, RTLD_LAZY);
         if (lib_handle == NULL) {
             ALOGW("dlerror(): %s", dlerror());
diff --git a/modules/usbaudio/audio_hal.c b/modules/usbaudio/audio_hal.c
index bbea5f5..38fea86 100644
--- a/modules/usbaudio/audio_hal.c
+++ b/modules/usbaudio/audio_hal.c
@@ -442,8 +442,16 @@
 static int out_get_presentation_position(const struct audio_stream_out *stream,
                                          uint64_t *frames, struct timespec *timestamp)
 {
-    /* FIXME - This needs to be implemented */
-    return -EINVAL;
+    struct stream_out *out = (struct stream_out *)stream; // discard const qualifier
+    lock_output_stream(out);
+
+    const alsa_device_proxy *proxy = &out->proxy;
+    const int ret = proxy_get_presentation_position(proxy, frames, timestamp);
+
+    pthread_mutex_unlock(&out->lock);
+    ALOGV("out_get_presentation_position() status:%d  frames:%llu",
+            ret, (unsigned long long)*frames);
+    return ret;
 }
 
 static int out_add_audio_effect(const struct audio_stream *stream, effect_handle_t effect)