diff --git a/include/hardware/boot_control.h b/include/hardware/boot_control.h
new file mode 100644
index 0000000..62d6918
--- /dev/null
+++ b/include/hardware/boot_control.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2015 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.
+ */
+
+#ifndef ANDROID_INCLUDE_HARDWARE_BOOT_CONTROL_H
+#define ANDROID_INCLUDE_HARDWARE_BOOT_CONTROL_H
+
+#include <hardware/hardware.h>
+
+__BEGIN_DECLS
+
+#define BOOT_CONTROL_MODULE_API_VERSION_0_1  HARDWARE_MODULE_API_VERSION(0, 1)
+
+/**
+ * The id of this module
+ */
+#define BOOT_CONTROL_HARDWARE_MODULE_ID "bootctrl"
+
+/*
+ * The Boot Control HAL is designed to allow for managing sets of redundant
+ * partitions, called slots, that can be booted from independantly. Slots
+ * are sets of partitions whose names differ only by a given suffix.
+ * They are identified here by a 0 indexed number, and associated with their
+ * suffix, which can be appended to the base name for any particular partition
+ * to find the one associated with that slot. The bootloader must pass the suffix
+ * of the currently active slot either through a kernel command line property at
+ * androidboot.slot_suffix, or the device tree at /firmware/android/slot_suffix.
+ * The primary use of this set up is to allow for background updates while the
+ * device is running, and to provide a fallback in the event that the update fails.
+ */
+
+
+/**
+ * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM
+ * and the fields of this data structure must begin with hw_module_t
+ * followed by module specific information.
+ */
+typedef struct boot_control_module {
+    struct hw_module_t common;
+
+    /*
+     * (*init)() perform any initialization tasks needed for the HAL.
+     * This is called only once.
+     */
+    void (*init)(struct boot_control_module *module);
+
+    /*
+     * (*getNumberSlots)() returns the number of available slots.
+     * For instance, a system with a single set of partitions would return
+     * 1, a system with A/B would return 2, A/B/C -> 3...
+     */
+    unsigned (*getNumberSlots)(struct boot_control_module *module);
+
+    /*
+     * (*getCurrentSlot)() returns the value letting the system know
+     * whether the current slot is A or B. The meaning of A and B is
+     * left up to the implementer. It is assumed that if the current slot
+     * is A, then the block devices underlying B can be accessed directly
+     * without any risk of corruption.
+     * The returned value is always guaranteed to be strictly less than the
+     * value returned by getNumberSlots. Slots start at 0 and
+     * finish at getNumberSlots() - 1
+     */
+    unsigned (*getCurrentSlot)(struct boot_control_module *module);
+
+    /*
+     * (*markBootSuccessful)() marks the current slot
+     * as having booted successfully
+     *
+     * Returns 0 on success, -errno on error.
+     */
+    int (*markBootSuccessful)(struct boot_control_module *module);
+
+    /*
+     * (*setActiveBootSlot)() marks the slot passed in parameter as
+     * the active boot slot (see getCurrentSlot for an explanation
+     * of the "slot" parameter). This overrides any previous call to
+     * setSlotAsUnbootable.
+     * Returns 0 on success, -errno on error.
+     */
+    int (*setActiveBootSlot)(struct boot_control_module *module, unsigned slot);
+
+    /*
+     * (*setSlotAsUnbootable)() marks the slot passed in parameter as
+     * an unbootable. This can be used while updating the contents of the slot's
+     * partitions, so that the system will not attempt to boot a known bad set up.
+     * Returns 0 on success, -errno on error.
+     */
+    int (*setSlotAsUnbootable)(struct boot_control_module *module, unsigned slot);
+
+    /*
+     * (*isSlotBootable)() returns if the slot passed in parameter has
+     * booted successfully in the past.
+     * Returns 1 if the slot has booted successfully, 0 if it has not,
+     * and -errno on error.
+     */
+    int (*isSlotBootable)(struct boot_control_module *module, unsigned slot);
+
+    /*
+     * (*getSuffix)() returns the string suffix used by partitions that
+     * correspond to the slot number passed in parameter. The returned string
+     * is expected to be statically allocated and not need to be freed.
+     * Returns NULL if slot does not match an existing slot.
+     */
+    const char* (*getSuffix)(struct boot_control_module *module, unsigned slot);
+
+    void* reserved[32];
+} boot_control_module_t;
+
+
+__END_DECLS
+
+#endif  // ANDROID_INCLUDE_HARDWARE_BOOT_CONTROL_H
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 d26d168..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>
 
@@ -38,8 +40,6 @@
 #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;
@@ -465,39 +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);
 }
 
 /*
@@ -510,15 +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/tests/camera2/ForkedTests.cpp b/tests/camera2/ForkedTests.cpp
index 315233e..39599da 100644
--- a/tests/camera2/ForkedTests.cpp
+++ b/tests/camera2/ForkedTests.cpp
@@ -16,6 +16,8 @@
 
 #include <gtest/gtest.h>
 
+#include <stdlib.h>
+
 #include "TestExtensions.h"
 
 namespace android {
@@ -37,9 +39,7 @@
 // intentionally fail
 TEST_F(DISABLED_ForkedTest, FailCrash) {
     TEST_EXTENSION_FORKING_INIT;
-
-    //intentionally crash
-    *(int*)0 = 0xDEADBEEF;
+    abort();
 }
 
 TEST_F(DISABLED_ForkedTest, SucceedNormal) {