diff --git a/CommonBoardConfig.mk b/CommonBoardConfig.mk
index 13a7e70..09539ae 100644
--- a/CommonBoardConfig.mk
+++ b/CommonBoardConfig.mk
@@ -64,4 +64,10 @@ BOARD_QTI_CAMERA_32BIT_ONLY := true
 CAMERA_DAEMON_NOT_PRESENT := true
 TARGET_USES_ION := true
 
+# GPS
+TARGET_NO_RPC := true
+
+# Sensors
+USE_SENSOR_MULTI_HAL := true
+
 -include vendor/google_devices/muskie/BoardConfigVendor.mk
diff --git a/android_filesystem_config.h b/android_filesystem_config.h
new file mode 100644
index 0000000..293e83b
--- /dev/null
+++ b/android_filesystem_config.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2016 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 used to define the properties of the filesystem
+** images generated by build tools (mkbootfs and mkyaffs2image) and
+** by the device side of adb.
+*/
+
+#include <private/android_filesystem_config.h>
+
+static const struct fs_path_config android_device_dirs[] = {
+    { 00771, AID_SYSTEM,      AID_SYSTEM,     0, "bt_firmware"},
+};
+
+/* Rules for files.
+** These rules are applied based on "first match", so they
+** should start with the most specific path and work their
+** way up to the root. Prefixes ending in * denotes wildcard
+** and will allow partial matches.
+*/
+static const struct fs_path_config android_device_files[] = {
+    { 00755, AID_SYSTEM,    AID_SYSTEM,    (1ULL << CAP_NET_BIND_SERVICE), "system/vendor/bin/pm-service" },
+#ifdef NO_ANDROID_FILESYSTEM_CONFIG_DEVICE_DIRS
+    { 00000, AID_ROOT,      AID_ROOT,      0, "system/etc/fs_config_dirs" },
+#endif
+};
diff --git a/build-aosp_muskie-userdebug.log b/build-aosp_muskie-userdebug.log
new file mode 100644
index 0000000..d040ccc
--- /dev/null
+++ b/build-aosp_muskie-userdebug.log
@@ -0,0 +1,4 @@
+make: *** No targets specified and no makefile found.  Stop.
+
+#### make failed to build some targets  ####
+
diff --git a/device-common.mk b/device-common.mk
index 66d625c..0e73675 100644
--- a/device-common.mk
+++ b/device-common.mk
@@ -54,6 +54,15 @@ PRODUCT_COPY_FILES += \
     frameworks/native/data/etc/android.hardware.camera.raw.xml:system/etc/permissions/android.hardware.camera.raw.xml\
     frameworks/native/data/etc/android.hardware.bluetooth.xml:system/etc/permissions/android.hardware.bluetooth.xml \
     frameworks/native/data/etc/android.hardware.bluetooth_le.xml:system/etc/permissions/android.hardware.bluetooth_le.xml \
+    frameworks/native/data/etc/android.hardware.sensor.accelerometer.xml:system/etc/permissions/android.hardware.sensor.accelerometer.xml \
+    frameworks/native/data/etc/android.hardware.sensor.compass.xml:system/etc/permissions/android.hardware.sensor.compass.xml \
+    frameworks/native/data/etc/android.hardware.sensor.gyroscope.xml:system/etc/permissions/android.hardware.sensor.gyroscope.xml \
+    frameworks/native/data/etc/android.hardware.sensor.light.xml:system/etc/permissions/android.hardware.sensor.light.xml \
+    frameworks/native/data/etc/android.hardware.sensor.proximity.xml:system/etc/permissions/android.hardware.sensor.proximity.xml \
+    frameworks/native/data/etc/android.hardware.sensor.barometer.xml:system/etc/permissions/android.hardware.sensor.barometer.xml \
+    frameworks/native/data/etc/android.hardware.sensor.stepcounter.xml:system/etc/permissions/android.hardware.sensor.stepcounter.xml \
+    frameworks/native/data/etc/android.hardware.sensor.stepdetector.xml:system/etc/permissions/android.hardware.sensor.stepdetector.xml \
+    frameworks/native/data/etc/android.hardware.sensor.hifi_sensors.xml:system/etc/permissions/android.hardware.sensor.hifi_sensors.xml \
 
 PRODUCT_COPY_FILES += \
     $(LOCAL_PATH)/init.power.sh:system/bin/init.power.sh \
@@ -74,6 +83,18 @@ PRODUCT_PACKAGES += \
     libmmjpeg_interface \
     libmmcamera_interface
 
+PRODUCT_PACKAGES += \
+    sensors.$(PRODUCT_HARDWARE)
+
+PRODUCT_COPY_FILES += \
+    $(LOCAL_PATH)/sensors/hals.conf:system/etc/sensors/hals.conf
+
+PRODUCT_PACKAGES += \
+    fs_config_dirs \
+    fs_config_files
+
+PRODUCT_COPY_FILES += \
+    $(LOCAL_PATH)/sec_config:system/etc/sec_config
 
 # setup dalvik vm configs
 $(call inherit-product, frameworks/native/build/phone-xhdpi-2048-dalvik-heap.mk)
diff --git a/init.hardware.rc b/init.hardware.rc
index 0b5c070..4e2b301 100644
--- a/init.hardware.rc
+++ b/init.hardware.rc
@@ -69,10 +69,17 @@ on post-fs-data
     mkdir /data/system/perfd 0770 root system
     chmod 2770 /data/system/perfd
 
+    chmod 775 /persist/sensors
+    chmod 664 /persist/sensors/sensors_settings
+    chown system root /persist/sensors/sensors_settings
+
+    mkdir /data/misc/sensors
+    chmod 775 /data/misc/sensors
+
 on early-boot
     exec - root root system -- /system/bin/init.power.sh
 
-service perfd /system/vendor/bin/perfd
+service perfd /vendor/bin/perfd
    class main
    user root
    group root readproc
@@ -86,3 +93,71 @@ service thermal-engine /vendor/bin/thermal-engine
    socket thermal-recv-client stream 0660 system system
    socket thermal-recv-passive-client stream 0666 system system
 
+service ssr_setup /vendor/bin/ssr_setup
+    class main
+    user root
+    group root system
+    oneshot
+
+service ssr_diag /vendor/bin/ssr_diag
+    class late_start
+    user system
+    group system
+    disabled
+
+service per_mgr /vendor/bin/pm-service
+    class core
+    user system
+    group system
+    ioprio rt 4
+
+service per_proxy /vendor/bin/pm-proxy
+    class core
+    user system
+    group system
+    disabled
+
+on property:init.svc.per_mgr=running
+    start per_proxy
+
+on property:sys.shutdown.requested=*
+    stop per_proxy
+
+service qseecomd /vendor/bin/qseecomd
+   class core
+   user root
+   group root
+
+service time_daemon /vendor/bin/time_daemon
+   class late_start
+   user root
+   group root
+
+service ss_ramdump /vendor/bin/subsystem_ramdump
+    class main
+    user root
+    group root system
+    disabled
+
+on property:persist.sys.ssr.enable_ramdumps=1
+    write /sys/module/subsystem_restart/parameters/enable_ramdumps 1
+    mkdir /data/ramdump 760 root system
+    start ss_ramdump
+
+on property:persist.sys.ssr.enable_ramdumps=0
+    write /sys/module/subsystem_restart/parameters/enable_ramdumps 0
+
+service sensors /vendor/bin/sensors.qcom
+    class core
+    user root
+    group root
+
+service adsprpcd /vendor/bin/adsprpcd
+   class main
+   user media
+   group media
+
+service irsc_util /vendor/bin/irsc_util "/etc/sec_config"
+    class core
+    user root
+    oneshot
diff --git a/sec_config b/sec_config
new file mode 100644
index 0000000..fa9bce4
--- /dev/null
+++ b/sec_config
@@ -0,0 +1,315 @@
+/* IPC Security Config */
+/* <GPS QMI Service ID - 16>:<GPS QMI Instance ID - all instances>:<Client Group ID> */
+16:4294967295:1000:1021
+/* <LOWI QMI Service ID - 38>:<LOWI QMI Instance ID - all instances>:<Client Group ID> */
+56:4294967295:1021
+/* Allow SS CTL service to be used by system and net_raw processes */
+43:4294967295:1000:3004
+/* <UIMHTTP QMI Service ID - 16>:<UIMHTTP QMI Instance ID - all instances>:<Client Group ID> */
+71:4294967295:1001
+/* <UIMRMT QMI Service ID - 16>:<UIMRMT QMI Instance ID - all instances>:<Client Group ID> */
+50:4294967295:1001
+/* QMI-SLIM service permitted to gps and net_raw */
+55:4294967295:1021
+/* Allow Sensor services to be used by sensor process */
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+474:4294967295:1000:1006:1013:1021:1047:3011
+475:4294967295:1000:1006:1013:1021:1047:3011
+476:4294967295:1000:1006:1013:1021:1047:3011
+477:4294967295:1000:1006:1013:1021:1047:3011
+478:4294967295:1000:1006:1013:1021:1047:3011
+479:4294967295:1000:1006:1013:1021:1047:3011
+480:4294967295:1000:1006:1013:1021:1047:3011
+481:4294967295:1000:1006:1013:1021:1047:3011
+482:4294967295:1000:1006:1013:1021:1047:3011
+483:4294967295:1000:1006:1013:1021:1047:3011
+484:4294967295:1000:1006:1013:1021:1047:3011
+485:4294967295:1000:1006:1013:1021:1047:3011
+486:4294967295:1000:1006:1013:1021:1047:3011
+487:4294967295:1000:1006:1013:1021:1047:3011
+488:4294967295:1000:1006:1013:1021:1047:3011
+489:4294967295:1000:1006:1013:1021:1047:3011
+490:4294967295:1000:1006:1013:1021:1047:3011
+491:4294967295:1000:1006:1013:1021:1047:3011
+492:4294967295:1000:1006:1013:1021:1047:3011
+493:4294967295:1000:1006:1013:1021:1047:3011
+494:4294967295:1000:1006:1013:1021:1047:3011
+495:4294967295:1000:1006:1013:1021:1047:3011
+496:4294967295:1000:1006:1013:1021:1047:3011
+497:4294967295:1000:1006:1013:1021:1047:3011
+498:4294967295:1000:1006:1013:1021:1047:3011
+499:4294967295:1000:1006:1013:1021:1047:3011
+500:4294967295:1000:1006:1013:1021:1047:3011
+501:4294967295:1000:1006:1013:1021:1047:3011
+502:4294967295:1000:1006:1013:1021:1047:3011
+503:4294967295:1000:1006:1013:1021:1047:3011
+504:4294967295:1000:1006:1013:1021:1047:3011
+505:4294967295:1000:1006:1013:1021:1047:3011
+506:4294967295:1000:1006:1013:1021:1047:3011
+507:4294967295:1000:1006:1013:1021:1047:3011
+508:4294967295:1000:1006:1013:1021:1047:3011
+509:4294967295:1000:1006:1013:1021:1047:3011
+510:4294967295:1000:1006:1013:1021:1047:3011
+511:4294967295:1000:1006:1013:1021:1047:3011
+/* Allow RCS service to aquire net_raw permission */
+18:4294967295:1001:3004
+/* Allow QMID service to aquire net_raw permission */
+3:4294967295:1001:3004
+2:4294967295:1001:3004
+42:4294967295:1001:3004
+18:4294967295:1001:3004
+9:4294967295:1001:3004
+1:4294967295:1001:3004:1000
+4:4294967295:1001:3004
+7:4294967295:1001:3004
+8:4294967295:1001:3004:1000
+68:4294967295:1001:3004
+/* DPM */
+47:4294967295:1001:3004
+/* Allow communication to some QMI services with radio privilages */
+/* Format is <Service id>:<all instances>:<radio> */
+/* PBM */
+12:4294967295:1001
+/* WMS */
+5:4294967295:1001
+/* IMS VT */
+32:4294967295:1001
+/* IMSP */
+31:4294967295:1001
+/* PDC */
+36:4294967295:1001
+/* SAR */
+17:4294967295:1001
+/* RFRPE */
+41:4294967295:1001
+/*UIM*/
+11:4294967295:1001
+/*CAT*/
+10:4294967295:1001
+/*IMSA*/
+33:4294967295:1001
+/* CSVT */
+29:4294967295:1001
+/*LTE*/
+70:4294967295:1001
+/* Allow Data dpmd to access QMI DFS */
+48:4294967295:1000:3004
+/* DIAG */
+4097:4294967295:3009
diff --git a/sensors/hals.conf b/sensors/hals.conf
new file mode 100644
index 0000000..5f3a14b
--- /dev/null
+++ b/sensors/hals.conf
@@ -0,0 +1 @@
+sensors.ssc.so
diff --git a/sepolicy/adsprpcd.te b/sepolicy/adsprpcd.te
new file mode 100644
index 0000000..74083fc
--- /dev/null
+++ b/sepolicy/adsprpcd.te
@@ -0,0 +1,4 @@
+type adsprpcd, domain, domain_deprecated;
+type adsprpcd_exec, exec_type, file_type;
+
+init_daemon_domain(adsprpcd)
\ No newline at end of file
diff --git a/sepolicy/file_contexts b/sepolicy/file_contexts
index 6c64268..c841b7c 100644
--- a/sepolicy/file_contexts
+++ b/sepolicy/file_contexts
@@ -7,3 +7,17 @@
 # files in /system/vendor
 /system/vendor/bin/perfd               u:object_r:perfd_exec:s0
 /system/vendor/bin/thermal-engine      u:object_r:thermal-engine_exec:s0
+/system/vendor/bin/sensors.qcom        u:object_r:sensors_exec:s0
+/system/vendor/bin/ssr_setup           u:object_r:ssr_setup_exec:s0
+/system/vendor/bin/ssr_diag            u:object_r:ssr_diag_exec:s0
+/system/vendor/bin/pm-service          u:object_r:per_mgr_exec:s0
+/system/vendor/bin/pm-proxy            u:object_r:per_mgr_exec:s0
+/system/vendor/bin/qseecomd            u:object_r:tee_exec:s0
+/system/vendor/bin/time_daemon         u:object_r:time_daemon_exec:s0
+/system/vendor/bin/subsystem_ramdump   u:object_r:subsystem_ramdump_exec:s0
+/system/vendor/bin/adsprpcd            u:object_r:adsprpcd_exec:s0
+/system/vendor/bin/irsc_util           u:object_r:irsc_util_exec:s0
+
+# data files
+/data/time(/.*)?                       u:object_r:time_data_file:s0
+
diff --git a/sepolicy/irsc_util.te b/sepolicy/irsc_util.te
new file mode 100644
index 0000000..69ca552
--- /dev/null
+++ b/sepolicy/irsc_util.te
@@ -0,0 +1,4 @@
+type irsc_util, domain, domain_deprecated;
+type irsc_util_exec, exec_type, file_type;
+
+init_daemon_domain(irsc_util)
diff --git a/sepolicy/per_mgr.te b/sepolicy/per_mgr.te
new file mode 100644
index 0000000..a872d19
--- /dev/null
+++ b/sepolicy/per_mgr.te
@@ -0,0 +1,5 @@
+# Policy for pm-service and pm-proxy
+type per_mgr, domain, domain_deprecated;
+type per_mgr_exec, exec_type, file_type;
+
+init_daemon_domain(per_mgr);
diff --git a/sepolicy/sensors.te b/sepolicy/sensors.te
new file mode 100644
index 0000000..f3ce6f3
--- /dev/null
+++ b/sepolicy/sensors.te
@@ -0,0 +1,5 @@
+# Policy for sensor daemon
+type sensors, domain, domain_deprecated;
+type sensors_exec, exec_type, file_type;
+
+init_daemon_domain(sensors)
\ No newline at end of file
diff --git a/sepolicy/ssr_diag.te b/sepolicy/ssr_diag.te
new file mode 100644
index 0000000..c2c7781
--- /dev/null
+++ b/sepolicy/ssr_diag.te
@@ -0,0 +1,4 @@
+type ssr_diag, domain, domain_deprecated;
+type ssr_diag_exec, exec_type, file_type;
+
+init_daemon_domain(ssr_diag);
diff --git a/sepolicy/ssr_setup.te b/sepolicy/ssr_setup.te
new file mode 100644
index 0000000..0184b71
--- /dev/null
+++ b/sepolicy/ssr_setup.te
@@ -0,0 +1,4 @@
+type ssr_setup, domain, domain_deprecated;
+type ssr_setup_exec, exec_type, file_type;
+
+init_daemon_domain(ssr_setup);
diff --git a/sepolicy/subsystem_ramdump.te b/sepolicy/subsystem_ramdump.te
new file mode 100644
index 0000000..e6c3d9d
--- /dev/null
+++ b/sepolicy/subsystem_ramdump.te
@@ -0,0 +1,4 @@
+type subsystem_ramdump, domain, domain_deprecated;
+type subsystem_ramdump_exec, exec_type, file_type;
+
+init_daemon_domain(subsystem_ramdump);
diff --git a/sepolicy/time_daemon.te b/sepolicy/time_daemon.te
new file mode 100644
index 0000000..6558041
--- /dev/null
+++ b/sepolicy/time_daemon.te
@@ -0,0 +1,6 @@
+type time_daemon, domain, domain_deprecated;
+type time_daemon_exec, exec_type, file_type;
+
+init_daemon_domain(time_daemon)
+
+type time_data_file, file_type, data_file_type;