tici: add (somewhat) broken camerad support (#1300)

* capnparm * building in progress * scons build works * that script fixes opencl * start new camera code * includes and more camera scripts * control c works now * no device control yet * phy too * just one camera for now * fix capnparm * hmm, the inits are needed * more cameras * link stop start * doesn't work yet * fix ion on qcom2 * start poll ish * 4 pictures and done * no jpeg * it works to picture * destroy sync obj * both work for now * defined QCOM2 * fix fd leak * run modeld * 10 bit mode * real frame stride * needs digital gain * dnew * no color correcting on new * that snpe doesn't work * qcom2 gate * cleanups * oops, fix aarch64 detector * update cereal * modeld works with SNPE * fix driver monitoring model Co-authored-by: Tici <robbe@comma.ai>
2020-03-31 16:34:55 -07:00 · 2020-03-31 16:34:55 -07:00 · 8db0993663
parent 746f7ed9b1
commit 8db0993663
94 changed files with 5198 additions and 25 deletions
--- a/.gitignore
+++ b/.gitignore
@ -20,7 +20,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
--- a/34
+++ b/34
@ -14,32 +14,46 @@ AddOption('--asan',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"

 webcam = bool(ARGUMENTS.get("use_webcam", 0))

-if arch == "aarch64":
+if arch == "aarch64" or arch == "larch64":
  lenv = {
    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
  }

+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
  cpppath = [
    "#phonelibs/opencl/include",
  ]
+
  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
    "/usr/lib",
    "/data/data/com.termux/files/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
  ]

-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include", "#phonelibs/capnp-c/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
+    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]

  rpath = ["/system/vendor/lib64"]
 else:
@ -177,9 +191,11 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-#zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
 Export('env', 'arch', 'zmq', 'SHARED', 'webcam')

 # cereal and messaging are shared with the system
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 22986de4a65db337f3ae63620d551d48225c4cca
+Subproject commit 35040fe6bb9ebc31d38e98faa64d5ec4093ce3d5
--- a/external/capnparm/.gitignore
+++ b/external/capnparm/.gitignore
@ -0,0 +1 @@
+capnproto-c++-0.6.1*
--- a/external/capnparm/bin/capnp
+++ b/external/capnparm/bin/capnp
--- a/external/capnparm/bin/capnpc
+++ b/external/capnparm/bin/capnpc
@ -0,0 +1 @@
+capnp
--- a/external/capnparm/bin/capnpc-c
+++ b/external/capnparm/bin/capnpc-c
--- a/external/capnparm/bin/capnpc-c++
+++ b/external/capnparm/bin/capnpc-c++
--- a/external/capnparm/bin/capnpc-capnp
+++ b/external/capnparm/bin/capnpc-capnp
--- a/external/capnparm/bin/capnpc-java
+++ b/external/capnparm/bin/capnpc-java
--- a/external/capnparm/build.sh
+++ b/external/capnparm/build.sh
@ -0,0 +1,47 @@
+set -e
+echo "Installing capnp"
+
+ONE=${HOME}/openpilot
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure --prefix=${ONE}/external/capnparm
+make -j9
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+
+make -j4 install
+
+# --------
+echo "Installing c-capnp"
+
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CFLAGS="-fPIC" ./configure --prefix=${ONE}/external/capnparm
+make -j4
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a -Wl,-rpath -Wl,${ONE}/external/capnp/lib
+
+make install
+
+# --------
+echo "Installing java-capnp"
+
+git clone https://github.com/dwrensha/capnproto-java.git
+cd capnproto-java
+git reset --hard 2c43bd712fb218da0eabdf241a750b9c05903e8e
+g++ compiler/src/main/cpp/capnpc-java.c++ -std=c++11 -pthread -I${ONE}/external/capnp/include -L${ONE}/external/capnp/lib -l:libcapnp.a -l:libkj.a -pthread -lpthread -o capnpc-java
+cp capnpc-java ${ONE}/external/capnp/bin/
+
+rm -rf capnproto-c++-${VERSION}.tar.gz
+rm -rf capnproto-c++-${VERSION}
--- a/external/capnparm/include
+++ b/external/capnparm/include
@ -0,0 +1 @@
+../capnp/include
--- a/external/capnparm/lib/libcapnp-0.6.1.so
+++ b/external/capnparm/lib/libcapnp-0.6.1.so
--- a/external/capnparm/lib/libcapnp-json-0.6.1.so
+++ b/external/capnparm/lib/libcapnp-json-0.6.1.so
--- a/external/capnparm/lib/libcapnp-json.a
+++ b/external/capnparm/lib/libcapnp-json.a
--- a/external/capnparm/lib/libcapnp-json.la
+++ b/external/capnparm/lib/libcapnp-json.la
@ -0,0 +1,41 @@
+# libcapnp-json.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-json-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-json-0.6.1.so libcapnp-json-0.6.1.so libcapnp-json.so'
+
+# The name of the static archive.
+old_library='libcapnp-json.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp-json.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libcapnp-json.so
+++ b/external/capnparm/lib/libcapnp-json.so
@ -0,0 +1 @@
+libcapnp-json-0.6.1.so
--- a/external/capnparm/lib/libcapnp-rpc-0.6.1.so
+++ b/external/capnparm/lib/libcapnp-rpc-0.6.1.so
--- a/external/capnparm/lib/libcapnp-rpc.a
+++ b/external/capnparm/lib/libcapnp-rpc.a
--- a/external/capnparm/lib/libcapnp-rpc.la
+++ b/external/capnparm/lib/libcapnp-rpc.la
@ -0,0 +1,41 @@
+# libcapnp-rpc.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-rpc-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-rpc-0.6.1.so libcapnp-rpc-0.6.1.so libcapnp-rpc.so'
+
+# The name of the static archive.
+old_library='libcapnp-rpc.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj-async.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp-rpc.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libcapnp-rpc.so
+++ b/external/capnparm/lib/libcapnp-rpc.so
@ -0,0 +1 @@
+libcapnp-rpc-0.6.1.so
--- a/external/capnparm/lib/libcapnp.a
+++ b/external/capnparm/lib/libcapnp.a
--- a/external/capnparm/lib/libcapnp.la
+++ b/external/capnparm/lib/libcapnp.la
@ -0,0 +1,41 @@
+# libcapnp.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-0.6.1.so libcapnp-0.6.1.so libcapnp.so'
+
+# The name of the static archive.
+old_library='libcapnp.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libcapnp.so
+++ b/external/capnparm/lib/libcapnp.so
@ -0,0 +1 @@
+libcapnp-0.6.1.so
--- a/external/capnparm/lib/libcapnp_c.a
+++ b/external/capnparm/lib/libcapnp_c.a
--- a/external/capnparm/lib/libcapnp_c.la
+++ b/external/capnparm/lib/libcapnp_c.la
@ -0,0 +1,41 @@
+# libcapnp_c.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-0.1
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp_c.so.0'
+
+# Names of this library.
+library_names='libcapnp_c.so.0.0.0 libcapnp_c.so.0 libcapnp_c.so'
+
+# The name of the static archive.
+old_library='libcapnp_c.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=''
+
+# Libraries that this one depends upon.
+dependency_libs=''
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp_c.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libcapnp_c.so
+++ b/external/capnparm/lib/libcapnp_c.so
@ -0,0 +1 @@
+libcapnp_c.so.0.0.0
--- a/external/capnparm/lib/libcapnp_c.so.0
+++ b/external/capnparm/lib/libcapnp_c.so.0
@ -0,0 +1 @@
+libcapnp_c.so.0.0.0
--- a/external/capnparm/lib/libcapnp_c.so.0.0.0
+++ b/external/capnparm/lib/libcapnp_c.so.0.0.0
--- a/external/capnparm/lib/libcapnpc-0.6.1.so
+++ b/external/capnparm/lib/libcapnpc-0.6.1.so
--- a/external/capnparm/lib/libcapnpc.a
+++ b/external/capnparm/lib/libcapnpc.a
--- a/external/capnparm/lib/libcapnpc.la
+++ b/external/capnparm/lib/libcapnpc.la
@ -0,0 +1,41 @@
+# libcapnpc.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnpc-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnpc-0.6.1.so libcapnpc-0.6.1.so libcapnpc.so'
+
+# The name of the static archive.
+old_library='libcapnpc.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnpc.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libcapnpc.so
+++ b/external/capnparm/lib/libcapnpc.so
@ -0,0 +1 @@
+libcapnpc-0.6.1.so
--- a/external/capnparm/lib/libkj-0.6.1.so
+++ b/external/capnparm/lib/libkj-0.6.1.so
--- a/external/capnparm/lib/libkj-async-0.6.1.so
+++ b/external/capnparm/lib/libkj-async-0.6.1.so
--- a/external/capnparm/lib/libkj-async.a
+++ b/external/capnparm/lib/libkj-async.a
--- a/external/capnparm/lib/libkj-async.la
+++ b/external/capnparm/lib/libkj-async.la
@ -0,0 +1,41 @@
+# libkj-async.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-async-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-async-0.6.1.so libkj-async-0.6.1.so libkj-async.so'
+
+# The name of the static archive.
+old_library='libkj-async.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-async.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libkj-async.so
+++ b/external/capnparm/lib/libkj-async.so
@ -0,0 +1 @@
+libkj-async-0.6.1.so
--- a/external/capnparm/lib/libkj-http-0.6.1.so
+++ b/external/capnparm/lib/libkj-http-0.6.1.so
--- a/external/capnparm/lib/libkj-http.a
+++ b/external/capnparm/lib/libkj-http.a
--- a/external/capnparm/lib/libkj-http.la
+++ b/external/capnparm/lib/libkj-http.la
@ -0,0 +1,41 @@
+# libkj-http.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-http-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-http-0.6.1.so libkj-http-0.6.1.so libkj-http.so'
+
+# The name of the static archive.
+old_library='libkj-http.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj-async.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-http.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libkj-http.so
+++ b/external/capnparm/lib/libkj-http.so
@ -0,0 +1 @@
+libkj-http-0.6.1.so
--- a/external/capnparm/lib/libkj-test-0.6.1.so
+++ b/external/capnparm/lib/libkj-test-0.6.1.so
--- a/external/capnparm/lib/libkj-test.a
+++ b/external/capnparm/lib/libkj-test.a
--- a/external/capnparm/lib/libkj-test.la
+++ b/external/capnparm/lib/libkj-test.la
@ -0,0 +1,41 @@
+# libkj-test.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-test-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-test-0.6.1.so libkj-test-0.6.1.so libkj-test.so'
+
+# The name of the static archive.
+old_library='libkj-test.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-test.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libkj-test.so
+++ b/external/capnparm/lib/libkj-test.so
@ -0,0 +1 @@
+libkj-test-0.6.1.so
--- a/external/capnparm/lib/libkj.a
+++ b/external/capnparm/lib/libkj.a
--- a/external/capnparm/lib/libkj.la
+++ b/external/capnparm/lib/libkj.la
@ -0,0 +1,41 @@
+# libkj.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-0.6.1.so libkj-0.6.1.so libkj.so'
+
+# The name of the static archive.
+old_library='libkj.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'
--- a/external/capnparm/lib/libkj.so
+++ b/external/capnparm/lib/libkj.so
@ -0,0 +1 @@
+libkj-0.6.1.so
--- a/external/capnparm/lib/pkgconfig/c-capnproto.pc
+++ b/external/capnparm/lib/pkgconfig/c-capnproto.pc
@ -0,0 +1,12 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+bindir=${exec_prefix}/bin
+includedir=${prefix}/include
+codegen=${bindir}/capnpc-c
+
+Name: c-capnproto
+Description: Cap'n Proto C bindings
+Version: 0.2
+Libs: -L${libdir} -lcapnp_c
+Cflags: -I${includedir}
--- a/external/capnparm/lib/pkgconfig/capnp-rpc.pc
+++ b/external/capnparm/lib/pkgconfig/capnp-rpc.pc
@ -0,0 +1,11 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: Cap'n Proto RPC
+Description: Fast object-oriented RPC system
+Version: 0.6.1
+Libs: -L${libdir} -lcapnp-rpc
+Requires: capnp = 0.6.1 kj-async = 0.6.1
+Cflags: -I${includedir}
--- a/external/capnparm/lib/pkgconfig/capnp.pc
+++ b/external/capnparm/lib/pkgconfig/capnp.pc
@ -0,0 +1,12 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: Cap'n Proto
+Description: Insanely fast serialization system
+Version: 0.6.1
+Libs: -L${libdir} -lcapnp -pthread  -lpthread 
+Libs.private:  -lpthread 
+Requires: kj = 0.6.1
+Cflags: -I${includedir} -pthread  
--- a/external/capnparm/lib/pkgconfig/kj-async.pc
+++ b/external/capnparm/lib/pkgconfig/kj-async.pc
@ -0,0 +1,11 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: KJ Async Framework Library
+Description: Basic utility library called KJ (async part)
+Version: 0.6.1
+Libs: -L${libdir} -lkj-async -pthread  -lpthread 
+Requires: kj = 0.6.1
+Cflags: -I${includedir} -pthread  
--- a/external/capnparm/lib/pkgconfig/kj.pc
+++ b/external/capnparm/lib/pkgconfig/kj.pc
@ -0,0 +1,10 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: KJ Framework Library
+Description: Basic utility library called KJ
+Version: 0.6.1
+Libs: -L${libdir} -lkj -pthread  -lpthread 
+Cflags: -I${includedir} -pthread  
--- a/phonelibs/capnp-cpp/larch64/include
+++ b/phonelibs/capnp-cpp/larch64/include
@ -0,0 +1 @@
+../../../external/capnparm/include
--- a/phonelibs/capnp-cpp/larch64/lib
+++ b/phonelibs/capnp-cpp/larch64/lib
@ -0,0 +1 @@
+../../../external/capnparm/lib
--- a/phonelibs/libyuv/larch64/lib/libyuv.a
+++ b/phonelibs/libyuv/larch64/lib/libyuv.a
--- a/phonelibs/linux/include/msm_ion.h
+++ b/phonelibs/linux/include/msm_ion.h
@ -166,7 +166,7 @@ struct ion_flush_data {

 struct ion_prefetch_regions {
 	unsigned int vmid;
-	size_t __user *sizes;
+	size_t *sizes;
 	unsigned int nr_sizes;
 };

@ -174,7 +174,7 @@ struct ion_prefetch_data {
 	int heap_id;
 	unsigned long len;
 	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions __user *regions;
+	struct ion_prefetch_regions *regions;
 	unsigned int nr_regions;
 };

--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libSNPE.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libSNPE.so
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libatomic.so.1
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libatomic.so.1
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator.so
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so
--- a/phonelibs/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so
+++ b/phonelibs/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so
--- a/phonelibs/snpe/larch64
+++ b/phonelibs/snpe/larch64
@ -0,0 +1 @@
+aarch64-linux-gcc4.9
--- a/scripts/tici_prep.sh
+++ b/scripts/tici_prep.sh
@ -0,0 +1,3 @@
+#!/bin/bash
+sudo chmod 666 /dev/ion /dev/kgsl-3d0 /dev/video* /dev/v4l-subdev*
+
--- a/selfdrive/boardd/boardd_setup.py
+++ b/selfdrive/boardd/boardd_setup.py
@ -21,7 +21,10 @@ if ARCH == "x86_64":
    ARCH_DIR = 'x64'
 else:
  libraries = [':libcan_list_to_can_capnp.a', 'capnp', 'kj']
-  ARCH_DIR = 'aarch64'
+  if os.path.isdir("/system"):
+    ARCH_DIR = 'aarch64'
+  else:
+    ARCH_DIR = 'larch64'

 setup(name='Boardd API Implementation',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@ -5,6 +5,9 @@ libs = ['m', 'pthread', common, 'jpeg', 'json', cereal, 'OpenCL', messaging, 'cz
 if arch == "aarch64":
  libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
  cameras = ['cameras/camera_qcom.c']
+elif arch == "larch64":
+  libs += []
+  cameras = ['cameras/camera_qcom2.c']
 else:
  if webcam:
    libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@ -12,7 +12,8 @@
 #define CAMERA_ID_OV10640 5
 #define CAMERA_ID_LGC920 6
 #define CAMERA_ID_LGC615 7
-#define CAMERA_ID_MAX 8
+#define CAMERA_ID_AR0231 8
+#define CAMERA_ID_MAX 9

 #ifdef __cplusplus
 extern "C" {
--- a/selfdrive/camerad/cameras/camera_qcom2.c
+++ b/selfdrive/camerad/cameras/camera_qcom2.c
@ -0,0 +1,944 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+#include <signal.h>
+#include <assert.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <poll.h>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+#include "camera_qcom2.h"
+
+#include "media/cam_defs.h"
+#include "media/cam_isp.h"
+#include "media/cam_isp_ife.h"
+#include "media/cam_sensor_cmn_header.h"
+#include "media/cam_sensor.h"
+#include "media/cam_sync.h"
+
+#include "sensor2_i2c.h"
+
+#define FRAME_WIDTH  1928
+#define FRAME_HEIGHT 1208
+//#define FRAME_STRIDE 1936 // for 8 bit output
+#define FRAME_STRIDE 2416  // for 10 bit output
+
+static void hexdump(uint8_t *data, int len) {
+  for (int i = 0; i < len; i++) {
+    if (i!=0&&i%0x10==0) printf("\n");
+    printf("%02X ", data[i]);
+  }
+  printf("\n");
+}
+
+
+extern volatile sig_atomic_t do_exit;
+
+CameraInfo cameras_supported[CAMERA_ID_MAX] = {
+  [CAMERA_ID_AR0231] = {
+    .frame_width = FRAME_WIDTH,
+    .frame_height = FRAME_HEIGHT,
+    .frame_stride = FRAME_STRIDE,
+    .bayer = true,
+    .bayer_flip = 0,
+    .hdr = false
+  },
+};
+
+// ************** low level camera helpers ****************
+
+int cam_control(int fd, int op_code, void *handle, int size) {
+  struct cam_control camcontrol = {0};
+  camcontrol.op_code = op_code;
+  camcontrol.handle = (uint64_t)handle;
+  if (size == 0) { camcontrol.size = 8;
+    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
+  } else {
+    camcontrol.size = size;
+    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
+  }
+
+  int ret = ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol);
+  if (ret == -1) {
+    perror("wat");
+  }
+  return ret;
+}
+
+int device_control(int fd, int op_code, int session_handle, int dev_handle) {
+  // start stop and release are all the same
+  static struct cam_release_dev_cmd release_dev_cmd;
+  release_dev_cmd.session_handle = session_handle;
+  release_dev_cmd.dev_handle = dev_handle;
+  return cam_control(fd, op_code, &release_dev_cmd, sizeof(release_dev_cmd));
+}
+
+void *alloc_w_mmu_hdl(int video0_fd, int len, int align, int flags, uint32_t *handle, int mmu_hdl, int mmu_hdl2) {
+  int ret;
+
+  static struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
+  mem_mgr_alloc_cmd.len = len;
+  mem_mgr_alloc_cmd.align = align;
+  mem_mgr_alloc_cmd.flags = flags;
+  mem_mgr_alloc_cmd.num_hdl = 0;
+  if (mmu_hdl != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+  if (mmu_hdl2 != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+
+  cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  *handle = mem_mgr_alloc_cmd.out.buf_handle;
+
+  void *ptr = NULL;
+  if (mem_mgr_alloc_cmd.out.fd > 0) {
+    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
+    assert(ptr != MAP_FAILED);
+  }
+
+  LOGD("alloced: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
+
+  return ptr;
+}
+
+void *alloc(int video0_fd, int len, int align, int flags, uint32_t *handle) {
+  return alloc_w_mmu_hdl(video0_fd, len, align, flags, handle, 0, 0);
+}
+
+void release(int video0_fd, uint32_t handle) {
+  int ret;
+  static struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
+  mem_mgr_release_cmd.buf_handle = handle;
+
+  ret = cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  assert(ret == 0);
+}
+
+
+void release_fd(int video0_fd, uint32_t handle) {
+  // handle to fd
+  close(handle>>16);
+  release(video0_fd, handle);
+}
+
+// ************** high level camera helpers ****************
+
+void sensors_poke(struct CameraState *s, int request_id) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet);
+  struct cam_packet *pkt = alloc(s->video0_fd, size, 8,
+    CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
+  pkt->num_cmd_buf = 1;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = 0x7f;
+  pkt->header.request_id = request_id;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  static struct cam_config_dev_cmd config_dev_cmd = {};
+  config_dev_cmd.session_handle = s->session_handle;
+  config_dev_cmd.dev_handle = s->sensor_dev_handle;
+  config_dev_cmd.offset = 0;
+  config_dev_cmd.packet_handle = cam_packet_handle;
+
+  int ret = cam_control(s->sensor_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
+  assert(ret == 0);
+
+  release_fd(s->video0_fd, cam_packet_handle);
+}
+
+void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int len, int op_code) {
+  LOGD("sensors_i2c: %d", len);
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
+  struct cam_packet *pkt = alloc(s->video0_fd, size, 8,
+    CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
+  pkt->num_cmd_buf = 1;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.size = size;
+  pkt->header.op_code = op_code;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_random_wr) + (len-1)*sizeof(struct i2c_random_wr_payload);
+  buf_desc[0].type = CAM_CMD_BUF_I2C;
+  struct cam_cmd_power *power = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle);
+  struct cam_cmd_i2c_random_wr *i2c_random_wr = (void*)power;
+  i2c_random_wr->header.count = len;
+  i2c_random_wr->header.op_code = 1;
+  i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
+  i2c_random_wr->header.data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload));
+
+  static struct cam_config_dev_cmd config_dev_cmd = {};
+  config_dev_cmd.session_handle = s->session_handle;
+  config_dev_cmd.dev_handle = s->sensor_dev_handle;
+  config_dev_cmd.offset = 0;
+  config_dev_cmd.packet_handle = cam_packet_handle;
+
+  int ret = cam_control(s->sensor_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
+  assert(ret == 0);
+
+  release_fd(s->video0_fd, buf_desc[0].mem_handle);
+  release_fd(s->video0_fd, cam_packet_handle);
+}
+
+void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  struct cam_packet *pkt = alloc(video0_fd, size, 8,
+    CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.op_code = 0x1000003;
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
+  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
+  struct cam_cmd_i2c_info *i2c_info = alloc(video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle);
+  struct cam_cmd_probe *probe = (struct cam_cmd_probe *)((uint8_t *)i2c_info) + sizeof(struct cam_cmd_i2c_info);
+
+  switch (camera_num) {
+    case 0:
+      // port 0
+      i2c_info->slave_addr = 0x20;
+      probe->camera_id = 0;
+      break;
+    case 1:
+      // port 1
+      i2c_info->slave_addr = 0x30;
+      probe->camera_id = 1;
+      break;
+    case 2:
+      // port 2
+      i2c_info->slave_addr = 0x20;
+      probe->camera_id = 2;
+      break;
+  }
+
+  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
+  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
+  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
+  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
+
+  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->op_code = 3;   // don't care?
+  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
+  probe->reg_addr = 0x3000; //0x300a; //0x300b;
+  probe->expected_data = 0x354; //0x7750; //0x885a;
+  probe->data_mask = 0;
+
+  //buf_desc[1].size = buf_desc[1].length = 148;
+  buf_desc[1].size = buf_desc[1].length = 196;
+  buf_desc[1].type = CAM_CMD_BUF_I2C;
+  struct cam_cmd_power *power = alloc(video0_fd, buf_desc[1].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[1].mem_handle);
+  memset(power, 0, buf_desc[1].size);
+  struct cam_cmd_unconditional_wait *unconditional_wait;
+
+  void *ptr = power;
+  // 7750
+  /*power->count = 2;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 8;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));*/
+
+  // 885a
+  power->count = 4;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 3; // clock??
+  power->power_settings[1].power_seq_type = 1; // analog
+  power->power_settings[2].power_seq_type = 2; // digital
+  power->power_settings[3].power_seq_type = 8; // reset low
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+  
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 5;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // set clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 24000000; //Hz
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 10; // ms
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // 8,1 is this reset?
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 100; // ms
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // probe happens here
+
+  // disable clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 0;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 1;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 1;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // reset low
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 0;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  unconditional_wait = (void*)power;
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = 1;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  power = (void*)power + sizeof(struct cam_cmd_unconditional_wait);
+
+  // 7750
+  /*power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));*/
+
+  // 885a
+  power->count = 3;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 1;
+  power->power_settings[2].power_seq_type = 3;
+  power = (void*)power + (sizeof(struct cam_cmd_power) + (power->count-1)*sizeof(struct cam_power_settings));
+
+  LOGD("probing the sensor");
+  int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)cam_packet_handle, 0);
+  assert(ret == 0);
+
+  release_fd(video0_fd, buf_desc[0].mem_handle);
+  release_fd(video0_fd, buf_desc[1].mem_handle);
+  release_fd(video0_fd, cam_packet_handle);
+}
+
+void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  if (io_mem_handle != 0) {
+    size += sizeof(struct cam_buf_io_cfg);
+  }
+  struct cam_packet *pkt = alloc(s->video0_fd, size, 8,
+    CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = 0;
+
+  if (io_mem_handle != 0) {
+    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*2;
+    pkt->num_io_configs = 1;
+  }
+
+  if (io_mem_handle != 0) {
+    pkt->header.op_code = 0xf000001;
+    pkt->header.request_id = request_id;
+  } else {
+    pkt->header.op_code = 0xf000000;
+  }
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+  struct cam_buf_io_cfg *io_cfg = (void*)&pkt->payload + pkt->io_configs_offset;
+
+  // TODO: support MMU
+  buf_desc[0].size = 65624;
+  buf_desc[0].length = 0;
+  buf_desc[0].type = CAM_CMD_BUF_DIRECT;
+  buf_desc[0].meta_data = 3;
+  buf_desc[0].mem_handle = buf0_mem_handle;
+  buf_desc[0].offset = buf0_offset;
+
+  buf_desc[1].size = 324;
+	if (io_mem_handle != 0) {
+    buf_desc[1].length = 228; // 0 works here too
+    buf_desc[1].offset = 0x60;
+	} else {
+    buf_desc[1].length = 324;
+  }
+  buf_desc[1].type = CAM_CMD_BUF_GENERIC;
+  buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
+  uint32_t *buf2 = alloc(s->video0_fd, buf_desc[1].size, 0x20, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[1].mem_handle);
+
+  // cam_isp_packet_generic_blob_handler
+  uint32_t tmp[] = {
+    // size is 0x20, type is 0(CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG)
+    0x2000,
+    0x1, 0x0, CAM_ISP_IFE_OUT_RES_RDI_0, 0x1, 0x0, 0x1, 0x0, 0x0, // 1 port, CAM_ISP_IFE_OUT_RES_RDI_0
+    // size is 0x38, type is 1(CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG), clocks
+    0x3801,
+    0x1, 0x4, // Dual mode, 4 RDI wires
+    0x18148d00, 0x0, 0x18148d00, 0x0, 0x18148d00, 0x0, // rdi clock
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0,  // junk?
+    // offset 0x60
+    // size is 0xe0, type is 2(CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG), bandwidth
+    0xe002,
+    0x1, 0x4, // 4 RDI
+    0x0, 0x0, 0x1ad27480, 0x0, 0x1ad27480, 0x0, // left_pix_vote
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, // right_pix_vote
+    0x0, 0x0, 0x6ee11c0, 0x2, 0x6ee11c0, 0x2,  // rdi_vote
+    0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+    0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0}; 
+  memcpy(buf2, tmp, sizeof(tmp));
+
+  if (io_mem_handle != 0) {
+    io_cfg[0].mem_handle[0] = io_mem_handle;
+		io_cfg[0].planes[0] = (struct cam_plane_cfg){
+		 .width = FRAME_WIDTH,
+		 .height = FRAME_HEIGHT,
+		 .plane_stride = FRAME_STRIDE,
+		 .slice_height = FRAME_HEIGHT,
+		 .meta_stride = 0x0,
+		 .meta_size = 0x0,
+		 .meta_offset = 0x0,
+		 .packer_config = 0x0,
+		 .mode_config = 0x0,
+		 .tile_config = 0x0,
+		 .h_init = 0x0,
+		 .v_init = 0x0,
+		};
+    io_cfg[0].format = 0x3;
+    io_cfg[0].color_pattern = 0x5;
+    io_cfg[0].bpp = 0xc;
+    io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;
+    io_cfg[0].fence = fence;
+    io_cfg[0].direction = 0x2;
+    io_cfg[0].subsample_pattern = 0x1;
+    io_cfg[0].framedrop_pattern = 0x1;
+  }
+
+  static struct cam_config_dev_cmd config_dev_cmd = {};
+  config_dev_cmd.session_handle = s->session_handle;
+  config_dev_cmd.dev_handle = s->isp_dev_handle;
+  config_dev_cmd.offset = 0;
+  config_dev_cmd.packet_handle = cam_packet_handle;
+
+  int ret = cam_control(s->isp_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
+  if (ret != 0) {
+    printf("ISP CONFIG FAILED\n");
+  }
+
+  release_fd(s->video0_fd, buf_desc[1].mem_handle);
+  //release(s->video0_fd, buf_desc[0].mem_handle);
+  release_fd(s->video0_fd, cam_packet_handle);
+}
+
+void enqueue_buffer(struct CameraState *s, int i) {
+  int ret;
+  int request_id = (++s->sched_request_id);
+  bool first = true;
+
+  if (s->buf_handle[i]) {
+    first = false;
+    release(s->video0_fd, s->buf_handle[i]);
+
+    // destroy old output fence
+    static struct cam_sync_info sync_destroy = {0};
+    strcpy(sync_destroy.name, "NodeOutputPortFence");
+    sync_destroy.sync_obj = s->sync_objs[i];
+    ret = cam_control(s->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
+  }
+
+  // new request_ids
+  s->request_ids[i] = request_id;
+
+  // do stuff
+  static struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
+  req_mgr_sched_request.session_hdl = s->session_handle;
+  req_mgr_sched_request.link_hdl = s->link_handle;
+  req_mgr_sched_request.req_id = request_id;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
+  LOGD("sched req: %d %d", ret, request_id);
+
+  // create output fence
+  static struct cam_sync_info sync_create = {0};
+  strcpy(sync_create.name, "NodeOutputPortFence");
+  ret = cam_control(s->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  LOGD("fence req: %d %d", ret, sync_create.sync_obj);
+  s->sync_objs[i] = sync_create.sync_obj;
+
+  // configure ISP to put the image in place
+  static struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+  mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+  mem_mgr_map_cmd.num_hdl = 1;
+  mem_mgr_map_cmd.flags = 1;
+  mem_mgr_map_cmd.fd = s->bufs[i].fd;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+  LOGD("map buf req: (fd: %d) 0x%x %d", s->bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+  s->buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+
+  // poke sensor
+  sensors_poke(s, request_id);
+  LOGD("Poked sensor");
+
+  // push the buffer
+  config_isp(s, s->buf_handle[i], s->sync_objs[i], request_id, s->buf0_handle, 65632*(i+1));
+}
+
+
+// ******************* camera *******************
+
+static void camera_release_buffer(void* cookie, int i) {
+  int ret;
+  CameraState *s = cookie;
+  enqueue_buffer(s, i);
+}
+
+static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned int fps) {
+  LOGD("camera init %d", camera_num);
+
+  // TODO: this is copied code from camera_webcam
+  assert(camera_id < ARRAYSIZE(cameras_supported));
+  s->ci = cameras_supported[camera_id];
+  assert(s->ci.frame_width != 0);
+
+  s->camera_num = camera_num;
+  s->frame_size = s->ci.frame_height * s->ci.frame_stride;
+
+  tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
+
+  s->transform = (mat3){{
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0,
+  }};
+  s->digital_gain = 1.0;
+}
+
+static void camera_open(CameraState *s, VisionBuf* b) {
+  int ret;
+  s->bufs = b;
+
+  // /dev/v4l-subdev10 is sensor, 11, 12, 13 are the other sensors
+  switch (s->camera_num) {
+    case 0:
+      s->sensor_fd = open("/dev/v4l-subdev10", O_RDWR | O_NONBLOCK);
+      break;
+    case 1:
+      s->sensor_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
+      break;
+    case 2:
+      s->sensor_fd = open("/dev/v4l-subdev12", O_RDWR | O_NONBLOCK);
+      break;
+  }
+  assert(s->sensor_fd >= 0);
+  LOGD("opened sensor");
+
+  // also at /dev/v4l-subdev3, 4, 5, 6
+  switch (s->camera_num) {
+    case 0:
+      s->csiphy_fd = open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK);
+      break;
+    case 1:
+      s->csiphy_fd = open("/dev/v4l-subdev4", O_RDWR | O_NONBLOCK);
+      break;
+    case 2:
+      s->csiphy_fd = open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK);
+      break;
+  }
+  assert(s->csiphy_fd >= 0);
+  LOGD("opened csiphy");
+
+  // probe the sensor
+  LOGD("-- Probing sensor %d", s->camera_num);
+  sensors_init(s->video0_fd, s->sensor_fd, s->camera_num);
+
+  memset(&s->req_mgr_session_info, 0, sizeof(s->req_mgr_session_info));
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &s->req_mgr_session_info, sizeof(s->req_mgr_session_info));
+  LOGD("get session: %d 0x%X", ret, s->req_mgr_session_info.session_hdl);
+  s->session_handle = s->req_mgr_session_info.session_hdl;
+
+  // access the sensor
+  LOGD("-- Accessing sensor");
+  static struct cam_acquire_dev_cmd acquire_dev_cmd = {0};
+  acquire_dev_cmd.session_handle = s->session_handle;
+  acquire_dev_cmd.handle_type = CAM_HANDLE_USER_POINTER;
+  ret = cam_control(s->sensor_fd, CAM_ACQUIRE_DEV, &acquire_dev_cmd, sizeof(acquire_dev_cmd));
+  LOGD("acquire sensor dev: %d", ret);
+  s->sensor_dev_handle = acquire_dev_cmd.dev_handle;
+
+  static struct cam_isp_resource isp_resource = {0};
+
+  acquire_dev_cmd.session_handle = s->session_handle;
+  acquire_dev_cmd.handle_type = CAM_HANDLE_USER_POINTER;
+  acquire_dev_cmd.num_resources = 1;
+  acquire_dev_cmd.resource_hdl = (uint64_t)&isp_resource;
+  
+  isp_resource.resource_id = CAM_ISP_RES_ID_PORT;
+  isp_resource.length = sizeof(struct cam_isp_in_port_info) + sizeof(struct cam_isp_out_port_info)*(1-1);
+  isp_resource.handle_type = CAM_HANDLE_USER_POINTER;
+
+  struct cam_isp_in_port_info *in_port_info = malloc(isp_resource.length);
+  isp_resource.res_hdl = (uint64_t)in_port_info;
+
+  switch (s->camera_num) {
+    case 0:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_0;
+      break;
+    case 1:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_1;
+      break;
+    case 2:
+      in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_2;
+      break;
+  }
+
+  in_port_info->lane_type = CAM_ISP_LANE_TYPE_DPHY;
+  in_port_info->lane_num = 4;
+  in_port_info->lane_cfg = 0x3210;
+
+  in_port_info->vc = 0x0;
+  //in_port_info->dt = 0x2C; //CSI_RAW12
+  //in_port_info->format = CAM_FORMAT_MIPI_RAW_12;
+
+  in_port_info->dt = 0x2B; //CSI_RAW10
+  in_port_info->format = CAM_FORMAT_MIPI_RAW_10;
+
+  in_port_info->test_pattern = 0x2; // 0x3?
+  in_port_info->usage_type = 0x0;
+  
+  in_port_info->left_start = 0x0;
+  in_port_info->left_stop = FRAME_WIDTH - 1;
+  in_port_info->left_width = FRAME_WIDTH;
+
+  in_port_info->right_start = 0x0;
+  in_port_info->right_stop = FRAME_WIDTH - 1;
+  in_port_info->right_width = FRAME_WIDTH;
+
+  in_port_info->line_start = 0x0;
+  in_port_info->line_stop = FRAME_HEIGHT - 1;
+  in_port_info->height = FRAME_HEIGHT;
+
+  in_port_info->pixel_clk = 0x0;
+  in_port_info->batch_size = 0x0;
+  in_port_info->dsp_mode = 0x0;
+  in_port_info->hbi_cnt = 0x0;
+  in_port_info->custom_csid = 0x0;
+
+  in_port_info->num_out_res = 0x1;
+  in_port_info->data[0] = (struct cam_isp_out_port_info){
+    .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, 
+    //.format = CAM_FORMAT_MIPI_RAW_12,
+    .format = CAM_FORMAT_MIPI_RAW_10,
+    .width = FRAME_WIDTH, 
+    .height = FRAME_HEIGHT,
+    .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
+  };
+
+  ret = cam_control(s->isp_fd, CAM_ACQUIRE_DEV, &acquire_dev_cmd, sizeof(acquire_dev_cmd));
+  LOGD("acquire isp dev: %d", ret);
+  free(in_port_info);
+  s->isp_dev_handle = acquire_dev_cmd.dev_handle;
+
+  static struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {0};
+  csiphy_acquire_dev_info.combo_mode = 0;
+
+  acquire_dev_cmd.session_handle = s->session_handle;
+  acquire_dev_cmd.handle_type = CAM_HANDLE_USER_POINTER;
+  acquire_dev_cmd.num_resources = 1;
+  acquire_dev_cmd.resource_hdl = (uint64_t)&csiphy_acquire_dev_info;
+
+  ret = cam_control(s->csiphy_fd, CAM_ACQUIRE_DEV, &acquire_dev_cmd, sizeof(acquire_dev_cmd));
+  LOGD("acquire csiphy dev: %d", ret);
+  s->csiphy_dev_handle = acquire_dev_cmd.dev_handle;
+
+  // acquires done
+
+  // config ISP
+  void *buf0 = alloc_w_mmu_hdl(s->video0_fd, 984480, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &s->buf0_handle, s->device_iommu, s->cdm_iommu);
+  config_isp(s, 0, 0, 1, s->buf0_handle, 0);
+
+  LOG("-- Configuring sensor");
+  sensors_i2c(s, init_array_ar0231, sizeof(init_array_ar0231)/sizeof(struct i2c_random_wr_payload),
+    CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  sensors_i2c(s, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
+    CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
+  sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload), 
+    CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
+
+  // config csiphy
+  LOG("-- Config CSI PHY");
+  {
+    uint32_t cam_packet_handle = 0;
+    struct cam_packet *pkt = alloc(s->video0_fd, sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1, 8,
+      CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &cam_packet_handle);
+    pkt->num_cmd_buf = 1;
+    pkt->kmd_cmd_buf_index = -1;
+    struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+    buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
+    buf_desc[0].type = CAM_CMD_BUF_GENERIC;
+    struct cam_csiphy_info *csiphy_info = alloc(s->video0_fd, buf_desc[0].size, 8, CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, &buf_desc[0].mem_handle);
+
+    csiphy_info->lane_mask = 0x1f;
+    csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
+    csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
+    csiphy_info->combo_mode = 0x0;
+    csiphy_info->lane_cnt = 0x4;
+    csiphy_info->secure_mode = 0x0;
+    csiphy_info->settle_time = 2800000000;
+    csiphy_info->data_rate = 44000000;
+
+    static struct cam_config_dev_cmd config_dev_cmd = {};
+    config_dev_cmd.session_handle = s->session_handle;
+    config_dev_cmd.dev_handle = s->csiphy_dev_handle;
+    config_dev_cmd.offset = 0;
+    config_dev_cmd.packet_handle = cam_packet_handle;
+
+    int ret = cam_control(s->csiphy_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
+    assert(ret == 0);
+
+    release(s->video0_fd, buf_desc[0].mem_handle);
+    release(s->video0_fd, cam_packet_handle);
+  }
+
+  // link devices
+  LOG("-- Link devices");
+  static struct cam_req_mgr_link_info req_mgr_link_info = {0};
+  req_mgr_link_info.session_hdl = s->session_handle;
+  req_mgr_link_info.num_devices = 2;
+  req_mgr_link_info.dev_hdls[0] = s->isp_dev_handle;
+  req_mgr_link_info.dev_hdls[1] = s->sensor_dev_handle;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  LOGD("link: %d", ret);
+  s->link_handle = req_mgr_link_info.link_hdl;
+
+  static struct cam_req_mgr_link_control req_mgr_link_control = {0};
+  req_mgr_link_control.ops = 0;
+  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.num_links = 1;
+  req_mgr_link_control.link_hdls[0] = s->link_handle;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  LOGD("link control: %d", ret);
+
+  // start devices
+  LOG("-- Start devices");
+  ret = device_control(s->isp_fd, CAM_START_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("start isp: %d", ret);
+  ret = device_control(s->csiphy_fd, CAM_START_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("start csiphy: %d", ret);
+  ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("start sensor: %d", ret);
+
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    LOG("-- Initting buffer %d", i);
+    enqueue_buffer(s, i);
+  }
+}
+
+void cameras_init(DualCameraState *s) {
+  camera_init(&s->rear, CAMERA_ID_AR0231, 0, 20);
+  camera_init(&s->wide, CAMERA_ID_AR0231, 1, 20);
+  camera_init(&s->front, CAMERA_ID_AR0231, 2, 20);
+}
+
+void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
+  int ret;
+
+  LOG("-- Opening devices");
+  // video0 is the target of many ioctls
+  s->video0_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
+  assert(s->video0_fd >= 0);
+  LOGD("opened video0");
+  s->rear.video0_fd = s->front.video0_fd = s->wide.video0_fd = s->video0_fd;
+
+  // video1 is the target of some ioctls
+  s->video1_fd = open("/dev/video1", O_RDWR | O_NONBLOCK);
+  assert(s->video1_fd >= 0);
+  LOGD("opened video1");
+  s->rear.video1_fd = s->front.video1_fd = s->wide.video1_fd = s->video1_fd;
+
+  // looks like there's only one of these
+  s->isp_fd = open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK);
+  assert(s->isp_fd >= 0);
+  LOGD("opened isp");
+  s->rear.isp_fd = s->front.isp_fd = s->wide.isp_fd = s->isp_fd;
+
+  // query icp for MMU handles
+  LOG("-- Query ICP for MMU handles");
+  static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
+  static struct cam_query_cap_cmd query_cap_cmd = {0};
+  query_cap_cmd.handle_type = 1;
+  query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
+  query_cap_cmd.size = sizeof(isp_query_cap_cmd);
+  ret = cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
+  assert(ret == 0);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
+  LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
+  int device_iommu = isp_query_cap_cmd.device_iommu.non_secure;
+  int cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure;
+  s->rear.device_iommu = s->front.device_iommu = s->wide.device_iommu = device_iommu;
+  s->rear.cdm_iommu = s->front.cdm_iommu = s->wide.cdm_iommu = cdm_iommu;
+
+  // subscribe  
+  LOG("-- Subscribing");
+  static struct v4l2_event_subscription sub = {0};
+  sub.type = 0x8000000;
+  sub.id = 0;
+  ret = ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub);
+  LOGD("isp subscribe: %d", ret);
+  sub.id = 1;
+  ret = ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub);
+  LOGD("isp subscribe: %d", ret);
+
+  camera_open(&s->rear, camera_bufs_rear);
+  //camera_open(&s->front, camera_bufs_front);
+  // TODO: add bufs for camera wide
+}
+
+static void camera_close(CameraState *s) {
+  int ret;
+
+  // stop devices
+  LOG("-- Stop devices");
+  ret = device_control(s->sensor_fd, CAM_STOP_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("stop sensor: %d", ret);
+  ret = device_control(s->isp_fd, CAM_STOP_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("stop isp: %d", ret);
+  ret = device_control(s->csiphy_fd, CAM_STOP_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("stop csiphy: %d", ret);
+
+  // link control stop
+  LOG("-- Stop link control");
+  static struct cam_req_mgr_link_control req_mgr_link_control = {0};
+  req_mgr_link_control.ops = 1;
+  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.num_links = 1;
+  req_mgr_link_control.link_hdls[0] = s->link_handle;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  LOGD("link control stop: %d", ret);
+
+  // unlink
+  LOG("-- Unlink");
+  static struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0};
+  req_mgr_unlink_info.session_hdl = s->session_handle;
+  req_mgr_unlink_info.link_hdl = s->link_handle;
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
+  LOGD("unlink: %d", ret);
+
+  // release devices
+  LOGD("-- Release devices");
+  ret = device_control(s->sensor_fd, CAM_RELEASE_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("release sensor: %d", ret);
+  ret = device_control(s->isp_fd, CAM_RELEASE_DEV, s->session_handle, s->isp_dev_handle);
+  LOGD("release isp: %d", ret);
+  ret = device_control(s->csiphy_fd, CAM_RELEASE_DEV, s->session_handle, s->csiphy_dev_handle);
+  LOGD("release csiphy: %d", ret);
+
+  ret = cam_control(s->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &s->req_mgr_session_info, sizeof(s->req_mgr_session_info));
+  LOGD("destroyed session: %d", ret);
+
+  tbuffer_stop(&s->camera_tb);
+}
+
+static void cameras_close(DualCameraState *s) {
+  camera_close(&s->rear);
+  //camera_close(&s->front);
+  //camera_close(&s->wide);
+}
+
+struct video_event_data {
+  int32_t   session_hdl;
+  int32_t   link_hdl;
+  int32_t   frame_id;
+  int32_t   reserved;
+  uint64_t  tv_sec;
+  uint64_t  tv_usec;
+};
+
+void cameras_run(DualCameraState *s) {
+  LOG("-- Dequeueing Video events");
+
+  while (!do_exit) {
+    struct pollfd fds[2] = {{0}};
+
+    fds[0].fd = s->video0_fd;
+    fds[0].events = POLLPRI;
+
+    fds[1].fd = s->video1_fd;
+    fds[1].events = POLLPRI;
+
+    int ret = poll(fds, ARRAYSIZE(fds), 1000);
+    if (ret <= 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
+      break;
+    }
+
+    for (int i=0; i<2; i++) {
+      if (!fds[i].revents) continue;
+      static struct v4l2_event ev = {0};
+      ret = ioctl(fds[i].fd, VIDIOC_DQEVENT, &ev);
+      if (ev.type == 0x8000000) {
+        struct video_event_data *event_data = (struct video_event_data *)ev.u.data;
+        uint64_t timestamp = (event_data->tv_sec*1000000000ULL
+                              + event_data->tv_usec*1000);
+        LOGD("video%d dqevent: %d type:0x%x frame_id:%d timestamp: %llu", i, ret, ev.type, event_data->frame_id, timestamp);
+
+        if (event_data->frame_id != 0) {
+          for (int j = 0; j < FRAME_BUF_COUNT; j++) {
+            if (s->rear.request_ids[j] == event_data->frame_id) {
+              // TODO: support more than rear camera
+              tbuffer_dispatch(&s->rear.camera_tb, j);
+              break;
+            }
+          }
+        }
+      }
+    }
+  }
+
+  LOG(" ************** STOPPING **************");
+  cameras_close(s);
+}
+
+void camera_autoexposure(CameraState *s, float grey_frac) {
+}
+
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@ -0,0 +1,86 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <pthread.h>
+
+#include "common/mat.h"
+#include "common/visionbuf.h"
+#include "common/buffering.h"
+
+#include "camera_common.h"
+
+#include "media/cam_req_mgr.h"
+
+#define FRAME_BUF_COUNT 4
+#define METADATA_BUF_COUNT 4
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct CameraState {
+  CameraInfo ci;
+  FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT];
+  TBuffer camera_tb;
+
+  int frame_size;
+  float digital_gain;
+  mat3 transform;
+
+  int device_iommu;
+  int cdm_iommu;
+
+  int video0_fd;
+  int video1_fd;
+  int isp_fd;
+
+  int sensor_fd;
+  int csiphy_fd;
+
+  int camera_num;
+
+  VisionBuf *bufs;
+
+  uint32_t session_handle;
+
+  uint32_t sensor_dev_handle;
+  uint32_t isp_dev_handle;
+  uint32_t csiphy_dev_handle;
+
+  int32_t link_handle;
+
+  int buf0_handle;
+  int buf_handle[FRAME_BUF_COUNT];
+  int sched_request_id;
+  int request_ids[FRAME_BUF_COUNT];
+  int sync_objs[FRAME_BUF_COUNT];
+
+  struct cam_req_mgr_session_info req_mgr_session_info;
+} CameraState;
+
+typedef struct DualCameraState {
+  int device;
+
+  int video0_fd;
+  int video1_fd;
+  int isp_fd;
+
+  CameraState rear;
+  CameraState front;
+  CameraState wide;
+} DualCameraState;
+
+void cameras_init(DualCameraState *s);
+void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
+void cameras_run(DualCameraState *s);
+void camera_autoexposure(CameraState *s, float grey_frac);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#endif
+
--- a/selfdrive/camerad/cameras/debayer.cl
+++ b/selfdrive/camerad/cameras/debayer.cl
@ -81,17 +81,28 @@ __kernel void debayer10(__global uchar const * const in,

      float4 p = convert_float4(pint);

+#if NEW == 1
+      // now it's 0x2a
+      const float black_level = 42.0f;
+      // max on black level
+      p = max(0.0, p - black_level);
+#else
      // 64 is the black level of the sensor, remove
      // (changed to 56 for HDR)
      const float black_level = 56.0f;
+      // TODO: switch to max here?
      p = (p - black_level);
+#endif

+
+#if NEW == 0
      // correct vignetting (no pow function?)
      // see https://www.eecis.udel.edu/~jye/lab_research/09/JiUp.pdf the A (4th order)
      const float r = ((oy - RGB_HEIGHT/2)*(oy - RGB_HEIGHT/2) + (ox - RGB_WIDTH/2)*(ox - RGB_WIDTH/2));
      const float fake_f = 700.0f;    // should be 910, but this fits...
      const float lil_a = (1.0f + r/(fake_f*fake_f));
      p = p * lil_a * lil_a;
+#endif

      // rescale to 1.0
 #if HDR
@ -114,8 +125,12 @@ __kernel void debayer10(__global uchar const * const in,
      float3 c1 = (float3)(p.s0, (p.s1+p.s2)/2.0f, p.s3);
 #endif

+#if NEW
+      // TODO: new color correction
+#else
      // color correction
      c1 = color_correct(c1);
+#endif

 #if HDR
      // srgb gamma isn't right for YUV, so it's disabled for now
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@ -0,0 +1,690 @@
+struct i2c_random_wr_payload start_reg_array[] = {{0x301a, 0x1c}};
+//struct i2c_random_wr_payload stop_reg_array[] = {{0x301a, 0x10d8}};
+struct i2c_random_wr_payload stop_reg_array[] = {{0x301a, 0x18}};;
+
+struct i2c_random_wr_payload init_array_ar0231[] = {
+  {0x3092, 0x0C24},
+  {0x337A, 0x0C80},
+  {0x3520, 0x1288},
+  {0x3522, 0x880C},
+  {0x3524, 0x0C12},
+  {0x352C, 0x1212},
+  {0x354A, 0x007F},
+  {0x350C, 28},
+  {0x3506, 0x3333},
+  {0x3508, 0x3333},
+  {0x3100, 0x4000},
+  {0x3280, 0x0FA0},
+  {0x3282, 0x0FA0},
+  {0x3284, 0x0FA0},
+  {0x3286, 0x0FA0},
+  {0x3288, 0x0FA0},
+  {0x328A, 0x0FA0},
+  {0x328C, 0x0FA0},
+  {0x328E, 0x0FA0},
+  {0x3290, 0x0FA0},
+  {0x3292, 0x0FA0},
+  {0x3294, 0x0FA0},
+  {0x3296, 0x0FA0},
+  {0x3298, 0x0FA0},
+  {0x329A, 0x0FA0},
+  {0x329C, 0x0FA0},
+  {0x329E, 0x0FA0},
+
+  // SEQ_DATA_PORT?
+  {0x2512, 0x8000},
+  {0x2510, 0x0905},
+  {0x2510, 0x3350},
+  {0x2510, 0x2004},
+  {0x2510, 0x1460},
+  {0x2510, 0x1578},
+  {0x2510, 0x0901},
+  {0x2510, 0x7B24},
+  {0x2510, 0xFF24},
+  {0x2510, 0xFF24},
+  {0x2510, 0xEA24},
+  {0x2510, 0x1022},
+  {0x2510, 0x2410},
+  {0x2510, 0x155A},
+  {0x2510, 0x0901},
+  {0x2510, 0x1400},
+  {0x2510, 0x24FF},
+  {0x2510, 0x24FF},
+  {0x2510, 0x24EA},
+  {0x2510, 0x2324},
+  {0x2510, 0x647A},
+  {0x2510, 0x2404},
+  {0x2510, 0x052C},
+  {0x2510, 0x400A},
+  {0x2510, 0xFF0A},
+  {0x2510, 0xFF0A},
+  {0x2510, 0x1008},
+  {0x2510, 0x3851},
+  {0x2510, 0x1440},
+  {0x2510, 0x0004},
+  {0x2510, 0x0801},
+  {0x2510, 0x0408},
+  {0x2510, 0x1180},
+  {0x2510, 0x2652},
+  {0x2510, 0x1518},
+  {0x2510, 0x0906},
+  {0x2510, 0x1348},
+  {0x2510, 0x1002},
+  {0x2510, 0x1016},
+  {0x2510, 0x1181},
+  {0x2510, 0x1189},
+  {0x2510, 0x1056},
+  {0x2510, 0x1210},
+  {0x2510, 0x0901},
+  {0x2510, 0x0D09},
+  {0x2510, 0x1413},
+  {0x2510, 0x8809},
+  {0x2510, 0x2B15},
+  {0x2510, 0x8809},
+  {0x2510, 0x0311},
+  {0x2510, 0xD909},
+  {0x2510, 0x1214},
+  {0x2510, 0x4109},
+  {0x2510, 0x0312},
+  {0x2510, 0x1409},
+  {0x2510, 0x0110},
+  {0x2510, 0xD612},
+  {0x2510, 0x1012},
+  {0x2510, 0x1212},
+  {0x2510, 0x1011},
+  {0x2510, 0xDD11},
+  {0x2510, 0xD910},
+  {0x2510, 0x5609},
+  {0x2510, 0x1511},
+  {0x2510, 0xDB09},
+  {0x2510, 0x1511},
+  {0x2510, 0x9B09},
+  {0x2510, 0x0F11},
+  {0x2510, 0xBB12},
+  {0x2510, 0x1A12},
+  {0x2510, 0x1014},
+  {0x2510, 0x6012},
+  {0x2510, 0x5010},
+  {0x2510, 0x7610},
+  {0x2510, 0xE609},
+  {0x2510, 0x0812},
+  {0x2510, 0x4012},
+  {0x2510, 0x6009},
+  {0x2510, 0x290B},
+  {0x2510, 0x0904},
+  {0x2510, 0x1440},
+  {0x2510, 0x0923},
+  {0x2510, 0x15C8},
+  {0x2510, 0x13C8},
+  {0x2510, 0x092C},
+  {0x2510, 0x1588},
+  {0x2510, 0x1388},
+  {0x2510, 0x0C09},
+  {0x2510, 0x0C14},
+  {0x2510, 0x4109},
+  {0x2510, 0x1112},
+  {0x2510, 0x6212},
+  {0x2510, 0x6011},
+  {0x2510, 0xBF11},
+  {0x2510, 0xBB10},
+  {0x2510, 0x6611},
+  {0x2510, 0xFB09},
+  {0x2510, 0x3511},
+  {0x2510, 0xBB12},
+  {0x2510, 0x6312},
+  {0x2510, 0x6014},
+  {0x2510, 0x0015},
+  {0x2510, 0x0011},
+  {0x2510, 0xB812},
+  {0x2510, 0xA012},
+  {0x2510, 0x0010},
+  {0x2510, 0x2610},
+  {0x2510, 0x0013},
+  {0x2510, 0x0011},
+  {0x2510, 0x0008},
+  {0x2510, 0x3053},
+  {0x2510, 0x4215},
+  {0x2510, 0x4013},
+  {0x2510, 0x4010},
+  {0x2510, 0x0210},
+  {0x2510, 0x1611},
+  {0x2510, 0x8111},
+  {0x2510, 0x8910},
+  {0x2510, 0x5612},
+  {0x2510, 0x1009},
+  {0x2510, 0x010D},
+  {0x2510, 0x0815},
+  {0x2510, 0xC015},
+  {0x2510, 0xD013},
+  {0x2510, 0x5009},
+  {0x2510, 0x1313},
+  {0x2510, 0xD009},
+  {0x2510, 0x0215},
+  {0x2510, 0xC015},
+  {0x2510, 0xC813},
+  {0x2510, 0xC009},
+  {0x2510, 0x0515},
+  {0x2510, 0x8813},
+  {0x2510, 0x8009},
+  {0x2510, 0x0213},
+  {0x2510, 0x8809},
+  {0x2510, 0x0411},
+  {0x2510, 0xC909},
+  {0x2510, 0x0814},
+  {0x2510, 0x0109},
+  {0x2510, 0x0B11},
+  {0x2510, 0xD908},
+  {0x2510, 0x1400},
+  {0x2510, 0x091A},
+  {0x2510, 0x1440},
+  {0x2510, 0x0903},
+  {0x2510, 0x1214},
+  {0x2510, 0x0901},
+  {0x2510, 0x10D6},
+  {0x2510, 0x1210},
+  {0x2510, 0x1212},
+  {0x2510, 0x1210},
+  {0x2510, 0x11DD},
+  {0x2510, 0x11D9},
+  {0x2510, 0x1056},
+  {0x2510, 0x0917},
+  {0x2510, 0x11DB},
+  {0x2510, 0x0913},
+  {0x2510, 0x11FB},
+  {0x2510, 0x0905},
+  {0x2510, 0x11BB},
+  {0x2510, 0x121A},
+  {0x2510, 0x1210},
+  {0x2510, 0x1460},
+  {0x2510, 0x1250},
+  {0x2510, 0x1076},
+  {0x2510, 0x10E6},
+  {0x2510, 0x0901},
+  {0x2510, 0x15A8},
+  {0x2510, 0x0901},
+  {0x2510, 0x13A8},
+  {0x2510, 0x1240},
+  {0x2510, 0x1260},
+  {0x2510, 0x0925},
+  {0x2510, 0x13AD},
+  {0x2510, 0x0902},
+  {0x2510, 0x0907},
+  {0x2510, 0x1588},
+  {0x2510, 0x0901},
+  {0x2510, 0x138D},
+  {0x2510, 0x0B09},
+  {0x2510, 0x0914},
+  {0x2510, 0x4009},
+  {0x2510, 0x0B13},
+  {0x2510, 0x8809},
+  {0x2510, 0x1C0C},
+  {0x2510, 0x0920},
+  {0x2510, 0x1262},
+  {0x2510, 0x1260},
+  {0x2510, 0x11BF},
+  {0x2510, 0x11BB},
+  {0x2510, 0x1066},
+  {0x2510, 0x090A},
+  {0x2510, 0x11FB},
+  {0x2510, 0x093B},
+  {0x2510, 0x11BB},
+  {0x2510, 0x1263},
+  {0x2510, 0x1260},
+  {0x2510, 0x1400},
+  {0x2510, 0x1508},
+  {0x2510, 0x11B8},
+  {0x2510, 0x12A0},
+  {0x2510, 0x1200},
+  {0x2510, 0x1026},
+  {0x2510, 0x1000},
+  {0x2510, 0x1300},
+  {0x2510, 0x1100},
+  {0x2510, 0x437A},
+  {0x2510, 0x0609},
+  {0x2510, 0x0B05},
+  {0x2510, 0x0708},
+  {0x2510, 0x4137},
+  {0x2510, 0x502C},
+  {0x2510, 0x2CFE},
+  {0x2510, 0x15FE},
+  {0x2510, 0x0C2C},
+
+  // end SEQ_DATA_PORT
+  {0x32e6,0xe0},
+
+  // exposure time
+  {0x1008,0x36f},
+  {0x100c,0x58f},
+  {0x100e,0x7af},
+  {0x1010,0x14f},
+  {0x3230,0x312},
+  {0x3232,0x532},
+  {0x3234,0x752},
+  {0x3236,0xf2},
+
+  {0x3566, 0x0},
+  {0x32D0, 0x3A02},
+  {0x32D2, 0x3508},
+  {0x32D4, 0x3702},
+  {0x32D6, 0x3C04},
+  {0x32DC, 0x370A},
+  {0x30b0, 0x200},
+  {0x3082, 0x0},
+  {0x33E0, 0x0080},
+  {0x3180, 0x0080},
+  {0x33E4, 0x0080},
+  {0x33E0, 0x0C00},
+  {0x33E0, 0x0000},
+
+  {0x31B4, 0x2185},
+  {0x31B6, 0x1146},
+  {0x31B8, 0x3047},
+
+  {0x31BA, 0x186},
+  {0x31BC, 0x805},
+
+  // additions
+  // mipi + 4 lanes
+  {0x31AE, 0x0204},
+  // DATA_FORMAT_RAW = 12
+  // DATA_FORMAT_OUTPUT = 0?
+  //{0x31AC, 0x0C08},
+  {0x31AC, 0x0C0A},
+
+  // 0x2B = CSI_RAW10
+  {0x3342, 0x122B},
+  {0x3346, 0x122B},
+  {0x334a, 0x122B},
+  {0x334e, 0x122B},
+
+  // 10-bit
+  {0x3036, 0xA},
+};
+
+struct i2c_random_wr_payload poke_array_ov7750[] = {
+  {0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0}, 
+  //{0x3208, 0x0}, {0x380e, 0x1a}, {0x380f, 0xf0}, {0x3500, 0x0}, {0x3501, 0x0}, {0x3502, 0x10}, {0x350a, 0x0}, {0x350b, 0x10}, {0x3208, 0x10}, {0x3208, 0xa0}, 
+};
+
+struct i2c_random_wr_payload preinit_array_ov7750[] = {
+  {0x103, 0x1},
+  {0x303b, 0x2},
+  {0x302b, 0x80},
+};
+
+struct i2c_random_wr_payload init_array_ov7750[] = {
+  // 2nd batch
+  {0x3005, 0x0},
+  {0x3012, 0xc0},
+  {0x3013, 0xd2},
+  {0x3014, 0x4},
+  {0x3016, 0xf0},
+  {0x3017, 0xf0},
+  {0x3018, 0xf0},
+  {0x301a, 0xf0},
+  {0x301b, 0xf0},
+  {0x301c, 0xf0},
+  {0x3023, 0x5},
+  {0x3037, 0xf0},
+  {0x3098, 0x4},
+  {0x3099, 0x28},
+  {0x309a, 0x5},
+  {0x309b, 0x4},
+  {0x30b0, 0xa},
+  {0x30b1, 0x1},
+  {0x30b3, 0x64},
+  {0x30b4, 0x3},
+  {0x30b5, 0x5},
+  {0x3106, 0xda},
+  {0x3500, 0x0},
+  {0x3501, 0x1f},
+  {0x3502, 0x80},
+  {0x3503, 0x7},
+  {0x3509, 0x10},
+  {0x350b, 0x10},
+  {0x3600, 0x1c},
+  {0x3602, 0x62},
+  {0x3620, 0xb7},
+  {0x3622, 0x4},
+  {0x3626, 0x21},
+  {0x3627, 0x30},
+  {0x3630, 0x44},
+  {0x3631, 0x35},
+  {0x3634, 0x60},
+  {0x3636, 0x0},
+  {0x3662, 0x1},
+  {0x3663, 0x70},
+  {0x3664, 0xf0},
+  {0x3666, 0xa},
+  {0x3669, 0x1a},
+  {0x366a, 0x0},
+  {0x366b, 0x50},
+  {0x3673, 0x1},
+  {0x3674, 0xff},
+  {0x3675, 0x3},
+  {0x3705, 0xc1},
+  {0x3709, 0x40},
+  {0x373c, 0x8},
+  {0x3742, 0x0},
+  {0x3757, 0xb3},
+  {0x3788, 0x0},
+  {0x37a8, 0x1},
+  {0x37a9, 0xc0},
+  {0x3800, 0x0},
+  {0x3801, 0x4},
+  {0x3802, 0x0},
+  {0x3803, 0x4},
+  {0x3804, 0x2},
+  {0x3805, 0x8b},
+  {0x3806, 0x1},
+  {0x3807, 0xeb},
+  {0x3808, 0x2},
+  {0x3809, 0x80},
+  {0x380a, 0x1},
+  {0x380b, 0xe0},
+  {0x380c, 0x3},
+  {0x380d, 0xa0},
+  {0x380e, 0x6},
+  {0x380f, 0xbc},
+  {0x3810, 0x0},
+  {0x3811, 0x4},
+  {0x3812, 0x0},
+  {0x3813, 0x5},
+  {0x3814, 0x11},
+  {0x3815, 0x11},
+  {0x3820, 0x40},
+  {0x3821, 0x0},
+  {0x382f, 0xe},
+  {0x3832, 0x0},
+  {0x3833, 0x5},
+  {0x3834, 0x0},
+  {0x3835, 0xc},
+  {0x3837, 0x0},
+  {0x3b80, 0x0},
+  {0x3b81, 0xa5},
+  {0x3b82, 0x10},
+  {0x3b83, 0x0},
+  {0x3b84, 0x8},
+  {0x3b85, 0x0},
+  {0x3b86, 0x1},
+  {0x3b87, 0x0},
+  {0x3b88, 0x0},
+  {0x3b89, 0x0},
+  {0x3b8a, 0x0},
+  {0x3b8b, 0x5},
+  {0x3b8c, 0x0},
+  {0x3b8d, 0x0},
+  {0x3b8e, 0x0},
+  {0x3b8f, 0x1a},
+  {0x3b94, 0x5},
+  {0x3b95, 0xf2},
+  {0x3b96, 0x40},
+  {0x3c00, 0x89},
+  {0x3c01, 0x63},
+  {0x3c02, 0x1},
+  {0x3c03, 0x0},
+  {0x3c04, 0x0},
+  {0x3c05, 0x3},
+  {0x3c06, 0x0},
+  {0x3c07, 0x6},
+  {0x3c0c, 0x1},
+  {0x3c0d, 0xd0},
+  {0x3c0e, 0x2},
+  {0x3c0f, 0xa},
+  {0x4001, 0x42},
+  {0x4004, 0x4},
+  {0x4005, 0x0},
+  {0x404e, 0x1},
+  {0x4300, 0xff},
+  {0x4301, 0x0},
+  {0x4315, 0x0},
+  {0x4501, 0x48},
+  {0x4600, 0x0},
+  {0x4601, 0x4e},
+  {0x4801, 0xf},
+  {0x4806, 0xf},
+  {0x4819, 0xaa},
+  {0x4823, 0x3e},
+  {0x4837, 0x19},
+  {0x4a0d, 0x0},
+  {0x4a47, 0x7f},
+  {0x4a49, 0xf0},
+  {0x4a4b, 0x30},
+  {0x5000, 0x85},
+  {0x5001, 0x80},
+};
+
+struct i2c_random_wr_payload init_array_ov8856[] = {
+  // part 1 184
+  {0x103, 0x1},
+  {0x302, 0x3c},
+  {0x303, 0x1},
+  {0x31e, 0xc},
+  {0x3000, 0x0},
+  {0x300e, 0x0},
+  {0x3010, 0x0},
+  {0x3015, 0x84},
+  {0x3018, 0x72},
+  {0x3033, 0x24},
+  {0x3500, 0x0},
+  {0x3501, 0x4c},
+  {0x3502, 0xe0},
+  {0x3503, 0x8},
+  {0x3505, 0x83},
+  {0x3508, 0x1},
+  {0x3509, 0x80},
+  {0x350c, 0x0},
+  {0x350d, 0x80},
+  {0x350e, 0x4},
+  {0x350f, 0x0},
+  {0x3510, 0x0},
+  {0x3511, 0x2},
+  {0x3512, 0x0},
+  {0x3600, 0x72},
+  {0x3601, 0x40},
+  {0x3602, 0x30},
+  {0x3610, 0xc5},
+  {0x3611, 0x58},
+  {0x3612, 0x5c},
+  {0x3613, 0x5a},
+  {0x3614, 0x60},
+  {0x3628, 0xff},
+  {0x3629, 0xff},
+  {0x362a, 0xff},
+  {0x3633, 0x10},
+  {0x3634, 0x10},
+  {0x3635, 0x10},
+  {0x3636, 0x10},
+  {0x3663, 0x8},
+  {0x3669, 0x34},
+  {0x366e, 0x8},
+  {0x3706, 0x86},
+  {0x370b, 0x7e},
+  {0x3714, 0x27},
+  {0x3730, 0x12},
+  {0x3733, 0x10},
+  {0x3764, 0x0},
+  {0x3765, 0x0},
+  {0x3769, 0x62},
+  {0x376a, 0x2a},
+  {0x376b, 0x3b},
+  {0x3780, 0x0},
+  {0x3781, 0x24},
+  {0x3782, 0x0},
+  {0x3783, 0x23},
+  {0x3798, 0x2f},
+  {0x37a1, 0x60},
+  {0x37a8, 0x6a},
+  {0x37ab, 0x3f},
+  {0x37c2, 0x14},
+  {0x37c3, 0xf1},
+  {0x37c9, 0x80},
+  {0x37cb, 0x3},
+  {0x37cc, 0xa},
+  {0x37cd, 0x16},
+  {0x37ce, 0x1f},
+  {0x3800, 0x0},
+  {0x3801, 0x0},
+  {0x3802, 0x0},
+  {0x3803, 0xc},
+  {0x3804, 0xc},
+  {0x3805, 0xdf},
+  {0x3806, 0x9},
+  {0x3807, 0xa3},
+  {0x3808, 0x6},
+  {0x3809, 0x60},
+  {0x380a, 0x4},
+  {0x380b, 0xc8},
+  {0x380c, 0x7},
+  {0x380d, 0x8c},
+  {0x380e, 0x9},
+  {0x380f, 0xb2},
+  {0x3810, 0x0},
+  {0x3811, 0x8},
+  {0x3812, 0x0},
+  {0x3813, 0x2},
+  {0x3814, 0x3},
+  {0x3815, 0x1},
+  {0x3816, 0x0},
+  {0x3817, 0x0},
+  {0x3818, 0x0},
+  {0x3819, 0x0},
+  {0x3820, 0x90},
+  {0x3821, 0x67},
+  {0x382a, 0x3},
+  {0x382b, 0x1},
+  {0x3830, 0x6},
+  {0x3836, 0x2},
+  {0x3862, 0x4},
+  {0x3863, 0x8},
+  {0x3cc0, 0x33},
+  {0x3d85, 0x17},
+  {0x3d8c, 0x73},
+  {0x3d8d, 0xde},
+  {0x4001, 0xe0},
+  {0x4003, 0x40},
+  {0x4008, 0x0},
+  {0x4009, 0x5},
+  {0x400f, 0x80},
+  {0x4010, 0xf0},
+  {0x4011, 0xff},
+  {0x4012, 0x2},
+  {0x4013, 0x1},
+  {0x4014, 0x1},
+  {0x4015, 0x1},
+  {0x4042, 0x0},
+  {0x4043, 0x80},
+  {0x4044, 0x0},
+  {0x4045, 0x80},
+  {0x4046, 0x0},
+  {0x4047, 0x80},
+  {0x4048, 0x0},
+  {0x4049, 0x80},
+  {0x4041, 0x3},
+  {0x404c, 0x20},
+  {0x404d, 0x0},
+  {0x404e, 0x20},
+  {0x4203, 0x80},
+  {0x4307, 0x30},
+  {0x4317, 0x0},
+  {0x4503, 0x8},
+  {0x4601, 0x80},
+  {0x4816, 0x53},
+  {0x481b, 0x58},
+  {0x481f, 0x27},
+  {0x4837, 0x16},
+  {0x5000, 0x77},
+  {0x5001, 0xe},
+  {0x5004, 0x0},
+  {0x502e, 0x0},
+  {0x5030, 0x41},
+  {0x5795, 0x0},
+  {0x5796, 0x10},
+  {0x5797, 0x10},
+  {0x5798, 0x73},
+  {0x5799, 0x73},
+  {0x579a, 0x0},
+  {0x579b, 0x28},
+  {0x579c, 0x0},
+  {0x579d, 0x16},
+  {0x579e, 0x6},
+  {0x579f, 0x20},
+  {0x57a0, 0x4},
+  {0x57a1, 0xa0},
+  {0x5780, 0x14},
+  {0x5781, 0xf},
+  {0x5782, 0x44},
+  {0x5783, 0x2},
+  {0x5784, 0x1},
+  {0x5785, 0x1},
+  {0x5786, 0x0},
+  {0x5787, 0x4},
+  {0x5788, 0x2},
+  {0x5789, 0xf},
+  {0x578a, 0xfd},
+  {0x578b, 0xf5},
+  {0x578c, 0xf5},
+  {0x578d, 0x3},
+  {0x578e, 0x8},
+  {0x578f, 0xc},
+  {0x5790, 0x8},
+  {0x5791, 0x4},
+  {0x5792, 0x0},
+  {0x5793, 0x52},
+  {0x5794, 0xa3},
+  {0x5a08, 0x2},
+  {0x5b00, 0x2},
+  {0x5b01, 0x10},
+  {0x5b02, 0x3},
+  {0x5b03, 0xcf},
+  {0x5b05, 0x6c},
+  {0x5e00, 0x0},
+
+  // part 2 45
+  {0x3501, 0x9a},
+  {0x3502, 0x20},
+  {0x366d, 0x0},
+  {0x366e, 0x10},
+  {0x3714, 0x23},
+  {0x37c2, 0x4},
+  {0x3800, 0x0},
+  {0x3801, 0x0},
+  {0x3802, 0x0},
+  {0x3803, 0xc},
+  {0x3804, 0xc},
+  {0x3805, 0xdf},
+  {0x3806, 0x9},
+  {0x3807, 0xa3},
+  {0x3808, 0xc},
+  {0x3809, 0xc0},
+  {0x380a, 0x9},
+  {0x380b, 0x90},
+  {0x380c, 0x7},
+  {0x380d, 0x8c},
+  {0x380e, 0x9},
+  {0x380f, 0xb2},
+  {0x3811, 0x10},
+  {0x3813, 0x4},
+  {0x3814, 0x1},
+  {0x3820, 0xc6},
+  {0x3821, 0x40},
+  {0x382a, 0x1},
+  {0x4009, 0xb},
+  {0x4601, 0x80},
+  {0x5003, 0xc8},
+  {0x5006, 0x0},
+  {0x5007, 0x0},
+  {0x5795, 0x2},
+  {0x5796, 0x20},
+  {0x5797, 0x20},
+  {0x5798, 0xd5},
+  {0x5799, 0xd5},
+  {0x579b, 0x50},
+  {0x579d, 0x2c},
+  {0x579e, 0xc},
+  {0x579f, 0x40},
+  {0x57a0, 0x9},
+  {0x57a1, 0x40},
+  {0x5e10, 0xfc},
+};
+
--- a/selfdrive/camerad/include/media/cam_cpas.h
+++ b/selfdrive/camerad/include/media/cam_cpas.h
@ -0,0 +1,25 @@
+#ifndef __UAPI_CAM_CPAS_H__
+#define __UAPI_CAM_CPAS_H__
+
+#include "cam_defs.h"
+
+#define CAM_FAMILY_CAMERA_SS     1
+#define CAM_FAMILY_CPAS_SS       2
+
+/**
+ * struct cam_cpas_query_cap - CPAS query device capability payload
+ *
+ * @camera_family     : Camera family type
+ * @reserved          : Reserved field for alignment
+ * @camera_version    : Camera platform version
+ * @cpas_version      : Camera CPAS version within camera platform
+ *
+ */
+struct cam_cpas_query_cap {
+	uint32_t                 camera_family;
+	uint32_t                 reserved;
+	struct cam_hw_version    camera_version;
+	struct cam_hw_version    cpas_version;
+};
+
+#endif /* __UAPI_CAM_CPAS_H__ */
--- a/selfdrive/camerad/include/media/cam_defs.h
+++ b/selfdrive/camerad/include/media/cam_defs.h
@ -0,0 +1,477 @@
+#ifndef __UAPI_CAM_DEFS_H__
+#define __UAPI_CAM_DEFS_H__
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+
+
+/* camera op codes */
+#define CAM_COMMON_OPCODE_BASE                  0x100
+#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
+#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
+#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
+#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
+#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
+#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
+#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
+#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
+#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
+
+#define CAM_EXT_OPCODE_BASE                     0x200
+#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
+
+/* camera handle type */
+#define CAM_HANDLE_USER_POINTER                 1
+#define CAM_HANDLE_MEM_HANDLE                   2
+
+/* Generic Blob CmdBuffer header properties */
+#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
+#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
+#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
+#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
+
+/* Command Buffer Types */
+#define CAM_CMD_BUF_DMI                     0x1
+#define CAM_CMD_BUF_DMI16                   0x2
+#define CAM_CMD_BUF_DMI32                   0x3
+#define CAM_CMD_BUF_DMI64                   0x4
+#define CAM_CMD_BUF_DIRECT                  0x5
+#define CAM_CMD_BUF_INDIRECT                0x6
+#define CAM_CMD_BUF_I2C                     0x7
+#define CAM_CMD_BUF_FW                      0x8
+#define CAM_CMD_BUF_GENERIC                 0x9
+#define CAM_CMD_BUF_LEGACY                  0xA
+
+/**
+ * enum flush_type_t - Identifies the various flush types
+ *
+ * @CAM_FLUSH_TYPE_REQ:    Flush specific request
+ * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
+ * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
+ *
+ */
+enum flush_type_t {
+	CAM_FLUSH_TYPE_REQ,
+	CAM_FLUSH_TYPE_ALL,
+	CAM_FLUSH_TYPE_MAX
+};
+
+/**
+ * struct cam_control - Structure used by ioctl control for camera
+ *
+ * @op_code:            This is the op code for camera control
+ * @size:               Control command size
+ * @handle_type:        User pointer or shared memory handle
+ * @reserved:           Reserved field for 64 bit alignment
+ * @handle:             Control command payload
+ */
+struct cam_control {
+	uint32_t        op_code;
+	uint32_t        size;
+	uint32_t        handle_type;
+	uint32_t        reserved;
+	uint64_t        handle;
+};
+
+/* camera IOCTL */
+#define VIDIOC_CAM_CONTROL \
+	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
+
+/**
+ * struct cam_hw_version - Structure for HW version of camera devices
+ *
+ * @major    : Hardware version major
+ * @minor    : Hardware version minor
+ * @incr     : Hardware version increment
+ * @reserved : Reserved for 64 bit aligngment
+ */
+struct cam_hw_version {
+	uint32_t major;
+	uint32_t minor;
+	uint32_t incr;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
+ *
+ * @non_secure: Device Non Secure IOMMU handle
+ * @secure:     Device Secure IOMMU handle
+ *
+ */
+struct cam_iommu_handle {
+	int32_t non_secure;
+	int32_t secure;
+};
+
+/* camera secure mode */
+#define CAM_SECURE_MODE_NON_SECURE             0
+#define CAM_SECURE_MODE_SECURE                 1
+
+/* Camera Format Type */
+#define CAM_FORMAT_BASE                         0
+#define CAM_FORMAT_MIPI_RAW_6                   1
+#define CAM_FORMAT_MIPI_RAW_8                   2
+#define CAM_FORMAT_MIPI_RAW_10                  3
+#define CAM_FORMAT_MIPI_RAW_12                  4
+#define CAM_FORMAT_MIPI_RAW_14                  5
+#define CAM_FORMAT_MIPI_RAW_16                  6
+#define CAM_FORMAT_MIPI_RAW_20                  7
+#define CAM_FORMAT_QTI_RAW_8                    8
+#define CAM_FORMAT_QTI_RAW_10                   9
+#define CAM_FORMAT_QTI_RAW_12                   10
+#define CAM_FORMAT_QTI_RAW_14                   11
+#define CAM_FORMAT_PLAIN8                       12
+#define CAM_FORMAT_PLAIN16_8                    13
+#define CAM_FORMAT_PLAIN16_10                   14
+#define CAM_FORMAT_PLAIN16_12                   15
+#define CAM_FORMAT_PLAIN16_14                   16
+#define CAM_FORMAT_PLAIN16_16                   17
+#define CAM_FORMAT_PLAIN32_20                   18
+#define CAM_FORMAT_PLAIN64                      19
+#define CAM_FORMAT_PLAIN128                     20
+#define CAM_FORMAT_ARGB                         21
+#define CAM_FORMAT_ARGB_10                      22
+#define CAM_FORMAT_ARGB_12                      23
+#define CAM_FORMAT_ARGB_14                      24
+#define CAM_FORMAT_DPCM_10_6_10                 25
+#define CAM_FORMAT_DPCM_10_8_10                 26
+#define CAM_FORMAT_DPCM_12_6_12                 27
+#define CAM_FORMAT_DPCM_12_8_12                 28
+#define CAM_FORMAT_DPCM_14_8_14                 29
+#define CAM_FORMAT_DPCM_14_10_14                30
+#define CAM_FORMAT_NV21                         31
+#define CAM_FORMAT_NV12                         32
+#define CAM_FORMAT_TP10                         33
+#define CAM_FORMAT_YUV422                       34
+#define CAM_FORMAT_PD8                          35
+#define CAM_FORMAT_PD10                         36
+#define CAM_FORMAT_UBWC_NV12                    37
+#define CAM_FORMAT_UBWC_NV12_4R                 38
+#define CAM_FORMAT_UBWC_TP10                    39
+#define CAM_FORMAT_UBWC_P010                    40
+#define CAM_FORMAT_PLAIN8_SWAP                  41
+#define CAM_FORMAT_PLAIN8_10                    42
+#define CAM_FORMAT_PLAIN8_10_SWAP               43
+#define CAM_FORMAT_YV12                         44
+#define CAM_FORMAT_Y_ONLY                       45
+#define CAM_FORMAT_MAX                          46
+
+/* camera rotaion */
+#define CAM_ROTATE_CW_0_DEGREE                  0
+#define CAM_ROTATE_CW_90_DEGREE                 1
+#define CAM_RORATE_CW_180_DEGREE                2
+#define CAM_ROTATE_CW_270_DEGREE                3
+
+/* camera Color Space */
+#define CAM_COLOR_SPACE_BASE                    0
+#define CAM_COLOR_SPACE_BT601_FULL              1
+#define CAM_COLOR_SPACE_BT601625                2
+#define CAM_COLOR_SPACE_BT601525                3
+#define CAM_COLOR_SPACE_BT709                   4
+#define CAM_COLOR_SPACE_DEPTH                   5
+#define CAM_COLOR_SPACE_MAX                     6
+
+/* camera buffer direction */
+#define CAM_BUF_INPUT                           1
+#define CAM_BUF_OUTPUT                          2
+#define CAM_BUF_IN_OUT                          3
+
+/* camera packet device Type */
+#define CAM_PACKET_DEV_BASE                     0
+#define CAM_PACKET_DEV_IMG_SENSOR               1
+#define CAM_PACKET_DEV_ACTUATOR                 2
+#define CAM_PACKET_DEV_COMPANION                3
+#define CAM_PACKET_DEV_EEPOM                    4
+#define CAM_PACKET_DEV_CSIPHY                   5
+#define CAM_PACKET_DEV_OIS                      6
+#define CAM_PACKET_DEV_FLASH                    7
+#define CAM_PACKET_DEV_FD                       8
+#define CAM_PACKET_DEV_JPEG_ENC                 9
+#define CAM_PACKET_DEV_JPEG_DEC                 10
+#define CAM_PACKET_DEV_VFE                      11
+#define CAM_PACKET_DEV_CPP                      12
+#define CAM_PACKET_DEV_CSID                     13
+#define CAM_PACKET_DEV_ISPIF                    14
+#define CAM_PACKET_DEV_IFE                      15
+#define CAM_PACKET_DEV_ICP                      16
+#define CAM_PACKET_DEV_LRME                     17
+#define CAM_PACKET_DEV_MAX                      18
+
+
+/* constants */
+#define CAM_PACKET_MAX_PLANES                   3
+
+/**
+ * struct cam_plane_cfg - Plane configuration info
+ *
+ * @width:                      Plane width in pixels
+ * @height:                     Plane height in lines
+ * @plane_stride:               Plane stride in pixel
+ * @slice_height:               Slice height in line (not used by ISP)
+ * @meta_stride:                UBWC metadata stride
+ * @meta_size:                  UBWC metadata plane size
+ * @meta_offset:                UBWC metadata offset
+ * @packer_config:              UBWC packer config
+ * @mode_config:                UBWC mode config
+ * @tile_config:                UBWC tile config
+ * @h_init:                     UBWC horizontal initial coordinate in pixels
+ * @v_init:                     UBWC vertical initial coordinate in lines
+ *
+ */
+struct cam_plane_cfg {
+	uint32_t                width;
+	uint32_t                height;
+	uint32_t                plane_stride;
+	uint32_t                slice_height;
+	uint32_t                meta_stride;
+	uint32_t                meta_size;
+	uint32_t                meta_offset;
+	uint32_t                packer_config;
+	uint32_t                mode_config;
+	uint32_t                tile_config;
+	uint32_t                h_init;
+	uint32_t                v_init;
+};
+
+/**
+ * struct cam_cmd_buf_desc - Command buffer descriptor
+ *
+ * @mem_handle:                 Command buffer handle
+ * @offset:                     Command start offset
+ * @size:                       Size of the command buffer in bytes
+ * @length:                     Used memory in command buffer in bytes
+ * @type:                       Type of the command buffer
+ * @meta_data:                  Data type for private command buffer
+ *                              Between UMD and KMD
+ *
+ */
+struct cam_cmd_buf_desc {
+	int32_t                 mem_handle;
+	uint32_t                offset;
+	uint32_t                size;
+	uint32_t                length;
+	uint32_t                type;
+	uint32_t                meta_data;
+};
+
+/**
+ * struct cam_buf_io_cfg - Buffer io configuration for buffers
+ *
+ * @mem_handle:                 Mem_handle array for the buffers.
+ * @offsets:                    Offsets for each planes in the buffer
+ * @planes:                     Per plane information
+ * @width:                      Main plane width in pixel
+ * @height:                     Main plane height in lines
+ * @format:                     Format of the buffer
+ * @color_space:                Color space for the buffer
+ * @color_pattern:              Color pattern in the buffer
+ * @bpp:                        Bit per pixel
+ * @rotation:                   Rotation information for the buffer
+ * @resource_type:              Resource type associated with the buffer
+ * @fence:                      Fence handle
+ * @early_fence:                Fence handle for early signal
+ * @aux_cmd_buf:                An auxiliary command buffer that may be
+ *                              used for programming the IO
+ * @direction:                  Direction of the config
+ * @batch_size:                 Batch size in HFR mode
+ * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @subsample_period:           Subsample period. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @framedrop_pattern:          Framedrop pattern
+ * @framedrop_period:           Framedrop period
+ * @flag:                       Flags for extra information
+ * @direction:                  Buffer direction: input or output
+ * @padding:                    Padding for the structure
+ *
+ */
+struct cam_buf_io_cfg {
+	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
+	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
+	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
+	uint32_t                        format;
+	uint32_t                        color_space;
+	uint32_t                        color_pattern;
+	uint32_t                        bpp;
+	uint32_t                        rotation;
+	uint32_t                        resource_type;
+	int32_t                         fence;
+	int32_t                         early_fence;
+	struct cam_cmd_buf_desc         aux_cmd_buf;
+	uint32_t                        direction;
+	uint32_t                        batch_size;
+	uint32_t                        subsample_pattern;
+	uint32_t                        subsample_period;
+	uint32_t                        framedrop_pattern;
+	uint32_t                        framedrop_period;
+	uint32_t                        flag;
+	uint32_t                        padding;
+};
+
+/**
+ * struct cam_packet_header - Camera packet header
+ *
+ * @op_code:                    Camera packet opcode
+ * @size:                       Size of the camera packet in bytes
+ * @request_id:                 Request id for this camera packet
+ * @flags:                      Flags for the camera packet
+ * @padding:                    Padding
+ *
+ */
+struct cam_packet_header {
+	uint32_t                op_code;
+	uint32_t                size;
+	uint64_t                request_id;
+	uint32_t                flags;
+	uint32_t                padding;
+};
+
+/**
+ * struct cam_patch_desc - Patch structure
+ *
+ * @dst_buf_hdl:                Memory handle for the dest buffer
+ * @dst_offset:                 Offset byte in the dest buffer
+ * @src_buf_hdl:                Memory handle for the source buffer
+ * @src_offset:                 Offset byte in the source buffer
+ *
+ */
+struct cam_patch_desc {
+	int32_t                 dst_buf_hdl;
+	uint32_t                dst_offset;
+	int32_t                 src_buf_hdl;
+	uint32_t                src_offset;
+};
+
+/**
+ * struct cam_packet - Camera packet structure
+ *
+ * @header:                     Camera packet header
+ * @cmd_buf_offset:             Command buffer start offset
+ * @num_cmd_buf:                Number of the command buffer in the packet
+ * @io_config_offset:           Buffer io configuration start offset
+ * @num_io_configs:             Number of the buffer io configurations
+ * @patch_offset:               Patch offset for the patch structure
+ * @num_patches:                Number of the patch structure
+ * @kmd_cmd_buf_index:          Command buffer index which contains extra
+ *                              space for the KMD buffer
+ * @kmd_cmd_buf_offset:         Offset from the beginning of the command
+ *                              buffer for KMD usage.
+ * @payload:                    Camera packet payload
+ *
+ */
+struct cam_packet {
+	struct cam_packet_header        header;
+	uint32_t                        cmd_buf_offset;
+	uint32_t                        num_cmd_buf;
+	uint32_t                        io_configs_offset;
+	uint32_t                        num_io_configs;
+	uint32_t                        patch_offset;
+	uint32_t                        num_patches;
+	uint32_t                        kmd_cmd_buf_index;
+	uint32_t                        kmd_cmd_buf_offset;
+	uint64_t                        payload[1];
+
+};
+
+/**
+ * struct cam_release_dev_cmd - Control payload for release devices
+ *
+ * @session_handle:             Session handle for the release
+ * @dev_handle:                 Device handle for the release
+ */
+struct cam_release_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+};
+
+/**
+ * struct cam_start_stop_dev_cmd - Control payload for start/stop device
+ *
+ * @session_handle:             Session handle for the start/stop command
+ * @dev_handle:                 Device handle for the start/stop command
+ *
+ */
+struct cam_start_stop_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+};
+
+/**
+ * struct cam_config_dev_cmd - Command payload for configure device
+ *
+ * @session_handle:             Session handle for the command
+ * @dev_handle:                 Device handle for the command
+ * @offset:                     Offset byte in the packet handle.
+ * @packet_handle:              Packet memory handle for the actual packet:
+ *                              struct cam_packet.
+ *
+ */
+struct cam_config_dev_cmd {
+	int32_t                 session_handle;
+	int32_t                 dev_handle;
+	uint64_t                offset;
+	uint64_t                packet_handle;
+};
+
+/**
+ * struct cam_query_cap_cmd - Payload for query device capability
+ *
+ * @size:               Handle size
+ * @handle_type:        User pointer or shared memory handle
+ * @caps_handle:        Device specific query command payload
+ *
+ */
+struct cam_query_cap_cmd {
+	uint32_t        size;
+	uint32_t        handle_type;
+	uint64_t        caps_handle;
+};
+
+/**
+ * struct cam_acquire_dev_cmd - Control payload for acquire devices
+ *
+ * @session_handle:     Session handle for the acquire command
+ * @dev_handle:         Device handle to be returned
+ * @handle_type:        Resource handle type:
+ *                      1 = user pointer, 2 = mem handle
+ * @num_resources:      Number of the resources to be acquired
+ * @resources_hdl:      Resource handle that refers to the actual
+ *                      resource array. Each item in this
+ *                      array is device specific resource structure
+ *
+ */
+struct cam_acquire_dev_cmd {
+	int32_t         session_handle;
+	int32_t         dev_handle;
+	uint32_t        handle_type;
+	uint32_t        num_resources;
+	uint64_t        resource_hdl;
+};
+
+/**
+ * struct cam_flush_dev_cmd - Control payload for flush devices
+ *
+ * @version:           Version
+ * @session_handle:    Session handle for the acquire command
+ * @dev_handle:        Device handle to be returned
+ * @flush_type:        Flush type:
+ *                     0 = flush specific request
+ *                     1 = flush all
+ * @reserved:          Reserved for 64 bit aligngment
+ * @req_id:            Request id that needs to cancel
+ *
+ */
+struct cam_flush_dev_cmd {
+	uint64_t       version;
+	int32_t        session_handle;
+	int32_t        dev_handle;
+	uint32_t       flush_type;
+	uint32_t       reserved;
+	int64_t        req_id;
+};
+
+#endif /* __UAPI_CAM_DEFS_H__ */
--- a/selfdrive/camerad/include/media/cam_fd.h
+++ b/selfdrive/camerad/include/media/cam_fd.h
@ -0,0 +1,127 @@
+#ifndef __UAPI_CAM_FD_H__
+#define __UAPI_CAM_FD_H__
+
+#include "cam_defs.h"
+
+#define CAM_FD_MAX_FACES                       35
+#define CAM_FD_RAW_RESULT_ENTRIES              512
+
+/* FD Op Codes */
+#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
+
+/* FD Command Buffer identifiers */
+#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
+#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
+#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
+
+/* FD Blob types */
+#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
+#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
+
+/* FD Resource IDs */
+#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
+#define CAM_FD_INPUT_PORT_ID_MAX               0x1
+
+#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
+#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
+#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
+#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
+
+/**
+ * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
+ *
+ * @clock_rate : Clock rate required while processing frame
+ * @bandwidth  : Bandwidth required while processing frame
+ * @reserved   : Reserved for future use
+ */
+struct cam_fd_soc_clock_bw_request {
+	uint64_t    clock_rate;
+	uint64_t    bandwidth;
+	uint64_t    reserved[4];
+};
+
+/**
+ * struct cam_fd_face - Face properties
+ *
+ * @prop1 : Property 1 of face
+ * @prop2 : Property 2 of face
+ * @prop3 : Property 3 of face
+ * @prop4 : Property 4 of face
+ *
+ * Do not change this layout, this is inline with how HW writes
+ * these values directly when the buffer is programmed to HW
+ */
+struct cam_fd_face {
+	uint32_t    prop1;
+	uint32_t    prop2;
+	uint32_t    prop3;
+	uint32_t    prop4;
+};
+
+/**
+ * struct cam_fd_results - FD results layout
+ *
+ * @faces      : Array of faces with face properties
+ * @face_count : Number of faces detected
+ * @reserved   : Reserved for alignment
+ *
+ * Do not change this layout, this is inline with how HW writes
+ * these values directly when the buffer is programmed to HW
+ */
+struct cam_fd_results {
+	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
+	uint32_t              face_count;
+	uint32_t              reserved[3];
+};
+
+/**
+ * struct cam_fd_hw_caps - Face properties
+ *
+ * @core_version          : FD core version
+ * @wrapper_version       : FD wrapper version
+ * @raw_results_available : Whether raw results are available on this HW
+ * @supported_modes       : Modes supported by this HW.
+ * @reserved              : Reserved for future use
+ */
+struct cam_fd_hw_caps {
+	struct cam_hw_version    core_version;
+	struct cam_hw_version    wrapper_version;
+	uint32_t                 raw_results_available;
+	uint32_t                 supported_modes;
+	uint64_t                 reserved;
+};
+
+/**
+ * struct cam_fd_query_cap_cmd - FD Query capabilities information
+ *
+ * @device_iommu : FD IOMMU handles
+ * @cdm_iommu    : CDM iommu handles
+ * @hw_caps      : FD HW capabilities
+ * @reserved     : Reserved for alignment
+ */
+struct cam_fd_query_cap_cmd {
+	struct cam_iommu_handle    device_iommu;
+	struct cam_iommu_handle    cdm_iommu;
+	struct cam_fd_hw_caps      hw_caps;
+	uint64_t                   reserved;
+};
+
+/**
+ * struct cam_fd_acquire_dev_info - FD acquire device information
+ *
+ * @clk_bw_request  : SOC clock, bandwidth request
+ * @priority        : Priority for this acquire
+ * @mode            : Mode in which to run FD HW.
+ * @get_raw_results : Whether this acquire needs face raw results
+ *                    while frame processing
+ * @reserved        : Reserved field for 64 bit alignment
+ */
+struct cam_fd_acquire_dev_info {
+	struct cam_fd_soc_clock_bw_request clk_bw_request;
+	uint32_t                           priority;
+	uint32_t                           mode;
+	uint32_t                           get_raw_results;
+	uint32_t                           reserved[13];
+};
+
+#endif /* __UAPI_CAM_FD_H__ */
--- a/selfdrive/camerad/include/media/cam_icp.h
+++ b/selfdrive/camerad/include/media/cam_icp.h
@ -0,0 +1,179 @@
+#ifndef __UAPI_CAM_ICP_H__
+#define __UAPI_CAM_ICP_H__
+
+#include "cam_defs.h"
+
+/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
+#define CAM_ICP_DEV_TYPE_A5      1
+#define CAM_ICP_DEV_TYPE_IPE     2
+#define CAM_ICP_DEV_TYPE_BPS     3
+#define CAM_ICP_DEV_TYPE_IPE_CDM 4
+#define CAM_ICP_DEV_TYPE_BPS_CDM 5
+#define CAM_ICP_DEV_TYPE_MAX     5
+
+/* definitions needed for icp aquire device */
+#define CAM_ICP_RES_TYPE_BPS        1
+#define CAM_ICP_RES_TYPE_IPE_RT     2
+#define CAM_ICP_RES_TYPE_IPE        3
+#define CAM_ICP_RES_TYPE_MAX        4
+
+/* packet opcode types */
+#define CAM_ICP_OPCODE_IPE_UPDATE 0
+#define CAM_ICP_OPCODE_BPS_UPDATE 1
+
+/* IPE input port resource type */
+#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
+#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
+#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
+#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
+#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
+#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
+#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
+#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
+
+/* IPE output port resource type */
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
+#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
+#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
+#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
+
+#define CAM_ICP_IPE_IMAGE_MAX                   0xE
+
+/* BPS input port resource type */
+#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
+
+/* BPS output port resource type */
+#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
+#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
+#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
+#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
+#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
+#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
+
+#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
+
+/* Command meta types */
+#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
+
+/* Generic blob types */
+#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
+#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
+
+/**
+ * struct cam_icp_clk_bw_request
+ *
+ * @budget_ns: Time required to process frame
+ * @frame_cycles: Frame cycles needed to process the frame
+ * @rt_flag: Flag to indicate real time stream
+ * @uncompressed_bw: Bandwidth required to process frame
+ * @compressed_bw: Compressed bandwidth to process frame
+ */
+struct cam_icp_clk_bw_request {
+	uint64_t budget_ns;
+	uint32_t frame_cycles;
+	uint32_t rt_flag;
+	uint64_t uncompressed_bw;
+	uint64_t compressed_bw;
+};
+
+/**
+ * struct cam_icp_dev_ver - Device information for particular hw type
+ *
+ * This is used to get device version info of
+ * ICP, IPE, BPS and CDM related IPE and BPS from firmware
+ * and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
+ * @reserved: reserved field
+ * @hw_ver: major, minor and incr values of a device version
+ */
+struct cam_icp_dev_ver {
+	uint32_t dev_type;
+	uint32_t reserved;
+	struct cam_hw_version hw_ver;
+};
+
+/**
+ * struct cam_icp_ver - ICP version info
+ *
+ * This strcuture is used for fw and api version
+ * this is used to get firmware version and api version from firmware
+ * and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @major: FW version major
+ * @minor: FW version minor
+ * @revision: FW version increment
+ */
+struct cam_icp_ver {
+	uint32_t major;
+	uint32_t minor;
+	uint32_t revision;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_icp_query_cap_cmd - ICP query device capability payload
+ *
+ * @dev_iommu_handle: icp iommu handles for secure/non secure modes
+ * @cdm_iommu_handle: iommu handles for secure/non secure modes
+ * @fw_version: firmware version info
+ * @api_version: api version info
+ * @num_ipe: number of ipes
+ * @num_bps: number of bps
+ * @dev_ver: returned device capability array
+ */
+struct cam_icp_query_cap_cmd {
+	struct cam_iommu_handle dev_iommu_handle;
+	struct cam_iommu_handle cdm_iommu_handle;
+	struct cam_icp_ver fw_version;
+	struct cam_icp_ver api_version;
+	uint32_t num_ipe;
+	uint32_t num_bps;
+	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
+};
+
+/**
+ * struct cam_icp_res_info - ICP output resource info
+ *
+ * @format: format of the resource
+ * @width:  width in pixels
+ * @height: height in lines
+ * @fps:  fps
+ */
+struct cam_icp_res_info {
+	uint32_t format;
+	uint32_t width;
+	uint32_t height;
+	uint32_t fps;
+};
+
+/**
+ * struct cam_icp_acquire_dev_info - An ICP device info
+ *
+ * @scratch_mem_size: Output param - size of scratch memory
+ * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
+ * @io_config_cmd_size: size of IO config command
+ * @io_config_cmd_handle: IO config command for each acquire
+ * @secure_mode: camera mode (secure/non secure)
+ * @chain_info: chaining info of FW device handles
+ * @in_res: resource info used for clock and bandwidth calculation
+ * @num_out_res: number of output resources
+ * @out_res: output resource
+ */
+struct cam_icp_acquire_dev_info {
+	uint32_t scratch_mem_size;
+	uint32_t dev_type;
+	uint32_t io_config_cmd_size;
+	int32_t  io_config_cmd_handle;
+	uint32_t secure_mode;
+	int32_t chain_info;
+	struct cam_icp_res_info in_res;
+	uint32_t num_out_res;
+	struct cam_icp_res_info out_res[1];
+} __attribute__((__packed__));
+
+#endif /* __UAPI_CAM_ICP_H__ */
--- a/selfdrive/camerad/include/media/cam_isp.h
+++ b/selfdrive/camerad/include/media/cam_isp.h
@ -0,0 +1,379 @@
+#ifndef __UAPI_CAM_ISP_H__
+#define __UAPI_CAM_ISP_H__
+
+#include "cam_defs.h"
+#include "cam_isp_vfe.h"
+#include "cam_isp_ife.h"
+
+
+/* ISP driver name */
+#define CAM_ISP_DEV_NAME                        "cam-isp"
+
+/* HW type */
+#define CAM_ISP_HW_BASE                         0
+#define CAM_ISP_HW_CSID                         1
+#define CAM_ISP_HW_VFE                          2
+#define CAM_ISP_HW_IFE                          3
+#define CAM_ISP_HW_ISPIF                        4
+#define CAM_ISP_HW_MAX                          5
+
+/* Color Pattern */
+#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
+#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
+#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
+#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
+#define CAM_ISP_PATTERN_YUV_YCBYCR              4
+#define CAM_ISP_PATTERN_YUV_YCRYCB              5
+#define CAM_ISP_PATTERN_YUV_CBYCRY              6
+#define CAM_ISP_PATTERN_YUV_CRYCBY              7
+#define CAM_ISP_PATTERN_MAX                     8
+
+/* Usage Type */
+#define CAM_ISP_RES_USAGE_SINGLE                0
+#define CAM_ISP_RES_USAGE_DUAL                  1
+#define CAM_ISP_RES_USAGE_MAX                   2
+
+/* Resource ID */
+#define CAM_ISP_RES_ID_PORT                     0
+#define CAM_ISP_RES_ID_CLK                      1
+#define CAM_ISP_RES_ID_MAX                      2
+
+/* Resource Type - Type of resource for the resource id
+ * defined in cam_isp_vfe.h, cam_isp_ife.h
+ */
+
+/* Lane Type in input resource for Port */
+#define CAM_ISP_LANE_TYPE_DPHY                  0
+#define CAM_ISP_LANE_TYPE_CPHY                  1
+#define CAM_ISP_LANE_TYPE_MAX                   2
+
+/* ISP Resurce Composite Group ID */
+#define CAM_ISP_RES_COMP_GROUP_NONE             0
+#define CAM_ISP_RES_COMP_GROUP_ID_0             1
+#define CAM_ISP_RES_COMP_GROUP_ID_1             2
+#define CAM_ISP_RES_COMP_GROUP_ID_2             3
+#define CAM_ISP_RES_COMP_GROUP_ID_3             4
+#define CAM_ISP_RES_COMP_GROUP_ID_4             5
+#define CAM_ISP_RES_COMP_GROUP_ID_5             6
+#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
+
+/* ISP packet opcode for ISP */
+#define CAM_ISP_PACKET_OP_BASE                  0
+#define CAM_ISP_PACKET_INIT_DEV                 1
+#define CAM_ISP_PACKET_UPDATE_DEV               2
+#define CAM_ISP_PACKET_OP_MAX                   3
+
+/* ISP packet meta_data type for command buffer */
+#define CAM_ISP_PACKET_META_BASE                0
+#define CAM_ISP_PACKET_META_LEFT                1
+#define CAM_ISP_PACKET_META_RIGHT               2
+#define CAM_ISP_PACKET_META_COMMON              3
+#define CAM_ISP_PACKET_META_DMI_LEFT            4
+#define CAM_ISP_PACKET_META_DMI_RIGHT           5
+#define CAM_ISP_PACKET_META_DMI_COMMON          6
+#define CAM_ISP_PACKET_META_CLOCK               7
+#define CAM_ISP_PACKET_META_CSID                8
+#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
+#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
+
+/* DSP mode */
+#define CAM_ISP_DSP_MODE_NONE                   0
+#define CAM_ISP_DSP_MODE_ONE_WAY                1
+#define CAM_ISP_DSP_MODE_ROUND                  2
+
+/* ISP Generic Cmd Buffer Blob types */
+#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
+#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
+#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
+
+/* Query devices */
+/**
+ * struct cam_isp_dev_cap_info - A cap info for particular hw type
+ *
+ * @hw_type:            Hardware type for the cap info
+ * @reserved:           reserved field for alignment
+ * @hw_version:         Hardware version
+ *
+ */
+struct cam_isp_dev_cap_info {
+	uint32_t              hw_type;
+	uint32_t              reserved;
+	struct cam_hw_version hw_version;
+};
+
+/**
+ * struct cam_isp_query_cap_cmd - ISP query device capability payload
+ *
+ * @device_iommu:               returned iommu handles for device
+ * @cdm_iommu:                  returned iommu handles for cdm
+ * @num_dev:                    returned number of device capabilities
+ * @reserved:                   reserved field for alignment
+ * @dev_caps:                   returned device capability array
+ *
+ */
+struct cam_isp_query_cap_cmd {
+	struct cam_iommu_handle       device_iommu;
+	struct cam_iommu_handle       cdm_iommu;
+	int32_t                       num_dev;
+	uint32_t                      reserved;
+	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
+};
+
+/* Acquire Device */
+/**
+ * struct cam_isp_out_port_info - An output port resource info
+ *
+ * @res_type:                   output resource type defined in file
+ *                              cam_isp_vfe.h or cam_isp_ife.h
+ * @format:                     output format of the resource
+ * @wdith:                      output width in pixels
+ * @height:                     output height in lines
+ * @comp_grp_id:                composite group id for the resource.
+ * @split_point:                split point in pixels for the dual VFE.
+ * @secure_mode:                flag to tell if output should be run in secure
+ *                              mode or not. See cam_defs.h for definition
+ * @reserved:                   reserved field for alignment
+ *
+ */
+struct cam_isp_out_port_info {
+	uint32_t                res_type;
+	uint32_t                format;
+	uint32_t                width;
+	uint32_t                height;
+	uint32_t                comp_grp_id;
+	uint32_t                split_point;
+	uint32_t                secure_mode;
+	uint32_t                reserved;
+};
+
+/**
+ * struct cam_isp_in_port_info - An input port resource info
+ *
+ * @res_type:                   input resource type define in file
+ *                              cam_isp_vfe.h or cam_isp_ife.h
+ * @lane_type:                  lane type: c-phy or d-phy.
+ * @lane_num:                   active lane number
+ * @lane_cfg:                   lane configurations: 4 bits per lane
+ * @vc:                         input virtual channel number
+ * @dt:                         input data type number
+ * @format:                     input format
+ * @test_pattern:               test pattern for the testgen
+ * @usage_type:                 whether dual vfe is required
+ * @left_start:                 left input start offset in pixels
+ * @left_stop:                  left input stop offset in pixels
+ * @left_width:                 left input width in pixels
+ * @right_start:                right input start offset in pixels.
+ *                              Only for Dual VFE
+ * @right_stop:                 right input stop offset in pixels.
+ *                              Only for Dual VFE
+ * @right_width:                right input width in pixels.
+ *                              Only for dual VFE
+ * @line_start:                 top of the line number
+ * @line_stop:                  bottome of the line number
+ * @height:                     input height in lines
+ * @pixel_clk;                  sensor output clock
+ * @batch_size:                 batch size for HFR mode
+ * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
+ * @hbi_cnt:                    HBI count for the camif input
+ * @reserved:                   Reserved field for alignment
+ * @num_out_res:                number of the output resource associated
+ * @data:                       payload that contains the output resources
+ *
+ */
+struct cam_isp_in_port_info {
+	uint32_t                        res_type;
+	uint32_t                        lane_type;
+	uint32_t                        lane_num;
+	uint32_t                        lane_cfg;
+	uint32_t                        vc;
+	uint32_t                        dt;
+	uint32_t                        format;
+	uint32_t                        test_pattern;
+	uint32_t                        usage_type;
+	uint32_t                        left_start;
+	uint32_t                        left_stop;
+	uint32_t                        left_width;
+	uint32_t                        right_start;
+	uint32_t                        right_stop;
+	uint32_t                        right_width;
+	uint32_t                        line_start;
+	uint32_t                        line_stop;
+	uint32_t                        height;
+	uint32_t                        pixel_clk;
+	uint32_t                        batch_size;
+	uint32_t                        dsp_mode;
+	uint32_t                        hbi_cnt;
+        uint32_t                        custom_csid;
+	uint32_t                        reserved;
+	uint32_t                        num_out_res;
+	struct cam_isp_out_port_info    data[1];
+};
+
+/**
+ * struct cam_isp_resource - A resource bundle
+ *
+ * @resoruce_id:                resource id for the resource bundle
+ * @length:                     length of the while resource blob
+ * @handle_type:                type of the resource handle
+ * @reserved:                   reserved field for alignment
+ * @res_hdl:                    resource handle that points to the
+ *                                     resource array;
+ *
+ */
+struct cam_isp_resource {
+	uint32_t                       resource_id;
+	uint32_t                       length;
+	uint32_t                       handle_type;
+	uint32_t                       reserved;
+	uint64_t                       res_hdl;
+};
+
+/**
+ * struct cam_isp_port_hfr_config - HFR configuration for this port
+ *
+ * @resource_type:              Resource type
+ * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @subsample_period:           Subsample period. Used in HFR mode. It
+ *                              should be consistent with batchSize and
+ *                              CAMIF programming.
+ * @framedrop_pattern:          Framedrop pattern
+ * @framedrop_period:           Framedrop period
+ * @reserved:                   Reserved for alignment
+ */
+struct cam_isp_port_hfr_config {
+	uint32_t                       resource_type;
+	uint32_t                       subsample_pattern;
+	uint32_t                       subsample_period;
+	uint32_t                       framedrop_pattern;
+	uint32_t                       framedrop_period;
+	uint32_t                       reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_resource_hfr_config - Resource HFR configuration
+ *
+ * @num_ports:                  Number of ports
+ * @reserved:                   Reserved for alignment
+ * @port_hfr_config:            HFR configuration for each IO port
+ */
+struct cam_isp_resource_hfr_config {
+	uint32_t                       num_ports;
+	uint32_t                       reserved;
+	struct cam_isp_port_hfr_config port_hfr_config[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_dual_split_params - dual isp spilt parameters
+ *
+ * @split_point:                Split point information x, where (0 < x < width)
+ *                              left ISP's input ends at x + righ padding and
+ *                              Right ISP's input starts at x - left padding
+ * @right_padding:              Padding added past the split point for left
+ *                              ISP's input
+ * @left_padding:               Padding added before split point for right
+ *                              ISP's input
+ * @reserved:                   Reserved filed for alignment
+ *
+ */
+struct cam_isp_dual_split_params {
+	uint32_t                       split_point;
+	uint32_t                       right_padding;
+	uint32_t                       left_padding;
+	uint32_t                       reserved;
+};
+
+/**
+ * struct cam_isp_dual_stripe_config - stripe config per bus client
+ *
+ * @offset:                     Start horizontal offset relative to
+ *                              output buffer
+ *                              In UBWC mode, this value indicates the H_INIT
+ *                              value in pixel
+ * @width:                      Width of the stripe in bytes
+ * @tileconfig                  Ubwc meta tile config. Contain the partial
+ *                              tile info
+ * @port_id:                    port id of ISP output
+ *
+ */
+struct cam_isp_dual_stripe_config {
+	uint32_t                       offset;
+	uint32_t                       width;
+	uint32_t                       tileconfig;
+	uint32_t                       port_id;
+};
+
+/**
+ * struct cam_isp_dual_config - dual isp configuration
+ *
+ * @num_ports                   Number of isp output ports
+ * @reserved                    Reserved field for alignment
+ * @split_params:               Inpput split parameters
+ * @stripes:                    Stripe information
+ *
+ */
+struct cam_isp_dual_config {
+	uint32_t                           num_ports;
+	uint32_t                           reserved;
+	struct cam_isp_dual_split_params   split_params;
+	struct cam_isp_dual_stripe_config  stripes[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_clock_config - Clock configuration
+ *
+ * @usage_type:                 Usage type (Single/Dual)
+ * @num_rdi:                    Number of RDI votes
+ * @left_pix_hz:                Pixel Clock for Left ISP
+ * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
+ * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
+ *                              PIX clocks. For a particular context which ISP
+ *                              HW the RDI is allocated to is not known to UMD.
+ *                              Hence pass the clock and let KMD decide.
+ */
+struct cam_isp_clock_config {
+	uint32_t                       usage_type;
+	uint32_t                       num_rdi;
+	uint64_t                       left_pix_hz;
+	uint64_t                       right_pix_hz;
+	uint64_t                       rdi_hz[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_bw_vote - Bandwidth vote information
+ *
+ * @resource_id:                Resource ID
+ * @reserved:                   Reserved field for alignment
+ * @cam_bw_bps:                 Bandwidth vote for CAMNOC
+ * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
+ */
+
+struct cam_isp_bw_vote {
+	uint32_t                       resource_id;
+	uint32_t                       reserved;
+	uint64_t                       cam_bw_bps;
+	uint64_t                       ext_bw_bps;
+} __attribute__((packed));
+
+/**
+ * struct cam_isp_bw_config - Bandwidth configuration
+ *
+ * @usage_type:                 Usage type (Single/Dual)
+ * @num_rdi:                    Number of RDI votes
+ * @left_pix_vote:              Bandwidth vote for left ISP
+ * @right_pix_vote:             Bandwidth vote for right ISP
+ * @rdi_vote:                   RDI bandwidth requirements
+ */
+
+struct cam_isp_bw_config {
+	uint32_t                       usage_type;
+	uint32_t                       num_rdi;
+	struct cam_isp_bw_vote         left_pix_vote;
+	struct cam_isp_bw_vote         right_pix_vote;
+	struct cam_isp_bw_vote         rdi_vote[1];
+} __attribute__((packed));
+
+#endif /* __UAPI_CAM_ISP_H__ */
--- a/selfdrive/camerad/include/media/cam_isp_ife.h
+++ b/selfdrive/camerad/include/media/cam_isp_ife.h
@ -0,0 +1,39 @@
+#ifndef __UAPI_CAM_ISP_IFE_H__
+#define __UAPI_CAM_ISP_IFE_H__
+
+/* IFE output port resource type (global unique)*/
+#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
+
+#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
+#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
+#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
+#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
+#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
+#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
+#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
+#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
+#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
+#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
+#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
+#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
+#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
+#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
+#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
+#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
+#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
+#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
+#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
+#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
+
+
+/* IFE input port resource type (global unique) */
+#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
+
+#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
+#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
+#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
+#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
+#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
+#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
+
+#endif /* __UAPI_CAM_ISP_IFE_H__ */
--- a/selfdrive/camerad/include/media/cam_isp_vfe.h
+++ b/selfdrive/camerad/include/media/cam_isp_vfe.h
@ -0,0 +1,44 @@
+#ifndef __UAPI_CAM_ISP_VFE_H__
+#define __UAPI_CAM_ISP_VFE_H__
+
+/* VFE output port resource type  (global unique)  */
+#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
+
+#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
+#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
+#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
+#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
+#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
+#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
+#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
+#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
+#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
+#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
+#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
+#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
+#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
+#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
+#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
+#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
+#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
+#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
+#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
+#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
+#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
+#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
+#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
+#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
+#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
+
+/* VFE input port_ resource type (global unique) */
+#define CAM_ISP_VFE_IN_RES_BASE                0x2000
+
+#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
+#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
+#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
+#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
+#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
+#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
+#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
+
+#endif /* __UAPI_CAM_ISP_VFE_H__ */
--- a/selfdrive/camerad/include/media/cam_jpeg.h
+++ b/selfdrive/camerad/include/media/cam_jpeg.h
@ -0,0 +1,117 @@
+#ifndef __UAPI_CAM_JPEG_H__
+#define __UAPI_CAM_JPEG_H__
+
+#include "cam_defs.h"
+
+/* enc, dma, cdm(enc/dma) are used in querycap */
+#define CAM_JPEG_DEV_TYPE_ENC      0
+#define CAM_JPEG_DEV_TYPE_DMA      1
+#define CAM_JPEG_DEV_TYPE_MAX      2
+
+#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
+
+/* definitions needed for jpeg aquire device */
+#define CAM_JPEG_RES_TYPE_ENC        0
+#define CAM_JPEG_RES_TYPE_DMA        1
+#define CAM_JPEG_RES_TYPE_MAX        2
+
+/* packet opcode types */
+#define CAM_JPEG_OPCODE_ENC_UPDATE 0
+#define CAM_JPEG_OPCODE_DMA_UPDATE 1
+
+/* ENC input port resource type */
+#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
+
+/* ENC output port resource type */
+#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
+
+#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
+
+/* DMA input port resource type */
+#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
+
+/* DMA output port resource type */
+#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
+
+#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
+
+#define CAM_JPEG_IMAGE_MAX                       0x2
+
+/**
+ * struct cam_jpeg_dev_ver - Device information for particular hw type
+ *
+ * This is used to get device version info of JPEG ENC, JPEG DMA
+ * from hardware and use this info in CAM_QUERY_CAP IOCTL
+ *
+ * @size : Size of struct passed
+ * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
+ * @hw_ver: Major, minor and incr values of a device version
+ */
+struct cam_jpeg_dev_ver {
+	uint32_t size;
+	uint32_t dev_type;
+	struct cam_hw_version hw_ver;
+};
+
+/**
+ * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
+ *
+ * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
+ *      modes
+ * @cdm_iommu_handle: Iommu handles for secure/non secure modes
+ * @num_enc: Number of encoder
+ * @num_dma: Number of dma
+ * @dev_ver: Returned device capability array
+ */
+struct cam_jpeg_query_cap_cmd {
+	struct cam_iommu_handle dev_iommu_handle;
+	struct cam_iommu_handle cdm_iommu_handle;
+	uint32_t num_enc;
+	uint32_t num_dma;
+	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
+};
+
+/**
+ * struct cam_jpeg_res_info - JPEG output resource info
+ *
+ * @format: Format of the resource
+ * @width:  Width in pixels
+ * @height: Height in lines
+ * @fps:  Fps
+ */
+struct cam_jpeg_res_info {
+	uint32_t format;
+	uint32_t width;
+	uint32_t height;
+	uint32_t fps;
+};
+
+/**
+ * struct cam_jpeg_acquire_dev_info - An JPEG device info
+ *
+ * @dev_type: Device type (ENC/DMA)
+ * @reserved: Reserved Bytes
+ * @in_res: In resource info
+ * @in_res: Iut resource info
+ */
+struct cam_jpeg_acquire_dev_info {
+	uint32_t dev_type;
+	uint32_t reserved;
+	struct cam_jpeg_res_info in_res;
+	struct cam_jpeg_res_info out_res;
+};
+
+/**
+ * struct cam_jpeg_config_inout_param_info - JPEG Config time
+ *     input output params
+ *
+ * @clk_index: Input Param- clock selection index.(-1 default)
+ * @output_size: Output Param - jpeg encode/dma output size in
+ *     bytes
+ */
+struct cam_jpeg_config_inout_param_info {
+	int32_t clk_index;
+	int32_t output_size;
+};
+
+#endif /* __UAPI_CAM_JPEG_H__ */
--- a/selfdrive/camerad/include/media/cam_lrme.h
+++ b/selfdrive/camerad/include/media/cam_lrme.h
@ -0,0 +1,65 @@
+#ifndef __UAPI_CAM_LRME_H__
+#define __UAPI_CAM_LRME_H__
+
+#include "cam_defs.h"
+
+/* LRME Resource Types */
+
+enum CAM_LRME_IO_TYPE {
+	CAM_LRME_IO_TYPE_TAR,
+	CAM_LRME_IO_TYPE_REF,
+	CAM_LRME_IO_TYPE_RES,
+	CAM_LRME_IO_TYPE_DS2,
+};
+
+#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
+#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
+
+#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
+#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
+
+#define CAM_LRME_DEV_MAX 1
+
+
+struct cam_lrme_hw_version {
+	uint32_t gen;
+	uint32_t rev;
+	uint32_t step;
+};
+
+struct cam_lrme_dev_cap {
+	struct cam_lrme_hw_version clc_hw_version;
+	struct cam_lrme_hw_version bus_rd_hw_version;
+	struct cam_lrme_hw_version bus_wr_hw_version;
+	struct cam_lrme_hw_version top_hw_version;
+	struct cam_lrme_hw_version top_titan_version;
+};
+
+/**
+ * struct cam_lrme_query_cap_cmd - LRME query device capability payload
+ *
+ * @dev_iommu_handle: LRME iommu handles for secure/non secure
+ *      modes
+ * @cdm_iommu_handle: Iommu handles for secure/non secure modes
+ * @num_devices: number of hardware devices
+ * @dev_caps: Returned device capability array
+ */
+struct cam_lrme_query_cap_cmd {
+	struct cam_iommu_handle device_iommu;
+	struct cam_iommu_handle cdm_iommu;
+	uint32_t num_devices;
+	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
+};
+
+struct cam_lrme_soc_info {
+	uint64_t clock_rate;
+	uint64_t bandwidth;
+	uint64_t reserved[4];
+};
+
+struct cam_lrme_acquire_args {
+	struct cam_lrme_soc_info lrme_soc_info;
+};
+
+#endif /* __UAPI_CAM_LRME_H__ */
+
--- a/selfdrive/camerad/include/media/cam_req_mgr.h
+++ b/selfdrive/camerad/include/media/cam_req_mgr.h
@ -0,0 +1,436 @@
+#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
+#define __UAPI_LINUX_CAM_REQ_MGR_H
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <linux/media.h>
+#include <media/cam_defs.h>
+
+#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
+
+#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
+#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
+#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
+#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
+#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
+#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
+#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
+#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
+#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
+#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
+#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
+#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
+#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
+#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
+#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
+
+/* cam_req_mgr hdl info */
+#define CAM_REQ_MGR_HDL_IDX_POS           8
+#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
+#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
+
+/**
+ * Max handles supported by cam_req_mgr
+ * It includes both session and device handles
+ */
+#define CAM_REQ_MGR_MAX_HANDLES           64
+#define MAX_LINKS_PER_SESSION             2
+
+/* V4L event type which user space will subscribe to */
+#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
+
+/* Specific event ids to get notified in user space */
+#define V4L_EVENT_CAM_REQ_MGR_SOF            0
+#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
+#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
+
+/* SOF Event status */
+#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
+#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
+
+/* Link control operations */
+#define CAM_REQ_MGR_LINK_ACTIVATE               0
+#define CAM_REQ_MGR_LINK_DEACTIVATE             1
+
+/**
+ * Request Manager : flush_type
+ * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
+ * requests from input/processing queue.
+ * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
+ * request id from input/processing queue.
+ * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
+ * @opcode: CAM_REQ_MGR_FLUSH_REQ
+ */
+#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
+#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
+#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
+
+/**
+ * Request Manager : Sync Mode type
+ * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
+ * request.
+ * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
+ */
+#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
+#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
+
+/**
+ * struct cam_req_mgr_event_data
+ * @session_hdl: session handle
+ * @link_hdl: link handle
+ * @frame_id: frame id
+ * @reserved: reserved for 64 bit aligngment
+ * @req_id: request id
+ * @tv_sec: timestamp in seconds
+ * @tv_usec: timestamp in micro seconds
+ */
+struct cam_req_mgr_event_data {
+	int32_t   session_hdl;
+	int32_t   link_hdl;
+	int32_t   frame_id;
+	int32_t   reserved;
+	int64_t   req_id;
+	uint64_t  tv_sec;
+	uint64_t  tv_usec;
+};
+
+/**
+ * struct cam_req_mgr_session_info
+ * @session_hdl: In/Output param - session_handle
+ * @opcode1: CAM_REQ_MGR_CREATE_SESSION
+ * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
+ */
+struct cam_req_mgr_session_info {
+	int32_t session_hdl;
+	int32_t reserved;
+};
+
+/**
+ * struct cam_req_mgr_link_info
+ * @session_hdl: Input param - Identifier for CSL session
+ * @num_devices: Input Param - Num of devices to be linked
+ * @dev_hdls: Input param - List of device handles to be linked
+ * @link_hdl: Output Param -Identifier for link
+ * @opcode: CAM_REQ_MGR_LINK
+ */
+struct cam_req_mgr_link_info {
+	int32_t session_hdl;
+	uint32_t num_devices;
+	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
+	int32_t link_hdl;
+};
+
+/**
+ * struct cam_req_mgr_unlink_info
+ * @session_hdl: input param - session handle
+ * @link_hdl: input param - link handle
+ * @opcode: CAM_REQ_MGR_UNLINK
+ */
+struct cam_req_mgr_unlink_info {
+	int32_t session_hdl;
+	int32_t link_hdl;
+};
+
+/**
+ * struct cam_req_mgr_flush_info
+ * @brief: User can tell drivers to flush a particular request id or
+ * flush all requests from its pending processing queue. Flush is a
+ * blocking call and driver shall ensure all requests are flushed
+ * before returning.
+ * @session_hdl: Input param - Identifier for CSL session
+ * @link_hdl: Input Param -Identifier for link
+ * @flush_type: User can cancel a particular req id or can flush
+ * all requests in queue
+ * @reserved: reserved for 64 bit aligngment
+ * @req_id: field is valid only if flush type is cancel request
+ * for flush all this field value is not considered.
+ * @opcode: CAM_REQ_MGR_FLUSH_REQ
+ */
+struct cam_req_mgr_flush_info {
+	int32_t session_hdl;
+	int32_t link_hdl;
+	uint32_t flush_type;
+	uint32_t reserved;
+	int64_t req_id;
+};
+
+/** struct cam_req_mgr_sched_info
+ * @session_hdl: Input param - Identifier for CSL session
+ * @link_hdl: Input Param -Identifier for link
+ * inluding itself.
+ * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
+ * flag is set.
+ * @sync_mode: Type of Sync mode for this request
+ * @req_id: Input Param - Request Id from which all requests will be flushed
+ */
+struct cam_req_mgr_sched_request {
+	int32_t session_hdl;
+	int32_t link_hdl;
+	int32_t bubble_enable;
+	int32_t sync_mode;
+	int64_t req_id;
+};
+
+/**
+ * struct cam_req_mgr_sync_mode
+ * @session_hdl:         Input param - Identifier for CSL session
+ * @sync_mode:           Input Param - Type of sync mode
+ * @num_links:           Input Param - Num of links in sync mode (Valid only
+ *                             when sync_mode is one of SYNC enabled modes)
+ * @link_hdls:           Input Param - Array of link handles to be in sync mode
+ *                             (Valid only when sync_mode is one of SYNC
+ *                             enabled modes)
+ * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
+ *                             (Valid only when sync_mode is one of SYNC
+ *                             enabled modes)
+ *
+ * @opcode: CAM_REQ_MGR_SYNC_MODE
+ */
+struct cam_req_mgr_sync_mode {
+	int32_t session_hdl;
+	int32_t sync_mode;
+	int32_t num_links;
+	int32_t link_hdls[MAX_LINKS_PER_SESSION];
+	int32_t master_link_hdl;
+	int32_t reserved;
+};
+
+/**
+ * struct cam_req_mgr_link_control
+ * @ops:                 Link operations: activate/deactive
+ * @session_hdl:         Input param - Identifier for CSL session
+ * @num_links:           Input Param - Num of links
+ * @reserved:            reserved field
+ * @link_hdls:           Input Param - Links to be activated/deactivated
+ *
+ * @opcode: CAM_REQ_MGR_LINK_CONTROL
+ */
+struct cam_req_mgr_link_control {
+	int32_t ops;
+	int32_t session_hdl;
+	int32_t num_links;
+	int32_t reserved;
+	int32_t link_hdls[MAX_LINKS_PER_SESSION];
+};
+
+/**
+ * cam_req_mgr specific opcode ids
+ */
+#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
+#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
+#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
+#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
+#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
+#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
+#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
+#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
+#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
+#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
+#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
+#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
+#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
+/* end of cam_req_mgr opcodes */
+
+#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
+#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
+#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
+#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
+#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
+#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
+#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
+#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
+#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
+#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
+#define CAM_MEM_FLAG_CACHE                      (1<<10)
+#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
+
+#define CAM_MEM_MMU_MAX_HANDLE                  16
+
+/* Maximum allowed buffers in existence */
+#define CAM_MEM_BUFQ_MAX                        1024
+
+#define CAM_MEM_MGR_SECURE_BIT_POS              15
+#define CAM_MEM_MGR_HDL_IDX_SIZE                15
+#define CAM_MEM_MGR_HDL_FD_SIZE                 16
+#define CAM_MEM_MGR_HDL_IDX_END_POS             16
+#define CAM_MEM_MGR_HDL_FD_END_POS              32
+
+#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
+
+#define GET_MEM_HANDLE(idx, fd) \
+	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
+	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
+
+#define GET_FD_FROM_HANDLE(hdl) \
+	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
+
+#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
+
+#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
+	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
+	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
+
+#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
+	(((hdl) & \
+	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
+
+/**
+ * memory allocation type
+ */
+#define CAM_MEM_DMA_NONE                        0
+#define CAM_MEM_DMA_BIDIRECTIONAL               1
+#define CAM_MEM_DMA_TO_DEVICE                   2
+#define CAM_MEM_DMA_FROM_DEVICE                 3
+
+
+/**
+ * memory cache operation
+ */
+#define CAM_MEM_CLEAN_CACHE                     1
+#define CAM_MEM_INV_CACHE                       2
+#define CAM_MEM_CLEAN_INV_CACHE                 3
+
+
+/**
+ * struct cam_mem_alloc_out_params
+ * @buf_handle: buffer handle
+ * @fd: output buffer file descriptor
+ * @vaddr: virtual address pointer
+ */
+struct cam_mem_alloc_out_params {
+	uint32_t buf_handle;
+	int32_t fd;
+	uint64_t vaddr;
+};
+
+/**
+ * struct cam_mem_map_out_params
+ * @buf_handle: buffer handle
+ * @reserved: reserved for future
+ * @vaddr: virtual address pointer
+ */
+struct cam_mem_map_out_params {
+	uint32_t buf_handle;
+	uint32_t reserved;
+	uint64_t vaddr;
+};
+
+/**
+ * struct cam_mem_mgr_alloc_cmd
+ * @len: size of buffer to allocate
+ * @align: alignment of the buffer
+ * @mmu_hdls: array of mmu handles
+ * @num_hdl: number of handles
+ * @flags: flags of the buffer
+ * @out: out params
+ */
+/* CAM_REQ_MGR_ALLOC_BUF */
+struct cam_mem_mgr_alloc_cmd {
+	uint64_t len;
+	uint64_t align;
+	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
+	uint32_t num_hdl;
+	uint32_t flags;
+	struct cam_mem_alloc_out_params out;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @mmu_hdls: array of mmu handles
+ * @num_hdl: number of handles
+ * @flags: flags of the buffer
+ * @fd: output buffer file descriptor
+ * @reserved: reserved field
+ * @out: out params
+ */
+
+/* CAM_REQ_MGR_MAP_BUF */
+struct cam_mem_mgr_map_cmd {
+	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
+	uint32_t num_hdl;
+	uint32_t flags;
+	int32_t fd;
+	uint32_t reserved;
+	struct cam_mem_map_out_params out;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @buf_handle: buffer handle
+ * @reserved: reserved field
+ */
+/* CAM_REQ_MGR_RELEASE_BUF */
+struct cam_mem_mgr_release_cmd {
+	int32_t buf_handle;
+	uint32_t reserved;
+};
+
+/**
+ * struct cam_mem_mgr_map_cmd
+ * @buf_handle: buffer handle
+ * @ops: cache operations
+ */
+/* CAM_REQ_MGR_CACHE_OPS */
+struct cam_mem_cache_ops_cmd {
+	int32_t buf_handle;
+	uint32_t mem_cache_ops;
+};
+
+/**
+ * Request Manager : error message type
+ * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
+ * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
+ * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
+ */
+#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
+#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
+#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
+
+/**
+ * struct cam_req_mgr_error_msg
+ * @error_type: type of error
+ * @request_id: request id of frame
+ * @device_hdl: device handle
+ * @linke_hdl: link_hdl
+ * @resource_size: size of the resource
+ */
+struct cam_req_mgr_error_msg {
+	uint32_t error_type;
+	uint32_t request_id;
+	int32_t device_hdl;
+	int32_t link_hdl;
+	uint64_t resource_size;
+};
+
+/**
+ * struct cam_req_mgr_frame_msg
+ * @request_id: request id of the frame
+ * @frame_id: frame id of the frame
+ * @timestamp: timestamp of the frame
+ * @link_hdl: link handle associated with this message
+ * @sof_status: sof status success or fail
+ */
+struct cam_req_mgr_frame_msg {
+	uint64_t request_id;
+	uint64_t frame_id;
+	uint64_t timestamp;
+	int32_t  link_hdl;
+	uint32_t sof_status;
+};
+
+/**
+ * struct cam_req_mgr_message
+ * @session_hdl: session to which the frame belongs to
+ * @reserved: reserved field
+ * @u: union which can either be error or frame message
+ */
+struct cam_req_mgr_message {
+	int32_t session_hdl;
+	int32_t reserved;
+	union {
+		struct cam_req_mgr_error_msg err_msg;
+		struct cam_req_mgr_frame_msg frame_msg;
+	} u;
+};
+#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
--- a/selfdrive/camerad/include/media/cam_sensor.h
+++ b/selfdrive/camerad/include/media/cam_sensor.h
@ -0,0 +1,477 @@
+#ifndef __UAPI_CAM_SENSOR_H__
+#define __UAPI_CAM_SENSOR_H__
+
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <media/cam_defs.h>
+
+#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
+#define CAM_FLASH_MAX_LED_TRIGGERS 3
+#define MAX_OIS_NAME_SIZE 32
+#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
+/**
+ * struct cam_sensor_query_cap - capabilities info for sensor
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @secure_camera    :  Camera is in secure/Non-secure mode
+ * @pos_pitch        :  Sensor position pitch
+ * @pos_roll         :  Sensor position roll
+ * @pos_yaw          :  Sensor position yaw
+ * @actuator_slot_id :  Actuator slot id which connected to sensor
+ * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
+ * @ois_slot_id      :  OIS slot id which connected to sensor
+ * @flash_slot_id    :  Flash slot id which connected to sensor
+ * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
+ *
+ */
+struct  cam_sensor_query_cap {
+	uint32_t        slot_info;
+	uint32_t        secure_camera;
+	uint32_t        pos_pitch;
+	uint32_t        pos_roll;
+	uint32_t        pos_yaw;
+	uint32_t        actuator_slot_id;
+	uint32_t        eeprom_slot_id;
+	uint32_t        ois_slot_id;
+	uint32_t        flash_slot_id;
+	uint32_t        csiphy_slot_id;
+} __attribute__((packed));
+
+/**
+ * struct cam_csiphy_query_cap - capabilities info for csiphy
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @version          :  CSIphy version
+ * @clk lane         :  Of the 5 lanes, informs lane configured
+ *                      as clock lane
+ * @reserved
+ */
+struct cam_csiphy_query_cap {
+	uint32_t            slot_info;
+	uint32_t            version;
+	uint32_t            clk_lane;
+	uint32_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_actuator_query_cap - capabilities info for actuator
+ *
+ * @slot_info        :  Indicates about the slotId or cell Index
+ * @reserved
+ */
+struct cam_actuator_query_cap {
+	uint32_t            slot_info;
+	uint32_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_eeprom_query_cap_t - capabilities info for eeprom
+ *
+ * @slot_info                  :  Indicates about the slotId or cell Index
+ * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
+ */
+struct cam_eeprom_query_cap_t {
+	uint32_t            slot_info;
+	uint16_t            eeprom_kernel_probe;
+	uint16_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_ois_query_cap_t - capabilities info for ois
+ *
+ * @slot_info                  :  Indicates about the slotId or cell Index
+ */
+struct cam_ois_query_cap_t {
+	uint32_t            slot_info;
+	uint16_t            reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_info - Contains slave I2C related info
+ *
+ * @slave_addr      :    Slave address
+ * @i2c_freq_mode   :    4 bits are used for I2c freq mode
+ * @cmd_type        :    Explains type of command
+ */
+struct cam_cmd_i2c_info {
+	uint16_t    slave_addr;
+	uint8_t     i2c_freq_mode;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * struct cam_ois_opcode - Contains OIS opcode
+ *
+ * @prog            :    OIS FW prog register address
+ * @coeff           :    OIS FW coeff register address
+ * @pheripheral     :    OIS pheripheral
+ * @memory          :    OIS memory
+ */
+struct cam_ois_opcode {
+	uint32_t prog;
+	uint32_t coeff;
+	uint32_t pheripheral;
+	uint32_t memory;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_ois_info - Contains OIS slave info
+ *
+ * @slave_addr            :    OIS i2c slave address
+ * @i2c_freq_mode         :    i2c frequency mode
+ * @cmd_type              :    Explains type of command
+ * @ois_fw_flag           :    indicates if fw is present or not
+ * @is_ois_calib          :    indicates the calibration data is available
+ * @ois_name              :    OIS name
+ * @opcode                :    opcode
+ */
+struct cam_cmd_ois_info {
+	uint16_t              slave_addr;
+	uint8_t               i2c_freq_mode;
+	uint8_t               cmd_type;
+	uint8_t               ois_fw_flag;
+	uint8_t               is_ois_calib;
+	char                  ois_name[MAX_OIS_NAME_SIZE];
+	struct cam_ois_opcode opcode;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_probe - Contains sensor slave info
+ *
+ * @data_type       :   Slave register data type
+ * @addr_type       :   Slave register address type
+ * @op_code         :   Don't Care
+ * @cmd_type        :   Explains type of command
+ * @reg_addr        :   Slave register address
+ * @expected_data   :   Data expected at slave register address
+ * @data_mask       :   Data mask if only few bits are valid
+ * @camera_id       :   Indicates the slot to which camera
+ *                      needs to be probed
+ * @reserved
+ */
+struct cam_cmd_probe {
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint32_t    reg_addr;
+	uint32_t    expected_data;
+	uint32_t    data_mask;
+	uint16_t    camera_id;
+	uint16_t    reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_power_settings - Contains sensor power setting info
+ *
+ * @power_seq_type  :   Type of power sequence
+ * @reserved
+ * @config_val_low  :   Lower 32 bit value configuration value
+ * @config_val_high :   Higher 32 bit value configuration value
+ *
+ */
+struct cam_power_settings {
+	uint16_t    power_seq_type;
+	uint16_t    reserved;
+	uint32_t    config_val_low;
+	uint32_t    config_val_high;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_power - Explains about the power settings
+ *
+ * @count           :    Number of power settings follows
+ * @reserved
+ * @cmd_type        :    Explains type of command
+ * @power_settings  :    Contains power setting info
+ */
+struct cam_cmd_power {
+	uint16_t                    count;
+	uint8_t                     reserved;
+	uint8_t                     cmd_type;
+	struct cam_power_settings   power_settings[1];
+} __attribute__((packed));
+
+/**
+ * struct i2c_rdwr_header - header of READ/WRITE I2C command
+ *
+ * @ count           :   Number of registers / data / reg-data pairs
+ * @ op_code         :   Operation code
+ * @ cmd_type        :   Command buffer type
+ * @ data_type       :   I2C data type
+ * @ addr_type       :   I2C address type
+ * @ reserved
+ */
+struct i2c_rdwr_header {
+	uint16_t    count;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint16_t    reserved;
+} __attribute__((packed));
+
+/**
+ * struct i2c_random_wr_payload - payload for I2C random write
+ *
+ * @ reg_addr        :   Register address
+ * @ reg_data        :   Register data
+ *
+ */
+struct i2c_random_wr_payload {
+	uint32_t     reg_addr;
+	uint32_t     reg_data;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_random_wr - I2C random write command
+ * @ header            :   header of READ/WRITE I2C command
+ * @ random_wr_payload :   payload for I2C random write
+ */
+struct cam_cmd_i2c_random_wr {
+	struct i2c_rdwr_header       header;
+	struct i2c_random_wr_payload random_wr_payload[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_read - I2C read command
+ * @ reg_data        :   Register data
+ * @ reserved
+ */
+struct cam_cmd_read {
+	uint32_t                reg_data;
+	uint32_t                reserved;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ reg_addr        :   Register address
+ * @ data_read       :   I2C read command
+ */
+struct cam_cmd_i2c_continuous_wr {
+	struct i2c_rdwr_header  header;
+	uint32_t                reg_addr;
+	struct cam_cmd_read     data_read[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_random_rd - I2C random read command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ data_read       :   I2C read command
+ */
+struct cam_cmd_i2c_random_rd {
+	struct i2c_rdwr_header  header;
+	struct cam_cmd_read     data_read[1];
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
+ * @ header          :   header of READ/WRITE I2C command
+ * @ reg_addr        :   Register address
+ *
+ */
+struct cam_cmd_i2c_continuous_rd {
+	struct i2c_rdwr_header  header;
+	uint32_t                reg_addr;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_conditional_wait - Conditional wait command
+ * @data_type       :   Data type
+ * @addr_type       :   Address type
+ * @op_code         :   Opcode
+ * @cmd_type        :   Explains type of command
+ * @timeout         :   Timeout for retries
+ * @reserved
+ * @reg_addr        :   Register Address
+ * @reg_data        :   Register data
+ * @data_mask       :   Data mask if only few bits are valid
+ * @camera_id       :   Indicates the slot to which camera
+ *                      needs to be probed
+ *
+ */
+struct cam_cmd_conditional_wait {
+	uint8_t     data_type;
+	uint8_t     addr_type;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+	uint16_t    timeout;
+	uint16_t    reserved;
+	uint32_t    reg_addr;
+	uint32_t    reg_data;
+	uint32_t    data_mask;
+} __attribute__((packed));
+
+/**
+ * struct cam_cmd_unconditional_wait - Un-conditional wait command
+ * @delay           :   Delay
+ * @op_code         :   Opcode
+ * @cmd_type        :   Explains type of command
+ */
+struct cam_cmd_unconditional_wait {
+	int16_t     delay;
+	uint8_t     op_code;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * cam_csiphy_info: Provides cmdbuffer structre
+ * @lane_mask     : Lane mask details
+ * @lane_assign   : Lane sensor will be using
+ * @csiphy_3phase : Total number of lanes
+ * @combo_mode    : Info regarding combo_mode is enable / disable
+ * @lane_cnt      : Total number of lanes
+ * @secure_mode   : Secure mode flag to enable / disable
+ * @3phase        : Details whether 3Phase / 2Phase operation
+ * @settle_time   : Settling time in ms
+ * @data_rate     : Data rate
+ *
+ */
+struct cam_csiphy_info {
+	uint16_t    lane_mask;
+	uint16_t    lane_assign;
+	uint8_t     csiphy_3phase;
+	uint8_t     combo_mode;
+	uint8_t     lane_cnt;
+	uint8_t     secure_mode;
+	uint64_t    settle_time;
+	uint64_t    data_rate;
+} __attribute__((packed));
+
+/**
+ * cam_csiphy_acquire_dev_info : Information needed for
+ *                        csiphy at the time of acquire
+ * @combo_mode     :    Indicates the device mode of operation
+ * @reserved
+ *
+ */
+struct cam_csiphy_acquire_dev_info {
+	uint32_t    combo_mode;
+	uint32_t    reserved;
+} __attribute__((packed));
+
+/**
+ * cam_sensor_acquire_dev : Updates sensor acuire cmd
+ * @device_handle  :    Updates device handle
+ * @session_handle :    Session handle for acquiring device
+ * @handle_type    :    Resource handle type
+ * @reserved
+ * @info_handle    :    Handle to additional info
+ *                      needed for sensor sub modules
+ *
+ */
+struct cam_sensor_acquire_dev {
+	uint32_t    session_handle;
+	uint32_t    device_handle;
+	uint32_t    handle_type;
+	uint32_t    reserved;
+	uint64_t    info_handle;
+} __attribute__((packed));
+
+/**
+ * cam_sensor_streamon_dev : StreamOn command for the sensor
+ * @session_handle :    Session handle for acquiring device
+ * @device_handle  :    Updates device handle
+ * @handle_type    :    Resource handle type
+ * @reserved
+ * @info_handle    :    Information Needed at the time of streamOn
+ *
+ */
+struct cam_sensor_streamon_dev {
+	uint32_t    session_handle;
+	uint32_t    device_handle;
+	uint32_t    handle_type;
+	uint32_t    reserved;
+	uint64_t    info_handle;
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_init : Init command for the flash
+ * @flash_type  :    flash hw type
+ * @reserved
+ * @cmd_type    :    command buffer type
+ */
+struct cam_flash_init {
+	uint8_t     flash_type;
+	uint16_t    reserved;
+	uint8_t     cmd_type;
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_set_rer : RedEyeReduction command buffer
+ *
+ * @count             :   Number of flash leds
+ * @opcode            :   Command buffer opcode
+ *			CAM_FLASH_FIRE_RER
+ * @cmd_type          :   command buffer operation type
+ * @num_iteration     :   Number of led turn on/off sequence
+ * @reserved
+ * @led_on_delay_ms   :   flash led turn on time in ms
+ * @led_off_delay_ms  :   flash led turn off time in ms
+ * @led_current_ma    :   flash led current in ma
+ *
+ */
+struct cam_flash_set_rer {
+	uint16_t    count;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint16_t    num_iteration;
+	uint16_t    reserved;
+	uint32_t    led_on_delay_ms;
+	uint32_t    led_off_delay_ms;
+	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_set_on_off : led turn on/off command buffer
+ *
+ * @count              :   Number of Flash leds
+ * @opcode             :   command buffer opcodes
+ *			CAM_FLASH_FIRE_LOW
+ *			CAM_FLASH_FIRE_HIGH
+ *			CAM_FLASH_OFF
+ * @cmd_type           :   command buffer operation type
+ * @led_current_ma     :   flash led current in ma
+ *
+ */
+struct cam_flash_set_on_off {
+	uint16_t    count;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__((packed));
+
+/**
+ * struct cam_flash_query_curr : query current command buffer
+ *
+ * @reserved
+ * @opcode            :   command buffer opcode
+ * @cmd_type          :   command buffer operation type
+ * @query_current_ma  :   battery current in ma
+ *
+ */
+struct cam_flash_query_curr {
+	uint16_t    reserved;
+	uint8_t     opcode;
+	uint8_t     cmd_type;
+	uint32_t    query_current_ma;
+} __attribute__ ((packed));
+
+/**
+ * struct cam_flash_query_cap  :  capabilities info for flash
+ *
+ * @slot_info           :  Indicates about the slotId or cell Index
+ * @max_current_flash   :  max supported current for flash
+ * @max_duration_flash  :  max flash turn on duration
+ * @max_current_torch   :  max supported current for torch
+ *
+ */
+struct cam_flash_query_cap_info {
+	uint32_t    slot_info;
+	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
+	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
+	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
+} __attribute__ ((packed));
+
+#endif
--- a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h
+++ b/selfdrive/camerad/include/media/cam_sensor_cmn_header.h
@ -0,0 +1,391 @@
+/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 and
+ * only version 2 as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _CAM_SENSOR_CMN_HEADER_
+#define _CAM_SENSOR_CMN_HEADER_
+
+#include <stdbool.h>
+#include <media/cam_sensor.h>
+#include <media/cam_req_mgr.h>
+
+#define MAX_REGULATOR 5
+#define MAX_POWER_CONFIG 12
+
+#define MAX_PER_FRAME_ARRAY 32
+#define BATCH_SIZE_MAX      16
+
+#define CAM_SENSOR_NAME    "cam-sensor"
+#define CAM_ACTUATOR_NAME  "cam-actuator"
+#define CAM_CSIPHY_NAME    "cam-csiphy"
+#define CAM_FLASH_NAME     "cam-flash"
+#define CAM_EEPROM_NAME    "cam-eeprom"
+#define CAM_OIS_NAME       "cam-ois"
+
+#define MAX_SYSTEM_PIPELINE_DELAY 2
+
+#define CAM_PKT_NOP_OPCODE 127
+
+enum camera_sensor_cmd_type {
+	CAMERA_SENSOR_CMD_TYPE_INVALID,
+	CAMERA_SENSOR_CMD_TYPE_PROBE,
+	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
+	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
+	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
+	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
+	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
+	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
+	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
+	CAMERA_SENSOR_CMD_TYPE_WAIT,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
+	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
+	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
+	CAMERA_SENSOR_CMD_TYPE_MAX,
+};
+
+enum camera_sensor_i2c_op_code {
+	CAMERA_SENSOR_I2C_OP_INVALID,
+	CAMERA_SENSOR_I2C_OP_RNDM_WR,
+	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
+	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
+	CAMERA_SENSOR_I2C_OP_MAX,
+};
+
+enum camera_sensor_wait_op_code {
+	CAMERA_SENSOR_WAIT_OP_INVALID,
+	CAMERA_SENSOR_WAIT_OP_COND,
+	CAMERA_SENSOR_WAIT_OP_HW_UCND,
+	CAMERA_SENSOR_WAIT_OP_SW_UCND,
+	CAMERA_SENSOR_WAIT_OP_MAX,
+};
+
+enum camera_flash_opcode {
+	CAMERA_SENSOR_FLASH_OP_INVALID,
+	CAMERA_SENSOR_FLASH_OP_OFF,
+	CAMERA_SENSOR_FLASH_OP_FIRELOW,
+	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
+	CAMERA_SENSOR_FLASH_OP_MAX,
+};
+
+enum camera_sensor_i2c_type {
+	CAMERA_SENSOR_I2C_TYPE_INVALID,
+	CAMERA_SENSOR_I2C_TYPE_BYTE,
+	CAMERA_SENSOR_I2C_TYPE_WORD,
+	CAMERA_SENSOR_I2C_TYPE_3B,
+	CAMERA_SENSOR_I2C_TYPE_DWORD,
+	CAMERA_SENSOR_I2C_TYPE_MAX,
+};
+
+enum i2c_freq_mode {
+	I2C_STANDARD_MODE,
+	I2C_FAST_MODE,
+	I2C_CUSTOM_MODE,
+	I2C_FAST_PLUS_MODE,
+	I2C_MAX_MODES,
+};
+
+enum position_roll {
+	ROLL_0       = 0,
+	ROLL_90      = 90,
+	ROLL_180     = 180,
+	ROLL_270     = 270,
+	ROLL_INVALID = 360,
+};
+
+enum position_yaw {
+	FRONT_CAMERA_YAW = 0,
+	REAR_CAMERA_YAW  = 180,
+	INVALID_YAW      = 360,
+};
+
+enum position_pitch {
+	LEVEL_PITCH    = 0,
+	INVALID_PITCH  = 360,
+};
+
+enum sensor_sub_module {
+	SUB_MODULE_SENSOR,
+	SUB_MODULE_ACTUATOR,
+	SUB_MODULE_EEPROM,
+	SUB_MODULE_LED_FLASH,
+	SUB_MODULE_CSID,
+	SUB_MODULE_CSIPHY,
+	SUB_MODULE_OIS,
+	SUB_MODULE_EXT,
+	SUB_MODULE_MAX,
+};
+
+enum msm_camera_power_seq_type {
+	SENSOR_MCLK,
+	SENSOR_VANA,
+	SENSOR_VDIG,
+	SENSOR_VIO,
+	SENSOR_VAF,
+	SENSOR_VAF_PWDM,
+	SENSOR_CUSTOM_REG1,
+	SENSOR_CUSTOM_REG2,
+	SENSOR_RESET,
+	SENSOR_STANDBY,
+	SENSOR_CUSTOM_GPIO1,
+	SENSOR_CUSTOM_GPIO2,
+	SENSOR_SEQ_TYPE_MAX,
+};
+
+enum cam_sensor_packet_opcodes {
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
+	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
+};
+
+enum cam_actuator_packet_opcodes {
+	CAM_ACTUATOR_PACKET_OPCODE_INIT,
+	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
+	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
+};
+
+enum cam_eeprom_packet_opcodes {
+	CAM_EEPROM_PACKET_OPCODE_INIT
+};
+
+enum cam_ois_packet_opcodes {
+	CAM_OIS_PACKET_OPCODE_INIT,
+	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
+};
+
+enum msm_bus_perf_setting {
+	S_INIT,
+	S_PREVIEW,
+	S_VIDEO,
+	S_CAPTURE,
+	S_ZSL,
+	S_STEREO_VIDEO,
+	S_STEREO_CAPTURE,
+	S_DEFAULT,
+	S_LIVESHOT,
+	S_DUAL,
+	S_EXIT
+};
+
+enum msm_camera_device_type_t {
+	MSM_CAMERA_I2C_DEVICE,
+	MSM_CAMERA_PLATFORM_DEVICE,
+	MSM_CAMERA_SPI_DEVICE,
+};
+
+enum cam_flash_device_type {
+	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
+	CAMERA_FLASH_DEVICE_TYPE_I2C,
+	CAMERA_FLASH_DEVICE_TYPE_GPIO,
+};
+
+enum cci_i2c_master_t {
+	MASTER_0,
+	MASTER_1,
+	MASTER_MAX,
+};
+
+enum camera_vreg_type {
+	VREG_TYPE_DEFAULT,
+	VREG_TYPE_CUSTOM,
+};
+
+enum cam_sensor_i2c_cmd_type {
+	CAM_SENSOR_I2C_WRITE_RANDOM,
+	CAM_SENSOR_I2C_WRITE_BURST,
+	CAM_SENSOR_I2C_WRITE_SEQ,
+	CAM_SENSOR_I2C_READ,
+	CAM_SENSOR_I2C_POLL
+};
+
+struct common_header {
+	uint16_t    first_word;
+	uint8_t     third_byte;
+	uint8_t     cmd_type;
+};
+
+struct camera_vreg_t {
+	const char *reg_name;
+	int min_voltage;
+	int max_voltage;
+	int op_mode;
+	uint32_t delay;
+	const char *custom_vreg_name;
+	enum camera_vreg_type type;
+};
+
+struct msm_camera_gpio_num_info {
+	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
+	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
+};
+
+struct msm_cam_clk_info {
+	const char *clk_name;
+	long clk_rate;
+	uint32_t delay;
+};
+
+struct msm_pinctrl_info {
+	struct pinctrl *pinctrl;
+	struct pinctrl_state *gpio_state_active;
+	struct pinctrl_state *gpio_state_suspend;
+	bool use_pinctrl;
+};
+
+struct cam_sensor_i2c_reg_array {
+	uint32_t reg_addr;
+	uint32_t reg_data;
+	uint32_t delay;
+	uint32_t data_mask;
+};
+
+struct cam_sensor_i2c_reg_setting {
+	struct cam_sensor_i2c_reg_array *reg_setting;
+	unsigned short size;
+	enum camera_sensor_i2c_type addr_type;
+	enum camera_sensor_i2c_type data_type;
+	unsigned short delay;
+};
+
+/*struct i2c_settings_list {
+	struct cam_sensor_i2c_reg_setting i2c_settings;
+	enum cam_sensor_i2c_cmd_type op_code;
+	struct list_head list;
+};
+
+struct i2c_settings_array {
+	struct list_head list_head;
+	int32_t is_settings_valid;
+	int64_t request_id;
+};
+
+struct i2c_data_settings {
+	struct i2c_settings_array init_settings;
+	struct i2c_settings_array config_settings;
+	struct i2c_settings_array streamon_settings;
+	struct i2c_settings_array streamoff_settings;
+	struct i2c_settings_array *per_frame;
+};*/
+
+struct cam_sensor_power_ctrl_t {
+	struct device *dev;
+	struct cam_sensor_power_setting *power_setting;
+	uint16_t power_setting_size;
+	struct cam_sensor_power_setting *power_down_setting;
+	uint16_t power_down_setting_size;
+	struct msm_camera_gpio_num_info *gpio_num_info;
+	struct msm_pinctrl_info pinctrl_info;
+	uint8_t cam_pinctrl_status;
+};
+
+struct cam_camera_slave_info {
+	uint16_t sensor_slave_addr;
+	uint16_t sensor_id_reg_addr;
+	uint16_t sensor_id;
+	uint16_t sensor_id_mask;
+};
+
+struct msm_sensor_init_params {
+	int modes_supported;
+	unsigned int sensor_mount_angle;
+};
+
+enum msm_sensor_camera_id_t {
+	CAMERA_0,
+	CAMERA_1,
+	CAMERA_2,
+	CAMERA_3,
+	CAMERA_4,
+	CAMERA_5,
+	CAMERA_6,
+	MAX_CAMERAS,
+};
+
+struct msm_sensor_id_info_t {
+	unsigned short sensor_id_reg_addr;
+	unsigned short sensor_id;
+	unsigned short sensor_id_mask;
+};
+
+enum msm_sensor_output_format_t {
+	MSM_SENSOR_BAYER,
+	MSM_SENSOR_YCBCR,
+	MSM_SENSOR_META,
+};
+
+struct cam_sensor_power_setting {
+	enum msm_camera_power_seq_type seq_type;
+	unsigned short seq_val;
+	long config_val;
+	unsigned short delay;
+	void *data[10];
+};
+
+struct cam_sensor_board_info {
+	struct cam_camera_slave_info slave_info;
+	int32_t sensor_mount_angle;
+	int32_t secure_mode;
+	int modes_supported;
+	int32_t pos_roll;
+	int32_t pos_yaw;
+	int32_t pos_pitch;
+	int32_t  subdev_id[SUB_MODULE_MAX];
+	int32_t  subdev_intf[SUB_MODULE_MAX];
+	const char *misc_regulator;
+	struct cam_sensor_power_ctrl_t power_info;
+};
+
+enum msm_camera_vreg_name_t {
+	CAM_VDIG,
+	CAM_VIO,
+	CAM_VANA,
+	CAM_VAF,
+	CAM_V_CUSTOM1,
+	CAM_V_CUSTOM2,
+	CAM_VREG_MAX,
+};
+
+struct msm_camera_gpio_conf {
+	void *cam_gpiomux_conf_tbl;
+	uint8_t cam_gpiomux_conf_tbl_size;
+	struct gpio *cam_gpio_common_tbl;
+	uint8_t cam_gpio_common_tbl_size;
+	struct gpio *cam_gpio_req_tbl;
+	uint8_t cam_gpio_req_tbl_size;
+	uint32_t gpio_no_mux;
+	uint32_t *camera_off_table;
+	uint8_t camera_off_table_size;
+	uint32_t *camera_on_table;
+	uint8_t camera_on_table_size;
+	struct msm_camera_gpio_num_info *gpio_num_info;
+};
+
+/*for tof camera  Begin*/
+enum EEPROM_DATA_OP_T{
+	EEPROM_DEFAULT_DATA = 0,
+	EEPROM_INIT_DATA,
+	EEPROM_CONFIG_DATA,
+	EEPROM_STREAMON_DATA,
+	EEPROM_STREAMOFF_DATA,
+	EEPROM_OTHER_DATA,
+};
+/*for tof camera  End*/
+#endif /* _CAM_SENSOR_CMN_HEADER_ */
--- a/selfdrive/camerad/include/media/cam_sync.h
+++ b/selfdrive/camerad/include/media/cam_sync.h
@ -0,0 +1,134 @@
+#ifndef __UAPI_CAM_SYNC_H__
+#define __UAPI_CAM_SYNC_H__
+
+#include <linux/videodev2.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#include <linux/media.h>
+
+#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
+
+/* V4L event which user space will subscribe to */
+#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
+
+/* Specific event ids to get notified in user space */
+#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
+
+/* Size of opaque payload sent to kernel for safekeeping until signal time */
+#define CAM_SYNC_USER_PAYLOAD_SIZE               2
+
+/* Device type for sync device needed for device discovery */
+#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
+
+#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
+	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
+
+#define CAM_SYNC_GET_HEADER_PTR(ev)              \
+	((struct cam_sync_ev_header *)ev.u.data)
+
+#define CAM_SYNC_STATE_INVALID                   0
+#define CAM_SYNC_STATE_ACTIVE                    1
+#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
+#define CAM_SYNC_STATE_SIGNALED_ERROR            3
+
+/**
+ * struct cam_sync_ev_header - Event header for sync event notification
+ *
+ * @sync_obj: Sync object
+ * @status:   Status of the object
+ */
+struct cam_sync_ev_header {
+	int32_t sync_obj;
+	int32_t status;
+};
+
+/**
+ * struct cam_sync_info - Sync object creation information
+ *
+ * @name:       Optional string representation of the sync object
+ * @sync_obj:   Sync object returned after creation in kernel
+ */
+struct cam_sync_info {
+	char name[64];
+	int32_t sync_obj;
+};
+
+/**
+ * struct cam_sync_signal - Sync object signaling struct
+ *
+ * @sync_obj:   Sync object to be signaled
+ * @sync_state: State of the sync object to which it should be signaled
+ */
+struct cam_sync_signal {
+	int32_t sync_obj;
+	uint32_t sync_state;
+};
+
+/**
+ * struct cam_sync_merge - Merge information for sync objects
+ *
+ * @sync_objs:  Pointer to sync objects
+ * @num_objs:   Number of objects in the array
+ * @merged:     Merged sync object
+ */
+struct cam_sync_merge {
+	__u64 sync_objs;
+	uint32_t num_objs;
+	int32_t merged;
+};
+
+/**
+ * struct cam_sync_userpayload_info - Payload info from user space
+ *
+ * @sync_obj:   Sync object for which payload has to be registered for
+ * @reserved:   Reserved
+ * @payload:    Pointer to user payload
+ */
+struct cam_sync_userpayload_info {
+	int32_t sync_obj;
+	uint32_t reserved;
+	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
+};
+
+/**
+ * struct cam_sync_wait - Sync object wait information
+ *
+ * @sync_obj:   Sync object to wait on
+ * @reserved:   Reserved
+ * @timeout_ms: Timeout in milliseconds
+ */
+struct cam_sync_wait {
+	int32_t sync_obj;
+	uint32_t reserved;
+	uint64_t timeout_ms;
+};
+
+/**
+ * struct cam_private_ioctl_arg - Sync driver ioctl argument
+ *
+ * @id:         IOCTL command id
+ * @size:       Size of command payload
+ * @result:     Result of command execution
+ * @reserved:   Reserved
+ * @ioctl_ptr:  Pointer to user data
+ */
+struct cam_private_ioctl_arg {
+	__u32 id;
+	__u32 size;
+	__u32 result;
+	__u32 reserved;
+	__u64 ioctl_ptr;
+};
+
+#define CAM_PRIVATE_IOCTL_CMD \
+	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
+
+#define CAM_SYNC_CREATE                          0
+#define CAM_SYNC_DESTROY                         1
+#define CAM_SYNC_SIGNAL                          2
+#define CAM_SYNC_MERGE                           3
+#define CAM_SYNC_REGISTER_PAYLOAD                4
+#define CAM_SYNC_DEREGISTER_PAYLOAD              5
+#define CAM_SYNC_WAIT                            6
+
+#endif /* __UAPI_CAM_SYNC_H__ */
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@ -4,6 +4,8 @@

 #ifdef QCOM
 #include "cameras/camera_qcom.h"
+#elif QCOM2
+#include "cameras/camera_qcom2.h"
 #elif WEBCAM
 #include "cameras/camera_webcam.h"
 #else
@ -456,6 +458,8 @@ void* processing_thread(void *arg) {
        framed.setFocusConf(focus_confs);
 #endif

+// TODO: add this back
+//#if !defined(QCOM) && !defined(QCOM2)
 #ifndef QCOM
        framed.setImage(kj::arrayPtr((const uint8_t*)s->yuv_ion[yuv_idx].addr, s->yuv_buf_size));
 #endif
@ -469,6 +473,8 @@ void* processing_thread(void *arg) {
      }
    }

+#ifndef QCOM2
+    // TODO: fix on QCOM2, giving scanline error
    // one thumbnail per 5 seconds (instead of %5 == 0 posenet)
    if (cnt % 100 == 3) {
      uint8_t* thumbnail_buffer = NULL;
@ -532,6 +538,7 @@ void* processing_thread(void *arg) {

      free(thumbnail_buffer);
    }
+#endif

    tbuffer_dispatch(&s->ui_tb, ui_idx);

@ -873,15 +880,21 @@ cl_program build_debayer_program(VisionState *s,
  assert(rgb_width == frame_width/2);
  assert(rgb_height == frame_height/2);

+  #ifdef QCOM2
+    int dnew = 1;
+  #else
+    int dnew = 0;
+  #endif
+
  char args[4096];
  snprintf(args, sizeof(args),
          "-cl-fast-relaxed-math -cl-denorms-are-zero "
          "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d "
            "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
-            "-DBAYER_FLIP=%d -DHDR=%d",
+            "-DBAYER_FLIP=%d -DHDR=%d -DNEW=%d",
          frame_width, frame_height, frame_stride,
          rgb_width, rgb_height, rgb_stride,
-          bayer_flip, hdr);
+          bayer_flip, hdr, dnew);
  return CLU_LOAD_FROM_FILE(s->context, s->device_id, "cameras/debayer.cl", args);
 }

@ -919,9 +932,11 @@ void init_buffers(VisionState *s) {
  for (int i=0; i<FRAME_BUF_COUNT; i++) {
    s->camera_bufs[i] = visionbuf_allocate_cl(s->frame_size, s->device_id, s->context,
                                              &s->camera_bufs_cl[i]);
-    // TODO: make lengths correct
-    s->focus_bufs[i] = visionbuf_allocate(0xb80);
-    s->stats_bufs[i] = visionbuf_allocate(0xb80);
+    #ifndef QCOM2
+      // TODO: make lengths correct
+      s->focus_bufs[i] = visionbuf_allocate(0xb80);
+      s->stats_bufs[i] = visionbuf_allocate(0xb80);
+    #endif
  }

  for (int i=0; i<FRAME_BUF_COUNT; i++) {
@ -1070,10 +1085,13 @@ void party(VisionState *s) {
                       processing_thread, s);
  assert(err == 0);

+#ifndef QCOM2
+  // TODO: fix front camera on qcom2
  pthread_t frontview_thread_handle;
  err = pthread_create(&frontview_thread_handle, NULL,
                       frontview_thread, s);
  assert(err == 0);
+#endif

  // priority for cameras
  err = set_realtime_priority(1);
@ -1088,9 +1106,11 @@ void party(VisionState *s) {

  zsock_signal(s->terminate_pub, 0);

+#ifndef QCOM2
  LOG("joining frontview_thread");
  err = pthread_join(frontview_thread_handle, NULL);
  assert(err == 0);
+#endif

  LOG("joining visionserver_thread");
  err = pthread_join(visionserver_thread_handle, NULL);
@ -1126,7 +1146,7 @@ int main(int argc, char *argv[]) {

  init_buffers(s);

-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
  s->msg_context = Context::create();
  s->frame_sock = PubSocket::create(s->msg_context, "frame");
  s->front_frame_sock = PubSocket::create(s->msg_context, "frontFrame");
@ -1140,7 +1160,7 @@ int main(int argc, char *argv[]) {

  party(s);

-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
  delete s->frame_sock;
  delete s->front_frame_sock;
  delete s->thumbnail_sock;
--- a/selfdrive/common/SConscript
+++ b/selfdrive/common/SConscript
@ -24,6 +24,12 @@ if arch == "aarch64":
    'visionbuf_ion.c',
  ]
  _gpu_libs = ['gui', 'adreno_utils']
+elif arch == "larch64":
+  defines = {"CLU_NO_CACHE": None}
+  files += [
+    'visionbuf_ion.c',
+  ]
+  _gpu_libs = ['GL']
 else:
  defines = {"CLU_NO_CACHE": None}
  files += [
--- a/selfdrive/common/visionbuf_ion.c
+++ b/selfdrive/common/visionbuf_ion.c
@ -1,8 +1,12 @@
 #include <stdlib.h>
 #include <stdio.h>
+#include <string.h>
 #include <assert.h>
 #include <sys/mman.h>
 #include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>

 #include <linux/ion.h>
 #include <CL/cl_ext.h>
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@ -11,6 +11,8 @@ common_src = [

 if arch == "aarch64":
  libs += ['gsl', 'CB', 'gnustl_shared']
+elif arch == "larch64":
+  libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']
 else:
  libs += ['symphony-cpu', 'pthread']

--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@ -1,5 +1,5 @@
 #!/bin/sh
-export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
+export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
 export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/"
 exec ./_dmonitoringmodeld

--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@ -1,4 +1,4 @@
 #!/bin/sh
-export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
+export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
 exec ./_modeld

--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@ -10,14 +10,14 @@
 #define MODEL_HEIGHT 320
 #define FULL_W 426

-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
 #define input_lambda(x) (x - 128.f) * 0.0078125f
 #else
 #define input_lambda(x) x // for non SNPE running platforms, assume keras model instead has lambda layer
 #endif

 void dmonitoring_init(DMonitoringModelState* s) {
-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
  const char* model_path = "../../models/dmonitoring_model_q.dlc";
 #else
  const char* model_path = "../../models/dmonitoring_model.dlc";