diff --git a/selfdrive/camerad/SConscript b/selfdrive/camerad/SConscript
index e1930a83f9..6d358f6e6b 100644
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@@ -8,6 +8,10 @@ if arch == "aarch64":
 elif arch == "larch64":
   libs += []
   cameras = ['cameras/camera_qcom2.c']
+  # no screen
+  env = env.Clone()
+  env.Append(CXXFLAGS = '-DNOSCREEN')
+  env.Append(CFLAGS = '-DNOSCREEN')
 else:
   if webcam:
     libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
diff --git a/selfdrive/camerad/cameras/camera_qcom2.c b/selfdrive/camerad/cameras/camera_qcom2.c
index 75fa803a53..6d526b6f57 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.c
+++ b/selfdrive/camerad/cameras/camera_qcom2.c
@@ -45,7 +45,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .frame_height = FRAME_HEIGHT,
     .frame_stride = FRAME_STRIDE,
     .bayer = true,
-    .bayer_flip = 0,
+    .bayer_flip = 1,
     .hdr = false
   },
 };
@@ -777,6 +777,11 @@ 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);
+#ifdef NOSCREEN
+  zsock_t *rgb_sock = zsock_new_push("tcp://192.168.2.221:7768");
+  assert(rgb_sock);
+  s->rgb_sock = rgb_sock;
+#endif
 }
 
 void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
@@ -882,6 +887,9 @@ static void cameras_close(DualCameraState *s) {
   camera_close(&s->rear);
   //camera_close(&s->front);
   //camera_close(&s->wide);
+#ifdef NOSCREEN
+  zsock_destroy(&s->rgb_sock)
+#endif
 }
 
 struct video_event_data {
@@ -942,5 +950,24 @@ void cameras_run(DualCameraState *s) {
 }
 
 void camera_autoexposure(CameraState *s, float grey_frac) {
+  // TODO: implement autoexposure
+  struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, 0x7777}, // analog gain
+                                                  // {0x3056, 0x0080}, // G1
+                                                  // {0x3058, 0x012A}, // B
+                                                  // {0x305A, 0x00A0}, // R
+                                                  // {0x305C, 0x0080}, // G2
+                                                  // {0x305E, 0x0080}, // global digi gain
+                                                  {0x3012, 0x0312}}; // integ time
+
+  sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
+                    CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
 }
 
+#ifdef NOSCREEN
+void sendrgb(DualCameraState *s, void* dat, int len) {
+  int err, err2;
+  err = zmq_send(zsock_reslove(s->rgb_sock), dat, len, ZMQ_DONTWAIT);
+  err2 = zmq_errno();
+  printf("zmq errcode %d, %d\n", err ,err2);
+}
+#endif
\ No newline at end of file
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index b15ea8b128..78d1264538 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -4,6 +4,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <pthread.h>
+#include <czmq.h>
 
 #include "common/mat.h"
 #include "common/visionbuf.h"
@@ -71,12 +72,18 @@ typedef struct DualCameraState {
   CameraState rear;
   CameraState front;
   CameraState wide;
+#ifdef NOSCREEN
+  zsock_t *rgb_sock;
+#endif
 } 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 NOSCREEN
+void sendrgb(DualCameraState *s, void* dat, int len);
+#endif
 
 #ifdef __cplusplus
 }  // extern "C"
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/selfdrive/camerad/cameras/sensor2_i2c.h
index 621d28251e..9e8273e549 100644
--- a/selfdrive/camerad/cameras/sensor2_i2c.h
+++ b/selfdrive/camerad/cameras/sensor2_i2c.h
@@ -3,302 +3,344 @@ struct i2c_random_wr_payload start_reg_array[] = {{0x301a, 0x1c}};
 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},
+  {0x301A, 0x0018}, // RESET_REGISTER
 
-  // 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},
+  //
+  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
+  {0x337A, 0x0C80}, // DBLC_SCALE0
+  {0x3520, 0x1288}, // RESERVED_MFR_3520
+  {0x3522, 0x880C}, // RESERVED_MFR_3522
+  {0x3524, 0x0C12}, // RESERVED_MFR_3524
+  {0x352C, 0x1212}, // RESERVED_MFR_352C
+  {0x354A, 0x007F}, // RESERVED_MFR_354A
+  {0x350C, 0x055C}, // RESERVED_MFR_350C
+  {0x3506, 0x3333}, // RESERVED_MFR_3506
+  {0x3508, 0x3333}, // RESERVED_MFR_3508
+  {0x3100, 0x4000}, // DLO_CONTROL0
+  {0x3280, 0x0FA0}, // RESERVED_MFR_3280
+  {0x3282, 0x0FA0}, // RESERVED_MFR_3282
+  {0x3284, 0x0FA0}, // RESERVED_MFR_3284
+  {0x3286, 0x0FA0}, // RESERVED_MFR_3286
+  {0x3288, 0x0FA0}, // RESERVED_MFR_3288
+  {0x328A, 0x0FA0}, // RESERVED_MFR_328A
+  {0x328C, 0x0FA0}, // RESERVED_MFR_328C
+  {0x328E, 0x0FA0}, // RESERVED_MFR_328E
+  {0x3290, 0x0FA0}, // RESERVED_MFR_3290
+  {0x3292, 0x0FA0}, // RESERVED_MFR_3292
+  {0x3294, 0x0FA0}, // RESERVED_MFR_3294
+  {0x3296, 0x0FA0}, // RESERVED_MFR_3296
+  {0x3298, 0x0FA0}, // RESERVED_MFR_3298
+  {0x329A, 0x0FA0}, // RESERVED_MFR_329A
+  {0x329C, 0x0FA0}, // RESERVED_MFR_329C
+  {0x329E, 0x0FA0}, // RESERVED_MFR_329E
+  {0x2512, 0x8000}, // SEQ_CTRL_PORT
+  {0x2510, 0x0905}, // SEQ_DATA_PORT
+  {0x2510, 0x3350}, // SEQ_DATA_PORT
+  {0x2510, 0x2004}, // SEQ_DATA_PORT
+  {0x2510, 0x1460}, // SEQ_DATA_PORT
+  {0x2510, 0x1578}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x7B24}, // SEQ_DATA_PORT
+  {0x2510, 0xFF24}, // SEQ_DATA_PORT
+  {0x2510, 0xFF24}, // SEQ_DATA_PORT
+  {0x2510, 0xEA24}, // SEQ_DATA_PORT
+  {0x2510, 0x1022}, // SEQ_DATA_PORT
+  {0x2510, 0x2410}, // SEQ_DATA_PORT
+  {0x2510, 0x155A}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x1400}, // SEQ_DATA_PORT
+  {0x2510, 0x24FF}, // SEQ_DATA_PORT
+  {0x2510, 0x24FF}, // SEQ_DATA_PORT
+  {0x2510, 0x24EA}, // SEQ_DATA_PORT
+  {0x2510, 0x2324}, // SEQ_DATA_PORT
+  {0x2510, 0x647A}, // SEQ_DATA_PORT
+  {0x2510, 0x2404}, // SEQ_DATA_PORT
+  {0x2510, 0x052C}, // SEQ_DATA_PORT
+  {0x2510, 0x400A}, // SEQ_DATA_PORT
+  {0x2510, 0xFF0A}, // SEQ_DATA_PORT
+  {0x2510, 0xFF0A}, // SEQ_DATA_PORT
+  {0x2510, 0x1008}, // SEQ_DATA_PORT
+  {0x2510, 0x3851}, // SEQ_DATA_PORT
+  {0x2510, 0x1440}, // SEQ_DATA_PORT
+  {0x2510, 0x0004}, // SEQ_DATA_PORT
+  {0x2510, 0x0801}, // SEQ_DATA_PORT
+  {0x2510, 0x0408}, // SEQ_DATA_PORT
+  {0x2510, 0x1180}, // SEQ_DATA_PORT
+  {0x2510, 0x2652}, // SEQ_DATA_PORT
+  {0x2510, 0x1518}, // SEQ_DATA_PORT
+  {0x2510, 0x0906}, // SEQ_DATA_PORT
+  {0x2510, 0x1348}, // SEQ_DATA_PORT
+  {0x2510, 0x1002}, // SEQ_DATA_PORT
+  {0x2510, 0x1016}, // SEQ_DATA_PORT
+  {0x2510, 0x1181}, // SEQ_DATA_PORT
+  {0x2510, 0x1189}, // SEQ_DATA_PORT
+  {0x2510, 0x1056}, // SEQ_DATA_PORT
+  {0x2510, 0x1210}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x0D09}, // SEQ_DATA_PORT
+  {0x2510, 0x1413}, // SEQ_DATA_PORT
+  {0x2510, 0x8809}, // SEQ_DATA_PORT
+  {0x2510, 0x2B15}, // SEQ_DATA_PORT
+  {0x2510, 0x8809}, // SEQ_DATA_PORT
+  {0x2510, 0x0311}, // SEQ_DATA_PORT
+  {0x2510, 0xD909}, // SEQ_DATA_PORT
+  {0x2510, 0x1214}, // SEQ_DATA_PORT
+  {0x2510, 0x4109}, // SEQ_DATA_PORT
+  {0x2510, 0x0312}, // SEQ_DATA_PORT
+  {0x2510, 0x1409}, // SEQ_DATA_PORT
+  {0x2510, 0x0110}, // SEQ_DATA_PORT
+  {0x2510, 0xD612}, // SEQ_DATA_PORT
+  {0x2510, 0x1012}, // SEQ_DATA_PORT
+  {0x2510, 0x1212}, // SEQ_DATA_PORT
+  {0x2510, 0x1011}, // SEQ_DATA_PORT
+  {0x2510, 0xDD11}, // SEQ_DATA_PORT
+  {0x2510, 0xD910}, // SEQ_DATA_PORT
+  {0x2510, 0x5609}, // SEQ_DATA_PORT
+  {0x2510, 0x1511}, // SEQ_DATA_PORT
+  {0x2510, 0xDB09}, // SEQ_DATA_PORT
+  {0x2510, 0x1511}, // SEQ_DATA_PORT
+  {0x2510, 0x9B09}, // SEQ_DATA_PORT
+  {0x2510, 0x0F11}, // SEQ_DATA_PORT
+  {0x2510, 0xBB12}, // SEQ_DATA_PORT
+  {0x2510, 0x1A12}, // SEQ_DATA_PORT
+  {0x2510, 0x1014}, // SEQ_DATA_PORT
+  {0x2510, 0x6012}, // SEQ_DATA_PORT
+  {0x2510, 0x5010}, // SEQ_DATA_PORT
+  {0x2510, 0x7610}, // SEQ_DATA_PORT
+  {0x2510, 0xE609}, // SEQ_DATA_PORT
+  {0x2510, 0x0812}, // SEQ_DATA_PORT
+  {0x2510, 0x4012}, // SEQ_DATA_PORT
+  {0x2510, 0x6009}, // SEQ_DATA_PORT
+  {0x2510, 0x290B}, // SEQ_DATA_PORT
+  {0x2510, 0x0904}, // SEQ_DATA_PORT
+  {0x2510, 0x1440}, // SEQ_DATA_PORT
+  {0x2510, 0x0923}, // SEQ_DATA_PORT
+  {0x2510, 0x15C8}, // SEQ_DATA_PORT
+  {0x2510, 0x13C8}, // SEQ_DATA_PORT
+  {0x2510, 0x092C}, // SEQ_DATA_PORT
+  {0x2510, 0x1588}, // SEQ_DATA_PORT
+  {0x2510, 0x1388}, // SEQ_DATA_PORT
+  {0x2510, 0x0C09}, // SEQ_DATA_PORT
+  {0x2510, 0x0C14}, // SEQ_DATA_PORT
+  {0x2510, 0x4109}, // SEQ_DATA_PORT
+  {0x2510, 0x1112}, // SEQ_DATA_PORT
+  {0x2510, 0x6212}, // SEQ_DATA_PORT
+  {0x2510, 0x6011}, // SEQ_DATA_PORT
+  {0x2510, 0xBF11}, // SEQ_DATA_PORT
+  {0x2510, 0xBB10}, // SEQ_DATA_PORT
+  {0x2510, 0x6611}, // SEQ_DATA_PORT
+  {0x2510, 0xFB09}, // SEQ_DATA_PORT
+  {0x2510, 0x3511}, // SEQ_DATA_PORT
+  {0x2510, 0xBB12}, // SEQ_DATA_PORT
+  {0x2510, 0x6312}, // SEQ_DATA_PORT
+  {0x2510, 0x6014}, // SEQ_DATA_PORT
+  {0x2510, 0x0015}, // SEQ_DATA_PORT
+  {0x2510, 0x0011}, // SEQ_DATA_PORT
+  {0x2510, 0xB812}, // SEQ_DATA_PORT
+  {0x2510, 0xA012}, // SEQ_DATA_PORT
+  {0x2510, 0x0010}, // SEQ_DATA_PORT
+  {0x2510, 0x2610}, // SEQ_DATA_PORT
+  {0x2510, 0x0013}, // SEQ_DATA_PORT
+  {0x2510, 0x0011}, // SEQ_DATA_PORT
+  {0x2510, 0x0008}, // SEQ_DATA_PORT
+  {0x2510, 0x3053}, // SEQ_DATA_PORT
+  {0x2510, 0x4215}, // SEQ_DATA_PORT
+  {0x2510, 0x4013}, // SEQ_DATA_PORT
+  {0x2510, 0x4010}, // SEQ_DATA_PORT
+  {0x2510, 0x0210}, // SEQ_DATA_PORT
+  {0x2510, 0x1611}, // SEQ_DATA_PORT
+  {0x2510, 0x8111}, // SEQ_DATA_PORT
+  {0x2510, 0x8910}, // SEQ_DATA_PORT
+  {0x2510, 0x5612}, // SEQ_DATA_PORT
+  {0x2510, 0x1009}, // SEQ_DATA_PORT
+  {0x2510, 0x010D}, // SEQ_DATA_PORT
+  {0x2510, 0x0815}, // SEQ_DATA_PORT
+  {0x2510, 0xC015}, // SEQ_DATA_PORT
+  {0x2510, 0xD013}, // SEQ_DATA_PORT
+  {0x2510, 0x5009}, // SEQ_DATA_PORT
+  {0x2510, 0x1313}, // SEQ_DATA_PORT
+  {0x2510, 0xD009}, // SEQ_DATA_PORT
+  {0x2510, 0x0215}, // SEQ_DATA_PORT
+  {0x2510, 0xC015}, // SEQ_DATA_PORT
+  {0x2510, 0xC813}, // SEQ_DATA_PORT
+  {0x2510, 0xC009}, // SEQ_DATA_PORT
+  {0x2510, 0x0515}, // SEQ_DATA_PORT
+  {0x2510, 0x8813}, // SEQ_DATA_PORT
+  {0x2510, 0x8009}, // SEQ_DATA_PORT
+  {0x2510, 0x0213}, // SEQ_DATA_PORT
+  {0x2510, 0x8809}, // SEQ_DATA_PORT
+  {0x2510, 0x0411}, // SEQ_DATA_PORT
+  {0x2510, 0xC909}, // SEQ_DATA_PORT
+  {0x2510, 0x0814}, // SEQ_DATA_PORT
+  {0x2510, 0x0109}, // SEQ_DATA_PORT
+  {0x2510, 0x0B11}, // SEQ_DATA_PORT
+  {0x2510, 0xD908}, // SEQ_DATA_PORT
+  {0x2510, 0x1400}, // SEQ_DATA_PORT
+  {0x2510, 0x091A}, // SEQ_DATA_PORT
+  {0x2510, 0x1440}, // SEQ_DATA_PORT
+  {0x2510, 0x0903}, // SEQ_DATA_PORT
+  {0x2510, 0x1214}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x10D6}, // SEQ_DATA_PORT
+  {0x2510, 0x1210}, // SEQ_DATA_PORT
+  {0x2510, 0x1212}, // SEQ_DATA_PORT
+  {0x2510, 0x1210}, // SEQ_DATA_PORT
+  {0x2510, 0x11DD}, // SEQ_DATA_PORT
+  {0x2510, 0x11D9}, // SEQ_DATA_PORT
+  {0x2510, 0x1056}, // SEQ_DATA_PORT
+  {0x2510, 0x0917}, // SEQ_DATA_PORT
+  {0x2510, 0x11DB}, // SEQ_DATA_PORT
+  {0x2510, 0x0913}, // SEQ_DATA_PORT
+  {0x2510, 0x11FB}, // SEQ_DATA_PORT
+  {0x2510, 0x0905}, // SEQ_DATA_PORT
+  {0x2510, 0x11BB}, // SEQ_DATA_PORT
+  {0x2510, 0x121A}, // SEQ_DATA_PORT
+  {0x2510, 0x1210}, // SEQ_DATA_PORT
+  {0x2510, 0x1460}, // SEQ_DATA_PORT
+  {0x2510, 0x1250}, // SEQ_DATA_PORT
+  {0x2510, 0x1076}, // SEQ_DATA_PORT
+  {0x2510, 0x10E6}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x15A8}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x13A8}, // SEQ_DATA_PORT
+  {0x2510, 0x1240}, // SEQ_DATA_PORT
+  {0x2510, 0x1260}, // SEQ_DATA_PORT
+  {0x2510, 0x0925}, // SEQ_DATA_PORT
+  {0x2510, 0x13AD}, // SEQ_DATA_PORT
+  {0x2510, 0x0902}, // SEQ_DATA_PORT
+  {0x2510, 0x0907}, // SEQ_DATA_PORT
+  {0x2510, 0x1588}, // SEQ_DATA_PORT
+  {0x2510, 0x0901}, // SEQ_DATA_PORT
+  {0x2510, 0x138D}, // SEQ_DATA_PORT
+  {0x2510, 0x0B09}, // SEQ_DATA_PORT
+  {0x2510, 0x0914}, // SEQ_DATA_PORT
+  {0x2510, 0x4009}, // SEQ_DATA_PORT
+  {0x2510, 0x0B13}, // SEQ_DATA_PORT
+  {0x2510, 0x8809}, // SEQ_DATA_PORT
+  {0x2510, 0x1C0C}, // SEQ_DATA_PORT
+  {0x2510, 0x0920}, // SEQ_DATA_PORT
+  {0x2510, 0x1262}, // SEQ_DATA_PORT
+  {0x2510, 0x1260}, // SEQ_DATA_PORT
+  {0x2510, 0x11BF}, // SEQ_DATA_PORT
+  {0x2510, 0x11BB}, // SEQ_DATA_PORT
+  {0x2510, 0x1066}, // SEQ_DATA_PORT
+  {0x2510, 0x090A}, // SEQ_DATA_PORT
+  {0x2510, 0x11FB}, // SEQ_DATA_PORT
+  {0x2510, 0x093B}, // SEQ_DATA_PORT
+  {0x2510, 0x11BB}, // SEQ_DATA_PORT
+  {0x2510, 0x1263}, // SEQ_DATA_PORT
+  {0x2510, 0x1260}, // SEQ_DATA_PORT
+  {0x2510, 0x1400}, // SEQ_DATA_PORT
+  {0x2510, 0x1508}, // SEQ_DATA_PORT
+  {0x2510, 0x11B8}, // SEQ_DATA_PORT
+  {0x2510, 0x12A0}, // SEQ_DATA_PORT
+  {0x2510, 0x1200}, // SEQ_DATA_PORT
+  {0x2510, 0x1026}, // SEQ_DATA_PORT
+  {0x2510, 0x1000}, // SEQ_DATA_PORT
+  {0x2510, 0x1300}, // SEQ_DATA_PORT
+  {0x2510, 0x1100}, // SEQ_DATA_PORT
+  {0x2510, 0x437A}, // SEQ_DATA_PORT
+  {0x2510, 0x0609}, // SEQ_DATA_PORT
+  {0x2510, 0x0B05}, // SEQ_DATA_PORT
+  {0x2510, 0x0708}, // SEQ_DATA_PORT
+  {0x2510, 0x4137}, // SEQ_DATA_PORT
+  {0x2510, 0x502C}, // SEQ_DATA_PORT
+  {0x2510, 0x2CFE}, // SEQ_DATA_PORT
+  {0x2510, 0x15FE}, // SEQ_DATA_PORT
+  {0x2510, 0x0C2C}, // SEQ_DATA_PORT
+  {0x32E6, 0x00E0}, // RESERVED_MFR_32E6
+  {0x1008, 0x036F}, // RESERVED_PARAM_1008
+  {0x100C, 0x058F}, // RESERVED_PARAM_100C
+  {0x100E, 0x07AF}, // RESERVED_PARAM_100E
+  {0x1010, 0x014F}, // RESERVED_PARAM_1010
+  {0x3230, 0x0312}, // FINE_CORRECTION
+  {0x3232, 0x0532}, // FINE_CORRECTION2
+  {0x3234, 0x0752}, // FINE_CORRECTION3
+  {0x3236, 0x00F2}, // FINE_CORRECTION4
+  {0x3566, 0x3328}, // RESERVED_MFR_3566
+  {0x32D0, 0x3A02}, // RESERVED_MFR_32D0
+  {0x32D2, 0x3508}, // RESERVED_MFR_32D2
+  {0x32D4, 0x3702}, // RESERVED_MFR_32D4
+  {0x32D6, 0x3C04}, // RESERVED_MFR_32D6
+  {0x32DC, 0x370A}, // RESERVED_MFR_32DC
+  {0x30B0, 0x0800}, // DIGITAL_TEST
+  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
+  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
+  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
+  {0x3030, 0x002C}, // PLL_MULTIPLIER
+  {0x3036, 0x000A}, // OP_WORD_CLK_DIV
+  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
+  {0x30B0, 0x0800}, // DIGITAL_TEST
+  {0x30A2, 0x0001}, // X_ODD_INC_
+  {0x30A6, 0x0001}, // Y_ODD_INC_
+  {0x3040, 0x0000}, // READ_MODE C000?
+  {0x30BA, 0x11F2}, // DIGITAL_CTRL
+  {0x3044, 0x0400}, // DARK_CONTROL
+  {0x3064, 0x1802}, // SMIA_TEST
+  {0x33E0, 0x0C80}, // TEST_ASIL_ROWS
+  {0x3180, 0x0080}, // RESERVED_MFR_3180
+  {0x33E4, 0x0080}, // RESERVED_MFR_33E4
+  {0x33E0, 0x0C80}, // TEST_ASIL_ROWS
+  {0x33E0, 0x0C80}, // TEST_ASIL_ROWS
+  {0x3004, 0x0000}, // X_ADDR_START_
+  {0x3008, 0x0787}, // X_ADDR_END_
+  {0x3002, 0x0000}, // Y_ADDR_START_
+  {0x3006, 0x04B7}, // Y_ADDR_END_
+  {0x3032, 0x0000}, // SCALING_MODE
+  {0x3400, 0x0010}, // RESERVED_MFR_3400
+  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
+  {0x3402, 0x0F10}, // X_OUTPUT_CONTROL
+  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
+  {0x3404, 0x0970}, // Y_OUTPUT_CONTROL
+  {0x30BA, 0x11F3}, // DIGITAL_CTRL
 
-  // end SEQ_DATA_PORT
-  {0x32e6,0xe0},
+  // FPS = 88e6 / 0x09C4 / 0x06E0 = 20
+  {0x300C, 0x09C4}, // LINE_LENGTH_PCK_
+  {0x300A, 0x06E0}, // FRAME_LENGTH_LINES_
+  {0x3042, 0x0000}, // EXTRA_DELAY
 
-  // exposure time
-  {0x1008,0x36f},
-  {0x100c,0x58f},
-  {0x100e,0x7af},
-  {0x1010,0x14f},
-  {0x3230,0x312},
-  {0x3232,0x532},
-  {0x3234,0x752},
-  {0x3236,0xf2},
+  // Readout Settings
+  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
+  {0x31AC, 0x0C0A}, // DATA_FORMAT_BITS, 12 -> 10
+  {0x3342, 0x122B}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x122B}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x122B}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x122B}, // MIPI_F4_PDT_EDT
+  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
+  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
+  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
+  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
+  {0x31B0, 0x0049}, // FRAME_PREAMBLE
+  {0x31B2, 0x0033}, // LINE_PREAMBLE
+  {0x31B4, 0x2185}, // RESERVED_MFR_31B4
+  {0x31B6, 0x1146}, // RESERVED_MFR_31B6
+  {0x31B8, 0x3047}, // RESERVED_MFR_31B8
+  {0x31BA, 0x0186}, // RESERVED_MFR_31BA
+  {0x31BC, 0x0805}, // RESERVED_MFR_31BC
+  {0x301A, 0x001C}, // RESET_REGISTER
 
-  {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},
+  // HDR Settings
+  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
+  {0x3238, 0x0222}, // EXPOSURE_RATIO
+  {0x3014, 0x098E}, // FINE_INTEGRATION_TIME_
+  {0x321E, 0x098E}, // FINE_INTEGRATION_TIME2
+  {0x3222, 0x098E}, // FINE_INTEGRATION_TIME3
+  {0x3226, 0x098E}, // FINE_INTEGRATION_TIME4
+  {0x30B0, 0x0800}, // DIGITAL_TEST
+  {0x32EA, 0x3C0E}, // RESERVED_MFR_32EA
+  {0x32EC, 0x72A1}, // RESERVED_MFR_32EC
+  {0x31D0, 0x0001}, // COMPANDING
 
-  {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},
+   // Initial Gains
+  {0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_
+  {0x3366, 0x9999}, // ANALOG_GAIN
+  {0x3060, 0xAAAA}, // ANALOG_COLOR_GAIN
+  {0x305A, 0x00BB}, // RED_GAIN
+  {0x3058, 0x012A}, // BLUE_GAIN
+  {0x3056, 0x0080}, // GREEN1_GAIN
+  {0x305C, 0x0080}, // GREEN2_GAIN
+  {0x3022, 0x00}, // GROUPED_PARAMETER_HOLD_
 };
 
 struct i2c_random_wr_payload poke_array_ov7750[] = {
diff --git a/selfdrive/camerad/test/tici_zclient/livergb.py b/selfdrive/camerad/test/tici_zclient/livergb.py
new file mode 100755
index 0000000000..bd16f72a4c
--- /dev/null
+++ b/selfdrive/camerad/test/tici_zclient/livergb.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+import numpy as np
+import cv2
+from time import time, sleep
+
+H, W = (604, 964)
+
+if __name__ == '__main__':
+  import zmq
+  context = zmq.Context()
+  socket = context.socket(zmq.PULL)
+  socket.bind("tcp://192.168.2.221:7768")
+  while True:
+    try:
+      message = socket.recv()
+    except Exception as ex:
+      print(ex)
+      message = b"123"
+
+    dat = np.frombuffer(message, dtype=np.uint8)
+    b = dat[::3].reshape(H, W)
+    g = dat[1::3].reshape(H, W)
+    r = dat[2::3].reshape(H, W)
+    rgb = cv2.merge((r, g, b))
+    rgb = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
+    cv2.imshow('RGB',rgb)
+    cv2.waitKey(20)
+    dat.tofile('/tmp/c3rgb.img')
\ No newline at end of file
diff --git a/selfdrive/camerad/test/tici_zclient/liveyuv.py b/selfdrive/camerad/test/tici_zclient/liveyuv.py
new file mode 100755
index 0000000000..eb5c2f99e9
--- /dev/null
+++ b/selfdrive/camerad/test/tici_zclient/liveyuv.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+import numpy as np
+import cv2
+from time import time, sleep
+
+H, W = (256, 512)
+
+if __name__ == '__main__':
+  import zmq
+  context = zmq.Context()
+  socket = context.socket(zmq.PULL)
+  socket.bind("tcp://192.168.2.221:7769")
+  while True:
+    try:
+      message = socket.recv()
+    except Exception as ex:
+      print(ex)
+      message = b"123"
+
+    dat = np.frombuffer(message, dtype=np.float32)
+    mc = (dat.reshape(H//2, W//2) * 128 + 128).astype(np.uint8)
+    cv2.imshow('model fov', mc)
+    cv2.waitKey(20)
+    dat.tofile('/home/batman/c3yuv.img')
\ No newline at end of file
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 0872b653a9..5293d380b4 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,7 +1,7 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 lenv = env.Clone()
 
-libs = [messaging, common, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv', gpucommon, visionipc]
+libs = [messaging, common, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'czmq', 'kj', 'yuv', gpucommon, visionipc]
 
 common_src = [
   "models/commonmodel.c",
@@ -13,6 +13,9 @@ if arch == "aarch64":
   libs += ['gsl', 'CB', 'gnustl_shared']
 elif arch == "larch64":
   libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']
+  # no screen
+  lenv['CFLAGS'].append("-DNOSCREEN")
+  lenv['CXXFLAGS'].append("-DNOSCREEN")
 else:
   libs += ['symphony-cpu', 'pthread']
 
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 3c5011eb2a..93112aebfb 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -1,5 +1,6 @@
 #include <stdio.h>
 #include <stdlib.h>
+#include <czmq.h>
 #include <eigen3/Eigen/Dense>
 
 #include "common/visionbuf.h"
@@ -41,11 +42,19 @@ void* live_thread(void *arg) {
     -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
     -1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
 
+#ifndef QCOM2
   Eigen::Matrix<float, 3, 3> eon_intrinsics;
   eon_intrinsics <<
     910.0, 0.0, 582.0,
     0.0, 910.0, 437.0,
     0.0,   0.0,   1.0;
+#else
+  Eigen::Matrix<float, 3, 3> eon_intrinsics;
+  eon_intrinsics <<
+    1484.0, 0.0, 482.0,
+    0.0, 1484.0, 302.0,
+    0.0,   0.0,   1.0;
+#endif
 
   while (!do_exit) {
     for (auto sock : poller->poll(10)){
@@ -245,6 +254,10 @@ int main(int argc, char **argv) {
   delete pathplan_sock;
   delete msg_context;
 
+#ifdef NOSCREEN
+  zsock_destroy(&model.yuv_sock)
+#endif
+
   model_free(&model);
 
   LOG("joining live_thread");
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 5aed70ee68..5165cad884 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -42,6 +42,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
 
   s->m = new DefaultRunModel("../../models/supercombo.dlc", s->output, output_size, USE_GPU_RUNTIME);
 
+#ifdef NOSCREEN
+  zsock_t *yuv_sock = zsock_new_push("tcp://192.168.2.221:7769");
+  assert(yuv_sock);
+  s->yuv_sock = yuv_sock;
+#endif
+
 #ifdef TEMPORAL
   assert(temporal);
   s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE);
@@ -117,6 +123,13 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
     assert(1==2);
   #endif
 
+  #ifdef NOSCREEN
+    int err, err2;
+    err = zmq_send(zsock_resolve(s->yuv_sock), new_frame_buf, sizeof(float)*(MODEL_HEIGHT*MODEL_WIDTH*3/2)/6, ZMQ_DONTWAIT); // y1
+    err2 = zmq_errno();
+    printf("zmq errcode %d, %d\n", err ,err2);
+  #endif
+
   clEnqueueUnmapMemObject(q, s->frame.net_input, (void*)new_frame_buf, 0, NULL, NULL);
 
   // net outputs
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 1a2ac94e1a..d48a067607 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -63,6 +63,9 @@ typedef struct ModelState {
 #ifdef TRAFFIC_CONVENTION
   float *traffic_convention;
 #endif
+#ifdef NOSCREEN
+  zsock_t *yuv_sock;
+#endif
 } ModelState;
 
 void model_init(ModelState* s, cl_device_id device_id,
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index 4bb442d5e1..1785eaf962 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -10,7 +10,7 @@ void PrintErrorStringAndExit() {
 }
 
 SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int runtime) {
-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
   zdl::DlSystem::Runtime_t Runtime;
   if (runtime==USE_GPU_RUNTIME) {
     Runtime = zdl::DlSystem::Runtime_t::GPU;
@@ -33,7 +33,7 @@ SNPEModel::SNPEModel(const char *path, float *output, size_t output_size, int ru
   // create model runner
   zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
   while (!snpe) {
-#ifdef QCOM
+#if defined(QCOM) || defined(QCOM2)
     snpe = snpeBuilder.setOutputLayers({})
                       .setRuntimeProcessor(Runtime)
                       .setUseUserSuppliedBuffers(true)