diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index f75e982be2..1f1be208d3 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -56,7 +56,7 @@ const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss
 const int EXPOSURE_TIME_MAX = 1904; // with HDR, slowest ss
 
 // ************** low level camera helpers ****************
-int cam_control(int fd, int op_code, void *handle, int size) {
+int do_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;
@@ -83,7 +83,7 @@ std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data
       .num_resources = (uint32_t)(data ? 1 : 0),
       .resource_hdl = (uint64_t)data,
   };
-  int err = cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
+  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
   return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
 };
 
@@ -93,13 +93,13 @@ int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t p
       .dev_handle = dev_handle,
       .packet_handle = packet_handle,
   };
-  return cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
+  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
 }
 
 int device_control(int fd, int op_code, int session_handle, int dev_handle) {
   // start stop and release are all the same
   struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
-  return cam_control(fd, op_code, &cmd, sizeof(cmd));
+  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
 }
 
 void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
@@ -118,7 +118,7 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, i
     mem_mgr_alloc_cmd.num_hdl++;
   }
 
-  cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  do_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;
@@ -137,7 +137,7 @@ void release(int video0_fd, uint32_t handle) {
   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));
+  ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
   assert(ret == 0);
 }
 
@@ -153,34 +153,39 @@ void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
   req_mgr_flush_request.link_hdl = link_hdl;
   req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
   int ret;
-  ret = cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
+  ret = do_cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
   // LOGD("flushed all req: %d", ret);
 }
 
 // ************** high level camera helpers ****************
 
-void sensors_poke(struct CameraState *s, int request_id) {
+void CameraState::sensors_start() {
+  int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
+  sensors_i2c(start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+}
+
+void CameraState::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
   pkt->header.op_code = 0x7f;
   pkt->header.request_id = request_id;
 
-  int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
+  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
   assert(ret == 0);
 
   munmap(pkt, size);
-  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
 }
 
-void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int len, int op_code) {
+void CameraState::sensors_i2c(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 = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -190,7 +195,7 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   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;
@@ -198,14 +203,15 @@ void sensors_i2c(struct CameraState *s, struct i2c_random_wr_payload* dat, int l
   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));
 
-  int ret = device_config(s->sensor_fd, s->session_handle, s->sensor_dev_handle, cam_packet_handle);
+  int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle);
   assert(ret == 0);
 
   munmap(i2c_random_wr, buf_desc[0].size);
-  release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+  release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
   munmap(pkt, size);
-  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
 }
+
 static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
   unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
@@ -214,7 +220,8 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   return (struct cam_cmd_power *)(unconditional_wait + 1);
 };
 
-void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
+void CameraState::sensors_init() {
+  int video0_fd = multi_cam_state->video0_fd;
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
   struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle);
@@ -333,7 +340,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
   power->power_settings[2].power_seq_type = 3;
 
   LOGD("probing the sensor");
-  int ret = cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
+  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
   assert(ret == 0);
 
   munmap(i2c_info, buf_desc[0].size);
@@ -344,13 +351,13 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
   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) {
+void CameraState::config_isp(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 = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = 0;
   // YUV has kmd_cmd_buf_offset = 1780
@@ -445,7 +452,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
   buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
   buf_desc[1].type = CAM_CMD_BUF_GENERIC;
   buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
+  uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
   memcpy(buf2, &tmp, sizeof(tmp));
 
   if (io_mem_handle != 0) {
@@ -475,133 +482,133 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
     io_cfg[0].framedrop_pattern = 0x1;
   }
 
-  int ret = device_config(s->multi_cam_state->isp_fd, s->session_handle, s->isp_dev_handle, cam_packet_handle);
+  int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
   assert(ret == 0);
   if (ret != 0) {
     printf("ISP CONFIG FAILED\n");
   }
 
   munmap(buf2, buf_desc[1].size);
-  release_fd(s->multi_cam_state->video0_fd, buf_desc[1].mem_handle);
-  // release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+  release_fd(multi_cam_state->video0_fd, buf_desc[1].mem_handle);
+  // release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
   munmap(pkt, size);
-  release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
 }
 
-void enqueue_buffer(struct CameraState *s, int i, bool dp) {
+void CameraState::enqueue_buffer(int i, bool dp) {
   int ret;
-  int request_id = s->request_ids[i];
+  int request_id = request_ids[i];
 
-  if (s->buf_handle[i]) {
-    release(s->multi_cam_state->video0_fd, s->buf_handle[i]);
+  if (buf_handle[i]) {
+    release(multi_cam_state->video0_fd, buf_handle[i]);
     // wait
     struct cam_sync_wait sync_wait = {0};
-    sync_wait.sync_obj = s->sync_objs[i];
+    sync_wait.sync_obj = sync_objs[i];
     sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
-    ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     // LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
 
-    s->buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
-    if (dp) s->buf.queue(i);
+    buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
+    if (dp) buf.queue(i);
 
     // destroy old output fence
     struct cam_sync_info sync_destroy = {0};
     strcpy(sync_destroy.name, "NodeOutputPortFence");
-    sync_destroy.sync_obj = s->sync_objs[i];
-    ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    sync_destroy.sync_obj = sync_objs[i];
+    ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
     // LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
   }
 
   // do stuff
   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.session_hdl = session_handle;
+  req_mgr_sched_request.link_hdl = link_handle;
   req_mgr_sched_request.req_id = request_id;
-  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
+  ret = do_cam_control(multi_cam_state->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
   struct cam_sync_info sync_create = {0};
   strcpy(sync_create.name, "NodeOutputPortFence");
-  ret = cam_control(s->multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  ret = do_cam_control(multi_cam_state->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;
+  sync_objs[i] = sync_create.sync_obj;
 
   // configure ISP to put the image in place
   struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-  mem_mgr_map_cmd.mmu_hdls[0] = s->multi_cam_state->device_iommu;
+  mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
   mem_mgr_map_cmd.num_hdl = 1;
   mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
-  mem_mgr_map_cmd.fd = s->buf.camera_bufs[i].fd;
-  ret = cam_control(s->multi_cam_state->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;
+  mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
+  ret = do_cam_control(multi_cam_state->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", bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+  buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
 
   // poke sensor
-  sensors_poke(s, request_id);
+  sensors_poke(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));
+  config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
 }
 
-void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) {
+void CameraState::enqueue_req_multi(int start, int n, bool dp) {
    for (int i=start;i<start+n;++i) {
-     s->request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
-     enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT, dp);
+     request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
+     enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
    }
 }
 
 // ******************* camera *******************
 
-static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, CameraState *s, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
+void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
   LOGD("camera init %d", camera_num);
-  s->multi_cam_state = multi_cam_state;
+  multi_cam_state = multi_cam_state_;
   assert(camera_id < std::size(cameras_supported));
-  s->ci = cameras_supported[camera_id];
-  assert(s->ci.frame_width != 0);
+  ci = cameras_supported[camera_id];
+  assert(ci.frame_width != 0);
 
-  s->camera_num = camera_num;
+  camera_num = camera_num_;
 
-  s->request_id_last = 0;
-  s->skipped = true;
+  request_id_last = 0;
+  skipped = true;
 
-  s->min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
-  s->max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
-  s->target_grey_fraction = 0.3;
+  min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX];
+  max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN;
+  target_grey_fraction = 0.3;
 
-  s->dc_gain_enabled = false;
-  s->gain_idx = ANALOG_GAIN_REC_IDX;
-  s->exposure_time = 5;
-  s->cur_ev[0] = s->cur_ev[1] = s->cur_ev[2] = (s->dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[s->gain_idx] * s->exposure_time;
+  dc_gain_enabled = false;
+  gain_idx = ANALOG_GAIN_REC_IDX;
+  exposure_time = 5;
+  cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
 
-  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
 }
 
-static void camera_open(CameraState *s) {
-  s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
-  assert(s->sensor_fd >= 0);
-  LOGD("opened sensor for %d", s->camera_num);
+void CameraState::camera_open() {
+  sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
+  assert(sensor_fd >= 0);
+  LOGD("opened sensor for %d", camera_num);
 
   // probe the sensor
-  LOGD("-- Probing sensor %d", s->camera_num);
-  sensors_init(s->multi_cam_state->video0_fd, s->sensor_fd, s->camera_num);
+  LOGD("-- Probing sensor %d", camera_num);
+  sensors_init();
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
-  int ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
   LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
-  s->session_handle = session_info.session_hdl;
+  session_handle = session_info.session_hdl;
 
   // access the sensor
   LOGD("-- Accessing sensor");
-  auto sensor_dev_handle = device_acquire(s->sensor_fd, s->session_handle, nullptr);
-  assert(sensor_dev_handle);
-  s->sensor_dev_handle = *sensor_dev_handle;
+  auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr);
+  assert(sensor_dev_handle_);
+  sensor_dev_handle = *sensor_dev_handle_;
   LOGD("acquire sensor dev");
 
   struct cam_isp_in_port_info in_port_info = {
-      .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[s->camera_num],
+      .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num],
 
       .lane_type = CAM_ISP_LANE_TYPE_DPHY,
       .lane_num = 4,
@@ -649,29 +656,29 @@ static void camera_open(CameraState *s) {
       .length = sizeof(in_port_info),
   };
 
-  auto isp_dev_handle = device_acquire(s->multi_cam_state->isp_fd, s->session_handle, &isp_resource);
-  assert(isp_dev_handle);
-  s->isp_dev_handle = *isp_dev_handle;
+  auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource);
+  assert(isp_dev_handle_);
+  isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
-  s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num);
-  assert(s->csiphy_fd >= 0);
-  LOGD("opened csiphy for %d", s->camera_num);
+  csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
+  assert(csiphy_fd >= 0);
+  LOGD("opened csiphy for %d", camera_num);
 
   struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0};
-  auto csiphy_dev_handle = device_acquire(s->csiphy_fd, s->session_handle, &csiphy_acquire_dev_info);
-  assert(csiphy_dev_handle);
-  s->csiphy_dev_handle = *csiphy_dev_handle;
+  auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info);
+  assert(csiphy_dev_handle_);
+  csiphy_dev_handle = *csiphy_dev_handle_;
   LOGD("acquire csiphy dev");
 
   // config ISP
-  alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, 984480, (uint32_t*)&s->buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, s->multi_cam_state->device_iommu, s->multi_cam_state->cdm_iommu);
-  config_isp(s, 0, 0, 1, s->buf0_handle, 0);
+  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
+  config_isp(0, 0, 1, buf0_handle, 0);
 
   LOG("-- Configuring sensor");
-  sensors_i2c(s, init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
-  //sensors_i2c(s, start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
-  //sensors_i2c(s, stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
+  sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  //sensors_i2c(start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON);
+  //sensors_i2c(stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF);
 
 
   // config csiphy
@@ -679,7 +686,7 @@ static void camera_open(CameraState *s) {
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, size, &cam_packet_handle);
+    struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -688,7 +695,7 @@ static void camera_open(CameraState *s) {
     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 = (struct cam_csiphy_info *)alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&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
@@ -698,54 +705,51 @@ static void camera_open(CameraState *s) {
     csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL;
     csiphy_info->data_rate = 48000000;  // Calculated by camera_freqs.py
 
-    int ret_ = device_config(s->csiphy_fd, s->session_handle, s->csiphy_dev_handle, cam_packet_handle);
+    int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
 
     munmap(csiphy_info, buf_desc[0].size);
-    release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+    release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
     munmap(pkt, size);
-    release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
+    release_fd(multi_cam_state->video0_fd, cam_packet_handle);
   }
 
   // link devices
   LOG("-- Link devices");
   struct cam_req_mgr_link_info req_mgr_link_info = {0};
-  req_mgr_link_info.session_hdl = s->session_handle;
+  req_mgr_link_info.session_hdl = 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->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
-  s->link_handle = req_mgr_link_info.link_hdl;
-  LOGD("link: %d hdl: 0x%X", ret, s->link_handle);
+  req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
+  req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
+  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  link_handle = req_mgr_link_info.link_hdl;
+  LOGD("link: %d hdl: 0x%X", ret, link_handle);
 
   struct cam_req_mgr_link_control req_mgr_link_control = {0};
   req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE;
-  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.session_hdl = session_handle;
   req_mgr_link_control.num_links = 1;
-  req_mgr_link_control.link_hdls[0] = s->link_handle;
-  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  req_mgr_link_control.link_hdls[0] = link_handle;
+  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
   LOGD("link control: %d", ret);
 
-  ret = device_control(s->csiphy_fd, CAM_START_DEV, s->session_handle, s->csiphy_dev_handle);
+  ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle);
   LOGD("start csiphy: %d", ret);
-  ret = device_control(s->multi_cam_state->isp_fd, CAM_START_DEV, s->session_handle, s->isp_dev_handle);
+  ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
-  ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
+  ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
   LOGD("start sensor: %d", ret);
 
-  enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
+  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
+  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
   printf("driver camera initted \n");
   if (!env_only_driver) {
-    camera_init(s, v, &s->road_cam, CAMERA_ID_AR0231, 1, 20, device_id, ctx,
-                VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
+    s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
     printf("road camera initted \n");
-    camera_init(s, v, &s->wide_road_cam, CAMERA_ID_AR0231, 0, 20, device_id, ctx,
-                VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
+    s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
     printf("wide road camera initted \n");
   }
 
@@ -768,7 +772,7 @@ void cameras_open(MultiCameraState *s) {
   LOGD("opened video1");
 
   // looks like there's only one of these
-  s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK));
+  s->isp_fd = open_v4l_by_name_and_index("cam-isp");
   assert(s->isp_fd >= 0);
   LOGD("opened isp");
 
@@ -779,7 +783,7 @@ void cameras_open(MultiCameraState *s) {
   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));
+  ret = do_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);
@@ -794,74 +798,72 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   printf("req mgr subscribe: %d\n", ret);
 
-  camera_open(&s->driver_cam);
+  s->driver_cam.camera_open();
   printf("driver camera opened \n");
   if (!env_only_driver) {
-    camera_open(&s->road_cam);
+    s->road_cam.camera_open();
     printf("road camera opened \n");
-    camera_open(&s->wide_road_cam);
+    s->wide_road_cam.camera_open();
     printf("wide road camera opened \n");
   }
 }
 
-static void camera_close(CameraState *s) {
+void CameraState::camera_close() {
   int ret;
 
   // stop devices
   LOG("-- Stop devices");
-  // ret = device_control(s->sensor_fd, CAM_STOP_DEV, s->session_handle, s->sensor_dev_handle);
+  // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
   // LOGD("stop sensor: %d", ret);
-  ret = device_control(s->multi_cam_state->isp_fd, CAM_STOP_DEV, s->session_handle, s->isp_dev_handle);
+  ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
   LOGD("stop isp: %d", ret);
-  ret = device_control(s->csiphy_fd, CAM_STOP_DEV, s->session_handle, s->csiphy_dev_handle);
+  ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, 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 = CAM_REQ_MGR_LINK_DEACTIVATE;
-  req_mgr_link_control.session_hdl = s->session_handle;
+  req_mgr_link_control.session_hdl = session_handle;
   req_mgr_link_control.num_links = 1;
-  req_mgr_link_control.link_hdls[0] = s->link_handle;
-  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
+  req_mgr_link_control.link_hdls[0] = link_handle;
+  ret = do_cam_control(multi_cam_state->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->multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info));
+  req_mgr_unlink_info.session_hdl = session_handle;
+  req_mgr_unlink_info.link_hdl = link_handle;
+  ret = do_cam_control(multi_cam_state->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);
+  ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
   LOGD("release sensor: %d", ret);
-  ret = device_control(s->multi_cam_state->isp_fd, CAM_RELEASE_DEV, s->session_handle, s->isp_dev_handle);
+  ret = device_control(multi_cam_state->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
   LOGD("release isp: %d", ret);
-  ret = device_control(s->csiphy_fd, CAM_RELEASE_DEV, s->session_handle, s->csiphy_dev_handle);
+  ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
   LOGD("release csiphy: %d", ret);
 
   // destroyed session
-  struct cam_req_mgr_session_info session_info = {.session_hdl = s->session_handle};
-  ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
+  struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle};
+  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
   LOGD("destroyed session: %d", ret);
 }
 
 void cameras_close(MultiCameraState *s) {
-  camera_close(&s->driver_cam);
+  s->driver_cam.camera_close();
   if (!env_only_driver) {
-    camera_close(&s->road_cam);
-    camera_close(&s->wide_road_cam);
+    s->road_cam.camera_close();
+    s->wide_road_cam.camera_close();
   }
 
   delete s->sm;
   delete s->pm;
 }
 
-// ******************* just a helper *******************
-
-void handle_camera_event(CameraState *s, void *evdat) {
+void CameraState::handle_camera_event(void *evdat) {
   struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
 
   uint64_t timestamp = event_data->u.frame_msg.timestamp;
@@ -869,53 +871,53 @@ void handle_camera_event(CameraState *s, void *evdat) {
   int real_id = event_data->u.frame_msg.request_id;
 
   if (real_id != 0) { // next ready
-    if (real_id == 1) {s->idx_offset = main_id;}
+    if (real_id == 1) {idx_offset = main_id;}
     int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
 
     // check for skipped frames
-    if (main_id > s->frame_id_last + 1 && !s->skipped) {
+    if (main_id > frame_id_last + 1 && !skipped) {
       // realign
-      clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
-      enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1, 0);
-      s->skipped = true;
-    } else if (main_id == s->frame_id_last + 1) {
-      s->skipped = false;
+      clear_req_queue(multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
+      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      skipped = true;
+    } else if (main_id == frame_id_last + 1) {
+      skipped = false;
     }
 
     // check for dropped requests
-    if (real_id > s->request_id_last + 1) {
-      enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1), 0);
+    if (real_id > request_id_last + 1) {
+      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
     }
 
     // metas
-    s->frame_id_last = main_id;
-    s->request_id_last = real_id;
+    frame_id_last = main_id;
+    request_id_last = real_id;
 
-    auto &meta_data = s->buf.camera_bufs_metadata[buf_idx];
-    meta_data.frame_id = main_id - s->idx_offset;
+    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
+    meta_data.frame_id = main_id - idx_offset;
     meta_data.timestamp_sof = timestamp;
-    s->exp_lock.lock();
-    meta_data.gain = s->dc_gain_enabled ? s->analog_gain_frac * DC_GAIN : s->analog_gain_frac;
-    meta_data.high_conversion_gain = s->dc_gain_enabled;
-    meta_data.integ_lines = s->exposure_time;
-    meta_data.measured_grey_fraction = s->measured_grey_fraction;
-    meta_data.target_grey_fraction = s->target_grey_fraction;
-    s->exp_lock.unlock();
+    exp_lock.lock();
+    meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac;
+    meta_data.high_conversion_gain = dc_gain_enabled;
+    meta_data.integ_lines = exposure_time;
+    meta_data.measured_grey_fraction = measured_grey_fraction;
+    meta_data.target_grey_fraction = target_grey_fraction;
+    exp_lock.unlock();
 
     // dispatch
-    enqueue_req_multi(s, real_id + FRAME_BUF_COUNT, 1, 1);
+    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
   } else { // not ready
     // reset after half second of no response
-    if (main_id > s->frame_id_last + 10) {
-      clear_req_queue(s->multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
-      enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT, 0);
-      s->frame_id_last = main_id;
-      s->skipped = true;
+    if (main_id > frame_id_last + 10) {
+      clear_req_queue(multi_cam_state->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
+      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
+      frame_id_last = main_id;
+      skipped = true;
     }
   }
 }
 
-static void set_camera_exposure(CameraState *s, float grey_frac) {
+void CameraState::set_camera_exposure(float grey_frac) {
   const float dt = 0.05;
 
   const float ts_grey = 10.0;
@@ -929,15 +931,15 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
   // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
   // TODO: Lower latency to 2 frames, by using the histogram outputed by the sensor we can do AE before the debayering is complete
 
-  const float cur_ev = s->cur_ev[s->buf.cur_frame_data.frame_id % 3];
+  const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];
 
   // Scale target grey between 0.1 and 0.4 depending on lighting conditions
-  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev) / log2(6000.0), 0.1, 0.4);
-  float target_grey = (1.0 - k_grey) * s->target_grey_fraction + k_grey * new_target_grey;
+  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev_) / log2(6000.0), 0.1, 0.4);
+  float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
 
-  float desired_ev = std::clamp(cur_ev * target_grey / grey_frac, s->min_ev, s->max_ev);
+  float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev);
   float k = (1.0 - k_ev) / 3.0;
-  desired_ev = (k * s->cur_ev[0]) + (k * s->cur_ev[1]) + (k * s->cur_ev[2]) + (k_ev * desired_ev);
+  desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
 
   float best_ev_score = 1e6;
   int new_g = 0;
@@ -945,7 +947,7 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
 
   // Hysteresis around high conversion gain
   // We usually want this on since it results in lower noise, but turn off in very bright day scenes
-  bool enable_dc_gain = s->dc_gain_enabled;
+  bool enable_dc_gain = dc_gain_enabled;
   if (!enable_dc_gain && target_grey < 0.2) {
     enable_dc_gain = true;
   } else if (enable_dc_gain && target_grey > 0.3) {
@@ -954,14 +956,14 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
 
   // Simple brute force optimizer to choose sensor parameters
   // to reach desired EV
-  for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, s->gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, s->gain_idx + 1); g++) {
+  for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
     float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
 
     // Compute optimal time for given gain
     int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
 
     // Only go below recomended gain when absolutely necessary to not overexpose
-    if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < s->gain_idx) {
+    if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
       continue;
     }
 
@@ -972,10 +974,10 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
     float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
     score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
 
-    // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", s->camera_num, g, t, desired_ev / gain, score, score + std::abs(g - s->gain_idx) * (score + 1.0) / 10.0, desired_ev, s->min_ev);
+    // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
 
     // Small penalty on changing gain
-    score += std::abs(g - s->gain_idx) * (score + 1.0) / 10.0;
+    score += std::abs(g - gain_idx) * (score + 1.0) / 10.0;
 
     if (score < best_ev_score) {
       new_t = t;
@@ -984,42 +986,41 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
     }
   }
 
-  s->exp_lock.lock();
+  exp_lock.lock();
 
-  s->measured_grey_fraction = grey_frac;
-  s->target_grey_fraction = target_grey;
+  measured_grey_fraction = grey_frac;
+  target_grey_fraction = target_grey;
 
-  s->analog_gain_frac = sensor_analog_gains[new_g];
-  s->gain_idx = new_g;
-  s->exposure_time = new_t;
-  s->dc_gain_enabled = enable_dc_gain;
+  analog_gain_frac = sensor_analog_gains[new_g];
+  gain_idx = new_g;
+  exposure_time = new_t;
+  dc_gain_enabled = enable_dc_gain;
 
-  float gain = s->analog_gain_frac * (s->dc_gain_enabled ? DC_GAIN : 1.0);
-  s->cur_ev[s->buf.cur_frame_data.frame_id % 3] = s->exposure_time * gain;
+  float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0);
+  cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
-  s->exp_lock.unlock();
+  exp_lock.unlock();
 
   // Processing a frame takes right about 50ms, so we need to wait a few ms
   // so we don't send i2c commands around the frame start.
-  int ms = (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof) / 1000000;
+  int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
   if (ms < 60) {
     util::sleep_for(60 - ms);
   }
-  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", s->camera_num, 1e-9 * nanos_since_boot(), 1e-9 * s->buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - s->buf.cur_frame_data.timestamp_sof));
+  // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
 
   uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
   struct i2c_random_wr_payload exp_reg_array[] = {
                                                   {0x3366, analog_gain_reg},
-                                                  {0x3362, (uint16_t)(s->dc_gain_enabled ? 0x1 : 0x0)},
-                                                  {0x3012, (uint16_t)s->exposure_time},
+                                                  {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
+                                                  {0x3012, (uint16_t)exposure_time},
                                                 };
-  sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
+  sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
               CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
-
 }
 
 void camera_autoexposure(CameraState *s, float grey_frac) {
-  set_camera_exposure(s, grey_frac);
+  s->set_camera_exposure(grey_frac);
 }
 
 // called by processing_thread
@@ -1053,11 +1054,10 @@ void cameras_run(MultiCameraState *s) {
 
   // start devices
   LOG("-- Starting devices");
-  int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
-  sensors_i2c(&s->driver_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+  s->driver_cam.sensors_start();
   if (!env_only_driver) {
-    sensors_i2c(&s->road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
-    sensors_i2c(&s->wide_road_cam, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
+    s->road_cam.sensors_start();
+    s->wide_road_cam.sensors_start();
   }
 
   // poll events
@@ -1088,11 +1088,11 @@ void cameras_run(MultiCameraState *s) {
         }
 
         if (event_data->session_hdl == s->road_cam.session_handle) {
-          handle_camera_event(&s->road_cam, event_data);
+          s->road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
-          handle_camera_event(&s->wide_road_cam, event_data);
+          s->wide_road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->driver_cam.session_handle) {
-          handle_camera_event(&s->driver_cam, event_data);
+          s->driver_cam.handle_camera_event(event_data);
         } else {
           printf("Unknown vidioc event source\n");
           assert(false);
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index f8ab2da8ae..d021ba256e 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -9,7 +9,8 @@
 
 #define FRAME_BUF_COUNT 4
 
-typedef struct CameraState {
+class CameraState {
+public:
   MultiCameraState *multi_cam_state;
   CameraInfo ci;
 
@@ -31,6 +32,21 @@ typedef struct CameraState {
 
   int camera_num;
 
+  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
+  void enqueue_req_multi(int start, int n, bool dp);
+  void enqueue_buffer(int i, bool dp);
+  void handle_camera_event(void *evdat);
+  void set_camera_exposure(float grey_frac);
+
+  void sensors_start();
+  void sensors_poke(int request_id);
+  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code);
+  void sensors_init();
+
+  void camera_open();
+  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type);
+  void camera_close();
+
   int32_t session_handle;
   int32_t sensor_dev_handle;
   int32_t isp_dev_handle;
@@ -48,7 +64,7 @@ typedef struct CameraState {
   bool skipped;
 
   CameraBuf buf;
-} CameraState;
+};
 
 typedef struct MultiCameraState {
   unique_fd video0_fd;