diff --git a/release/files_common b/release/files_common
index d73c71171a3994..637f8bd7d7d451 100644
--- a/release/files_common
+++ b/release/files_common
@@ -320,7 +320,9 @@ system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/sensors/ar0231.cc
 system/camerad/sensors/ar0231_registers.h
+system/camerad/sensors/ox03c10.cc
 system/camerad/sensors/ox03c10_registers.h
+system/camerad/sensors/sensor.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index d814ebf1b05916..a0056c1f9ff979 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
-                         'sensors/ar0231.cc'])
+                         'sensors/ar0231.cc', 'sensors/ox03c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 8022fa844e6b96..eedeaf1b7aa5bb 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -17,7 +17,6 @@
 #define CAMERA_ID_AR0231 0
 #define CAMERA_ID_OX03C10 1
 
-#define ANALOG_GAIN_MAX_CNT 55
 const int YUV_BUFFER_COUNT = 20;
 
 enum CameraType {
@@ -34,35 +33,6 @@ const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
 
-typedef struct CameraInfo {
-  uint32_t frame_width, frame_height;
-  uint32_t frame_stride;
-  uint32_t frame_offset = 0;
-  uint32_t extra_height = 0;
-  int registers_offset = -1;
-  int stats_offset = -1;
-
-  int exposure_time_min;
-  int exposure_time_max;
-
-  float dc_gain_factor;
-  int dc_gain_min_weight;
-  int dc_gain_max_weight;
-  float dc_gain_on_grey;
-  float dc_gain_off_grey;
-
-  float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
-  int analog_gain_min_idx;
-  int analog_gain_max_idx;
-  int analog_gain_rec_idx;
-  int analog_gain_cost_delta;
-  float analog_gain_cost_low;
-  float analog_gain_cost_high;
-  float target_grey_factor;
-  float min_ev;
-  float max_ev;
-} CameraInfo;
-
 typedef struct FrameMetadata {
   uint32_t frame_id;
 
@@ -123,6 +93,3 @@ void cameras_close(MultiCameraState *s);
 void camerad_thread();
 
 int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
-
-void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed);
-
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 2e84a8605b5e85..75367a6478bfaa 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -19,85 +19,17 @@
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 #include "common/swaglog.h"
-#include "system/camerad/sensors/ar0231_registers.h"
-#include "system/camerad/sensors/ox03c10_registers.h"
+
+const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
 extern ExitHandler do_exit;
 
-const size_t FRAME_WIDTH = 1928;
-const size_t FRAME_HEIGHT = 1208;
-const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
-
-const size_t AR0231_REGISTERS_HEIGHT = 2;
-// TODO: this extra height is universal and doesn't apply per camera
-const size_t AR0231_STATS_HEIGHT = 2+8;
-
-const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
-const float DC_GAIN_AR0231 = 2.5;
-const float DC_GAIN_OX03C10 = 7.32;
-
-const float DC_GAIN_ON_GREY_AR0231 = 0.2;
-const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
-const float DC_GAIN_ON_GREY_OX03C10 = 0.9;
-const float DC_GAIN_OFF_GREY_OX03C10 = 1.0;
-
-const int DC_GAIN_MIN_WEIGHT_AR0231 = 0;
-const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
-const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine
-const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1;
-
-const float TARGET_GREY_FACTOR_AR0231 = 1.0;
-const float TARGET_GREY_FACTOR_OX03C10 = 0.01;
-
-const float sensor_analog_gains_AR0231[] = {
-  1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
-  3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7
-  5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11
-  7.0/2.0, 8.0/2.0, 8.0/1.0};         // 12, 13, 14, 15 = bypass
-
-const float sensor_analog_gains_OX03C10[] = {
-  1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
-  1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
-  3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
-  5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
-  10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
-
-const uint32_t ox03c10_analog_gains_reg[] = {
-  0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
-  0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
-  0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
-  0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
-  0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
-
-const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x
-const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x
-const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x
-const int ANALOG_GAIN_COST_DELTA_AR0231 = 0;
-const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1;
-const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0;
-
-const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
-const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x
-const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36;
-const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1;
-const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4;
-const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4;
-
-const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
-const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms
-
-const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x
-const int EXPOSURE_TIME_MAX_OX03C10 = 2016;
-const uint32_t VS_TIME_MIN_OX03C10 = 1;
-const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35
-
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -141,7 +73,7 @@ void CameraState::sensors_poke(int request_id) {
   }
 }
 
-void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
+void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
@@ -496,74 +428,11 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-struct CameraAR0231 : public CameraInfo {
-  CameraAR0231() {
-    frame_width = FRAME_WIDTH,
-    frame_height = FRAME_HEIGHT,
-    frame_stride = FRAME_STRIDE,
-    extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
-
-    registers_offset = 0,
-    frame_offset = AR0231_REGISTERS_HEIGHT,
-    stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
-
-    dc_gain_factor = DC_GAIN_AR0231;
-    dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231;
-    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
-    dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231;
-    dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231;
-    exposure_time_min = EXPOSURE_TIME_MIN_AR0231;
-    exposure_time_max = EXPOSURE_TIME_MAX_AR0231;
-    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231;
-    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231;
-    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231;
-    analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231;
-    analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231;
-    analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231;
-    for (int i = 0; i <= analog_gain_max_idx; i++) {
-      sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
-    }
-    min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
-    max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
-    target_grey_factor = TARGET_GREY_FACTOR_AR0231;
-  }
-};
-
-struct CameraOx0310 : public CameraInfo {
-  CameraOx0310() {
-    frame_width = FRAME_WIDTH,
-    frame_height = FRAME_HEIGHT,
-    frame_stride = FRAME_STRIDE, // (0xa80*12//8)
-    extra_height = 16, // top 2 + bot 14
-    frame_offset = 2,
-
-    dc_gain_factor = DC_GAIN_OX03C10;
-    dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10;
-    dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
-    dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10;
-    dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10;
-    exposure_time_min = EXPOSURE_TIME_MIN_OX03C10;
-    exposure_time_max = EXPOSURE_TIME_MAX_OX03C10;
-    analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10;
-    analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10;
-    analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10;
-    analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10;
-    analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10;
-    analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10;
-    for (int i=0; i<=analog_gain_max_idx; i++) {
-      sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
-    }
-    min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
-    max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
-    target_grey_factor = TARGET_GREY_FACTOR_OX03C10;
-  }
-};
-
 void CameraState::camera_set_parameters() {
   if (camera_id == CAMERA_ID_AR0231) {
     ci = std::make_unique<CameraAR0231>();
   } else if (camera_id == CAMERA_ID_OX03C10) {
-    ci = std::make_unique<CameraOx0310>();
+    ci = std::make_unique<CameraOx03c10>();
   } else {
     assert(false);
   }
@@ -1092,31 +961,11 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // 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));
 
   if (camera_id == CAMERA_ID_AR0231) {
-    uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
-    struct i2c_random_wr_payload exp_reg_array[] = {
-      {0x3366, analog_gain_reg},
-      {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
-      {0x3012, (uint16_t)exposure_time},
-    };
-    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
+    auto exp_reg_array = ar0231_get_exp_registers(ci.get(), exposure_time, new_exp_g, dc_gain_enabled);
+    sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
   } else if (camera_id == CAMERA_ID_OX03C10) {
-    // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
-    uint32_t hcg_time = exposure_time;
-    uint32_t lcg_time = hcg_time;
-    uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (ci->exposure_time_max + VS_TIME_MAX_OX03C10) / 3), ci->exposure_time_max + VS_TIME_MAX_OX03C10);
-    uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
-
-    uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
-
-    struct i2c_random_wr_payload exp_reg_array[] = {
-      {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
-      {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
-      {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
-      {0x35c2, vs_time&0xFF},
-
-      {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
-    };
-    sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
+    auto exp_reg_array = ox03c10_get_exp_registers(ci.get(), exposure_time, new_exp_g, dc_gain_enabled);
+    sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
   }
 }
 
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index b1765aa5823257..dc924c882a60a5 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -9,6 +9,7 @@
 
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/cameras/camera_util.h"
+#include "system/camerad/sensors/sensor.h"
 #include "common/params.h"
 #include "common/util.h"
 
@@ -82,7 +83,7 @@ class CameraState {
 
   int sensors_init();
   void sensors_poke(int request_id);
-  void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
+  void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
 
   // Register parsing
   std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 10034a7c3c3066..0ddb5b63d1931b 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -2,9 +2,40 @@
 
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/sensors/sensor.h"
 
 namespace {
 
+const size_t AR0231_REGISTERS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
+const size_t AR0231_STATS_HEIGHT = 2 + 8;
+
+const float DC_GAIN_AR0231 = 2.5;
+
+const float DC_GAIN_ON_GREY_AR0231 = 0.2;
+const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
+
+const int DC_GAIN_MIN_WEIGHT_AR0231 = 0;
+const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
+
+const float TARGET_GREY_FACTOR_AR0231 = 1.0;
+
+const float sensor_analog_gains_AR0231[] = {
+    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
+    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
+    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
+    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
+
+const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1;  // 0.25x
+const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6;  // 0.8x
+const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD;  // 4.0x
+const int ANALOG_GAIN_COST_DELTA_AR0231 = 0;
+const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1;
+const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0;
+
+const int EXPOSURE_TIME_MIN_AR0231 = 2;       // with HDR, fastest ss
+const int EXPOSURE_TIME_MAX_AR0231 = 0x0855;  // with HDR, slowest ss, 40ms
+
 std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
@@ -78,6 +109,37 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 
 }  // namespace
 
+CameraAR0231::CameraAR0231() {
+  frame_width = FRAME_WIDTH;
+  frame_height = FRAME_HEIGHT;
+  frame_stride = FRAME_STRIDE;
+  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
+
+  registers_offset = 0;
+  frame_offset = AR0231_REGISTERS_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT;
+
+  dc_gain_factor = DC_GAIN_AR0231;
+  dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231;
+  dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
+  dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231;
+  dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231;
+  exposure_time_min = EXPOSURE_TIME_MIN_AR0231;
+  exposure_time_max = EXPOSURE_TIME_MAX_AR0231;
+  analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231;
+  analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231;
+  analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231;
+  analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231;
+  analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231;
+  analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
+  }
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = TARGET_GREY_FACTOR_AR0231;
+}
+
 void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) {
   const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
   uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset;
@@ -96,3 +158,13 @@ void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::Frame
   float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
   framed.setTemperaturesC({temp_0, temp_1});
 }
+
+
+std::vector<struct i2c_random_wr_payload> ar0231_get_exp_registers(const CameraInfo *ci, int exposure_time, int new_exp_g, bool dc_gain_enabled) {
+  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
+  return {
+    {0x3366, analog_gain_reg},
+    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
+    {0x3012, (uint16_t)exposure_time},
+  };
+}
diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h
index 611d08ec8e21ed..6c4c251e8ea11a 100644
--- a/system/camerad/sensors/ar0231_registers.h
+++ b/system/camerad/sensors/ar0231_registers.h
@@ -1,9 +1,9 @@
 #pragma once
 
-struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
-struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
+const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
+const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
 
-struct i2c_random_wr_payload init_array_ar0231[] = {
+const struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x301A, 0x0018}, // RESET_REGISTER
 
   // CLOCK Settings
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
new file mode 100644
index 00000000000000..c1e1cdf6ec5195
--- /dev/null
+++ b/system/camerad/sensors/ox03c10.cc
@@ -0,0 +1,88 @@
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const float DC_GAIN_OX03C10 = 7.32;
+
+const float DC_GAIN_ON_GREY_OX03C10 = 0.9;
+const float DC_GAIN_OFF_GREY_OX03C10 = 1.0;
+
+const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1;  // always on is fine
+const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1;
+
+const float TARGET_GREY_FACTOR_OX03C10 = 0.01;
+
+const float sensor_analog_gains_OX03C10[] = {
+    1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
+    1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
+    3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
+    5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
+    10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
+
+const uint32_t ox03c10_analog_gains_reg[] = {
+    0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
+    0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
+    0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
+    0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
+    0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
+
+const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
+const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0;  // 1x
+const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36;
+const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1;
+const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4;
+const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4;
+
+const int EXPOSURE_TIME_MIN_OX03C10 = 2;  // 1x
+const int EXPOSURE_TIME_MAX_OX03C10 = 2016;
+const uint32_t VS_TIME_MIN_OX03C10 = 1;
+const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
+
+}  // namespace
+
+CameraOx03c10::CameraOx03c10() {
+  frame_width = FRAME_WIDTH;
+  frame_height = FRAME_HEIGHT;
+  frame_stride = FRAME_STRIDE;  // (0xa80*12//8)
+  extra_height = 16;            // top 2 + bot 14
+  frame_offset = 2;
+
+  dc_gain_factor = DC_GAIN_OX03C10;
+  dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10;
+  dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
+  dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10;
+  dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10;
+  exposure_time_min = EXPOSURE_TIME_MIN_OX03C10;
+  exposure_time_max = EXPOSURE_TIME_MAX_OX03C10;
+  analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10;
+  analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10;
+  analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10;
+  analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10;
+  analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10;
+  analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
+  }
+  min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = TARGET_GREY_FACTOR_OX03C10;
+}
+
+std::vector<struct i2c_random_wr_payload> ox03c10_get_exp_registers(const CameraInfo *ci, int exposure_time, int new_exp_g, bool dc_gain_enabled) {
+ // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
+  uint32_t hcg_time = exposure_time;
+  uint32_t lcg_time = hcg_time;
+  uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (ci->exposure_time_max + VS_TIME_MAX_OX03C10) / 3), ci->exposure_time_max + VS_TIME_MAX_OX03C10);
+  uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
+
+  uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
+
+  return {
+    {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
+    {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
+    {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
+    {0x35c2, vs_time&0xFF},
+
+    {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+  };
+}
diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h
index 7aed2e8ac090e6..575a2cb93472be 100644
--- a/system/camerad/sensors/ox03c10_registers.h
+++ b/system/camerad/sensors/ox03c10_registers.h
@@ -1,9 +1,9 @@
 #pragma once
 
-struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
-struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
+const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
+const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
 
-struct i2c_random_wr_payload init_array_ox03c10[] = {
+const struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x103, 1},
   {0x107, 1},
 
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
new file mode 100644
index 00000000000000..60fbdea81bfb9d
--- /dev/null
+++ b/system/camerad/sensors/sensor.h
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <cstdint>
+#include <vector>
+#include "media/cam_sensor.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/sensors/ar0231_registers.h"
+#include "system/camerad/sensors/ox03c10_registers.h"
+
+#define ANALOG_GAIN_MAX_CNT 55
+const size_t FRAME_WIDTH = 1928;
+const size_t FRAME_HEIGHT = 1208;
+const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
+
+class CameraInfo {
+public:
+  CameraInfo() = default;
+
+  uint32_t frame_width, frame_height;
+  uint32_t frame_stride;
+  uint32_t frame_offset = 0;
+  uint32_t extra_height = 0;
+  int registers_offset = -1;
+  int stats_offset = -1;
+
+  int exposure_time_min;
+  int exposure_time_max;
+
+  float dc_gain_factor;
+  int dc_gain_min_weight;
+  int dc_gain_max_weight;
+  float dc_gain_on_grey;
+  float dc_gain_off_grey;
+
+  float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
+  int analog_gain_min_idx;
+  int analog_gain_max_idx;
+  int analog_gain_rec_idx;
+  int analog_gain_cost_delta;
+  float analog_gain_cost_low;
+  float analog_gain_cost_high;
+  float target_grey_factor;
+  float min_ev;
+  float max_ev;
+};
+
+class CameraAR0231 : public CameraInfo {
+public:
+  CameraAR0231();
+};
+
+class CameraOx03c10 : public CameraInfo {
+public:
+  CameraOx03c10();
+};
+
+void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed);
+std::vector<struct i2c_random_wr_payload> ox03c10_get_exp_registers(const CameraInfo *ci, int exposure_time, int new_exp_g, bool dc_gain_enabled);
+std::vector<struct i2c_random_wr_payload> ar0231_get_exp_registers(const CameraInfo *ci, int exposure_time, int new_exp_g, bool dc_gain_enabled);