diff --git a/cmd/camera.c b/cmd/camera.c
new file mode 100644
index 0000000..e22c705
--- /dev/null
+++ b/cmd/camera.c
@@ -0,0 +1,58 @@
+#include "camera.h"
+
+#include "hw/device.h"
+#include "hw/links.h"
+#include "hw/v4l2.h"
+
+void camera_init(camera_t *camera)
+{
+  memset(camera, 0, sizeof(*camera));
+  camera->width = 2328;
+  camera->height = 1748;
+  camera->nbufs = 4;
+}
+
+void camera_close(camera_t *camera)
+{
+  for (int i = MAX_DEVICES; i-- > 0; ) {
+    if (camera->devices[i]) {
+      device_close(camera->devices[i]);
+      camera->devices[i] = NULL;
+    }
+  }
+
+  memset(camera->links, 0, sizeof(camera->links));
+}
+
+int camera_open(camera_t *camera, const char *path)
+{
+  camera->camera = device_open("CAMERA", path);
+  if (!camera->camera) {
+    return -1;
+  }
+
+  return 0;;
+}
+
+int camera_set_params(camera_t *camera)
+{
+  DEVICE_SET_OPTION(camera->camera, EXPOSURE, 1148);
+  DEVICE_SET_OPTION(camera->camera, ANALOGUE_GAIN, 938);
+  DEVICE_SET_OPTION(camera->camera, DIGITAL_GAIN, 256);
+
+  DEVICE_SET_OPTION2(camera->codec_jpeg, JPEG, COMPRESSION_QUALITY, 80);
+
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, BITRATE, 5000 * 1000);
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, H264_I_PERIOD, 30);
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, H264_LEVEL, V4L2_MPEG_VIDEO_H264_LEVEL_4_0);
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, REPEAT_SEQ_HEADER, 1);
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, H264_MIN_QP, 16);
+  DEVICE_SET_OPTION2(camera->codec_h264, MPEG_VIDEO, H264_MIN_QP, 32);
+  return 0;
+}
+
+int camera_run(camera_t *camera)
+{
+  bool running = false;
+  return links_loop(camera->links, &running);
+}
\ No newline at end of file
diff --git a/cmd/camera.h b/cmd/camera.h
new file mode 100644
index 0000000..418960f
--- /dev/null
+++ b/cmd/camera.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "hw/links.h"
+#include "hw/device.h"
+
+#define MAX_DEVICES 20
+#define MAX_HTTP_METHODS 20
+
+#define CAMERA_DEVICE_CAMERA 0
+
+typedef struct camera_s {
+  union {
+    device_t *devices[MAX_DEVICES];
+    struct {
+      device_t *camera;
+
+      struct {
+        device_t *codec_jpeg;
+        device_t *codec_h264;
+      };
+
+      union {
+        struct {
+          device_t *isp_srgb;
+          device_t *isp_yuuv;
+          device_t *isp_yuuv_low;
+        } isp;
+
+        struct {
+          device_t *isp;
+        } legacy_isp;
+      };
+    };
+  };
+  link_t links[MAX_DEVICES];
+
+  unsigned width, height;
+  unsigned nbufs;
+} camera_t;
+
+#define CAMERA(DEVICE) camera->devices[DEVICE]
+
+void camera_init(camera_t *camera);
+void camera_close(camera_t *camera);
+int camera_open(camera_t *camera, const char *path);
+int camera_configure_srgb_isp(camera_t *camera, bool use_half);
+int camera_configure_srgb_legacy_isp(camera_t *camera);
+int camera_set_params(camera_t *camera);
+int camera_run(camera_t *camera);
diff --git a/cmd/camera_srgb_isp.c b/cmd/camera_srgb_isp.c
new file mode 100644
index 0000000..c6dc58d
--- /dev/null
+++ b/cmd/camera_srgb_isp.c
@@ -0,0 +1,71 @@
+#include "camera.h"
+
+#include "hw/buffer.h"
+#include "hw/buffer_list.h"
+#include "hw/device.h"
+#include "hw/links.h"
+#include "hw/v4l2.h"
+#include "hw/buffer_list.h"
+#include "http/http.h"
+
+extern bool check_streaming();
+
+int camera_configure_srgb_isp(camera_t *camera, bool use_half)
+{
+  if (device_open_buffer_list(camera->camera, true, camera->width, camera->height, V4L2_PIX_FMT_SRGGB10P, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  buffer_list_t *src = camera->camera->capture_list;
+
+  camera->isp.isp_srgb = device_open("ISP", "/dev/video13");
+  camera->isp.isp_yuuv = device_open("ISP-YUUV", "/dev/video14");
+  camera->codec_jpeg = device_open("JPEG", "/dev/video31");
+  camera->codec_h264 = device_open("H264", "/dev/video11");
+
+  if (device_open_buffer_list(camera->isp.isp_srgb, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0 ||
+    device_open_buffer_list(camera->isp.isp_yuuv, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_YUYV, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  if (use_half) {
+    camera->isp.isp_yuuv_low = device_open("ISP-YUUV-LOW", "/dev/video15");
+
+    if (device_open_buffer_list(camera->isp.isp_yuuv_low, true, src->fmt_width / 2, src->fmt_height / 2, V4L2_PIX_FMT_YUYV, camera->nbufs) < 0) {
+      return -1;
+    }
+
+    src = camera->isp.isp_yuuv_low->capture_list;
+  } else {
+    src = camera->isp.isp_yuuv->capture_list;
+  }
+
+  if (device_open_buffer_list(camera->codec_jpeg, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0 ||
+    device_open_buffer_list(camera->codec_jpeg, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_JPEG, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  if (device_open_buffer_list(camera->codec_h264, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0 ||
+    device_open_buffer_list(camera->codec_h264, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_H264, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  DEVICE_SET_OPTION(camera->isp.isp_srgb, RED_BALANCE, 2120);
+  DEVICE_SET_OPTION(camera->isp.isp_srgb, BLUE_BALANCE, 1472);
+  DEVICE_SET_OPTION(camera->isp.isp_srgb, DIGITAL_GAIN, 1007);
+
+  link_t *links = camera->links;
+
+  *links++ = (link_t){ camera->camera, { camera->isp.isp_srgb }, { NULL, check_streaming } };
+
+  if (use_half) {
+    *links++ = (link_t){ camera->isp.isp_yuuv, { } };
+    *links++ = (link_t){ camera->isp.isp_yuuv_low, { camera->codec_jpeg, camera->codec_h264 } };
+  } else {
+    *links++ = (link_t){ camera->isp.isp_yuuv, { camera->codec_jpeg, camera->codec_h264 } };
+  }
+
+  *links++ = (link_t){ camera->codec_jpeg, { }, { http_jpeg_capture, http_jpeg_needs_buffer } };
+  *links++ = (link_t){ camera->codec_h264, { }, { http_h264_capture, http_h264_needs_buffer } };
+  return 0;
+}
diff --git a/cmd/camera_srgb_legacy_isp.c b/cmd/camera_srgb_legacy_isp.c
new file mode 100644
index 0000000..05b3b3f
--- /dev/null
+++ b/cmd/camera_srgb_legacy_isp.c
@@ -0,0 +1,48 @@
+#include "camera.h"
+
+#include "hw/buffer.h"
+#include "hw/buffer_list.h"
+#include "hw/device.h"
+#include "hw/links.h"
+#include "hw/v4l2.h"
+#include "hw/buffer_list.h"
+#include "http/http.h"
+
+extern bool check_streaming();
+
+int camera_configure_srgb_legacy_isp(camera_t *camera)
+{
+  if (device_open_buffer_list(camera->camera, true, camera->width, camera->height, V4L2_PIX_FMT_SRGGB10P, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  buffer_list_t *src = camera->camera->capture_list;
+
+  camera->legacy_isp.isp = device_open("ISP", "/dev/video12");
+  camera->codec_jpeg = device_open("JPEG", "/dev/video31");
+  camera->codec_h264 = device_open("H264", "/dev/video11");
+
+  if (device_open_buffer_list(camera->legacy_isp.isp, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  src = camera->legacy_isp.isp->capture_list;
+
+  if (device_open_buffer_list(camera->codec_jpeg, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0 ||
+    device_open_buffer_list(camera->codec_jpeg, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_JPEG, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  if (device_open_buffer_list(camera->codec_h264, false, src->fmt_width, src->fmt_height, src->fmt_format, camera->nbufs) < 0 ||
+    device_open_buffer_list(camera->codec_h264, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_H264, camera->nbufs) < 0) {
+    return -1;
+  }
+
+  link_t *links = camera->links;
+
+  *links++ = (link_t){ camera->camera, { camera->legacy_isp.isp }, { NULL, check_streaming } };
+  *links++ = (link_t){ camera->legacy_isp.isp, { camera->codec_jpeg, camera->codec_h264 } };
+  *links++ = (link_t){ camera->codec_jpeg, { }, { http_jpeg_capture, http_jpeg_needs_buffer } };
+  *links++ = (link_t){ camera->codec_h264, { }, { http_h264_capture, http_h264_needs_buffer } };
+  return 0;
+}
diff --git a/cmd/main.c b/cmd/main.c
new file mode 100644
index 0000000..8815863
--- /dev/null
+++ b/cmd/main.c
@@ -0,0 +1,59 @@
+#include "hw/buffer.h"
+#include "hw/buffer_list.h"
+#include "hw/device.h"
+#include "hw/links.h"
+#include "hw/v4l2.h"
+#include "http/http.h"
+#include "camera.h"
+
+#include <signal.h>
+
+http_method_t http_methods[] = {
+  { "GET / ", http_index },
+  { "GET /snapshot ", http_snapshot },
+  { "GET /stream ", http_stream },
+  { "GET /?action=snapshot ", http_snapshot },
+  { "GET /?action=stream ", http_stream },
+  { "GET /video ", http_video_html },
+  { "GET /video.h264 ", http_video },
+  { "GET /jmuxer.min.js ", http_jmuxer_js },
+  { NULL, NULL }
+};
+
+bool check_streaming()
+{
+  return http_jpeg_needs_buffer() || http_h264_needs_buffer();
+}
+
+int main(int argc, char *argv[])
+{
+  camera_t camera;
+  int http_fd = -1;
+  int ret = -1;
+
+  camera_init(&camera);
+
+  if (camera_open(&camera, "/dev/video0") < 0) {
+    goto error;
+  }
+
+  if (camera_configure_srgb_isp(&camera, true) < 0) {
+    goto error;
+  }
+
+  if (camera_set_params(&camera) < 0) {
+    goto error;
+  }
+
+  http_fd = http_server(9092, 5, http_methods);
+  if (http_fd < 0) {
+    goto error;
+  }
+
+  ret = camera_run(&camera);
+
+error:
+  close(http_fd);
+  camera_close(&camera);
+  return ret;
+}
diff --git a/cmd/main_isp13.c b/cmd/main_isp13.c
deleted file mode 100644
index 41b9764..0000000
--- a/cmd/main_isp13.c
+++ /dev/null
@@ -1,174 +0,0 @@
-#include "hw/buffer.h"
-#include "hw/buffer_list.h"
-#include "hw/device.h"
-#include "hw/links.h"
-#include "hw/v4l2.h"
-#include "http/http.h"
-
-#include <signal.h>
-
-int camera_width = 2328;
-int camera_height = 1748;
-int camera_format = V4L2_PIX_FMT_SRGGB10P;
-int camera_nbufs = 1;
-bool camera_use_low = true;
-
-device_t *camera = NULL;
-device_t *isp_srgb = NULL;
-device_t *isp_yuuv = NULL;
-device_t *isp_yuuv_low = NULL;
-device_t *codec_jpeg = NULL;
-device_t *codec_h264 = NULL;
-
-int open_isp(buffer_list_t *src, const char *srgb_path, const char *yuuv_path, const char *yuuv_low_path)
-{
-  DEVICE_SET_OPTION(isp_srgb, RED_BALANCE, 2120);
-  DEVICE_SET_OPTION(isp_srgb, BLUE_BALANCE, 1472);
-  DEVICE_SET_OPTION(isp_srgb, DIGITAL_GAIN, 1007);
-
-  if (device_open_buffer_list(isp_srgb, false, src->fmt_width, src->fmt_height, src->fmt_format, camera_nbufs) < 0 ||
-    device_open_buffer_list(isp_yuuv, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_YUYV, camera_nbufs) < 0 ||
-    device_open_buffer_list(isp_yuuv_low, true, src->fmt_width / 2, src->fmt_height / 2, V4L2_PIX_FMT_YUYV, camera_nbufs) < 0) {
-    return -1;
-  }
-
-  return 0;
-}
-
-int open_jpeg(buffer_list_t *src, const char *tmp)
-{
-  DEVICE_SET_OPTION2(codec_jpeg, JPEG, COMPRESSION_QUALITY, 80);
-
-  if (device_open_buffer_list(codec_jpeg, false, src->fmt_width, src->fmt_height, src->fmt_format, camera_nbufs) < 0 ||
-    device_open_buffer_list(codec_jpeg, true, codec_jpeg->output_list->fmt_width, codec_jpeg->output_list->fmt_height, V4L2_PIX_FMT_JPEG, camera_nbufs) < 0) {
-    return -1;
-  }
-  return 0;
-}
-
-int open_h264(buffer_list_t *src, const char *tmp)
-{
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, BITRATE, 5000 * 1000);
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, H264_I_PERIOD, 30);
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, H264_LEVEL, V4L2_MPEG_VIDEO_H264_LEVEL_4_0);
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, REPEAT_SEQ_HEADER, 1);
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, H264_MIN_QP, 16);
-  DEVICE_SET_OPTION2(codec_h264, MPEG_VIDEO, H264_MIN_QP, 32);
-
-  if (device_open_buffer_list(codec_h264, false, src->fmt_width, src->fmt_height, src->fmt_format, camera_nbufs) < 0 ||
-    device_open_buffer_list(codec_h264, true, src->fmt_width, src->fmt_height, V4L2_PIX_FMT_H264, camera_nbufs) < 0) {
-    return -1;
-  }
-  return 0;
-}
-
-int open_camera()
-{
-  camera = device_open("CAMERA", "/dev/video0");
-
-  if (device_open_buffer_list(camera, true, camera_width, camera_height, camera_format, camera_nbufs) < 0) {
-    return -1;
-  }
-
-  DEVICE_SET_OPTION(camera, EXPOSURE, 1148);
-  DEVICE_SET_OPTION(camera, ANALOGUE_GAIN, 938);
-  DEVICE_SET_OPTION(camera, DIGITAL_GAIN, 256);
-
-  isp_srgb = device_open("ISP-SRGB", "/dev/video13");
-  //isp_srgb->allow_dma = false;
-  isp_yuuv = device_open("ISP-YUUV", "/dev/video14");
-  isp_yuuv->output_device = isp_srgb;
-  isp_yuuv_low = device_open("ISP-YUUV-LOW", "/dev/video15");
-  isp_yuuv_low->output_device = isp_srgb;
-  codec_jpeg = device_open("JPEG", "/dev/video31");
-  //codec_jpeg->allow_dma = false;
-  codec_h264 = device_open("H264", "/dev/video11");
-  //codec_h264->allow_dma = false;
-
-  if (open_isp(camera->capture_list, "/dev/video13", "/dev/video14", "/dev/video15") < 0) {
-    return -1;
-  }
-  if (open_jpeg(camera_use_low ? isp_yuuv_low->capture_list : isp_yuuv->capture_list, "/dev/video31") < 0) {
-    return -1;
-  }
-  if (open_h264(camera_use_low ? isp_yuuv_low->capture_list : isp_yuuv->capture_list, "/dev/video11") < 0) {
-    return -1;
-  }
-
-  return 0;
-}
-
-bool check_streaming()
-{
-  return http_jpeg_needs_buffer() || http_h264_needs_buffer();
-}
-
-int main(int argc, char *argv[])
-{
-  if (open_camera() < 0) {
-    return -1;
-  }
-
-  link_t links[] = {
-    {
-      camera,
-      { isp_srgb },
-      { NULL, check_streaming }
-    },
-    {
-      isp_yuuv,
-      {
-        camera_use_low ? NULL : codec_jpeg,
-        //camera_use_low ? NULL : codec_h264,
-      },
-      { NULL, NULL }
-    },
-    {
-      isp_yuuv_low,
-      {
-        camera_use_low ? codec_jpeg : NULL,
-        //camera_use_low ? codec_h264 : NULL,
-      },
-      { NULL, NULL }
-    },
-    {
-      codec_jpeg,
-      { },
-      { http_jpeg_capture, http_jpeg_needs_buffer }
-    },
-    {
-      // codec_h264,
-      // { },
-      // { http_h264_capture, http_h264_needs_buffer }
-    },
-    { NULL }
-  };
-
-  http_method_t http_methods[] = {
-    { "GET / ", http_index },
-    { "GET /snapshot ", http_snapshot },
-    { "GET /stream ", http_stream },
-    { "GET /?action=snapshot ", http_snapshot },
-    { "GET /?action=stream ", http_stream },
-    { "GET /video ", http_video_html },
-    { "GET /video.h264 ", http_video },
-    { "GET /jmuxer.min.js ", http_jmuxer_js },
-    { NULL, NULL }
-  };
-
-  sigaction(SIGPIPE, &(struct sigaction){SIG_IGN}, NULL);
-
-  int http_fd = http_server(9092, 5, http_methods);
-
-  bool running = false;
-  links_loop(links, &running);
-
-  close(http_fd);
-
-error:
-  device_close(isp_yuuv_low);
-  device_close(isp_yuuv);
-  device_close(isp_srgb);
-  device_close(camera);
-  return 0;
-}
diff --git a/http/http.c b/http/http.c
index 8a9d505..be9a4fc 100644
--- a/http/http.c
+++ b/http/http.c
@@ -7,6 +7,8 @@
 #include <netinet/ip.h>
 #include <netinet/tcp.h>
 #include <arpa/inet.h>
+#include <pthread.h>
+#include <signal.h>
 
 #include "http/http.h"
 
@@ -127,6 +129,8 @@ int http_server(int listen_port, int maxcons, http_method_t *methods)
     return -1;
   }
 
+  sigaction(SIGPIPE, &(struct sigaction){ SIG_IGN }, NULL);
+
   while (maxcons-- > 0) {
     char name[20];
     sprintf(name, "HTTP%d/%d", listen_port, maxcons);
diff --git a/hw/device.c b/hw/device.c
index 69ce5bf..3ee2842 100644
--- a/hw/device.c
+++ b/hw/device.c
@@ -56,6 +56,10 @@ int device_open_buffer_list(device_t *dev, bool do_capture, unsigned width, unsi
   struct buffer_list_s **buf_list = NULL;
   bool do_mmap = false;
 
+  if (!dev) {
+    return -1;
+  }
+
   if (do_capture) {
     buf_list = &dev->capture_list;
     do_mmap = true;
@@ -134,6 +138,10 @@ int device_consume_event(device_t *dev)
 {
 	struct v4l2_event event;
 
+  if (!dev) {
+    return -1;
+  }
+
 	E_LOG_DEBUG(dev, "Consuming V4L2 event ...");
   E_XIOCTL(dev, dev->fd, VIDIOC_DQEVENT, &event, "Got some V4L2 device event, but where is it?");
 
@@ -154,6 +162,10 @@ error:
 
 int device_video_force_key(device_t *dev)
 {
+  if (!dev) {
+    return -1;
+  }
+
   struct v4l2_control ctl = {0};
   ctl.id = V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME;
   ctl.value = 1;
@@ -167,6 +179,11 @@ error:
 int device_set_fps(device_t *dev, int desired_fps)
 {
   struct v4l2_streamparm setfps = {0};
+
+  if (!dev) {
+    return -1;
+  }
+
   setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   setfps.parm.output.timeperframe.numerator = 1;
   setfps.parm.output.timeperframe.denominator = desired_fps;
@@ -180,6 +197,11 @@ error:
 int device_set_option(device_t *dev, const char *name, uint32_t id, int32_t value)
 {
   struct v4l2_control ctl = {0};
+
+  if (!dev) {
+    return -1;
+  }
+
   ctl.id = id;
   ctl.value = value;
   E_LOG_DEBUG(dev, "Configuring option %s (%08x) = %d", name, id, value);
diff --git a/hw/links.h b/hw/links.h
index fd152ba..b7a06db 100644
--- a/hw/links.h
+++ b/hw/links.h
@@ -2,7 +2,9 @@
 
 #include "v4l2.h"
 
-typedef void (*link_on_buffer)(struct buffer_s *buf);
+typedef struct buffer_s buffer_t;
+
+typedef void (*link_on_buffer)(buffer_t *buf);
 typedef bool (*link_check_streaming)();
 
 typedef struct link_s {