Horldsence
4f893ce140
两块 ESP32-S3-WROOM-1-N16R8 图传板（DVP 接口接 OV2640/OV3660/OV5640）， 向队伍客户端与裁判终端推 UDP 图传。固件是跑在 ESP-IDF 上的 Rust，用官方 esp32-camera 组件采集；客户端是 Rust + Slint 桌面程序。 三个 crate 各自独立构建： . firmware，交叉编译到 Xtensa protocol/ 线路格式与帧重组，两端共用，无 ESP-IDF 依赖，有单元测试 client/ Slint 桌面客户端 视频走 UDP 而非 TCP：实测传感器产出 22 fps，TCP MJPEG 只送出 1.9 fps， 且只占用链路能力的 1%——链路是空的，帧堵在队头阻塞后面等一个实时画面 等不起的重传计时器。改为独立数据报、不重传、缺片丢整帧后达到 20.8 fps。 发现是双向的：板子每 2 秒广播 Hello，客户端广播 Subscribe，板子据此定向 推流。板子身份由 MAC 派生，重启不变，所以客户端可以把绑定存进配置。 裁判端同时收两块板子（每个发送方一个重组器），队伍端绑定其中一块并只显示 自己那一边的血量。装甲板接口已预留（ArmorSource trait + ARMOR_PORT）， 当前无数据源，界面显示占位符。 vendor 了 esp32-camera 2.1.7：组件注册表的版本求解器找不到它，且需要打一处 补丁（见 components/esp32-camera/target/esp32s3/ll_cam.c）。 .gitignore 三条 target/ 都锚定在根目录，因为 protocol/ 与 client/ 各自也是 独立 crate；而 components/esp32-camera/target/ 是上游的按芯片分目录，里面是 源码，必须保留。
402 lines
6.8 KiB
C
402 lines
6.8 KiB
C
#ifndef _GC032A_SETTINGS_H_
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#define _GC032A_SETTINGS_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "esp_attr.h"
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#include "gc032a_regs.h"
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#define REG_DLY 0xffff
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#define REGLIST_TAIL 0x0000
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/*
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* The default register settings, as obtained from OmniVision. There
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* is really no making sense of most of these - lots of "reserved" values
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* and such.
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*
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*/
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static const uint16_t gc032a_default_regs[][2] = {
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/*System*/
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{0xf3, 0xff},
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{0xf5, 0x06},
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{0xf7, 0x01},
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{0xf8, 0x03},
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{0xf9, 0xce},
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{0xfa, 0x00},
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{0xfc, 0x02},
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{0xfe, 0x02},
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{0x81, 0x03},
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{0xfe, 0x00},
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{0x77, 0x64},
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{0x78, 0x40},
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{0x79, 0x60},
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/*ANALOG & CISCTL*/
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{0xfe, 0x00},
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{0x03, 0x01},
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{0x04, 0xce},
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{0x05, 0x01},
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{0x06, 0xad},
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{0x07, 0x00},
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{0x08, 0x10},
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{0x0a, 0x00},
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{0x0c, 0x00},
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{0x0d, 0x01},
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{0x0e, 0xe8}, // height 488
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{0x0f, 0x02},
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{0x10, 0x88}, // width 648
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{0x17, 0x54},
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{0x19, 0x08},
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{0x1a, 0x0a},
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{0x1f, 0x40},
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{0x20, 0x30},
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{0x2e, 0x80},
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{0x2f, 0x2b},
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{0x30, 0x1a},
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{0xfe, 0x02},
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{0x03, 0x02},
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{0x05, 0xd7},
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{0x06, 0x60},
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{0x08, 0x80},
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{0x12, 0x89},
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/*blk*/
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{0xfe, 0x00},
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{0x18, 0x02},
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{0xfe, 0x02},
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{0x40, 0x22},
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{0x45, 0x00},
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{0x46, 0x00},
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{0x49, 0x20},
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{0x4b, 0x3c},
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{0x50, 0x20},
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{0x42, 0x10},
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/*isp*/
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{0xfe, 0x01},
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{0x0a, 0xc5},
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{0x45, 0x00},
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{0xfe, 0x00},
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{0x40, 0xff},
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{0x41, 0x25},
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{0x42, 0xcf},
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{0x43, 0x10},
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{0x44, 0x83},
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{0x46, 0x23},
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{0x49, 0x03},
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{0x52, 0x02},
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{0x54, 0x00},
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{0xfe, 0x02},
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{0x22, 0xf6},
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/*Shading*/
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{0xfe, 0x01},
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{0xc1, 0x38},
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{0xc2, 0x4c},
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{0xc3, 0x00},
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{0xc4, 0x32},
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{0xc5, 0x24},
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{0xc6, 0x16},
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{0xc7, 0x08},
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{0xc8, 0x08},
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{0xc9, 0x00},
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{0xca, 0x20},
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{0xdc, 0x8a},
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{0xdd, 0xa0},
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{0xde, 0xa6},
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{0xdf, 0x75},
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/*AWB*/
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{0xfe, 0x01},
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{0x7c, 0x09},
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{0x65, 0x06},
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{0x7c, 0x08},
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{0x56, 0xf4},
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{0x66, 0x0f},
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{0x67, 0x84},
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{0x6b, 0x80},
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{0x6d, 0x12},
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{0x6e, 0xb0},
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{0x86, 0x00},
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{0x87, 0x00},
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{0x88, 0x00},
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{0x89, 0x00},
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{0x8a, 0x00},
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{0x8b, 0x00},
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{0x8c, 0x00},
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{0x8d, 0x00},
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{0x8e, 0x00},
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{0x8f, 0x00},
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{0x90, 0x00},
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{0x91, 0x00},
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{0x92, 0xf4},
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{0x93, 0xd5},
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{0x94, 0x50},
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{0x95, 0x0f},
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{0x96, 0xf4},
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{0x97, 0x2d},
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{0x98, 0x0f},
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{0x99, 0xa6},
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{0x9a, 0x2d},
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{0x9b, 0x0f},
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{0x9c, 0x59},
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{0x9d, 0x2d},
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{0x9e, 0xaa},
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{0x9f, 0x67},
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{0xa0, 0x59},
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{0xa1, 0x00},
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{0xa2, 0x00},
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{0xa3, 0x0a},
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{0xa4, 0x00},
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{0xa5, 0x00},
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{0xa6, 0xd4},
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{0xa7, 0x9f},
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{0xa8, 0x55},
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{0xa9, 0xd4},
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{0xaa, 0x9f},
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{0xab, 0xac},
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{0xac, 0x9f},
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{0xad, 0x55},
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{0xae, 0xd4},
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{0xaf, 0xac},
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{0xb0, 0xd4},
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{0xb1, 0xa3},
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{0xb2, 0x55},
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{0xb3, 0xd4},
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{0xb4, 0xac},
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{0xb5, 0x00},
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{0xb6, 0x00},
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{0xb7, 0x05},
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{0xb8, 0xd6},
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{0xb9, 0x8c},
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/*CC*/
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{0xfe, 0x01},
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{0xd0, 0x40},
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{0xd1, 0xf8},
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{0xd2, 0x00},
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{0xd3, 0xfa},
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{0xd4, 0x45},
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{0xd5, 0x02},
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{0xd6, 0x30},
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{0xd7, 0xfa},
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{0xd8, 0x08},
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{0xd9, 0x08},
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{0xda, 0x58},
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{0xdb, 0x02},
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{0xfe, 0x00},
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/*Gamma*/
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{0xfe, 0x00},
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{0xba, 0x00},
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{0xbb, 0x04},
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{0xbc, 0x0a},
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{0xbd, 0x0e},
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{0xbe, 0x22},
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{0xbf, 0x30},
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{0xc0, 0x3d},
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{0xc1, 0x4a},
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{0xc2, 0x5d},
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{0xc3, 0x6b},
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{0xc4, 0x7a},
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{0xc5, 0x85},
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{0xc6, 0x90},
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{0xc7, 0xa5},
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{0xc8, 0xb5},
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{0xc9, 0xc2},
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{0xca, 0xcc},
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{0xcb, 0xd5},
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{0xcc, 0xde},
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{0xcd, 0xea},
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{0xce, 0xf5},
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{0xcf, 0xff},
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/*Auto Gamma*/
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{0xfe, 0x00},
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{0x5a, 0x08},
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{0x5b, 0x0f},
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{0x5c, 0x15},
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{0x5d, 0x1c},
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{0x5e, 0x28},
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{0x5f, 0x36},
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{0x60, 0x45},
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{0x61, 0x51},
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{0x62, 0x6a},
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{0x63, 0x7d},
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{0x64, 0x8d},
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{0x65, 0x98},
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{0x66, 0xa2},
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{0x67, 0xb5},
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{0x68, 0xc3},
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{0x69, 0xcd},
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{0x6a, 0xd4},
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{0x6b, 0xdc},
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{0x6c, 0xe3},
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{0x6d, 0xf0},
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{0x6e, 0xf9},
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{0x6f, 0xff},
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/*Gain*/
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{0xfe, 0x00},
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{0x70, 0x50},
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/*AEC*/
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{0xfe, 0x00},
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{0x4f, 0x01},
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{0xfe, 0x01},
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{0x0d, 0x00},
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{0x12, 0xa0},
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{0x13, 0x3a},
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{0x44, 0x04},
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{0x1f, 0x30},
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{0x20, 0x40},
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{0x26, 0x9a},
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{0x3e, 0x20},
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{0x3f, 0x2d},
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{0x40, 0x40},
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{0x41, 0x5b},
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{0x42, 0x82},
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{0x43, 0xb7},
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{0x04, 0x0a},
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{0x02, 0x79},
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{0x03, 0xc0},
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/*measure window*/
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{0xfe, 0x01},
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{0xcc, 0x08},
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{0xcd, 0x08},
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{0xce, 0xa4},
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{0xcf, 0xec},
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/*DNDD*/
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{0xfe, 0x00},
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{0x81, 0xb8},
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{0x82, 0x12},
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{0x83, 0x0a},
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{0x84, 0x01},
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{0x86, 0x50},
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{0x87, 0x18},
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{0x88, 0x10},
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{0x89, 0x70},
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{0x8a, 0x20},
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{0x8b, 0x10},
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{0x8c, 0x08},
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{0x8d, 0x0a},
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/*Intpee*/
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{0xfe, 0x00},
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{0x8f, 0xaa},
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{0x90, 0x9c},
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{0x91, 0x52},
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{0x92, 0x03},
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{0x93, 0x03},
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{0x94, 0x08},
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{0x95, 0x44},
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{0x97, 0x00},
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{0x98, 0x00},
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/*ASDE*/
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{0xfe, 0x00},
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{0xa1, 0x30},
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{0xa2, 0x41},
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{0xa4, 0x30},
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{0xa5, 0x20},
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{0xaa, 0x30},
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{0xac, 0x32},
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/*YCP*/
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{0xfe, 0x00},
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{0xd1, 0x3c},
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{0xd2, 0x3c},
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{0xd3, 0x38},
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{0xd6, 0xf4},
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{0xd7, 0x1d},
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{0xdd, 0x73},
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{0xde, 0x84},
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/*Banding*/
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{0xfe, 0x00},
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{0x05, 0x01},
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{0x06, 0xad},
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{0x07, 0x00},
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{0x08, 0x10},
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{0xfe, 0x01},
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{0x25, 0x00},
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{0x26, 0x9a},
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{0x27, 0x01},
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{0x28, 0xce},
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{0x29, 0x02},
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{0x2a, 0x68},
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{0x2b, 0x02},
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{0x2c, 0x68},
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{0x2d, 0x07},
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{0x2e, 0xd2},
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{0x2f, 0x0b},
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{0x30, 0x6e},
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{0x31, 0x0e},
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{0x32, 0x70},
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{0x33, 0x12},
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{0x34, 0x0c},
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{0x3c, 0x30},
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/*Analog&Cisctl*/
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{0xfe, 0x00},
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{0x05, 0x01},
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{0x06, 0xa0},
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{0x07, 0x00},
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{0x08, 0x20},
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{0x0a, 0x78},
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{0x0c, 0xa0},
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{0x0d, 0x00}, //window_height [8]
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{0x0e, 0xf8}, //window_height [7:0] 248
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{0x0f, 0x01}, //window_width [9:8]
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{0x10, 0x48}, //window_width [7:0] 328
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{0x55, 0x00},
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{0x56, 0xf0}, // 240
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{0x57, 0x01},
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{0x58, 0x40}, // 320
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/*SPI*/
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{0xfe, 0x03},
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{0x5b, 0x40},
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{0x5c, 0x01},
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{0x5d, 0xf0},
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{0x5e, 0x00},
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/*AEC*/
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{0xfe, 0x01},
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{0x25, 0x00}, //step
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{0x26, 0x63},
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{0x27, 0x01},
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{0x28, 0x29},
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{0x29, 0x01},
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{0x2a, 0x29},
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{0x2b, 0x01},
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{0x2c, 0x29},
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{0x2d, 0x01},
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{0x2e, 0x29},
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{0x2f, 0x01},
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{0x30, 0x29},
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{0x31, 0x01},
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{0x32, 0x29},
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{0x33, 0x01},
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{0x34, 0x29},
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{0x3c, 0x00},
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/*measure window*/
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{0xfe, 0x01},
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{0xcc, 0x04},
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{0xcd, 0x04},
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{0xce, 0x72},
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{0xcf, 0x52},
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{REGLIST_TAIL, 0x00},
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};
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#endif
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