add: 添加自动对焦逻辑（还没写完）
This commit is contained in:
alivender
parent
1273be7dee
commit
9b580be5e9
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@ -365,4 +365,86 @@ public class VideoStreamController : ControllerBase
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return TypedResults.InternalServerError($"获取支持的分辨率列表失败: {ex.Message}");
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}
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}
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/// <summary>
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/// 初始化摄像头自动对焦功能
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/// </summary>
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/// <returns>初始化结果</returns>
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[HttpPost("InitAutoFocus")]
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public async Task<IResult> InitAutoFocus()
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{
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try
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{
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logger.Info("收到初始化自动对焦请求");
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var result = await _videoStreamService.InitAutoFocusAsync();
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if (result)
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{
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logger.Info("自动对焦初始化成功");
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return TypedResults.Ok(new
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{
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success = true,
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message = "自动对焦初始化成功",
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timestamp = DateTime.Now
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});
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}
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else
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{
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logger.Warn("自动对焦初始化失败");
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return TypedResults.BadRequest(new
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{
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success = false,
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message = "自动对焦初始化失败",
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timestamp = DateTime.Now
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});
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}
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}
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catch (Exception ex)
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{
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logger.Error(ex, "初始化自动对焦时发生异常");
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return TypedResults.InternalServerError($"初始化自动对焦失败: {ex.Message}");
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}
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}
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/// <summary>
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/// 执行自动对焦
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/// </summary>
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/// <returns>对焦结果</returns>
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[HttpPost("AutoFocus")]
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public async Task<IResult> AutoFocus()
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{
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try
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{
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logger.Info("收到执行自动对焦请求");
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var result = await _videoStreamService.PerformAutoFocusAsync();
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if (result)
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{
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logger.Info("自动对焦执行成功");
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return TypedResults.Ok(new
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{
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success = true,
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message = "自动对焦执行成功",
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timestamp = DateTime.Now
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});
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}
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else
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{
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logger.Warn("自动对焦执行失败");
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return TypedResults.BadRequest(new
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{
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success = false,
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message = "自动对焦执行失败",
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timestamp = DateTime.Now
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});
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}
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}
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catch (Exception ex)
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{
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logger.Error(ex, "执行自动对焦时发生异常");
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return TypedResults.InternalServerError($"执行自动对焦失败: {ex.Message}");
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}
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}
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}
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@ -196,19 +196,6 @@ class Camera
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}
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}
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await Task.Delay(5);
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, 0x00000101);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("STORE_ADDR write returned false");
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return new(new Exception("STORE_ADDR write returned false"));
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}
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}
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return true;
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}
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@ -253,32 +240,44 @@ class Camera
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/// <summary>
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/// 批量配置I2C寄存器
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/// </summary>
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/// <param name="registerTable">寄存器配置表，每个元素包含3个字节：[地址高位, 地址低位, 数据]</param>
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/// <param name="registerTable">寄存器配置表，每个元素格式为：[16位寄存器地址, 数据1, 数据2, ...]</param>
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/// <param name="customDelayMs">自定义延时时间（毫秒），如果为null则使用默认延时逻辑</param>
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureRegisters(byte[][] registerTable, int? customDelayMs = null)
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public async ValueTask<Result<bool>> ConfigureRegisters(UInt16[][] registerTable, int? customDelayMs = null)
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{
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var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
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foreach (var cmd in registerTable)
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{
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if (cmd.Length != 3)
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if (cmd.Length < 2)
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{
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logger.Error($"Invalid register command length: {cmd.Length}, expected 3 bytes");
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return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected 3 bytes"));
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logger.Error($"Invalid register command length: {cmd.Length}, expected at least 2 elements (address + data)");
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return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected at least 2 elements"));
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}
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var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
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// 将16位地址和数据转换为字节数组
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var i2cData = new byte[cmd.Length + 1]; // +1 because address becomes 2 bytes
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var address = cmd[0];
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i2cData[0] = (byte)(address >> 8); // 地址高位
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i2cData[1] = (byte)(address & 0xFF); // 地址低位
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// 复制数据部分
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for (int i = 1; i < cmd.Length; i++)
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{
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i2cData[i + 1] = (byte)cmd[i];
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}
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var ret = await i2c.WriteData(CAM_I2C_ADDR, i2cData, CAM_PROTO);
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if (!ret.IsSuccessful)
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{
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logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
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logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))} error: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
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logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))}");
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return false;
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}
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@ -290,7 +289,7 @@ class Camera
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else
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{
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// 使用默认延时逻辑
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if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82)
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if (address == 0x3008 && cmd.Length >= 2 && cmd[1] == 0x82)
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{
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// 复位命令，等待5MS
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await Task.Delay(5);
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@ -376,39 +375,39 @@ class Camera
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}
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// 2. 配置I2C寄存器
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var resolutionRegisters = new byte[][]
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var resolutionRegisters = new UInt16[][]
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{
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// H_OFFSET/V_OFFSET
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new byte[] { 0x38, 0x10, unchecked((byte)((hOffset >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x11, unchecked((byte)(hOffset & 0xFF)) },
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new byte[] { 0x38, 0x12, unchecked((byte)((vOffset >> 8) & 0xFF)) },
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[0x3810, unchecked((byte)((hOffset >> 8) & 0xFF))],
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[0x3811, unchecked((byte)(hOffset & 0xFF))],
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[0x3812, unchecked((byte)((vOffset >> 8) & 0xFF))],
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// H_START/V_START
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new byte[] { 0x38, 0x00, unchecked((byte)((hStart >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x01, unchecked((byte)(hStart & 0xFF)) },
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new byte[] { 0x38, 0x02, unchecked((byte)((vStart >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x03, unchecked((byte)(vStart & 0xFF)) },
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[0x3800, unchecked((byte)((hStart >> 8) & 0xFF))],
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[0x3801, unchecked((byte)(hStart & 0xFF))],
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[0x3802, unchecked((byte)((vStart >> 8) & 0xFF))],
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[0x3803, unchecked((byte)(vStart & 0xFF))],
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// H_END/V_END
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new byte[] { 0x38, 0x04, unchecked((byte)((hEnd >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x05, unchecked((byte)(hEnd & 0xFF)) },
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new byte[] { 0x38, 0x06, unchecked((byte)((vEnd >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x07, unchecked((byte)(vEnd & 0xFF)) },
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[0x3804, unchecked((byte)((hEnd >> 8) & 0xFF))],
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[0x3805, unchecked((byte)(hEnd & 0xFF))],
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[0x3806, unchecked((byte)((vEnd >> 8) & 0xFF))],
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[0x3807, unchecked((byte)(vEnd & 0xFF))],
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// 输出像素个数
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new byte[] { 0x38, 0x08, unchecked((byte)((dvpHo >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x09, unchecked((byte)(dvpHo & 0xFF)) },
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new byte[] { 0x38, 0x0A, unchecked((byte)((dvpVo >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x0B, unchecked((byte)(dvpVo & 0xFF)) },
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[0x3808, unchecked((byte)((dvpHo >> 8) & 0xFF))],
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[0x3809, unchecked((byte)(dvpHo & 0xFF))],
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[0x380A, unchecked((byte)((dvpVo >> 8) & 0xFF))],
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[0x380B, unchecked((byte)(dvpVo & 0xFF))],
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// 总像素
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new byte[] { 0x38, 0x0C, unchecked((byte)((hts >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x0D, unchecked((byte)(hts & 0xFF)) },
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new byte[] { 0x38, 0x0E, unchecked((byte)((vts >> 8) & 0xFF)) },
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new byte[] { 0x38, 0x0F, unchecked((byte)(vts & 0xFF)) },
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[0x380C, unchecked((byte)((hts >> 8) & 0xFF))],
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[0x380D, unchecked((byte)(hts & 0xFF))],
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[0x380E, unchecked((byte)((vts >> 8) & 0xFF))],
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[0x380F, unchecked((byte)(vts & 0xFF))],
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// Timing Voffset
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new byte[] { 0x38, 0x13, unchecked((byte)(vOffset & 0xFF)) }
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[0x3813, unchecked((byte)(vOffset & 0xFF))]
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};
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var configResult = await ConfigureRegisters(resolutionRegisters, customDelayMs: 1);
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@ -533,9 +532,9 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> Reset()
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{
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var resetRegisters = new byte[][]
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var resetRegisters = new UInt16[][]
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{
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new byte[] { 0x30, 0x08, 0x82 } // 复位命令
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[0x30, 0x08, 0x82] // 复位命令
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};
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return await ConfigureRegisters(resetRegisters, customDelayMs: 5); // 复位后等待5ms
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@ -547,9 +546,9 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> Sleep()
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{
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var sleepRegisters = new byte[][]
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var sleepRegisters = new UInt16[][]
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{
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new byte[] { 0x30, 0x08, 0x42 } // 休眠命令
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[0x3008, 0x42] // 休眠命令
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};
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return await ConfigureRegisters(sleepRegisters);
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@ -561,13 +560,13 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureBasicRegisters()
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{
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var basicRegisters = new byte[][]
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var basicRegisters = new UInt16[][]
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{
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new byte[] { 0x31, 0x03, 0x02 },
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new byte[] { 0x30, 0x17, 0xff },
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new byte[] { 0x30, 0x18, 0xff },
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new byte[] { 0x30, 0x37, 0x13 },
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new byte[] { 0x31, 0x08, 0x01 }
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[0x3103, 0x02],
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[0x3017, 0xff],
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[0x3018, 0xff],
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[0x3037, 0x13],
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[0x3108, 0x01]
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};
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return await ConfigureRegisters(basicRegisters);
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@ -579,13 +578,13 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureSensorControl()
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{
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var sensorRegisters = new byte[][]
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var sensorRegisters = new UInt16[][]
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{
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new byte[] { 0x36, 0x30, 0x36 },
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new byte[] { 0x36, 0x31, 0x0e },
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new byte[] { 0x36, 0x32, 0xe2 },
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new byte[] { 0x36, 0x33, 0x12 },
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new byte[] { 0x36, 0x21, 0xe0 }
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[0x3630, 0x36],
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[0x3631, 0x0e],
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[0x3632, 0xe2],
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[0x3633, 0x12],
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[0x3621, 0xe0]
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};
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return await ConfigureRegisters(sensorRegisters);
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@ -597,14 +596,14 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureAnalogControl()
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{
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var analogRegisters = new byte[][]
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var analogRegisters = new UInt16[][]
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{
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new byte[] { 0x37, 0x04, 0xa0 },
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new byte[] { 0x37, 0x03, 0x5a },
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new byte[] { 0x37, 0x15, 0x78 },
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new byte[] { 0x37, 0x17, 0x01 },
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new byte[] { 0x37, 0x0b, 0x60 },
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new byte[] { 0x37, 0x05, 0x1a }
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[0x3704, 0xa0],
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[0x3703, 0x5a],
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[0x3715, 0x78],
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[0x3717, 0x01],
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[0x370b, 0x60],
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[0x3705, 0x1a]
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};
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return await ConfigureRegisters(analogRegisters);
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@ -616,13 +615,13 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureClockControl()
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{
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var clockRegisters = new byte[][]
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var clockRegisters = new UInt16[][]
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{
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new byte[] { 0x39, 0x05, 0x02 },
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new byte[] { 0x39, 0x06, 0x10 },
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new byte[] { 0x39, 0x01, 0x0a },
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new byte[] { 0x30, 0x35, 0x11 }, // 30fps
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new byte[] { 0x30, 0x36, PLL_MUX } // PLL倍频
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[0x3905, 0x02],
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[0x3906, 0x10],
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[0x3901, 0x0a],
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[0x3035, 0x11], // 30fps
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[0x3036, PLL_MUX] // PLL倍频
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};
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return await ConfigureRegisters(clockRegisters);
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@ -634,15 +633,15 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigurePSRAMControl()
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{
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var psramRegisters = new byte[][]
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var psramRegisters = new UInt16[][]
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{
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new byte[] { 0x37, 0x31, 0x12 },
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new byte[] { 0x36, 0x00, 0x08 },
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new byte[] { 0x36, 0x01, 0x33 },
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new byte[] { 0x30, 0x2d, 0x60 },
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new byte[] { 0x36, 0x20, 0x52 },
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new byte[] { 0x37, 0x1b, 0x20 },
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new byte[] { 0x47, 0x1c, 0x50 }
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[0x3731, 0x12],
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[0x3600, 0x08],
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[0x3601, 0x33],
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[0x302d, 0x60],
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[0x3620, 0x52],
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[0x371b, 0x20],
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[0x471c, 0x50]
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};
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return await ConfigureRegisters(psramRegisters);
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@ -654,15 +653,15 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureDVPTiming()
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{
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var dvpRegisters = new byte[][]
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var dvpRegisters = new UInt16[][]
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{
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new byte[] { 0x3a, 0x13, 0x43 },
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new byte[] { 0x3a, 0x18, 0x00 },
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new byte[] { 0x3a, 0x19, 0xf8 },
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new byte[] { 0x36, 0x35, 0x13 },
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new byte[] { 0x36, 0x36, 0x03 },
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new byte[] { 0x36, 0x34, 0x40 },
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new byte[] { 0x36, 0x22, 0x01 }
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[0x3a13, 0x43],
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[0x3a18, 0x00],
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[0x3a19, 0xf8],
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[0x3635, 0x13],
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[0x3636, 0x03],
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[0x3634, 0x40],
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[0x3622, 0x01]
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};
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return await ConfigureRegisters(dvpRegisters);
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@ -674,18 +673,18 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureBaseControl()
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{
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var baseRegisters = new byte[][]
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var baseRegisters = new UInt16[][]
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{
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new byte[] { 0x3c, 0x01, 0x34 },
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new byte[] { 0x3c, 0x04, 0x28 },
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new byte[] { 0x3c, 0x05, 0x98 },
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new byte[] { 0x3c, 0x06, 0x00 },
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new byte[] { 0x3c, 0x07, 0x08 },
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new byte[] { 0x3c, 0x08, 0x00 },
|
||||
new byte[] { 0x3c, 0x09, 0x1c },
|
||||
new byte[] { 0x3c, 0x0a, 0x9c },
|
||||
new byte[] { 0x3c, 0x0b, 0x40 },
|
||||
new byte[] { 0x37, 0x08, 0x64 }
|
||||
[0x3c01, 0x34],
|
||||
[0x3c04, 0x28],
|
||||
[0x3c05, 0x98],
|
||||
[0x3c06, 0x00],
|
||||
[0x3c07, 0x08],
|
||||
[0x3c08, 0x00],
|
||||
[0x3c09, 0x1c],
|
||||
[0x3c0a, 0x9c],
|
||||
[0x3c0b, 0x40],
|
||||
[0x3708, 0x64]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(baseRegisters);
|
||||
|
|
@ -697,15 +696,15 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureImageFormat()
|
||||
{
|
||||
var formatRegisters = new byte[][]
|
||||
var formatRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x40, 0x01, 0x02 },
|
||||
new byte[] { 0x40, 0x05, 0x1a },
|
||||
new byte[] { 0x30, 0x00, 0x00 },
|
||||
new byte[] { 0x30, 0x04, 0xff },
|
||||
new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
|
||||
new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB
|
||||
new byte[] { 0x44, 0x0e, 0x00 }
|
||||
[0x4001, 0x02],
|
||||
[0x4005, 0x1a],
|
||||
[0x3000, 0x00],
|
||||
[0x3004, 0xff],
|
||||
[0x4300, 0x6F], // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
|
||||
[0x501f, 0x01], // Format: ISP RGB
|
||||
[0x440e, 0x00]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(formatRegisters);
|
||||
|
|
@ -717,10 +716,10 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureISPControl()
|
||||
{
|
||||
var ispRegisters = new byte[][]
|
||||
var ispRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x50, 0x00, 0xA7 }, // ISP控制
|
||||
new byte[] { 0x50, 0x01, 0xA3 } // ISP控制
|
||||
[0x5000, 0xA7], // ISP控制
|
||||
[0x5001, 0xA3] // ISP控制
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(ispRegisters);
|
||||
|
|
@ -732,19 +731,19 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureAEC()
|
||||
{
|
||||
var aecRegisters = new byte[][]
|
||||
var aecRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x3a, 0x0f, 0x30 }, // AEC控制;stable range in high
|
||||
new byte[] { 0x3a, 0x10, 0x28 }, // AEC控制;stable range in low
|
||||
new byte[] { 0x3a, 0x1b, 0x30 }, // AEC控制;stable range out high
|
||||
new byte[] { 0x3a, 0x1e, 0x26 }, // AEC控制;stable range out low
|
||||
new byte[] { 0x3a, 0x11, 0x60 }, // AEC控制; fast zone high
|
||||
new byte[] { 0x3a, 0x1f, 0x14 }, // AEC控制; fast zone low
|
||||
new byte[] { 0x3a, 0x02, 0x17 }, // 60Hz max exposure
|
||||
new byte[] { 0x3a, 0x03, 0x10 }, // 60Hz max exposure
|
||||
new byte[] { 0x3a, 0x14, 0x17 }, // 50Hz max exposure
|
||||
new byte[] { 0x3a, 0x15, 0x10 }, // 50Hz max exposure
|
||||
new byte[] { 0x3b, 0x07, 0x0a } // 帧曝光模式
|
||||
[0x3a0f, 0x30], // AEC控制;stable range in high
|
||||
[0x3a10, 0x28], // AEC控制;stable range in low
|
||||
[0x3a1b, 0x30], // AEC控制;stable range out high
|
||||
[0x3a1e, 0x26], // AEC控制;stable range out low
|
||||
[0x3a11, 0x60], // AEC控制; fast zone high
|
||||
[0x3a1f, 0x14], // AEC控制; fast zone low
|
||||
[0x3a02, 0x17], // 60Hz max exposure
|
||||
[0x3a03, 0x10], // 60Hz max exposure
|
||||
[0x3a14, 0x17], // 50Hz max exposure
|
||||
[0x3a15, 0x10], // 50Hz max exposure
|
||||
[0x3b07, 0x0a] // 帧曝光模式
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(aecRegisters);
|
||||
|
|
@ -756,29 +755,29 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureLENC()
|
||||
{
|
||||
var lencRegisters = new byte[][]
|
||||
var lencRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f },
|
||||
new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 },
|
||||
new byte[] { 0x58, 0x06, 0x0c }, new byte[] { 0x58, 0x07, 0x08 }, new byte[] { 0x58, 0x08, 0x05 },
|
||||
new byte[] { 0x58, 0x09, 0x05 }, new byte[] { 0x58, 0x0a, 0x08 }, new byte[] { 0x58, 0x0b, 0x0d },
|
||||
new byte[] { 0x58, 0x0c, 0x08 }, new byte[] { 0x58, 0x0d, 0x03 }, new byte[] { 0x58, 0x0e, 0x00 },
|
||||
new byte[] { 0x58, 0x0f, 0x00 }, new byte[] { 0x58, 0x10, 0x03 }, new byte[] { 0x58, 0x11, 0x09 },
|
||||
new byte[] { 0x58, 0x12, 0x07 }, new byte[] { 0x58, 0x13, 0x03 }, new byte[] { 0x58, 0x14, 0x00 },
|
||||
new byte[] { 0x58, 0x15, 0x01 }, new byte[] { 0x58, 0x16, 0x03 }, new byte[] { 0x58, 0x17, 0x08 },
|
||||
new byte[] { 0x58, 0x18, 0x0d }, new byte[] { 0x58, 0x19, 0x08 }, new byte[] { 0x58, 0x1a, 0x05 },
|
||||
new byte[] { 0x58, 0x1b, 0x06 }, new byte[] { 0x58, 0x1c, 0x08 }, new byte[] { 0x58, 0x1d, 0x0e },
|
||||
new byte[] { 0x58, 0x1e, 0x29 }, new byte[] { 0x58, 0x1f, 0x17 }, new byte[] { 0x58, 0x20, 0x11 },
|
||||
new byte[] { 0x58, 0x21, 0x11 }, new byte[] { 0x58, 0x22, 0x15 }, new byte[] { 0x58, 0x23, 0x28 },
|
||||
new byte[] { 0x58, 0x24, 0x46 }, new byte[] { 0x58, 0x25, 0x26 }, new byte[] { 0x58, 0x26, 0x08 },
|
||||
new byte[] { 0x58, 0x27, 0x26 }, new byte[] { 0x58, 0x28, 0x64 }, new byte[] { 0x58, 0x29, 0x26 },
|
||||
new byte[] { 0x58, 0x2a, 0x24 }, new byte[] { 0x58, 0x2b, 0x22 }, new byte[] { 0x58, 0x2c, 0x24 },
|
||||
new byte[] { 0x58, 0x2d, 0x24 }, new byte[] { 0x58, 0x2e, 0x06 }, new byte[] { 0x58, 0x2f, 0x22 },
|
||||
new byte[] { 0x58, 0x30, 0x40 }, new byte[] { 0x58, 0x31, 0x42 }, new byte[] { 0x58, 0x32, 0x24 },
|
||||
new byte[] { 0x58, 0x33, 0x26 }, new byte[] { 0x58, 0x34, 0x24 }, new byte[] { 0x58, 0x35, 0x22 },
|
||||
new byte[] { 0x58, 0x36, 0x22 }, new byte[] { 0x58, 0x37, 0x26 }, new byte[] { 0x58, 0x38, 0x44 },
|
||||
new byte[] { 0x58, 0x39, 0x24 }, new byte[] { 0x58, 0x3a, 0x26 }, new byte[] { 0x58, 0x3b, 0x28 },
|
||||
new byte[] { 0x58, 0x3c, 0x42 }, new byte[] { 0x58, 0x3d, 0xce }
|
||||
[0x5800, 0x23], [0x5801, 0x14], [0x5802, 0x0f],
|
||||
[0x5803, 0x0f], [0x5804, 0x12], [0x5805, 0x26],
|
||||
[0x5806, 0x0c], [0x5807, 0x08], [0x5808, 0x05],
|
||||
[0x5809, 0x05], [0x580a, 0x08], [0x580b, 0x0d],
|
||||
[0x580c, 0x08], [0x580d, 0x03], [0x580e, 0x00],
|
||||
[0x580f, 0x00], [0x5810, 0x03], [0x5811, 0x09],
|
||||
[0x5812, 0x07], [0x5813, 0x03], [0x5814, 0x00],
|
||||
[0x5815, 0x01], [0x5816, 0x03], [0x5817, 0x08],
|
||||
[0x5818, 0x0d], [0x5819, 0x08], [0x581a, 0x05],
|
||||
[0x581b, 0x06], [0x581c, 0x08], [0x581d, 0x0e],
|
||||
[0x581e, 0x29], [0x581f, 0x17], [0x5820, 0x11],
|
||||
[0x5821, 0x11], [0x5822, 0x15], [0x5823, 0x28],
|
||||
[0x5824, 0x46], [0x5825, 0x26], [0x5826, 0x08],
|
||||
[0x5827, 0x26], [0x5828, 0x64], [0x5829, 0x26],
|
||||
[0x582a, 0x24], [0x582b, 0x22], [0x582c, 0x24],
|
||||
[0x582d, 0x24], [0x582e, 0x06], [0x582f, 0x22],
|
||||
[0x5830, 0x40], [0x5831, 0x42], [0x5832, 0x24],
|
||||
[0x5833, 0x26], [0x5834, 0x24], [0x5835, 0x22],
|
||||
[0x5836, 0x22], [0x5837, 0x26], [0x5838, 0x44],
|
||||
[0x5839, 0x24], [0x583a, 0x26], [0x583b, 0x28],
|
||||
[0x583c, 0x42], [0x583d, 0xce]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(lencRegisters);
|
||||
|
|
@ -790,19 +789,19 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureAWB()
|
||||
{
|
||||
var awbRegisters = new byte[][]
|
||||
var awbRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x51, 0x80, 0xff }, new byte[] { 0x51, 0x81, 0xf2 }, new byte[] { 0x51, 0x82, 0x00 },
|
||||
new byte[] { 0x51, 0x83, 0x14 }, new byte[] { 0x51, 0x84, 0x25 }, new byte[] { 0x51, 0x85, 0x24 },
|
||||
new byte[] { 0x51, 0x86, 0x09 }, new byte[] { 0x51, 0x87, 0x09 }, new byte[] { 0x51, 0x88, 0x09 },
|
||||
new byte[] { 0x51, 0x89, 0x75 }, new byte[] { 0x51, 0x8a, 0x54 }, new byte[] { 0x51, 0x8b, 0xe0 },
|
||||
new byte[] { 0x51, 0x8c, 0xb2 }, new byte[] { 0x51, 0x8d, 0x42 }, new byte[] { 0x51, 0x8e, 0x3d },
|
||||
new byte[] { 0x51, 0x8f, 0x56 }, new byte[] { 0x51, 0x90, 0x46 }, new byte[] { 0x51, 0x91, 0xf8 },
|
||||
new byte[] { 0x51, 0x92, 0x04 }, new byte[] { 0x51, 0x93, 0x70 }, new byte[] { 0x51, 0x94, 0xf0 },
|
||||
new byte[] { 0x51, 0x95, 0xf0 }, new byte[] { 0x51, 0x96, 0x03 }, new byte[] { 0x51, 0x97, 0x01 },
|
||||
new byte[] { 0x51, 0x98, 0x04 }, new byte[] { 0x51, 0x99, 0x12 }, new byte[] { 0x51, 0x9a, 0x04 },
|
||||
new byte[] { 0x51, 0x9b, 0x00 }, new byte[] { 0x51, 0x9c, 0x06 }, new byte[] { 0x51, 0x9d, 0x82 },
|
||||
new byte[] { 0x51, 0x9e, 0x38 }
|
||||
[0x5180, 0xff], [0x5181, 0xf2], [0x5182, 0x00],
|
||||
[0x5183, 0x14], [0x5184, 0x25], [0x5185, 0x24],
|
||||
[0x5186, 0x09], [0x5187, 0x09], [0x5188, 0x09],
|
||||
[0x5189, 0x75], [0x518a, 0x54], [0x518b, 0xe0],
|
||||
[0x518c, 0xb2], [0x518d, 0x42], [0x518e, 0x3d],
|
||||
[0x518f, 0x56], [0x5190, 0x46], [0x5191, 0xf8],
|
||||
[0x5192, 0x04], [0x5193, 0x70], [0x5194, 0xf0],
|
||||
[0x5195, 0xf0], [0x5196, 0x03], [0x5197, 0x01],
|
||||
[0x5198, 0x04], [0x5199, 0x12], [0x519a, 0x04],
|
||||
[0x519b, 0x00], [0x519c, 0x06], [0x519d, 0x82],
|
||||
[0x519e, 0x38]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(awbRegisters, customDelayMs: 2);
|
||||
|
|
@ -814,14 +813,14 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureGamma()
|
||||
{
|
||||
var gammaRegisters = new byte[][]
|
||||
var gammaRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x54, 0x80, 0x01 }, new byte[] { 0x54, 0x81, 0x08 }, new byte[] { 0x54, 0x82, 0x14 },
|
||||
new byte[] { 0x54, 0x83, 0x28 }, new byte[] { 0x54, 0x84, 0x51 }, new byte[] { 0x54, 0x85, 0x65 },
|
||||
new byte[] { 0x54, 0x86, 0x71 }, new byte[] { 0x54, 0x87, 0x7d }, new byte[] { 0x54, 0x88, 0x87 },
|
||||
new byte[] { 0x54, 0x89, 0x91 }, new byte[] { 0x54, 0x8a, 0x9a }, new byte[] { 0x54, 0x8b, 0xaa },
|
||||
new byte[] { 0x54, 0x8c, 0xb8 }, new byte[] { 0x54, 0x8d, 0xcd }, new byte[] { 0x54, 0x8e, 0xdd },
|
||||
new byte[] { 0x54, 0x8f, 0xea }, new byte[] { 0x54, 0x90, 0x1d }
|
||||
[0x5480, 0x01], [0x5481, 0x08], [0x5482, 0x14],
|
||||
[0x5483, 0x28], [0x5484, 0x51], [0x5485, 0x65],
|
||||
[0x5486, 0x71], [0x5487, 0x7d], [0x5488, 0x87],
|
||||
[0x5489, 0x91], [0x548a, 0x9a], [0x548b, 0xaa],
|
||||
[0x548c, 0xb8], [0x548d, 0xcd], [0x548e, 0xdd],
|
||||
[0x548f, 0xea], [0x5490, 0x1d]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(gammaRegisters);
|
||||
|
|
@ -834,12 +833,12 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureCMX()
|
||||
{
|
||||
var cmxRegisters = new byte[][]
|
||||
var cmxRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x53, 0x81, 0x1e }, new byte[] { 0x53, 0x82, 0x5b }, new byte[] { 0x53, 0x83, 0x08 },
|
||||
new byte[] { 0x53, 0x84, 0x0a }, new byte[] { 0x53, 0x85, 0x7e }, new byte[] { 0x53, 0x86, 0x88 },
|
||||
new byte[] { 0x53, 0x87, 0x7c }, new byte[] { 0x53, 0x88, 0x6c }, new byte[] { 0x53, 0x89, 0x10 },
|
||||
new byte[] { 0x53, 0x8a, 0x01 }, new byte[] { 0x53, 0x8b, 0x98 }
|
||||
[0x5381, 0x1e], [0x5382, 0x5b], [0x5383, 0x08],
|
||||
[0x5384, 0x0a], [0x5385, 0x7e], [0x5386, 0x88],
|
||||
[0x5387, 0x7c], [0x5388, 0x6c], [0x5389, 0x10],
|
||||
[0x538a, 0x01], [0x538b, 0x98]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(cmxRegisters);
|
||||
|
|
@ -851,11 +850,11 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureSDE()
|
||||
{
|
||||
var sdeRegisters = new byte[][]
|
||||
var sdeRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x55, 0x80, 0x06 }, new byte[] { 0x55, 0x83, 0x40 }, new byte[] { 0x55, 0x84, 0x10 },
|
||||
new byte[] { 0x55, 0x89, 0x10 }, new byte[] { 0x55, 0x8a, 0x00 }, new byte[] { 0x55, 0x8b, 0xf8 },
|
||||
new byte[] { 0x50, 0x1d, 0x40 }
|
||||
[0x5580, 0x06], [0x5583, 0x40], [0x5584, 0x10],
|
||||
[0x5589, 0x10], [0x558a, 0x00], [0x558b, 0xf8],
|
||||
[0x501d, 0x40]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(sdeRegisters);
|
||||
|
|
@ -867,13 +866,13 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureCIP()
|
||||
{
|
||||
var cipRegisters = new byte[][]
|
||||
var cipRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x53, 0x00, 0x08 }, new byte[] { 0x53, 0x01, 0x30 }, new byte[] { 0x53, 0x02, 0x10 },
|
||||
new byte[] { 0x53, 0x03, 0x00 }, new byte[] { 0x53, 0x04, 0x08 }, new byte[] { 0x53, 0x05, 0x30 },
|
||||
new byte[] { 0x53, 0x06, 0x08 }, new byte[] { 0x53, 0x07, 0x16 }, new byte[] { 0x53, 0x09, 0x08 },
|
||||
new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 },
|
||||
new byte[] { 0x50, 0x25, 0x00 }
|
||||
[0x5300, 0x08], [0x5301, 0x30], [0x5302, 0x10],
|
||||
[0x5303, 0x00], [0x5304, 0x08], [0x5305, 0x30],
|
||||
[0x5306, 0x08], [0x5307, 0x16], [0x5309, 0x08],
|
||||
[0x530a, 0x30], [0x530b, 0x04], [0x530c, 0x06],
|
||||
[0x5025, 0x00]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(cipRegisters);
|
||||
|
|
@ -885,16 +884,16 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureTimingControl()
|
||||
{
|
||||
var timingRegisters = new byte[][]
|
||||
var timingRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x38, 0x20, 0x46 }, // vflip
|
||||
new byte[] { 0x38, 0x21, 0x01 }, // mirror
|
||||
new byte[] { 0x38, 0x14, 0x31 }, // timing X inc
|
||||
new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc
|
||||
new byte[] { 0x36, 0x18, 0x00 },
|
||||
new byte[] { 0x36, 0x12, 0x29 },
|
||||
new byte[] { 0x37, 0x09, 0x52 },
|
||||
new byte[] { 0x37, 0x0c, 0x03 }
|
||||
[0x3820, 0x46], // vflip
|
||||
[0x3821, 0x01], // mirror
|
||||
[0x3814, 0x31], // timing X inc
|
||||
[0x3815, 0x31], // timing Y inc
|
||||
[0x3618, 0x00],
|
||||
[0x3612, 0x29],
|
||||
[0x3709, 0x52],
|
||||
[0x370c, 0x03]
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(timingRegisters);
|
||||
|
|
@ -906,22 +905,22 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> ConfigureTestAndFlash()
|
||||
{
|
||||
var testRegisters = new byte[][]
|
||||
var testRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x40, 0x04, 0x02 }, // BLC(背光) 2 lines
|
||||
new byte[] { 0x47, 0x13, 0x03 }, // JPEG mode 3
|
||||
new byte[] { 0x44, 0x07, 0x04 }, // 量化标度
|
||||
new byte[] { 0x46, 0x0c, 0x20 },
|
||||
new byte[] { 0x48, 0x37, 0x22 }, // DVP CLK divider
|
||||
new byte[] { 0x38, 0x24, 0x02 }, // DVP CLK divider
|
||||
[0x4004, 0x02], // BLC(背光) 2 lines
|
||||
[0x4713, 0x03], // JPEG mode 3
|
||||
[0x4407, 0x04], // 量化标度
|
||||
[0x460c, 0x20],
|
||||
[0x4837, 0x22], // DVP CLK divider
|
||||
[0x3824, 0x02], // DVP CLK divider
|
||||
// 彩条测试禁用
|
||||
new byte[] { 0x50, 0x3d, 0x00 },
|
||||
new byte[] { 0x47, 0x41, 0x00 },
|
||||
[0x503d, 0x00],
|
||||
[0x4741, 0x00],
|
||||
// 闪光灯配置
|
||||
new byte[] { 0x30, 0x16, 0x02 },
|
||||
new byte[] { 0x30, 0x1c, 0x02 },
|
||||
new byte[] { 0x30, 0x19, 0x02 }, // 开启闪光灯
|
||||
new byte[] { 0x30, 0x19, 0x00 } // 关闭闪光灯
|
||||
[0x3016, 0x02],
|
||||
[0x301c, 0x02],
|
||||
[0x3019, 0x02], // 开启闪光灯
|
||||
[0x3019, 0x00] // 关闭闪光灯
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(testRegisters);
|
||||
|
|
@ -933,11 +932,396 @@ class Camera
|
|||
/// <returns>配置结果</returns>
|
||||
public async ValueTask<Result<bool>> StartStreaming()
|
||||
{
|
||||
var startRegisters = new byte[][]
|
||||
var startRegisters = new UInt16[][]
|
||||
{
|
||||
new byte[] { 0x30, 0x08, 0x02 } // 开始流
|
||||
[0x3008, 0x02] // 开始流
|
||||
};
|
||||
|
||||
return await ConfigureRegisters(startRegisters);
|
||||
}
|
||||
|
||||
#region 自动对焦功能
|
||||
|
||||
/// <summary>
|
||||
/// OV5640 自动对焦固件数据
|
||||
/// </summary>
|
||||
private static readonly UInt16[] OV5640_AF_FIRMWARE =
|
||||
[
|
||||
0x02, 0x0d, 0xf3, 0x02, 0x0a, 0x5f, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0x31, 0x30, 0x01,
|
||||
0x03, 0x02, 0x03, 0x09, 0x30, 0x02, 0x03, 0x02, 0x03, 0x09, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0xbb,
|
||||
0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xe5, 0x1f, 0x70, 0x45, 0x75, 0x1e, 0x20,
|
||||
0xd2, 0x34, 0x12, 0x0c, 0x0c, 0x78, 0x9c, 0x12, 0x0b, 0xd2, 0x78, 0xa8, 0xa6, 0x14, 0x08, 0xa6,
|
||||
0x15, 0x78, 0xb3, 0xa6, 0x09, 0x18, 0x76, 0x01, 0x78, 0x4c, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78,
|
||||
0x6c, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb3, 0xe6, 0x78, 0x8c, 0xf6, 0x75, 0x1f, 0x01, 0x78,
|
||||
0xbb, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xbd, 0xe6, 0x78, 0xba,
|
||||
0xf6, 0x22, 0x79, 0xb8, 0xe7, 0xd3, 0x78, 0xbb, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08,
|
||||
0xc3, 0x79, 0xbb, 0xe7, 0x78, 0xb8, 0x96, 0xff, 0x78, 0xa6, 0x76, 0x00, 0x08, 0xa6, 0x07, 0x79,
|
||||
0xb9, 0xe7, 0xd3, 0x78, 0xbc, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbc,
|
||||
0xe7, 0x78, 0xb9, 0x96, 0xff, 0x12, 0x0c, 0x13, 0x79, 0xba, 0xe7, 0xd3, 0x78, 0xbd, 0x96, 0x40,
|
||||
0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbd, 0xe7, 0x78, 0xba, 0x96, 0xff, 0x12, 0x0c,
|
||||
0x13, 0x78, 0xb2, 0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78, 0xb2,
|
||||
0xe6, 0x25, 0xe0, 0x24, 0x6c, 0xf8, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb2, 0xe6, 0x24, 0x8c,
|
||||
0xf8, 0xa6, 0x09, 0x78, 0xb2, 0xe6, 0x24, 0x01, 0xff, 0xe4, 0x33, 0xfe, 0xd3, 0xef, 0x94, 0x0f,
|
||||
0xee, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0x7f, 0x00, 0x80, 0x05, 0x78, 0xb2, 0xe6, 0x04, 0xff,
|
||||
0x78, 0xb2, 0xa6, 0x07, 0xe5, 0x1f, 0xb4, 0x01, 0x0a, 0xe6, 0x60, 0x03, 0x02, 0x03, 0x09, 0x75,
|
||||
0x1f, 0x02, 0x22, 0x12, 0x0c, 0x0c, 0x78, 0x9e, 0x12, 0x0b, 0xd2, 0x12, 0x0c, 0x0c, 0x78, 0xa0,
|
||||
0x12, 0x0b, 0xff, 0x78, 0xaa, 0x12, 0x0b, 0xff, 0xff, 0x78, 0xac, 0xa6, 0x06, 0x08, 0xa6, 0x07,
|
||||
0x78, 0x8c, 0xe6, 0x78, 0xb4, 0xf6, 0x78, 0x8c, 0xe6, 0x78, 0xb5, 0xf6, 0x7f, 0x01, 0xef, 0x25,
|
||||
0xe0, 0x24, 0x4d, 0x78, 0x9f, 0x12, 0x0b, 0xc9, 0x50, 0x0a, 0x12, 0x0b, 0xab, 0x78, 0x9e, 0xa6,
|
||||
0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0x78, 0xab, 0x12, 0x0b, 0xc9, 0x50, 0x0f,
|
||||
0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0, 0x78, 0xaa, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74,
|
||||
0x8c, 0x2f, 0xf9, 0x78, 0xb4, 0xe6, 0xc3, 0x97, 0x50, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78,
|
||||
0xb4, 0xf6, 0xef, 0x25, 0xe0, 0x24, 0x4d, 0xf9, 0xd3, 0x78, 0xa1, 0x12, 0x0b, 0xcb, 0x40, 0x0a,
|
||||
0x12, 0x0b, 0xab, 0x78, 0xa0, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0xf9,
|
||||
0xd3, 0x78, 0xad, 0x12, 0x0b, 0xcb, 0x40, 0x0f, 0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0,
|
||||
0x78, 0xac, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x8c, 0x2f, 0xf9, 0x78, 0xb5, 0xe6, 0xd3, 0x97,
|
||||
0x40, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78, 0xb5, 0xf6, 0x0f, 0xef, 0x64, 0x10, 0x60, 0x03,
|
||||
0x02, 0x01, 0x3e, 0xc3, 0x79, 0x9f, 0x78, 0xa1, 0x12, 0x0b, 0xf7, 0x78, 0xa2, 0xf6, 0x08, 0xa6,
|
||||
0x07, 0xc3, 0x79, 0xab, 0x78, 0xad, 0x12, 0x0b, 0xf7, 0x78, 0xae, 0xf6, 0x08, 0xa6, 0x07, 0xc3,
|
||||
0x79, 0xb4, 0xe7, 0x78, 0xb5, 0x96, 0x08, 0xf6, 0xd3, 0x79, 0x9f, 0xe7, 0x78, 0x9d, 0x96, 0x19,
|
||||
0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0x9d, 0xe7, 0x78, 0x9f,
|
||||
0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xa4, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xd3, 0x79, 0xab, 0xe7, 0x78,
|
||||
0xa9, 0x96, 0x19, 0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0xa9,
|
||||
0xe7, 0x78, 0xab, 0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xb0, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x79, 0xb4,
|
||||
0xe7, 0xd3, 0x78, 0xb3, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xb3, 0xe7,
|
||||
0x78, 0xb4, 0x96, 0xff, 0x78, 0xb7, 0xa6, 0x07, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 0x02, 0x02,
|
||||
0xef, 0x90, 0x30, 0x24, 0x74, 0x0f, 0xf0, 0x90, 0x0e, 0x8a, 0xe4, 0x93, 0xff, 0x18, 0xe6, 0xc3,
|
||||
0x9f, 0x40, 0x03, 0x02, 0x03, 0x09, 0x90, 0x30, 0x24, 0x74, 0x0e, 0xf0, 0x78, 0xa2, 0x12, 0x0b,
|
||||
0xd9, 0x12, 0x0b, 0xa2, 0x90, 0x0e, 0x87, 0x12, 0x0b, 0xb7, 0x78, 0x9e, 0x12, 0x0b, 0xe8, 0x7b,
|
||||
0x04, 0x12, 0x0b, 0x90, 0xc3, 0x12, 0x07, 0x0e, 0x50, 0x6f, 0x90, 0x0e, 0x8b, 0xe4, 0x93, 0xff,
|
||||
0x78, 0xb7, 0xe6, 0x9f, 0x40, 0x07, 0x90, 0x30, 0x24, 0x74, 0x0a, 0x80, 0x16, 0x90, 0x0e, 0x89,
|
||||
0xe4, 0x93, 0xff, 0xd3, 0x78, 0xa7, 0xe6, 0x9f, 0x18, 0xe6, 0x94, 0x00, 0x40, 0x09, 0x90, 0x30,
|
||||
0x24, 0x74, 0x0b, 0xf0, 0x75, 0x1f, 0x05, 0x78, 0xae, 0x12, 0x0b, 0xd9, 0x12, 0x0b, 0xa2, 0x90,
|
||||
0x0e, 0x88, 0x12, 0x0b, 0xb7, 0x78, 0xa8, 0x12, 0x0b, 0xe8, 0x7b, 0x40, 0x12, 0x0b, 0x90, 0xd3,
|
||||
0x12, 0x07, 0x0e, 0x40, 0x24, 0x90, 0x30, 0x24, 0x74, 0x0c, 0xf0, 0x75, 0x1f, 0x05, 0x22, 0x90,
|
||||
0x30, 0x24, 0x74, 0x01, 0xf0, 0xe5, 0x1f, 0xb4, 0x05, 0x0f, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5,
|
||||
0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0x22, 0xe5, 0x1f, 0x60, 0x03, 0x02, 0x03,
|
||||
0x93, 0xf5, 0x1e, 0xd2, 0x34, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x55, 0x75, 0x37,
|
||||
0x01, 0x12, 0x0d, 0x85, 0xe4, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xe4, 0xf6, 0x08, 0xf6,
|
||||
0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0xff, 0xe5, 0x49, 0xc3, 0x9f, 0x50, 0x04,
|
||||
0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbb, 0xa6, 0x07, 0x12, 0x0e, 0xbc, 0x40, 0x04, 0x7f,
|
||||
0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xba, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78, 0xb7,
|
||||
0xf6, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbd, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78, 0xb6,
|
||||
0x76, 0x01, 0x75, 0x48, 0x02, 0x78, 0xb4, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xbf, 0xf6, 0x08,
|
||||
0xf6, 0x75, 0x1f, 0x01, 0x78, 0xba, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x49, 0x12, 0x0a, 0xfd,
|
||||
0xc2, 0x36, 0x22, 0x78, 0xb6, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f, 0xb4,
|
||||
0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78, 0x4c,
|
||||
0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x36, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0, 0x75,
|
||||
0x1e, 0x10, 0xd2, 0x34, 0x22, 0xe5, 0x49, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xba, 0xf6, 0x90, 0x0e,
|
||||
0x85, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78, 0xba,
|
||||
0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0e, 0xc3, 0xd3,
|
||||
0x78, 0xb5, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb7, 0xf6, 0x78, 0xb4,
|
||||
0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x85, 0xe4, 0x93, 0x12, 0x0e, 0xc3, 0xc3, 0x78, 0xc0,
|
||||
0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbf, 0xa6, 0x06,
|
||||
0x08, 0xa6, 0x07, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc0, 0x96, 0xff, 0xee, 0x18,
|
||||
0x96, 0x78, 0xc1, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8e, 0xe4, 0x18, 0x12, 0x0e, 0xa1, 0x40,
|
||||
0x02, 0xd2, 0x36, 0x78, 0xba, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70, 0x4a,
|
||||
0xe6, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x97, 0x40, 0x05, 0x12, 0x0e, 0x92, 0x40, 0x39, 0x12, 0x0e,
|
||||
0xba, 0x40, 0x04, 0x7f, 0xfe, 0x80, 0x02, 0x7f, 0x02, 0x78, 0xbb, 0xa6, 0x07, 0x78, 0xb7, 0xe6,
|
||||
0x24, 0x03, 0x78, 0xbd, 0xf6, 0x78, 0xb7, 0xe6, 0x24, 0xfd, 0x78, 0xbe, 0xf6, 0x12, 0x0e, 0xba,
|
||||
0x40, 0x06, 0x78, 0xbe, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbd, 0xe6, 0xff, 0x78, 0xbc, 0xa6, 0x07,
|
||||
0x75, 0x1f, 0x02, 0x78, 0xb6, 0x76, 0x01, 0x02, 0x05, 0x59, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03,
|
||||
0x02, 0x05, 0x39, 0x78, 0xbc, 0xe6, 0xff, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x98, 0x40, 0x08, 0x12,
|
||||
0x0e, 0x92, 0x50, 0x03, 0x02, 0x05, 0x37, 0x12, 0x0e, 0xba, 0x40, 0x04, 0x7f, 0xff, 0x80, 0x02,
|
||||
0x7f, 0x01, 0x78, 0xbb, 0xa6, 0x07, 0x78, 0xb7, 0xe6, 0x04, 0x78, 0xbd, 0xf6, 0x78, 0xb7, 0xe6,
|
||||
0x14, 0x78, 0xbe, 0xf6, 0x18, 0x12, 0x0e, 0xbc, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x00,
|
||||
0x78, 0xbd, 0xa6, 0x07, 0xd3, 0x08, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0xe6, 0xff, 0x80,
|
||||
0x02, 0x7f, 0x00, 0x78, 0xbe, 0xa6, 0x07, 0xc3, 0x18, 0xe6, 0x64, 0x80, 0x94, 0xb3, 0x50, 0x04,
|
||||
0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbd, 0xa6, 0x07, 0xc3, 0x08, 0xe6, 0x64, 0x80, 0x94,
|
||||
0xb3, 0x50, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbe, 0xa6, 0x07, 0x12, 0x0e, 0xba,
|
||||
0x40, 0x06, 0x78, 0xbe, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbd, 0xe6, 0xff, 0x78, 0xbc, 0xa6, 0x07,
|
||||
0x75, 0x1f, 0x03, 0x78, 0xb6, 0x76, 0x01, 0x80, 0x20, 0xe5, 0x1f, 0x64, 0x03, 0x70, 0x26, 0x78,
|
||||
0xbc, 0xe6, 0xff, 0xc3, 0x78, 0xbe, 0x12, 0x0e, 0x98, 0x40, 0x05, 0x12, 0x0e, 0x92, 0x40, 0x09,
|
||||
0x78, 0xb7, 0xe6, 0x78, 0xbc, 0xf6, 0x75, 0x1f, 0x04, 0x78, 0xbc, 0xe6, 0x75, 0xf0, 0x05, 0xa4,
|
||||
0xf5, 0x49, 0x02, 0x0a, 0xfd, 0xe5, 0x1f, 0xb4, 0x04, 0x1f, 0x90, 0x0e, 0x8d, 0xe4, 0x78, 0xc1,
|
||||
0x12, 0x0e, 0xa1, 0x40, 0x02, 0xd2, 0x36, 0x75, 0x1f, 0x05, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e,
|
||||
0x75, 0x36, 0x59, 0x75, 0x37, 0x01, 0x12, 0x0d, 0x85, 0x22, 0xef, 0x8d, 0xf0, 0xa4, 0xa8, 0xf0,
|
||||
0xcf, 0x8c, 0xf0, 0xa4, 0x28, 0xce, 0x8d, 0xf0, 0xa4, 0x2e, 0xfe, 0x22, 0xbc, 0x00, 0x0b, 0xbe,
|
||||
0x00, 0x29, 0xef, 0x8d, 0xf0, 0x84, 0xff, 0xad, 0xf0, 0x22, 0xe4, 0xcc, 0xf8, 0x75, 0xf0, 0x08,
|
||||
0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xec, 0x33, 0xfc, 0xee, 0x9d, 0xec, 0x98, 0x40, 0x05, 0xfc,
|
||||
0xee, 0x9d, 0xfe, 0x0f, 0xd5, 0xf0, 0xe9, 0xe4, 0xce, 0xfd, 0x22, 0xed, 0xf8, 0xf5, 0xf0, 0xee,
|
||||
0x84, 0x20, 0xd2, 0x1c, 0xfe, 0xad, 0xf0, 0x75, 0xf0, 0x08, 0xef, 0x2f, 0xff, 0xed, 0x33, 0xfd,
|
||||
0x40, 0x07, 0x98, 0x50, 0x06, 0xd5, 0xf0, 0xf2, 0x22, 0xc3, 0x98, 0xfd, 0x0f, 0xd5, 0xf0, 0xea,
|
||||
0x22, 0xe8, 0x8f, 0xf0, 0xa4, 0xcc, 0x8b, 0xf0, 0xa4, 0x2c, 0xfc, 0xe9, 0x8e, 0xf0, 0xa4, 0x2c,
|
||||
0xfc, 0x8a, 0xf0, 0xed, 0xa4, 0x2c, 0xfc, 0xea, 0x8e, 0xf0, 0xa4, 0xcd, 0xa8, 0xf0, 0x8b, 0xf0,
|
||||
0xa4, 0x2d, 0xcc, 0x38, 0x25, 0xf0, 0xfd, 0xe9, 0x8f, 0xf0, 0xa4, 0x2c, 0xcd, 0x35, 0xf0, 0xfc,
|
||||
0xeb, 0x8e, 0xf0, 0xa4, 0xfe, 0xa9, 0xf0, 0xeb, 0x8f, 0xf0, 0xa4, 0xcf, 0xc5, 0xf0, 0x2e, 0xcd,
|
||||
0x39, 0xfe, 0xe4, 0x3c, 0xfc, 0xea, 0xa4, 0x2d, 0xce, 0x35, 0xf0, 0xfd, 0xe4, 0x3c, 0xfc, 0x22,
|
||||
0x75, 0xf0, 0x08, 0x75, 0x82, 0x00, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xcd, 0x33, 0xcd, 0xcc,
|
||||
0x33, 0xcc, 0xc5, 0x82, 0x33, 0xc5, 0x82, 0x9b, 0xed, 0x9a, 0xec, 0x99, 0xe5, 0x82, 0x98, 0x40,
|
||||
0x0c, 0xf5, 0x82, 0xee, 0x9b, 0xfe, 0xed, 0x9a, 0xfd, 0xec, 0x99, 0xfc, 0x0f, 0xd5, 0xf0, 0xd6,
|
||||
0xe4, 0xce, 0xfb, 0xe4, 0xcd, 0xfa, 0xe4, 0xcc, 0xf9, 0xa8, 0x82, 0x22, 0xb8, 0x00, 0xc1, 0xb9,
|
||||
0x00, 0x59, 0xba, 0x00, 0x2d, 0xec, 0x8b, 0xf0, 0x84, 0xcf, 0xce, 0xcd, 0xfc, 0xe5, 0xf0, 0xcb,
|
||||
0xf9, 0x78, 0x18, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc, 0xeb,
|
||||
0x33, 0xfb, 0x10, 0xd7, 0x03, 0x99, 0x40, 0x04, 0xeb, 0x99, 0xfb, 0x0f, 0xd8, 0xe5, 0xe4, 0xf9,
|
||||
0xfa, 0x22, 0x78, 0x18, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc,
|
||||
0xc9, 0x33, 0xc9, 0x10, 0xd7, 0x05, 0x9b, 0xe9, 0x9a, 0x40, 0x07, 0xec, 0x9b, 0xfc, 0xe9, 0x9a,
|
||||
0xf9, 0x0f, 0xd8, 0xe0, 0xe4, 0xc9, 0xfa, 0xe4, 0xcc, 0xfb, 0x22, 0x75, 0xf0, 0x10, 0xef, 0x2f,
|
||||
0xff, 0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xcc, 0x33, 0xcc, 0xc8, 0x33, 0xc8, 0x10, 0xd7, 0x07,
|
||||
0x9b, 0xec, 0x9a, 0xe8, 0x99, 0x40, 0x0a, 0xed, 0x9b, 0xfd, 0xec, 0x9a, 0xfc, 0xe8, 0x99, 0xf8,
|
||||
0x0f, 0xd5, 0xf0, 0xda, 0xe4, 0xcd, 0xfb, 0xe4, 0xcc, 0xfa, 0xe4, 0xc8, 0xf9, 0x22, 0xeb, 0x9f,
|
||||
0xf5, 0xf0, 0xea, 0x9e, 0x42, 0xf0, 0xe9, 0x9d, 0x42, 0xf0, 0xe8, 0x9c, 0x45, 0xf0, 0x22, 0xe8,
|
||||
0x60, 0x0f, 0xef, 0xc3, 0x33, 0xff, 0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc, 0xd8,
|
||||
0xf1, 0x22, 0xe4, 0x93, 0xfc, 0x74, 0x01, 0x93, 0xfd, 0x74, 0x02, 0x93, 0xfe, 0x74, 0x03, 0x93,
|
||||
0xff, 0x22, 0xe6, 0xfb, 0x08, 0xe6, 0xf9, 0x08, 0xe6, 0xfa, 0x08, 0xe6, 0xcb, 0xf8, 0x22, 0xec,
|
||||
0xf6, 0x08, 0xed, 0xf6, 0x08, 0xee, 0xf6, 0x08, 0xef, 0xf6, 0x22, 0xa4, 0x25, 0x82, 0xf5, 0x82,
|
||||
0xe5, 0xf0, 0x35, 0x83, 0xf5, 0x83, 0x22, 0xd0, 0x83, 0xd0, 0x82, 0xf8, 0xe4, 0x93, 0x70, 0x12,
|
||||
0x74, 0x01, 0x93, 0x70, 0x0d, 0xa3, 0xa3, 0x93, 0xf8, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x88, 0x83,
|
||||
0xe4, 0x73, 0x74, 0x02, 0x93, 0x68, 0x60, 0xef, 0xa3, 0xa3, 0xa3, 0x80, 0xdf, 0x90, 0x38, 0x04,
|
||||
0x78, 0x50, 0x12, 0x0c, 0x7f, 0x90, 0x38, 0x00, 0xe0, 0xfe, 0xa3, 0xe0, 0xfd, 0xed, 0xff, 0xc3,
|
||||
0x12, 0x0c, 0x38, 0x90, 0x38, 0x10, 0x12, 0x0c, 0x2c, 0x90, 0x38, 0x06, 0x78, 0x52, 0x12, 0x0c,
|
||||
0x7f, 0x90, 0x38, 0x02, 0xe0, 0xfe, 0xa3, 0xe0, 0xfd, 0xed, 0xff, 0xc3, 0x12, 0x0c, 0x38, 0x90,
|
||||
0x38, 0x12, 0x12, 0x0c, 0x2c, 0xa3, 0xe0, 0xb4, 0x31, 0x07, 0x78, 0x50, 0x79, 0x50, 0x12, 0x0c,
|
||||
0x95, 0x90, 0x38, 0x14, 0xe0, 0xb4, 0x71, 0x15, 0x78, 0x50, 0xe6, 0xfe, 0x08, 0xe6, 0x78, 0x02,
|
||||
0xce, 0xc3, 0x13, 0xce, 0x13, 0xd8, 0xf9, 0x79, 0x51, 0xf7, 0xee, 0x19, 0xf7, 0x90, 0x38, 0x15,
|
||||
0xe0, 0xb4, 0x31, 0x07, 0x78, 0x52, 0x79, 0x52, 0x12, 0x0c, 0x95, 0x90, 0x38, 0x15, 0xe0, 0xb4,
|
||||
0x71, 0x15, 0x78, 0x52, 0xe6, 0xfe, 0x08, 0xe6, 0x78, 0x02, 0xce, 0xc3, 0x13, 0xce, 0x13, 0xd8,
|
||||
0xf9, 0x79, 0x53, 0xf7, 0xee, 0x19, 0xf7, 0x79, 0x50, 0x12, 0x0c, 0x67, 0x09, 0x12, 0x0c, 0x67,
|
||||
0xaf, 0x45, 0x12, 0x0c, 0x1d, 0x7d, 0x50, 0x12, 0x05, 0x9c, 0x78, 0x58, 0xa6, 0x06, 0x08, 0xa6,
|
||||
0x07, 0xaf, 0x43, 0x12, 0x0c, 0x1d, 0x7d, 0x50, 0x12, 0x05, 0x9c, 0x78, 0x54, 0xa6, 0x06, 0x08,
|
||||
0xa6, 0x07, 0xaf, 0x46, 0x78, 0x52, 0x12, 0x0c, 0x1f, 0x7d, 0x3c, 0x12, 0x05, 0x9c, 0x78, 0x5a,
|
||||
0xa6, 0x06, 0x08, 0xa6, 0x07, 0xaf, 0x44, 0x7e, 0x00, 0x78, 0x52, 0x12, 0x0c, 0x21, 0x7d, 0x3c,
|
||||
0x12, 0x05, 0x9c, 0x78, 0x56, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xc3, 0x78, 0x59, 0xe6, 0x94, 0x08,
|
||||
0x18, 0xe6, 0x94, 0x00, 0x50, 0x05, 0x76, 0x00, 0x08, 0x76, 0x08, 0xc3, 0x78, 0x5b, 0xe6, 0x94,
|
||||
0x08, 0x18, 0xe6, 0x94, 0x00, 0x50, 0x05, 0x76, 0x00, 0x08, 0x76, 0x08, 0x78, 0x58, 0x12, 0x0c,
|
||||
0x54, 0xff, 0xd3, 0x78, 0x55, 0xe6, 0x9f, 0x18, 0xe6, 0x9e, 0x40, 0x0e, 0x78, 0x58, 0xe6, 0x13,
|
||||
0xfe, 0x08, 0xe6, 0x78, 0x55, 0x12, 0x0c, 0x8a, 0x80, 0x04, 0x7e, 0x00, 0x7f, 0x00, 0x78, 0x5c,
|
||||
0x12, 0x0c, 0x4c, 0xff, 0xd3, 0x78, 0x57, 0xe6, 0x9f, 0x18, 0xe6, 0x9e, 0x40, 0x0e, 0x78, 0x5a,
|
||||
0xe6, 0x13, 0xfe, 0x08, 0xe6, 0x78, 0x57, 0x12, 0x0c, 0x8a, 0x80, 0x04, 0x7e, 0x00, 0x7f, 0x00,
|
||||
0xe4, 0xfc, 0xfd, 0x78, 0x60, 0x12, 0x07, 0x4f, 0x78, 0x58, 0x12, 0x0c, 0x54, 0x78, 0x55, 0x26,
|
||||
0xff, 0xee, 0x18, 0x36, 0xfe, 0x78, 0x64, 0x12, 0x0c, 0x4c, 0x78, 0x57, 0x26, 0xff, 0xee, 0x18,
|
||||
0x36, 0xfe, 0xe4, 0xfc, 0xfd, 0x78, 0x68, 0x12, 0x07, 0x4f, 0x12, 0x0c, 0x5c, 0x78, 0x64, 0x12,
|
||||
0x07, 0x42, 0xd3, 0x12, 0x07, 0x0e, 0x40, 0x08, 0x12, 0x0c, 0x5c, 0x78, 0x64, 0x12, 0x07, 0x4f,
|
||||
0x78, 0x52, 0x12, 0x0c, 0x5e, 0x78, 0x68, 0x12, 0x07, 0x42, 0xd3, 0x12, 0x07, 0x0e, 0x40, 0x0a,
|
||||
0x78, 0x52, 0x12, 0x0c, 0x5e, 0x78, 0x68, 0x12, 0x07, 0x4f, 0xe4, 0xfd, 0x78, 0x5f, 0x12, 0x0c,
|
||||
0x77, 0x24, 0x01, 0x12, 0x0c, 0x40, 0x78, 0x63, 0x12, 0x0c, 0x77, 0x24, 0x02, 0x12, 0x0c, 0x40,
|
||||
0x78, 0x67, 0x12, 0x0c, 0x77, 0x24, 0x03, 0x12, 0x0c, 0x40, 0x78, 0x6b, 0x12, 0x0c, 0x77, 0x24,
|
||||
0x04, 0x12, 0x0c, 0x40, 0x0d, 0xbd, 0x05, 0xd4, 0xc2, 0x0e, 0xc2, 0x06, 0x22, 0x85, 0x08, 0x41,
|
||||
0x90, 0x30, 0x24, 0xe0, 0xf5, 0x3d, 0xa3, 0xe0, 0xf5, 0x3e, 0xa3, 0xe0, 0xf5, 0x3f, 0xa3, 0xe0,
|
||||
0xf5, 0x40, 0xa3, 0xe0, 0xf5, 0x3c, 0xd2, 0x33, 0xe5, 0x41, 0x12, 0x07, 0x67, 0x09, 0xb4, 0x03,
|
||||
0x09, 0xb8, 0x04, 0x09, 0xbe, 0x05, 0x09, 0xc1, 0x06, 0x09, 0xc4, 0x07, 0x09, 0xcd, 0x08, 0x09,
|
||||
0xde, 0x12, 0x09, 0xe0, 0x80, 0x09, 0xe5, 0x81, 0x0a, 0x43, 0x8f, 0x0a, 0x32, 0x90, 0x0a, 0x43,
|
||||
0x91, 0x0a, 0x43, 0x92, 0x0a, 0x43, 0x93, 0x0a, 0x43, 0x94, 0x0a, 0x43, 0x98, 0x0a, 0x40, 0x9f,
|
||||
0x00, 0x00, 0x0a, 0x5e, 0x12, 0x0e, 0xce, 0x22, 0x12, 0x0e, 0xce, 0xd2, 0x03, 0x22, 0xd2, 0x03,
|
||||
0x22, 0xc2, 0x03, 0x22, 0xa2, 0x36, 0xe4, 0x33, 0xf5, 0x3c, 0x02, 0x0a, 0x43, 0xc2, 0x01, 0xc2,
|
||||
0x02, 0xc2, 0x03, 0x12, 0x0d, 0x14, 0x75, 0x1e, 0x70, 0xd2, 0x34, 0x02, 0x0a, 0x43, 0x80, 0x4d,
|
||||
0x12, 0x0f, 0x17, 0x80, 0x5e, 0x85, 0x3d, 0x43, 0x85, 0x3e, 0x44, 0xe5, 0x45, 0xc3, 0x13, 0xff,
|
||||
0xe5, 0x43, 0xc3, 0x9f, 0x50, 0x02, 0x8f, 0x43, 0xe5, 0x46, 0xc3, 0x13, 0xff, 0xe5, 0x44, 0xc3,
|
||||
0x9f, 0x50, 0x02, 0x8f, 0x44, 0xe5, 0x45, 0xc3, 0x13, 0xff, 0xfd, 0xe5, 0x43, 0x90, 0x0e, 0x7f,
|
||||
0x12, 0x0e, 0xea, 0x40, 0x04, 0xee, 0x9f, 0xf5, 0x43, 0xe5, 0x46, 0xc3, 0x13, 0xff, 0xfd, 0xe5,
|
||||
0x44, 0x90, 0x0e, 0x80, 0x12, 0x0e, 0xea, 0x40, 0x04, 0xee, 0x9f, 0xf5, 0x44, 0x12, 0x07, 0x8d,
|
||||
0x80, 0x11, 0x85, 0x40, 0x46, 0x85, 0x3f, 0x45, 0x85, 0x3e, 0x44, 0x85, 0x3d, 0x43, 0x80, 0x03,
|
||||
0x02, 0x07, 0x8d, 0x90, 0x30, 0x24, 0xe5, 0x3d, 0xf0, 0xa3, 0xe5, 0x3e, 0xf0, 0xa3, 0xe5, 0x3f,
|
||||
0xf0, 0xa3, 0xe5, 0x40, 0xf0, 0xa3, 0xe5, 0x3c, 0xf0, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0x22, 0xc0,
|
||||
0xe0, 0xc0, 0x83, 0xc0, 0x82, 0xc0, 0xd0, 0x90, 0x3f, 0x0c, 0xe0, 0xf5, 0x32, 0xe5, 0x32, 0x30,
|
||||
0xe3, 0x4c, 0x30, 0x35, 0x3e, 0x90, 0x60, 0x19, 0xe0, 0xf5, 0x0a, 0xa3, 0xe0, 0xf5, 0x0b, 0x90,
|
||||
0x60, 0x1d, 0xe0, 0xf5, 0x14, 0xa3, 0xe0, 0xf5, 0x15, 0x30, 0x01, 0x06, 0x30, 0x32, 0x03, 0xd3,
|
||||
0x80, 0x01, 0xc3, 0x92, 0x09, 0x30, 0x02, 0x06, 0x30, 0x32, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92,
|
||||
0x0a, 0x30, 0x32, 0x0c, 0x30, 0x03, 0x09, 0x20, 0x02, 0x06, 0x20, 0x01, 0x03, 0xd3, 0x80, 0x01,
|
||||
0xc3, 0x92, 0x0b, 0x90, 0x30, 0x01, 0xe0, 0x44, 0x40, 0xf0, 0xe0, 0x54, 0xbf, 0xf0, 0xe5, 0x32,
|
||||
0x30, 0xe1, 0x14, 0x30, 0x33, 0x11, 0x90, 0x30, 0x22, 0xe0, 0xf5, 0x08, 0xe4, 0xf0, 0x30, 0x00,
|
||||
0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x08, 0xe5, 0x32, 0x30, 0xe5, 0x12, 0x90, 0x56, 0xa1, 0xe0,
|
||||
0xf5, 0x09, 0x30, 0x30, 0x09, 0x30, 0x05, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0d, 0x90, 0x3f,
|
||||
0x0c, 0xe5, 0x32, 0xf0, 0xd0, 0xd0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, 0x0e, 0x7d,
|
||||
0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xff, 0xc3, 0x90, 0x0e, 0x7b, 0x74, 0x01, 0x93, 0x9f, 0xff,
|
||||
0xe4, 0x93, 0x9e, 0xfe, 0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0xab, 0x3b, 0xaa,
|
||||
0x3a, 0xa9, 0x39, 0xa8, 0x38, 0xaf, 0x49, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0xf1, 0x12, 0x0e, 0xfc,
|
||||
0xe4, 0x7b, 0xff, 0xfa, 0xf9, 0xf8, 0x12, 0x06, 0x7c, 0x12, 0x0e, 0xfc, 0x90, 0x0e, 0x69, 0xe4,
|
||||
0x12, 0x0f, 0x11, 0x12, 0x0e, 0xfc, 0xe4, 0x85, 0x48, 0x37, 0xf5, 0x36, 0xf5, 0x35, 0xf5, 0x34,
|
||||
0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0xa3, 0x12, 0x0f, 0x11, 0x8f, 0x37, 0x8e, 0x36,
|
||||
0x8d, 0x35, 0x8c, 0x34, 0xe5, 0x3b, 0x45, 0x37, 0xf5, 0x3b, 0xe5, 0x3a, 0x45, 0x36, 0xf5, 0x3a,
|
||||
0xe5, 0x39, 0x45, 0x35, 0xf5, 0x39, 0xe5, 0x38, 0x45, 0x34, 0xf5, 0x38, 0xe4, 0xf5, 0x22, 0xf5,
|
||||
0x23, 0x85, 0x3b, 0x31, 0x85, 0x3a, 0x30, 0x85, 0x39, 0x2f, 0x85, 0x38, 0x2e, 0x02, 0x0d, 0xc5,
|
||||
0xad, 0x39, 0xac, 0x38, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0xf1, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39,
|
||||
0x8c, 0x38, 0xab, 0x37, 0xaa, 0x36, 0xa9, 0x35, 0xa8, 0x34, 0x22, 0xef, 0x25, 0xe0, 0x24, 0x4c,
|
||||
0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x22, 0x93, 0xff, 0xe4, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0xf1,
|
||||
0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x22, 0xf9, 0xc3, 0xe6, 0x97, 0x18, 0xe6, 0x19,
|
||||
0x97, 0x22, 0xff, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0x8f,
|
||||
0x37, 0x8e, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0x8f, 0x3b,
|
||||
0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0x22, 0xe7, 0x96, 0xff, 0x19, 0xe7, 0x18, 0x96, 0x22, 0xff,
|
||||
0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0x6c, 0xe6, 0xfe, 0x08, 0xe6, 0x22, 0x78, 0x4c, 0xe6, 0xfe,
|
||||
0x08, 0xe6, 0x22, 0x78, 0xa7, 0xef, 0x26, 0xf6, 0x18, 0xe4, 0x36, 0xf6, 0x22, 0x78, 0x50, 0x7e,
|
||||
0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x12, 0x05, 0x8a, 0x7c, 0x00, 0x22, 0xe0, 0xa3, 0xe0, 0x75,
|
||||
0xf0, 0x02, 0xa4, 0xff, 0xae, 0xf0, 0xc3, 0x08, 0xe6, 0x9f, 0xf6, 0x18, 0xe6, 0x9e, 0xf6, 0x22,
|
||||
0xff, 0xe5, 0xf0, 0x34, 0x60, 0x8f, 0x82, 0xf5, 0x83, 0xec, 0xf0, 0x22, 0xe4, 0xfc, 0xfd, 0x12,
|
||||
0x07, 0x4f, 0x78, 0x5a, 0xe6, 0xc3, 0x13, 0xfe, 0x08, 0xe6, 0x13, 0x22, 0x78, 0x50, 0xe6, 0xfe,
|
||||
0x08, 0xe6, 0xff, 0xe4, 0xfc, 0xfd, 0x22, 0xe7, 0xc4, 0xf8, 0x54, 0xf0, 0xc8, 0x68, 0xf7, 0x09,
|
||||
0xe7, 0xc4, 0x54, 0x0f, 0x48, 0xf7, 0x22, 0xe6, 0xfc, 0xed, 0x75, 0xf0, 0x04, 0xa4, 0x22, 0xe0,
|
||||
0xfe, 0xa3, 0xe0, 0xfd, 0xee, 0xf6, 0xed, 0x08, 0xf6, 0x22, 0x13, 0xff, 0xc3, 0xe6, 0x9f, 0xff,
|
||||
0x18, 0xe6, 0x9e, 0xfe, 0x22, 0xe6, 0xc3, 0x13, 0xf7, 0x08, 0xe6, 0x13, 0x09, 0xf7, 0x22, 0x75,
|
||||
0x89, 0x03, 0x75, 0xa8, 0x01, 0x75, 0xb8, 0x04, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36,
|
||||
0x15, 0x75, 0x37, 0x0d, 0x12, 0x0d, 0x85, 0x12, 0x00, 0x09, 0x12, 0x0f, 0x17, 0x12, 0x00, 0x06,
|
||||
0xd2, 0x00, 0xd2, 0x33, 0xd2, 0xaf, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x49, 0x75,
|
||||
0x37, 0x03, 0x12, 0x0d, 0x85, 0x30, 0x08, 0x09, 0xc2, 0x33, 0x12, 0x09, 0x5d, 0xc2, 0x08, 0xd2,
|
||||
0x33, 0x30, 0x0b, 0x09, 0xc2, 0x35, 0x12, 0x00, 0x0e, 0xc2, 0x0b, 0xd2, 0x35, 0x30, 0x09, 0x09,
|
||||
0xc2, 0x35, 0x12, 0x03, 0x0a, 0xc2, 0x09, 0xd2, 0x35, 0x30, 0x0e, 0x03, 0x12, 0x07, 0x8d, 0x30,
|
||||
0x34, 0xd3, 0x90, 0x30, 0x29, 0xe5, 0x1e, 0xf0, 0xb4, 0x10, 0x05, 0x90, 0x30, 0x23, 0xe4, 0xf0,
|
||||
0xc2, 0x34, 0x80, 0xc1, 0xe4, 0xf5, 0x49, 0x90, 0x0e, 0x77, 0x93, 0xff, 0xe4, 0x8f, 0x37, 0xf5,
|
||||
0x36, 0xf5, 0x35, 0xf5, 0x34, 0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0x90, 0x0e, 0x6a,
|
||||
0x12, 0x0f, 0x11, 0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x90, 0x0e, 0x72, 0x12, 0x07,
|
||||
0x32, 0xef, 0x45, 0x37, 0xf5, 0x37, 0xee, 0x45, 0x36, 0xf5, 0x36, 0xed, 0x45, 0x35, 0xf5, 0x35,
|
||||
0xec, 0x45, 0x34, 0xf5, 0x34, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x85, 0x37, 0x31, 0x85, 0x36, 0x30,
|
||||
0x85, 0x35, 0x2f, 0x85, 0x34, 0x2e, 0x12, 0x0d, 0xc5, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e,
|
||||
0x72, 0x12, 0x0f, 0x05, 0x12, 0x0d, 0xc5, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x6e, 0x12,
|
||||
0x0f, 0x05, 0x02, 0x0d, 0xc5, 0xae, 0x35, 0xaf, 0x36, 0xe4, 0xfd, 0xed, 0xc3, 0x95, 0x37, 0x50,
|
||||
0x33, 0x12, 0x0f, 0x52, 0xe4, 0x93, 0xf5, 0x38, 0x74, 0x01, 0x93, 0xf5, 0x39, 0x45, 0x38, 0x60,
|
||||
0x23, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xe0, 0xfc, 0x12, 0x0f, 0x52, 0x74, 0x03, 0x93, 0x52,
|
||||
0x04, 0x12, 0x0f, 0x52, 0x74, 0x02, 0x93, 0x42, 0x04, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xec,
|
||||
0xf0, 0x0d, 0x80, 0xc7, 0x22, 0xa2, 0xaf, 0x92, 0x31, 0xc2, 0xaf, 0xe5, 0x23, 0x45, 0x22, 0x90,
|
||||
0x0e, 0x5d, 0x60, 0x0b, 0x12, 0x0f, 0x47, 0xe0, 0xf5, 0x2c, 0xe0, 0xf5, 0x2d, 0x80, 0x0f, 0x12,
|
||||
0x0f, 0x47, 0xe5, 0x30, 0xf0, 0x90, 0x0e, 0x5f, 0x12, 0x0f, 0x47, 0xe5, 0x31, 0xf0, 0xa2, 0x31,
|
||||
0x92, 0xaf, 0x22, 0x78, 0x7f, 0xe4, 0xf6, 0xd8, 0xfd, 0x75, 0x81, 0xcb, 0x02, 0x0c, 0x9f, 0x00,
|
||||
0x11, 0x05, 0x25, 0x16, 0x33, 0x02, 0x50, 0x72, 0x6f, 0x66, 0x69, 0x74, 0x20, 0x20, 0x14, 0x00,
|
||||
0x10, 0x00, 0x56, 0x40, 0x1a, 0x30, 0x29, 0x7e, 0x00, 0x30, 0x04, 0x20, 0xdf, 0x30, 0x05, 0x40,
|
||||
0xbf, 0x50, 0x03, 0x00, 0xfd, 0x50, 0x27, 0x01, 0xfe, 0x60, 0x00, 0x11, 0x00, 0x3f, 0x05, 0x30,
|
||||
0x00, 0x3f, 0x06, 0x22, 0x00, 0x3f, 0x01, 0x2a, 0x00, 0x3f, 0x02, 0x00, 0x00, 0x36, 0x06, 0x07,
|
||||
0x00, 0x3f, 0x0b, 0x0f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x30, 0x01, 0x40, 0xbf, 0x30, 0x01, 0x00,
|
||||
0xbf, 0x30, 0x29, 0x70, 0x00, 0x3a, 0x00, 0x00, 0xff, 0x3a, 0x00, 0x00, 0xff, 0x36, 0x03, 0x36,
|
||||
0x02, 0x41, 0x44, 0x58, 0x20, 0x18, 0x10, 0x0a, 0x04, 0x04, 0x00, 0x03, 0xff, 0x64, 0x00, 0x00,
|
||||
0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x04, 0x06, 0x00, 0x03, 0x98, 0x00, 0xcc, 0x50,
|
||||
0x3c, 0x28, 0x1e, 0x0c, 0x0c, 0x00, 0x00, 0x10, 0x0c, 0x10, 0x04, 0x0c, 0x6e, 0x06, 0x05, 0x00,
|
||||
0xa5, 0x5a, 0x78, 0xbc, 0xe6, 0xd3, 0x08, 0xff, 0xe6, 0x64, 0x80, 0xf8, 0xef, 0x64, 0x80, 0x98,
|
||||
0x22, 0x93, 0xff, 0x7e, 0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x12, 0x05, 0x8a, 0x78, 0xbf, 0xe6,
|
||||
0xfc, 0x08, 0xe6, 0xfd, 0xd3, 0xef, 0x9d, 0xee, 0x9c, 0x22, 0x78, 0xbb, 0xd3, 0xe6, 0x64, 0x80,
|
||||
0x94, 0x80, 0x22, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xd2, 0x01,
|
||||
0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0xd2, 0x01, 0xc2,
|
||||
0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0x22, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe4,
|
||||
0x93, 0xfe, 0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x8f, 0x3b, 0x8e, 0x3a,
|
||||
0x8d, 0x39, 0x8c, 0x38, 0x22, 0x12, 0x07, 0x32, 0x8f, 0x31, 0x8e, 0x30, 0x8d, 0x2f, 0x8c, 0x2e,
|
||||
0x22, 0x93, 0xf9, 0xf8, 0x02, 0x07, 0x1f, 0x90, 0x0e, 0x81, 0x12, 0x07, 0x32, 0x8f, 0x46, 0x8e,
|
||||
0x45, 0x8d, 0x44, 0x8c, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0e,
|
||||
0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33, 0xf0,
|
||||
0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x8e,
|
||||
0x83, 0x22, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x07, 0x5b
|
||||
];
|
||||
|
||||
/// <summary>
|
||||
/// 写入自动对焦固件到摄像头
|
||||
/// </summary>
|
||||
/// <returns>写入结果</returns>
|
||||
private async ValueTask<Result<bool>> WriteFocusFirmware()
|
||||
{
|
||||
logger.Info("开始写入OV5640自动对焦固件");
|
||||
|
||||
var setStartAddrResult = await ConfigureRegisters([[0x3000, 0x80]]);
|
||||
if (!setStartAddrResult.IsSuccessful) return setStartAddrResult;
|
||||
|
||||
UInt16 firmwareAddr = 0x8000;
|
||||
var firmwareCommands = new List<UInt16[]>();
|
||||
for (int i = 0; i < OV5640_AF_FIRMWARE.Length; i++)
|
||||
{
|
||||
UInt16 addr = (UInt16)(firmwareAddr + i);
|
||||
firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
|
||||
}
|
||||
|
||||
var result = await ConfigureRegisters(firmwareCommands.ToArray());
|
||||
if (!result.IsSuccessful)
|
||||
{
|
||||
logger.Error($"固件写入失败: {result.Error}");
|
||||
return result;
|
||||
}
|
||||
|
||||
logger.Info($"OV5640自动对焦固件写入完成，总共写入 {OV5640_AF_FIRMWARE.Length} 字节");
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 初始化自动对焦功能
|
||||
/// </summary>
|
||||
/// <returns>初始化结果</returns>
|
||||
public async ValueTask<Result<bool>> InitAutoFocus()
|
||||
{
|
||||
logger.Info("开始初始化OV5640自动对焦功能");
|
||||
|
||||
// 步骤1: 启动MCU
|
||||
var mcuResult = await ConfigureRegisters([[0x3000, 0x20]]);
|
||||
if (!mcuResult.IsSuccessful) return mcuResult;
|
||||
|
||||
// 步骤2: 写入自动对焦固件
|
||||
var firmwareResult = await WriteFocusFirmware();
|
||||
if (!firmwareResult.IsSuccessful) return firmwareResult;
|
||||
|
||||
// 步骤3: 配置对焦相关寄存器
|
||||
var focusRegisters = new UInt16[][]
|
||||
{
|
||||
[0x3022, 0x00], // 清除指令寄存器
|
||||
[0x3023, 0x00], // 清除状态寄存器
|
||||
[0x3024, 0x00], // 清除参数寄存器
|
||||
[0x3025, 0x00],
|
||||
[0x3026, 0x00],
|
||||
[0x3027, 0x00],
|
||||
[0x3028, 0x00],
|
||||
[0x3029, 0xFF], // 状态寄存器
|
||||
[0x3000, 0x00], // 启动MCU
|
||||
[0x3004, 0xFF] // 使能中断
|
||||
};
|
||||
var result = await ConfigureRegisters(focusRegisters);
|
||||
if (!result.IsSuccessful) return result;
|
||||
|
||||
logger.Info("OV5640自动对焦功能初始化完成");
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 执行一次自动对焦
|
||||
/// </summary>
|
||||
/// <returns>对焦结果</returns>
|
||||
public async ValueTask<Result<bool>> PerformAutoFocus()
|
||||
{
|
||||
logger.Info("开始执行一次自动对焦");
|
||||
|
||||
// 步骤1: 将 0x3022 寄存器写为 0x03，开始单点对焦过程
|
||||
var focusCmdResult = await ConfigureRegisters([[0x3022, 0x03]]);
|
||||
if (!focusCmdResult.IsSuccessful)
|
||||
{
|
||||
logger.Error($"写入对焦命令失败: {focusCmdResult.Error}");
|
||||
return focusCmdResult;
|
||||
}
|
||||
|
||||
logger.Info("已发送单点对焦命令 (0x3022 = 0x03)");
|
||||
|
||||
// 步骤2: 读取寄存器 0x3029 的状态，如果返回值为 0x10，代表对焦已完成
|
||||
int iteration = 5000;
|
||||
byte focusStatus = 0x00;
|
||||
|
||||
do
|
||||
{
|
||||
var readResult = await ReadRegister(0x3029);
|
||||
if (!readResult.IsSuccessful)
|
||||
{
|
||||
logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");
|
||||
return new(readResult.Error);
|
||||
}
|
||||
|
||||
focusStatus = readResult.Value;
|
||||
|
||||
if (focusStatus == 0x10)
|
||||
{
|
||||
logger.Info("对焦已完成 (0x3029 = 0x10)");
|
||||
break;
|
||||
}
|
||||
|
||||
if (iteration-- == 0)
|
||||
{
|
||||
logger.Error($"自动对焦超时，状态: 0x{focusStatus:X2}");
|
||||
return new(new Exception($"自动对焦超时，状态: 0x{focusStatus:X2}"));
|
||||
}
|
||||
|
||||
await Task.Delay(10);
|
||||
}
|
||||
while (focusStatus != 0x10);
|
||||
|
||||
// 步骤3: 写寄存器 0x3022 为 0x06，暂停对焦过程，使镜头将保持在此对焦位置
|
||||
var pauseResult = await ConfigureRegisters([[0x3022, 0x06]]);
|
||||
if (!pauseResult.IsSuccessful)
|
||||
{
|
||||
logger.Error($"暂停对焦过程失败: {pauseResult.Error}");
|
||||
return pauseResult;
|
||||
}
|
||||
|
||||
logger.Info($"自动对焦完成并暂停，镜头保持在对焦位置，剩余迭代次数: {iteration}");
|
||||
return true;
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1030,4 +1030,98 @@ public class HttpVideoStreamService : BackgroundService
|
|||
(1280, 720, "1280x720 (HD)")
|
||||
};
|
||||
}
|
||||
|
||||
#region 自动对焦功能
|
||||
|
||||
/// <summary>
|
||||
/// 检查摄像头是否已配置
|
||||
/// </summary>
|
||||
/// <returns>是否已配置</returns>
|
||||
public bool IsCameraConfigured()
|
||||
{
|
||||
lock (_cameraLock)
|
||||
{
|
||||
return _camera != null && !string.IsNullOrEmpty(_cameraAddress);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 初始化摄像头自动对焦功能
|
||||
/// </summary>
|
||||
/// <returns>初始化结果</returns>
|
||||
public async Task<bool> InitAutoFocusAsync()
|
||||
{
|
||||
try
|
||||
{
|
||||
lock (_cameraLock)
|
||||
{
|
||||
if (_camera == null)
|
||||
{
|
||||
logger.Error("摄像头未配置，无法初始化自动对焦");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
logger.Info("开始初始化摄像头自动对焦功能");
|
||||
|
||||
var result = await _camera!.InitAutoFocus();
|
||||
|
||||
if (result.IsSuccessful && result.Value)
|
||||
{
|
||||
logger.Info("摄像头自动对焦功能初始化成功");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Error($"摄像头自动对焦功能初始化失败: {result.Error?.Message ?? "未知错误"}");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
logger.Error(ex, "初始化摄像头自动对焦功能时发生异常");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 执行摄像头自动对焦
|
||||
/// </summary>
|
||||
/// <returns>对焦结果</returns>
|
||||
public async Task<bool> PerformAutoFocusAsync()
|
||||
{
|
||||
try
|
||||
{
|
||||
lock (_cameraLock)
|
||||
{
|
||||
if (_camera == null)
|
||||
{
|
||||
logger.Error("摄像头未配置，无法执行自动对焦");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
logger.Info("开始执行摄像头自动对焦");
|
||||
|
||||
var result = await _camera!.PerformAutoFocus();
|
||||
|
||||
if (result.IsSuccessful && result.Value)
|
||||
{
|
||||
logger.Info("摄像头自动对焦执行成功");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Error($"摄像头自动对焦执行失败: {result.Error?.Message ?? "未知错误"}");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
logger.Error(ex, "执行摄像头自动对焦时发生异常");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue