1427 lines
68 KiB
C#
1427 lines
68 KiB
C#
using System.Net;
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using DotNext;
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using Peripherals.PowerClient;
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namespace Peripherals.CameraClient;
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static class CameraAddr
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{
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public const UInt32 BASE = 0x7000_0000;
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public const UInt32 DMA0_START_WRITE_ADDR = BASE + 0x0C;
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public const UInt32 DMA0_END_WRITE_ADDR = BASE + 0x0D;
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public const UInt32 DMA0_CAPTURE_CTRL = BASE + 0x0E; //[0]: on, 1 is on. [8]: reset, 1 is reset.
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public const UInt32 EXPECTED_VH = BASE + 0x0F;
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public const UInt32 CAMERA_POWER = BASE + 0x10; //[0]: rstn, 0 is reset. [8]: power down, 1 is down.
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}
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class Camera
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 2000;
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readonly int taskID;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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const uint CAM_I2C_ADDR = 0x3C;
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const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.SCCB;
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const byte PLL_MUX = 105;
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const UInt32 FrameAddr = 0x00;
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// 动态分辨率参数
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private UInt16 _currentWidth = 640;
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private UInt16 _currentHeight = 480;
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private UInt32 _currentFrameLength = 640 * 480 * 2 / 4; // RGB565格式，2字节/像素，按4字节对齐
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/// <summary>
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/// 初始化摄像头客户端
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/// </summary>
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/// <param name="address">摄像头设备IP地址</param>
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/// <param name="port">摄像头设备端口</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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public Camera(string address, int port, int timeout = 2000)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.timeout = timeout;
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}
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public async ValueTask<Result<bool>> Init()
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{
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await PowerHardwareCamera(true);
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await SleepHardwareCamera(false);
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// 步骤1: 复位
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var resetResult = await Reset();
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if (!resetResult.IsSuccessful) return resetResult;
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var wakeupResult = await Sleep();
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if (!wakeupResult.IsSuccessful) return wakeupResult;
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// 步骤3: 配置基础寄存器
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var basicResult = await ConfigureBasicRegisters();
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if (!basicResult.IsSuccessful) return basicResult;
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// 步骤4: 配置传感器控制
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var sensorResult = await ConfigureSensorControl();
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if (!sensorResult.IsSuccessful) return sensorResult;
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// 步骤5: 配置模拟控制
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var analogResult = await ConfigureAnalogControl();
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if (!analogResult.IsSuccessful) return analogResult;
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// 步骤6: 配置时钟控制
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var clockResult = await ConfigureClockControl();
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if (!clockResult.IsSuccessful) return clockResult;
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// 步骤7: 配置PSRAM控制
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var psramResult = await ConfigurePSRAMControl();
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if (!psramResult.IsSuccessful) return psramResult;
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// 步骤8: 配置DVP时序
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var dvpResult = await ConfigureDVPTiming();
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if (!dvpResult.IsSuccessful) return dvpResult;
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// 步骤9: 配置基础控制
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var baseResult = await ConfigureBaseControl();
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if (!baseResult.IsSuccessful) return baseResult;
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// 步骤10: 配置图像格式
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var formatResult = await ConfigureImageFormat();
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if (!formatResult.IsSuccessful) return formatResult;
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// 步骤11: 配置ISP控制
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var ispResult = await ConfigureISPControl();
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if (!ispResult.IsSuccessful) return ispResult;
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// 步骤12: 配置AEC
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var aecResult = await ConfigureAEC();
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if (!aecResult.IsSuccessful) return aecResult;
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// 步骤13: 配置LENC
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var lencResult = await ConfigureLENC();
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if (!lencResult.IsSuccessful) return lencResult;
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// 步骤14: 配置AWB
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var awbResult = await ConfigureAWB();
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if (!awbResult.IsSuccessful) return awbResult;
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// 步骤15: 配置Gamma
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var gammaResult = await ConfigureGamma();
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if (!gammaResult.IsSuccessful) return gammaResult;
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// 步骤16: 配置CMX
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var cmxResult = await ConfigureCMX();
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if (!cmxResult.IsSuccessful) return cmxResult;
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// 步骤17: 配置SDE
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var sdeResult = await ConfigureSDE();
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if (!sdeResult.IsSuccessful) return sdeResult;
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// 步骤18: 配置CIP
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var cipResult = await ConfigureCIP();
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if (!cipResult.IsSuccessful) return cipResult;
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// 步骤19: 配置时序控制
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var timingResult = await ConfigureTimingControl();
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if (!timingResult.IsSuccessful) return timingResult;
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// 步骤20: 配置测试和闪光灯
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var testResult = await ConfigureTestAndFlash();
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if (!testResult.IsSuccessful) return testResult;
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// 步骤21: 配置分辨率（默认640x480）
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var resolutionResult = await ConfigureResolution640x480();
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// var resolutionResult = await ConfigureResolution1280x720();
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if (!resolutionResult.IsSuccessful) return resolutionResult;
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// var autofocusResult = await InitAutoFocus();
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// if (!autofocusResult.IsSuccessful) return autofocusResult;
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var startResult = await WakeUp();
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if (!startResult.IsSuccessful) return startResult;
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// var sleepResult = await Sleep();
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// if (!sleepResult.IsSuccessful) return sleepResult;
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// var resetResult2 = await Reset();
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// if (!resetResult2.IsSuccessful) return resetResult2;
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return true;
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}
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public async ValueTask<Result<bool>> EnableHardwareTrans(bool isEnable)
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.DMA0_CAPTURE_CTRL, (isEnable ? 0x00000001u : 0x00000100u));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write CAPTURE_ON to camera at {this.address}:{this.port}, error: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"CAPTURE_ON write returned false for camera at {this.address}:{this.port}");
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return false;
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}
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return true;
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}
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public async ValueTask<Result<bool>> PowerHardwareCamera(bool isEnable)
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{
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, (isEnable ? 0x00000001u : 0x00000000u));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("STORE_ADDR write returned false");
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return new(new Exception("STORE_ADDR write returned false"));
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}
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}
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await Task.Delay(5); // 确保硬件状态稳定
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return true;
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}
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public async ValueTask<Result<bool>> SleepHardwareCamera(bool isEnable)
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{
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, (isEnable ? 0x00000101u : 0x00000001u));
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if (!ret.IsSuccessful)
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{
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logger.Error($"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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await Task.Delay(5);
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return true;
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}
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/// <summary>
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/// 读取一帧图像数据
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/// </summary>
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/// <returns>包含图像数据的字节数组</returns>
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public async ValueTask<Result<byte[]>> ReadFrame()
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{
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// 只在第一次或出错时清除UDP缓冲区，避免每帧都清除造成延迟
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// MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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logger.Trace($"Reading frame from camera {this.address}");
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// 使用UDPClientPool读取图像帧数据
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var result = await UDPClientPool.ReadAddr4BytesAsync(
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this.ep,
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this.taskID, // taskID
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FrameAddr,
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(int)_currentFrameLength, // 使用当前分辨率的动态大小
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this.timeout);
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if (!result.IsSuccessful)
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{
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logger.Error($"Failed to read frame from camera {this.address}:{this.port}, error: {result.Error}");
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// 读取失败时清除缓冲区，为下次读取做准备
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try
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{
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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}
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catch (Exception ex)
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{
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logger.Warn($"Failed to clear UDP data after read error: {ex.Message}");
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}
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return new(result.Error);
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}
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logger.Trace($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
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return result.Value;
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}
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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，每个元素格式为：[16位寄存器地址, 数据1, 数据2, ...]，数据按地址递增写入</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(UInt16[][] registerTable, int? customDelayMs = null)
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{
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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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 < 2)
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{
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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 baseAddress = cmd[0];
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logger.Debug($"ConfigureRegisters: 配置寄存器组，基地址=0x{baseAddress:X4}, 数据数量={cmd.Length - 1}");
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// 为每个数据字节单独写入到连续地址
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for (int i = 1; i < cmd.Length; i++)
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{
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var currentAddress = (UInt16)(baseAddress + i - 1);
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var data = (byte)cmd[i];
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logger.Debug($"ConfigureRegisters: 写入地址=0x{currentAddress:X4}, 数据=0x{data:X2}");
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// 准备I2C数据：16位地址 + 8位数据
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var i2cData = new byte[3];
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i2cData[0] = (byte)(currentAddress >> 8); // 地址高位
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i2cData[1] = (byte)(currentAddress & 0xFF); // 地址低位
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i2cData[2] = data; // 数据
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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($"I2C write 0x{CAM_I2C_ADDR:X} failed: Address=0x{currentAddress:X4}, Data=0x{data:X2}, error: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"I2C write 0x{CAM_I2C_ADDR:X} returned false: Address=0x{currentAddress:X4}, Data=0x{data:X2}");
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return false;
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}
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// 处理延时逻辑
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if (customDelayMs.HasValue)
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{
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await Task.Delay(customDelayMs.Value);
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}
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else
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{
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await Task.Delay(1); // 1ms延时
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}
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}
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}
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return true;
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}
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/// <summary>
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/// 读取I2C寄存器字节值
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/// </summary>
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/// <param name="register">要读取的寄存器地址 (16位)</param>
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/// <returns>ret</returns>
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public async ValueTask<Result<byte>> ReadRegister(UInt16 register)
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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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// Convert 16-bit register address to byte array
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var registerBytes = new byte[] { (byte)(register >> 8), (byte)(register & 0xFF) };
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var ret = await i2c.ReadData(CAM_I2C_ADDR, registerBytes, 1, CAM_PROTO);
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if (!ret.IsSuccessful)
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return new(ret.Error);
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return new Result<byte>(ret.Value[0]);
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}
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/// <summary>
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/// 配置摄像头分辨率和相关参数
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/// </summary>
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/// <param name="hStart">水平起始位置</param>
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/// <param name="vStart">垂直起始位置</param>
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/// <param name="dvpHo">输出水平像素数</param>
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/// <param name="dvpVo">输出垂直像素数</param>
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/// <param name="hts">水平总像素数</param>
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/// <param name="vts">垂直总像素数</param>
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/// <param name="hOffset">水平偏移</param>
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/// <param name="vOffset">垂直偏移</param>
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/// <param name="hWindow">水平窗口大小（默认1500）</param>
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/// <param name="vWindow">垂直窗口大小（默认1300）</param>
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureResolution(
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UInt16 hStart, UInt16 vStart,
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UInt16 dvpHo, UInt16 dvpVo,
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UInt16 hts, UInt16 vts,
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UInt16 hOffset, UInt16 vOffset,
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UInt16 hWindow = 1500, UInt16 vWindow = 1300)
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{
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// 计算结束位置
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UInt16 hEnd = (UInt16)(hStart + hWindow - 1);
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UInt16 vEnd = (UInt16)(vStart + vWindow - 1);
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// 计算帧长度
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UInt32 frameLength = (UInt32)(dvpHo * dvpVo * 16 / 32);
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// 1. 配置UDP相关寄存器
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.DMA0_START_WRITE_ADDR, FrameAddr);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("STORE_ADDR write returned false");
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return new(new Exception("STORE_ADDR write returned false"));
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}
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}
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.DMA0_END_WRITE_ADDR, FrameAddr + frameLength - 1);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write STORE_NUM: {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_NUM write returned false");
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return new(new Exception("STORE_NUM write returned false"));
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}
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}
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.EXPECTED_VH, ((uint)dvpVo) << 16 | ((uint)dvpHo * 2));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write EXPECTED_VH: {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("EXPECTED_VH write returned false");
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return new(new Exception("EXPECTED_VH write returned false"));
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}
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}
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// 2. 配置I2C寄存器
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var resolutionRegisters = new UInt16[][]
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{
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// H_START/V_START
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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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[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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[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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[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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// H_OFFSET/V_OFFSET
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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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// Timing Voffset
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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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if (!configResult.IsSuccessful)
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{
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logger.Error($"Failed to configure resolution registers: {configResult.Error}");
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return configResult;
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}
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logger.Info($"Successfully configured resolution: {dvpHo}x{dvpVo}, HTS={hts}, VTS={vts}");
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return true;
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}
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/// <summary>
|
||
/// 配置为640x480分辨率（默认配置）
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureResolution640x480()
|
||
{
|
||
return await ConfigureResolution(
|
||
hStart: 0, vStart: 0,
|
||
dvpHo: 640, dvpVo: 480,
|
||
hts: 1700, vts: 1500,
|
||
hOffset: 16, vOffset: 4
|
||
);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置为320x240分辨率
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureResolution320x240()
|
||
{
|
||
return await ConfigureResolution(
|
||
hStart: 0, vStart: 0,
|
||
dvpHo: 320, dvpVo: 240,
|
||
hts: 850, vts: 750,
|
||
hOffset: 16, vOffset: 4,
|
||
hWindow: 750, vWindow: 650
|
||
);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置为1280x720分辨率
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureResolution1280x720()
|
||
{
|
||
return await ConfigureResolution(
|
||
hStart: 0, vStart: 250,
|
||
dvpHo: 1280, dvpVo: 720,
|
||
hts: 2844, vts: 1968,
|
||
hOffset: 16, vOffset: 4,
|
||
hWindow: 2624, vWindow: 1456
|
||
);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置为1280x720分辨率
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureResolution1280x960()
|
||
{
|
||
return await ConfigureResolution(
|
||
hStart: 0, vStart: 250,
|
||
dvpHo: 1280, dvpVo: 960,
|
||
hts: 2844, vts: 1968,
|
||
hOffset: 16, vOffset: 4,
|
||
hWindow: 2624, vWindow: 1456
|
||
);
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置为1920x1080分辨率
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureResolution1920x1080()
|
||
{
|
||
return await ConfigureResolution(
|
||
hStart: 0, vStart: 250,
|
||
dvpHo: 1920, dvpVo: 1080,
|
||
hts: 2844, vts: 1968,
|
||
hOffset: 16, vOffset: 4,
|
||
hWindow: 2624, vWindow: 1456
|
||
);
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 切换摄像头分辨率
|
||
/// </summary>
|
||
/// <param name="width">宽度</param>
|
||
/// <param name="height">高度</param>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ChangeResolution(int width, int height)
|
||
{
|
||
try
|
||
{
|
||
// await WakeUp();
|
||
logger.Info($"正在切换摄像头分辨率到 {width}x{height}");
|
||
|
||
Result<bool> result;
|
||
switch ($"{width}x{height}")
|
||
{
|
||
case "640x480":
|
||
result = await ConfigureResolution640x480();
|
||
break;
|
||
case "1280x720":
|
||
result = await ConfigureResolution1280x720();
|
||
break;
|
||
case "1280x960":
|
||
result = await ConfigureResolution1280x960();
|
||
break;
|
||
case "1920x1080":
|
||
result = await ConfigureResolution1920x1080();
|
||
break;
|
||
default:
|
||
logger.Error($"不支持的分辨率: {width}x{height}");
|
||
return new(new ArgumentException($"不支持的分辨率: {width}x{height}"));
|
||
}
|
||
|
||
if (result.IsSuccessful)
|
||
{
|
||
_currentWidth = (UInt16)width;
|
||
_currentHeight = (UInt16)height;
|
||
_currentFrameLength = (UInt32)(width * height * 2 / 4); // RGB565格式，按4字节对齐
|
||
logger.Info($"摄像头分辨率已切换到 {width}x{height}");
|
||
}
|
||
// await Sleep();
|
||
return result;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
logger.Error(ex, $"切换分辨率到 {width}x{height} 时发生错误");
|
||
return new(ex);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前分辨率
|
||
/// </summary>
|
||
/// <returns>当前分辨率(宽度, 高度)</returns>
|
||
public (int Width, int Height) GetCurrentResolution()
|
||
{
|
||
return (_currentWidth, _currentHeight);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前帧长度
|
||
/// </summary>
|
||
/// <returns>当前帧长度</returns>
|
||
public UInt32 GetCurrentFrameLength()
|
||
{
|
||
return _currentFrameLength;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 复位摄像头
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> Reset()
|
||
{
|
||
var resetRegisters = new UInt16[][]
|
||
{
|
||
[0x3103, 0x11],// system clock from pad, bit[1]
|
||
[0x3008, 0x82] // 复位命令
|
||
};
|
||
|
||
return await ConfigureRegisters(resetRegisters, customDelayMs: 50); // 复位后等待5ms
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置摄像头为休眠模式
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> Sleep()
|
||
{
|
||
var sleepRegisters = new UInt16[][]
|
||
{
|
||
[0x3008, 0x42] // 休眠命令
|
||
};
|
||
|
||
return await ConfigureRegisters(sleepRegisters, customDelayMs: 50);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置基础寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureBasicRegisters()
|
||
{
|
||
var basicRegisters = new UInt16[][]
|
||
{
|
||
[0x3103, 0x03], // system clock from pad, bit[1] //02
|
||
[0x3017, 0xff],
|
||
[0x3018, 0xff],
|
||
[0x3037, 0x13],
|
||
[0x3108, 0x01]
|
||
};
|
||
|
||
return await ConfigureRegisters(basicRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置传感器控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureSensorControl()
|
||
{
|
||
var sensorRegisters = new UInt16[][]
|
||
{
|
||
[0x3630, 0x36],
|
||
[0x3631, 0x0e],
|
||
[0x3632, 0xe2],
|
||
[0x3633, 0x12],
|
||
[0x3621, 0xe0]
|
||
};
|
||
|
||
return await ConfigureRegisters(sensorRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置模拟控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureAnalogControl()
|
||
{
|
||
var analogRegisters = new UInt16[][]
|
||
{
|
||
[0x3704, 0xa0],
|
||
[0x3703, 0x5a],
|
||
[0x3715, 0x78],
|
||
[0x3717, 0x01],
|
||
[0x370b, 0x60],
|
||
[0x3705, 0x1a]
|
||
};
|
||
|
||
return await ConfigureRegisters(analogRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置时钟控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureClockControl()
|
||
{
|
||
var clockRegisters = new UInt16[][]
|
||
{
|
||
[0x3905, 0x02],
|
||
[0x3906, 0x10],
|
||
[0x3901, 0x0a]
|
||
};
|
||
|
||
return await ConfigureRegisters(clockRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置PSRAM控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigurePSRAMControl()
|
||
{
|
||
var psramRegisters = new UInt16[][]
|
||
{
|
||
[0x3731, 0x12],
|
||
[0x3600, 0x08],
|
||
[0x3601, 0x33],
|
||
[0x302d, 0x60],
|
||
[0x3620, 0x52],
|
||
[0x371b, 0x20],
|
||
[0x471c, 0x50]
|
||
};
|
||
|
||
return await ConfigureRegisters(psramRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置DVP时序寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureDVPTiming()
|
||
{
|
||
var dvpRegisters = new UInt16[][]
|
||
{
|
||
[0x3a13, 0x43],
|
||
[0x3a18, 0x00],
|
||
[0x3a19, 0xf8],
|
||
[0x3635, 0x13],
|
||
[0x3636, 0x03],
|
||
[0x3634, 0x40],
|
||
[0x3622, 0x01]
|
||
};
|
||
|
||
return await ConfigureRegisters(dvpRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置基础控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureBaseControl()
|
||
{
|
||
var baseRegisters = new UInt16[][]
|
||
{
|
||
[0x3c01, 0x34],
|
||
[0x3c04, 0x28],
|
||
[0x3c05, 0x98],
|
||
[0x3c06, 0x00],
|
||
[0x3c07, 0x07],
|
||
[0x3c08, 0x00],
|
||
[0x3c09, 0x1c],
|
||
[0x3c0a, 0x9c],
|
||
[0x3c0b, 0x40],
|
||
[0x3708, 0x64]
|
||
};
|
||
|
||
return await ConfigureRegisters(baseRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置图像格式寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureImageFormat()
|
||
{
|
||
var formatRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置ISP控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureISPControl()
|
||
{
|
||
var ispRegisters = new UInt16[][]
|
||
{
|
||
[0x5000, 0xA7], // ISP控制
|
||
[0x5001, 0xA3] // ISP控制
|
||
};
|
||
|
||
return await ConfigureRegisters(ispRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置AEC（自动曝光控制）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureAEC()
|
||
{
|
||
var aecRegisters = new UInt16[][]
|
||
{
|
||
[0x3a0f, 0x30], // AEC控制;stable range in high //78
|
||
[0x3a10, 0x28], // AEC控制;stable range in low //68
|
||
[0x3a1b, 0x30], // AEC控制;stable range out high //78
|
||
[0x3a1e, 0x26], // AEC控制;stable range out low //68
|
||
[0x3a11, 0x60], // AEC控制; fast zone high //D0
|
||
[0x3a1f, 0x14], // AEC控制; fast zone low //40
|
||
[0x3b07, 0x0a] // 帧曝光模式
|
||
};
|
||
|
||
return await ConfigureRegisters(aecRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置LENC（镜头校正）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureLENC()
|
||
{
|
||
var lencRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置摄像头AWB（自动白平衡）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureAWB()
|
||
{
|
||
var awbRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置摄像头Gamma校正寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureGamma()
|
||
{
|
||
var gammaRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 配置CMX（色彩矩阵）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureCMX()
|
||
{
|
||
var cmxRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置SDE（特殊数字效果）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureSDE()
|
||
{
|
||
var sdeRegisters = new UInt16[][]
|
||
{
|
||
[0x5580, 0x06], [0x5583, 0x40], [0x5584, 0x10],
|
||
[0x5589, 0x10], [0x558a, 0x00], [0x558b, 0xf8],
|
||
[0x501d, 0x40]
|
||
};
|
||
|
||
return await ConfigureRegisters(sdeRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置CIP（颜色插值处理）寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureCIP()
|
||
{
|
||
var cipRegisters = new UInt16[][]
|
||
{
|
||
[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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置时序控制寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureTimingControl()
|
||
{
|
||
var timingRegisters = new UInt16[][]
|
||
{
|
||
[0x3035, 0x21], // 60fps
|
||
[0x3036, PLL_MUX],// PLL倍频
|
||
[0x3c07, 0x08],
|
||
[0x3820, 0x40], // vflip
|
||
[0x3821, 0x01], // mirror
|
||
[0x3814, 0x11], // timing X inc
|
||
[0x3815, 0x11] // timing Y inc
|
||
};
|
||
|
||
return await ConfigureRegisters(timingRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 配置测试模式和闪光灯寄存器
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> ConfigureTestAndFlash()
|
||
{
|
||
var testRegisters = new UInt16[][]
|
||
{
|
||
[0x3618, 0x00],
|
||
[0x3612, 0x29],
|
||
[0x3709, 0x52],
|
||
[0x370c, 0x03],
|
||
[0x4004, 0x02], // BLC(背光) 2 lines
|
||
[0x4713, 0x03], // JPEG mode 3
|
||
[0x4407, 0x04], // 量化标度
|
||
[0x460c, 0x00],
|
||
[0x3a02, 0x17], // 60Hz max exposure
|
||
[0x3a03, 0x10], // 60Hz max exposure
|
||
[0x3a14, 0x17], // 50Hz max exposure
|
||
[0x3a15, 0x10], // 50Hz max exposure
|
||
[0x4837, 0x22], // DVP CLK divider
|
||
[0x3824, 0x02], // DVP CLK divider
|
||
// 彩条测试禁用
|
||
[0x503d, 0x00],
|
||
[0x4741, 0x00],
|
||
// 闪光灯配置
|
||
[0x3016, 0x02],
|
||
[0x301c, 0x02],
|
||
[0x3019, 0x02], // 开启闪光灯
|
||
[0x3019, 0x00] // 关闭闪光灯
|
||
};
|
||
|
||
return await ConfigureRegisters(testRegisters);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始流媒体传输
|
||
/// </summary>
|
||
/// <returns>配置结果</returns>
|
||
public async ValueTask<Result<bool>> WakeUp()
|
||
{
|
||
var startRegisters = new UInt16[][]
|
||
{
|
||
[0x3008, 0x02] // 开始流
|
||
};
|
||
|
||
return await ConfigureRegisters(startRegisters, customDelayMs: 50);
|
||
}
|
||
|
||
#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, 0x0f, 0xd6, 0x02, 0x0a, 0x39, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0xb2, 0xe5, 0x1f, //0x8000,
|
||
0x70, 0x72, 0xf5, 0x1e, 0xd2, 0x35, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xe4, 0xf6, 0x08, //0x8010,
|
||
0xf6, 0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x93, 0xe4, 0x93, 0xff, 0xe5, 0x4b, 0xc3, 0x9f, 0x50, //0x8020,
|
||
0x04, 0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbd, 0xa6, 0x07, 0x12, 0x0f, 0x04, 0x40, 0x04, //0x8030,
|
||
0x7f, 0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xbc, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78, //0x8040,
|
||
0xb9, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xbf, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78, //0x8050,
|
||
0xb8, 0x76, 0x01, 0x75, 0x4a, 0x02, 0x78, 0xb6, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xc1, 0xf6, //0x8060,
|
||
0x08, 0xf6, 0x75, 0x1f, 0x01, 0x78, 0xbc, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x4b, 0x12, 0x0a, //0x8070,
|
||
0xff, 0xc2, 0x37, 0x22, 0x78, 0xb8, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f, //0x8080,
|
||
0xb4, 0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78, //0x8090,
|
||
0x4e, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x37, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0, //0x80a0,
|
||
0x75, 0x1e, 0x10, 0xd2, 0x35, 0x22, 0xe5, 0x4b, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xbc, 0xf6, 0x90, //0x80b0,
|
||
0x0e, 0x8c, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78, //0x80c0,
|
||
0xbc, 0xe6, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0f, 0x0b, //0x80d0,
|
||
0xd3, 0x78, 0xb7, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, //0x80e0,
|
||
0xb6, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0x12, 0x0f, 0x0b, 0xc3, 0x78, //0x80f0,
|
||
0xc2, 0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xbc, 0xe6, 0x78, 0xba, 0xf6, 0x78, 0xc1, 0xa6, //0x8100,
|
||
0x06, 0x08, 0xa6, 0x07, 0x78, 0xb6, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc2, 0x96, 0xff, 0xee, //0x8110,
|
||
0x18, 0x96, 0x78, 0xc3, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x95, 0xe4, 0x18, 0x12, 0x0e, 0xe9, //0x8120,
|
||
0x40, 0x02, 0xd2, 0x37, 0x78, 0xbc, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70, //0x8130,
|
||
0x4a, 0xe6, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xdf, 0x40, 0x05, 0x12, 0x0e, 0xda, 0x40, 0x39, 0x12, //0x8140,
|
||
0x0f, 0x02, 0x40, 0x04, 0x7f, 0xfe, 0x80, 0x02, 0x7f, 0x02, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9, //0x8150,
|
||
0xe6, 0x24, 0x03, 0x78, 0xbf, 0xf6, 0x78, 0xb9, 0xe6, 0x24, 0xfd, 0x78, 0xc0, 0xf6, 0x12, 0x0f, //0x8160,
|
||
0x02, 0x40, 0x06, 0x78, 0xc0, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbf, 0xe6, 0xff, 0x78, 0xbe, 0xa6, //0x8170,
|
||
0x07, 0x75, 0x1f, 0x02, 0x78, 0xb8, 0x76, 0x01, 0x02, 0x02, 0x4a, 0xe5, 0x1f, 0x64, 0x02, 0x60, //0x8180,
|
||
0x03, 0x02, 0x02, 0x2a, 0x78, 0xbe, 0xe6, 0xff, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xe0, 0x40, 0x08, //0x8190,
|
||
0x12, 0x0e, 0xda, 0x50, 0x03, 0x02, 0x02, 0x28, 0x12, 0x0f, 0x02, 0x40, 0x04, 0x7f, 0xff, 0x80, //0x81a0,
|
||
0x02, 0x7f, 0x01, 0x78, 0xbd, 0xa6, 0x07, 0x78, 0xb9, 0xe6, 0x04, 0x78, 0xbf, 0xf6, 0x78, 0xb9, //0x81b0,
|
||
0xe6, 0x14, 0x78, 0xc0, 0xf6, 0x18, 0x12, 0x0f, 0x04, 0x40, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, //0x81c0,
|
||
0x00, 0x78, 0xbf, 0xa6, 0x07, 0xd3, 0x08, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0xe6, 0xff, //0x81d0,
|
||
0x80, 0x02, 0x7f, 0x00, 0x78, 0xc0, 0xa6, 0x07, 0xc3, 0x18, 0xe6, 0x64, 0x80, 0x94, 0xb3, 0x50, //0x81e0,
|
||
0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xbf, 0xa6, 0x07, 0xc3, 0x08, 0xe6, 0x64, 0x80, //0x81f0,
|
||
0x94, 0xb3, 0x50, 0x04, 0xe6, 0xff, 0x80, 0x02, 0x7f, 0x33, 0x78, 0xc0, 0xa6, 0x07, 0x12, 0x0f, //0x8200,
|
||
0x02, 0x40, 0x06, 0x78, 0xc0, 0xe6, 0xff, 0x80, 0x04, 0x78, 0xbf, 0xe6, 0xff, 0x78, 0xbe, 0xa6, //0x8210,
|
||
0x07, 0x75, 0x1f, 0x03, 0x78, 0xb8, 0x76, 0x01, 0x80, 0x20, 0xe5, 0x1f, 0x64, 0x03, 0x70, 0x26, //0x8220,
|
||
0x78, 0xbe, 0xe6, 0xff, 0xc3, 0x78, 0xc0, 0x12, 0x0e, 0xe0, 0x40, 0x05, 0x12, 0x0e, 0xda, 0x40, //0x8230,
|
||
0x09, 0x78, 0xb9, 0xe6, 0x78, 0xbe, 0xf6, 0x75, 0x1f, 0x04, 0x78, 0xbe, 0xe6, 0x75, 0xf0, 0x05, //0x8240,
|
||
0xa4, 0xf5, 0x4b, 0x02, 0x0a, 0xff, 0xe5, 0x1f, 0xb4, 0x04, 0x10, 0x90, 0x0e, 0x94, 0xe4, 0x78, //0x8250,
|
||
0xc3, 0x12, 0x0e, 0xe9, 0x40, 0x02, 0xd2, 0x37, 0x75, 0x1f, 0x05, 0x22, 0x30, 0x01, 0x03, 0x02, //0x8260,
|
||
0x04, 0xc0, 0x30, 0x02, 0x03, 0x02, 0x04, 0xc0, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0x93, 0xf6, 0xa3, //0x8270,
|
||
0xe0, 0x08, 0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xe5, 0x1f, 0x70, 0x3c, 0x75, 0x1e, 0x20, 0xd2, 0x35, //0x8280,
|
||
0x12, 0x0c, 0x7a, 0x78, 0x7e, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0x8b, 0xa6, 0x09, 0x18, 0x76, //0x8290,
|
||
0x01, 0x12, 0x0c, 0x5b, 0x78, 0x4e, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0x8b, 0xe6, 0x78, 0x6e, //0x82a0,
|
||
0xf6, 0x75, 0x1f, 0x01, 0x78, 0x93, 0xe6, 0x78, 0x90, 0xf6, 0x78, 0x94, 0xe6, 0x78, 0x91, 0xf6, //0x82b0,
|
||
0x78, 0x95, 0xe6, 0x78, 0x92, 0xf6, 0x22, 0x79, 0x90, 0xe7, 0xd3, 0x78, 0x93, 0x96, 0x40, 0x05, //0x82c0,
|
||
0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0x93, 0xe7, 0x78, 0x90, 0x96, 0xff, 0x78, 0x88, 0x76, //0x82d0,
|
||
0x00, 0x08, 0xa6, 0x07, 0x79, 0x91, 0xe7, 0xd3, 0x78, 0x94, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, //0x82e0,
|
||
0x80, 0x08, 0xc3, 0x79, 0x94, 0xe7, 0x78, 0x91, 0x96, 0xff, 0x12, 0x0c, 0x8e, 0x79, 0x92, 0xe7, //0x82f0,
|
||
0xd3, 0x78, 0x95, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0x95, 0xe7, 0x78, //0x8300,
|
||
0x92, 0x96, 0xff, 0x12, 0x0c, 0x8e, 0x12, 0x0c, 0x5b, 0x78, 0x8a, 0xe6, 0x25, 0xe0, 0x24, 0x4e, //0x8310,
|
||
0xf8, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x78, 0x8a, 0xe6, 0x24, 0x6e, 0xf8, 0xa6, 0x09, 0x78, 0x8a, //0x8320,
|
||
0xe6, 0x24, 0x01, 0xff, 0xe4, 0x33, 0xfe, 0xd3, 0xef, 0x94, 0x0f, 0xee, 0x64, 0x80, 0x94, 0x80, //0x8330,
|
||
0x40, 0x04, 0x7f, 0x00, 0x80, 0x05, 0x78, 0x8a, 0xe6, 0x04, 0xff, 0x78, 0x8a, 0xa6, 0x07, 0xe5, //0x8340,
|
||
0x1f, 0xb4, 0x01, 0x0a, 0xe6, 0x60, 0x03, 0x02, 0x04, 0xc0, 0x75, 0x1f, 0x02, 0x22, 0x12, 0x0c, //0x8350,
|
||
0x7a, 0x78, 0x80, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x12, 0x0c, 0x7a, 0x78, 0x82, 0xa6, 0x06, 0x08, //0x8360,
|
||
0xa6, 0x07, 0x78, 0x6e, 0xe6, 0x78, 0x8c, 0xf6, 0x78, 0x6e, 0xe6, 0x78, 0x8d, 0xf6, 0x7f, 0x01, //0x8370,
|
||
0xef, 0x25, 0xe0, 0x24, 0x4f, 0xf9, 0xc3, 0x78, 0x81, 0xe6, 0x97, 0x18, 0xe6, 0x19, 0x97, 0x50, //0x8380,
|
||
0x0a, 0x12, 0x0c, 0x82, 0x78, 0x80, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x6e, 0x2f, 0xf9, 0x78, //0x8390,
|
||
0x8c, 0xe6, 0xc3, 0x97, 0x50, 0x08, 0x74, 0x6e, 0x2f, 0xf8, 0xe6, 0x78, 0x8c, 0xf6, 0xef, 0x25, //0x83a0,
|
||
0xe0, 0x24, 0x4f, 0xf9, 0xd3, 0x78, 0x83, 0xe6, 0x97, 0x18, 0xe6, 0x19, 0x97, 0x40, 0x0a, 0x12, //0x83b0,
|
||
0x0c, 0x82, 0x78, 0x82, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x6e, 0x2f, 0xf9, 0x78, 0x8d, 0xe6, //0x83c0,
|
||
0xd3, 0x97, 0x40, 0x08, 0x74, 0x6e, 0x2f, 0xf8, 0xe6, 0x78, 0x8d, 0xf6, 0x0f, 0xef, 0x64, 0x10, //0x83d0,
|
||
0x70, 0x9e, 0xc3, 0x79, 0x81, 0xe7, 0x78, 0x83, 0x96, 0xff, 0x19, 0xe7, 0x18, 0x96, 0x78, 0x84, //0x83e0,
|
||
0xf6, 0x08, 0xa6, 0x07, 0xc3, 0x79, 0x8c, 0xe7, 0x78, 0x8d, 0x96, 0x08, 0xf6, 0xd3, 0x79, 0x81, //0x83f0,
|
||
0xe7, 0x78, 0x7f, 0x96, 0x19, 0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, //0x8400,
|
||
0x79, 0x7f, 0xe7, 0x78, 0x81, 0x96, 0xff, 0x19, 0xe7, 0x18, 0x96, 0xfe, 0x78, 0x86, 0xa6, 0x06, //0x8410,
|
||
0x08, 0xa6, 0x07, 0x79, 0x8c, 0xe7, 0xd3, 0x78, 0x8b, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, //0x8420,
|
||
0x08, 0xc3, 0x79, 0x8b, 0xe7, 0x78, 0x8c, 0x96, 0xff, 0x78, 0x8f, 0xa6, 0x07, 0xe5, 0x1f, 0x64, //0x8430,
|
||
0x02, 0x70, 0x69, 0x90, 0x0e, 0x91, 0x93, 0xff, 0x18, 0xe6, 0xc3, 0x9f, 0x50, 0x72, 0x12, 0x0c, //0x8440,
|
||
0x4a, 0x12, 0x0c, 0x2f, 0x90, 0x0e, 0x8e, 0x12, 0x0c, 0x38, 0x78, 0x80, 0x12, 0x0c, 0x6b, 0x7b, //0x8450,
|
||
0x04, 0x12, 0x0c, 0x1d, 0xc3, 0x12, 0x06, 0x45, 0x50, 0x56, 0x90, 0x0e, 0x92, 0xe4, 0x93, 0xff, //0x8460,
|
||
0x78, 0x8f, 0xe6, 0x9f, 0x40, 0x02, 0x80, 0x11, 0x90, 0x0e, 0x90, 0xe4, 0x93, 0xff, 0xd3, 0x78, //0x8470,
|
||
0x89, 0xe6, 0x9f, 0x18, 0xe6, 0x94, 0x00, 0x40, 0x03, 0x75, 0x1f, 0x05, 0x12, 0x0c, 0x4a, 0x12, //0x8480,
|
||
0x0c, 0x2f, 0x90, 0x0e, 0x8f, 0x12, 0x0c, 0x38, 0x78, 0x7e, 0x12, 0x0c, 0x6b, 0x7b, 0x40, 0x12, //0x8490,
|
||
0x0c, 0x1d, 0xd3, 0x12, 0x06, 0x45, 0x40, 0x18, 0x75, 0x1f, 0x05, 0x22, 0xe5, 0x1f, 0xb4, 0x05, //0x84a0,
|
||
0x0f, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, 0x33, 0xd2, 0x36, //0x84b0,
|
||
0x22, 0xef, 0x8d, 0xf0, 0xa4, 0xa8, 0xf0, 0xcf, 0x8c, 0xf0, 0xa4, 0x28, 0xce, 0x8d, 0xf0, 0xa4, //0x84c0,
|
||
0x2e, 0xfe, 0x22, 0xbc, 0x00, 0x0b, 0xbe, 0x00, 0x29, 0xef, 0x8d, 0xf0, 0x84, 0xff, 0xad, 0xf0, //0x84d0,
|
||
0x22, 0xe4, 0xcc, 0xf8, 0x75, 0xf0, 0x08, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xec, 0x33, 0xfc, //0x84e0,
|
||
0xee, 0x9d, 0xec, 0x98, 0x40, 0x05, 0xfc, 0xee, 0x9d, 0xfe, 0x0f, 0xd5, 0xf0, 0xe9, 0xe4, 0xce, //0x84f0,
|
||
0xfd, 0x22, 0xed, 0xf8, 0xf5, 0xf0, 0xee, 0x84, 0x20, 0xd2, 0x1c, 0xfe, 0xad, 0xf0, 0x75, 0xf0, //0x8500,
|
||
0x08, 0xef, 0x2f, 0xff, 0xed, 0x33, 0xfd, 0x40, 0x07, 0x98, 0x50, 0x06, 0xd5, 0xf0, 0xf2, 0x22, //0x8510,
|
||
0xc3, 0x98, 0xfd, 0x0f, 0xd5, 0xf0, 0xea, 0x22, 0xe8, 0x8f, 0xf0, 0xa4, 0xcc, 0x8b, 0xf0, 0xa4, //0x8520,
|
||
0x2c, 0xfc, 0xe9, 0x8e, 0xf0, 0xa4, 0x2c, 0xfc, 0x8a, 0xf0, 0xed, 0xa4, 0x2c, 0xfc, 0xea, 0x8e, //0x8530,
|
||
0xf0, 0xa4, 0xcd, 0xa8, 0xf0, 0x8b, 0xf0, 0xa4, 0x2d, 0xcc, 0x38, 0x25, 0xf0, 0xfd, 0xe9, 0x8f, //0x8540,
|
||
0xf0, 0xa4, 0x2c, 0xcd, 0x35, 0xf0, 0xfc, 0xeb, 0x8e, 0xf0, 0xa4, 0xfe, 0xa9, 0xf0, 0xeb, 0x8f, //0x8550,
|
||
0xf0, 0xa4, 0xcf, 0xc5, 0xf0, 0x2e, 0xcd, 0x39, 0xfe, 0xe4, 0x3c, 0xfc, 0xea, 0xa4, 0x2d, 0xce, //0x8560,
|
||
0x35, 0xf0, 0xfd, 0xe4, 0x3c, 0xfc, 0x22, 0x75, 0xf0, 0x08, 0x75, 0x82, 0x00, 0xef, 0x2f, 0xff, //0x8570,
|
||
0xee, 0x33, 0xfe, 0xcd, 0x33, 0xcd, 0xcc, 0x33, 0xcc, 0xc5, 0x82, 0x33, 0xc5, 0x82, 0x9b, 0xed, //0x8580,
|
||
0x9a, 0xec, 0x99, 0xe5, 0x82, 0x98, 0x40, 0x0c, 0xf5, 0x82, 0xee, 0x9b, 0xfe, 0xed, 0x9a, 0xfd, //0x8590,
|
||
0xec, 0x99, 0xfc, 0x0f, 0xd5, 0xf0, 0xd6, 0xe4, 0xce, 0xfb, 0xe4, 0xcd, 0xfa, 0xe4, 0xcc, 0xf9, //0x85a0,
|
||
0xa8, 0x82, 0x22, 0xb8, 0x00, 0xc1, 0xb9, 0x00, 0x59, 0xba, 0x00, 0x2d, 0xec, 0x8b, 0xf0, 0x84, //0x85b0,
|
||
0xcf, 0xce, 0xcd, 0xfc, 0xe5, 0xf0, 0xcb, 0xf9, 0x78, 0x18, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, //0x85c0,
|
||
0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc, 0xeb, 0x33, 0xfb, 0x10, 0xd7, 0x03, 0x99, 0x40, 0x04, 0xeb, //0x85d0,
|
||
0x99, 0xfb, 0x0f, 0xd8, 0xe5, 0xe4, 0xf9, 0xfa, 0x22, 0x78, 0x18, 0xef, 0x2f, 0xff, 0xee, 0x33, //0x85e0,
|
||
0xfe, 0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc, 0xc9, 0x33, 0xc9, 0x10, 0xd7, 0x05, 0x9b, 0xe9, 0x9a, //0x85f0,
|
||
0x40, 0x07, 0xec, 0x9b, 0xfc, 0xe9, 0x9a, 0xf9, 0x0f, 0xd8, 0xe0, 0xe4, 0xc9, 0xfa, 0xe4, 0xcc, //0x8600,
|
||
0xfb, 0x22, 0x75, 0xf0, 0x10, 0xef, 0x2f, 0xff, 0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xcc, 0x33, //0x8610,
|
||
0xcc, 0xc8, 0x33, 0xc8, 0x10, 0xd7, 0x07, 0x9b, 0xec, 0x9a, 0xe8, 0x99, 0x40, 0x0a, 0xed, 0x9b, //0x8620,
|
||
0xfd, 0xec, 0x9a, 0xfc, 0xe8, 0x99, 0xf8, 0x0f, 0xd5, 0xf0, 0xda, 0xe4, 0xcd, 0xfb, 0xe4, 0xcc, //0x8630,
|
||
0xfa, 0xe4, 0xc8, 0xf9, 0x22, 0xeb, 0x9f, 0xf5, 0xf0, 0xea, 0x9e, 0x42, 0xf0, 0xe9, 0x9d, 0x42, //0x8640,
|
||
0xf0, 0xe8, 0x9c, 0x45, 0xf0, 0x22, 0xe8, 0x60, 0x0f, 0xec, 0xc3, 0x13, 0xfc, 0xed, 0x13, 0xfd, //0x8650,
|
||
0xee, 0x13, 0xfe, 0xef, 0x13, 0xff, 0xd8, 0xf1, 0x22, 0xe8, 0x60, 0x0f, 0xef, 0xc3, 0x33, 0xff, //0x8660,
|
||
0xee, 0x33, 0xfe, 0xed, 0x33, 0xfd, 0xec, 0x33, 0xfc, 0xd8, 0xf1, 0x22, 0xe4, 0x93, 0xfc, 0x74, //0x8670,
|
||
0x01, 0x93, 0xfd, 0x74, 0x02, 0x93, 0xfe, 0x74, 0x03, 0x93, 0xff, 0x22, 0xe6, 0xfb, 0x08, 0xe6, //0x8680,
|
||
0xf9, 0x08, 0xe6, 0xfa, 0x08, 0xe6, 0xcb, 0xf8, 0x22, 0xec, 0xf6, 0x08, 0xed, 0xf6, 0x08, 0xee, //0x8690,
|
||
0xf6, 0x08, 0xef, 0xf6, 0x22, 0xa4, 0x25, 0x82, 0xf5, 0x82, 0xe5, 0xf0, 0x35, 0x83, 0xf5, 0x83, //0x86a0,
|
||
0x22, 0xd0, 0x83, 0xd0, 0x82, 0xf8, 0xe4, 0x93, 0x70, 0x12, 0x74, 0x01, 0x93, 0x70, 0x0d, 0xa3, //0x86b0,
|
||
0xa3, 0x93, 0xf8, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x88, 0x83, 0xe4, 0x73, 0x74, 0x02, 0x93, 0x68, //0x86c0,
|
||
0x60, 0xef, 0xa3, 0xa3, 0xa3, 0x80, 0xdf, 0x90, 0x38, 0x04, 0x78, 0x52, 0x12, 0x0b, 0xfd, 0x90, //0x86d0,
|
||
0x38, 0x00, 0xe0, 0xfe, 0xa3, 0xe0, 0xfd, 0xed, 0xff, 0xc3, 0x12, 0x0b, 0x9e, 0x90, 0x38, 0x10, //0x86e0,
|
||
0x12, 0x0b, 0x92, 0x90, 0x38, 0x06, 0x78, 0x54, 0x12, 0x0b, 0xfd, 0x90, 0x38, 0x02, 0xe0, 0xfe, //0x86f0,
|
||
0xa3, 0xe0, 0xfd, 0xed, 0xff, 0xc3, 0x12, 0x0b, 0x9e, 0x90, 0x38, 0x12, 0x12, 0x0b, 0x92, 0xa3, //0x8700,
|
||
0xe0, 0xb4, 0x31, 0x07, 0x78, 0x52, 0x79, 0x52, 0x12, 0x0c, 0x13, 0x90, 0x38, 0x14, 0xe0, 0xb4, //0x8710,
|
||
0x71, 0x15, 0x78, 0x52, 0xe6, 0xfe, 0x08, 0xe6, 0x78, 0x02, 0xce, 0xc3, 0x13, 0xce, 0x13, 0xd8, //0x8720,
|
||
0xf9, 0x79, 0x53, 0xf7, 0xee, 0x19, 0xf7, 0x90, 0x38, 0x15, 0xe0, 0xb4, 0x31, 0x07, 0x78, 0x54, //0x8730,
|
||
0x79, 0x54, 0x12, 0x0c, 0x13, 0x90, 0x38, 0x15, 0xe0, 0xb4, 0x71, 0x15, 0x78, 0x54, 0xe6, 0xfe, //0x8740,
|
||
0x08, 0xe6, 0x78, 0x02, 0xce, 0xc3, 0x13, 0xce, 0x13, 0xd8, 0xf9, 0x79, 0x55, 0xf7, 0xee, 0x19, //0x8750,
|
||
0xf7, 0x79, 0x52, 0x12, 0x0b, 0xd9, 0x09, 0x12, 0x0b, 0xd9, 0xaf, 0x47, 0x12, 0x0b, 0xb2, 0xe5, //0x8760,
|
||
0x44, 0xfb, 0x7a, 0x00, 0xfd, 0x7c, 0x00, 0x12, 0x04, 0xd3, 0x78, 0x5a, 0xa6, 0x06, 0x08, 0xa6, //0x8770,
|
||
0x07, 0xaf, 0x45, 0x12, 0x0b, 0xb2, 0xad, 0x03, 0x7c, 0x00, 0x12, 0x04, 0xd3, 0x78, 0x56, 0xa6, //0x8780,
|
||
0x06, 0x08, 0xa6, 0x07, 0xaf, 0x48, 0x78, 0x54, 0x12, 0x0b, 0xb4, 0xe5, 0x43, 0xfb, 0xfd, 0x7c, //0x8790,
|
||
0x00, 0x12, 0x04, 0xd3, 0x78, 0x5c, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xaf, 0x46, 0x7e, 0x00, 0x78, //0x87a0,
|
||
0x54, 0x12, 0x0b, 0xb6, 0xad, 0x03, 0x7c, 0x00, 0x12, 0x04, 0xd3, 0x78, 0x58, 0xa6, 0x06, 0x08, //0x87b0,
|
||
0xa6, 0x07, 0xc3, 0x78, 0x5b, 0xe6, 0x94, 0x08, 0x18, 0xe6, 0x94, 0x00, 0x50, 0x05, 0x76, 0x00, //0x87c0,
|
||
0x08, 0x76, 0x08, 0xc3, 0x78, 0x5d, 0xe6, 0x94, 0x08, 0x18, 0xe6, 0x94, 0x00, 0x50, 0x05, 0x76, //0x87d0,
|
||
0x00, 0x08, 0x76, 0x08, 0x78, 0x5a, 0x12, 0x0b, 0xc6, 0xff, 0xd3, 0x78, 0x57, 0xe6, 0x9f, 0x18, //0x87e0,
|
||
0xe6, 0x9e, 0x40, 0x0e, 0x78, 0x5a, 0xe6, 0x13, 0xfe, 0x08, 0xe6, 0x78, 0x57, 0x12, 0x0c, 0x08, //0x87f0,
|
||
0x80, 0x04, 0x7e, 0x00, 0x7f, 0x00, 0x78, 0x5e, 0x12, 0x0b, 0xbe, 0xff, 0xd3, 0x78, 0x59, 0xe6, //0x8800,
|
||
0x9f, 0x18, 0xe6, 0x9e, 0x40, 0x0e, 0x78, 0x5c, 0xe6, 0x13, 0xfe, 0x08, 0xe6, 0x78, 0x59, 0x12, //0x8810,
|
||
0x0c, 0x08, 0x80, 0x04, 0x7e, 0x00, 0x7f, 0x00, 0xe4, 0xfc, 0xfd, 0x78, 0x62, 0x12, 0x06, 0x99, //0x8820,
|
||
0x78, 0x5a, 0x12, 0x0b, 0xc6, 0x78, 0x57, 0x26, 0xff, 0xee, 0x18, 0x36, 0xfe, 0x78, 0x66, 0x12, //0x8830,
|
||
0x0b, 0xbe, 0x78, 0x59, 0x26, 0xff, 0xee, 0x18, 0x36, 0xfe, 0xe4, 0xfc, 0xfd, 0x78, 0x6a, 0x12, //0x8840,
|
||
0x06, 0x99, 0x12, 0x0b, 0xce, 0x78, 0x66, 0x12, 0x06, 0x8c, 0xd3, 0x12, 0x06, 0x45, 0x40, 0x08, //0x8850,
|
||
0x12, 0x0b, 0xce, 0x78, 0x66, 0x12, 0x06, 0x99, 0x78, 0x54, 0x12, 0x0b, 0xd0, 0x78, 0x6a, 0x12, //0x8860,
|
||
0x06, 0x8c, 0xd3, 0x12, 0x06, 0x45, 0x40, 0x0a, 0x78, 0x54, 0x12, 0x0b, 0xd0, 0x78, 0x6a, 0x12, //0x8870,
|
||
0x06, 0x99, 0x78, 0x61, 0xe6, 0x90, 0x60, 0x01, 0xf0, 0x78, 0x65, 0xe6, 0xa3, 0xf0, 0x78, 0x69, //0x8880,
|
||
0xe6, 0xa3, 0xf0, 0x78, 0x55, 0xe6, 0xa3, 0xf0, 0x7d, 0x01, 0x78, 0x61, 0x12, 0x0b, 0xe9, 0x24, //0x8890,
|
||
0x01, 0x12, 0x0b, 0xa6, 0x78, 0x65, 0x12, 0x0b, 0xe9, 0x24, 0x02, 0x12, 0x0b, 0xa6, 0x78, 0x69, //0x88a0,
|
||
0x12, 0x0b, 0xe9, 0x24, 0x03, 0x12, 0x0b, 0xa6, 0x78, 0x6d, 0x12, 0x0b, 0xe9, 0x24, 0x04, 0x12, //0x88b0,
|
||
0x0b, 0xa6, 0x0d, 0xbd, 0x05, 0xd4, 0xc2, 0x0e, 0xc2, 0x06, 0x22, 0x85, 0x08, 0x41, 0x90, 0x30, //0x88c0,
|
||
0x24, 0xe0, 0xf5, 0x3d, 0xa3, 0xe0, 0xf5, 0x3e, 0xa3, 0xe0, 0xf5, 0x3f, 0xa3, 0xe0, 0xf5, 0x40, //0x88d0,
|
||
0xa3, 0xe0, 0xf5, 0x3c, 0xd2, 0x34, 0xe5, 0x41, 0x12, 0x06, 0xb1, 0x09, 0x31, 0x03, 0x09, 0x35, //0x88e0,
|
||
0x04, 0x09, 0x3b, 0x05, 0x09, 0x3e, 0x06, 0x09, 0x41, 0x07, 0x09, 0x4a, 0x08, 0x09, 0x5b, 0x12, //0x88f0,
|
||
0x09, 0x73, 0x18, 0x09, 0x89, 0x19, 0x09, 0x5e, 0x1a, 0x09, 0x6a, 0x1b, 0x09, 0xad, 0x80, 0x09, //0x8900,
|
||
0xb2, 0x81, 0x0a, 0x1d, 0x8f, 0x0a, 0x09, 0x90, 0x0a, 0x1d, 0x91, 0x0a, 0x1d, 0x92, 0x0a, 0x1d, //0x8910,
|
||
0x93, 0x0a, 0x1d, 0x94, 0x0a, 0x1d, 0x98, 0x0a, 0x17, 0x9f, 0x0a, 0x1a, 0xec, 0x00, 0x00, 0x0a, //0x8920,
|
||
0x38, 0x12, 0x0f, 0x74, 0x22, 0x12, 0x0f, 0x74, 0xd2, 0x03, 0x22, 0xd2, 0x03, 0x22, 0xc2, 0x03, //0x8930,
|
||
0x22, 0xa2, 0x37, 0xe4, 0x33, 0xf5, 0x3c, 0x02, 0x0a, 0x1d, 0xc2, 0x01, 0xc2, 0x02, 0xc2, 0x03, //0x8940,
|
||
0x12, 0x0d, 0x0d, 0x75, 0x1e, 0x70, 0xd2, 0x35, 0x02, 0x0a, 0x1d, 0x02, 0x0a, 0x04, 0x85, 0x40, //0x8950,
|
||
0x4a, 0x85, 0x3c, 0x4b, 0x12, 0x0a, 0xff, 0x02, 0x0a, 0x1d, 0x85, 0x4a, 0x40, 0x85, 0x4b, 0x3c, //0x8960,
|
||
0x02, 0x0a, 0x1d, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x85, 0x40, 0x31, 0x85, 0x3f, 0x30, 0x85, 0x3e, //0x8970,
|
||
0x2f, 0x85, 0x3d, 0x2e, 0x12, 0x0f, 0x46, 0x80, 0x1f, 0x75, 0x22, 0x00, 0x75, 0x23, 0x01, 0x74, //0x8980,
|
||
0xff, 0xf5, 0x2d, 0xf5, 0x2c, 0xf5, 0x2b, 0xf5, 0x2a, 0x12, 0x0f, 0x46, 0x85, 0x2d, 0x40, 0x85, //0x8990,
|
||
0x2c, 0x3f, 0x85, 0x2b, 0x3e, 0x85, 0x2a, 0x3d, 0xe4, 0xf5, 0x3c, 0x80, 0x70, 0x12, 0x0f, 0x16, //0x89a0,
|
||
0x80, 0x6b, 0x85, 0x3d, 0x45, 0x85, 0x3e, 0x46, 0xe5, 0x47, 0xc3, 0x13, 0xff, 0xe5, 0x45, 0xc3, //0x89b0,
|
||
0x9f, 0x50, 0x02, 0x8f, 0x45, 0xe5, 0x48, 0xc3, 0x13, 0xff, 0xe5, 0x46, 0xc3, 0x9f, 0x50, 0x02, //0x89c0,
|
||
0x8f, 0x46, 0xe5, 0x47, 0xc3, 0x13, 0xff, 0xfd, 0xe5, 0x45, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe5, //0x89d0,
|
||
0x44, 0x12, 0x0f, 0x90, 0x40, 0x05, 0xe5, 0x44, 0x9f, 0xf5, 0x45, 0xe5, 0x48, 0xc3, 0x13, 0xff, //0x89e0,
|
||
0xfd, 0xe5, 0x46, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe5, 0x43, 0x12, 0x0f, 0x90, 0x40, 0x05, 0xe5, //0x89f0,
|
||
0x43, 0x9f, 0xf5, 0x46, 0x12, 0x06, 0xd7, 0x80, 0x14, 0x85, 0x40, 0x48, 0x85, 0x3f, 0x47, 0x85, //0x8a00,
|
||
0x3e, 0x46, 0x85, 0x3d, 0x45, 0x80, 0x06, 0x02, 0x06, 0xd7, 0x12, 0x0d, 0x7e, 0x90, 0x30, 0x24, //0x8a10,
|
||
0xe5, 0x3d, 0xf0, 0xa3, 0xe5, 0x3e, 0xf0, 0xa3, 0xe5, 0x3f, 0xf0, 0xa3, 0xe5, 0x40, 0xf0, 0xa3, //0x8a20,
|
||
0xe5, 0x3c, 0xf0, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0xc0, //0x8a30,
|
||
0xd0, 0x90, 0x3f, 0x0c, 0xe0, 0xf5, 0x32, 0xe5, 0x32, 0x30, 0xe3, 0x74, 0x30, 0x36, 0x66, 0x90, //0x8a40,
|
||
0x60, 0x19, 0xe0, 0xf5, 0x0a, 0xa3, 0xe0, 0xf5, 0x0b, 0x90, 0x60, 0x1d, 0xe0, 0xf5, 0x14, 0xa3, //0x8a50,
|
||
0xe0, 0xf5, 0x15, 0x90, 0x60, 0x21, 0xe0, 0xf5, 0x0c, 0xa3, 0xe0, 0xf5, 0x0d, 0x90, 0x60, 0x29, //0x8a60,
|
||
0xe0, 0xf5, 0x0e, 0xa3, 0xe0, 0xf5, 0x0f, 0x90, 0x60, 0x31, 0xe0, 0xf5, 0x10, 0xa3, 0xe0, 0xf5, //0x8a70,
|
||
0x11, 0x90, 0x60, 0x39, 0xe0, 0xf5, 0x12, 0xa3, 0xe0, 0xf5, 0x13, 0x30, 0x01, 0x06, 0x30, 0x33, //0x8a80,
|
||
0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x09, 0x30, 0x02, 0x06, 0x30, 0x33, 0x03, 0xd3, 0x80, 0x01, //0x8a90,
|
||
0xc3, 0x92, 0x0a, 0x30, 0x33, 0x0c, 0x30, 0x03, 0x09, 0x20, 0x02, 0x06, 0x20, 0x01, 0x03, 0xd3, //0x8aa0,
|
||
0x80, 0x01, 0xc3, 0x92, 0x0b, 0x90, 0x30, 0x01, 0xe0, 0x44, 0x40, 0xf0, 0xe0, 0x54, 0xbf, 0xf0, //0x8ab0,
|
||
0xe5, 0x32, 0x30, 0xe1, 0x14, 0x30, 0x34, 0x11, 0x90, 0x30, 0x22, 0xe0, 0xf5, 0x08, 0xe4, 0xf0, //0x8ac0,
|
||
0x30, 0x00, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x08, 0xe5, 0x32, 0x30, 0xe5, 0x12, 0x90, 0x56, //0x8ad0,
|
||
0xa1, 0xe0, 0xf5, 0x09, 0x30, 0x31, 0x09, 0x30, 0x05, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0d, //0x8ae0,
|
||
0x90, 0x3f, 0x0c, 0xe5, 0x32, 0xf0, 0xd0, 0xd0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, //0x8af0,
|
||
0x0e, 0x7e, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xff, 0xc3, 0x90, 0x0e, 0x7c, 0x74, 0x01, 0x93, //0x8b00,
|
||
0x9f, 0xff, 0xe4, 0x93, 0x9e, 0xfe, 0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0xab, //0x8b10,
|
||
0x3b, 0xaa, 0x3a, 0xa9, 0x39, 0xa8, 0x38, 0xaf, 0x4b, 0xfc, 0xfd, 0xfe, 0x12, 0x05, 0x28, 0x12, //0x8b20,
|
||
0x0d, 0xe1, 0xe4, 0x7b, 0xff, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0xb3, 0x12, 0x0d, 0xe1, 0x90, 0x0e, //0x8b30,
|
||
0x69, 0xe4, 0x12, 0x0d, 0xf6, 0x12, 0x0d, 0xe1, 0xe4, 0x85, 0x4a, 0x37, 0xf5, 0x36, 0xf5, 0x35, //0x8b40,
|
||
0xf5, 0x34, 0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0xa3, 0x12, 0x0d, 0xf6, 0x8f, 0x37, //0x8b50,
|
||
0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0xe5, 0x3b, 0x45, 0x37, 0xf5, 0x3b, 0xe5, 0x3a, 0x45, 0x36, //0x8b60,
|
||
0xf5, 0x3a, 0xe5, 0x39, 0x45, 0x35, 0xf5, 0x39, 0xe5, 0x38, 0x45, 0x34, 0xf5, 0x38, 0xe4, 0xf5, //0x8b70,
|
||
0x22, 0xf5, 0x23, 0x85, 0x3b, 0x31, 0x85, 0x3a, 0x30, 0x85, 0x39, 0x2f, 0x85, 0x38, 0x2e, 0x02, //0x8b80,
|
||
0x0f, 0x46, 0xe0, 0xa3, 0xe0, 0x75, 0xf0, 0x02, 0xa4, 0xff, 0xae, 0xf0, 0xc3, 0x08, 0xe6, 0x9f, //0x8b90,
|
||
0xf6, 0x18, 0xe6, 0x9e, 0xf6, 0x22, 0xff, 0xe5, 0xf0, 0x34, 0x60, 0x8f, 0x82, 0xf5, 0x83, 0xec, //0x8ba0,
|
||
0xf0, 0x22, 0x78, 0x52, 0x7e, 0x00, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x02, 0x04, 0xc1, 0xe4, 0xfc, //0x8bb0,
|
||
0xfd, 0x12, 0x06, 0x99, 0x78, 0x5c, 0xe6, 0xc3, 0x13, 0xfe, 0x08, 0xe6, 0x13, 0x22, 0x78, 0x52, //0x8bc0,
|
||
0xe6, 0xfe, 0x08, 0xe6, 0xff, 0xe4, 0xfc, 0xfd, 0x22, 0xe7, 0xc4, 0xf8, 0x54, 0xf0, 0xc8, 0x68, //0x8bd0,
|
||
0xf7, 0x09, 0xe7, 0xc4, 0x54, 0x0f, 0x48, 0xf7, 0x22, 0xe6, 0xfc, 0xed, 0x75, 0xf0, 0x04, 0xa4, //0x8be0,
|
||
0x22, 0x12, 0x06, 0x7c, 0x8f, 0x48, 0x8e, 0x47, 0x8d, 0x46, 0x8c, 0x45, 0x22, 0xe0, 0xfe, 0xa3, //0x8bf0,
|
||
0xe0, 0xfd, 0xee, 0xf6, 0xed, 0x08, 0xf6, 0x22, 0x13, 0xff, 0xc3, 0xe6, 0x9f, 0xff, 0x18, 0xe6, //0x8c00,
|
||
0x9e, 0xfe, 0x22, 0xe6, 0xc3, 0x13, 0xf7, 0x08, 0xe6, 0x13, 0x09, 0xf7, 0x22, 0xad, 0x39, 0xac, //0x8c10,
|
||
0x38, 0xfa, 0xf9, 0xf8, 0x12, 0x05, 0x28, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39, 0x8c, 0x38, 0xab, //0x8c20,
|
||
0x37, 0xaa, 0x36, 0xa9, 0x35, 0xa8, 0x34, 0x22, 0x93, 0xff, 0xe4, 0xfc, 0xfd, 0xfe, 0x12, 0x05, //0x8c30,
|
||
0x28, 0x8f, 0x37, 0x8e, 0x36, 0x8d, 0x35, 0x8c, 0x34, 0x22, 0x78, 0x84, 0xe6, 0xfe, 0x08, 0xe6, //0x8c40,
|
||
0xff, 0xe4, 0x8f, 0x37, 0x8e, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0x22, 0x90, 0x0e, 0x8c, 0xe4, 0x93, //0x8c50,
|
||
0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xe6, 0xfe, 0x08, 0xe6, 0xff, //0x8c60,
|
||
0xe4, 0x8f, 0x3b, 0x8e, 0x3a, 0xf5, 0x39, 0xf5, 0x38, 0x22, 0x78, 0x4e, 0xe6, 0xfe, 0x08, 0xe6, //0x8c70,
|
||
0xff, 0x22, 0xef, 0x25, 0xe0, 0x24, 0x4e, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x22, 0x78, 0x89, //0x8c80,
|
||
0xef, 0x26, 0xf6, 0x18, 0xe4, 0x36, 0xf6, 0x22, 0x75, 0x89, 0x03, 0x75, 0xa8, 0x01, 0x75, 0xb8, //0x8c90,
|
||
0x04, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x15, 0x75, 0x37, 0x0d, 0x12, 0x0e, 0x9a, //0x8ca0,
|
||
0x12, 0x00, 0x09, 0x12, 0x0f, 0x16, 0x12, 0x00, 0x06, 0xd2, 0x00, 0xd2, 0x34, 0xd2, 0xaf, 0x75, //0x8cb0,
|
||
0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x49, 0x75, 0x37, 0x03, 0x12, 0x0e, 0x9a, 0x30, 0x08, //0x8cc0,
|
||
0x09, 0xc2, 0x34, 0x12, 0x08, 0xcb, 0xc2, 0x08, 0xd2, 0x34, 0x30, 0x0b, 0x09, 0xc2, 0x36, 0x12, //0x8cd0,
|
||
0x02, 0x6c, 0xc2, 0x0b, 0xd2, 0x36, 0x30, 0x09, 0x09, 0xc2, 0x36, 0x12, 0x00, 0x0e, 0xc2, 0x09, //0x8ce0,
|
||
0xd2, 0x36, 0x30, 0x0e, 0x03, 0x12, 0x06, 0xd7, 0x30, 0x35, 0xd3, 0x90, 0x30, 0x29, 0xe5, 0x1e, //0x8cf0,
|
||
0xf0, 0xb4, 0x10, 0x05, 0x90, 0x30, 0x23, 0xe4, 0xf0, 0xc2, 0x35, 0x80, 0xc1, 0xe4, 0xf5, 0x4b, //0x8d00,
|
||
0x90, 0x0e, 0x7a, 0x93, 0xff, 0xe4, 0x8f, 0x37, 0xf5, 0x36, 0xf5, 0x35, 0xf5, 0x34, 0xaf, 0x37, //0x8d10,
|
||
0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0x90, 0x0e, 0x6a, 0x12, 0x0d, 0xf6, 0x8f, 0x37, 0x8e, 0x36, //0x8d20,
|
||
0x8d, 0x35, 0x8c, 0x34, 0x90, 0x0e, 0x72, 0x12, 0x06, 0x7c, 0xef, 0x45, 0x37, 0xf5, 0x37, 0xee, //0x8d30,
|
||
0x45, 0x36, 0xf5, 0x36, 0xed, 0x45, 0x35, 0xf5, 0x35, 0xec, 0x45, 0x34, 0xf5, 0x34, 0xe4, 0xf5, //0x8d40,
|
||
0x22, 0xf5, 0x23, 0x85, 0x37, 0x31, 0x85, 0x36, 0x30, 0x85, 0x35, 0x2f, 0x85, 0x34, 0x2e, 0x12, //0x8d50,
|
||
0x0f, 0x46, 0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x72, 0x12, 0x0d, 0xea, 0x12, 0x0f, 0x46, //0x8d60,
|
||
0xe4, 0xf5, 0x22, 0xf5, 0x23, 0x90, 0x0e, 0x6e, 0x12, 0x0d, 0xea, 0x02, 0x0f, 0x46, 0xe5, 0x40, //0x8d70,
|
||
0x24, 0xf2, 0xf5, 0x37, 0xe5, 0x3f, 0x34, 0x43, 0xf5, 0x36, 0xe5, 0x3e, 0x34, 0xa2, 0xf5, 0x35, //0x8d80,
|
||
0xe5, 0x3d, 0x34, 0x28, 0xf5, 0x34, 0xe5, 0x37, 0xff, 0xe4, 0xfe, 0xfd, 0xfc, 0x78, 0x18, 0x12, //0x8d90,
|
||
0x06, 0x69, 0x8f, 0x40, 0x8e, 0x3f, 0x8d, 0x3e, 0x8c, 0x3d, 0xe5, 0x37, 0x54, 0xa0, 0xff, 0xe5, //0x8da0,
|
||
0x36, 0xfe, 0xe4, 0xfd, 0xfc, 0x78, 0x07, 0x12, 0x06, 0x56, 0x78, 0x10, 0x12, 0x0f, 0x9a, 0xe4, //0x8db0,
|
||
0xff, 0xfe, 0xe5, 0x35, 0xfd, 0xe4, 0xfc, 0x78, 0x0e, 0x12, 0x06, 0x56, 0x12, 0x0f, 0x9d, 0xe4, //0x8dc0,
|
||
0xff, 0xfe, 0xfd, 0xe5, 0x34, 0xfc, 0x78, 0x18, 0x12, 0x06, 0x56, 0x78, 0x08, 0x12, 0x0f, 0x9a, //0x8dd0,
|
||
0x22, 0x8f, 0x3b, 0x8e, 0x3a, 0x8d, 0x39, 0x8c, 0x38, 0x22, 0x12, 0x06, 0x7c, 0x8f, 0x31, 0x8e, //0x8de0,
|
||
0x30, 0x8d, 0x2f, 0x8c, 0x2e, 0x22, 0x93, 0xf9, 0xf8, 0x02, 0x06, 0x69, 0x00, 0x00, 0x00, 0x00, //0x8df0,
|
||
0x12, 0x01, 0x17, 0x08, 0x31, 0x15, 0x53, 0x54, 0x44, 0x20, 0x20, 0x20, 0x20, 0x20, 0x13, 0x01, //0x8e00,
|
||
0x10, 0x01, 0x56, 0x40, 0x1a, 0x30, 0x29, 0x7e, 0x00, 0x30, 0x04, 0x20, 0xdf, 0x30, 0x05, 0x40, //0x8e10,
|
||
0xbf, 0x50, 0x03, 0x00, 0xfd, 0x50, 0x27, 0x01, 0xfe, 0x60, 0x00, 0x11, 0x00, 0x3f, 0x05, 0x30, //0x8e20,
|
||
0x00, 0x3f, 0x06, 0x22, 0x00, 0x3f, 0x01, 0x2a, 0x00, 0x3f, 0x02, 0x00, 0x00, 0x36, 0x06, 0x07, //0x8e30,
|
||
0x00, 0x3f, 0x0b, 0x0f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x30, 0x01, 0x40, 0xbf, 0x30, 0x01, 0x00, //0x8e40,
|
||
0xbf, 0x30, 0x29, 0x70, 0x00, 0x3a, 0x00, 0x00, 0xff, 0x3a, 0x00, 0x00, 0xff, 0x36, 0x03, 0x36, //0x8e50,
|
||
0x02, 0x41, 0x44, 0x58, 0x20, 0x18, 0x10, 0x0a, 0x04, 0x04, 0x00, 0x03, 0xff, 0x64, 0x00, 0x00, //0x8e60,
|
||
0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x04, 0x06, 0x06, 0x00, 0x03, 0x51, 0x00, 0x7a, //0x8e70,
|
||
0x50, 0x3c, 0x28, 0x1e, 0x10, 0x10, 0x50, 0x2d, 0x28, 0x16, 0x10, 0x10, 0x02, 0x00, 0x10, 0x0c, //0x8e80,
|
||
0x10, 0x04, 0x0c, 0x6e, 0x06, 0x05, 0x00, 0xa5, 0x5a, 0x00, 0xae, 0x35, 0xaf, 0x36, 0xe4, 0xfd, //0x8e90,
|
||
0xed, 0xc3, 0x95, 0x37, 0x50, 0x33, 0x12, 0x0f, 0xe2, 0xe4, 0x93, 0xf5, 0x38, 0x74, 0x01, 0x93, //0x8ea0,
|
||
0xf5, 0x39, 0x45, 0x38, 0x60, 0x23, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xe0, 0xfc, 0x12, 0x0f, //0x8eb0,
|
||
0xe2, 0x74, 0x03, 0x93, 0x52, 0x04, 0x12, 0x0f, 0xe2, 0x74, 0x02, 0x93, 0x42, 0x04, 0x85, 0x39, //0x8ec0,
|
||
0x82, 0x85, 0x38, 0x83, 0xec, 0xf0, 0x0d, 0x80, 0xc7, 0x22, 0x78, 0xbe, 0xe6, 0xd3, 0x08, 0xff, //0x8ed0,
|
||
0xe6, 0x64, 0x80, 0xf8, 0xef, 0x64, 0x80, 0x98, 0x22, 0x93, 0xff, 0x7e, 0x00, 0xe6, 0xfc, 0x08, //0x8ee0,
|
||
0xe6, 0xfd, 0x12, 0x04, 0xc1, 0x78, 0xc1, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0xd3, 0xef, 0x9d, 0xee, //0x8ef0,
|
||
0x9c, 0x22, 0x78, 0xbd, 0xd3, 0xe6, 0x64, 0x80, 0x94, 0x80, 0x22, 0x25, 0xe0, 0x24, 0x0a, 0xf8, //0x8f00,
|
||
0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x22, 0xe5, 0x3c, 0xd3, 0x94, 0x00, 0x40, 0x0b, 0x90, 0x0e, 0x88, //0x8f10,
|
||
0x12, 0x0b, 0xf1, 0x90, 0x0e, 0x86, 0x80, 0x09, 0x90, 0x0e, 0x82, 0x12, 0x0b, 0xf1, 0x90, 0x0e, //0x8f20,
|
||
0x80, 0xe4, 0x93, 0xf5, 0x44, 0xa3, 0xe4, 0x93, 0xf5, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3, //0x8f30,
|
||
0x80, 0x01, 0xc3, 0x92, 0x0e, 0x22, 0xa2, 0xaf, 0x92, 0x32, 0xc2, 0xaf, 0xe5, 0x23, 0x45, 0x22, //0x8f40,
|
||
0x90, 0x0e, 0x5d, 0x60, 0x0e, 0x12, 0x0f, 0xcb, 0xe0, 0xf5, 0x2c, 0x12, 0x0f, 0xc8, 0xe0, 0xf5, //0x8f50,
|
||
0x2d, 0x80, 0x0c, 0x12, 0x0f, 0xcb, 0xe5, 0x30, 0xf0, 0x12, 0x0f, 0xc8, 0xe5, 0x31, 0xf0, 0xa2, //0x8f60,
|
||
0x32, 0x92, 0xaf, 0x22, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, //0x8f70,
|
||
0x33, 0xd2, 0x36, 0xd2, 0x01, 0xc2, 0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x35, 0xd2, 0x33, 0x22, //0x8f80,
|
||
0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x12, 0x06, 0x69, 0xe5, 0x40, 0x2f, //0x8f90,
|
||
0xf5, 0x40, 0xe5, 0x3f, 0x3e, 0xf5, 0x3f, 0xe5, 0x3e, 0x3d, 0xf5, 0x3e, 0xe5, 0x3d, 0x3c, 0xf5, //0x8fa0,
|
||
0x3d, 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33, //0x8fb0,
|
||
0xf0, 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0x90, 0x0e, 0x5f, 0xe4, 0x93, 0xfe, 0x74, 0x01, //0x8fc0,
|
||
0x93, 0xf5, 0x82, 0x8e, 0x83, 0x22, 0x78, 0x7f, 0xe4, 0xf6, 0xd8, 0xfd, 0x75, 0x81, 0xcd, 0x02, //0x8fd0,
|
||
0x0c, 0x98, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x06, 0xa5 //0x8fe0
|
||
];
|
||
|
||
/// <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");
|
||
|
||
MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
|
||
|
||
// 组装固件写入命令：地址 + 所有固件数据
|
||
UInt16 firmwareAddr = 0x8000;
|
||
var firmwareCommand = new UInt16[1 + OV5640_AF_FIRMWARE.Length];
|
||
firmwareCommand[0] = firmwareAddr;
|
||
|
||
// 将固件数据复制到命令数组中
|
||
for (int i = 0; i < OV5640_AF_FIRMWARE.Length; i++)
|
||
{
|
||
firmwareCommand[i + 1] = OV5640_AF_FIRMWARE[i];
|
||
}
|
||
|
||
var result = await ConfigureRegisters([firmwareCommand]);
|
||
if (!result.IsSuccessful)
|
||
{
|
||
logger.Error($"固件写入失败: {result.Error}");
|
||
return result;
|
||
}
|
||
|
||
logger.Info($"OV5640自动对焦固件写入完成，总共写入 {OV5640_AF_FIRMWARE.Length} 字节");
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 初始化自动对焦功能
|
||
/// </summary>
|
||
/// <returns>初始化结果</returns>
|
||
public async ValueTask<Result<bool>> InitAutoFocus()
|
||
{
|
||
logger.Info("开始初始化OV5640自动对焦功能");
|
||
|
||
// 步骤1: 启动MCU
|
||
var mcuResult = await ConfigureRegisters([[0x3000, 0x20]]);
|
||
if (!mcuResult.IsSuccessful) return mcuResult;
|
||
|
||
// 步骤2: 写入自动对焦固件
|
||
var firmwareResult = await WriteFocusFirmware();
|
||
if (!firmwareResult.IsSuccessful) return firmwareResult;
|
||
|
||
// 步骤3: 配置对焦相关寄存器
|
||
var focusRegisters = new UInt16[][]
|
||
{
|
||
[0x3022, 0x00], // 清除指令寄存器
|
||
[0x3023, 0x00], // 清除状态寄存器
|
||
[0x3024, 0x00], // 清除参数寄存器
|
||
[0x3025, 0x00],
|
||
[0x3026, 0x00],
|
||
[0x3027, 0x00],
|
||
[0x3028, 0x00],
|
||
[0x3029, 0xFF], // 状态寄存器
|
||
[0x3000, 0x00], // 启动MCU
|
||
[0x3004, 0xFF] // 使能中断
|
||
};
|
||
var result = await ConfigureRegisters(focusRegisters);
|
||
if (!result.IsSuccessful) return result;
|
||
|
||
// // 读取寄存器判断初始化是否完毕
|
||
// for (int iteration = 1000; iteration > 0; iteration--)
|
||
// {
|
||
// var readResult = await ReadRegister(0x3029);
|
||
// if (!readResult.IsSuccessful)
|
||
// {
|
||
// logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
|
||
// return new(readResult.Error);
|
||
// }
|
||
|
||
// logger.Debug($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
|
||
|
||
// if (readResult.Value != 0x7F)
|
||
// {
|
||
// break; // 初始化完成
|
||
// }
|
||
|
||
// if (iteration == 1)
|
||
// {
|
||
// logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
|
||
// return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
|
||
// }
|
||
|
||
// await Task.Delay(1);
|
||
// }
|
||
|
||
logger.Info("OV5640自动对焦功能初始化完成");
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行一次自动对焦
|
||
/// </summary>
|
||
/// <returns>对焦结果</returns>
|
||
public async ValueTask<Result<bool>> PerformAutoFocus()
|
||
{
|
||
logger.Info("开始执行一次自动对焦");
|
||
|
||
// 步骤1: 将 0x3022 寄存器写为 0x03，开始单点对焦过程
|
||
var focusCmdResult = await ConfigureRegisters([[0x3022, 0x03]]);
|
||
if (!focusCmdResult.IsSuccessful)
|
||
{
|
||
logger.Error($"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
|
||
for (int iteration = 5000; iteration > 0; iteration--)
|
||
{
|
||
var readResult = await ReadRegister(0x3029);
|
||
if (!readResult.IsSuccessful)
|
||
{
|
||
logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");
|
||
return new(readResult.Error);
|
||
}
|
||
|
||
if (readResult.Value == 0x10)
|
||
{
|
||
logger.Info("对焦已完成 (0x3029 = 0x10)");
|
||
break;
|
||
}
|
||
|
||
if (iteration == 1)
|
||
{
|
||
logger.Error($"自动对焦超时，状态: 0x{readResult.Value:X2}");
|
||
return new(new Exception($"自动对焦超时，状态: 0x{readResult.Value:X2}"));
|
||
}
|
||
|
||
await Task.Delay(100);
|
||
}
|
||
|
||
// 步骤3: 写寄存器 0x3022 为 0x06，暂停对焦过程，使镜头将保持在此对焦位置
|
||
var pauseResult = await ConfigureRegisters([[0x3022, 0x06]]);
|
||
if (!pauseResult.IsSuccessful)
|
||
{
|
||
logger.Error($"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");
|
||
return true;
|
||
}
|
||
|
||
#endregion
|
||
}
|