Standalone H.265/H.264 video encoder and RTP streamer for SigmaStar Infinity6E (Star6E) and Infinity6C (Maruko) camera SoCs. Designed for low-latency FPV and IP camera applications with full runtime control via HTTP API.
- H.265 (HEVC) and H.264 encoding with CBR/VBR/AVBR/FIXQP rate control
- RTP packetization with adaptive payload sizing
- Compact UDP streaming mode (raw NAL units)
- Built-in web dashboard at
/for configuration, API docs, and IQ tuning - HTTP API for live parameter tuning without pipeline restart
- ISP IQ parameter system: 60+ params with multi-field structs, export/import (both backends)
- Custom 3A: built-in AE and AWB with configurable gain limits and convergence
- ISP control: exposure, AWB mode, color temperature
- ROI-based QP gradient for FPV center-priority encoding
- Sensor FPS unlock for IMX415/IMX335 (up to 120fps)
- Optional audio capture with G.711/PCM encoding
- SD card recording: MPEG-TS mux (HEVC + PCM audio), power-loss safe
- Gemini mode: dual VENC for concurrent stream + high-quality record
- Adaptive recording bitrate: auto-reduces if SD card can't keep up
- Dual-backend: Star6E and Maruko from shared codebase (dlopen for all MI libs)
- BMI270 IMU driver with frame-synced FIFO (Star6E only)
- GyroGlide-Lite: gyro-based electronic image stabilization (Star6E only)
From repository root:
# Star6E (Infinity6E)
make build SOC_BUILD=star6e
# Maruko (Infinity6C)
make build SOC_BUILD=marukoThe toolchain is auto-downloaded on first build. Each backend builds to its own output directory:
out/star6e/venc # Star6E binary
out/maruko/venc # Maruko binary
Both backends can coexist — no clean needed between them.
Stage a deployable bundle with shared libraries:
make stage SOC_BUILD=star6e
# Output: out/star6e/venc + out/star6e/lib/*.soRun host tests:
make test-ciCopy the binary to the target device:
scp out/star6e/venc root@<device-ip>:/usr/bin/vencFor the current Star6E bench workflow, prefer the helper:
scripts/star6e_direct_deploy.sh cycleIt deploys /usr/bin/venc, uses the production /etc/venc.json, waits for
HTTP readiness, and captures /tmp/venc.log.
The binary resolves shared libraries from /usr/lib. For staged bundles,
set LD_LIBRARY_PATH to the lib directory.
venc loads configuration from /etc/venc.json on startup. A default
template is provided at config/venc.default.json.
{
"system": { "webPort": 80, "overclockLevel": 0, "verbose": false },
"sensor": {
"index": -1, "mode": -1,
"unlockEnabled": true, "unlockCmd": 35,
"unlockReg": 12298, "unlockValue": 128, "unlockDir": 0
},
"isp": {
"sensorBin": "", "exposure": 0,
"legacyAe": true, "aeFps": 15,
"awbMode": "auto", "awbCt": 5500
},
"image": { "mirror": false, "flip": false, "rotate": 0 },
"video0": {
"codec": "h265", "rcMode": "cbr", "fps": 30, "size": "1920x1080",
"bitrate": 8192, "gopSize": 1.0,
"qpDelta": -4
},
"outgoing": {
"enabled": false, "server": "", "streamMode": "rtp",
"maxPayloadSize": 1400,
"connectedUdp": true, "audioPort": 5601, "sidecarPort": 5602
},
"fpv": {
"roiEnabled": true, "roiQp": 0, "roiSteps": 2,
"roiCenter": 0.25, "noiseLevel": 0
},
"audio": {
"enabled": false, "sampleRate": 16000, "channels": 1,
"codec": "g711a", "volume": 80, "mute": false
},
"imu": {
"enabled": false, "i2cDevice": "/dev/i2c-1", "i2cAddr": "0x68",
"sampleRate": 200, "gyroRange": 1000,
"calFile": "/etc/imu.cal", "calSamples": 400
},
"eis": {
"enabled": false, "marginPercent": 30,
"gain": 1.0, "deadbandRad": 0.0, "recenterRate": 0.5,
"testMode": false, "swapXY": false, "invertX": false, "invertY": false
},
"record": {
"enabled": false, "mode": "mirror", "dir": "/mnt/mmcblk0p1",
"format": "ts", "maxSeconds": 300, "maxMB": 500,
"bitrate": 0, "fps": 0, "gopSize": 0, "server": ""
}
}Set outgoing.enabled to true and outgoing.server to
udp://<receiver_ip>:5600, unix://<abstract_name>, or shm://<ring_name>
to start streaming.
All endpoints use HTTP GET (BusyBox wget compatible). The default
port is 80 (configurable via system.webPort). Responses are JSON
with an {"ok": true/false, ...} envelope.
Returns version info.
curl http://<device-ip>:<port>/api/v1/version{"ok":true,"data":{"app_version":"...","backend":"star6e","contract_version":"0.2.0","config_schema_version":"0.2.0"}}Returns the full active configuration as JSON.
curl http://<device-ip>:<port>/api/v1/configReturns every field with its mutability (live or restart_required)
and support status. Support is backend-specific; for example, Star6E
reports video0.scene_threshold / video0.scene_holdoff as supported,
while Maruko reports them as
unsupported. Use this to discover which fields can be changed at runtime.
curl http://<device-ip>:<port>/api/v1/capabilitiesRead a single configuration field.
curl "http://<device-ip>:<port>/api/v1/get?video0.bitrate"{"ok":true,"data":{"field":"video0.bitrate","value":8192}}Write a field. Live fields take effect immediately. Restart-required fields trigger an automatic pipeline reinit.
# Live change — immediate
curl "http://<device-ip>:<port>/api/v1/set?video0.bitrate=4096"
# Live multi-set — all fields must be live
curl "http://<device-ip>:<port>/api/v1/set?video0.bitrate=4096&system.verbose=true"
# Restart-required — triggers pipeline reinit
curl "http://<device-ip>:<port>/api/v1/set?video0.size=1280x720"{"ok":true,"data":{"field":"video0.bitrate","value":4096}}
{"ok":true,"data":{"applied":[{"field":"video0.bitrate","value":4096},{"field":"system.verbose","value":true}]}}
{"ok":true,"data":{"field":"video0.size","value":"1280x720","reinit_pending":true}}Multi-set is supported only for live fields. If any restart-required field is present, the full request is rejected and restart/reinit changes must be sent one at a time.
Returns HTTP 409 on validation failure (e.g., invalid AWB mode).
Trigger a full pipeline reinit. Reloads /etc/venc.json and restarts
the camera pipeline without exiting the process.
curl http://<device-ip>:<port>/api/v1/restartQuery current AWB (auto white balance) state from the ISP.
curl http://<device-ip>:<port>/api/v1/awbRequest an IDR keyframe from the encoder.
curl http://<device-ip>:<port>/request/idrStart SD card recording. Uses the configured record.dir, or override
with a ?dir= query parameter.
curl "http://<device-ip>:<port>/api/v1/record/start"
curl "http://<device-ip>:<port>/api/v1/record/start?dir=/mnt/mmcblk0p1"Stop SD card recording.
curl "http://<device-ip>:<port>/api/v1/record/stop"Query recording status.
curl "http://<device-ip>:<port>/api/v1/record/status"{"ok":true,"data":{"active":true,"format":"ts","path":"/mnt/mmcblk0p1/rec_01h23m45s_abcd.ts","frames":1500,"bytes":12345678,"segments":1,"stop_reason":"none"}}Query the secondary VENC channel status (dual/dual-stream modes only).
curl "http://<device-ip>:<port>/api/v1/dual/status"{"ok":true,"data":{"active":true,"channel":1,"bitrate":20000,"fps":120,"gop":240}}Returns 404 when dual VENC is not active.
Live-change secondary VENC channel parameters.
# Change ch1 bitrate
curl "http://<device-ip>:<port>/api/v1/dual/set?bitrate=10000"
# Change ch1 GOP (in seconds)
curl "http://<device-ip>:<port>/api/v1/dual/set?gop=1.0"Request an IDR keyframe on the secondary VENC channel.
curl "http://<device-ip>:<port>/api/v1/dual/idr"Fields marked live can be changed at runtime without interrupting the video stream. Fields marked restart trigger a pipeline reinit.
| Field | Type | Mutability | Description |
|---|---|---|---|
system.web_port |
uint16 | restart | HTTP API port |
system.overclock_level |
int | restart | CPU overclock level |
system.verbose |
bool | live | Enable verbose logging |
| Field | Type | Mutability | Description |
|---|---|---|---|
sensor.index |
int | restart | Sensor pad index (-1 = auto) |
sensor.mode |
int | restart | Sensor mode (-1 = auto) |
sensor.unlock_enabled |
bool | restart | Enable high-FPS sensor unlock |
sensor.unlock_cmd |
uint | restart | I2C register write command |
sensor.unlock_reg |
uint16 | restart | Unlock register address |
sensor.unlock_value |
uint16 | restart | Unlock register value |
sensor.unlock_dir |
int | restart | I2C direction flag |
| Field | Type | Mutability | Description |
|---|---|---|---|
isp.sensor_bin |
string | restart | ISP tuning binary path |
isp.exposure |
uint | live | Exposure time in ms (0 = auto) |
isp.legacy_ae |
bool | restart | Use ISP internal AE instead of custom 3A |
isp.ae_fps |
uint | restart | Custom 3A processing rate in Hz (default 15) |
isp.awb_mode |
string | live | "auto" or "ct_manual" |
isp.awb_ct |
uint | live | Color temperature in K (for ct_manual) |
| Field | Type | Mutability | Description |
|---|---|---|---|
image.mirror |
bool | restart | Horizontal mirror |
image.flip |
bool | restart | Vertical flip |
image.rotate |
int | restart | Rotation (0, 90, 180, 270) |
| Field | Type | Mutability | Description |
|---|---|---|---|
video0.codec |
string | restart | "h265" (Maruko also supports "h264"; Star6E RTP remains h265-only) |
video0.rc_mode |
string | restart | "cbr", "vbr", "avbr", "fixqp" |
video0.fps |
uint | live | Output frame rate |
video0.size |
WxH | restart | Encode resolution (e.g., "1920x1080") |
video0.bitrate |
uint | live | Target bitrate in kbps |
video0.gop_size |
double | live | GOP interval in seconds (0 = all-intra) |
video0.qp_delta |
int | live | Relative I/P QP delta (-12..12) |
video0.frame_lost |
bool | restart | Enable frame-lost safety net |
| Field | Type | Mutability | Description |
|---|---|---|---|
video0.scene_threshold |
uint16 | restart | Scene spike threshold ratio x100 (0=off, 150=1.5x EMA spike detection) |
video0.scene_holdoff |
uint8 | restart | Consecutive spike frames required (default 2) |
CamelCase aliases: video0.sceneThreshold, video0.sceneHoldoff.
When scene_threshold is non-zero, the inline scene detector tracks frame
size EMA, computes complexity, and requests an IDR after a spike above the
threshold settles. Use /api/v1/capabilities to check backend support
before writing these fields.
Typical usage:
- Leave
video0.scene_threshold=0for fixed-GOP behavior controlled byvideo0.gop_size. - Set
video0.scene_threshold=150for FPV/live links where scene-change-triggered IDRs improve stream recovery. - Pair scene detection with
outgoing.sidecar_port>0when an external controller needs per-frameframe_type,complexity,scene_change,idr_inserted, andframes_since_idrtelemetry on the sidecar.
Current Star6E IMX335 bench starting point:
"video0": {
"sceneThreshold": 150,
"sceneHoldoff": 2
}Tuning notes:
sceneThresholdis a frame-size-spike ratio scaled by100, so150means roughly "trigger near a 1.5x spike over the rolling baseline". Raise to reduce false positives, lower to increase sensitivity.- Keep
sceneChangeHoldoff=2unless threshold changes alone cannot suppress false positives. Raising holdoff reduces responsiveness faster than raising threshold does.
Codec note:
- Star6E with
outgoing.stream_mode="rtp"requiresvideo0.codec="h265". - Maruko accepts both
h264andh265.
| Field | Type | Mutability | Description |
|---|---|---|---|
outgoing.enabled |
bool | live | Enable/disable streaming output |
outgoing.server |
string | live | Destination URI (udp://ip:port, unix://name, or shm://name) |
outgoing.stream_mode |
string | restart | "rtp" or "compact" |
outgoing.max_payload_size |
uint16 | restart | Max UDP payload bytes |
outgoing.connected_udp |
bool | restart | Connect UDP socket (applies only to udp://) |
outgoing.audio_port |
uint16 | restart | 0 = shared video destination; nonzero = dedicated audio port. With unix://, dedicated audio is sent to 127.0.0.1:<audioPort> |
outgoing.sidecar_port |
uint16 | restart | RTP timing sidecar port (0 = disabled) |
unix:// uses Linux abstract Unix datagram sockets and is available in both
rtp and compact mode. On Star6E, audioPort=0 piggybacks on the same
active video destination for both udp:// and unix://. shm:// remains
RTP-only; it cannot share audio, but a nonzero audioPort still uses a
dedicated local UDP audio destination.
| Field | Type | Mutability | Description |
|---|---|---|---|
fpv.roi_enabled |
bool | live | Enable horizontal ROI bands |
fpv.roi_qp |
int | live | Signed ROI delta QP (-30..30, negative = sharper center) |
fpv.roi_steps |
uint16 | live | Number of horizontal bands (1-4) |
fpv.roi_center |
double | live | Center band width ratio (0.1-0.9) |
fpv.noise_level |
int | restart | 3DNR noise reduction level |
| Field | Type | Mutability | Description |
|---|---|---|---|
audio.mute |
bool | live | Mute/unmute audio output |
Audio configuration (enabled, sample rate, channels, codec, volume) is
set in /etc/venc.json only and requires a process restart to change.
Supported codecs: "pcm" (raw 16-bit), "g711a" (A-law), "g711u" (µ-law).
RTP payload types: When streaming in RTP mode, venc uses standard static payload types when the sample rate matches the RFC 3551 standard:
| Codec | Sample rate | RTP PT | Notes |
|---|---|---|---|
g711u |
8000 | 0 (PCMU) | RFC 3551 standard |
g711a |
8000 | 8 (PCMA) | RFC 3551 standard |
g711u |
non-8kHz | 112 | Dynamic, Waybeam convention |
g711a |
non-8kHz | 113 | Dynamic, Waybeam convention |
pcm |
44100 | 11 (L16 mono) | RFC 3551 standard |
pcm |
other | 110 | Dynamic PCM |
Sample rate range: 8000–48000 Hz (clamped by config parser). The recommended default is 16kHz G.711a for low-latency FPV audio.
Frame timing: Each RTP packet contains sample_rate / 50 samples
(~20ms of audio). The RTP timestamp increments by this value per packet.
| Field | Type | Mutability | Description |
|---|---|---|---|
record.enabled |
bool | restart | Start recording on launch |
record.mode |
string | restart | "off", "mirror", "dual", "dual-stream" |
record.dir |
string | restart | Output directory (must be mounted) |
record.format |
string | restart | "ts" (MPEG-TS + audio) or "hevc" (raw) |
record.max_seconds |
uint | restart | Rotate file after N seconds (0 = off) |
record.max_mb |
uint | restart | Rotate file after N MB (0 = off) |
record.bitrate |
uint | restart | Dual mode: ch1 bitrate in kbps (0 = same as video0) |
record.fps |
uint | restart | Dual mode: ch1 fps (0 = sensor max) |
record.gop_size |
double | restart | Dual mode: ch1 GOP in seconds (0 = same as video0) |
record.server |
string | restart | Dual-stream: second RTP destination URI |
Recording can also be controlled at runtime via the HTTP API. In dual/dual-stream
modes, the secondary channel parameters can be adjusted live via /api/v1/dual/set.
| Field | Type | Mutability | Description |
|---|---|---|---|
imu.enabled |
bool | restart | Enable BMI270 IMU driver |
imu.i2c_device |
string | restart | I2C device path |
imu.i2c_addr |
string | restart | I2C address (hex, e.g. "0x68") |
imu.sample_rate |
int | restart | ODR in Hz (25-1600) |
imu.gyro_range |
int | restart | Gyro range in ±dps |
imu.cal_file |
string | restart | Calibration file path |
imu.cal_samples |
int | restart | Auto-bias samples at startup |
| Field | Type | Mutability | Description |
|---|---|---|---|
eis.enabled |
bool | restart | Enable gyro-based image stabilization |
eis.mode |
string | restart | EIS backend (default: "gyroglide") |
eis.margin_percent |
int | restart | Overscan margin 1-30% (default 30) |
eis.gain |
float | restart | Correction gain 0.0-1.0 (default 1.0) |
eis.deadband_rad |
float | restart | Per-frame angle threshold in rad (default 0.0) |
eis.recenter_rate |
float | restart | Return-to-center speed when idle, 1/s (default 0.5) |
eis.max_slew_px |
float | restart | Max crop change per frame in px (0 = off) |
eis.bias_alpha |
float | restart | Runtime gyro bias adaptation rate (default 0.001) |
eis.test_mode |
bool | restart | Inject sine wobble (no IMU needed) |
eis.swap_xy |
bool | restart | Swap gyro X/Y axis mapping |
eis.invert_x |
bool | restart | Invert gyro X correction |
eis.invert_y |
bool | restart | Invert gyro Y correction |
Start streaming to a receiver:
curl "http://<device-ip>:<port>/api/v1/set?outgoing.server=udp://<receiver-ip>:5600"
curl "http://<device-ip>:<port>/api/v1/set?outgoing.enabled=true"Switch to 720p at 90fps with lower bitrate:
curl "http://<device-ip>:<port>/api/v1/set?video0.size=1280x720"
curl "http://<device-ip>:<port>/api/v1/set?video0.fps=90"
curl "http://<device-ip>:<port>/api/v1/set?video0.bitrate=4096"Manual white balance at 6500K:
curl "http://<device-ip>:<port>/api/v1/set?isp.awb_mode=ct_manual"
curl "http://<device-ip>:<port>/api/v1/set?isp.awb_ct=6500"Enable center-priority ROI encoding:
curl "http://<device-ip>:<port>/api/v1/set?fpv.roi_enabled=true"
curl "http://<device-ip>:<port>/api/v1/set?fpv.roi_qp=-18"
curl "http://<device-ip>:<port>/api/v1/set?fpv.roi_steps=2"Request an IDR keyframe (useful after stream start):
curl http://<device-ip>:<port>/request/idrStart/stop SD card recording:
# Start recording (MPEG-TS with audio)
curl "http://<device-ip>:<port>/api/v1/record/start"
# Check recording status
curl "http://<device-ip>:<port>/api/v1/record/status"
# Stop recording
curl "http://<device-ip>:<port>/api/v1/record/stop"venc records HEVC video with PCM audio to SD card in MPEG-TS format. Recording runs concurrently with RTP streaming at minimal CPU overhead (1-4% additional load measured across 30-120fps at 4-22 Mbps).
Key properties:
- Power-loss safe — MPEG-TS requires no finalization; partial files are playable up to the last written packet.
- Gemini mode — dual VENC channels for independent stream and record quality. Stream at 30fps 4 Mbps over WiFi while recording at 120fps 20 Mbps to SD card. Four modes: off, mirror, dual, dual-stream.
- Recording thread — dedicated pthread drains the secondary encoder channel at full speed, with adaptive bitrate reduction (10%/s) if the SD card can't keep up.
- File rotation — splits at IDR keyframe boundaries by time (default 5 minutes) or size (default 500 MB). Each segment is independently playable.
- Disk safety — periodic free-space checks with automatic stop when below 50 MB. Handles ENOSPC gracefully.
- Audio interleaving — raw 16-bit PCM from the hardware audio input is muxed alongside HEVC video in the TS container.
- Live API control —
/api/v1/dual/setfor runtime bitrate/GOP changes on the secondary channel.
Enable in config or use the HTTP API for runtime control. The SD card
must be pre-mounted at the configured directory (OpenIPC auto-mounts to
/mnt/mmcblk0p1).
Verify recordings with:
ffprobe recording.ts # check streams and format
ffmpeg -i recording.ts -f null - # full decode test
ffplay recording.ts # play directlySee documentation/SD_CARD_RECORDING.md for the full guide including
performance benchmarks, limitations, and architecture details.
An optional out-of-band UDP channel that sends per-frame timing metadata
alongside the RTP video stream. Set outgoing.sidecarPort=0 to disable it.
When enabled, the sidecar provides frame-level diagnostics for the entire sender-side pipeline:
capture_us → [encode] → frame_ready_us → [packetise+send] → last_pkt_send_us
↕ (network)
recv_last_us (probe)
This enables measurement of:
- Encode duration — time from sensor capture to encoder output
- Send spread — time to packetise and hand all RTP packets to the kernel
- One-way latency — frame-ready on venc to first-packet-received on ground (requires clock synchronisation)
- Frame intervals — jitter and regularity of both sender and receiver clocks
- RTP packet counts and gaps — per-frame packet accounting
- Encoded frame size / type / QP — when Star6E scene detection is active
- Scene detection state — complexity, scene-change flag, IDR decision, frames-since-IDR
Set the sidecar port in the configuration:
curl "http://<device-ip>:<port>/api/v1/set?outgoing.sidecar_port=6666"Or in /etc/venc.json:
"outgoing": { "sidecarPort": 6666 }A pipeline restart is required after changing this setting. The sidecar socket is silent until a probe subscribes — zero network overhead when no probe is connected.
When the sidecar is disabled (port 0), no socket is created and there is no runtime overhead.
The sidecar uses a simple binary UDP protocol:
| Message | Direction | Size | Purpose |
|---|---|---|---|
| SUBSCRIBE | probe -> venc | 8 B | Start/refresh metadata subscription |
| FRAME | venc -> probe | 52 B base, 64 B with trailer | Per-frame timing + RTP sequence info, plus optional encoder telemetry |
| SYNC_REQ | probe -> venc | 16 B | NTP-style clock offset request |
| SYNC_RESP | venc -> probe | 32 B | Clock offset response (t1, t2, t3) |
All messages share a common 6-byte header: 4-byte magic (0x52545053 =
"RTPS"), 1-byte version, 1-byte message type. Fields are network byte order.
Subscription expires after 5 seconds without any probe message. Both SUBSCRIBE and SYNC_REQ refresh the expiry timer.
When Star6E adaptive encoder control is enabled, FRAME appends a 12-byte
trailer carrying frame_size_bytes, frame_type, qp, complexity,
scene_change, idr_inserted, and frames_since_idr.
Maruko and timing-only Star6E runs keep sending the original 52-byte frame.
Link-control / FEC usage:
- RTP video keeps using
outgoing.serveras usual. - Set
outgoing.sidecarPortto expose sidecar metadata on a separate UDP port. - Base timing fields are available whenever the sidecar is enabled.
- The extra encoder trailer requires Star6E with
video0.scene_threshold>0. - The sender tracks one active sidecar subscriber at a time; the most recent probe or consumer to subscribe receives the frame metadata.
A host-native reference probe is included at tools/rtp_timing_probe.c.
It listens for RTP on one port and communicates with the venc sidecar on
another, correlating frames by (SSRC, RTP timestamp).
Build (no cross-compiler needed):
make rtp_timing_probeUsage:
./rtp_timing_probe --venc-ip <device-ip> [--rtp-port 5600] [--sidecar-port 6666] [--stats]Without --stats, the probe outputs tab-separated frame records to stdout
(one line per frame) suitable for piping to analysis tools. The TSV includes
columns for all timing fields, sequence numbers, gaps, intervals, estimated
latency, and optional encoder-feedback fields when the sidecar trailer is
present. For timing-only frames, the encoder-feedback columns print -.
With --stats, a summary is printed to stderr on exit:
=== Timing Probe Summary ===
Duration: 20.0 s
Frames: 936 (46.8 fps)
RTP packets: 8484 (9.1 avg/frame)
RTP gaps: 0
--- Send spread (frame_ready -> last_pkt_send) ---
Mean: 294 us
P50: 265 us
P95: 331 us
P99: 1710 us
--- Encode duration (capture -> frame_ready) ---
Mean: 4254 us
--- Clock sync ---
Samples: 8
Best RTT: 347 us
The probe uses burst-then-coast clock synchronisation: 8 fast samples at 200 ms intervals, then one sample every 10 seconds. Only the sample with the lowest RTT is used for offset estimation.
At 90 fps with an active subscriber:
- venc -> probe: ~90 frame packets/s (52 B each) + sync responses
- probe -> venc: ~0.5 subscribe/s + ~0.1 sync/s
- Bandwidth: ~40 kbps total (both directions)
- CPU: single
poll()per frame + onesendto()per frame
When no probe is subscribed, the sidecar socket exists but no packets are sent.
IMX415 and IMX335 sensors support high-FPS modes (90/120fps) via a
register unlock sequence applied before pipeline initialization. This
is enabled by default (sensor.unlock_enabled=true) with preset values
for IMX415.
For different sensors, adjust sensor.unlock_cmd, sensor.unlock_reg,
and sensor.unlock_value in the config file or via the API before a
restart.
See documentation/SENSOR_UNLOCK_IMX415_IMX335.md for register details.
Full sensor driver source code is available in the sensors-src/ submodule
(from OpenIPC/sensors). This includes
drivers for IMX335, IMX415, GC4653, and other SigmaStar Infinity6E sensors.
# Fetch the sensor sources (not cloned by default)
git submodule update --init sensors-src
# Driver sources for Infinity6E
ls sensors-src/sigmastar/infinity6e/sensor/Pre-built kernel modules (.ko) for IMX335 and IMX415 remain in sensors/.
For the current Star6E bench, use the direct helper against the production
/etc/venc.json workflow:
./scripts/star6e_direct_deploy.sh cycle
./scripts/star6e_direct_deploy.sh statusThis deploys /usr/bin/venc, waits for the HTTP API, and captures
/tmp/venc.log.
Use remote_test.sh for bounded CLI runs such as sensor-mode discovery,
max-FPS sweeps, and dedicated test binaries:
./scripts/remote_test.sh --helpRun the API test suite against a live device after venc is already running:
./scripts/api_test_suite.sh 192.168.1.13 80Scene-change IDR control is configured through video0.scene_threshold in
/etc/venc.json. Leave video0.scene_threshold=0 for baseline behavior.
venc includes a built-in web dashboard served at the root URL (/). Open
http://<device-ip>/ in any browser to access it.
All 84 configuration fields across 13 sections (System, Sensor, ISP, Image, Video, Outgoing, Audio, FPV, IMU, EIS, Recording, Adaptive Encoder Control, Debug) with:
- Collapsible sections — start collapsed for a clean overview
- Live/Restart badges — green for immediate changes, orange for restart-required
- Tooltips — hover any field label for a description
- Change tracking — modified fields highlighted; Apply only sends changes
- Apply Changes — applies all modified fields via the API
- Save & Restart — applies changes then triggers pipeline reinit
- Restore Defaults — reloads on-disk config and resets the form
Documentation for all HTTP endpoints with descriptions and example responses, grouped by category: Configuration, Encoder Control, ISP & Image Quality, Recording, and Dual-Stream.
Direct access to 62 SigmaStar ISP parameters organized by category.
Parameter Categories — expandable sections with clickable parameter chips. Multi-field parameters (colortrans, obc, demosaic, false_color, crosstalk, r2y, wdr_curve_adv) show sub-field chips for individual field access.
Expanded Editor — click a multi-field parameter to open an inline form with all sub-fields pre-filled from live ISP values. Array fields (e.g., colortrans 3x3 matrix) render as editable grids. Changed fields highlight and Apply All writes only the modified fields.
Export / Import — save all IQ parameters as a timestamped JSON file, or import a previously saved file to restore tuning. Partial imports are supported — only the parameters present in the JSON are applied, leaving others untouched.
# Export current IQ state
curl http://<device>/api/v1/iq > my_tuning.json
# Import (full or partial)
curl -X POST -H "Content-Type: application/json" \
-d @my_tuning.json http://<device>/api/v1/iq/import
# Partial import example — only set specific params
echo '{"lightness":{"value":75},"demosaic":{"fields":{"dir_thrd":30}}}' | \
curl -X POST -H "Content-Type: application/json" -d @- http://<device>/api/v1/iq/importMulti-field parameters support dot-notation for individual field access:
# Set a single field
curl "http://<device>/api/v1/iq/set?colortrans.y_ofst=200"
# Set an array field (comma-separated)
curl "http://<device>/api/v1/iq/set?colortrans.matrix=23,45,9,1005,987,56,56,977,1015"
# Query shows all fields
curl http://<device>/api/v1/iq
# Returns: "colortrans":{"enabled":true,"value":200,"fields":{"y_ofst":200,"u_ofst":0,"v_ofst":0,"matrix":[23,45,...]}}Legacy single-value set (?colortrans=200) still works for backward compatibility.
The top telemetry bar shows version, backend type, live FPS (auto-refreshes every 2s), recording status indicator, and an Export Config button to download the full configuration as JSON.
GyroGlide-Lite is a low-latency 2-axis electronic image stabilization system that uses the BMI270 gyroscope to compensate for camera shake via per-frame crop-window shifting. It runs entirely on the SigmaStar VPE hardware scaler with negligible CPU overhead.
- The BMI270 IMU samples gyro data at 200 Hz via hardware FIFO
- Each video frame, the FIFO is drained and gyro samples are integrated over the frame interval using per-sample timestamps
- The integrated angular displacement is converted to a pixel offset
MI_VPE_SetPortCrop()shifts the crop window to cancel the motion- VPE upscales the cropped region back to the output resolution
The crop window returns to center only when the camera is stationary, preventing the recenter from fighting active corrections.
Add to /etc/venc.json:
{
"imu": {
"enabled": true,
"i2cDevice": "/dev/i2c-1",
"i2cAddr": "0x68",
"sampleRate": 200,
"gyroRange": 1000,
"calSamples": 400
},
"eis": {
"enabled": true,
"mode": "gyroglide",
"marginPercent": 30
}
}Restart venc. Hold the board still during the 2-second IMU auto-calibration at startup.
- FPS: 60 or lower. At 120fps the per-frame integration window is too short for effective correction. At 60fps the sensor selects a higher-res mode (2560x1920) giving more headroom.
- Margin: 30% (default, maximum safe). This gives ±288px horizontal and ±162px vertical correction range from a 1344x756 crop within 1920x1080. Values above 30% can stall the VPE pipeline and are automatically clamped.
- Gain: 1.0 for full correction. Reduce to 0.5-0.8 if overcorrecting.
- Deadband: 0.0 recommended. The motion-gated recenter handles bias drift when the camera is stationary.
To verify EIS is working without an IMU connected:
"eis": { "enabled": true, "testMode": true }This injects a visible sine-wave wobble into the crop window.
If the stabilization moves the wrong direction, use the axis flags:
"eis": { "swapXY": true, "invertX": false, "invertY": true }The correct mapping depends on how the IMU is mounted relative to the camera sensor.
The EIS system uses a modular dispatch framework. The gyroglide backend
provides timestamp-based integration, motion-gated recenter, edge-aware
recentering, and optional slew limiting. New backends can be added by
implementing the EisOps vtable in eis.h.
- Translation only — cannot correct roll (rotation around optical axis)
- 30% max margin — VPE hardware limit when scaling is active
- Resolution loss — 30% overscan means the effective output is cropped from a 1344x756 window (upscaled to output resolution)
- No rolling-shutter correction — CMOS line-by-line readout skew is not addressed by crop-window shifting
See documentation/GYROGLIDE_LITE_DESIGN.md for the full design document
and documentation/EIS_INTEGRATION_PLAN.md for the implementation roadmap.