diff --git a/.gitignore b/.gitignore
index 4eb34921..30e1f5ce 100644
--- a/.gitignore
+++ b/.gitignore
@@ -28,6 +28,7 @@ enc-ctrl/tests/test_runner
 
 # Source-built CV610 sensor-plugin artifacts
 sensors/cv610/imx662/*.o
+sensors/cv610/imx662/*.d
 sensors/cv610/imx662/*.so
 
 # Performance benchmark artifacts — local-only, not shipped upstream
@@ -41,3 +42,6 @@ a-*.d
 
 # Serena LSP tooling config — local developer machine only, not shipped
 /.serena/
+
+# CI-pinned SDK checkouts (.github/workflows/main.yml lint-build-cv610)
+.deps/
diff --git a/HISTORY.md b/HISTORY.md
index 86f9ad9d..d9e4a5d4 100644
--- a/HISTORY.md
+++ b/HISTORY.md
@@ -1,5 +1,645 @@
 # History
 
+## [0.67.1] - 2026-08-22
+
+Pre-upstream review pass over 0.65.3..0.67.0. Three defects introduced by that
+range, one long-standing sensor-register error, and the documentation the
+range changed but did not update. No wire format, config schema or frame-SHM
+layout changes.
+
+- **Star6E dual-VENC crashed at startup.** `star6e_pipeline_start_venc()`
+  accepts `vcfg == NULL` — `star6e_pipeline_start_dual()` passes it for ch1 —
+  but 0.66.0's slice block dereferenced it unguarded. Any craft with
+  `record.mode=dual`/`dual-stream` segfaulted during startup controls,
+  independent of `sliceCount`, because the fault is the *read* of
+  `slice_count`. `record.mode` is gated on mode alone, not `record.enabled`.
+  Host tests could not see it: `star6e_pipeline.c` is not in the test library.
+- `MI_VENC_ParamH265SliceSplit_t` was passed to the vendor with its padding
+  uninitialised; both sibling structs in the same function are memset.
+- A `libmi_venc.so` without the optional `MI_VENC_SetH265SliceSplit` export
+  failed startup with a message that read as a driver rejection. The failure
+  stays fatal — delivering one slice while the API advertises N would lie to
+  the receiver's spatial concealment — but now names the missing symbol.
+- **The CV610 partial-load rollback could still wedge the SoC.** `stop_modules()`
+  refuses to unload while a consumer holds an MPP device, and its comment
+  claimed every unload path was covered; `cleanup_partial()`, armed as an EXIT
+  trap across the whole load sequence, was not. A consumer can claim a device
+  created earlier in that same sequence — `waybeam_hub` rebinds `/dev/rgn`
+  within ~1 s of `open_rgn` appearing — so a later insmod failure unloaded it
+  underneath a live holder. It now carries the same guard and leaves the
+  modules loaded, which is recoverable; a wedged SoC is not.
+- **The IMX662 analog gain register was never written.** Sony's register list
+  puts `GAIN[10:0]` at `3070h`/`3071h` and jumps straight from `3069h` to
+  `3070h` — `306Ch`/`306Dh` are not registers. Every AE gain update went to a
+  dead address, so analog gain never actuated, all gain was ISP digital, and
+  the HCG conversion-gain compensation never landed, making each HCG engage an
+  uncompensated ~5.8x brightness step. The vendor's own reference driver
+  carries the same pair. **This changes low-light behaviour materially and the
+  gain/ISO tuning in 0.65.6 was measured against the dead register — the
+  low-light path needs re-verification on hardware.**
+- The HCG band's compile-time guard could not fire in the dangerous direction:
+  all three operands are `u`-suffixed, so lowering `HCG_OFF_REG` below
+  `HCG_GAIN_OFFSET` wrapped and passed clean. Now evaluated signed, with a
+  second assert rejecting an inverted ON/OFF pair. Both mutation-tested.
+- `make stage SOC_BUILD=cv610` returned 0 when the sensor plugin failed to
+  build, because the recipe chains with `;` and the last `cp` succeeded. CI
+  caught it only via its explicit `test -f` on the `.so`.
+- `data.routes.iq` claimed `/api/v1/iq` *and* `/api/v1/iq/set` were serviced
+  while testing only `query_iq_info`; `/iq/set` gates on `apply_iq_param`. Now
+  requires both. Every shipped backend registers both, so no response changes.
+  The test that asserted the old pairing gained the missing arm.
+- Docs: `docs/CV610_BACKEND.md` said the init script unloads the MPP stack on
+  stop and guards unloading itself — both untrue since 0.65.8/0.65.10 — and
+  recorded none of the operator rules those releases established. Its audio
+  timestamp note still claimed 10 ms against `CV610_AUDIO_POINT_NUM` 960.
+  `/api/v1/intra/status` and `/api/v1/resilience/status` are documented for the
+  first time. An orphaned code fence in the capabilities section rendered ~25
+  lines of prose as a code block.
+
+## [0.67.0] - 2026-08-22
+
+Ports the shared resilience contract and whole-access-unit H.265 slicing to
+CV610. All resilience presets now drive the HiSilicon row-intra-refresh and
+base/enhance reference controls with strict setter/getter verification;
+`video0.sliceCount` drives 32-pixel LCU-row splitting with early slice output
+kept disabled. The existing config schema and frame-SHM v1 wire layout are
+unchanged.
+
+- CV610 consumes per-frame vendor `ref_type`, marks non-reference enhancement
+  frames in frame-SHM, rewrites their copied TRAIL_R NAL headers to TRAIL_N,
+  publishes GDR cycle position/length, and rate-limits recovery IDRs when a
+  full output ring drops a reference-chain frame.
+- `/api/v1/capabilities`, intra status, and resilience status now report the
+  implemented CV610 controls. Startup fails on an encoder readback mismatch
+  instead of silently claiming resilience or slice geometry.
+- Confirmed on the IMX662 CV610 bench at 1080p30/60/100. Slice requests 1, 3,
+  4, 6, 9, 12 and 17 delivered exact VCL-NAL counts; shared ref presets matched
+  vendor cadence; frame-SHM metadata/integrity passed; and an IDR-started
+  380-frame 1080p60 stream decoded cleanly under FFmpeg `-xerror`.
+- Maruko now binds the device-aware H.265 slice Set/Get ABI and applies it in
+  the required CreateChn-before-StartRecvPic window, including stab-fill.
+  Explicit multi-slice requests fail startup if the ABI cannot be applied or
+  read back; `sliceCount=1` remains compatible with older libraries.
+- Confirmed on SSC378QE/Maruko at 1280x720@30 with `rally`: requests 1, 4 and
+  12 delivered exactly, while 17 and 32 quantized to the picture maximum of
+  12. All sampled access units retained their complete VCL census and a
+  cold-start 284-frame, 12-slice capture decoded cleanly with FFmpeg.
+- Fixed a pre-existing Maruko frame-SHM startup guard that rejected a valid
+  frame ring because it checked only socket and packet-ring transports.
+- The 0.66 eight-slice ceiling and CV610/Maruko deferrals are superseded:
+  `packetInfo[8]` is per pack, while every output path walks all packs in the
+  access unit. The shared request range is now 1..32 and device geometry sets
+  the delivered ceiling.
+- The frame-SHM consumer test can optionally dump an IDR-started Annex-B stream
+  for offline decoder validation.
+
+## [0.66.0] - 2026-08-19
+
+Adds H.265 multi-slice output on Star6E: `video0.sliceCount` (1..8, default
+1 = today's single-slice stream, restart-class) binds the vendor
+`MI_VENC_SetH265SliceSplit` — exported by the shipped `libmi_venc.so` all
+along, never wired — and asks for `ceil(rows/sliceCount)` CTU rows per slice
+between CreateChn and StartRecvPic, the same SDK window as refPred.
+
+The consumer is waybeam-link's new §6.3b spatial concealment: with several
+independent slices per picture, RF loss past the FEC budget costs a frozen
+region instead of the whole frame. The knob defaults off so nothing changes
+until a craft opts in.
+
+- Frame-SHM publication is untouched: still one access unit per slot, now
+  with N slice NALs inside it. RTP/recorder walkers already iterate
+  `packetInfo[]` and stay correct.
+
+- The 8-entry `packetInfo[]` clamp is the known ceiling — the field is
+  range-limited to 8, and the frame-ring walker now WARNs (once) if the SDK
+  ever reports more NALs in a pack than the table holds, instead of silently
+  shipping a truncated frame. Whether the SDK emits one pack per slice or
+  packs slices into one `packetInfo[]` still needs the on-device readout;
+  until then treat sliceCount 4 as the validated envelope (offline: 4-slice
+  1080p streams repaired and decoded clean by ffmpeg/libde265/HM-18.0).
+
+- CV610: not exposed (allowlist unchanged); the SDK headers are external and
+  its slice-split contract is unverified. Maruko: `libmi_venc.so` exports the
+  symbol, but only the Star6E pipeline applies it for now.
+
+## [0.65.10] - 2026-08-17
+
+Removes both CV610 paths that unloaded MPP modules on a running craft: the
+`S95waybeam reload` action, and `start()`'s module rollback on a failed daemon
+start. `reload` was dead code built on a premise the hardware disproved in the
+release that added it; the rollback was reachable on the post-crash start this
+release prescribes as the recovery.
+
+- **Nothing in production called it** — the hub uses `restart`
+  (`mod_venc.c:687`), venc never did, and the crash test does not. Only the
+  suite's own T5 exercised it, to test the action itself.
+
+- **Its premise was already falsified.** Its comment claimed VB is left held by a
+  dead owner after a crash and reload is "the way out". 0.65.8's own notes say
+  the opposite — *"ISP, not VB, is what a crash leaves behind… VB is released"* —
+  and the suite prints `VB was released when the process died` on every run. What
+  a crash actually leaves (ISP, and since 0.65.9 the AI device claim) venc
+  pre-cleans itself, so a hard-killed venc recovers from a plain `start`, video
+  and audio both.
+
+- **Unloading is not free.** A hard kill poisons module reloading for the rest of
+  the boot (`no sys ko!` → `load vpp.ko ...FAILURE!`), so a reload issued
+  afterwards leaves the craft with no modules at all — and on a video-only craft
+  it resets the SoC outright (measured). The underlying defect is in the vendor
+  modules and is unchanged.
+
+  `reload` was not the only unload on that path, which an adversarial review
+  caught before this merged: `start()` rolled back with `"$LOADER" stop` on a
+  failed daemon start, and since 0.65.8 made the loader's start idempotent
+  ("MPP modules already loaded" → success) that rollback tore down a set the
+  invocation had not created — on exactly the post-crash start this release
+  prescribes as the recovery. That rollback is removed too. Leaving the modules
+  up after a failed start costs nothing, because the next start re-inits against
+  them.
+
+- The loader's audio-mismatch hint pointed at `S95waybeam reload`; it now says
+  reboot, which is what actually applies a `CV610_AUDIO` or sensor-profile
+  change. `load-cv610-online restart` remains for a dirty or partial module set,
+  but run **bare** it reloads with the loader's defaults (video-only, imx662
+  clock) rather than the craft's profile — a caveat that used to live inside
+  `reload()` and is now recorded where it survives it. `load-cv610-online stop`
+  followed by `S95waybeam start` is the safer form; that passes the profile.
+
+- The suite loses T5 (it tested `reload`) and, with it, the contaminated-boot
+  precondition T5 needed. The suite no longer *performs* an unload: T1 still
+  attempts one, but only to assert the loader refuses it while the hub holds
+  `/dev/rgn`. It also no longer stops the hub anywhere, so T6 now always runs
+  with a holder present.
+
+## [0.65.9] - 2026-08-17
+
+CV610 audio now survives an abnormal venc exit. Investigating the "aenc MMB
+leak" reported in 0.65.8 showed it is **not a leak** — and that it was masking a
+real regression.
+
+- **The MMB LEAK lines are the kernel reclaiming, not losing.** Measured on
+  `.181`: a hard kill prints `MMB LEAK(pid=N) 'aenc(0)_strm'`/`'aenc(0)_cir'`,
+  and the two blocks are gone from `/proc/umap/media-mem` immediately after.
+  Across **five** kill cycles the pool returned to its exact baseline —
+  `34 blocks / 38332 KB` before and after. Nothing accumulates.
+
+- **What actually broke: audio, silently.** MPP objects are kernel state, so a
+  killed venc leaves the AI device claimed by the dead pid. Every AI call from
+  the successor is then refused with `OT_ERR_AI_NOT_PERM` (`0xa015800d`) —
+  including `ss_mpi_ai_disable()`, so the successor could not even clean up.
+  `ss_mpi_ai_set_pub_attr()` failed, audio never started, and venc reported
+  *"needs CV610_AUDIO=1 at module load"* — which is not what happened. Video
+  streamed normally, so nothing looked wrong. Deterministic, 2 of 2.
+
+  This was masked until 0.65.8: the module reload that release removed also
+  wiped the AI claim. So the hard-kill path regressed there, and `reload` is not
+  a way out — a hard kill also poisons module reloading for the rest of the boot.
+
+- **Fix: cycle the audio module before bring-up.** `cv610_audio_start()` now
+  calls `ss_mpi_audio_exit()` + `ss_mpi_audio_init()`, then `ss_mpi_ai_disable()`,
+  before configuring anything. The module cycle is what clears the dead owner's
+  claim — it is precisely why a *second* graceful restart used to recover audio
+  where the first did not, and this folds that cycle into the first start. Same
+  shape as `sys_setup()`'s `isp_exit`/`sys_exit`/`vb_exit` pre-clean.
+
+  Releasing the objects one by one does **not** work and is not attempted: the
+  SDK tracks `sys_unbind`, `aenc_destroy_chn`, `opus_deinit` and
+  `ai_disable_chn` process-locally, so a successor cannot release a dead
+  predecessor's copies. Only `ss_mpi_ai_disable()` reaches kernel state, and it
+  is the only one whose return code ever differed between the broken and healthy
+  cases. `opus_deinit` was additionally printing `illegal handle(-1)!` to stderr
+  on every clean start.
+
+  Verified on `.181`: kill a venc with healthy audio, start, audio back — **2 of
+  2**, `aenc` blocks 0 → 2, `ai_disable` `0xa015800d` → `0x0`. It also recovered
+  a craft already stuck in the broken state with no reboot, and a graceful
+  restart is unchanged.
+
+- **The audio warning no longer guesses a cause.** It asserted *"needs
+  CV610_AUDIO=1 at module load"* for every failure — the misreport above. The
+  module hint moved to `ss_mpi_audio_init()`, which is where an absent module set
+  actually lands (it opens `/dev/ab`, created by `open_aio`, which the loader
+  stages only under `CV610_AUDIO=1` — a switch independent of `audio.enabled`).
+  The `/dev/acodec` open is *not* that path.
+
+- The verify suite's T6 asserted *video* streaming, which is why this went
+  unnoticed — it passed with audio dead. It now asserts the aenc block count and
+  the absence of an audio-start failure, and skips explicitly (not silently) on
+  a video-only craft. T5 refuses to run on a boot where a hard kill already
+  happened, instead of failing for a reason that predates the run.
+
+## [0.65.8] - 2026-08-17
+
+CV610 venc restarts no longer reload the MPP kernel modules — the same model
+star6e and maruko have always used, where the init script never touches
+`insmod`/`rmmod` at all.
+
+- **The reload was bring-up scaffolding.** Both cv610 init scripts have been
+  unchanged since the initial backend commit. `mpp_cleanup()` is already a
+  complete teardown and, critically, calls `ss_mpi_vb_exit()` *from the process
+  that created VB* — the only process permitted to. So after a graceful stop
+  there is nothing for a module reload to clean up, and the next start can
+  re-init the graph against the modules already loaded.
+
+- **What the reload was actually protecting.** A venc that dies without running
+  `mpp_cleanup()` leaves VB held by a dead owner; `vb_set_cfg` then returns
+  BUSY. That was tolerated blindly, which is only harmless while the modules
+  are reloaded every time. Without the reload it would mean running on the
+  previous mode's pool sizes.
+
+  `sys_setup()` now reads the live config back with `ss_mpi_vb_get_cfg()` and
+  compares the pools it was about to request. Identical layout is adopted and
+  says so; a different layout is a hard failure naming the way out
+  (`load-cv610-online restart`) instead of silently handing out wrong-sized
+  blocks that surface later as corruption.
+
+- `load-cv610-online start` is idempotent when the full set is up (`open_user`
+  is the last module loaded, so its presence means a completed sequence); a
+  *partial* set is still refused as dirty. `S95waybeam stop` leaves the modules
+  loaded, and a new `S95waybeam reload` is the recovery path after a crash —
+  it unloads, so the holder guard applies and the hub must be stopped first.
+
+- **ISP, not VB, is what a crash leaves behind.** Measured on `.181`: after
+  `kill -9`, VB *is* released (set_cfg succeeds) but ISP[0] stays inited and the
+  next run dies at `ss_mpi_isp_mem_init` with `0xa01c800c` "already inited".
+  `sys_setup()` now pre-cleans with `ss_mpi_isp_exit(VI_PIPE)` alongside the
+  existing `sys_exit`/`vb_exit`, before anything of ours is registered, so a
+  hard kill recovers without a module reload.
+
+- `S95waybeam reload` passes `CV610_SENSOR_PROFILE`/`CV610_AUDIO` through to the
+  loader. A bare `$LOADER restart` reloads with the loader's own defaults —
+  video-only, imx662 clock — and `start()` then correctly refuses the audio
+  mismatch, leaving the craft with no daemon at all.
+
+- Device verification on `.181`, `scripts/cv610_reload_free_verify.sh`:
+  **23 passed, 0 failed**. T3 restarts across a real mode change and asserts the
+  *encoded geometry* moved (1920x1080 → 640x360) from venc's own VPSS line,
+  because asserting the config key instead let an earlier revision report a mode
+  change that never happened. T2 asserts the hub's OSD survived, from the
+  compositor's VGS job counters in `/proc/umap/rgn` rather than the hub's own
+  perf line — the hub counts the publish it made, which is the stimulus; those
+  counters count the composite that consumed it. Verified to fail on a region
+  that is not there. T3 asserts it too, across the mode change, because the hub
+  rebinds at its old window size and only its own source poll re-anchors it: an
+  oversized region sits on the smaller channel for a few seconds. Measured
+  benign — 30 s at 640x360 with `job_fail` 0 and venc streaming.
+
+Two things the hardware showed that are **not** fixed here:
+
+- **A SIGKILL leaks two `aenc` MMB blocks** (`aenc(0)_strm`, `aenc(0)_cir`,
+  16 KB each) and after that the next module unload/reload fails at sys.ko init
+  — `no sys ko!` then `load vpp.ko ...FAILURE!` — for the rest of the boot, so
+  even a fresh load from zero modules fails. Graceful stops leak nothing. This
+  makes `reload` the wrong recovery after a hard kill; reboot is. It is also an
+  independent argument for this change: the fewer module reload cycles, the
+  better, and it plausibly underlies the old "reboot instead" folklore.
+
+- **The hub's RGN OSD does not survive a venc restart.** With `open_rgn` no
+  longer unloaded the hub keeps its `/dev/rgn` handle, but the region does not
+  survive our teardown: after a restart `/proc/umap/rgn` lists **no regions at
+  all** — `mpp_cleanup()`'s `ss_mpi_sys_exit()` takes the whole table with it,
+  because MPP objects are kernel state shared across processes. The hub keeps
+  painting into a handle that no longer exists: `osd_render` goes from
+  `40 rgn … drops 0` to `0 rgn … drops 42`, silently. A hub restart restores it.
+  Fixed on the hub side in waybeam-hub#213 (the region is recreated and rebound
+  after five consecutive failed publishes), which is what T2 now asserts.
+
+## [0.65.7] - 2026-08-17
+
+CV610 SoC wedge on `stop`. On the `.181` bench, `S95waybeam stop` while
+`waybeam_hub` was running killed the SoC outright — no network, ARP
+incomplete, physical power cycle required. It had been misfiled as an
+intermittent "reboot sometimes hangs" for weeks.
+
+- **Root cause: the MPP modules were unloaded under a live consumer.**
+  `stop()` waits only for `waybeam`/`waybeam-resp`/`waybeam-wd` and then calls
+  `load-cv610-online stop`, which rmmods the whole stack. `waybeam_hub` holds
+  `/dev/rgn` for the CV610 RGN OSD and `/dev/mmz_userdev`, and the MPP drivers
+  do not set `.owner` on their file operations — `/proc/modules` reports
+  `open_rgn used=0` while the hub has `/dev/rgn` open. `rmmod` therefore
+  succeeds and frees the file operations out from under a live consumer.
+
+  The script already carried the right invariant in a comment — *"Never unload
+  the MPP stack while any of them still owns the graph"* — it just never
+  counted the hub as an owner.
+
+- **Measured, with controls.** 10/10 monitored `reboot` cycles clean (ping gap
+  12.6–15.8 s, back 18–20.5 s). 20/20 venc stop/start cycles clean with the hub
+  stopped, 2100 frames and 0 output drops afterwards. First stop/start with the
+  hub running: dead. Then 5/5 clean again once the hub was released first.
+
+  Reboot was never safe for the reason everyone assumed. `rcK` iterates
+  `ls -r /etc/init.d/S??*`, so `S97waybeam-hub` stops *before* `S95waybeam`.
+  That accident is the entire difference, and it retro-explains the standing
+  "never stop/start venc on cv610, reboot instead" rule.
+
+- **Fix.** The guard lives in `load-cv610-online stop_modules()`, next to the
+  `rmmod` it protects, so it covers every path that unloads — `S95waybeam
+  stop`, the start-failure rollback that also calls `$LOADER stop`, and a
+  hand-run `load-cv610-online stop`. It scans `/proc/*/fd` and refuses, naming
+  the holders.
+
+  `S95waybeam stop` additionally asks up front, via `load-cv610-online holders`
+  ignoring its own pids, so it can refuse *before* killing anything: refusing
+  after the kill would leave venc dead with the modules still loaded, which
+  `load-cv610-online start` then rejects as dirty state.
+
+  `rcK` and `reboot` are unaffected because the hub is already gone by then; a
+  manual `S95waybeam stop`/`restart` on a live craft now fails with a message
+  instead of wedging the SoC. `/api/v1/restart` is untouched — it re-execs the
+  daemon without unloading modules.
+
+## [0.65.6] - 2026-08-16
+
+Low-light bitrate. On the `.181` bench with the room lights off, a 9.26 Mbps
+CBR target produced 29-65 Mbps. In good light the same build holds target
+(measured 9.98 vs 9.26), so this was specific to high sensor gain.
+
+- **The borrowed sharpen table was the cause — 88% of it.** Measured by
+  A/B with interleaved controls: turning sharpen off dropped the stream
+  65.4 -> 7.8 Mbps, *below* the target. Pinning sharpen strength to a constant
+  gave 0 -> 11.8, 40 -> 36.5, 80 -> 62.7, 150 -> 91.5 Mbps. Nothing else came
+  close: saturation -7.3%, CSC satu -4.5%, CA +1.7%, LDCI +2.2% (inside drift,
+  no effect). Disabling bayer NR *raised* the bitrate 15.7%, so NR was already
+  earning its keep and is untouched.
+
+  Sharpening is a high-pass filter, so at high gain it amplifies precisely the
+  noise that inter prediction cannot code. `g_cmos_yuv_sharpen` runs in AUTO,
+  and its sc450ai-derived `[32 gain][16 ISO]` tables *rise* along the ISO axis
+  — `texture_strength` to 310 where the low-ISO value is 216, `edge_strength`
+  195 -> 500. They sharpen harder the darker it gets. Defensible for sc450ai's
+  noise model and NR softening; backwards on IMX662.
+
+  Both tables are now tapered along ISO only, to 0 by bucket 9, with the rule
+  the original breaks: sharpening never increases with gain. Verified by four
+  invariants — ISO buckets 0-3 byte-identical, ISO 9-15 zero, monotonic
+  non-increasing from bucket 3, and no value anywhere raised.
+
+- **QP bounds are wired on CV610** (`apply_qp_bounds`, `video0.minQp/maxQp`,
+  live and at startup). The config fields, mutability and WebUI metadata
+  already existed; only the backend callback was missing.
+
+  This is **not** the low-light fix, and the measurement says so: the driver
+  default is `min=10 max=51`, already the H.265 maximum. The rate controller
+  always had full authority and still emitted 29-65 Mbps, so QP saturation was
+  never the cause. At 100 fps even maximum-QP frames of a noise-dominated
+  image exceed 10 Mbps. The knob is worth having to *cap* quality or raise the
+  floor; it cannot rescue a scene the encoder is already coding as coarsely as
+  the standard allows.
+
+- **AE is exposed as an `exposure` IQ group** — the gain ceilings and exposure
+  window that decide how much noise is created in the first place. Before this
+  release the bench ran `a_gain_max` 407654 (398x, matching
+  `IMX662_AGAIN_MAX`), `ispd_gain_max` 32768 (32x) and `sys_gain_max` 13044928
+  — **12739x total, about 82 dB**, which is why a dark room ended up as
+  amplified noise. Those ceilings are now readable and settable at runtime
+  instead of being compile-time constants, and the digital one is lowered
+  below.
+
+- **Saturation tapers harder above daylight.** Chroma noise is the ugliest
+  high-gain artifact and colour is least trustworthy exactly where gain is
+  highest; dropping chroma measured -7.3%. The first four buckets are
+  unchanged, the top drops from 90 to 32.
+
+- **ISP digital gain is capped 32x -> 4x.** It is the worst gain in the chain:
+  it amplifies noise and quantisation equally and buys no SNR, where analog
+  gain and HCG act ahead of the ADC. The shipped total ceiling moves from
+  12739x (~82 dB) to **398 x 4 = 1592x (64.0 dB)**, inside the range an
+  operator preferred on the bench, and AE now exhausts analog before reaching
+  for digital. Tunable live at
+  `/api/v1/iq/set?exposure.auto.ispd_gain_max=<n>` (1024 = 1x), because
+  darker-but-cleaner is an operator trade rather than a constant.
+  `IMX662_AGAIN_MAX`'s comment claimed ~72 dB while the value gives 52; the
+  comment is corrected and the value deliberately left alone.
+
+- **IMX662 HCG conversion gain is selected at high analog gain.** `FDG_SEL0`
+  (0x3030) was defined and never written, so the sensor sat at its 0h reset —
+  low conversion gain — and every dark frame was amplified through the noisier
+  path. It is now a ninth fast-update register, chosen per frame from the gain
+  code with hysteresis.
+
+  HCG is **not** brightness-neutral: the GAIN register is PGA gain applied
+  after the conversion gain, so the two multiply. The datasheet gives the ratio
+  (Rcg typ 5.8, corroborated by G sensitivity HCG 18383 vs LCG 3166
+  Digit/lx/s), which is 15.3 dB — so the written code has the offset
+  subtracted while HCG is on, and the thresholds sit where the compensated code
+  still clears Sony's 34-code floor (on at 91, off below 85). Without that
+  there is no fixed point between 12 dB and 25.5 dB: AE brightens 5.8x, slams
+  the code down past the floor, HCG drops out, and it limit-cycles — a band
+  that neither daylight nor a dark room enters, which is why an uncompensated
+  first cut measured clean in both.
+
+  Sony's 34-code floor is a saturation constraint, not the conversion gain:
+  Vsat is 3895 digits in LCG against 1204 in HCG, a ratio of 3.235, and 34
+  codes x 0.3 dB = 10.2 dB = 3.236x — the floor exists so HCG's clip level
+  refills the ADC to LCG's.
+
+- **`nr.md_en` and `nr.coring_ratio` are exposed.** The intended fix here was a
+  re-fit of `g_cmos_noise_calibration`, which is sc450ai's photon-transfer
+  curve — 16 doubles measured from different silicon. That is a lab
+  calibration, not a code change, and inventing coefficients would be strictly
+  worse than keeping a real fit while looking identical in review. The knobs
+  that fit drives are exposed instead, so the borrowed model can be corrected
+  by eye until someone measures the real one. `md_en` reads back 1 — CV610's
+  motion-detect temporal NR was already on.
+
+The IQ field table is now 64-bit internally: the AE gain and exposure fields
+are `td_u32`, and a driver default of 0xFFFFFFFF would have read back as -1.
+
+`/api/v1/capabilities` gains `data.routes` and `contract_version` moves to
+`0.18.4`; the CV610 IQ response shape is documented in
+`documentation/HTTP_API_CONTRACT.md`.
+
+A pre-merge adversarial review pass also corrected this release's own record
+and three defects in it: the WebUI IQ tab no longer starts hidden (that made
+visibility depend on `init()` completing, so any failed init fetch latched the
+tab off permanently on star6e and maruko); a chip click no longer prefills the
+actuator (on star6e's legacy path even an identical value forces `enable=1`
+and `op_type=manual`); the per-set full-ISP re-query is gone; the shared query
+parser rejects an over-long value instead of truncating it mid-token; and the
+QP-bounds path leaves the I-frame FLOOR alone so `video0.qp_delta` still
+biases I-frames. The 0.65.5 entry above was revised where this stack
+invalidated it.
+
+Verified on `.181`: the sharpen taper was confirmed by the operator on the
+live stream (dark room holds target) with daylight unchanged at 10.09 Mbps
+against 9.26 and the encoder nominal at 100.20 fps. The gain-chain and HCG
+changes landed after that arm and were re-verified separately — see the
+per-commit evidence — and `make verify` is green with lint clean on all three
+backends.
+
+## [0.65.5] - 2026-08-16
+
+0.65.4 seeded the CV610 ISP well but froze every value into the sensor plugin,
+which the ISP reads once at pipe start — correcting one meant a cross-compile,
+a plugin deploy and a reboot. This makes those blocks live knobs. No contract
+change; `/api/v1/iq` and `/api/v1/iq/set` are existing routes that answered
+`501` on this backend only because it supplied no callbacks.
+
+- **`cv610_iq.c` exposes 11 ISP groups, 59 fields.** saturation, color_tone,
+  csc, ccm, wb, sharpen, nr, drc, ldci, dehaze and ca, wired into
+  `g_cv610_apply_callbacks`. Unlike `star6e_iq.c` there is no `dlopen` and no
+  hand-computed struct offsets: the backend links `ss_mpi` directly, so every
+  field is an `offsetof()` into the SDK's own type and every range is the
+  header's documented one. Values are read back from the ISP rather than
+  cached, and a value outside its declared range is REJECTED rather than
+  clamped, so the value echoed by `/api/v1/iq/set` is the value applied.
+- **Writing a field selects the half of the block it lives in.** A value under
+  `manual_attr` is inert while the block runs its auto curve and vice versa,
+  and an ignored write is indistinguishable from a broken setter — so the
+  write selects that `op_type`. The schema reports each field's `domain`
+  (`direct` | `manual` | `auto`) and the WebUI marks both kinds on the chip.
+- **DRC and dehaze are registered but bypassed**, measured through the new
+  surface: `drc.enable` and `dehaze.enable` both read 0, and
+  `ss_mpi_isp_get_module_ctrl()` confirms the hardware bypasses both. Toggling
+  `drc.enable` clears and restores that bypass bit, so the two agree. 0.65.4's
+  note that the algorithm blocks were "enabled" over-stated it for these two;
+  that entry is corrected. Their sc450ai-derived tables ship `enable = 0`, so
+  DRC has never contributed to a CV610 image and remains unevaluated.
+- **The WebUI IQ tab is capability-driven.** It was hidden by a hardcoded
+  `backendName === 'cv610'` test; visibility now comes from
+  `/api/v1/capabilities`' `data.routes.iq`, and the knob list is rendered from
+  the `_schema` the backend describes itself with, so the field table stays in
+  one place instead of being copied into the page. Backends with no schema keep
+  the existing hardcoded list.
+
+Verified on the `.181` bench, cold-booted onto a build of this change
+(`/proc/PID/exe` confirmed not `(deleted)`; the binary was rebuilt again for
+0.65.6, so the hash is not quoted here): all 11 groups
+return `ret=0`; a mutation sweep wrote and read back one field per group with
+11/11 agreeing and the device diffing clean against its boot state afterwards;
+saturation 60 → 220 → 60 moved mean chroma 4.84 → 22.95 → 4.81, the repeat of
+the first arm landing within 0.6% so the change is the knob and not the scene;
+arrays of the wrong length in either direction and unknown names are
+rejected; encoder rate stayed nominal at 100.10 fps with `pressureDrops`
+frozen at 0.
+
+`/api/v1/capabilities` advertises `routes.iq_import:false` because
+`handle_iq_import()` is compiled only for Star6E and Maruko; the WebUI hides
+the control rather than offer a button that 501s. (An earlier `_caps` block in
+the IQ payload was replaced by this before release — one fact, one place.)
+
+## [0.65.4] - 2026-08-16
+
+The CV610 IMX662 plugin was a scaffold in two places its comments admitted to,
+and both were costing image quality. It wrote 26 of the sensor's 131 power-on
+registers, and it handed the ISP a zeroed `ot_isp_cmos_default`, which switches
+every algorithm block off. No HTTP behaviour changes; contract stays `0.18.3`.
+
+- **The power-on register sequence is written.** `imx662_sensor_ctl.c` carried a
+  TODO naming the range it was missing, `0x301C..0x4549`. Sony's sequence for
+  that range is 131 entries — the reserved analog/ADC trim, the MIPI TX timing,
+  the readout window and the HDR context linear mode needs parked — and it now
+  lives in `imx662_cfg.h`. The table runs first, in standby, so the per-mode
+  writes that follow win where the two overlap; that ordering is load-bearing
+  for `0x3A50/51/52`, which keys off ADBIT rather than output depth, so the
+  table holds the 12-bit form and the RAW10 modes overwrite it. Measured on
+  hardware: 94 entries differ from the module's power-on state, the
+  readout-window group already matched bit for bit, and a RAW10-vs-RAW12 dump
+  of the whole range differs in only 8 registers — none of them in the reserved
+  blocks, which is what made writing the table wholesale safe.
+- **The ISP algorithm blocks are enabled.** `cmos_get_isp_default()` memset the
+  struct and returned, leaving demosaic, gamma, CLUT, LDCI, CAC,
+  anti-false-colour, dehaze, CA, sharpen, DRC and bayer NR all off. That, not
+  the sensor, was the flat and hazy image. Tables are ported from the in-tree
+  `smart_sc450ai` driver, which targets this same ISP silicon. The blocks that
+  describe ISP behaviour transfer on principle; the noise-fitted ones are
+  borrowed from a 4 MP sensor and are kept on a hardware A/B rather than a
+  calibration. Two of them are registered but not switched on: `g_cmos_drc`
+  and `g_cmos_dehaze` carry `enable = 0`, inherited from sc450ai's linear-mode
+  defaults, so the ISP bypasses both at runtime. See 0.65.5, which measured
+  that on hardware.
+- **Saturation is configured at all.** `cmos_get_awb_default()` left
+  `agc_tbl.valid` at 0 with every `saturation[]` entry 0, so the ISP was never
+  told what saturation to run — the washed-out colour. The shipped curve is
+  scaled up at the low-ISO end from sc450ai's and keeps its taper at high gain,
+  where chroma noise scales. Measured +41% mean chroma with sharpness flat.
+- **`sns_mode` is populated.** `sns_id` was 0, disagreeing with
+  `cv610_pipeline.c`'s `IMX662_SNS_ID` — which that file already documents as
+  having to match, and which would misbind a future PQ `.bin`, since those are
+  chip- and sensor-locked. `sns_mode` was never set.
+- **The sensor plugin Makefile generates header dependencies.** A bare
+  `%.o: %.c` rule meant a header-only edit relinked stale objects and shipped a
+  binary without the change, while `make` exited 0. Both the register sequence
+  and every tuning table live in headers. Found when two plugins built from
+  different saturation tables came out byte-identical.
+- **`tools/cv610_i2c_dump.c`** reads sensor registers over `/dev/i2c` from a
+  second process while the pipeline runs. `imx662_read_register()` is a stub —
+  the ISP only ever writes — so nothing could previously confirm an init landed.
+
+Verified on the Hi3516CV610 bench at 192.168.2.181, cold boot per arm:
+1080p30 30.03 fps, 1080p60 60.03, 1080p90 90.03, 1080p100 100.06 — all nominal
+and matching the pre-change baseline — with a 1222-register readback at zero
+I2C errors and every reference entry matching silicon.
+
+## [0.65.3] - 2026-08-16
+
+CV610 sensor-mode selection reaches parity with SigmaStar, so one client can
+render one set of sensor controls against all three backends. Contract
+`0.18.2` → `0.18.3`.
+
+- **`sensor.index` and `sensor.mode` select on CV610 now.** Both parsed and
+  both sat in the config file, but the backend read neither and the capability
+  set advertised neither, so `/api/v1/set` answered `409` for a field the
+  daemon carried. `video0.fps` was the selector instead, through an
+  exact-match lookup — a request for 45 fps was a hard config error where
+  SigmaStar substitutes a mode and says so. The two knobs now mean what
+  `sensor_select()` makes them mean: a forced `sensor.mode` wins over the
+  requested rate and must exist, otherwise the rate is a target.
+- **One case diverges from SigmaStar deliberately.** Its `sensor_mode_cost()`
+  tie-break scores fps-excess at zero for every mode *below* the target, so a
+  target above them all falls back to table order — the slowest mode. That
+  rarely fires there because its modes carry min–max fps ranges; on CV610's
+  four point-rate modes it would fire constantly, so a target above every mode
+  clamps to the fastest instead. Verified on the bench: `video0.fps=120`
+  selects 1080p100, and `45` selects 1080p60.
+- **`/api/v1/modes` reports what is running, not what is configured.**
+  `selected_pad` / `selected_mode` were recomputed from `video0.fps` on every
+  request, so they described the configured mode even when bring-up had chosen
+  another or failed outright. They are now published by the backend once the
+  pipeline resolves, through the same `venc_api_set_sensor_info()` Star6E uses.
+- **`video0.gopSize` is checked against the selected mode's rate.** The
+  encoder has always derived its GOP length from that rate rather than from
+  `video0.fps`; the two were identical only while selection was exact-match.
+  A forced mode or a substituted target separates them, and the old check
+  would have passed a `gopSize` that then exceeded the encoder's 65536-frame
+  limit.
+- A substituted rate is announced (`Requested 45 fps, using 60 fps (sensor
+  mode 1: 1080p60 RAW12)`) and shows up over HTTP as `/api/v1/fps/live`
+  disagreeing with `/api/v1/fps/config`. Neither measures anything — the
+  sensor clock follows the mode automatically, but a client that needs the
+  delivered rate must still measure it downstream.
+- **`isp.keepAspect` works on CV610 now; a 4:3 `video0.size` was silently
+  squashed.** The field sat in the config defaulting `true`, but CV610
+  advertised no `isp.*` field and read none — a knob that did nothing, which
+  is worse than one that is absent. `1440x1080` validated, then VPSS stretched
+  the whole 1920x1080 capture into it. The backend now takes a centred crop
+  first, through the same `pipeline_common_compute_precrop()` Star6E and
+  Maruko call, so the rule cannot drift between the three: `1440x1080` uses a
+  1440x1080 window at x=240 and scales 1:1. `isp.keepAspect=false` restores
+  stretch-to-fit. Verified both directions on the bench.
+- **The CV610 default bitrate drops 8000 → 2600 kbps.** waybeam-link is the
+  single rate controller and actuates within seconds, so the config value is
+  a **boot seed**, not an operating point — and what a seed has to survive is
+  the worst rung, not the expected one. Landing at the §9.8 MCS0 no-feedback
+  floor while offering 8 Mbps floods the air, and on this fleet an
+  over-offered craft has already been measured demoting a *second* craft's
+  link on the same channel within a minute. Pinning the seed low costs
+  nothing once the controller takes over.
+- **CV610 was skipping the shared config validation entirely.**
+  `venc_api_validate_loaded_config()` dispatched to the CV610 backend
+  validator *instead of* the shared `validate_field_cfg()` sweep, so sixteen
+  shared rules never ran there — and CV610 re-implemented two of them
+  (`video0.size`'s >=128 and multiple-of-8 gates) inside
+  `cv610_mode_check_output()`, which is the drift risk that made the gap
+  visible. The `/api/v1/set` path always ran the shared rules, so the same
+  value was accepted from the config file at boot and rejected with `409`
+  over HTTP. The sweep now runs first and the backend rules after.
+- The CV610 Opus banner said `10.0 ms frames` for a whole release after
+  `CV610_AUDIO_POINT_NUM` went 480 → 960. Behaviour was right at 20 ms; only
+  the one line a reader could check the packet rate against was wrong. It is
+  now derived from the constants rather than spelled out.
+
 ## [0.65.2] - 2026-08-15
 
 CV610 gets a scaler, one mode table instead of five copies of it, and a
diff --git a/Makefile b/Makefile
index 2b5f56c8..a638add1 100644
--- a/Makefile
+++ b/Makefile
@@ -59,6 +59,8 @@ MARUKO_ONLY_SRC := src/maruko_mi.c src/maruko_config.c src/maruko_video.c src/ma
 STAR6E_ONLY_SRC := src/star6e_output.c src/star6e_audio.c src/star6e_hevc_rtp.c src/star6e_video.c src/star6e_pipeline.c src/star6e_controls.c src/star6e_runtime.c src/star6e_cus3a.c src/star6e_iq.c src/star6e_jpeg.c src/star6e_ipu.c src/star6e_ipu_yolo.c src/star6e_vpe_ports.c src/star6e_luma_tap.c src/star6e_awb.c
 CV610_SRC := src/main.c src/backend_cv610.c src/cv610_runtime.c \
 	src/cv610_audio.c \
+	src/cv610_encoder_config.c \
+	src/cv610_iq.c \
 	src/cv610_modes.c \
 	src/cv610_pipeline.c src/cv610_validation.c src/backend.c \
 	src/venc_config.c src/venc_httpd.c src/venc_api.c src/venc_webui.c \
@@ -358,7 +360,7 @@ stage: build qr-decode
 			mkdir -p $(OUT_DIR)/isp-bins; cp -f iq-profiles/maruko-bin/*.bin $(OUT_DIR)/isp-bins/; \
 		fi; \
 	fi
-	@if [ "$(SOC_BUILD)" = "cv610" ]; then \
+	@set -e; if [ "$(SOC_BUILD)" = "cv610" ]; then \
 		$(MAKE) sensor-cv610 SOC_BUILD=cv610 \
 			CV610_CC="$(CV610_CC)" CV610_SDK_INC="$(CV610_SDK_INC)"; \
 		mkdir -p $(OUT_DIR)/sensors; \
@@ -392,7 +394,7 @@ TEST_SRCS    := tests/test_runner.c tests/test_venc_config.c \
                 tests/test_sensor_select.c tests/test_venc_ring.c \
                 tests/test_file_util.c tests/test_h26x_util.c \
                 tests/test_h26x_param_sets.c \
-                tests/test_maruko_config.c \
+                tests/test_maruko_config.c tests/test_maruko_video.c \
                 tests/test_pipeline_common.c \
                 tests/test_codec_config.c tests/test_sdk_quiet.c \
                 tests/test_rtp_packetizer.c \
@@ -425,13 +427,14 @@ TEST_SRCS    := tests/test_runner.c tests/test_venc_config.c \
 TEST_LIB_SRCS := src/qr_scan.c tools/qr/waybeam_qr_format.c \
 	tools/qr/quirc/quirc.c tools/qr/quirc/decode.c \
 	tools/qr/quirc/identify.c tools/qr/quirc/version_db.c \
-	src/backend.c src/venc_config.c src/venc_api.c src/venc_httpd.c src/venc_webui.c src/venc_recordings.c src/sensor_select.c src/venc_ring.c src/venc_frame_ring.c src/file_util.c src/h26x_util.c src/h26x_param_sets.c src/intra_refresh.c src/isp_runtime.c src/maruko_config.c src/codec_config.c src/pipeline_common.c src/rtp_session.c src/sdk_quiet.c src/rtp_packetizer.c src/hevc_rtp.c src/star6e_hevc_rtp.c src/star6e_output.c src/star6e_audio.c src/audio_codec.c src/star6e_video.c src/star6e_recorder.c src/star6e_ts_recorder.c src/ts_mux.c src/rtp_sidecar.c src/stream_metrics.c src/output_socket.c src/timing.c src/idr_rate_limit.c src/venc_shm_throttle.c src/debug_osd_draw.c src/venc_jpeg.c src/mdns_wire.c src/mdns_beacon.c src/device_id.c src/framing_kalman.c src/attitude_est.c src/detect_dequant.c src/detect_wire.c src/star6e_vpe_ports.c src/maruko_scl_ports.c lib/cJSON.c
+	src/backend.c src/venc_config.c src/venc_api.c src/venc_httpd.c src/venc_webui.c src/venc_recordings.c src/sensor_select.c src/venc_ring.c src/venc_frame_ring.c src/file_util.c src/h26x_util.c src/h26x_param_sets.c src/intra_refresh.c src/isp_runtime.c src/maruko_config.c src/maruko_video.c src/maruko_output.c src/codec_config.c src/pipeline_common.c src/rtp_session.c src/sdk_quiet.c src/rtp_packetizer.c src/hevc_rtp.c src/star6e_hevc_rtp.c src/star6e_output.c src/star6e_audio.c src/audio_codec.c src/star6e_video.c src/star6e_recorder.c src/star6e_ts_recorder.c src/ts_mux.c src/rtp_sidecar.c src/stream_metrics.c src/output_socket.c src/timing.c src/idr_rate_limit.c src/venc_shm_throttle.c src/debug_osd_draw.c src/venc_jpeg.c src/mdns_wire.c src/mdns_beacon.c src/device_id.c src/framing_kalman.c src/attitude_est.c src/detect_dequant.c src/detect_wire.c src/star6e_vpe_ports.c src/maruko_scl_ports.c lib/cJSON.c
 
 $(TEST_RUNNER): $(TEST_SRCS) $(TEST_LIB_SRCS) tests/test_helpers.h include/backend.h include/h26x_param_sets.h include/hevc_rtp.h include/isp_runtime.h include/maruko_config.h include/pipeline_common.h include/rtp_packetizer.h include/rtp_session.h include/rtp_sidecar.h include/star6e_audio.h include/star6e_hevc_rtp.h include/star6e_output.h include/star6e_recorder.h include/star6e_ts_recorder.h include/ts_mux.h include/audio_ring.h include/star6e_video.h include/stream_metrics.h include/venc_frame_ring.h include/venc_shm_throttle.h
 	$(HOST_CC) $(HOST_CFLAGS) $(TEST_SRCS) $(TEST_LIB_SRCS) -lpthread -ldl -lm -o $@
 
 $(CV610_VALIDATION_TEST): tests/test_cv610_validation.c src/cv610_validation.c \
 		src/cv610_modes.c \
+		src/cv610_encoder_config.c src/intra_refresh.c \
 		src/venc_config.c src/codec_config.c lib/cJSON.c
 	$(HOST_CC) $(HOST_CFLAGS) -Werror $^ -lm -o $@
 
@@ -440,8 +443,9 @@ test: $(TEST_RUNNER) $(CV610_VALIDATION_TEST)
 	./$(CV610_VALIDATION_TEST)
 
 test-werror: HOST_CFLAGS += -Werror
-test-werror: $(TEST_RUNNER)
+test-werror: $(TEST_RUNNER) $(CV610_VALIDATION_TEST)
 	./$(TEST_RUNNER)
+	./$(CV610_VALIDATION_TEST)
 
 test-asan:
 	$(HOST_CC) $(HOST_CFLAGS) -Werror -fsanitize=address,undefined $(TEST_SRCS) $(TEST_LIB_SRCS) -lpthread -ldl -lm -o $(TEST_RUNNER)
diff --git a/README.md b/README.md
index 5dac1921..dc2e48c8 100644
--- a/README.md
+++ b/README.md
@@ -260,6 +260,7 @@ omitted fields keep their compiled-in defaults.
     "bitrate": 8192, "gopSize": 1.0,
     "qpDelta": -4,
     "sceneThreshold": 0, "sceneHoldoff": 2,
+    "sliceCount": 1,
     "resilience": "off",
     "framing": "off", "zoomX": 0.5, "zoomY": 0.5
   },
@@ -309,7 +310,8 @@ omitted fields keep their compiled-in defaults.
 - **`video0`** — rate control, fps, resolution, bitrate, GOP,
   per-section QP delta. Video codec is hardcoded H.265 (HEVC).
   Scene-change-triggered IDR (`sceneThreshold`,
-  `sceneHoldoff`) is Star6E-only. Intra-refresh is on Star6E and Maruko. The
+  `sceneHoldoff`) is on Star6E and Maruko. Intra-refresh and whole-access-unit H.265
+  slicing are on Star6E, Maruko and CV610. The
   `framing` knob expands to either digital zoom (Star6E and Maruko) or image
   stabilization (`stab` HW-crop / `stab-fill` floating-image, Star6E only;
   live `pauseStab`).
@@ -383,7 +385,7 @@ curl http://<device-ip>:<port>/api/v1/version
 ```
 
 ```json
-{"ok":true,"data":{"app_version":"...","backend":"star6e","contract_version":"0.2.0","config_schema_version":"0.2.0"}}
+{"ok":true,"data":{"app_version":"0.67.0","backend":"star6e","contract_version":"0.18.5","config_schema_version":"1.0.0"}}
 ```
 
 #### GET /api/v1/config
@@ -852,10 +854,10 @@ behaviour. Requires root (silent fallback otherwise).
 A *separate* jitter source — a large I-frame whose serialization exceeds one
 frame interval on a constrained uplink (e.g. 50 Mbps on a 100 Mbps link) — is
 not a scheduling issue and is unaffected by this priority; mitigate it with a
-[resilience preset](#resilience-preset-star6e--maruko) (intra-refresh) or a
+[resilience preset](#resilience-preset-star6e--maruko--cv610) (intra-refresh) or a
 lower bitrate.
 
-#### Resilience preset (Star6E + Maruko)
+#### Resilience preset (Star6E + Maruko + CV610)
 
 A single field picks an error-resilience profile.  Intra-refresh
 (rolling GDR stripe), the SVC-T reference pyramid (refPred), and the GOP
@@ -941,32 +943,16 @@ prediction is from the previous frame either way.
 
 | Field | Type | Mutability | Description |
 |-------|------|------------|-------------|
-| `video0.resilience` | string | **reboot** | `off` \| `rescue` \| `quality` \| `sprint` \| `racing` \| `endurance` \| `patrol` \| `rally` \| `range` \| `fpv` \| `ltr` \| `ltr:<N>` (default `off`) |
+| `video0.resilience` | string | restart | `off` \| `rescue` \| `quality` \| `sprint` \| `racing` \| `endurance` \| `patrol` \| `rally` \| `range` \| `fpv` \| `ltr` \| `ltr:<N>` (default `off`) |
 | `video0.gopSize`    | double | restart | Seconds between IDRs.  Honoured **only** when `resilience` is `"off"` or an `ltr` form; the other named presets override it.  Live-reinit applies (no reboot). |
 
-> ⚠️  **Resilience changes require a reboot on both Star6E and Maruko.**
-> Setting `video0.resilience` (or any of the derived fields
-> `intra_refresh_*` or `ref_*`) persists the new value to
-> `/etc/waybeam.json` and returns `{"reboot_required": true}`.  The
-> live encoder pipeline keeps running the previous preset until the
-> next daemon start.
->
-> The SigmaStar MI SDK kernel module does not survive a live
-> re-configure of these fields.  Empirically confirmed on both
-> backends (2026-05-15 bench testing):
->
-> - **Star6E (Infinity6E)** — fork+exec respawn for the new config
->   triggers an SoC kernel panic within 1–2 transitions; ICMP dies,
->   requires a power-cycle.
-> - **Maruko (Infinity6C)** — in-process pipeline reinit completes
->   cleanly for most transitions, but one in a sweep of 7 zombied
->   the daemon via a page fault in `MI_SYS_IMPL_FlushInputPortTasks`
->   inside the `mi` kernel module.  System stays up but waybeam dies
->   and does not respawn — reboot is required to restart it.
->
-> Different failure modes, same root cause.  Cold-boot into any
-> preset is 100 % reliable on both SigmaStar backends, so the reboot model is
-> what we ship.
+Resilience and slice-count changes are restart-required on all three encoder
+backends. The API persists the value and uses the backend's process-respawn
+handoff to build a fresh encoder graph; a hardware reboot is not part of the
+normal apply contract. SigmaStar deliberately avoids in-process MI teardown
+and reinitialization because vendor-kernel teardown has proven unsafe. Verify
+the running result through `/api/v1/resilience/status` and startup slice
+readback logs.
 
 Expansion table:
 
diff --git a/VERSION b/VERSION
index 8fbb20c5..5caa138c 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-0.65.2
+0.67.1
diff --git a/config/waybeam.default.cv610.json b/config/waybeam.default.cv610.json
index 6ecefe96..f77c1cdc 100644
--- a/config/waybeam.default.cv610.json
+++ b/config/waybeam.default.cv610.json
@@ -7,9 +7,10 @@
     "rcMode": "cbr",
     "fps": 100,
     "size": "1280x720",
-    "bitrate": 8000,
+    "bitrate": 2600,
     "gopSize": 1.0,
     "qpDelta": -4,
+    "sliceCount": 1,
     "resilience": "off",
     "framing": "off"
   },
diff --git a/config/waybeam.default.json b/config/waybeam.default.json
index 7ecd310c..5b53a31d 100644
--- a/config/waybeam.default.json
+++ b/config/waybeam.default.json
@@ -40,6 +40,7 @@
     "maxQp": 0,
     "sceneThreshold": 0,
     "sceneHoldoff": 2,
+    "sliceCount": 1,
     "resilience": "off",
     "zoomX": 0.5,
     "zoomY": 0.5,
diff --git a/config/waybeam.default.maruko.json b/config/waybeam.default.maruko.json
index 5268b609..b1344ec9 100644
--- a/config/waybeam.default.maruko.json
+++ b/config/waybeam.default.maruko.json
@@ -33,6 +33,7 @@
     "qpDelta": -4,
     "sceneThreshold": 0,
     "sceneHoldoff": 2,
+    "sliceCount": 1,
     "resilience": "off",
     "zoomX": 0.5,
     "zoomY": 0.5,
diff --git a/docs/CV610_BACKEND.md b/docs/CV610_BACKEND.md
index febd3784..9df31312 100644
--- a/docs/CV610_BACKEND.md
+++ b/docs/CV610_BACKEND.md
@@ -16,6 +16,11 @@ large control surface.
   (see "Sensor modes" below — the table in `src/cv610_modes.c` is the only
   place they are written down).
 - H.265 CBR, GOP, and I/P QP delta come from the existing `VencConfig` fields.
+- Shared resilience presets drive row GDR and reference cadence with strict
+  vendor readback; frame-SHM carries GDR/ENHANCE metadata and copied droppable
+  NALs are marked TRAIL_N.
+- `video0.sliceCount` enables whole-access-unit H.265 slicing. CV610 uses
+  32-pixel LCU-row units and keeps early per-slice output disabled.
 - UDP and abstract UNIX outputs use the shared HEVC RTP packetizer.
 - `frame-shm://` publishes the existing VFRM v1 whole-frame contract.
 - The shared HTTP/WebUI API advertises a CV610-specific capability mask and
@@ -35,6 +40,26 @@ The graph uses VI-online mode, matching the standalone streamer's production
 path. The module loader must provide a clean SYS/VB lifecycle; the backend
 verifies the requested mode by reading it back before creating the VI pipe.
 
+## Encoder capability delta
+
+CV610 has a substantially broader vendor encoder surface than the current
+backend exposes: nine declared RC families, multiple P/CRR GOP structures,
+intra refresh, reference prediction, SVC, hierarchical QP, native frame-loss
+and super-frame policies, ROI/QP maps, VUI/user data, and slice/low-delay
+controls. SSC338Q currently has the broader device-proven Waybeam integration.
+
+The evidence levels, live-device readback, exact comparison and deliberately
+deferred controls are documented in
+`documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md`. The resilience and
+whole-access-unit slice port is tracked in
+`documentation/CV610_RESILIENCE_SLICES_PLAN.md`.
+
+The port is confirmed on device at 1080p30/60/100. Requests for 1, 3, 4, 6, 9,
+12 and 17 slices delivered the requested VCL NAL census, reference cadences and
+TRAIL_N counts matched, and an IDR-started 1080p60 capture decoded cleanly
+under FFmpeg `-xerror`. Native SVC, extra RC/GOP modes and encoder-side loss
+policies remain deliberately deferred.
+
 ## Build
 
 The public OpenHisilicon headers and OpenIPC CV610 runtime library directory
@@ -66,10 +91,25 @@ chmod +x /etc/init.d/S95waybeam /usr/bin/load-cv610-online
 ```
 
 The init script invokes the staged `/usr/bin/load-cv610-online` module
-loader before starting the daemon and unloads the MPP stack after graceful
-termination. Only one service may own the graph; disable the standalone
+loader before starting the daemon. It does **not** unload the MPP stack on
+stop: the HiSilicon drivers take no module reference for an open fd, so an
+`rmmod` under a live consumer (typically `waybeam_hub` holding `/dev/rgn`)
+frees file operations still in use and wedges the SoC hard enough to need a
+physical power cycle. Unloading is done only by an explicit
+`load-cv610-online stop`, which refuses while any consumer holds an MPP
+device. Only one service may own the graph; disable the standalone
 `S95cv610-streamer` service when enabling `S95waybeam`.
 
+Three operator rules follow from that:
+
+- **Recovery after an abnormal exit is a plain `S95waybeam start`.** The
+  modules are still loaded and the daemon re-initialises against them; there
+  is no `reload` action and no module rollback on a failed start.
+- **Changing `CV610_AUDIO` or `CV610_SENSOR_PROFILE` needs a reboot.** The
+  loader refuses to re-load a differing module set over a live one.
+- **A boot that has seen a hard kill cannot be unloaded cleanly.** Reboot
+  rather than fighting it.
+
 `CV610_SENSOR_PROFILE` picks the sensor clock the modules load with. It is
 now only a fallback: the daemon sets the clock for the selected mode during
 bring-up (see "Sensor clock" below), so the profile matters only against a
@@ -80,8 +120,8 @@ Audio is opt-in in both layers: set `CV610_AUDIO=1` in
 `open_aenc`, and `open_acodec`, then set `audio.enabled=true`, 48000 Hz, mono,
 Opus, and a non-negative `outgoing.audioPort` in `/etc/waybeam.json`. The
 daemon refuses other CV610 audio formats. The init script tracks the daemon
-across API-driven process respawns and will not unload modules while any
-Waybeam process still owns the graph. `audio.enabled` and `audio.mute` are
+across API-driven process respawns; module unloading is guarded separately in
+`load-cv610-online`, which refuses while any process holds an MPP device. `audio.enabled` and `audio.mute` are
 restart-required HTTP controls; the rest of the audio group is hardcoded and
 advertised unsupported. Enabling audio from a video-only boot still needs
 kernel modules that a daemon respawn cannot load, so the daemon warns and
@@ -153,21 +193,22 @@ and continues on the boot-time clock.
 
 ## Deferred phases
 
-1. Device smoke-test frame-SHM, repeated restart cycles, and a bounded soak.
+1. Run a longer-duration soak beyond the bounded device matrices already
+   completed.
 2. Add live output redirection and encoder output-FPS control.
 3. Add frame-SHM pressure metrics/throttling and sidecar parity.
-4. Port advanced features selectively: IQ controls and recording, and only
-   then consider dual VENC or stabilization. Add live audio gain/mute only
-   after the analog control path can be operator-verified.
+4. Port recording selectively, and only then consider dual VENC or
+   stabilization. Add live audio gain/mute only after the analog control path
+   can be operator-verified.
 
 Unsupported SigmaStar-only fields remain in the common configuration schema
 but are marked unsupported in `/api/v1/capabilities` and rejected before
 mutation. This keeps the shared dashboard honest while the CV610 control
 surface grows feature by feature.
 
-The pull-request CI cross-builds this experimental backend, but the production
-release workflow remains limited to Star6E and Maruko until the integrated
-binary passes the phase-1 device gate above.
+Pull-request verification cross-builds this backend. Release promotion remains
+gated on the CV610 build plus the focused device matrix documented in
+`documentation/CV610_RESILIENCE_SLICES_PLAN.md`.
 
 ## Hardware verification
 
@@ -185,9 +226,12 @@ The integrated audio path initialized on the same target, resolved the known
 ACODEC power-up race after its expected 100 ms retry, and produced about 100
 Opus access units/s with zero reported send drops. A host receiver checked 12
 consecutive RTP v2/PT98 packets: sequence deltas were 1 and 48 kHz timestamp
-deltas were 480, exactly 10 ms. No microphone was connected, so acoustic
-content is explicitly not operator-verified. A later service-stop hang was
-localized to stale pidfile handling after an API respawn, not audio teardown;
-the init-script fix requires a power-cycle and device retest. See
-`documentation/CRASH_LOG.md`. Frame-SHM and long-duration soak verification
-remain pending.
+deltas were 960, exactly 20 ms (`CV610_AUDIO_POINT_NUM` 960; the 480/10 ms
+figure predates the Opus frame-size parity fix). No microphone was connected, so acoustic
+content is explicitly not operator-verified.
+
+On 2026-08-22 the resilience/slice branch was also confirmed through
+frame-SHM at 1080p30/60/100. Slice requests 1, 3, 4, 6, 9, 12 and 17 produced
+the requested VCL census; a 380-frame IDR-started 1080p60 capture decoded
+cleanly with FFmpeg `-xerror`; and GDR/ENHANCE metadata, TRAIL_N rewriting and
+one-second loss recovery passed. Only a longer-duration soak remains pending.
diff --git a/documentation/CV610_RESILIENCE_SLICES_PLAN.md b/documentation/CV610_RESILIENCE_SLICES_PLAN.md
new file mode 100644
index 00000000..0901f1ce
--- /dev/null
+++ b/documentation/CV610_RESILIENCE_SLICES_PLAN.md
@@ -0,0 +1,232 @@
+# CV610 resilience and H.265 multi-slice plan
+
+Status: implemented and confirmed on CV610 and Maruko devices on 2026-08-22.
+
+Branch: `feature/encoder-resilience-slices`, based directly on
+`origin/master` (`921b131`) so the already-squashed Star6E slice work is not
+reintroduced as duplicate ancestry.
+
+## Objective
+
+Bring the existing resilience contract and whole-access-unit H.265 multi-slice
+support to the CV610 backend without changing the config schema or frame-SHM
+wire format. Preserve the current Star6E behavior and only expose CV610 modes
+whose vendor behavior is confirmed on the device.
+
+The first release keeps `slice_output_en` disabled. Early per-slice delivery is
+a different transport contract: the current CV610 output loop treats every
+`GetStream` result as a complete access unit and advances frame-SHM/RTP state
+once per result.
+
+## Evidence gathered
+
+The online CV610 bench at `192.168.2.181` was inspected and tested on 2026-08-22.
+It was running Waybeam `0.65.10`, H.265 1920x1080 at 100 fps, on Linux 5.10.221.
+The device's `/usr/lib/libss_mpi.so` SHA-256 was
+`9ec42150a2901376a91ccd1d3f051dc721b29d1895e7a3190539cb8df4bb4e1a`.
+
+The shipped library exports and the running channel accepts the getter side of:
+
+- intra refresh;
+- reference parameters;
+- slice splitting;
+- hierarchical QP;
+- frame-loss strategy;
+- super-frame discard/re-encode strategy;
+- H.265 deblock and SAO controls.
+
+Current channel readback was:
+
+| Control | Current value |
+|---|---|
+| Intra refresh | disabled; row mode; 8 units; request-I QP 51 |
+| Reference parameters | base 1; enhance 0; prediction enabled |
+| Slice splitting | disabled; mode 1; size 1; early output disabled |
+| Frame-loss strategy | disabled; normal mode |
+| Super-frame strategy | disabled; 500,000-bit I/P/B thresholds |
+| Hierarchical QP | disabled; default deltas -2/-4 |
+| H.265 filtering | deblock enabled across slices; luma/chroma SAO enabled |
+
+`ss_mpi_venc_get_chn_capability()` reported payload mask `0x1f`, RC mask
+`0x1ff`, GOP mask `0x1c7`, and a 3840x2160 maximum. This means the record lists
+H.264, H.265, SVAC3, JPEG and MJPEG; all nine declared RC families; and Normal-P,
+Dual-P, Smart-P, Smart-CRR, Single-SP and all-I GOPs. However, the same record
+reported only 30 fps while the live channel was delivering 100 fps and its
+`enable` field was false. Treat this record as a vendor capability/default
+record, not as proof of the effective channel limit. Every newly used setter
+still requires device validation and readback.
+
+## SSC338Q and CV610 divergence
+
+| Area | SSC338Q / Star6E | CV610 | Consequence |
+|---|---|---|---|
+| Waybeam maturity | Resilience, ref cadence, slice geometry, ENHANCE/GDR metadata, ROI, framing, recording and snapshot paths are implemented | Backend deliberately exposes a narrower subset | Port in small independently verifiable stages |
+| Encoder API breadth | Simpler MI VENC surface; CBR/VBR/ABR/QP/AVBR families and basic I/P GOP | Nine RC families, multiple P/B/CRR GOP structures, hierarchical QP, native frame-loss and super-frame policies, SVC, QP-map, VUI/SEI and advanced analysis/tuning APIs | CV610 has more future encoder headroom |
+| Current RC integration | CBR, VBR, AVBR and a QVBR policy are exposed | H.265 CBR only | Do not mix RC expansion into the resilience port |
+| GDR | Implemented and device-confirmed | Row-mode setter/readback and bitstream behavior device-confirmed | Integrated with strict readback |
+| Ref prediction | Implemented through base/enhance cadence and TRAIL_N rewriting | Compatible ref-param API and stream `ref_type`, now integrated; dedicated SVC APIs also exist | Keep full native SVC separate |
+| Slices | Whole-AU multi-slice implemented; delivered geometry is logged | Whole-AU row splitting confirmed; one unit is a 32-pixel LCU row | Integrated with early output disabled |
+| Native loss handling | Waybeam heals reference-chain-breaking output drops with paced IDRs | Additionally offers encoder-side P-skip and super-frame discard/re-encode | Experiment separately after parity |
+| VUI/user data | No VUI or SEI control is currently loaded | H.265 VUI is already programmed; user-data insertion is available | CV610 is ahead here |
+| Sensor envelope in this project | IMX335 modes reach 2560x1920 and up to 144 fps depending on geometry | IMX662 modes are 1080p30/60/90/100; VPSS can scale down | Star6E currently offers more spatial/high-FPS mode variety; CV610's encoder record is not the sensor limit |
+| Channels | Vendor header declares 9 VENC channels; project uses main, optional record and snapshot channels | Vendor header declares 16 channels; project uses only channel 0 | CV610 has theoretical multi-channel headroom, not current feature parity |
+| Early slice/low delay | SigmaStar streaming modes were rejected in prior device work; production remains frame-based | VENC slice output plus VI/VPSS low-delay APIs exist | CV610 is the better candidate for a future sub-frame-latency experiment |
+
+In short: CV610 has the richer vendor encoder, but SSC338Q has the richer,
+device-proven Waybeam product surface today.
+
+## Implementation and hardware results
+
+The implementation derives CV610 intra-refresh, ref cadence and slice controls
+in a pure mapping module, applies them between channel creation and start, and
+requires exact getter readback. Runtime status exposes requested/effective GDR
+settings, while startup and first-frame census logs report slice geometry. The
+stream path consumes vendor `ref_type`, marks
+droppable enhancement frames, rewrites copied TRAIL_R NALs to TRAIL_N,
+publishes GDR cycle metadata, and requests a paced recovery IDR only when a
+dropped frame breaks the reference chain.
+
+Confirmed on the IMX662 CV610 bench:
+
+| Test | Result |
+|---|---|
+| Resilience presets | `off`, `sprint`, `racing`, `endurance`, `patrol`, `quality`, `rescue`, `fpv`, `rally`, `range`, `ltr`, and `ltr:4` applied and read back |
+| Sensor rates | GDR + 12 slices passed at 1080p30, 1080p60 and 1080p100 |
+| Slice requests | 1, 3, 4, 6, 9, 12 and 17 delivered exactly the requested VCL NAL count |
+| Slice geometry | 1080p uses 34 32-pixel LCU rows; request 12 -> split size 3 and 12 slices; request 17 -> split size 2 and 17 slices |
+| Ref cadence | `rally` 1/1, `range`/`fpv` 1/4, `ltr` 1/1 and `ltr:4` 1/4 matched requested cadence and prediction mode |
+| TRAIL_N rewrite | With 12 slices, 31 non-reference frames produced 372 rewritten NALs for `rally`; the 1/4 presets produced 144 for 12 non-reference frames |
+| Frame-SHM metadata | 60 fps run: 454 frames, 450 GDR, 227 ENHANCE, zero metadata/start-code/PTS errors |
+| Decoder | IDR-started 1080p60 capture decoded 380/380 frames with FFmpeg `-xerror`, no warnings or errors |
+| Ring-pressure recovery | With no consumer, full-ring reference losses produced roughly one recovery IDR per second; droppable enhancement losses did not request recovery |
+
+All slice runs retained one whole access unit per frame-ring slot. CV610's
+32-pixel row unit differs from the 64-pixel CTU geometry observed on Star6E;
+the shared config contract is the requested count, while each backend reports
+its delivered geometry.
+
+## Scope and phases
+
+### Phase 1: pure mappings and configuration surface
+
+1. Add testable CV610 mapping helpers for:
+   - resilience preset to `ot_venc_intra_refresh`;
+   - preset reference cadence to `ot_venc_ref_param`;
+   - requested slice count to `ot_venc_slice_split`.
+2. Preserve the shared preset expansion and `video0.sliceCount` validation.
+3. Add `resilience: off` and `sliceCount: 1` to the CV610 default config.
+4. Remove the blanket CV610 resilience rejection. Continue rejecting a mode
+   individually if the device gate below fails.
+5. Advertise the two fields in `/api/v1/capabilities` only when their backend
+   setup and status callbacks are present.
+
+Verification: focused host tests for all presets, disabled values, boundary
+slice counts, signed/clamped inputs and 1080p row geometry; existing config/API
+tests must remain green.
+
+### Phase 2: CV610 GDR and whole-AU slices
+
+1. Apply intra-refresh and slice-split after channel creation and before start.
+2. Use row refresh for H.265 and read back every applied structure. A mismatch
+   fails channel startup rather than claiming resilience that is not active.
+3. Keep `slice_output_en = false` and concatenate all packs into one access unit,
+   as today.
+4. Store effective refresh/slice geometry in the CV610 runtime for status and
+   frame metadata.
+5. Add CV610 intra/resilience status output.
+
+Device gate on `192.168.2.181`:
+
+- `off`, `sprint`, `racing`, `endurance` and `patrol` at 1080p30/60/100;
+- slice requests 1, 3, 4, 6, 9, 12 and 17;
+- setter return, getter equality, raw H.265 slice-NAL census, decoded FPS,
+  bitrate stability, truncation logs and IDR cadence;
+- restoration of the original `/etc/waybeam.json` after the matrix.
+
+The delivered slice count may differ from the request because a row split must
+land on the encoder's effective CTU/LCU geometry. Log both requested and
+delivered geometry, as the Star6E backend does.
+
+### Phase 3: ref prediction and loss metadata
+
+1. Apply `refBase`, `refEnhance` and `refPred` through
+   `ss_mpi_venc_set_ref_param()`.
+2. Read `stream.h265_info.ref_type` before releasing each stream.
+3. Mark non-reference enhancement frames with the existing frame-SHM ENHANCE
+   flag and rewrite copied H.265 TRAIL_R NAL headers to TRAIL_N.
+4. Publish existing GDR cycle position/length metadata.
+5. Port the one-per-second recovery IDR when an output-ring loss breaks the
+   reference chain; do not request recovery for a confirmed droppable ENHANCE
+   frame.
+
+Device gate:
+
+- `rally`, `range`, `fpv`, and `ltr:N` preset/readback matrix;
+- raw-ES reference-type and TRAIL_N census;
+- loss injection showing that ENHANCE loss remains decodable while reference
+  loss triggers one paced recovery IDR;
+- frame-SHM consumer confirmation of ENHANCE and GDR metadata.
+
+If CV610's base/enhance cadence differs materially from SigmaStar, keep the
+affected presets unsupported rather than silently changing their shared names.
+
+### Phase 4: Maruko slice integration
+
+Completed on the SSC378QE/Maruko bench at `192.168.2.233`:
+
+1. Bound the device-aware `MI_VENC_SetH265SliceSplit` and Get ABI through the
+   optional Maruko loader.
+2. Applied it immediately after `CreateChn`, before input-source setup and the
+   stab-fill early return, then verified enabled/nonzero/in-picture readback.
+3. Kept `sliceCount=1` compatible with older libraries; explicit multi-slice
+   requests fail startup when Set/Get is unavailable or invalid.
+4. Confirmed whole-AU delivery through frame-SHM with a per-frame VCL census:
+   1 -> 1, 4 -> 4, 12 -> 12, 17 -> 12, and 32 -> 12 at 1280x720. Maruko
+   normalizes a requested one-row split to two 32-pixel rows, exposing the
+   CTU-64 ceiling directly in getter readback.
+5. Confirmed the combination with `rally` GDR/ref-pred metadata and decoded a
+   cold-start 284-frame, 12-slice capture cleanly with FFmpeg.
+
+The test also fixed a pre-existing frame-SHM run-loop guard that failed to
+recognize `frame_ring` as a valid output transport.
+
+### Phase 5: advanced CV610 experiments
+
+Keep these outside the parity implementation and evaluate separately:
+
+- native frame-loss P-skip strategy;
+- super-frame discard/re-encode versus Waybeam's max-I/P-byte contract;
+- native QVBR/CVBR/RANGEQP and non-Normal-P GOP modes;
+- dedicated SVC v1/v2 and hierarchical QP;
+- ROI/QP-map support;
+- `slice_output_en=true` plus VI/VPSS low-delay operation.
+
+Each changes rate control, reference structure or transport timing enough to
+need its own RF-loss, decoder and latency experiment.
+
+## Files expected to change
+
+- `config/waybeam.default.cv610.json`
+- `config/waybeam.default.maruko.json`
+- `include/cv610_runtime.h` or a focused new CV610 encoder-control header
+- Maruko loader/config/pipeline bindings
+- `src/cv610_runtime.c`
+- `src/cv610_validation.c`
+- `src/venc_api.c`
+- focused config/mapping/API tests
+- `HISTORY.md`, `VERSION`, and relevant backend/API documentation at release
+
+No `VencConfig` field addition and no frame-SHM layout change are required.
+The coordination `protocols/frame-shm.md` producer list should include CV610;
+the wire layout itself is unchanged because CV610 emits the already-defined
+GDR/ENHANCE fields.
+
+## Completion gates
+
+1. `make lint SOC_BUILD=cv610`
+2. CV610 cross-build with the OpenHisilicon headers and shipped firmware libs
+3. `make verify` for Star6E/Maruko regressions
+4. Focused CV610 device matrix above, marked **confirmed on device**
+5. Maruko Set/Get, delivered-VCL and decoder matrix above
+6. Coordination `/audit-protocols`, `/check-ports`, `/sync-check`
+7. Protocol documentation matches the implemented producer behavior
diff --git a/documentation/HTTP_API_CONTRACT.md b/documentation/HTTP_API_CONTRACT.md
index e3d5a5a7..506b7ddd 100644
--- a/documentation/HTTP_API_CONTRACT.md
+++ b/documentation/HTTP_API_CONTRACT.md
@@ -18,7 +18,7 @@
   - `read_only` — cannot be changed via API.
 
 ## Contract Version
-- `contract_version`: `0.18.2`
+- `contract_version`: `0.18.6`
 - `status`: `active`
 
 ## Governance Rules
@@ -79,8 +79,8 @@ Response `200`:
 {
   "ok": true,
   "data": {
-    "app_version": "0.1.7",
-    "contract_version": "0.12.0",
+    "app_version": "0.67.0",
+    "contract_version": "0.18.6",
     "config_schema_version": "1.0.0",
     "backend": "star6e"
   }
@@ -105,7 +105,7 @@ Response `200`:
       "sensor": { "index": -1, "mode": -1 },
       "isp": { "sensorBin": "/etc/sensors/imx415_greg_fpvXVIII-gpt200.bin", "aeEngine": "sdk", "aeFps": 15, "gainMax": 0, "awbMode": "auto", "awbCt": 5500, "keepAspect": true },
       "image": { "mirror": false, "flip": false, "rotate": 0 },
-      "video0": { "rcMode": "cbr", "fps": 90, "size": "auto", "bitrate": 8192, "gopSize": 1.0, "qpDelta": 0, "sceneThreshold": 0, "sceneHoldoff": 2, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, "framing": "off" },
+      "video0": { "rcMode": "cbr", "fps": 90, "size": "auto", "bitrate": 8192, "gopSize": 1.0, "qpDelta": 0, "sceneThreshold": 0, "sceneHoldoff": 2, "sliceCount": 1, "resilience": "off", "zoomX": 0.5, "zoomY": 0.5, "framing": "off" },
       "outgoing": { "enabled": true, "server": "udp://192.168.2.20:5600", "streamMode": "rtp", "maxPayloadSize": 1400, "connectedUdp": false, "allowUnixEncoderStall": false },
       "fpv": { "roiEnabled": true, "roiQp": 0, "roiSteps": 2, "roiCenter": 0.25, "noiseLevel": 0 },
       "record": { "enabled": false, "mode": "off", "dir": "/tmp/sdcard", "format": "ts", "maxSeconds": 300, "maxMB": 500 },
@@ -158,6 +158,7 @@ Response `200`:
       "video0.size": { "mutability": "restart_required", "supported": true },
       "video0.scene_threshold": { "mutability": "restart_required", "supported": true },
       "video0.scene_holdoff": { "mutability": "restart_required", "supported": true },
+      "video0.slice_count": { "mutability": "restart_required", "supported": true },
       "video0.resilience": { "mutability": "restart_required", "supported": true },
       "video0.zoom_x": { "mutability": "live", "supported": true },
       "video0.zoom_y": { "mutability": "live", "supported": true },
@@ -193,6 +194,29 @@ Response `200`:
 ```
 (truncated — all fields listed in actual response)
 
+`video0.slice_count` / JSON `video0.sliceCount` requests 1–32 H.265 slices
+per picture; 1 disables splitting. Star6E, Maruko and CV610 advertise the
+field. The request is mapped to backend row geometry, so delivered counts may
+quantize or saturate; startup performs vendor Set/Get verification and fails
+an explicit multi-slice request when the backend cannot apply it. Slice NALs
+remain one whole access unit for RTP, recording and frame-SHM.
+
+`data.routes` (added 0.18.4) reports which optional routes the running
+backend actually services, so a client does not have to call an expensive
+endpoint just to discover whether it exists:
+
+```json
+{"ok":true,"data":{"routes":{"iq":true,"iq_import":false},"fields":{ ... }}}
+```
+
+| key | meaning |
+|---|---|
+| `iq` | `/api/v1/iq` and `/api/v1/iq/set` are serviced (the backend registers **both** `query_iq_info` and `apply_iq_param`). |
+| `iq_import` | `/api/v1/iq/import` is compiled in (Star6E/Maruko only). |
+
+Absent `routes` means an older build: treat every route as possibly present
+and fall back to calling it.
+
 `supported` is backend-specific. Current Star6E and Maruko builds both expose
 scene detection, intra refresh, and digital zoom fields.
 
@@ -754,7 +778,9 @@ Error `501`:
 
 ### `GET /api/v1/iq`
 
-Query all ISP IQ parameter values. Always available on Star6E backend.
+Query all ISP IQ parameter values. Star6E and Maruko share the SigmaStar
+response shape shown below. CV610 also serves this route, using the
+self-describing response documented under "CV610 IQ response shape".
 
 ```bash
 curl http://<device-ip>/api/v1/iq
@@ -792,7 +818,7 @@ Multi-field example (colortrans):
 }
 ```
 
-Error `501` if backend doesn't support IQ (Maruko):
+Error `501` when the active backend does not register an IQ query callback:
 ```json
 {"ok":false,"error":{"code":"not_implemented","message":"IQ query not available"}}
 ```
@@ -1216,6 +1242,72 @@ Error `409 record_active` — file is currently being written; stop
 recording first.
 Error `500 delete_failed` — filesystem error.
 
+### `GET /api/v1/intra/status`
+
+Report the intra-refresh (GDR) state the encoder actually applied, as opposed
+to what was requested. Served by Star6E, Maruko and CV610.
+
+```bash
+curl http://<device-ip>/api/v1/intra/status
+```
+
+```json
+{"ok":true,"data":{
+  "mode":"gdr","active":true,"mi_supported":true,"apply_ok":true,
+  "target_ms":500,"total_rows":34,
+  "lines":{"requested":0,"effective":2,"clamped":false},
+  "qp":{"requested":0,"effective":0},
+  "gop":{"explicit_sec":0.000,"effective_sec":2.000,"auto":true}}}
+```
+
+| field | meaning |
+|---|---|
+| `mode` | resolved refresh mode name (`off`, `gdr`, …). |
+| `active` | the encoder is refreshing now. |
+| `mi_supported` | the vendor library exports the refresh setter. |
+| `apply_ok` | the setter was called **and** read back clean. `active` with `apply_ok:false` means requested-but-not-delivered. |
+| `target_ms` | intended full-refresh cycle duration. |
+| `total_rows` | picture height in refresh rows. |
+| `lines.requested` / `.effective` | rows per P-frame asked for vs applied; `clamped` when geometry forced a change. |
+| `qp.requested` / `.effective` | refresh QP offset asked for vs applied. |
+| `gop.explicit_sec` / `.effective_sec` | configured GOP vs the one in force; `auto` when derived rather than configured. |
+
+Always `200`. A backend with no intra-refresh support reports `mode:"off"`,
+`active:false`, `mi_supported:false`.
+
+### `GET /api/v1/resilience/status`
+
+Report the resolved `video0.resilience` preset and both mechanisms it drives.
+Served by Star6E, Maruko and CV610.
+
+```bash
+curl http://<device-ip>/api/v1/resilience/status
+```
+
+```json
+{"ok":true,"data":{
+  "preset":"rally",
+  "intra":{"mode":"gdr","active":true,"mi_supported":true,"apply_ok":true,
+           "effective_lines":2,"effective_qp":0},
+  "refPred":{"active":true,"mi_supported":true,"apply_ok":true,
+             "base":1,"enhance":3,"pred":true},
+  "gop":{"effective_sec":2.000,"auto":true}}}
+```
+
+| field | meaning |
+|---|---|
+| `preset` | resolved `video0.resilience` value. |
+| `intra.*` | the intra-refresh subset of `/api/v1/intra/status`. |
+| `refPred.active` | base/enhance reference structure is in force. |
+| `refPred.mi_supported` | the vendor library exports the reference-parameter setter. |
+| `refPred.apply_ok` | the setter was called and read back clean. |
+| `refPred.base` / `.enhance` | applied base layer and enhancement period. |
+| `refPred.pred` | non-reference enhancement frames are being marked. |
+| `gop.effective_sec` / `.auto` | GOP in force, and whether it was derived. |
+
+Always `200`. Read `apply_ok` on both mechanisms before trusting `preset`: a
+preset names an intent, and only `apply_ok` says the encoder took it.
+
 ### `GET /request/idr`
 
 Request an IDR (keyframe) from the encoder.
@@ -1496,13 +1588,42 @@ Every other mode then runs at the wrong rate, scaled by the clock ratio
 CV610 preserves the same envelope and `selected_pad` / `selected_mode` /
 `pads[].modes[]` shape. Its initial IMX662 backend reports one synthetic pad
 containing the four supported fixed-rate modes (1080p30/60 RAW12 and
-1080p90/100 RAW10); each entry has equal `min_fps` and `max_fps`, and the entry
-matching `video0.fps` is marked selected.
+1080p90/100 RAW10); each entry has equal `min_fps` and `max_fps`.
+
+`selected_pad` / `selected_mode` are what bring-up **actually selected**, not
+what the config asks for — the backend publishes them once the pipeline is
+resolved, so a forced `sensor.mode`, a substituted rate and a failed bring-up
+are all reported honestly. Both read `-1` until bring-up completes, which in a
+healthy daemon is never observable: the HTTP server starts after the backend
+prepares.
 
 The `width` / `height` of a CV610 entry is what the **sensor captures**, not
-what is encoded. `video0.fps` alone selects the mode — every entry captures
-1920x1080 — and `video0.size` is the encoded geometry VPSS scales that capture
-down to. A client must not read a mode's `width` / `height` as the stream
+what is encoded. Every entry captures 1920x1080, and `video0.size` is the
+encoded geometry VPSS scales that capture down to.
+
+**Aspect ratio is preserved by cropping, gated on `isp.keepAspect`** (default
+`true`), the same rule and the same shared code Star6E and Maruko use. A
+`video0.size` whose aspect differs from the capture takes a centred crop of
+the capture first, then scales: `1440x1080` out of `1920x1080` uses a
+1440x1080 window at x=240 and scales 1:1, so 4:3 is framed rather than
+squashed. A matching aspect crops nothing. Setting `isp.keepAspect=false`
+restores the plain stretch-to-fit.
+
+**Selecting a CV610 mode uses the same two knobs as SigmaStar.** An explicit
+`sensor.mode` is an index into this list and wins outright; the mode's rate
+becomes the pipeline rate and `video0.fps` is left as written. With
+`sensor.mode` at `-1` (or any negative value, meaning auto) `video0.fps` is a
+**target** rather than a command: an exact match is used, otherwise the
+slowest mode still faster than the target, and a target above every mode
+clamps to the fastest. `sensor.index` accepts only `-1` or `0` — one synthetic
+pad — and anything else is `409`, as is a `sensor.mode` past the end of the
+list.
+
+A substituted rate is announced on the daemon's log
+(`Requested 45 fps, using 60 fps (sensor mode 1: 1080p60 RAW12)`) and is
+visible over HTTP as `/api/v1/fps/live` disagreeing with
+`/api/v1/fps/config`. Neither endpoint measures anything, so that pair states
+the *intended* rate, not the delivered one. A client must not read a mode's `width` / `height` as the stream
 resolution — `video0.size` in `/api/v1/config` is the encoded size, and
 `auto` there means the mode's capture geometry.
 
@@ -1671,8 +1792,9 @@ Behavior:
 
 ### Backend Support Matrix
 
-Endpoints that behave the same on both backends are omitted.  Only feature
-divergence is listed.  As of `contract_version: 0.12.1`:
+Endpoints that behave the same on all three backends are omitted. The table
+compares the two SigmaStar implementations; CV610 differences are called out
+in Notes. As of `contract_version: 0.18.6`:
 
 | Feature / Endpoint | Star6E | Maruko | Notes |
 |---|---|---|---|
@@ -1683,8 +1805,8 @@ divergence is listed.  As of `contract_version: 0.12.1`:
 | `/api/v1/audio/status` | yes | yes | Both backends register `query_audio_status`. |
 | `/api/v1/dual/status`, `/dual/idr` | yes | yes | `/dual/status` always 200 (`active:false` when off, `active:true,channel,bitrate,fps,gop` when on).  `/dual/idr` returns 200 when active, 404 when not. Maruko HTTP registration landed in 0.10.4 — earlier Maruko builds returned 404 from these even when `record.mode=dual` was running. |
 | `/api/v1/dual/set` | yes | **501** | Star6E-only: the underlying `MI_VENC_*ChnAttr` write path binds to `i6_venc_chn`, but Maruko's venc library expects `i6c_venc_chn` (different layout). Maruko returns 501 until the call path is ported. |
-| `/api/v1/iq` and `/api/v1/iq/set` | full (≈45 params) | full (parity in `maruko_iq.c`) | Both backends use the same IQ table schema. |
-| `/api/v1/awb` | live | live | Both backends register `query_awb_info`. |
+| `/api/v1/iq` and `/api/v1/iq/set` | full (≈45 params) | full (parity in `maruko_iq.c`) | Star6E/Maruko share one IQ table schema. **CV610 also serves these from 0.18.4, in a DIFFERENT shape** — see "CV610 IQ response shape" below. `/api/v1/iq/import` stays Star6E/Maruko-only and 501s on CV610 (advertised as `routes.iq_import:false`). |
+| `/api/v1/awb` | live | live | Both backends register `query_awb_info`. CV610: **501**. |
 | `/api/v1/ae` | live + `runtime.active_precrop` | live + `runtime.active_precrop` | Both backends now include `runtime.active_precrop` in the AE response (Maruko parity landed in `0.8.4`). |
 | `/api/v1/transport/status` | yes | yes | SHM-ring fields are shown when `outgoing.server=shm://`; otherwise the UDP/Unix subset. |
 | `/api/v1/idr/stats` | yes | yes | Identical schema; values reflect each backend's IDR rate-limit. |
@@ -1693,10 +1815,71 @@ divergence is listed.  As of `contract_version: 0.12.1`:
 | `video0.framing` / `zoom_x` / `zoom_y` | yes | partial | `framing` requires reinit; zoom presets work on both backends, the `stab` preset is Star6E-only (no-op on Maruko); `zoom_x/y` are live pan controls (ignored under `stab`). |
 | `detect.model_path` / `model_id` / `conf_thresh` / `nms_iou` | **live** | **live** | Both backends hot-swap the NPU detector on the pipeline thread without respawning video. Star6E uses VPE port 1; Maruko uses SCL port 3 and its drain-while-disable teardown. A model whose reported input geometry disagrees with the configured tap is refused and leaves detection off. |
 | `detect.net_width` / `net_height` | restart | restart | Tap geometry is fixed when the VPE/SCL detector port is created. |
-| `video0.min_qp` / `max_qp` | live | **501** | Star6E-only RC QP bounds; Maruko capabilities report these fields unsupported. |
+| `video0.min_qp` / `max_qp` | live | **501** | RC QP bounds. Star6E live; Maruko reports unsupported. **CV610 live from 0.18.4** (`cv610_apply_qp_bounds`, applied live and at startup); it sets the P bounds and the I-frame ceiling, leaving the I-frame floor to `video0.qp_delta`. |
 | `isp.aeEngine` ("sdk" only) | applied | applied | Unified AE selector landed in 0.10.13.  `custom` (userspace AE governor) is RETIRED — Maruko in 0.22.0, Star6E in 0.47.0 — and the value was **removed** in 0.47.0.  `sdk` is the only accepted value; any other (e.g. a stale `custom`) warns and falls back to `sdk`.  Both backends run the SDK firmware/bin AE for convergence plus a supervisory thread that enforces the `isp.gain*`/`isp.shutter*` limits. |
 
 ## Change Log (Contract)
+- `0.18.6` (documentation + correctness; no shipped response changes):
+  `GET /api/v1/intra/status` and `GET /api/v1/resilience/status` are now
+  documented — both have been served for several releases and the CV610
+  branch added in 0.18.5 made them report live device state, but neither had
+  a contract entry. `data.routes.iq` now requires the backend to register
+  **both** `query_iq_info` and `apply_iq_param`, matching its documented
+  meaning that `/api/v1/iq` *and* `/api/v1/iq/set` are serviced; every
+  shipped backend registers both, so no response changes.
+- `0.18.5` (additive — resilience and slices reach three-backend parity):
+  CV610 now advertises `video0.resilience` and `video0.slice_count` and serves
+  the existing intra/resilience status routes. Maruko now advertises and
+  applies `video0.slice_count`. Explicit multi-slice requests use pre-start
+  vendor Set/Get verification on all three backends; no field or response key
+  was removed.
+- `0.18.4` (additive — CV610 gains the IQ surface and RC QP bounds):
+  `/api/v1/capabilities` gains `data.routes` (`iq`, `iq_import`) so a client can
+  discover optional routes without calling them. `/api/v1/iq` and
+  `/api/v1/iq/set` go from 501 to live on CV610, in a second response shape
+  documented under "CV610 IQ response shape" — group-keyed, self-describing via
+  `_schema`, and rejecting out-of-range values rather than clamping.
+  `video0.min_qp` / `video0.max_qp` become live on CV610. No field was removed
+  and no existing response key changed, so 0.18.3 clients keep working.
+- `0.18.3` (additive — CV610 sensor-mode selection reaches SigmaStar parity):
+  - **`sensor.index` and `sensor.mode` are now supported on CV610**, both
+    `restart_required`, the same `mutability` the shared table gives them on
+    Star6E and Maruko. They parsed before but were read by nothing, so
+    `/api/v1/set` answered `409` for a field the config file carried. A
+    client that renders sensor controls from `/api/v1/capabilities` now gets
+    the same surface on all three backends.
+  - **`video0.fps` is a target on CV610, not a command.** With `sensor.mode`
+    auto, an exact match is used, otherwise the slowest mode still faster
+    than the target, and a target above every mode clamps to the fastest.
+    Rates that are not in the table were `409` before and are now honoured
+    with a substitution — see `/api/v1/modes`. `video0.fps=0` remains `409`.
+  - **`/api/v1/modes` reports the achieved selection.** `selected_pad` /
+    `selected_mode` were recomputed from `video0.fps` per request, so they
+    described the configured mode even when another one was running. They are
+    now published by the backend at bring-up, and read `-1` before it
+    completes. Shape unchanged.
+  - **`isp.keepAspect` is now supported on CV610** (`restart_required`), and
+    a non-native `video0.size` is centre-cropped before scaling instead of
+    stretched. The field was in the config file and defaulted `true`, but
+    CV610 advertised no `isp.*` field and read none, so it was a knob that
+    did nothing — `1440x1080` validated and then squashed 16:9 into 4:3.
+    CV610 now calls the same `pipeline_common_compute_precrop()` Star6E and
+    Maruko use. No shape changed and no request that used to succeed now
+    fails; the pixels are different.
+  - **CV610 now runs the shared field validation at config load**, which it
+    had been skipping entirely: `venc_api_validate_loaded_config()` dispatched
+    to the CV610 backend validator *instead of* the shared
+    `validate_field_cfg()` sweep, so sixteen shared rules never ran on that
+    backend. The HTTP `/api/v1/set` path always applied them, so the same
+    value was accepted from `/etc/waybeam.json` at boot and rejected with
+    `409` over HTTP. A CV610 config carrying e.g. `isp.awbMode:"bogus"` used
+    to load and now fails with the same message Star6E gives. Configs that
+    were valid on Star6E are unaffected.
+  - `video0.gopSize` is validated against the **selected** mode's rate. The
+    encoder has always derived its GOP length from that rate; the check used
+    `video0.fps`, which the two knobs above can now separate from it. A
+    `gopSize` that was accepted and then exceeded the encoder's 65536-frame
+    limit is now rejected at `409`.
 - `0.18.2` (additive — CV610 `video0.size` becomes a real control):
   - **`video0.size` on CV610 now accepts any geometry the mode can be scaled
     down to**, not just the capture size. VI has no scaler, so the backend
@@ -2056,3 +2239,34 @@ divergence is listed.  As of `contract_version: 0.12.1`:
   - Updated examples to use `video.capture_resolution` restart semantics.
 - `0.1.0`:
   - Initial draft contract and endpoint definitions.
+
+
+## CV610 IQ response shape (0.18.4)
+
+`/api/v1/iq` on CV610 is a **second, structurally different form** from the
+Star6E/Maruko one documented above.  A client written against that shape reads
+`data["contrast"].value` and gets `undefined` on CV610 — branch on
+`data._schema` being present, not on backend name.
+
+```json
+{"ok":true,"data":{
+  "_schema":[{"name":"saturation","fields":[
+      {"name":"manual.saturation","count":1,"min":0,"max":255,"domain":"manual"}]}],
+  "saturation":{"ret":0,"fields":{"op_type":0,"manual.saturation":128}},
+  "module_ctrl":{"ret":0,"bypass":{"drc":1,"dehaze":1}}}}
+```
+
+- Keyed by ISP **group**, not by parameter. Each group has `ret` (the MPI
+  return, 0 on success) and `fields`, whose keys are dotted field names.
+- No `value`, `enabled`, `op_type` or `available` at group level, and no
+  `_diag` block.
+- `_schema` describes the whole surface — name, element `count`, `min`/`max`,
+  and `domain` (`direct` | `manual` | `auto`).  The WebUI renders from it, so
+  the field table lives only in the backend.
+- `domain` is load-bearing: writing a `manual.*` or `auto.*` field also selects
+  that `op_type`, because a value in the other half is ignored by the ISP and
+  an ignored write is indistinguishable from a broken setter.
+- `module_ctrl` is read-only and reports which ISP blocks the hardware is
+  bypassing.
+- Values out of a field's declared range are **rejected**, not clamped, so the
+  value echoed by `/api/v1/iq/set` is the value applied.
diff --git a/documentation/README.md b/documentation/README.md
index ffba34cd..794964d7 100644
--- a/documentation/README.md
+++ b/documentation/README.md
@@ -3,6 +3,12 @@
 This folder is the canonical place for waybeam_venc project documentation.
 
 ## Core Docs
+- `documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md`
+  - Evidence-tiered comparison of the two encoder APIs and their current
+    Waybeam integration, including the richer CV610-only future surface.
+- `documentation/CV610_RESILIENCE_SLICES_PLAN.md`
+  - Approved phased plan and device gates for CV610 resilience, ref prediction,
+    frame metadata and whole-access-unit H.265 slicing.
 - `documentation/DUAL_BACKEND_SPLIT_PLAN.md`
   - Current architecture/implementation plan for Star6E + Maruko targeted builds.
   - Tracks only remaining implementation steps from the current stable baseline.
diff --git a/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md b/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md
new file mode 100644
index 00000000..1ac18639
--- /dev/null
+++ b/documentation/SSC338Q_CV610_ENCODER_CAPABILITIES.md
@@ -0,0 +1,117 @@
+# SSC338Q and CV610 encoder capability delta
+
+This note distinguishes three different meanings of "supported":
+
+1. **Declared** — present in the vendor header or exported runtime ABI.
+2. **Accepted** — a getter/setter succeeds on the running device.
+3. **Integrated** — Waybeam configures it, reports it honestly, transports the
+   result correctly, and has device-level regression coverage.
+
+Confusing these levels is particularly risky on CV610. Its capability record
+advertises a broad encoder, but on the 2026-08-22 bench it reported a 30 fps
+limit while the same channel was actively delivering 1080p100. Vendor capability
+records are useful discovery hints, not substitutes for apply/readback and
+bitstream tests.
+
+## Executive summary
+
+CV610 has the richer raw encoder API. SSC338Q currently has the richer and more
+mature Waybeam product integration.
+
+CV610 exposes native controls for nine RC families, six useful GOP structures,
+hierarchical QP, reference prediction, SVC, frame-loss P-skip, super-frame
+discard/re-encode, ROI/QP maps, VUI/SEI, analysis statistics, and early slice
+delivery. SSC338Q's MI VENC surface is smaller, but Waybeam already integrates
+and device-verifies resilience presets, reference-layer metadata, multi-slice
+whole-access-unit output, ROI, recording, snapshots, and dynamic framing there.
+
+## Evidence
+
+The CV610 bench at `192.168.2.181` was inspected and tested on 2026-08-22:
+
+- Waybeam `0.65.10`, H.265 1920x1080 at 100 fps;
+- Linux 5.10.221 on armv7l;
+- `/usr/lib/libss_mpi.so` SHA-256
+  `9ec42150a2901376a91ccd1d3f051dc721b29d1895e7a3190539cb8df4bb4e1a`;
+- getter calls succeeded for intra refresh, ref parameters, slice split,
+  hierarchical QP, frame-loss strategy, super-frame strategy, H.265 deblock,
+  and SAO.
+
+The parity controls were then applied with strict readback. GDR and 12-slice
+whole-access-unit output passed at 1080p30/60/100; requests for 1, 3, 4, 6, 9,
+12 and 17 slices delivered those exact VCL NAL counts. The `rally`, `range`,
+`fpv`, `ltr`, and `ltr:4` reference cadences matched vendor `ref_type` output,
+and a 380-frame IDR-started 1080p60 capture decoded cleanly with FFmpeg
+`-xerror`. These controls are therefore **Integrated**, not merely Declared.
+
+The same shared slice contract is now also integrated on SSC378QE/Maruko. Its
+SigmaStar ABI adds a VENC device argument but uses the same 8-byte enable/row
+structure and the same pre-start lifecycle. Hardware readback exposed one
+useful divergence: Maruko normalizes a requested one-32-pixel-row split to two
+rows (one CTU-64). At 1280x720, requests 1/4/12 delivered 1/4/12 slices, while
+17 and 32 saturated at 12. A `rally` run preserved whole-AU frame-SHM metadata
+and exact VCL counts; its cold-start capture decoded cleanly.
+
+## Local validation samples
+
+The device never stores encoded captures. The frame-SHM consumer writes to a
+FIFO and SSH carries the elementary stream directly into host FFmpeg. These
+workspace-local `bench/` artifacts are intentionally gitignored rather than
+release assets; the checksums make the evidence identifiable in this session.
+
+| Backend | Host artifact | Evidence |
+|---|---|---|
+| CV610 | `bench/cv610-rally-slice12-1080p60.mp4` | 380 frames, 6.33 s, 1920x1080@60, SHA-256 `58eca88af6e753ef8a2ff90b2210a02acde2f955384d08eeb1941bc4e26a7759` |
+| Maruko | `bench/maruko-rally-slice12-720p30.mp4` | 284 frames, 9.47 s, 1280x720@30, SHA-256 `355710cfc44f59d8944f131a517787d45ccf1aef8dd07cf7b1dac07583806cb8` |
+
+Both samples start at an IDR and decode without FFmpeg warnings or errors.
+
+The channel capability record returned:
+
+| Record | Value | Interpretation |
+|---|---:|---|
+| Payload mask | `0x1f` | H.264, H.265, SVAC3, JPEG and MJPEG declared |
+| RC mask | `0x1ff` | ABR, CBR, VBR, AVBR, QVBR, CVBR, FIXQP, QPMAP and RANGEQP declared |
+| GOP mask | `0x1c7` | Normal-P, Dual-P, Smart-P, Smart-CRR, Single-SP and all-I declared |
+| Maximum picture | 3840x2160 | Encoder record; the integrated IMX662 path is 1920x1080 |
+| Feature enable | false | The returned structure behaves as a default/capability record |
+
+## Detailed delta
+
+| Area | SSC338Q / Star6E | CV610 | Current decision |
+|---|---|---|---|
+| Payloads | Vendor surface includes H.264/H.265/MJPEG; Waybeam uses H.265 | Header/capability record also includes SVAC3 and JPEG | Keep H.265 parity scope |
+| Rate control | CBR, VBR, AVBR and Waybeam's QVBR policy integrated | Nine native RC families declared; only H.265 CBR integrated | RC expansion is separate work |
+| GOP structures | Basic I/P GOP used | Normal/Dual/Smart P, CRR, Single-SP and all-I declared; B modes exist in headers but were absent from the device mask | Use Normal-P for parity |
+| GDR | Integrated and device-confirmed | Row GDR integrated and confirmed at 1080p30/60/100 with strict readback | Keep column refresh outside the shared contract |
+| Ref prediction | Base/enhance cadence, TRAIL_N propagation and ENHANCE metadata integrated | Equivalent ref cadence, TRAIL_N rewrite and metadata now integrated and device-confirmed; fuller SVC API also exported | Leave native SVC gated |
+| Slices | Whole-AU slicing and delivered CTU geometry integrated | Whole-AU 32-pixel-row splitting integrated; requests through 17 confirmed; early-slice output also represented | Keep early output off |
+| Loss handling | Output-ring chain breaks trigger paced recovery IDRs | Also exposes native P-skip and super-frame discard/re-encode | Preserve parity policy; experiment with native loss controls later |
+| QP tools | I/P delta, bounds and frame-size caps integrated | Adds hierarchical QP, QP maps, foreground protection, skip bias and quality balance APIs | Do not bundle unverified tools |
+| ROI | Eight horizontal delta-QP bands integrated | Eight ROI regions, extended per-frame ROI, background-rate and QP-map APIs | A future CV610 parity opportunity |
+| VUI/user data | No MI VUI/user-data wrapper loaded | H.265 VUI already programmed; user-data insertion exported | CV610 is already richer here |
+| H.265 tools | Encoder defaults plus resilience/slices | Deblock, SAO, transform, entropy, CU prediction, search window, deblur and motion-stat controls exported | Documented future tuning surface |
+| Low delay | SigmaStar stream modes were rejected in prior device tests; production is frame-based | Slice-output plus VI/VPSS low-delay APIs exist | Best candidate for a later sub-frame experiment, requiring transport redesign |
+| Channels | Header declares 9; project uses main, optional record and snapshot channels | Header declares 16; project uses channel 0 | Theoretical CV610 headroom only |
+| Sensor envelope here | IMX335 combinations reach 2560x1920 and up to 144 fps | IMX662 modes are 1080p30/60/90/100, with VPSS downscale | Star6E currently offers the broader integrated mode set |
+
+## CV610 controls deliberately deferred
+
+The following are real ABI opportunities, but none should be advertised merely
+because a symbol exists:
+
+- native QVBR/CVBR/RANGEQP and alternative GOP structures;
+- P-skip frame-loss strategy and super-frame discard/re-encode;
+- SVC v1/v2, hierarchical QP and per-frame SVC masks;
+- ROI/QP-map, foreground protection, skip bias and quality balance;
+- advanced deblur, motion analysis, CU/search-window tuning;
+- early slice delivery with VI/VPSS low-delay mode.
+
+Each requires setter/readback verification plus bitrate, decoder, reference-chain,
+RF-loss and latency measurements. Early slice delivery additionally changes the
+current one-`GetStream`-result-per-access-unit assumption in RTP and frame-SHM.
+
+## Related implementation plan
+
+See `documentation/CV610_RESILIENCE_SLICES_PLAN.md` for the phased parity port,
+device matrix, rollback rules and completion gates.
diff --git a/include/cv610_encoder_config.h b/include/cv610_encoder_config.h
new file mode 100644
index 00000000..9c07d078
--- /dev/null
+++ b/include/cv610_encoder_config.h
@@ -0,0 +1,50 @@
+#ifndef CV610_ENCODER_CONFIG_H
+#define CV610_ENCODER_CONFIG_H
+
+#include "intra_refresh.h"
+#include "venc_config.h"
+
+#include <stdint.h>
+
+/* The CV610 getter reports split_mode=1 for its H.265 row-split default.
+ * OpenHisilicon does not publish a named enum for this field. Keep the raw
+ * value isolated here and verify it by setter/readback plus slice-NAL census. */
+#define CV610_SLICE_SPLIT_MODE_LCU_ROW 1u
+
+typedef struct {
+	IntraRefreshDerived derived;
+	uint32_t enabled;
+	uint32_t mode;          /* 0 = OT_VENC_INTRA_REFRESH_ROW */
+	uint32_t refresh_num;
+	uint32_t request_i_qp;
+} Cv610IntraConfig;
+
+typedef struct {
+	uint32_t enabled;
+	uint32_t base;
+	uint32_t enhance;
+	uint32_t pred;
+} Cv610RefConfig;
+
+typedef struct {
+	uint32_t enabled;
+	uint32_t requested_count;
+	uint32_t total_lcu_rows;
+	uint32_t split_mode;
+	uint32_t split_size;
+	uint32_t expected_count;
+} Cv610SliceConfig;
+
+typedef struct {
+	Cv610IntraConfig intra;
+	Cv610RefConfig ref;
+	Cv610SliceConfig slice;
+} Cv610EncoderConfig;
+
+/* Pure mapping from the shared config to CV610 encoder concepts. Vendor
+ * structs are intentionally filled in cv610_runtime.c so this logic remains
+ * host-testable without the external OpenHisilicon headers. */
+int cv610_encoder_config_derive(const VencConfig *cfg, uint32_t height,
+	uint32_t fps, Cv610EncoderConfig *out);
+
+#endif /* CV610_ENCODER_CONFIG_H */
diff --git a/include/cv610_iq.h b/include/cv610_iq.h
new file mode 100644
index 00000000..4923ba38
--- /dev/null
+++ b/include/cv610_iq.h
@@ -0,0 +1,37 @@
+#ifndef CV610_IQ_H
+#define CV610_IQ_H
+
+/* Runtime IQ control for the Hi3516CV610 ISP.
+ *
+ * PR #229 seeded this ISP through the IMX662 sensor plugin's
+ * cmos_get_isp_default(), which the ISP reads once at pipe start.  This
+ * module exposes the same blocks as live knobs, so a value can be corrected
+ * without a cross-compile and a reboot.
+ *
+ * Unlike star6e_iq.c there is no dlopen: the CV610 backend links ss_mpi
+ * directly, so the attribute structs are the SDK's own types and the field
+ * table is built from offsetof() rather than hand-computed offsets. */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** Query every exposed IQ group.
+ *  Returns malloc'd JSON, caller frees.  NULL when the ISP is not running.
+ *  Values are read back from the ISP, not cached, so a rejected set shows. */
+char *cv610_iq_query(void);
+
+/** Set one IQ field.
+ *  `param` is "<group>.<field>" using the names cv610_iq_query() emits;
+ *  `value` is a decimal integer, or a comma-separated list for arrays.
+ *  Writing a field under manual_attr also forces that group's op_type to
+ *  manual — otherwise the ISP keeps running its auto curve and the set has
+ *  no visible effect.
+ *  Returns 0 on success, -1 on unknown name, bad value, or an MPI error. */
+int cv610_iq_set(const char *param, const char *value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CV610_IQ_H */
diff --git a/include/cv610_modes.h b/include/cv610_modes.h
index d1c3acd6..e05f6ffe 100644
--- a/include/cv610_modes.h
+++ b/include/cv610_modes.h
@@ -33,6 +33,29 @@ const Cv610SensorMode *cv610_mode_table(size_t *count);
  * different capture. */
 const Cv610SensorMode *cv610_mode_for_fps(uint32_t fps);
 
+/* Resolve sensor.mode + video0.fps to one mode, the way SigmaStar's
+ * sensor_select() resolves sensor.mode + video0.fps against MI_SNR_GetRes():
+ * an explicit index wins and must exist, otherwise the frame rate is a TARGET
+ * rather than a command and the closest usable mode is chosen.
+ *
+ *   forced_mode >= 0   that index, or NULL when the table has no such index
+ *   forced_mode <  0   exact rate if the table has it; else the slowest mode
+ *                      still faster than the target; else the fastest mode
+ *   target_fps == 0    NULL — nothing to select against
+ *
+ * The last auto case is a deliberate divergence.  SigmaStar's tie-break
+ * (sensor_select.c sensor_mode_cost) scores fps_excess at 0 for every mode
+ * BELOW the target, so a target above them all falls back to table order —
+ * the slowest mode.  That rarely fires there because its modes carry min-max
+ * fps ranges; on this point-fps table it would fire constantly, and answering
+ * "100" to a request for "120" is what the operator meant.
+ *
+ * *out_index (optional) receives the table index, or -1 when NULL is returned.
+ * A caller that acts on the result must report a substituted rate: the sensor
+ * runs at the MODE's rate, not the requested one. */
+const Cv610SensorMode *cv610_mode_select(int forced_mode, uint32_t target_fps,
+	int *out_index);
+
 /* Whether an encoded geometry can be produced from this mode.  Returns NULL
  * when it can, or a static reason string.  A zero width AND height mean
  * "the mode's own size" and always pass. */
diff --git a/include/cv610_pipeline.h b/include/cv610_pipeline.h
index 11edd333..67b20805 100644
--- a/include/cv610_pipeline.h
+++ b/include/cv610_pipeline.h
@@ -11,6 +11,10 @@ typedef struct {
 	 * the capture size unless video0.size asks for something smaller. */
 	uint32_t out_width;
 	uint32_t out_height;
+	/* isp.keepAspect: centre-crop the capture to the encoded aspect ratio
+	 * before scaling, so a 4:3 video0.size out of a 16:9 sensor is framed
+	 * rather than squashed.  Same rule Star6E and Maruko apply. */
+	int keep_aspect;
 	uint32_t fps;
 	int lanes;
 	int data_rate_x2;
@@ -33,4 +37,9 @@ void cv610_pipeline_stop(void);
 void cv610_pipeline_request_stop(void);
 int cv610_pipeline_stop_requested(void);
 
+/* Nonzero once ss_mpi_isp_run() is up, so callers outside this file know the
+ * ISP will answer an ss_mpi_isp_* attribute call.  Used by cv610_iq.c to
+ * refuse rather than fire MPI ioctls at an ISP that was never inited. */
+int cv610_pipeline_isp_ready(void);
+
 #endif /* CV610_PIPELINE_H */
diff --git a/include/cv610_runtime.h b/include/cv610_runtime.h
index 72dc32f2..64bf2ba8 100644
--- a/include/cv610_runtime.h
+++ b/include/cv610_runtime.h
@@ -3,6 +3,36 @@
 
 #include "backend.h"
 
+#include <stdint.h>
+
+typedef struct {
+	char mode_name[16];
+	int active;
+	int mi_supported; /* Kept for status-JSON parity; means MPP API present. */
+	int apply_ok;
+	uint32_t target_ms;
+	uint32_t total_rows;
+	uint32_t requested_lines;
+	uint32_t effective_lines_per_p;
+	int lines_clamped;
+	uint32_t requested_qp;
+	uint32_t effective_qp;
+	double explicit_gop_sec;
+	double effective_gop_sec;
+	int gop_auto;
+} Cv610IntraRefreshStatus;
+
+typedef struct {
+	int active;
+	int mi_supported; /* Kept for status-JSON parity; means MPP API present. */
+	int apply_ok;
+	uint32_t base;
+	uint32_t enhance;
+	int pred;
+} Cv610RefPredStatus;
+
 const BackendOps *cv610_runtime_backend_ops(void);
+void cv610_runtime_intra_refresh_status(Cv610IntraRefreshStatus *out);
+void cv610_runtime_ref_pred_status(Cv610RefPredStatus *out);
 
 #endif /* CV610_RUNTIME_H */
diff --git a/include/h26x_util.h b/include/h26x_util.h
index bb92f3ce..66716458 100644
--- a/include/h26x_util.h
+++ b/include/h26x_util.h
@@ -21,4 +21,11 @@ uint8_t h26x_util_hevc_nalu_type(const uint8_t *data, size_t len);
 int h26x_util_annexb_next(const uint8_t *data, size_t len, size_t *cursor,
 	const uint8_t **nal, size_t *nal_len);
 
+/** Rewrite every single-layer HEVC TRAIL_R NAL (type 1) in an Annex-B access
+ * unit to TRAIL_N (type 0). Returns the number of NAL headers changed. This
+ * propagates an encoder's non-reference frame designation to generic decoders;
+ * callers must only use it when vendor frame metadata says the whole picture
+ * is not used for reference. */
+size_t h26x_util_hevc_patch_trail_r_to_n(uint8_t *data, size_t len);
+
 #endif /* H26X_UTIL_H */
diff --git a/include/maruko_bindings.h b/include/maruko_bindings.h
index 7e7f365b..8a8d99a8 100644
--- a/include/maruko_bindings.h
+++ b/include/maruko_bindings.h
@@ -86,6 +86,10 @@ typedef int (*maruko_isp_disable_userspace3a_fn_t)(MI_U32 dev_id, MI_U32 channel
   g_mi_venc.fnSetRefParam((dev), (chn), (p))
 #define maruko_mi_venc_get_ref_param(dev, chn, p) \
   g_mi_venc.fnGetRefParam((dev), (chn), (p))
+#define maruko_mi_venc_set_h265_slice_split(dev, chn, p) \
+  g_mi_venc.fnSetH265SliceSplit((dev), (chn), (p))
+#define maruko_mi_venc_get_h265_slice_split(dev, chn, p) \
+  g_mi_venc.fnGetH265SliceSplit((dev), (chn), (p))
 #define maruko_mi_sys_config_private_pool(soc, cfg) \
   g_mi_sys.fnConfigPrivateMMAPool((soc), (cfg))
 
diff --git a/include/maruko_config.h b/include/maruko_config.h
index 9b24e958..a198b638 100644
--- a/include/maruko_config.h
+++ b/include/maruko_config.h
@@ -68,6 +68,8 @@ typedef struct {
 	uint8_t ref_base;
 	uint8_t ref_enhance;
 	uint8_t ref_pred;
+	/* Requested whole-access-unit H.265 slice count. 1 disables splitting. */
+	uint32_t slice_count;
 	/* Resilience preset name — mirror of video0.resilience.  Used by
 	 * the debug OSD; pipeline behaviour is fully determined by the
 	 * already-expanded intra_refresh_* / ref_* fields above. */
diff --git a/include/maruko_controls.h b/include/maruko_controls.h
index 3c875810..519e75c0 100644
--- a/include/maruko_controls.h
+++ b/include/maruko_controls.h
@@ -22,7 +22,7 @@ const VencConfig *maruko_controls_vcfg(void);
  * thread.  The HTTP callback only posts a coherent config snapshot. */
 void maruko_controls_service_detect_reload(void);
 
-/** Publish the frame-shm ring-fill clamp factor (permille, 250..1000) and
+/** Publish the frame-shm ring-fill clamp factor (permille, 50..1000) and
  *  re-program the encoder from the configured bitrate scaled by it.  Mirrors
  *  star6e_controls_set_output_throttle; video0.bitrate is never written. */
 int maruko_controls_set_output_throttle(uint16_t permille);
diff --git a/include/maruko_mi.h b/include/maruko_mi.h
index 0e2d35a2..fcc8e1e9 100644
--- a/include/maruko_mi.h
+++ b/include/maruko_mi.h
@@ -134,6 +134,8 @@ typedef struct {
 	int (*fnGetIntraRefresh)(int dev, int chn, void *cfg);
 	int (*fnSetRefParam)(int dev, int chn, void *p);
 	int (*fnGetRefParam)(int dev, int chn, void *p);
+	int (*fnSetH265SliceSplit)(int dev, int chn, void *p);
+	int (*fnGetH265SliceSplit)(int dev, int chn, void *p);
 } maruko_venc_impl;
 
 /* MI_AI (audio input) — i6c surface differs from Star6E:
diff --git a/include/maruko_output.h b/include/maruko_output.h
index 88b45e43..f80f93b6 100644
--- a/include/maruko_output.h
+++ b/include/maruko_output.h
@@ -101,9 +101,17 @@ typedef struct {
 	 * there.  A full ring discards an already-encoded frame, so the
 	 * reference chain breaks until the next IDR; the producer is the only
 	 * party that knows instantly, so it re-establishes locally rather than
-	 * waiting for a ground RecoveryRequest over RF. */
-	void (*request_idr)(void *ctx);
+	 * waiting for a ground RecoveryRequest over RF.  Paced by
+	 * venc_frame_drop_idr_due() (1 s holdoff, state below) so a
+	 * consumer-less ring does not become an IDR storm.  Returns 1 when
+	 * issued, 0 when the shared 100 ms limiter swallowed it — the caller
+	 * rolls the holdoff back so the next drop retries. */
+	int (*request_idr)(void *ctx);
 	void *idr_ctx;
+	uint64_t drop_idr_last_us;
+	/* One WARN per init when packet metadata is incomplete or invalid (frame
+	 * aborted, never shipped truncated). */
+	uint8_t trunc_warned;
 } MarukoOutput;
 
 /** Initialize UDP or Unix socket output from a parsed URI. */
diff --git a/include/maruko_video.h b/include/maruko_video.h
index 306ec0fa..5aa70bcd 100644
--- a/include/maruko_video.h
+++ b/include/maruko_video.h
@@ -23,6 +23,17 @@ typedef RtpSessionState MarukoRtpState;
 void maruko_video_init_rtp_state(MarukoRtpState *rtp,
 	PAYLOAD_TYPE_E codec, uint32_t sensor_fps);
 
+/** Return non-zero when every vendor pack exposes descriptors for all of its
+ * NAL units.  The i6c ABI has a fixed-size packetInfo table; callers must drop
+ * the whole access unit rather than silently emit only the table prefix. */
+int maruko_video_stream_packet_info_complete(const i6c_venc_strm *stream);
+
+/** Reject an incomplete access unit before any consumer sees it. Returns 1
+ * when rejected, emits a one-time warning, and requests paced recovery when
+ * the dropped picture participates in the reference chain. */
+int maruko_video_reject_incomplete_access_unit(const i6c_venc_strm *stream,
+	MarukoOutput *output);
+
 /** Packetize and send one encoder frame over RTP.
  *  If stats is non-NULL and the stream is H.265 in RTP mode, per-frame
  *  packetizer counters are accumulated into *stats. */
diff --git a/include/rtp_sidecar.h b/include/rtp_sidecar.h
index 2873cde2..c65fe037 100644
--- a/include/rtp_sidecar.h
+++ b/include/rtp_sidecar.h
@@ -177,7 +177,7 @@ typedef struct {
 	uint8_t  fill_pct;          /* output queue fill: 0..100              */
 	uint8_t  in_pressure;       /* 1 = pressure hysteresis flag asserted  */
 	uint16_t throttle_permille; /* frame-shm ring-fill bitrate clamp:
-	                             * 1000 = unclamped, 250 = floor.  Carved
+	                             * 1000 = unclamped, 50 = minimum.  Carved
 	                             * from the old _pad[2] in 0.57.0, so the
 	                             * trailer is still 16 bytes and every
 	                             * later trailer keeps its offset.  A
diff --git a/include/star6e.h b/include/star6e.h
index 85ab975e..bca5d8ab 100644
--- a/include/star6e.h
+++ b/include/star6e.h
@@ -492,6 +492,19 @@ typedef struct {
 _Static_assert(sizeof(MI_VENC_ParamRef_t) == 12,
 	"MI_VENC_ParamRef_t layout changed — verify SDK match");
 
+/* H.265 multi-slice split (mi_venc_datatype.h:558) — u32SliceRowCount is
+ * 32-px rows PER SLICE, not a slice count, and NOT CTU rows: the encoder's
+ * CTU is 64 (measured 2026-08-20, SPS 30x17 CTBs at 1080p) and the SDK
+ * rounds the request up to whole CTU-64 rows.  Symbol is exported by both
+ * star6e and maruko libmi_venc.so; Maruko adds VeDev and therefore binds it
+ * through its backend-specific loader. */
+typedef struct {
+	MI_BOOL bSplitEnable;
+	MI_U32  u32SliceRowCount;
+} MI_VENC_ParamH265SliceSplit_t;
+_Static_assert(sizeof(MI_VENC_ParamH265SliceSplit_t) == 8,
+	"MI_VENC_ParamH265SliceSplit_t layout changed — verify SDK match");
+
 /* MI_VENC ----------------------------------------------------------------- */
 #if defined(PLATFORM_MARUKO)
 #define MI_VENC_CreateChn(chn, attr)  g_mi_venc.fnCreateChn(0, (chn), (attr))
@@ -548,6 +561,12 @@ _Static_assert(sizeof(MI_VENC_ParamRef_t) == 12,
 #define MI_VENC_GetRefParam(chn, p) \
 	(g_mi_venc.fnGetRefParam ? \
 		g_mi_venc.fnGetRefParam((chn), (p)) : -1)
+#define MI_VENC_SetH265SliceSplit(chn, p) \
+	(g_mi_venc.fnSetH265SliceSplit ? \
+		g_mi_venc.fnSetH265SliceSplit((chn), (p)) : -1)
+#define MI_VENC_GetH265SliceSplit(chn, p) \
+	(g_mi_venc.fnGetH265SliceSplit ? \
+		g_mi_venc.fnGetH265SliceSplit((chn), (p)) : -1)
 #else
 MI_S32 MI_VENC_CreateChn(MI_VENC_CHN chn, MI_VENC_ChnAttr_t* attr);
 MI_S32 MI_VENC_DestroyChn(MI_VENC_CHN chn);
diff --git a/include/star6e_controls.h b/include/star6e_controls.h
index ad8ac951..7d45e822 100644
--- a/include/star6e_controls.h
+++ b/include/star6e_controls.h
@@ -20,7 +20,7 @@ const VencApplyCallbacks *star6e_controls_callbacks(void);
 /** Apply frame rate change to running encoder pipeline. */
 int star6e_controls_apply_fps(uint32_t fps);
 
-/** Publish the frame-shm ring-fill clamp factor (permille, 250..1000) and
+/** Publish the frame-shm ring-fill clamp factor (permille, 50..1000) and
  *  re-program the encoder from the configured bitrate scaled by it.
  *  video0.bitrate is never written — see include/venc_shm_throttle.h for
  *  why the clamp deliberately does not take ownership of the rate.
diff --git a/include/star6e_mi.h b/include/star6e_mi.h
index 35925973..928a290c 100644
--- a/include/star6e_mi.h
+++ b/include/star6e_mi.h
@@ -99,6 +99,8 @@ typedef struct {
 	int (*fnGetIntraRefresh)(int chn, void *cfg);
 	int (*fnSetRefParam)(int chn, void *p);
 	int (*fnGetRefParam)(int chn, void *p);
+	int (*fnSetH265SliceSplit)(int chn, void *p);
+	int (*fnGetH265SliceSplit)(int chn, void *p);
 } star6e_venc_impl;
 
 /* Global instances — defined in star6e_mi.c.
diff --git a/include/star6e_output.h b/include/star6e_output.h
index 15eefb3b..99b53eb0 100644
--- a/include/star6e_output.h
+++ b/include/star6e_output.h
@@ -155,12 +155,23 @@ typedef struct {
 	 * RecoveryRequest arriving over RF, which is a full round trip and is
 	 * off by default (venc.recovery_enabled).
 	 *
-	 * Wired to star6e_scene_request_idr(), so it inherits the shared
-	 * per-channel IDR rate limiter (100 ms) — a persistently full ring
-	 * coalesces into at most ~10 IDRs/s instead of a keyframe storm into
-	 * the very ring that is already congested. */
-	void (*request_idr)(void *ctx);
+	 * Wired to star6e_ring_request_idr(), so it inherits the shared
+	 * per-channel IDR rate limiter (100 ms) — but 10 IDRs/s into an
+	 * already-congested ring is still a storm (measured: a consumer-less
+	 * ring degraded the stream to an IDR every ~7 frames with GDR
+	 * suppressed), so this path adds its own holdoff on top:
+	 * venc_frame_drop_idr_due(), one request per second, state in
+	 * drop_idr_last_us.  Returns 1 when the IDR was actually issued, 0
+	 * when the shared limiter swallowed it — the caller then rolls the
+	 * holdoff anchor back so the next drop retries instead of leaving
+	 * the chain unhealed for up to a second. */
+	int (*request_idr)(void *ctx);
 	void *idr_ctx;
+	uint64_t drop_idr_last_us;
+	/* One WARN per pipeline start (reset by star6e_output_reset's memset)
+	 * when packet metadata is incomplete or invalid — the frame is aborted,
+	 * never shipped truncated. */
+	uint8_t trunc_warned;
 	/* Ring-full drops split by whether they actually broke the chain.
 	 * A non-referenced (SVC-T) frame is droppable by construction, so
 	 * those cost exactly one frame and must NOT trigger an IDR. */
@@ -229,6 +240,16 @@ void star6e_output_observe_pressure(Star6eOutput *output);
 int star6e_output_frame_ring_fill(
 	const Star6eOutput *output, venc_frame_ring_fill_t *out);
 
+/** Validate that every vendor pack exposes complete, in-bounds NAL
+ * descriptors. All consumers must reject the AU when this returns zero. */
+int star6e_output_stream_packet_info_complete(
+	const MI_VENC_Stream_t *stream);
+
+/** Reject an incomplete AU before output/recording. Returns 1 when rejected,
+ * emits a one-time warning, and requests paced recovery for reference frames. */
+int star6e_output_reject_incomplete_access_unit(Star6eOutput *output,
+	const MI_VENC_Stream_t *stream);
+
 
 /** Begin accumulating RTP packets for a frame. When the transport is UDP
  *  and SHM is not in use, subsequent star6e_output_send_rtp_parts() calls
diff --git a/include/venc_config.h b/include/venc_config.h
index 773dd19b..49b7a8b8 100644
--- a/include/venc_config.h
+++ b/include/venc_config.h
@@ -36,6 +36,20 @@ extern "C" {
 #define VENC_BITRATE_MIN_KBPS 1000
 #define VENC_BITRATE_MAX_KBPS 200000
 
+/* Requested H.265 slices per picture.  A sanity bound, NOT the delivered
+ * count: SigmaStar takes slice height in 32-px rows and quantizes it to
+ * whole CTU-64 rows, while CV610 uses its own 32-pixel LCU-row geometry.
+ * The delivered count therefore depends on backend and picture height.
+ *
+ * This was 8, on the stated grounds that the SDK's packetInfo table holds 8
+ * NALs.  That table is per PACK and the output walker iterates packs
+ * (star6e_output.c), so it never bounded slices per access unit: the GDR
+ * refresh AU is a 17-slice picture and has always flowed through that walker
+ * (measured 2026-08-20 on .232 — ~10,800 of them in 6 h, zero truncation
+ * warnings).  The old cap made 9 and 17 unreachable and capped the fleet at
+ * 6, since 7 and 8 both quantize down to 6. */
+#define VENC_SLICE_COUNT_MAX 32
+
 /* ── Sub-structs mirroring JSON sections ─────────────────────────────── */
 
 typedef struct {
@@ -115,6 +129,11 @@ typedef struct {
 	uint32_t max_qp;           /* RC QP ceiling; 0 = leave the driver default */
 	uint16_t scene_threshold;  /* frame size spike ratio x100 for scene IDR (0=off, 150=1.5x) */
 	uint8_t scene_holdoff;     /* consecutive frames above threshold to trigger */
+	uint32_t slice_count;      /* independent H.265 slices per picture,
+	                            * 1..VENC_SLICE_COUNT_MAX; 1 = split off.
+	                            * >1 enables spatial loss concealment on the
+	                            * link RX (waybeam-link PROTOCOL.md §6.3b).
+	                            * Star6E, Maruko and CV610. */
 	/* Derived from `resilience` preset only.  Not part of the JSON
 	 * schema or HTTP API — written exclusively by
 	 * apply_resilience_preset() at load time.  Do not parse from JSON,
diff --git a/include/venc_frame_ring.h b/include/venc_frame_ring.h
index 65d263b2..9d813878 100644
--- a/include/venc_frame_ring.h
+++ b/include/venc_frame_ring.h
@@ -56,13 +56,36 @@
  * must NOT provoke a recovery IDR: that would spend the largest frame in the
  * stream to repair damage that never happened, into a ring already full.
  *
- * Shared by both backends so the policy has one definition rather than two
+ * Shared by all encoder backends so the policy has one definition rather than
+ * several
  * copies that can drift. */
 static inline int venc_frame_drop_breaks_chain(uint8_t flags)
 {
 	return (flags & VENC_FRAME_FLAG_ENHANCE) ? 0 : 1;
 }
 
+/* Holdoff between ring-full recovery IDRs.  The shared per-channel IDR
+ * limiter (100 ms) exists for scene changes, where speed matters; through
+ * it a ring with NO consumer draining it — every frame dropping — still
+ * degrades the stream into an IDR every ~7 frames with GDR suppressed
+ * (measured on star6e, 2026-08-20).  A chain break only needs ONE IDR to
+ * heal, and a consumer-less ring needs none at all, so pace this path at
+ * one request per second: a live consumer that missed a frame resyncs
+ * exactly within 1 s (GDR already covers it approximately in one refresh
+ * cycle), and the worst case costs ~one extra I-frame per second. */
+#define VENC_FRAME_DROP_IDR_HOLDOFF_US (1000u * 1000u)
+
+/* Pure so tests can drive the clock: *last_us is caller-owned state (zero
+ * = never fired), now_us is CLOCK_MONOTONIC microseconds. */
+static inline int venc_frame_drop_idr_due(uint64_t *last_us, uint64_t now_us)
+{
+	if (*last_us != 0 &&
+	    now_us - *last_us < VENC_FRAME_DROP_IDR_HOLDOFF_US)
+		return 0;
+	*last_us = now_us;
+	return 1;
+}
+
 typedef struct {
 	uint32_t pts;        /* capture timestamp (µs, truncated to 32 bits) */
 	uint8_t  codec;      /* VENC_FRAME_CODEC_H265 */
@@ -103,7 +126,7 @@ typedef struct __attribute__((aligned(64))) {
 	uint32_t futex_seq;
 	uint32_t health_magic;      /* VENC_FRAME_RING_HEALTH_MAGIC, or 0 */
 	uint64_t full_drops;        /* lifetime full-ring drops */
-	uint16_t throttle_permille; /* 1000 = unclamped, 250 = floor */
+	uint16_t throttle_permille; /* 1000 = unclamped; lower = active clamp */
 	uint8_t  _pad1[38];
 
 	/* Line 2: Consumer-owned */
diff --git a/init.d/S95waybeam.cv610 b/init.d/S95waybeam.cv610
index 7e0538cf..079cc1a3 100755
--- a/init.d/S95waybeam.cv610
+++ b/init.d/S95waybeam.cv610
@@ -55,7 +55,14 @@ start()
 		echo "$NAME failed to start" >&2
 		cat "$LOGFILE" >&2
 		rm -f "$PIDFILE"
-		"$LOADER" stop
+		# Deliberately no module rollback here. The loader's start is
+		# idempotent -- it returns success having done nothing when the set is
+		# already up -- so unloading on a failed daemon start tears down a set
+		# this invocation did not create. That is the same hazard as the
+		# deleted reload action, on the worse path: a venc that dies at
+		# bring-up is usually a venc that was hard-killed earlier, and on such
+		# a boot the modules cannot be loaded back. Leaving them up costs
+		# nothing; the next start re-inits against them.
 		return 1
 	fi
 	echo "Started $NAME (sensor profile $CV610_SENSOR_PROFILE, audio $CV610_AUDIO)"
@@ -64,7 +71,6 @@ start()
 stop()
 {
 	# Cover the current daemon plus either side of an API-respawn handoff.
-	# Never unload the MPP stack while any of them still owns the graph.
 	killall "$NAME" "$RESPAWN" "$WATCHDOG" 2>/dev/null || true
 	i=0
 	while still_running && [ "$i" -lt 100 ]; do
@@ -73,14 +79,37 @@ stop()
 	done
 	if still_running; then
 		echo "$NAME did not stop within 10 seconds" >&2
-		echo "refusing to unload CV610 modules while the graph is owned" >&2
 		return 1
 	fi
 	rm -f "$PIDFILE"
-	"$LOADER" stop
-	echo "Stopped $NAME"
+	# The MPP modules stay loaded, the way they do on star6e and maruko. venc
+	# tears its own graph down in mpp_cleanup() -- including vb_exit() from the
+	# process that created it, which is the only process allowed to -- so the
+	# next start re-inits against the modules already up. Unloading them here
+	# was bring-up scaffolding, and it is what wedged the SoC whenever a
+	# consumer still held one of their devices.
+	echo "Stopped $NAME (MPP modules left loaded)"
 }
 
+# There is deliberately no "reload" action. It existed to unload and reload the
+# MPP modules after a venc that died without mpp_cleanup(), on the premise that
+# VB was left held by a dead owner -- a premise the hardware disproved in the
+# same release that added it: VB *is* released when the process dies, and what a
+# crash actually leaves behind (ISP, and the AI device claim) venc now pre-cleans
+# itself. A hard-killed venc recovers from a plain start, video and audio both.
+#
+# Nothing in production called it, and unloading is not free: a hard kill
+# poisons module reloading for the rest of the boot, so a reload issued
+# afterwards leaves the craft with no modules at all -- or, measured on a
+# video-only craft, resets the SoC. Recovery after a hard kill is a plain start;
+# applying a module-parameter change (CV610_AUDIO, sensor profile) is a reboot.
+#
+# 'load-cv610-online restart' still exists for a dirty/partial module set, but
+# run it BARE and it reloads with the loader's own defaults -- video-only,
+# imx662 clock -- not this craft's profile. That caveat used to live inside
+# reload(); it is stated here because it outlived the function. Prefer
+# 'load-cv610-online stop' followed by 'S95waybeam start', which passes
+# CV610_SENSOR_PROFILE and CV610_AUDIO for you.
 case "${1:-}" in
 	start|stop) "$1" ;;
 	restart) stop && start ;;
diff --git a/init.d/load-cv610-online b/init.d/load-cv610-online
index c370cd10..d7279d98 100755
--- a/init.d/load-cv610-online
+++ b/init.d/load-cv610-online
@@ -20,6 +20,45 @@ is_loaded()
 	grep -q "^$1 " /proc/modules
 }
 
+# Character devices created by the modules below. Derived from the target's
+# actual /dev, not from module names -- guessing from names missed ot_mipi_rx
+# (not "mipi_rx"), logmpp and venc_msg. To re-derive after a module set change:
+#   ls -l /dev | awk '$1 ~ /^c/ {print $NF}' | sort   # before and after a load
+# Built by concatenation, not as one multi-line literal: the lookup below matches
+# on " name ", so a name landing on a line boundary would carry a newline
+# instead of a space and never match at all.
+MPP_DEVICES="ab acodec adec aenc ai aio ao bus chnl h265e i2c isp_dev logmpp"
+MPP_DEVICES="$MPP_DEVICES mipi_rx mmz_userdev ot_mipi_rx rc rgn sys user vb"
+MPP_DEVICES="$MPP_DEVICES vca venc venc_msg vgs vi vpp vpss"
+
+is_mpp_device()
+{
+	case "$1" in /dev/*) ;; *) return 1 ;; esac
+	case " $MPP_DEVICES " in *" ${1#/dev/} "*) return 0 ;; esac
+	return 1
+}
+
+# Processes holding one of those devices open, minus any pid in $1.
+#
+# The drivers do not set .owner on their file operations, so opening the device
+# takes no module reference -- /proc/modules reports open_rgn "used=0" while a
+# consumer holds /dev/rgn. rmmod therefore succeeds under a live consumer and
+# frees the file operations it is still using, wedging the SoC hard enough to
+# need a physical power cycle. waybeam_hub is the one that matters in practice:
+# it holds /dev/rgn for the CV610 RGN OSD.
+mpp_holders()
+{
+	ignore=" ${1:-} "
+	for fd in /proc/[0-9]*/fd/*; do
+		[ -L "$fd" ] || continue
+		is_mpp_device "$(readlink "$fd" 2>/dev/null)" || continue
+		pid=${fd#/proc/}
+		pid=${pid%%/*}
+		case "$ignore" in *" $pid "*) continue ;; esac
+		echo "$pid($(cat "/proc/$pid/comm" 2>/dev/null))"
+	done | sort -u | tr '\n' ' '
+}
+
 load_stock()
 {
 	name=$1
@@ -29,9 +68,21 @@ load_stock()
 	loaded="$name $loaded"
 }
 
+# Rollback for a load sequence that failed part way through.  Carries the same
+# guard as stop_modules(): a consumer can grab a device created EARLIER in this
+# very sequence -- waybeam_hub rebinds /dev/rgn within ~1s of open_rgn appearing,
+# and the sequence runs for seconds afterwards -- and unloading under it wedges
+# the SoC hard enough to need a physical power cycle.  Leaving the modules loaded
+# is recoverable; a wedged SoC is not.
 cleanup_partial()
 {
 	set +e
+	holders=$(mpp_holders)
+	if [ -n "$holders" ]; then
+		echo "partial load failed; NOT unloading -- MPP devices open by $holders" >&2
+		echo "stop those consumers, then run '$0 stop' to clear the partial state" >&2
+		return 0
+	fi
 	for name in $loaded; do
 		rmmod "$name" 2>/dev/null
 	done
@@ -51,6 +102,23 @@ start_modules()
 		echo "refusing vendor open_pm" >&2
 		return 1
 	}
+	# open_user is the last module the sequence loads, so its presence means a
+	# previous run completed. Loading is idempotent from here: a venc restart
+	# re-inits the graph against the modules already up, the way star6e and
+	# maruko have always worked. Only a *partial* set is dirty.
+	if is_loaded open_user && is_loaded open_base; then
+		if [ "$AUDIO" = "1" ] && ! is_loaded open_acodec; then
+			# Reboot, not a reload. Swapping the module set means unloading,
+			# and a boot that has already seen a hard kill cannot load them
+			# back -- the craft ends up with no modules at all. A reboot
+			# applies the profile the platform conf asks for, every time.
+			echo "modules are up but were loaded without audio;" >&2
+			echo "reboot to bring them up with the configured profile" >&2
+			return 1
+		fi
+		echo "MPP modules already loaded"
+		return 0
+	fi
 	is_loaded open_base && {
 		echo "refusing dirty MPP module state" >&2
 		return 1
@@ -106,6 +174,15 @@ start_modules()
 
 stop_modules()
 {
+	# Guard the rmmod itself, not its callers: any unload is fatal with a
+	# consumer still attached.  The partial-load rollback carries the same
+	# guard (see cleanup_partial); a hand-run stop is the only other caller.
+	holders=$(mpp_holders)
+	if [ -n "$holders" ]; then
+		echo "refusing to unload: MPP devices still open by $holders" >&2
+		echo "stop those consumers first, e.g. /etc/init.d/S97waybeam-hub stop" >&2
+		return 1
+	fi
 	modules="open_user open_mipi_rx open_sensor_i2c \
 		open_acodec open_aenc open_ai open_aio \
 		open_h265e open_venc open_rc open_chnl open_isp open_vi \
@@ -134,8 +211,13 @@ case "${1:-}" in
 	restart)
 		stop_modules && start_modules
 		;;
+	holders)
+		# Callers that must decide *before* destroying state ask here, passing
+		# the pids they own as one space-separated argument.
+		mpp_holders "${2:-}"
+		;;
 	*)
-		echo "Usage: $0 {start|stop|restart}" >&2
+		echo "Usage: $0 {start|stop|restart|holders [ignore-pids]}" >&2
 		exit 1
 		;;
 esac
diff --git a/scripts/cv610_reload_free_verify.sh b/scripts/cv610_reload_free_verify.sh
new file mode 100755
index 00000000..30e6fd92
--- /dev/null
+++ b/scripts/cv610_reload_free_verify.sh
@@ -0,0 +1,325 @@
+#!/bin/sh
+# cv610_reload_free_verify.sh -- run ON the CV610 target.
+#
+# Verifies that a venc restart no longer reloads the MPP modules, and that the
+# cases which make that unsafe are caught rather than tolerated.
+#
+# The interesting case is a restart across a MODE CHANGE. A same-mode restart
+# passes even when the VB config was silently inherited, because the inherited
+# layout happens to be the right one -- so a suite that only restarts in place
+# proves nothing about the thing being changed. T3 changes video0.size and then
+# asserts the ENCODED SIZE moved in venc's own VPSS line, which is what moves
+# out_blk, before checking which path sys_setup() took.
+#
+# Instruments are the markers sys_setup() prints:
+#   "ok  ss_mpi_vb_set_cfg"                          -> fresh config applied
+#   "ok  ss_mpi_vb_set_cfg  (adopted identical ...)" -> BUSY, layout matched
+#   "FAIL VB is held by a dead owner ..."            -> BUSY, layout differed
+#
+# Two steps can kill the SoC, by design, and need an operator who can power
+# cycle:
+#   T1 attempts the unload the guard is supposed to refuse. If the guard has
+#      regressed, the unload proceeds under the hub and wedges the board --
+#      that is exactly the bug, observed as no network and ARP incomplete.
+#   T6 hard-kills venc so MPP state is left dirty on purpose. The kill itself
+#      is survivable -- venc self-heals -- but it poisons module reloading for
+#      the rest of the boot, and an unload issued after this point leaves the
+#      craft with no modules (and resets a video-only SoC). So it runs last.
+# Everything else is a normal restart.
+#
+# Usage: cv610_reload_free_verify.sh [--keep-going]
+set -u
+
+INIT=/etc/init.d/S95waybeam
+HUB=/etc/init.d/S97waybeam-hub
+LOADER=/usr/bin/load-cv610-online
+CFG=/etc/waybeam.json
+LOG=/var/run/waybeam.log
+BACKUP=/tmp/waybeam.json.verify-backup
+KEEP=0
+[ "${1:-}" = "--keep-going" ] && KEEP=1
+
+pass=0; fail=0; note=0
+ok()   { pass=$((pass+1)); echo "  PASS  $1"; }
+bad()  { fail=$((fail+1)); echo "  FAIL  $1"; [ "$KEEP" = 1 ] || { echo; echo "halting so the state can be inspected"; summary; exit 1; }; }
+info() { note=$((note+1)); echo "  NOTE  $1"; }
+summary() { echo; echo "=== $pass passed, $fail failed, $note measurement(s) ==="; }
+chk()  { desc=$1; shift; if "$@"; then ok "$desc"; else bad "$desc"; fi; }
+
+mods()    { grep -c '^open' /proc/modules; }
+venc_pid(){ pidof waybeam 2>/dev/null; }
+hub_pid() { pidof waybeam_hub 2>/dev/null; }
+pkts()    { wget -qO- --timeout=3 http://127.0.0.1:80/api/v1/transport/status 2>/dev/null \
+             | sed 's/.*"packetsSent"://; s/[^0-9].*//'; }
+
+flowing() {
+	a=$(pkts); sleep 3; b=$(pkts)
+	[ -n "$a" ] && [ -n "$b" ] && [ "$b" -gt "$a" ] 2>/dev/null
+}
+
+# The encoded size venc actually chose, straight from its own bring-up line:
+#   "ok  VPSS 1920x1080 -> 1280x720 (scaled)"
+# This, not the config, is what decides out_blk and the pool count.
+out_size() {
+	sed -n 's/.*VPSS [0-9]*x[0-9]* -> \([0-9]*x[0-9]*\).*/\1/p' "$LOG" | tail -1
+}
+
+# video0.size is a STRING ("1920x1080"), and video0.width/height do not exist --
+# setting those creates keys nothing reads, which is how the first version of
+# this suite reported a mode change that never happened. Assert the geometry,
+# not the key.
+set_size() {
+	command -v json_cli >/dev/null 2>&1 || return 1
+	json_cli -s .video0.size "\"$1\"" -i "$CFG" >/dev/null 2>&1 || return 1
+	[ "$(json_cli -g .video0.size --raw -i "$CFG" 2>/dev/null)" = "$1" ] || return 1
+	return 0
+}
+
+# The hub's OSD region, HIRGN_HANDLE in waybeam-hub src/osd_backend_hirgn.c.
+# Fixed there so it never collides with venc's own debug OSD on handle 0.
+HUB_RGN_HANDLE=8
+
+# The compositor's job counters for that region, from /proc/umap/rgn:
+#   hdl  call_cnt  job_suc  job_fail  task_suc  task_fail  end_suc  end_fail
+# Read these, not the hub's perf line: the hub counts a publish it made, which
+# is the stimulus. These count the composite that consumed it.
+rgn_field() {
+	awk -v hdl="$HUB_RGN_HANDLE" -v col="$1" '
+		/region call vgs/      { in_tbl = 1; next }
+		in_tbl && $1 == hdl && NF >= 8 { print $col; exit }
+	' /proc/umap/rgn 2>/dev/null
+}
+rgn_jobs()  { rgn_field 2; }
+rgn_fails() { rgn_field 4; }
+
+# The audio encoder's two MMZ blocks: present exactly when AENC is up. Reading
+# these rather than the log because the log's own message is misleading (it
+# blames the module load for what is actually a dead predecessor's AI claim).
+# grep -c prints "0" AND exits 1 when it matches nothing, so "|| echo 0" would
+# print 0 twice. Count with awk, which has one exit path and one line of output.
+aenc_blocks() {
+	awk '/aenc\(0\)/ { n++ } END { print n + 0 }' /proc/umap/media-mem 2>/dev/null ||
+		echo 0
+}
+
+# Is audio even configured? Without this a video-only craft would "fail" the
+# audio assertion for the correct reason of having no audio.
+audio_enabled() {
+	command -v json_cli >/dev/null 2>&1 || return 1
+	[ "$(json_cli -g .audio.enabled --raw -i "$CFG" 2>/dev/null)" = "true" ]
+}
+
+not_grep() { ! grep -q "$1" "$2"; }
+
+osd_compositing() {
+	# Two samples must advance, with no failed jobs. Retried once because the
+	# counters belong to the region, not to the hub: if the hub recreates the
+	# region between the samples the count RESTARTS, so b < a is a rebind in
+	# progress, not a stall. Without the retry this flakes exactly when the
+	# thing it is checking is working.
+	i=0
+	while [ "$i" -lt 3 ]; do
+		i=$((i + 1))
+		a=$(rgn_jobs); sleep 3; b=$(rgn_jobs)
+		[ -n "$a" ] && [ -n "$b" ] || return 1
+		[ "$b" -lt "$a" ] 2>/dev/null && continue
+		[ "$b" -gt "$a" ] 2>/dev/null && [ "$(rgn_fails)" = 0 ] && return 0
+		return 1
+	done
+	return 1
+}
+
+# The region is created by the hub a few seconds after ITS start, not ours, so
+# a baseline sampled too early reads as "this build has no OSD" and silently
+# downgrades the T2 assertion to a note. Wait for it when the hub is up.
+wait_for_rgn() {
+	i=0
+	while [ "$i" -lt 12 ]; do
+		[ -n "$(rgn_jobs)" ] && return 0
+		i=$((i + 1)); sleep 2
+	done
+	return 1
+}
+
+# ---------------------------------------------------------------- preconditions
+echo "=== preconditions ==="
+cp "$CFG" "$BACKUP" || { echo "cannot back up $CFG"; exit 1; }
+echo "  config backed up to $BACKUP"
+[ -n "$(venc_pid)" ] || $INIT start >/dev/null 2>&1
+[ -n "$(hub_pid)" ]  || $HUB  start >/dev/null 2>&1
+sleep 8
+base_mods=$(mods)
+[ -n "$(hub_pid)" ] && wait_for_rgn
+base_rgn=$(rgn_jobs)
+audio_cfg=0
+audio_enabled && audio_cfg=1
+echo "  venc=$(venc_pid) hub=$(hub_pid) modules=$base_mods osd_jobs=${base_rgn:-none} audio=$audio_cfg"
+[ -n "$(hub_pid)" ] || { echo "hub is not running -- T1/T2/T3 need it up"; exit 1; }
+
+# ------------------------------------------------------- T1: the guard still fires
+echo
+echo "=== T1: unload is refused while the hub holds /dev/rgn ==="
+out=$("$LOADER" stop 2>&1); rc=$?
+case "$out" in
+	*"refusing to unload"*) ok "loader refused, naming holders" ;;
+	*) bad "loader did NOT refuse (rc=$rc): $out" ;;
+esac
+chk "refusal is a non-zero exit" test "$rc" -ne 0
+chk "module count unchanged ($base_mods)" test "$(mods)" = "$base_mods"
+
+# ------------------------------------ T2: graceful restart, same mode, hub RUNNING
+echo
+echo "=== T2: venc restart with the hub up (the case that used to wedge) ==="
+: >"$LOG"
+$INIT restart >/dev/null 2>&1
+sleep 8
+chk "venc came back (pid $(venc_pid))" test -n "$(venc_pid)"
+chk "hub survived the restart" test -n "$(hub_pid)"
+chk "modules never unloaded ($base_mods)" test "$(mods)" = "$base_mods"
+chk "frames flowing after restart" flowing
+chk "sys_setup ran vb_set_cfg" grep -q "ss_mpi_vb_set_cfg" "$LOG"
+
+# The check this suite used to hand to a human. venc's teardown takes the whole
+# RGN table with it (mpp_cleanup -> ss_mpi_sys_exit, and MPP objects are kernel
+# state shared across processes), so the hub's OSD region does not merely go
+# stale -- it disappears, and before waybeam-hub#212 the hub kept painting into
+# nothing without saying so.
+now_rgn=$(rgn_jobs)
+echo "  OSD region $HUB_RGN_HANDLE: was $base_rgn, now ${now_rgn:-GONE}, fails=$(rgn_fails)"
+if [ -z "$base_rgn" ]; then
+	info "hub had no OSD region before the restart (built without CV610_OSD?) -- OSD survival UNVERIFIED"
+else
+	chk "hub OSD still compositing after the restart (waybeam-hub#212)" \
+		osd_compositing
+fi
+
+# ------------------------------------------- T3: restart ACROSS a mode change
+echo
+echo "=== T3: restart across a mode change, hub up ==="
+base_out=$(out_size)
+echo "  baseline encoded size: ${base_out:-unknown}"
+if [ -z "$base_out" ]; then
+	info "no VPSS size line in $LOG -- cannot tell a mode change from a no-op, T3 skipped"
+elif ! set_size 640x360; then
+	info "could not edit $CFG -- T3 skipped, mode-change path UNVERIFIED"
+else
+	: >"$LOG"
+	$INIT restart >/dev/null 2>&1
+	sleep 8
+	new_out=$(out_size)
+	if [ -z "$new_out" ] || [ "$new_out" = "$base_out" ]; then
+		# The whole point of T3. Without this the suite happily "passes" a
+		# same-mode restart and leaves the layout-change path unexercised.
+		bad "encoded size did not move ($base_out -> ${new_out:-none}) -- NOT a mode change"
+	else
+		ok "encoded size moved $base_out -> $new_out, so the VB layout differs"
+		if grep -q "adopted identical live config" "$LOG"; then
+			bad "VB config was ADOPTED across a mode change -- pools are stale"
+		elif grep -q "held by a dead owner" "$LOG"; then
+			bad "vb_set_cfg refused after a *graceful* stop -- vb_exit did not release"
+		elif grep -q "ok  ss_mpi_vb_set_cfg" "$LOG"; then
+			ok "fresh VB config applied for the new layout"
+		else
+			bad "no vb_set_cfg marker at all"
+		fi
+		chk "venc running in the new mode" test -n "$(venc_pid)"
+		chk "frames flowing in the new mode" flowing
+		chk "still no module reload" test "$(mods)" = "$base_mods"
+		# The nastier OSD case. The hub rebinds its region within ~1 s, but at
+		# the OLD window size, and only its own 5 s source poll re-anchors it
+		# to the smaller frame -- so for a few seconds an oversized region is
+		# attached to this channel. Assert both that venc survived it (above)
+		# and that the OSD ends up compositing anyway.
+		if [ -n "$base_rgn" ]; then
+			chk "hub OSD compositing after a mode-change restart" osd_compositing
+		fi
+	fi
+fi
+
+# ------------------------------------------------ T4: back to the original mode
+echo
+echo "=== T4: restore 1080p ==="
+cp "$BACKUP" "$CFG"
+: >"$LOG"
+$INIT restart >/dev/null 2>&1
+sleep 8
+chk "restored mode: venc up" test -n "$(venc_pid)"
+chk "restored mode: streaming" flowing
+
+# T5 tested the init script's "reload" action, which no longer exists: it was
+# built for a VB-held-by-a-dead-owner case the hardware disproved, nothing called
+# it, and it was the only shipped path that unloaded modules on a running craft.
+# With it gone, nothing in this suite unloads, so the contaminated-boot check it
+# needed is gone too -- a hard kill can no longer poison anything this suite does.
+cp "$BACKUP" "$CFG"
+
+# --------------------------------------------------------- T6: the crash path
+# LAST on purpose. Measured on .181: after a SIGKILL the next module
+# unload/reload fails at sys.ko init -- 'no sys ko!' then 'load vpp.ko
+# ...FAILURE!' -- for the rest of the boot, and on a video-only craft it resets
+# the SoC outright. Nothing in this suite unloads any more, so that no longer
+# breaks a later step; it still runs last so it cannot poison a hand-run
+# 'load-cv610-online restart' someone does afterwards.
+# Expected result is NOT known in advance: if the driver's .release frees VB
+# when the process dies, a hard kill self-heals and set_cfg simply succeeds.
+# Report what happens rather than asserting.
+echo
+echo "=== T6: hard-kill venc (no mpp_cleanup), then start in a DIFFERENT mode ==="
+echo "    measurement, not an assertion"
+killall -9 waybeam 2>/dev/null
+sleep 3
+set_size 640x360 || info "config edit failed; T6 degraded to a same-mode start"
+: >"$LOG"
+$INIT start >/dev/null 2>&1
+sleep 8
+if grep -q "held by a dead owner" "$LOG"; then
+	info "VB survived the kill and the mismatch was REFUSED (reboot needed)"
+elif grep -q "adopted identical live config" "$LOG"; then
+	bad "stale VB adopted across a mode change after a crash -- silent wrong pools"
+elif grep -q "ok  ss_mpi_vb_set_cfg" "$LOG"; then
+	info "VB was released when the process died"
+else
+	info "no VB marker; inspect $LOG"
+fi
+grep -q "already inited" "$LOG" && bad "ISP survived the kill and blocked the restart"
+# The VB marker alone says nothing about whether the daemon came up: the first
+# run of this suite recorded a cheerful NOTE while venc was dead on the floor at
+# ss_mpi_isp_mem_init. Assert the outcome, not just the milestone.
+chk "venc actually running after the crash restart" test -n "$(venc_pid)"
+chk "streaming after the crash restart" flowing
+
+# "streaming" above is VIDEO. It passed for months while AUDIO was silently
+# dead: a SIGKILL leaves the AI device claimed by the dead pid, every AI call
+# from the successor is refused with OT_ERR_AI_NOT_PERM, and venc reports it as
+# "needs CV610_AUDIO=1 at module load" -- so neither the log nor this suite said
+# anything true. The aenc MMB blocks are the observable: the audio encoder has
+# exactly two, and they are absent when audio failed to start.
+if [ "$audio_cfg" = 1 ]; then
+	echo "  aenc blocks: $(aenc_blocks) (2 = audio up, 0 = audio silently lost)"
+	chk "audio came back after the crash restart" test "$(aenc_blocks)" = 2
+	chk "no audio-start failure logged" not_grep "audio did not start" "$LOG"
+else
+	info "audio disabled in $CFG -- crash-restart audio recovery UNVERIFIED"
+fi
+
+leaks=$(dmesg | grep -c "MMB LEAK")
+info "MMB LEAK lines this boot: $leaks (2 per hard kill; they are the kernel"
+info "  RECLAIMING those blocks, not losing them -- measured: the pool returns"
+info "  to its exact baseline across repeated kills)"
+echo "  NOTE  module reloading is poisoned until reboot -- unloading is NOT the"
+echo "        recovery after a hard kill; reboot is. venc itself self-heals above."
+
+echo
+# T6 leaves video0.size at the test value. Put the craft back on its configured
+# mode and restart into it, so the bench is not silently left encoding 640x360
+# under a message claiming it was restored.
+cp "$BACKUP" "$CFG"
+$INIT restart >/dev/null 2>&1
+sleep 8
+chk "config restored and venc restarted into it" test -n "$(venc_pid)"
+echo "  encoded size now: $(out_size)"
+echo "Config restored from $BACKUP."
+echo "Still to check by hand: one reboot. (The OSD is asserted in T2 now, via"
+echo "the compositor's own job counters in /proc/umap/rgn.)"
+summary
+[ "$fail" = 0 ]
diff --git a/sensors/cv610/imx662/Makefile b/sensors/cv610/imx662/Makefile
index 35b351ac..d7fb69d5 100644
--- a/sensors/cv610/imx662/Makefile
+++ b/sensors/cv610/imx662/Makefile
@@ -16,6 +16,12 @@ CFLAGS += -fPIC -Wall -Wextra -Werror -O2 \
 
 SRCS := imx662_cmos.c imx662_sensor_ctl.c $(COMMON)/sensor_common.c
 OBJS := imx662_cmos.o imx662_sensor_ctl.o sensor_common.o
+DEPS := $(OBJS:.o=.d)
+
+# The tuning tables and the register sequence live in headers, so without
+# generated dependencies a header-only edit relinks the old objects and ships
+# a binary that does not contain the change.
+CFLAGS += -MMD -MP
 
 .PHONY: all clean
 
@@ -27,8 +33,10 @@ all: $(LIB_NAME).so
 sensor_common.o: $(COMMON)/sensor_common.c
 	$(CV610_CC) $(CFLAGS) -c $< -o $@
 
+-include $(DEPS)
+
 $(LIB_NAME).so: $(OBJS)
 	$(CV610_CC) -shared -o $@ $(OBJS)
 
 clean:
-	rm -f $(OBJS) $(LIB_NAME).so
+	rm -f $(OBJS) $(DEPS) $(LIB_NAME).so
diff --git a/sensors/cv610/imx662/README.md b/sensors/cv610/imx662/README.md
index 4e7d2dd3..492f2eee 100644
--- a/sensors/cv610/imx662/README.md
+++ b/sensors/cv610/imx662/README.md
@@ -21,5 +21,58 @@ Install the result as `/usr/lib/sensors/libsns_imx662.so`. No proprietary
 SDK source or binary is stored here; the build consumes the public sensor
 interface and `sensor_common.c` from the external OpenHisilicon checkout.
 
-The initial backend supports linear mode only. HDR and broad ISP tuning are
-deliberately deferred by issue #220.
+Linear mode only — `cmos_set_wdr_mode()` rejects every other WDR mode, and HDR
+stays deferred by issue #220.
+
+## What the plugin programs
+
+`imx662_cfg.h` holds Sony's power-on sequence — the reserved analog/ADC trim,
+the MIPI TX timing, the readout window and the HDR context that linear mode
+needs parked. It runs once, in standby, before the per-mode writes, and the
+per-mode writes win where the two overlap. That ordering matters for
+`0x3A50/51/52`, which keys off ADBIT rather than output depth: the table holds
+the 12-bit form and the RAW10 modes overwrite it.
+
+`cmos_get_isp_default()` and `cmos_get_awb_default()` seed the ISP once at init.
+The algorithm tables in `imx662_cmos_param.h` are ported from the in-tree
+`smart_sc450ai` driver, which targets this same ISP silicon. The blocks that
+describe ISP behaviour (gamma, CLUT, demosaic, CAC, anti-false-colour, LDCI,
+dehaze, CA) transfer on principle; the noise-fitted ones (bayer_nr, sharpen,
+noise_calibration, DRC) are borrowed from a 4 MP sensor and are kept on a
+hardware A/B rather than a calibration — a measured IMX662 fit should replace
+them. The AWB saturation curve is scaled up from sc450ai's at the low-ISO end.
+
+These are compile-time seeds, read once at pipe start. `src/cv610_iq.c` exposes
+the same blocks as live knobs over `/api/v1/iq` and `/api/v1/iq/set`, so a value
+here is a starting point that can be corrected without a rebuild — but only the
+seed survives a reboot, so a value worth keeping belongs back in this file.
+
+Two blocks are seeded but not switched on: `g_cmos_drc` and `g_cmos_dehaze`
+carry `enable = 0`, inherited from sc450ai's linear-mode defaults, and the ISP
+bypasses both at runtime (confirmed by `ss_mpi_isp_get_module_ctrl()`). Setting
+`drc.enable=1` over the IQ API is the cheap way to evaluate DRC on this sensor
+before deciding whether the seed should change.
+
+## Low-light behaviour
+
+The sharpen auto tables are tapered along their ISO axis to zero by bucket 9,
+with the daylight buckets (0-3) left byte-identical. Sharpening is a high-pass
+filter, so at high gain the sc450ai tables — which *rise* along ISO, edge
+strength 195 to 500 — were amplifying noise into the encoder: measured 65.4 to
+7.8 Mbps on the bench with sharpen off. The AWB saturation curve tapers harder
+above daylight for the same reason, chroma noise being the ugliest high-gain
+artifact.
+
+Conversion gain follows the analog gain: `FDG_SEL0` selects HCG above a
+threshold and LCG below it, with the written gain code compensated by 15.3 dB
+(Rcg typ 5.8) so the switch is continuous. `max_isp_dgain_target` is 4x, which
+puts the total ceiling at 398 x 4 = 1592x (~64 dB) and makes AE exhaust analog
+before it reaches for digital.
+
+`g_cmos_noise_calibration` is still sc450ai's photon-transfer fit and is the
+main thing left wrong for this sensor; `nr.coring_ratio` and `nr.md_en` are
+exposed over `/api/v1/iq` so it can be corrected by eye until a real IMX662
+calibration exists.
+
+Reference material for further tuning lives outside this repo, in
+`hisilicon/vendor/imx662-docs/`.
diff --git a/sensors/cv610/imx662/imx662_cfg.h b/sensors/cv610/imx662/imx662_cfg.h
new file mode 100644
index 00000000..bade193f
--- /dev/null
+++ b/sensors/cv610/imx662/imx662_cfg.h
@@ -0,0 +1,192 @@
+/*
+ * imx662_cfg.h — IMX662 power-on register sequence.
+ *
+ * Sony's one-shot init block: the reserved analog/ADC trim, the MIPI TX
+ * timing, the readout window and the HDR-context registers that must be
+ * parked for linear mode.  The ISP never writes these; the plugin does,
+ * once, while the sensor is in standby.
+ *
+ * Transcribed from imx662_global_settings[] in pauliustumas/imx662
+ * (driver/imx662.c), covering 0x301A..0x4549.  Values are held verbatim,
+ * comments included, so a future diff against that source stays mechanical.
+ *
+ * Departures from the source list:
+ *
+ *   - {0x3002, 0x00} (master mode operation start) is dropped.  This
+ *     table runs inside standby; imx662_default_reg_init() releases
+ *     STANDBY and XMSTA itself once the mode registers are in.
+ *   - The HMAX pair is absent — it is commented out upstream, and HMAX
+ *     is per-mode state that imx662_linear_1080p_init() owns.
+ *   - {0x44C0, 0x7F} is ADDED: upstream omits it and Sony's map requires
+ *     it.  See the comment at that entry.
+ *   - {0x30A6, 0x0F} is KEPT as upstream has it, which leaves XVS_DRV /
+ *     XHS_DRV at Hi-Z, where Sony's All-pixel modes set 0x00 (drive).
+ *     Nothing on this module consumes XVS/XHS, and starting to drive two
+ *     pads whose wiring is unknown is a hardware risk with no benefit
+ *     today.  Revisit if frame-sync or a second sensor is ever wired.
+ *
+ * The 0x3A50/51/52 AD-timing triplet below carries the 12-bit values, and
+ * 0x301A appears here and again in the per-mode block.  Both are harmless
+ * overlaps only because this table runs FIRST — see imx662_sensor_ctl.c,
+ * where that ordering is load-bearing for the RAW10 modes.
+ *
+ * Measured against silicon on the 192.168.2.181 bench, 2026-08-16:
+ * 94 of these entries differ from the sensor's power-on state, and the
+ * readout-window group (0x303C-0x303F, 0x3044-0x3047) already matches
+ * bit for bit, so writing it is a confirmed no-op on this module.  A
+ * RAW10-vs-RAW12 dump of the whole range showed the reserved blocks are
+ * identical in both, i.e. none of this is bit-depth dependent.
+ */
+
+#ifndef IMX662_CFG_H
+#define IMX662_CFG_H
+
+#include "ot_type.h"
+
+typedef struct {
+	td_u16 addr;
+	td_u8  data;
+} imx662_reg_cfg;
+
+static const imx662_reg_cfg g_imx662_init_seq[] = {
+	{ 0x301A, 0x00 }, /* HDR mode select (Normal) */
+	{ 0x301B, 0x00 }, /* Normal/binning */
+	{ 0x301C, 0x00 }, /* XVS sub sample */
+	{ 0x301E, 0x01 }, /* virtual channel */
+	{ 0x303C, 0x00 }, /* PIX HSTART */
+	{ 0x303D, 0x00 }, /* PIX HSTART */
+	{ 0x303E, 0x90 }, /* H WIDTH */
+	{ 0x303F, 0x07 }, /* H WIDTH */
+	{ 0x3044, 0x00 }, /* PIX VSTART */
+	{ 0x3045, 0x00 }, /* PIX VSTART */
+	{ 0x3046, 0x4C }, /* V WIDTH */
+	{ 0x3047, 0x04 }, /* V WIDTH */
+	{ 0x3060, 0x16 }, /* DOL output timing */
+	{ 0x3061, 0x01 }, /* DOL output timing */
+	{ 0x3062, 0x00 }, /* DOL output timing */
+	{ 0x3064, 0xC4 }, /* DOL output timing */
+	{ 0x3065, 0x0C }, /* DOL output timing */
+	{ 0x3066, 0x00 }, /* DOL output timing */
+	{ 0x3069, 0x00 }, /* Direct Gain Enable */
+	{ 0x3072, 0x00 }, /* GAIN SEF1 */
+	{ 0x3073, 0x00 }, /* GAIN SEF1 */
+	{ 0x3074, 0x00 }, /* GAIN SEF2 */
+	{ 0x3075, 0x00 }, /* GAIN SEF2 */
+	{ 0x3081, 0x00 }, /* EXP_GAIN */
+	{ 0x308C, 0x00 }, /* Clear HDR DGAIN */
+	{ 0x308D, 0x01 }, /* Clear HDR DGAIN */
+	{ 0x3094, 0x00 }, /* CHDR AGAIN LG */
+	{ 0x3095, 0x00 }, /* CHDR AGAIN LG */
+	{ 0x3096, 0x00 }, /* CHDR AGAIN1 */
+	{ 0x3097, 0x00 }, /* CHDR AGAIN1 */
+	{ 0x309C, 0x00 }, /* CHDR AGAIN HG */
+	{ 0x309D, 0x00 }, /* CHDR AGAIN HG */
+	{ 0x30A4, 0xAA }, /* XVS/XHS OUT */
+	{ 0x30A6, 0x0F }, /* XVS/XHS DRIVE HiZ */
+	{ 0x30CC, 0x00 }, /* XVS width */
+	{ 0x30CD, 0x00 }, /* XHS width */
+	{ 0x3400, 0x01 }, /* GAIN Adjust */
+	{ 0x3444, 0xAC }, /* RESERVED */
+	{ 0x3460, 0x21 }, /* Normal Mode 22H=C HDR mode */
+	{ 0x3492, 0x08 }, /* RESERVED */
+	{ 0x3A50, 0xFF }, /* Normal 12bit */
+	{ 0x3A51, 0x03 }, /* Normal 12bit */
+	{ 0x3A52, 0x00 }, /* AD 12bit */
+	{ 0x3B00, 0x39 }, /* RESERVED */
+	{ 0x3B23, 0x2D }, /* RESERVED */
+	{ 0x3B45, 0x04 }, /* RESERVED */
+	{ 0x3C0A, 0x1F }, /* RESERVED */
+	{ 0x3C0B, 0x1E }, /* RESERVED */
+	{ 0x3C38, 0x21 }, /* RESERVED */
+	{ 0x3C40, 0x06 }, /* Normal mode. CHDR=05h */
+	{ 0x3C44, 0x00 }, /* RESERVED */
+	{ 0x3CB6, 0xD8 }, /* RESERVED */
+	{ 0x3CC4, 0xDA }, /* RESERVED */
+	{ 0x3E24, 0x79 }, /* RESERVED */
+	{ 0x3E2C, 0x15 }, /* RESERVED */
+	{ 0x3EDC, 0x2D }, /* RESERVED */
+	{ 0x4498, 0x05 }, /* RESERVED */
+	{ 0x449C, 0x19 }, /* RESERVED */
+	{ 0x449D, 0x00 }, /* RESERVED */
+	{ 0x449E, 0x32 }, /* RESERVED */
+	{ 0x449F, 0x01 }, /* RESERVED */
+	{ 0x44A0, 0x92 }, /* RESERVED */
+	{ 0x44A2, 0x91 }, /* RESERVED */
+	{ 0x44A4, 0x8C }, /* RESERVED */
+	{ 0x44A6, 0x87 }, /* RESERVED */
+	{ 0x44A8, 0x82 }, /* RESERVED */
+	{ 0x44AA, 0x78 }, /* RESERVED */
+	{ 0x44AC, 0x6E }, /* RESERVED */
+	{ 0x44AE, 0x69 }, /* RESERVED */
+	{ 0x44B0, 0x92 }, /* RESERVED */
+	{ 0x44B2, 0x91 }, /* RESERVED */
+	{ 0x44B4, 0x8C }, /* RESERVED */
+	{ 0x44B6, 0x87 }, /* RESERVED */
+	{ 0x44B8, 0x82 }, /* RESERVED */
+	{ 0x44BA, 0x78 }, /* RESERVED */
+	{ 0x44BC, 0x6E }, /* RESERVED */
+	{ 0x44BE, 0x69 }, /* RESERVED */
+	/* 0x44C0 is absent from pauliustumas/imx662's imx662_global_settings[],
+	 * which this table was transcribed from -- the upstream list is wrong
+	 * against Sony's map, which gives 44C0h "Set to 7Fh" (reset 00h) in all
+	 * 18 All-pixel modes.  0x44C0/0x44C1 is the first entry of an 8x16-bit
+	 * little-endian table mirrored verbatim at 0x44D0..0x44DF, and the mirror
+	 * below does carry 7F/01 -- so without this the two banks disagree at
+	 * exactly one index, bank 0 latching 0x0100 instead of 0x017F. */
+	{ 0x44C0, 0x7F }, /* RESERVED */
+	{ 0x44C1, 0x01 }, /* RESERVED */
+	{ 0x44C2, 0x7F }, /* RESERVED */
+	{ 0x44C3, 0x01 }, /* RESERVED */
+	{ 0x44C4, 0x7A }, /* RESERVED */
+	{ 0x44C5, 0x01 }, /* RESERVED */
+	{ 0x44C6, 0x7A }, /* RESERVED */
+	{ 0x44C7, 0x01 }, /* RESERVED */
+	{ 0x44C8, 0x70 }, /* RESERVED */
+	{ 0x44C9, 0x01 }, /* RESERVED */
+	{ 0x44CA, 0x6B }, /* RESERVED */
+	{ 0x44CB, 0x01 }, /* RESERVED */
+	{ 0x44CC, 0x6B }, /* RESERVED */
+	{ 0x44CD, 0x01 }, /* RESERVED */
+	{ 0x44CE, 0x5C }, /* RESERVED */
+	{ 0x44CF, 0x01 }, /* RESERVED */
+	{ 0x44D0, 0x7F }, /* RESERVED */
+	{ 0x44D1, 0x01 }, /* RESERVED */
+	{ 0x44D2, 0x7F }, /* RESERVED */
+	{ 0x44D3, 0x01 }, /* RESERVED */
+	{ 0x44D4, 0x7A }, /* RESERVED */
+	{ 0x44D5, 0x01 }, /* RESERVED */
+	{ 0x44D6, 0x7A }, /* RESERVED */
+	{ 0x44D7, 0x01 }, /* RESERVED */
+	{ 0x44D8, 0x70 }, /* RESERVED */
+	{ 0x44D9, 0x01 }, /* RESERVED */
+	{ 0x44DA, 0x6B }, /* RESERVED */
+	{ 0x44DB, 0x01 }, /* RESERVED */
+	{ 0x44DC, 0x6B }, /* RESERVED */
+	{ 0x44DD, 0x01 }, /* RESERVED */
+	{ 0x44DE, 0x5C }, /* RESERVED */
+	{ 0x44DF, 0x01 }, /* RESERVED */
+	{ 0x4534, 0x1C }, /* RESERVED */
+	{ 0x4535, 0x03 }, /* RESERVED */
+	{ 0x4538, 0x1C }, /* RESERVED */
+	{ 0x4539, 0x1C }, /* RESERVED */
+	{ 0x453A, 0x1C }, /* RESERVED */
+	{ 0x453B, 0x1C }, /* RESERVED */
+	{ 0x453C, 0x1C }, /* RESERVED */
+	{ 0x453D, 0x1C }, /* RESERVED */
+	{ 0x453E, 0x1C }, /* RESERVED */
+	{ 0x453F, 0x1C }, /* RESERVED */
+	{ 0x4540, 0x1C }, /* RESERVED */
+	{ 0x4541, 0x03 }, /* RESERVED */
+	{ 0x4542, 0x03 }, /* RESERVED */
+	{ 0x4543, 0x03 }, /* RESERVED */
+	{ 0x4544, 0x03 }, /* RESERVED */
+	{ 0x4545, 0x03 }, /* RESERVED */
+	{ 0x4546, 0x03 }, /* RESERVED */
+	{ 0x4547, 0x03 }, /* RESERVED */
+	{ 0x4548, 0x03 }, /* RESERVED */
+	{ 0x4549, 0x03 }, /* RESERVED */
+};
+
+#define IMX662_INIT_SEQ_LEN (sizeof(g_imx662_init_seq) / sizeof(g_imx662_init_seq[0]))
+
+#endif /* IMX662_CFG_H */
diff --git a/sensors/cv610/imx662/imx662_cmos.c b/sensors/cv610/imx662/imx662_cmos.c
index 329c9f97..56d87402 100644
--- a/sensors/cv610/imx662/imx662_cmos.c
+++ b/sensors/cv610/imx662/imx662_cmos.c
@@ -119,7 +119,17 @@ static td_s32 cmos_get_ae_default(ot_vi_pipe vi_pipe, ot_isp_ae_sensor_default *
 	 * zero makes the AE library emit 1, below the ISP's legal minimum 256. */
 	ae_sns_dft->isp_dgain_shift          = 8;
 	ae_sns_dft->min_isp_dgain_target     = 1u << ae_sns_dft->isp_dgain_shift;
-	ae_sns_dft->max_isp_dgain_target     = 32u << ae_sns_dft->isp_dgain_shift;
+	/* ISP digital gain is the worst gain in the chain: it amplifies the noise
+	 * and the quantisation equally and buys no SNR, where analog gain and HCG
+	 * at least act before the ADC.  32x let the total ceiling reach 398 * 32
+	 * = 12739x (~82 dB), and on the .181 bench a dark room at that ceiling was
+	 * judged "super grainy" while 1-2 steps down looked better.  4x puts the
+	 * ceiling at 398 * 4 = 1592x (~64 dB), inside the range that was preferred,
+	 * and makes AE exhaust analog before it reaches for digital.
+	 *
+	 * This is an operator trade -- darker but cleaner -- so it is also live at
+	 * /api/v1/iq/set?exposure.auto.ispd_gain_max=<n> for tuning by eye. */
+	ae_sns_dft->max_isp_dgain_target     = 4u << ae_sns_dft->isp_dgain_shift;
 
 	switch (sns_state->wdr_mode) {
 		case OT_WDR_MODE_NONE:
@@ -232,7 +242,11 @@ static td_void cmos_dgain_calc_table(ot_vi_pipe vi_pipe, td_u32 *dgain_lin, td_u
 	*dgain_db  = 0;
 }
 
-/* gain register at fast-update i2c_data[3..4]. */
+/* Conversion-gain state, per pipe.  Held here rather than derived fresh each
+ * frame so the hysteresis below has something to latch against. */
+static td_bool g_imx662_hcg_on[OT_ISP_MAX_PIPE_NUM] = { 0 };
+
+/* gain register at fast-update i2c_data[3..4], conversion gain at [8]. */
 static td_void cmos_gains_update(ot_vi_pipe vi_pipe, td_u32 again, td_u32 dgain)
 {
 	ot_isp_sns_state *sns_state = imx662_get_ctx(vi_pipe);
@@ -247,6 +261,43 @@ static td_void cmos_gains_update(ot_vi_pipe vi_pipe, td_u32 again, td_u32 dgain)
 		reg = IMX662_GAIN_REG_MAX;
 	}
 
+	/* Dual conversion gain.  HCG lowers read noise; it also multiplies the
+	 * frame by ~5.8x, so the written code must give that back or AE has no
+	 * fixed point in the band where it engages (see imx662_cmos.h).
+	 *
+	 * `reg` arrives as the TOTAL gain the AE asked for, so subtracting the
+	 * offset keeps cmos_again_calc_table()'s reported again_lin -- and hence
+	 * the ISP's ISO bucket, which indexes the sharpen, saturation and NR
+	 * tables -- describing the gain actually delivered.
+	 *
+	 * Slot 8 is linear-mode only: ClearHDR needs 3030h = 02h and a matching
+	 * FDG_SEL1 (3031h) that has no slot here, so stamping 0/1 every frame
+	 * would silently corrupt an HDR blend.  cmos_set_wdr_mode() rejects every
+	 * non-linear mode today; this keeps that true if it stops doing so. */
+	if (sns_state->wdr_mode == OT_WDR_MODE_NONE) {
+		if (!g_imx662_hcg_on[vi_pipe] && reg >= IMX662_HCG_ON_REG) {
+			g_imx662_hcg_on[vi_pipe] = TD_TRUE;
+		} else if (g_imx662_hcg_on[vi_pipe] && reg < IMX662_HCG_OFF_REG) {
+			g_imx662_hcg_on[vi_pipe] = TD_FALSE;
+		}
+		if (g_imx662_hcg_on[vi_pipe]) {
+			/* Test BEFORE subtracting: reg is unsigned, so an underflow
+			 * would wrap to a huge value that a post-subtraction floor
+			 * check reads as "above the floor" and lets through.  The
+			 * hysteresis makes this unreachable (latched implies
+			 * reg >= OFF_REG, and the header asserts
+			 * OFF_REG - OFFSET >= the floor), but a guard that cannot
+			 * catch the case it names is worse than no guard. */
+			if (reg < IMX662_HCG_GAIN_OFFSET + IMX662_HCG_GAIN_REG_MIN) {
+				reg = IMX662_HCG_GAIN_REG_MIN;
+			} else {
+				reg -= IMX662_HCG_GAIN_OFFSET;
+			}
+		}
+		sns_state->regs_info[0].i2c_data[8].data =
+			g_imx662_hcg_on[vi_pipe] ? IMX662_FDG_HCG : IMX662_FDG_LCG;
+	}
+
 	sns_state->regs_info[0].i2c_data[3].data = low_8bits(reg);
 	sns_state->regs_info[0].i2c_data[4].data = high_8bits(reg);
 }
@@ -319,7 +370,15 @@ static td_s32 cmos_get_awb_default(ot_vi_pipe vi_pipe, ot_isp_awb_sensor_default
 	awb_sns_dft->wb_para[5] = IMX662_AWB_C1;
 	(td_void)memcpy_s(&awb_sns_dft->ccm, sizeof(awb_sns_dft->ccm),
 					  &g_imx662_awb_ccm, sizeof(g_imx662_awb_ccm));
-	/* TODO(tuning): ISO-dependent saturation and IR-cut-aware day/night bank. */
+	/* Without the agc_tbl copy the memset above leaves agc_tbl.valid = 0 and
+	 * every saturation entry 0, so the ISP is never told what saturation to
+	 * run.  The sector copy is seeded but inert: g_imx662_color_sector.valid
+	 * is 0, so the ISP ignores the hue/sat shifts until that is raised. */
+	(td_void)memcpy_s(&awb_sns_dft->agc_tbl, sizeof(awb_sns_dft->agc_tbl),
+					  &g_imx662_awb_agc_table, sizeof(g_imx662_awb_agc_table));
+	(td_void)memcpy_s(&awb_sns_dft->sector, sizeof(awb_sns_dft->sector),
+					  &g_imx662_color_sector, sizeof(g_imx662_color_sector));
+	/* TODO(tuning): IR-cut-aware day/night bank. */
 	return TD_SUCCESS;
 }
 
@@ -342,17 +401,51 @@ static td_s32 cmos_get_isp_default(ot_vi_pipe vi_pipe, ot_isp_cmos_default *isp_
 	sns_check_pointer_return(sns_state);
 	(td_void)memset_s(isp_def, sizeof(ot_isp_cmos_default), 0, sizeof(ot_isp_cmos_default));
 
-	/* TODO(tuning): assign noise / demosaic / sharpen / gamma /
-	 * drc / dpc / shading blocks. These get you from "flat" to "good". */
 	/* ot_isp_cmos_alg_key holds its bitfields directly, not under a .bits
-	 * member. All keys default to 0 from the memset above, which disables every
-	 * ISP block and yields a flat image -- the in-tree cv6xx drivers enable
-	 * demosaic / sharpen / drc / bayer_nr / anti_false_color / cac / ldci here
-	 * (cf. sc450ai_cmos.c:911-923). Left off until first light, so the raw path
-	 * can be judged without the ISP in the way. */
-	isp_def->key.bit1_ca            = 0;
-	isp_def->key.bit1_dpc           = 0;
-	isp_def->sns_mode.sns_id        = 0;
+	 * member. Everything is 0 from the memset above, so a block is off unless
+	 * it is turned on here -- and each key needs its parameter table, or the
+	 * ISP reads a null pointer.
+	 *
+	 * Linear mode only; cmos_set_wdr_mode() rejects every other WDR mode.
+	 *
+	 * Everything enabled below comes from sc450ai, which targets this same ISP
+	 * silicon; see imx662_cmos_param.h for which of it transfers on principle
+	 * and which is borrowed noise tuning kept on a hardware A/B.
+	 *
+	 * Still off, each for its own reason: lsc needs a per-module shading
+	 * capture, and dpc is enabled in sc450ai's common path and is a candidate
+	 * here but has not been measured on this sensor yet. */
+	isp_def->key.bit1_demosaic         = 1;
+	isp_def->demosaic                  = &g_cmos_demosaic;
+	isp_def->key.bit1_gamma            = 1;
+	isp_def->gamma                     = &g_cmos_gamma;
+	isp_def->key.bit1_clut             = 1;
+	isp_def->clut                      = &g_cmos_clut;
+	isp_def->key.bit1_anti_false_color = 1;
+	isp_def->anti_false_color          = &g_cmos_anti_false_color;
+	isp_def->key.bit1_cac              = 1;
+	isp_def->cac                       = &g_cmos_cac;
+	isp_def->key.bit1_ldci             = 1;
+	isp_def->ldci                      = &g_cmos_ldci;
+	isp_def->key.bit1_dehaze           = 1;
+	isp_def->dehaze                    = &g_cmos_dehaze;
+	isp_def->key.bit1_ca               = 1;
+	isp_def->ca                        = &g_cmos_ca;
+	isp_def->key.bit1_bayer_nr         = 1;
+	isp_def->bayer_nr                  = &g_cmos_bayer_nr;
+	isp_def->key.bit1_sharpen          = 1;
+	isp_def->sharpen                   = &g_cmos_yuv_sharpen;
+	isp_def->key.bit1_drc              = 1;
+	isp_def->drc                       = &g_cmos_drc;
+	(td_void)memcpy_s(&isp_def->noise_calibration, sizeof(ot_isp_noise_calibration),
+					  &g_cmos_noise_calibration, sizeof(ot_isp_noise_calibration));
+
+	/* The ISP identifies the sensor by these. sns_id was 0, which disagrees
+	 * with cv610_pipeline.c's IMX662_SNS_ID -- that file already documents
+	 * the two as having to match -- and would misbind any future PQ .bin,
+	 * which is chip- and sensor-locked. sns_mode was never set at all. */
+	isp_def->sns_mode.sns_id        = IMX662_ID;
+	isp_def->sns_mode.sns_mode      = sns_state->img_mode;
 	return TD_SUCCESS;
 }
 
@@ -404,16 +497,20 @@ static td_s32 cmos_set_wdr_mode(ot_vi_pipe vi_pipe, td_u8 mode)
 static td_void cmos_comm_sns_reg_info_init(ot_vi_pipe vi_pipe, ot_isp_sns_state *sns_state)
 {
 	td_u32 i;
-	const td_u16 reg_addr[8] = {
+	/* Sized from the initializer so adding a slot cannot silently overflow;
+	 * reg_num below is derived from it for the same reason. */
+	const td_u16 reg_addr[] = {
 		IMX662_REG_SHR0_L, IMX662_REG_SHR0_M, IMX662_REG_SHR0_H,   /* 0..2 exposure */
 		IMX662_REG_GAIN_L, IMX662_REG_GAIN_H,                       /* 3..4 gain     */
-		IMX662_REG_VMAX_L, IMX662_REG_VMAX_M, IMX662_REG_VMAX_H     /* 5..7 vmax     */
+		IMX662_REG_VMAX_L, IMX662_REG_VMAX_M, IMX662_REG_VMAX_H,    /* 5..7 vmax     */
+		IMX662_REG_FDG_SEL0                                         /* 8    HCG/LCG  */
 	};
 
 	sns_state->regs_info[0].sns_type         = OT_ISP_SNS_TYPE_I2C;
 	sns_state->regs_info[0].com_bus.i2c_dev  = g_imx662_bus_info[vi_pipe].i2c_dev;
 	sns_state->regs_info[0].cfg2_valid_delay_max = 2;
-	sns_state->regs_info[0].reg_num          = 8;
+	sns_state->regs_info[0].reg_num =
+		(td_u32)(sizeof(reg_addr) / sizeof(reg_addr[0]));
 
 	for (i = 0; i < sns_state->regs_info[0].reg_num; i++) {
 		sns_state->regs_info[0].i2c_data[i].update        = TD_TRUE;
@@ -503,6 +600,11 @@ static td_void sensor_global_init(ot_vi_pipe vi_pipe)
 					  sizeof(ot_isp_sns_regs_info));
 	(td_void)memset_s(&sns_state->regs_info[1], sizeof(ot_isp_sns_regs_info), 0,
 					  sizeof(ot_isp_sns_regs_info));
+	/* Conversion-gain latch is per-session state, reset alongside regs_info.
+	 * A reinit landing while the scene is still dark would otherwise assert
+	 * HCG on frame 1 with no gain measurement behind it -- with the offset
+	 * compensation now applied, that is a 5.8x exposure error. */
+	g_imx662_hcg_on[vi_pipe] = TD_FALSE;
 }
 
 static td_s32 cmos_init_sensor_exp_function(ot_isp_sns_exp_func *sensor_exp_func)
diff --git a/sensors/cv610/imx662/imx662_cmos.h b/sensors/cv610/imx662/imx662_cmos.h
index 3c273be8..4be8f586 100644
--- a/sensors/cv610/imx662/imx662_cmos.h
+++ b/sensors/cv610/imx662/imx662_cmos.h
@@ -56,11 +56,17 @@ extern "C" {
 #define IMX662_REG_HMAX_H      0x302D
 #define IMX662_REG_FDG_SEL0    0x3030  /* conversion gain HCG/LCG select       */
 #define IMX662_REG_LANEMODE    0x3040  /* 0x01 = 2-lane, 0x03 = 4-lane         */ /* VERIFY */
-#define IMX662_REG_SHR0_L      0x3050  /* SHR0 [23:0] exposure                 */
+#define IMX662_REG_SHR0_L      0x3050  /* SHR0 [19:0] exposure                 */
 #define IMX662_REG_SHR0_M      0x3051
 #define IMX662_REG_SHR0_H      0x3052
-#define IMX662_REG_GAIN_L      0x306C  /* analog gain [15:0], 0.3 dB / LSB     */
-#define IMX662_REG_GAIN_H      0x306D
+/* GAIN[10:0], 0.3 dB / LSB, 0.0..72 dB.  Sony's register list (IMX662
+ * Register.xlsx, and SRM Rev3.0) puts GAIN at 3070h/3071h and jumps straight
+ * from 3069h to 3070h -- 306Ch/306Dh are not registers at all, so the gain
+ * writes landed nowhere and analog gain never actuated.  The vendor's own
+ * reference driver carries the same wrong pair; do not "restore" it.
+ * 3072h/3073h and 3074h/3075h are GAIN_1/GAIN_2 (DOL per-frame), not this. */
+#define IMX662_REG_GAIN_L      0x3070
+#define IMX662_REG_GAIN_H      0x3071
 #define IMX662_REG_BLKLEVEL_L  0x30DC  /* black level (OFFSET), default 0x32=50 */
 #define IMX662_REG_BLKLEVEL_H  0x30DD
 #define IMX662_REG_DIG_CLAMP   0x3458  /* digital clamp                        */ /* VERIFY */
@@ -84,10 +90,59 @@ extern "C" {
 #define IMX662_MIN_SHR0_HDR          10u      /* min shutter (Clear-HDR)        */
 
 #define IMX662_AGAIN_MIN             1024u                  /* 1x  (0 dB)        */
-#define IMX662_AGAIN_MAX             (1024u * 3981u / 10u)  /* ~72 dB, VERIFY    */
+/* 398x = 52 dB, NOT the ~72 dB the old comment claimed -- the /10 makes it a
+ * factor of 10 (20 dB) smaller than 10^(72/20).  Left at 52 dB deliberately:
+ * IMX662_GAIN_REG_MAX (240 codes x 0.3 dB) does allow 72 dB, but the measured
+ * complaint on this bench is too much gain, not too little.  Raise this only
+ * together with the ISP-digital cap below, and A/B it -- the two together set
+ * the total ceiling. */
+#define IMX662_AGAIN_MAX             (1024u * 3981u / 10u)  /* 398x = 52 dB     */
 #define IMX662_GAIN_STEP_MDB         30       /* 0.3 dB, in milli-dB            */
 #define IMX662_GAIN_REG_MAX          240u     /* 72 dB / 0.3 dB                 */
 
+/* Dual conversion gain.
+ *
+ * HCG is NOT brightness-neutral.  The GAIN register is PGA gain applied after
+ * the conversion gain, so the two multiply: asserting FDG_SEL0=1 at an
+ * unchanged code brightens the frame by the conversion-efficiency ratio.  The
+ * datasheet gives that ratio directly -- Rcg (HCG/LCG) min 5.6, typ 5.8, max
+ * 6.0, corroborated by the electro-optical table's G sensitivity, HCG 18383 vs
+ * LCG 3166 Digit/lx/s = 5.81x.  5.8x is 15.3 dB, and at 0.3 dB per code that
+ * is IMX662_HCG_GAIN_OFFSET below.
+ *
+ * Sony's 22h (34-code) floor is NOT the conversion gain -- that reading would
+ * require a 51-code floor.  It is a saturation constraint: Vsat is 3895 digits
+ * in LCG against 1204 in HCG, a ratio of 3.235, and 34 codes x 0.3 dB = 10.2 dB
+ * = 3.236x.  The floor exists so HCG's clip level refills the ADC to LCG's.
+ *
+ * So a write must subtract the offset while HCG is selected, and the thresholds
+ * must sit where the compensated code still clears the floor: a stable HCG
+ * solution needs (requested - 51) >= 34, i.e. requested >= 85.  Latching on
+ * below that has no fixed point -- AE brightens 5.8x, slams the code down past
+ * the floor, HCG drops out, the frame goes dark, and it limit-cycles.  That
+ * band is ordinary dim-indoor light, between the daylight and dark-room cases
+ * that are easy to test. */
+#define IMX662_HCG_GAIN_OFFSET       51u      /* 15.3 dB / 0.3 dB per code      */
+#define IMX662_HCG_GAIN_REG_MIN      34u      /* 10.2 dB; SRM lower bound       */
+#define IMX662_HCG_ON_REG            91u      /* requested; writes 40           */
+#define IMX662_HCG_OFF_REG           85u      /* requested; writes 34 = floor   */
+#define IMX662_FDG_LCG               0x00u
+#define IMX662_FDG_HCG               0x01u
+
+/* The floor is held by the OFF threshold, not by the clamp in
+ * cmos_gains_update(); keep them consistent if either is ever retuned. */
+/* Signed: all three macros are u-suffixed, so an unsigned subtraction wraps and
+ * the assert passes clean for exactly the retune that breaks it (OFF_REG below
+ * OFFSET).  Lowering OFF_REG is the natural response to "HCG drops out too
+ * eagerly", and it re-enters the unstable band the block above warns about. */
+typedef char imx662_hcg_off_clears_floor[
+	((int)IMX662_HCG_OFF_REG - (int)IMX662_HCG_GAIN_OFFSET >=
+		(int)IMX662_HCG_GAIN_REG_MIN) ? 1 : -1];
+/* An inverted pair would toggle conversion gain every frame -- a visible 5.8x
+ * flicker at frame rate -- and nothing else rejects it. */
+typedef char imx662_hcg_hysteresis_ordered[
+	(IMX662_HCG_ON_REG > IMX662_HCG_OFF_REG) ? 1 : -1];
+
 /* ---- resolution modes -----------------------------------------------------
  * Bring linear up first. Add Clear-HDR (2-frame) as a second mode later.
  */
diff --git a/sensors/cv610/imx662/imx662_cmos_param.h b/sensors/cv610/imx662/imx662_cmos_param.h
index 835400af..731cfb29 100644
--- a/sensors/cv610/imx662/imx662_cmos_param.h
+++ b/sensors/cv610/imx662/imx662_cmos_param.h
@@ -100,4 +100,1450 @@
  *   - Final CCM after verifying HiSilicon's sign/format + saturation.
  */
 
+
+/* ==========================================================================
+ *  ISP algorithm defaults
+ *
+ *  cmos_get_isp_default() used to hand the ISP a zeroed ot_isp_cmos_default,
+ *  which leaves every algorithm key at 0 and therefore runs the pipeline with
+ *  demosaic, gamma, CLUT, LDCI, CAC, anti-false-colour, dehaze and CA all
+ *  switched off.  That is what "flat" looked like.
+ *
+ *  The tables below are the linear-mode set from the in-tree Hi3516CV610
+ *  driver smart_sc450ai (sc450ai_cmos_param.h), which targets this exact ISP
+ *  silicon.  They are ported verbatim.
+ *
+ *  PROVENANCE MATTERS HERE.  These describe how the ISP behaves, not how the
+ *  IMX662 behaves, which is why this group transfers: gamma is a tone curve,
+ *  CLUT a colour lookup, CAC/anti-false-colour/demosaic are interpolation
+ *  artefact controls.  Nothing in this group is fitted to sc450ai's noise.
+ *  The blocks that ARE fitted to sensor noise -- bayer_nr, sharpen and the
+ *  noise_calibration polynomial -- are deliberately NOT here; sc450ai is a
+ *  4 MP sensor and IMX662 a 2 MP STARVIS with different pixel noise, so
+ *  those need their own calibration rather than a copy.
+ *
+ *  Verified on the 192.168.2.181 bench, 2026-08-16.
+ * ========================================================================== */
+
+static const ot_isp_demosaic_attr g_cmos_demosaic = {
+    1, /* en */
+    OT_OP_MODE_AUTO, /* op_type */
+    128, /* aidm_blend_ratio */
+    {
+        48, /* nddm_strength */
+        64, /* nddm_mf_detail_strength */
+        { 0 }, /* hf_detail_strength */
+        2, /* detail_smooth_range */
+        0, /* color_noise_f_threshold */
+        8, /* color_noise_f_strength */
+        1, /* color_noise_y_threshold */
+        10, /* color_noise_y_strength */
+    },
+    {
+        /* nddm_strength */
+        { 48, 48, 48, 54, 54, 54, 48, 40, 40, 48, 48, 48, 48, 48, 48, 48 },
+        /* nddm_mf_detail_strength */
+        { 82, 74, 68, 60, 54, 50, 44, 40, 40, 40, 40, 32, 16, 16, 16, 16 },
+        /* hf_detail_strength */
+        {
+            { 0, 0, 1, 2, 4, 6, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8 },
+        },
+        /* detail_smooth_range */
+        { 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 5, 7, 7, 7, 7 },
+        /* color_noise_f_threshold */
+        { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+        /* color_noise_f_strength */
+        { 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8 },
+        /* color_noise_y_threshold */
+        { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },
+        /* color_noise_y_strength */
+        { 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 },
+    }
+};
+
+static const ot_isp_anti_false_color_attr g_cmos_anti_false_color = {
+    1,                  /* en */
+    OT_OP_MODE_AUTO,    /* op_type */
+    { 8, 8 },           /* manual_attr */
+    {
+        { 20, 10, 8, 8, 7, 7, 7, 6, 6, 6, 5, 4, 3, 2, 1, 0 }, /* anti_false_color_threshold */
+        { 24, 12, 8, 8, 7, 7, 7, 6, 6, 6, 5, 4, 3, 2, 1, 0 }, /* anti_false_color_strength */
+    }
+};
+
+static const ot_isp_cac_attr g_cmos_cac = {
+    1, /* en */
+    OT_OP_MODE_AUTO, /* op_type */
+    1, /* detect_mode */
+    35, /* purple_upper_limit */
+    (-15), /* purple_lower_limit */
+    /* acac_cfg */
+    {
+        {
+            {10, 300}, /* edge_threshold */
+            16, /* edge_gain */
+            3, /* cac_rb_strength */
+            63, /* purple_alpha */
+            63, /* edge_alpha */
+            25, /* satu_low_threshold */
+            16383, /* satu_high_threshold */
+        },
+        {
+            /* edge_threshold */
+            {
+                {100, 100, 100, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150, 150},
+                {500, 500, 500, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600, 600}
+            },
+            /* edge_gain */
+            { 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 },
+            /* cac_rb_strength */
+            { 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 },
+            /* purple_alpha */
+            { 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63 },
+            /* edge_alpha */
+            { 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63 },
+            /* satu_low_threshold */
+            { 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25 },
+            /* satu_high_threshold */
+            { 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383,
+              16383, 16383 },
+        }
+    },
+    /* lcac_cfg */
+    {
+        60, /* purple_detect_range */
+        200, /* var_threshold */
+        { 1500, 1500, 0 }, /* r_detect_threshold */
+        { 1500, 1500, 0 }, /* g_detect_threshold */
+        { 4095, 1500, 0 }, /* b_detect_threshold */
+        {
+            0, /* de_purple_cr_strength */
+            3, /* de_purple_cb_strength */
+        },
+        {
+            /* de_purple_cr_strength */
+            { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+            /* de_purple_cb_strength */
+            { 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 },
+        }
+    }
+};
+
+static const ot_isp_ldci_attr g_cmos_ldci = {
+    /* enable */
+    1,
+    /* gauss_lpf_sigma */
+    36,
+    /* ot_op_mode */
+    0,
+
+    /* ot_isp_ldci_manual_attr */
+    {
+        /* ot_isp_ldci_he_wgt_attr */
+        {
+            /* he_pos_wgt */
+            {
+                50, 80, 32
+            },
+            /* he_neg_wgt */
+            {
+                60, 80, 128
+            }
+        },
+
+        /* blc_ctrl */
+        20
+    },
+
+    /* ot_isp_ldci_auto_attr */
+    {
+        /* he_wgt[OT_ISP_AUTO_ISO_NUM] */
+        {
+            {{48, 80, 32}, {60, 80, 128}},
+            {{45, 80, 16}, {45, 80, 128}},
+            {{42, 70, 0}, {45, 80, 128}},
+            {{40, 70, 0}, {45, 80, 0}},
+            {{35, 70, 0}, {45, 80, 0}},
+            {{32, 64, 0}, {24, 72, 0}},
+            {{12, 24, 0}, {12, 64, 0}},
+            {{8, 20, 0}, {8, 54, 0}},
+            {{6, 12, 0}, {6, 36, 0}},
+            {{0, 8, 0}, {0, 8, 0}},
+            {{0, 6, 0}, {0, 6, 0}},
+            {{0, 2, 0}, {0, 2, 0}},
+            {{0, 1, 0}, {0, 1, 0}},
+            {{0, 1, 0}, {0, 1, 0}},
+            {{0, 1, 0}, {0, 1, 0}},
+            {{0, 1, 0}, {0, 1, 0}}
+        },
+
+        /* blc_ctrl */
+        { 20, 20, 20, 20, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30 }
+    },
+
+    /* tpr_incr_coef */
+    8,
+    /* tpr_decr_coef */
+    8
+};
+
+static const ot_isp_gamma_attr g_cmos_gamma = {
+    1,
+    {
+        0,   13,   27,   40,   54,   68,   81,   95,  108,  121,  135,  150,  166,  180,  195,  210,  226,  242,
+        259,  269,  281,  292,  303,  315,  327,  339,  352,  364,  376,  389,  402,  415,  425,  435,  446,  456,
+        467,  477,  488,  499,  510,  521,  532,  543,  555,  566,  578,  591,  602,  613,  625,  636,  648,  659,
+        671,  683,  695,  708,  721,  734,  748,  762,  777,  792,  809,  817,  826,  836,  845,  855,  865,  875,
+        885,  896,  906,  917,  928,  939,  950,  961,  972,  983,  994, 1005, 1017, 1028, 1039, 1051, 1062, 1073,
+        1085, 1096, 1107, 1118, 1129, 1140, 1151, 1161, 1172, 1182, 1193, 1203, 1213, 1223, 1234, 1244, 1254, 1264,
+        1274, 1284, 1295, 1305, 1315, 1325, 1336, 1346, 1357, 1367, 1378, 1389, 1400, 1411, 1422, 1433, 1445, 1456,
+        1468, 1480, 1493, 1499, 1505, 1511, 1518, 1524, 1531, 1537, 1544, 1551, 1558, 1564, 1571, 1578, 1585, 1592,
+        1599, 1607, 1614, 1621, 1628, 1635, 1643, 1650, 1657, 1665, 1672, 1679, 1687, 1694, 1702, 1709, 1716, 1724,
+        1731, 1738, 1746, 1753, 1761, 1768, 1775, 1783, 1790, 1797, 1804, 1811, 1819, 1826, 1833, 1840, 1847, 1854,
+        1861, 1867, 1874, 1881, 1888, 1894, 1901, 1907, 1914, 1920, 1926, 1932, 1939, 1945, 1951, 1956, 1962, 1968,
+        1974, 1980, 1986, 1991, 1997, 2003, 2008, 2014, 2020, 2025, 2031, 2036, 2042, 2047, 2052, 2058, 2063, 2068,
+        2074, 2079, 2084, 2089, 2094, 2099, 2105, 2110, 2115, 2120, 2125, 2130, 2135, 2140, 2145, 2150, 2154, 2159,
+        2164, 2169, 2174, 2179, 2183, 2188, 2193, 2198, 2202, 2207, 2212, 2217, 2221, 2226, 2231, 2235, 2240, 2244,
+        2249, 2254, 2258, 2263, 2268, 2272, 2277, 2281, 2286, 2290, 2295, 2299, 2304, 2308, 2312, 2317, 2321, 2325,
+        2330, 2334, 2338, 2342, 2347, 2351, 2355, 2359, 2363, 2368, 2372, 2376, 2380, 2384, 2388, 2392, 2396, 2400,
+        2404, 2408, 2412, 2416, 2420, 2424, 2428, 2432, 2436, 2439, 2443, 2447, 2451, 2455, 2459, 2463, 2466, 2470,
+        2474, 2478, 2482, 2485, 2489, 2493, 2497, 2500, 2504, 2508, 2512, 2515, 2519, 2523, 2527, 2530, 2534, 2538,
+        2541, 2545, 2548, 2552, 2556, 2559, 2563, 2566, 2570, 2574, 2577, 2581, 2584, 2588, 2591, 2594, 2598, 2601,
+        2605, 2608, 2612, 2615, 2618, 2622, 2625, 2629, 2632, 2635, 2639, 2642, 2645, 2649, 2652, 2655, 2659, 2662,
+        2665, 2668, 2672, 2675, 2678, 2681, 2685, 2688, 2691, 2694, 2698, 2701, 2704, 2707, 2710, 2714, 2717, 2720,
+        2723, 2727, 2730, 2733, 2736, 2739, 2743, 2746, 2749, 2752, 2755, 2758, 2762, 2765, 2768, 2771, 2774, 2777,
+        2781, 2784, 2787, 2790, 2793, 2796, 2800, 2803, 2806, 2809, 2812, 2815, 2818, 2821, 2824, 2827, 2831, 2834,
+        2837, 2840, 2843, 2846, 2849, 2852, 2855, 2858, 2861, 2864, 2867, 2870, 2873, 2876, 2879, 2882, 2885, 2887,
+        2890, 2893, 2896, 2899, 2902, 2905, 2908, 2910, 2913, 2916, 2919, 2922, 2924, 2927, 2930, 2933, 2936, 2938,
+        2941, 2944, 2946, 2949, 2952, 2954, 2957, 2960, 2962, 2965, 2967, 2970, 2972, 2975, 2978, 2980, 2983, 2985,
+        2988, 2990, 2993, 2995, 2998, 3000, 3002, 3005, 3007, 3010, 3012, 3015, 3017, 3019, 3022, 3024, 3026, 3029,
+        3031, 3034, 3036, 3038, 3041, 3043, 3045, 3048, 3050, 3052, 3055, 3057, 3059, 3062, 3064, 3066, 3069, 3071,
+        3073, 3075, 3078, 3080, 3082, 3085, 3087, 3089, 3092, 3094, 3096, 3098, 3101, 3103, 3105, 3107, 3110, 3112,
+        3114, 3116, 3119, 3121, 3123, 3125, 3128, 3130, 3132, 3134, 3136, 3139, 3141, 3143, 3145, 3147, 3149, 3152,
+        3154, 3156, 3158, 3160, 3162, 3165, 3167, 3169, 3171, 3173, 3175, 3177, 3179, 3182, 3184, 3186, 3188, 3190,
+        3192, 3194, 3196, 3198, 3201, 3203, 3205, 3207, 3209, 3211, 3213, 3215, 3217, 3219, 3221, 3223, 3225, 3227,
+        3230, 3232, 3234, 3236, 3238, 3240, 3242, 3244, 3246, 3248, 3250, 3252, 3254, 3256, 3258, 3260, 3262, 3264,
+        3266, 3268, 3270, 3272, 3274, 3276, 3278, 3280, 3282, 3283, 3285, 3287, 3289, 3291, 3293, 3295, 3297, 3299,
+        3301, 3303, 3305, 3307, 3309, 3311, 3312, 3314, 3316, 3318, 3320, 3322, 3324, 3326, 3328, 3330, 3332, 3334,
+        3335, 3337, 3339, 3341, 3343, 3345, 3347, 3349, 3351, 3353, 3355, 3356, 3358, 3360, 3362, 3364, 3366, 3368,
+        3370, 3371, 3373, 3375, 3377, 3379, 3381, 3382, 3384, 3386, 3388, 3390, 3392, 3393, 3395, 3397, 3399, 3401,
+        3403, 3404, 3406, 3408, 3410, 3412, 3413, 3415, 3417, 3419, 3421, 3423, 3424, 3426, 3428, 3430, 3432, 3434,
+        3435, 3437, 3439, 3441, 3443, 3445, 3447, 3448, 3450, 3452, 3454, 3456, 3458, 3460, 3462, 3464, 3466, 3468,
+        3470, 3472, 3474, 3475, 3477, 3479, 3481, 3483, 3486, 3488, 3490, 3492, 3494, 3496, 3498, 3500, 3502, 3504,
+        3506, 3508, 3510, 3512, 3514, 3517, 3519, 3521, 3523, 3525, 3527, 3529, 3531, 3533, 3536, 3538, 3540, 3542,
+        3544, 3546, 3548, 3550, 3553, 3555, 3557, 3559, 3561, 3563, 3565, 3568, 3570, 3572, 3574, 3576, 3578, 3580,
+        3582, 3585, 3587, 3589, 3591, 3593, 3595, 3597, 3599, 3601, 3603, 3605, 3608, 3610, 3612, 3614, 3616, 3618,
+        3620, 3622, 3624, 3626, 3628, 3630, 3632, 3634, 3636, 3638, 3640, 3642, 3645, 3647, 3649, 3651, 3653, 3655,
+        3657, 3659, 3661, 3663, 3665, 3667, 3669, 3671, 3673, 3675, 3677, 3679, 3681, 3683, 3685, 3687, 3689, 3691,
+        3693, 3695, 3697, 3699, 3701, 3704, 3706, 3708, 3710, 3712, 3714, 3716, 3718, 3720, 3722, 3724, 3726, 3728,
+        3730, 3732, 3734, 3736, 3738, 3740, 3742, 3744, 3746, 3748, 3750, 3752, 3754, 3756, 3758, 3760, 3762, 3764,
+        3766, 3767, 3769, 3771, 3773, 3775, 3777, 3779, 3781, 3783, 3785, 3787, 3789, 3791, 3793, 3795, 3797, 3799,
+        3801, 3803, 3804, 3806, 3808, 3810, 3812, 3814, 3816, 3818, 3820, 3822, 3824, 3826, 3828, 3830, 3832, 3834,
+        3836, 3837, 3839, 3841, 3843, 3845, 3847, 3849, 3851, 3853, 3855, 3857, 3858, 3860, 3862, 3864, 3866, 3868,
+        3870, 3872, 3873, 3875, 3877, 3879, 3881, 3883, 3885, 3887, 3888, 3890, 3892, 3894, 3896, 3898, 3900, 3902,
+        3904, 3905, 3907, 3909, 3911, 3913, 3915, 3917, 3919, 3920, 3922, 3924, 3926, 3928, 3930, 3932, 3934, 3935,
+        3937, 3939, 3941, 3943, 3945, 3947, 3949, 3950, 3952, 3954, 3955, 3957, 3959, 3961, 3963, 3965, 3967, 3969,
+        3971, 3972, 3974, 3976, 3977, 3979, 3981, 3983, 3985, 3987, 3989, 3991, 3993, 3994, 3996, 3998, 4000, 4001,
+        4003, 4005, 4006, 4008, 4010, 4012, 4014, 4016, 4018, 4020, 4022, 4023, 4025, 4027, 4028, 4030, 4032, 4034,
+        4036, 4037, 4039, 4041, 4042, 4044, 4046, 4048, 4050, 4052, 4054, 4056, 4058, 4059, 4061, 4063, 4064, 4066,
+        4068, 4070, 4072, 4073, 4075, 4077, 4078, 4080, 4082, 4084, 4086, 4087, 4089, 4091, 4092, 4094, 4095,
+    },
+    3,
+};
+
+static const ot_isp_dehaze_attr g_cmos_dehaze = {
+    /* enable */
+    0,
+    /* user_lut_enable */
+    0,
+    /* dehaze_lut */
+    {
+        0, 9, 13, 17, 21, 25, 29, 33, 37, 42, 46, 50, 54, 58, 62, 67, 71, 75, 79, 83, 87, 91,
+        95, 99, 102, 106, 110, 114, 117, 121, 124, 128, 131, 134, 137, 141, 144, 147, 150,
+        153, 156, 159, 162, 165, 168, 170, 173, 176, 178, 181, 184, 186, 189, 191, 193, 196,
+        198, 200, 203, 205, 207, 209, 211, 213, 215, 217, 219, 221, 222, 224, 226, 228, 229,
+        231, 232, 234, 235, 237, 238, 240, 241, 242, 243, 244, 246, 247, 248, 249, 249, 250,
+        251, 252, 253, 253, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
+        255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 253, 253, 252, 251, 251, 250, 249,
+        249, 248, 247, 247, 246, 245, 244, 244, 243, 242, 241, 240, 239, 238, 237, 236, 235,
+        233, 232, 231, 230, 229, 227, 226, 225, 223, 222, 221, 219, 218, 216, 215, 213, 212,
+        210, 209, 208, 206, 205, 203, 201, 200, 198, 197, 195, 193, 192, 190, 188, 187, 185,
+        183, 181, 180, 178, 176, 174, 172, 170, 169, 167, 165, 163, 161, 159, 157, 155, 153,
+        151, 149, 147, 145, 143, 140, 138, 136, 134, 132, 130, 128, 125, 123, 121, 119, 116,
+        114, 112, 110, 107, 105, 103, 100, 98, 96, 93, 91, 89, 86, 84, 81, 79, 77, 74, 72, 69,
+        67, 64, 62, 59, 57, 54, 52, 49, 47, 44, 42, 39, 37, 34, 31, 29, 26, 24, 21, 18, 16, 13, 11,
+        8, 5, 3, 0
+    },
+    /* op_type */
+    0,
+    /* manual_strength */
+    {
+        128
+    },
+    /* auto_strength */
+    {
+        128
+    },
+    /* tmprflt_incr_coef */
+    8,
+    /* tmprflt_decr_coef */
+    64,
+};
+
+static const ot_isp_ca_attr g_cmos_ca = {
+    /* CA */
+    1,
+    0,
+    {
+        {
+            36, 81, 111, 136, 158, 182, 207, 228, 259, 290, 317, 345, 369, 396, 420, 444, 468, 492, 515, 534,
+            556, 574, 597, 614, 632, 648, 666, 681, 697, 709, 723, 734, 748, 758, 771, 780, 788, 800, 808,
+            815, 822, 829, 837, 841, 848, 854, 858, 864, 868, 871, 878, 881, 885, 890, 893, 897, 900, 903,
+            906, 909, 912, 915, 918, 921, 924, 926, 929, 931, 934, 936, 938, 941, 943, 945, 947, 949, 951,
+            952, 954, 956, 958, 961, 962, 964, 966, 968, 969, 970, 971, 973, 974, 976, 977, 979, 980, 981,
+            983, 984, 985, 986, 988, 989, 990, 991, 992, 993, 995, 996, 997, 998, 999, 1000, 1001, 1004,
+            1005, 1006, 1007, 1009, 1010, 1011, 1012, 1014, 1016, 1017, 1019, 1020, 1022, 1024
+        },
+        /* ISO */
+        { 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1000, 950, 900, 900, 800, 800, 800, 800, 800 },
+        {
+            811, 812, 812, 812, 812, 812, 811, 810, 810, 809, 808, 807, 807, 806, 805, 805, 804, 804, 804, 804,
+            804, 805, 806, 807, 808, 810, 813, 815, 819, 822, 827, 831, 837, 843, 850, 857, 865, 874, 883,
+            893, 903, 914, 925, 936, 947, 959, 971, 983, 995, 1007, 1018, 1030, 1042, 1053, 1065, 1075,
+            1086, 1096, 1106, 1115, 1124, 1132, 1139, 1146, 1152, 1158, 1163, 1168, 1172, 1176, 1180,
+            1183, 1186, 1189, 1192, 1194, 1196, 1198, 1200, 1201, 1202, 1204, 1205, 1206, 1207, 1208,
+            1209, 1210, 1211, 1212, 1213, 1214, 1215, 1217, 1218, 1220, 1222, 1224, 1226, 1227, 1229,
+            1231, 1232, 1234, 1236, 1237, 1239, 1240, 1242, 1243, 1245, 1246, 1248, 1249, 1250, 1252,
+            1253, 1255, 1256, 1258, 1259, 1260, 1262, 1263, 1265, 1266, 1268, 1269
+        },
+    },
+    {
+        {
+            56, 60, 64, 68, 71, 74, 77, 79, 82, 85, 87, 89, 93, 96, 99, 102, 105, 108, 110, 112, 115, 117, 119,
+            120, 122, 124, 125, 127, 128, 130, 131, 133, 135, 136, 138, 141, 143, 145, 147, 150, 152, 155,
+            157, 159, 162, 164, 166, 168, 171, 173, 175, 177, 179, 181, 184, 186, 188, 190, 192, 193, 195,
+            197, 198, 198, 199, 198, 198, 196, 195, 193, 191, 189, 186, 184, 181, 179, 177, 174, 172, 169,
+            167, 164, 161, 159, 156, 153, 151, 148, 145, 142, 139, 136, 133, 130, 127, 124, 121, 118, 115,
+            113, 110, 109, 108, 108, 109, 111, 113, 115, 118, 121, 124, 127, 130, 133, 136, 139, 142, 145,
+            148, 151, 154, 157, 160, 163, 166, 169, 172, 175
+        },
+        {
+            232, 225, 219, 214, 208, 202, 197, 192, 186, 181, 176, 171, 166, 161, 156, 151, 146, 141, 136, 132,
+            128, 123, 119, 115, 110, 106, 101, 97, 92, 88, 83, 79, 75, 71, 67, 64, 61, 59, 57, 55, 54, 54,
+            53, 52, 51, 50, 50, 49, 48, 48, 47, 46, 46, 45, 44, 44, 43, 42, 42, 41, 41, 40, 40, 40, 40, 40,
+            40, 41, 41, 42, 42, 43, 44, 45, 46, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
+            61, 62, 64, 65, 67, 68, 70, 72, 75, 78, 81, 84, 87, 91, 94, 97, 100, 103, 106, 109, 112, 115,
+            118, 121, 124, 127, 130, 133, 136, 139, 143, 146, 149, 152, 155, 159, 162, 166
+        },
+        {
+            92, 89, 87, 85, 83, 81, 79, 77, 75, 74, 72, 72, 73, 76, 78, 80, 82, 84, 85, 87, 88, 88, 89, 89, 89,
+            88, 88, 87, 87, 87, 86, 87, 87, 88, 90, 92, 94, 96, 99, 101, 103, 106, 108, 110, 113, 115, 117,
+            119, 121, 123, 126, 128, 130, 132, 134, 136, 138, 140, 142, 144, 147, 149, 151, 153, 155, 157,
+            159, 161, 163, 165, 166, 168, 170, 172, 173, 175, 176, 178, 180, 181, 183, 185, 186, 188, 190,
+            191, 193, 194, 196, 198, 200, 201, 203, 205, 207, 208, 210, 212, 214, 215, 217, 218, 219, 219,
+            219, 219, 218, 216, 215, 213, 211, 209, 207, 205, 203, 201, 199, 197, 195, 194, 192, 190, 188,
+            186, 184, 182, 180, 178
+        },
+    },
+};
+
+static const ot_isp_cmos_clut g_cmos_clut = {
+    {
+        1,
+        128,
+        128,
+        128,
+    },
+    {
+        {
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 0, 67174464,
+            0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 0,
+            67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464,
+            67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 67174464, 0, 67174464, 0,
+            67174464, 67174464, 0, 67174464, 0, 67174464, 67174464, 67174464, 0, 67174464, 67174464,
+            67174464, 0, 67174464, 67174464, 67174464, 0, 67174464, 67174464, 67174464, 0, 67174464,
+            67174464, 67174464, 0, 67174464, 67174464, 67174464, 0, 67174464, 67174464, 67174464, 0, 0, 0,
+            0, 0, 67174464, 67174464, 0, 0, 67174464, 67174464, 0, 0, 67174464, 67174464, 0, 0, 67174464,
+            67174464, 0, 0, 67174464, 67174464, 0, 0, 67174464, 67174464, 0, 0, 67174464, 67174464, 0, 0,
+            67174464, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0,
+            67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0,
+            67174464, 0, 67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 67174464, 0,
+            67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 67174464, 0, 67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 67174464, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0,
+            0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0, 67174464, 0, 0, 0,
+            67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 67174464,
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 67174464, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+            0, 0, 0, 0, 0, 0, 0
+        }
+    },
+};
+
+
+/* --------------------------------------------------------------------------
+ *  Noise-fitted blocks -- BORROWED, NOT CALIBRATED FOR THIS SENSOR.
+ *
+ *  bayer_nr picks its strength from noise_calibration, a polynomial fitted to
+ *  a specific sensor's read noise.  The one below is sc450ai's: a 4 MP sensor,
+ *  where IMX662 is 2 MP STARVIS with larger pixels and less noise per pixel.
+ *  These were A/B'd on hardware and kept on the operator's verdict, but a
+ *  measured IMX662 fit would still be the right thing to replace them with.
+ *
+ *  sharpen reads the same noise model to decide how hard to push an edge, so
+ *  bayer_nr and noise_calibration are not independently droppable: on a bright
+ *  bench scene bayer_nr alone measured as a no-op, but removing it changes
+ *  what sharpen does.
+ * -------------------------------------------------------------------------- */
+
+static ot_isp_noise_calibration g_cmos_noise_calibration = {
+    {
+        6400.0000000000, 0.0001279210, 0.0016242186, 0.0000000204, -0.0000027303, 0.1199406222,
+        0.0001268708, 0.0040083983, -0.0000000102, 0.0001914447, 0.0227515276, 0, 0, 0, 0, 0
+    }
+};
+
+static const ot_isp_nr_attr g_cmos_bayer_nr = {
+    1,      /* bEnable */
+    OT_OP_MODE_AUTO,      /* enOpType */
+    {
+        1,      /* md_enable */
+    },
+    0,      /* lsc_nr_enable */
+    0,      /* lsc_ratio1 */
+    {
+        85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85,
+        85, 85, 85, 85, 85, 85, 90, 90, 90, 95, 95, 95, 100, 100, 100, 100, 100
+    },   /* CoringRatio */
+    {
+        128, 128, 128, 128, 128, 128, 110, 90,
+        77, 77, 77, 77, 77, 77, 77, 77,    // u1.7 x 32  (128 = 1.0f)  mix_gain
+        77, 77, 77, 77, 77, 77, 77, 77,
+        77, 77, 77, 77, 77, 77, 77, 77
+    },
+    OT_ISP_MD_MODE,      /* ref_mode */
+    0,      /* load_ref_enable */
+    /* snr_cfg */
+    {
+        0, /* snr_version */
+        {
+            {
+                /* snr auto */
+                {
+                    {
+                        {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108},
+                        {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108},
+                        {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108},
+                        {108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108, 108}
+                    },
+                    {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* sfm0_detail_prot */
+                    {512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512}, /* sfm1_str */
+                    {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2}, /* sfm1_adp_strength */
+                    {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* sfm6_strength */
+                    {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* sfm7_strength */
+                    {100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100}, /* sth */
+                    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* tss */
+                    {128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128}, /* fine_str */
+                    {50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, /* coring_wgt */
+                    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* coring_mot_ratio */
+                    {   /* noisesd_lut */
+                        {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255},
+                        {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255},
+                        {2, 2, 3, 3, 4, 6, 7, 15, 29, 59, 117, 234, 255, 255, 255, 255},
+                        {3, 4, 6, 8, 11, 15, 21, 32, 50, 82, 142, 255, 255, 255, 255, 255},
+                        {4, 6, 8, 11, 15, 21, 30, 43, 65, 100, 164, 255, 255, 255, 255, 255},
+                        {5, 7, 9, 13, 18, 26, 36, 52, 76, 116, 183, 255, 255, 255, 255, 255},
+                        {6, 8, 11, 15, 21, 29, 41, 60, 87, 129, 201, 255, 255, 255, 255, 255},
+                        {7, 9, 12, 17, 23, 33, 46, 66, 96, 142, 217, 255, 255, 255, 255, 255},
+                        {7, 10, 13, 18, 26, 36, 50, 72, 104, 153, 232, 255, 255, 255, 255, 255},
+                        {8, 10, 14, 20, 28, 39, 54, 78, 112, 164, 246, 255, 255, 255, 255, 255},
+                        {8, 11, 15, 21, 29, 41, 58, 83, 119, 174, 255, 255, 255, 255, 255, 255},
+                        {9, 12, 16, 22, 31, 44, 62, 88, 126, 183, 255, 255, 255, 255, 255, 255},
+                        {9, 12, 17, 23, 33, 46, 65, 93, 133, 192, 255, 255, 255, 255, 255, 255},
+                        {10, 13, 18, 25, 34, 48, 68, 97, 139, 201, 255, 255, 255, 255, 255, 255},
+                        {10, 14, 19, 26, 36, 50, 71, 101, 145, 209, 255, 255, 255, 255, 255, 255},
+                        {11, 14, 19, 27, 37, 53, 74, 105, 150, 217, 255, 255, 255, 255, 255, 255},
+                        {11, 15, 20, 28, 39, 54, 77, 109, 156, 224, 255, 255, 255, 255, 255, 255},
+                        {11, 15, 21, 29, 40, 56, 79, 113, 161, 232, 255, 255, 255, 255, 255, 255},
+                        {12, 16, 21, 30, 41, 58, 82, 117, 166, 239, 255, 255, 255, 255, 255, 255},
+                        {12, 16, 22, 30, 43, 60, 85, 120, 171, 246, 255, 255, 255, 255, 255, 255},
+                        {13, 17, 23, 31, 44, 62, 87, 124, 176, 252, 255, 255, 255, 255, 255, 255},
+                        {13, 17, 23, 32, 45, 63, 89, 127, 181, 255, 255, 255, 255, 255, 255, 255},
+                        {13, 17, 24, 33, 46, 65, 92, 130, 185, 255, 255, 255, 255, 255, 255, 255},
+                        {14, 18, 24, 34, 47, 67, 94, 133, 190, 255, 255, 255, 255, 255, 255, 255},
+                        {14, 18, 25, 35, 48, 68, 96, 137, 194, 255, 255, 255, 255, 255, 255, 255},
+                        {14, 19, 26, 35, 50, 70, 98, 140, 198, 255, 255, 255, 255, 255, 255, 255},
+                        {14, 19, 26, 36, 51, 71, 100, 143, 203, 255, 255, 255, 255, 255, 255, 255},
+                        {15, 19, 27, 37, 52, 73, 102, 146, 207, 255, 255, 255, 255, 255, 255, 255},
+                        {15, 20, 27, 38, 53, 74, 104, 148, 211, 255, 255, 255, 255, 255, 255, 255},
+                        {15, 20, 28, 38, 54, 75, 106, 151, 215, 255, 255, 255, 255, 255, 255, 255},
+                        {16, 21, 28, 39, 55, 77, 108, 154, 219, 255, 255, 255, 255, 255, 255, 255},
+                        {16, 21, 29, 40, 56, 78, 110, 157, 222, 255, 255, 255, 255, 255, 255, 255}
+                    },
+                },
+
+                /* snr manual */
+                {
+                    { 108, 108, 108, 108 }, /* snr_sfm0_coarstr */
+                    16, /* sfm0_detail_prot */
+                    512, /* sfm1_str */
+                    2, /* sfm1_adp_strength */
+                    64, /* sfm6_strength */
+                    64, /* sfm7_strength */
+                    100, /* sth */
+                    0, /* tss */
+                    128, /* fine_str */
+                    50, /* coring_wgt */
+                    0,  /* coring_mot_ratio */
+                    {
+                        7, 7, 7, 21, 29, 35, 40, 45, 49, 53, 56, 60, 63, 66, 69, 72,
+                        74, 77, 79, 82, 84, 87, 89, 91, 93, 95, 97, 99, 101, 103, 105, 107
+                    },  /* noisesd_lut */
+                },
+            },
+        },
+    },
+    /* md_cfg */
+    {
+        .md_cfg = {
+            /* md auto */
+            {
+                {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2}, /* md_mode */
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* md_size_ratio */
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* md_anti_flicker_str */
+                {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26},   /* md_static_ratio */
+                {13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13},   /* md_motion_ratio */
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},   /* md_static_finestr */
+                {255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255}, /* tnr_tfs */
+                {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* user_define_md */
+                {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, /* user_define_slope */
+                {90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90}, /* user_define_dark_thresh */
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* user_define_color_thresh */
+                {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26}, /* sfr_r */
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}, /* sfr_g */
+                {26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26}  /* sfr_b */
+            },
+
+            /* md_manual */
+            {
+                2, /* md_mode */
+                32, /* md_size_ratio */
+                32, /* md_anti_flicker_str */
+                26, /* md_static_ratio */
+                13, /* md_motion_ratio */
+                32, /* md_static_finestr */
+                255, /* tnr_tfs */
+                0, /* user_define_md */
+                0, /* user_define_bright_thresh */
+                90, /* user_define_dark_thresh */
+                16, /* user_define_color_thresh */
+                26, /* sfr_r */
+                32, /* sfr_g */
+                26  /* sfr_b */
+            },
+        },
+    },
+    /* wdr_cfg */
+    {
+        {16, 16, 16, 16}, /* sfm0_wdr_frame_str */
+        {16, 16, 16, 16}, /* sfm0_fusion_frame_str */
+        {64, 16, 16, 16}, /* snr_wdr_sfm6_strength */
+        {64, 16, 16, 16}, /* snr_wdr_sfm7_strength */
+        {64, 16, 16, 16}, /* snr_fusion_sfm6_strength */
+        {64, 16, 16, 16}, /* snr_fusion_sfm7_strength */
+        {16, 16, 16, 16}, /* md_wdr_frame_str */
+        {16, 16, 16, 16}, /* md_fusion_frame_str */
+    },
+    /* dering_cfg */
+    {
+        {
+            {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* dering_strength */
+            {64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64}, /* dering_thresh */
+            {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* dering_static_str */
+            {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}, /* dering_motion_str */
+        },
+        {
+            64, /* dering_strength */
+            64, /* dering_thresh */
+            16, /* dering_static_str */
+            16, /* dering_motion_str */
+        },
+    },
+};
+
+static const ot_isp_sharpen_attr g_cmos_yuv_sharpen = {
+    /* en */
+    1,
+    /* motion_en */
+    0,
+    /* motion_threshold0 */
+    4,
+    /* motion_threshold1 */
+    10,
+    /* motion_gain0 */
+    0,
+    /* motion_gain1 */
+    255,
+    /* skin_umin */
+    99,
+    /* skin_vmin */
+    134,
+    /* skin_umax */
+    127,
+    /* skin_vmax */
+    150,
+    /* op_type */
+    OT_OP_MODE_AUTO,
+    /* detail_map */
+    OT_ISP_SHARPEN_NORMAL,
+    /* manual para */
+    {
+        /* luma_wgt[OT_ISP_SHARPEN_LUMA_NUM] */
+        {
+            31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31,
+            31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31
+        },
+        /* texture_strength[OT_ISP_SHARPEN_GAIN_NUM] */
+        {
+            250, 420, 390, 390, 390, 390, 390, 370, 350, 330, 310, 290, 270, 270, 270, 270,
+            270, 270, 266, 260, 244, 230, 230, 230, 230, 230, 230, 210, 190, 190, 170, 150
+        },
+        /* edge_strength[OT_ISP_SHARPEN_GAIN_NUM] */
+        {
+            120, 123, 125, 128, 130, 135, 140, 148, 160, 168, 180, 190, 200, 210, 210, 210,
+            210, 210, 200, 190, 185, 175, 165, 160, 146, 136, 130, 128, 125, 123, 120, 120
+        },
+        /* texture_freq */
+        190,
+        /* edge_freq */
+        128,
+        /* over_shoot */
+        65,
+        /* under_shoot */
+        75,
+        /* motion_texture_strength[OT_ISP_SHARPEN_GAIN_NUM] */
+        {
+            250, 420, 390, 390, 390, 390, 390, 370, 350, 330, 310, 290, 270, 270, 270, 270,
+            270, 270, 266, 260, 244, 230, 230, 230, 230, 230, 230, 210, 190, 190, 170, 150
+        },
+        /* motion_edge_strength[OT_ISP_SHARPEN_GAIN_NUM] */
+        {
+            120, 123, 125, 128, 130, 135, 140, 148, 160, 168, 180, 190, 200, 210, 210, 210,
+            210, 210, 200, 190, 185, 175, 165, 160, 146, 136, 130, 128, 125, 123, 120, 120
+        },
+        /* motion_texture_freq */
+        190,
+        /* motion_edge_freq */
+        128,
+        /* motion_over_shoot */
+        65,
+        /* motion_under_shoot */
+        75,
+        /* u8shoot_sup_str */
+        7,
+        /* u8shoot_sup_adj */
+        9,
+        /* detail_ctrl */
+        128,
+        /* detail_ctrl_threshold */
+        180,
+        /* edge_filt_strength */
+        60,
+        /* edge_filt_max_cap */
+        18,
+        /* r_gain */
+        20,
+        /* g_gain */
+        32,
+        /* b_gain */
+        20,
+        /* skin_gain */
+        25,
+        /* max_sharp_gain */
+        40,
+        {
+            /* shoot_inner_threshold */
+            0,
+            /* shoot_outer_threshold */
+            0,
+            /* shoot_protect_threshold */
+            0,
+        },
+
+        {
+            /* edge_rly_fine_threshold */
+            0,
+            /* edge_rly_coarse_threshold */
+            0,
+            /* edge_overshoot */
+            65,
+            /* edge_undershoot */
+            120,
+            /* edge_gain_by_rly[OT_ISP_SHARPEN_RLYWGT_NUM] */
+            {
+                32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32
+            },
+            /* edge_rly_by_mot[OT_ISP_SHARPEN_STDGAIN_NUM] */
+            {
+                16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16
+            },
+            /* edge_rly_by_luma[OT_ISP_SHARPEN_STDGAIN_NUM] */
+            {
+                16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16
+            },
+        },
+        {
+            /* mf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */
+            {
+                32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32
+            },
+            /* hf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */
+            {
+                32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32
+            },
+            /* lmt_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM] */
+            {
+                16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16
+            },
+        },
+    },
+    /* auto para */
+    {
+        /* luma_wgt[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */
+        {
+            { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 17, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15 },
+            { 31, 31, 20, 20, 20, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18 },
+            { 31, 31, 23, 23, 23, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21 },
+            { 31, 31, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25 },
+            { 31, 31, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28 },
+            { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 28, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+            { 23, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 }
+        },
+        /* texture_strength[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */
+        {
+            { 153, 153, 160, 145, 110, 84, 58, 26, 10, 0, 0, 0, 0, 0, 0, 0 },
+            { 172, 167, 190, 170, 123, 94, 65, 30, 12, 0, 0, 0, 0, 0, 0, 0 },
+            { 186, 178, 220, 195, 140, 107, 72, 35, 14, 0, 0, 0, 0, 0, 0, 0 },
+            { 201, 192, 255, 215, 153, 117, 79, 40, 16, 0, 0, 0, 0, 0, 0, 0 },
+            { 217, 207, 275, 230, 170, 130, 83, 44, 18, 0, 0, 0, 0, 0, 0, 0 },
+            { 233, 223, 285, 245, 178, 140, 90, 48, 19, 0, 0, 0, 0, 0, 0, 0 },
+            { 251, 239, 280, 260, 191, 146, 97, 51, 20, 0, 0, 0, 0, 0, 0, 0 },
+            { 269, 255, 275, 265, 204, 156, 104, 55, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 286, 272, 270, 270, 212, 162, 108, 56, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 300, 288, 265, 270, 212, 169, 110, 59, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 308, 299, 260, 265, 212, 176, 115, 61, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 312, 307, 260, 260, 212, 179, 117, 62, 25, 0, 0, 0, 0, 0, 0, 0 },
+            { 313, 310, 255, 255, 208, 182, 119, 64, 26, 0, 0, 0, 0, 0, 0, 0 },
+            { 311, 311, 250, 250, 204, 185, 122, 64, 26, 0, 0, 0, 0, 0, 0, 0 },
+            { 306, 311, 245, 245, 204, 188, 124, 62, 26, 0, 0, 0, 0, 0, 0, 0 },
+            { 297, 308, 240, 240, 204, 192, 126, 60, 25, 0, 0, 0, 0, 0, 0, 0 },
+            { 285, 301, 235, 235, 200, 192, 126, 59, 25, 0, 0, 0, 0, 0, 0, 0 },
+            { 273, 291, 230, 230, 196, 188, 126, 58, 25, 0, 0, 0, 0, 0, 0, 0 },
+            { 263, 281, 225, 225, 191, 185, 124, 56, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 255, 271, 225, 220, 187, 179, 122, 56, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 249, 259, 220, 215, 183, 176, 119, 56, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 243, 248, 220, 210, 178, 169, 117, 55, 24, 0, 0, 0, 0, 0, 0, 0 },
+            { 234, 238, 215, 205, 174, 166, 115, 55, 23, 0, 0, 0, 0, 0, 0, 0 },
+            { 224, 228, 215, 200, 170, 159, 110, 55, 23, 0, 0, 0, 0, 0, 0, 0 },
+            { 216, 218, 210, 195, 166, 153, 108, 54, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 208, 208, 200, 190, 162, 150, 106, 54, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 201, 201, 195, 180, 153, 143, 101, 52, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 195, 195, 185, 175, 149, 133, 99, 51, 22, 0, 0, 0, 0, 0, 0, 0 },
+            { 188, 188, 175, 170, 144, 127, 94, 49, 21, 0, 0, 0, 0, 0, 0, 0 },
+            { 181, 181, 170, 160, 136, 117, 92, 49, 20, 0, 0, 0, 0, 0, 0, 0 },
+            { 175, 175, 160, 155, 132, 107, 88, 49, 20, 0, 0, 0, 0, 0, 0, 0 },
+            { 171, 171, 150, 150, 128, 98, 68, 38, 20, 0, 0, 0, 0, 0, 0, 0 }
+        },
+        /* edge_strength */
+        {
+            { 195, 195, 195, 195, 166, 127, 127, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 210, 210, 200, 200, 170, 130, 130, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 235, 235, 220, 220, 187, 143, 143, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 260, 260, 230, 230, 196, 150, 150, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 295, 295, 240, 240, 204, 156, 156, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 320, 320, 250, 250, 212, 162, 162, 110, 50, 0, 0, 0, 0, 0, 0, 0 },
+            { 340, 340, 260, 260, 221, 169, 169, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 350, 350, 270, 270, 230, 176, 176, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 360, 360, 280, 280, 238, 182, 182, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 360, 360, 280, 280, 238, 182, 182, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 355, 355, 285, 285, 242, 185, 185, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 345, 345, 290, 290, 246, 188, 188, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 335, 335, 290, 290, 246, 188, 188, 115, 54, 0, 0, 0, 0, 0, 0, 0 },
+            { 330, 330, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 },
+            { 325, 325, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 },
+            { 320, 320, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 },
+            { 315, 315, 295, 295, 251, 192, 192, 118, 55, 0, 0, 0, 0, 0, 0, 0 },
+            { 310, 310, 295, 295, 251, 192, 192, 120, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 305, 305, 295, 295, 251, 192, 192, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 295, 295, 290, 290, 246, 188, 188, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 285, 285, 285, 285, 242, 185, 185, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 280, 280, 280, 280, 238, 182, 182, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 275, 275, 275, 275, 234, 179, 179, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 265, 265, 265, 265, 225, 172, 172, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 250, 250, 250, 250, 212, 162, 162, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 240, 240, 240, 240, 204, 156, 156, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 220, 220, 220, 220, 187, 143, 143, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 200, 200, 200, 200, 170, 130, 130, 125, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 180, 180, 180, 180, 153, 117, 117, 117, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 160, 160, 160, 160, 136, 104, 104, 104, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 140, 140, 140, 140, 119, 91, 91, 91, 58, 0, 0, 0, 0, 0, 0, 0 },
+            { 125, 125, 125, 125, 106, 81, 81, 81, 58, 0, 0, 0, 0, 0, 0, 0 }
+        },
+        /* texture_freq[OT_ISP_AUTO_ISO_NUM] */
+        { 180, 190, 190, 170, 170, 170, 160, 140, 128, 128, 128, 100, 100, 100, 100, 100 },
+        /* edge_freq[OT_ISP_AUTO_ISO_NUM] */
+        { 128, 100, 100, 100, 100, 100, 100, 100, 100, 100, 96, 96, 96, 96, 96, 96 },
+        /* over_shoot[OT_ISP_AUTO_ISO_NUM] */
+        { 60, 62, 62, 64, 64, 64, 56, 52, 50, 50, 30, 10, 10, 10, 10, 10 },
+        /* under_shoot[OT_ISP_AUTO_ISO_NUM] */
+        { 60, 62, 62, 64, 64, 64, 54, 50, 50, 30, 20, 20, 15, 15, 15, 15 },
+        /* motion_texture_strength[OT_ISP_SHARPEN_GAIN_NUM][OT_ISP_AUTO_ISO_NUM] */
+        {
+            { 153, 153, 160, 145, 130, 130, 130, 105, 105, 105, 105, 85, 85, 85, 85, 85 },
+            { 172, 167, 190, 170, 145, 145, 145, 120, 120, 120, 120, 100, 100, 100, 100, 100 },
+            { 186, 178, 220, 195, 165, 165, 160, 140, 140, 135, 135, 120, 120, 120, 120, 120 },
+            { 201, 192, 255, 215, 180, 180, 175, 160, 160, 150, 150, 135, 135, 140, 140, 140 },
+            { 217, 207, 275, 230, 200, 200, 185, 175, 175, 160, 160, 150, 150, 160, 160, 160 },
+            { 233, 223, 285, 245, 210, 215, 200, 190, 190, 170, 170, 165, 165, 180, 180, 180 },
+            { 251, 239, 280, 260, 225, 225, 215, 205, 205, 180, 180, 185, 185, 200, 200, 200 },
+            { 269, 255, 275, 265, 240, 240, 230, 220, 220, 190, 190, 200, 200, 210, 210, 210 },
+            { 286, 272, 270, 270, 250, 250, 240, 225, 225, 200, 200, 220, 220, 220, 220, 220 },
+            { 300, 288, 265, 270, 250, 260, 245, 235, 235, 210, 210, 235, 235, 230, 230, 230 },
+            { 308, 299, 260, 265, 250, 270, 255, 245, 245, 220, 220, 245, 245, 230, 230, 230 },
+            { 312, 307, 260, 260, 250, 275, 260, 250, 250, 230, 230, 255, 255, 230, 230, 230 },
+            { 313, 310, 255, 255, 245, 280, 265, 255, 255, 235, 235, 265, 265, 230, 230, 230 },
+            { 311, 311, 250, 250, 240, 285, 270, 255, 255, 240, 240, 275, 275, 230, 230, 230 },
+            { 306, 311, 245, 245, 240, 290, 275, 250, 255, 245, 245, 280, 280, 230, 230, 230 },
+            { 297, 308, 240, 240, 240, 295, 280, 240, 250, 250, 250, 285, 285, 230, 230, 230 },
+            { 285, 301, 235, 235, 235, 295, 280, 235, 250, 250, 255, 290, 290, 230, 230, 230 },
+            { 273, 291, 230, 230, 230, 290, 280, 230, 250, 250, 260, 295, 295, 230, 230, 230 },
+            { 263, 281, 225, 225, 225, 285, 275, 225, 245, 250, 265, 300, 300, 225, 225, 225 },
+            { 255, 271, 225, 220, 220, 275, 270, 225, 245, 250, 270, 300, 300, 220, 220, 220 },
+            { 249, 259, 220, 215, 215, 270, 265, 225, 240, 245, 275, 300, 300, 210, 210, 210 },
+            { 243, 248, 220, 210, 210, 260, 260, 220, 235, 245, 280, 305, 305, 200, 200, 200 },
+            { 234, 238, 215, 205, 205, 255, 255, 220, 230, 240, 280, 305, 305, 190, 190, 190 },
+            { 224, 228, 215, 200, 200, 245, 245, 220, 230, 240, 285, 310, 310, 180, 180, 180 },
+            { 216, 218, 210, 195, 195, 235, 240, 215, 225, 235, 285, 310, 310, 175, 175, 175 },
+            { 208, 208, 200, 190, 190, 230, 235, 215, 220, 230, 285, 305, 305, 170, 170, 170 },
+            { 201, 201, 195, 180, 180, 220, 225, 210, 220, 225, 285, 305, 305, 160, 160, 160 },
+            { 195, 195, 185, 175, 175, 205, 220, 205, 215, 220, 285, 300, 300, 160, 160, 160 },
+            { 188, 188, 175, 170, 170, 195, 210, 195, 210, 215, 280, 300, 300, 150, 150, 150 },
+            { 181, 181, 170, 160, 160, 180, 205, 195, 205, 210, 280, 300, 300, 145, 145, 145 },
+            { 175, 175, 160, 155, 155, 165, 195, 195, 200, 205, 275, 300, 300, 130, 130, 130 },
+            { 171, 171, 150, 150, 150, 150, 150, 150, 195, 200, 270, 300, 300, 115, 115, 115 }
+        },
+        /* motion_edge_strength     */
+        {
+            { 195, 195, 195, 195, 195, 195, 400, 440, 500, 475, 475, 475, 475, 475, 475, 475 },
+            { 210, 210, 200, 200, 200, 200, 400, 440, 500, 485, 485, 485, 485, 485, 485, 485 },
+            { 235, 235, 220, 220, 220, 220, 400, 440, 500, 495, 495, 495, 495, 495, 495, 495 },
+            { 260, 260, 230, 230, 230, 230, 400, 440, 500, 500, 500, 500, 500, 500, 500, 500 },
+            { 295, 295, 240, 240, 240, 240, 400, 440, 500, 510, 510, 510, 510, 510, 510, 510 },
+            { 320, 320, 250, 250, 250, 250, 400, 440, 500, 520, 520, 520, 520, 520, 520, 520 },
+            { 340, 340, 260, 260, 260, 260, 420, 460, 540, 530, 530, 530, 530, 530, 530, 530 },
+            { 350, 350, 270, 270, 270, 270, 420, 460, 540, 540, 540, 540, 540, 540, 540, 540 },
+            { 360, 360, 280, 280, 280, 280, 420, 460, 540, 545, 545, 545, 545, 545, 545, 545 },
+            { 360, 360, 280, 280, 280, 280, 420, 460, 540, 550, 550, 550, 550, 550, 550, 550 },
+            { 355, 355, 285, 285, 285, 285, 420, 460, 540, 560, 560, 560, 560, 560, 560, 560 },
+            { 345, 345, 290, 290, 290, 290, 420, 460, 540, 565, 565, 565, 565, 565, 565, 565 },
+            { 335, 335, 290, 290, 290, 290, 420, 460, 540, 570, 570, 570, 570, 570, 570, 570 },
+            { 330, 330, 295, 295, 295, 295, 430, 470, 550, 575, 575, 575, 575, 575, 575, 575 },
+            { 325, 325, 295, 295, 295, 295, 430, 470, 550, 580, 580, 580, 580, 580, 580, 580 },
+            { 320, 320, 295, 295, 295, 295, 440, 470, 550, 575, 575, 575, 575, 575, 575, 575 },
+            { 315, 315, 295, 295, 295, 295, 440, 470, 550, 570, 570, 570, 570, 570, 570, 570 },
+            { 310, 310, 295, 295, 295, 295, 450, 480, 580, 565, 565, 565, 565, 565, 565, 565 },
+            { 305, 305, 295, 295, 295, 295, 460, 500, 580, 560, 560, 560, 560, 560, 560, 560 },
+            { 295, 295, 290, 290, 290, 290, 460, 500, 580, 555, 555, 555, 555, 555, 555, 555 },
+            { 285, 285, 285, 285, 285, 285, 460, 500, 580, 550, 550, 550, 550, 550, 550, 550 },
+            { 280, 280, 280, 280, 280, 280, 460, 500, 580, 540, 540, 540, 540, 540, 540, 540 },
+            { 275, 275, 275, 275, 275, 275, 460, 500, 580, 535, 535, 535, 535, 535, 535, 535 },
+            { 265, 265, 265, 265, 265, 265, 460, 500, 580, 530, 530, 530, 530, 530, 530, 530 },
+            { 250, 250, 250, 250, 250, 250, 460, 500, 580, 520, 520, 520, 520, 520, 520, 520 },
+            { 240, 240, 240, 240, 240, 240, 470, 500, 580, 515, 515, 515, 515, 515, 515, 515 },
+            { 220, 220, 220, 220, 220, 220, 470, 500, 580, 510, 510, 510, 510, 510, 510, 510 },
+            { 200, 200, 200, 200, 200, 200, 470, 500, 580, 500, 500, 500, 500, 500, 500, 500 },
+            { 180, 180, 180, 180, 180, 180, 480, 500, 580, 495, 495, 495, 495, 495, 495, 495 },
+            { 160, 160, 160, 160, 160, 160, 480, 500, 580, 485, 485, 485, 485, 485, 485, 485 },
+            { 140, 140, 140, 140, 140, 140, 480, 500, 580, 480, 480, 480, 480, 480, 480, 480 },
+            { 125, 125, 125, 125, 125, 125, 480, 500, 580, 470, 470, 470, 470, 470, 470, 470 }
+        },
+        /* motion_texture_freq[OT_ISP_AUTO_ISO_NUM] */
+        { 180, 190, 190, 170, 170, 170, 160, 140, 128, 128, 128, 100, 100, 100, 100, 100 },
+        /* motion_edge_freq[OT_ISP_AUTO_ISO_NUM] */
+        { 128, 100, 100, 100, 100, 100, 100, 100, 100, 100, 96, 96, 96, 96, 96, 96 },
+        /* motion_over_shoot[OT_ISP_AUTO_ISO_NUM] */
+        { 60, 62, 62, 64, 64, 64, 56, 52, 50, 50, 30, 10, 10, 10, 10, 10 },
+        /* motion_under_shoot[OT_ISP_AUTO_ISO_NUM] */
+        { 60, 62, 62, 64, 64, 64, 54, 50, 50, 30, 20, 20, 15, 15, 15, 15 },
+        /* shoot_sup_strength[OT_ISP_AUTO_ISO_NUM] */
+        { 8, 8, 7, 7, 7, 6, 5, 5, 0, 0, 0, 0, 0, 0, 0, 0 },
+        /* shoot_sup_adj[OT_ISP_AUTO_ISO_NUM] */
+        { 9, 9, 8, 8, 7, 7, 7, 6, 0, 0, 0, 0, 0, 0, 0, 0 },
+        /* detail_ctrl[OT_ISP_AUTO_ISO_NUM] */
+        { 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 120, 120, 120, 120, 120, 120 },
+        /* detail_ctrl_threshold[OT_ISP_AUTO_ISO_NUM] */
+        { 180, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160, 160 },
+        /* edge_filt_strength[OT_ISP_AUTO_ISO_NUM] */
+        { 60, 58, 60, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62, 62 },
+        /* edge_filt_max_cap */
+        { 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18, 18 },
+        /* r_gain[OT_ISP_AUTO_ISO_NUM] */
+        { 12, 16, 20, 24, 24, 24, 26, 28, 31, 31, 31, 31, 31, 31, 31, 31 },
+        /* g_gain[OT_ISP_AUTO_ISO_NUM] */
+        { 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32 },
+        /* b_gain[OT_ISP_AUTO_ISO_NUM] */
+        { 18, 20, 24, 24, 24, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22 },
+        /* skin_gain[OT_ISP_AUTO_ISO_NUM] */
+        { 30, 30, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, 31 },
+        /* max_sharp_gain[OT_ISP_AUTO_ISO_NUM] */
+        { 30, 30, 30, 30, 30, 26, 20, 20, 18, 18, 18, 18, 18, 18, 18, 18 },
+        {
+            /* shoot_inner_threshold[OT_ISP_AUTO_ISO_NUM] */
+            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+            /* shoot_outer_threshold[OT_ISP_AUTO_ISO_NUM] */
+            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+            /* shoot_protect_threshold[OT_ISP_AUTO_ISO_NUM]  */
+            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+        },
+        {
+            /* edge_rly_fine_threshold[OT_ISP_AUTO_ISO_NUM] */
+            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+            /* edge_rly_coarse_threshold[OT_ISP_AUTO_ISO_NUM] */
+            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+            /* edge_overshoot[OT_ISP_AUTO_ISO_NUM] */
+            {20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20},
+            /* edge_undershoot[OT_ISP_AUTO_ISO_NUM] */
+            {120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 120},
+            /* edge_gain_by_rly[OT_ISP_SHARPEN_RLYWGT_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}
+            },
+            /* edge_rly_by_mot[OT_ISP_SHARPEN_STDGAIN_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}
+            },
+            /* edge_rly_by_luma[OT_ISP_SHARPEN_STDGAIN_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}
+            },
+        },
+        {
+            /* mf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}
+            },
+            /* hf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32},
+                {32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32, 32}
+            },
+            /* lmf_gain_by_mot[OT_ISP_SHARPEN_MOT_NUM][OT_ISP_AUTO_ISO_NUM] */
+            {
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16},
+                {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16}
+            },
+        }
+    },
+};
+
+static const ot_isp_drc_attr g_cmos_drc = {
+    /* enable */
+    0,
+    /* curve_select */
+    OT_ISP_DRC_CURVE_ASYMMETRY,
+    /* purple_reduction_strength */
+    35,
+    /* bright_gain_limit */
+    10,
+    /* bright_gain_limit_step */
+    8,
+    /* dark_gain_limit_luma */
+    0,
+    /* dark_gain_limit_chroma */
+    0,
+    /* contrast_ctrl */
+    8,
+    /* rim_reduction_strength */
+    32,
+    /* rim_reduction_threshold */
+    30,
+    /* color_correction_lut[OT_ISP_DRC_CC_NODE_NUM] */
+    {
+        1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024,
+        1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024
+    },
+    /* tone_mapping_value[OT_ISP_DRC_TM_NODE_NUM] */
+    {
+        8,     8,     16,    24,    31,    39,    48,    56,    65,    75,    85,    95,    106,   118,   130,   143,
+        156,   170,   185,   201,   218,   235,   254,   274,   294,   316,   339,   364,   390,   417,   446,   477,
+        509,   543,   579,   617,   658,   701,   746,   794,   844,   898,   955,   1015,  1078,  1145,  1216,  1291,
+        1370,  1454,  1543,  1637,  1736,  1841,  1952,  2069,  2194,  2325,  2465,  2612,  2767,  2932,  3106,  3290,
+        3485,  3691,  3909,  4140,  4384,  4641,  4914,  5202,  5507,  5830,  6171,  6531,  6913,  7316,  7742,  8193,
+        8669,  9173,  9705,  10268, 10863, 11492, 12145, 12808, 13483, 14171, 14872, 15587, 16319, 17069, 17840, 18635,
+        19458, 19881, 20313, 20754, 21204, 21661, 22122, 22586, 23053, 23525, 24000, 24480, 24965, 25455, 25950, 26451,
+        26959, 27473, 27995, 28524, 29062, 29609, 30165, 30732, 31309, 31899, 32501, 33116, 33746, 34391, 35043, 35706,
+        36381, 37066, 37763, 38472, 39192, 39925, 40671, 41429, 42201, 42591, 42986, 43383, 43784, 44189, 44597, 45008,
+        45424, 45842, 46265, 46691, 47121, 47555, 47993, 48434, 48880, 49329, 49783, 50241, 50703, 51169, 51639, 52113,
+        52592, 53075, 53564, 54056, 54552, 55054, 55560, 56071, 56586, 56846, 57107, 57369, 57632, 57896, 58162, 58429,
+        58697, 58967, 59238, 59510, 59783, 60057, 60333, 60611, 60889, 61169, 61451, 61733, 62017, 62303, 62589, 62877,
+        63167, 63458, 63750, 64044, 64340, 64636, 64934, 65234
+    },
+    /* spatial_filter_coef */
+    1,
+    /* range_filter_coef */
+    2,
+    /* detail_adjust_coef */
+    8,
+    {
+        {
+            /* local_mixing_bright_max */
+            96,
+            /* local_mixing_bright_min */
+            48,
+            /* local_mixing_bright_threshold */
+            100,
+            /* local_mixing_bright_slope */
+            -3,
+        },
+    },
+    {
+        {
+            /* local_mixing_dark_max */
+            96,
+            /* local_mixing_dark_min */
+            48,
+            /* local_mixing_dark_threshold */
+            100,
+            /* local_mixing_dark_slope */
+            -3,
+        },
+    },
+    /* high_saturation_color_ctrl */
+    15,
+    /* global_color_ctrl */
+    0,
+    /* shoot_reduction_en */
+    1,
+    /* op_type */
+    OT_OP_MODE_MANUAL,
+    /* manual_attr */
+    {
+        /* manual_strength */
+        256,
+    },
+    /* auto_attr */
+    {
+        /* auto_strength */
+        512,
+        /* auto_strength_max */
+        1023,
+        /* auto_strength_min */
+        512,
+    },
+    /* asymmetry_curve */
+    {
+        /* asymmetry */
+        6,
+        /* second_pole */
+        200,
+        /* stretch */
+        40,
+        /* compress */
+        170
+    },
+    /* auto_curve */
+    {
+        /* brightness */
+        8,
+        /* contrast */
+        8,
+        /* tolerance */
+        6,
+    },
+    /* bcnr_attr */
+    {
+        /* bcnr_en */
+        0,
+        /* bcnr_detail_restore */
+        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+        /* bcnr_strength */
+        3,
+    }
+};
+
+
+/* --------------------------------------------------------------------------
+ *  AWB saturation and colour sectors.
+ *
+ *  cmos_get_awb_default() memset the whole ot_isp_awb_sensor_default and then
+ *  filled in only the reference temperature, the static WB gains and wb_para.
+ *  That left agc_tbl zeroed -- valid = 0 and every saturation entry 0 -- so
+ *  the ISP was never told what saturation to run, which is the washed-out
+ *  colour. saturation[] is indexed by AGC bucket, 128 == nominal, and tapers
+ *  at high gain because chroma noise scales with gain.
+ *
+ *  From sc450ai, same ISP silicon. The taper shape is an ISP behaviour rather
+ *  than a sensor measurement, so it transfers.
+ * -------------------------------------------------------------------------- */
+
+static ot_isp_color_sector g_imx662_color_sector = {
+    0,
+    {
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+        {
+            { 20, 20, 20, 20, 20, 20 },
+            { 20, 20, 20, 20, 20, 20 },
+        },
+    },
+};
+
+static ot_isp_awb_agc_table g_imx662_awb_agc_table = {
+    /* bvalid */
+    1,
+
+    /* 1,  2,  4,  8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768 */
+    /* saturation
+     *
+     * The first four buckets are the daylight rendition the operator signed
+     * off on and are unchanged.  Above them the taper is much steeper than
+     * sc450ai's: chroma noise is the ugliest high-gain artifact, colour is
+     * least trustworthy exactly where gain is highest, and dropping chroma
+     * measured -7.3% on the encoded bitrate with the lights off.  The top
+     * buckets are heavily desaturated rather than fully grey, so the image
+     * degrades toward monochrome instead of switching to it. */
+    { 168, 168, 166, 162, 150, 138, 124, 108, 92, 76, 64, 54, 46, 40, 36, 32 }
+};
+
 #endif /* IMX662_CMOS_PARAM_H */
diff --git a/sensors/cv610/imx662/imx662_sensor_ctl.c b/sensors/cv610/imx662/imx662_sensor_ctl.c
index 3d18ee88..db9863ee 100644
--- a/sensors/cv610/imx662/imx662_sensor_ctl.c
+++ b/sensors/cv610/imx662/imx662_sensor_ctl.c
@@ -1,12 +1,12 @@
 /*
  * imx662_sensor_ctl.c — IMX662 low-level transport + power-on register init.
  *
- * SCAFFOLD (original). Implements the standard HiSilicon sensor transport
- * (Linux /dev/i2c-N + OT_I2C_SLAVE_FORCE) and the per-mode register init the
- * ISP calls at stream start. The bulk power-on "reserved register" block is
- * left as a TODO to transcribe from the Sony IMX662 datasheet /
- * will127534/imx662-v4l2-driver at integration — those magic values cannot be
- * invented and must match silicon.
+ * Implements the standard HiSilicon sensor transport (Linux /dev/i2c-N +
+ * OT_I2C_SLAVE_FORCE) and the per-mode register init the ISP calls at stream
+ * start. The bulk power-on "reserved register" block lives in imx662_cfg.h,
+ * transcribed from pauliustumas/imx662 and cross-checked against Sony's
+ * IMX662_Register.xlsx; imx662_write_init_seq() writes it in standby, before
+ * the per-mode registers below, so the per-mode writes win where they overlap.
  */
 
 #include <stdio.h>
@@ -22,6 +22,7 @@
 #include "securec.h"
 
 #include "imx662_cmos.h"
+#include "imx662_cfg.h"
 
 #define I2C_DEV_FILE_NUM     16
 #define I2C_BUF_NUM          8
@@ -169,11 +170,24 @@ td_void imx662_blc_clamp(ot_vi_pipe vi_pipe, ot_isp_sns_blc_clamp blc_clamp)
 }
 
 /* ---- power-on register block ---------------------------------------------
- * TODO(integration): transcribe the full IMX662 power-on / reserved-register
- * sequence (~89 writes, addresses 0x301C..0x4549) from the datasheet or the
- * RPi driver's imx662_common_regs[]. The few below are the mode-defining
- * writes only; the reserved block is required for a correct image.
+ * The Sony power-on sequence (reserved analog/ADC trim, MIPI TX timing,
+ * readout window, HDR context parked for linear) lives in imx662_cfg.h and
+ * runs first, in standby. Everything below it is per-mode state that
+ * overrides the table where the two overlap -- notably the 0x3A50/51/52
+ * AD-timing triplet, which the table carries in its 12-bit form.
  */
+static td_s32 imx662_write_init_seq(ot_vi_pipe vi_pipe)
+{
+	td_s32 ret = 0;
+	td_u32 i;
+
+	for (i = 0; i < IMX662_INIT_SEQ_LEN; i++) {
+		ret += imx662_write_register(vi_pipe, g_imx662_init_seq[i].addr,
+									 g_imx662_init_seq[i].data);
+	}
+	return ret;
+}
+
 static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax,
 									   td_bool raw_10bit, td_bool overclock_100fps)
 {
@@ -182,6 +196,8 @@ static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax,
 	ret += imx662_write_register(vi_pipe, IMX662_REG_STANDBY,  0x01); /* stop for cfg */
 	delay_ms(1);
 
+	ret += imx662_write_init_seq(vi_pipe);
+
 	/* --- clock / interface (VERIFY against board wiring) --- */
 	/* 100 fps follows the public IMX662 mode: feed 27 MHz externally while
 	 * selecting the 24 MHz profile (0x04), which raises its 1440 Mbps timing
@@ -212,10 +228,14 @@ static td_s32 imx662_linear_1080p_init(ot_vi_pipe vi_pipe, td_u32 hmax,
 	ret += imx662_write_register(vi_pipe, IMX662_REG_AD10_2, raw_10bit ? 0x19 : 0x00);
 
 	/* --- black level --- */
+	/* BLKLEVEL is [11:0] across 30DC/30DD, so 30DD's low nibble carries
+	 * BLKLEVEL[11:8] and its top nibble is reserved with bit 6 documented
+	 * "Fixed to 1h" (Sony's map gives 30DDh an initial value of 40h, and the
+	 * register list's own changelog calls out "Revised: Initial value of
+	 * fixed register (30DDh)").  0x40 therefore keeps BLKLEVEL at 50 and
+	 * stops clearing a fixed bit -- the black level itself does not move. */
 	ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_L, 0x32); /* 50 */
-	ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_H, 0x00);
-
-	/* TODO: reserved-register block goes here (see note above). */
+	ret += imx662_write_register(vi_pipe, IMX662_REG_BLKLEVEL_H, 0x40);
 
 	return ret;
 }
diff --git a/specs/2026-08-16-cv610-runtime-iq/requirements.md b/specs/2026-08-16-cv610-runtime-iq/requirements.md
new file mode 100644
index 00000000..59d56b27
--- /dev/null
+++ b/specs/2026-08-16-cv610-runtime-iq/requirements.md
@@ -0,0 +1,208 @@
+# CV610 runtime IQ control surface
+
+Status: **IMPLEMENTED** in v0.65.5 — see the closing note at the end of this
+file for what shipped, what changed from this plan, and what is still open.
+Date: 2026-08-16.
+Device: `root@192.168.2.181` (Hi3516CV610 DEMO Board, IMX662).
+Follows PR #229, which landed the compile-time ISP seeds this made editable.
+
+## Why
+
+PR #229 fixed the CV610 image by seeding the ISP properly at init: Sony's 131-entry
+power-on register sequence, the ISP algorithm blocks (which were *all* disabled),
+and the AWB saturation table (which was zeroed). The result is a large, verified
+improvement — but every value is a **compile-time constant in the sensor plugin**.
+
+Two consequences make that unsatisfactory:
+
+1. **The operator cannot tune.** SigmaStar has an Image Quality tab driven by
+   `/api/v1/iq/*`; CV610 has nothing. Changing saturation today means editing
+   `imx662_cmos_param.h`, cross-compiling, deploying an `.so`, and **rebooting the
+   board** — the plugin is read once at pipe start, so there is no live path at all.
+2. **The tables are borrowed, not calibrated.** bayer_nr, sharpen,
+   noise_calibration and DRC come from `smart_sc450ai`, a 4 MP sensor, where IMX662
+   is 2 MP STARVIS. They were kept on an operator A/B, not a measurement. Runtime
+   knobs are what turns "borrowed defaults" into "a starting point you can correct".
+
+## Current state (measured, 2026-08-16)
+
+```
+GET /api/v1/iq/get → {"ok":false,"error":{"code":"not_implemented","message":"IQ query not available"}}
+GET /api/v1/iq/set → {"ok":false,"error":{"code":"not_implemented","message":"IQ set not available"}}
+```
+
+The endpoints are generic and already routed (`src/venc_api.c:4114`). They dispatch
+on backend callbacks and 501 when those are NULL:
+
+- `src/venc_api.c:3131` → `g_cb->query_iq_info`
+- `src/venc_api.c:3148,3169` → `g_cb->apply_iq_param`
+
+Declared in `include/venc_api.h:43-45`:
+
+```c
+char *(*query_iq_info)(void);                                /* malloc'd JSON, caller frees */
+int   (*apply_iq_param)(const char *param, const char *value);   /* 0 ok, -1 error */
+```
+
+Both are wired on the other two backends and NULL on CV610:
+
+| backend | registration site | implementation |
+|---|---|---|
+| Star6E | `src/star6e_controls.c:1772-1773` | `src/star6e_iq.c` (~66 ISP setter calls, dlopens `libmi_isp.so`) |
+| Maruko | `src/maruko_controls.c:1496-1497` | `src/maruko_iq.c` |
+| **CV610** | `src/cv610_runtime.c:242` (`g_cv610_apply_callbacks`) | **absent** |
+
+The WebUI hides the tab explicitly — `web/dashboard.html:1787-1788`:
+```js
+const iqTab = document.getElementById('tab-btn-iq');
+if(iqTab) iqTab.hidden = true;   // /api/v1/iq|ae|awb are 501 here
+```
+
+## Reference implementation already on disk
+
+`/home/snokvist/dev/hisilicon/venc/src/app/cv610_streamer/isp_control.c` — 30 KB,
+covering the knob set with getters and setters:
+
+- **setters**: `ss_mpi_isp_set_{ccm,color_tone,csc,nr,saturation,sharpen,wb}_attr`
+- **getters**: `ss_mpi_isp_get_{ca,ccm,color_tone,csc,dehaze,drc,gamma,ldci,module_ctrl,nr,saturation,sharpen,wb}_attr`
+
+A `cv610_isp_ctl` CLI built from it is already deployed on `.181`, so the calls are
+proven against this silicon. This is a port with a working reference, not research.
+
+**Simpler than Star6E.** `star6e_iq.c` has to `dlopen("libmi_isp.so")` and resolve
+`MI_ISP_IQ_*` symbols at runtime. CV610 links `ss_mpi` directly (`cv610_pipeline.c`
+already calls `ss_mpi_isp_set_ccm_attr`), so `cv610_iq.c` calls the MPI directly —
+no dlopen, no symbol table, no init failure path.
+
+## Scope
+
+### Must
+
+- `src/cv610_iq.c` + `include/cv610_iq.h` exposing `cv610_iq_query()` and
+  `cv610_iq_set(param, value)`, matching the `star6e_iq.h` contract (dot-notation
+  for sub-fields, comma-separated values for arrays).
+- Wire `.query_iq_info` / `.apply_iq_param` into `g_cv610_apply_callbacks`
+  (`src/cv610_runtime.c:242`).
+- Cover, at minimum, the knobs that PR #229 seeded and the operator will want to
+  correct: **saturation** (the one that fixed washed-out colour), **sharpen**,
+  **nr**, **ccm**, **wb**, **color_tone**, **csc**.
+- Un-hide the WebUI tab on CV610 by **capability**, not by backend name — the
+  current `hidden = true` is hardcoded. Drive it off whether `/api/v1/iq/get`
+  answers, so the same code stays correct if a backend gains or loses the surface.
+
+### Should
+
+- Read-back verification in `cv610_iq_query()` — return what the ISP reports, not
+  what was last written, so a rejected set is visible.
+- Reject unknown parameter names with `-1` so `/api/v1/iq/set` 400s rather than
+  silently accepting.
+
+### Out of scope
+
+- **Persistence.** These are live-only knobs. Whether tuned values survive a reboot
+  is a separate decision (config fields vs a profile file vs the PQ `.bin` route)
+  and should not be bundled.
+- **AE / AWB endpoints.** `/api/v1/ae` and `/api/v1/awb` are also 501 on CV610.
+  Related, but a different callback set; do not widen this.
+- **PQ `.bin` import.** `libbin.so` / `OT_PQ_BIN_ImportBinData()` is vendored and
+  verified loadable on `.181`, but a `.bin` is chip- *and* sensor-locked and must be
+  produced with PQTools against the IMX662. Separate workstream.
+- **Re-tuning the sc450ai-derived tables.** This spec builds the instrument; using
+  it to replace borrowed tuning with measured tuning is the follow-on.
+
+## Verification plan
+
+Per-step checks, each independently confirmable:
+
+1. **Build gate.** `make build SOC_BUILD=cv610 CV610_SDK_INC=/home/snokvist/dev/hisilicon/oh CV610_SDK_LIB=/home/snokvist/dev/hisilicon/firmware/output-waybeam/target/usr/lib`, then `make verify` for Star6E/Maruko regression. The sensor plugin builds `-Wall -Wextra -Werror`.
+2. **Endpoint liveness.** `/api/v1/iq/get` returns JSON instead of 501; `/api/v1/iq/set?saturation=<n>` returns ok.
+3. **The knob actually moves the image.** Set saturation low and high, capture over
+   RTP, and compare **mean chroma magnitude** — the metric that showed +41% for the
+   compile-time change (20.19 → 28.46). A set that returns ok but does not move the
+   image is the failure mode to look for.
+4. **Read-back agrees.** `iq/get` after `iq/set` reports the value the ISP holds.
+5. **No regression.** Four-mode cold-boot sweep still nominal: 30.03 / 60.03 /
+   90.03 / 100.06 fps, drops frozen.
+6. **Control.** A knob left untouched must read unchanged across the session — a
+   table where everything moved cannot distinguish a working setter from a reinit.
+
+## Bench traps that will bite (learned the hard way in the PR #229 session)
+
+- **Never `S95waybeam stop` + `start` on CV610.** Two quick cycles hard-hung the
+  SoC — no ARP, needed a power/watchdog reboot. `$LOADER stop` unloads the MPP `.ko`
+  set and had not finished after 3 s. **Reboot to cycle the daemon.** ~15 reboots in
+  that session were all clean.
+- **`/api/v1/set?outgoing.server=…` triggers a reinit that stalls the HTTP server
+  for seconds.** Rebooting within ~3 s loses the config write. Other fields persist
+  to `/etc/waybeam.json` immediately. GET-verify before rebooting.
+- **`sensor.mode` pins the mode** and overrides fps-derived selection; setting
+  `video0.fps` alone does nothing while it is pinned.
+- **`/tmp` on `.181` is tmpfs.** Bench tools vanish on reboot — re-scp
+  `tools/cv610_i2c_dump.c`'s binary or a dump silently returns "not found", and an
+  empty comparison reads as a pass.
+- **The co-resident `waybeam_hub` rewrites venc's config.** Disable
+  `/etc/init.d/S97waybeam-hub` for any A/B, or arms will not share settings.
+- **Scene motion invalidates image A/B.** Two arms minutes apart showed a "noise
+  fix" and a "blue cast fix" that were entirely the camera being repointed. Re-run
+  adjacent arms on the same scene before concluding anything.
+- **md5 the artifact, not the exit code.** Fixed in PR #229 for the sensor plugin
+  (`-MMD -MP`), but the habit matters: two builds from different tuning tables came
+  out byte-identical because the Makefile tracked no headers.
+- **Objective sharpness metrics mislead on denoising changes.** Variance-of-Laplacian
+  counts grain as detail. The operator's verdict on the live stream is the gate for
+  image quality; metrics rank candidates and catch pipeline regressions.
+
+## Open questions for the operator
+
+1. Which knobs matter most day to day — is saturation/sharpen enough to start, or is
+   CCM/WB needed in the first cut?
+   → Answered by building all of them: the field table costs one line per knob,
+   so picking a subset would have saved nothing. 11 groups, 59 fields.
+2. Should tuned values persist across reboot, and if so via config fields or a
+   profile file? (Deliberately out of scope above; needs a decision before anyone
+   asks why their tuning vanished.)
+   → **Still open.** Values are live-only; a reboot returns to the plugin's
+   seeds. Nothing in v0.65.5 changes that.
+
+---
+
+## Closing note (v0.65.5)
+
+**Shipped as planned**: `src/cv610_iq.c` + `include/cv610_iq.h`, wired into
+`g_cv610_apply_callbacks`; all seven "must" knobs plus drc, ldci, dehaze and
+ca; read-back from the ISP rather than a cache; unknown names rejected; the
+WebUI tab driven by a capability probe rather than a backend-name test.
+
+**Changed from the plan**, and why:
+
+- *No byte offsets.* The plan said "matching the `star6e_iq.h` contract".  The
+  wire contract matches, but the implementation does not copy Star6E's
+  hand-computed offsets — CV610 links `ss_mpi` directly, so every field is an
+  `offsetof()` into the SDK's own struct.  A mistyped member is then a compile
+  error rather than a write into a neighbouring field.
+- *The schema is emitted, not duplicated.* The plan only said "un-hide the tab
+  by capability".  Un-hiding it alone would have shown the SigmaStar knob list
+  on a CV610, so `query()` emits a `_schema` block and the page renders from
+  it.  This is the same trap as the modes store's third copy of the mode list.
+- *`cv610_pipeline_isp_ready()` was added.* Firing MPI ioctls at an ISP that
+  was never inited is not something to find out about in the field.
+- *The field's `domain` is exposed.* Not in the plan; the mutation sweep made
+  the side-effect visible and it was cheap to surface rather than document
+  only. (Shipped first as a manual-only `forces_manual` flag, then generalised
+  to `direct`/`manual`/`auto` when review showed the auto half had the same
+  trap in the other direction.)
+
+**Found while verifying, not predicted**: DRC and dehaze are registered with
+the ISP but ship `enable = 0` and are bypassed in hardware. See HISTORY 0.65.5;
+0.65.4's wording is corrected. DRC has never contributed to a CV610 image.
+
+**Still open**:
+
+- Persistence (question 2 above).
+- `/api/v1/ae` and `/api/v1/awb` remain 501 — deliberately out of scope.
+- The `!cv610_pipeline_isp_ready()` path returns cleanly by inspection but was
+  not exercised: reaching it means stopping the pipeline, and stop/start is the
+  one thing that hard-hangs this SoC.
+- Re-tuning the sc450ai-derived tables. The instrument now exists; using it is
+  the follow-on, and DRC is the obvious first candidate since it has never been
+  switched on.
diff --git a/src/cv610_audio.c b/src/cv610_audio.c
index b7fb8470..cc686fb8 100644
--- a/src/cv610_audio.c
+++ b/src/cv610_audio.c
@@ -208,7 +208,13 @@ static int cv610_aenc_start(Cv610AudioState *state)
 	destination.chn_id = CV610_AENC_CHN;
 	AUDIO_CHECK(ss_mpi_sys_bind(&source, &destination));
 	state->bound = 1;
-	printf("> CV610 AENC Opus 32000 bit/s restricted-low-delay, 10.0 ms frames\n");
+	/* Derived, not spelled out: this line claimed "10.0 ms" for a release
+	 * after CV610_AUDIO_POINT_NUM went 480 -> 960, so the only banner a
+	 * reader could check the packet rate against was wrong. */
+	printf("> CV610 AENC Opus %u bit/s restricted-low-delay, %.1f ms frames\n",
+		CV610_AUDIO_BITRATE,
+		(double)CV610_AUDIO_POINT_NUM * 1000.0 /
+			(double)CV610_AUDIO_SAMPLE_RATE);
 	return 0;
 }
 
@@ -359,6 +365,64 @@ int cv610_audio_is_running(Cv610AudioState *state)
 	return state ? __atomic_load_n(&state->running, __ATOMIC_ACQUIRE) : 0;
 }
 
+/* Release what a predecessor that died without cv610_audio_stop() left behind.
+ *
+ * MPP objects are kernel state, not process state, so a venc killed with
+ * SIGKILL leaves the AI device claimed by the dead pid. Measured on the .181
+ * bench: the next start is then refused at ss_mpi_ai_set_pub_attr with
+ * OT_ERR_AI_NOT_PERM (0xa015800d) and the craft comes back SILENTLY WITHOUT
+ * AUDIO -- 2 of 2 runs, while a graceful restart restores it every time. The
+ * kernel does reclaim the two aenc MMB blocks (those "MMB LEAK(pid=...)" lines
+ * are that reclaim reporting itself, not a leak); it does not undo the claim.
+ *
+ * The module cycle is what does the work. Releasing the objects one by one does
+ * not: ss_mpi_ai_disable() is refused with the same NOT_PERM as the
+ * set_pub_attr it was meant to unblock. A module-level exit/init pair from a
+ * process that has initialised is what clears the claim -- measured, and it is
+ * exactly why a SECOND graceful restart recovered audio where the first did
+ * not. This folds that cycle into the first start. The pair runs AFTER the
+ * caller's own ss_mpi_audio_init() on purpose: that is the ordering verified on
+ * hardware.
+ *
+ * An earlier revision also called sys_unbind/aenc_destroy_chn/opus_deinit/
+ * ai_disable_chn here, mirroring cv610_audio_stop()'s teardown. They were
+ * removed: the SDK tracks those objects PROCESS-locally, so a successor cannot
+ * release a dead predecessor's copies, and all four returned the same code in
+ * the broken and healthy cases while only ai_disable's changed. opus_deinit was
+ * worse than inert -- it printed "illegal handle(-1)!" to stderr on every clean
+ * start, from a process-local static that is -1 in a fresh process. Removal was
+ * re-verified on hardware, not assumed. ai_disable is kept because it is the
+ * one call measured to reach kernel state.
+ *
+ * Same shape and the same reason as sys_setup()'s isp_exit/sys_exit/vb_exit. */
+static int cv610_audio_preclean(void)
+{
+	td_s32 exit_ret, init_ret, ai;
+
+	/* audio_initialized is deliberately NOT touched across the cycle. It only
+	 * decides whether cv610_audio_stop() calls ss_mpi_audio_exit(), and the two
+	 * error directions are not symmetric: a second exit is safe (the module's
+	 * sub-exits are flag-guarded, so it is not a double free), while a SKIPPED
+	 * exit leaks the kernel AUDIO_INIT claim and the /dev fd -- which is opened
+	 * without O_CLOEXEC and therefore survives venc_respawn_after_exit()'s
+	 * execv. A partially-succeeded re-init leaves exactly that to clean up, so
+	 * the flag must stay set. */
+	exit_ret = ss_mpi_audio_exit();
+	init_ret = ss_mpi_audio_init();
+	ai = ss_mpi_ai_disable(CV610_AUDIO_DEV);
+	printf("  audio pre-clean: exit=0x%x init=0x%x ai=0x%x\n",
+		   exit_ret, init_ret, ai);
+
+	/* Fatal only when the exit actually happened and the re-init did not: that
+	 * is the one combination where this function has taken the module down and
+	 * failed to bring it back. If the EXIT failed, nothing was reclaimed and
+	 * there is nothing to restore -- returning -1 there would turn a start that
+	 * previously worked into a dead one, on a call that was not on the start
+	 * path before this change. Let bring-up proceed and let the AUDIO_CHECKs
+	 * below produce the real diagnosis. */
+	return (exit_ret == TD_SUCCESS && init_ret != TD_SUCCESS) ? -1 : 0;
+}
+
 Cv610AudioState *cv610_audio_start(const VencConfig *config,
 	const VencOutputUri *video_output)
 {
@@ -368,18 +432,33 @@ Cv610AudioState *cv610_audio_start(const VencConfig *config,
 	if (!config || !config->audio.enabled)
 		return NULL;
 	state = calloc(1, sizeof(*state));
-	if (!state)
+	if (!state) {
+		fprintf(stderr, "ERROR: audio state alloc failed\n");
 		return NULL;
+	}
 	state->acodec_fd = -1;
 	state->aenc_fd = -1;
 	state->socket_handle = -1;
-	if (pthread_mutex_init(&state->stats_lock, NULL) != 0)
+	if (pthread_mutex_init(&state->stats_lock, NULL) != 0) {
+		fprintf(stderr, "ERROR: audio stats lock init failed\n");
 		goto fail;
+	}
 	if (ss_mpi_audio_init() != TD_SUCCESS) {
-		fprintf(stderr, "ERROR: ss_mpi_audio_init failed\n");
+		/* This is where an absent module set lands, not the /dev/acodec open
+		 * below: audio_init opens /dev/ab first, and open_aio -- the module
+		 * that creates it -- is staged only under CV610_AUDIO=1
+		 * (load-cv610-online). audio.enabled in the JSON is a separate switch,
+		 * so the two diverging is a configuration the operator can reach. */
+		fprintf(stderr, "ERROR: ss_mpi_audio_init failed "
+			"(are the audio modules loaded? they need CV610_AUDIO=1 at "
+			"module load, which is separate from audio.enabled)\n");
 		goto fail_mutex;
 	}
 	state->audio_initialized = 1;
+	if (cv610_audio_preclean() != 0) {
+		fprintf(stderr, "ERROR: audio module re-init failed after pre-clean\n");
+		goto fail_started;
+	}
 	/* Load-bearing order, established by the standalone hardware bring-up. */
 	if (cv610_acodec_reset(state) != 0 || cv610_ai_set_attr(state) != 0 ||
 		cv610_ai_enable(state) != 0 ||
diff --git a/src/cv610_encoder_config.c b/src/cv610_encoder_config.c
new file mode 100644
index 00000000..4d0f174b
--- /dev/null
+++ b/src/cv610_encoder_config.c
@@ -0,0 +1,53 @@
+#include "cv610_encoder_config.h"
+
+#include <string.h>
+
+int cv610_encoder_config_derive(const VencConfig *cfg, uint32_t height,
+	uint32_t fps, Cv610EncoderConfig *out)
+{
+	IntraRefreshMode mode;
+	uint32_t rows;
+	uint32_t per;
+
+	if (!cfg || !out || height == 0 || fps == 0 ||
+	    cfg->video0.slice_count < 1 ||
+	    cfg->video0.slice_count > VENC_SLICE_COUNT_MAX)
+		return -1;
+
+	memset(out, 0, sizeof(*out));
+	mode = intra_refresh_parse_mode(cfg->video0.intra_refresh_mode);
+	intra_refresh_compute(mode, height, fps,
+		cfg->video0.intra_refresh_lines,
+		cfg->video0.intra_refresh_qp,
+		cfg->video0.gop_size, &out->intra.derived);
+	out->intra.enabled = mode != INTRA_MODE_OFF;
+	out->intra.mode = 0; /* OT_VENC_INTRA_REFRESH_ROW */
+	out->intra.refresh_num = out->intra.derived.lines;
+	out->intra.request_i_qp = out->intra.derived.req_iqp;
+
+	if (cfg->video0.ref_base > 0) {
+		out->ref.enabled = 1;
+		out->ref.base = cfg->video0.ref_base;
+		out->ref.enhance = cfg->video0.ref_enhance
+			? cfg->video0.ref_enhance : 1;
+		out->ref.pred = cfg->video0.ref_pred ? 1u : 0u;
+	}
+
+	rows = (height + 31u) / 32u;
+	out->slice.requested_count = cfg->video0.slice_count;
+	out->slice.total_lcu_rows = rows;
+	out->slice.split_mode = CV610_SLICE_SPLIT_MODE_LCU_ROW;
+	out->slice.split_size = 1;
+	out->slice.expected_count = 1;
+	if (cfg->video0.slice_count > 1) {
+		per = (rows + cfg->video0.slice_count - 1u) /
+			cfg->video0.slice_count;
+		if (per < 1)
+			per = 1;
+		out->slice.enabled = 1;
+		out->slice.split_size = per;
+		out->slice.expected_count = (rows + per - 1u) / per;
+	}
+
+	return 0;
+}
diff --git a/src/cv610_iq.c b/src/cv610_iq.c
new file mode 100644
index 00000000..77585b44
--- /dev/null
+++ b/src/cv610_iq.c
@@ -0,0 +1,760 @@
+/*
+ * cv610_iq.c — runtime IQ control for the Hi3516CV610 ISP.
+ *
+ * The IMX662 sensor plugin seeds this ISP once, at pipe start, through
+ * cmos_get_isp_default() (PR #229).  This module exposes the same blocks as
+ * live knobs so a value can be corrected without a cross-compile, a plugin
+ * deploy and a reboot.
+ *
+ * Two things differ from star6e_iq.c and make this the simpler backend:
+ *
+ *   - No dlopen.  The CV610 backend links ss_mpi directly, so the attribute
+ *     structs are the SDK's own types.  Every field offset comes from
+ *     offsetof(), not from a hand-computed constant that can drift when the
+ *     SDK header changes.
+ *   - The table is self-describing.  query() emits a "_schema" block so the
+ *     WebUI renders the knob list this file declares, rather than carrying a
+ *     second copy of it.
+ *
+ * Ranges in the field table are the "Range:" comments from the SDK's
+ * ot_common_isp.h.  A value outside its range is REJECTED, not clamped: the
+ * HTTP layer echoes the requested value back, so silently substituting a
+ * different one would make both the response and the log a record of
+ * something that never happened.
+ */
+
+#include "cv610_iq.h"
+#include "cv610_pipeline.h"
+
+#include <errno.h>
+#include <limits.h>
+#include <pthread.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "ot_type.h"
+#include "ot_common.h"
+#include "ot_common_video.h"
+#include "ot_common_isp.h"
+#include "ss_mpi_isp.h"
+#include "ss_mpi_awb.h"
+#include "ss_mpi_ae.h"
+
+/* The backend runs a single VI pipe; cv610_pipeline.c calls it VI_PIPE 0. */
+#define CV610_IQ_PIPE 0
+
+/* td_bool and ot_op_mode are enums, so both are int-sized.  The field table
+ * encodes them as FT_S32; assert that rather than trusting it. */
+typedef char cv610_iq_bool_is_int[(sizeof(td_bool) == 4) ? 1 : -1];
+typedef char cv610_iq_mode_is_int[(sizeof(ot_op_mode) == 4) ? 1 : -1];
+
+typedef enum {
+	FT_U8,
+	FT_U16,
+	FT_S32,   /* also carries td_bool and ot_op_mode */
+	FT_U32,   /* AE gain/exposure ranges; needs 64-bit to stay exact */
+} Cv610IqType;
+
+typedef struct {
+	const char *name;
+	Cv610IqType type;
+	uint16_t    offset;   /* offsetof() into the group's attr struct */
+	uint16_t    count;    /* 1 = scalar, N = array */
+	/* 64-bit because td_u32 fields (AE gain and exposure ranges) do not fit
+	 * an int32_t -- a driver default of 0xFFFFFFFF would read back as -1. */
+	int64_t     min;
+	int64_t     max;
+	/* Which half of the block this value lives in.  A manual_attr value is
+	 * ignored while the block runs its auto curve and vice versa, and an
+	 * ignored write reads exactly like a broken setter — so a write to a
+	 * domain also selects it.  F_DIRECT fields sit outside both halves. */
+	uint8_t     domain;
+} Cv610IqField;
+
+typedef struct {
+	const char *name;
+	int       (*get)(void *attr);
+	int       (*set)(const void *attr);
+	int32_t     op_type_offset;  /* -1 when the group has no op_type */
+	const Cv610IqField *fields;
+	uint16_t    field_count;
+} Cv610IqGroup;
+
+/* domain values.  Every field here is writable; these say only which op_type
+ * the value is read under, and therefore which one a write must select. */
+#define F_DIRECT 0   /* outside manual_attr/auto_attr; op_type irrelevant */
+#define F_MANUAL 1   /* under manual_attr; a write selects op_type = manual */
+#define F_AUTO   2   /* under auto_attr;   a write selects op_type = auto   */
+
+/* ── MPI wrappers ───────────────────────────────────────────────────────
+ * Typed one-liners rather than casting function pointers: converting a
+ * function pointer to a different signature and calling through it is
+ * undefined behaviour, and void * -> struct * is a plain implicit
+ * conversion. */
+
+#define IQ_ACCESSORS(group, getter, setter)                                \
+	static int iq_get_##group(void *a) { return getter(CV610_IQ_PIPE, a); } \
+	static int iq_set_##group(const void *a) { return setter(CV610_IQ_PIPE, a); }
+
+IQ_ACCESSORS(saturation,
+	ss_mpi_isp_get_saturation_attr, ss_mpi_isp_set_saturation_attr)
+IQ_ACCESSORS(color_tone,
+	ss_mpi_isp_get_color_tone_attr, ss_mpi_isp_set_color_tone_attr)
+IQ_ACCESSORS(csc,
+	ss_mpi_isp_get_csc_attr, ss_mpi_isp_set_csc_attr)
+IQ_ACCESSORS(ccm,
+	ss_mpi_isp_get_ccm_attr, ss_mpi_isp_set_ccm_attr)
+IQ_ACCESSORS(wb,
+	ss_mpi_isp_get_wb_attr, ss_mpi_isp_set_wb_attr)
+IQ_ACCESSORS(sharpen,
+	ss_mpi_isp_get_sharpen_attr, ss_mpi_isp_set_sharpen_attr)
+IQ_ACCESSORS(nr,
+	ss_mpi_isp_get_nr_attr, ss_mpi_isp_set_nr_attr)
+IQ_ACCESSORS(drc,
+	ss_mpi_isp_get_drc_attr, ss_mpi_isp_set_drc_attr)
+IQ_ACCESSORS(ldci,
+	ss_mpi_isp_get_ldci_attr, ss_mpi_isp_set_ldci_attr)
+IQ_ACCESSORS(dehaze,
+	ss_mpi_isp_get_dehaze_attr, ss_mpi_isp_set_dehaze_attr)
+IQ_ACCESSORS(ca,
+	ss_mpi_isp_get_ca_attr, ss_mpi_isp_set_ca_attr)
+IQ_ACCESSORS(exposure,
+	ss_mpi_isp_get_exposure_attr, ss_mpi_isp_set_exposure_attr)
+
+#undef IQ_ACCESSORS
+
+/* ── Field tables ───────────────────────────────────────────────────────
+ * Ranges are the SDK header's documented limits.  Fields the CV610 does not
+ * support (motion sharpen, tnr, dering, cp LUT, radial crop) are omitted
+ * rather than exposed as knobs that do nothing. */
+
+#define OFS(t, m) ((uint16_t)offsetof(t, m))
+
+static const Cv610IqField f_saturation[] = {
+	{ "op_type",           FT_S32, OFS(ot_isp_saturation_attr, op_type),
+		1, 0, 1, F_DIRECT },
+	{ "manual.saturation", FT_U8,  OFS(ot_isp_saturation_attr, manual_attr.saturation),
+		1, 0, 255, F_MANUAL },
+	/* Indexed by AGC bucket; 128 == nominal.  This is the curve the sensor
+	 * plugin's g_imx662_awb_agc_table seeds. */
+	{ "auto.sat",          FT_U8,  OFS(ot_isp_saturation_attr, auto_attr.sat),
+		OT_ISP_AUTO_ISO_NUM, 0, 255, F_AUTO },
+};
+
+static const Cv610IqField f_color_tone[] = {
+	{ "red_cast_gain",   FT_U16, OFS(ot_isp_color_tone_attr, red_cast_gain),
+		1, 256, 384, F_DIRECT },
+	{ "green_cast_gain", FT_U16, OFS(ot_isp_color_tone_attr, green_cast_gain),
+		1, 256, 384, F_DIRECT },
+	{ "blue_cast_gain",  FT_U16, OFS(ot_isp_color_tone_attr, blue_cast_gain),
+		1, 256, 384, F_DIRECT },
+};
+
+static const Cv610IqField f_csc[] = {
+	{ "enable",           FT_S32, OFS(ot_isp_csc_attr, enable), 1, 0, 1, F_DIRECT },
+	{ "hue",              FT_U8,  OFS(ot_isp_csc_attr, hue),    1, 0, 100, F_DIRECT },
+	{ "luma",             FT_U8,  OFS(ot_isp_csc_attr, luma),   1, 0, 100, F_DIRECT },
+	{ "contr",            FT_U8,  OFS(ot_isp_csc_attr, contr),  1, 0, 100, F_DIRECT },
+	{ "satu",             FT_U8,  OFS(ot_isp_csc_attr, satu),   1, 0, 100, F_DIRECT },
+	{ "limited_range_en", FT_S32, OFS(ot_isp_csc_attr, limited_range_en),
+		1, 0, 1, F_DIRECT },
+};
+
+static const Cv610IqField f_ccm[] = {
+	{ "op_type",          FT_S32, OFS(ot_isp_color_matrix_attr, op_type),
+		1, 0, 1, F_DIRECT },
+	{ "manual.sat_en",    FT_S32, OFS(ot_isp_color_matrix_attr, manual_attr.sat_en),
+		1, 0, 1, F_MANUAL },
+	{ "manual.ccm",       FT_U16, OFS(ot_isp_color_matrix_attr, manual_attr.ccm),
+		OT_ISP_CCM_MATRIX_SIZE, 0, 65535, F_MANUAL },
+	/* cv610_pipeline.c's enable_sensor_ccm() clears both of these so the
+	 * auto CCM never bypasses; they are surfaced to make that visible. */
+	{ "auto.iso_act_en",  FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.iso_act_en),
+		1, 0, 1, F_AUTO },
+	{ "auto.temp_act_en", FT_S32, OFS(ot_isp_color_matrix_attr, auto_attr.temp_act_en),
+		1, 0, 1, F_AUTO },
+};
+
+static const Cv610IqField f_wb[] = {
+	{ "bypass",         FT_S32, OFS(ot_isp_wb_attr, bypass),  1, 0, 1, F_DIRECT },
+	{ "op_type",        FT_S32, OFS(ot_isp_wb_attr, op_type), 1, 0, 1, F_DIRECT },
+	{ "manual.r_gain",  FT_U16, OFS(ot_isp_wb_attr, manual_attr.r_gain),
+		1, 0, 4095, F_MANUAL },
+	{ "manual.gr_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gr_gain),
+		1, 0, 4095, F_MANUAL },
+	{ "manual.gb_gain", FT_U16, OFS(ot_isp_wb_attr, manual_attr.gb_gain),
+		1, 0, 4095, F_MANUAL },
+	{ "manual.b_gain",  FT_U16, OFS(ot_isp_wb_attr, manual_attr.b_gain),
+		1, 0, 4095, F_MANUAL },
+};
+
+static const Cv610IqField f_sharpen[] = {
+	{ "enable",                  FT_S32, OFS(ot_isp_sharpen_attr, enable),
+		1, 0, 1, F_DIRECT },
+	{ "op_type",                 FT_S32, OFS(ot_isp_sharpen_attr, op_type),
+		1, 0, 1, F_DIRECT },
+	{ "manual.texture_strength", FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_strength),
+		OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MANUAL },
+	{ "manual.edge_strength",    FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_strength),
+		OT_ISP_SHARPEN_GAIN_NUM, 0, 4095, F_MANUAL },
+	{ "manual.texture_freq",     FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.texture_freq),
+		1, 0, 4095, F_MANUAL },
+	{ "manual.edge_freq",        FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.edge_freq),
+		1, 0, 4095, F_MANUAL },
+	{ "manual.over_shoot",       FT_U8,  OFS(ot_isp_sharpen_attr, manual_attr.over_shoot),
+		1, 0, 127, F_MANUAL },
+	{ "manual.under_shoot",      FT_U8,  OFS(ot_isp_sharpen_attr, manual_attr.under_shoot),
+		1, 0, 127, F_MANUAL },
+	{ "manual.shoot_sup_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.shoot_sup_strength),
+		1, 0, 255, F_MANUAL },
+	{ "manual.detail_ctrl",      FT_U8,  OFS(ot_isp_sharpen_attr, manual_attr.detail_ctrl),
+		1, 0, 255, F_MANUAL },
+	{ "manual.edge_filt_strength", FT_U8, OFS(ot_isp_sharpen_attr, manual_attr.edge_filt_strength),
+		1, 0, 63, F_MANUAL },
+	{ "manual.max_sharp_gain",   FT_U16, OFS(ot_isp_sharpen_attr, manual_attr.max_sharp_gain),
+		1, 0, 2047, F_MANUAL },
+	{ "manual.luma_wgt",         FT_U8,  OFS(ot_isp_sharpen_attr, manual_attr.luma_wgt),
+		OT_ISP_SHARPEN_LUMA_NUM, 0, 31, F_MANUAL },
+};
+
+/* Bayer NR.  Only the switches are exposed: the strength LUTs are the
+ * sc450ai-derived tables PR #229 borrowed, and re-tuning those is a
+ * calibration exercise, not a slider. */
+static const Cv610IqField f_nr[] = {
+	{ "enable",  FT_S32, OFS(ot_isp_nr_attr, enable),  1, 0, 1, F_DIRECT },
+	{ "op_type", FT_S32, OFS(ot_isp_nr_attr, op_type), 1, 0, 1, F_DIRECT },
+	/* Motion-detect temporal NR -- CV610's variant of the tnr_en slot, which
+	 * this chip does not have.  Temporal filtering is the strongest tool
+	 * against high-gain grain because the noise is uncorrelated frame to
+	 * frame while the scene is not; its cost is smearing on motion. */
+	{ "md_en",   FT_S32, OFS(ot_isp_nr_attr, md_en),   1, 0, 1, F_DIRECT },
+	/* "Strength of reserving the random noise according to luma" -- so LOWER
+	 * values filter harder.  This is what g_cmos_noise_calibration's fit
+	 * ultimately drives, and that fit is sc450ai's, not IMX662's.  Until a
+	 * real photon-transfer calibration exists for this sensor, this is the
+	 * honest way to correct it: by eye, against the live image. */
+	{ "coring_ratio", FT_U16, OFS(ot_isp_nr_attr, coring_ratio),
+		OT_ISP_BAYERNR_LUT_LENGTH, 0, 1023, F_DIRECT },
+};
+
+static const Cv610IqField f_drc[] = {
+	{ "enable",             FT_S32, OFS(ot_isp_drc_attr, enable),  1, 0, 1, F_DIRECT },
+	{ "op_type",            FT_S32, OFS(ot_isp_drc_attr, op_type), 1, 0, 1, F_DIRECT },
+	{ "manual.strength",    FT_U16, OFS(ot_isp_drc_attr, manual_attr.strength),
+		1, 0, 1023, F_MANUAL },
+	{ "auto.strength",      FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength),
+		1, 0, 1023, F_AUTO },
+	{ "auto.strength_max",  FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_max),
+		1, 0, 1023, F_AUTO },
+	{ "auto.strength_min",  FT_U16, OFS(ot_isp_drc_attr, auto_attr.strength_min),
+		1, 0, 1023, F_AUTO },
+	{ "contrast_ctrl",      FT_U8,  OFS(ot_isp_drc_attr, contrast_ctrl),
+		1, 0, 15, F_DIRECT },
+	{ "detail_adjust_coef", FT_U8,  OFS(ot_isp_drc_attr, detail_adjust_coef),
+		1, 0, 15, F_DIRECT },
+	{ "bright_gain_limit",  FT_U8,  OFS(ot_isp_drc_attr, bright_gain_limit),
+		1, 0, 15, F_DIRECT },
+	{ "dark_gain_limit_luma", FT_U8, OFS(ot_isp_drc_attr, dark_gain_limit_luma),
+		1, 0, 133, F_DIRECT },
+};
+
+static const Cv610IqField f_ldci[] = {
+	{ "enable",           FT_S32, OFS(ot_isp_ldci_attr, enable),  1, 0, 1, F_DIRECT },
+	{ "op_type",          FT_S32, OFS(ot_isp_ldci_attr, op_type), 1, 0, 1, F_DIRECT },
+	{ "gauss_lpf_sigma",  FT_U8,  OFS(ot_isp_ldci_attr, gauss_lpf_sigma),
+		1, 1, 255, F_DIRECT },
+	{ "manual.blc_ctrl",  FT_U16, OFS(ot_isp_ldci_attr, manual_attr.blc_ctrl),
+		1, 0, 511, F_MANUAL },
+	{ "tpr_incr_coef",    FT_U16, OFS(ot_isp_ldci_attr, tpr_incr_coef),
+		1, 0, 256, F_DIRECT },
+	{ "tpr_decr_coef",    FT_U16, OFS(ot_isp_ldci_attr, tpr_decr_coef),
+		1, 0, 256, F_DIRECT },
+};
+
+static const Cv610IqField f_dehaze[] = {
+	{ "enable",          FT_S32, OFS(ot_isp_dehaze_attr, enable),  1, 0, 1, F_DIRECT },
+	{ "op_type",         FT_S32, OFS(ot_isp_dehaze_attr, op_type), 1, 0, 1, F_DIRECT },
+	{ "manual.strength", FT_U8,  OFS(ot_isp_dehaze_attr, manual_attr.strength),
+		1, 0, 255, F_MANUAL },
+	{ "auto.strength",   FT_U8,  OFS(ot_isp_dehaze_attr, auto_attr.strength),
+		1, 0, 255, F_AUTO },
+};
+
+static const Cv610IqField f_ca[] = {
+	{ "enable", FT_S32, OFS(ot_isp_ca_attr, enable), 1, 0, 1, F_DIRECT },
+};
+
+/* AE.  Gains are 22.10 fixed point, so 1024 == 1x.  The ceilings are what
+ * stop the sensor climbing into the regime where the frame is mostly
+ * amplified noise -- which is where sharpening then multiplies the bitrate.
+ * Exposure time is in microseconds and is the better lever of the two: it
+ * collects photons rather than amplifying them, at the cost of frame rate.
+ *
+ * These sit under auto_attr, so writing one selects AE auto mode -- which is
+ * the mode a ceiling is meant to apply in. */
+static const Cv610IqField f_exposure[] = {
+	{ "bypass",  FT_S32, OFS(ot_isp_exposure_attr, bypass),  1, 0, 1, F_DIRECT },
+	{ "op_type", FT_S32, OFS(ot_isp_exposure_attr, op_type), 1, 0, 1, F_DIRECT },
+	{ "ae_run_interval", FT_U8, OFS(ot_isp_exposure_attr, ae_run_interval),
+		1, 1, 255, F_DIRECT },
+	{ "auto.exp_time_max",  FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.exp_time_range.max),
+		1, 0, 4294967295LL, F_AUTO },
+	{ "auto.exp_time_min",  FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.exp_time_range.min),
+		1, 0, 4294967295LL, F_AUTO },
+	{ "auto.a_gain_max",    FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.a_gain_range.max),
+		1, 1024, 4294967295LL, F_AUTO },
+	{ "auto.d_gain_max",    FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.d_gain_range.max),
+		1, 1024, 4294967295LL, F_AUTO },
+	{ "auto.ispd_gain_max", FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.ispd_gain_range.max),
+		1, 1024, 262144, F_AUTO },
+	/* The single cap that bounds the product of all three. */
+	{ "auto.sys_gain_max",  FT_U32,
+		OFS(ot_isp_exposure_attr, auto_attr.sys_gain_range.max),
+		1, 1024, 4294967295LL, F_AUTO },
+	{ "auto.compensation",  FT_U8,
+		OFS(ot_isp_exposure_attr, auto_attr.compensation), 1, 0, 255, F_AUTO },
+	{ "auto.speed",         FT_U8,
+		OFS(ot_isp_exposure_attr, auto_attr.speed),        1, 0, 255, F_AUTO },
+	{ "auto.tolerance",     FT_U8,
+		OFS(ot_isp_exposure_attr, auto_attr.tolerance),    1, 0, 255, F_AUTO },
+};
+
+#undef OFS
+
+#define GROUP(n, ops) \
+	{ #n, iq_get_##n, iq_set_##n, ops, f_##n, \
+	  (uint16_t)(sizeof(f_##n) / sizeof(f_##n[0])) }
+
+static const Cv610IqGroup g_groups[] = {
+	GROUP(saturation,
+		(int32_t)offsetof(ot_isp_saturation_attr, op_type)),
+	GROUP(color_tone, -1),
+	GROUP(csc, -1),
+	GROUP(ccm,
+		(int32_t)offsetof(ot_isp_color_matrix_attr, op_type)),
+	GROUP(wb,
+		(int32_t)offsetof(ot_isp_wb_attr, op_type)),
+	GROUP(sharpen,
+		(int32_t)offsetof(ot_isp_sharpen_attr, op_type)),
+	GROUP(nr,
+		(int32_t)offsetof(ot_isp_nr_attr, op_type)),
+	GROUP(drc,
+		(int32_t)offsetof(ot_isp_drc_attr, op_type)),
+	GROUP(ldci,
+		(int32_t)offsetof(ot_isp_ldci_attr, op_type)),
+	GROUP(dehaze,
+		(int32_t)offsetof(ot_isp_dehaze_attr, op_type)),
+	GROUP(ca, -1),
+	GROUP(exposure,
+		(int32_t)offsetof(ot_isp_exposure_attr, op_type)),
+};
+
+#undef GROUP
+
+#define NUM_GROUPS (sizeof(g_groups) / sizeof(g_groups[0]))
+
+/* Largest attribute struct, with the right alignment for every member. */
+typedef union {
+	ot_isp_saturation_attr   saturation;
+	ot_isp_color_tone_attr   color_tone;
+	ot_isp_csc_attr          csc;
+	ot_isp_color_matrix_attr ccm;
+	ot_isp_wb_attr           wb;
+	ot_isp_sharpen_attr      sharpen;
+	ot_isp_nr_attr           nr;
+	ot_isp_drc_attr          drc;
+	ot_isp_ldci_attr         ldci;
+	ot_isp_dehaze_attr       dehaze;
+	ot_isp_ca_attr           ca;
+	ot_isp_exposure_attr     exposure;
+} Cv610IqAttr;
+
+/* Guards the shared scratch attribute and the static emit buffer below —
+ * nothing more.  It does NOT serialize the ss_mpi_isp_* calls themselves:
+ * cv610_pipeline.c's ISP thread never takes this lock, and MPI-level
+ * serialization is the SDK's own responsibility. */
+static pthread_mutex_t g_iq_mutex = PTHREAD_MUTEX_INITIALIZER;
+static Cv610IqAttr     g_attr;
+
+/* ── Field access ───────────────────────────────────────────────────────── */
+
+static size_t field_elem_size(Cv610IqType t)
+{
+	switch (t) {
+	case FT_U8:  return 1;
+	case FT_U16: return 2;
+	case FT_S32:
+	case FT_U32: return 4;
+	}
+	return 4;
+}
+
+static int64_t field_read(const void *attr, const Cv610IqField *f, uint16_t idx)
+{
+	const uint8_t *p = (const uint8_t *)attr + f->offset +
+		idx * field_elem_size(f->type);
+
+	switch (f->type) {
+	case FT_U8:  return (int64_t)*p;
+	case FT_U16: { uint16_t v; memcpy(&v, p, sizeof(v)); return (int64_t)v; }
+	case FT_S32: { int32_t  v; memcpy(&v, p, sizeof(v)); return (int64_t)v; }
+	case FT_U32: { uint32_t v; memcpy(&v, p, sizeof(v)); return (int64_t)v; }
+	}
+	return 0;
+}
+
+/* Callers must range-check first; cv610_iq_set() is the only caller and
+ * rejects out-of-range values rather than silently substituting one. */
+static void field_write(void *attr, const Cv610IqField *f, uint16_t idx, int64_t val)
+{
+	uint8_t *p = (uint8_t *)attr + f->offset + idx * field_elem_size(f->type);
+
+	switch (f->type) {
+	case FT_U8:  *p = (uint8_t)val; return;
+	case FT_U16: { uint16_t v = (uint16_t)val; memcpy(p, &v, sizeof(v)); return; }
+	case FT_S32: { int32_t  v = (int32_t)val;  memcpy(p, &v, sizeof(v)); return; }
+	case FT_U32: { uint32_t v = (uint32_t)val; memcpy(p, &v, sizeof(v)); return; }
+	}
+}
+
+/* ── JSON emission ──────────────────────────────────────────────────────── */
+
+#define JSON_CLAMP(p, sz) do { \
+	if ((p) >= (int)(sz)) (p) = (int)(sz) - 1; } while (0)
+
+#define JSON_PUT(buf, pos, sz, ...) do { \
+	(pos) += snprintf((buf) + (pos), (sz) - (size_t)(pos), __VA_ARGS__); \
+	JSON_CLAMP(pos, sz); } while (0)
+
+static int emit_group_values(char *buf, size_t sz, int pos,
+	const Cv610IqGroup *g, const void *attr)
+{
+	for (uint16_t i = 0; i < g->field_count; i++) {
+		const Cv610IqField *f = &g->fields[i];
+
+		JSON_PUT(buf, pos, sz, "%s\"%s\":", i ? "," : "", f->name);
+		if (f->count == 1) {
+			JSON_PUT(buf, pos, sz, "%lld",
+				(long long)field_read(attr, f, 0));
+			continue;
+		}
+		JSON_PUT(buf, pos, sz, "[");
+		for (uint16_t e = 0; e < f->count; e++)
+			JSON_PUT(buf, pos, sz, "%s%lld",
+				e ? "," : "", (long long)field_read(attr, f, e));
+		JSON_PUT(buf, pos, sz, "]");
+	}
+	return pos;
+}
+
+/* The WebUI builds its knob list from this, so the table here stays the only
+ * copy of the field set. */
+static int emit_schema(char *buf, size_t sz, int pos)
+{
+	JSON_PUT(buf, pos, sz, "\"_schema\":[");
+	for (size_t i = 0; i < NUM_GROUPS; i++) {
+		const Cv610IqGroup *g = &g_groups[i];
+
+		JSON_PUT(buf, pos, sz, "%s{\"name\":\"%s\",\"fields\":[",
+			i ? "," : "", g->name);
+		for (uint16_t f = 0; f < g->field_count; f++) {
+			const Cv610IqField *fd = &g->fields[f];
+			JSON_PUT(buf, pos, sz,
+				"%s{\"name\":\"%s\",\"count\":%u,"
+				"\"min\":%lld,\"max\":%lld,\"domain\":\"%s\"}",
+				f ? "," : "", fd->name,
+				(unsigned)fd->count, (long long)fd->min, (long long)fd->max,
+				fd->domain == F_MANUAL ? "manual" :
+				fd->domain == F_AUTO   ? "auto" : "direct");
+		}
+		JSON_PUT(buf, pos, sz, "]}");
+	}
+	JSON_PUT(buf, pos, sz, "]");
+	return pos;
+}
+
+/* Read-only: which ISP blocks the hardware is bypassing right now.  This is
+ * the control for "did enabling that block actually reach silicon" — a
+ * seeded-but-bypassed block looks identical to one that was never seeded. */
+static int emit_module_ctrl(char *buf, size_t sz, int pos)
+{
+	ot_isp_module_ctrl mod;
+	int ret;
+
+	memset(&mod, 0, sizeof(mod));
+	ret = ss_mpi_isp_get_module_ctrl(CV610_IQ_PIPE, &mod);
+	JSON_PUT(buf, pos, sz, "\"module_ctrl\":{\"ret\":%d", ret);
+	if (ret == 0) {
+		JSON_PUT(buf, pos, sz,
+			",\"bypass\":{\"anti_false_color\":%u,\"crosstalk\":%u,"
+			"\"dpc\":%u,\"nr\":%u,\"dehaze\":%u,\"wb_gain\":%u,"
+			"\"mesh_shading\":%u,\"drc\":%u,\"demosaic\":%u,"
+			"\"color_matrix\":%u,\"gamma\":%u,\"ca\":%u,\"csc\":%u,"
+			"\"sharpen\":%u,\"cac\":%u,\"ldci\":%u}",
+			(unsigned)mod.bit_bypass_anti_false_color,
+			(unsigned)mod.bit_bypass_crosstalk_removal,
+			(unsigned)mod.bit_bypass_dpc,
+			(unsigned)mod.bit_bypass_nr,
+			(unsigned)mod.bit_bypass_dehaze,
+			(unsigned)mod.bit_bypass_wb_gain,
+			(unsigned)mod.bit_bypass_mesh_shading,
+			(unsigned)mod.bit_bypass_drc,
+			(unsigned)mod.bit_bypass_demosaic,
+			(unsigned)mod.bit_bypass_color_matrix,
+			(unsigned)mod.bit_bypass_gamma,
+			(unsigned)mod.bit_bypass_ca,
+			(unsigned)mod.bit_bypass_csc,
+			(unsigned)mod.bit_bypass_sharpen,
+			(unsigned)mod.bit_bypass_cac,
+			(unsigned)mod.bit_bypass_ldci);
+	}
+	JSON_PUT(buf, pos, sz, "}");
+	return pos;
+}
+
+char *cv610_iq_query(void)
+{
+	static char buf[24576];
+	int pos = 0;
+	char *result;
+
+	if (!cv610_pipeline_isp_ready())
+		return NULL;
+
+	pthread_mutex_lock(&g_iq_mutex);
+
+	JSON_PUT(buf, pos, sizeof(buf), "{\"ok\":true,\"data\":{");
+	pos = emit_schema(buf, sizeof(buf), pos);
+
+	for (size_t i = 0; i < NUM_GROUPS; i++) {
+		const Cv610IqGroup *g = &g_groups[i];
+		int ret;
+
+		memset(&g_attr, 0, sizeof(g_attr));
+		ret = g->get(&g_attr);
+
+		JSON_PUT(buf, pos, sizeof(buf), ",\"%s\":{\"ret\":%d",
+			g->name, ret);
+		if (ret == 0) {
+			JSON_PUT(buf, pos, sizeof(buf), ",\"fields\":{");
+			pos = emit_group_values(buf, sizeof(buf), pos, g, &g_attr);
+			JSON_PUT(buf, pos, sizeof(buf), "}");
+		}
+		JSON_PUT(buf, pos, sizeof(buf), "}");
+	}
+
+	JSON_PUT(buf, pos, sizeof(buf), ",");
+	pos = emit_module_ctrl(buf, sizeof(buf), pos);
+	JSON_PUT(buf, pos, sizeof(buf), "}}");
+
+	/* JSON_PUT clamps at the buffer end, so an overflow would serve
+	 * syntactically broken JSON and the page would fail to parse it with no
+	 * clue why.  Fail the request instead; the caller answers 500. */
+	if (pos >= (int)sizeof(buf) - 1) {
+		fprintf(stderr, "[cv610-iq] query truncated at %d bytes; "
+			"grow buf[] past %zu\n", pos, sizeof(buf));
+		pthread_mutex_unlock(&g_iq_mutex);
+		return NULL;
+	}
+
+	result = strdup(buf);
+	pthread_mutex_unlock(&g_iq_mutex);
+	return result;
+}
+
+/* ── Set ────────────────────────────────────────────────────────────────── */
+
+/* strtoll with the whole-token check the caller needs: "12abc" and "" are
+ * rejected rather than silently read as 12 and 0.  64-bit because the AE
+ * gain/exposure fields are td_u32 and a legitimate value can exceed INT32_MAX.
+ *
+ * 64-bit because the AE gain and exposure fields are td_u32 and a legitimate
+ * value can exceed INT32_MAX; overflow is caught by errno == ERANGE from
+ * strtoll, which is the only portable check once the value type is as wide as
+ * the return type. */
+static int parse_i64(const char *s, const char **end, int64_t *out)
+{
+	char *stop = NULL;
+	long long v;
+
+	while (*s == ' ')
+		s++;
+	if (*s == '\0')
+		return -1;
+	errno = 0;
+	v = strtoll(s, &stop, 10);
+	if (stop == s)
+		return -1;
+	if (errno == ERANGE)
+		return -1;
+	while (*stop == ' ')
+		stop++;
+	if (*stop != '\0' && *stop != ',')
+		return -1;
+	*out = (int64_t)v;
+	*end = stop;
+	return 0;
+}
+
+int cv610_iq_set(const char *param, const char *value)
+{
+	const Cv610IqGroup *group = NULL;
+	const Cv610IqField *field = NULL;
+	char group_name[32];
+	const char *field_name;
+	const char *dot;
+	size_t glen;
+	int ret;
+	int rc = -1;
+
+	if (!param || !value)
+		return -1;
+	if (!cv610_pipeline_isp_ready()) {
+		fprintf(stderr, "[cv610-iq] ISP is not running\n");
+		return -1;
+	}
+
+	/* Group and field split on the FIRST dot: field names carry their own
+	 * dot ("manual.saturation"), which is what makes the auto/manual half
+	 * of the struct visible in the name. */
+	dot = strchr(param, '.');
+	if (!dot) {
+		fprintf(stderr, "[cv610-iq] %s: expected <group>.<field>\n", param);
+		return -1;
+	}
+	glen = (size_t)(dot - param);
+	if (glen == 0 || glen >= sizeof(group_name)) {
+		fprintf(stderr, "[cv610-iq] %s: bad group name\n", param);
+		return -1;
+	}
+	memcpy(group_name, param, glen);
+	group_name[glen] = '\0';
+	field_name = dot + 1;
+
+	for (size_t i = 0; i < NUM_GROUPS; i++) {
+		if (strcmp(g_groups[i].name, group_name) == 0) {
+			group = &g_groups[i];
+			break;
+		}
+	}
+	if (!group) {
+		fprintf(stderr, "[cv610-iq] unknown group: %s\n", group_name);
+		return -1;
+	}
+	for (uint16_t i = 0; i < group->field_count; i++) {
+		if (strcmp(group->fields[i].name, field_name) == 0) {
+			field = &group->fields[i];
+			break;
+		}
+	}
+	if (!field) {
+		fprintf(stderr, "[cv610-iq] %s: unknown field: %s\n",
+			group_name, field_name);
+		return -1;
+	}
+
+	pthread_mutex_lock(&g_iq_mutex);
+
+	/* Read-modify-write: the attribute structs carry far more state than
+	 * this table describes, and a zeroed struct would wipe the sensor
+	 * plugin's seeds. */
+	memset(&g_attr, 0, sizeof(g_attr));
+	ret = group->get(&g_attr);
+	if (ret != 0) {
+		fprintf(stderr, "[cv610-iq] %s: get failed: 0x%x\n",
+			group_name, (unsigned)ret);
+		goto out;
+	}
+
+	if (field->count == 1) {
+		int64_t v;
+		const char *end;
+		if (parse_i64(value, &end, &v) != 0 || *end == ',') {
+			fprintf(stderr, "[cv610-iq] %s: expected one integer\n",
+				param);
+			goto out;
+		}
+		if (v < field->min || v > field->max) {
+			fprintf(stderr, "[cv610-iq] %s: %lld out of range [%lld, %lld]\n",
+				param, (long long)v, (long long)field->min,
+				(long long)field->max);
+			goto out;
+		}
+		field_write(&g_attr, field, 0, v);
+	} else {
+		const char *p = value;
+		const char *end = value;
+		uint16_t n = 0;
+		while (n < field->count) {
+			int64_t v;
+			if (parse_i64(p, &end, &v) != 0)
+				break;
+			if (v < field->min || v > field->max) {
+				fprintf(stderr,
+					"[cv610-iq] %s: element %u = %lld out of range "
+					"[%lld, %lld]\n",
+					param, (unsigned)n, (long long)v,
+					(long long)field->min, (long long)field->max);
+				goto out;
+			}
+			field_write(&g_attr, field, n, v);
+			n++;
+			if (*end != ',')
+				break;
+			p = end + 1;
+		}
+		/* Require exactly the declared count, in both directions.  A short
+		 * list leaves the tail at whatever the ISP held; a long one drops
+		 * its excess.  Either way the curve applied is not the curve asked
+		 * for, and a partly-applied curve reads as a successful set. */
+		if (n != field->count || *end != '\0') {
+			fprintf(stderr, "[cv610-iq] %s: expected exactly %u values\n",
+				param, (unsigned)field->count);
+			goto out;
+		}
+	}
+
+	/* A value is inert unless the block is running the domain it lives in,
+	 * so writing one selects that domain.  One rule, both directions:
+	 * without the auto half, restoring an ISO curve after any manual write
+	 * stores the numbers, reads them back, and changes nothing. */
+	if (field->domain != F_DIRECT && group->op_type_offset >= 0) {
+		int32_t mode = (field->domain == F_MANUAL) ?
+			OT_OP_MODE_MANUAL : OT_OP_MODE_AUTO;
+		int32_t was = 0;
+
+		memcpy(&was, (uint8_t *)&g_attr + group->op_type_offset,
+			sizeof(was));
+		memcpy((uint8_t *)&g_attr + group->op_type_offset,
+			&mode, sizeof(mode));
+		/* Say so when it actually moves.  Selecting a domain is a side effect
+		 * of the write, and an operator who pinned op_type by hand deserves a
+		 * trace of it being taken back. */
+		if (was != mode)
+			printf("[cv610-iq] %s: op_type %s -> %s\n", group->name,
+				was == OT_OP_MODE_MANUAL ? "manual" : "auto",
+				mode == OT_OP_MODE_MANUAL ? "manual" : "auto");
+	}
+
+	ret = group->set(&g_attr);
+	if (ret != 0) {
+		fprintf(stderr, "[cv610-iq] %s: set failed: 0x%x\n",
+			param, (unsigned)ret);
+		goto out;
+	}
+
+	printf("[cv610-iq] %s = %s\n", param, value);
+	rc = 0;
+
+out:
+	pthread_mutex_unlock(&g_iq_mutex);
+	return rc;
+}
diff --git a/src/cv610_modes.c b/src/cv610_modes.c
index 308ad303..358a14b7 100644
--- a/src/cv610_modes.c
+++ b/src/cv610_modes.c
@@ -43,6 +43,63 @@ const Cv610SensorMode *cv610_mode_for_fps(uint32_t fps)
 	return NULL;
 }
 
+const Cv610SensorMode *cv610_mode_select(int forced_mode, uint32_t target_fps,
+	int *out_index)
+{
+	const Cv610SensorMode *pick;
+	size_t pick_i = 0;
+	size_t i;
+
+	if (out_index)
+		*out_index = -1;
+
+	/* A forced index is the whole answer: it exists or the config is wrong.
+	 * Parity with find_best_mode(), which fails bring-up rather than
+	 * quietly running a mode the operator did not ask for. */
+	if (forced_mode >= 0) {
+		if ((size_t)forced_mode >= CV610_MODE_COUNT)
+			return NULL;
+		if (out_index)
+			*out_index = forced_mode;
+		return &g_cv610_modes[forced_mode];
+	}
+	/* Nothing to select against.  Rejecting keeps the behaviour this
+	 * function replaced — a bare cv610_mode_for_fps(0) returned NULL too —
+	 * rather than inventing a rate for a config that names none. */
+	if (target_fps == 0)
+		return NULL;
+
+	pick = cv610_mode_for_fps(target_fps);
+	if (pick != NULL) {
+		if (out_index)
+			*out_index = (int)(pick - g_cv610_modes);
+		return pick;
+	}
+
+	/* Slowest mode still faster than the target: never deliver fewer frames
+	 * than asked for while a mode that can keep up exists. */
+	for (i = 0; i < CV610_MODE_COUNT; ++i) {
+		const Cv610SensorMode *m = &g_cv610_modes[i];
+
+		if (m->fps > target_fps && (pick == NULL || m->fps < pick->fps)) {
+			pick = m;
+			pick_i = i;
+		}
+	}
+	/* Target above every mode: clamp to the fastest. */
+	if (pick == NULL) {
+		for (i = 0; i < CV610_MODE_COUNT; ++i) {
+			if (pick == NULL || g_cv610_modes[i].fps > pick->fps) {
+				pick = &g_cv610_modes[i];
+				pick_i = i;
+			}
+		}
+	}
+	if (out_index)
+		*out_index = (int)pick_i;
+	return pick;
+}
+
 const char *cv610_mode_check_output(const Cv610SensorMode *mode,
 	uint32_t width, uint32_t height)
 {
diff --git a/src/cv610_pipeline.c b/src/cv610_pipeline.c
index 56bcd70a..669be227 100644
--- a/src/cv610_pipeline.c
+++ b/src/cv610_pipeline.c
@@ -4,6 +4,8 @@
  * the public lifecycle is the small cv610_pipeline_* interface below.
  */
 #include "cv610_pipeline.h"
+
+#include "pipeline_common.h"
 /* Minimal Hi3516CV610 + IMX662 MIPI/VI/ISP graph. The target's MPP module
  * loader and sensor-clock prerequisites are documented in
  * docs/CV610_BACKEND.md. VENC and output ownership stay in cv610_runtime.c. */
@@ -89,6 +91,7 @@ typedef struct {
 	uint32_t     sensor_clock_hz; /* MCLK this mode's line timing assumes */
 	unsigned int out_width;    /* VPSS output = encoded size */
 	unsigned int out_height;
+	int          keep_aspect;  /* isp.keepAspect: crop before scaling */
 	int          vi_online;    /* VI -> ISP online/realtime mode */
 } Cv610PipelineRuntimeConfig;
 
@@ -228,12 +231,31 @@ static int mipi_setup(const Cv610PipelineRuntimeConfig *c)
 
 /* --------------------------------------------------------------- VB / SYS -- */
 
+/* Two configs match when they would hand out the same buffers. Only the pools
+ * actually in use are compared; the rest of the struct is zero-filled padding
+ * and an mmz_name this backend never sets. */
+static int vb_cfg_equal(const ot_vb_cfg *a, const ot_vb_cfg *b)
+{
+	unsigned int i;
+
+	if (a->max_pool_cnt != b->max_pool_cnt) {
+		return 0;
+	}
+	for (i = 0; i < a->max_pool_cnt && i < OT_VB_MAX_COMMON_POOLS; i++) {
+		if (a->common_pool[i].blk_size != b->common_pool[i].blk_size ||
+			a->common_pool[i].blk_cnt != b->common_pool[i].blk_cnt) {
+			return 0;
+		}
+	}
+	return 1;
+}
+
 static int sys_setup(const Cv610PipelineRuntimeConfig *c)
 {
 	ot_vb_cfg vb;
 	ot_vi_vpss_mode vi_vpss_mode;
 	td_u64 raw_blk, yuv_blk, out_blk;
-	td_s32 sys_ret, vb_ret;
+	td_s32 sys_ret, vb_ret, set_ret, isp_ret;
 	unsigned int i;
 
 	/* RAW12 is stored 16bpp in the pipe buffers; be generous, this is a probe. */
@@ -260,14 +282,23 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c)
 	/* VB/SYS state lives in the kernel and survives the process that created
 	 * it, and only the creating process may tear it down — so after a crashed
 	 * run vb_exit returns NOT_PERM and the config below cannot be replaced.
-	 * BUSY is therefore acceptable for the normal offline restart path. For
-	 * online mode it is not: selecting VI-online must happen after a complete,
+	 * A clean exit runs mpp_cleanup()'s vb_exit, so this pre-clean normally
+	 * finds nothing to do and the set_cfg below simply takes. For online mode
+	 * BUSY is not acceptable: selecting VI-online must happen after a complete,
 	 * successful SYS init and before any VI pipe exists. */
 	/* C does not define function-argument evaluation order. Keep the vendor
 	 * API's SYS-then-VB shutdown order explicit and make each result legible. */
+	/* ISP mem-init is the one piece of graph state a hard kill leaves behind:
+	 * measured on the .181 bench, SIGKILL releases VB (set_cfg then succeeds)
+	 * but leaves ISP[0] inited, so the next run dies at ss_mpi_isp_mem_init
+	 * with 0xa01c800c "already inited". Clear it here, with the other
+	 * pre-cleans and before anything of ours is registered, so a crash does
+	 * not need a module reload to recover. */
+	isp_ret = ss_mpi_isp_exit(VI_PIPE);
 	sys_ret = ss_mpi_sys_exit();
 	vb_ret = ss_mpi_vb_exit();
-	printf("  pre-clean: sys_exit=0x%x vb_exit=0x%x\n", sys_ret, vb_ret);
+	printf("  pre-clean: isp_exit=0x%x sys_exit=0x%x vb_exit=0x%x\n",
+		   isp_ret, sys_ret, vb_ret);
 
 	memset(&vi_vpss_mode, 0, sizeof(vi_vpss_mode));
 	for (i = 0; i < OT_VI_MAX_PIPE_NUM; i++) {
@@ -277,7 +308,35 @@ static int sys_setup(const Cv610PipelineRuntimeConfig *c)
 		vi_vpss_mode.mode[VI_PIPE] = OT_VI_ONLINE_VPSS_OFFLINE;
 	}
 
-	CV610_CHECK_OR_BUSY(ss_mpi_vb_set_cfg(&vb));
+	set_ret = ss_mpi_vb_set_cfg(&vb);
+	if (set_ret != TD_SUCCESS) {
+		ot_vb_cfg live;
+
+		if (cv610_error_id(set_ret) != OT_ERR_BUSY) {
+			fprintf(stderr, "FAIL ss_mpi_vb_set_cfg = 0x%x\n", set_ret);
+			return -1;
+		}
+		/* VB is still held by an owner that never tore it down — a crashed
+		 * run, since a clean exit calls vb_exit from mpp_cleanup(). Adopting
+		 * it is only safe when the live pool layout is the one this mode was
+		 * about to ask for. Tolerating BUSY blindly would leave every block
+		 * the wrong size, and that surfaces far downstream as corruption
+		 * rather than as a failed init. */
+		memset(&live, 0, sizeof(live));
+		if (ss_mpi_vb_get_cfg(&live) != TD_SUCCESS ||
+			!vb_cfg_equal(&live, &vb)) {
+			/* Points at a reboot, not a module reload. This fires only after
+			 * a predecessor died abnormally, which is exactly the boot state
+			 * where an unload cannot be undone: the modules will not load
+			 * back, and on a video-only craft the attempt resets the SoC. */
+			fprintf(stderr, "FAIL VB is held by a dead owner and its layout "
+					"differs from this mode; reboot to clear it\n");
+			return -1;
+		}
+		printf("  ok  ss_mpi_vb_set_cfg  (adopted identical live config)\n");
+	} else {
+		printf("  ok  ss_mpi_vb_set_cfg\n");
+	}
 	CV610_CHECK_OR_BUSY(ss_mpi_vb_init());
 	if (c->vi_online) {
 		/* Online mode can only be selected after a complete SYS init. Do not
@@ -528,6 +587,41 @@ static int vpss_setup(const Cv610PipelineRuntimeConfig *c)
 	grp_attr.frame_rate.dst_frame_rate = -1;
 	CV610_CHECK(ss_mpi_vpss_create_grp(VPSS_GRP, &grp_attr));
 
+	/* Aspect: the channel below scales whatever the group hands it, so
+	 * without this a 4:3 video0.size out of a 16:9 capture is squashed
+	 * rather than framed.  Crop the group's input to the encoded aspect
+	 * first — the same centre-crop rule Star6E and Maruko apply through
+	 * pipeline_common_compute_precrop(), from the same shared function so
+	 * the three backends cannot drift.
+	 *
+	 * Written UNCONDITIONALLY, including the disable.  MPP objects are
+	 * kernel state on this SoC and a group that outlives a teardown keeps
+	 * whatever crop it was last given, so "skip the call when no crop is
+	 * needed" would inherit a stale rectangle from the previous run's
+	 * geometry.  vpss_teardown() destroys the group precisely so that
+	 * cannot happen today — this keeps it true without depending on it. */
+	{
+		PipelinePrecropRect precrop = pipeline_common_compute_precrop(
+			c->width, c->height, c->out_width, c->out_height,
+			c->keep_aspect ? true : false);
+		int cropping = (precrop.w != c->width || precrop.h != c->height);
+		ot_vpss_crop_info crop;
+
+		memset(&crop, 0, sizeof(crop));
+		crop.enable = cropping ? TD_TRUE : TD_FALSE;
+		crop.crop_mode = OT_COORD_ABS;
+		crop.crop_rect.x = precrop.x;
+		crop.crop_rect.y = precrop.y;
+		crop.crop_rect.width = precrop.w;
+		crop.crop_rect.height = precrop.h;
+		CV610_CHECK(ss_mpi_vpss_set_grp_crop(VPSS_GRP, &crop));
+		if (cropping)
+			printf("  ok  aspect crop %ux%u+%u+%u of %ux%u -> %ux%u\n",
+				(unsigned)precrop.w, (unsigned)precrop.h,
+				(unsigned)precrop.x, (unsigned)precrop.y,
+				c->width, c->height, c->out_width, c->out_height);
+	}
+
 	memset(&chn_attr, 0, sizeof(chn_attr));
 	chn_attr.width         = c->out_width;
 	chn_attr.height        = c->out_height;
@@ -637,6 +731,7 @@ int cv610_pipeline_start(const Cv610PipelineConfig *config)
 	c.sensor_clock_hz = config->sensor_clock_hz;
 	c.out_width = config->out_width;
 	c.out_height = config->out_height;
+	c.keep_aspect = config->keep_aspect;
 	c.vi_online = config->vi_online;
 	g_stop = 0;
 
@@ -672,6 +767,11 @@ int cv610_pipeline_start(const Cv610PipelineConfig *config)
 	return 0;
 }
 
+int cv610_pipeline_isp_ready(void)
+{
+	return g_isp_thread_ok;
+}
+
 void cv610_pipeline_stop(void)
 {
 	g_stop = 1;
diff --git a/src/cv610_runtime.c b/src/cv610_runtime.c
index 3ed38870..458ff111 100644
--- a/src/cv610_runtime.c
+++ b/src/cv610_runtime.c
@@ -1,6 +1,8 @@
 #include "cv610_runtime.h"
 
 #include "cv610_audio.h"
+#include "cv610_encoder_config.h"
+#include "cv610_iq.h"
 #include "cv610_modes.h"
 #include "cv610_pipeline.h"
 #include "debug_osd.h"
@@ -10,6 +12,7 @@
 #include "idr_rate_limit.h"
 #include "output_socket.h"
 #include "rtp_session.h"
+#include "timing.h"
 #include "venc_frame_ring.h"
 #include "venc_ring.h"
 #include "venc_api.h"
@@ -17,6 +20,7 @@
 #include "venc_respawn.h"
 
 #include <errno.h>
+#include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -61,6 +65,17 @@ typedef struct {
 	uint64_t bytes;
 	uint64_t output_drops;
 	uint64_t packets_sent;
+	uint64_t drop_idr_last_us;
+	uint8_t gdr_active;
+	uint8_t gdr_cycle_len;
+	uint8_t gdr_counter;
+	uint8_t svct_active;
+	uint8_t delivered_slice_count;
+	uint8_t slice_census_done;
+	uint32_t requested_slice_count;
+	uint32_t ref_census_frames;
+	uint32_t ref_type_counts[OT_VENC_P_SLICE_BUTT];
+	uint32_t trail_n_patched;
 	int venc_created;
 	int venc_started;
 	int venc_bound;
@@ -72,6 +87,40 @@ typedef struct {
  * runner. It is published before HTTP starts and cleared after HTTP joins. */
 static Cv610RunnerContext *g_cv610_runner;
 
+static Cv610IntraRefreshStatus g_cv610_intra_status;
+static Cv610RefPredStatus g_cv610_ref_status;
+static pthread_mutex_t g_cv610_status_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+void cv610_runtime_intra_refresh_status(Cv610IntraRefreshStatus *out)
+{
+	if (!out)
+		return;
+	pthread_mutex_lock(&g_cv610_status_mutex);
+	*out = g_cv610_intra_status;
+	pthread_mutex_unlock(&g_cv610_status_mutex);
+}
+
+void cv610_runtime_ref_pred_status(Cv610RefPredStatus *out)
+{
+	if (!out)
+		return;
+	pthread_mutex_lock(&g_cv610_status_mutex);
+	*out = g_cv610_ref_status;
+	pthread_mutex_unlock(&g_cv610_status_mutex);
+}
+
+static void cv610_publish_encoder_status(
+	const Cv610IntraRefreshStatus *intra,
+	const Cv610RefPredStatus *ref)
+{
+	pthread_mutex_lock(&g_cv610_status_mutex);
+	if (intra)
+		g_cv610_intra_status = *intra;
+	if (ref)
+		g_cv610_ref_status = *ref;
+	pthread_mutex_unlock(&g_cv610_status_mutex);
+}
+
 static int cv610_update_venc_attr(uint32_t bitrate, uint32_t gop,
 	int qp_delta, unsigned int fields)
 {
@@ -112,6 +161,87 @@ static int cv610_apply_qp_delta(int delta)
 	return cv610_update_venc_attr(0, 0, delta, 4u);
 }
 
+/* Captured on the first write so that 0 restores the driver's own default
+ * rather than pinning whatever happened to be in force at the time. */
+static struct {
+	td_u32 max_qp, min_qp, max_i_qp, min_i_qp;
+	int captured;
+} g_cv610_qp_defaults;
+
+/* CBR can only hold its target by raising QP.  In a high-gain, noise-dominated
+ * scene the QP the encoder needs can exceed the driver's default ceiling, and
+ * once it saturates the bitrate overshoots with the rate controller powerless
+ * — measured at 3-7x target on the .181 bench with the lights off.  This is
+ * the knob that lets it squeeze; it does not make the picture better, it stops
+ * the overshoot.  0 on either bound leaves/restores the driver default. */
+static int cv610_apply_qp_bounds(uint32_t min_qp, uint32_t max_qp)
+{
+	ot_venc_chn_attr attr;
+	ot_venc_rc_param param;
+	td_s32 ret;
+
+	if (min_qp == 0 && max_qp == 0 && !g_cv610_qp_defaults.captured)
+		return 0;   /* never written — driver defaults already in force */
+
+	memset(&attr, 0, sizeof(attr));
+	if (ss_mpi_venc_get_chn_attr(CV610_VENC_CHN, &attr) != TD_SUCCESS)
+		return -1;
+	/* Only CBR carries these bounds; the backend configures nothing else,
+	 * but a future mode change must not write through the wrong union arm. */
+	if (attr.rc_attr.rc_mode != OT_VENC_RC_MODE_H265_CBR)
+		return -1;
+
+	memset(&param, 0, sizeof(param));
+	if (ss_mpi_venc_get_rc_param(CV610_VENC_CHN, &param) != TD_SUCCESS)
+		return -1;
+
+	if (!g_cv610_qp_defaults.captured) {
+		g_cv610_qp_defaults.max_qp   = param.h265_cbr_param.max_qp;
+		g_cv610_qp_defaults.min_qp   = param.h265_cbr_param.min_qp;
+		g_cv610_qp_defaults.max_i_qp = param.h265_cbr_param.max_i_qp;
+		g_cv610_qp_defaults.min_i_qp = param.h265_cbr_param.min_i_qp;
+		g_cv610_qp_defaults.captured = 1;
+	}
+
+	param.h265_cbr_param.max_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_qp;
+	param.h265_cbr_param.min_qp = min_qp ? min_qp : g_cv610_qp_defaults.min_qp;
+	/* I-frames get the same CEILING -- raising only the P bound leaves the
+	 * I-frame free to blow the budget on its own, which in a noisy scene is
+	 * where the biggest frames come from.  Their FLOOR is deliberately left
+	 * alone: video0.qp_delta biases I-frames below the P QP (this craft ships
+	 * -4), and an I-frame floor would silently cancel it.  Star6E's
+	 * apply_qp_bounds() touches only the P bounds for the same reason. */
+	param.h265_cbr_param.max_i_qp = max_qp ? max_qp : g_cv610_qp_defaults.max_i_qp;
+
+	/* The API validator only compares min against max when BOTH are non-zero,
+	 * so a half-specified pair can still resolve to min > max against the
+	 * driver default.  The SDK takes that without complaint and then behaves
+	 * erratically, so reject it here rather than write it. */
+	if (param.h265_cbr_param.min_qp > param.h265_cbr_param.max_qp ||
+		param.h265_cbr_param.min_i_qp > param.h265_cbr_param.max_i_qp) {
+		fprintf(stderr, "ERROR: qpBounds min>max after resolving defaults "
+			"(p %u/%u, i %u/%u)\n",
+			(unsigned)param.h265_cbr_param.min_qp,
+			(unsigned)param.h265_cbr_param.max_qp,
+			(unsigned)param.h265_cbr_param.min_i_qp,
+			(unsigned)param.h265_cbr_param.max_i_qp);
+		return -1;
+	}
+
+	ret = ss_mpi_venc_set_rc_param(CV610_VENC_CHN, &param);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_set_rc_param=0x%x\n",
+			(unsigned)ret);
+		return -1;
+	}
+	printf("> qpBounds: min=%u max=%u (0 = driver default %u/%u)\n",
+		(unsigned)param.h265_cbr_param.min_qp,
+		(unsigned)param.h265_cbr_param.max_qp,
+		(unsigned)g_cv610_qp_defaults.min_qp,
+		(unsigned)g_cv610_qp_defaults.max_qp);
+	return 0;
+}
+
 static int cv610_apply_verbose(bool on)
 {
 	if (!g_cv610_runner)
@@ -139,6 +269,17 @@ static int cv610_request_idr(void)
 		? 0 : -1;
 }
 
+/* Ring-drop recovery form: unlike the public callback, report whether the
+ * request actually passed the shared limiter so the one-second holdoff can
+ * retry a coalesced request on the next chain-breaking drop. */
+static int cv610_ring_request_idr(void)
+{
+	if (!idr_rate_limit_allow(CV610_VENC_CHN))
+		return 0;
+	return ss_mpi_venc_request_idr(CV610_VENC_CHN, TD_TRUE) == TD_SUCCESS
+		? 1 : 0;
+}
+
 static uint32_t cv610_query_live_fps(void)
 {
 	return g_cv610_runner ? g_cv610_runner->pipeline.fps : 0;
@@ -249,6 +390,9 @@ static const VencApplyCallbacks g_cv610_apply_callbacks = {
 	.apply_max_payload_size = cv610_apply_max_payload_size,
 	.query_transport_status = cv610_query_transport_status,
 	.query_audio_status = cv610_query_audio_status,
+	.query_iq_info = cv610_iq_query,
+	.apply_iq_param = cv610_iq_set,
+	.apply_qp_bounds = cv610_apply_qp_bounds,
 };
 
 static void cv610_signal_handler(int signo)
@@ -291,6 +435,20 @@ static int cv610_frame_is_idr(const uint8_t *frame, size_t len)
 	return 0;
 }
 
+static uint32_t cv610_frame_vcl_nal_count(const uint8_t *frame, size_t len)
+{
+	size_t cursor = 0;
+	const uint8_t *nal;
+	size_t nal_len;
+	uint32_t count = 0;
+
+	while (h26x_util_annexb_next(frame, len, &cursor, &nal, &nal_len)) {
+		if (h26x_util_hevc_nalu_type(nal, nal_len) <= 31)
+			count++;
+	}
+	return count;
+}
+
 static int cv610_send_rtp_frame(Cv610RunnerContext *ctx,
 	const uint8_t *frame, size_t len)
 {
@@ -366,8 +524,229 @@ static int cv610_copy_stream(const ot_venc_stream *stream, uint8_t **out,
 	return 0;
 }
 
+static int cv610_apply_encoder_config(Cv610RunnerContext *ctx,
+	const Cv610EncoderConfig *enc)
+{
+	Cv610IntraRefreshStatus intra_status;
+	Cv610RefPredStatus ref_status;
+	ot_venc_intra_refresh intra;
+	ot_venc_intra_refresh intra_rb;
+	ot_venc_ref_param ref;
+	ot_venc_ref_param ref_rb;
+	ot_venc_slice_split split;
+	ot_venc_slice_split split_rb;
+	uint32_t delivered_slices = 1;
+	uint32_t cycle_len = 0;
+	td_s32 ret;
+
+	if (!ctx || !enc)
+		return -1;
+
+	memset(&intra_status, 0, sizeof(intra_status));
+	memset(&ref_status, 0, sizeof(ref_status));
+	snprintf(intra_status.mode_name, sizeof(intra_status.mode_name), "%s",
+		intra_refresh_mode_name(enc->intra.derived.mode));
+	intra_status.mi_supported = 1;
+	intra_status.target_ms = enc->intra.derived.target_ms;
+	intra_status.total_rows = enc->intra.derived.total_rows;
+	intra_status.requested_lines = ctx->config.video0.intra_refresh_lines;
+	intra_status.effective_lines_per_p = enc->intra.refresh_num;
+	intra_status.lines_clamped = enc->intra.derived.lines_clamped;
+	intra_status.requested_qp = ctx->config.video0.intra_refresh_qp;
+	intra_status.effective_qp = enc->intra.request_i_qp;
+	intra_status.explicit_gop_sec = ctx->config.video0.gop_size;
+	intra_status.effective_gop_sec = enc->intra.derived.gop_overridden
+		? ctx->config.video0.gop_size : enc->intra.derived.gop_sec;
+	intra_status.gop_auto = enc->intra.derived.gop_overridden
+		? 0 : enc->intra.derived.gop_sec > 0.0;
+
+	ref_status.mi_supported = 1;
+	ref_status.base = enc->ref.base;
+	ref_status.enhance = enc->ref.enhance;
+	ref_status.pred = enc->ref.pred ? 1 : 0;
+
+	ctx->gdr_active = 0;
+	ctx->gdr_cycle_len = 0;
+	ctx->gdr_counter = 0;
+	ctx->svct_active = 0;
+	ctx->delivered_slice_count = 1;
+	ctx->slice_census_done = 0;
+	ctx->requested_slice_count = enc->slice.requested_count;
+	ctx->ref_census_frames = 0;
+	memset(ctx->ref_type_counts, 0, sizeof(ctx->ref_type_counts));
+	ctx->trail_n_patched = 0;
+
+	/* Fresh channels default intra refresh off, but always write the enable
+	 * bit so restart behavior does not depend on a future firmware default.
+	 * Preserve the driver's inactive refresh/QP values when disabling because
+	 * zero is outside some vendor revisions' accepted range. */
+	memset(&intra, 0, sizeof(intra));
+	ret = ss_mpi_venc_get_intra_refresh(CV610_VENC_CHN, &intra);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_get_intra_refresh=0x%x\n",
+			(unsigned)ret);
+		goto fail;
+	}
+	intra.enable = enc->intra.enabled ? TD_TRUE : TD_FALSE;
+	intra.mode = OT_VENC_INTRA_REFRESH_ROW;
+	if (enc->intra.enabled) {
+		intra.refresh_num = enc->intra.refresh_num;
+		intra.request_i_qp = enc->intra.request_i_qp;
+	}
+	ret = ss_mpi_venc_set_intra_refresh(CV610_VENC_CHN, &intra);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_set_intra_refresh=0x%x "
+			"enable=%u rows=%u qp=%u\n", (unsigned)ret,
+			(unsigned)intra.enable, (unsigned)intra.refresh_num,
+			(unsigned)intra.request_i_qp);
+		goto fail;
+	}
+	memset(&intra_rb, 0, sizeof(intra_rb));
+	ret = ss_mpi_venc_get_intra_refresh(CV610_VENC_CHN, &intra_rb);
+	if (ret != TD_SUCCESS || intra_rb.enable != intra.enable ||
+	    (enc->intra.enabled &&
+	     (intra_rb.mode != intra.mode ||
+	      intra_rb.refresh_num != intra.refresh_num ||
+	      intra_rb.request_i_qp != intra.request_i_qp))) {
+		fprintf(stderr, "ERROR: CV610 intra-refresh readback mismatch "
+			"ret=0x%x want=%u/%u/%u/%u got=%u/%u/%u/%u\n",
+			(unsigned)ret, (unsigned)intra.enable, (unsigned)intra.mode,
+			(unsigned)intra.refresh_num, (unsigned)intra.request_i_qp,
+			(unsigned)intra_rb.enable, (unsigned)intra_rb.mode,
+			(unsigned)intra_rb.refresh_num,
+			(unsigned)intra_rb.request_i_qp);
+		goto fail;
+	}
+	intra_status.apply_ok = 1;
+	intra_status.active = enc->intra.enabled ? 1 : 0;
+	intra_status.effective_lines_per_p = enc->intra.enabled
+		? intra_rb.refresh_num : 0;
+	intra_status.effective_qp = enc->intra.enabled
+		? intra_rb.request_i_qp : 0;
+	if (enc->intra.enabled && intra_rb.refresh_num > 0) {
+		cycle_len = (enc->intra.derived.total_rows +
+			intra_rb.refresh_num - 1u) / intra_rb.refresh_num;
+		ctx->gdr_active = 1;
+		ctx->gdr_cycle_len = cycle_len > 255u ? 255u : (uint8_t)cycle_len;
+	}
+
+	/* The disabled state is the fresh-channel default. Only program the
+	 * reference cadence when a preset requested it, avoiding an invented
+	 * "off" tuple for an API whose base field must be greater than zero. */
+	memset(&ref_rb, 0, sizeof(ref_rb));
+	ret = ss_mpi_venc_get_ref_param(CV610_VENC_CHN, &ref_rb);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_get_ref_param=0x%x\n",
+			(unsigned)ret);
+		goto fail;
+	}
+	if (enc->ref.enabled) {
+		memset(&ref, 0, sizeof(ref));
+		ref.base = enc->ref.base;
+		ref.enhance = enc->ref.enhance;
+		ref.pred_en = enc->ref.pred ? TD_TRUE : TD_FALSE;
+		ref.base_qp_delta_en = TD_FALSE;
+		ref.base_qp_delta = 0;
+		ret = ss_mpi_venc_set_ref_param(CV610_VENC_CHN, &ref);
+		if (ret != TD_SUCCESS) {
+			fprintf(stderr, "ERROR: ss_mpi_venc_set_ref_param=0x%x "
+				"base=%u enhance=%u pred=%u\n", (unsigned)ret,
+				(unsigned)ref.base, (unsigned)ref.enhance,
+				(unsigned)ref.pred_en);
+			goto fail;
+		}
+		memset(&ref_rb, 0, sizeof(ref_rb));
+		ret = ss_mpi_venc_get_ref_param(CV610_VENC_CHN, &ref_rb);
+		if (ret != TD_SUCCESS || ref_rb.base != ref.base ||
+		    ref_rb.enhance != ref.enhance ||
+		    ref_rb.pred_en != ref.pred_en ||
+		    ref_rb.base_qp_delta_en != ref.base_qp_delta_en ||
+		    ref_rb.base_qp_delta != ref.base_qp_delta) {
+			fprintf(stderr, "ERROR: CV610 ref-param readback mismatch "
+				"ret=0x%x want=%u/%u/%u/%u/%d "
+				"got=%u/%u/%u/%u/%d\n",
+				(unsigned)ret, (unsigned)ref.base,
+				(unsigned)ref.enhance, (unsigned)ref.pred_en,
+				(unsigned)ref.base_qp_delta_en,
+				(int)ref.base_qp_delta,
+				(unsigned)ref_rb.base, (unsigned)ref_rb.enhance,
+				(unsigned)ref_rb.pred_en,
+				(unsigned)ref_rb.base_qp_delta_en,
+				(int)ref_rb.base_qp_delta);
+			goto fail;
+		}
+		ref_status.active = 1;
+		ctx->svct_active = 1;
+	}
+	ref_status.apply_ok = 1;
+
+	/* split_mode=1 is the live firmware's row-split default. Early slice
+	 * output remains off: this runtime publishes one whole access unit per
+	 * GetStream result to both frame-SHM and RTP. */
+	memset(&split, 0, sizeof(split));
+	ret = ss_mpi_venc_get_slice_split(CV610_VENC_CHN, &split);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_get_slice_split=0x%x\n",
+			(unsigned)ret);
+		goto fail;
+	}
+	split.enable = enc->slice.enabled ? TD_TRUE : TD_FALSE;
+	split.slice_output_en = TD_FALSE;
+	if (enc->slice.enabled) {
+		split.split_mode = enc->slice.split_mode;
+		split.split_size = enc->slice.split_size;
+	}
+	ret = ss_mpi_venc_set_slice_split(CV610_VENC_CHN, &split);
+	if (ret != TD_SUCCESS) {
+		fprintf(stderr, "ERROR: ss_mpi_venc_set_slice_split=0x%x "
+			"enable=%u mode=%u size=%u\n", (unsigned)ret,
+			(unsigned)split.enable, (unsigned)split.split_mode,
+			(unsigned)split.split_size);
+		goto fail;
+	}
+	memset(&split_rb, 0, sizeof(split_rb));
+	ret = ss_mpi_venc_get_slice_split(CV610_VENC_CHN, &split_rb);
+	if (ret != TD_SUCCESS || split_rb.enable != split.enable ||
+	    split_rb.slice_output_en != TD_FALSE ||
+	    (enc->slice.enabled &&
+	     (split_rb.split_mode != split.split_mode ||
+	      split_rb.split_size != split.split_size))) {
+		fprintf(stderr, "ERROR: CV610 slice readback mismatch "
+			"ret=0x%x want=%u/%u/%u/0 got=%u/%u/%u/%u\n",
+			(unsigned)ret, (unsigned)split.enable,
+			(unsigned)split.split_mode, (unsigned)split.split_size,
+			(unsigned)split_rb.enable, (unsigned)split_rb.split_mode,
+			(unsigned)split_rb.split_size,
+			(unsigned)split_rb.slice_output_en);
+		goto fail;
+	}
+	if (enc->slice.enabled && split_rb.split_size > 0)
+		delivered_slices = (enc->slice.total_lcu_rows +
+			split_rb.split_size - 1u) / split_rb.split_size;
+	ctx->delivered_slice_count = delivered_slices > 255u
+		? 255u : (uint8_t)delivered_slices;
+
+	cv610_publish_encoder_status(&intra_status, &ref_status);
+	fprintf(stderr, "[waybeam] CV610 resilience: intra=%s rows=%u qp=%u "
+		"cycle=%u ref=%u/%u pred=%u\n", intra_status.mode_name,
+		(unsigned)intra_status.effective_lines_per_p,
+		(unsigned)intra_status.effective_qp, (unsigned)cycle_len,
+		(unsigned)ref_status.base, (unsigned)ref_status.enhance,
+		(unsigned)ref_status.pred);
+	fprintf(stderr, "[waybeam] CV610 slices: requested=%u delivered=%u "
+		"mode=%u lcu_rows_per_slice=%u early_output=0\n",
+		(unsigned)enc->slice.requested_count, (unsigned)delivered_slices,
+		(unsigned)split_rb.split_mode, (unsigned)split_rb.split_size);
+	return 0;
+
+fail:
+	cv610_publish_encoder_status(&intra_status, &ref_status);
+	return -1;
+}
+
 static int cv610_venc_start(Cv610RunnerContext *ctx)
 {
+	Cv610EncoderConfig enc;
 	ot_venc_chn_attr attr;
 	ot_venc_h265_vui vui;
 	ot_venc_start_param start;
@@ -376,8 +755,16 @@ static int cv610_venc_start(Cv610RunnerContext *ctx)
 	uint32_t gop;
 	td_s32 ret;
 
+	if (cv610_encoder_config_derive(&ctx->config, ctx->pipeline.out_height,
+		ctx->pipeline.fps, &enc) != 0) {
+		fprintf(stderr, "ERROR: invalid CV610 encoder resilience/slice config\n");
+		return -1;
+	}
 	gop = ctx->config.video0.gop_size <= 0.0 ? 1u :
 		(uint32_t)(ctx->config.video0.gop_size * ctx->pipeline.fps + 0.5);
+	if (enc.intra.enabled && !enc.intra.derived.gop_overridden &&
+	    enc.intra.derived.gop_frames > 0)
+		gop = enc.intra.derived.gop_frames;
 	if (gop == 0)
 		gop = 1;
 	memset(&attr, 0, sizeof(attr));
@@ -407,6 +794,21 @@ static int cv610_venc_start(Cv610RunnerContext *ctx)
 		return -1;
 	}
 	ctx->venc_created = 1;
+	if (cv610_apply_encoder_config(ctx, &enc) != 0)
+		return -1;
+	/* video0.minQp/maxQp are MUT_LIVE, but they also have to take effect on
+	 * a cold boot -- the config is read before the channel exists, so the
+	 * live path never runs for a value that was already in the file. */
+	if (ctx->config.video0.min_qp || ctx->config.video0.max_qp) {
+		/* Not (void): a rejected cold-boot apply would otherwise leave the
+		 * operator booting with no QP bound and no indication. */
+		if (cv610_apply_qp_bounds(ctx->config.video0.min_qp,
+				ctx->config.video0.max_qp) != 0)
+			fprintf(stderr, "WARN: qpBounds from config not applied "
+				"(min=%u max=%u)\n",
+				(unsigned)ctx->config.video0.min_qp,
+				(unsigned)ctx->config.video0.max_qp);
+	}
 	memset(&vui, 0, sizeof(vui));
 	ret = ss_mpi_venc_get_h265_vui(CV610_VENC_CHN, &vui);
 	if (ret != TD_SUCCESS)
@@ -517,22 +919,35 @@ static int cv610_prepare(void *opaque)
 	Cv610RunnerContext *ctx = opaque;
 	VencConfig *cfg = &ctx->config;
 	const Cv610SensorMode *mode;
+	int mode_index = -1;
 
 	setvbuf(stdout, NULL, _IONBF, 0);
 	/* Config loading and every staged HTTP mutation run the same lookup
 	 * through cv610_validate_config(), so reaching this is a config file
 	 * edited behind the daemon's back. */
-	mode = cv610_mode_for_fps(cfg->video0.fps);
+	mode = cv610_mode_select(cfg->sensor.mode, cfg->video0.fps, &mode_index);
 	if (mode == NULL || cv610_mode_check_output(mode, cfg->video0.width,
 			cfg->video0.height) != NULL) {
 		fprintf(stderr, "ERROR: CV610 cannot encode %ux%u @ %u fps\n",
 			cfg->video0.width, cfg->video0.height, cfg->video0.fps);
 		return 1;
 	}
+	/* The sensor runs at the MODE's rate.  Say so when that is not what was
+	 * asked for — a forced sensor.mode and a substituted target both land
+	 * here, and silence would leave every status endpoint reporting a rate
+	 * the operator never chose. */
+	if (mode->fps != cfg->video0.fps)
+		printf("> Requested %u fps, using %u fps (sensor mode %d: %s)\n",
+			cfg->video0.fps, mode->fps, mode_index, mode->desc);
+	/* Publish what was actually selected, so /api/v1/modes reports the
+	 * achieved mode rather than recomputing the configured one — the same
+	 * contract star6e_pipeline.c fulfils after sensor_select(). */
+	venc_api_set_sensor_info(0, mode_index, cfg->sensor.index);
 	ctx->pipeline.width = mode->width;
 	ctx->pipeline.height = mode->height;
 	cv610_mode_resolve_output(mode, cfg->video0.width, cfg->video0.height,
 		&ctx->pipeline.out_width, &ctx->pipeline.out_height);
+	ctx->pipeline.keep_aspect = cfg->isp.keep_aspect ? 1 : 0;
 	ctx->pipeline.fps = mode->fps;
 	ctx->pipeline.lanes = 4;
 	ctx->pipeline.data_rate_x2 = 0;
@@ -587,10 +1002,15 @@ static int cv610_init(void *opaque)
 		 * config toggle must not be able to take video down with it.
 		 * /api/v1/audio/status reports the running state, not the flag. */
 		ctx->audio = cv610_audio_start(&ctx->config, &ctx->output_uri);
+		/* No cause is guessed here. This line used to assert "needs
+		 * CV610_AUDIO=1 at module load" for every failure, which sent the
+		 * operator after the module set while the real cause was a
+		 * predecessor's stale AI claim. Each failure point in
+		 * cv610_audio_start() names itself, including the module-absent one. */
 		if (!ctx->audio)
 			fprintf(stderr,
 				"WARNING: CV610 audio did not start; continuing without it "
-				"(needs CV610_AUDIO=1 at module load)\n");
+				"(cause reported above)\n");
 	}
 	g_cv610_runner = ctx;
 	if (venc_api_register(&ctx->config, "cv610",
@@ -692,19 +1112,82 @@ static int cv610_run(void *opaque)
 			continue;
 		}
 		if (cv610_copy_stream(&stream, &frame, &frame_len) == 0) {
-			int is_idr = cv610_frame_is_idr(frame, frame_len);
+			int is_enhance = ctx->svct_active &&
+				stream.h265_info.ref_type ==
+					OT_VENC_ENHANCE_P_SLICE_NOT_FOR_REF;
+			int is_idr;
+			size_t patched = 0;
+
+			if (is_enhance)
+				patched = h26x_util_hevc_patch_trail_r_to_n(frame, frame_len);
+			if (ctx->svct_active && ctx->ref_census_frames < 64u) {
+				unsigned int ref_type = (unsigned int)stream.h265_info.ref_type;
+
+				if (ref_type < OT_VENC_P_SLICE_BUTT)
+					ctx->ref_type_counts[ref_type]++;
+				ctx->trail_n_patched += (uint32_t)patched;
+				ctx->ref_census_frames++;
+				if (ctx->ref_census_frames == 64u) {
+					fprintf(stderr, "[waybeam] CV610 ref census: frames=64 "
+						"types=%u,%u,%u,%u,%u,%u trail_n_patched=%u\n",
+						(unsigned)ctx->ref_type_counts[0],
+						(unsigned)ctx->ref_type_counts[1],
+						(unsigned)ctx->ref_type_counts[2],
+						(unsigned)ctx->ref_type_counts[3],
+						(unsigned)ctx->ref_type_counts[4],
+						(unsigned)ctx->ref_type_counts[5],
+						(unsigned)ctx->trail_n_patched);
+				}
+			}
+			is_idr = cv610_frame_is_idr(frame, frame_len);
+			if (!ctx->slice_census_done &&
+			    ctx->requested_slice_count > 1) {
+				uint32_t vcl_nals = cv610_frame_vcl_nal_count(frame,
+					frame_len);
+
+				if (vcl_nals > 0) {
+					fprintf(stderr, "[waybeam] CV610 slice census: "
+						"requested=%u expected=%u actual_vcl_nals=%u\n",
+						(unsigned)ctx->requested_slice_count,
+						(unsigned)ctx->delivered_slice_count,
+						(unsigned)vcl_nals);
+					ctx->delivered_slice_count = vcl_nals > 255u
+						? 255u : (uint8_t)vcl_nals;
+					ctx->slice_census_done = 1;
+				}
+			}
 
 			if (ctx->frame_ring) {
 				VencFrameMeta meta;
+				int write_ret;
 
 				memset(&meta, 0, sizeof(meta));
 				meta.pts = stream.pack_cnt ? (uint32_t)stream.pack[0].pts : 0;
 				meta.codec = VENC_FRAME_CODEC_H265;
 				meta.flags = is_idr ? VENC_FRAME_FLAG_IDR : 0;
-				if (venc_frame_ring_write(ctx->frame_ring, &meta,
-					frame, (uint32_t)frame_len) != 0)
+				if (is_enhance)
+					meta.flags |= VENC_FRAME_FLAG_ENHANCE;
+				if (is_idr) {
+					ctx->gdr_counter = 0;
+				} else if (ctx->gdr_active && ctx->gdr_cycle_len > 0) {
+					meta.flags |= VENC_FRAME_FLAG_GDR;
+					meta.gdr_pos = ctx->gdr_counter;
+					meta.gdr_len = ctx->gdr_cycle_len;
+					ctx->gdr_counter++;
+					if (ctx->gdr_counter >= ctx->gdr_cycle_len)
+						ctx->gdr_counter = 0;
+				}
+				write_ret = venc_frame_ring_write(ctx->frame_ring, &meta,
+					frame, (uint32_t)frame_len);
+				if (write_ret != 0) {
 					__atomic_add_fetch(&ctx->output_drops, 1,
 						__ATOMIC_RELAXED);
+					if (venc_frame_drop_breaks_chain(meta.flags) &&
+					    venc_frame_drop_idr_due(&ctx->drop_idr_last_us,
+						wb_monotonic_us()) &&
+					    cv610_ring_request_idr() == 0)
+						ctx->drop_idr_last_us = 0;
+				}
 			} else if (ctx->socket_handle >= 0) {
 				/* cv610_output_write owns per-datagram drop accounting. */
 				(void)cv610_send_rtp_frame(ctx, frame, frame_len);
diff --git a/src/cv610_validation.c b/src/cv610_validation.c
index 5888bbfb..06fd37ae 100644
--- a/src/cv610_validation.c
+++ b/src/cv610_validation.c
@@ -8,35 +8,42 @@
  * loading and staged HTTP mutations. */
 const char *cv610_validate_config(const VencConfig *cfg)
 {
+	const Cv610SensorMode *mode;
 	VencOutputUri uri;
+	size_t mode_count = 0;
+	const char *err;
 
 	if (!cfg)
 		return "missing config";
-	/* video0.fps selects the sensor mode; video0.size is the encoded size
-	 * VPSS scales that capture down to.  /api/v1/modes lists the modes. */
-	{
-		const Cv610SensorMode *mode = cv610_mode_for_fps(cfg->video0.fps);
-		const char *err;
-
-		if (mode == NULL)
-			return "CV610 video0.fps must name a mode listed by /api/v1/modes";
-		err = cv610_mode_check_output(mode, cfg->video0.width,
-			cfg->video0.height);
-		if (err)
-			return err;
-	}
+	/* sensor.mode and video0.fps select the sensor mode together, the way
+	 * they do on SigmaStar: an explicit sensor.mode wins, otherwise the rate
+	 * is a target.  video0.size is the encoded size VPSS scales that capture
+	 * down to.  /api/v1/modes lists the modes. */
+	cv610_mode_table(&mode_count);
+	if (cfg->sensor.index > 0)
+		return "CV610 has a single sensor pad: sensor.index must be -1 or 0";
+	if (cfg->sensor.mode >= 0 && (size_t)cfg->sensor.mode >= mode_count)
+		return "CV610 sensor.mode is not an index listed by /api/v1/modes";
+	mode = cv610_mode_select(cfg->sensor.mode, cfg->video0.fps, NULL);
+	if (mode == NULL)
+		return "CV610 video0.fps must name a mode listed by /api/v1/modes";
+	err = cv610_mode_check_output(mode, cfg->video0.width,
+		cfg->video0.height);
+	if (err)
+		return err;
 	if (cfg->video0.bitrate < VENC_BITRATE_MIN_KBPS ||
 		cfg->video0.bitrate > VENC_BITRATE_MAX_KBPS)
 		return "video0.bitrate is outside the supported range";
 	if (cfg->video0.qp_delta < -10 || cfg->video0.qp_delta > 30)
 		return "CV610 video0.qp_delta must be between -10 and 30";
+	/* Against the SELECTED mode's rate, which is what cv610_runtime.c turns
+	 * into a GOP length.  Once sensor.mode can force a mode, or a target
+	 * rate can be substituted, that is no longer video0.fps. */
 	if (!isfinite(cfg->video0.gop_size) || cfg->video0.gop_size < 0.0 ||
-		cfg->video0.gop_size * cfg->video0.fps > 65536.0)
+		cfg->video0.gop_size * mode->fps > 65536.0)
 		return "CV610 video0.gop_size exceeds the encoder's 65536-frame limit";
 	if (strcmp(cfg->video0.rc_mode, "cbr") != 0)
 		return "CV610 phase one supports video0.rc_mode=cbr only";
-	if (strcmp(cfg->video0.resilience, "off") != 0)
-		return "CV610 phase one supports video0.resilience=off only";
 	if (strcmp(cfg->video0.framing, "off") != 0)
 		return "CV610 phase one supports video0.framing=off only";
 	if (cfg->audio.enabled &&
diff --git a/src/h26x_util.c b/src/h26x_util.c
index 25fcd06a..06ce7011 100644
--- a/src/h26x_util.c
+++ b/src/h26x_util.c
@@ -101,3 +101,24 @@ int h26x_util_annexb_next(const uint8_t *data, size_t len, size_t *cursor,
 	*cursor = len;
 	return 0;
 }
+
+size_t h26x_util_hevc_patch_trail_r_to_n(uint8_t *data, size_t len)
+{
+	size_t cursor = 0;
+	size_t changed = 0;
+	const uint8_t *nal;
+	size_t nal_len;
+
+	if (!data)
+		return 0;
+	while (h26x_util_annexb_next(data, len, &cursor, &nal, &nal_len)) {
+		/* Byte 0 is forbidden_zero | nal_unit_type | layer_id_msb;
+		 * byte 1 starts with the other five layer-id bits.  Only rewrite
+		 * layer zero: 0x02 is TRAIL_R and 0x00 is TRAIL_N there. */
+		if (nal_len > 1 && nal[0] == 0x02 && (nal[1] & 0xf8u) == 0) {
+			data[nal - data] = 0x00;
+			changed++;
+		}
+	}
+	return changed;
+}
diff --git a/src/maruko_config.c b/src/maruko_config.c
index a8c63e65..ecef469c 100644
--- a/src/maruko_config.c
+++ b/src/maruko_config.c
@@ -47,6 +47,7 @@ void maruko_config_defaults(MarukoBackendConfig *cfg)
 	cfg->ref_base = 0;
 	cfg->ref_enhance = 0;
 	cfg->ref_pred = 1;
+	cfg->slice_count = 1;
 	snprintf(cfg->resilience, sizeof(cfg->resilience), "%s", "off");
 	memset(&cfg->imu, 0, sizeof(cfg->imu));
 	memset(&cfg->audio, 0, sizeof(cfg->audio));
@@ -126,6 +127,7 @@ int maruko_config_from_venc(const VencConfig *vcfg, MarukoBackendConfig *cfg)
 	cfg->ref_base = vcfg->video0.ref_base;
 	cfg->ref_enhance = vcfg->video0.ref_enhance;
 	cfg->ref_pred = vcfg->video0.ref_pred ? 1 : 0;
+	cfg->slice_count = vcfg->video0.slice_count;
 	snprintf(cfg->resilience, sizeof(cfg->resilience), "%s",
 		vcfg->video0.resilience);
 	cfg->gop_size_sec = vcfg->video0.gop_size;
diff --git a/src/maruko_mi.c b/src/maruko_mi.c
index 10f7d225..019e9e0e 100644
--- a/src/maruko_mi.c
+++ b/src/maruko_mi.c
@@ -271,6 +271,10 @@ static int i6c_venc_load(maruko_venc_impl *venc)
 		int (*)(int, int, void *), "MI_VENC_SetRefParam");
 	LOAD_SYM(venc, "libmi_venc.so", fnGetRefParam,
 		int (*)(int, int, void *), "MI_VENC_GetRefParam");
+	LOAD_SYM_OPTIONAL(venc, "libmi_venc.so", fnSetH265SliceSplit,
+		int (*)(int, int, void *), "MI_VENC_SetH265SliceSplit");
+	LOAD_SYM_OPTIONAL(venc, "libmi_venc.so", fnGetH265SliceSplit,
+		int (*)(int, int, void *), "MI_VENC_GetH265SliceSplit");
 
 	if (!venc->fnCreateDev || !venc->fnDestroyDev ||
 	    !venc->fnCreateChn || !venc->fnDestroyChn ||
diff --git a/src/maruko_output.c b/src/maruko_output.c
index f15c04ff..717b9dc7 100644
--- a/src/maruko_output.c
+++ b/src/maruko_output.c
@@ -41,6 +41,8 @@ int maruko_output_init(MarukoOutput *output, const VencOutputUri *uri,
 	output->connected_udp = 0;
 	output->allow_unix_encoder_stall = allow_unix_encoder_stall ? 1 : 0;
 	output->send_errors = 0;
+	output->drop_idr_last_us = 0;
+	output->trunc_warned = 0;
 	memset(&output->send_queue, 0, sizeof(output->send_queue));
 	__atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED);
 	__atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED);
@@ -74,6 +76,8 @@ int maruko_output_init_shm(MarukoOutput *output, const char *shm_name)
 	output->connected_udp = 0;
 	output->allow_unix_encoder_stall = 0;
 	output->send_errors = 0;
+	output->drop_idr_last_us = 0;
+	output->trunc_warned = 0;
 	memset(&output->send_queue, 0, sizeof(output->send_queue));
 	__atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED);
 	__atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED);
@@ -112,6 +116,8 @@ int maruko_output_init_frame_shm(MarukoOutput *output, const char *shm_name)
 	output->connected_udp = 0;
 	output->allow_unix_encoder_stall = 0;
 	output->send_errors = 0;
+	output->drop_idr_last_us = 0;
+	output->trunc_warned = 0;
 	memset(&output->send_queue, 0, sizeof(output->send_queue));
 	__atomic_store_n(&output->socket_drops, 0, __ATOMIC_RELAXED);
 	__atomic_store_n(&output->socket_writes, 0, __ATOMIC_RELAXED);
diff --git a/src/maruko_pipeline.c b/src/maruko_pipeline.c
index 073bcfe8..6169af91 100644
--- a/src/maruko_pipeline.c
+++ b/src/maruko_pipeline.c
@@ -6,6 +6,7 @@
 #include "debug_osd.h"
 #include "detect_wire.h"
 #include "hevc_rtp.h"
+#include "h26x_util.h"
 #include "idr_rate_limit.h"
 #include "intra_refresh.h"
 #include "isp_runtime.h"
@@ -1974,15 +1975,17 @@ void maruko_pipeline_ref_pred_status(MarukoRefPredStatus *out)
  * just broke.  Gated by the shared per-channel IDR rate limiter so a
  * persistently full ring coalesces instead of firing keyframes into the ring
  * that is already congested.  Mirrors star6e_scene_request_idr(). */
-static void maruko_ring_request_idr(void *vctx)
+static int maruko_ring_request_idr(void *vctx)
 {
 	MarukoBackendContext *ctx = (MarukoBackendContext *)vctx;
 
 	if (!ctx)
-		return;
-	if (idr_rate_limit_allow(ctx->venc_channel))
-		maruko_mi_venc_request_idr(ctx->venc_device,
-			ctx->venc_channel, 1);
+		return 0;
+	if (!idr_rate_limit_allow(ctx->venc_channel))
+		return 0;
+	maruko_mi_venc_request_idr(ctx->venc_device,
+		ctx->venc_channel, 1);
+	return 1;
 }
 
 static int maruko_apply_ref_pred(MI_VENC_DEV dev, MI_VENC_CHN chn,
@@ -2031,6 +2034,67 @@ static int maruko_apply_ref_pred(MI_VENC_DEV dev, MI_VENC_CHN chn,
 	return snap.active ? 0 : (cfg && cfg->ref_base > 0 ? -1 : 0);
 }
 
+static int maruko_apply_slice_split(MI_VENC_DEV dev, MI_VENC_CHN chn,
+	const MarukoBackendConfig *cfg, uint32_t height)
+{
+	MI_VENC_ParamH265SliceSplit_t requested;
+	MI_VENC_ParamH265SliceSplit_t actual;
+	uint32_t rows32;
+	uint32_t rows_per_slice;
+	uint32_t ctu_rows;
+	uint32_t ctu_per_slice;
+	uint32_t predicted;
+
+	if (!cfg || cfg->slice_count <= 1)
+		return 0;
+	if (cfg->rc_codec != PT_H265) {
+		fprintf(stderr, "ERROR: [maruko] sliceCount=%u requires H.265\n",
+			cfg->slice_count);
+		return -1;
+	}
+	if (!g_mi_venc.fnSetH265SliceSplit ||
+	    !g_mi_venc.fnGetH265SliceSplit) {
+		fprintf(stderr, "ERROR: [maruko] sliceCount=%u requested but "
+			"libmi_venc.so lacks H.265 slice split Set/Get\n",
+			cfg->slice_count);
+		return -1;
+	}
+
+	rows32 = (height + 31U) / 32U;
+	rows_per_slice = (rows32 + cfg->slice_count - 1U) /
+		cfg->slice_count;
+	memset(&requested, 0, sizeof(requested));
+	requested.bSplitEnable = 1;
+	requested.u32SliceRowCount = rows_per_slice;
+	if (maruko_mi_venc_set_h265_slice_split(dev, chn, &requested) != 0) {
+		fprintf(stderr, "ERROR: [maruko] MI_VENC_SetH265SliceSplit"
+			"(dev=%d, chn=%d, rows=%u) failed\n",
+			dev, chn, rows_per_slice);
+		return -1;
+	}
+
+	memset(&actual, 0, sizeof(actual));
+	if (maruko_mi_venc_get_h265_slice_split(dev, chn, &actual) != 0 ||
+	    !actual.bSplitEnable ||
+	    actual.u32SliceRowCount == 0 ||
+	    actual.u32SliceRowCount > rows32) {
+		fprintf(stderr, "ERROR: [maruko] H.265 slice split readback "
+			"invalid: enable=%u rows=%u requested_rows=%u\n",
+			(unsigned int)actual.bSplitEnable,
+			actual.u32SliceRowCount, rows_per_slice);
+		return -1;
+	}
+
+	ctu_rows = (height + 63U) / 64U;
+	ctu_per_slice = (actual.u32SliceRowCount + 1U) / 2U;
+	predicted = (ctu_rows + ctu_per_slice - 1U) / ctu_per_slice;
+	fprintf(stderr, "[waybeam] sliceSplit: dev=%d chn=%d requested=%u "
+		"requested_rows32=%u applied_rows32=%u predicted=%u "
+		"(readback verified)\n", dev, chn, cfg->slice_count,
+		rows_per_slice, actual.u32SliceRowCount, predicted);
+	return 0;
+}
+
 static int maruko_start_venc(const MarukoBackendConfig *cfg,
 	uint32_t width, uint32_t height, uint32_t framerate,
 	MI_VENC_DEV venc_dev, MI_VENC_CHN *chn, int *dev_created)
@@ -2100,6 +2164,15 @@ static int maruko_start_venc(const MarukoBackendConfig *cfg,
 		}
 		return ret;
 	}
+	ret = maruko_apply_slice_split(venc_dev, *chn, cfg, height);
+	if (ret != 0) {
+		(void)maruko_mi_venc_destroy_chn(venc_dev, *chn);
+		if (dev_created && *dev_created) {
+			(void)maruko_mi_venc_destroy_dev(venc_dev);
+			*dev_created = 0;
+		}
+		return ret;
+	}
 
 	/* stab-fill: NORMAL (frame-base) input — required for the manual
 	 * ChnInputPortGetBuf/PutBuf feed (NORMAL == E_MI_VENC_INPUT_MODE_
@@ -2407,6 +2480,27 @@ static void assign_maruko_ports(MarukoBackendContext *ctx,
 	};
 }
 
+static void maruko_update_output_resilience_flags(MarukoBackendContext *ctx)
+{
+	MarukoIntraRefreshStatus ir_status;
+	MarukoRefPredStatus ref_status;
+	uint32_t clen;
+
+	if (!ctx)
+		return;
+	maruko_pipeline_intra_refresh_status(&ir_status);
+	maruko_pipeline_ref_pred_status(&ref_status);
+	ctx->output.gdr_active = ir_status.active && ir_status.apply_ok;
+	ctx->output.svct_active = ref_status.active && ref_status.apply_ok;
+	clen = (ctx->output.gdr_active && ir_status.total_rows &&
+		ir_status.effective_lines_per_p)
+		? (ir_status.total_rows + ir_status.effective_lines_per_p - 1) /
+			ir_status.effective_lines_per_p
+		: 0;
+	ctx->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen;
+	ctx->output.gdr_counter = 0;
+}
+
 /* stab-fill: finish the manual-feed VENC bring-up.  The fill module pushes the
  * composed frames straight into the (NORMAL_FRMBASE, unbound) VENC input port
  * — device-proven at 50 fps.  Phase 5a's "the i6c VENC cannot be manually
@@ -2428,6 +2522,7 @@ static int maruko_setup_stabfill_venc(MarukoBackendContext *ctx)
 	(void)maruko_apply_intra_refresh(ctx->venc_device, ctx->venc_channel,
 		&ctx->cfg, ctx->cfg.image_height, ctx->sensor.fps,
 		ctx->cfg.rc_codec);
+	maruko_update_output_resilience_flags(ctx);
 
 	printf("> [maruko] stab-fill: VENC(%d,%d) NORMAL_FRMBASE manual-feed "
 		"@ %ux%u (port0 RAW unbound -> compose -> push)\n",
@@ -2448,23 +2543,9 @@ static int bind_maruko_pipeline(MarukoBackendContext *ctx)
 		return -1;
 	ctx->venc_started = 1;
 
-	ctx->output.gdr_active =
-		(ctx->cfg.intra_refresh_mode[0] != '\0' &&
-		 strcmp(ctx->cfg.intra_refresh_mode, "off") != 0) ? 1 : 0;
-	ctx->output.svct_active = ctx->cfg.ref_base > 0 ? 1 : 0;
 	ctx->output.request_idr = maruko_ring_request_idr;
 	ctx->output.idr_ctx = ctx;
-	{
-		IntraRefreshDerived gdr_ir;
-		(void)maruko_intra_refresh_derive(&ctx->cfg,
-			ctx->cfg.image_height, ctx->sensor.fps,
-			ctx->cfg.rc_codec, &gdr_ir);
-		uint32_t clen = (gdr_ir.total_rows && gdr_ir.lines)
-			? (gdr_ir.total_rows + gdr_ir.lines - 1) / gdr_ir.lines
-			: 0;
-		ctx->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen;
-		ctx->output.gdr_counter = 0;
-	}
+	maruko_update_output_resilience_flags(ctx);
 
 	MI_U32 venc_device = (MI_U32)ctx->venc_device;
 	assign_maruko_ports(ctx, venc_device);
@@ -2967,6 +3048,28 @@ static void *maruko_dual_stream_thread(void *arg)
 				usleep(1000);
 			continue;
 		}
+		if (!maruko_video_stream_packet_info_complete(&stream)) {
+			static int incomplete_warned;
+			if (!incomplete_warned) {
+				incomplete_warned = 1;
+				fprintf(stderr, "WARN: [maruko][dual] invalid packetInfo; "
+					"dropping whole access unit\n");
+			}
+			if (!(d->output.svct_active &&
+			    stream.h265Info.refType ==
+				MARUKO_REFTYPE_ENHANCE_P_NOTFORREF) &&
+			    venc_frame_drop_idr_due(&d->output.drop_idr_last_us,
+				wb_monotonic_us())) {
+				if (idr_rate_limit_allow(d->channel))
+					(void)maruko_mi_venc_request_idr(
+						ctx->venc_device, d->channel, 1);
+				else
+					d->output.drop_idr_last_us = 0;
+			}
+			(void)maruko_mi_venc_release_stream(ctx->venc_device,
+				d->channel, &stream);
+			continue;
+		}
 
 		if (g_maruko_running) {
 			if (d->is_dual_stream) {
@@ -3654,12 +3757,38 @@ static uint8_t maruko_scene_is_idr(const i6c_venc_strm *s, int codec)
 	if (!s || !s->packet) return 0;
 	for (i = 0; i < s->count; i++) {
 		const i6c_venc_pack *p = &s->packet[i];
-		unsigned int k, n = p->packNum > 8 ? 8 : p->packNum;
+		const unsigned int info_cap = (unsigned int)(
+			sizeof(p->packetInfo) / sizeof(p->packetInfo[0]));
+		unsigned int k, n = p->packNum;
+		if (n > info_cap) {
+			if (p->data && p->length > p->offset) {
+				size_t cursor = 0;
+				const uint8_t *nal;
+				size_t nal_len;
+
+				while (h26x_util_annexb_next(p->data + p->offset,
+				    p->length - p->offset, &cursor, &nal,
+				    &nal_len)) {
+					uint8_t type = codec == 0
+						? h26x_util_h264_nalu_type(nal,
+							nal_len)
+						: h26x_util_hevc_nalu_type(nal,
+							nal_len);
+					if ((codec == 0 && type == 5) ||
+					    (codec != 0 &&
+					     (type == 19 || type == 20)))
+						return 1;
+				}
+			}
+			continue;
+		}
 		if (n > 0) {
 			for (k = 0; k < n; k++) {
 				if (codec == 0 && p->packetInfo[k].packType.h264Nalu == 5)
 					return 1;
-				if (codec != 0 && p->packetInfo[k].packType.h265Nalu == 19)
+				if (codec != 0 &&
+				    (p->packetInfo[k].packType.h265Nalu == 19 ||
+				     p->packetInfo[k].packType.h265Nalu == 20))
 					return 1;
 			}
 		} else {
@@ -3885,8 +4014,15 @@ static void maruko_patch_pack_to_trail_n(i6c_venc_pack *pack)
 	if (pack->packNum > 0) {
 		const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) /
 			sizeof(pack->packetInfo[0]));
-		unsigned int n = pack->packNum > info_cap ? info_cap : pack->packNum;
+		unsigned int n = pack->packNum;
 		unsigned int k;
+		if (n > info_cap) {
+			unsigned int off = pack->offset;
+			if (off < pack->length)
+				(void)h26x_util_hevc_patch_trail_r_to_n(
+					pack->data + off, pack->length - off);
+			return;
+		}
 		for (k = 0; k < n; ++k) {
 			unsigned int off = pack->packetInfo[k].offset;
 			unsigned int nlen = pack->packetInfo[k].length;
@@ -4049,6 +4185,12 @@ static int maruko_pipeline_process_stream(MarukoBackendContext *ctx,
 			"ERROR: [maruko] MI_VENC_GetStream failed %d\n", ret);
 		return -1;
 	}
+	if (maruko_video_reject_incomplete_access_unit(&stream,
+	    &ctx->output)) {
+		(void)maruko_mi_venc_release_stream(ctx->venc_device,
+			ctx->venc_channel, &stream);
+		return 0;
+	}
 
 	/* refPred error-resilience marking — rewrite TRAIL_R → TRAIL_N for
 	 * frames the SDK marked as ENHANCE_P_NOTFORREF.  i6c shares this
@@ -4056,7 +4198,7 @@ static int maruko_pipeline_process_stream(MarukoBackendContext *ctx,
 	 * correct internally but every NAL is emitted as TRAIL_R, leaving
 	 * generic decoders unable to identify non-reference frames.  See
 	 * star6e_runtime.c for the matching helper. */
-	if (ctx->cfg.ref_base > 0 &&
+	if (ctx->output.svct_active &&
 	    stream.h265Info.refType == MARUKO_REFTYPE_ENHANCE_P_NOTFORREF) {
 		maruko_patch_stream_to_trail_n(&stream);
 	}
@@ -4463,7 +4605,8 @@ int maruko_pipeline_run(MarukoBackendContext *ctx)
 	MarukoStreamRuntime rt;
 	int result = -1;
 
-	if (!ctx || (ctx->output.socket_handle < 0 && !ctx->output.ring))
+	if (!ctx || (ctx->output.socket_handle < 0 && !ctx->output.ring &&
+	    !ctx->output.frame_ring))
 		return -1;
 
 	if (ctx->cfg.stream_mode == MARUKO_STREAM_RTP &&
diff --git a/src/maruko_recorder.c b/src/maruko_recorder.c
index ec882d3a..706b56fb 100644
--- a/src/maruko_recorder.c
+++ b/src/maruko_recorder.c
@@ -1,4 +1,5 @@
 #include "maruko_recorder.h"
+#include "maruko_video.h"
 
 #include <errno.h>
 #include <fcntl.h>
@@ -14,15 +15,45 @@
  * difference does not have to be juggled with #ifdefs in
  * star6e_recorder.c. */
 
-static ssize_t writev_retry(int fd, const struct iovec *iov, int iov_count)
+static ssize_t writev_all(int fd, const struct iovec *iov, int iov_count)
 {
-	ssize_t ret;
+	struct iovec pending[16];
+	ssize_t total = 0;
+	int first = 0;
 
-	do {
-		ret = writev(fd, iov, iov_count);
-	} while (ret < 0 && errno == EINTR);
+	if (!iov || iov_count <= 0 || iov_count > 16) {
+		errno = EINVAL;
+		return -1;
+	}
+	memcpy(pending, iov, (size_t)iov_count * sizeof(pending[0]));
+	while (first < iov_count) {
+		ssize_t ret;
+		ssize_t consumed;
+
+		do {
+			ret = writev(fd, &pending[first], iov_count - first);
+		} while (ret < 0 && errno == EINTR);
+		if (ret < 0)
+			return -1;
+		if (ret == 0) {
+			errno = EIO;
+			return -1;
+		}
+		total += ret;
+		consumed = ret;
+		while (first < iov_count &&
+		    consumed >= (ssize_t)pending[first].iov_len) {
+			consumed -= (ssize_t)pending[first].iov_len;
+			first++;
+		}
+		if (first < iov_count && consumed > 0) {
+			pending[first].iov_base =
+				(char *)pending[first].iov_base + consumed;
+			pending[first].iov_len -= (size_t)consumed;
+		}
+	}
 
-	return ret;
+	return total;
 }
 
 static int check_disk_space(Star6eRecorderState *state)
@@ -71,16 +102,28 @@ static void stop_with_error(Star6eRecorderState *state, int err)
 int maruko_recorder_write_frame(Star6eRecorderState *state,
 	const i6c_venc_strm *stream)
 {
+	static int incomplete_warned;
 	struct iovec iov[16];
 	int iov_count = 0;
 	ssize_t written;
 	size_t total = 0;
+	off_t frame_start;
 
 	if (!state || state->fd < 0 || !stream || !stream->packet)
 		return 0;
+	if (!maruko_video_stream_packet_info_complete(stream)) {
+		if (!incomplete_warned) {
+			incomplete_warned = 1;
+			fprintf(stderr,
+				"[maruko_recorder] incomplete packetInfo table; "
+				"dropping whole access unit\n");
+		}
+		return 0;
+	}
 
 	if (check_disk_space(state) != 0)
 		return 0;
+	frame_start = lseek(state->fd, 0, SEEK_CUR);
 
 	for (unsigned int i = 0; i < stream->count; ++i) {
 		const i6c_venc_pack *pack = &stream->packet[i];
@@ -89,14 +132,8 @@ int maruko_recorder_write_frame(Star6eRecorderState *state,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (unsigned int k = 0; k < nal_count; ++k) {
 				unsigned int off = pack->packetInfo[k].offset;
 				unsigned int len = pack->packetInfo[k].length;
@@ -106,7 +143,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state,
 					continue;
 
 				if (iov_count >= 16) {
-					written = writev_retry(state->fd,
+					written = writev_all(state->fd,
 						iov, iov_count);
 					if (written < 0)
 						goto write_error;
@@ -124,7 +161,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state,
 				continue;
 
 			if (iov_count >= 16) {
-				written = writev_retry(state->fd, iov,
+				written = writev_all(state->fd, iov,
 					iov_count);
 				if (written < 0)
 					goto write_error;
@@ -141,7 +178,7 @@ int maruko_recorder_write_frame(Star6eRecorderState *state,
 	}
 
 	if (iov_count > 0) {
-		written = writev_retry(state->fd, iov, iov_count);
+		written = writev_all(state->fd, iov, iov_count);
 		if (written < 0)
 			goto write_error;
 		total += (size_t)written;
@@ -160,6 +197,13 @@ int maruko_recorder_write_frame(Star6eRecorderState *state,
 	return (int)total;
 
 write_error:
-	stop_with_error(state, errno);
+	{
+		int saved_errno = errno;
+	/* A failure may follow a short successful write. Roll the regular file
+	 * back to its frame boundary so recording never retains half an AU. */
+		if (frame_start >= 0)
+			(void)ftruncate(state->fd, frame_start);
+		stop_with_error(state, saved_errno);
+	}
 	return -1;
 }
diff --git a/src/maruko_ts_recorder.c b/src/maruko_ts_recorder.c
index 867d9e95..0c16db02 100644
--- a/src/maruko_ts_recorder.c
+++ b/src/maruko_ts_recorder.c
@@ -1,4 +1,5 @@
 #include "maruko_ts_recorder.h"
+#include "maruko_video.h"
 #include "ts_mux.h"
 
 #include <stdio.h>
@@ -8,6 +9,7 @@
 int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state,
 	const i6c_venc_strm *stream)
 {
+	static int incomplete_warned;
 	uint8_t nal_buf[512 * 1024];  /* matches Star6E adapter — ~50 Mbps IDR */
 	size_t nal_len = 0;
 	int is_idr = 0;
@@ -16,6 +18,15 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state,
 
 	if (!state || state->fd < 0 || !stream || !stream->packet)
 		return 0;
+	if (!maruko_video_stream_packet_info_complete(stream)) {
+		if (!incomplete_warned) {
+			incomplete_warned = 1;
+			fprintf(stderr,
+				"[maruko_ts] incomplete packetInfo table; "
+				"dropping whole access unit\n");
+		}
+		return 0;
+	}
 
 	for (unsigned int i = 0; i < stream->count; ++i) {
 		const i6c_venc_pack *pack = &stream->packet[i];
@@ -23,12 +34,7 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
-			if (nal_count > info_cap)
-				nal_count = info_cap;
 
 			for (unsigned int k = 0; k < nal_count; ++k) {
 				unsigned int off = pack->packetInfo[k].offset;
@@ -46,9 +52,9 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state,
 				if (nal_len + len > sizeof(nal_buf)) {
 					fprintf(stderr,
 						"[maruko_ts] frame too large "
-						"(%zu + %u > %zu), truncated\n",
+						"(%zu + %u > %zu), access unit dropped\n",
 						nal_len, len, sizeof(nal_buf));
-					break;
+					return 0;
 				}
 				memcpy(nal_buf + nal_len,
 					pack->data + off, len);
@@ -61,9 +67,9 @@ int maruko_ts_recorder_write_stream(Star6eTsRecorderState *state,
 			if (nal_len + len > sizeof(nal_buf)) {
 				fprintf(stderr,
 					"[maruko_ts] frame too large "
-					"(%zu + %u > %zu), truncated\n",
+					"(%zu + %u > %zu), access unit dropped\n",
 					nal_len, len, sizeof(nal_buf));
-				break;
+				return 0;
 			}
 			memcpy(nal_buf + nal_len,
 				pack->data + pack->offset, len);
diff --git a/src/maruko_video.c b/src/maruko_video.c
index e695fe8e..12076d4b 100644
--- a/src/maruko_video.c
+++ b/src/maruko_video.c
@@ -2,6 +2,7 @@
 
 #include "h26x_util.h"
 #include "hevc_rtp.h"
+#include "timing.h"
 #include "rtp_packetizer.h"
 #include "rtp_session.h"
 
@@ -16,6 +17,71 @@ typedef struct {
 	venc_ring_t *ring;
 } MarukoRtpWriteContext;
 
+int maruko_video_stream_packet_info_complete(const i6c_venc_strm *stream)
+{
+	unsigned int i;
+
+	if (!stream || stream->count == 0 || !stream->packet)
+		return 0;
+
+	for (i = 0; i < stream->count; ++i) {
+		const i6c_venc_pack *pack = &stream->packet[i];
+		const unsigned int info_cap = (unsigned int)(
+			sizeof(pack->packetInfo) / sizeof(pack->packetInfo[0]));
+		unsigned int k;
+
+		if (!pack->data || pack->packNum > info_cap)
+			return 0;
+		if (pack->packNum == 0) {
+			if (pack->length <= pack->offset)
+				return 0;
+			continue;
+		}
+		for (k = 0; k < (unsigned int)pack->packNum; ++k) {
+			MI_U32 offset = pack->packetInfo[k].offset;
+			MI_U32 length = pack->packetInfo[k].length;
+
+			if (length == 0 || offset >= pack->length ||
+			    length > pack->length - offset)
+				return 0;
+		}
+	}
+
+	return 1;
+}
+
+static void maruko_recover_dropped_access_unit(const i6c_venc_strm *stream,
+	MarukoOutput *output)
+{
+	uint8_t flags = 0;
+
+	if (!stream || !output)
+		return;
+	if (output->svct_active &&
+	    stream->h265Info.refType == MARUKO_REFTYPE_ENHANCE_P_NOTFORREF)
+		flags |= VENC_FRAME_FLAG_ENHANCE;
+	if (venc_frame_drop_breaks_chain(flags) && output->request_idr &&
+	    venc_frame_drop_idr_due(&output->drop_idr_last_us,
+		wb_monotonic_us()) &&
+	    output->request_idr(output->idr_ctx) == 0)
+		output->drop_idr_last_us = 0;
+}
+
+int maruko_video_reject_incomplete_access_unit(const i6c_venc_strm *stream,
+	MarukoOutput *output)
+{
+	if (maruko_video_stream_packet_info_complete(stream))
+		return 0;
+	if (output && !output->trunc_warned) {
+		output->trunc_warned = 1;
+		fprintf(stderr,
+			"WARN: Maruko packetInfo table is incomplete or invalid; "
+			"dropping whole access unit\n");
+	}
+	maruko_recover_dropped_access_unit(stream, output);
+	return 1;
+}
+
 static int maruko_rtp_write(const uint8_t *header, size_t header_len,
 	const uint8_t *payload1, size_t payload1_len,
 	const uint8_t *payload2, size_t payload2_len, void *opaque)
@@ -87,9 +153,6 @@ static size_t maruko_send_frame_hevc(const i6c_venc_strm *stream,
 
 	for (i = 0; i < stream->count; ++i) {
 		const i6c_venc_pack *pack = &stream->packet[i];
-		const unsigned int info_cap =
-			(unsigned int)(sizeof(pack->packetInfo) /
-			sizeof(pack->packetInfo[0]));
 		unsigned int nal_count;
 		unsigned int k;
 
@@ -97,8 +160,6 @@ static size_t maruko_send_frame_hevc(const i6c_venc_strm *stream,
 			continue;
 
 		nal_count = pack->packNum > 0 ? (unsigned int)pack->packNum : 1;
-		if (pack->packNum > 0 && nal_count > info_cap)
-			nal_count = info_cap;
 
 		for (k = 0; k < nal_count; ++k) {
 			const uint8_t *data = NULL;
@@ -237,15 +298,9 @@ static size_t maruko_send_frame_compact(const i6c_venc_strm *stream,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap =
-				(unsigned int)(sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (k = 0; k < nal_count; ++k) {
 				MI_U32 length = pack->packetInfo[k].length;
 				MI_U32 offset = pack->packetInfo[k].offset;
@@ -297,13 +352,8 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream,
 	for (i = 0; i < stream->count && !is_idr; ++i) {
 		const i6c_venc_pack *pack = &stream->packet[i];
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
-			if (nal_count > info_cap)
-				nal_count = info_cap;
 			for (k = 0; k < nal_count; ++k) {
 				uint8_t nt = (uint8_t)pack->packetInfo[k]
 					.packType.h265Nalu;
@@ -336,8 +386,14 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream,
 
 	if (venc_frame_ring_begin_write(frame_ring, &meta) != 0) {
 		if (venc_frame_drop_breaks_chain(meta.flags) &&
-		    output->request_idr)
-			output->request_idr(output->idr_ctx);
+		    output->request_idr &&
+		    venc_frame_drop_idr_due(&output->drop_idr_last_us,
+					    wb_monotonic_us()) &&
+		    output->request_idr(output->idr_ctx) == 0) {
+			/* Swallowed by the shared 100 ms limiter — roll the
+			 * holdoff back so the next drop retries. */
+			output->drop_idr_last_us = 0;
+		}
 		return 0;
 	}
 
@@ -348,15 +404,9 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (k = 0; k < nal_count; ++k) {
 				unsigned int length = pack->packetInfo[k].length;
 				unsigned int offset = pack->packetInfo[k].offset;
@@ -368,6 +418,8 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream,
 				if (venc_frame_ring_append(frame_ring,
 				    pack->data + offset, length) != 0) {
 					venc_frame_ring_abort_write(frame_ring);
+					maruko_recover_dropped_access_unit(stream,
+						output);
 					return 0;
 				}
 				total_bytes += length;
@@ -381,6 +433,7 @@ static size_t maruko_send_frame_ring(const i6c_venc_strm *stream,
 			if (venc_frame_ring_append(frame_ring,
 			    pack->data + pack->offset, length) != 0) {
 				venc_frame_ring_abort_write(frame_ring);
+				maruko_recover_dropped_access_unit(stream, output);
 				return 0;
 			}
 			total_bytes += length;
@@ -399,6 +452,8 @@ size_t maruko_video_send_frame(const i6c_venc_strm *stream,
 
 	if (!stream || !output || !cfg)
 		return 0;
+	if (maruko_video_reject_incomplete_access_unit(stream, output))
+		return 0;
 
 	if (output->frame_ring)
 		return maruko_send_frame_ring(stream, output);
diff --git a/src/star6e_hevc_rtp.c b/src/star6e_hevc_rtp.c
index 3f6452b8..c29ca898 100644
--- a/src/star6e_hevc_rtp.c
+++ b/src/star6e_hevc_rtp.c
@@ -28,13 +28,9 @@ size_t star6e_hevc_rtp_send_frame(const MI_VENC_Stream_t *stream,
 
 	for (unsigned int i = 0; i < stream->count; ++i) {
 		const MI_VENC_Pack_t *pack = &stream->packet[i];
-		const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) /
-			sizeof(pack->packetInfo[0]));
 		unsigned int nal_count = (pack->packNum > 0) ?
 			(unsigned int)pack->packNum : 1;
 
-		if (pack->packNum > 0 && nal_count > info_cap)
-			nal_count = info_cap;
 		if (!pack->data)
 			continue;
 
diff --git a/src/star6e_mi.c b/src/star6e_mi.c
index a1d3b535..8c2e6231 100644
--- a/src/star6e_mi.c
+++ b/src/star6e_mi.c
@@ -302,6 +302,10 @@ static int i6e_venc_load(star6e_venc_impl *venc)
 		int (*)(int, void *), "MI_VENC_SetRefParam");
 	LOAD_SYM(venc, "libmi_venc.so", fnGetRefParam,
 		int (*)(int, void *), "MI_VENC_GetRefParam");
+	LOAD_SYM(venc, "libmi_venc.so", fnSetH265SliceSplit,
+		int (*)(int, void *), "MI_VENC_SetH265SliceSplit");
+	LOAD_SYM(venc, "libmi_venc.so", fnGetH265SliceSplit,
+		int (*)(int, void *), "MI_VENC_GetH265SliceSplit");
 
 	if (!venc->fnCreateChn || !venc->fnDestroyChn ||
 	    !venc->fnStartRecvPic || !venc->fnStopRecvPic ||
diff --git a/src/star6e_output.c b/src/star6e_output.c
index 6c33ec0f..99756669 100644
--- a/src/star6e_output.c
+++ b/src/star6e_output.c
@@ -16,6 +16,70 @@
 #define STAR6E_RTP_HEADER_SIZE 12
 /* STAR6E_REFTYPE_ENHANCE_P_NOTFORREF (=5) is defined in star6e.h. */
 
+int star6e_output_stream_packet_info_complete(
+	const MI_VENC_Stream_t *stream)
+{
+	unsigned int i;
+
+	if (!stream || stream->count == 0 || !stream->packet)
+		return 0;
+	for (i = 0; i < stream->count; ++i) {
+		const MI_VENC_Pack_t *pack = &stream->packet[i];
+		const unsigned int info_cap = (unsigned int)(
+			sizeof(pack->packetInfo) / sizeof(pack->packetInfo[0]));
+		unsigned int k;
+
+		if (!pack->data || pack->packNum > info_cap)
+			return 0;
+		if (pack->packNum == 0) {
+			if (pack->length <= pack->offset)
+				return 0;
+			continue;
+		}
+		for (k = 0; k < (unsigned int)pack->packNum; ++k) {
+			MI_U32 offset = pack->packetInfo[k].offset;
+			MI_U32 length = pack->packetInfo[k].length;
+
+			if (length == 0 || offset >= pack->length ||
+			    length > pack->length - offset)
+				return 0;
+		}
+	}
+	return 1;
+}
+
+static void star6e_output_recover_dropped_access_unit(Star6eOutput *output,
+	const MI_VENC_Stream_t *stream)
+{
+	uint8_t flags = 0;
+
+	if (!output || !stream)
+		return;
+	if (output->svct_active &&
+	    stream->h265Info.refType == STAR6E_REFTYPE_ENHANCE_P_NOTFORREF)
+		flags |= VENC_FRAME_FLAG_ENHANCE;
+	if (venc_frame_drop_breaks_chain(flags) && output->request_idr &&
+	    venc_frame_drop_idr_due(&output->drop_idr_last_us,
+		wb_monotonic_us()) &&
+	    output->request_idr(output->idr_ctx) == 0)
+		output->drop_idr_last_us = 0;
+}
+
+int star6e_output_reject_incomplete_access_unit(Star6eOutput *output,
+	const MI_VENC_Stream_t *stream)
+{
+	if (star6e_output_stream_packet_info_complete(stream))
+		return 0;
+	if (output && !output->trunc_warned) {
+		output->trunc_warned = 1;
+		fprintf(stderr,
+			"WARN: Star6E packetInfo table is incomplete or invalid; "
+			"dropping whole access unit\n");
+	}
+	star6e_output_recover_dropped_access_unit(output, stream);
+	return 1;
+}
+
 static uint16_t star6e_read_be16(const uint8_t *data)
 {
 	return (uint16_t)((uint16_t)data[0] << 8 | (uint16_t)data[1]);
@@ -813,14 +877,9 @@ size_t star6e_output_send_compact_frame(Star6eOutput *output,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (k = 0; k < nal_count; ++k) {
 				MI_U32 length = pack->packetInfo[k].length;
 				MI_U32 offset = pack->packetInfo[k].offset;
@@ -864,13 +923,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output,
 	for (i = 0; i < stream->count && !is_idr; ++i) {
 		const MI_VENC_Pack_t *pack = &stream->packet[i];
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
-			if (nal_count > info_cap)
-				nal_count = info_cap;
 			for (k = 0; k < nal_count; ++k) {
 				uint8_t nt = (uint8_t)pack->packetInfo[k]
 					.packType.h265Nalu;
@@ -903,8 +957,15 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output,
 
 	if (venc_frame_ring_begin_write(output->frame_ring, &meta) != 0) {
 		if (venc_frame_drop_breaks_chain(meta.flags) &&
-		    output->request_idr)
-			output->request_idr(output->idr_ctx);
+		    output->request_idr &&
+		    venc_frame_drop_idr_due(&output->drop_idr_last_us,
+					    wb_monotonic_us()) &&
+		    output->request_idr(output->idr_ctx) == 0) {
+			/* Swallowed by the shared 100 ms limiter — roll the
+			 * holdoff back so the next drop retries, instead of
+			 * pacing a request that never happened. */
+			output->drop_idr_last_us = 0;
+		}
 		return 0;
 	}
 
@@ -915,15 +976,9 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 			unsigned int k;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (k = 0; k < nal_count; ++k) {
 				MI_U32 length = pack->packetInfo[k].length;
 				MI_U32 offset = pack->packetInfo[k].offset;
@@ -936,6 +991,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output,
 				    pack->data + offset, length) != 0) {
 					venc_frame_ring_abort_write(
 						output->frame_ring);
+					star6e_output_recover_dropped_access_unit(
+						output, stream);
 					return 0;
 				}
 				total_bytes += length;
@@ -949,6 +1006,8 @@ static size_t star6e_output_send_frame_ring(Star6eOutput *output,
 			if (venc_frame_ring_append(output->frame_ring,
 			    pack->data + pack->offset, length) != 0) {
 				venc_frame_ring_abort_write(output->frame_ring);
+				star6e_output_recover_dropped_access_unit(output,
+					stream);
 				return 0;
 			}
 			total_bytes += length;
@@ -967,6 +1026,8 @@ size_t star6e_output_send_frame(Star6eOutput *output,
 
 	if (!output || !stream)
 		return 0;
+	if (star6e_output_reject_incomplete_access_unit(output, stream))
+		return 0;
 
 	if (output->frame_ring)
 		return star6e_output_send_frame_ring(output, stream);
diff --git a/src/star6e_pipeline.c b/src/star6e_pipeline.c
index 5f9d3bd4..2c794ef6 100644
--- a/src/star6e_pipeline.c
+++ b/src/star6e_pipeline.c
@@ -1448,6 +1448,78 @@ static int star6e_pipeline_start_venc(uint32_t width, uint32_t height,
 	 * StartRecvPic, producing a flat single-layer stream. */
 	(void)star6e_pipeline_pre_start_apply_ref_pred(*chn, vcfg);
 
+	/* H.265 multi-slice split (same pre-Start window as SetRefParam).
+	 * sliceCount is what the operator asks for; the SDK field is 32-px
+	 * rows per slice, but the encoder's CTU is 64 (measured 2026-08-20:
+	 * SPS says 30x17 CTBs at 1080p), so the SDK rounds the request up to
+	 * whole CTU-64 rows.  Log the DELIVERED geometry, not the request —
+	 * at 1080p sliceCount 8 quantizes to 6 slices of 3 CTU rows.
+	 * vcfg is optional on this path: star6e_pipeline_start_dual()
+	 * passes NULL for ch1, so guard before reading slice_count. */
+	if (vcfg && vcfg->video0.slice_count > 1) {
+		uint32_t rows = (height + 31) / 32;
+		uint32_t per = (rows + vcfg->video0.slice_count - 1) / vcfg->video0.slice_count;
+		uint32_t ctu_rows = (height + 63) / 64;
+		uint32_t ctu_per;
+		MI_VENC_ParamH265SliceSplit_t split;
+		MI_VENC_ParamH265SliceSplit_t rb;
+
+		if (codec != PT_H265) {
+			fprintf(stderr, "ERROR: sliceCount=%u requires H.265\n",
+				vcfg->video0.slice_count);
+			MI_VENC_DestroyChn(*chn);
+			return -1;
+		}
+
+		/* Optional export: some libmi_venc.so revisions omit it and the
+		 * macro then returns -1, which reads as a driver rejection and
+		 * sends the operator hunting geometry.  Stay fatal -- delivering
+		 * one slice while the API advertises N would lie to the
+		 * receiver's spatial concealment -- but say why. */
+		if (!g_mi_venc.fnSetH265SliceSplit ||
+		    !g_mi_venc.fnGetH265SliceSplit) {
+			fprintf(stderr, "ERROR: sliceCount=%u requested but "
+				"libmi_venc.so does not export "
+				"MI_VENC_SetH265SliceSplit/GetH265SliceSplit\n",
+				vcfg->video0.slice_count);
+			MI_VENC_DestroyChn(*chn);
+			return -1;
+		}
+
+		/* B3: the vendor reads all 8 bytes; leaving the pad
+		 * uninitialised puts stack garbage across the ABI. */
+		memset(&split, 0, sizeof(split));
+		split.bSplitEnable = 1;
+		split.u32SliceRowCount = per;
+		ret = MI_VENC_SetH265SliceSplit(*chn, &split);
+		if (ret != 0) {
+			fprintf(stderr,
+				"ERROR: MI_VENC_SetH265SliceSplit(%u rows/slice) "
+				"failed %d\n",
+				split.u32SliceRowCount, ret);
+			MI_VENC_DestroyChn(*chn);
+			return ret;
+		}
+		memset(&rb, 0, sizeof(rb));
+		ret = MI_VENC_GetH265SliceSplit(*chn, &rb);
+		if (ret != 0 || !rb.bSplitEnable ||
+		    rb.u32SliceRowCount == 0 || rb.u32SliceRowCount > rows) {
+			fprintf(stderr, "ERROR: H.265 slice split readback invalid: "
+				"ret=%d enable=%u rows=%u requested_rows=%u\n",
+				ret, (unsigned)rb.bSplitEnable,
+				(unsigned)rb.u32SliceRowCount,
+				(unsigned)split.u32SliceRowCount);
+			MI_VENC_DestroyChn(*chn);
+			return ret != 0 ? ret : -1;
+		}
+		ctu_per = (rb.u32SliceRowCount + 1) / 2;
+		printf("VENC: H.265 slice split ON: requested=%u rows32=%u "
+		       "applied_rows32=%u predicted=%u (readback verified)\n",
+		       vcfg->video0.slice_count, split.u32SliceRowCount,
+		       rb.u32SliceRowCount,
+		       (ctu_rows + ctu_per - 1) / ctu_per);
+	}
+
 	ret = MI_VENC_StartRecvPic(*chn);
 	if (ret != 0) {
 		fprintf(stderr, "ERROR: MI_VENC_StartRecvPic failed %d\n", ret);
@@ -2683,17 +2755,19 @@ int star6e_pipeline_start(Star6ePipelineState *state, const VencConfig *vcfg,
 	 * star6e_output_init() -> star6e_output_reset(), which memsets the
 	 * whole output struct and would otherwise zero these GDR/SVC-T
 	 * tagging fields. */
-	state->output.gdr_active =
-		(vcfg->video0.intra_refresh_mode[0] != '\0' &&
-		 strcmp(vcfg->video0.intra_refresh_mode, "off") != 0) ? 1 : 0;
-	state->output.svct_active = vcfg->video0.ref_base > 0 ? 1 : 0;
 	{
-		IntraRefreshDerived gdr_ir;
-		(void)star6e_pipeline_intra_refresh_derive(
-			vcfg, pconf.image_height, venc_fps, pconf.rc_codec,
-			&gdr_ir);
-		uint32_t clen = (gdr_ir.total_rows && gdr_ir.lines)
-			? (gdr_ir.total_rows + gdr_ir.lines - 1) / gdr_ir.lines
+		Star6eIntraRefreshStatus ir_status;
+		Star6eRefPredStatus ref_status;
+		uint32_t clen;
+
+		star6e_pipeline_intra_refresh_status(&ir_status);
+		star6e_pipeline_ref_pred_status(&ref_status);
+		state->output.gdr_active = ir_status.active && ir_status.apply_ok;
+		state->output.svct_active = ref_status.active && ref_status.apply_ok;
+		clen = (state->output.gdr_active && ir_status.total_rows &&
+			ir_status.effective_lines_per_p)
+			? (ir_status.total_rows + ir_status.effective_lines_per_p - 1) /
+				ir_status.effective_lines_per_p
 			: 0;
 		state->output.gdr_cycle_len = clen > 255 ? 255 : (uint8_t)clen;
 		state->output.gdr_counter = 0;
diff --git a/src/star6e_recorder.c b/src/star6e_recorder.c
index 332bdd79..089f3234 100644
--- a/src/star6e_recorder.c
+++ b/src/star6e_recorder.c
@@ -1,4 +1,7 @@
 #include "star6e_recorder.h"
+#ifndef PLATFORM_MARUKO
+#include "star6e_output.h"
+#endif
 
 #include <errno.h>
 #include <fcntl.h>
@@ -56,16 +59,48 @@ static int build_recording_path(char *path, size_t path_size, const char *dir)
 	return 0;
 }
 
-static ssize_t writev_retry(int fd, const struct iovec *iov, int iov_count)
+#ifndef PLATFORM_MARUKO
+static ssize_t writev_all(int fd, const struct iovec *iov, int iov_count)
 {
-	ssize_t ret;
+	struct iovec pending[16];
+	ssize_t total = 0;
+	int first = 0;
 
-	do {
-		ret = writev(fd, iov, iov_count);
-	} while (ret < 0 && errno == EINTR);
+	if (!iov || iov_count <= 0 || iov_count > 16) {
+		errno = EINVAL;
+		return -1;
+	}
+	memcpy(pending, iov, (size_t)iov_count * sizeof(pending[0]));
+	while (first < iov_count) {
+		ssize_t ret;
+		ssize_t consumed;
+
+		do {
+			ret = writev(fd, &pending[first], iov_count - first);
+		} while (ret < 0 && errno == EINTR);
+		if (ret < 0)
+			return -1;
+		if (ret == 0) {
+			errno = EIO;
+			return -1;
+		}
+		total += ret;
+		consumed = ret;
+		while (first < iov_count &&
+		    consumed >= (ssize_t)pending[first].iov_len) {
+			consumed -= (ssize_t)pending[first].iov_len;
+			first++;
+		}
+		if (first < iov_count && consumed > 0) {
+			pending[first].iov_base =
+				(char *)pending[first].iov_base + consumed;
+			pending[first].iov_len -= (size_t)consumed;
+		}
+	}
 
-	return ret;
+	return total;
 }
+#endif
 
 static const char *stop_reason_str(Star6eRecorderStopReason reason)
 {
@@ -159,20 +194,32 @@ static int check_disk_space(Star6eRecorderState *state)
 	return 0;
 }
 
+#ifndef PLATFORM_MARUKO
 int star6e_recorder_write_frame(Star6eRecorderState *state,
 	const MI_VENC_Stream_t *stream)
 {
+	static int incomplete_warned;
 	struct iovec iov[16];
 	int iov_count = 0;
 	ssize_t written;
 	size_t total = 0;
+	off_t frame_start;
 
 	if (!state || state->fd < 0 || !stream || !stream->packet)
 		return 0;
+	if (!star6e_output_stream_packet_info_complete(stream)) {
+		if (!incomplete_warned) {
+			incomplete_warned = 1;
+			fprintf(stderr, "[recorder] invalid packetInfo; "
+				"dropping whole access unit\n");
+		}
+		return 0;
+	}
 
 	/* Periodic disk space check */
 	if (check_disk_space(state) != 0)
 		return 0;
+	frame_start = lseek(state->fd, 0, SEEK_CUR);
 
 	for (unsigned int i = 0; i < stream->count; ++i) {
 		const MI_VENC_Pack_t *pack = &stream->packet[i];
@@ -181,14 +228,8 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
 
-			if (nal_count > info_cap)
-				nal_count = info_cap;
-
 			for (unsigned int k = 0; k < nal_count; ++k) {
 				MI_U32 offset = pack->packetInfo[k].offset;
 				MI_U32 len = pack->packetInfo[k].length;
@@ -198,7 +239,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 					continue;
 
 				if (iov_count >= 16) {
-					written = writev_retry(state->fd,
+					written = writev_all(state->fd,
 						iov, iov_count);
 					if (written < 0)
 						goto write_error;
@@ -216,7 +257,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 				continue;
 
 			if (iov_count >= 16) {
-				written = writev_retry(state->fd, iov, iov_count);
+				written = writev_all(state->fd, iov, iov_count);
 				if (written < 0)
 					goto write_error;
 				total += (size_t)written;
@@ -232,7 +273,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 	}
 
 	if (iov_count > 0) {
-		written = writev_retry(state->fd, iov, iov_count);
+		written = writev_all(state->fd, iov, iov_count);
 		if (written < 0)
 			goto write_error;
 		total += (size_t)written;
@@ -254,6 +295,15 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 	return (int)total;
 
 write_error:
+	{
+		int saved_errno = errno;
+
+		/* A failure may follow a short successful write. Roll the regular
+		 * file back to its frame boundary so it never retains half an AU. */
+		if (frame_start >= 0)
+			(void)ftruncate(state->fd, frame_start);
+		errno = saved_errno;
+	}
 	if (errno == ENOSPC) {
 		fprintf(stderr, "[recorder] disk full (ENOSPC)\n");
 		stop_with_reason(state, RECORDER_STOP_DISK_FULL);
@@ -264,6 +314,7 @@ int star6e_recorder_write_frame(Star6eRecorderState *state,
 	}
 	return -1;
 }
+#endif
 
 void star6e_recorder_stop(Star6eRecorderState *state)
 {
diff --git a/src/star6e_runtime.c b/src/star6e_runtime.c
index d5244ebf..814a1ec2 100644
--- a/src/star6e_runtime.c
+++ b/src/star6e_runtime.c
@@ -378,7 +378,7 @@ static uint8_t star6e_scene_is_idr(const MI_VENC_Stream_t *s)
 	if (!s || !s->packet) return 0;
 	for (i = 0; i < s->count; i++) {
 		const MI_VENC_Pack_t *p = &s->packet[i];
-		unsigned int k, n = p->packNum > 8 ? 8 : p->packNum;
+		unsigned int k, n = p->packNum;
 		if (n > 0) {
 			for (k = 0; k < n; k++) {
 				if (p->packetInfo[k].packType.h265Nalu == 19)
@@ -391,11 +391,22 @@ static uint8_t star6e_scene_is_idr(const MI_VENC_Stream_t *s)
 	return 0;
 }
 
-static void star6e_scene_request_idr(void *ctx)
+/* Ring-full recovery form: reports whether the shared 100 ms limiter let
+ * the IDR through, so the frame-ring holdoff can retry a swallowed request
+ * on the next drop instead of pacing a no-op (Star6eOutput.request_idr). */
+static int star6e_ring_request_idr(void *ctx)
 {
 	int venc_chn = *(const int *)ctx;
-	if (idr_rate_limit_allow(venc_chn))
-		MI_VENC_RequestIdr(venc_chn, 1);
+	if (!idr_rate_limit_allow(venc_chn))
+		return 0;
+	MI_VENC_RequestIdr(venc_chn, 1);
+	return 1;
+}
+
+/* Scene-detector form (SceneRequestIdrFn is void). */
+static void star6e_scene_request_idr(void *ctx)
+{
+	(void)star6e_ring_request_idr(ctx);
 }
 
 /* ── Runner context ────────────────────────────────────────────────────── */
@@ -728,6 +739,23 @@ static void *dual_rec_thread_fn(void *arg)
 				usleep(1000);
 			continue;
 		}
+		if (!star6e_output_stream_packet_info_complete(&stream)) {
+			static int incomplete_warned;
+			if (!incomplete_warned) {
+				incomplete_warned = 1;
+				fprintf(stderr, "WARN: [dual] invalid packetInfo; "
+					"dropping whole access unit\n");
+			}
+			if (!(d->output.svct_active &&
+			    stream.h265Info.refType ==
+				STAR6E_REFTYPE_ENHANCE_P_NOTFORREF) &&
+			    venc_frame_drop_idr_due(&d->output.drop_idr_last_us,
+				wb_monotonic_us()) &&
+			    star6e_ring_request_idr(&d->channel) == 0)
+				d->output.drop_idr_last_us = 0;
+			MI_VENC_ReleaseStream(d->channel, &stream);
+			continue;
+		}
 
 			/* Skip slow SD writes during shutdown — keep draining
 			 * to prevent VPE backpressure while pipeline tears down. */
@@ -866,7 +894,7 @@ static int star6e_runtime_apply_startup_controls(Star6eRunnerContext *ctx)
 	 * both producers of forced IDRs coalesce through one 100 ms window.
 	 * Set here rather than in the pipeline because the callback is
 	 * runtime-local; safe against pipeline restarts, which re-run this. */
-	ps->output.request_idr = star6e_scene_request_idr;
+	ps->output.request_idr = star6e_ring_request_idr;
 	ps->output.idr_ctx = &ps->venc_channel;
 
 	star6e_recorder_init(&ps->recorder);
@@ -1195,6 +1223,11 @@ static int star6e_runtime_process_stream(Star6eRunnerContext *ctx,
 		fprintf(stderr, "ERROR: MI_VENC_GetStream failed %d\n", ret);
 		return ret;
 	}
+	if (star6e_output_reject_incomplete_access_unit(&ps->output,
+	    &stream)) {
+		MI_VENC_ReleaseStream(ps->venc_channel, &stream);
+		return 0;
+	}
 
 	/* refPred error-resilience marking — rewrite TRAIL_R → TRAIL_N for
 	 * frames the SDK marked as ENHANCE_P_NOTFORREF.  The encoder's own
@@ -1202,9 +1235,9 @@ static int star6e_runtime_process_stream(Star6eRunnerContext *ctx,
 	 * just propagate that designation into the bitstream so generic
 	 * receivers can safely drop those NALs without cascade.
 	 *
-	 * Only active when refPred is enabled (ref_base > 0) — otherwise the
-	 * encoder produces a flat single-ref stream and every frame matters. */
-	if (vcfg->video0.ref_base > 0 &&
+	 * Only active when refPred was successfully applied — otherwise the encoder
+	 * produces a flat single-ref stream and every frame matters. */
+	if (ps->output.svct_active &&
 	    stream.h265Info.refType == STAR6E_REFTYPE_ENHANCE_P_NOTFORREF) {
 		star6e_patch_stream_to_trail_n(&stream);
 	}
diff --git a/src/star6e_ts_recorder.c b/src/star6e_ts_recorder.c
index 530a8fe9..309e8eed 100644
--- a/src/star6e_ts_recorder.c
+++ b/src/star6e_ts_recorder.c
@@ -1,4 +1,7 @@
 #include "star6e_ts_recorder.h"
+#ifndef PLATFORM_MARUKO
+#include "star6e_output.h"
+#endif
 
 #include <errno.h>
 #include <fcntl.h>
@@ -334,9 +337,11 @@ int star6e_ts_recorder_is_active(const Star6eTsRecorderState *state)
 	return state && state->fd >= 0;
 }
 
+#ifndef PLATFORM_MARUKO
 int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 	const MI_VENC_Stream_t *stream)
 {
+	static int incomplete_warned;
 	uint8_t nal_buf[512 * 1024];  /* 512KB — supports up to ~50 Mbps IDR frames */
 	size_t nal_len = 0;
 	int is_idr = 0;
@@ -345,6 +350,14 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 
 	if (!state || state->fd < 0 || !stream || !stream->packet)
 		return 0;
+	if (!star6e_output_stream_packet_info_complete(stream)) {
+		if (!incomplete_warned) {
+			incomplete_warned = 1;
+			fprintf(stderr, "[ts_recorder] invalid packetInfo; "
+				"dropping whole access unit\n");
+		}
+		return 0;
+	}
 
 	/* Extract all NAL data from stream packs */
 	for (unsigned int i = 0; i < stream->count; ++i) {
@@ -353,12 +366,7 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 			continue;
 
 		if (pack->packNum > 0) {
-			const unsigned int info_cap = (unsigned int)(
-				sizeof(pack->packetInfo) /
-				sizeof(pack->packetInfo[0]));
 			unsigned int nal_count = (unsigned int)pack->packNum;
-			if (nal_count > info_cap)
-				nal_count = info_cap;
 
 			for (unsigned int k = 0; k < nal_count; ++k) {
 				MI_U32 off = pack->packetInfo[k].offset;
@@ -377,9 +385,9 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 				if (nal_len + len > sizeof(nal_buf)) {
 					fprintf(stderr,
 						"[ts_recorder] frame too large "
-						"(%zu + %u > %zu), truncated\n",
+						"(%zu + %u > %zu), access unit dropped\n",
 						nal_len, len, sizeof(nal_buf));
-					break;
+					return 0;
 				}
 				memcpy(nal_buf + nal_len,
 					pack->data + off, len);
@@ -392,9 +400,9 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 			if (nal_len + len > sizeof(nal_buf)) {
 				fprintf(stderr,
 					"[ts_recorder] frame too large "
-					"(%zu + %u > %zu), truncated\n",
+					"(%zu + %u > %zu), access unit dropped\n",
 					nal_len, len, sizeof(nal_buf));
-				break;
+				return 0;
 			}
 			memcpy(nal_buf + nal_len,
 				pack->data + pack->offset, len);
@@ -412,6 +420,7 @@ int star6e_ts_recorder_write_stream(Star6eTsRecorderState *state,
 	return star6e_ts_recorder_write_video(state,
 		nal_buf, nal_len, pts, is_idr);
 }
+#endif
 
 void star6e_ts_recorder_status(const Star6eTsRecorderState *state,
 	uint64_t *bytes_written, uint32_t *frames_written,
diff --git a/src/venc_api.c b/src/venc_api.c
index f1bd0172..cf4d8d39 100644
--- a/src/venc_api.c
+++ b/src/venc_api.c
@@ -6,6 +6,7 @@
 #include "intra_refresh.h"
 #include "pipeline_common.h"
 #if HAVE_BACKEND_CV610
+#include "cv610_runtime.h"
 #include "cv610_modes.h"
 #include "cv610_validation.h"
 #endif
@@ -472,6 +473,15 @@ static const FieldUi ui_max_qp = {
 	"Video", "Max QP", "number", 0, 51, 1, NULL,
 	"RC QP ceiling. 0 = leave the SDK default. Raising the ceiling lets the encoder compress a scene change hard enough to stay inside the frame budget instead of emitting a burst frame. Applied live."
 };
+static const FieldUi ui_slice_count = {
+	"Video", "Slices per frame", "number", 1, VENC_SLICE_COUNT_MAX, 1, NULL,
+	"Independent H.265 slices per picture. 1 = off. Multi-slice "
+	"output lets the waybeam-link receiver conceal RF loss spatially "
+	"instead of dropping the whole frame, and the concealed area shrinks "
+	"as 1/N. The request is quantized to encoder row geometry; startup logs "
+	"the requested/applied mapping and validation tools report the VCL census. On Star6E, "
+	"1080p delivers only 1,2,3,4,5,6,9,17 and saturates at 17. Restart-only."
+};
 static const FieldUi ui_max_i_bytes = {
 	"Video", "Max I-frame bytes", "number", 0, 2000000, 500, NULL,
 	"Hard per-frame cap on the encoded I-frame size in bytes. 0 = unlimited. "
@@ -630,6 +640,7 @@ static const FieldDesc g_fields[] = {
 	FIELD_UI(snapshot, height, FT_UINT, MUT_RESTART, &ui_snapshot_height),
 	FIELD(video0, scene_threshold,  FT_UINT16, MUT_RESTART),
 	FIELD(video0, scene_holdoff,   FT_UINT8,  MUT_RESTART),
+	FIELD_UI(video0, slice_count,  FT_UINT,   MUT_RESTART, &ui_slice_count),
 	FIELD(video0, resilience,           FT_STRING, MUT_RESTART),
 	/* zoom_x/y stay live for smooth panning via MI_VPE_SetPortCrop; the zoom
 	 * magnitude is part of the framing preset (derived zoom_pct), not a
@@ -758,6 +769,7 @@ static const FieldAlias g_field_aliases[] = {
 	{ "record.gopSize", "record.gop_size" },
 	{ "video0.sceneThreshold", "video0.scene_threshold" },
 	{ "video0.sceneHoldoff", "video0.scene_holdoff" },
+	{ "video0.sliceCount", "video0.slice_count" },
 	{ "video0.zoomX", "video0.zoom_x" },
 	{ "video0.zoomY", "video0.zoom_y" },
 	{ "video0.stabCropPct", "video0.stab_crop_pct" },
@@ -869,8 +881,15 @@ int venc_api_field_supported_for_backend(const char *backend_name,
 	if (backend_name && strcmp(backend_name, "cv610") == 0) {
 		static const char *const supported[] = {
 			"system.web_port", "system.verbose",
+			"sensor.index", "sensor.mode",
+			"isp.keep_aspect",
 			"video0.fps", "video0.size",
 			"video0.bitrate", "video0.gop_size", "video0.qp_delta",
+			"video0.slice_count", "video0.resilience",
+			/* Read by cv610_apply_qp_bounds(), live and at startup.
+			 * CBR cannot hold its target in a noise-dominated scene
+			 * without room to raise QP. */
+			"video0.min_qp", "video0.max_qp",
 			"outgoing.enabled", "outgoing.server",
 			"outgoing.max_payload_size", "outgoing.audio_port",
 			"outgoing.connected_udp",
@@ -1236,6 +1255,14 @@ static const char *validate_field_cfg(const VencConfig *cfg, const char *key)
 	    cfg->video0.scene_holdoff == 0 &&
 	    cfg->video0.scene_threshold > 0)
 		return "video0.scene_holdoff must be >= 1 when scene_threshold > 0";
+	if (strcmp(key, "video0.slice_count") == 0) {
+		/* 1 = split off.  The ceiling is a cross-backend sanity bound,
+		 * not necessarily the delivered count: row-based vendor APIs
+		 * quantize or saturate requests to the picture geometry. */
+		if (cfg->video0.slice_count < 1 ||
+		    cfg->video0.slice_count > VENC_SLICE_COUNT_MAX)
+			return "video0.slice_count must be 1..32";
+	}
 	if (strcmp(key, "video0.min_qp") == 0 || strcmp(key, "video0.max_qp") == 0) {
 		/* H.264/H.265 QP range; the SDK accepts min > max without
 		 * complaint and then behaves erratically (device-observed),
@@ -1298,9 +1325,6 @@ static const char *validate_field_cfg(const VencConfig *cfg, const char *key)
 
 const char *venc_api_validate_loaded_config(const VencConfig *cfg)
 {
-#if HAVE_BACKEND_CV610
-	return cv610_validate_config(cfg);
-#else
 	/* Keys with rules in validate_field_cfg().  Backend-coupled checks
 	 * (validate_backend_config) intentionally excluded — g_backend is
 	 * registered after config load, so they cannot run here. */
@@ -1312,6 +1336,7 @@ const char *venc_api_validate_loaded_config(const VencConfig *cfg)
 		"video0.max_qp",
 		"video0.size",
 		"video0.scene_holdoff",
+		"video0.slice_count",
 		"video0.zoom_x",
 		"video0.zoom_y",
 		"video0.framing",
@@ -1332,6 +1357,20 @@ const char *venc_api_validate_loaded_config(const VencConfig *cfg)
 		if (err)
 			return err;
 	}
+#if HAVE_BACKEND_CV610
+	/* CV610's rules run AFTER the shared sweep, not instead of it.  This
+	 * branch used to return cv610_validate_config() directly, so CV610 was
+	 * the one backend that never ran validate_field_cfg() at all — it
+	 * re-implemented video0.size's >=128 and multiple-of-8 gates inside
+	 * cv610_mode_check_output() and silently skipped every other shared
+	 * rule.  Two copies of one HEVC constraint is a drift risk; missing the
+	 * rest is a parity hole, and it also meant the same bad value produced
+	 * different error text on CV610 than on Star6E.  CV610 keeps its own
+	 * copy of the size gates as a pipeline-boundary guard, because
+	 * cv610_prepare() calls cv610_mode_check_output() directly against a
+	 * config file edited behind the daemon's back. */
+	return cv610_validate_config(cfg);
+#else
 	return NULL;
 #endif
 }
@@ -1407,18 +1446,32 @@ static int parse_first_query_param(const char *query, char *key, size_t key_sz,
 	const char *amp = strchr(query, '&');
 	if (eq) {
 		size_t klen = (size_t)(eq - query);
-		if (klen >= key_sz) klen = key_sz - 1;
+		if (klen >= key_sz) {
+			if (error_message) *error_message = "parameter name too long";
+			return -1;
+		}
 		memcpy(key, query, klen);
 		key[klen] = '\0';
 		const char *vstart = eq + 1;
 		size_t vlen = amp ? (size_t)(amp - vstart) : strlen(vstart);
-		if (vlen >= val_sz) vlen = val_sz - 1;
+		/* Reject rather than truncate.  A silently shortened value can still
+		 * satisfy a caller's own validation -- an array setter counting
+		 * comma-separated elements sees the right count with its last element
+		 * cut mid-token -- and then writes something the operator never asked
+		 * for.  No legitimate request approaches this length. */
+		if (vlen >= val_sz) {
+			if (error_message) *error_message = "parameter value too long";
+			return -1;
+		}
 		memcpy(val, vstart, vlen);
 		val[vlen] = '\0';
 	} else {
 		/* key only, no value (used by GET) */
 		size_t klen = amp ? (size_t)(amp - query) : strlen(query);
-		if (klen >= key_sz) klen = key_sz - 1;
+		if (klen >= key_sz) {
+			if (error_message) *error_message = "parameter name too long";
+			return -1;
+		}
 		memcpy(key, query, klen);
 		key[klen] = '\0';
 		val[0] = '\0';
@@ -2878,7 +2931,7 @@ static int handle_version(int fd, const HttpRequest *req, void *ctx)
 	snprintf(buf, sizeof(buf),
 		"{\"ok\":true,\"data\":{"
 		"\"app_version\":\"%s\","
-		"\"contract_version\":\"0.18.2\","
+		"\"contract_version\":\"0.18.6\","
 		"\"config_schema_version\":\"1.0.0\","
 		"\"backend\":\"%s\""
 		"}}", VENC_VERSION, g_backend);
@@ -2950,6 +3003,20 @@ static int handle_capabilities(int fd, const HttpRequest *req, void *ctx)
 	cJSON *root = cJSON_CreateObject();
 	cJSON_AddBoolToObject(root, "ok", 1);
 	cJSON *data = cJSON_AddObjectToObject(root, "data");
+
+	/* Which optional routes this backend actually services.  The dashboard
+	 * already fetches this at init, so it can decide whether to show the IQ
+	 * tab from a pointer test here instead of firing a full ISP sweep at
+	 * /api/v1/iq on every page load just to find out. */
+	cJSON *routes = cJSON_AddObjectToObject(data, "routes");
+	cJSON_AddBoolToObject(routes, "iq",
+		(g_cb && g_cb->query_iq_info && g_cb->apply_iq_param) ? 1 : 0);
+#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO
+	cJSON_AddBoolToObject(routes, "iq_import", 1);
+#else
+	cJSON_AddBoolToObject(routes, "iq_import", 0);
+#endif
+
 	cJSON *fields = cJSON_AddObjectToObject(data, "fields");
 	for (size_t i = 0; i < FIELD_COUNT; i++) {
 		cJSON *entry = cJSON_AddObjectToObject(fields, g_fields[i].key);
@@ -3760,7 +3827,7 @@ static int handle_idr_stats(int fd, const HttpRequest *req, void *ctx)
 	return httpd_send_json(fd, 200, buf);
 }
 
-#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO
+#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO || HAVE_BACKEND_CV610
 static int handle_intra_status(int fd, const HttpRequest *req, void *ctx)
 {
 	struct {
@@ -3815,6 +3882,25 @@ static int handle_intra_status(int fd, const HttpRequest *req, void *ctx)
 		s.effective_gop_sec     = st.effective_gop_sec;
 		s.gop_auto              = st.gop_auto;
 	}
+#elif HAVE_BACKEND_CV610
+	{
+		Cv610IntraRefreshStatus st;
+		cv610_runtime_intra_refresh_status(&st);
+		snprintf(s.mode_name, sizeof(s.mode_name), "%s", st.mode_name);
+		s.active                = st.active;
+		s.mi_supported          = st.mi_supported;
+		s.apply_ok              = st.apply_ok;
+		s.target_ms             = st.target_ms;
+		s.total_rows            = st.total_rows;
+		s.requested_lines       = st.requested_lines;
+		s.effective_lines_per_p = st.effective_lines_per_p;
+		s.lines_clamped         = st.lines_clamped;
+		s.requested_qp          = st.requested_qp;
+		s.effective_qp          = st.effective_qp;
+		s.explicit_gop_sec      = st.explicit_gop_sec;
+		s.effective_gop_sec     = st.effective_gop_sec;
+		s.gop_auto              = st.gop_auto;
+	}
 #endif
 	if (s.mode_name[0] == '\0')
 		snprintf(s.mode_name, sizeof(s.mode_name), "off");
@@ -3913,6 +3999,27 @@ static int handle_resilience_status(int fd, const HttpRequest *req, void *ctx)
 		rp_enhance      = rp.enhance;
 		rp_pred         = rp.pred;
 	}
+#elif HAVE_BACKEND_CV610
+	{
+		Cv610IntraRefreshStatus st;
+		Cv610RefPredStatus rp;
+		cv610_runtime_intra_refresh_status(&st);
+		cv610_runtime_ref_pred_status(&rp);
+		snprintf(intra_mode, sizeof(intra_mode), "%s",
+			st.mode_name[0] ? st.mode_name : "off");
+		intra_active    = st.active;
+		intra_supported = st.mi_supported;
+		intra_apply_ok  = st.apply_ok;
+		intra_lines     = st.effective_lines_per_p;
+		intra_qp        = st.effective_qp;
+		gop_auto        = st.gop_auto;
+		rp_active       = rp.active;
+		rp_supported    = rp.mi_supported;
+		rp_apply_ok     = rp.apply_ok;
+		rp_base         = rp.base;
+		rp_enhance      = rp.enhance;
+		rp_pred         = rp.pred;
+	}
 #endif
 
 	snprintf(buf, sizeof(buf),
@@ -3988,28 +4095,28 @@ static int handle_modes(int fd, const HttpRequest *req, void *ctx)
 	size_t count = 0;
 	size_t i;
 	const Cv610SensorMode *modes = cv610_mode_table(&count);
-	const Cv610SensorMode *selected;
-	uint32_t fps = 0;
+	int selected, selected_pad;
 	cJSON *root, *data, *pads, *pad, *arr;
 	char *str;
 	int rc;
 
+	/* What the backend actually brought up, published by cv610_prepare()
+	 * through the same venc_api_set_sensor_info() star6e_pipeline.c uses.
+	 * Recomputing it from video0.fps here would report the CONFIGURED mode
+	 * even when a forced sensor.mode, a substituted rate, or a failed
+	 * bring-up means something else is running.  -1 until bring-up runs. */
 	pthread_mutex_lock(&g_cfg_mutex);
-	if (g_cfg)
-		fps = g_cfg->video0.fps;
+	selected = g_sensor_mode;
+	selected_pad = g_sensor_pad;
 	pthread_mutex_unlock(&g_cfg_mutex);
-	/* The listed geometry is what the sensor captures.  video0.size is the
-	 * encoded size VPSS scales that to, so the frame rate alone selects. */
-	selected = cv610_mode_for_fps(fps);
 
 	root = cJSON_CreateObject();
 	if (!root)
 		return httpd_send_error(fd, 500, "internal_error", "out of memory");
 	cJSON_AddBoolToObject(root, "ok", 1);
 	data = cJSON_AddObjectToObject(root, "data");
-	cJSON_AddNumberToObject(data, "selected_pad", 0);
-	cJSON_AddNumberToObject(data, "selected_mode",
-		selected ? (double)(selected - modes) : -1);
+	cJSON_AddNumberToObject(data, "selected_pad", selected_pad);
+	cJSON_AddNumberToObject(data, "selected_mode", selected);
 	pads = cJSON_AddArrayToObject(data, "pads");
 	pad = cJSON_CreateObject();
 	cJSON_AddItemToArray(pads, pad);
@@ -4025,7 +4132,7 @@ static int handle_modes(int fd, const HttpRequest *req, void *ctx)
 		cJSON_AddNumberToObject(m, "min_fps", modes[i].fps);
 		cJSON_AddNumberToObject(m, "max_fps", modes[i].fps);
 		cJSON_AddStringToObject(m, "desc", modes[i].desc);
-		cJSON_AddBoolToObject(m, "selected", &modes[i] == selected);
+		cJSON_AddBoolToObject(m, "selected", (int)i == selected);
 	}
 	str = cJSON_PrintUnformatted(root);
 	cJSON_Delete(root);
@@ -4113,7 +4220,7 @@ int venc_api_register(VencConfig *cfg, const char *backend_name,
 	r |= venc_httpd_route("GET", "/api/v1/dual/set",    handle_dual_set, NULL);
 	r |= venc_httpd_route("GET", "/api/v1/dual/idr",    handle_dual_idr, NULL);
 	r |= venc_httpd_route("GET", "/api/v1/idr/stats",   handle_idr_stats, NULL);
-#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO
+#if HAVE_BACKEND_STAR6E || HAVE_BACKEND_MARUKO || HAVE_BACKEND_CV610
 	r |= venc_httpd_route("GET", "/api/v1/intra/status", handle_intra_status, NULL);
 	r |= venc_httpd_route("GET", "/api/v1/resilience/status",
 		handle_resilience_status, NULL);
diff --git a/src/venc_config.c b/src/venc_config.c
index 9b9ce007..02718a1b 100644
--- a/src/venc_config.c
+++ b/src/venc_config.c
@@ -165,6 +165,9 @@ void venc_config_defaults(VencConfig *cfg)
 	cfg->video0.scene_threshold = 0;   /* 0 = off */
 	cfg->video0.scene_holdoff = 2;
 
+	/* H.265 multi-slice split (video0, all encoder backends) — 1 = off */
+	cfg->video0.slice_count = 1;
+
 	/* intra refresh (video0) — disabled by default; mode-driven */
 	safe_strcpy(cfg->video0.intra_refresh_mode,
 		sizeof(cfg->video0.intra_refresh_mode), "off");
@@ -634,6 +637,14 @@ static void load_video0(const cJSON *root, VencConfigVideo *v)
 	v->scene_holdoff = (uint8_t)json_get_int(obj, "sceneHoldoff",
 		(int)v->scene_holdoff);
 	if (v->scene_holdoff < 1 && v->scene_threshold > 0) v->scene_holdoff = 1;
+	{
+		/* Clamp in signed space: a negative value must floor to 1
+		 * (single slice), not wrap through uint32 to the maximum. */
+		int sc = json_get_int(obj, "sliceCount", (int)v->slice_count);
+		if (sc < 1) sc = 1;
+		if (sc > VENC_SLICE_COUNT_MAX) sc = VENC_SLICE_COUNT_MAX;
+		v->slice_count = (uint32_t)sc;
+	}
 
 	/* Resilience preset is the sole driver of intra-refresh + SVC-T
 	 * (refPred).  For named presets it also overrides gop_size; only
@@ -1379,6 +1390,7 @@ static void render_video0(PrettyBuf *p, const VencConfig *cfg, int is_last)
 	pp_field_uint(p,   2, "maxQp",          cfg->video0.max_qp,          0);
 	pp_field_uint(p,   2, "sceneThreshold", cfg->video0.scene_threshold, 0);
 	pp_field_uint(p,   2, "sceneHoldoff",   cfg->video0.scene_holdoff,   0);
+	pp_field_uint(p,   2, "sliceCount",     cfg->video0.slice_count,     0);
 	pp_field_string(p, 2, "resilience",        cfg->video0.resilience,          0);
 	pp_field_double(p, 2, "zoomX",             cfg->video0.zoom_x,              0);
 	pp_field_double(p, 2, "zoomY",             cfg->video0.zoom_y,              0);
@@ -1636,6 +1648,7 @@ static cJSON *config_to_cjson(const VencConfig *cfg)
 		cJSON_AddNumberToObject(vid, "maxQp", cfg->video0.max_qp);
 		cJSON_AddNumberToObject(vid, "sceneThreshold", cfg->video0.scene_threshold);
 		cJSON_AddNumberToObject(vid, "sceneHoldoff", cfg->video0.scene_holdoff);
+		cJSON_AddNumberToObject(vid, "sliceCount", cfg->video0.slice_count);
 		cJSON_AddStringToObject(vid, "resilience", cfg->video0.resilience);
 		cJSON_AddNumberToObject(vid, "zoomX",   cfg->video0.zoom_x);
 		cJSON_AddNumberToObject(vid, "zoomY",   cfg->video0.zoom_y);
diff --git a/src/venc_webui.c b/src/venc_webui.c
index 97678f2e..6b518c1f 100644
--- a/src/venc_webui.c
+++ b/src/venc_webui.c
@@ -6,1422 +6,1514 @@
 #include <unistd.h>
 
 static const unsigned char dashboard_gz[] = {
-	0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0xed, 0xbd, 0xdb, 0x76, 0xe3, 0x46,
-	0x96, 0x28, 0xf8, 0xae, 0xaf, 0x08, 0xd3, 0x55, 0x05, 0xb2, 0x04, 0x82, 0xa4, 0x6e, 0x99, 0x49,
-	0x26, 0x95, 0x9d, 0x17, 0xd9, 0x56, 0x77, 0xde, 0x2c, 0x29, 0x5d, 0xd5, 0x2b, 0x9d, 0x4b, 0x06,
-	0x09, 0x50, 0x84, 0x05, 0x02, 0x30, 0x00, 0xea, 0x62, 0x59, 0x67, 0xf5, 0xd3, 0x7c, 0xc0, 0xac,
-	0xb3, 0x66, 0xfe, 0x60, 0x9e, 0xcf, 0xcb, 0x79, 0x3b, 0x4f, 0x3d, 0x7f, 0xd2, 0x5f, 0x32, 0xfb,
-	0x12, 0x01, 0x44, 0x80, 0xe0, 0x45, 0xe9, 0x74, 0x9f, 0x9e, 0x5e, 0x5d, 0xdd, 0x4e, 0x11, 0x40,
-	0xc4, 0x8e, 0x88, 0x1d, 0x3b, 0x76, 0xec, 0x5b, 0xec, 0x78, 0xfa, 0xd5, 0xab, 0x77, 0x2f, 0xcf,
-	0xfe, 0xf9, 0xfd, 0x91, 0x98, 0xe6, 0xb3, 0xf0, 0x70, 0x6b, 0xeb, 0x29, 0xfe, 0x15, 0xa1, 0x1b,
-	0x5d, 0x0c, 0x1b, 0x7e, 0xd4, 0xa0, 0x37, 0xbe, 0xeb, 0xe1, 0xdf, 0x99, 0x9f, 0xbb, 0x62, 0x3c,
-	0x75, 0xd3, 0xcc, 0xcf, 0x87, 0x8d, 0x0f, 0x67, 0xdf, 0xb4, 0x1f, 0x37, 0x8a, 0xf7, 0x91, 0x3b,
-	0xf3, 0x87, 0x8d, 0xab, 0xc0, 0xbf, 0x4e, 0xe2, 0x34, 0x6f, 0x88, 0x71, 0x1c, 0xe5, 0x7e, 0x04,
-	0xe5, 0xae, 0x03, 0x2f, 0x9f, 0x0e, 0x3d, 0xff, 0x2a, 0x18, 0xfb, 0x6d, 0x7a, 0xb0, 0x45, 0x10,
-	0x05, 0x79, 0xe0, 0x86, 0xed, 0x6c, 0xec, 0x86, 0xfe, 0xb0, 0xe7, 0x74, 0x09, 0x4e, 0x1e, 0xe4,
-	0xa1, 0x7f, 0x78, 0xed, 0xde, 0x8e, 0x7c, 0x77, 0x76, 0x7e, 0xe5, 0x47, 0xe3, 0xa7, 0x1d, 0x7e,
-	0x07, 0x1f, 0xb3, 0xfc, 0x96, 0x7e, 0xfc, 0x43, 0x30, 0xc3, 0x06, 0xc4, 0x3c, 0x0d, 0x9b, 0xd6,
-	0x34, 0xcf, 0x93, 0xac, 0xdf, 0xe9, 0x4c, 0xa0, 0xb1, 0xcc, 0xb9, 0x88, 0xe3, 0x8b, 0xd0, 0x77,
-	0x93, 0x20, 0x73, 0xc6, 0xf1, 0xac, 0x33, 0xce, 0xb2, 0x9d, 0x67, 0x13, 0x77, 0x16, 0x84, 0xb7,
-	0xc3, 0x7f, 0xf4, 0xf3, 0x17, 0xa9, 0x1b, 0x44, 0xd9, 0xf6, 0x9b, 0x38, 0x8a, 0xfb, 0xd7, 0x17,
-	0xd3, 0xfc, 0x1f, 0xf6, 0xba, 0xdd, 0xc1, 0x3e, 0xfc, 0x77, 0x00, 0xff, 0x3d, 0xea, 0x76, 0xff,
-	0x22, 0x8b, 0xbe, 0x7a, 0xb3, 0x7d, 0xea, 0x46, 0x59, 0x7d, 0x19, 0x2f, 0xc8, 0x92, 0xd0, 0xbd,
-	0x1d, 0x66, 0xd7, 0x6e, 0x62, 0xb5, 0x06, 0x5b, 0x5b, 0x7f, 0xbd, 0x9b, 0xb9, 0xe9, 0x45, 0x10,
-	0xf5, 0xbb, 0x83, 0xc4, 0xf5, 0xbc, 0x20, 0xba, 0x80, 0x5f, 0xa3, 0xf8, 0xa6, 0x9d, 0x05, 0xbf,
-	0xe2, 0xc3, 0x28, 0x4e, 0x3d, 0x3f, 0x6d, 0xc3, 0x9b, 0xfb, 0xad, 0xad, 0x7e, 0x1a, 0xc7, 0xf9,
-	0xdd, 0xd6, 0x56, 0xbb, 0x3d, 0xba, 0xe8, 0x7f, 0xdd, 0x75, 0xbb, 0x6e, 0x6f, 0x67, 0x80, 0x0f,
-	0x3b, 0xf0, 0x34, 0xe9, 0x75, 0x7b, 0x4f, 0xe0, 0x69, 0xec, 0xa6, 0x5e, 0xff, 0xeb, 0xde, 0x5e,
-	0x6f, 0x7f, 0xa7, 0x2b, 0x1f, 0xdb, 0xd3, 0xf8, 0xca, 0x4f, 0xe1, 0xe5, 0x93, 0x9e, 0xbb, 0xe3,
-	0x0e, 0x08, 0x00, 0xc1, 0x85, 0x57, 0xfe, 0x4e, 0x77, 0x77, 0x7f, 0xa0, 0x5e, 0xb4, 0xa7, 0x41,
-	0xff, 0xeb, 0x1d, 0x77, 0xc7, 0xdb, 0xe3, 0x62, 0xb9, 0x7f, 0x93, 0xf7, 0xbf, 0x1e, 0x3f, 0x1e,
-	0xbb, 0x1e, 0x02, 0xc3, 0xc7, 0xb6, 0x17, 0xcc, 0xfa, 0x5f, 0x1f, 0x8c, 0x0e, 0xfc, 0x47, 0xae,
-	0x7a, 0x35, 0x4a, 0x03, 0x18, 0x6d, 0xff, 0x6b, 0xdf, 0x9f, 0x74, 0x27, 0x7b, 0x54, 0xd3, 0x1d,
-	0x8f, 0x61, 0xfa, 0xe0, 0xd5, 0x93, 0xbd, 0xfd, 0x03, 0xac, 0xcb, 0x2f, 0xda, 0x17, 0x61, 0x7c,
-	0xdd, 0x4f, 0x2f, 0x46, 0x6e, 0x73, 0x67, 0x77, 0xd7, 0x3e, 0x78, 0x62, 0x3f, 0x39, 0xb0, 0x9d,
-	0xde, 0x7e, 0x8b, 0x2a, 0x85, 0xc1, 0x95, 0x0f, 0xed, 0xef, 0x8c, 0xf7, 0xf7, 0xfd, 0x01, 0x3f,
-	0xe2, 0x50, 0xa9, 0xf8, 0xee, 0x9e, 0xdd, 0x7b, 0xf2, 0xc8, 0x7e, 0xb2, 0x07, 0xc5, 0xb9, 0x74,
-	0xea, 0x67, 0xb9, 0x9b, 0x42, 0x1b, 0x93, 0xfd, 0x27, 0x7e, 0x77, 0x34, 0x28, 0xde, 0x14, 0x75,
-	0x76, 0xf6, 0xf6, 0xed, 0xde, 0xfe, 0x63, 0xbb, 0xd7, 0x2b, 0x2a, 0x8d, 0xc2, 0x39, 0x34, 0xb1,
-	0x3b, 0x7a, 0xbc, 0x33, 0x39, 0x18, 0xf0, 0x63, 0x51, 0x7c, 0xff, 0x89, 0xdd, 0xdb, 0xed, 0xda,
-	0x3b, 0x7b, 0x07, 0xb2, 0x38, 0xe0, 0x1c, 0xc9, 0xf9, 0x0e, 0xe9, 0x03, 0x67, 0xc4, 0xef, 0xf7,
-	0x76, 0x13, 0x9c, 0x89, 0x51, 0xec, 0xdd, 0xde, 0x8d, 0xdc, 0xf1, 0xe5, 0x45, 0x1a, 0xcf, 0x23,
-	0xaf, 0x7f, 0xe5, 0xa6, 0x4d, 0x9c, 0x88, 0xd6, 0x60, 0x1c, 0x87, 0x71, 0x2a, 0x9f, 0x11, 0x37,
-	0xad, 0x01, 0x55, 0x66, 0xe2, 0xe8, 0x5b, 0xaf, 0xde, 0x08, 0xa4, 0x0e, 0xcb, 0xce, 0x6e, 0xb3,
-	0xdc, 0x9f, 0xb5, 0xe7, 0x81, 0x9d, 0xc1, 0x73, 0x3b, 0xf3, 0xd3, 0x60, 0x32, 0x98, 0x05, 0x51,
-	0x7b, 0xea, 0x13, 0x2e, 0x7b, 0xdd, 0xee, 0xd5, 0x74, 0x80, 0xf3, 0x36, 0x01, 0x8c, 0xb5, 0x6f,
-	0xfa, 0xd3, 0xc0, 0xf3, 0xfc, 0x08, 0xda, 0x1e, 0xc7, 0x9e, 0x6f, 0x27, 0xa9, 0x6f, 0x3b, 0x33,
-	0xa0, 0xc5, 0x3b, 0x03, 0x7c, 0x41, 0xa7, 0x02, 0xe9, 0xd4, 0xb2, 0xb1, 0x44, 0x96, 0xb8, 0x63,
-	0x7f, 0x50, 0x0e, 0xc1, 0x79, 0xbc, 0xef, 0xcf, 0x00, 0x4e, 0xe7, 0xaf, 0xe2, 0xdf, 0xfe, 0xfb,
-	0xbf, 0xc0, 0xff, 0x8b, 0x33, 0x3f, 0xf4, 0x61, 0x11, 0xa6, 0xb7, 0xe2, 0x85, 0x9b, 0xaa, 0x97,
-	0x7f, 0xed, 0x6c, 0x6d, 0x39, 0xf9, 0xc8, 0x4d, 0xef, 0x92, 0x38, 0x83, 0xe5, 0x16, 0x47, 0xfd,
-	0x2c, 0x0f, 0xc6, 0x97, 0xb7, 0x83, 0x3c, 0x4e, 0x80, 0x48, 0x7f, 0x6d, 0x07, 0x91, 0xe7, 0xdf,
-	0x60, 0x47, 0x07, 0x35, 0x98, 0xd8, 0x69, 0x0d, 0x0a, 0xda, 0xcd, 0xf3, 0x78, 0xd6, 0xef, 0x25,
-	0x37, 0x22, 0x8b, 0xc3, 0xc0, 0x13, 0xb2, 0x08, 0x7d, 0x6d, 0x95, 0x64, 0x2f, 0x7a, 0xce, 0x4e,
-	0xea, 0xcf, 0x06, 0x12, 0x01, 0x7b, 0x7b, 0xc9, 0xcd, 0x40, 0xae, 0x97, 0xfe, 0x24, 0xf4, 0x6f,
-	0x06, 0x6e, 0x18, 0x5c, 0x44, 0xed, 0x00, 0xd0, 0x96, 0xf5, 0x91, 0x96, 0xfc, 0x74, 0x70, 0xe1,
-	0x26, 0xfd, 0x1e, 0x56, 0xc2, 0x1e, 0x78, 0x69, 0x9c, 0xb4, 0x27, 0x41, 0x08, 0x1f, 0xfa, 0x30,
-	0xaf, 0x69, 0xb3, 0xb7, 0x93, 0xdc, 0xb4, 0xee, 0xe5, 0x30, 0xda, 0xc4, 0x0a, 0x1e, 0x84, 0xae,
-	0x6b, 0xee, 0x09, 0x2c, 0x5c, 0x0d, 0x7d, 0xd4, 0x5c, 0x75, 0x96, 0xe5, 0x0a, 0x68, 0x0d, 0x42,
-	0x3f, 0x87, 0xe6, 0xdb, 0x08, 0x04, 0x07, 0xd5, 0x76, 0xba, 0x3b, 0x50, 0xfc, 0x7a, 0x0a, 0xbd,
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-	0xe5, 0xd5, 0xd2, 0x32, 0xfa, 0x01, 0xcc, 0xa4, 0xa8, 0x96, 0xf9, 0xc9, 0x1d, 0x31, 0x43, 0xc4,
-	0xab, 0x42, 0xd9, 0x4e, 0x17, 0x7e, 0x2f, 0xce, 0x05, 0x23, 0xba, 0xa8, 0x8a, 0x08, 0xbc, 0xdb,
-	0x04, 0xb1, 0xce, 0x1e, 0x0e, 0x55, 0x27, 0x9c, 0xda, 0xa1, 0x03, 0x3f, 0x68, 0xad, 0x1a, 0x21,
-	0xc2, 0x15, 0xa3, 0xbb, 0x25, 0x0b, 0x43, 0x8e, 0xed, 0x40, 0x1b, 0x9b, 0x07, 0x4c, 0x8e, 0xc7,
-	0xf6, 0xa8, 0x1c, 0x1b, 0xfe, 0x94, 0x04, 0x95, 0xba, 0x5e, 0x30, 0xcf, 0xfa, 0xfb, 0xdd, 0x3f,
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-	0x02, 0x26, 0xa0, 0xc9, 0x64, 0x11, 0x52, 0x39, 0xf0, 0x18, 0x67, 0x3a, 0xbf, 0x05, 0x64, 0x19,
-	0xb5, 0x88, 0x75, 0x4d, 0x92, 0x6c, 0xb1, 0x2a, 0x7e, 0x59, 0xe8, 0xc2, 0x01, 0x74, 0xa1, 0xca,
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-	0xb9, 0x81, 0xf4, 0x28, 0x8e, 0x7c, 0x39, 0x67, 0x4b, 0x57, 0x7f, 0x3d, 0x35, 0x29, 0x9e, 0x00,
-	0x2c, 0x40, 0xf4, 0xba, 0x0b, 0x33, 0x8f, 0x9c, 0x61, 0x3c, 0x4f, 0x33, 0xa8, 0x99, 0xc4, 0x01,
-	0x75, 0x46, 0xa3, 0xd2, 0x47, 0xfb, 0x05, 0xd9, 0xae, 0x5f, 0xe7, 0x79, 0x0a, 0xdc, 0x97, 0xb9,
-	0x9b, 0x1b, 0x86, 0x02, 0x76, 0xa2, 0x4c, 0x1f, 0x4e, 0x9f, 0x76, 0xce, 0x3b, 0xd9, 0x7c, 0x7d,
-	0x67, 0x17, 0x08, 0xdb, 0xe4, 0xad, 0xee, 0x28, 0x33, 0x59, 0x2a, 0xbc, 0x30, 0x97, 0xdf, 0x17,
-	0xe5, 0x9e, 0x38, 0x2b, 0xbc, 0x12, 0xdc, 0xd1, 0x9d, 0xfa, 0xea, 0x3c, 0x82, 0x4f, 0xaa, 0x44,
-	0x05, 0x73, 0xf5, 0x83, 0xd2, 0xd7, 0xe6, 0xbe, 0xc1, 0xff, 0x60, 0xfb, 0x20, 0x86, 0x6b, 0x74,
-	0x6f, 0xa7, 0xe8, 0x1e, 0x21, 0x34, 0x71, 0x53, 0xa0, 0x91, 0x3a, 0xe4, 0x0e, 0xe6, 0x19, 0xb2,
-	0x47, 0xd8, 0x70, 0xc6, 0x39, 0x11, 0x88, 0xec, 0xaa, 0x44, 0x74, 0x1d, 0x2e, 0xf1, 0xb3, 0xe3,
-	0x8e, 0x73, 0x58, 0x37, 0xb5, 0x2c, 0xd2, 0xe8, 0x49, 0xbb, 0xa6, 0x84, 0x84, 0xd1, 0x96, 0x22,
-	0x65, 0x81, 0x7c, 0xa2, 0x4f, 0x85, 0x22, 0x89, 0x9c, 0x99, 0x7b, 0xd3, 0x96, 0x7c, 0x15, 0x56,
-	0x0f, 0xd0, 0x99, 0x12, 0xcf, 0x04, 0xae, 0x89, 0x0a, 0x24, 0xd5, 0x2b, 0x05, 0x70, 0x14, 0xc6,
-	0xe3, 0x4b, 0x6d, 0xd1, 0x4e, 0x5c, 0xcf, 0x3f, 0x8e, 0x84, 0x23, 0x97, 0xac, 0xb9, 0x52, 0xf9,
-	0xe3, 0xdd, 0x24, 0x8d, 0x67, 0xc5, 0xaa, 0xec, 0x32, 0xca, 0x26, 0x71, 0x3a, 0xeb, 0xd3, 0xaf,
-	0xd0, 0xcd, 0xfd, 0x7f, 0x6e, 0xee, 0xe1, 0x36, 0x96, 0xc7, 0xe5, 0x52, 0xd6, 0x8a, 0x11, 0x0e,
-	0x0d, 0x8a, 0x3b, 0xf1, 0xc7, 0x80, 0x11, 0x18, 0x53, 0x86, 0xc4, 0x67, 0xd0, 0x5e, 0xea, 0x8f,
-	0xdb, 0x28, 0x8d, 0x03, 0xa6, 0x0d, 0x0a, 0xfc, 0x79, 0x0e, 0x5b, 0xfb, 0xe4, 0x56, 0x8d, 0xab,
-	0x4f, 0x6b, 0xa3, 0x3d, 0xf2, 0xf3, 0x6b, 0xdf, 0x8f, 0xea, 0xd6, 0x3e, 0xf1, 0x5d, 0xe4, 0xf2,
-	0x7d, 0xfc, 0xc7, 0xdc, 0x86, 0x0d, 0x52, 0x46, 0xf1, 0xb3, 0xb5, 0x8e, 0x09, 0x98, 0xab, 0x1b,
-	0x78, 0x61, 0x31, 0x2b, 0xc4, 0x5f, 0x44, 0x8f, 0x67, 0x86, 0xf8, 0x93, 0x24, 0x38, 0xc9, 0x78,
-	0x68, 0x44, 0xa8, 0x3f, 0x98, 0xe3, 0xa1, 0xfe, 0x38, 0xcc, 0x07, 0xcc, 0x9e, 0x6e, 0xb6, 0x9b,
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+	0x5e, 0xc0, 0x64, 0x24, 0x51, 0x33, 0xac, 0x89, 0xb1, 0xb1, 0x87, 0xd3, 0x85, 0x70, 0xb6, 0x7e,
+	0x0f, 0x06, 0x98, 0xa9, 0x87, 0x7d, 0x55, 0xee, 0x36, 0xe6, 0xa3, 0x9f, 0x1c, 0x12, 0x7d, 0xd5,
+	0xb1, 0x8d, 0xc8, 0xa8, 0x8a, 0xab, 0x15, 0x38, 0xaf, 0xfe, 0xe2, 0xa5, 0xa4, 0x44, 0x67, 0x40,
+	0xb2, 0x24, 0x8a, 0xcd, 0xf2, 0x9c, 0x78, 0xfd, 0x5e, 0x0e, 0x4b, 0x6c, 0x86, 0x12, 0x07, 0x29,
+	0x43, 0x44, 0x88, 0x24, 0xa9, 0xa9, 0xd6, 0xbd, 0x27, 0x99, 0x2d, 0x06, 0x4d, 0xc9, 0x31, 0x94,
+	0xb6, 0xc8, 0x04, 0x56, 0x2a, 0x7f, 0x31, 0x0d, 0xe2, 0xfa, 0x92, 0x0a, 0xdb, 0x5f, 0x7d, 0xb9,
+	0xbd, 0xd3, 0xb1, 0x40, 0x60, 0x36, 0x32, 0x33, 0x91, 0x5c, 0xde, 0x40, 0xe0, 0xcc, 0xcc, 0xb3,
+	0x98, 0xc3, 0xa6, 0xfc, 0xa2, 0x9d, 0xec, 0x9c, 0x04, 0xc0, 0x04, 0x46, 0x3b, 0x4e, 0xae, 0x6f,
+	0x8f, 0x2d, 0xb3, 0x9c, 0xc9, 0x95, 0x8e, 0xd9, 0x25, 0x24, 0xb8, 0x7a, 0x84, 0x15, 0xf9, 0x66,
+	0xae, 0x8e, 0x15, 0xe8, 0x0e, 0xf2, 0x16, 0x1f, 0xf9, 0xd9, 0xf9, 0x94, 0x09, 0xe4, 0xa9, 0x3e,
+	0xf9, 0x03, 0xc2, 0xaf, 0xa2, 0xf8, 0x22, 0x51, 0x35, 0x6d, 0x11, 0x23, 0x4d, 0x3f, 0x66, 0x4f,
+	0x35, 0x39, 0x93, 0xa9, 0xbb, 0x7c, 0x11, 0x8c, 0x3e, 0x24, 0x61, 0x16, 0x19, 0xe0, 0x3c, 0xcf,
+	0xb3, 0xa1, 0x49, 0xba, 0x0b, 0x85, 0xeb, 0x0f, 0x7d, 0xa4, 0xae, 0x26, 0xa9, 0x19, 0x6d, 0x66,
+	0x47, 0x83, 0xda, 0x76, 0x26, 0x34, 0x06, 0x12, 0x93, 0xeb, 0x9a, 0x8c, 0x29, 0xc2, 0xb5, 0x61,
+	0x69, 0x4f, 0x42, 0xfe, 0xe6, 0x0d, 0xd2, 0xb9, 0xc7, 0x01, 0xaf, 0xfa, 0x28, 0x52, 0x9c, 0x6b,
+	0x13, 0x63, 0xfd, 0x9a, 0x04, 0x56, 0x0a, 0xde, 0x9c, 0x01, 0x06, 0xec, 0x9b, 0xf7, 0x81, 0xef,
+	0x97, 0x87, 0xd5, 0x55, 0x52, 0x01, 0xb9, 0xd6, 0x73, 0x34, 0x73, 0x3e, 0x56, 0x24, 0x98, 0xee,
+	0xaf, 0x90, 0x77, 0x83, 0x61, 0x31, 0x49, 0x36, 0x21, 0x9a, 0xf6, 0xf5, 0xfe, 0x42, 0xf6, 0x43,
+	0x7a, 0xc5, 0xa7, 0x1d, 0x58, 0x9f, 0xd9, 0x1d, 0xdc, 0xc6, 0x30, 0xca, 0xae, 0xa1, 0x00, 0x29,
+	0xc6, 0x41, 0xce, 0x05, 0xc6, 0x98, 0x32, 0x0b, 0xdc, 0xce, 0xe3, 0x7b, 0xb7, 0x8c, 0x95, 0xc9,
+	0x26, 0xae, 0xed, 0x50, 0xfa, 0x81, 0xcd, 0x50, 0xc5, 0x47, 0xa4, 0x53, 0x28, 0xeb, 0xf2, 0x33,
+	0x16, 0x84, 0xca, 0x85, 0x68, 0xaf, 0x09, 0x87, 0xb5, 0xd9, 0xc1, 0x21, 0x32, 0x36, 0x0c, 0x89,
+	0x68, 0xec, 0x02, 0x26, 0x81, 0xf8, 0x19, 0x7d, 0x62, 0x73, 0x55, 0xb9, 0xb6, 0x0e, 0x28, 0xd7,
+	0x9d, 0x43, 0x0b, 0xd4, 0x0f, 0xfa, 0xc3, 0x97, 0x02, 0x26, 0x85, 0x07, 0xe3, 0xc1, 0x58, 0x8e,
+	0x19, 0x60, 0xbb, 0xc4, 0x07, 0xa7, 0xd1, 0x71, 0x16, 0x62, 0x03, 0xa6, 0xaf, 0xcd, 0x95, 0x83,
+	0xb7, 0xf8, 0xae, 0x4f, 0xd9, 0x6b, 0xe3, 0xe0, 0x7c, 0x4c, 0xb4, 0x56, 0x77, 0xee, 0x7a, 0x15,
+	0x14, 0xc0, 0x99, 0x66, 0xb3, 0x56, 0x2b, 0x66, 0x1a, 0x27, 0x60, 0x3a, 0x03, 0xc0, 0x54, 0xa2,
+	0x36, 0x0b, 0xb3, 0x3b, 0x9d, 0xc8, 0xc5, 0x28, 0x17, 0xc5, 0xb7, 0xd2, 0x15, 0xd9, 0x2b, 0xa7,
+	0xac, 0x36, 0x02, 0x1f, 0xb5, 0x0b, 0x71, 0x87, 0x9b, 0x36, 0xaf, 0x82, 0x21, 0xce, 0x72, 0xae,
+	0xf1, 0x7b, 0xcc, 0x87, 0xf8, 0x5b, 0xce, 0x3f, 0xe0, 0x61, 0xea, 0x5d, 0x9f, 0x8d, 0x66, 0x49,
+	0xbd, 0xca, 0x7f, 0x5f, 0xee, 0x3a, 0x2c, 0x5c, 0xa4, 0xc8, 0xf0, 0xad, 0xbb, 0x11, 0x2b, 0xae,
+	0x4f, 0x3c, 0x30, 0xbd, 0x29, 0x6b, 0xdc, 0x1b, 0x2b, 0xb2, 0x03, 0x2d, 0xf2, 0x33, 0x2d, 0x8b,
+	0xe8, 0x5b, 0xc9, 0x34, 0x19, 0x3d, 0xb5, 0xa4, 0x10, 0xbd, 0x74, 0xe5, 0xb6, 0x46, 0x03, 0xa7,
+	0x94, 0x67, 0x27, 0xcf, 0xcc, 0x84, 0x9b, 0xb7, 0x63, 0x52, 0x8d, 0x6a, 0x85, 0x12, 0x76, 0x56,
+	0xa0, 0xc5, 0x62, 0x26, 0x81, 0xa2, 0xab, 0x3a, 0x15, 0xb9, 0x83, 0x36, 0x56, 0x87, 0x24, 0x56,
+	0xa4, 0xf7, 0x2d, 0xd9, 0x18, 0x57, 0xf8, 0x91, 0x9b, 0xe4, 0xb1, 0xf4, 0xff, 0x22, 0x45, 0xd3,
+	0x0b, 0xd2, 0xe8, 0x39, 0xca, 0xfe, 0x10, 0x3f, 0xa1, 0xb4, 0xf3, 0x0f, 0x38, 0xe5, 0x1f, 0x6e,
+	0xfc, 0xff, 0x0f, 0xfe, 0x17, 0x02, 0xb3, 0x48, 0x01, 0x00,
 };
 
 /* When present, this file replaces the built-in dashboard at runtime, so the
diff --git a/tests/test_cv610_validation.c b/tests/test_cv610_validation.c
index 839888c2..72309e35 100644
--- a/tests/test_cv610_validation.c
+++ b/tests/test_cv610_validation.c
@@ -1,4 +1,5 @@
 #include "cv610_modes.h"
+#include "cv610_encoder_config.h"
 #include "venc_api.h"
 #include "venc_config.h"
 
@@ -97,12 +98,163 @@ static int test_mode_table(void)
 	return failures;
 }
 
+/* Every row asserts the index contract too: out_index must address the very
+ * entry that was returned, because /api/v1/modes publishes that index and the
+ * ground's mode catalog addresses modes by it. */
+static int select_ok(const char *name, int forced, uint32_t fps,
+	uint32_t want_fps)
+{
+	const Cv610SensorMode *table = cv610_mode_table(NULL);
+	int idx = 999;
+	const Cv610SensorMode *m = cv610_mode_select(forced, fps, &idx);
+
+	return expect(name, m != NULL && m->fps == want_fps &&
+		idx >= 0 && m == &table[idx]);
+}
+
+/* Derived rather than hardcoded so the tests below keep meaning what they say
+ * if the table is ever reordered or extended. */
+static int fastest_mode_index(void)
+{
+	const Cv610SensorMode *table = cv610_mode_table(NULL);
+	size_t count = 0;
+	size_t i;
+	int best = 0;
+
+	cv610_mode_table(&count);
+	for (i = 1; i < count; i++)
+		if (table[i].fps > table[best].fps)
+			best = (int)i;
+	return best;
+}
+
+static int select_rejects(const char *name, int forced, uint32_t fps)
+{
+	int idx = 999;
+	const Cv610SensorMode *m = cv610_mode_select(forced, fps, &idx);
+
+	return expect(name, m == NULL && idx == -1);
+}
+
+/* sensor.mode and video0.fps resolve to one mode the way SigmaStar's
+ * sensor_select() resolves them: a forced index wins and must exist, else the
+ * rate is a target rather than a command.  One row diverges deliberately —
+ * see cv610_mode_select(). */
+static int test_mode_select(void)
+{
+	const Cv610SensorMode *table = cv610_mode_table(NULL);
+	size_t count = 0;
+	int failures = 0;
+
+	cv610_mode_table(&count);
+
+	/* A forced index beats the requested rate outright. */
+	failures += select_ok("select_forced_beats_fps", 1, 100, table[1].fps);
+	failures += select_ok("select_forced_last", (int)count - 1, 30,
+		table[count - 1].fps);
+	/* Past the table it is an error, not a fallback to something plausible. */
+	failures += select_rejects("select_forced_out_of_range", (int)count, 100);
+
+	/* Any negative index means auto, as forced_pad/forced_mode do on
+	 * SigmaStar — only >= 0 is a command. */
+	failures += select_ok("select_negative_is_auto", -5, 60, 60);
+
+	failures += select_ok("select_auto_exact", -1, 90, 90);
+	/* Between modes rounds UP: never deliver fewer frames than asked while a
+	 * mode that can keep up exists. */
+	failures += select_ok("select_auto_rounds_up", -1, 45, 60);
+	failures += select_ok("select_auto_just_below_top", -1, 99, 100);
+	failures += select_ok("select_auto_below_all", -1, 1, 30);
+	/* Above every mode clamps to the FASTEST.  A literal port of SigmaStar's
+	 * sensor_mode_cost tie-break would answer 30 here, which is the wart this
+	 * table exists to pin down. */
+	failures += select_ok("select_auto_clamps_to_fastest", -1, 120, 100);
+	failures += select_ok("select_auto_clamps_far_above", -1, 100000, 100);
+	/* No target at all: reject rather than invent a rate. */
+	failures += select_rejects("select_auto_zero_fps", -1, 0);
+
+	return failures;
+}
+
+static int test_encoder_config(void)
+{
+	VencConfig cfg;
+	Cv610EncoderConfig enc;
+	int failures = 0;
+
+	venc_config_defaults(&cfg);
+	cfg.video0.slice_count = 1;
+	failures += expect("enc_off_derives",
+		cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0);
+	failures += expect("enc_off_features_disabled",
+		!enc.intra.enabled && !enc.ref.enabled && !enc.slice.enabled);
+	failures += expect("enc_off_slice_defaults",
+		enc.slice.total_lcu_rows == 34 && enc.slice.split_size == 1 &&
+		enc.slice.expected_count == 1);
+
+	(void)venc_config_apply_resilience_preset("racing", &cfg.video0);
+	failures += expect("enc_racing_derives",
+		cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0);
+	failures += expect("enc_racing_gdr",
+		enc.intra.enabled && enc.intra.mode == 0 &&
+		enc.intra.refresh_num == 3 && enc.intra.request_i_qp == 36 &&
+		enc.intra.derived.total_rows == 34);
+	failures += expect("enc_racing_no_refpred", !enc.ref.enabled);
+
+	(void)venc_config_apply_resilience_preset("rally", &cfg.video0);
+	failures += expect("enc_rally_derives",
+		cv610_encoder_config_derive(&cfg, 1080, 60, &enc) == 0);
+	failures += expect("enc_rally_refpred",
+		enc.ref.enabled && enc.ref.base == 1 && enc.ref.enhance == 1 &&
+		enc.ref.pred == 1);
+
+	(void)venc_config_apply_resilience_preset("ltr:4", &cfg.video0);
+	failures += expect("enc_ltr_derives",
+		cv610_encoder_config_derive(&cfg, 1080, 60, &enc) == 0);
+	failures += expect("enc_ltr_refpred_without_gdr",
+		!enc.intra.enabled && enc.ref.enabled && enc.ref.base == 1 &&
+		enc.ref.enhance == 4 && enc.ref.pred == 0);
+
+	cfg.video0.slice_count = 17;
+	failures += expect("enc_slice_17_derives",
+		cv610_encoder_config_derive(&cfg, 1080, 100, &enc) == 0);
+	failures += expect("enc_slice_17_geometry",
+		enc.slice.enabled && enc.slice.split_mode == 1 &&
+		enc.slice.split_size == 2 && enc.slice.expected_count == 17);
+	cfg.video0.slice_count = 12;
+	(void)cv610_encoder_config_derive(&cfg, 1080, 100, &enc);
+	failures += expect("enc_slice_12_geometry",
+		enc.slice.split_size == 3 && enc.slice.expected_count == 12);
+	cfg.video0.slice_count = 32;
+	(void)cv610_encoder_config_derive(&cfg, 1080, 100, &enc);
+	failures += expect("enc_slice_saturates_at_rows",
+		enc.slice.split_size == 2 && enc.slice.expected_count == 17);
+	cfg.video0.slice_count = 9;
+	(void)cv610_encoder_config_derive(&cfg, 720, 100, &enc);
+	failures += expect("enc_slice_720_quantizes",
+		enc.slice.total_lcu_rows == 23 && enc.slice.split_size == 3 &&
+		enc.slice.expected_count == 8);
+
+	cfg.video0.slice_count = 0;
+	failures += expect("enc_reject_slice_zero",
+		cv610_encoder_config_derive(&cfg, 1080, 100, &enc) != 0);
+	cfg.video0.slice_count = VENC_SLICE_COUNT_MAX + 1;
+	failures += expect("enc_reject_slice_over_max",
+		cv610_encoder_config_derive(&cfg, 1080, 100, &enc) != 0);
+
+	return failures;
+}
+
 int main(void)
 {
 	VencConfig cfg;
+	size_t mode_count = 0;
 	int failures = 0;
 
 	failures += test_mode_table();
+	failures += test_mode_select();
+	failures += test_encoder_config();
+	cv610_mode_table(&mode_count);
 
 	venc_config_defaults(&cfg);
 	failures += expect_valid("cv610_defaults", &cfg, 1);
@@ -117,13 +269,27 @@ int main(void)
 	failures += expect("cv610_default_is_1280x720",
 		cfg.video0.width == 1280 && cfg.video0.height == 720);
 	failures += expect("cv610_default_is_100fps", cfg.video0.fps == 100);
-	failures += expect("cv610_default_is_8000kbps", cfg.video0.bitrate == 8000);
+	/* The shipped bitrate is a BOOT SEED, not an operating point: waybeam-link
+	 * is the single rate controller and actuates within seconds of the link
+	 * coming up.  What the seed has to survive is the worst rung — landing at
+	 * the MCS0 no-feedback floor while offering 8 Mbps floods the air, and on
+	 * this fleet an over-offered craft has already been measured demoting a
+	 * SECOND craft's link on the same channel.  So this pins low on purpose;
+	 * it asserted 8000 until that was understood. */
+	failures += expect("cv610_default_bitrate_survives_mcs0",
+		cfg.video0.bitrate == 2600);
 	/* And that it names a real sensor mode rather than only passing the
 	 * generic range checks. */
 	failures += expect("cv610_default_names_a_mode",
 		cv610_mode_for_fps(cfg.video0.fps) != NULL);
+	/* A rate above every mode is no longer a config error — it selects the
+	 * fastest mode.  (This asserted rejection until the selector landed; the
+	 * substitution is what replaced it, not the removal of a check.) */
 	cfg.video0.fps = 120;
-	failures += expect_valid("cv610_reject_fps", &cfg, 0);
+	failures += expect_valid("cv610_accept_fps_above_table", &cfg, 1);
+	/* But a config that names no rate at all still is. */
+	cfg.video0.fps = 0;
+	failures += expect_valid("cv610_reject_fps_zero", &cfg, 0);
 	cfg.video0.fps = 60;
 	cfg.video0.width = 1280;
 	cfg.video0.height = 720;
@@ -131,13 +297,37 @@ int main(void)
 	cfg.video0.width = 1936;
 	cfg.video0.height = 1080;
 	failures += expect_valid("cv610_reject_upscale", &cfg, 0);
-	/* A size the sensor can produce, at a rate it cannot. */
+	/* A size the sensor can produce, at a rate between two modes: accepted
+	 * now, and the 60 fps mode is what runs.  Geometry is then checked
+	 * against THAT mode, not against the requested rate. */
 	cfg.video0.width = 1920;
 	cfg.video0.height = 1080;
 	cfg.video0.fps = 45;
-	failures += expect_valid("cv610_reject_size_ok_fps_bad", &cfg, 0);
-	/* Half-set geometry must not widen into the default mode. */
+	failures += expect_valid("cv610_accept_size_ok_fps_between", &cfg, 1);
+	/* sensor.index: one pad, so 0 and auto are the only answers. */
 	cfg.video0.fps = 60;
+	cfg.sensor.index = 0;
+	failures += expect_valid("cv610_accept_sensor_pad_zero", &cfg, 1);
+	cfg.sensor.index = 1;
+	failures += expect_valid("cv610_reject_sensor_pad", &cfg, 0);
+	cfg.sensor.index = -1;
+	/* sensor.mode: an index into the advertised table, or auto. */
+	cfg.sensor.mode = 0;
+	failures += expect_valid("cv610_accept_sensor_mode", &cfg, 1);
+	cfg.sensor.mode = (int)mode_count;
+	failures += expect_valid("cv610_reject_sensor_mode_past_end", &cfg, 0);
+	/* A forced mode drives the GOP limit, because it drives the encoder's
+	 * frame rate.  gop_size 700 s passes at 60 fps (42000 frames) and fails
+	 * at the forced 100 fps mode (70000) — video0.fps alone cannot tell
+	 * these apart, which is the bug this check exists to catch. */
+	cfg.sensor.mode = -1;
+	cfg.video0.gop_size = 700.0;
+	failures += expect_valid("cv610_gop_ok_at_requested_rate", &cfg, 1);
+	cfg.sensor.mode = fastest_mode_index();
+	failures += expect_valid("cv610_gop_uses_forced_mode_rate", &cfg, 0);
+	cfg.sensor.mode = -1;
+	cfg.video0.gop_size = 3.0;
+	/* Half-set geometry must not widen into the default mode. */
 	cfg.video0.height = 0;
 	failures += expect_valid("cv610_reject_half_set_size", &cfg, 0);
 	/* Control: video0.size=auto is still accepted. */
@@ -152,6 +342,13 @@ int main(void)
 	strcpy(cfg.video0.rc_mode, "vbr");
 	failures += expect_valid("cv610_reject_vbr", &cfg, 0);
 	strcpy(cfg.video0.rc_mode, "cbr");
+	strcpy(cfg.video0.resilience, "racing");
+	(void)venc_config_apply_resilience_preset("racing", &cfg.video0);
+	cfg.video0.slice_count = 17;
+	failures += expect_valid("cv610_accept_resilience_and_slices", &cfg, 1);
+	strcpy(cfg.video0.resilience, "off");
+	(void)venc_config_apply_resilience_preset("off", &cfg.video0);
+	cfg.video0.slice_count = 1;
 	strcpy(cfg.video0.framing, "stab");
 	failures += expect_valid("cv610_reject_framing", &cfg, 0);
 	strcpy(cfg.video0.framing, "off");
diff --git a/tests/test_h26x_util.c b/tests/test_h26x_util.c
index e18f8c99..d5e33276 100644
--- a/tests/test_h26x_util.c
+++ b/tests/test_h26x_util.c
@@ -77,6 +77,29 @@ int test_h26x_util(void)
 			consecutive_codes, sizeof(consecutive_codes), &cursor,
 			&nal, &nal_len) == 0);
 	}
+	{
+		uint8_t access_unit[] = {
+			0x00, 0x00, 0x00, 0x01, 0x40, 0x01, 0xaa, /* VPS */
+			0x00, 0x00, 0x01, 0x02, 0x01, 0xbb,       /* TRAIL_R */
+			0x00, 0x00, 0x01, 0x00, 0x01, 0xcc,       /* TRAIL_N */
+			0x00, 0x00, 0x01, 0x03, 0x01, 0xdd,       /* layer-id msb set */
+			0x00, 0x00, 0x01, 0x02, 0x09, 0xee        /* layer-id low bit set */
+		};
+
+		CHECK("h26x_patch_trail_count",
+			h26x_util_hevc_patch_trail_r_to_n(access_unit,
+				sizeof(access_unit)) == 1);
+		CHECK("h26x_patch_trail_header", access_unit[10] == 0x00);
+		CHECK("h26x_patch_trail_keeps_vps", access_unit[4] == 0x40);
+		CHECK("h26x_patch_trail_keeps_existing_n", access_unit[16] == 0x00);
+		CHECK("h26x_patch_trail_keeps_layered", access_unit[22] == 0x03);
+		CHECK("h26x_patch_trail_keeps_low_layer_id", access_unit[28] == 0x02);
+		CHECK("h26x_patch_trail_idempotent",
+			h26x_util_hevc_patch_trail_r_to_n(access_unit,
+				sizeof(access_unit)) == 0);
+		CHECK("h26x_patch_trail_null",
+			h26x_util_hevc_patch_trail_r_to_n(NULL, 0) == 0);
+	}
 
 	return failures;
 }
diff --git a/tests/test_maruko_config.c b/tests/test_maruko_config.c
index 04161011..2365c471 100644
--- a/tests/test_maruko_config.c
+++ b/tests/test_maruko_config.c
@@ -23,6 +23,7 @@ int test_maruko_config(void)
 	CHECK("maruko defaults codec", cfg.rc_codec == PT_H265);
 	CHECK("maruko defaults rc mode", cfg.rc_mode == 3);
 	CHECK("maruko defaults stream mode", cfg.stream_mode == MARUKO_STREAM_RTP);
+	CHECK("maruko defaults slice count", cfg.slice_count == 1);
 	CHECK("maruko defaults forced pad", cfg.forced_sensor_pad == (MI_SNR_PAD_ID_e)-1);
 	CHECK("maruko defaults forced mode", cfg.forced_sensor_mode == -1);
 	CHECK("maruko defaults 3dnr", cfg.vpe_level_3dnr == 1);
@@ -36,6 +37,7 @@ int test_maruko_config(void)
 	vcfg.video0.fps = 90;
 	vcfg.video0.bitrate = 6000;
 	vcfg.video0.gop_size = 1.5;
+	vcfg.video0.slice_count = 6;
 	vcfg.video0.zoom_pct = 0.5;
 	vcfg.video0.zoom_x = 0.25;
 	vcfg.video0.zoom_y = 0.75;
@@ -57,6 +59,7 @@ int test_maruko_config(void)
 	CHECK("maruko config bitrate", cfg.venc_max_rate == 6000);
 	CHECK("maruko config gop", cfg.venc_gop_size == 135);
 	CHECK("maruko config gop seconds", cfg.venc_gop_seconds == 1.5);
+	CHECK("maruko config slice count", cfg.slice_count == 6);
 	CHECK("maruko config zoom pct", cfg.zoom_pct == 0.5);
 	CHECK("maruko config zoom x", cfg.zoom_x == 0.25);
 	CHECK("maruko config zoom y", cfg.zoom_y == 0.75);
diff --git a/tests/test_maruko_video.c b/tests/test_maruko_video.c
new file mode 100644
index 00000000..00a1e029
--- /dev/null
+++ b/tests/test_maruko_video.c
@@ -0,0 +1,88 @@
+#include "maruko_video.h"
+#include "test_helpers.h"
+
+#include <string.h>
+
+static int g_recovery_calls;
+
+static int recovery_stub(void *ctx)
+{
+	(void)ctx;
+	g_recovery_calls++;
+	return 1;
+}
+
+int test_maruko_video(void)
+{
+	MarukoOutput output;
+	i6c_venc_pack pack;
+	i6c_venc_strm stream;
+	uint8_t data[16] = { 0 };
+	int failures = 0;
+	unsigned int info_cap;
+
+	memset(&output, 0, sizeof(output));
+	memset(&pack, 0, sizeof(pack));
+	memset(&stream, 0, sizeof(stream));
+	info_cap = (unsigned int)(sizeof(pack.packetInfo) /
+		sizeof(pack.packetInfo[0]));
+
+	CHECK("maruko packetInfo null stream rejected",
+		!maruko_video_stream_packet_info_complete(NULL));
+	CHECK("maruko packetInfo empty stream rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+
+	stream.count = 1;
+	stream.packet = &pack;
+	CHECK("maruko packetInfo null data rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+
+	pack.data = data;
+	pack.length = sizeof(data);
+	pack.offset = 0;
+	CHECK("maruko packetInfo fallback accepted",
+		maruko_video_stream_packet_info_complete(&stream));
+	pack.offset = pack.length;
+	CHECK("maruko packetInfo empty fallback rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+
+	pack.offset = 0;
+	pack.packNum = 1;
+	pack.packetInfo[0].offset = 0;
+	pack.packetInfo[0].length = 0;
+	CHECK("maruko packetInfo zero descriptor rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = pack.length;
+	pack.packetInfo[0].length = 1;
+	CHECK("maruko packetInfo offset rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = 8;
+	pack.packetInfo[0].length = 9;
+	CHECK("maruko packetInfo overrun rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = 4;
+	pack.packetInfo[0].length = 8;
+	CHECK("maruko packetInfo descriptor accepted",
+		maruko_video_stream_packet_info_complete(&stream));
+	pack.packNum = info_cap + 1;
+	CHECK("maruko packetInfo table overflow rejected",
+		!maruko_video_stream_packet_info_complete(&stream));
+
+	output.request_idr = recovery_stub;
+	g_recovery_calls = 0;
+	CHECK("maruko invalid AU rejected",
+		maruko_video_reject_incomplete_access_unit(&stream, &output) == 1);
+	CHECK("maruko invalid AU requests recovery", g_recovery_calls == 1);
+	CHECK("maruko invalid AU recovery paced",
+		maruko_video_reject_incomplete_access_unit(&stream, &output) == 1 &&
+		g_recovery_calls == 1);
+
+	output.drop_idr_last_us = 0;
+	output.svct_active = 1;
+	stream.h265Info.refType = MARUKO_REFTYPE_ENHANCE_P_NOTFORREF;
+	CHECK("maruko droppable invalid AU skips recovery",
+		maruko_video_reject_incomplete_access_unit(&stream, &output) == 1 &&
+		g_recovery_calls == 1);
+
+	return failures;
+}
diff --git a/tests/test_runner.c b/tests/test_runner.c
index cff95783..6ccaaba8 100644
--- a/tests/test_runner.c
+++ b/tests/test_runner.c
@@ -15,6 +15,7 @@ extern int test_file_util(void);
 extern int test_h26x_util(void);
 extern int test_h26x_param_sets(void);
 extern int test_maruko_config(void);
+extern int test_maruko_video(void);
 extern int test_pipeline_common(void);
 extern int test_codec_config(void);
 extern int test_sdk_quiet(void);
@@ -81,6 +82,9 @@ int main(void)
 	printf("\n--- test_maruko_config ---\n");
 	failures += test_maruko_config();
 
+	printf("\n--- test_maruko_video ---\n");
+	failures += test_maruko_video();
+
 	printf("\n--- test_pipeline_common ---\n");
 	failures += test_pipeline_common();
 
diff --git a/tests/test_star6e_output.c b/tests/test_star6e_output.c
index e81ffa89..fafb327a 100644
--- a/tests/test_star6e_output.c
+++ b/tests/test_star6e_output.c
@@ -436,7 +436,9 @@ static int test_star6e_output_send_frame_rtp_dispatch(void)
 {
 	Star6eOutputSetup setup;
 	Star6eOutput output;
+	MI_VENC_Pack_t pack = {0};
 	MI_VENC_Stream_t stream = {0};
+	uint8_t data[4] = { 0 };
 	size_t expected = 1234;
 	size_t actual;
 	int failures = 0;
@@ -444,6 +446,10 @@ static int test_star6e_output_send_frame_rtp_dispatch(void)
 
 	g_test_star6e_rtp_send_called = 0;
 	g_test_star6e_rtp_send_valid = 0;
+	pack.data = data;
+	pack.length = sizeof(data);
+	stream.count = 1;
+	stream.packet = &pack;
 	ret = star6e_output_prepare(&setup, "udp://127.0.0.1:5600", "rtp", 0);
 	CHECK("star6e output send frame rtp prepare", ret == 0);
 	ret = star6e_output_init(&output, &setup);
@@ -1595,6 +1601,185 @@ static int test_star6e_output_always_sends_under_pressure(void)
 	return failures;
 }
 
+/* ── frame-ring recovery-IDR paths ─────────────────────────────────────── */
+
+static int g_test_ring_idr_calls;
+static int g_test_ring_idr_honored;
+
+static int test_ring_request_idr_stub(void *ctx)
+{
+	(void)ctx;
+	g_test_ring_idr_calls++;
+	return g_test_ring_idr_honored;
+}
+
+static void test_ring_fill_p_frame(MI_VENC_Pack_t *pack,
+	MI_VENC_Stream_t *stream, uint8_t *data, size_t len)
+{
+	memset(pack, 0, sizeof(*pack));
+	pack->data = data;
+	pack->length = (MI_U32)len;
+	pack->packNum = 1;
+	pack->packetInfo[0].offset = 0;
+	pack->packetInfo[0].length = (MI_U32)len;
+	pack->packetInfo[0].packType.h265Nalu = 1;  /* TRAIL_R: breaks chain */
+	memset(stream, 0, sizeof(*stream));
+	stream->count = 1;
+	stream->packet = pack;
+}
+
+/* Ring-full drop: the 1 s holdoff paces HONORED requests, and a request the
+ * shared 100 ms limiter swallowed rolls the anchor back so the next drop
+ * retries instead of leaving the chain unhealed. */
+static int test_star6e_output_frame_ring_idr_holdoff(void)
+{
+	Star6eOutputSetup setup;
+	Star6eOutput output;
+	MI_VENC_Pack_t pack;
+	MI_VENC_Stream_t stream;
+	uint8_t data[8] = { 0, 0, 0, 1, 0x02, 0x01, 0xAA, 0xBB };
+	int failures = 0;
+	int i;
+
+	CHECK("ring idr prepare", star6e_output_prepare(&setup,
+		"frame-shm://test_idr_holdoff", "compact", 0) == 0);
+	CHECK("ring idr init", star6e_output_init(&output, &setup) == 0);
+	output.request_idr = test_ring_request_idr_stub;
+	output.idr_ctx = NULL;
+	test_ring_fill_p_frame(&pack, &stream, data, sizeof(data));
+
+	for (i = 0; i < 8; ++i) {  /* fill all 8 slots */
+		CHECK("ring idr fill slot",
+			star6e_output_send_frame(&output, &stream, 0,
+				NULL, NULL) > 0);
+	}
+	g_test_ring_idr_calls = 0;
+	g_test_ring_idr_honored = 1;
+	CHECK("ring idr 9th drops",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr fired once", g_test_ring_idr_calls == 1);
+	CHECK("ring idr next drop paced",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr holdoff quiet", g_test_ring_idr_calls == 1);
+
+	/* Swallowed request: anchor must roll back so the next drop retries. */
+	output.drop_idr_last_us = 0;
+	g_test_ring_idr_honored = 0;
+	CHECK("ring idr swallowed drop",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr swallowed called", g_test_ring_idr_calls == 2);
+	CHECK("ring idr retry drop",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr retried immediately", g_test_ring_idr_calls == 3);
+	g_test_ring_idr_honored = 1;
+	CHECK("ring idr honored drop",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr honored called", g_test_ring_idr_calls == 4);
+	CHECK("ring idr paced again",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) == 0);
+	CHECK("ring idr paced count", g_test_ring_idr_calls == 4);
+
+	star6e_output_teardown(&output);
+	return failures;
+}
+
+/* A pack reporting more NALs than packetInfo holds must abort the frame —
+ * never ship it truncated — request recovery, and leave the ring usable. */
+static int test_star6e_output_frame_ring_truncation_abort(void)
+{
+	Star6eOutputSetup setup;
+	Star6eOutput output;
+	MI_VENC_Pack_t pack;
+	MI_VENC_Stream_t stream;
+	uint8_t data[64] = { 0 };
+	size_t sent;
+	int failures = 0;
+	unsigned int k;
+
+	CHECK("ring trunc prepare", star6e_output_prepare(&setup,
+		"frame-shm://test_trunc_abort", "compact", 0) == 0);
+	CHECK("ring trunc init", star6e_output_init(&output, &setup) == 0);
+	output.request_idr = test_ring_request_idr_stub;
+	output.idr_ctx = NULL;
+	g_test_ring_idr_calls = 0;
+	g_test_ring_idr_honored = 1;
+
+	memset(&pack, 0, sizeof(pack));
+	pack.data = data;
+	pack.length = sizeof(data);
+	pack.packNum = 9;  /* one more than the 8-entry packetInfo table */
+	for (k = 0; k < 8; ++k) {
+		pack.packetInfo[k].offset = k * 4;
+		pack.packetInfo[k].length = 4;
+		pack.packetInfo[k].packType.h265Nalu = 1;
+	}
+	memset(&stream, 0, sizeof(stream));
+	stream.count = 1;
+	stream.packet = &pack;
+
+	sent = star6e_output_send_frame(&output, &stream, 0, NULL, NULL);
+	CHECK("ring trunc aborted", sent == 0);
+	CHECK("ring trunc recovery requested", g_test_ring_idr_calls == 1);
+	CHECK("ring trunc warned once", output.trunc_warned == 1);
+	CHECK("ring trunc nothing committed",
+		output.frame_ring->stats.writes == 0);
+
+	/* The abort must leave the ring writable. */
+	test_ring_fill_p_frame(&pack, &stream, data, 8);
+	CHECK("ring trunc ring still usable",
+		star6e_output_send_frame(&output, &stream, 0, NULL, NULL) > 0);
+
+	star6e_output_teardown(&output);
+	return failures;
+}
+
+static int test_star6e_output_packet_info_validation(void)
+{
+	MI_VENC_Pack_t pack;
+	MI_VENC_Stream_t stream;
+	uint8_t data[16] = { 0 };
+	int failures = 0;
+
+	memset(&pack, 0, sizeof(pack));
+	memset(&stream, 0, sizeof(stream));
+	CHECK("star packetInfo null stream rejected",
+		!star6e_output_stream_packet_info_complete(NULL));
+	CHECK("star packetInfo empty stream rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+
+	stream.count = 1;
+	stream.packet = &pack;
+	CHECK("star packetInfo null data rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+	pack.data = data;
+	pack.length = sizeof(data);
+	CHECK("star packetInfo fallback accepted",
+		star6e_output_stream_packet_info_complete(&stream));
+	pack.offset = pack.length;
+	CHECK("star packetInfo empty fallback rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+
+	pack.offset = 0;
+	pack.packNum = 1;
+	pack.packetInfo[0].length = 0;
+	CHECK("star packetInfo zero descriptor rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = pack.length;
+	pack.packetInfo[0].length = 1;
+	CHECK("star packetInfo offset rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = 8;
+	pack.packetInfo[0].length = 9;
+	CHECK("star packetInfo overrun rejected",
+		!star6e_output_stream_packet_info_complete(&stream));
+	pack.packetInfo[0].offset = 4;
+	pack.packetInfo[0].length = 8;
+	CHECK("star packetInfo descriptor accepted",
+		star6e_output_stream_packet_info_complete(&stream));
+
+	return failures;
+}
+
 int test_star6e_output(void)
 {
 	int failures = 0;
@@ -1631,5 +1816,8 @@ int test_star6e_output(void)
 	failures += test_star6e_output_unix_flush_is_bounded();
 	failures += test_star6e_output_unix_stall_mode_resumes_without_drops();
 	failures += test_star6e_output_always_sends_under_pressure();
+	failures += test_star6e_output_frame_ring_idr_holdoff();
+	failures += test_star6e_output_frame_ring_truncation_abort();
+	failures += test_star6e_output_packet_info_validation();
 	return failures;
 }
diff --git a/tests/test_venc_api.c b/tests/test_venc_api.c
index 5c0dec01..c382310a 100644
--- a/tests/test_venc_api.c
+++ b/tests/test_venc_api.c
@@ -476,12 +476,21 @@ static int test_field_support_by_backend(void)
 	CHECK("max qp unsupported maruko",
 		venc_api_field_supported_for_backend("maruko",
 			"video0.max_qp") == 0);
+	CHECK("slice count supported maruko",
+		venc_api_field_supported_for_backend("maruko",
+			"video0.sliceCount") == 1);
 	CHECK("bitrate supported cv610",
 		venc_api_field_supported_for_backend("cv610",
 			"video0.bitrate") == 1);
 	CHECK("gop alias supported cv610",
 		venc_api_field_supported_for_backend("cv610",
 			"video0.gopSize") == 1);
+	CHECK("resilience supported cv610",
+		venc_api_field_supported_for_backend("cv610",
+			"video0.resilience") == 1);
+	CHECK("slice count supported cv610",
+		venc_api_field_supported_for_backend("cv610",
+			"video0.sliceCount") == 1);
 	CHECK("opus config API unsupported cv610",
 		venc_api_field_supported_for_backend("cv610",
 			"audio.codec") == 0);
@@ -1730,6 +1739,93 @@ static int test_capabilities_emits_ui(void)
  * behind it.  isp.awb_fps paces a loop only Star6E has; on Maruko the entry
  * must still be present (schema is shared) but marked unsupported, with the
  * tooltip explaining why. */
+/* Minimal stand-in: the routes test only cares that the pointer is non-NULL,
+ * not what it returns. */
+static char *api_test_stub_query_iq(void)
+{
+	return strdup("{\"ok\":true,\"data\":{}}");
+}
+
+static int api_test_stub_apply_iq(const char *param, const char *value)
+{
+	(void)param; (void)value;
+	return 0;
+}
+
+/* /api/v1/capabilities advertises which optional routes the running backend
+ * actually services, so the dashboard can decide whether to draw the Image
+ * Quality tab without paying for a whole ISP sweep on /api/v1/iq.  The value
+ * has to track the callback pointer, not the backend name -- the two existing
+ * capabilities tests both zero the callbacks struct, so neither could ever
+ * observe routes.iq true. */
+static int test_capabilities_routes_track_callbacks(void)
+{
+	int failures = 0;
+	VencConfig cfg;
+	VencApplyCallbacks cb;
+	int status = 0, fd;
+	char response[65536];
+	const char *request =
+		"GET /api/v1/capabilities HTTP/1.0\r\nHost: 127.0.0.1\r\n\r\n";
+	size_t sent, req_len = strlen(request);
+	int pass;
+
+	/* Three arms: neither callback, query_iq_info alone, then both.  Only
+	 * the pointers change, so a difference in the response can only come
+	 * from them.  The middle arm is the one that matters: routes.iq claims
+	 * BOTH /api/v1/iq and /api/v1/iq/set are serviced, and with only
+	 * query_iq_info registered the advertised /iq/set answers 501. */
+	for (pass = 0; pass < 3; pass++) {
+		venc_config_defaults(&cfg);
+		memset(&cb, 0, sizeof(cb));
+		if (pass >= 1)
+			cb.query_iq_info = api_test_stub_query_iq;
+		if (pass == 2)
+			cb.apply_iq_param = api_test_stub_apply_iq;
+
+		if (venc_api_register(&cfg, "star6e", &cb, NULL) != 0) {
+			CHECK("routes register", 0);
+			return failures;
+		}
+		if (ensure_api_test_server() != 0) {
+			CHECK("routes server", 0);
+			return failures;
+		}
+		fd = connect_api_test_socket();
+		CHECK("routes connect", fd >= 0);
+		if (fd < 0)
+			return failures;
+		for (sent = 0; sent < req_len; ) {
+			ssize_t n = write(fd, request + sent, req_len - sent);
+			if (n < 0 && errno == EINTR)
+				continue;
+			if (n <= 0) {
+				close(fd);
+				CHECK("routes write", 0);
+				return failures;
+			}
+			sent += (size_t)n;
+		}
+		shutdown(fd, SHUT_WR);
+		CHECK("routes read",
+			read_http_response(fd, &status, response, sizeof(response)) == 0);
+		close(fd);
+		CHECK("routes status", status == 200);
+		CHECK("routes block present", strstr(response, "\"routes\"") != NULL);
+		if (pass == 0) {
+			CHECK("routes.iq false without either callback",
+				strstr(response, "\"iq\":false") != NULL);
+		} else if (pass == 1) {
+			CHECK("routes.iq false with query_iq_info alone",
+				strstr(response, "\"iq\":false") != NULL);
+		} else {
+			CHECK("routes.iq true with both callbacks",
+				strstr(response, "\"iq\":true") != NULL);
+		}
+	}
+	return failures;
+}
+
 static int test_capabilities_awb_fps_backend_gate(void)
 {
 	int failures = 0;
@@ -1929,6 +2025,7 @@ int test_venc_api(void)
 	failures += test_set_rejects_malformed_percent_escape();
 	failures += test_capabilities_emits_ui();
 	failures += test_capabilities_awb_fps_backend_gate();
+	failures += test_capabilities_routes_track_callbacks();
 	failures += test_snapshot_routes();
 	stop_api_test_server();
 	return failures;
diff --git a/tests/test_venc_config.c b/tests/test_venc_config.c
index 5fe9a802..49c5add2 100644
--- a/tests/test_venc_config.c
+++ b/tests/test_venc_config.c
@@ -81,6 +81,7 @@ static int test_defaults(void)
 	CHECK("defaults_audio_port", cfg.outgoing.audio_port == 5601);
 	CHECK("defaults_scene_threshold_off", cfg.video0.scene_threshold == 0);
 	CHECK("defaults_scene_holdoff", cfg.video0.scene_holdoff == 2);
+	CHECK("defaults_slice_count_off", cfg.video0.slice_count == 1);
 
 	CHECK("defaults_ref_base_off", cfg.video0.ref_base == 0);
 	CHECK("defaults_ref_enhance", cfg.video0.ref_enhance == 0);
@@ -349,6 +350,59 @@ static int test_load_full_json(void)
 	return failures;
 }
 
+static int test_slice_count(void)
+{
+	int failures = 0;
+	const char *json =
+		"{ \"video0\": { \"sliceCount\": 4 } }";
+	char *path = write_temp_json(json);
+	VencConfig cfg;
+
+	CHECK("slice_tmpfile", path != NULL);
+	if (!path) return failures;
+	venc_config_defaults(&cfg);
+	CHECK("slice_load", venc_config_load(path, &cfg) == 0);
+	CHECK("slice_count_4", cfg.video0.slice_count == 4);
+	unlink(path); free(path);
+
+	/* out-of-range values clamp to VENC_SLICE_COUNT_MAX */
+	path = write_temp_json("{ \"video0\": { \"sliceCount\": 99 } }");
+	CHECK("slice_tmpfile2", path != NULL);
+	if (!path) return failures;
+	CHECK("slice_load2", venc_config_load(path, &cfg) == 0);
+	CHECK("slice_count_clamped",
+	      cfg.video0.slice_count == VENC_SLICE_COUNT_MAX);
+	unlink(path); free(path);
+
+	/* 17 must survive the clamp: it is one slice per CTU-64 row at 1080p,
+	 * the finest the encoder can deliver, and the old ceiling of 8 made it
+	 * — and 9 — unreachable, capping the fleet at 6 delivered slices. */
+	path = write_temp_json("{ \"video0\": { \"sliceCount\": 17 } }");
+	CHECK("slice_tmpfile5", path != NULL);
+	if (!path) return failures;
+	CHECK("slice_load5", venc_config_load(path, &cfg) == 0);
+	CHECK("slice_count_17_survives", cfg.video0.slice_count == 17);
+	unlink(path); free(path);
+
+	path = write_temp_json("{ \"video0\": { \"sliceCount\": 0 } }");
+	CHECK("slice_tmpfile3", path != NULL);
+	if (!path) return failures;
+	CHECK("slice_load3", venc_config_load(path, &cfg) == 0);
+	CHECK("slice_count_floor", cfg.video0.slice_count == 1);
+	unlink(path); free(path);
+
+	/* A negative value must floor to 1, not wrap through the unsigned
+	 * store to the 8-slice maximum. */
+	path = write_temp_json("{ \"video0\": { \"sliceCount\": -1 } }");
+	CHECK("slice_tmpfile4", path != NULL);
+	if (!path) return failures;
+	CHECK("slice_load4", venc_config_load(path, &cfg) == 0);
+	CHECK("slice_count_negative_floors", cfg.video0.slice_count == 1);
+	unlink(path); free(path);
+
+	return failures;
+}
+
 static int test_load_partial_json(void)
 {
 	int failures = 0;
@@ -1271,6 +1325,7 @@ int test_venc_config(void)
 	failures += test_defaults();
 	failures += test_load_full_json();
 	failures += test_load_partial_json();
+	failures += test_slice_count();
 	failures += test_load_missing_file();
 	failures += test_load_bad_json();
 	failures += test_load_qp_bounds_validation();
diff --git a/tests/test_venc_frame_ring.c b/tests/test_venc_frame_ring.c
index d0b63522..bf18b83b 100644
--- a/tests/test_venc_frame_ring.c
+++ b/tests/test_venc_frame_ring.c
@@ -978,6 +978,36 @@ static int test_fr_drop_breaks_chain(void)
 		}
 	}
 
+	/* The recovery-IDR holdoff: a consumer-less ring drops EVERY frame,
+	 * and unpaced requests degraded the stream to an IDR every ~7 frames
+	 * with GDR suppressed (measured on star6e, 2026-08-20).  One request
+	 * per second heals a live consumer's transient drop; a storm of
+	 * drops within the window coalesces to that one. */
+	{
+		uint64_t last = 0;
+
+		CHECK("fr_idr_first_drop_fires",
+			venc_frame_drop_idr_due(&last, 5000000) == 1);
+		CHECK("fr_idr_within_holdoff_quiet",
+			venc_frame_drop_idr_due(&last, 5000001) == 0);
+		CHECK("fr_idr_just_under_holdoff_quiet",
+			venc_frame_drop_idr_due(&last,
+				5000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US -
+				1) == 0);
+		CHECK("fr_idr_at_holdoff_fires",
+			venc_frame_drop_idr_due(&last,
+				5000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US)
+				== 1);
+		/* A quiet probe must not advance the window. */
+		CHECK("fr_idr_quiet_probe_keeps_anchor",
+			venc_frame_drop_idr_due(&last,
+				6000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US -
+				1) == 0 &&
+			venc_frame_drop_idr_due(&last,
+				6000000 + VENC_FRAME_DROP_IDR_HOLDOFF_US)
+				== 1);
+	}
+
 	return failures;
 }
 
diff --git a/tools/cv610_i2c_dump.c b/tools/cv610_i2c_dump.c
new file mode 100644
index 00000000..76ee4a8a
--- /dev/null
+++ b/tools/cv610_i2c_dump.c
@@ -0,0 +1,150 @@
+/*
+ * cv610_i2c_dump — read IMX662 registers over /dev/i2c on the CV610 bench.
+ *
+ * The sensor plugin's imx662_read_register() is a stub (the ISP only ever
+ * writes), so there is no way to confirm from the daemon that an init
+ * sequence actually landed.  This does the 16-bit-address read the sensor
+ * needs, from a second process, while the pipeline is running.
+ *
+ * Derived from the i2c_dump.c bench tool in diegok3/firmware
+ * (feat/imx662-driver, utils/i2c_dump.c).
+ *
+ * DEV-ONLY.  Not installed into any image; push it to /tmp and delete it.
+ *
+ * Build:
+ *   toolchain/toolchain.hisilicon-hi3516cv6xx/bin/arm-openipc-linux-musleabi-gcc \
+ *       -O2 -s -Wall -Wextra -std=c99 -o out/cv610_i2c_dump tools/cv610_i2c_dump.c
+ *
+ * Run:
+ *   scp -O out/cv610_i2c_dump root@192.168.2.181:/tmp/
+ *   ssh root@192.168.2.181 /tmp/cv610_i2c_dump            # the default range set
+ *   ssh root@192.168.2.181 /tmp/cv610_i2c_dump 0x3014 0x3015 0x302c:0x302d
+ *
+ * Output is one register per line, "0xADDR 0xVV" or "0xADDR ERR", so a diff
+ * of two dumps is the whole comparison.
+ */
+
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+/* Linux I2C_SLAVE_FORCE; the sensor plugin binds the same address, so the
+ * non-FORCE ioctl would be refused as busy. */
+#define I2C_SLAVE_FORCE 0x0706
+
+#define DEFAULT_DEV  "/dev/i2c-0"
+#define DEFAULT_ADDR 0x1a /* IMX662_I2C_ADDR 0x34 >> 1 */
+
+/* The ranges that matter for the power-on init block: mode/timing page,
+ * gain + reserved page, AD timing, and the reserved tail that Sony's
+ * sequence ends at (0x4549). */
+static const unsigned short g_default_ranges[][2] = {
+	{ 0x3000, 0x30ff },
+	{ 0x3400, 0x34ff },
+	{ 0x3a50, 0x3a52 },
+	{ 0x3b00, 0x3c50 },
+	{ 0x3e00, 0x3eff },
+	{ 0x4490, 0x44e0 },
+	{ 0x4530, 0x4550 },
+};
+
+static int g_fd = -1;
+
+static int reg_read(unsigned short reg, unsigned char *val)
+{
+	unsigned char buf[2] = { (unsigned char)(reg >> 8), (unsigned char)(reg & 0xff) };
+
+	if (write(g_fd, buf, sizeof(buf)) != (ssize_t)sizeof(buf))
+		return -1;
+	if (read(g_fd, val, 1) != 1)
+		return -1;
+	return 0;
+}
+
+static void dump_range(unsigned short start, unsigned short end)
+{
+	unsigned int reg; /* wider than u16 so end == 0xffff terminates */
+
+	for (reg = start; reg <= end; reg++) {
+		unsigned char val;
+
+		if (reg_read((unsigned short)reg, &val) == 0)
+			printf("0x%04X 0x%02X\n", reg, val);
+		else
+			printf("0x%04X ERR\n", reg);
+	}
+}
+
+/* "0x3014" or "0x3000:0x30ff" */
+static int parse_range(const char *arg, unsigned short *start, unsigned short *end)
+{
+	char *sep;
+	long a, b;
+
+	a = strtol(arg, &sep, 0);
+	if (sep == arg || a < 0 || a > 0xffff)
+		return -1;
+
+	if (*sep == '\0') {
+		b = a;
+	} else if (*sep == ':') {
+		const char *tail = sep + 1;
+		b = strtol(tail, &sep, 0);
+		if (sep == tail || *sep != '\0' || b < a || b > 0xffff)
+			return -1;
+	} else {
+		return -1;
+	}
+
+	*start = (unsigned short)a;
+	*end   = (unsigned short)b;
+	return 0;
+}
+
+int main(int argc, char *argv[])
+{
+	const char *dev = getenv("I2C_DEV");
+	const char *addr_env = getenv("I2C_ADDR");
+	long addr = DEFAULT_ADDR;
+	int i;
+
+	if (dev == NULL)
+		dev = DEFAULT_DEV;
+	if (addr_env != NULL)
+		addr = strtol(addr_env, NULL, 0);
+
+	g_fd = open(dev, O_RDWR);
+	if (g_fd < 0) {
+		fprintf(stderr, "open %s: %s\n", dev, strerror(errno));
+		return 1;
+	}
+	if (ioctl(g_fd, I2C_SLAVE_FORCE, addr) < 0) {
+		fprintf(stderr, "I2C_SLAVE_FORCE 0x%02lx: %s\n", addr, strerror(errno));
+		close(g_fd);
+		return 1;
+	}
+
+	if (argc > 1) {
+		for (i = 1; i < argc; i++) {
+			unsigned short start, end;
+
+			if (parse_range(argv[i], &start, &end) != 0) {
+				fprintf(stderr, "bad range '%s' (want 0xNNNN or 0xNNNN:0xNNNN)\n",
+						argv[i]);
+				close(g_fd);
+				return 2;
+			}
+			dump_range(start, end);
+		}
+	} else {
+		for (i = 0; i < (int)(sizeof(g_default_ranges) / sizeof(g_default_ranges[0])); i++)
+			dump_range(g_default_ranges[i][0], g_default_ranges[i][1]);
+	}
+
+	close(g_fd);
+	return 0;
+}
diff --git a/tools/frame_shm_consumer_test.c b/tools/frame_shm_consumer_test.c
index 3a224f1c..9534edf3 100644
--- a/tools/frame_shm_consumer_test.c
+++ b/tools/frame_shm_consumer_test.c
@@ -3,14 +3,19 @@
  * 8-byte VencFrameMeta header, and reports frame rate, IDR cadence, frame
  * sizes, pts monotonicity, and Annex-B start-code integrity.
  *
- * Usage: frame_shm_consumer_test [ring_name] [duration_s]
+ * Usage: frame_shm_consumer_test [ring_name] [duration_s] [dump.h265]
+ *                                [expected_slices]
  *   ring_name  default "venc_frames"
  *   duration_s default 5 (0 = run until SIGINT)
+ *   dump.h265  optional raw Annex-B output for decoder validation
+ *              (use a FIFO to host storage on small embedded /tmp filesystems)
+ *   expected_slices optional exact VCL count required in every frame
  *
  * Cross-compile for Star6E (Infinity6E):
  *   toolchain/toolchain.sigmastar-infinity6e/bin/arm-openipc-linux-gnueabihf-gcc \
  *     -Os -Iinclude -D_GNU_SOURCE \
- *     tools/frame_shm_consumer_test.c src/venc_frame_ring.c -lpthread \
+ *     tools/frame_shm_consumer_test.c src/venc_frame_ring.c src/h26x_util.c \
+ *     -lpthread \
  *     -o frame_shm_consumer
  *
  * Reports frame rate, IDR cadence, frame sizes, pts monotonicity, and
@@ -25,6 +30,7 @@
 #include <signal.h>
 #include <stdint.h>
 
+#include "h26x_util.h"
 #include "venc_frame_ring.h"
 
 static volatile int running = 1;
@@ -34,6 +40,9 @@ int main(int argc, char **argv)
 {
 	const char *name = (argc > 1) ? argv[1] : "venc_frames";
 	int duration = (argc > 2) ? atoi(argv[2]) : 5;
+	const char *dump_path = (argc > 3) ? argv[3] : NULL;
+	int expected_slices = (argc > 4) ? atoi(argv[4]) : 0;
+	FILE *dump = NULL;
 
 	signal(SIGINT, sighandler);
 	signal(SIGTERM, sighandler);
@@ -43,6 +52,14 @@ int main(int argc, char **argv)
 		fprintf(stderr, "Failed to attach to frame ring '%s'\n", name);
 		return 1;
 	}
+	if (dump_path) {
+		dump = fopen(dump_path, "wb");
+		if (!dump) {
+			perror("Failed to open H.265 dump");
+			venc_frame_ring_destroy(r);
+			return 1;
+		}
+	}
 
 	printf("Attached to frame ring '%s': %u slots x %u KB (epoch=%u, V%u, magic=0x%08X)\n",
 	       name, r->hdr->slot_count, r->hdr->slot_data_size / 1024,
@@ -50,16 +67,25 @@ int main(int argc, char **argv)
 
 	uint32_t buf_size = r->slot_data_size;
 	uint8_t *buf = malloc(buf_size);
-	if (!buf) { fprintf(stderr, "OOM\n"); venc_frame_ring_destroy(r); return 1; }
+	if (!buf) {
+		fprintf(stderr, "OOM\n");
+		if (dump)
+			fclose(dump);
+		venc_frame_ring_destroy(r);
+		return 1;
+	}
 	uint32_t out_len = 0;
 
 	unsigned long total_frames = 0, total_idr = 0, total_gdr = 0,
 		total_enhance = 0, total_bytes = 0;
 	uint32_t max_frame = 0, min_frame = 0xFFFFFFFF;
 	unsigned long bad_meta = 0, bad_startcode = 0, pts_regress = 0;
+	unsigned long total_vcl = 0, vcl_frames = 0;
+	uint32_t min_vcl = UINT32_MAX, max_vcl = 0;
 	uint32_t first_pts = 0, last_pts = 0;
 	uint8_t last_gdr_len = 0;
 	int have_first = 0;
+	int dump_started = 0;
 
 	struct timespec ts_start, ts_now, ts_report;
 	clock_gettime(CLOCK_MONOTONIC, &ts_start);
@@ -80,6 +106,10 @@ int main(int argc, char **argv)
 			int is_idr = (m.flags & VENC_FRAME_FLAG_IDR) != 0;
 			int is_gdr = (m.flags & VENC_FRAME_FLAG_GDR) != 0;
 			int is_enhance = (m.flags & VENC_FRAME_FLAG_ENHANCE) != 0;
+			size_t cursor = 0;
+			const uint8_t *nal;
+			size_t nal_len;
+			uint32_t vcl_count = 0;
 
 			total_frames++;
 			interval_frames++;
@@ -102,6 +132,18 @@ int main(int argc, char **argv)
 			    !((fd[0] == 0 && fd[1] == 0 && fd[2] == 1) ||
 			      (fd[0] == 0 && fd[1] == 0 && fd[2] == 0 && fd[3] == 1)))
 				bad_startcode++;
+			while (h26x_util_annexb_next(fd, frame_len, &cursor,
+			    &nal, &nal_len)) {
+				if (nal_len > 0 && h26x_util_hevc_nalu_type(nal,
+				    nal_len) <= 31)
+					vcl_count++;
+			}
+			if (vcl_count > 0) {
+				total_vcl += vcl_count;
+				vcl_frames++;
+				if (vcl_count < min_vcl) min_vcl = vcl_count;
+				if (vcl_count > max_vcl) max_vcl = vcl_count;
+			}
 
 			/* pts monotonicity (allow 32-bit wrap tolerance) */
 			if (have_first) {
@@ -112,6 +154,16 @@ int main(int argc, char **argv)
 				have_first = 1;
 			}
 			last_pts = m.pts;
+			/* Start raw dumps on an IDR so parameter sets and the reference
+			 * chain are self-contained for offline decoder validation. */
+			if (dump && is_idr)
+				dump_started = 1;
+			if (dump && dump_started &&
+			    fwrite(fd, 1, frame_len, dump) != frame_len) {
+				perror("Failed to write H.265 dump");
+				running = 0;
+				bad_meta++;
+			}
 		}
 
 		clock_gettime(CLOCK_MONOTONIC, &ts_now);
@@ -153,6 +205,11 @@ int main(int argc, char **argv)
 	printf("Frame size:   avg %lu  min %u  max %u bytes\n",
 	       total_frames ? total_bytes / total_frames : 0,
 	       total_frames ? min_frame : 0, max_frame);
+	printf("VCL slices:   avg %.2f  min %u  max %u (%lu frames)\n",
+	       vcl_frames ? (double)total_vcl / vcl_frames : 0.0,
+	       vcl_frames ? min_vcl : 0, max_vcl, vcl_frames);
+	if (expected_slices > 0)
+		printf("VCL expected: %d per frame\n", expected_slices);
 	printf("pts:          first=%u last=%u span=%u\n",
 	       first_pts, last_pts, last_pts - first_pts);
 	printf("Integrity:    bad_meta=%lu bad_startcode=%lu pts_regress=%lu\n",
@@ -162,8 +219,21 @@ int main(int argc, char **argv)
 		       __ATOMIC_ACQUIRE),
 	       (unsigned long)__atomic_load_n(&r->hdr->read_idx,
 		       __ATOMIC_ACQUIRE));
-
-	int ok = (total_frames > 0 && total_idr > 0 &&
+	if (dump_path)
+		printf("H.265 dump:   %s\n", dump_path);
+
+	int dump_ok = 1;
+	if (dump) {
+		if (fclose(dump) != 0) {
+			perror("Failed to finalize H.265 dump");
+			dump_ok = 0;
+		}
+		dump = NULL;
+	}
+	int vcl_ok = (vcl_frames == total_frames && vcl_frames > 0 &&
+		min_vcl == max_vcl &&
+		(expected_slices <= 0 || min_vcl == (uint32_t)expected_slices));
+	int ok = (total_frames > 0 && total_idr > 0 && dump_ok && vcl_ok &&
 	          bad_meta == 0 && bad_startcode == 0 && pts_regress == 0);
 	printf("VERDICT:      %s\n", ok ? "PASS" : "FAIL");
 
diff --git a/web/dashboard.html b/web/dashboard.html
index 5bc18583..160effdd 100644
--- a/web/dashboard.html
+++ b/web/dashboard.html
@@ -236,6 +236,7 @@
 
 .iq-result pre{font-size:.75rem;color:var(--text);line-height:1.5;white-space:pre-wrap}
 
+.iq-note{color:var(--text-dim);font-size:.8rem}
 .iq-set-form{display:flex;gap:.5rem;align-items:center;margin-bottom:1.5rem;flex-wrap:wrap}
 
 .iq-set-form input{max-width:180px}
@@ -339,6 +340,9 @@
 
   <div class="tab" onclick="switchTab('api')">API Reference</div>
 
+  <!-- Visible by default. applyIQCapability() hides it only when
+       /api/v1/capabilities positively reports routes.iq === false; starting
+       hidden made an init failure latch the tab off with no way back. -->
   <div class="tab" id="tab-btn-iq" onclick="switchTab('iq')">Image Quality</div>
 
   <div class="tab" id="tab-btn-recordings" onclick="switchTab('recordings')">Recordings</div>
@@ -491,7 +495,7 @@ <h3>Dual-Stream</h3>
 
   <div class="iq-intro">
 
-    The IQ system provides direct access to <b>SigmaStar ISP</b> image processing parameters via runtime dlopen of <code>libmi_isp.so</code>. Parameters are organized by category and can be queried and modified live without restarting the pipeline. Changes take effect on the next frame.
+    Direct access to the ISP's image-processing parameters. Values are read back from the ISP rather than cached, and changes take effect on the next frame without restarting the pipeline.
 
   </div>
 
@@ -506,7 +510,7 @@ <h3 style="font-size:.85rem;color:var(--text-bright);margin:0 0 .6rem">Set Param
 
   <h3 style="font-size:.85rem;color:var(--text-bright);margin:.5rem 0 .6rem">Parameter Categories</h3>
 
-  <p style="font-size:.75rem;color:var(--text-dim);margin-bottom:.6rem">Click a parameter to select it for editing above.</p>
+  <p style="font-size:.75rem;color:var(--text-dim);margin-bottom:.6rem">Click a parameter to select it for editing above. <b>*</b> also selects <code>op_type = manual</code>; <b>&deg;</b> also selects <code>op_type = auto</code>.</p>
 
   <div id="iq-categories"></div>
 
@@ -514,7 +518,7 @@ <h3 style="font-size:.85rem;color:var(--text-bright);margin:1.2rem 0 .6rem">Quer
   <div class="iq-controls">
     <button class="iq-btn" onclick="queryIQ()">Query All</button>
     <button class="iq-btn" onclick="exportIQ()">Export JSON</button>
-    <label class="iq-btn" style="cursor:pointer">Import JSON <input type="file" accept=".json" style="display:none" onchange="importIQ(this)"></label>
+    <label class="iq-btn" id="iq-import-btn" style="cursor:pointer">Import JSON <input type="file" accept=".json" style="display:none" onchange="importIQ(this)"></label>
   </div>
 
   <div class="iq-result" id="iq-params-result">
@@ -791,6 +795,11 @@ <h3 style="font-size:.85rem;color:var(--text-bright);margin:1.2rem 0 .6rem">Quer
 
   document.getElementById('tab-'+id).classList.add('active');
 
+  /* The IQ payload is a live ISP read, so fetch it on entry rather than at
+     page load, and refresh it each time so prefills cannot go stale. */
+  if(id === 'iq') renderIQCategories().catch(e =>
+    toast('IQ load failed: ' + e.message, false));
+
   if(window._recPoll){ clearInterval(window._recPoll); window._recPoll = null; }
   if(id === 'recordings'){
     refreshRecordings();
@@ -1528,6 +1537,10 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
     document.getElementById('iq-expanded-form').innerHTML = '';
     document.getElementById('iq-simple-form').style.display = 'flex';
     document.getElementById('iq-param-name').value = name;
+    /* Deliberately left empty. setIQParam() refuses an empty value, so
+       clicking a chip to inspect a parameter cannot write it back -- on
+       star6e's legacy path even an identical value forces enable=1 and
+       op_type=manual, dropping the block out of its auto curve. */
     document.getElementById('iq-param-value').value = '';
     document.getElementById('iq-param-value').focus();
   }
@@ -1594,7 +1607,7 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
 
 async function toggleIQEnabled(paramName, on){
   try{
-    const r = await api('/api/v1/iq/set?'+paramName+'.enabled='+(on?'1':'0'));
+    const r = await api('/api/v1/iq/set?'+encodeURIComponent(paramName+'.enabled')+'='+(on?'1':'0'));
     if(r.ok) toast(paramName+' '+(on?'enabled':'disabled'));
     else toast(r.error?.message||'Failed',false);
   }catch(e){toast(e.message,false);}
@@ -1616,7 +1629,7 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
       val = Array.from(inputs).map(inp=>inp.value).join(',');
     }
     try{
-      const r = await api('/api/v1/iq/set?'+paramName+'.'+fd.n+'='+val);
+      const r = await api('/api/v1/iq/set?'+encodeURIComponent(paramName+'.'+fd.n)+'='+encodeURIComponent(val));
       if(r.ok){
         ok++;
         inputs.forEach(inp=>{inp.dataset.orig=inp.value;inp.classList.remove('changed');});
@@ -1651,9 +1664,80 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
    params:['awb_attr_ex','awb_ct_weight','awb_multi_ls','awb_stabilizer']}
 ];
 
-function renderIQCategories(){
+/* Backends that describe their own knob set (cv610) drive the list from the
+   response, so the field table stays in one place — the C table that also
+   enforces the ranges. The SigmaStar backend has no schema and keeps the
+   hardcoded IQ_CATEGORIES below. */
+function renderIQSchema(container, schema){
+  for(const g of schema){
+    if(!g || !Array.isArray(g.fields)) continue;
+    const sec = document.createElement('div');
+    sec.className = 'iq-cat-section collapsed';
+    const chips = g.fields.map(f => {
+      const param = g.name+'.'+f.name;
+      const range = f.count > 1 ? (f.count+' values, '+f.min+'–'+f.max)
+                                : (f.min+'–'+f.max);
+      /* A value is only read while the block runs the half it lives in, so a
+         write selects that half. Without the hint, a set that "does nothing"
+         looks like a broken knob. */
+      const hint = f.domain === 'manual' ? ' — also selects op_type = manual'
+                 : f.domain === 'auto'   ? ' — also selects op_type = auto'
+                 : '';
+      const mark = f.domain === 'manual' ? '*' : f.domain === 'auto' ? '\u00B0' : '';
+      return '<span class="iq-param-chip" title="'+range+hint+'" onclick="selectIQParam(\''+param+'\')">'+
+        f.name+mark+'</span> ';
+    }).join('');
+    sec.innerHTML = '<div class="iq-cat-header" onclick="this.parentElement.classList.toggle(\'collapsed\')">'+
+      '<h4>'+g.name+'</h4><span class="desc">'+g.fields.length+' fields</span>'+
+      '<span class="iq-cat-chevron">▼</span></div>'+
+      '<div class="iq-cat-body">'+chips+'</div>';
+    container.appendChild(sec);
+  }
+}
+
+/* Tab visibility comes from /api/v1/capabilities, which init() already fetches.
+   Probing /api/v1/iq for this instead cost a full ISP sweep on every page load
+   -- 62 getter calls on star6e -- purely to decide whether to draw a tab. */
+function applyIQCapability(routes){
+  const iqTab  = document.getElementById('tab-btn-iq');
+  const impBtn = document.getElementById('iq-import-btn');
+  /* Hide ONLY on a positive false. An absent or unreadable capabilities
+     response must leave both controls visible -- a backend that cannot be
+     asked is not a backend that lacks the surface. */
+  if(iqTab)  iqTab.hidden  = !!(routes && routes.iq === false);
+  /* /api/v1/iq/import is compiled per backend and 501s where it is absent. */
+  if(impBtn) impBtn.hidden = !!(routes && routes.iq_import === false);
+}
+
+/* Loaded on entry to the IQ tab rather than at page load, and re-loaded on
+   every entry so a chip cannot prefill a value the ISP stopped holding -- a
+   pipeline reinit reseeds the whole ISP from the sensor plugin. */
+async function renderIQCategories(){
   const container = document.getElementById('iq-categories');
+  container.innerHTML = '<div class="iq-note">Loading\u2026</div>';
+
+  let data = null, err = null;
+  try{
+    const r = await api('/api/v1/iq');
+    if(r && r.ok && r.data) data = r.data;
+    else err = (r && r.error && r.error.message) || 'backend returned no data';
+  }catch(e){ err = e.message; }
+
+  if(!data){
+    /* Report it in the tab. Hiding the tab here would strand the operator with
+       no diagnostic and no retry short of reloading the page. */
+    container.textContent = 'Image Quality unavailable: ' + err +
+      ' \u2014 re-open this tab to retry.';
+    return;
+  }
+
   container.innerHTML = '';
+
+  if(Array.isArray(data._schema)){
+    renderIQSchema(container, data._schema);
+    return;
+  }
+
   for(const cat of IQ_CATEGORIES){
     const sec = document.createElement('div');
     sec.className = 'iq-cat-section collapsed';
@@ -1689,7 +1773,7 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
 
   try{
 
-    const r = await api('/api/v1/iq/set?'+encodeURIComponent(name)+'='+value);
+    const r = await api('/api/v1/iq/set?'+encodeURIComponent(name)+'='+encodeURIComponent(value));
 
     if(r.ok) toast(name+' = '+value);
 
@@ -1733,11 +1817,11 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
 
     const [cfgR, capR, verR, modesR] = await Promise.all([
 
-      api('/api/v1/config'),
+      api('/api/v1/config').catch(()=>({ok:false})),
 
-      api('/api/v1/capabilities'),
+      api('/api/v1/capabilities').catch(()=>({ok:false})),
 
-      api('/api/v1/version'),
+      api('/api/v1/version').catch(()=>({ok:false})),
 
       api('/api/v1/modes').catch(()=>({ok:false}))
 
@@ -1782,10 +1866,11 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
       // Hide whole tabs whose every route answers 501/404 on this backend,
       // rather than leaving a tab that loads into a permanent error. The
       // per-field N/A greying in renderSettings() covers the Settings tab;
-      // this is for tabs with no capability entry to grey.
+      // this is for tabs with no capability entry to grey. The IQ tab is
+      // decided by applyIQCapability() from /api/v1/capabilities'
+      // data.routes.iq, not by backend name — a backend that gains or loses
+      // the surface then needs no edit here.
       if(backendName === 'cv610'){
-        const iqTab = document.getElementById('tab-btn-iq');
-        if(iqTab) iqTab.hidden = true;   // /api/v1/iq|ae|awb are 501 here
         // The listing works (it is a directory read), but nothing services a
         // record request on cv610 — the routes answer 501. Keep the tab,
         // disable the actuators so the buttons cannot lie.
@@ -1814,7 +1899,7 @@ <h3>${sec.title}</h3><span class="section-chevron">\u25BC</span></div><div class
 
     renderSettings();
 
-    renderIQCategories();
+    applyIQCapability(capR.ok && capR.data ? capR.data.routes : null);
 
     pollTelemetry();