PicoVGA
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Any CVBS reference support
At default, PicoVGA generates composite synchronisation pulses CSYNC. For BW signal it is sufficient compose signals R+G+B+CSYNC via 4 resistors. To get color composed signal, PAL or NTSC coder must be used. But I am not sure if it requires CSYNC or HSYNC+VSYNC. If it would require separate HSYNC+VSYNC, some small correction of source code must be performed to ensure separated HSYNC+VSYNC signals.
cf. https://en.wikipedia.org/wiki/Composite_video for an explanation of what CVBS is.