Integrating with Custom Board

The camera.gmsl sensor creator supports an additional parameter that you can use to specify a custom board. You describe the board with a JSON file that you pass with a statement such as

custom-board-json=/path/to/custom.json

For example:

dwSensor cameraSensor = DW_NULL_HANDLE;
{
    dwSensorParams params;
    params.protocol    = "camera.gmsl";
    params.parameters  = "camera-type=ar0231-rccb, \
        custom-board-json=/path/to/custom_board.json";
    dwStatus result = dwSAL_createSensor(&cameraSensor, params, sal);
}

The JSON file contains definitions for the ExtImgDev structs to overwrite the hardcoded one in NVIDIA^® DriveWorks. If you use the API, you must create camera.gmsl sensor with a correct camera-type that best matches your camera, for example ar0231-rccb-ss3322, however the JSON file can overwrite default settings. A JSON file for ar0231-rccb-ss3322 on Xavier A looks like this:

{
    "ExtImgDevParam" : {
    "moduleName" : "ref_max9286_96705_ar0231rccbss3322",
    "resolution" : "1920x1208",
    "inputFormat" : "raw12",
    "interface" : "csi-ab",
    "i2cDevice" : 7,
    "desAddr" : 72,
    "brdcstSerAddr" : 64,
    "serAddr" : [0, 0, 0, 0],
    "brdcstSensorAddr" : 16,
    "sensorAddr" : [0, 0, 0, 0],
    "slave" : false,
    "enableEmbLines" : true,
    "reqFrameRate" : 30
    }
}