Rec-cfg cannot be passed correctly in DriveWorks 7.0.3 with Drive AGX Thor

Autonomous Vehicles DRIVE AGX Thor DRIVE AGX Thor General
1

DRIVE OS Version: 7.0.3

Issue Description:
Hi DriveWorks camera team,

We would like to use the Primary/Secondary capture configuration with camera.gmsl on DRIVE AGX Thor.
For this purpose, we pass rec-cfg=1 or rec-cfg=2 in the camera parameter string supplied to dwSAL_createSensor() (like Camera — NVIDIA DriveOS 7.0.3 Linux SDK Developer Guide).
Unfortunately, the value does not appear to be applied correctly. After setting the DriveWorks logger level to DW_LOG_VERBOSE using dwLogger_setLogLevel(), the following message is printed during sensor initialization:

[DriveWorks] devBlock: 0 Passive = 0 Interface = csi-ab Camera_name = XXX Link = 1 GroupInit = 0 RecCfg = 0

RecCfg is always reported as 0, even when the parameter string passed to dwSAL_createSensor() contains rec-cfg=1 or rec-cfg=2.

For example, when the input contains:

...,rec-cfg=2

we expect the DriveWorks configuration log to report:

RecCfg = 2

Instead, it reports:

RecCfg = 0

The same camera, deserializer, links, and underlying camera configuration work correctly with nvsipl_camera. Therefore, the hardware connection, deserializer configuration, and SIPL camera driver appear to be functioning correctly. The issue seems specific to how DriveWorks 7.0.3 parses or forwards the rec-cfg parameter.

How do we set RecCfg with DriveWorks? Thanks.

5

Dear @matsumiya.r ,
Could you share the working nvsipl_camera and log? Also,
Could you share the used rig file and sample_camera application log?

6

@SivaRamaKrishnaNV Yes, here you are.
driveworks_7.0.3_reccfg_thor_logs.zip (8.0 KB)

9

Do you mean to capture in slave mode?

10

Do you mean to capture in slave mode?

Yes, but the slave mode is executed in another Thor.
The ECU we use has two Thors, and some common deserializers.
Our goal is that the both Thors capture the frames from the cameras connected to the common deserializers in our DriveWorks application.
So, we assume one Thor captures in master mode, and the other captures in slave mode.
We found this phenomena when tried to capture in the primary Thor.
By the way, the secondary side seemed to work correctly in slave mode when the nvsipl_camera with -w 2 was working in the primary.

11

Which platform are you using ? Is it not DRIVE AGX Thor devkit?

12

@SivaRamaKrishnaNV
No, it is not Thor devkit . But we cannot tell the platform or manufacturer name due to confidential.

13

Dear @matsumiya.r ,
Rec-cfg is not applicable to Thor and secondary capture is not relavant in the context of DRIVE AGX Thor devkit as it has single Thor SoC.
Note that, this forum is intended to support issue based on DRIVE AGX Thor devkit. As you see to use other platform, could you please reach out to your NVIDIA representative for right support channel.