Struct BoardConfig

Defined in File BoardConfig.hpp

Nested Relationships

Nested Types

Struct Documentation

struct BoardConfig

Public Members

USB usb

Network network

std::vector<std::string> sysctl: Optional list of FreeBSD sysctl parameters to be set (system, network, etc.). For example: “net.inet.tcp.delayed_ack=0” (this one is also set by default)

std::optional<uint32_t> watchdogTimeoutMs: Watchdog config.

std::optional<uint32_t> watchdogInitialDelayMs

std::unordered_map<std::int8_t, GPIO> gpio

std::unordered_map<std::int8_t, UART> uart: UART instance map.

std::optional<bool> pcieInternalClock: PCIe config.

std::optional<bool> usb3PhyInternalClock: USB3 phy config.

std::optional<bool> mipi4LaneRgb: MIPI 4Lane RGB config.

std::optional<bool> emmc: eMMC config

std::optional<std::string> logPath: log path

std::optional<size_t> logSizeMax: Max log size.

std::optional<LogLevel> logVerbosity: log verbosity

std::optional<bool> logDevicePrints: log device prints

bool nonExclusiveMode = false

std::unordered_map<CameraBoardSocket, Camera> camera

std::optional<IMU> imu

std::optional<UVC> uvc

std::unordered_map<std::string, Extrinsics> defaultImuExtr

struct Camera

Camera description.

Public Members

std::string name

std::optional<CameraSensorType> sensorType = std::nullopt

std::optional<CameraImageOrientation> orientation = std::nullopt

struct GPIO

GPIO config.

Public Types

enum Mode

Values:

enumerator ALT_MODE_0

enumerator ALT_MODE_1

enumerator ALT_MODE_2

enumerator ALT_MODE_3

enumerator ALT_MODE_4

enumerator ALT_MODE_5

enumerator ALT_MODE_6

enumerator DIRECT

enum Direction

Values:

enumerator INPUT

enumerator OUTPUT

enum Level

Values:

enumerator LOW

enumerator HIGH

enum Pull

Values:

enumerator NO_PULL

enumerator PULL_UP

enumerator PULL_DOWN

enumerator BUS_KEEPER

enum Drive

Drive strength in mA (2, 4, 8 and 12mA)

Values:

enumerator MA_2

enumerator MA_4

enumerator MA_8

enumerator MA_12

Public Functions

GPIO() = default

inline GPIO(Direction direction)

inline GPIO(Direction direction, Level level)

inline GPIO(Direction direction, Level level, Pull pull)

inline GPIO(Direction direction, Mode mode)

inline GPIO(Direction direction, Mode mode, Pull pull)

Public Members

Mode mode = Mode::DIRECT 

Direction direction = Direction::INPUT 

Level level = Level::LOW 

Pull pull = Pull::NO_PULL 

Drive drive = MA_2 

bool schmitt = false

bool slewFast = false

struct IMU

Public Functions

inline IMU()

Public Members

int8_t bus

int8_t interrupt

int8_t wake

int8_t csGpio

int8_t boot

int8_t reset

struct Network

Network configuration.

Public Members

uint16_t mtu = 0: Network MTU, 0 is auto (usually 1500 for Ethernet) or forwarded from bootloader (not yet implemented there). Note: not advised to increase past 1500 for now

bool xlinkTcpNoDelay = true: Sets the TCP_NODELAY option for XLink TCP sockets (disable Nagle’s algorithm), reducing latency at the expense of a small hit for max throughput. Default is true

struct UART

UART instance config.

Public Members

std::int8_t tmp

struct USB

USB related config.

Public Members

uint16_t vid = 0x03e7

uint16_t pid = 0xf63b

uint16_t flashBootedVid = 0x03e7

uint16_t flashBootedPid = 0xf63d

UsbSpeed maxSpeed = UsbSpeed::SUPER 

std::string productName

std::string manufacturer

struct UVC

UVC configuration for USB descriptor.

Public Functions

inline UVC(uint16_t width, uint16_t height)

inline UVC()

Public Members

std::string cameraName

uint16_t width

uint16_t height

ImgFrame::Type frameType

bool enable