ardupilot/libraries/AP_HAL_Linux/Util_RPI.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
#include <errno.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <time.h>
#include <unistd.h>
#include "Util.h"
#include "Util_RPI.h"
extern const AP_HAL::HAL &hal;
using namespace Linux;
UtilRPI::UtilRPI()
{
_check_rpi_version();
}
int UtilRPI::_check_rpi_version()
{
const unsigned int MAX_SIZE_LINE = 50;
char buffer[MAX_SIZE_LINE];
int hw;
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memset(buffer, 0, MAX_SIZE_LINE);
FILE *f = fopen("/sys/firmware/devicetree/base/model", "r");
if (f != nullptr && fgets(buffer, MAX_SIZE_LINE, f) != nullptr) {
fclose(f);
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int ret = strncmp(buffer, "Raspberry Pi Compute Module 4", 28);
if (ret == 0) {
_rpi_version = 4; // compute module 4 e.g. Raspberry Pi Compute Module 4 Rev 1.0.
printf("%s. (intern: %d)\n", buffer, _rpi_version);
return _rpi_version;
}
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ret = strncmp(buffer, "Raspberry Pi Zero 2", 19);
if (ret == 0) {
_rpi_version = 2; // Raspberry PI Zero 2 W e.g. Raspberry Pi Zero 2 Rev 1.0.
printf("%s. (intern: %d)\n", buffer, _rpi_version);
return _rpi_version;
}
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ret = sscanf(buffer + 12, "%d", &_rpi_version);
if (ret != EOF) {
if (_rpi_version > 3) {
_rpi_version = 4;
} else if (_rpi_version > 2) {
// Preserving old behavior.
_rpi_version = 2;
} else if (_rpi_version == 0) {
// RPi 1 doesn't have a number there, so sscanf() won't have read anything.
_rpi_version = 1;
}
printf("%s. (intern: %d)\n", buffer, _rpi_version);
return _rpi_version;
}
}
// Attempting old method if the version couldn't be read with the new one.
hw = Util::from(hal.util)->get_hw_arm32();
if (hw == UTIL_HARDWARE_RPI4) {
printf("Raspberry Pi 4 with BCM2711!\n");
_rpi_version = 4;
} else if (hw == UTIL_HARDWARE_RPI2) {
printf("Raspberry Pi 2/3 with BCM2709!\n");
_rpi_version = 2;
} else if (hw == UTIL_HARDWARE_RPI1) {
printf("Raspberry Pi 1 with BCM2708!\n");
_rpi_version = 1;
} else {
/* defaults to RPi version 2/3 */
fprintf(stderr, "Could not detect RPi version, defaulting to 2/3\n");
_rpi_version = 2;
}
return _rpi_version;
}
int UtilRPI::get_rpi_version() const
{
return _rpi_version;
}
#endif