ardupilot/libraries/AP_HAL_Linux/Util_RPI.cpp

94 lines
2.9 KiB
C++
Raw Normal View History

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
2016-01-20 09:27:43 -04:00
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 || \
2016-01-05 06:36:02 -04:00
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()
{
_get_board_type_using_peripheral_base ();
}
//
// previous appraoch was using /proc/device-tree/system/linux,revision
// now we use /proc/device-tree/soc/ranges see: https://forums.raspberrypi.com//viewtopic.php?t=244031
void UtilRPI::_get_board_type_using_peripheral_base()
{
FILE *fp;
uint32_t base=0x00;
unsigned char buf[32];
_linux_board_version = LINUX_BOARD_TYPE::UNKNOWN_BOARD;
fp = fopen("/proc/device-tree/soc/ranges" , "rb");
if (fp) {
const uint16_t len = fread(buf, 1, sizeof(buf), fp);
if (len >= 8) {
base = buf[4]<<24 | buf[5]<<16 | buf[6]<<8 | buf[7];
if (!base)
base = buf[8]<<24 | buf[9]<<16 | buf[10]<<8 | buf[11];
if (!base)
base = buf[8]<<24 | buf[9]<<16 | buf[10]<<8 | buf[11];
if (!base && (len>15))
base = buf[12]<<24 | buf[13]<<16 | buf[14]<<8 | buf[15];
2022-01-17 10:17:03 -04:00
}
fclose(fp);
}
switch (base) {
case 0x0:
_linux_board_version = LINUX_BOARD_TYPE::UNKNOWN_BOARD;
printf("Cannot detect board-type \r\n");
break;
case 0x20000000:
_linux_board_version = LINUX_BOARD_TYPE::RPI_ZERO_1;
printf("RPI Zero / 1 \r\n");
printf("Peripheral base address is %x\n", base);
break;
case 0x3f000000:
_linux_board_version = LINUX_BOARD_TYPE::RPI_2_3_ZERO2;
printf("RPI 2, 3 or Zero-2 \r\n");
printf("Peripheral base address is %x\n", base);
break;
case 0xfe000000:
_linux_board_version = LINUX_BOARD_TYPE::RPI_4;
printf("RPI 4 \r\n");
printf("Peripheral base address is %x\n", base);
break;
case 0x40000000:
_linux_board_version = LINUX_BOARD_TYPE::ALLWINNWER_H616;
printf("AllWinner-H616 \r\n");
break;
}
return ;
}
2022-01-17 10:17:03 -04:00
LINUX_BOARD_TYPE UtilRPI::detect_linux_board_type() const
{
return _linux_board_version;
}
#endif