ardupilot/libraries/AP_HAL_Linux/Util_Navio.cpp

#include <AP_HAL/AP_HAL.h>

#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO

#include <stdio.h>
#include <stdarg.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <time.h>

#include "Util_Navio.h"

extern const AP_HAL::HAL& hal;

using namespace Linux;

LinuxUtilNavio::LinuxUtilNavio()
{
    _check_rpi_version();
}

#define MAX_SIZE_LINE 50
int LinuxUtilNavio::_check_rpi_version()
{
    char buffer[MAX_SIZE_LINE];
    const char* hardware_description_entry = "Hardware";
    const char* v1 = "BCM2708";
    const char* v2 = "BCM2709";
    char* flag;
    FILE* fd;

    fd = fopen("/proc/cpuinfo", "r");

    while (fgets(buffer, MAX_SIZE_LINE, fd) != NULL) {
        flag = strstr(buffer, hardware_description_entry);
        if (flag != NULL) {
            if (strstr(buffer, v2) != NULL) {
                printf("Raspberry Pi 2 with BCM2709!\n");
                fclose(fd);

                _rpi_version = 2;
                return _rpi_version;
            }
            else if (strstr(buffer, v1) != NULL) {
                printf("Raspberry Pi 1 with BCM2708!\n");
                fclose(fd);

                _rpi_version = 1;
                return _rpi_version;
            }
        }
    }

    /* defaults to 1 */
    fprintf(stderr, "Could not detect RPi version, defaulting to 1\n");
    fclose(fd);

    _rpi_version = 1;
    return _rpi_version;
}

int LinuxUtilNavio::get_rpi_version() const
{
    return _rpi_version;
}

#endif