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AP_HAL:RPI read cpu by revision

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HefnySco 2022-01-17 16:17:03 +02:00 committed by Lucas De Marchi
parent 7947494cab
commit 53c1c235b8
2 changed files with 27 additions and 55 deletions
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80
libraries/AP_HAL_Linux/Util_RPI.cpp
View File

@ -27,72 +27,44 @@ using namespace Linux;
UtilRPI::UtilRPI()
{
_check_rpi_version();
_check_rpi_version_by_rev();
}
int UtilRPI::_check_rpi_version()
int UtilRPI::_check_rpi_version_by_rev()
{
const unsigned int MAX_SIZE_LINE = 50;
char buffer[MAX_SIZE_LINE];
int hw;
// assume 2 if unknown
_rpi_version = 2;
const char *SOC[]= {"Broadcom BCM2835","Broadcom BCM2836","Broadcom BCM2837","Broadcom BCM2711"};
const char *revision_file_ = "/proc/device-tree/system/linux,revision";
uint8_t revision[4] = { 0 };
uint32_t cpu = 0;
FILE *fd;
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);
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;
}
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;
}
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;
if ((fd = fopen(revision_file_, "rb")) == NULL) {
printf("Can't open '%s'\n", revision_file_);
}
else {
if (fread(revision, 1, sizeof(revision), fd) == 4) {
cpu = (revision[2] >> 4) & 0xf;
_rpi_version = cpu;
if (_rpi_version==0) {
_rpi_version=1; //RPI-Zero
}
printf("%s. (intern: %d)\n", buffer, _rpi_version);
return _rpi_version;
printf("SOC: %s use intern: %d \r\n",SOC[cpu], _rpi_version);
}
else {
printf("Revision data too short\n");
}
fclose(fd);
}
// 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;

2
libraries/AP_HAL_Linux/Util_RPI.h
View File

@ -17,7 +17,7 @@ public:
protected:
// Called in the constructor once
int _check_rpi_version();
int _check_rpi_version_by_rev();
private:
int _rpi_version = 0;