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AP_HAL_Linux: add RPi version runtime detection

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This commit is contained in:
Staroselskii Georgii 2015-03-28 16:46:08 +03:00 committed by Andrew Tridgell
parent c11304ba7a
commit 930aeaf556
2 changed files with 41 additions and 3 deletions
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38
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -13,14 +13,50 @@
#include <sys/mman.h>
#include <sys/stat.h>
#define MAX_SIZE_LINE 50
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
LinuxGPIO_RPI::LinuxGPIO_RPI()
{}
int LinuxGPIO_RPI::getRaspberryPiVersion() const
{
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);
return 2;
} else if (strstr(buffer, v1) != NULL) {
printf("Raspberry Pi 1 with BCM2708!\n");
fclose(fd);
return 1;
}
}
}
/* defaults to 1 */
fprintf(stderr, "Could not detect RPi version, defaulting to 1\n");
fclose(fd);
return 1;
}
void LinuxGPIO_RPI::init()
{
uint32_t address = getRaspberryPiVersion() == 1? GPIO_BASE(BCM2708_PERI_BASE): GPIO_BASE(BCM2709_PERI_BASE);
// open /dev/mem
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
hal.scheduler->panic("Can't open /dev/mem");
@ -33,7 +69,7 @@ void LinuxGPIO_RPI::init()
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes
mem_fd, // File to map
GPIO_BASE // Offset to GPIO peripheral
address // Offset to GPIO peripheral
);
close(mem_fd); // No need to keep mem_fd open after mmap

6
libraries/AP_HAL_Linux/GPIO_RPI.h
View File

@ -9,8 +9,9 @@
#define HIGH 1
// Raspberry Pi GPIO memory
#define BCM2708_PERI_BASE 0x3F000000
#define GPIO_BASE (BCM2708_PERI_BASE + 0x200000)
#define BCM2708_PERI_BASE 0x20000000
#define BCM2709_PERI_BASE 0x3F000000
#define GPIO_BASE(address) (address + 0x200000)
#define PAGE_SIZE (4*1024)
#define BLOCK_SIZE (4*1024)
@ -50,6 +51,7 @@ private:
int mem_fd;
void *gpio_map;
volatile uint32_t *gpio;
int getRaspberryPiVersion() const;
public:
LinuxGPIO_RPI();