AP_HAL_Linux: Make RPI get_hw method public

Valid also on Bebop

libraries/AP_HAL_Linux/Util.cpp

@@ -160,4 +160,45 @@ int Util::read_file(const char *path, const char *fmt, ...)
     return ret;
 }
 
+const char *Linux::Util::_hw_names[UTIL_NUM_HARDWARES] = {
+    [UTIL_HARDWARE_RPI1]   = "BCM2708",
+    [UTIL_HARDWARE_RPI2]   = "BCM2709",
+    [UTIL_HARDWARE_BEBOP]  = "Mykonos3 board",
+    [UTIL_HARDWARE_BEBOP2] = "Milos board",
+};
+
+#define MAX_SIZE_LINE 50
+int Util::get_hw_arm32()
+{
+    int ret = -ENOENT;
+    char buffer[MAX_SIZE_LINE];
+    const char* hardware_description_entry = "Hardware";
+    char* flag;
+    FILE* f;
+
+    f = fopen("/proc/cpuinfo", "r");
+
+    if (f == NULL) {
+        ret = -errno;
+        goto end;
+    }
+
+    while (fgets(buffer, MAX_SIZE_LINE, f) != NULL) {
+        flag = strstr(buffer, hardware_description_entry);
+        if (flag != NULL) {
+            for (uint8_t i = 0; i < UTIL_NUM_HARDWARES; i++) {
+                if (strstr(buffer, _hw_names[i]) != 0) {
+                     ret = i;
+                     goto close_end;
+                }
+            }
+        }
+    }
+
+close_end:
+    fclose(f);
+end:
+    return ret;
+}
+
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX

libraries/AP_HAL_Linux/Util.h

@@ -9,6 +9,14 @@
 #include "ToneAlarmDriver.h"
 #include "Semaphores.h"
 
+enum hw_type {
+    UTIL_HARDWARE_RPI1 = 0,
+    UTIL_HARDWARE_RPI2,
+    UTIL_HARDWARE_BEBOP,
+    UTIL_HARDWARE_BEBOP2,
+    UTIL_NUM_HARDWARES,
+};
+
 class Linux::Util : public AP_HAL::Util {
 public:
     static Util *from(AP_HAL::Util *util) {
@@ -25,7 +33,7 @@ public:
 
     bool toneAlarm_init();
     void toneAlarm_set_tune(uint8_t tune);
-    
+
     void _toneAlarm_timer_tick();
 
     /*
@@ -64,14 +72,17 @@ public:
 
     // create a new semaphore
     AP_HAL::Semaphore *new_semaphore(void) override { return new Linux::Semaphore; }
-    
+
+    int get_hw_arm32();
+
 private:
     static Linux::ToneAlarm _toneAlarm;
     Linux::Heat *_heat;
     int saved_argc;
     char* const *saved_argv;
     const char* custom_log_directory = NULL;
-    const char* custom_terrain_directory = NULL;	
+    const char* custom_terrain_directory = NULL;
+    static const char *_hw_names[UTIL_NUM_HARDWARES];
 };
 
 

libraries/AP_HAL_Linux/Util_RPI.cpp

@@ -14,6 +14,7 @@
 #include <time.h>
 
 #include "Util_RPI.h"
+#include "Util.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -24,43 +25,22 @@ UtilRPI::UtilRPI()
     _check_rpi_version();
 }
 
-#define MAX_SIZE_LINE 50
 int UtilRPI::_check_rpi_version()
 {
-    char buffer[MAX_SIZE_LINE];
+    int hw;
-    const char* hardware_description_entry = "Hardware";
+    hw = Util::from(hal.util)->get_hw_arm32();
-    const char* v1 = "BCM2708";
-    const char* v2 = "BCM2709";
-    char* flag;
-    FILE* fd;
 
-    fd = fopen("/proc/cpuinfo", "r");
+    if (hw == UTIL_HARDWARE_RPI2) {
-
+        printf("Raspberry Pi 2 with BCM2709!\n");
-    while (fgets(buffer, MAX_SIZE_LINE, fd) != NULL) {
+        _rpi_version = 2;
-        flag = strstr(buffer, hardware_description_entry);
+    } else if (hw == UTIL_HARDWARE_RPI1) {
-        if (flag != NULL) {
+        printf("Raspberry Pi 1 with BCM2708!\n");
-            if (strstr(buffer, v2) != NULL) {
+        _rpi_version = 1;
-                printf("Raspberry Pi 2 with BCM2709!\n");
+    } else {
-                fclose(fd);
+        /* defaults to 1 */
-
+        fprintf(stderr, "Could not detect RPi version, defaulting to 1\n");
-                _rpi_version = 2;
+        _rpi_version = 1;
-                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;
 }