mirror of https://github.com/ArduPilot/ardupilot
74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
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#include <errno.h>
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#include <stdarg.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/stat.h>
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#include <time.h>
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#include <unistd.h>
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#include "Util.h"
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#include "Util_RPI.h"
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extern const AP_HAL::HAL &hal;
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using namespace Linux;
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UtilRPI::UtilRPI()
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{
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_check_rpi_version_by_rev();
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}
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int UtilRPI::_check_rpi_version_by_rev()
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{
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// assume 2 if unknown
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_rpi_version = 2;
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const char *SOC[]= {"Broadcom BCM2835","Broadcom BCM2836","Broadcom BCM2837","Broadcom BCM2711"};
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const char *revision_file_ = "/proc/device-tree/system/linux,revision";
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uint8_t revision[4] = { 0 };
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uint32_t cpu = 0;
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FILE *fd;
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if ((fd = fopen(revision_file_, "rb")) == NULL) {
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printf("Can't open '%s'\n", revision_file_);
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}
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else {
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if (fread(revision, 1, sizeof(revision), fd) == 4) {
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cpu = (revision[2] >> 4) & 0xf;
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_rpi_version = cpu;
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if (_rpi_version==0) {
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_rpi_version=1; //RPI-Zero
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}
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printf("SOC: %s use intern: %d \r\n",SOC[cpu], _rpi_version);
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}
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else {
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printf("Revision data too short\n");
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}
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fclose(fd);
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}
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return _rpi_version;
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}
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int UtilRPI::get_rpi_version() const
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{
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return _rpi_version;
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}
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#endif
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