mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.8 KiB
C++
95 lines
2.8 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();
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}
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int UtilRPI::_check_rpi_version()
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{
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const unsigned int MAX_SIZE_LINE = 50;
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char buffer[MAX_SIZE_LINE];
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int hw;
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memset(buffer, 0, MAX_SIZE_LINE);
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FILE *f = fopen("/sys/firmware/devicetree/base/model", "r");
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if (f != nullptr && fgets(buffer, MAX_SIZE_LINE, f) != nullptr) {
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fclose(f);
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int ret = strncmp(buffer, "Raspberry Pi Compute Module 4", 28);
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if (ret == 0) {
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_rpi_version = 4; // compute module 4 e.g. Raspberry Pi Compute Module 4 Rev 1.0.
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printf("%s. (intern: %d)\n", buffer, _rpi_version);
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return _rpi_version;
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}
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ret = sscanf(buffer + 12, "%d", &_rpi_version);
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if (ret != EOF) {
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if (_rpi_version > 3) {
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_rpi_version = 4;
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} else if (_rpi_version > 2) {
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// Preserving old behavior.
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_rpi_version = 2;
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} else if (_rpi_version == 0) {
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// RPi 1 doesn't have a number there, so sscanf() won't have read anything.
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_rpi_version = 1;
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}
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printf("%s. (intern: %d)\n", buffer, _rpi_version);
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return _rpi_version;
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}
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}
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// Attempting old method if the version couldn't be read with the new one.
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hw = Util::from(hal.util)->get_hw_arm32();
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if (hw == UTIL_HARDWARE_RPI4) {
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printf("Raspberry Pi 4 with BCM2711!\n");
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_rpi_version = 4;
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} else if (hw == UTIL_HARDWARE_RPI2) {
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printf("Raspberry Pi 2/3 with BCM2709!\n");
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_rpi_version = 2;
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} else if (hw == UTIL_HARDWARE_RPI1) {
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printf("Raspberry Pi 1 with BCM2708!\n");
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_rpi_version = 1;
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} else {
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/* defaults to RPi version 2/3 */
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fprintf(stderr, "Could not detect RPi version, defaulting to 2/3\n");
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_rpi_version = 2;
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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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