ardupilot/libraries/AP_HAL_Linux/Util_RPI.cpp

56 lines
1.3 KiB
C++

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#include <stdio.h>
#include <stdarg.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <time.h>
#include "Util_RPI.h"
#include "Util.h"
extern const AP_HAL::HAL& hal;
using namespace Linux;
UtilRPI::UtilRPI()
{
_check_rpi_version();
}
int UtilRPI::_check_rpi_version()
{
int hw;
hw = Util::from(hal.util)->get_hw_arm32();
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;
}
#endif