mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.4 KiB
C++
57 lines
1.4 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_RASPILOT || \
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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_URUS || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#include <stdio.h>
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#include <stdarg.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <time.h>
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#include "Util_RPI.h"
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#include "Util.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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int hw;
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hw = Util::from(hal.util)->get_hw_arm32();
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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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