AP_HAL_Linux: Move RPi version check to util class

- Moved the version check functions to util.
 - Removed a redundant version check.
 - Removed redundant version check functions from RCInput.

libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h

@@ -38,6 +38,7 @@ namespace Linux {
     class LinuxSemaphore;
     class LinuxScheduler;
     class LinuxUtil;
+    class LinuxUtilNavio;
     class ToneAlarm;					//limit the scope of ToneAlarm driver to Linux_HAL only
 }
 

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -31,6 +31,7 @@
 #include "Scheduler.h"
 #include "ToneAlarmDriver.h"
 #include "Util.h"
+#include "Util_Navio.h"
 
 #endif // __AP_HAL_LINUX_PRIVATE_H__
 

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -3,6 +3,8 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
 
 #include "GPIO.h"
+#include "Util_Navio.h"
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -13,7 +15,6 @@
 #include <sys/mman.h>
 #include <sys/stat.h>
 
-#define MAX_SIZE_LINE 50
 
 using namespace Linux;
 
@@ -21,42 +22,9 @@ static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 LinuxGPIO_RPI::LinuxGPIO_RPI()
 {}
 
-int LinuxGPIO_RPI::getRaspberryPiVersion() const
-{
-    char buffer[MAX_SIZE_LINE];
-    const char* hardware_description_entry = "Hardware";
-    const char* v1 = "BCM2708";
-    const char* v2 = "BCM2709";
-    char* flag;
-    FILE* fd;
-
-    fd = fopen("/proc/cpuinfo", "r");
-
-    while (fgets(buffer, MAX_SIZE_LINE, fd) != NULL) {
-        flag = strstr(buffer, hardware_description_entry);
-
-        if (flag != NULL) {
-            if (strstr(buffer, v2) != NULL) {
-                printf("Raspberry Pi 2 with BCM2709!\n");
-                fclose(fd);
-                return 2;
-            } else if (strstr(buffer, v1) != NULL) {
-                printf("Raspberry Pi 1 with BCM2708!\n");
-                fclose(fd);
-                return 1;
-            }
-        }
-    }
-
-    /* defaults to 1 */
-    fprintf(stderr, "Could not detect RPi version, defaulting to 1\n");
-    fclose(fd);
-    return 1;
-}
-
 void LinuxGPIO_RPI::init()
 {
-    int rpi_version = getRaspberryPiVersion();
+    int rpi_version = static_cast<LinuxUtilNavio*>(hal.util)->get_rpi_version();
     uint32_t gpio_address = rpi_version == 1 ? GPIO_BASE(BCM2708_PERI_BASE)   : GPIO_BASE(BCM2709_PERI_BASE);
     uint32_t pwm_address  = rpi_version == 1 ? PWM_BASE(BCM2708_PERI_BASE)    : PWM_BASE(BCM2709_PERI_BASE);
     uint32_t clk_address  = rpi_version == 1 ? CLOCK_BASE(BCM2708_PERI_BASE)  : CLOCK_BASE(BCM2709_PERI_BASE);

libraries/AP_HAL_Linux/GPIO_RPI.h

@@ -1,4 +1,3 @@
-
 #ifndef __AP_HAL_LINUX_GPIO_RPI_H__
 #define __AP_HAL_LINUX_GPIO_RPI_H__
 
@@ -74,7 +73,6 @@ private:
     volatile uint32_t *gpio;
     volatile uint32_t *pwm;
     volatile uint32_t *clk;
-    int getRaspberryPiVersion() const;
     void setPWM0Period(uint32_t time_us);
     void setPWM0Duty(uint8_t percent);
 

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -119,7 +119,11 @@ static Empty::EmptyRCOutput rcoutDriver;
 #endif
 
 static LinuxScheduler schedulerInstance;
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+static LinuxUtilNavio utilInstance;
+#else
 static LinuxUtil utilInstance;
+#endif
 
 HAL_Linux::HAL_Linux() :
     AP_HAL::HAL(

libraries/AP_HAL_Linux/RCInput_Navio.cpp

@@ -2,6 +2,9 @@
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #include "GPIO.h"
+#include "RCInput_Navio.h"
+#include "Util_Navio.h"
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
@@ -18,7 +21,7 @@
 #include <sys/stat.h>
 #include <sys/mman.h>
 #include <assert.h>
-#include "RCInput_Navio.h"
+
 
 //Parametres
 #define RCIN_NAVIO_BUFFER_LENGTH   8
@@ -188,37 +191,6 @@ uint32_t Memory_table::get_page_count() const
     return _page_count;
 }
 
-// More memory mapping
-int get_raspberry_pi_version()
-{
-    char buffer[RCIN_NAVIO_MAX_SIZE_LINE];
-    const char* hardware_description_entry = "Hardware";
-    const char* v1 = "BCM2708";
-    const char* v2 = "BCM2709";
-    char* flag;
-    FILE* fd;
-
-    fd = fopen("/proc/cpuinfo", "r");
-
-    while (fgets(buffer, RCIN_NAVIO_MAX_SIZE_LINE, fd) != NULL) {
-        flag = strstr(buffer, hardware_description_entry);
-
-        if (flag != NULL) {
-            if (strstr(buffer, v2) != NULL) {
-                printf("Raspberry Pi 2 with BCM2709!\n");
-                fclose(fd);
-                return 2;
-            } 
-            else if (strstr(buffer, v1) != NULL) {
-                printf("Raspberry Pi 1 with BCM2708!\n");
-                fclose(fd);
-                return 1;
-            }
-        }
-    }
-    return 0;
-}
-
 //Physical addresses of peripheral depends on Raspberry Pi's version
 void LinuxRCInput_Navio::set_physical_addresses(int version)
 {
@@ -420,7 +392,7 @@ LinuxRCInput_Navio::LinuxRCInput_Navio():
     last_signal(228),
     state(RCIN_NAVIO_INITIAL_STATE)
 {
-    int version = get_raspberry_pi_version();
+    int version = static_cast<LinuxUtilNavio*>(hal.util)->get_rpi_version();
     set_physical_addresses(version);
 
     //Init memory for buffer and for DMA control blocks. See comments in "init_ctrl_data()" to understand values "2" and "113"

libraries/AP_HAL_Linux/Util_Navio.cpp

@@ -0,0 +1,69 @@
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <time.h>
+
+#include "Util_Navio.h"
+
+extern const AP_HAL::HAL& hal;
+
+using namespace Linux;
+
+LinuxUtilNavio::LinuxUtilNavio()
+{
+    _check_rpi_version();
+}
+
+#define MAX_SIZE_LINE 50
+int LinuxUtilNavio::_check_rpi_version()
+{
+    char buffer[MAX_SIZE_LINE];
+    const char* hardware_description_entry = "Hardware";
+    const char* v1 = "BCM2708";
+    const char* v2 = "BCM2709";
+    char* flag;
+    FILE* fd;
+
+    fd = fopen("/proc/cpuinfo", "r");
+
+    while (fgets(buffer, MAX_SIZE_LINE, fd) != NULL) {
+        flag = strstr(buffer, hardware_description_entry);
+        if (flag != NULL) {
+            if (strstr(buffer, v2) != NULL) {
+                printf("Raspberry Pi 2 with BCM2709!\n");
+                fclose(fd);
+
+                _rpi_version = 2;
+                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;
+}
+
+int LinuxUtilNavio::get_rpi_version() const
+{
+    return _rpi_version;
+}
+
+#endif

libraries/AP_HAL_Linux/Util_Navio.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include "Util.h"
+
+class Linux::LinuxUtilNavio : public Linux::LinuxUtil {
+public:
+    LinuxUtilNavio();
+    /* return the Raspberry Pi version */
+    int get_rpi_version() const;
+
+protected:
+    // Called in the constructor once
+    int _check_rpi_version();
+
+private:
+    int _rpi_version = 0;
+};