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101 lines
3.1 KiB
101 lines
3.1 KiB
#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 = strncmp(buffer, "Raspberry Pi Zero 2", 19); |
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if (ret == 0) { |
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_rpi_version = 2; // Raspberry PI Zero 2 W e.g. Raspberry Pi Zero 2 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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