mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
133 lines
4.0 KiB
C++
133 lines
4.0 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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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
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#include <dirent.h>
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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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_get_board_type_using_peripheral_base ();
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}
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//
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// previous appraoch was using /proc/device-tree/system/linux,revision
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// now we use /proc/device-tree/soc/ranges see: https://forums.raspberrypi.com//viewtopic.php?t=244031
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void UtilRPI::_get_board_type_using_peripheral_base()
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{
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FILE *fp;
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uint32_t base=0x00;
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unsigned char buf[32];
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_linux_board_version = LINUX_BOARD_TYPE::UNKNOWN_BOARD;
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fp = fopen("/proc/device-tree/soc/ranges" , "rb");
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// If fp returns NULL (which means ranges file not found), begin second detection stage.
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// This method successfully tested at RPi 5 and RPi Z2, which have different soc folder names.
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if (!fp) {
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const char *base_path = "/proc/device-tree";
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DIR *dir = opendir(base_path);
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if (!dir) {
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printf("device-tree directory not found \r\n");
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return ;
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}
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struct dirent *entry;
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char ranges_path[256] {};
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while ((entry = readdir(dir)) != nullptr) {
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if (strncmp(entry->d_name, "soc", 4) == 0) {
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snprintf(ranges_path, sizeof(ranges_path), "%s/%s/ranges", base_path, entry->d_name);
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break;
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}
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}
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closedir(dir);
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if (ranges_path[0] == 0) {
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printf("\"ranges\" file not found \r\n");
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return ;
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}
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fp = fopen(ranges_path, "rb");
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}
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if (fp) {
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const uint16_t len = fread(buf, 1, sizeof(buf), fp);
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if (len >= 8) {
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base = buf[4]<<24 | buf[5]<<16 | buf[6]<<8 | buf[7];
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if (!base)
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base = buf[8]<<24 | buf[9]<<16 | buf[10]<<8 | buf[11];
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if (!base)
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base = buf[8]<<24 | buf[9]<<16 | buf[10]<<8 | buf[11];
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if (!base && (len>15))
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base = buf[12]<<24 | buf[13]<<16 | buf[14]<<8 | buf[15];
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}
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fclose(fp);
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}
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switch (base) {
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case 0x0:
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_linux_board_version = LINUX_BOARD_TYPE::UNKNOWN_BOARD;
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printf("Cannot detect board-type \r\n");
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break;
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case 0x10:
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_linux_board_version = LINUX_BOARD_TYPE::RPI_5;
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printf("RPI 5 \r\n");
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break;
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case 0x20000000:
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_linux_board_version = LINUX_BOARD_TYPE::RPI_ZERO_1;
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printf("RPI Zero / 1 \r\n");
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break;
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case 0x3f000000:
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_linux_board_version = LINUX_BOARD_TYPE::RPI_2_3_ZERO2;
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printf("RPI 2, 3 or Zero-2 \r\n");
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break;
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case 0xfe000000:
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_linux_board_version = LINUX_BOARD_TYPE::RPI_4;
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printf("RPI 4 \r\n");
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break;
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case 0x40000000:
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_linux_board_version = LINUX_BOARD_TYPE::ALLWINNWER_H616;
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printf("AllWinner-H616 \r\n");
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break;
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default:
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printf("Unknown board \n\r");
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printf("Peripheral base address is %x\n", base);
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}
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return ;
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}
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LINUX_BOARD_TYPE UtilRPI::detect_linux_board_type() const
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{
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return _linux_board_version;
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}
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#endif
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