mirror of https://github.com/ArduPilot/ardupilot
167 lines
4.7 KiB
Python
Executable File
167 lines
4.7 KiB
Python
Executable File
#!/usr/bin/env python
|
|
'''
|
|
decode a device ID, such as used for COMPASS_DEV_ID, INS_ACC_ID etc
|
|
|
|
To understand the devtype you should look at the backend headers for
|
|
the sensor library, such as libraries/AP_Compass/AP_Compass_Backend.h
|
|
'''
|
|
|
|
import sys
|
|
import optparse
|
|
|
|
def num(s):
|
|
try:
|
|
return int(s)
|
|
except ValueError:
|
|
return int(s, 16)
|
|
|
|
|
|
parser = optparse.OptionParser("decode_devid.py")
|
|
parser.add_option("-C", "--compass", action='store_true', help='decode compass IDs')
|
|
parser.add_option("-I", "--imu", action='store_true', help='decode IMU IDs')
|
|
parser.add_option("-B", "--baro", action='store_true', help='decode barometer IDs')
|
|
parser.add_option("-A", "--airspeed", action='store_true', help='decode airspeed IDs')
|
|
|
|
opts, args = parser.parse_args()
|
|
|
|
if len(args) == 0:
|
|
print("Please supply a device ID")
|
|
sys.exit(1)
|
|
|
|
devid=num(args[0])
|
|
|
|
bus_type=devid & 0x07
|
|
bus=(devid>>3) & 0x1F
|
|
address=(devid>>8)&0xFF
|
|
devtype=(devid>>16)
|
|
|
|
bustypes = {
|
|
1: "I2C",
|
|
2: "SPI",
|
|
3: "DRONECAN",
|
|
4: "SITL",
|
|
5: "MSP",
|
|
6: "SERIAL",
|
|
}
|
|
|
|
compass_types = {
|
|
0x01 : "DEVTYPE_HMC5883_OLD",
|
|
0x07 : "DEVTYPE_HMC5883",
|
|
0x02 : "DEVTYPE_LSM303D",
|
|
0x04 : "DEVTYPE_AK8963 ",
|
|
0x05 : "DEVTYPE_BMM150 ",
|
|
0x06 : "DEVTYPE_LSM9DS1",
|
|
0x08 : "DEVTYPE_LIS3MDL",
|
|
0x09 : "DEVTYPE_AK09916",
|
|
0x0A : "DEVTYPE_IST8310",
|
|
0x0B : "DEVTYPE_ICM20948",
|
|
0x0C : "DEVTYPE_MMC3416",
|
|
0x0D : "DEVTYPE_QMC5883L",
|
|
0x0E : "DEVTYPE_MAG3110",
|
|
0x0F : "DEVTYPE_SITL",
|
|
0x10 : "DEVTYPE_IST8308",
|
|
0x11 : "DEVTYPE_RM3100_OLD",
|
|
0x12 : "DEVTYPE_RM3100",
|
|
0x13 : "DEVTYPE_MMC5883",
|
|
0x14 : "DEVTYPE_AK09918",
|
|
0x15 : "DEVTYPE_AK09915",
|
|
0x16 : "DEVTYPE_QMC5883P",
|
|
}
|
|
|
|
imu_types = {
|
|
0x09 : "DEVTYPE_BMI160",
|
|
0x10 : "DEVTYPE_L3G4200D",
|
|
0x11 : "DEVTYPE_ACC_LSM303D",
|
|
0x12 : "DEVTYPE_ACC_BMA180",
|
|
0x13 : "DEVTYPE_ACC_MPU6000",
|
|
0x16 : "DEVTYPE_ACC_MPU9250",
|
|
0x17 : "DEVTYPE_ACC_IIS328DQ",
|
|
0x21 : "DEVTYPE_GYR_MPU6000",
|
|
0x22 : "DEVTYPE_GYR_L3GD20",
|
|
0x24 : "DEVTYPE_GYR_MPU9250",
|
|
0x25 : "DEVTYPE_GYR_I3G4250D",
|
|
0x26 : "DEVTYPE_GYR_LSM9DS1",
|
|
0x27 : "DEVTYPE_INS_ICM20789",
|
|
0x28 : "DEVTYPE_INS_ICM20689",
|
|
0x29 : "DEVTYPE_INS_BMI055",
|
|
0x2A : "DEVTYPE_SITL",
|
|
0x2B : "DEVTYPE_INS_BMI088",
|
|
0x2C : "DEVTYPE_INS_ICM20948",
|
|
0x2D : "DEVTYPE_INS_ICM20648",
|
|
0x2E : "DEVTYPE_INS_ICM20649",
|
|
0x2F : "DEVTYPE_INS_ICM20602",
|
|
0x30 : "DEVTYPE_INS_ICM20601",
|
|
0x31 : "DEVTYPE_INS_ADIS1647x",
|
|
0x32 : "DEVTYPE_INS_SERIAL",
|
|
0x33 : "DEVTYPE_INS_ICM40609",
|
|
0x34 : "DEVTYPE_INS_ICM42688",
|
|
0x35 : "DEVTYPE_INS_ICM42605",
|
|
0x36 : "DEVTYPE_INS_ICM40605",
|
|
0x37 : "DEVTYPE_INS_IIM42652",
|
|
0x38 : "DEVTYPE_INS_BMI270",
|
|
0x39 : "DEVTYPE_INS_BMI085",
|
|
0x3A : "DEVTYPE_INS_ICM42670",
|
|
0x3B : "DEVTYPE_INS_ICM45686",
|
|
}
|
|
|
|
baro_types = {
|
|
0x01 : "DEVTYPE_BARO_SITL",
|
|
0x02 : "DEVTYPE_BARO_BMP085",
|
|
0x03 : "DEVTYPE_BARO_BMP280",
|
|
0x04 : "DEVTYPE_BARO_BMP388",
|
|
0x05 : "DEVTYPE_BARO_DPS280",
|
|
0x06 : "DEVTYPE_BARO_DPS310",
|
|
0x07 : "DEVTYPE_BARO_FBM320",
|
|
0x08 : "DEVTYPE_BARO_ICM20789",
|
|
0x09 : "DEVTYPE_BARO_KELLERLD",
|
|
0x0A : "DEVTYPE_BARO_LPS2XH",
|
|
0x0B : "DEVTYPE_BARO_MS5611",
|
|
0x0C : "DEVTYPE_BARO_SPL06",
|
|
0x0D : "DEVTYPE_BARO_DRONECAN",
|
|
0x0E : "DEVTYPE_BARO_MSP",
|
|
0x0F : "DEVTYPE_BARO_ICP101XX",
|
|
0x10 : "DEVTYPE_BARO_ICP201XX",
|
|
0x11 : "DEVTYPE_BARO_MS5607",
|
|
0x12 : "DEVTYPE_BARO_MS5837",
|
|
0x13 : "DEVTYPE_BARO_MS5637",
|
|
0x14 : "DEVTYPE_BARO_BMP390",
|
|
0x15 : "DEVTYPE_BARO_BMP581",
|
|
}
|
|
|
|
airspeed_types = {
|
|
0x01 : "DEVTYPE_AIRSPEED_SITL",
|
|
0x02 : "DEVTYPE_AIRSPEED_MS4525",
|
|
0x03 : "DEVTYPE_AIRSPEED_MS5525",
|
|
0x04 : "DEVTYPE_AIRSPEED_DLVR",
|
|
0x05 : "DEVTYPE_AIRSPEED_MSP",
|
|
0x06 : "DEVTYPE_AIRSPEED_SDP3X",
|
|
0x07 : "DEVTYPE_AIRSPEED_DRONECAN",
|
|
0x08 : "DEVTYPE_AIRSPEED_ANALOG",
|
|
0x09 : "DEVTYPE_AIRSPEED_NMEA",
|
|
0x0A : "DEVTYPE_AIRSPEED_ASP5033",
|
|
}
|
|
|
|
decoded_devname = ""
|
|
|
|
if opts.compass:
|
|
decoded_devname = compass_types.get(devtype, "UNKNOWN")
|
|
|
|
if opts.imu:
|
|
decoded_devname = imu_types.get(devtype, "UNKNOWN")
|
|
|
|
if opts.baro:
|
|
decoded_devname = baro_types.get(devtype, "UNKNOWN")
|
|
|
|
if opts.airspeed:
|
|
decoded_devname = airspeed_types.get(devtype, "UNKNOWN")
|
|
|
|
if bus_type == 3:
|
|
#dronecan devtype represents sensor_id
|
|
print("bus_type:%s(%u) bus:%u address:%u(0x%x) sensor_id:%u(0x%x) %s" % (
|
|
bustypes.get(bus_type,"UNKNOWN"), bus_type,
|
|
bus, address, address, devtype-1, devtype-1, decoded_devname))
|
|
else:
|
|
print("bus_type:%s(%u) bus:%u address:%u(0x%x) devtype:%u(0x%x) %s" % (
|
|
bustypes.get(bus_type,"UNKNOWN"), bus_type,
|
|
bus, address, address, devtype, devtype, decoded_devname))
|