mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.4 KiB
Python
Executable File
127 lines
3.4 KiB
Python
Executable File
#!/usr/bin/env python
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'''
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decode a device ID, such as used for COMPASS_DEV_ID, INS_ACC_ID etc
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To understand the devtype you should look at the backend headers for
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the sensor library, such as libraries/AP_Compass/AP_Compass_Backend.h
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'''
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import sys
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import optparse
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def num(s):
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try:
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return int(s)
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except ValueError:
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return int(s, 16)
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parser = optparse.OptionParser("decode_devid.py")
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parser.add_option("-C", "--compass", action='store_true', help='decode compass IDs')
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parser.add_option("-I", "--imu", action='store_true', help='decode IMU IDs')
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parser.add_option("-B", "--baro", action='store_true', help='decode barometer IDs')
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opts, args = parser.parse_args()
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if len(args) == 0:
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print("Please supply a device ID")
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sys.exit(1)
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devid=num(args[0])
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bus_type=devid & 0x07
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bus=(devid>>3) & 0x1F
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address=(devid>>8)&0xFF
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devtype=(devid>>16)
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bustypes = {
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1: "I2C",
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2: "SPI",
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3: "UAVCAN",
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4: "SITL",
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5: "MSP"
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}
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compass_types = {
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0x01 : "DEVTYPE_HMC5883_OLD",
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0x07 : "DEVTYPE_HMC5883",
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0x02 : "DEVTYPE_LSM303D",
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0x04 : "DEVTYPE_AK8963 ",
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0x05 : "DEVTYPE_BMM150 ",
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0x06 : "DEVTYPE_LSM9DS1",
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0x08 : "DEVTYPE_LIS3MDL",
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0x09 : "DEVTYPE_AK09916",
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0x0A : "DEVTYPE_IST8310",
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0x0B : "DEVTYPE_ICM20948",
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0x0C : "DEVTYPE_MMC3416",
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0x0D : "DEVTYPE_QMC5883L",
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0x0E : "DEVTYPE_MAG3110",
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0x0F : "DEVTYPE_SITL",
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0x10 : "DEVTYPE_IST8308",
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0x11 : "DEVTYPE_RM3100_OLD",
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0x12 : "DEVTYPE_RM3100",
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}
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imu_types = {
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0x09 : "DEVTYPE_BMI160",
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0x10 : "DEVTYPE_L3G4200D",
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0x11 : "DEVTYPE_ACC_LSM303D",
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0x12 : "DEVTYPE_ACC_BMA180",
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0x13 : "DEVTYPE_ACC_MPU6000",
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0x16 : "DEVTYPE_ACC_MPU9250",
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0x17 : "DEVTYPE_ACC_IIS328DQ",
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0x21 : "DEVTYPE_GYR_MPU6000",
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0x22 : "DEVTYPE_GYR_L3GD20",
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0x24 : "DEVTYPE_GYR_MPU9250",
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0x25 : "DEVTYPE_GYR_I3G4250D",
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0x26 : "DEVTYPE_GYR_LSM9DS1",
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0x27 : "DEVTYPE_INS_ICM20789",
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0x28 : "DEVTYPE_INS_ICM20689",
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0x29 : "DEVTYPE_INS_BMI055",
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0x2A : "DEVTYPE_SITL",
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0x2B : "DEVTYPE_INS_BMI088",
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0x2C : "DEVTYPE_INS_ICM20948",
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0x2D : "DEVTYPE_INS_ICM20648",
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0x2E : "DEVTYPE_INS_ICM20649",
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0x2F : "DEVTYPE_INS_ICM20602",
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0x30 : "DEVTYPE_INS_ICM20601",
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0x31 : "DEVTYPE_INS_ADIS1647x",
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}
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baro_types = {
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0x01 : "DEVTYPE_BARO_SITL",
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0x02 : "DEVTYPE_BARO_BMP085",
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0x03 : "DEVTYPE_BARO_BMP280",
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0x04 : "DEVTYPE_BARO_BMP388",
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0x05 : "DEVTYPE_BARO_DPS280",
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0x06 : "DEVTYPE_BARO_DPS310",
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0x07 : "DEVTYPE_BARO_FBM320",
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0x08 : "DEVTYPE_BARO_ICM20789",
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0x09 : "DEVTYPE_BARO_KELLERLD",
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0x0A : "DEVTYPE_BARO_LPS2XH",
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0x0B : "DEVTYPE_BARO_MS5611",
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0x0C : "DEVTYPE_BARO_SPL06",
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0x0D : "DEVTYPE_BARO_UAVCAN",
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}
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decoded_devname = ""
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if opts.compass:
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decoded_devname = compass_types.get(devtype, "UNKNOWN")
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if opts.imu:
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decoded_devname = imu_types.get(devtype, "UNKNOWN")
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if opts.baro:
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decoded_devname = baro_types.get(devtype, "UNKNOWN")
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if bus_type == 3:
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#uavcan devtype represents sensor_id
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print("bus_type:%s(%u) bus:%u address:%u(0x%x) sensor_id:%u(0x%x) %s" % (
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bustypes.get(bus_type,"UNKNOWN"), bus_type,
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bus, address, address, devtype-1, devtype-1, decoded_devname))
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else:
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print("bus_type:%s(%u) bus:%u address:%u(0x%x) devtype:%u(0x%x) %s" % (
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bustypes.get(bus_type,"UNKNOWN"), bus_type,
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bus, address, address, devtype, devtype, decoded_devname))
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