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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/scripts/decode_devid.py
Views: 1798
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#!/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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parser.add_option("-A", "--airspeed", action='store_true', help='decode airspeed 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: "DRONECAN",

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    4: "SITL",

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    5: "MSP",

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    6: "SERIAL",

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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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    0x13 : "DEVTYPE_MMC5883",

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    0x14 : "DEVTYPE_AK09918",

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    0x15 : "DEVTYPE_AK09915",

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    0x16 : "DEVTYPE_QMC5883P",

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    0x17 : "DEVTYPE_BMM350",

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    0x18 : "DEVTYPE_IIS2MDC",

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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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    0x32 : "DEVTYPE_INS_SERIAL",

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    0x33 : "DEVTYPE_INS_ICM40609",

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    0x34 : "DEVTYPE_INS_ICM42688",

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    0x35 : "DEVTYPE_INS_ICM42605",

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    0x36 : "DEVTYPE_INS_ICM40605",

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    0x37 : "DEVTYPE_INS_IIM42652",

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    0x38 : "DEVTYPE_INS_BMI270",

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    0x39 : "DEVTYPE_INS_BMI085",

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    0x3A : "DEVTYPE_INS_ICM42670",

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    0x3B : "DEVTYPE_INS_ICM45686",

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    0x3C : "DEVTYPE_INS_SCHA63T",

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    0x3D : "DEVTYPE_INS_IIM42653",

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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_DRONECAN",

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    0x0E : "DEVTYPE_BARO_MSP",

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    0x0F : "DEVTYPE_BARO_ICP101XX",

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    0x10 : "DEVTYPE_BARO_ICP201XX",

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    0x11 : "DEVTYPE_BARO_MS5607",

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    0x12 : "DEVTYPE_BARO_MS5837",

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    0x13 : "DEVTYPE_BARO_MS5637",

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    0x14 : "DEVTYPE_BARO_BMP390",

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    0x15 : "DEVTYPE_BARO_BMP581",

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}

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airspeed_types = {

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    0x01 : "DEVTYPE_AIRSPEED_SITL",

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    0x02 : "DEVTYPE_AIRSPEED_MS4525",

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    0x03 : "DEVTYPE_AIRSPEED_MS5525",

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    0x04 : "DEVTYPE_AIRSPEED_DLVR",

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    0x05 : "DEVTYPE_AIRSPEED_MSP",

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    0x06 : "DEVTYPE_AIRSPEED_SDP3X",

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    0x07 : "DEVTYPE_AIRSPEED_DRONECAN",

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    0x08 : "DEVTYPE_AIRSPEED_ANALOG",

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    0x09 : "DEVTYPE_AIRSPEED_NMEA",

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    0x0A : "DEVTYPE_AIRSPEED_ASP5033",

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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 opts.airspeed:

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    decoded_devname = airspeed_types.get(devtype, "UNKNOWN")

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if bus_type == 3:

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    #dronecan 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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