mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Jacob Dahl
6563ed1d2f
LIS2MDL and IIS2MDC are the same ST silicon with identical register maps, WHO_AM_I, I2C address and sensitivity. Remove the separate LIS2MDL driver entirely and switch boards that referenced it to IIS2MDC. AIRBRAINH743 COMPASS line changed from LIS2MDL to IIS2MDC.
181 lines
5.1 KiB
Python
Executable File
181 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python3
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# flake8: noqa
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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_AK0991x",
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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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0x3E : "DEVTYPE_INS_LSM6DSV",
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0x3F : "DEVTYPE_INS_ASM330",
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0x40 : "DEVTYPE_INS_ADIS16607",
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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_30BA",
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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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0x16 : "DEVTYPE_BARO_SPA06",
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0x17 : "DEVTYPE_BARO_AUAV",
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0x18 : "DEVTYPE_BARO_MS5837_02BA",
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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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0x0B : "DEVTYPE_AIRSPEED_AUAV",
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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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