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ardupilot/Tools/scripts/decode_devid.py
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Dr.-Ing. Amilcar do Carmo Lucas 6679ef5658 Tools: Refactor decode_devid to be callable by python code 
Also fix the lining issues

Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
2026-09-02 17:28:56 +10:00

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#!/usr/bin/env python3
"""
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
AP_FLAKE8_CLEAN
SPDX-FileCopyrightText: 2024-2026 ArduPilot developers
SPDX-License-Identifier: GPL-3.0-or-later
"""
import optparse
import sys
from typing import Union
# Device type lookup tables
BUSTYPES = {
1: "I2C",
2: "SPI",
3: "DRONECAN",
4: "SITL",
5: "MSP",
6: "SERIAL",
7: "WSPI",
}
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_AK0991x",
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",
0x17: "DEVTYPE_BMM350",
0x18: "DEVTYPE_IIS2MDC",
0x19: "DEVTYPE_LIS2MDL", # unused except on pre-release firmware
0x1A: "DEVTYPE_AF9838",
}
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",
0x3C: "DEVTYPE_INS_SCHA63T",
0x3D: "DEVTYPE_INS_IIM42653",
0x3E: "DEVTYPE_INS_LSM6DSV16X",
0x3F: "DEVTYPE_INS_ASM330",
0x40: "DEVTYPE_INS_ADIS16607",
0x42: "DEVTYPE_INS_LSM6DSV32X",
0x43: "DEVTYPE_INS_LSM6DSK320X",
}
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_30BA",
0x13: "DEVTYPE_BARO_MS5637",
0x14: "DEVTYPE_BARO_BMP390",
0x15: "DEVTYPE_BARO_BMP581",
0x16: "DEVTYPE_BARO_SPA06",
0x17: "DEVTYPE_BARO_AUAV",
0x18: "DEVTYPE_BARO_MS5837_02BA",
}
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",
0x0B: "DEVTYPE_AIRSPEED_AUAV",
0x0C: "DEVTYPE_AIRSPEED_SCRIPTING",
}
MAVLINK_TYPES = {
0x01: "DEVTYPE_MAVLINK_UART",
0x02: "DEVTYPE_MAVLINK_NETWORKING",
0x03: "DEVTYPE_MAVLINK_CAN",
0x04: "DEVTYPE_MAVLINK_SCRIPTING",
}
def parse_device_id(device_id_str: str) -> int:
"""Parse device ID from string (decimal or hex)."""
try:
return int(device_id_str)
except ValueError:
return int(device_id_str, 16)
def decode_device_id(device_id: int) -> dict[str, Union[int, str, bool]]:
"""
Decode an ArduPilot device ID into its components.
Args:
device_id: Device ID as integer (can be decimal or hex)
Returns:
Dictionary with keys:
- bus_type_value: Bus type numeric value
- bus_type_name: Bus type name (I2C, SPI, etc.)
- bus: Bus number
- address: Device address
- devtype: Device type numeric value
- is_dronecan: Whether this is DRONECAN bus type
"""
bus_type = device_id & 0x07
bus = (device_id >> 3) & 0x1F
address = (device_id >> 8) & 0xFF
devtype = device_id >> 16
return {
"bus_type_value": bus_type,
"bus_type_name": BUSTYPES.get(bus_type, "UNKNOWN"),
"bus": bus,
"address": address,
"devtype": devtype,
"is_dronecan": bus_type == 3,
}
def get_device_type_name(devtype: int, device_category: str) -> str:
"""
Look up device type name based on device category.
Args:
devtype: Device type numeric value
device_category: One of 'compass', 'imu', 'baro', 'airspeed'
Returns:
Device type name string, or 'UNKNOWN' if not found
"""
category_map = {
"compass": COMPASS_TYPES,
"imu": IMU_TYPES,
"baro": BARO_TYPES,
"airspeed": AIRSPEED_TYPES,
"mavlink": MAVLINK_TYPES,
}
type_dict = category_map.get(device_category.lower())
if type_dict is None:
return "UNKNOWN"
return type_dict.get(devtype, "UNKNOWN")
def format_device_info(decode_info: dict, device_type_name: str = "") -> str:
"""
Format decoded device info as a readable string.
Args:
decode_info: Dictionary returned by decode_device_id()
device_type_name: Device type name (optional)
Returns:
Formatted string with device information
"""
bus_type = decode_info["bus_type_value"]
bus_type_name = decode_info["bus_type_name"]
bus = decode_info["bus"]
address = decode_info["address"]
devtype = decode_info["devtype"]
is_dronecan = decode_info["is_dronecan"]
if is_dronecan:
# For DRONECAN, devtype represents sensor_id (0-indexed)
return (
f"bus_type:{bus_type_name}({bus_type}) bus:{bus} "
f"address:{address}(0x{address:x}) sensor_id:{devtype - 1}(0x{devtype - 1:x}) "
f"{device_type_name}"
)
return (
f"bus_type:{bus_type_name}({bus_type}) bus:{bus} "
f"address:{address}(0x{address:x}) devtype:{devtype}(0x{devtype:x}) "
f"{device_type_name}"
)
def main() -> None:
"""Command-line interface."""
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")
parser.add_option("-M", "--mavlink", action="store_true", help="decode MAVLink channel IDs")
opts, args = parser.parse_args()
if len(args) == 0:
print("Please supply a device ID")
sys.exit(1)
device_id = parse_device_id(args[0])
decoded = decode_device_id(device_id)
device_type_name = ""
if opts.compass:
device_type_name = get_device_type_name(int(decoded["devtype"]), "compass")
if opts.imu:
device_type_name = get_device_type_name(int(decoded["devtype"]), "imu")
if opts.baro:
device_type_name = get_device_type_name(int(decoded["devtype"]), "baro")
if opts.airspeed:
device_type_name = get_device_type_name(int(decoded["devtype"]), "airspeed")
if opts.mavlink:
device_type_name = get_device_type_name(int(decoded["devtype"]), "mavlink")
print(format_device_info(decoded, device_type_name))
if __name__ == "__main__":
main()
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