@depz/sensor-sdk 0.1.0

package/dist/sensors/bno086/sh2.d.ts

@@ -0,0 +1,307 @@
+/**
+ * SH-2 control-channel builders and parsers (contracts/05_SENSOR_BNO086.md §6).
+ *
+ * Pure request-builders + response-parsers — no I/O, no timing. The device
+ * layer owns the SHTP framing, sequence numbers for the SHTP header, and the
+ * waiting/correlation. All multi-byte fields little-endian.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.bno086.sh2`.
+ */
+import { DepzError } from "../../errors.js";
+/** SH-2 level failure (bad response status, FRS error, ...). */
+export declare class Sh2Error extends DepzError {
+}
+/** Report IDs on SHTP channel 2 (control). */
+export declare enum ControlReport {
+    CommandResponse = 241,
+    CommandRequest = 242,
+    FrsReadResponse = 243,
+    FrsReadRequest = 244,
+    FrsWriteResponse = 245,
+    FrsWriteData = 246,
+    FrsWriteRequest = 247,
+    ProductIdResponse = 248,
+    ProductIdRequest = 249,
+    GetFeatureResponse = 252,
+    SetFeatureCommand = 253,
+    GetFeatureRequest = 254
+}
+/** `command` field of Command Request/Response (0xF2/0xF1). */
+export declare enum Sh2Command {
+    Errors = 1,
+    Counter = 2,
+    Tare = 3,
+    Initialize = 4,
+    SaveDcd = 6,
+    MeCalibrate = 7,
+    PeriodicDcdConfig = 9,
+    GetOscillatorType = 10,
+    ClearDcdAndReset = 11
+}
+/** Get-Oscillator-Type (command 0x0A) result (r[0]). */
+export declare enum OscillatorType {
+    Internal = 0,
+    ExtCrystal = 1,
+    ExtClock = 2
+}
+/** `source` field of an error record (SH-2 §6.4.1). */
+export declare enum ErrorSource {
+    MotionEngine = 1,
+    MotionHub = 2,
+    SensorHub = 3,
+    Chip = 4,
+    /** Sentinel: end of the error queue. */
+    NoMoreErrors = 255
+}
+/** Counter subcommands (command 0x02, P0). */
+export declare const COUNTS_GET = 0;
+export declare const COUNTS_CLEAR = 1;
+/** Counter command 0x02: get event counts for `sensorId`. */
+export declare function countsGetParams(sensorId: number): Uint8Array;
+/** Counter command 0x02: clear event counts for `sensorId`. */
+export declare function countsClearParams(sensorId: number): Uint8Array;
+/** Errors command 0x01: return errors of `severity` or greater (0 = all). */
+export declare function errorsParams(severity?: number): Uint8Array;
+/** One error queue entry (command 0x01 response, r[0..5]). */
+export interface ErrorRecord {
+    severity: number;
+    seq: number;
+    /** ErrorSource. */
+    source: number;
+    error: number;
+    module: number;
+    code: number;
+}
+export declare function errorRecordFromResponse(resp: CommandResponse): ErrorRecord;
+/** Per-sensor event counts (command 0x02 get response, 2 messages). */
+export interface Counts {
+    sensorId: number;
+    offered: number;
+    accepted: number;
+    on: number;
+    attempted: number;
+}
+/** Rotation vector used as the tare reference (Tare Now P2). */
+export declare enum TareBasis {
+    RotationVector = 0,
+    GameRotationVector = 1,
+    GeomagneticRotationVector = 2,
+    GyroIntegratedRv = 3,
+    ArvrStabilizedRv = 4,
+    ArvrStabilizedGameRv = 5
+}
+export declare enum TareAxis {
+    X = 1,
+    Y = 2,
+    Z = 4,
+    All = 7
+}
+/**
+ * Set Feature Command (0xFD), 17 bytes.
+ *
+ * `intervalUs` = 0 disables the sensor. `sensitivity` units are
+ * sensor-dependent (change sensitivity, u16); `flags` bit meanings per SH-2
+ * §6.5.4; `cfgWord` is the sensor-specific configuration u32.
+ */
+export declare function buildSetFeature(sensorId: number, intervalUs: number, batchUs?: number, sensitivity?: number, flags?: number, cfgWord?: number): Uint8Array;
+/** Get Feature Request (0xFE), 2 bytes. */
+export declare function buildGetFeatureRequest(sensorId: number): Uint8Array;
+/** Get Feature Response (0xFC), 17 bytes — the rates in effect. */
+export interface FeatureResponse {
+    sensorId: number;
+    flags: number;
+    sensitivity: number;
+    /** Actual report interval granted by the hub. */
+    intervalUs: number;
+    batchUs: number;
+    cfgWord: number;
+}
+export declare function unpackFeatureResponse(payload: Uint8Array): FeatureResponse;
+export declare function buildProductIdRequest(): Uint8Array;
+/**
+ * Product ID Response (0xF8), 16 bytes. The sensor sends one response per
+ * subsystem (typically 2); resetCause per SH-2 §6.4.5.2.
+ */
+export interface ProductId {
+    resetCause: number;
+    swVersionMajor: number;
+    swVersionMinor: number;
+    swPartNumber: number;
+    swBuildNumber: number;
+    swVersionPatch: number;
+    /** "major.minor.patch". */
+    version: string;
+}
+export declare function unpackProductId(payload: Uint8Array): ProductId;
+/** Command Request (0xF2), 12 bytes: id, seq, command, P0..P8. */
+export declare function buildCommandRequest(seq: number, command: number, params?: Uint8Array): Uint8Array;
+/**
+ * Command Response (0xF1), 16 bytes.
+ *
+ * `commandSeq` echoes the request's sequence number (correlate on it plus
+ * `command`); `responseSeq` counts multiple responses to one request.
+ * R0 is the status word for most commands (0 = success).
+ */
+export interface CommandResponse {
+    seq: number;
+    command: number;
+    commandSeq: number;
+    responseSeq: number;
+    /** R0..R10. */
+    r: number[];
+    /** R0. */
+    status: number;
+}
+export declare function unpackCommandResponse(payload: Uint8Array): CommandResponse;
+/** Tare subcommand 0 — tare `axes` (bitmap X=1,Y=2,Z=4) using `basis`. */
+export declare function tareNowParams(axes?: number, basis?: number): Uint8Array;
+/** Tare subcommand 1 — persist current tare into FRS. */
+export declare function persistTareParams(): Uint8Array;
+/**
+ * Tare subcommand 2 — set reorientation quaternion.
+ *
+ * P1..P8 are four int16 Q14 components (the 8 available parameter bytes only
+ * fit Q14 halves; the *FRS* System Orientation record is the one that stores
+ * Q30 words). All-zero clears the reorientation.
+ */
+export declare function setReorientationParams(x: number, y: number, z: number, w: number): Uint8Array;
+/** ME Calibration (command 0x07). subcommand 0 = configure, 1 = get. */
+export declare function meCalibrationParams(accel: boolean, gyro: boolean, mag: boolean, planar?: boolean, subcommand?: number): Uint8Array;
+/** Subcommand: report current ME calibration config. */
+export declare const ME_CAL_GET = 1;
+/**
+ * Periodic DCD save config (command 0x09). P0: 0 = enable, 1 = disable.
+ * No command response is generated.
+ */
+export declare function periodicDcdParams(enable: boolean): Uint8Array;
+/** FRS record IDs used by this SDK (SH-2 figure 28; metadata records). */
+export declare enum FrsRecordId {
+    StaticCalibrationAgm = 31097,
+    NominalCalibration = 19789,
+    DynamicCalibration = 7967,
+    MePowerMgmt = 54242,
+    /** Mounting quaternion, 4 × Q30 words. */
+    SystemOrientation = 11582,
+    AccelOrientation = 11585,
+    GyroscopeOrientation = 11590,
+    MagnetometerOrientation = 11596,
+    ArvrStabilizationRv = 15917,
+    ArvrStabilizationGrv = 15918,
+    SigMotionDetectConfig = 49780,
+    ShakeDetectConfig = 32125,
+    StabilityDetectorConfig = 60805,
+    /** Personal-activity-classifier config. */
+    ActivityTrackerConfig = 60808
+}
+/** Per-sensor metadata FRS record IDs (subset used by getMetadata()). */
+export declare const METADATA_RECORDS: Record<number, number>;
+/** FRS Read Response status (low nibble of the len/status byte). */
+export declare enum FrsStatus {
+    NoError = 0,
+    UnrecognizedFrsType = 1,
+    Busy = 2,
+    ReadCompleted = 3,
+    OffsetOutOfRange = 4,
+    RecordEmpty = 5,
+    BlockCompleted = 6,
+    BlockAndReadCompleted = 7,
+    DeviceError = 8
+}
+export declare enum FrsWriteStatus {
+    WordsReceived = 0,
+    UnrecognizedFrsType = 1,
+    Busy = 2,
+    WriteCompleted = 3,
+    WriteModeReady = 4,
+    WriteFailed = 5,
+    NotInWriteMode = 6,
+    InvalidLength = 7,
+    RecordValid = 8,
+    RecordInvalid = 9
+}
+/** FRS Read Request (0xF4), 8 bytes. blockWords = 0 reads the record. */
+export declare function buildFrsReadRequest(frsType: number, offsetWords?: number, blockWords?: number): Uint8Array;
+/** FRS Read Response (0xF3), 16 bytes; up to two data words per packet. */
+export interface FrsReadResponse {
+    /** FrsStatus. */
+    status: number;
+    /** Valid words in data0/data1 (0–2). */
+    dataLength: number;
+    offsetWords: number;
+    data0: number;
+    data1: number;
+    frsType: number;
+}
+export declare function unpackFrsReadResponse(payload: Uint8Array): FrsReadResponse;
+/** FRS Write Request (0xF7), 6 bytes. lengthWords = 0 erases the record. */
+export declare function buildFrsWriteRequest(frsType: number, lengthWords: number): Uint8Array;
+/** FRS Write Data (0xF6), 12 bytes; 1 or 2 words per packet. */
+export declare function buildFrsWriteData(offsetWords: number, words: number[]): Uint8Array;
+/** FRS Write Response (0xF5), 4 bytes. */
+export interface FrsWriteResponse {
+    /** FrsWriteStatus. */
+    status: number;
+    offsetWords: number;
+}
+export declare function unpackFrsWriteResponse(payload: Uint8Array): FrsWriteResponse;
+/**
+ * Multi-packet FRS read state machine (pure — feed parsed responses).
+ *
+ * Usage: send `request()`, then `feed()` every 0xF3 for this record until it
+ * returns true; `words` holds the record. Error statuses throw.
+ */
+export declare class FrsReadSession {
+    readonly frsType: number;
+    words: number[];
+    done: boolean;
+    constructor(frsType: number);
+    request(): Uint8Array;
+    feed(resp: FrsReadResponse): boolean;
+}
+/**
+ * Multi-packet FRS write state machine (pure).
+ *
+ * Usage: send `request()`; then for every 0xF5 call `feed()` — it returns
+ * the next Write Data payload to send, or null; `done` flips on
+ * WriteCompleted. Error statuses throw.
+ */
+export declare class FrsWriteSession {
+    readonly frsType: number;
+    readonly words: number[];
+    offset: number;
+    done: boolean;
+    constructor(frsType: number, words: number[]);
+    request(): Uint8Array;
+    private nextData;
+    feed(resp: FrsWriteResponse): Uint8Array | null;
+}
+/**
+ * Parsed sensor metadata FRS record; `rawWords` is authoritative.
+ *
+ * Field packing follows the sh2 reference driver (revision-gated fields are
+ * 0 when the record predates them).
+ */
+export interface SensorMetadata {
+    meVersion: number;
+    mhVersion: number;
+    shVersion: number;
+    /** Same units & Q point as the sensor's reports. */
+    rangeRaw: number;
+    resolutionRaw: number;
+    revision: number;
+    /** mA in Q10. */
+    powerMaQ10: number;
+    minPeriodUs: number;
+    /** Revision >= 4 only. */
+    maxPeriodUs: number;
+    fifoMax: number;
+    fifoReserved: number;
+    batchBufferBytes: number;
+    qPoint1: number;
+    qPoint2: number;
+    /** Revision >= 3 only. */
+    qPoint3: number;
+    rawWords: number[];
+}
+export declare function sensorMetadataFromWords(words: number[]): SensorMetadata;
+//# sourceMappingURL=sh2.d.ts.map

package/dist/sensors/bno086/sh2.d.ts.map

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