@depz/sensor-sdk 0.1.0

package/dist/sensors/bno086/sh2.js

@@ -0,0 +1,480 @@
+/**
+ * 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 class Sh2Error extends DepzError {
+}
+/** Report IDs on SHTP channel 2 (control). */
+export var ControlReport;
+(function (ControlReport) {
+    ControlReport[ControlReport["CommandResponse"] = 241] = "CommandResponse";
+    ControlReport[ControlReport["CommandRequest"] = 242] = "CommandRequest";
+    ControlReport[ControlReport["FrsReadResponse"] = 243] = "FrsReadResponse";
+    ControlReport[ControlReport["FrsReadRequest"] = 244] = "FrsReadRequest";
+    ControlReport[ControlReport["FrsWriteResponse"] = 245] = "FrsWriteResponse";
+    ControlReport[ControlReport["FrsWriteData"] = 246] = "FrsWriteData";
+    ControlReport[ControlReport["FrsWriteRequest"] = 247] = "FrsWriteRequest";
+    ControlReport[ControlReport["ProductIdResponse"] = 248] = "ProductIdResponse";
+    ControlReport[ControlReport["ProductIdRequest"] = 249] = "ProductIdRequest";
+    ControlReport[ControlReport["GetFeatureResponse"] = 252] = "GetFeatureResponse";
+    ControlReport[ControlReport["SetFeatureCommand"] = 253] = "SetFeatureCommand";
+    ControlReport[ControlReport["GetFeatureRequest"] = 254] = "GetFeatureRequest";
+})(ControlReport || (ControlReport = {}));
+/** `command` field of Command Request/Response (0xF2/0xF1). */
+export var Sh2Command;
+(function (Sh2Command) {
+    Sh2Command[Sh2Command["Errors"] = 1] = "Errors";
+    Sh2Command[Sh2Command["Counter"] = 2] = "Counter";
+    Sh2Command[Sh2Command["Tare"] = 3] = "Tare";
+    Sh2Command[Sh2Command["Initialize"] = 4] = "Initialize";
+    Sh2Command[Sh2Command["SaveDcd"] = 6] = "SaveDcd";
+    Sh2Command[Sh2Command["MeCalibrate"] = 7] = "MeCalibrate";
+    Sh2Command[Sh2Command["PeriodicDcdConfig"] = 9] = "PeriodicDcdConfig";
+    Sh2Command[Sh2Command["GetOscillatorType"] = 10] = "GetOscillatorType";
+    Sh2Command[Sh2Command["ClearDcdAndReset"] = 11] = "ClearDcdAndReset";
+})(Sh2Command || (Sh2Command = {}));
+/** Get-Oscillator-Type (command 0x0A) result (r[0]). */
+export var OscillatorType;
+(function (OscillatorType) {
+    OscillatorType[OscillatorType["Internal"] = 0] = "Internal";
+    OscillatorType[OscillatorType["ExtCrystal"] = 1] = "ExtCrystal";
+    OscillatorType[OscillatorType["ExtClock"] = 2] = "ExtClock";
+})(OscillatorType || (OscillatorType = {}));
+/** `source` field of an error record (SH-2 §6.4.1). */
+export var ErrorSource;
+(function (ErrorSource) {
+    ErrorSource[ErrorSource["MotionEngine"] = 1] = "MotionEngine";
+    ErrorSource[ErrorSource["MotionHub"] = 2] = "MotionHub";
+    ErrorSource[ErrorSource["SensorHub"] = 3] = "SensorHub";
+    ErrorSource[ErrorSource["Chip"] = 4] = "Chip";
+    /** Sentinel: end of the error queue. */
+    ErrorSource[ErrorSource["NoMoreErrors"] = 255] = "NoMoreErrors";
+})(ErrorSource || (ErrorSource = {}));
+/** Counter subcommands (command 0x02, P0). */
+export const COUNTS_GET = 0;
+export const COUNTS_CLEAR = 1;
+/** Counter command 0x02: get event counts for `sensorId`. */
+export function countsGetParams(sensorId) {
+    return Uint8Array.of(COUNTS_GET, sensorId & 0xff);
+}
+/** Counter command 0x02: clear event counts for `sensorId`. */
+export function countsClearParams(sensorId) {
+    return Uint8Array.of(COUNTS_CLEAR, sensorId & 0xff);
+}
+/** Errors command 0x01: return errors of `severity` or greater (0 = all). */
+export function errorsParams(severity = 0) {
+    return Uint8Array.of(severity & 0xff);
+}
+export function errorRecordFromResponse(resp) {
+    const r = resp.r;
+    return { severity: r[0], seq: r[1], source: r[2], error: r[3], module: r[4], code: r[5] };
+}
+/** Rotation vector used as the tare reference (Tare Now P2). */
+export var TareBasis;
+(function (TareBasis) {
+    TareBasis[TareBasis["RotationVector"] = 0] = "RotationVector";
+    TareBasis[TareBasis["GameRotationVector"] = 1] = "GameRotationVector";
+    TareBasis[TareBasis["GeomagneticRotationVector"] = 2] = "GeomagneticRotationVector";
+    TareBasis[TareBasis["GyroIntegratedRv"] = 3] = "GyroIntegratedRv";
+    TareBasis[TareBasis["ArvrStabilizedRv"] = 4] = "ArvrStabilizedRv";
+    TareBasis[TareBasis["ArvrStabilizedGameRv"] = 5] = "ArvrStabilizedGameRv";
+})(TareBasis || (TareBasis = {}));
+export var TareAxis;
+(function (TareAxis) {
+    TareAxis[TareAxis["X"] = 1] = "X";
+    TareAxis[TareAxis["Y"] = 2] = "Y";
+    TareAxis[TareAxis["Z"] = 4] = "Z";
+    TareAxis[TareAxis["All"] = 7] = "All";
+})(TareAxis || (TareAxis = {}));
+function hex2(n) {
+    return n.toString(16).toUpperCase().padStart(2, "0");
+}
+function hex4(n) {
+    return n.toString(16).toUpperCase().padStart(4, "0");
+}
+function view(p) {
+    return new DataView(p.buffer, p.byteOffset, p.byteLength);
+}
+// ── feature control (0xFD / 0xFE / 0xFC) ─────────────────────────────────────
+/**
+ * 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 function buildSetFeature(sensorId, intervalUs, batchUs = 0, sensitivity = 0, flags = 0, cfgWord = 0) {
+    const out = new Uint8Array(17);
+    const v = new DataView(out.buffer);
+    v.setUint8(0, ControlReport.SetFeatureCommand);
+    v.setUint8(1, sensorId);
+    v.setUint8(2, flags & 0xff);
+    v.setUint16(3, sensitivity & 0xffff, true);
+    v.setUint32(5, intervalUs >>> 0, true);
+    v.setUint32(9, batchUs >>> 0, true);
+    v.setUint32(13, cfgWord >>> 0, true);
+    return out;
+}
+/** Get Feature Request (0xFE), 2 bytes. */
+export function buildGetFeatureRequest(sensorId) {
+    return Uint8Array.of(ControlReport.GetFeatureRequest, sensorId);
+}
+export function unpackFeatureResponse(payload) {
+    const v = view(payload);
+    const rid = v.getUint8(0);
+    if (rid !== ControlReport.GetFeatureResponse) {
+        throw new Sh2Error(`not a get-feature response: 0x${hex2(rid)}`);
+    }
+    return {
+        sensorId: v.getUint8(1),
+        flags: v.getUint8(2),
+        sensitivity: v.getUint16(3, true),
+        intervalUs: v.getUint32(5, true),
+        batchUs: v.getUint32(9, true),
+        cfgWord: v.getUint32(13, true),
+    };
+}
+// ── product ID (0xF9 / 0xF8) ─────────────────────────────────────────────────
+export function buildProductIdRequest() {
+    return Uint8Array.of(ControlReport.ProductIdRequest, 0x00);
+}
+export function unpackProductId(payload) {
+    const v = view(payload);
+    const rid = v.getUint8(0);
+    if (rid !== ControlReport.ProductIdResponse) {
+        throw new Sh2Error(`not a product-id response: 0x${hex2(rid)}`);
+    }
+    const major = v.getUint8(2);
+    const minor = v.getUint8(3);
+    const patch = v.getUint16(12, true);
+    return {
+        resetCause: v.getUint8(1),
+        swVersionMajor: major,
+        swVersionMinor: minor,
+        swPartNumber: v.getUint32(4, true),
+        swBuildNumber: v.getUint32(8, true),
+        swVersionPatch: patch,
+        version: `${major}.${minor}.${patch}`,
+    };
+}
+// ── command channel (0xF2 / 0xF1) ────────────────────────────────────────────
+/** Command Request (0xF2), 12 bytes: id, seq, command, P0..P8. */
+export function buildCommandRequest(seq, command, params = new Uint8Array(0)) {
+    if (params.length > 9) {
+        throw new Error("command request carries at most 9 parameter bytes");
+    }
+    const out = new Uint8Array(12);
+    out[0] = ControlReport.CommandRequest;
+    out[1] = seq & 0xff;
+    out[2] = command;
+    out.set(params, 3);
+    return out;
+}
+export function unpackCommandResponse(payload) {
+    if (payload[0] !== ControlReport.CommandResponse) {
+        throw new Sh2Error(`not a command response: 0x${hex2(payload[0])}`);
+    }
+    const r = Array.from(payload.subarray(5, 16));
+    return {
+        seq: payload[1],
+        command: payload[2],
+        commandSeq: payload[3],
+        responseSeq: payload[4],
+        r,
+        status: r[0],
+    };
+}
+/** Tare subcommand 0 — tare `axes` (bitmap X=1,Y=2,Z=4) using `basis`. */
+export function tareNowParams(axes = TareAxis.All, basis = TareBasis.RotationVector) {
+    return Uint8Array.of(0x00, axes, basis);
+}
+/** Tare subcommand 1 — persist current tare into FRS. */
+export function persistTareParams() {
+    return Uint8Array.of(0x01);
+}
+/**
+ * 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 function setReorientationParams(x, y, z, w) {
+    const q14 = [x, y, z, w].map((c) => Math.round(c * (1 << 14)));
+    for (const c of q14) {
+        if (c < -32768 || c > 32767) {
+            throw new Error("quaternion component out of Q14 int16 range");
+        }
+    }
+    const out = new Uint8Array(9);
+    const v = new DataView(out.buffer);
+    v.setUint8(0, 0x02);
+    q14.forEach((c, i) => v.setInt16(1 + i * 2, c, true));
+    return out;
+}
+/** ME Calibration (command 0x07). subcommand 0 = configure, 1 = get. */
+export function meCalibrationParams(accel, gyro, mag, planar = false, subcommand = 0) {
+    return Uint8Array.of(Number(accel), Number(gyro), Number(mag), subcommand, Number(planar));
+}
+/** Subcommand: report current ME calibration config. */
+export const ME_CAL_GET = 0x01;
+/**
+ * Periodic DCD save config (command 0x09). P0: 0 = enable, 1 = disable.
+ * No command response is generated.
+ */
+export function periodicDcdParams(enable) {
+    return Uint8Array.of(enable ? 0x00 : 0x01);
+}
+// ── FRS (flash record system) ────────────────────────────────────────────────
+/** FRS record IDs used by this SDK (SH-2 figure 28; metadata records). */
+export var FrsRecordId;
+(function (FrsRecordId) {
+    FrsRecordId[FrsRecordId["StaticCalibrationAgm"] = 31097] = "StaticCalibrationAgm";
+    FrsRecordId[FrsRecordId["NominalCalibration"] = 19789] = "NominalCalibration";
+    FrsRecordId[FrsRecordId["DynamicCalibration"] = 7967] = "DynamicCalibration";
+    FrsRecordId[FrsRecordId["MePowerMgmt"] = 54242] = "MePowerMgmt";
+    /** Mounting quaternion, 4 × Q30 words. */
+    FrsRecordId[FrsRecordId["SystemOrientation"] = 11582] = "SystemOrientation";
+    FrsRecordId[FrsRecordId["AccelOrientation"] = 11585] = "AccelOrientation";
+    FrsRecordId[FrsRecordId["GyroscopeOrientation"] = 11590] = "GyroscopeOrientation";
+    FrsRecordId[FrsRecordId["MagnetometerOrientation"] = 11596] = "MagnetometerOrientation";
+    FrsRecordId[FrsRecordId["ArvrStabilizationRv"] = 15917] = "ArvrStabilizationRv";
+    FrsRecordId[FrsRecordId["ArvrStabilizationGrv"] = 15918] = "ArvrStabilizationGrv";
+    // Feature configuration records (SH-2 §5.1; write to tune detectors).
+    FrsRecordId[FrsRecordId["SigMotionDetectConfig"] = 49780] = "SigMotionDetectConfig";
+    FrsRecordId[FrsRecordId["ShakeDetectConfig"] = 32125] = "ShakeDetectConfig";
+    FrsRecordId[FrsRecordId["StabilityDetectorConfig"] = 60805] = "StabilityDetectorConfig";
+    /** Personal-activity-classifier config. */
+    FrsRecordId[FrsRecordId["ActivityTrackerConfig"] = 60808] = "ActivityTrackerConfig";
+})(FrsRecordId || (FrsRecordId = {}));
+/** Per-sensor metadata FRS record IDs (subset used by getMetadata()). */
+export const METADATA_RECORDS = {
+    0x14: 0xe301, // raw accelerometer
+    0x01: 0xe302, // accelerometer
+    0x04: 0xe303, // linear acceleration
+    0x06: 0xe304, // gravity
+    0x15: 0xe305, // raw gyroscope
+    0x02: 0xe306, // gyroscope calibrated
+    0x07: 0xe307, // gyroscope uncalibrated
+    0x16: 0xe308, // raw magnetometer
+    0x03: 0xe309, // magnetometer calibrated
+    0x0f: 0xe30a, // magnetometer uncalibrated
+    0x05: 0xe30b, // rotation vector
+    0x08: 0xe30c, // game rotation vector
+    0x09: 0xe30d, // geomagnetic rotation vector
+    0x10: 0xe313, // tap detector
+    0x18: 0xe314, // step detector
+    0x11: 0xe315, // step counter
+    0x12: 0xe316, // significant motion
+    0x13: 0xe317, // stability classifier
+    0x19: 0xe318, // shake detector
+    0x1e: 0xe31c, // personal activity classifier
+    0x28: 0xe322, // ARVR-stabilized RV
+    0x29: 0xe323, // ARVR-stabilized game RV
+    0x2a: 0xe324, // gyro-integrated RV
+};
+/** FRS Read Response status (low nibble of the len/status byte). */
+export var FrsStatus;
+(function (FrsStatus) {
+    FrsStatus[FrsStatus["NoError"] = 0] = "NoError";
+    FrsStatus[FrsStatus["UnrecognizedFrsType"] = 1] = "UnrecognizedFrsType";
+    FrsStatus[FrsStatus["Busy"] = 2] = "Busy";
+    FrsStatus[FrsStatus["ReadCompleted"] = 3] = "ReadCompleted";
+    FrsStatus[FrsStatus["OffsetOutOfRange"] = 4] = "OffsetOutOfRange";
+    FrsStatus[FrsStatus["RecordEmpty"] = 5] = "RecordEmpty";
+    FrsStatus[FrsStatus["BlockCompleted"] = 6] = "BlockCompleted";
+    FrsStatus[FrsStatus["BlockAndReadCompleted"] = 7] = "BlockAndReadCompleted";
+    FrsStatus[FrsStatus["DeviceError"] = 8] = "DeviceError";
+})(FrsStatus || (FrsStatus = {}));
+export var FrsWriteStatus;
+(function (FrsWriteStatus) {
+    FrsWriteStatus[FrsWriteStatus["WordsReceived"] = 0] = "WordsReceived";
+    FrsWriteStatus[FrsWriteStatus["UnrecognizedFrsType"] = 1] = "UnrecognizedFrsType";
+    FrsWriteStatus[FrsWriteStatus["Busy"] = 2] = "Busy";
+    FrsWriteStatus[FrsWriteStatus["WriteCompleted"] = 3] = "WriteCompleted";
+    FrsWriteStatus[FrsWriteStatus["WriteModeReady"] = 4] = "WriteModeReady";
+    FrsWriteStatus[FrsWriteStatus["WriteFailed"] = 5] = "WriteFailed";
+    FrsWriteStatus[FrsWriteStatus["NotInWriteMode"] = 6] = "NotInWriteMode";
+    FrsWriteStatus[FrsWriteStatus["InvalidLength"] = 7] = "InvalidLength";
+    FrsWriteStatus[FrsWriteStatus["RecordValid"] = 8] = "RecordValid";
+    FrsWriteStatus[FrsWriteStatus["RecordInvalid"] = 9] = "RecordInvalid";
+})(FrsWriteStatus || (FrsWriteStatus = {}));
+/** FRS Read Request (0xF4), 8 bytes. blockWords = 0 reads the record. */
+export function buildFrsReadRequest(frsType, offsetWords = 0, blockWords = 0) {
+    const out = new Uint8Array(8);
+    const v = new DataView(out.buffer);
+    v.setUint8(0, ControlReport.FrsReadRequest);
+    v.setUint8(1, 0);
+    v.setUint16(2, offsetWords, true);
+    v.setUint16(4, frsType, true);
+    v.setUint16(6, blockWords, true);
+    return out;
+}
+export function unpackFrsReadResponse(payload) {
+    const v = view(payload);
+    const rid = v.getUint8(0);
+    if (rid !== ControlReport.FrsReadResponse) {
+        throw new Sh2Error(`not an FRS read response: 0x${hex2(rid)}`);
+    }
+    const lenStatus = v.getUint8(1);
+    return {
+        status: lenStatus & 0x0f,
+        dataLength: lenStatus >> 4,
+        offsetWords: v.getUint16(2, true),
+        data0: v.getUint32(4, true),
+        data1: v.getUint32(8, true),
+        frsType: v.getUint16(12, true),
+    };
+}
+/** FRS Write Request (0xF7), 6 bytes. lengthWords = 0 erases the record. */
+export function buildFrsWriteRequest(frsType, lengthWords) {
+    const out = new Uint8Array(6);
+    const v = new DataView(out.buffer);
+    v.setUint8(0, ControlReport.FrsWriteRequest);
+    v.setUint8(1, 0);
+    v.setUint16(2, lengthWords, true);
+    v.setUint16(4, frsType, true);
+    return out;
+}
+/** FRS Write Data (0xF6), 12 bytes; 1 or 2 words per packet. */
+export function buildFrsWriteData(offsetWords, words) {
+    if (words.length < 1 || words.length > 2) {
+        throw new Error("FRS write data carries 1 or 2 words");
+    }
+    const out = new Uint8Array(12);
+    const v = new DataView(out.buffer);
+    v.setUint8(0, ControlReport.FrsWriteData);
+    v.setUint8(1, 0);
+    v.setUint16(2, offsetWords, true);
+    v.setUint32(4, words[0] >>> 0, true);
+    v.setUint32(8, (words[1] ?? 0) >>> 0, true);
+    return out;
+}
+export function unpackFrsWriteResponse(payload) {
+    const v = view(payload);
+    const rid = v.getUint8(0);
+    if (rid !== ControlReport.FrsWriteResponse) {
+        throw new Sh2Error(`not an FRS write response: 0x${hex2(rid)}`);
+    }
+    return { status: v.getUint8(1), offsetWords: v.getUint16(2, true) };
+}
+const FRS_READ_ERROR_STATUSES = new Set([
+    FrsStatus.UnrecognizedFrsType,
+    FrsStatus.Busy,
+    FrsStatus.OffsetOutOfRange,
+    FrsStatus.RecordEmpty,
+    FrsStatus.DeviceError,
+]);
+/**
+ * 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 class FrsReadSession {
+    frsType;
+    words = [];
+    done = false;
+    constructor(frsType) {
+        this.frsType = frsType;
+    }
+    request() {
+        return buildFrsReadRequest(this.frsType);
+    }
+    feed(resp) {
+        if (resp.frsType !== this.frsType) {
+            return this.done; // some other record's traffic — not ours
+        }
+        if (FRS_READ_ERROR_STATUSES.has(resp.status)) {
+            throw new Sh2Error(`FRS read 0x${hex4(this.frsType)} failed: ${FrsStatus[resp.status] ?? resp.status}`);
+        }
+        for (const word of [resp.data0, resp.data1].slice(0, resp.dataLength)) {
+            this.words.push(word);
+        }
+        if (resp.status === FrsStatus.ReadCompleted || resp.status === FrsStatus.BlockAndReadCompleted) {
+            this.done = true;
+        }
+        return this.done;
+    }
+}
+const FRS_WRITE_ERROR_STATUSES = new Set([
+    FrsWriteStatus.UnrecognizedFrsType,
+    FrsWriteStatus.Busy,
+    FrsWriteStatus.WriteFailed,
+    FrsWriteStatus.NotInWriteMode,
+    FrsWriteStatus.InvalidLength,
+    FrsWriteStatus.RecordInvalid,
+]);
+/**
+ * Multi-packet FRS write state machine (pure).
+ *
+ * Usage: send `request()`; then for every 0xF5 call `feed()` — it returns
+ * the next Write Data payload to send, or null; `done` flips on
+ * WriteCompleted. Error statuses throw.
+ */
+export class FrsWriteSession {
+    frsType;
+    words;
+    offset = 0;
+    done = false;
+    constructor(frsType, words) {
+        this.frsType = frsType;
+        this.words = words;
+    }
+    request() {
+        return buildFrsWriteRequest(this.frsType, this.words.length);
+    }
+    nextData() {
+        if (this.offset >= this.words.length)
+            return null;
+        const chunk = this.words.slice(this.offset, this.offset + 2);
+        const payload = buildFrsWriteData(this.offset, chunk);
+        this.offset += chunk.length;
+        return payload;
+    }
+    feed(resp) {
+        if (FRS_WRITE_ERROR_STATUSES.has(resp.status)) {
+            throw new Sh2Error(`FRS write 0x${hex4(this.frsType)} failed: ${FrsWriteStatus[resp.status] ?? resp.status}`);
+        }
+        if (resp.status === FrsWriteStatus.WriteCompleted) {
+            this.done = true;
+            return null;
+        }
+        if (resp.status === FrsWriteStatus.WriteModeReady || resp.status === FrsWriteStatus.WordsReceived) {
+            return this.nextData();
+        }
+        return null; // RecordValid and friends: informational
+    }
+}
+export function sensorMetadataFromWords(words) {
+    const w = [...words];
+    while (w.length < 10)
+        w.push(0);
+    const revision = w[3] & 0xffff;
+    return {
+        meVersion: w[0] & 0xff,
+        mhVersion: (w[0] >>> 8) & 0xff,
+        shVersion: (w[0] >>> 16) & 0xff,
+        rangeRaw: w[1],
+        resolutionRaw: w[2],
+        revision,
+        powerMaQ10: (w[3] >>> 16) & 0xffff,
+        minPeriodUs: w[4],
+        fifoMax: w[5] & 0xffff,
+        fifoReserved: (w[5] >>> 16) & 0xffff,
+        batchBufferBytes: w[6] & 0xffff,
+        qPoint1: w[7] & 0xffff,
+        qPoint2: (w[7] >>> 16) & 0xffff,
+        qPoint3: revision >= 3 ? (w[8] >>> 16) & 0xffff : 0,
+        maxPeriodUs: revision >= 4 ? w[9] : 0,
+        rawWords: [...words],
+    };
+}
+//# sourceMappingURL=sh2.js.map

package/dist/sensors/bno086/sh2.js.map

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

@@ -0,0 +1,98 @@
+/**
+ * SHTP framing layer for the BNO086 (contracts/05_SENSOR_BNO086.md §3).
+ *
+ * Pure codec — no I/O. A frame is a 4-byte header plus a cargo fragment:
+ *
+ *     length u16 LE  — bits 14:0 cargo length *including* the 4-byte header;
+ *                      bit 15 set marks a continuation fragment
+ *     channel u8     — see ShtpChannel
+ *     seq u8         — per-channel, per-direction free-running counter
+ *
+ * For a cargo that spans several bridge frames, the first fragment's length
+ * field carries the TOTAL cargo length (header included) even though the
+ * frame itself holds fewer bytes; each continuation fragment carries the
+ * remaining length (its own header included) with bit 15 set. The receiver
+ * trusts the first fragment's total and the actual frame sizes; continuation
+ * length fields are informative only.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.bno086.shtp`.
+ */
+export declare enum ShtpChannel {
+    /** SHTP command channel (advertisements). */
+    Command = 0,
+    /** Device executable: reset/on/sleep; RX 0x01 = reset done. */
+    Executable = 1,
+    /** SH-2 control: feature/FRS/command reports. */
+    Control = 2,
+    /** Non-wake input reports (0xFB timebase + sensors). */
+    InputNormal = 3,
+    /** Wake input reports (same cargo format as channel 3). */
+    InputWake = 4,
+    /** Gyro-integrated rotation vector, dense format. */
+    GyroRv = 5
+}
+export declare const SHTP_HEADER_SIZE = 4;
+export declare const LENGTH_MASK = 32767;
+export declare const CONTINUATION_BIT = 32768;
+export declare const NUM_CHANNELS = 6;
+/** Host->sensor frames must fit one MCU transmit slot (ERRATA E2: 2 x 64 B). */
+export declare const MAX_TX_FRAME = 64;
+export interface ShtpHeader {
+    /** Bits 14:0 — cargo length incl. this 4-byte header. */
+    length: number;
+    channel: number;
+    seq: number;
+    continuation: boolean;
+}
+export declare function packShtpHeader(hdr: ShtpHeader): Uint8Array;
+export declare function unpackShtpHeader(data: Uint8Array): ShtpHeader;
+/** One reassembled cargo: `payload` excludes all SHTP headers. */
+export interface ShtpCargo {
+    channel: number;
+    /** seq of the first fragment. */
+    seq: number;
+    payload: Uint8Array;
+}
+/** Single-fragment frame: length = header + payload. */
+export declare function buildFrame(channel: number, payload: Uint8Array, seq: number): Uint8Array;
+/**
+ * Split a cargo into wire frames of at most `maxFrame` bytes.
+ *
+ * First fragment advertises the TOTAL cargo length; continuations carry the
+ * remaining length with the continuation bit set. seq increments per frame.
+ */
+export declare function fragmentCargo(channel: number, payload: Uint8Array, seqStart: number, maxFrame?: number): Uint8Array[];
+/**
+ * Per-channel TX sequence counters + RX cargo reassembly.
+ *
+ * Feed every inbound frame (the RPT_DATA payload after cmd/timestamp) to
+ * `feed()`; it returns a completed ShtpCargo or null. Build outbound frames
+ * with `nextFrame()` which consumes the channel's TX seq. The device layer
+ * serializes access.
+ */
+export declare class ShtpLayer {
+    /** Incomplete cargos thrown away. */
+    discarded: number;
+    private txSeqs;
+    private rx;
+    /**
+     * Build a single-fragment frame, consuming the channel's TX seq.
+     *
+     * Host-side cargos always fit one MCU slot (control payloads are <= 21
+     * bytes); larger payloads are a caller bug.
+     */
+    nextFrame(channel: number, payload: Uint8Array): Uint8Array;
+    txSeq(channel: number): number;
+    /**
+     * Consume one inbound frame; return the cargo when complete.
+     *
+     * Rules (contract 05 §3): a non-continuation fragment starts a new cargo
+     * (discarding any partial one on that channel); a continuation without a
+     * cargo in progress is dropped; the cargo completes when the accumulated
+     * bytes reach the first fragment's advertised total.
+     */
+    feed(frame: Uint8Array): ShtpCargo | null;
+    /** Forget all TX seq counters and partial cargos (sensor reset). */
+    reset(): void;
+}
+//# sourceMappingURL=shtp.d.ts.map

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

@@ -0,0 +1 @@
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