@depz/sensor-sdk 0.1.0

package/dist/sensors/vl53l8/cnh.js

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+/**
+ * VL53L8CH CNH (Compact Network Histogram) — TypeScript port of the parts of
+ * vl53lmz_plugin_cnh.c / vl53lmz_plugin_motion_indicator.c (VL53LMZ ULD
+ * 2.0.16) needed to configure CNH, compute the on-device buffer size, and
+ * decode a captured CNH data block into per-aggregate histograms.
+ *
+ * 1:1 mirror of the Python reference `depz_sensor_sdk.vl53l8.cnh`.
+ *
+ * CNH is the reason to run the VL53L8CH firmware instead of plain VL53L8CX:
+ * the sensor returns a per-aggregate distance histogram (the "compact network
+ * histogram") on top of the normal ranging frame. The MCU streaming buffer is
+ * too small to push a full CNH frame, so the host captures it in poll-mode
+ * (chunked READ_REG) — see VL53L8CX.startRanging(cnhDataSize).
+ *
+ * Register/struct layouts are a 1:1 port of the C plugin; do not "simplify"
+ * the offset arithmetic. The CNH configuration here fixes the cnh_cfg flags
+ * to DISABLE_PING_PONG | DISABLE_VARIANCE (+ ambient / xtalk / zero-invalid /
+ * ref-residual), matching Example_12_cnh_data.c — the decode below assumes
+ * those.
+ */
+// ---- fundamental histogram characteristics (plugin_cnh.h) ----
+export const CNH_PULSE_WIDTH_BIN = 10;
+export const CNH_BIN_WIDTH_MM = 37.5348;
+// ---- DCI indexes ----
+/** VL53LMZ_MI_CFG_DEV_IDX (cnh_send_config target). */
+export const MI_CFG_DEV_IDX = 0xbfac;
+/** VL53LMZ_CNH_DATA_IDX (output block index). */
+export const CNH_DATA_IDX = 0xc048;
+// ---- limits (plugin_cnh.h) ----
+export const CNH_MAX_DATA_WORDS = 1540;
+export const CNH_MAX_DATA_BYTES = CNH_MAX_DATA_WORDS * 4; // 6160
+// ---- cnh_cfg flags (plugin_motion_indicator.h) ----
+export const MI_SFE_DISABLE_PING_PONG = 0x01;
+export const MI_SFE_DISABLE_VARIANCE = 0x02;
+export const MI_SFE_ENABLE_AMBIENT_LEVEL = 0x04;
+export const MI_SFE_ENABLE_XTALK_REMOVAL = 0x08;
+export const MI_SFE_ZERO_NON_VALID_BINS = 0x10;
+export const MI_SFE_STORE_REF_RESIDUAL = 0x20;
+export const MI_MAP_ID_LENGTH = 64; // VL53LMZ_RESOLUTION_8X8
+export const MI_INDICATOR_LENGTH = 32;
+// ---- persistent-data header layout (plugin_cnh.c) ----
+const CNH_PER_HEADER_WORDS = 5; // CNH_PER_HEADER_BYTES / 4
+const CNH_PER_BUFFER_HEADER_WORDS = 2; // CNH_PER_BUFFER_HEADER_BYTES / 4
+const CNH_PER_HEADER_BUFFER_INFO_IDX = 1;
+const CNH_PER_HEADER_FLAGS_IDX = 3;
+const BUFFER_INFO_WORDS_MASK = 0xffff;
+const BUFFER_INFO_FLAGS_SHIFT = 24;
+const MI_STATE_PING = 0;
+export class CnhConfigError extends Error {
+    constructor(message) {
+        super(message);
+        this.name = "CnhConfigError";
+    }
+}
+/**
+ * Mirror of VL53LMZ_Motion_Configuration plus the helpers that fill it.
+ * Build with initConfig()/createAggMap(), check size with requiredMemory(),
+ * then pack() the 156-byte struct for cnh_send_config.
+ */
+export class CnhConfig {
+    refBinOffset = 0;
+    detectionThreshold = 0;
+    extraNoiseSigma = 0;
+    nullDenClipValue = 0;
+    memUpdateMode = 0;
+    memUpdateChoice = 0;
+    sumSpan = 0;
+    featureLength = 0;
+    nbOfAggregates = 0;
+    nbOfTemporalAccumulations = 1;
+    minNbForGlobalDetection = 0;
+    globalIndicatorFormat1 = 0;
+    globalIndicatorFormat2 = 0;
+    cnhCfg = 0;
+    cnhFlexShift = 0;
+    spare3 = 0;
+    mapId = new Array(MI_MAP_ID_LENGTH).fill(-1);
+    indicatorFormat1 = new Array(MI_INDICATOR_LENGTH).fill(0);
+    indicatorFormat2 = new Array(MI_INDICATOR_LENGTH).fill(0);
+    // ---- vl53lmz_cnh_init_config ----
+    /**
+     * startBin: first device-histogram bin; numBins: CNH bins;
+     * subSample: bins of the device histogram summed per CNH bin.
+     */
+    initConfig(startBin, numBins, subSample) {
+        this.refBinOffset = startBin * 2048;
+        this.detectionThreshold = 0;
+        this.extraNoiseSigma = 0;
+        this.nullDenClipValue = 0;
+        this.memUpdateMode = 0;
+        this.memUpdateChoice = 0;
+        this.featureLength = numBins & 0xff;
+        this.sumSpan = subSample & 0xff;
+        this.nbOfTemporalAccumulations = 1;
+        this.minNbForGlobalDetection = 0;
+        this.globalIndicatorFormat1 = 0;
+        this.globalIndicatorFormat2 = 0;
+        this.cnhCfg =
+            MI_SFE_DISABLE_PING_PONG |
+                MI_SFE_DISABLE_VARIANCE |
+                MI_SFE_ENABLE_AMBIENT_LEVEL |
+                MI_SFE_ENABLE_XTALK_REMOVAL |
+                MI_SFE_ZERO_NON_VALID_BINS |
+                MI_SFE_STORE_REF_RESIDUAL;
+        this.cnhFlexShift = 1;
+        this.spare3 = 0;
+    }
+    // ---- vl53lmz_cnh_create_agg_map ----
+    /**
+     * Map device zones to CNH aggregates. resolution: 16 (4x4) or 64 (8x8)
+     * — must match the value passed to setResolution().
+     */
+    createAggMap(resolution, startX, startY, mergeX, mergeY, cols, rows) {
+        this.mapId = new Array(MI_MAP_ID_LENGTH).fill(-1);
+        const zoneRes = resolution === 16 ? 4 : 8;
+        if (startX + cols * mergeX > zoneRes || startY + rows * mergeY > zoneRes) {
+            throw new CnhConfigError("agg map exceeds zone grid");
+        }
+        this.nbOfAggregates = cols * rows;
+        for (let row = startY; row < startY + rows * mergeY; row++) {
+            for (let col = startX; col < startX + cols * mergeX; col++) {
+                const i = row * zoneRes + col;
+                const aggId = Math.floor((row - startY) / mergeY) * cols + Math.floor((col - startX) / mergeX);
+                if (aggId >= 0 && aggId < MI_MAP_ID_LENGTH) {
+                    this.mapId[i] = aggId;
+                }
+                else {
+                    throw new CnhConfigError("agg id out of range");
+                }
+            }
+        }
+    }
+    // ---- vl53lmz_cnh_calc_required_memory ----
+    /**
+     * On-device CNH buffer size in bytes for this config. Throws if the
+     * config is blank or the size exceeds CNH_MAX_DATA_BYTES.
+     */
+    requiredMemory() {
+        if (this.nbOfAggregates === 0) {
+            throw new CnhConfigError("agg map not created");
+        }
+        const size = calcRequiredMemory(this.cnhCfg, this.nbOfAggregates, this.featureLength);
+        if (size > CNH_MAX_DATA_BYTES) {
+            throw new CnhConfigError(`CNH needs ${size} B > max ${CNH_MAX_DATA_BYTES} B — reduce aggregates or bins`);
+        }
+        return size;
+    }
+    // ---- vl53lmz_cnh_calc_min_max_distance ----
+    /** [min, max] target distance, in mm, fully captured by the histogram. */
+    minMaxDistanceMm() {
+        const constant = (CNH_PULSE_WIDTH_BIN / 2.0) * CNH_BIN_WIDTH_MM;
+        const start = this.refBinOffset / 2048.0;
+        const firstCenter = (start + this.sumSpan / 2.0) * CNH_BIN_WIDTH_MM;
+        const lastCenter = (start + (this.featureLength - 1) * this.sumSpan + this.sumSpan / 2.0) * CNH_BIN_WIDTH_MM;
+        return [Math.trunc(firstCenter + constant), Math.trunc(lastCenter - constant)];
+    }
+    /** Distance (mm) at the centre of CNH histogram bin `binIdx`. */
+    binCenterMm(binIdx) {
+        const start = this.refBinOffset / 2048.0;
+        return (start + binIdx * this.sumSpan + this.sumSpan / 2.0) * CNH_BIN_WIDTH_MM;
+    }
+    // ---- pack the 156-byte VL53LMZ_Motion_Configuration struct ----
+    pack() {
+        const out = new Uint8Array(156);
+        const dv = new DataView(out.buffer);
+        dv.setUint32(0, this.refBinOffset >>> 0, true); // '<i' with & 0xFFFFFFFF
+        dv.setUint32(4, this.detectionThreshold >>> 0, true);
+        dv.setUint32(8, this.extraNoiseSigma >>> 0, true);
+        dv.setUint32(12, this.nullDenClipValue >>> 0, true);
+        const bytes = [
+            this.memUpdateMode,
+            this.memUpdateChoice,
+            this.sumSpan,
+            this.featureLength,
+            this.nbOfAggregates,
+            this.nbOfTemporalAccumulations,
+            this.minNbForGlobalDetection,
+            this.globalIndicatorFormat1,
+            this.globalIndicatorFormat2,
+            this.cnhCfg,
+            this.cnhFlexShift,
+            this.spare3,
+        ];
+        for (let i = 0; i < 12; i++)
+            out[16 + i] = bytes[i] & 0xff;
+        for (let i = 0; i < MI_MAP_ID_LENGTH; i++)
+            dv.setInt8(28 + i, this.mapId[i]);
+        for (let i = 0; i < MI_INDICATOR_LENGTH; i++)
+            out[92 + i] = this.indicatorFormat1[i] & 0xff;
+        for (let i = 0; i < MI_INDICATOR_LENGTH; i++)
+            out[124 + i] = this.indicatorFormat2[i] & 0xff;
+        return out;
+    }
+}
+/** _cnh_get_pingpong_size_in_word, returned in 32-bit words. */
+function pingpongSizeInWords(optionFlags, nbAgg, featLength) {
+    const aggXFeat = nbAgg * featLength;
+    let size = CNH_PER_BUFFER_HEADER_WORDS * 4;
+    size += aggXFeat * 4; // FEAT_INT  (32b each)
+    size += Math.floor((3 + aggXFeat) / 4) * 4; // FEAT_FRAC (8b each, padded)
+    size += nbAgg * 4; // AMBIENT_INT
+    size += Math.floor((3 + nbAgg) / 4) * 4; // AMBIENT_FRAC
+    if ((optionFlags & MI_SFE_DISABLE_VARIANCE) === 0) {
+        size += aggXFeat * 4; // VARIANCE_INT
+        size += Math.floor((3 + aggXFeat) / 4) * 4; // VARIANCE_FRAC
+    }
+    return Math.floor(size / 4);
+}
+/** _cnh_calculate_required_memory, in bytes. */
+function calcRequiredMemory(optionFlags, nbAgg, featLength) {
+    let size = pingpongSizeInWords(optionFlags, nbAgg, featLength) * 4;
+    if ((optionFlags & MI_SFE_DISABLE_PING_PONG) === 0) {
+        size *= 2;
+    }
+    size += CNH_PER_HEADER_WORDS * 4;
+    return size;
+}
+/**
+ * The two cnh_cfg flags that affect the memory calc (ping-pong + variance
+ * disabled); used only as `maxBins`' default `optionFlags`. Note initConfig()
+ * programs a larger flag superset onto the device — see its body.
+ */
+const DEFAULT_CNH_CFG = MI_SFE_DISABLE_PING_PONG | MI_SFE_DISABLE_VARIANCE;
+/**
+ * Largest CNH bins-per-aggregate count whose on-device buffer still fits
+ * CNH_MAX_DATA_BYTES for the given aggregate count.
+ */
+export function maxBins(nbAggregates, optionFlags = DEFAULT_CNH_CFG) {
+    let feat = 0;
+    while (calcRequiredMemory(optionFlags, nbAggregates, feat + 1) <= CNH_MAX_DATA_BYTES) {
+        feat += 1;
+    }
+    return feat;
+}
+/**
+ * Decode a captured CNH data block (`raw` bytes, byte-swapped exactly like
+ * the standard ranging blocks) into per-aggregate histograms.
+ *
+ * Faithful port of vl53lmz_cnh_get_block_addresses /
+ * _cnh_get_mem_block_addresses for the fixed cnh_cfg (ping-pong + variance
+ * disabled).
+ */
+export function decode(cfg, raw) {
+    const nbAgg = cfg.nbOfAggregates;
+    const feat = cfg.featureLength;
+    const dv = new DataView(raw.buffer, raw.byteOffset, raw.byteLength);
+    const nwords = Math.floor(raw.length / 4);
+    const words = [];
+    for (let i = 0; i < nwords; i++)
+        words.push(dv.getInt32(i * 4, true)); // signed int32 view
+    const refResidual = (words[2] >>> 0) / 2048.0; // vl53lmz_cnh_get_ref_residual
+    const aggregates = [];
+    for (let aggId = 0; aggId < nbAgg; aggId++) {
+        aggregates.push(decodeAggregate(words, dv, nbAgg, feat, aggId));
+    }
+    return { refResidual, aggregates };
+}
+function decodeAggregate(words, dv, nbAgg, feat, aggId) {
+    const aggXFeat = nbAgg * feat;
+    const aggOff = aggId * feat;
+    const state = words[0];
+    const info = words[CNH_PER_HEADER_BUFFER_INFO_IDX] >>> 0;
+    const ppSize = info & BUFFER_INFO_WORDS_MASK;
+    void ((info >>> BUFFER_INFO_FLAGS_SHIFT) & 0xff); // buffer_flags (unused, as in the reference)
+    // Select ping or pong buffer exactly as the C code does. With ping-pong
+    // disabled the device reports a single buffer and this resolves to ping.
+    let localPp = 1;
+    if ((words[CNH_PER_HEADER_FLAGS_IDX] & 0x10) === 0x10) {
+        localPp = 1;
+    }
+    if (state === MI_STATE_PING) {
+        localPp = 1 - localPp;
+    }
+    let base = CNH_PER_HEADER_WORDS;
+    if (localPp === 1) {
+        base += ppSize;
+    }
+    // buffer header is 2 words (state, nb_accumulated); data starts after it.
+    let blk = (base + CNH_PER_BUFFER_HEADER_WORDS) * 4; // byte offset of p[2]
+    // FEAT_INT: int32 per (agg, feat)
+    const featInt = [];
+    for (let k = 0; k < feat; k++)
+        featInt.push(dv.getInt32(blk + aggOff * 4 + 4 * k, true));
+    blk += aggXFeat * 4;
+    // FEAT_FRAC: int8 scaler per (agg, feat)
+    const featScaler = [];
+    for (let k = 0; k < feat; k++)
+        featScaler.push(dv.getInt8(blk + aggOff + k));
+    blk += Math.floor((3 + aggXFeat) / 4) * 4;
+    // AMBIENT_INT: int32 per aggregate (this is the value example12 prints)
+    const ambInt = dv.getInt32(blk + aggId * 4, true);
+    blk += nbAgg * 4;
+    // AMBIENT_FRAC: int8 scaler per aggregate
+    const ambScaler = dv.getInt8(blk + aggId);
+    const hist = featInt.map((v, k) => v / Math.pow(2.0, featScaler[k]));
+    const ambient = ambInt / Math.pow(2.0, ambScaler);
+    return { hist, histRaw: featInt, histScaler: featScaler, ambient };
+}
+//# sourceMappingURL=cnh.js.map

package/dist/sensors/vl53l8/cnh.js.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53l8/uld.d.ts

@@ -0,0 +1,346 @@
+/**
+ * VL53L8CX ULD driver — TypeScript port of the parts of vl53l8cx_api.c
+ * (ULD 2.1.0, tools/doc/VL53L8CX_Linux_driver_2.1.0) needed for init (sensor
+ * firmware download), 8x8 continuous ranging and result parsing.
+ *
+ * 1:1 async mirror of the Python reference `depz_sensor_sdk.vl53l8.uld`
+ * (itself a proven port of the C driver). The sensor is reached through a
+ * `platform` object the caller provides — every method that touches it is
+ * async.
+ *
+ * Register sequences are a 1:1 port of the C code; do not "simplify" them.
+ * Configuration: NB_TARGET_PER_ZONE = 1, all output blocks enabled (matches
+ * the default platform.h of the C driver).
+ */
+import type { Vl53l8Assets, Vl53l8Variant } from "./assets/index.js";
+/** ULD platform: chunking/bridging is the caller's concern. */
+export interface Vl53l8Platform {
+    rdMulti(addr: number, size: number): Promise<Uint8Array>;
+    wrMulti(addr: number, data: Uint8Array): Promise<void>;
+    sleepMs(ms: number): Promise<void>;
+}
+export declare const FW_CHECKSUM: Record<Vl53l8Variant, number>;
+export declare const RESOLUTION_4X4 = 16;
+export declare const RESOLUTION_8X8 = 64;
+export declare const RANGING_MODE_CONTINUOUS = 1;
+export declare const RANGING_MODE_AUTONOMOUS = 3;
+export declare const TARGET_ORDER_CLOSEST = 1;
+export declare const TARGET_ORDER_STRONGEST = 2;
+export declare const STATUS_OK = 0;
+export declare const STATUS_TIMEOUT_ERROR = 1;
+export declare const STATUS_CORRUPTED_FRAME = 2;
+export declare const STATUS_LASER_SAFETY = 3;
+export declare const STATUS_FW_CHECKSUM_FAIL = 5;
+export declare const MCU_ERROR = 66;
+export declare const STATUS_INVALID_PARAM = 127;
+export declare const STATUS_ERROR = 255;
+export declare const START_BH = 13;
+export declare const METADATA_BH = 1421082816;
+export declare const COMMONDATA_BH = 1421869120;
+export declare const AMBIENT_RATE_BH = 1422917892;
+export declare const SPAD_COUNT_BH = 1439695876;
+export declare const NB_TARGET_DETECTED_BH = 3682862081;
+export declare const SIGNAL_RATE_BH = 3687056388;
+export declare const RANGE_SIGMA_MM_BH = 3737388034;
+export declare const DISTANCE_BH = 3745776642;
+export declare const REFLECTANCE_BH = 3762553857;
+export declare const TARGET_STATUS_BH = 3766748161;
+export declare const MOTION_DETECT_BH = 3629648064;
+/** VL53LMZ CNH data output block (VL53L8CH). */
+export declare const CNH_DATA_IDX = 49224;
+export declare const METADATA_IDX = 21684;
+export declare const SPAD_COUNT_IDX = 21968;
+export declare const AMBIENT_RATE_IDX = 21712;
+export declare const NB_TARGET_DETECTED_IDX = 56196;
+export declare const SIGNAL_RATE_IDX = 56260;
+export declare const RANGE_SIGMA_MM_IDX = 57028;
+export declare const DISTANCE_IDX = 57156;
+export declare const REFLECTANCE_EST_PC_IDX = 57412;
+export declare const TARGET_STATUS_IDX = 57476;
+export declare const MOTION_DETEC_IDX = 55384;
+export declare const NVM_DATA_SIZE = 492;
+export declare const OFFSET_BUFFER_SIZE = 488;
+export declare const XTALK_BUFFER_SIZE = 776;
+export declare const DCI_ZONE_CONFIG = 21584;
+export declare const DCI_FREQ_HZ = 21592;
+export declare const DCI_INT_TIME = 21596;
+export declare const DCI_RANGING_MODE = 44336;
+export declare const DCI_DSS_CONFIG = 44344;
+export declare const DCI_TARGET_ORDER = 44644;
+export declare const DCI_SHARPENER = 44760;
+export declare const DCI_SINGLE_RANGE = 55652;
+export declare const DCI_OUTPUT_CONFIG = 55656;
+export declare const DCI_OUTPUT_ENABLES = 55664;
+export declare const DCI_OUTPUT_LIST = 55680;
+export declare const DCI_PIPE_CONTROL = 56192;
+export declare const UI_CMD_STATUS = 11264;
+export declare const UI_CMD_START = 11268;
+export declare const UI_CMD_END = 12287;
+export declare const CONFIGURATION_SIZE = 972;
+export declare const DCI_VHV_CONFIG = 44384;
+export declare const DCI_CAL_CFG = 21616;
+export declare const DCI_XTALK_CFG = 44436;
+export declare const DCI_MOTION_DETECTOR_CFG = 49068;
+export declare const DCI_DET_THRESH_CONFIG = 21640;
+export declare const DCI_DET_THRESH_GLOBAL_CONFIG = 46816;
+export declare const DCI_DET_THRESH_START = 46824;
+export declare const DCI_DET_THRESH_VALID_STATUS = 47600;
+export declare const NB_THRESHOLDS = 64;
+export declare const LAST_THRESHOLD = 128;
+export declare const POWER_MODE_SLEEP = 0;
+export declare const POWER_MODE_WAKEUP = 1;
+export declare const POWER_MODE_DEEP_SLEEP = 2;
+export declare const DIST_MM = 1;
+export declare const SIGNAL_PER_SPAD_KCPS = 2;
+export declare const RANGE_SIGMA_MM = 4;
+export declare const AMBIENT_PER_SPAD_KCPS = 8;
+export declare const NB_TARGET_DETECTED = 9;
+export declare const TAR_STATUS = 12;
+export declare const NB_SPADS_ENABLED = 13;
+export declare const MOTION_INDICATOR = 19;
+export declare const THRESH_IN_WINDOW = 0;
+export declare const THRESH_OUT_OF_WINDOW = 1;
+export declare const THRESH_LESS_THAN_EQUAL_MIN = 2;
+export declare const THRESH_GREATER_THAN_MAX = 3;
+export declare const THRESH_EQUAL_MIN = 4;
+export declare const THRESH_NOT_EQUAL_MIN = 5;
+export declare const THRESH_OP_NONE = 0;
+export declare const THRESH_OP_OR = 0;
+export declare const THRESH_OP_AND = 2;
+export declare const GET_XTALK_CMD: Uint8Array<ArrayBufferLike>;
+export declare const CALIBRATE_XTALK: Uint8Array<ArrayBufferLike>;
+export declare const NB_TARGET_PER_ZONE = 1;
+export declare class Vl53l8cxError extends Error {
+    readonly code: number;
+    readonly where: string;
+    constructor(code: number, where?: string);
+}
+/** VL53L8CX_SwapBuffer: byte-reverse every 32-bit word (tail untouched). */
+export declare function swapBuffer(data: Uint8Array): Uint8Array;
+/** union Block_header: type[3:0], size[15:4], idx[31:16]. */
+export declare function bhFields(bh: number): [type: number, size: number, idx: number];
+export declare function bhSetSize(bh: number, size: number): number;
+/**
+ * is_alive register sequence, standalone so the device facade can probe
+ * without constructing a full driver (which needs the blob assets).
+ * Returns [deviceId, revisionId]; alive when (0xF0, 0x0C).
+ */
+export declare function readDeviceRevisionId(p: Vl53l8Platform): Promise<[number, number]>;
+/** One detection-threshold entry (real units; mirror of the Python dict). */
+export interface DetectionThreshold {
+    lowThresh: number;
+    highThresh: number;
+    measurement: number;
+    type: number;
+    zoneNum: number;
+    operation: number;
+}
+/** Motion-indicator results block (mirror of the Python `motion_indicator` dict). */
+export interface MotionResult {
+    globalIndicator1: number;
+    globalIndicator2: number;
+    status: number;
+    nbOfDetectedAggregates: number;
+    nbOfAggregates: number;
+    motion: number[];
+}
+/** One parsed raw results frame (plain arrays, mirroring the Python dict). */
+export interface Vl53l8Results {
+    distanceMm: number[];
+    targetStatus: number[];
+    nbTargetDetected: number[];
+    signalPerSpad: number[];
+    ambientPerSpad: number[];
+    nbSpadsEnabled: number[];
+    rangeSigmaMm: number[];
+    reflectance: number[];
+    siliconTempDegc: number;
+    cnhRaw: Uint8Array | null;
+    /** Motion-indicator output when the motion detector is configured. */
+    motion: MotionResult | null;
+}
+/**
+ * Mirror of VL53L8CX_Motion_Configuration (156 bytes, plugin source).
+ * `pack()` reproduces the C struct byte layout (`<i3I12B64b32B32B`).
+ */
+export declare class MotionConfig {
+    refBinOffset: number;
+    detectionThreshold: number;
+    extraNoiseSigma: number;
+    nullDenClipValue: number;
+    memUpdateMode: number;
+    memUpdateChoice: number;
+    sumSpan: number;
+    featureLength: number;
+    nbOfAggregates: number;
+    nbOfTemporalAccumulations: number;
+    minNbForGlobalDetection: number;
+    globalIndicatorFormat1: number;
+    globalIndicatorFormat2: number;
+    spare1: number;
+    spare2: number;
+    spare3: number;
+    mapId: number[];
+    indicatorFormat1: number[];
+    indicatorFormat2: number[];
+    pack(): Uint8Array;
+}
+/** Set MotionConfig.map_id for the given resolution (pure — no I/O). */
+export declare function motionConfigSetResolution(cfg: MotionConfig, resolution: number): void;
+/**
+ * The default motion-indicator configuration used by `motionIndicatorInit`
+ * for a resolution (pure — same bytes the sensor is programmed with).
+ */
+export declare function defaultMotionConfig(resolution: number): MotionConfig;
+/** Xtalk margin (kcps/spad) → raw DCI value (round(kcps * 2048)). */
+export declare function xtalkMarginToRaw(marginKcps: number): number;
+/**
+ * Pack 64 detection thresholds into the DCI_DET_THRESH_START payload plus the
+ * 8-byte valid-status block (pure — mirror of set_detection_thresholds). Each
+ * threshold's low/high are scaled by its measurement selector.
+ */
+export declare function packDetectionThresholds(thresholds: Partial<DetectionThreshold>[]): {
+    start: Uint8Array;
+    valid: Uint8Array;
+};
+export declare class VL53L8CX {
+    readonly p: Vl53l8Platform;
+    readonly variant: Vl53l8Variant;
+    readonly fwChecksum: number;
+    readonly firmware: Uint8Array;
+    readonly defaultCfg: Uint8Array;
+    readonly defaultXtalk: Uint8Array;
+    readonly getNvmCmd: Uint8Array;
+    offsetData: Uint8Array;
+    xtalkData: Uint8Array;
+    streamcount: number;
+    dataReadSize: number;
+    /** { fw, host } when the FW disagrees with the api.c formula. */
+    frameSizeMismatch: {
+        fw: number;
+        host: number;
+    } | null;
+    /** [idx, type, size] of the blocks in the last parsed frame. */
+    lastBlocks: Array<[number, number, number]>;
+    /** Whether the motion-indicator output block is configured. */
+    motionPresent: boolean;
+    private readonly outputEnableW3;
+    private readonly frameTail;
+    private readonly footerIdOff;
+    constructor(platform: Vl53l8Platform, assets: Vl53l8Assets, variant?: Vl53l8Variant);
+    private rdByte;
+    private wrByte;
+    /**
+     * _vl53l8cx_poll_for_answer(): poll `size` bytes at `address` until
+     * buf[pos] & mask == expected. 10 ms period, 2 s timeout.
+     */
+    private pollForAnswer;
+    private pollForMcuBoot;
+    dciReadData(index: number, dataSize: number): Promise<Uint8Array>;
+    dciWriteData(index: number, data: Uint8Array): Promise<void>;
+    dciReplaceData(index: number, dataSize: number, newData: Uint8Array, newDataPos: number): Promise<void>;
+    private sendOffsetData;
+    private sendXtalkData;
+    /** Returns [deviceId, revisionId]; alive when (0xF0, 0x0C). */
+    isAlive(): Promise<[number, number]>;
+    /**
+     * vl53l8cx_init(): boot the sensor MCU, download the 84 KB sensor
+     * firmware, upload NVM offset / xtalk / default configuration.
+     * `progress(text)` is an optional UI callback.
+     */
+    init(progress?: (text: string) => void): Promise<void>;
+    getResolution(): Promise<number>;
+    setResolution(resolution: number): Promise<void>;
+    getRangingFrequencyHz(): Promise<number>;
+    setRangingFrequencyHz(hz: number): Promise<void>;
+    setRangingMode(mode: number): Promise<void>;
+    getRangingMode(): Promise<number>;
+    getIntegrationTimeMs(): Promise<number>;
+    /** Integration time 2..1000 ms. No effect in continuous ranging mode. */
+    setIntegrationTimeMs(timeMs: number): Promise<void>;
+    getSharpenerPercent(): Promise<number>;
+    /** Sharpener 0..99 % (0 = disabled). */
+    setSharpenerPercent(pct: number): Promise<void>;
+    getTargetOrder(): Promise<number>;
+    setTargetOrder(order: number): Promise<void>;
+    /**
+     * Start ranging. When `cnhDataSize` is given (bytes, from
+     * CnhConfig.requiredMemory), a VL53L8CH CNH data block is appended to the
+     * output list so each frame also carries the compact-network-histogram
+     * buffer. The CNH frame is far larger than the MCU stream cap, so the
+     * caller must read it in poll-mode (checkDataReady + getRangingData),
+     * not via the MCU INT stream.
+     */
+    startRanging(cnhDataSize?: number | null): Promise<void>;
+    stopRanging(): Promise<void>;
+    checkDataReady(): Promise<boolean>;
+    /** Poll-mode read: fetch one results frame from reg 0x00 and parse it. */
+    getRangingData(): Promise<Vl53l8Results>;
+    /**
+     * Parse one raw results frame (dataReadSize bytes read from reg 0x00).
+     * Used both by poll-mode getRangingData() and by the host when the MCU
+     * pushes frames over the INT-driven stream. Returns per-zone arrays
+     * distanceMm, targetStatus, nbTargetDetected, signalPerSpad (kcps/SPAD),
+     * ambientPerSpad (kcps/SPAD), nbSpadsEnabled, rangeSigmaMm, reflectance
+     * (%), plus the per-frame scalar siliconTempDegc.
+     */
+    parseFrame(raw: Uint8Array): Vl53l8Results;
+    /**
+     * Extract the MOTION_INDICATOR results block (index 0xD858) if it was walked
+     * in the last frame: global_indicator_1/2 (u32), status/nb_of_detected/
+     * nb_of_aggregates/spare (u8), motion[32] (u32 per aggregate).
+     */
+    private parseMotion;
+    getPowerMode(): Promise<number>;
+    /**
+     * WAKEUP (1), SLEEP (0) or DEEP_SLEEP (2). Not allowed while ranging. Wake
+     * from DEEP_SLEEP re-runs init() (the FW blob is lost).
+     */
+    setPowerMode(powerMode: number): Promise<void>;
+    /** Xtalk margin in kcps/spad. */
+    getXtalkMargin(): Promise<number>;
+    setXtalkMargin(marginKcps: number): Promise<void>;
+    /**
+     * Read the live 776-byte xtalk calibration blob back from the sensor FW (as
+     * produced by calibrateXtalk). Restores the current resolution afterwards.
+     */
+    getCaldataXtalk(): Promise<Uint8Array>;
+    /**
+     * Restore a previously saved 776-byte xtalk calibration blob. The blob is
+     * re-uploaded to the FW by the next setResolution()/startRanging().
+     */
+    setCaldataXtalk(xtalkData: Uint8Array): Promise<void>;
+    getDetectionThresholdsEnable(): Promise<number>;
+    setDetectionThresholdsEnable(enabled: boolean): Promise<void>;
+    /** Return the 64 detection thresholds; low/high rescaled to real units. */
+    getDetectionThresholds(): Promise<DetectionThreshold[]>;
+    /**
+     * Program the 64 detection thresholds (missing entries default to zeros).
+     */
+    setDetectionThresholds(thresholds: Partial<DetectionThreshold>[]): Promise<void>;
+    setDetectionThresholdsAutoStop(autoStop: boolean): Promise<void>;
+    /**
+     * Initialize a motion-indicator configuration (default distance window) and
+     * write it to the sensor. Enables the motion output block so subsequent
+     * frames carry motion data.
+     */
+    motionIndicatorInit(resolution: number): Promise<MotionConfig>;
+    motionIndicatorSetResolution(cfg: MotionConfig, resolution: number): Promise<void>;
+    motionIndicatorSetDistanceMotion(cfg: MotionConfig, distanceMinMm: number, distanceMaxMm: number): Promise<void>;
+    /**
+     * Program the sensor output list/config/enables for `resolution` (a copy of
+     * the block startRanging() uses inline, kept separate so startRanging stays
+     * byte-identical for the replay gate); used by calibrateXtalk.
+     */
+    private programOutputConfig;
+    /**
+     * vl53l8cx_calibrate_xtalk: run on-device crosstalk calibration.
+     *
+     * NOTE: ported from ST ULD source but NOT verified against live hardware in
+     * this SDK — the get/set caldata-xtalk buffer path IS the tested save/restore
+     * route. Saves & restores resolution/frequency/int-time/sharpener/target-
+     * order/xtalk-margin/ranging-mode around the run.
+     */
+    calibrateXtalk(reflectancePercent: number, nbSamples: number, distanceMm: number): Promise<void>;
+}
+//# sourceMappingURL=uld.d.ts.map