@depz/sensor-sdk 0.1.0

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

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

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+/**
+ * VL53L8CX/CH ToF sensor: host-side ULD over the firmware register bridge.
+ *
+ * The MCU is a thin SPI bridge (contracts/04): the full ST ULD driver runs
+ * here on the host (`uld.ts`). Frame streaming is INT-driven push from the
+ * device, reassembled from ≤1528-byte chunks.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l8.Vl53l8`.
+ */
+import { DepzDevice, StreamQueue, type DeviceOptions } from "../../device/device.js";
+import type { PacketEvent } from "../../protocol/framing.js";
+import type { SerialTransport } from "../../transport/types.js";
+import { type Vl53l8Variant } from "./assets/index.js";
+import { type CnhConfig } from "./cnh.js";
+import { VL53L8CX, type DetectionThreshold, type MotionConfig, type MotionResult } from "./uld.js";
+/** Below this the sensor never streams (contract 04). */
+export declare const MIN_RANGING_FREQUENCY_HZ = 2;
+/**
+ * One parsed ranging frame. Arrays are sized to the active resolution
+ * (16 or 64 zones); zone index runs row-major (see datasheet zone maps).
+ */
+export interface Vl53l8Frame {
+    timestampUs: bigint;
+    /** 16 | 64 */
+    resolution: number;
+    distanceMm: Int32Array;
+    /** 5/9 = valid, 255 = no target. */
+    targetStatus: Uint8Array;
+    nbTargetDetected: Uint8Array;
+    /** kcps/SPAD. */
+    signalPerSpad: Float64Array;
+    /** kcps/SPAD. */
+    ambientPerSpad: Float64Array;
+    nbSpadsEnabled: Int32Array;
+    rangeSigmaMm: Float64Array;
+    /** %. */
+    reflectance: Uint8Array;
+    siliconTempDegc: number;
+    /** CH variant: raw CNH block (decode via cnh). */
+    cnhRaw: Uint8Array | null;
+    /** Motion-indicator output when `configureMotionIndicator()` is active. */
+    motion: MotionResult | null;
+}
+/** Zone array reshaped to (4,4) or (8,8) — mirror of Vl53l8Frame.grid(). */
+export declare function zoneGrid(arr: ArrayLike<number>, resolution: number): number[][];
+export interface Vl53l8Options extends DeviceOptions {
+    /** ULD sleep implementation (tests inject an instant one). */
+    sleepImpl?: (ms: number) => Promise<void>;
+}
+export interface Vl53l8InitOptions {
+    /** Receives phase strings. */
+    progress?: (text: string) => void;
+    /** Tracks the big blob writes: (done, total) bytes. */
+    writeProgress?: (done: number, total: number) => void;
+}
+/**
+ * VL53L8CX ToF device: `init()` downloads the ~84 KB sensor firmware (takes a
+ * few seconds over CDC), then configure and `startRanging()`.
+ *
+ * This is the base class for both silicon variants. The VL53L8CH superset
+ * (compact-network-histogram output) lives in `Vl53l8Ch`, which inherits every
+ * method here. All configuration methods require `init()` first and must not
+ * be called while ranging (the ULD talks to the current register bank; the
+ * stream owns it — contract 04).
+ */
+export declare class Vl53l8Cx extends DepzDevice {
+    /** Sensor-firmware blob variant this class loads. */
+    protected readonly variantId: Vl53l8Variant;
+    private uldDriver;
+    private reassembler;
+    private frameCbs;
+    private frameQueues;
+    private rangingFlag;
+    protected cnhConfig: CnhConfig | null;
+    private writeProgressCb;
+    private resolution;
+    private readonly sleepImpl;
+    /** ULD `platform` object mapped onto the firmware register bridge. */
+    private readonly platform;
+    constructor(transport: SerialTransport, opts?: Vl53l8Options);
+    /** The underlying ULD driver (escape hatch for advanced DCI access). */
+    get uld(): VL53L8CX;
+    /** 'cx' | 'ch' (valid after init()). */
+    get variant(): Vl53l8Variant;
+    isAlive(): Promise<boolean>;
+    /**
+     * Initialize the sensor: firmware blob download + default config.
+     *
+     * The blob variant is fixed by the class (`Vl53l8Cx` → 'cx', `Vl53l8Ch` →
+     * 'ch'); `variant` is accepted only for backward compatibility and must
+     * match the class variant when given. Assets are loaded lazily (dynamic
+     * import) so the blobs stay out of bundles that never init the ToF.
+     */
+    init(variant?: Vl53l8Variant, opts?: Vl53l8InitOptions): Promise<void>;
+    getResolution(): Promise<number>;
+    setResolution(zones: number): Promise<void>;
+    getRangingFrequencyHz(): Promise<number>;
+    setRangingFrequencyHz(hz: number): Promise<void>;
+    getRangingMode(): Promise<number>;
+    setRangingMode(mode: number): Promise<void>;
+    getIntegrationTimeMs(): Promise<number>;
+    setIntegrationTimeMs(ms: number): Promise<void>;
+    getSharpenerPercent(): Promise<number>;
+    setSharpenerPercent(pct: number): Promise<void>;
+    getTargetOrder(): Promise<number>;
+    setTargetOrder(order: number): Promise<void>;
+    /** POWER_MODE_SLEEP/WAKEUP/DEEP_SLEEP (uld constants). */
+    getPowerMode(): Promise<number>;
+    /**
+     * Enter sleep / wake / deep-sleep. Not while ranging. Waking from
+     * DEEP_SLEEP re-downloads the firmware blob (init()).
+     */
+    setPowerMode(mode: number): Promise<void>;
+    getXtalkMargin(): Promise<number>;
+    setXtalkMargin(marginKcps: number): Promise<void>;
+    /**
+     * Run on-device crosstalk calibration against a flat target at
+     * `distanceMm` with the given `reflectancePercent` (1..99) averaging
+     * `nbSamples` (1..16). The result is captured into the xtalk buffer; read
+     * it back with getCaldataXtalk(). Blocks several seconds.
+     */
+    calibrateXtalk(reflectancePercent: number, nbSamples: number, distanceMm: number): Promise<void>;
+    /** Read back the 776-byte xtalk calibration blob (save/restore). */
+    getCaldataXtalk(): Promise<Uint8Array>;
+    /** Restore a previously saved 776-byte xtalk calibration blob. */
+    setCaldataXtalk(blob: Uint8Array): Promise<void>;
+    getDetectionThresholdsEnable(): Promise<number>;
+    setDetectionThresholdsEnable(enabled: boolean): Promise<void>;
+    getDetectionThresholds(): Promise<DetectionThreshold[]>;
+    /**
+     * Program the 64 detection thresholds (interrupt-on-threshold). Each entry
+     * carries lowThresh, highThresh, measurement, type, zoneNum, operation (see
+     * uld THRESH_* constants).
+     */
+    setDetectionThresholds(thresholds: Partial<DetectionThreshold>[]): Promise<void>;
+    setDetectionThresholdsAutoStop(autoStop: boolean): Promise<void>;
+    /**
+     * Enable the motion indicator over [distanceMinMm, distanceMaxMm] and
+     * surface motion output in each frame's `.motion`. Returns the underlying
+     * uld MotionConfig for advanced tuning.
+     */
+    configureMotionIndicator(distanceMinMm?: number, distanceMaxMm?: number): Promise<MotionConfig>;
+    /** Configure the output list, start the sensor and the MCU stream. */
+    startRanging(): Promise<void>;
+    stopRanging(): Promise<void>;
+    get ranging(): boolean;
+    /** Subscribe to parsed frames (read-pump context; don't block). */
+    onFrame(cb: (frame: Vl53l8Frame) => void): () => void;
+    /**
+     * Async iterator over parsed frames — bounded, drop-oldest (contract 07
+     * §3). Subscribes eagerly at call time — call before or after
+     * startRanging(); it ends when the device closes or the consumer breaks
+     * out of iteration.
+     */
+    frames(maxsize?: number): StreamQueue<Vl53l8Frame>;
+    /** Convenience: wait for the next frame. */
+    getFrame(timeoutMs?: number): Promise<Vl53l8Frame>;
+    protected requireNotRanging(): void;
+    protected handleReport(pkt: PacketEvent): boolean;
+    private toFrame;
+}
+/**
+ * VL53L8CH device: the VL53L8CX superset. Inherits every CX method and adds
+ * Compact-Network-Histogram (CNH) output. `init()` downloads the CH firmware
+ * blob (VL53LMZ ULD 2.0.16). CNH is the reason to run CH firmware: each frame
+ * can additionally carry a per-aggregate distance histogram.
+ */
+export declare class Vl53l8Ch extends Vl53l8Cx {
+    protected readonly variantId: Vl53l8Variant;
+    /**
+     * Arm the CNH histogram block for the next startRanging(). CH only — this
+     * method does not exist on Vl53l8Cx.
+     */
+    configureCnh(config: CnhConfig): Promise<void>;
+}
+/**
+ * Backward-compatible alias: the old flat `Vl53l8` name maps to the CX base
+ * class (the historic default). New code should pick Vl53l8Cx / Vl53l8Ch.
+ */
+export declare const Vl53l8: typeof Vl53l8Cx;
+export type Vl53l8 = Vl53l8Cx;
+//# sourceMappingURL=vl53l8.d.ts.map

package/dist/sensors/vl53l8/vl53l8.d.ts.map

@@ -0,0 +1 @@
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