@depz/sensor-sdk 0.1.0

package/dist/protocol/fwdepz.d.ts.map

@@ -0,0 +1 @@
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package/dist/protocol/fwdepz.js

@@ -0,0 +1,46 @@
+/**
+ * `.fwdepz` firmware container parse/validate (contracts/06 §2).
+ * Pure functions — used by the browser flashing flow to validate a dropped
+ * file before touching the device.
+ */
+import { crc16CcittFalse, crc32IsoHdlc } from "./crc.js";
+export const FWDEPZ_MAGIC = "FWDEPZ00";
+export const FWDEPZ_HEADER_SIZE = 64;
+export class FwDepzError extends Error {
+}
+/** Validation order (contract 06 §2): magic → header CRC → size. */
+export function parseFwDepz(blob) {
+    if (blob.length < FWDEPZ_HEADER_SIZE) {
+        throw new FwDepzError(`file too short: ${blob.length} < ${FWDEPZ_HEADER_SIZE}`);
+    }
+    for (let i = 0; i < 8; i++) {
+        if (blob[i] !== FWDEPZ_MAGIC.charCodeAt(i)) {
+            throw new FwDepzError("bad magic (not a .fwdepz file)");
+        }
+    }
+    const dv = new DataView(blob.buffer, blob.byteOffset, blob.byteLength);
+    const storedCrc = dv.getUint16(62, true);
+    const actualCrc = crc16CcittFalse(blob.subarray(0, 62));
+    if (storedCrc !== actualCrc) {
+        throw new FwDepzError(`header CRC mismatch: stored=0x${storedCrc.toString(16)} actual=0x${actualCrc.toString(16)}`);
+    }
+    const loadAddr = dv.getUint32(8, true);
+    const fwSize = dv.getUint32(12, true);
+    const fwCrc32 = dv.getUint32(16, true);
+    const payload = blob.subarray(FWDEPZ_HEADER_SIZE);
+    if (fwSize !== payload.length) {
+        throw new FwDepzError(`fw_size=${fwSize} but payload is ${payload.length} bytes`);
+    }
+    return {
+        loadAddr,
+        fwSize,
+        fwCrc32,
+        curSec: blob[20],
+        totSec: blob[21],
+        payload,
+    };
+}
+export function fwDepzPayloadCrcOk(img) {
+    return crc32IsoHdlc(img.payload) === img.fwCrc32;
+}
+//# sourceMappingURL=fwdepz.js.map

package/dist/protocol/fwdepz.js.map

@@ -0,0 +1 @@
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package/dist/protocol/identity.d.ts

@@ -0,0 +1,14 @@
+/** Firmware-name parsing (contracts/02_COMMON_COMMANDS.md §4). */
+export type SensorType = "sr04" | "vl53l8" | "bno086" | "unknown";
+export interface Identity {
+    mode: "app" | "bootloader" | "unknown";
+    sensorType: SensorType | null;
+    softwareName: string;
+    version: string;
+}
+/**
+ * Classify a GET_NAME_ACTIVE_SOFTWARE string. The string must already be
+ * stripped of trailing NUL/0xFF (`stripDeviceString`).
+ */
+export declare function parseSoftwareName(name: string): Identity;
+//# sourceMappingURL=identity.d.ts.map

package/dist/protocol/identity.d.ts.map

@@ -0,0 +1 @@
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package/dist/protocol/identity.js

@@ -0,0 +1,28 @@
+/** Firmware-name parsing (contracts/02_COMMON_COMMANDS.md §4). */
+const VERSION_RE = /_v(\d+(?:\.\d+)*)$/;
+const PRODUCT_TOKENS = [
+    ["SR04", "sr04"],
+    ["VL53L8", "vl53l8"],
+    ["BNO086", "bno086"],
+];
+/**
+ * Classify a GET_NAME_ACTIVE_SOFTWARE string. The string must already be
+ * stripped of trailing NUL/0xFF (`stripDeviceString`).
+ */
+export function parseSoftwareName(name) {
+    const m = VERSION_RE.exec(name);
+    const version = m ? m[1] : "";
+    if (name.startsWith("BOOTDEPZ")) {
+        return { mode: "bootloader", sensorType: null, softwareName: name, version };
+    }
+    if (name.startsWith("APP_")) {
+        for (const [token, sensor] of PRODUCT_TOKENS) {
+            if (name.includes(token)) {
+                return { mode: "app", sensorType: sensor, softwareName: name, version };
+            }
+        }
+        return { mode: "app", sensorType: "unknown", softwareName: name, version };
+    }
+    return { mode: "unknown", sensorType: null, softwareName: name, version };
+}
+//# sourceMappingURL=identity.js.map

package/dist/protocol/identity.js.map

@@ -0,0 +1 @@
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package/dist/protocol/sr04.d.ts

@@ -0,0 +1,38 @@
+/** SR04 wire codecs (contracts/03_SENSOR_SR04.md). */
+export declare enum Sr04Cmd {
+    GetSamplePeriod = 50,
+    SetSamplePeriod = 51,
+    GetEchoDecay = 52,
+    SetEchoDecay = 53,
+    MeasureOnce = 54,
+    StartMeasurementLoop = 55,
+    StopMeasurementLoop = 56
+}
+export declare enum Sr04Rpt {
+    Data = 145,
+    SamplePeriod = 146,
+    EchoDecay = 147
+}
+/** echo_time_us sentinel: no echo received. */
+export declare const ECHO_TIMEOUT = 65535;
+export declare const SAMPLE_PERIOD_DEFAULT_US = 50000;
+export declare const ECHO_DECAY_DEFAULT_US = 5000;
+export declare const ECHO_DECAY_MIN_US = 4000;
+export declare const ECHO_DECAY_MAX_US = 65000;
+export interface Sr04Data {
+    /** 0x36 single shot (host or SYNC_IN), 0x37 loop sample (ERRATA E3). */
+    sourceCmd: number;
+    timestampUs: bigint;
+    echoTimeUs: number;
+}
+export declare function unpackSr04Data(p: Uint8Array): Sr04Data;
+export declare function packSamplePeriod(periodUs: number): Uint8Array;
+export declare function unpackSamplePeriod(p: Uint8Array): number;
+export declare function packEchoDecay(decayUs: number): Uint8Array;
+export declare function unpackEchoDecay(p: Uint8Array): number;
+/**
+ * Round-trip echo time → distance in mm; null for the timeout sentinel.
+ * Default speed of sound 343 m/s; with airTempC uses c = 331.3 + 0.606·T.
+ */
+export declare function distanceMmFromEcho(echoTimeUs: number, airTempC?: number): number | null;
+//# sourceMappingURL=sr04.d.ts.map

package/dist/protocol/sr04.d.ts.map

@@ -0,0 +1 @@
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package/dist/protocol/sr04.js

@@ -0,0 +1,58 @@
+/** SR04 wire codecs (contracts/03_SENSOR_SR04.md). */
+export var Sr04Cmd;
+(function (Sr04Cmd) {
+    Sr04Cmd[Sr04Cmd["GetSamplePeriod"] = 50] = "GetSamplePeriod";
+    Sr04Cmd[Sr04Cmd["SetSamplePeriod"] = 51] = "SetSamplePeriod";
+    Sr04Cmd[Sr04Cmd["GetEchoDecay"] = 52] = "GetEchoDecay";
+    Sr04Cmd[Sr04Cmd["SetEchoDecay"] = 53] = "SetEchoDecay";
+    Sr04Cmd[Sr04Cmd["MeasureOnce"] = 54] = "MeasureOnce";
+    Sr04Cmd[Sr04Cmd["StartMeasurementLoop"] = 55] = "StartMeasurementLoop";
+    Sr04Cmd[Sr04Cmd["StopMeasurementLoop"] = 56] = "StopMeasurementLoop";
+})(Sr04Cmd || (Sr04Cmd = {}));
+export var Sr04Rpt;
+(function (Sr04Rpt) {
+    Sr04Rpt[Sr04Rpt["Data"] = 145] = "Data";
+    Sr04Rpt[Sr04Rpt["SamplePeriod"] = 146] = "SamplePeriod";
+    Sr04Rpt[Sr04Rpt["EchoDecay"] = 147] = "EchoDecay";
+})(Sr04Rpt || (Sr04Rpt = {}));
+/** echo_time_us sentinel: no echo received. */
+export const ECHO_TIMEOUT = 0xffff;
+export const SAMPLE_PERIOD_DEFAULT_US = 50_000;
+export const ECHO_DECAY_DEFAULT_US = 5_000;
+export const ECHO_DECAY_MIN_US = 4_000;
+export const ECHO_DECAY_MAX_US = 65_000;
+export function unpackSr04Data(p) {
+    const v = new DataView(p.buffer, p.byteOffset, p.byteLength);
+    return {
+        sourceCmd: v.getUint8(0),
+        timestampUs: v.getBigUint64(1, true),
+        echoTimeUs: v.getUint16(9, true),
+    };
+}
+export function packSamplePeriod(periodUs) {
+    const out = new Uint8Array(4);
+    new DataView(out.buffer).setUint32(0, periodUs, true);
+    return out;
+}
+export function unpackSamplePeriod(p) {
+    return new DataView(p.buffer, p.byteOffset, p.byteLength).getUint32(0, true);
+}
+export function packEchoDecay(decayUs) {
+    const out = new Uint8Array(2);
+    new DataView(out.buffer).setUint16(0, decayUs, true);
+    return out;
+}
+export function unpackEchoDecay(p) {
+    return new DataView(p.buffer, p.byteOffset, p.byteLength).getUint16(0, true);
+}
+/**
+ * Round-trip echo time → distance in mm; null for the timeout sentinel.
+ * Default speed of sound 343 m/s; with airTempC uses c = 331.3 + 0.606·T.
+ */
+export function distanceMmFromEcho(echoTimeUs, airTempC) {
+    if (echoTimeUs === ECHO_TIMEOUT)
+        return null;
+    const c = airTempC === undefined ? 343.0 : 331.3 + 0.606 * airTempC;
+    return (echoTimeUs * c) / 2000.0;
+}
+//# sourceMappingURL=sr04.js.map

package/dist/protocol/sr04.js.map

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package/dist/protocol/usb-ids.d.ts

@@ -0,0 +1,60 @@
+/**
+ * USB identity table for the DEPZ sensor line (contract 02 §4).
+ *
+ * VID/PID are *hints only* — the protocol probe (GET_NAME_ACTIVE_SOFTWARE)
+ * remains the source of truth for what a device actually is. This table lets
+ * discovery pick candidate ports fast and avoid poking unrelated hardware.
+ *
+ * To add a model: add one row to `DEPZ_USB_MODELS` (and, if it falls outside
+ * the recognized ranges below, teach `isKnownDepzUsb`). Mirrors the Python
+ * reference `depz_sensor_sdk.usb_ids`.
+ */
+import type { SensorType } from "./identity.js";
+/** Production VID shared by all programmed DEPZ sensors. */
+export declare const DEPZ_VID = 7119;
+/**
+ * Dev / unprogrammed default (STMicroelectronics Virtual COM Port). Dev units
+ * before product-metadata flashing enumerate here; treated as a candidate.
+ */
+export declare const DEV_VID = 1155;
+export declare const DEV_PID = 22236;
+/**
+ * Contiguous production PID block: any PID in this inclusive range under the
+ * production VID is treated as a candidate DEPZ sensor even when it is not
+ * individually mapped below (e.g. future models, or the recognized-but-not-
+ * decodable IMU variants 60937 bno085 / 60938 bno055).
+ */
+export declare const DEPZ_SENSOR_PID_MIN = 60536;
+export declare const DEPZ_SENSOR_PID_MAX = 65535;
+/** A known DEPZ USB PID and what it is. */
+export interface DepzUsbModel {
+    /** Human-readable model name. */
+    name: string;
+    /**
+     * Sensor class this SDK can decode, or null for a DEPZ sensor that is
+     * recognized but not (yet) driven by this SDK (still opens as a base
+     * device / warned about).
+     */
+    sensorType: SensorType | null;
+}
+/**
+ * PID → model hint. Only the three `sensorType`-bearing rows are decodable by
+ * this SDK; the rest are recognized as DEPZ sensors for discovery/labelling.
+ * Values mirror the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
+ */
+export declare const DEPZ_USB_MODELS: Readonly<Record<number, DepzUsbModel>>;
+/**
+ * True when `(vid, pid)` looks like a DEPZ sensor: the production VID with a
+ * mapped PID or a PID in the recognized block, or the dev default. A match
+ * means "worth probing", never "definitely this model".
+ */
+export declare function isKnownDepzUsb(vid: number | null | undefined, pid: number | null | undefined): boolean;
+/** Model hint for a PID, or null when unrecognized (informational only). */
+export declare function pidToModel(pid: number | null | undefined): DepzUsbModel | null;
+/**
+ * Best-guess model name for a `(vid, pid)`, or null. Informational only —
+ * never used to decide how to decode a device; the firmware-name probe does
+ * that. Mirrors the Python reference `usb_model_hint`.
+ */
+export declare function usbModelHint(vid: number | null | undefined, pid: number | null | undefined): string | null;
+//# sourceMappingURL=usb-ids.d.ts.map

package/dist/protocol/usb-ids.d.ts.map

@@ -0,0 +1 @@
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package/dist/protocol/usb-ids.js

@@ -0,0 +1,79 @@
+/**
+ * USB identity table for the DEPZ sensor line (contract 02 §4).
+ *
+ * VID/PID are *hints only* — the protocol probe (GET_NAME_ACTIVE_SOFTWARE)
+ * remains the source of truth for what a device actually is. This table lets
+ * discovery pick candidate ports fast and avoid poking unrelated hardware.
+ *
+ * To add a model: add one row to `DEPZ_USB_MODELS` (and, if it falls outside
+ * the recognized ranges below, teach `isKnownDepzUsb`). Mirrors the Python
+ * reference `depz_sensor_sdk.usb_ids`.
+ */
+/** Production VID shared by all programmed DEPZ sensors. */
+export const DEPZ_VID = 0x1bcf; // 7119
+/**
+ * Dev / unprogrammed default (STMicroelectronics Virtual COM Port). Dev units
+ * before product-metadata flashing enumerate here; treated as a candidate.
+ */
+export const DEV_VID = 0x0483; // 1155
+export const DEV_PID = 0x56dc; // 22236
+/**
+ * Contiguous production PID block: any PID in this inclusive range under the
+ * production VID is treated as a candidate DEPZ sensor even when it is not
+ * individually mapped below (e.g. future models, or the recognized-but-not-
+ * decodable IMU variants 60937 bno085 / 60938 bno055).
+ */
+export const DEPZ_SENSOR_PID_MIN = 60536; // 0xEC78 (SR04)
+export const DEPZ_SENSOR_PID_MAX = 65535; // whole reserved sensor block (catalog-types.ts)
+/**
+ * PID → model hint. Only the three `sensorType`-bearing rows are decodable by
+ * this SDK; the rest are recognized as DEPZ sensors for discovery/labelling.
+ * Values mirror the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
+ */
+export const DEPZ_USB_MODELS = {
+    0xec78: { name: "sr04", sensorType: "sr04" }, // 60536
+    0xed40: { name: "vl53l8ch", sensorType: "vl53l8" }, // 60736
+    0xed41: { name: "vl53l0x", sensorType: null }, // 60737
+    0xed42: { name: "vl53l1cb", sensorType: null }, // 60738
+    0xed43: { name: "vl53l1cx", sensorType: null }, // 60739
+    0xee08: { name: "bno086", sensorType: "bno086" }, // 60936 — verified on hw: 1bcf:ee08
+    0xee09: { name: "bno085", sensorType: null }, // 60937
+    0xee0a: { name: "bno055", sensorType: null }, // 60938
+};
+/**
+ * True when `(vid, pid)` looks like a DEPZ sensor: the production VID with a
+ * mapped PID or a PID in the recognized block, or the dev default. A match
+ * means "worth probing", never "definitely this model".
+ */
+export function isKnownDepzUsb(vid, pid) {
+    if (vid == null || pid == null)
+        return false;
+    if (vid === DEV_VID && pid === DEV_PID)
+        return true;
+    if (vid !== DEPZ_VID)
+        return false;
+    if (pid in DEPZ_USB_MODELS)
+        return true;
+    return pid >= DEPZ_SENSOR_PID_MIN && pid <= DEPZ_SENSOR_PID_MAX;
+}
+/** Model hint for a PID, or null when unrecognized (informational only). */
+export function pidToModel(pid) {
+    if (pid == null)
+        return null;
+    return DEPZ_USB_MODELS[pid] ?? null;
+}
+/**
+ * Best-guess model name for a `(vid, pid)`, or null. Informational only —
+ * never used to decide how to decode a device; the firmware-name probe does
+ * that. Mirrors the Python reference `usb_model_hint`.
+ */
+export function usbModelHint(vid, pid) {
+    if (vid == null || pid == null)
+        return null;
+    if (vid === DEV_VID && pid === DEV_PID)
+        return "dev";
+    if (vid === DEPZ_VID)
+        return DEPZ_USB_MODELS[pid]?.name ?? null;
+    return null;
+}
+//# sourceMappingURL=usb-ids.js.map

package/dist/protocol/usb-ids.js.map

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

@@ -0,0 +1,59 @@
+/**
+ * VL53L8 register-bridge wire codecs (contracts/04_SENSOR_VL53L8.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l8`.
+ */
+export declare enum Vl53l8Cmd {
+    ReadReg = 50,
+    WriteReg = 51,
+    StartStream = 53,
+    StopStream = 54
+}
+export declare enum Vl53l8Rpt {
+    RegData = 145,
+    Vl53Frame = 147
+}
+export declare const READ_MAX_LEN = 2295;
+export declare const CHUNK_SIZE = 2048;
+/** Bytes of frame data per RPT_VL53_FRAME chunk. */
+export declare const STREAM_CHUNK_MAX = 1528;
+/** Max frame_size accepted by START_STREAM. */
+export declare const STREAM_TOTAL_MAX = 8192;
+export declare function packReadReg(addr: number, length: number): Uint8Array;
+export declare function packWriteReg(addr: number, data: Uint8Array): Uint8Array;
+export declare function packStartStream(frameSize: number): Uint8Array;
+/** RPT_REG_DATA payload. */
+export interface RegData {
+    /** Echoed READ_REG opcode. */
+    cmd: number;
+    timestampUs: bigint;
+    data: Uint8Array;
+}
+export declare function unpackRegData(payload: Uint8Array): RegData;
+/** One RPT_VL53_FRAME chunk of a (possibly multi-chunk) sensor frame. */
+export interface FrameChunk {
+    timestampUs: bigint;
+    fullSize: number;
+    offset: number;
+    data: Uint8Array;
+}
+export declare function unpackFrameChunk(payload: Uint8Array): FrameChunk;
+/**
+ * Rebuilds full sensor frames from chunked RPT_VL53_FRAME reports.
+ *
+ * Rules (contract 04): reset on offset==0; chunks must be contiguous —
+ * a gap discards the frame in progress; a frame completes when the
+ * accumulated bytes equal `fullSize`.
+ */
+export declare class FrameReassembler {
+    completed: number;
+    discarded: number;
+    private buf;
+    private fullSize;
+    private timestampUs;
+    /** Returns `{ timestampUs, frame }` when a frame completes. */
+    feed(chunk: FrameChunk): {
+        timestampUs: bigint;
+        frame: Uint8Array;
+    } | null;
+}
+//# sourceMappingURL=vl53l8.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/protocol/vl53l8.js

@@ -0,0 +1,116 @@
+/**
+ * VL53L8 register-bridge wire codecs (contracts/04_SENSOR_VL53L8.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l8`.
+ */
+export var Vl53l8Cmd;
+(function (Vl53l8Cmd) {
+    Vl53l8Cmd[Vl53l8Cmd["ReadReg"] = 50] = "ReadReg";
+    Vl53l8Cmd[Vl53l8Cmd["WriteReg"] = 51] = "WriteReg";
+    // 0x34 intentionally unused (gap in the firmware's ID sequence)
+    Vl53l8Cmd[Vl53l8Cmd["StartStream"] = 53] = "StartStream";
+    Vl53l8Cmd[Vl53l8Cmd["StopStream"] = 54] = "StopStream";
+})(Vl53l8Cmd || (Vl53l8Cmd = {}));
+export var Vl53l8Rpt;
+(function (Vl53l8Rpt) {
+    Vl53l8Rpt[Vl53l8Rpt["RegData"] = 145] = "RegData";
+    Vl53l8Rpt[Vl53l8Rpt["Vl53Frame"] = 147] = "Vl53Frame";
+})(Vl53l8Rpt || (Vl53l8Rpt = {}));
+// MCU TRANSPORT_PAYLOAD_BUF_SIZE = 2304:
+//   WRITE_REG payload = addr(2) + N  → N ≤ 2302
+//   RPT_REG_DATA      = hdr(9) + N   → N ≤ 2295
+// The reference tool uses a round 2048 for both directions.
+export const READ_MAX_LEN = 2295;
+export const CHUNK_SIZE = 2048;
+/** Bytes of frame data per RPT_VL53_FRAME chunk. */
+export const STREAM_CHUNK_MAX = 1528;
+/** Max frame_size accepted by START_STREAM. */
+export const STREAM_TOTAL_MAX = 8192;
+export function packReadReg(addr, length) {
+    const out = new Uint8Array(4);
+    const dv = new DataView(out.buffer);
+    dv.setUint16(0, addr, true);
+    dv.setUint16(2, length, true);
+    return out;
+}
+export function packWriteReg(addr, data) {
+    const out = new Uint8Array(2 + data.length);
+    new DataView(out.buffer).setUint16(0, addr, true);
+    out.set(data, 2);
+    return out;
+}
+export function packStartStream(frameSize) {
+    const out = new Uint8Array(2);
+    new DataView(out.buffer).setUint16(0, frameSize, true);
+    return out;
+}
+export function unpackRegData(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        cmd: dv.getUint8(0),
+        timestampUs: dv.getBigUint64(1, true),
+        data: payload.slice(9),
+    };
+}
+export function unpackFrameChunk(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        timestampUs: dv.getBigUint64(0, true),
+        fullSize: dv.getUint16(8, true),
+        offset: dv.getUint16(10, true),
+        data: payload.slice(12),
+    };
+}
+/**
+ * Rebuilds full sensor frames from chunked RPT_VL53_FRAME reports.
+ *
+ * Rules (contract 04): reset on offset==0; chunks must be contiguous —
+ * a gap discards the frame in progress; a frame completes when the
+ * accumulated bytes equal `fullSize`.
+ */
+export class FrameReassembler {
+    completed = 0;
+    discarded = 0;
+    buf = new Uint8Array(0);
+    fullSize = 0;
+    timestampUs = 0n;
+    /** Returns `{ timestampUs, frame }` when a frame completes. */
+    feed(chunk) {
+        if (chunk.offset === 0) {
+            if (this.buf.length > 0 && this.buf.length !== this.fullSize) {
+                this.discarded += 1;
+            }
+            this.buf = chunk.data.slice();
+            this.fullSize = chunk.fullSize;
+            this.timestampUs = chunk.timestampUs;
+        }
+        else if (chunk.offset === this.buf.length &&
+            this.fullSize === chunk.fullSize &&
+            this.buf.length > 0) {
+            const next = new Uint8Array(this.buf.length + chunk.data.length);
+            next.set(this.buf, 0);
+            next.set(chunk.data, this.buf.length);
+            this.buf = next;
+        }
+        else {
+            if (this.buf.length > 0)
+                this.discarded += 1;
+            this.buf = new Uint8Array(0);
+            this.fullSize = 0;
+            return null;
+        }
+        if (this.buf.length === this.fullSize && this.fullSize > 0) {
+            const frame = this.buf;
+            this.buf = new Uint8Array(0);
+            this.fullSize = 0;
+            this.completed += 1;
+            return { timestampUs: this.timestampUs, frame };
+        }
+        if (this.buf.length > this.fullSize) {
+            this.discarded += 1;
+            this.buf = new Uint8Array(0);
+            this.fullSize = 0;
+        }
+        return null;
+    }
+}
+//# sourceMappingURL=vl53l8.js.map

package/dist/protocol/vl53l8.js.map

@@ -0,0 +1 @@
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