@depz/sensor-sdk 0.1.0

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

@@ -0,0 +1,197 @@
+/**
+ * BNO086 9-axis IMU: SHTP + SH-2 host stack over the firmware pass-through
+ * bridge (contracts/05_SENSOR_BNO086.md).
+ *
+ * The MCU only shuttles raw SHTP frames (SEND_SHTP_PACKET / RPT_DATA); the
+ * whole sensor-hub protocol runs here. Per ERRATA E2 the bridge ACKs every
+ * send with RPT_STATUS immediately and *all* inbound SHTP arrives as
+ * RPT_DATA(cmd=0x00) — correlation happens at the SH-2 layer only.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.bno086.Bno086`.
+ */
+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 Report } from "./reports.js";
+import { OscillatorType, type Counts, type ErrorRecord, type FeatureResponse, type ProductId, type SensorMetadata } from "./sh2.js";
+export declare const RATE_LOW_FACTOR = 0.9;
+export declare const RATE_HIGH_FACTOR = 2.1;
+/** ME calibration enables as reported by the sensor. */
+export interface CalibrationConfig {
+    accel: boolean;
+    gyro: boolean;
+    mag: boolean;
+    planar: boolean;
+}
+export interface Bno086Options extends DeviceOptions {
+    /** SEND_SHTP_PACKET attempts before giving up (default 5). */
+    busyRetries?: number;
+    /** ERR_BUSY backoff; >= 200 ms per the bridge spec (tests inject less). */
+    busyBackoffMs?: number;
+}
+export interface EnableOptions {
+    /** Alternative to `hz`: exact report interval in µs. */
+    intervalUs?: number;
+    batchUs?: number;
+    sensitivity?: number;
+    flags?: number;
+    cfgWord?: number;
+    /** Read back the granted rate via Get Feature (default true). */
+    verify?: boolean;
+    timeoutMs?: number;
+}
+/**
+ * BNO086 device: enable SH-2 sensors, stream typed reports.
+ *
+ * Typical use:
+ *
+ *     const imu = new Bno086(transport);
+ *     await imu.open();
+ *     await imu.enable(SensorId.RotationVector, 100);
+ *     for await (const r of imu.reports()) { ... }
+ *
+ * Callbacks run on the read-pump context — never await blocking device
+ * methods (enable/tare/...) from inside one.
+ */
+export declare class Bno086 extends DepzDevice {
+    /** SEND_SHTP_PACKET attempts before giving up. */
+    busyRetries: number;
+    /** >= 200 ms per the bridge spec (contract 05 §2). */
+    busyBackoffMs: number;
+    private shtp;
+    private txChain;
+    private reportCbs;
+    private reportQueues;
+    private controlWaiters;
+    private cmdSeq;
+    private resetResolvers;
+    private advertisementChunks;
+    private features;
+    constructor(transport: SerialTransport, opts?: Bno086Options);
+    protected handleReport(pkt: PacketEvent): boolean;
+    private dispatchCargo;
+    private emitReport;
+    /**
+     * Frame `payload` and push it through SEND_SHTP_PACKET.
+     *
+     * ERR_BUSY (both MCU TX slots full) backs off `busyBackoffMs` and
+     * retransmits, up to `busyRetries` attempts (contract 05 §2). Sends are
+     * serialized (single opcode, single wire).
+     */
+    private sendShtp;
+    /**
+     * Register a control-channel waiter for `rid`, run `send`, and let
+     * `handler` decide when the exchange finishes. Correlation is purely
+     * SH-2-level (report ID + handler predicate).
+     */
+    private controlExchange;
+    /** Send a control-channel payload and wait for one matching response. */
+    private controlRequest;
+    private nextCmdSeq;
+    /**
+     * SH-2 Command Request; correlates the response on (command, commandSeq)
+     * when the command produces one.
+     */
+    private command;
+    /**
+     * Send a Command Request and gather every Command Response correlated on
+     * (command, commandSeq) until `collect(resp, acc)` returns true. Used by
+     * multi-message commands (Errors, Counts) where the hub streams several
+     * 0xF1 responses with an incrementing responseSeq.
+     */
+    private commandCollect;
+    /**
+     * Hard-reset the sensor via nRST (0x32) and wait for the executable
+     * channel's reset-complete. All SHTP state (seq counters, partial cargos)
+     * and cached features restart from zero.
+     */
+    hardwareReset(timeoutMs?: number): Promise<void>;
+    /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */
+    wake(): Promise<void>;
+    /** Raw SHTP channel-0 advertisement bytes seen since open/reset. */
+    get advertisement(): Uint8Array;
+    /** Product ID Request/Response round trip (first responding subsystem). */
+    productId(timeoutMs?: number): Promise<ProductId>;
+    /**
+     * Enable `sensor` at the requested rate via Set Feature (0xFD).
+     *
+     * Give either `hz` or `opts.intervalUs`. The hub rounds to its 1 kHz/2^n
+     * grid; with `verify` (default) the granted rate is read back via Get
+     * Feature and a result outside 0.9–2.1× the request emits a console
+     * warning (contract 05 §7 — warn, never throw). Resolves with the
+     * FeatureResponse (null when `verify: false`).
+     */
+    enable(sensor: number, hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    /** Disable `sensor` (Set Feature with interval 0). */
+    disable(sensor: number): Promise<void>;
+    /** Get Feature Request/Response round trip for `sensor`. */
+    getFeature(sensor: number, timeoutMs?: number): Promise<FeatureResponse>;
+    enableRotationVector(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableGameRotationVector(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableAccelerometer(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableGyroscope(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableMagnetometer(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableLinearAcceleration(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableGravity(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    enableGyroIntegratedRv(hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    /**
+     * Subscribe to typed sensor reports (read-pump context; do not block).
+     * `sensors` filters by SensorId. Returns an unsubscribe fn.
+     */
+    onReport(cb: (r: Report) => void, sensors?: Iterable<number> | number | null): () => void;
+    /**
+     * Async iterator over typed reports — bounded, drop-oldest (contract 07
+     * §3). Subscribes eagerly — reports emitted after this call are never
+     * missed.
+     */
+    reports(sensors?: Iterable<number> | number | null, maxsize?: number): StreamQueue<Report>;
+    /** Tare the selected axes against `basis` (no response per SH-2). */
+    tareNow(axes?: number, basis?: number): Promise<void>;
+    /** Persist the current tare into FRS (no response per SH-2). */
+    persistTare(): Promise<void>;
+    /**
+     * Set the runtime reorientation quaternion (Q14 on the wire; all zeros
+     * clears). No response per SH-2.
+     */
+    setReorientation(x: number, y: number, z: number, w: number): Promise<void>;
+    /** Configure ME calibration; rejects with Sh2Error on non-zero status. */
+    setCalibration(config?: {
+        accel?: boolean;
+        gyro?: boolean;
+        mag?: boolean;
+        planar?: boolean;
+    }, timeoutMs?: number): Promise<void>;
+    /** Read back which ME calibrations are running. */
+    getCalibration(timeoutMs?: number): Promise<CalibrationConfig>;
+    /** Save the dynamic calibration data to flash (DCD Save Now). */
+    saveDcd(timeoutMs?: number): Promise<void>;
+    /** Enable/disable the hub's periodic DCD autosave (no response). */
+    configurePeriodicDcd(enable: boolean): Promise<void>;
+    /** Read a whole FRS record; resolves with its 32-bit words. */
+    frsRead(recordId: number, timeoutMs?: number): Promise<number[]>;
+    /** Write a whole FRS record (word list); rejects with Sh2Error on failure. */
+    frsWrite(recordId: number, words: Iterable<number>, timeoutMs?: number): Promise<void>;
+    /** Read + parse the sensor's FRS metadata record. */
+    getMetadata(sensor: number, timeoutMs?: number): Promise<SensorMetadata>;
+    /** Get Oscillator Type (command 0x0A). r[0] is the type directly. */
+    getOscillatorType(timeoutMs?: number): Promise<OscillatorType>;
+    /**
+     * Clear the in-RAM dynamic calibration and reset the sensor (command 0x0B).
+     * There is no command response — the hub resets, so this waits for the
+     * executable reset-complete like hardwareReset().
+     */
+    clearDcdAndReset(timeoutMs?: number): Promise<void>;
+    /**
+     * Read the error queue (command 0x01), filtered to `severity` or greater.
+     * Records stream until one with source == 255 (no more).
+     */
+    getErrors(severity?: number, timeoutMs?: number): Promise<ErrorRecord[]>;
+    /**
+     * Read a sensor's event counts (command 0x02). The hub answers with two
+     * responses (responseSeq 0 then 1).
+     */
+    getCounts(sensor: number, timeoutMs?: number): Promise<Counts>;
+    /** Clear a sensor's event counts (command 0x02, subcommand 1). */
+    clearCounts(sensor: number, timeoutMs?: number): Promise<void>;
+}
+//# sourceMappingURL=bno086.d.ts.map

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

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