@depz/sensor-sdk 0.1.0

package/dist/sensors/bno086/bno086.js

@@ -0,0 +1,543 @@
+/**
+ * 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 } from "../../device/device.js";
+import { BusyError, DepzError, DepzTimeoutError } from "../../errors.js";
+import { BUSY_BACKOFF_MS, Bno086Cmd, Bno086Rpt, unpackBno086Data, } from "../../protocol/bno086.js";
+import { SensorId, parseGyroRvCargo, parseInputCargo } from "./reports.js";
+import { ControlReport, ErrorSource, FrsReadSession, FrsWriteSession, ME_CAL_GET, METADATA_RECORDS, Sh2Command, Sh2Error, TareAxis, TareBasis, buildCommandRequest, buildGetFeatureRequest, buildProductIdRequest, buildSetFeature, countsClearParams, countsGetParams, errorRecordFromResponse, errorsParams, meCalibrationParams, periodicDcdParams, persistTareParams, sensorMetadataFromWords, setReorientationParams, tareNowParams, unpackCommandResponse, unpackFeatureResponse, unpackFrsReadResponse, unpackFrsWriteResponse, unpackProductId, } from "./sh2.js";
+import { ShtpChannel, ShtpLayer } from "./shtp.js";
+// Rate verification bounds (contract 05 §7): the hub grants a grid rate; a
+// result outside [0.9, 2.1]× the requested rate is worth a warning, never an
+// error.
+export const RATE_LOW_FACTOR = 0.9;
+export const RATE_HIGH_FACTOR = 2.1;
+const EXECUTABLE_RESET_COMPLETE = 0x01;
+const CONTROL_TIMEOUT_MS = 1000;
+const FRS_TIMEOUT_MS = 2000;
+function sleep(ms) {
+    return new Promise((resolve) => setTimeout(resolve, ms));
+}
+function normalizeFilter(sensors) {
+    if (sensors === null || sensors === undefined)
+        return null;
+    if (typeof sensors === "number")
+        return new Set([sensors]);
+    return new Set(sensors);
+}
+/**
+ * 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 class Bno086 extends DepzDevice {
+    /** SEND_SHTP_PACKET attempts before giving up. */
+    busyRetries = 5;
+    /** >= 200 ms per the bridge spec (contract 05 §2). */
+    busyBackoffMs = BUSY_BACKOFF_MS;
+    shtp = new ShtpLayer();
+    txChain = Promise.resolve();
+    reportCbs = [];
+    reportQueues = [];
+    controlWaiters = new Map();
+    cmdSeq = 0;
+    resetResolvers = [];
+    advertisementChunks = [];
+    features = new Map();
+    constructor(transport, opts) {
+        super(transport, opts);
+        if (opts?.busyRetries !== undefined)
+            this.busyRetries = opts.busyRetries;
+        if (opts?.busyBackoffMs !== undefined)
+            this.busyBackoffMs = opts.busyBackoffMs;
+    }
+    // ── RX path ────────────────────────────────────────────────────────────────
+    handleReport(pkt) {
+        if (pkt.cmd !== Bno086Rpt.Data || pkt.payload.length < 9)
+            return false;
+        const data = unpackBno086Data(pkt.payload);
+        const cargo = this.shtp.feed(data.shtp);
+        if (cargo !== null)
+            this.dispatchCargo(cargo, data.timestampUs);
+        return true;
+    }
+    dispatchCargo(cargo, captureUs) {
+        switch (cargo.channel) {
+            case ShtpChannel.Command:
+                this.advertisementChunks.push(cargo.payload);
+                return;
+            case ShtpChannel.Executable:
+                if (cargo.payload[0] === EXECUTABLE_RESET_COMPLETE) {
+                    for (const resolve of this.resetResolvers.splice(0))
+                        resolve();
+                }
+                return;
+            case ShtpChannel.Control: {
+                if (cargo.payload.length === 0)
+                    return;
+                const rid = cargo.payload[0];
+                if (rid === ControlReport.GetFeatureResponse && cargo.payload.length >= 17) {
+                    const resp = unpackFeatureResponse(cargo.payload);
+                    this.features.set(resp.sensorId, resp);
+                }
+                for (const waiter of [...(this.controlWaiters.get(rid) ?? [])]) {
+                    waiter(cargo.payload.slice());
+                }
+                return;
+            }
+            case ShtpChannel.InputNormal:
+            case ShtpChannel.InputWake:
+                for (const rep of parseInputCargo(cargo.payload, captureUs))
+                    this.emitReport(rep);
+                return;
+            case ShtpChannel.GyroRv: {
+                const rep = parseGyroRvCargo(cargo.payload, captureUs);
+                if (rep !== null)
+                    this.emitReport(rep);
+                return;
+            }
+        }
+    }
+    emitReport(rep) {
+        for (const { cb, filter } of [...this.reportCbs]) {
+            if (filter === null || filter.has(rep.sensorId))
+                cb(rep);
+        }
+        for (const { queue, filter } of [...this.reportQueues]) {
+            if (filter === null || filter.has(rep.sensorId))
+                queue.push(rep);
+        }
+    }
+    // ── TX path ────────────────────────────────────────────────────────────────
+    /**
+     * 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).
+     */
+    sendShtp(channel, payload) {
+        const frame = this.shtp.nextFrame(channel, payload);
+        const run = async () => {
+            for (let attempt = 0;; attempt++) {
+                try {
+                    await this.request(Bno086Cmd.SendShtpPacket, frame, { okCompletes: true });
+                    return;
+                }
+                catch (err) {
+                    if (!(err instanceof BusyError) || attempt >= this.busyRetries - 1)
+                        throw err;
+                    await sleep(this.busyBackoffMs);
+                }
+            }
+        };
+        const result = this.txChain.then(run);
+        this.txChain = result.catch(() => undefined);
+        return result;
+    }
+    /**
+     * 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).
+     */
+    controlExchange(rid, timeoutMs, handler, send) {
+        return new Promise((resolve, reject) => {
+            let settled = false;
+            const cleanup = () => {
+                clearTimeout(timer);
+                const list = this.controlWaiters.get(rid);
+                if (list !== undefined) {
+                    this.controlWaiters.set(rid, list.filter((w) => w !== waiter));
+                }
+            };
+            const finish = (value) => {
+                if (settled)
+                    return;
+                settled = true;
+                cleanup();
+                resolve(value);
+            };
+            const fail = (err) => {
+                if (settled)
+                    return;
+                settled = true;
+                cleanup();
+                reject(err);
+            };
+            const timer = setTimeout(() => fail(new DepzTimeoutError(rid, timeoutMs)), timeoutMs);
+            const waiter = (raw) => handler(raw, finish, fail);
+            const list = this.controlWaiters.get(rid) ?? [];
+            list.push(waiter);
+            this.controlWaiters.set(rid, list);
+            send().catch((err) => fail(err instanceof Error ? err : new DepzError(String(err))));
+        });
+    }
+    /** Send a control-channel payload and wait for one matching response. */
+    controlRequest(payload, expectRid, parse, pred, timeoutMs = CONTROL_TIMEOUT_MS) {
+        return this.controlExchange(expectRid, timeoutMs, (raw, finish, fail) => {
+            let obj;
+            try {
+                obj = parse(raw);
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+                return;
+            }
+            if (pred === undefined || pred(obj))
+                finish(obj);
+        }, () => this.sendShtp(ShtpChannel.Control, payload));
+    }
+    nextCmdSeq() {
+        const seq = this.cmdSeq;
+        this.cmdSeq = (seq + 1) & 0xff;
+        return seq;
+    }
+    /**
+     * SH-2 Command Request; correlates the response on (command, commandSeq)
+     * when the command produces one.
+     */
+    async command(command, params, waitResponse, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const seq = this.nextCmdSeq();
+        const payload = buildCommandRequest(seq, command, params);
+        if (!waitResponse) {
+            await this.sendShtp(ShtpChannel.Control, payload);
+            return null;
+        }
+        return this.controlRequest(payload, ControlReport.CommandResponse, unpackCommandResponse, (r) => r.command === command && r.commandSeq === seq, timeoutMs);
+    }
+    /**
+     * 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.
+     */
+    commandCollect(command, params, collect, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const seq = this.nextCmdSeq();
+        const payload = buildCommandRequest(seq, command, params);
+        const results = [];
+        return this.controlExchange(ControlReport.CommandResponse, timeoutMs, (raw, finish, fail) => {
+            let resp;
+            try {
+                resp = unpackCommandResponse(raw);
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+                return;
+            }
+            if (resp.command !== command || resp.commandSeq !== seq)
+                return;
+            if (collect(resp, results))
+                finish(results);
+        }, () => this.sendShtp(ShtpChannel.Control, payload));
+    }
+    // ── lifecycle ──────────────────────────────────────────────────────────────
+    /**
+     * 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.
+     */
+    async hardwareReset(timeoutMs = 2000) {
+        this.shtp.reset();
+        this.advertisementChunks = [];
+        this.features.clear();
+        const done = new Promise((resolve) => this.resetResolvers.push(resolve));
+        await this.request(Bno086Cmd.SensorReset, undefined, { okCompletes: true });
+        let timer;
+        const timedOut = new Promise((_, reject) => {
+            timer = setTimeout(() => reject(new DepzTimeoutError(Bno086Cmd.SensorReset, timeoutMs)), timeoutMs);
+        });
+        try {
+            await Promise.race([done, timedOut]);
+        }
+        finally {
+            clearTimeout(timer);
+        }
+    }
+    /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */
+    async wake() {
+        await this.request(Bno086Cmd.SensorWakeUp, undefined, { okCompletes: true });
+    }
+    /** Raw SHTP channel-0 advertisement bytes seen since open/reset. */
+    get advertisement() {
+        const total = this.advertisementChunks.reduce((n, c) => n + c.length, 0);
+        const out = new Uint8Array(total);
+        let off = 0;
+        for (const c of this.advertisementChunks) {
+            out.set(c, off);
+            off += c.length;
+        }
+        return out;
+    }
+    // ── SH-2: identification & features ──────────────────────────────────────
+    /** Product ID Request/Response round trip (first responding subsystem). */
+    productId(timeoutMs = CONTROL_TIMEOUT_MS) {
+        return this.controlRequest(buildProductIdRequest(), ControlReport.ProductIdResponse, unpackProductId, undefined, timeoutMs);
+    }
+    /**
+     * 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`).
+     */
+    async enable(sensor, hz, opts = {}) {
+        if ((hz === undefined) === (opts.intervalUs === undefined)) {
+            throw new DepzError("give exactly one of hz / intervalUs");
+        }
+        let intervalUs;
+        if (hz !== undefined) {
+            if (hz <= 0)
+                throw new DepzError("hz must be positive; use disable()");
+            intervalUs = Math.max(1, Math.round(1_000_000 / hz));
+        }
+        else {
+            intervalUs = opts.intervalUs;
+        }
+        await this.sendShtp(ShtpChannel.Control, buildSetFeature(sensor, intervalUs, opts.batchUs ?? 0, opts.sensitivity ?? 0, opts.flags ?? 0, opts.cfgWord ?? 0));
+        if (opts.verify === false)
+            return null;
+        const resp = await this.getFeature(sensor, opts.timeoutMs ?? CONTROL_TIMEOUT_MS);
+        const requestedRate = 1_000_000 / intervalUs;
+        const actualRate = resp.intervalUs !== 0 ? 1_000_000 / resp.intervalUs : 0;
+        if (!(RATE_LOW_FACTOR * requestedRate <= actualRate && actualRate <= RATE_HIGH_FACTOR * requestedRate)) {
+            console.warn(`BNO086 sensor 0x${sensor.toString(16).toUpperCase().padStart(2, "0")}: requested ` +
+                `${requestedRate.toFixed(1)} Hz, granted ${actualRate.toFixed(1)} Hz (outside ` +
+                `${RATE_LOW_FACTOR}–${RATE_HIGH_FACTOR}× band)`);
+        }
+        return resp;
+    }
+    /** Disable `sensor` (Set Feature with interval 0). */
+    async disable(sensor) {
+        await this.sendShtp(ShtpChannel.Control, buildSetFeature(sensor, 0));
+        this.features.delete(sensor);
+    }
+    /** Get Feature Request/Response round trip for `sensor`. */
+    getFeature(sensor, timeoutMs = CONTROL_TIMEOUT_MS) {
+        return this.controlRequest(buildGetFeatureRequest(sensor), ControlReport.GetFeatureResponse, unpackFeatureResponse, (r) => r.sensorId === sensor, timeoutMs);
+    }
+    // sugar for the everyday sensors
+    enableRotationVector(hz = 100, opts) {
+        return this.enable(SensorId.RotationVector, hz, opts);
+    }
+    enableGameRotationVector(hz = 100, opts) {
+        return this.enable(SensorId.GameRotationVector, hz, opts);
+    }
+    enableAccelerometer(hz = 100, opts) {
+        return this.enable(SensorId.Accelerometer, hz, opts);
+    }
+    enableGyroscope(hz = 100, opts) {
+        return this.enable(SensorId.Gyroscope, hz, opts);
+    }
+    enableMagnetometer(hz = 50, opts) {
+        return this.enable(SensorId.Magnetometer, hz, opts);
+    }
+    enableLinearAcceleration(hz = 100, opts) {
+        return this.enable(SensorId.LinearAcceleration, hz, opts);
+    }
+    enableGravity(hz = 100, opts) {
+        return this.enable(SensorId.Gravity, hz, opts);
+    }
+    enableGyroIntegratedRv(hz = 400, opts) {
+        return this.enable(SensorId.GyroIntegratedRv, hz, opts);
+    }
+    // ── report streaming ───────────────────────────────────────────────────────
+    /**
+     * Subscribe to typed sensor reports (read-pump context; do not block).
+     * `sensors` filters by SensorId. Returns an unsubscribe fn.
+     */
+    onReport(cb, sensors) {
+        const entry = { cb, filter: normalizeFilter(sensors) };
+        this.reportCbs.push(entry);
+        return () => {
+            this.reportCbs = this.reportCbs.filter((e) => e !== entry);
+        };
+    }
+    /**
+     * Async iterator over typed reports — bounded, drop-oldest (contract 07
+     * §3). Subscribes eagerly — reports emitted after this call are never
+     * missed.
+     */
+    reports(sensors, maxsize = 1024) {
+        const queue = new StreamQueue(maxsize, () => {
+            this.reportQueues = this.reportQueues.filter((e) => e.queue !== queue);
+            deregister();
+        });
+        this.reportQueues.push({ queue, filter: normalizeFilter(sensors) });
+        const deregister = this.registerStream(queue);
+        return queue;
+    }
+    // ── tare / calibration facade ──────────────────────────────────────────────
+    /** Tare the selected axes against `basis` (no response per SH-2). */
+    async tareNow(axes = TareAxis.All, basis = TareBasis.RotationVector) {
+        await this.command(Sh2Command.Tare, tareNowParams(axes, basis), false);
+    }
+    /** Persist the current tare into FRS (no response per SH-2). */
+    async persistTare() {
+        await this.command(Sh2Command.Tare, persistTareParams(), false);
+    }
+    /**
+     * Set the runtime reorientation quaternion (Q14 on the wire; all zeros
+     * clears). No response per SH-2.
+     */
+    async setReorientation(x, y, z, w) {
+        await this.command(Sh2Command.Tare, setReorientationParams(x, y, z, w), false);
+    }
+    /** Configure ME calibration; rejects with Sh2Error on non-zero status. */
+    async setCalibration(config = {}, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const resp = await this.command(Sh2Command.MeCalibrate, meCalibrationParams(config.accel ?? true, config.gyro ?? true, config.mag ?? true, config.planar ?? false), true, timeoutMs);
+        if (resp.status !== 0) {
+            throw new Sh2Error(`ME calibration configure failed: status ${resp.status}`);
+        }
+    }
+    /** Read back which ME calibrations are running. */
+    async getCalibration(timeoutMs = CONTROL_TIMEOUT_MS) {
+        const resp = await this.command(Sh2Command.MeCalibrate, meCalibrationParams(false, false, false, false, ME_CAL_GET), true, timeoutMs);
+        if (resp.status !== 0) {
+            throw new Sh2Error(`ME calibration get failed: status ${resp.status}`);
+        }
+        const r = resp.r;
+        return { accel: Boolean(r[1]), gyro: Boolean(r[2]), mag: Boolean(r[3]), planar: Boolean(r[4]) };
+    }
+    /** Save the dynamic calibration data to flash (DCD Save Now). */
+    async saveDcd(timeoutMs = CONTROL_TIMEOUT_MS) {
+        const resp = await this.command(Sh2Command.SaveDcd, new Uint8Array(0), true, timeoutMs);
+        if (resp.status !== 0) {
+            throw new Sh2Error(`DCD save failed: status ${resp.status}`);
+        }
+    }
+    /** Enable/disable the hub's periodic DCD autosave (no response). */
+    async configurePeriodicDcd(enable) {
+        await this.command(Sh2Command.PeriodicDcdConfig, periodicDcdParams(enable), false);
+    }
+    // ── FRS ────────────────────────────────────────────────────────────────────
+    /** Read a whole FRS record; resolves with its 32-bit words. */
+    frsRead(recordId, timeoutMs = FRS_TIMEOUT_MS) {
+        const session = new FrsReadSession(recordId);
+        return this.controlExchange(ControlReport.FrsReadResponse, timeoutMs, (raw, finish, fail) => {
+            try {
+                if (session.feed(unpackFrsReadResponse(raw)))
+                    finish(session.words);
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+            }
+        }, () => this.sendShtp(ShtpChannel.Control, session.request()));
+    }
+    /** Write a whole FRS record (word list); rejects with Sh2Error on failure. */
+    frsWrite(recordId, words, timeoutMs = FRS_TIMEOUT_MS) {
+        const session = new FrsWriteSession(recordId, [...words]);
+        return this.controlExchange(ControlReport.FrsWriteResponse, timeoutMs, (raw, finish, fail) => {
+            try {
+                const next = session.feed(unpackFrsWriteResponse(raw));
+                if (session.done) {
+                    finish(undefined);
+                }
+                else if (next !== null) {
+                    this.sendShtp(ShtpChannel.Control, next).catch(fail);
+                }
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+            }
+        }, () => this.sendShtp(ShtpChannel.Control, session.request()));
+    }
+    /** Read + parse the sensor's FRS metadata record. */
+    async getMetadata(sensor, timeoutMs = FRS_TIMEOUT_MS) {
+        const record = METADATA_RECORDS[sensor];
+        if (record === undefined) {
+            throw new Sh2Error(`no metadata FRS record known for sensor 0x${sensor.toString(16).toUpperCase().padStart(2, "0")}`);
+        }
+        return sensorMetadataFromWords(await this.frsRead(record, timeoutMs));
+    }
+    // ── diagnostics / housekeeping commands ──────────────────────────────────────
+    /** Get Oscillator Type (command 0x0A). r[0] is the type directly. */
+    async getOscillatorType(timeoutMs = CONTROL_TIMEOUT_MS) {
+        const resp = await this.command(Sh2Command.GetOscillatorType, new Uint8Array(0), true, timeoutMs);
+        return resp.r[0];
+    }
+    /**
+     * 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().
+     */
+    async clearDcdAndReset(timeoutMs = 2000) {
+        this.shtp.reset();
+        this.advertisementChunks = [];
+        this.features.clear();
+        const done = new Promise((resolve) => this.resetResolvers.push(resolve));
+        await this.command(Sh2Command.ClearDcdAndReset, new Uint8Array(0), false);
+        let timer;
+        const timedOut = new Promise((_, reject) => {
+            timer = setTimeout(() => reject(new DepzTimeoutError(Sh2Command.ClearDcdAndReset, timeoutMs)), timeoutMs);
+        });
+        try {
+            await Promise.race([done, timedOut]);
+        }
+        finally {
+            clearTimeout(timer);
+        }
+        // The device restarted its counters on reset; realign the SHTP layer (the
+        // captured advertisement survives — it lives outside the SHTP layer).
+        this.shtp.reset();
+    }
+    /**
+     * Read the error queue (command 0x01), filtered to `severity` or greater.
+     * Records stream until one with source == 255 (no more).
+     */
+    async getErrors(severity = 0, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const responses = await this.commandCollect(Sh2Command.Errors, errorsParams(severity), (resp, acc) => {
+            if (resp.r[2] === ErrorSource.NoMoreErrors)
+                return true; // terminator
+            acc.push(resp);
+            return false;
+        }, timeoutMs);
+        return responses.map(errorRecordFromResponse);
+    }
+    /**
+     * Read a sensor's event counts (command 0x02). The hub answers with two
+     * responses (responseSeq 0 then 1).
+     */
+    async getCounts(sensor, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const responses = await this.commandCollect(Sh2Command.Counter, countsGetParams(sensor), (resp, acc) => {
+            acc.push(resp);
+            return acc.some((r) => r.responseSeq === 1);
+        }, timeoutMs);
+        const bySeq = new Map(responses.map((r) => [r.responseSeq, r]));
+        const r0 = bySeq.get(0).r;
+        const r1 = bySeq.get(1).r;
+        const u32 = (r, off) => (r[off] | (r[off + 1] << 8) | (r[off + 2] << 16) | (r[off + 3] << 24)) >>> 0;
+        return {
+            sensorId: sensor,
+            offered: u32(r0, 3),
+            accepted: u32(r0, 7),
+            on: u32(r1, 3),
+            attempted: u32(r1, 7),
+        };
+    }
+    /** Clear a sensor's event counts (command 0x02, subcommand 1). */
+    async clearCounts(sensor, timeoutMs = CONTROL_TIMEOUT_MS) {
+        const resp = await this.command(Sh2Command.Counter, countsClearParams(sensor), true, timeoutMs);
+        if (resp.status !== 0) {
+            throw new Sh2Error(`clear counts failed: status ${resp.status}`);
+        }
+    }
+}
+//# sourceMappingURL=bno086.js.map

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

@@ -0,0 +1 @@
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