@depz/sensor-sdk 0.1.0

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

@@ -0,0 +1,289 @@
+/**
+ * SH-2 input-report catalog and parsers (contracts/05_SENSOR_BNO086.md §5).
+ *
+ * Raw wire integers are authoritative and always preserved; scaled numbers
+ * are derived using the fixed Q points below (value = raw / 2**Q). Report
+ * IDs and Q points cross-checked against the BNO08X datasheet (CEVA
+ * 1000-3927) and the proven vendor host tool `bno086_tool.py`.
+ *
+ * Timestamps: channel-3 cargos start with a Base Timestamp Reference (0xFB,
+ * i32 base delta in 100 µs ticks, SUBTRACTED from the bridge capture time);
+ * each report adds its own 14-bit delay (status bits 7:2 are the upper 6
+ * bits, byte 3 the lower 8; 100 µs resolution):
+ *
+ *     timestampUs = captureUs - baseDelta*100 + delay*100
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.bno086.reports`.
+ */
+/** SH-2 input report IDs (datasheet §1.3.5, sh2 reference driver). */
+export declare enum SensorId {
+    Accelerometer = 1,// calibrated, m/s², Q8
+    Gyroscope = 2,// calibrated, rad/s, Q9
+    Magnetometer = 3,// calibrated, µT, Q4
+    LinearAcceleration = 4,// gravity removed, m/s², Q8
+    RotationVector = 5,// quaternion Q14 + accuracy rad Q12
+    Gravity = 6,// m/s², Q8
+    UncalibratedGyroscope = 7,// rad/s Q9 + bias
+    GameRotationVector = 8,// quaternion Q14, no accuracy
+    GeomagneticRotationVector = 9,// quaternion Q14 + accuracy rad Q12
+    Pressure = 10,// hPa, Q20 (external sensor; unused on BNO086 boards)
+    AmbientLight = 11,// lux, Q8 (external)
+    Humidity = 12,// %, Q8 (external)
+    Proximity = 13,// cm, Q4 (external)
+    Temperature = 14,// °C, Q7 (external)
+    UncalibratedMagnetometer = 15,// µT Q4 + hard-iron bias
+    TapDetector = 16,
+    StepCounter = 17,
+    SignificantMotion = 18,
+    StabilityClassifier = 19,
+    RawAccelerometer = 20,// ADC counts + sensor-clock timestamp
+    RawGyroscope = 21,
+    RawMagnetometer = 22,
+    StepDetector = 24,
+    ShakeDetector = 25,
+    FlipDetector = 26,
+    PickupDetector = 27,
+    StabilityDetector = 28,
+    PersonalActivityClassifier = 30,
+    SleepDetector = 31,
+    TiltDetector = 32,
+    PocketDetector = 33,
+    CircleDetector = 34,
+    HeartRateMonitor = 35,
+    ArvrStabilizedRv = 40,// quaternion Q14 + accuracy rad Q12
+    ArvrStabilizedGameRv = 41,// quaternion Q14, no accuracy
+    GyroIntegratedRv = 42
+}
+export declare const BASE_TIMESTAMP_REF = 251;
+export declare const TIMESTAMP_REBASE = 250;
+/** Q point of the primary fields (value = raw / 2**Q); see module docs. */
+export declare const Q_POINTS: Record<number, number>;
+export declare const RV_ACCURACY_Q = 12;
+export declare const GYRO_RV_ANGVEL_Q = 10;
+/**
+ * Total report length on the wire, 4-byte SH-2 header included
+ * (sh2 reference driver report-length table).
+ */
+export declare const REPORT_LENGTHS: Record<number, number>;
+export declare const STABILITY_NAMES: Record<number, string>;
+export declare const ACTIVITY_NAMES: Record<number, string>;
+/**
+ * Base for anything the sensor pushes; `timestampUs` is absolute in the MCU
+ * clock domain (bridge capture time corrected by timebase + delay).
+ */
+export interface ReportBase {
+    sensorId: number;
+    timestampUs: bigint;
+}
+/** Channel-3/4 report with the common SH-2 header fields. */
+export interface InputReportBase extends ReportBase {
+    /** 8-bit rolling sample counter (drop detection). */
+    seq: number;
+    /** Status bits 1:0 — 0 unreliable … 3 high. */
+    accuracy: number;
+    /** Report delay already folded into timestampUs. */
+    delayUs: number;
+}
+/** 0x01 accelerometer / 0x04 linear acceleration / 0x06 gravity (Q8). */
+export interface Acceleration extends InputReportBase {
+    type: "Acceleration";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    /** m/s². */
+    x: number;
+    y: number;
+    z: number;
+}
+/** 0x02 calibrated gyroscope (Q9). */
+export interface Gyroscope extends InputReportBase {
+    type: "Gyroscope";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    /** rad/s. */
+    x: number;
+    y: number;
+    z: number;
+}
+/** 0x03 calibrated magnetic field (Q4). */
+export interface Magnetometer extends InputReportBase {
+    type: "Magnetometer";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    /** µT. */
+    x: number;
+    y: number;
+    z: number;
+}
+/** 0x07 uncalibrated gyroscope + bias estimate (all Q9, rad/s). */
+export interface UncalibratedGyroscope extends InputReportBase {
+    type: "UncalibratedGyroscope";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    biasXRaw: number;
+    biasYRaw: number;
+    biasZRaw: number;
+    x: number;
+    y: number;
+    z: number;
+    /** rad/s. */
+    bias: [number, number, number];
+}
+/** 0x0F uncalibrated magnetic field + hard-iron bias (all Q4, µT). */
+export interface UncalibratedMagnetometer extends InputReportBase {
+    type: "UncalibratedMagnetometer";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    biasXRaw: number;
+    biasYRaw: number;
+    biasZRaw: number;
+    x: number;
+    y: number;
+    z: number;
+    /** µT. */
+    bias: [number, number, number];
+}
+/**
+ * Quaternion reports 0x05/0x08/0x09/0x28/0x29 (unit quaternion, Q14).
+ * `accuracyRaw` (Q12, radians) is present only for 0x05/0x09/0x28.
+ */
+export interface RotationVector extends InputReportBase {
+    type: "RotationVector";
+    iRaw: number;
+    jRaw: number;
+    kRaw: number;
+    realRaw: number;
+    accuracyRaw: number | null;
+    i: number;
+    j: number;
+    k: number;
+    real: number;
+    /** Estimated heading accuracy in radians (null for game variants). */
+    accuracyRad: number | null;
+}
+/**
+ * 0x2A gyro-integrated rotation vector (channel 5, dense — no SH-2 header).
+ * Quaternion Q14, angular velocity Q10 rad/s.
+ */
+export interface GyroIntegratedRV extends ReportBase {
+    type: "GyroIntegratedRV";
+    iRaw: number;
+    jRaw: number;
+    kRaw: number;
+    realRaw: number;
+    vxRaw: number;
+    vyRaw: number;
+    vzRaw: number;
+    i: number;
+    j: number;
+    k: number;
+    real: number;
+    /** rad/s. */
+    angularVelocity: [number, number, number];
+}
+/** Environment reports 0x0A–0x0E: single value, Q from Q_POINTS. */
+export interface ScalarReport extends InputReportBase {
+    type: "ScalarReport";
+    valueRaw: number;
+    value: number;
+}
+/** 0x10 tap detector; `flags` bit 6 = double tap, bits 0–5 axis/sign. */
+export interface TapDetector extends InputReportBase {
+    type: "TapDetector";
+    flags: number;
+    doubleTap: boolean;
+}
+/**
+ * 0x11 step counter. NOTE: latency u32 µs at bytes 4–7, steps u16 at bytes
+ * 8–9 per SH-2; the vendor tool's `latency(2)+steps(2)` comment is wrong.
+ */
+export interface StepCounter extends InputReportBase {
+    type: "StepCounter";
+    latencyUs: number;
+    steps: number;
+}
+/** 0x18 step detector; latency from step event to report, µs. */
+export interface StepDetector extends InputReportBase {
+    type: "StepDetector";
+    latencyUs: number;
+}
+/** 0x12 significant motion (1 = motion detected; sensor auto-disables). */
+export interface SignificantMotion extends InputReportBase {
+    type: "SignificantMotion";
+    motion: number;
+}
+/** 0x13 stability classification (see STABILITY_NAMES). */
+export interface StabilityClassifier extends InputReportBase {
+    type: "StabilityClassifier";
+    classification: number;
+    name: string;
+}
+/** 0x19 shake detector; bits 0/1/2 = X/Y/Z shake. */
+export interface ShakeDetector extends InputReportBase {
+    type: "ShakeDetector";
+    flags: number;
+}
+/**
+ * Simple u16-value detectors: 0x1A flip, 0x1B pickup, 0x1C stability
+ * detector, 0x1F sleep, 0x20 tilt, 0x21 pocket, 0x22 circle, 0x23 HR.
+ */
+export interface GenericEvent extends InputReportBase {
+    type: "GenericEvent";
+    valueRaw: number;
+}
+/**
+ * 0x1E personal activity classifier (see ACTIVITY_NAMES).
+ * `confidences` are 0–100 per state, states 0–9 of the current page.
+ */
+export interface PersonalActivityClassifier extends InputReportBase {
+    type: "PersonalActivityClassifier";
+    pageNumber: number;
+    endOfSequence: boolean;
+    mostLikelyState: number;
+    confidences: number[];
+    mostLikelyName: string;
+}
+/**
+ * 0x14/0x15/0x16 raw ADC samples + sensor-clock timestamp (u32 µs).
+ * `temperatureRaw` is populated only for the raw gyroscope.
+ */
+export interface RawSensor extends InputReportBase {
+    type: "RawSensor";
+    xRaw: number;
+    yRaw: number;
+    zRaw: number;
+    sensorTimestampUs: number;
+    temperatureRaw: number;
+}
+/**
+ * Unrecognized report ID: raw bytes from the ID to end of cargo (the length
+ * is unknowable, so parsing stops here).
+ */
+export interface UnknownReport extends ReportBase {
+    type: "UnknownReport";
+    data: Uint8Array;
+}
+/** Channel-3/4 typed reports (share the SH-2 input header fields). */
+export type InputReport = Acceleration | Gyroscope | Magnetometer | UncalibratedGyroscope | UncalibratedMagnetometer | RotationVector | ScalarReport | TapDetector | StepCounter | StepDetector | SignificantMotion | StabilityClassifier | ShakeDetector | GenericEvent | PersonalActivityClassifier | RawSensor;
+/** Anything the sensor pushes. */
+export type Report = InputReport | GyroIntegratedRV | UnknownReport;
+/**
+ * Parse a channel-3/4 cargo into typed reports.
+ *
+ * `captureTimestampUs` is the bridge RPT_DATA capture time (MCU uptime).
+ * Handles 0xFB base timestamp references and 0xFA rebases; every report's
+ * timestamp is `base + delay` where base = capture − baseDelta·100 µs.
+ */
+export declare function parseInputCargo(payload: Uint8Array, captureTimestampUs: bigint): Report[];
+/**
+ * Parse a channel-5 cargo (gyro-integrated RV, dense format).
+ *
+ * Two shapes seen on hardware (vendor tool): 7×i16 bare, or prefixed with
+ * 0xFB + i32 base delta + u16 delay (both 100 µs ticks).
+ */
+export declare function parseGyroRvCargo(payload: Uint8Array, captureTimestampUs: bigint): GyroIntegratedRV | null;
+//# sourceMappingURL=reports.d.ts.map

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

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