@depz/sensor-sdk 0.1.0

package/dist/sensors/bno086/reports.js

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+/**
+ * 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 var SensorId;
+(function (SensorId) {
+    SensorId[SensorId["Accelerometer"] = 1] = "Accelerometer";
+    SensorId[SensorId["Gyroscope"] = 2] = "Gyroscope";
+    SensorId[SensorId["Magnetometer"] = 3] = "Magnetometer";
+    SensorId[SensorId["LinearAcceleration"] = 4] = "LinearAcceleration";
+    SensorId[SensorId["RotationVector"] = 5] = "RotationVector";
+    SensorId[SensorId["Gravity"] = 6] = "Gravity";
+    SensorId[SensorId["UncalibratedGyroscope"] = 7] = "UncalibratedGyroscope";
+    SensorId[SensorId["GameRotationVector"] = 8] = "GameRotationVector";
+    SensorId[SensorId["GeomagneticRotationVector"] = 9] = "GeomagneticRotationVector";
+    SensorId[SensorId["Pressure"] = 10] = "Pressure";
+    SensorId[SensorId["AmbientLight"] = 11] = "AmbientLight";
+    SensorId[SensorId["Humidity"] = 12] = "Humidity";
+    SensorId[SensorId["Proximity"] = 13] = "Proximity";
+    SensorId[SensorId["Temperature"] = 14] = "Temperature";
+    SensorId[SensorId["UncalibratedMagnetometer"] = 15] = "UncalibratedMagnetometer";
+    SensorId[SensorId["TapDetector"] = 16] = "TapDetector";
+    SensorId[SensorId["StepCounter"] = 17] = "StepCounter";
+    SensorId[SensorId["SignificantMotion"] = 18] = "SignificantMotion";
+    SensorId[SensorId["StabilityClassifier"] = 19] = "StabilityClassifier";
+    SensorId[SensorId["RawAccelerometer"] = 20] = "RawAccelerometer";
+    SensorId[SensorId["RawGyroscope"] = 21] = "RawGyroscope";
+    SensorId[SensorId["RawMagnetometer"] = 22] = "RawMagnetometer";
+    SensorId[SensorId["StepDetector"] = 24] = "StepDetector";
+    SensorId[SensorId["ShakeDetector"] = 25] = "ShakeDetector";
+    SensorId[SensorId["FlipDetector"] = 26] = "FlipDetector";
+    SensorId[SensorId["PickupDetector"] = 27] = "PickupDetector";
+    SensorId[SensorId["StabilityDetector"] = 28] = "StabilityDetector";
+    SensorId[SensorId["PersonalActivityClassifier"] = 30] = "PersonalActivityClassifier";
+    SensorId[SensorId["SleepDetector"] = 31] = "SleepDetector";
+    SensorId[SensorId["TiltDetector"] = 32] = "TiltDetector";
+    SensorId[SensorId["PocketDetector"] = 33] = "PocketDetector";
+    SensorId[SensorId["CircleDetector"] = 34] = "CircleDetector";
+    SensorId[SensorId["HeartRateMonitor"] = 35] = "HeartRateMonitor";
+    SensorId[SensorId["ArvrStabilizedRv"] = 40] = "ArvrStabilizedRv";
+    SensorId[SensorId["ArvrStabilizedGameRv"] = 41] = "ArvrStabilizedGameRv";
+    SensorId[SensorId["GyroIntegratedRv"] = 42] = "GyroIntegratedRv";
+})(SensorId || (SensorId = {}));
+// In-cargo control IDs on the input channels
+export const BASE_TIMESTAMP_REF = 0xfb; // + i32 base delta (100 µs ticks)
+export const TIMESTAMP_REBASE = 0xfa; // + i32 rebase delta (100 µs ticks), batching
+/** Q point of the primary fields (value = raw / 2**Q); see module docs. */
+export const Q_POINTS = {
+    [SensorId.Accelerometer]: 8,
+    [SensorId.LinearAcceleration]: 8,
+    [SensorId.Gravity]: 8,
+    [SensorId.Gyroscope]: 9,
+    [SensorId.UncalibratedGyroscope]: 9,
+    [SensorId.Magnetometer]: 4,
+    [SensorId.UncalibratedMagnetometer]: 4,
+    [SensorId.RotationVector]: 14,
+    [SensorId.GameRotationVector]: 14,
+    [SensorId.GeomagneticRotationVector]: 14,
+    [SensorId.ArvrStabilizedRv]: 14,
+    [SensorId.ArvrStabilizedGameRv]: 14,
+    [SensorId.GyroIntegratedRv]: 14,
+    [SensorId.Pressure]: 20,
+    [SensorId.AmbientLight]: 8,
+    [SensorId.Humidity]: 8,
+    [SensorId.Proximity]: 4,
+    [SensorId.Temperature]: 7,
+    [SensorId.RawAccelerometer]: 0,
+    [SensorId.RawGyroscope]: 0,
+    [SensorId.RawMagnetometer]: 0,
+};
+export const RV_ACCURACY_Q = 12; // rotation-vector accuracy estimate, radians
+export const GYRO_RV_ANGVEL_Q = 10; // gyro-integrated RV angular velocity, rad/s
+/**
+ * Total report length on the wire, 4-byte SH-2 header included
+ * (sh2 reference driver report-length table).
+ */
+export const REPORT_LENGTHS = {
+    [SensorId.Accelerometer]: 10,
+    [SensorId.Gyroscope]: 10,
+    [SensorId.Magnetometer]: 10,
+    [SensorId.LinearAcceleration]: 10,
+    [SensorId.RotationVector]: 14,
+    [SensorId.Gravity]: 10,
+    [SensorId.UncalibratedGyroscope]: 16,
+    [SensorId.GameRotationVector]: 12,
+    [SensorId.GeomagneticRotationVector]: 14,
+    [SensorId.Pressure]: 8,
+    [SensorId.AmbientLight]: 8,
+    [SensorId.Humidity]: 6,
+    [SensorId.Proximity]: 6,
+    [SensorId.Temperature]: 6,
+    [SensorId.UncalibratedMagnetometer]: 16,
+    [SensorId.TapDetector]: 5,
+    [SensorId.StepCounter]: 12,
+    [SensorId.SignificantMotion]: 6,
+    [SensorId.StabilityClassifier]: 6,
+    [SensorId.RawAccelerometer]: 16,
+    [SensorId.RawGyroscope]: 16,
+    [SensorId.RawMagnetometer]: 16,
+    [SensorId.StepDetector]: 8,
+    [SensorId.ShakeDetector]: 6,
+    [SensorId.FlipDetector]: 6,
+    [SensorId.PickupDetector]: 8,
+    [SensorId.StabilityDetector]: 6,
+    [SensorId.PersonalActivityClassifier]: 16,
+    [SensorId.SleepDetector]: 6,
+    [SensorId.TiltDetector]: 6,
+    [SensorId.PocketDetector]: 6,
+    [SensorId.CircleDetector]: 6,
+    [SensorId.HeartRateMonitor]: 6,
+    [SensorId.ArvrStabilizedRv]: 14,
+    [SensorId.ArvrStabilizedGameRv]: 12,
+    [SensorId.GyroIntegratedRv]: 14,
+};
+export const STABILITY_NAMES = {
+    0: "unknown",
+    1: "on_table",
+    2: "stationary",
+    3: "stable",
+    4: "motion",
+};
+export const ACTIVITY_NAMES = {
+    0: "unknown",
+    1: "in_vehicle",
+    2: "on_bicycle",
+    3: "on_foot",
+    4: "still",
+    5: "tilting",
+    6: "walking",
+    7: "running",
+    8: "on_stairs",
+};
+function q(raw, qPoint) {
+    return raw / (1 << qPoint);
+}
+// ── parsers ───────────────────────────────────────────────────────────────────
+function view(p) {
+    return new DataView(p.buffer, p.byteOffset, p.byteLength);
+}
+/**
+ * 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 function parseInputCargo(payload, captureTimestampUs) {
+    const out = [];
+    const v = view(payload);
+    let baseUs = captureTimestampUs;
+    let pos = 0;
+    const n = payload.length;
+    while (pos < n) {
+        const rid = payload[pos];
+        if (rid === BASE_TIMESTAMP_REF && pos + 5 <= n) {
+            const delta = v.getInt32(pos + 1, true);
+            baseUs = captureTimestampUs - BigInt(delta) * 100n;
+            pos += 5;
+            continue;
+        }
+        if (rid === TIMESTAMP_REBASE && pos + 5 <= n) {
+            const delta = v.getInt32(pos + 1, true);
+            baseUs += BigInt(delta) * 100n;
+            pos += 5;
+            continue;
+        }
+        const length = REPORT_LENGTHS[rid];
+        if (length === undefined || pos + length > n) {
+            out.push({
+                type: "UnknownReport",
+                sensorId: rid,
+                timestampUs: baseUs,
+                data: payload.slice(pos),
+            });
+            break;
+        }
+        const rep = payload.subarray(pos, pos + length);
+        const seq = rep[1];
+        const status = rep[2];
+        const delayLsb = rep[3];
+        const accuracy = status & 0x03;
+        const delayUs = (((status >> 2) << 8) | delayLsb) * 100;
+        const ts = baseUs + BigInt(delayUs);
+        out.push(decodeReport(rid, rep, ts, seq, accuracy, delayUs));
+        pos += length;
+    }
+    return out;
+}
+function decodeReport(rid, rep, ts, seq, accuracy, delayUs) {
+    const v = view(rep);
+    const head = { sensorId: rid, timestampUs: ts, seq, accuracy, delayUs };
+    const qp = Q_POINTS[rid] ?? 0;
+    switch (rid) {
+        case SensorId.Accelerometer:
+        case SensorId.LinearAcceleration:
+        case SensorId.Gravity: {
+            const [xRaw, yRaw, zRaw] = [v.getInt16(4, true), v.getInt16(6, true), v.getInt16(8, true)];
+            return { type: "Acceleration", ...head, xRaw, yRaw, zRaw, x: q(xRaw, qp), y: q(yRaw, qp), z: q(zRaw, qp) };
+        }
+        case SensorId.Gyroscope: {
+            const [xRaw, yRaw, zRaw] = [v.getInt16(4, true), v.getInt16(6, true), v.getInt16(8, true)];
+            return { type: "Gyroscope", ...head, xRaw, yRaw, zRaw, x: q(xRaw, qp), y: q(yRaw, qp), z: q(zRaw, qp) };
+        }
+        case SensorId.Magnetometer: {
+            const [xRaw, yRaw, zRaw] = [v.getInt16(4, true), v.getInt16(6, true), v.getInt16(8, true)];
+            return { type: "Magnetometer", ...head, xRaw, yRaw, zRaw, x: q(xRaw, qp), y: q(yRaw, qp), z: q(zRaw, qp) };
+        }
+        case SensorId.UncalibratedGyroscope:
+        case SensorId.UncalibratedMagnetometer: {
+            const xRaw = v.getInt16(4, true);
+            const yRaw = v.getInt16(6, true);
+            const zRaw = v.getInt16(8, true);
+            const biasXRaw = v.getInt16(10, true);
+            const biasYRaw = v.getInt16(12, true);
+            const biasZRaw = v.getInt16(14, true);
+            const common = {
+                ...head,
+                xRaw,
+                yRaw,
+                zRaw,
+                biasXRaw,
+                biasYRaw,
+                biasZRaw,
+                x: q(xRaw, qp),
+                y: q(yRaw, qp),
+                z: q(zRaw, qp),
+                bias: [q(biasXRaw, qp), q(biasYRaw, qp), q(biasZRaw, qp)],
+            };
+            return rid === SensorId.UncalibratedGyroscope
+                ? { type: "UncalibratedGyroscope", ...common }
+                : { type: "UncalibratedMagnetometer", ...common };
+        }
+        case SensorId.RotationVector:
+        case SensorId.GeomagneticRotationVector:
+        case SensorId.ArvrStabilizedRv:
+        case SensorId.GameRotationVector:
+        case SensorId.ArvrStabilizedGameRv: {
+            const iRaw = v.getInt16(4, true);
+            const jRaw = v.getInt16(6, true);
+            const kRaw = v.getInt16(8, true);
+            const realRaw = v.getInt16(10, true);
+            const hasAccuracy = rid !== SensorId.GameRotationVector && rid !== SensorId.ArvrStabilizedGameRv;
+            const accuracyRaw = hasAccuracy ? v.getInt16(12, true) : null;
+            return {
+                type: "RotationVector",
+                ...head,
+                iRaw,
+                jRaw,
+                kRaw,
+                realRaw,
+                accuracyRaw,
+                i: q(iRaw, 14),
+                j: q(jRaw, 14),
+                k: q(kRaw, 14),
+                real: q(realRaw, 14),
+                accuracyRad: accuracyRaw === null ? null : q(accuracyRaw, RV_ACCURACY_Q),
+            };
+        }
+        case SensorId.Pressure:
+        case SensorId.AmbientLight: {
+            const valueRaw = v.getUint32(4, true);
+            return { type: "ScalarReport", ...head, valueRaw, value: q(valueRaw, qp) };
+        }
+        case SensorId.Humidity:
+        case SensorId.Proximity: {
+            const valueRaw = v.getUint16(4, true);
+            return { type: "ScalarReport", ...head, valueRaw, value: q(valueRaw, qp) };
+        }
+        case SensorId.Temperature: {
+            const valueRaw = v.getInt16(4, true);
+            return { type: "ScalarReport", ...head, valueRaw, value: q(valueRaw, qp) };
+        }
+        case SensorId.TapDetector: {
+            const flags = rep[4];
+            return { type: "TapDetector", ...head, flags, doubleTap: (flags & 0x40) !== 0 };
+        }
+        case SensorId.StepCounter:
+            return {
+                type: "StepCounter",
+                ...head,
+                latencyUs: v.getUint32(4, true),
+                steps: v.getUint16(8, true),
+            };
+        case SensorId.StepDetector:
+            return { type: "StepDetector", ...head, latencyUs: v.getUint32(4, true) };
+        case SensorId.SignificantMotion:
+            return { type: "SignificantMotion", ...head, motion: v.getUint16(4, true) };
+        case SensorId.StabilityClassifier: {
+            const classification = rep[4];
+            return {
+                type: "StabilityClassifier",
+                ...head,
+                classification,
+                name: STABILITY_NAMES[classification] ?? String(classification),
+            };
+        }
+        case SensorId.ShakeDetector:
+            return { type: "ShakeDetector", ...head, flags: v.getUint16(4, true) };
+        case SensorId.PersonalActivityClassifier: {
+            const mostLikelyState = rep[5];
+            return {
+                type: "PersonalActivityClassifier",
+                ...head,
+                pageNumber: rep[4] & 0x7f,
+                endOfSequence: (rep[4] & 0x80) !== 0,
+                mostLikelyState,
+                confidences: Array.from(rep.subarray(6, 16)),
+                mostLikelyName: ACTIVITY_NAMES[mostLikelyState] ?? String(mostLikelyState),
+            };
+        }
+        case SensorId.RawAccelerometer:
+        case SensorId.RawMagnetometer:
+            return {
+                type: "RawSensor",
+                ...head,
+                xRaw: v.getInt16(4, true),
+                yRaw: v.getInt16(6, true),
+                zRaw: v.getInt16(8, true),
+                sensorTimestampUs: v.getUint32(12, true),
+                temperatureRaw: 0,
+            };
+        case SensorId.RawGyroscope:
+            return {
+                type: "RawSensor",
+                ...head,
+                xRaw: v.getInt16(4, true),
+                yRaw: v.getInt16(6, true),
+                zRaw: v.getInt16(8, true),
+                sensorTimestampUs: v.getUint32(12, true),
+                temperatureRaw: v.getInt16(10, true),
+            };
+        default:
+            // In-table detectors without a dedicated shape
+            return { type: "GenericEvent", ...head, valueRaw: v.getUint16(4, true) };
+    }
+}
+/**
+ * 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 function parseGyroRvCargo(payload, captureTimestampUs) {
+    let ts = captureTimestampUs;
+    let body = payload;
+    if (payload.length >= 1 && payload[0] === BASE_TIMESTAMP_REF) {
+        if (payload.length < 5 + 2 + 14)
+            return null;
+        const v = view(payload);
+        const delta = v.getInt32(1, true);
+        const delay = v.getUint16(5, true);
+        ts = captureTimestampUs - BigInt(delta) * 100n + BigInt(delay) * 100n;
+        body = payload.subarray(7);
+    }
+    if (body.length < 14)
+        return null;
+    const v = view(body);
+    const iRaw = v.getInt16(0, true);
+    const jRaw = v.getInt16(2, true);
+    const kRaw = v.getInt16(4, true);
+    const realRaw = v.getInt16(6, true);
+    const vxRaw = v.getInt16(8, true);
+    const vyRaw = v.getInt16(10, true);
+    const vzRaw = v.getInt16(12, true);
+    return {
+        type: "GyroIntegratedRV",
+        sensorId: SensorId.GyroIntegratedRv,
+        timestampUs: ts,
+        iRaw,
+        jRaw,
+        kRaw,
+        realRaw,
+        vxRaw,
+        vyRaw,
+        vzRaw,
+        i: q(iRaw, 14),
+        j: q(jRaw, 14),
+        k: q(kRaw, 14),
+        real: q(realRaw, 14),
+        angularVelocity: [q(vxRaw, GYRO_RV_ANGVEL_Q), q(vyRaw, GYRO_RV_ANGVEL_Q), q(vzRaw, GYRO_RV_ANGVEL_Q)],
+    };
+}
+//# sourceMappingURL=reports.js.map

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

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