@depz/sensor-sdk 0.1.2 → 0.1.4

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Files changed (40) hide show
  1. package/README.md +4 -3
  2. package/dist/discovery.d.ts.map +1 -1
  3. package/dist/discovery.js +3 -0
  4. package/dist/discovery.js.map +1 -1
  5. package/dist/index.d.ts +4 -0
  6. package/dist/index.d.ts.map +1 -1
  7. package/dist/index.js +3 -0
  8. package/dist/index.js.map +1 -1
  9. package/dist/protocol/identity.d.ts +1 -1
  10. package/dist/protocol/identity.d.ts.map +1 -1
  11. package/dist/protocol/identity.js +1 -0
  12. package/dist/protocol/identity.js.map +1 -1
  13. package/dist/protocol/usb-ids.d.ts +1 -1
  14. package/dist/protocol/usb-ids.js +2 -2
  15. package/dist/protocol/usb-ids.js.map +1 -1
  16. package/dist/protocol/vl53l4.d.ts +82 -0
  17. package/dist/protocol/vl53l4.d.ts.map +1 -0
  18. package/dist/protocol/vl53l4.js +108 -0
  19. package/dist/protocol/vl53l4.js.map +1 -0
  20. package/dist/sensors/bno086/bno086.d.ts +4 -3
  21. package/dist/sensors/bno086/bno086.d.ts.map +1 -1
  22. package/dist/sensors/bno086/bno086.js +7 -5
  23. package/dist/sensors/bno086/bno086.js.map +1 -1
  24. package/dist/sensors/vl53l4/uld.d.ts +214 -0
  25. package/dist/sensors/vl53l4/uld.d.ts.map +1 -0
  26. package/dist/sensors/vl53l4/uld.js +504 -0
  27. package/dist/sensors/vl53l4/uld.js.map +1 -0
  28. package/dist/sensors/vl53l4/vl53l4.d.ts +195 -0
  29. package/dist/sensors/vl53l4/vl53l4.d.ts.map +1 -0
  30. package/dist/sensors/vl53l4/vl53l4.js +399 -0
  31. package/dist/sensors/vl53l4/vl53l4.js.map +1 -0
  32. package/dist/sensors/vl53l8/uld.d.ts +8 -0
  33. package/dist/sensors/vl53l8/uld.d.ts.map +1 -1
  34. package/dist/sensors/vl53l8/uld.js +9 -1
  35. package/dist/sensors/vl53l8/uld.js.map +1 -1
  36. package/dist/transport/ws-backend.d.ts +19 -0
  37. package/dist/transport/ws-backend.d.ts.map +1 -1
  38. package/dist/transport/ws-backend.js +25 -1
  39. package/dist/transport/ws-backend.js.map +1 -1
  40. package/package.json +3 -2
package/README.md CHANGED
@@ -1,10 +1,11 @@
1
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  # @depz/sensor-sdk
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- TypeScript SDK for the **DEPZ USB sensor line** — four sensor classes across
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- three USB CDC-ACM device families that speak one shared framed protocol, usable
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+ TypeScript SDK for the **DEPZ USB sensor line** — five sensor classes across
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+ four USB CDC-ACM firmware families that speak one shared framed protocol, usable
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  from **the browser (WebSerial)** and **Node (serialport)**:
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  - **HC-SR04** — ultrasonic distance
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+ - **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
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  - **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
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  `Vl53l8Ch` is the `Vl53l8Cx` superset, adding Compact-Network-Histogram output
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  - **BNO086** — 9-axis IMU (host runs the SH-2 stack)
@@ -29,7 +30,7 @@ import { openDevice } from "@depz/sensor-sdk/web";
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  const port = await navigator.serial.requestPort(); // user gesture
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  const dev = await openDevice(port);
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- // dev is the correctly-typed sensor class (Sr04 | Vl53l8Cx/Ch | Bno086)
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+ // dev is the correctly-typed sensor class (Sr04 | Vl53l4Cd | Vl53l8Cx/Ch | Bno086)
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  ```
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  ## Quick start (Node)
package/dist/discovery.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"discovery.d.ts","sourceRoot":"","sources":["../src/discovery.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;GAYG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAEhD,OAAO,EAAqB,KAAK,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAM5E,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAE5D,gFAAgF;AAChF,MAAM,WAAW,YAAY;IAC3B,0EAA0E;IAC1E,IAAI,EAAE,MAAM,CAAC;IACb;;;;OAIG;IACH,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,MAAM,CAAC;CACjB;AAED,kEAAkE;AAClE,MAAM,WAAW,UAAU;IACzB,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE,KAAK,GAAG,YAAY,GAAG,SAAS,CAAC;IACvC,UAAU,EAAE,UAAU,GAAG,IAAI,CAAC;IAC9B,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,EAAE,MAAM,CAAC;IAClB,UAAU,EAAE,MAAM,CAAC;IACnB,+EAA+E;IAC/E,YAAY,EAAE,MAAM,CAAC;IACrB,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC;IACtB,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC;CACvB;AAED,qEAAqE;AACrE,MAAM,MAAM,gBAAgB,GAAG,CAAC,IAAI,EAAE,YAAY,KAAK,eAAe,CAAC;AAEvE,MAAM,WAAW,iBAAiB;IAChC,uEAAuE;IACvE,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,oEAAoE;IACpE,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,MAAM,WAAW,WAAW;IAC1B,8DAA8D;IAC9D,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,6FAA6F;AAC7F,MAAM,MAAM,UAAU,GAAG,MAAM,GAAG,MAAM,GAAG,UAAU,GAAG,IAAI,GAAG,SAAS,CAAC;AAUzE;;;;GAIG;AACH,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,YAAY,EAAE,GAAG,YAAY,EAAE,CAUxE;AAUD,wBAAgB,YAAY,CAAC,CAAC,EAAE,OAAO,GAAG,CAAC,IAAI,UAAU,CAExD;AAED;;;;;GAKG;AACH,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,UAAU,EAAE,GAAG,UAAU,EAAE,CAQtE;AAID;;;;GAIG;AACH,wBAAsB,SAAS,CAC7B,IAAI,EAAE,YAAY,EAClB,OAAO,EAAE,gBAAgB,EACzB,SAAS,SAA2B,GACnC,OAAO,CAAC,UAAU,GAAG,IAAI,CAAC,CA4C5B;AAID;;;;GAIG;AACH,wBAAsB,mBAAmB,CACvC,KAAK,EAAE,YAAY,EAAE,EACrB,OAAO,EAAE,gBAAgB,EACzB,IAAI,GAAE,WAAgB,GACrB,OAAO,CAAC,UAAU,EAAE,CAAC,CAUvB;AA6CD;;;;;;;;;;;GAWG;AACH,wBAAsB,cAAc,CAClC,KAAK,EAAE,YAAY,EAAE,EACrB,OAAO,EAAE,gBAAgB,EACzB,MAAM,CAAC,EAAE,UAAU,EACnB,IAAI,GAAE,iBAAsB,GAC3B,OAAO,CAAC,UAAU,CAAC,CA4DrB;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,wBAAwB,CAC5C,KAAK,EAAE,YAAY,EAAE,EACrB,OAAO,EAAE,gBAAgB,EACzB,MAAM,CAAC,EAAE,MAAM,GAAG,IAAI,EACtB,IAAI,GAAE,iBAAsB,GAC3B,OAAO,CAAC,UAAU,CAAC,CAwBrB"}
package/dist/discovery.js CHANGED
@@ -17,6 +17,7 @@ import { parseSoftwareName } from "./protocol/identity.js";
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  import { isKnownDepzUsb, usbModelHint } from "./protocol/usb-ids.js";
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  import { Bno086 } from "./sensors/bno086/bno086.js";
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  import { Sr04 } from "./sensors/sr04.js";
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+ import { Vl53l4Cd } from "./sensors/vl53l4/vl53l4.js";
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  import { Vl53l8Ch, Vl53l8Cx } from "./sensors/vl53l8/vl53l8.js";
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  const DEFAULT_PROBE_TIMEOUT_MS = 200;
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  // ── selection helpers ─────────────────────────────────────────────────────────
@@ -156,6 +157,8 @@ function constructSensor(transport, sensorType, timeoutMs, port) {
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  return usbModelHint(port?.usbVid, port?.usbPid) === "vl53l8ch"
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  ? new Vl53l8Ch(transport, { timeoutMs })
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  : new Vl53l8Cx(transport, { timeoutMs });
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+ case "vl53l4":
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+ return new Vl53l4Cd(transport, { timeoutMs });
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  case "bno086":
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  return new Bno086(transport, { timeoutMs });
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  default:
package/dist/discovery.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/index.d.ts CHANGED
@@ -7,6 +7,8 @@ export * from "./protocol/framing.js";
7
7
  export * from "./protocol/common.js";
8
8
  export * from "./protocol/identity.js";
9
9
  export * from "./protocol/sr04.js";
10
+ export { I2C_ERROR_NAMES as VL53L4_I2C_ERROR_NAMES, I2C_KHZ_STEPS as VL53L4_I2C_KHZ_STEPS, SF_INT_ACT_HIGH as VL53L4_SF_INT_ACT_HIGH, Vl53l4Cmd, Vl53l4Rpt, XFER_MAX as VL53L4_XFER_MAX, XSHUT_OFF as VL53L4_XSHUT_OFF, XSHUT_ON as VL53L4_XSHUT_ON, XSHUT_RESET as VL53L4_XSHUT_RESET, packReadReg as packVl53l4ReadReg, packSetI2cSpeed as packVl53l4SetI2cSpeed, packStartStream as packVl53l4StartStream, packWriteReg as packVl53l4WriteReg, packXshut as packVl53l4Xshut, unpackInfo as unpackVl53l4Info, unpackRegData as unpackVl53l4RegData, unpackStream as unpackVl53l4Stream, } from "./protocol/vl53l4.js";
11
+ export type { Vl53l4Info, Vl53l4RegData, Vl53l4StreamData } from "./protocol/vl53l4.js";
10
12
  export * from "./protocol/vl53l8.js";
11
13
  export * from "./protocol/bno086.js";
12
14
  export * from "./protocol/fwdepz.js";
@@ -20,6 +22,8 @@ export { DEFAULT_TIMEOUT_MS, DepzDevice, NO_MATCH, StreamQueue, hostNowUs, syncT
20
22
  export type { DeviceEvent, DeviceOptions, Matcher, RequestOptions, TimeSync, } from "./device/device.js";
21
23
  export { Sr04 } from "./sensors/sr04.js";
22
24
  export type { Sr04Measurement } from "./sensors/sr04.js";
25
+ export * from "./sensors/vl53l4/uld.js";
26
+ export * from "./sensors/vl53l4/vl53l4.js";
23
27
  export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8Ch, Vl53l8Cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
24
28
  export type { Vl53l8Frame, Vl53l8InitOptions, Vl53l8Options, } from "./sensors/vl53l8/vl53l8.js";
25
29
  export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
package/dist/index.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AACxB,YAAY,EACV,UAAU,EACV,YAAY,EACZ,WAAW,EACX,iBAAiB,EACjB,UAAU,EACV,gBAAgB,GACjB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAC5C,YAAY,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAClD,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EACV,WAAW,EACX,aAAa,EACb,OAAO,EACP,cAAc,EACd,QAAQ,GACT,MAAM,oBAAoB,CAAC;AAC5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACzC,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,WAAW,EACX,iBAAiB,EACjB,aAAa,GACd,MAAM,4BAA4B,CAAC;AACpC,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EACV,kBAAkB,EAClB,YAAY,EACZ,cAAc,EACd,aAAa,GACd,MAAM,yBAAyB,CAAC;AACjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AACxE,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAC9D,YAAY,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,kCAAkC,CAAC;AACpF,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AACtB,YAAY,EACV,iBAAiB,EACjB,aAAa,EACb,aAAa,EACb,WAAW,GACZ,MAAM,cAAc,CAAC;AACtB,YAAY,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AACjF,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAClC,YAAY,EAAE,iBAAiB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC;AACnC,YAAY,EACV,aAAa,EACb,aAAa,EACb,kBAAkB,EAClB,aAAa,EACb,yBAAyB,GAC1B,MAAM,2BAA2B,CAAC"}
1
+ {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,OAAO,EACL,eAAe,IAAI,sBAAsB,EACzC,aAAa,IAAI,oBAAoB,EACrC,eAAe,IAAI,sBAAsB,EACzC,SAAS,EACT,SAAS,EACT,QAAQ,IAAI,eAAe,EAC3B,SAAS,IAAI,gBAAgB,EAC7B,QAAQ,IAAI,eAAe,EAC3B,WAAW,IAAI,kBAAkB,EACjC,WAAW,IAAI,iBAAiB,EAChC,eAAe,IAAI,qBAAqB,EACxC,eAAe,IAAI,qBAAqB,EACxC,YAAY,IAAI,kBAAkB,EAClC,SAAS,IAAI,eAAe,EAC5B,UAAU,IAAI,gBAAgB,EAC9B,aAAa,IAAI,mBAAmB,EACpC,YAAY,IAAI,kBAAkB,GACnC,MAAM,sBAAsB,CAAC;AAC9B,YAAY,EAAE,UAAU,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,sBAAsB,CAAC;AACxF,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AACxB,YAAY,EACV,UAAU,EACV,YAAY,EACZ,WAAW,EACX,iBAAiB,EACjB,UAAU,EACV,gBAAgB,GACjB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAC5C,YAAY,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAClD,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EACV,WAAW,EACX,aAAa,EACb,OAAO,EACP,cAAc,EACd,QAAQ,GACT,MAAM,oBAAoB,CAAC;AAC5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACzC,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,WAAW,EACX,iBAAiB,EACjB,aAAa,GACd,MAAM,4BAA4B,CAAC;AACpC,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EACV,kBAAkB,EAClB,YAAY,EACZ,cAAc,EACd,aAAa,GACd,MAAM,yBAAyB,CAAC;AACjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AACxE,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAC9D,YAAY,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,kCAAkC,CAAC;AACpF,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AACtB,YAAY,EACV,iBAAiB,EACjB,aAAa,EACb,aAAa,EACb,WAAW,GACZ,MAAM,cAAc,CAAC;AACtB,YAAY,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AACjF,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAClC,YAAY,EAAE,iBAAiB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC;AACnC,YAAY,EACV,aAAa,EACb,aAAa,EACb,kBAAkB,EAClB,aAAa,EACb,yBAAyB,GAC1B,MAAM,2BAA2B,CAAC"}
package/dist/index.js CHANGED
@@ -7,6 +7,7 @@ export * from "./protocol/framing.js";
7
7
  export * from "./protocol/common.js";
8
8
  export * from "./protocol/identity.js";
9
9
  export * from "./protocol/sr04.js";
10
+ export { I2C_ERROR_NAMES as VL53L4_I2C_ERROR_NAMES, I2C_KHZ_STEPS as VL53L4_I2C_KHZ_STEPS, SF_INT_ACT_HIGH as VL53L4_SF_INT_ACT_HIGH, Vl53l4Cmd, Vl53l4Rpt, XFER_MAX as VL53L4_XFER_MAX, XSHUT_OFF as VL53L4_XSHUT_OFF, XSHUT_ON as VL53L4_XSHUT_ON, XSHUT_RESET as VL53L4_XSHUT_RESET, packReadReg as packVl53l4ReadReg, packSetI2cSpeed as packVl53l4SetI2cSpeed, packStartStream as packVl53l4StartStream, packWriteReg as packVl53l4WriteReg, packXshut as packVl53l4Xshut, unpackInfo as unpackVl53l4Info, unpackRegData as unpackVl53l4RegData, unpackStream as unpackVl53l4Stream, } from "./protocol/vl53l4.js";
10
11
  export * from "./protocol/vl53l8.js";
11
12
  export * from "./protocol/bno086.js";
12
13
  export * from "./protocol/fwdepz.js";
@@ -16,6 +17,8 @@ export { isDeviceInfo, listDepzDevicesFrom, openDeviceByDeviceSerial, openDevice
16
17
  export { DepzLink } from "./device/link.js";
17
18
  export { DEFAULT_TIMEOUT_MS, DepzDevice, NO_MATCH, StreamQueue, hostNowUs, syncTimeAll, } from "./device/device.js";
18
19
  export { Sr04 } from "./sensors/sr04.js";
20
+ export * from "./sensors/vl53l4/uld.js";
21
+ export * from "./sensors/vl53l4/vl53l4.js";
19
22
  export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8Ch, Vl53l8Cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
20
23
  export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
21
24
  export { CNH_BIN_WIDTH_MM, CNH_MAX_DATA_BYTES, CnhConfig, CnhConfigError, MI_CFG_DEV_IDX, decode as decodeCnh, maxBins as cnhMaxBins, } from "./sensors/vl53l8/cnh.js";
package/dist/index.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AASxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAE5C,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAQ5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAEzC,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AAMpC,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AAOjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AAEjC,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAE9D,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AAQtB,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAElC,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC"}
1
+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,OAAO,EACL,eAAe,IAAI,sBAAsB,EACzC,aAAa,IAAI,oBAAoB,EACrC,eAAe,IAAI,sBAAsB,EACzC,SAAS,EACT,SAAS,EACT,QAAQ,IAAI,eAAe,EAC3B,SAAS,IAAI,gBAAgB,EAC7B,QAAQ,IAAI,eAAe,EAC3B,WAAW,IAAI,kBAAkB,EACjC,WAAW,IAAI,iBAAiB,EAChC,eAAe,IAAI,qBAAqB,EACxC,eAAe,IAAI,qBAAqB,EACxC,YAAY,IAAI,kBAAkB,EAClC,SAAS,IAAI,eAAe,EAC5B,UAAU,IAAI,gBAAgB,EAC9B,aAAa,IAAI,mBAAmB,EACpC,YAAY,IAAI,kBAAkB,GACnC,MAAM,sBAAsB,CAAC;AAE9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AASxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAE5C,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAQ5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAEzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AAMpC,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AAOjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AAEjC,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAE9D,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AAQtB,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAElC,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC"}
package/dist/protocol/identity.d.ts CHANGED
@@ -1,5 +1,5 @@
1
1
  /** Firmware-name parsing (contracts/02_COMMON_COMMANDS.md §4). */
2
- export type SensorType = "sr04" | "vl53l8" | "bno086" | "unknown";
2
+ export type SensorType = "sr04" | "vl53l4" | "vl53l8" | "bno086" | "unknown";
3
3
  export interface Identity {
4
4
  mode: "app" | "bootloader" | "unknown";
5
5
  sensorType: SensorType | null;
package/dist/protocol/identity.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"identity.d.ts","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAElE,MAAM,MAAM,UAAU,GAAG,MAAM,GAAG,QAAQ,GAAG,QAAQ,GAAG,SAAS,CAAC;AAElE,MAAM,WAAW,QAAQ;IACvB,IAAI,EAAE,KAAK,GAAG,YAAY,GAAG,SAAS,CAAC;IACvC,UAAU,EAAE,UAAU,GAAG,IAAI,CAAC;IAC9B,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;CACjB;AAUD;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG,QAAQ,CAexD"}
1
+ {"version":3,"file":"identity.d.ts","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAElE,MAAM,MAAM,UAAU,GAAG,MAAM,GAAG,QAAQ,GAAG,QAAQ,GAAG,QAAQ,GAAG,SAAS,CAAC;AAE7E,MAAM,WAAW,QAAQ;IACvB,IAAI,EAAE,KAAK,GAAG,YAAY,GAAG,SAAS,CAAC;IACvC,UAAU,EAAE,UAAU,GAAG,IAAI,CAAC;IAC9B,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;CACjB;AAWD;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG,QAAQ,CAexD"}
package/dist/protocol/identity.js CHANGED
@@ -2,6 +2,7 @@
2
2
  const VERSION_RE = /_v(\d+(?:\.\d+)*)$/;
3
3
  const PRODUCT_TOKENS = [
4
4
  ["SR04", "sr04"],
5
+ ["VL53L4", "vl53l4"],
5
6
  ["VL53L8", "vl53l8"],
6
7
  ["BNO086", "bno086"],
7
8
  ];
package/dist/protocol/identity.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"identity.js","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAWlE,MAAM,UAAU,GAAG,oBAAoB,CAAC;AAExC,MAAM,cAAc,GAAgC;IAClD,CAAC,MAAM,EAAE,MAAM,CAAC;IAChB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;CACrB,CAAC;AAEF;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,IAAY;IAC5C,MAAM,CAAC,GAAG,UAAU,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChC,MAAM,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,UAAU,CAAC,UAAU,CAAC,EAAE,CAAC;QAChC,OAAO,EAAE,IAAI,EAAE,YAAY,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC/E,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QAC5B,KAAK,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,cAAc,EAAE,CAAC;YAC7C,IAAI,IAAI,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;gBACzB,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,MAAM,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;YAC1E,CAAC;QACH,CAAC;QACD,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,SAAS,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC7E,CAAC;IACD,OAAO,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;AAC5E,CAAC"}
1
+ {"version":3,"file":"identity.js","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAWlE,MAAM,UAAU,GAAG,oBAAoB,CAAC;AAExC,MAAM,cAAc,GAAgC;IAClD,CAAC,MAAM,EAAE,MAAM,CAAC;IAChB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;CACrB,CAAC;AAEF;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,IAAY;IAC5C,MAAM,CAAC,GAAG,UAAU,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChC,MAAM,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,UAAU,CAAC,UAAU,CAAC,EAAE,CAAC;QAChC,OAAO,EAAE,IAAI,EAAE,YAAY,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC/E,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QAC5B,KAAK,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,cAAc,EAAE,CAAC;YAC7C,IAAI,IAAI,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;gBACzB,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,MAAM,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;YAC1E,CAAC;QACH,CAAC;QACD,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,SAAS,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC7E,CAAC;IACD,OAAO,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;AAC5E,CAAC"}
package/dist/protocol/usb-ids.d.ts CHANGED
@@ -38,7 +38,7 @@ export interface DepzUsbModel {
38
38
  }
39
39
  /**
40
40
  * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
41
- * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
41
+ * rows (sr04, vl53l4cd, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
42
42
  * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
43
43
  * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
44
44
  */
package/dist/protocol/usb-ids.js CHANGED
@@ -26,7 +26,7 @@ export const DEPZ_SENSOR_PID_MIN = 60536; // 0xEC78 (SR04)
26
26
  export const DEPZ_SENSOR_PID_MAX = 65535; // whole reserved sensor block (catalog-types.ts)
27
27
  /**
28
28
  * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
29
- * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
29
+ * rows (sr04, vl53l4cd, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
30
30
  * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
31
31
  * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
32
32
  */
@@ -37,7 +37,7 @@ export const DEPZ_USB_MODELS = {
37
37
  0xed42: { name: "vl53l1cb", sensorType: null }, // 60738
38
38
  0xed43: { name: "vl53l1cx", sensorType: null }, // 60739
39
39
  0xed44: { name: "vl53l3cx", sensorType: null }, // 60740
40
- 0xed45: { name: "vl53l4cd", sensorType: null }, // 60741
40
+ 0xed45: { name: "vl53l4cd", sensorType: "vl53l4" }, // 60741
41
41
  0xed46: { name: "vl53l4cx", sensorType: null }, // 60742
42
42
  0xed47: { name: "vl53l4ed", sensorType: null }, // 60743
43
43
  0xed48: { name: "vl53l5cx", sensorType: null }, // 60744
package/dist/protocol/usb-ids.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"usb-ids.js","sourceRoot":"","sources":["../../src/protocol/usb-ids.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAIH,4DAA4D;AAC5D,MAAM,CAAC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,OAAO;AAEvC;;;GAGG;AACH,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,OAAO;AACtC,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,QAAQ;AAEvC;;;;GAIG;AACH,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,gBAAgB;AAC1D,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,iDAAiD;AAc3F;;;;;GAKG;AACH,MAAM,CAAC,MAAM,eAAe,GAA2C;IACrE,MAAM,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,QAAQ;IAC5D,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACvD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,6DAA6D;IACjH,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,oCAAoC;IACtF,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;CACvD,CAAC;AAEF;;;;GAIG;AACH,MAAM,UAAU,cAAc,CAAC,GAA8B,EAAE,GAA8B;IAC3F,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,KAAK,CAAC;IAC7C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,IAAI,CAAC;IACpD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnC,IAAI,GAAG,IAAI,eAAe;QAAE,OAAO,IAAI,CAAC;IACxC,OAAO,GAAG,IAAI,mBAAmB,IAAI,GAAG,IAAI,mBAAmB,CAAC;AAClE,CAAC;AAED,4EAA4E;AAC5E,MAAM,UAAU,UAAU,CAAC,GAA8B;IACvD,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC7B,OAAO,eAAe,CAAC,GAAG,CAAC,IAAI,IAAI,CAAC;AACtC,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,YAAY,CAC1B,GAA8B,EAC9B,GAA8B;IAE9B,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC5C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,KAAK,CAAC;IACrD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,eAAe,CAAC,GAAG,CAAC,EAAE,IAAI,IAAI,IAAI,CAAC;IAChE,OAAO,IAAI,CAAC;AACd,CAAC"}
1
+ {"version":3,"file":"usb-ids.js","sourceRoot":"","sources":["../../src/protocol/usb-ids.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAIH,4DAA4D;AAC5D,MAAM,CAAC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,OAAO;AAEvC;;;GAGG;AACH,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,OAAO;AACtC,MAAM,CAAC,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,QAAQ;AAEvC;;;;GAIG;AACH,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,gBAAgB;AAC1D,MAAM,CAAC,MAAM,mBAAmB,GAAG,KAAK,CAAC,CAAC,iDAAiD;AAc3F;;;;;GAKG;AACH,MAAM,CAAC,MAAM,eAAe,GAA2C;IACrE,MAAM,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,QAAQ;IAC5D,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACvD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,QAAQ;IAC5D,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACxD,MAAM,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,6DAA6D;IACjH,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,QAAQ,EAAE,EAAE,oCAAoC;IACtF,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;IACtD,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,IAAI,EAAE,EAAE,QAAQ;CACvD,CAAC;AAEF;;;;GAIG;AACH,MAAM,UAAU,cAAc,CAAC,GAA8B,EAAE,GAA8B;IAC3F,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,KAAK,CAAC;IAC7C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,IAAI,CAAC;IACpD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnC,IAAI,GAAG,IAAI,eAAe;QAAE,OAAO,IAAI,CAAC;IACxC,OAAO,GAAG,IAAI,mBAAmB,IAAI,GAAG,IAAI,mBAAmB,CAAC;AAClE,CAAC;AAED,4EAA4E;AAC5E,MAAM,UAAU,UAAU,CAAC,GAA8B;IACvD,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC7B,OAAO,eAAe,CAAC,GAAG,CAAC,IAAI,IAAI,CAAC;AACtC,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,YAAY,CAC1B,GAA8B,EAC9B,GAA8B;IAE9B,IAAI,GAAG,IAAI,IAAI,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC5C,IAAI,GAAG,KAAK,OAAO,IAAI,GAAG,KAAK,OAAO;QAAE,OAAO,KAAK,CAAC;IACrD,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,eAAe,CAAC,GAAG,CAAC,EAAE,IAAI,IAAI,IAAI,CAAC;IAChE,OAAO,IAAI,CAAC;AACd,CAAC"}
package/dist/protocol/vl53l4.d.ts ADDED
@@ -0,0 +1,82 @@
1
+ /**
2
+ * VL53L4 register-bridge wire codecs (contracts/10_SENSOR_VL53L4.md).
3
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l4`.
4
+ */
5
+ export declare enum Vl53l4Cmd {
6
+ ReadReg = 50,
7
+ WriteReg = 51,
8
+ Xshut = 52,
9
+ StartStream = 53,
10
+ StopStream = 54,
11
+ GetInfo = 55,
12
+ SetI2cSpeed = 56
13
+ }
14
+ export declare enum Vl53l4Rpt {
15
+ RegData = 145,
16
+ Info = 146,
17
+ Stream = 147
18
+ }
19
+ export declare const XFER_MAX = 253;
20
+ export declare const XSHUT_OFF = 0;
21
+ export declare const XSHUT_ON = 1;
22
+ /** Blocking on the MCU (~3 ms); answered after the boot handshake. */
23
+ export declare const XSHUT_RESET = 2;
24
+ /**
25
+ * VL53_START_STREAM flags: interrupt polarity, mirroring bit 4 of
26
+ * GPIO_HV_MUX__CTRL (0x0030). Clear (default): INT active low.
27
+ */
28
+ export declare const SF_INT_ACT_HIGH = 2;
29
+ /**
30
+ * Nominal SCL steps the firmware carries a TIMINGR for (VL53_SET_I2C_SPEED
31
+ * clamps to the nearest one).
32
+ */
33
+ export declare const I2C_KHZ_STEPS: readonly number[];
34
+ export declare function packReadReg(addr: number, length: number): Uint8Array;
35
+ export declare function packWriteReg(addr: number, data: Uint8Array): Uint8Array;
36
+ export declare function packXshut(action: number): Uint8Array;
37
+ export declare function packStartStream(addr: number, length: number, flags?: number): Uint8Array;
38
+ export declare function packSetI2cSpeed(khz: number): Uint8Array;
39
+ /** RPT_VL53_REG_DATA payload. */
40
+ export interface Vl53l4RegData {
41
+ /** Echoed READ_REG opcode. */
42
+ cmd: number;
43
+ /** MCU uptime at I2C-read completion. */
44
+ timestampUs: bigint;
45
+ data: Uint8Array;
46
+ }
47
+ export declare function unpackRegData(payload: Uint8Array): Vl53l4RegData;
48
+ /** last_i2c_error values in RPT_VL53_INFO. */
49
+ export declare const I2C_ERROR_NAMES: Readonly<Record<number, string>>;
50
+ /**
51
+ * RPT_VL53_INFO — bridge diagnostics. Counters are free-running and wrap
52
+ * silently; watch increments, not absolute values.
53
+ */
54
+ export interface Vl53l4Info {
55
+ intEdges: number;
56
+ slotsSkipped: number;
57
+ i2cErrors: number;
58
+ lastI2cError: number;
59
+ /** 0x010F..0x0110 — expected 0xEBAA. */
60
+ modelId: number;
61
+ /** 0x00E5 — expected 0x03 (booted). */
62
+ fwStatus: number;
63
+ /** 1 = MODEL_ID matched on this read. */
64
+ initialized: number;
65
+ xshutLevel: number;
66
+ intLevel: number;
67
+ i2cKhz: number;
68
+ }
69
+ export declare function unpackInfo(payload: Uint8Array): Vl53l4Info;
70
+ /**
71
+ * RPT_VL53_STREAM — one streamed register block. `addr`/`length` echo the
72
+ * stream configuration so each report is self-describing.
73
+ */
74
+ export interface Vl53l4StreamData {
75
+ /** MCU uptime at the INT edge (the sensor event). */
76
+ timestampUs: bigint;
77
+ addr: number;
78
+ length: number;
79
+ data: Uint8Array;
80
+ }
81
+ export declare function unpackStream(payload: Uint8Array): Vl53l4StreamData;
82
+ //# sourceMappingURL=vl53l4.d.ts.map
package/dist/protocol/vl53l4.d.ts.map ADDED
@@ -0,0 +1 @@
1
+ {"version":3,"file":"vl53l4.d.ts","sourceRoot":"","sources":["../../src/protocol/vl53l4.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,oBAAY,SAAS;IACnB,OAAO,KAAO;IACd,QAAQ,KAAO;IACf,KAAK,KAAO;IACZ,WAAW,KAAO;IAClB,UAAU,KAAO;IACjB,OAAO,KAAO;IACd,WAAW,KAAO;CACnB;AAED,oBAAY,SAAS;IACnB,OAAO,MAAO;IACd,IAAI,MAAO;IACX,MAAM,MAAO;CACd;AAID,eAAO,MAAM,QAAQ,MAAM,CAAC;AAG5B,eAAO,MAAM,SAAS,IAAI,CAAC;AAC3B,eAAO,MAAM,QAAQ,IAAI,CAAC;AAC1B,sEAAsE;AACtE,eAAO,MAAM,WAAW,IAAI,CAAC;AAE7B;;;GAGG;AACH,eAAO,MAAM,eAAe,IAAO,CAAC;AAEpC;;;GAGG;AACH,eAAO,MAAM,aAAa,EAAE,SAAS,MAAM,EAAmD,CAAC;AAE/F,wBAAgB,WAAW,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,UAAU,CAMpE;AAED,wBAAgB,YAAY,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,UAAU,CAKvE;AAED,wBAAgB,SAAS,CAAC,MAAM,EAAE,MAAM,GAAG,UAAU,CAEpD;AAED,wBAAgB,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,SAAI,GAAG,UAAU,CAOnF;AAED,wBAAgB,eAAe,CAAC,GAAG,EAAE,MAAM,GAAG,UAAU,CAIvD;AAED,iCAAiC;AACjC,MAAM,WAAW,aAAa;IAC5B,8BAA8B;IAC9B,GAAG,EAAE,MAAM,CAAC;IACZ,yCAAyC;IACzC,WAAW,EAAE,MAAM,CAAC;IACpB,IAAI,EAAE,UAAU,CAAC;CAClB;AAED,wBAAgB,aAAa,CAAC,OAAO,EAAE,UAAU,GAAG,aAAa,CAOhE;AAED,8CAA8C;AAC9C,eAAO,MAAM,eAAe,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAK5D,CAAC;AAEF;;;GAGG;AACH,MAAM,WAAW,UAAU;IACzB,QAAQ,EAAE,MAAM,CAAC;IACjB,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,EAAE,MAAM,CAAC;IAClB,YAAY,EAAE,MAAM,CAAC;IACrB,wCAAwC;IACxC,OAAO,EAAE,MAAM,CAAC;IAChB,uCAAuC;IACvC,QAAQ,EAAE,MAAM,CAAC;IACjB,yCAAyC;IACzC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,QAAQ,EAAE,MAAM,CAAC;IACjB,MAAM,EAAE,MAAM,CAAC;CAChB;AAED,wBAAgB,UAAU,CAAC,OAAO,EAAE,UAAU,GAAG,UAAU,CAc1D;AAED;;;GAGG;AACH,MAAM,WAAW,gBAAgB;IAC/B,qDAAqD;IACrD,WAAW,EAAE,MAAM,CAAC;IACpB,IAAI,EAAE,MAAM,CAAC;IACb,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,UAAU,CAAC;CAClB;AAED,wBAAgB,YAAY,CAAC,OAAO,EAAE,UAAU,GAAG,gBAAgB,CASlE"}
package/dist/protocol/vl53l4.js ADDED
@@ -0,0 +1,108 @@
1
+ /**
2
+ * VL53L4 register-bridge wire codecs (contracts/10_SENSOR_VL53L4.md).
3
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l4`.
4
+ */
5
+ export var Vl53l4Cmd;
6
+ (function (Vl53l4Cmd) {
7
+ Vl53l4Cmd[Vl53l4Cmd["ReadReg"] = 50] = "ReadReg";
8
+ Vl53l4Cmd[Vl53l4Cmd["WriteReg"] = 51] = "WriteReg";
9
+ Vl53l4Cmd[Vl53l4Cmd["Xshut"] = 52] = "Xshut";
10
+ Vl53l4Cmd[Vl53l4Cmd["StartStream"] = 53] = "StartStream";
11
+ Vl53l4Cmd[Vl53l4Cmd["StopStream"] = 54] = "StopStream";
12
+ Vl53l4Cmd[Vl53l4Cmd["GetInfo"] = 55] = "GetInfo";
13
+ Vl53l4Cmd[Vl53l4Cmd["SetI2cSpeed"] = 56] = "SetI2cSpeed";
14
+ })(Vl53l4Cmd || (Vl53l4Cmd = {}));
15
+ export var Vl53l4Rpt;
16
+ (function (Vl53l4Rpt) {
17
+ Vl53l4Rpt[Vl53l4Rpt["RegData"] = 145] = "RegData";
18
+ Vl53l4Rpt[Vl53l4Rpt["Info"] = 146] = "Info";
19
+ Vl53l4Rpt[Vl53l4Rpt["Stream"] = 147] = "Stream";
20
+ })(Vl53l4Rpt || (Vl53l4Rpt = {}));
21
+ // STM32 I2C NBYTES is 8 bit and a write spends two of them on the register
22
+ // address; the firmware applies the same 253 to both directions.
23
+ export const XFER_MAX = 253;
24
+ // VL53_XSHUT actions.
25
+ export const XSHUT_OFF = 0;
26
+ export const XSHUT_ON = 1;
27
+ /** Blocking on the MCU (~3 ms); answered after the boot handshake. */
28
+ export const XSHUT_RESET = 2;
29
+ /**
30
+ * VL53_START_STREAM flags: interrupt polarity, mirroring bit 4 of
31
+ * GPIO_HV_MUX__CTRL (0x0030). Clear (default): INT active low.
32
+ */
33
+ export const SF_INT_ACT_HIGH = 0x02;
34
+ /**
35
+ * Nominal SCL steps the firmware carries a TIMINGR for (VL53_SET_I2C_SPEED
36
+ * clamps to the nearest one).
37
+ */
38
+ export const I2C_KHZ_STEPS = [100, 200, 400, 500, 600, 700, 800, 900, 1000];
39
+ export function packReadReg(addr, length) {
40
+ const out = new Uint8Array(4);
41
+ const dv = new DataView(out.buffer);
42
+ dv.setUint16(0, addr, true);
43
+ dv.setUint16(2, length, true);
44
+ return out;
45
+ }
46
+ export function packWriteReg(addr, data) {
47
+ const out = new Uint8Array(2 + data.length);
48
+ new DataView(out.buffer).setUint16(0, addr, true);
49
+ out.set(data, 2);
50
+ return out;
51
+ }
52
+ export function packXshut(action) {
53
+ return Uint8Array.of(action & 0xff);
54
+ }
55
+ export function packStartStream(addr, length, flags = 0) {
56
+ const out = new Uint8Array(5);
57
+ const dv = new DataView(out.buffer);
58
+ dv.setUint16(0, addr, true);
59
+ dv.setUint16(2, length, true);
60
+ dv.setUint8(4, flags);
61
+ return out;
62
+ }
63
+ export function packSetI2cSpeed(khz) {
64
+ const out = new Uint8Array(2);
65
+ new DataView(out.buffer).setUint16(0, khz, true);
66
+ return out;
67
+ }
68
+ export function unpackRegData(payload) {
69
+ const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
70
+ return {
71
+ cmd: dv.getUint8(0),
72
+ timestampUs: dv.getBigUint64(1, true),
73
+ data: payload.slice(9),
74
+ };
75
+ }
76
+ /** last_i2c_error values in RPT_VL53_INFO. */
77
+ export const I2C_ERROR_NAMES = {
78
+ 0: "none",
79
+ 1: "NACK",
80
+ 2: "TIMEOUT",
81
+ 3: "BUS_ERROR",
82
+ };
83
+ export function unpackInfo(payload) {
84
+ const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
85
+ return {
86
+ intEdges: dv.getUint32(0, true),
87
+ slotsSkipped: dv.getUint32(4, true),
88
+ i2cErrors: dv.getUint32(8, true),
89
+ lastI2cError: dv.getUint8(12),
90
+ modelId: dv.getUint16(13, true),
91
+ fwStatus: dv.getUint8(15),
92
+ initialized: dv.getUint8(16),
93
+ xshutLevel: dv.getUint8(17),
94
+ intLevel: dv.getUint8(18),
95
+ i2cKhz: dv.getUint16(19, true),
96
+ };
97
+ }
98
+ export function unpackStream(payload) {
99
+ const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
100
+ const length = dv.getUint16(10, true);
101
+ return {
102
+ timestampUs: dv.getBigUint64(0, true),
103
+ addr: dv.getUint16(8, true),
104
+ length,
105
+ data: payload.slice(12, 12 + length),
106
+ };
107
+ }
108
+ //# sourceMappingURL=vl53l4.js.map
package/dist/protocol/vl53l4.js.map ADDED
@@ -0,0 +1 @@
1
+ {"version":3,"file":"vl53l4.js","sourceRoot":"","sources":["../../src/protocol/vl53l4.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,MAAM,CAAN,IAAY,SAQX;AARD,WAAY,SAAS;IACnB,gDAAc,CAAA;IACd,kDAAe,CAAA;IACf,4CAAY,CAAA;IACZ,wDAAkB,CAAA;IAClB,sDAAiB,CAAA;IACjB,gDAAc,CAAA;IACd,wDAAkB,CAAA;AACpB,CAAC,EARW,SAAS,KAAT,SAAS,QAQpB;AAED,MAAM,CAAN,IAAY,SAIX;AAJD,WAAY,SAAS;IACnB,iDAAc,CAAA;IACd,2CAAW,CAAA;IACX,+CAAa,CAAA;AACf,CAAC,EAJW,SAAS,KAAT,SAAS,QAIpB;AAED,2EAA2E;AAC3E,iEAAiE;AACjE,MAAM,CAAC,MAAM,QAAQ,GAAG,GAAG,CAAC;AAE5B,sBAAsB;AACtB,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,QAAQ,GAAG,CAAC,CAAC;AAC1B,sEAAsE;AACtE,MAAM,CAAC,MAAM,WAAW,GAAG,CAAC,CAAC;AAE7B;;;GAGG;AACH,MAAM,CAAC,MAAM,eAAe,GAAG,IAAI,CAAC;AAEpC;;;GAGG;AACH,MAAM,CAAC,MAAM,aAAa,GAAsB,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;AAE/F,MAAM,UAAU,WAAW,CAAC,IAAY,EAAE,MAAc;IACtD,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,EAAE,GAAG,IAAI,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACpC,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC5B,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;IAC9B,OAAO,GAAG,CAAC;AACb,CAAC;AAED,MAAM,UAAU,YAAY,CAAC,IAAY,EAAE,IAAgB;IACzD,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC;IAC5C,IAAI,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAClD,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;IACjB,OAAO,GAAG,CAAC;AACb,CAAC;AAED,MAAM,UAAU,SAAS,CAAC,MAAc;IACtC,OAAO,UAAU,CAAC,EAAE,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,IAAY,EAAE,MAAc,EAAE,KAAK,GAAG,CAAC;IACrE,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,EAAE,GAAG,IAAI,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACpC,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC5B,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;IAC9B,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;IACtB,OAAO,GAAG,CAAC;AACb,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,GAAW;IACzC,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,CAAC,CAAC,CAAC;IAC9B,IAAI,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,SAAS,CAAC,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;IACjD,OAAO,GAAG,CAAC;AACb,CAAC;AAWD,MAAM,UAAU,aAAa,CAAC,OAAmB;IAC/C,MAAM,EAAE,GAAG,IAAI,QAAQ,CAAC,OAAO,CAAC,MAAM,EAAE,OAAO,CAAC,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,CAAC;IAChF,OAAO;QACL,GAAG,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,CAAC;QACnB,WAAW,EAAE,EAAE,CAAC,YAAY,CAAC,CAAC,EAAE,IAAI,CAAC;QACrC,IAAI,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC;KACvB,CAAC;AACJ,CAAC;AAED,8CAA8C;AAC9C,MAAM,CAAC,MAAM,eAAe,GAAqC;IAC/D,CAAC,EAAE,MAAM;IACT,CAAC,EAAE,MAAM;IACT,CAAC,EAAE,SAAS;IACZ,CAAC,EAAE,WAAW;CACf,CAAC;AAsBF,MAAM,UAAU,UAAU,CAAC,OAAmB;IAC5C,MAAM,EAAE,GAAG,IAAI,QAAQ,CAAC,OAAO,CAAC,MAAM,EAAE,OAAO,CAAC,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,CAAC;IAChF,OAAO;QACL,QAAQ,EAAE,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,CAAC;QAC/B,YAAY,EAAE,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,CAAC;QACnC,SAAS,EAAE,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,CAAC;QAChC,YAAY,EAAE,EAAE,CAAC,QAAQ,CAAC,EAAE,CAAC;QAC7B,OAAO,EAAE,EAAE,CAAC,SAAS,CAAC,EAAE,EAAE,IAAI,CAAC;QAC/B,QAAQ,EAAE,EAAE,CAAC,QAAQ,CAAC,EAAE,CAAC;QACzB,WAAW,EAAE,EAAE,CAAC,QAAQ,CAAC,EAAE,CAAC;QAC5B,UAAU,EAAE,EAAE,CAAC,QAAQ,CAAC,EAAE,CAAC;QAC3B,QAAQ,EAAE,EAAE,CAAC,QAAQ,CAAC,EAAE,CAAC;QACzB,MAAM,EAAE,EAAE,CAAC,SAAS,CAAC,EAAE,EAAE,IAAI,CAAC;KAC/B,CAAC;AACJ,CAAC;AAcD,MAAM,UAAU,YAAY,CAAC,OAAmB;IAC9C,MAAM,EAAE,GAAG,IAAI,QAAQ,CAAC,OAAO,CAAC,MAAM,EAAE,OAAO,CAAC,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,CAAC;IAChF,MAAM,MAAM,GAAG,EAAE,CAAC,SAAS,CAAC,EAAE,EAAE,IAAI,CAAC,CAAC;IACtC,OAAO;QACL,WAAW,EAAE,EAAE,CAAC,YAAY,CAAC,CAAC,EAAE,IAAI,CAAC;QACrC,IAAI,EAAE,EAAE,CAAC,SAAS,CAAC,CAAC,EAAE,IAAI,CAAC;QAC3B,MAAM;QACN,IAAI,EAAE,OAAO,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,GAAG,MAAM,CAAC;KACrC,CAAC;AACJ,CAAC"}
package/dist/sensors/bno086/bno086.d.ts CHANGED
@@ -106,9 +106,10 @@ export declare class Bno086 extends DepzDevice {
106
106
  *
107
107
  * The hub's RPT_STATUS OK ack for the 0x32 command is treated as the reset
108
108
  * confirmation. The SH-2 executable-channel reset-complete (which the BNO08X
109
- * SH-2 spec would emit) is only waited for best-effort: firmware
110
- * `APP_BNO086_v0.95` does **not** emit it (ERRATA E9 in contracts/ERRATA.md),
111
- * so its absence is *not* an error — the sensor is fully usable without it.
109
+ * SH-2 spec would emit) is only waited for best-effort: older firmware
110
+ * (≤ v0.95) did **not** emit it (ERRATA E9 in contracts/ERRATA.md, now fixed
111
+ * in newer firmware); the best-effort wait handles both, so its absence is
112
+ * *not* an error — the sensor is fully usable without it.
112
113
  */
113
114
  hardwareReset(timeoutMs?: number): Promise<void>;
114
115
  /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */
package/dist/sensors/bno086/bno086.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"bno086.d.ts","sourceRoot":"","sources":["../../../src/sensors/bno086/bno086.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAErF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAO7D,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAA+C,KAAK,MAAM,EAAE,MAAM,cAAc,CAAC;AACxF,OAAO,EAOL,cAAc,EAyBd,KAAK,MAAM,EACX,KAAK,WAAW,EAChB,KAAK,eAAe,EACpB,KAAK,SAAS,EACd,KAAK,cAAc,EACpB,MAAM,UAAU,CAAC;AAMlB,eAAO,MAAM,eAAe,MAAM,CAAC;AACnC,eAAO,MAAM,gBAAgB,MAAM,CAAC;AAOpC,wDAAwD;AACxD,MAAM,WAAW,iBAAiB;IAChC,KAAK,EAAE,OAAO,CAAC;IACf,IAAI,EAAE,OAAO,CAAC;IACd,GAAG,EAAE,OAAO,CAAC;IACb,MAAM,EAAE,OAAO,CAAC;CACjB;AAED,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,2EAA2E;IAC3E,aAAa,CAAC,EAAE,MAAM,CAAC;CACxB;AAED,MAAM,WAAW,aAAa;IAC5B,wDAAwD;IACxD,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,iEAAiE;IACjE,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAcD;;;;;;;;;;;;GAYG;AACH,qBAAa,MAAO,SAAQ,UAAU;IACpC,kDAAkD;IAClD,WAAW,SAAK;IAChB,sDAAsD;IACtD,aAAa,EAAE,MAAM,CAAmB;IAExC,OAAO,CAAC,IAAI,CAAmB;IAC/B,OAAO,CAAC,OAAO,CAAoC;IACnD,OAAO,CAAC,SAAS,CAAsE;IACvF,OAAO,CAAC,YAAY,CAAyE;IAC7F,OAAO,CAAC,cAAc,CAAsC;IAC5D,OAAO,CAAC,MAAM,CAAK;IACnB,OAAO,CAAC,cAAc,CAAyB;IAC/C,OAAO,CAAC,mBAAmB,CAAoB;IAC/C,OAAO,CAAC,QAAQ,CAAsC;gBAE1C,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;cAQzC,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;IAQ1D,OAAO,CAAC,aAAa;IAkCrB,OAAO,CAAC,UAAU;IAWlB;;;;;;OAMG;IACH,OAAO,CAAC,QAAQ;IAkBhB;;;;OAIG;IACH,OAAO,CAAC,eAAe;IAuCvB,yEAAyE;IACzE,OAAO,CAAC,cAAc;IAwBtB,OAAO,CAAC,UAAU;IAMlB;;;OAGG;YACW,OAAO;IAqBrB;;;;;OAKG;IACH,OAAO,CAAC,cAAc;IA6BtB;;;;;;;;;;OAUG;IACG,aAAa,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAqBpD,oEAAoE;IAC9D,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAI3B,oEAAoE;IACpE,IAAI,aAAa,IAAI,UAAU,CAS9B;IAID,2EAA2E;IAC3E,SAAS,CAAC,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,SAAS,CAAC;IAUrE;;;;;;;;OAQG;IACG,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,GAAE,aAAkB,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAsCpG,sDAAsD;IAChD,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK5C,4DAA4D;IAC5D,UAAU,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,eAAe,CAAC;IAW5F,oBAAoB,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIrF,wBAAwB,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIzF,mBAAmB,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIpF,eAAe,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIhF,kBAAkB,CAAC,EAAE,SAAK,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIlF,wBAAwB,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAIzF,aAAa,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAI9E,sBAAsB,CAAC,EAAE,SAAM,EAAE,IAAI,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,eAAe,GAAG,IAAI,CAAC;IAMvF;;;OAGG;IACH,QAAQ,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,MAAM,KAAK,IAAI,EAAE,OAAO,CAAC,EAAE,QAAQ,CAAC,MAAM,CAAC,GAAG,MAAM,GAAG,IAAI,GAAG,MAAM,IAAI;IAQzF;;;;OAIG;IACH,OAAO,CAAC,OAAO,CAAC,EAAE,QAAQ,CAAC,MAAM,CAAC,GAAG,MAAM,GAAG,IAAI,EAAE,OAAO,SAAO,GAAG,WAAW,CAAC,MAAM,CAAC;IAYxF,qEAAqE;IAC/D,OAAO,CAAC,IAAI,GAAE,MAAqB,EAAE,KAAK,GAAE,MAAiC,GAAG,OAAO,CAAC,IAAI,CAAC;IAInG,gEAAgE;IAC1D,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAIlC;;;OAGG;IACG,gBAAgB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAIjF,0EAA0E;IACpE,cAAc,CAClB,MAAM,GAAE;QAAE,KAAK,CAAC,EAAE,OAAO,CAAC;QAAC,IAAI,CAAC,EAAE,OAAO,CAAC;QAAC,GAAG,CAAC,EAAE,OAAO,CAAC;QAAC,MAAM,CAAC,EAAE,OAAO,CAAA;KAAO,EACjF,SAAS,GAAE,MAA2B,GACrC,OAAO,CAAC,IAAI,CAAC;IAYhB,mDAAmD;IAC7C,cAAc,CAAC,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAcxF,iEAAiE;IAC3D,OAAO,CAAC,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,IAAI,CAAC;IAOpE,oEAAoE;IAC9D,oBAAoB,CAAC,MAAM,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAM1D,+DAA+D;IAC/D,OAAO,CAAC,QAAQ,EAAE,MAAM,EAAE,SAAS,GAAE,MAAuB,GAAG,OAAO,CAAC,MAAM,EAAE,CAAC;IAgBhF,8EAA8E;IAC9E,QAAQ,CAAC,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,QAAQ,CAAC,MAAM,CAAC,EAAE,SAAS,GAAE,MAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAqBtG,qDAAqD;IAC/C,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,GAAE,MAAuB,GAAG,OAAO,CAAC,cAAc,CAAC;IAY9F,qEAAqE;IAC/D,iBAAiB,CAAC,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,cAAc,CAAC;IAKxF;;;;OAIG;IACG,gBAAgB,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAuBvD;;;OAGG;IACG,SAAS,CAAC,QAAQ,SAAI,EAAE,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,WAAW,EAAE,CAAC;IAc7F;;;OAGG;IACG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,MAAM,CAAC;IAwBxF,kEAAkE;IAC5D,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,GAAE,MAA2B,GAAG,OAAO,CAAC,IAAI,CAAC;CAMzF"}
package/dist/sensors/bno086/bno086.js CHANGED
@@ -253,9 +253,10 @@ export class Bno086 extends DepzDevice {
253
253
  *
254
254
  * The hub's RPT_STATUS OK ack for the 0x32 command is treated as the reset
255
255
  * confirmation. The SH-2 executable-channel reset-complete (which the BNO08X
256
- * SH-2 spec would emit) is only waited for best-effort: firmware
257
- * `APP_BNO086_v0.95` does **not** emit it (ERRATA E9 in contracts/ERRATA.md),
258
- * so its absence is *not* an error — the sensor is fully usable without it.
256
+ * SH-2 spec would emit) is only waited for best-effort: older firmware
257
+ * (≤ v0.95) did **not** emit it (ERRATA E9 in contracts/ERRATA.md, now fixed
258
+ * in newer firmware); the best-effort wait handles both, so its absence is
259
+ * *not* an error — the sensor is fully usable without it.
259
260
  */
260
261
  async hardwareReset(timeoutMs = 2000) {
261
262
  this.shtp.reset();
@@ -264,8 +265,9 @@ export class Bno086 extends DepzDevice {
264
265
  const done = new Promise((resolve) => this.resetResolvers.push(resolve));
265
266
  // RPT_STATUS OK from the hub confirms the reset command was accepted.
266
267
  await this.request(Bno086Cmd.SensorReset, undefined, { okCompletes: true, timeoutMs });
267
- // Best-effort wait for the SH-2 executable reset-complete; it legitimately
268
- // never arrives on APP_BNO086_v0.95 (ERRATA E9), so resolve either way.
268
+ // Best-effort wait for the SH-2 executable reset-complete; older firmware
269
+ // (≤ v0.95) legitimately never sent it (ERRATA E9, now fixed in newer
270
+ // firmware) — the best-effort wait handles both, so resolve either way.
269
271
  let timer;
270
272
  const bestEffort = new Promise((resolve) => {
271
273
  timer = setTimeout(resolve, Math.min(timeoutMs, 500));