@depz/sensor-sdk 0.1.2 → 0.1.4

package/dist/sensors/vl53l4/uld.js

@@ -0,0 +1,504 @@
+/**
+ * VL53L4CD ULD driver (ST STSW-IMG026 2.2.3) over the register bridge.
+ *
+ * Port of `VL53L4CD_api.c` + `VL53L4CD_calibration.c` — a 1:1 async mirror of
+ * the Python reference `depz_sensor_sdk.vl53l4.uld` (itself absorbed from the
+ * firmware repo's hardware-proven port). The MCU owns nothing but the I2C
+ * bus, XSHUT, INT and one streaming FSM — every register sequence below goes
+ * over VL53_READ_REG / VL53_WRITE_REG (contracts/10_SENSOR_VL53L4.md §1).
+ *
+ * Register sequences are a faithful port of the C code, integer widths and
+ * 32-bit truncations included; do not "simplify" them. Pure codec/math pieces
+ * (`parseResultBlock`, `rangeTimingRegisters`, `decodeRangeTiming`,
+ * `configBlock`, the tuning codecs) are module functions so the golden
+ * vectors can hold them to byte-exact parity with the other SDKs.
+ */
+export const ULD_VERSION = [2, 2, 3, 0];
+// ── Registers (VL53L4CD_api.h) ───────────────────────────────────────────────
+export const SOFT_RESET = 0x0000;
+export const I2C_SLAVE__DEVICE_ADDRESS = 0x0001;
+/** Unnamed in the C driver. */
+export const OSC_FREQUENCY = 0x0006;
+export const VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND = 0x0008;
+export const XTALK_PLANE_OFFSET_KCPS = 0x0016;
+export const XTALK_X_PLANE_GRADIENT_KCPS = 0x0018;
+export const XTALK_Y_PLANE_GRADIENT_KCPS = 0x001a;
+export const RANGE_OFFSET_MM = 0x001e;
+export const INNER_OFFSET_MM = 0x0020;
+export const OUTER_OFFSET_MM = 0x0022;
+export const GPIO_HV_MUX__CTRL = 0x0030;
+export const GPIO__TIO_HV_STATUS = 0x0031;
+export const SYSTEM__INTERRUPT = 0x0046;
+export const RANGE_CONFIG_A = 0x005e;
+export const RANGE_CONFIG_B = 0x0061;
+export const RANGE_CONFIG__SIGMA_THRESH = 0x0064;
+export const MIN_COUNT_RATE_RTN_LIMIT_MCPS = 0x0066;
+export const INTERMEASUREMENT_MS = 0x006c;
+export const THRESH_HIGH = 0x0072;
+export const THRESH_LOW = 0x0074;
+export const SYSTEM__INTERRUPT_CLEAR = 0x0086;
+export const SYSTEM_START = 0x0087;
+export const RESULT__RANGE_STATUS = 0x0089;
+export const RESULT__SPAD_NB = 0x008c;
+export const RESULT__SIGNAL_RATE = 0x008e;
+export const RESULT__AMBIENT_RATE = 0x0090;
+export const RESULT__SIGMA = 0x0092;
+export const RESULT__DISTANCE = 0x0096;
+export const RESULT__OSC_CALIBRATE_VAL = 0x00de;
+export const FIRMWARE__SYSTEM_STATUS = 0x00e5;
+export const IDENTIFICATION__MODEL_ID = 0x010f;
+export const MODEL_ID_VL53L4CD = 0xebaa;
+// Detection-threshold window modes (SYSTEM__INTERRUPT).
+export const WINDOW_BELOW = 0;
+export const WINDOW_ABOVE = 1;
+export const WINDOW_OUT = 2;
+export const WINDOW_IN = 3;
+export const CONFIG_ADDR = 0x002d;
+export const CONFIG_END = 0x0087;
+/**
+ * VL53L4CD_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87.
+ * `configBlock()` always overrides byte 0 (register 0x2D) with
+ * CONFIG_FMP_BYTE (0x12) to put the sensor's I2C pad in Fast Mode Plus —
+ * exactly what VL53L4CD_I2C_FAST_MODE_PLUS does in the C ULD. FM+ pads work
+ * at every bus step down to 100 kHz, so it is set unconditionally and never
+ * cleared (clearing it mid-block NACKs and truncates the write).
+ */
+// prettier-ignore
+export const DEFAULT_CONFIGURATION = Uint8Array.from([
+    0x00, 0x00, 0x00, 0x11, 0x02, 0x00, 0x02, 0x08, // 0x2D..0x34
+    0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, // 0x35..0x3C
+    0x00, 0xff, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, // 0x3D..0x44
+    0x00, 0x20, 0x0b, 0x00, 0x00, 0x02, 0x14, 0x21, // 0x45..0x4C
+    0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xc8, // 0x4D..0x54
+    0x00, 0x00, 0x38, 0xff, 0x01, 0x00, 0x08, 0x00, // 0x55..0x5C
+    0x00, 0x01, 0xcc, 0x07, 0x01, 0xf1, 0x05, 0x00, // 0x5D..0x64
+    0xa0, 0x00, 0x80, 0x08, 0x38, 0x00, 0x00, 0x00, // 0x65..0x6C
+    0x00, 0x0f, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x6D..0x74
+    0x00, 0x00, 0x01, 0x07, 0x05, 0x06, 0x06, 0x00, // 0x75..0x7C
+    0x00, 0x02, 0xc7, 0xff, 0x9b, 0x00, 0x00, 0x00, // 0x7D..0x84
+    0x01, 0x00, 0x00, // 0x85..0x87
+]);
+export const CONFIG_FMP_BYTE = 0x12;
+// The block the MCU streams: RESULT__RANGE_STATUS .. 0x0099 — every field of
+// VL53L4CD_ResultsData_t in one read.
+export const RESULT_BLOCK_ADDR = RESULT__RANGE_STATUS;
+export const RESULT_BLOCK_LEN = 17;
+// The bridge boots at 400 kHz and an unconfigured sensor is only specified
+// for that speed, so init always runs its configuration block there. The bus
+// is left at I2C_KHZ_DEFAULT afterwards (the block read is ~4x faster at 1 MHz).
+export const I2C_KHZ_BOOT = 400;
+export const I2C_KHZ_DEFAULT = 1000;
+/** GetResult() raw status → ULD status (status_rtn[24] in VL53L4CD_api.c). */
+// prettier-ignore
+export const STATUS_RTN = [
+    255, 255, 255, 5, 2, 4, 1, 7, 3,
+    0, 255, 255, 9, 13, 255, 255, 255, 255, 10, 6,
+    255, 255, 11, 12,
+];
+/** UM2931, "Range status description". */
+export const RANGE_STATUS_NAMES = {
+    0: "valid",
+    1: "sigma above threshold",
+    2: "signal below threshold",
+    3: "distance below detection threshold",
+    4: "phase out of valid limit",
+    5: "hardware fail",
+    6: "no wrap-around check done",
+    7: "wrapped target, phase mismatch",
+    8: "processing fail",
+    9: "crosstalk signal fail",
+    10: "interrupt error",
+    11: "merged target",
+    12: "signal too low",
+    255: "other error",
+};
+export class Vl53l4cdError extends Error {
+    constructor(message) {
+        super(message);
+        this.name = "Vl53l4cdError";
+    }
+}
+/** Human-readable text for a decoded range status. */
+export function rangeStatusText(rangeStatus) {
+    return RANGE_STATUS_NAMES[rangeStatus] ?? `unknown (${rangeStatus})`;
+}
+/** Exact 32-bit truncation (`& 0xFFFFFFFF` in the Python reference). */
+function u32(x) {
+    return x >>> 0;
+}
+function beWord(raw, off) {
+    return ((raw[off] << 8) | raw[off + 1]) & 0xffff;
+}
+/**
+ * Decode the streamed 0x0089..0x0099 block exactly as VL53L4CD_GetResult()
+ * decodes the same registers read one by one. Register contents are
+ * big-endian words (the bridge passes them through untouched).
+ */
+export function parseResultBlock(raw) {
+    if (raw.length < 15) {
+        throw new Vl53l4cdError(`result block too short: ${raw.length} bytes`);
+    }
+    let status = raw[0] & 0x1f;
+    if (status < STATUS_RTN.length) {
+        status = STATUS_RTN[status];
+    }
+    const rawSpads = beWord(raw, 3); // 0x008C
+    const signalKcps = beWord(raw, 5) * 8; // 0x008E
+    const ambientKcps = beWord(raw, 7) * 8; // 0x0090
+    return {
+        rangeStatus: status,
+        streamCount: raw[2],
+        numberOfSpad: Math.floor(rawSpads / 256),
+        signalRateKcps: signalKcps,
+        ambientRateKcps: ambientKcps,
+        sigmaMm: Math.floor(beWord(raw, 9) / 4), // 0x0092
+        distanceMm: beWord(raw, 13), // 0x0096
+        signalPerSpadKcps: rawSpads !== 0 ? Math.floor((signalKcps * 256) / rawSpads) : 0,
+        ambientPerSpadKcps: rawSpads !== 0 ? Math.floor((ambientKcps * 256) / rawSpads) : 0,
+    };
+}
+/**
+ * The 91-byte block sensorInit() writes at CONFIG_ADDR: the ST default
+ * configuration with byte 0 forced to CONFIG_FMP_BYTE (Fast Mode Plus).
+ */
+export function configBlock() {
+    const out = DEFAULT_CONFIGURATION.slice();
+    out[0] = CONFIG_FMP_BYTE;
+    return out;
+}
+/**
+ * SetRangeTiming register math → RANGE_CONFIG_A, RANGE_CONFIG_B and the
+ * INTERMEASUREMENT_MS raw dword.
+ *
+ * `oscFrequency` is the word read from 0x0006; `clockPll` is the word read
+ * from RESULT__OSC_CALIBRATE_VAL (used only in autonomous mode, i.e. when
+ * `interMeasurementMs > 0`).
+ */
+export function rangeTimingRegisters(timingBudgetMs, interMeasurementMs, oscFrequency, clockPll = 0) {
+    if (oscFrequency === 0)
+        throw new Vl53l4cdError("oscFrequency reads 0");
+    if (!(timingBudgetMs >= 10 && timingBudgetMs <= 200)) {
+        throw new Vl53l4cdError("timingBudgetMs must be 10..200");
+    }
+    let timingBudgetUs = timingBudgetMs * 1000;
+    const macroPeriodUs = u32(2304 * Math.floor(0x40000000 / oscFrequency)) >>> 6;
+    let intermeasurementRaw;
+    if (interMeasurementMs === 0) {
+        // continuous
+        intermeasurementRaw = 0;
+        timingBudgetUs -= 2500;
+    }
+    else if (interMeasurementMs > timingBudgetMs) {
+        // autonomous low power (1.055 is a frozen double-precision PLL factor)
+        intermeasurementRaw = Math.floor(1.055 * interMeasurementMs * (clockPll & 0x3ff));
+        timingBudgetUs = Math.floor((timingBudgetUs - 4300) / 2);
+    }
+    else {
+        throw new Vl53l4cdError("interMeasurementMs must be 0 or > timingBudgetMs");
+    }
+    timingBudgetUs = u32(timingBudgetUs * 4096); // (x << 12) & 0xFFFFFFFF
+    const words = [];
+    for (const mult of [16, 12]) {
+        // RANGE_CONFIG_A, RANGE_CONFIG_B
+        const tmp = u32(macroPeriodUs * mult) >>> 6;
+        let lsByte = Math.floor((timingBudgetUs + (tmp >>> 1)) / tmp) - 1;
+        let msByte = 0;
+        while (lsByte > 0xff) {
+            // ls_byte & 0xFFFFFF00 in the reference (lsByte is non-negative here)
+            lsByte = Math.floor(lsByte / 2);
+            msByte += 1;
+        }
+        words.push(((msByte << 8) + (lsByte & 0xff)) & 0xffff);
+    }
+    return { rangeConfigA: words[0], rangeConfigB: words[1], intermeasurementRaw };
+}
+/**
+ * GetRangeTiming register math → timing budget and inter-measurement period.
+ *
+ * Inputs are the raw register reads: INTERMEASUREMENT_MS dword, the
+ * RESULT__OSC_CALIBRATE_VAL word, the 0x0006 word and the RANGE_CONFIG_A
+ * word.
+ */
+export function decodeRangeTiming(intermeasurementRaw, clockPll, oscFrequency, rangeConfigA) {
+    if (oscFrequency === 0)
+        throw new Vl53l4cdError("oscFrequency reads 0");
+    // 1.065 is a frozen double-precision PLL factor.
+    const pll = Math.floor(1.065 * (clockPll & 0x3ff)) & 0xffff;
+    const interMeasurementMs = pll !== 0 ? Math.floor(intermeasurementRaw / pll) & 0xffff : 0;
+    let macroPeriodUs = u32(2304 * Math.floor(0x40000000 / oscFrequency)) >>> 6;
+    const lsByte = (rangeConfigA & 0x00ff) << 4;
+    let msByte = (rangeConfigA & 0xff00) >> 8;
+    msByte = u32(0x04 - (msByte - 1) - 1);
+    macroPeriodUs = u32(macroPeriodUs * 16);
+    const sub = macroPeriodUs >>> 6;
+    let budget = u32((lsByte + 1) * sub - (sub >>> 1)) >>> 12;
+    if (msByte < 12)
+        budget >>= msByte;
+    budget = intermeasurementRaw === 0 ? budget + 2500 : budget * 2 + 4300;
+    return { timingBudgetMs: Math.floor(budget / 1000), interMeasurementMs };
+}
+// ── Threshold / offset / xtalk raw codecs (register word ↔ user units) ───────
+/** RANGE_OFFSET_MM word for setOffset (INNER/OUTER are zeroed alongside). */
+export function offsetRaw(offsetMm) {
+    return (offsetMm * 4) & 0xffff;
+}
+/** getOffset: RANGE_OFFSET_MM word → signed millimetres. */
+export function decodeOffset(rawWord) {
+    const temp = ((rawWord << 3) & 0xffff) >> 5;
+    return temp > 1024 ? temp - 2048 : temp;
+}
+/** XTALK_PLANE_OFFSET_KCPS word for setXtalk. */
+export function xtalkRaw(xtalkKcps) {
+    return (xtalkKcps << 9) & 0xffff;
+}
+/** getXtalk: XTALK_PLANE_OFFSET_KCPS word → kcps. */
+export function decodeXtalk(rawWord) {
+    return roundHalfEven(rawWord / 512.0);
+}
+export function signalThresholdRaw(signalKcps) {
+    return signalKcps >> 3;
+}
+export function decodeSignalThreshold(rawWord) {
+    return (rawWord << 3) & 0xffff;
+}
+export function sigmaThresholdRaw(sigmaMm) {
+    if (sigmaMm > 0xffff >> 2) {
+        throw new Vl53l4cdError("sigmaMm must be <= 16383");
+    }
+    return sigmaMm << 2;
+}
+export function decodeSigmaThreshold(rawWord) {
+    return rawWord >> 2;
+}
+/**
+ * Python's banker's rounding (`round()`): exact .5 goes to the nearest even
+ * integer. Keeps the codecs bit-identical to the reference.
+ */
+function roundHalfEven(x) {
+    const r = Math.round(x);
+    return Math.abs(x % 1) === 0.5 && r % 2 !== 0 ? r - 1 : r;
+}
+/** Port of VL53L4CD_api.c + VL53L4CD_calibration.c (ULD 2.2.3). */
+export class VL53L4CD {
+    p;
+    constructor(p) {
+        this.p = p;
+    }
+    // ── register access helpers (16-bit addr, big-endian contents) ─────────────
+    async rdByte(addr) {
+        return (await this.p.rdMulti(addr, 1))[0];
+    }
+    async rdWord(addr) {
+        const b = await this.p.rdMulti(addr, 2);
+        return ((b[0] << 8) | b[1]) & 0xffff;
+    }
+    async rdDword(addr) {
+        const b = await this.p.rdMulti(addr, 4);
+        return ((b[0] << 24) | (b[1] << 16) | (b[2] << 8) | b[3]) >>> 0;
+    }
+    async wrByte(addr, value) {
+        await this.p.wrMulti(addr, Uint8Array.of(value & 0xff));
+    }
+    async wrWord(addr, value) {
+        await this.p.wrMulti(addr, Uint8Array.of((value >> 8) & 0xff, value & 0xff));
+    }
+    async wrDword(addr, value) {
+        await this.p.wrMulti(addr, Uint8Array.of((value >>> 24) & 0xff, (value >>> 16) & 0xff, (value >>> 8) & 0xff, value & 0xff));
+    }
+    // ── identity ───────────────────────────────────────────────────────────────
+    getSensorId() {
+        return this.rdWord(IDENTIFICATION__MODEL_ID);
+    }
+    async isAlive() {
+        return (await this.getSensorId()) === MODEL_ID_VL53L4CD;
+    }
+    // ── init ───────────────────────────────────────────────────────────────────
+    async waitBoot(timeoutMs = 1000) {
+        for (let i = 0; i < Math.max(1, timeoutMs); i++) {
+            if ((await this.rdByte(FIRMWARE__SYSTEM_STATUS)) === 0x03)
+                return;
+            await this.p.sleepMs(1);
+        }
+        throw new Vl53l4cdError("timeout waiting for FIRMWARE__SYSTEM_STATUS == 0x03");
+    }
+    /**
+     * Initialise the sensor and leave the bus at `busKhz`.
+     *
+     * The configuration block is written at I2C_KHZ_BOOT (400 kHz) because that
+     * is the only speed an unconfigured sensor is specified for; the bridge is
+     * re-timed to `busKhz` after it. A sensor reset just re-runs this whole
+     * sequence.
+     */
+    async sensorInit(busKhz = I2C_KHZ_DEFAULT) {
+        await this.p.setI2cSpeed(I2C_KHZ_BOOT);
+        await this.waitBoot();
+        // The C driver writes the 91 bytes one register at a time; the sensor
+        // auto-increments, so one transaction does the same job.
+        await this.p.wrMulti(CONFIG_ADDR, configBlock());
+        if (busKhz !== I2C_KHZ_BOOT) {
+            await this.p.setI2cSpeed(busKhz);
+        }
+        await this.wrByte(SYSTEM_START, 0x40); // start VHV
+        await this.waitDataReady();
+        await this.clearInterrupt();
+        await this.stopRanging();
+        await this.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09);
+        await this.wrByte(0x000b, 0x00);
+        await this.wrWord(0x0024, 0x0500);
+        await this.setRangeTiming(50, 0);
+    }
+    // ── ranging ────────────────────────────────────────────────────────────────
+    async clearInterrupt() {
+        await this.wrByte(SYSTEM__INTERRUPT_CLEAR, 0x01);
+    }
+    async startRanging() {
+        // 0 = continuous, anything else = autonomous low power.
+        const mode = (await this.rdDword(INTERMEASUREMENT_MS)) === 0 ? 0x21 : 0x40;
+        await this.wrByte(SYSTEM_START, mode);
+    }
+    async stopRanging() {
+        await this.wrByte(SYSTEM_START, 0x80);
+    }
+    async checkForDataReady() {
+        const intPol = (((await this.rdByte(GPIO_HV_MUX__CTRL)) & 0x10) >> 4) === 1 ? 0 : 1;
+        return ((await this.rdByte(GPIO__TIO_HV_STATUS)) & 1) === intPol;
+    }
+    async waitDataReady(timeoutMs = 1000) {
+        for (let i = 0; i < Math.max(1, timeoutMs); i++) {
+            if (await this.checkForDataReady())
+                return;
+            await this.p.sleepMs(1);
+        }
+        throw new Vl53l4cdError("timeout waiting for data ready");
+    }
+    /**
+     * One block read instead of the C driver's six register reads — the sensor
+     * auto-increments and the decoding is identical.
+     */
+    async getResult() {
+        return parseResultBlock(await this.p.rdMulti(RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN));
+    }
+    // ── timing ─────────────────────────────────────────────────────────────────
+    async setRangeTiming(timingBudgetMs, interMeasurementMs) {
+        const clockPll = interMeasurementMs > 0 ? await this.rdWord(RESULT__OSC_CALIBRATE_VAL) : 0;
+        const { rangeConfigA, rangeConfigB, intermeasurementRaw } = rangeTimingRegisters(timingBudgetMs, interMeasurementMs, await this.rdWord(OSC_FREQUENCY), clockPll);
+        await this.wrDword(INTERMEASUREMENT_MS, intermeasurementRaw);
+        await this.wrWord(RANGE_CONFIG_A, rangeConfigA);
+        await this.wrWord(RANGE_CONFIG_B, rangeConfigB);
+    }
+    async getRangeTiming() {
+        return decodeRangeTiming(await this.rdDword(INTERMEASUREMENT_MS), await this.rdWord(RESULT__OSC_CALIBRATE_VAL), await this.rdWord(OSC_FREQUENCY), await this.rdWord(RANGE_CONFIG_A));
+    }
+    // ── offset ─────────────────────────────────────────────────────────────────
+    async setOffset(offsetMm) {
+        await this.wrWord(RANGE_OFFSET_MM, offsetRaw(offsetMm));
+        await this.wrWord(INNER_OFFSET_MM, 0);
+        await this.wrWord(OUTER_OFFSET_MM, 0);
+    }
+    async getOffset() {
+        return decodeOffset(await this.rdWord(RANGE_OFFSET_MM));
+    }
+    // ── crosstalk ──────────────────────────────────────────────────────────────
+    async setXtalk(xtalkKcps) {
+        await this.wrWord(XTALK_X_PLANE_GRADIENT_KCPS, 0x0000);
+        await this.wrWord(XTALK_Y_PLANE_GRADIENT_KCPS, 0x0000);
+        await this.wrWord(XTALK_PLANE_OFFSET_KCPS, xtalkRaw(xtalkKcps));
+    }
+    async getXtalk() {
+        return decodeXtalk(await this.rdWord(XTALK_PLANE_OFFSET_KCPS));
+    }
+    // ── thresholds ─────────────────────────────────────────────────────────────
+    async setDetectionThresholds(distanceLowMm, distanceHighMm, window) {
+        await this.wrByte(SYSTEM__INTERRUPT, window);
+        await this.wrWord(THRESH_HIGH, distanceHighMm);
+        await this.wrWord(THRESH_LOW, distanceLowMm);
+    }
+    async getDetectionThresholds() {
+        const distanceHighMm = await this.rdWord(THRESH_HIGH);
+        const distanceLowMm = await this.rdWord(THRESH_LOW);
+        const window = (await this.rdByte(SYSTEM__INTERRUPT)) & 0x07;
+        return { distanceLowMm, distanceHighMm, window };
+    }
+    async setSignalThreshold(signalKcps) {
+        await this.wrWord(MIN_COUNT_RATE_RTN_LIMIT_MCPS, signalThresholdRaw(signalKcps));
+    }
+    async getSignalThreshold() {
+        return decodeSignalThreshold(await this.rdWord(MIN_COUNT_RATE_RTN_LIMIT_MCPS));
+    }
+    async setSigmaThreshold(sigmaMm) {
+        await this.wrWord(RANGE_CONFIG__SIGMA_THRESH, sigmaThresholdRaw(sigmaMm));
+    }
+    async getSigmaThreshold() {
+        return decodeSigmaThreshold(await this.rdWord(RANGE_CONFIG__SIGMA_THRESH));
+    }
+    // ── temperature ────────────────────────────────────────────────────────────
+    /** Recommended after a >8 °C ambient change (ST Example_3). */
+    async startTemperatureUpdate() {
+        await this.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x81);
+        await this.wrByte(0x000b, 0x92);
+        await this.startRanging();
+        await this.waitDataReady();
+        await this.clearInterrupt();
+        await this.stopRanging();
+        await this.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09);
+        await this.wrByte(0x000b, 0x00);
+    }
+    // ── calibration (VL53L4CD_calibration.c) ───────────────────────────────────
+    /**
+     * The ranging loop both calibrations share: data-ready, getResult,
+     * clearInterrupt, `nbSamples` times.
+     */
+    async collect(nbSamples, onSample, timeoutMs = 5000) {
+        await this.startRanging();
+        for (let i = 0; i < nbSamples; i++) {
+            await this.waitDataReady(timeoutMs);
+            const result = await this.getResult();
+            await this.clearInterrupt();
+            onSample(i, result);
+        }
+        await this.stopRanging();
+    }
+    async calibrateOffset(targetDistMm, nbSamples = 20) {
+        if (!(nbSamples >= 5 && nbSamples <= 255) || !(targetDistMm >= 10 && targetDistMm <= 1000)) {
+            throw new Vl53l4cdError("nbSamples must be 5..255, target 10..1000 mm");
+        }
+        await this.wrWord(RANGE_OFFSET_MM, 0);
+        await this.wrWord(INNER_OFFSET_MM, 0);
+        await this.wrWord(OUTER_OFFSET_MM, 0);
+        await this.collect(10, () => undefined); // device heat loop
+        const distances = [];
+        await this.collect(nbSamples, (_i, r) => distances.push(r.distanceMm));
+        const sum = distances.reduce((a, b) => a + b, 0);
+        const offsetMm = targetDistMm - Math.floor(sum / nbSamples);
+        await this.wrWord(RANGE_OFFSET_MM, offsetRaw(offsetMm));
+        return offsetMm;
+    }
+    async calibrateXtalk(targetDistMm, nbSamples = 20) {
+        if (!(nbSamples >= 5 && nbSamples <= 255) || !(targetDistMm >= 10 && targetDistMm <= 5000)) {
+            throw new Vl53l4cdError("nbSamples must be 5..255, target 10..5000 mm");
+        }
+        await this.wrWord(XTALK_PLANE_OFFSET_KCPS, 0); // disable compensation
+        await this.collect(10, () => undefined); // device heat loop
+        const samples = [];
+        await this.collect(nbSamples, (i, r) => {
+            // Discard invalid measurements and the first frame.
+            if (r.rangeStatus === 0 && i > 0)
+                samples.push(r);
+        });
+        if (samples.length === 0) {
+            throw new Vl53l4cdError("xtalk calibration failed: no valid samples");
+        }
+        const n = samples.length;
+        const avgDistance = samples.reduce((a, s) => a + s.distanceMm, 0) / n;
+        const avgSpadNb = samples.reduce((a, s) => a + s.numberOfSpad, 0) / n;
+        const avgSignal = samples.reduce((a, s) => a + s.signalRateKcps, 0) / n;
+        const tmpXtalk = (1.0 - avgDistance / targetDistMm) * (avgSignal / avgSpadNb);
+        if (tmpXtalk > 127) {
+            // 127 kcps is the max xtalk value (65536/512)
+            throw new Vl53l4cdError(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
+        }
+        await this.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
+        return roundHalfEven(tmpXtalk);
+    }
+}
+//# sourceMappingURL=uld.js.map

package/dist/sensors/vl53l4/uld.js.map

@@ -0,0 +1 @@
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