@depz/sensor-sdk 0.1.2 → 0.1.4

package/dist/sensors/vl53l4/vl53l4.d.ts

@@ -0,0 +1,195 @@
+/**
+ * VL53L4CD ToF sensor: host-side ULD over the firmware register bridge.
+ *
+ * The MCU is a thin I2C bridge (contracts/10): the full ST ULD 2.2.3 driver
+ * runs here on the host (`uld.ts`). Result streaming is INT-driven push from
+ * the device — one 17-byte result block per RPT_VL53_STREAM, no reassembly
+ * needed.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l4.Vl53l4Cd`.
+ */
+import { DepzDevice, StreamQueue, type DeviceOptions } from "../../device/device.js";
+import type { PacketEvent } from "../../protocol/framing.js";
+import { type Vl53l4Info } from "../../protocol/vl53l4.js";
+import type { SerialTransport } from "../../transport/types.js";
+import { VL53L4CD, type RangeTiming } from "./uld.js";
+/** One decoded ranging result (VL53L4CD_ResultsData_t + MCU timestamp). */
+export interface Vl53l4Measurement {
+    /** MCU uptime at the INT edge (stream) / read (poll). */
+    timestampUs: bigint;
+    /** 0 = valid (RANGE_STATUS_NAMES). */
+    rangeStatus: number;
+    distanceMm: number;
+    sigmaMm: number;
+    signalRateKcps: number;
+    ambientRateKcps: number;
+    signalPerSpadKcps: number;
+    ambientPerSpadKcps: number;
+    numberOfSpad: number;
+    /** Sensor frame counter, wraps at 255. */
+    streamCount: number;
+    /** rangeStatus === 0. */
+    valid: boolean;
+    /** Human-readable range status. */
+    statusText: string;
+}
+export interface Vl53l4Options extends DeviceOptions {
+    /** ULD sleep implementation (tests inject an instant one). */
+    sleepImpl?: (ms: number) => Promise<void>;
+}
+/**
+ * VL53L4CD single-zone ToF device.
+ *
+ * `init()` runs the ULD boot sequence (no firmware blob — the sensor carries
+ * its own), then configure and `startRanging()`. Configuration methods must
+ * not be called while ranging: the INT-driven stream owns the register bank
+ * (contract 10). Measurements stream via callbacks (`onMeasurement`) and/or
+ * the pull iterator (`measurements()`).
+ */
+export declare class Vl53l4Cd extends DepzDevice {
+    private readonly uldDriver;
+    private measureCbs;
+    private measureQueues;
+    private rangingFlag;
+    private initializedFlag;
+    private streamParseErrorCount;
+    /** MCU timestamp of the latest register read (poll-mode measurements). */
+    private lastRegTimestampUs;
+    private readonly sleepImpl;
+    /** ULD `platform` object mapped onto the firmware register bridge. */
+    private readonly platform;
+    constructor(transport: SerialTransport, opts?: Vl53l4Options);
+    /** The underlying ULD driver (escape hatch for raw register access). */
+    get uld(): VL53L4CD;
+    /**
+     * True after a successful init(). Cleared by resetSensor() and xshut() — a
+     * power-cycled sensor holds none of the ULD configuration.
+     */
+    get initialized(): boolean;
+    /** True when the sensor answers with the VL53L4CD model id (0xEBAA). */
+    isAlive(): Promise<boolean>;
+    /**
+     * Initialise the sensor: default configuration block + VHV calibration
+     * (ULD sensorInit). Takes well under a second; the bus is left at `busKhz`
+     * (one of I2C_KHZ_STEPS).
+     */
+    init(busKhz?: number): Promise<void>;
+    /**
+     * Drive the XSHUT pin: XSHUT_OFF / XSHUT_ON / XSHUT_RESET. OFF and RESET
+     * stop any active stream on the bridge; a power-cycled sensor needs init()
+     * again.
+     */
+    xshut(action: number): Promise<void>;
+    /**
+     * Hardware sensor reset via XSHUT (blocks ~3 ms on the MCU). The ULD
+     * configuration is wiped — call init() again.
+     */
+    resetSensor(): Promise<void>;
+    /**
+     * RPT_VL53_INFO: sensor identity, pin levels and bridge counters. Counters
+     * are free-running (wrap silently) — watch increments. Safe to call while
+     * streaming.
+     */
+    bridgeInfo(): Promise<Vl53l4Info>;
+    /**
+     * Re-time the bridge's I2C bus to the nominal step nearest `khz`
+     * (I2C_KHZ_STEPS). Not while ranging — re-timing refuses a transfer in
+     * flight (ERR_BUSY). Read back the programmed step via bridgeInfo().
+     */
+    setI2cSpeedKhz(khz: number): Promise<void>;
+    /**
+     * → { timingBudgetMs, interMeasurementMs }. interMeasurement 0 means
+     * continuous mode.
+     */
+    getRangeTiming(): Promise<RangeTiming>;
+    /**
+     * Set the timing budget (10–200 ms) and inter-measurement period.
+     * `interMeasurementMs = 0` selects continuous ranging; a value larger than
+     * the budget selects autonomous low-power mode. Not while ranging.
+     */
+    setRangeTiming(timingBudgetMs: number, interMeasurementMs?: number): Promise<void>;
+    /** Configured ranging offset in mm (signed). */
+    getOffsetMm(): Promise<number>;
+    /** Set the ranging offset correction in mm. Not while ranging. */
+    setOffsetMm(offsetMm: number): Promise<void>;
+    /** Configured crosstalk compensation in kcps (0 = disabled). */
+    getXtalkKcps(): Promise<number>;
+    /** Set the crosstalk compensation in kcps. Not while ranging. */
+    setXtalkKcps(xtalkKcps: number): Promise<void>;
+    /**
+     * → { distanceLowMm, distanceHighMm, window }. Window is one of
+     * WINDOW_BELOW / WINDOW_ABOVE / WINDOW_OUT / WINDOW_IN.
+     */
+    getDetectionThresholds(): Promise<{
+        distanceLowMm: number;
+        distanceHighMm: number;
+        window: number;
+    }>;
+    /**
+     * Program the distance-window interrupt (INT only fires when the window
+     * condition holds). Not while ranging.
+     */
+    setDetectionThresholds(distanceLowMm: number, distanceHighMm: number, window: number): Promise<void>;
+    getSignalThresholdKcps(): Promise<number>;
+    /**
+     * Discard measurements whose return signal is below `signalKcps`. Not
+     * while ranging.
+     */
+    setSignalThresholdKcps(signalKcps: number): Promise<void>;
+    getSigmaThresholdMm(): Promise<number>;
+    /**
+     * Discard measurements whose sigma exceeds `sigmaMm` (≤ 16383). Not while
+     * ranging.
+     */
+    setSigmaThresholdMm(sigmaMm: number): Promise<void>;
+    /**
+     * Re-run VHV calibration; recommended after a >8 °C ambient change. Not
+     * while ranging (runs a short ranging burst internally).
+     */
+    startTemperatureUpdate(): Promise<void>;
+    /**
+     * Offset calibration against a target at `targetDistMm` (10–1000). Blocks
+     * for the sample burst; returns the offset now programmed.
+     */
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /**
+     * Crosstalk calibration against a target at `targetDistMm` (10–5000).
+     * Blocks for the sample burst; returns the xtalk now programmed (kcps).
+     */
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /**
+     * Start the sensor's ranging loop and arm the MCU stream: one
+     * RPT_VL53_STREAM per INT edge carrying the 17-byte result block.
+     */
+    startRanging(): Promise<void>;
+    stopRanging(): Promise<void>;
+    get ranging(): boolean;
+    /**
+     * Single poll-mode measurement: start ranging, wait for data-ready, read
+     * the result block, stop. Rejects while the stream is running.
+     */
+    measureOnce(timeoutMs?: number): Promise<Vl53l4Measurement>;
+    /**
+     * Subscribe to streamed measurements (read-pump context; don't block).
+     * Returns an unsubscribe function.
+     */
+    onMeasurement(cb: (m: Vl53l4Measurement) => void): () => void;
+    /**
+     * Async iterator over measurements — bounded, drop-oldest (contract 07
+     * §3). The returned queue exposes `droppedCount`; it ends when the device
+     * closes or the consumer breaks out of iteration.
+     */
+    measurements(maxsize?: number): StreamQueue<Vl53l4Measurement>;
+    /** Convenience: wait for the next streamed measurement. */
+    getMeasurement(timeoutMs?: number): Promise<Vl53l4Measurement>;
+    /**
+     * Stream reports dropped because the result block failed to decode (short
+     * block from a reconfigured stream, corrupt read).
+     */
+    get streamParseErrors(): number;
+    /** Drop counters of all live measurement queues (diagnostics). */
+    get streamDroppedCounts(): number[];
+    protected requireNotRanging(): void;
+    protected handleReport(pkt: PacketEvent): boolean;
+}
+//# sourceMappingURL=vl53l4.d.ts.map

package/dist/sensors/vl53l4/vl53l4.d.ts.map

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package/dist/sensors/vl53l4/vl53l4.js

@@ -0,0 +1,399 @@
+/**
+ * VL53L4CD ToF sensor: host-side ULD over the firmware register bridge.
+ *
+ * The MCU is a thin I2C bridge (contracts/10): the full ST ULD 2.2.3 driver
+ * runs here on the host (`uld.ts`). Result streaming is INT-driven push from
+ * the device — one 17-byte result block per RPT_VL53_STREAM, no reassembly
+ * needed.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l4.Vl53l4Cd`.
+ */
+import { DepzDevice, StreamQueue } from "../../device/device.js";
+import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { Vl53l4Cmd, Vl53l4Rpt, XFER_MAX, XSHUT_RESET, packReadReg, packSetI2cSpeed, packStartStream, packWriteReg, packXshut, unpackInfo, unpackRegData, unpackStream, } from "../../protocol/vl53l4.js";
+import { I2C_KHZ_DEFAULT, RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN, VL53L4CD, Vl53l4cdError, parseResultBlock, rangeStatusText, } from "./uld.js";
+function measurementFromResults(timestampUs, r) {
+    return {
+        timestampUs,
+        rangeStatus: r.rangeStatus,
+        distanceMm: r.distanceMm,
+        sigmaMm: r.sigmaMm,
+        signalRateKcps: r.signalRateKcps,
+        ambientRateKcps: r.ambientRateKcps,
+        signalPerSpadKcps: r.signalPerSpadKcps,
+        ambientPerSpadKcps: r.ambientPerSpadKcps,
+        numberOfSpad: r.numberOfSpad,
+        streamCount: r.streamCount,
+        valid: r.rangeStatus === 0,
+        statusText: rangeStatusText(r.rangeStatus),
+    };
+}
+/**
+ * VL53L4CD single-zone ToF device.
+ *
+ * `init()` runs the ULD boot sequence (no firmware blob — the sensor carries
+ * its own), then configure and `startRanging()`. Configuration methods must
+ * not be called while ranging: the INT-driven stream owns the register bank
+ * (contract 10). Measurements stream via callbacks (`onMeasurement`) and/or
+ * the pull iterator (`measurements()`).
+ */
+export class Vl53l4Cd extends DepzDevice {
+    uldDriver;
+    measureCbs = [];
+    measureQueues = [];
+    rangingFlag = false;
+    initializedFlag = false;
+    streamParseErrorCount = 0;
+    /** MCU timestamp of the latest register read (poll-mode measurements). */
+    lastRegTimestampUs = 0n;
+    sleepImpl;
+    /** ULD `platform` object mapped onto the firmware register bridge. */
+    platform = {
+        rdMulti: async (addr, size) => {
+            const out = new Uint8Array(size);
+            let off = 0;
+            while (size > 0) {
+                const n = Math.min(size, XFER_MAX);
+                const rep = await this.request(Vl53l4Cmd.ReadReg, packReadReg(addr, n), {
+                    matcher: DepzDevice.expectReport(Vl53l4Rpt.RegData, unpackRegData),
+                    timeoutMs: 2000,
+                });
+                if (rep.data.length !== n) {
+                    throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
+                        `expected ${n}, got ${rep.data.length}`);
+                }
+                this.lastRegTimestampUs = rep.timestampUs;
+                out.set(rep.data, off);
+                off += n;
+                addr += n;
+                size -= n;
+            }
+            return out;
+        },
+        wrMulti: async (addr, data) => {
+            let done = 0;
+            while (done < data.length) {
+                const chunk = data.subarray(done, done + XFER_MAX);
+                await this.request(Vl53l4Cmd.WriteReg, packWriteReg(addr, chunk), {
+                    okCompletes: true,
+                    timeoutMs: 2000,
+                });
+                addr += chunk.length;
+                done += chunk.length;
+            }
+        },
+        setI2cSpeed: async (khz) => {
+            await this.request(Vl53l4Cmd.SetI2cSpeed, packSetI2cSpeed(khz), { okCompletes: true });
+        },
+        sleepMs: (ms) => this.sleepImpl(ms),
+    };
+    constructor(transport, opts) {
+        super(transport, opts);
+        this.sleepImpl = opts?.sleepImpl ?? ((ms) => new Promise((r) => setTimeout(r, ms)));
+        this.uldDriver = new VL53L4CD(this.platform);
+    }
+    // ── lifecycle ──────────────────────────────────────────────────────────────
+    /** The underlying ULD driver (escape hatch for raw register access). */
+    get uld() {
+        return this.uldDriver;
+    }
+    /**
+     * True after a successful init(). Cleared by resetSensor() and xshut() — a
+     * power-cycled sensor holds none of the ULD configuration.
+     */
+    get initialized() {
+        return this.initializedFlag;
+    }
+    /** True when the sensor answers with the VL53L4CD model id (0xEBAA). */
+    async isAlive() {
+        try {
+            return await this.uldDriver.isAlive();
+        }
+        catch (err) {
+            if (err instanceof Vl53l4cdError || err instanceof DepzError)
+                return false;
+            throw err;
+        }
+    }
+    /**
+     * Initialise the sensor: default configuration block + VHV calibration
+     * (ULD sensorInit). Takes well under a second; the bus is left at `busKhz`
+     * (one of I2C_KHZ_STEPS).
+     */
+    async init(busKhz = I2C_KHZ_DEFAULT) {
+        this.requireNotRanging();
+        await this.uldDriver.sensorInit(busKhz);
+        this.initializedFlag = true;
+    }
+    // ── sensor power (XSHUT pin) ───────────────────────────────────────────────
+    /**
+     * Drive the XSHUT pin: XSHUT_OFF / XSHUT_ON / XSHUT_RESET. OFF and RESET
+     * stop any active stream on the bridge; a power-cycled sensor needs init()
+     * again.
+     */
+    async xshut(action) {
+        const timeoutMs = action === XSHUT_RESET ? 2000 : undefined;
+        await this.request(Vl53l4Cmd.Xshut, packXshut(action), { okCompletes: true, timeoutMs });
+        this.rangingFlag = false;
+        this.initializedFlag = false;
+    }
+    /**
+     * Hardware sensor reset via XSHUT (blocks ~3 ms on the MCU). The ULD
+     * configuration is wiped — call init() again.
+     */
+    async resetSensor() {
+        await this.xshut(XSHUT_RESET);
+    }
+    // ── bridge diagnostics ─────────────────────────────────────────────────────
+    /**
+     * RPT_VL53_INFO: sensor identity, pin levels and bridge counters. Counters
+     * are free-running (wrap silently) — watch increments. Safe to call while
+     * streaming.
+     */
+    bridgeInfo() {
+        return this.request(Vl53l4Cmd.GetInfo, undefined, {
+            matcher: DepzDevice.expectReport(Vl53l4Rpt.Info, unpackInfo),
+        });
+    }
+    /**
+     * Re-time the bridge's I2C bus to the nominal step nearest `khz`
+     * (I2C_KHZ_STEPS). Not while ranging — re-timing refuses a transfer in
+     * flight (ERR_BUSY). Read back the programmed step via bridgeInfo().
+     */
+    async setI2cSpeedKhz(khz) {
+        this.requireNotRanging();
+        await this.platform.setI2cSpeed(khz);
+    }
+    // ── configuration (init() first; not while ranging) ────────────────────────
+    /**
+     * → { timingBudgetMs, interMeasurementMs }. interMeasurement 0 means
+     * continuous mode.
+     */
+    getRangeTiming() {
+        return this.uldDriver.getRangeTiming();
+    }
+    /**
+     * Set the timing budget (10–200 ms) and inter-measurement period.
+     * `interMeasurementMs = 0` selects continuous ranging; a value larger than
+     * the budget selects autonomous low-power mode. Not while ranging.
+     */
+    async setRangeTiming(timingBudgetMs, interMeasurementMs = 0) {
+        this.requireNotRanging();
+        await this.uldDriver.setRangeTiming(timingBudgetMs, interMeasurementMs);
+    }
+    /** Configured ranging offset in mm (signed). */
+    getOffsetMm() {
+        return this.uldDriver.getOffset();
+    }
+    /** Set the ranging offset correction in mm. Not while ranging. */
+    async setOffsetMm(offsetMm) {
+        this.requireNotRanging();
+        await this.uldDriver.setOffset(offsetMm);
+    }
+    /** Configured crosstalk compensation in kcps (0 = disabled). */
+    getXtalkKcps() {
+        return this.uldDriver.getXtalk();
+    }
+    /** Set the crosstalk compensation in kcps. Not while ranging. */
+    async setXtalkKcps(xtalkKcps) {
+        this.requireNotRanging();
+        await this.uldDriver.setXtalk(xtalkKcps);
+    }
+    /**
+     * → { distanceLowMm, distanceHighMm, window }. Window is one of
+     * WINDOW_BELOW / WINDOW_ABOVE / WINDOW_OUT / WINDOW_IN.
+     */
+    getDetectionThresholds() {
+        return this.uldDriver.getDetectionThresholds();
+    }
+    /**
+     * Program the distance-window interrupt (INT only fires when the window
+     * condition holds). Not while ranging.
+     */
+    async setDetectionThresholds(distanceLowMm, distanceHighMm, window) {
+        this.requireNotRanging();
+        await this.uldDriver.setDetectionThresholds(distanceLowMm, distanceHighMm, window);
+    }
+    getSignalThresholdKcps() {
+        return this.uldDriver.getSignalThreshold();
+    }
+    /**
+     * Discard measurements whose return signal is below `signalKcps`. Not
+     * while ranging.
+     */
+    async setSignalThresholdKcps(signalKcps) {
+        this.requireNotRanging();
+        await this.uldDriver.setSignalThreshold(signalKcps);
+    }
+    getSigmaThresholdMm() {
+        return this.uldDriver.getSigmaThreshold();
+    }
+    /**
+     * Discard measurements whose sigma exceeds `sigmaMm` (≤ 16383). Not while
+     * ranging.
+     */
+    async setSigmaThresholdMm(sigmaMm) {
+        this.requireNotRanging();
+        await this.uldDriver.setSigmaThreshold(sigmaMm);
+    }
+    /**
+     * Re-run VHV calibration; recommended after a >8 °C ambient change. Not
+     * while ranging (runs a short ranging burst internally).
+     */
+    async startTemperatureUpdate() {
+        this.requireNotRanging();
+        await this.uldDriver.startTemperatureUpdate();
+    }
+    /**
+     * Offset calibration against a target at `targetDistMm` (10–1000). Blocks
+     * for the sample burst; returns the offset now programmed.
+     */
+    async calibrateOffset(targetDistMm, nbSamples = 20) {
+        this.requireNotRanging();
+        return this.uldDriver.calibrateOffset(targetDistMm, nbSamples);
+    }
+    /**
+     * Crosstalk calibration against a target at `targetDistMm` (10–5000).
+     * Blocks for the sample burst; returns the xtalk now programmed (kcps).
+     */
+    async calibrateXtalk(targetDistMm, nbSamples = 20) {
+        this.requireNotRanging();
+        return this.uldDriver.calibrateXtalk(targetDistMm, nbSamples);
+    }
+    // ── ranging ────────────────────────────────────────────────────────────────
+    /**
+     * Start the sensor's ranging loop and arm the MCU stream: one
+     * RPT_VL53_STREAM per INT edge carrying the 17-byte result block.
+     */
+    async startRanging() {
+        this.requireNotRanging();
+        await this.uldDriver.startRanging();
+        await this.request(Vl53l4Cmd.StartStream, packStartStream(RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN), { okCompletes: true });
+        this.rangingFlag = true;
+    }
+    async stopRanging() {
+        if (!this.rangingFlag)
+            return;
+        // Clear host state and stop the sensor even if the MCU STOP_STREAM ack
+        // fails (link hiccup): otherwise the device is wedged "ranging" and no
+        // reconfiguration is possible.
+        try {
+            await this.request(Vl53l4Cmd.StopStream, undefined, { okCompletes: true });
+        }
+        finally {
+            this.rangingFlag = false;
+            await this.uldDriver.stopRanging();
+        }
+    }
+    get ranging() {
+        return this.rangingFlag;
+    }
+    /**
+     * Single poll-mode measurement: start ranging, wait for data-ready, read
+     * the result block, stop. Rejects while the stream is running.
+     */
+    async measureOnce(timeoutMs = 1000) {
+        this.requireNotRanging();
+        await this.uldDriver.startRanging();
+        let result;
+        try {
+            await this.uldDriver.waitDataReady(timeoutMs);
+            result = await this.uldDriver.getResult();
+            await this.uldDriver.clearInterrupt();
+        }
+        finally {
+            await this.uldDriver.stopRanging();
+        }
+        return measurementFromResults(this.lastRegTimestampUs, result);
+    }
+    /**
+     * Subscribe to streamed measurements (read-pump context; don't block).
+     * Returns an unsubscribe function.
+     */
+    onMeasurement(cb) {
+        this.measureCbs.push(cb);
+        return () => {
+            this.measureCbs = this.measureCbs.filter((c) => c !== cb);
+        };
+    }
+    /**
+     * Async iterator over measurements — bounded, drop-oldest (contract 07
+     * §3). The returned queue exposes `droppedCount`; it ends when the device
+     * closes or the consumer breaks out of iteration.
+     */
+    measurements(maxsize = 64) {
+        const queue = new StreamQueue(maxsize, () => {
+            this.measureQueues = this.measureQueues.filter((q) => q !== queue);
+            deregister();
+        });
+        this.measureQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        return queue;
+    }
+    /** Convenience: wait for the next streamed measurement. */
+    async getMeasurement(timeoutMs = 2000) {
+        const queue = new StreamQueue(1);
+        this.measureQueues.push(queue);
+        // Register for teardown so a disconnect closes the queue promptly (the
+        // wait resolves `done` at once) instead of stalling until the timeout.
+        const deregister = this.registerStream(queue);
+        let timer;
+        try {
+            const result = await Promise.race([
+                queue.next(),
+                new Promise((_, reject) => {
+                    timer = setTimeout(() => reject(new DepzTimeoutError(Vl53l4Rpt.Stream, timeoutMs)), timeoutMs);
+                }),
+            ]);
+            if (result.done === true)
+                throw new DepzError("device closed");
+            return result.value;
+        }
+        finally {
+            if (timer !== undefined)
+                clearTimeout(timer);
+            this.measureQueues = this.measureQueues.filter((q) => q !== queue);
+            deregister();
+        }
+    }
+    /**
+     * Stream reports dropped because the result block failed to decode (short
+     * block from a reconfigured stream, corrupt read).
+     */
+    get streamParseErrors() {
+        return this.streamParseErrorCount;
+    }
+    /** Drop counters of all live measurement queues (diagnostics). */
+    get streamDroppedCounts() {
+        return this.measureQueues.map((q) => q.droppedCount);
+    }
+    // ── internal ───────────────────────────────────────────────────────────────
+    requireNotRanging() {
+        if (this.rangingFlag) {
+            throw new DepzError("stopRanging() first — the stream owns the register bank");
+        }
+    }
+    handleReport(pkt) {
+        if (pkt.cmd !== Vl53l4Rpt.Stream || pkt.payload.length < 12) {
+            return false;
+        }
+        const sample = unpackStream(pkt.payload);
+        let result;
+        try {
+            result = parseResultBlock(sample.data);
+        }
+        catch {
+            // Somebody re-armed the stream on a different block — count, don't
+            // crash the read pump.
+            this.streamParseErrorCount += 1;
+            return true;
+        }
+        const m = measurementFromResults(sample.timestampUs, result);
+        for (const cb of [...this.measureCbs])
+            cb(m);
+        for (const q of [...this.measureQueues])
+            q.push(m);
+        return true;
+    }
+}
+//# sourceMappingURL=vl53l4.js.map

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

@@ -0,0 +1 @@
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package/dist/sensors/vl53l8/uld.d.ts

@@ -258,6 +258,14 @@ export declare class VL53L8CX {
     getIntegrationTimeMs(): Promise<number>;
     /** Integration time 2..1000 ms. No effect in continuous ranging mode. */
     setIntegrationTimeMs(timeMs: number): Promise<void>;
+    /**
+     * Sharpener 0..99 %. Rounds to nearest: the register holds pct scaled to
+     * 0..255, and truncating the way back (as ST's C ULD does) loses a count for
+     * 95 of the 100 legal values — set(25) read back as 24. That also made
+     * calibrateXtalk's save/restore decay the setting by 1 % on every run
+     * (25 -> 24 -> 23 -> ...). The stored byte is unchanged; only this host-side
+     * interpretation is. Kept in lockstep with the Python SDK's uld.py.
+     */
     getSharpenerPercent(): Promise<number>;
     /** Sharpener 0..99 % (0 = disabled). */
     setSharpenerPercent(pct: number): Promise<void>;