@depz/sensor-sdk 0.1.3 → 0.2.0

package/README.md

@@ -1,12 +1,13 @@
 # @depz/sensor-sdk
 
-TypeScript SDK for the **DEPZ USB sensor line** — four sensor classes across
-three USB CDC-ACM device families that speak one shared framed protocol, usable
+TypeScript SDK for the **DEPZ USB sensor line** — five sensor classes across
+four USB CDC-ACM firmware families that speak one shared framed protocol, usable
 from **the browser (WebSerial)** and **Node (serialport)**:
 
 - **HC-SR04** — ultrasonic distance
+- **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
 - **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
-  `Vl53l8Ch` is the `Vl53l8Cx` superset, adding Compact-Network-Histogram output
+  `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
 - **BNO086** — 9-axis IMU (host runs the SH-2 stack)
 
 Pure ESM, zero runtime dependencies on the browser path (`serialport` is an
@@ -29,7 +30,7 @@ import { openDevice } from "@depz/sensor-sdk/web";
 
 const port = await navigator.serial.requestPort(); // user gesture
 const dev = await openDevice(port);
-// dev is the correctly-typed sensor class (Sr04 | Vl53l8Cx/Ch | Bno086)
+// dev is the correctly-typed sensor class (Sr04 | Vl53l4cd | Vl53l8cx/Ch | Bno086)
 ```
 
 ## Quick start (Node)
@@ -68,3 +69,6 @@ guides and the generated API reference.
 
 MIT. Bundled VL53L8 sensor-firmware blobs are © STMicroelectronics
 (BSD-3-Clause).
+
+Open source — source and issue tracker:
+<https://github.com/depz-ai/depz-sensor-sdk>.

package/dist/dataset.d.ts

@@ -4,7 +4,7 @@
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
 import type { DepzDevice } from "./device/device.js";
-export declare const DATASET_SCHEMA = "depz.dataset/1";
+export declare const DATASET_SCHEMA = "depz.dataset/2";
 export interface DatasetDeviceMeta {
     serial?: string;
     sensor_type?: string;

package/dist/dataset.js

@@ -3,7 +3,7 @@
  * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
-export const DATASET_SCHEMA = "depz.dataset/1";
+export const DATASET_SCHEMA = "depz.dataset/2";
 /** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
 export class DatasetWriter {
     header;

package/dist/discovery.d.ts.map

@@ -1 +1 @@
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package/dist/discovery.js

@@ -17,7 +17,8 @@ import { parseSoftwareName } from "./protocol/identity.js";
 import { isKnownDepzUsb, usbModelHint } from "./protocol/usb-ids.js";
 import { Bno086 } from "./sensors/bno086/bno086.js";
 import { Sr04 } from "./sensors/sr04.js";
-import { Vl53l8Ch, Vl53l8Cx } from "./sensors/vl53l8/vl53l8.js";
+import { Vl53l4cd } from "./sensors/vl53l4/vl53l4.js";
+import { Vl53l8ch, Vl53l8cx } from "./sensors/vl53l8/vl53l8.js";
 const DEFAULT_PROBE_TIMEOUT_MS = 200;
 // ── selection helpers ─────────────────────────────────────────────────────────
 function isKnownPort(p) {
@@ -154,8 +155,10 @@ function constructSensor(transport, sensorType, timeoutMs, port) {
             // no silicon hint, so it and any non-CH hint fall through to the CX base
             // class.
             return usbModelHint(port?.usbVid, port?.usbPid) === "vl53l8ch"
-                ? new Vl53l8Ch(transport, { timeoutMs })
-                : new Vl53l8Cx(transport, { timeoutMs });
+                ? new Vl53l8ch(transport, { timeoutMs })
+                : new Vl53l8cx(transport, { timeoutMs });
+        case "vl53l4":
+            return new Vl53l4cd(transport, { timeoutMs });
         case "bno086":
             return new Bno086(transport, { timeoutMs });
         default:

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package/dist/index.d.ts

@@ -7,6 +7,8 @@ export * from "./protocol/framing.js";
 export * from "./protocol/common.js";
 export * from "./protocol/identity.js";
 export * from "./protocol/sr04.js";
+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";
+export type { Vl53l4Info, Vl53l4RegData, Vl53l4StreamData } from "./protocol/vl53l4.js";
 export * from "./protocol/vl53l8.js";
 export * from "./protocol/bno086.js";
 export * from "./protocol/fwdepz.js";
@@ -20,7 +22,9 @@ export { DEFAULT_TIMEOUT_MS, DepzDevice, NO_MATCH, StreamQueue, hostNowUs, syncT
 export type { DeviceEvent, DeviceOptions, Matcher, RequestOptions, TimeSync, } from "./device/device.js";
 export { Sr04 } from "./sensors/sr04.js";
 export type { Sr04Measurement } from "./sensors/sr04.js";
-export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8Ch, Vl53l8Cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
+export * from "./sensors/vl53l4/uld.js";
+export * from "./sensors/vl53l4/vl53l4.js";
+export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8ch, Vl53l8cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
 export type { Vl53l8Frame, Vl53l8InitOptions, Vl53l8Options, } from "./sensors/vl53l8/vl53l8.js";
 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";
 export type { DetectionThreshold, MotionResult, Vl53l8Platform, Vl53l8Results, } from "./sensors/vl53l8/uld.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -7,6 +7,7 @@ export * from "./protocol/framing.js";
 export * from "./protocol/common.js";
 export * from "./protocol/identity.js";
 export * from "./protocol/sr04.js";
+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";
 export * from "./protocol/vl53l8.js";
 export * from "./protocol/bno086.js";
 export * from "./protocol/fwdepz.js";
@@ -16,7 +17,9 @@ export { isDeviceInfo, listDepzDevicesFrom, openDeviceByDeviceSerial, openDevice
 export { DepzLink } from "./device/link.js";
 export { DEFAULT_TIMEOUT_MS, DepzDevice, NO_MATCH, StreamQueue, hostNowUs, syncTimeAll, } from "./device/device.js";
 export { Sr04 } from "./sensors/sr04.js";
-export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8Ch, Vl53l8Cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
+export * from "./sensors/vl53l4/uld.js";
+export * from "./sensors/vl53l4/vl53l4.js";
+export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8ch, Vl53l8cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
 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";
 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";
 export { loadAssets } from "./sensors/vl53l8/assets/index.js";

package/dist/index.js.map

@@ -1 +1 @@
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+{"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

@@ -1,5 +1,5 @@
 /** Firmware-name parsing (contracts/02_COMMON_COMMANDS.md §4). */
-export type SensorType = "sr04" | "vl53l8" | "bno086" | "unknown";
+export type SensorType = "sr04" | "vl53l4" | "vl53l8" | "bno086" | "unknown";
 export interface Identity {
     mode: "app" | "bootloader" | "unknown";
     sensorType: SensorType | null;

package/dist/protocol/identity.d.ts.map

@@ -1 +1 @@
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+{"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

@@ -2,6 +2,7 @@
 const VERSION_RE = /_v(\d+(?:\.\d+)*)$/;
 const PRODUCT_TOKENS = [
     ["SR04", "sr04"],
+    ["VL53L4", "vl53l4"],
     ["VL53L8", "vl53l8"],
     ["BNO086", "bno086"],
 ];

package/dist/protocol/identity.js.map

@@ -1 +1 @@
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+{"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

@@ -38,7 +38,7 @@ export interface DepzUsbModel {
 }
 /**
  * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
- * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
+ * rows (sr04, vl53l4cd, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
  * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
  * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
  */

package/dist/protocol/usb-ids.js

@@ -26,7 +26,7 @@ export const DEPZ_SENSOR_PID_MIN = 60536; // 0xEC78 (SR04)
 export const DEPZ_SENSOR_PID_MAX = 65535; // whole reserved sensor block (catalog-types.ts)
 /**
  * PID → model hint (full official DEPZ catalog). Only the `sensorType`-bearing
- * rows (sr04, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
+ * rows (sr04, vl53l4cd, vl53l8ch, vl53l8cx, bno086) are decodable by this SDK; the rest
  * are recognized as DEPZ sensors for discovery/labelling only. Values mirror
  * the Python reference `depz_sensor_sdk.usb_ids.DEPZ_PID_MODEL`.
  */
@@ -37,7 +37,7 @@ export const DEPZ_USB_MODELS = {
     0xed42: { name: "vl53l1cb", sensorType: null }, // 60738
     0xed43: { name: "vl53l1cx", sensorType: null }, // 60739
     0xed44: { name: "vl53l3cx", sensorType: null }, // 60740
-    0xed45: { name: "vl53l4cd", sensorType: null }, // 60741
+    0xed45: { name: "vl53l4cd", sensorType: "vl53l4" }, // 60741
     0xed46: { name: "vl53l4cx", sensorType: null }, // 60742
     0xed47: { name: "vl53l4ed", sensorType: null }, // 60743
     0xed48: { name: "vl53l5cx", sensorType: null }, // 60744

package/dist/protocol/usb-ids.js.map

@@ -1 +1 @@
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package/dist/protocol/vl53l4.d.ts

@@ -0,0 +1,82 @@
+/**
+ * VL53L4 register-bridge wire codecs (contracts/10_SENSOR_VL53L4.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l4`.
+ */
+export declare enum Vl53l4Cmd {
+    ReadReg = 50,
+    WriteReg = 51,
+    Xshut = 52,
+    StartStream = 53,
+    StopStream = 54,
+    GetInfo = 55,
+    SetI2cSpeed = 56
+}
+export declare enum Vl53l4Rpt {
+    RegData = 145,
+    Info = 146,
+    Stream = 147
+}
+export declare const XFER_MAX = 253;
+export declare const XSHUT_OFF = 0;
+export declare const XSHUT_ON = 1;
+/** Blocking on the MCU (~3 ms); answered after the boot handshake. */
+export declare const XSHUT_RESET = 2;
+/**
+ * VL53_START_STREAM flags: interrupt polarity, mirroring bit 4 of
+ * GPIO_HV_MUX__CTRL (0x0030). Clear (default): INT active low.
+ */
+export declare const SF_INT_ACT_HIGH = 2;
+/**
+ * Nominal SCL steps the firmware carries a TIMINGR for (VL53_SET_I2C_SPEED
+ * clamps to the nearest one).
+ */
+export declare const I2C_KHZ_STEPS: readonly number[];
+export declare function packReadReg(addr: number, length: number): Uint8Array;
+export declare function packWriteReg(addr: number, data: Uint8Array): Uint8Array;
+export declare function packXshut(action: number): Uint8Array;
+export declare function packStartStream(addr: number, length: number, flags?: number): Uint8Array;
+export declare function packSetI2cSpeed(khz: number): Uint8Array;
+/** RPT_VL53_REG_DATA payload. */
+export interface Vl53l4RegData {
+    /** Echoed READ_REG opcode. */
+    cmd: number;
+    /** MCU uptime at I2C-read completion. */
+    timestampUs: bigint;
+    data: Uint8Array;
+}
+export declare function unpackRegData(payload: Uint8Array): Vl53l4RegData;
+/** last_i2c_error values in RPT_VL53_INFO. */
+export declare const I2C_ERROR_NAMES: Readonly<Record<number, string>>;
+/**
+ * RPT_VL53_INFO — bridge diagnostics. Counters are free-running and wrap
+ * silently; watch increments, not absolute values.
+ */
+export interface Vl53l4Info {
+    intEdges: number;
+    slotsSkipped: number;
+    i2cErrors: number;
+    lastI2cError: number;
+    /** 0x010F..0x0110 — expected 0xEBAA. */
+    modelId: number;
+    /** 0x00E5 — expected 0x03 (booted). */
+    fwStatus: number;
+    /** 1 = MODEL_ID matched on this read. */
+    initialized: number;
+    xshutLevel: number;
+    intLevel: number;
+    i2cKhz: number;
+}
+export declare function unpackInfo(payload: Uint8Array): Vl53l4Info;
+/**
+ * RPT_VL53_STREAM — one streamed register block. `addr`/`length` echo the
+ * stream configuration so each report is self-describing.
+ */
+export interface Vl53l4StreamData {
+    /** MCU uptime at the INT edge (the sensor event). */
+    timestampUs: bigint;
+    addr: number;
+    length: number;
+    data: Uint8Array;
+}
+export declare function unpackStream(payload: Uint8Array): Vl53l4StreamData;
+//# sourceMappingURL=vl53l4.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/protocol/vl53l4.js

@@ -0,0 +1,108 @@
+/**
+ * VL53L4 register-bridge wire codecs (contracts/10_SENSOR_VL53L4.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.vl53l4`.
+ */
+export var Vl53l4Cmd;
+(function (Vl53l4Cmd) {
+    Vl53l4Cmd[Vl53l4Cmd["ReadReg"] = 50] = "ReadReg";
+    Vl53l4Cmd[Vl53l4Cmd["WriteReg"] = 51] = "WriteReg";
+    Vl53l4Cmd[Vl53l4Cmd["Xshut"] = 52] = "Xshut";
+    Vl53l4Cmd[Vl53l4Cmd["StartStream"] = 53] = "StartStream";
+    Vl53l4Cmd[Vl53l4Cmd["StopStream"] = 54] = "StopStream";
+    Vl53l4Cmd[Vl53l4Cmd["GetInfo"] = 55] = "GetInfo";
+    Vl53l4Cmd[Vl53l4Cmd["SetI2cSpeed"] = 56] = "SetI2cSpeed";
+})(Vl53l4Cmd || (Vl53l4Cmd = {}));
+export var Vl53l4Rpt;
+(function (Vl53l4Rpt) {
+    Vl53l4Rpt[Vl53l4Rpt["RegData"] = 145] = "RegData";
+    Vl53l4Rpt[Vl53l4Rpt["Info"] = 146] = "Info";
+    Vl53l4Rpt[Vl53l4Rpt["Stream"] = 147] = "Stream";
+})(Vl53l4Rpt || (Vl53l4Rpt = {}));
+// STM32 I2C NBYTES is 8 bit and a write spends two of them on the register
+// address; the firmware applies the same 253 to both directions.
+export const XFER_MAX = 253;
+// VL53_XSHUT actions.
+export const XSHUT_OFF = 0;
+export const XSHUT_ON = 1;
+/** Blocking on the MCU (~3 ms); answered after the boot handshake. */
+export const XSHUT_RESET = 2;
+/**
+ * VL53_START_STREAM flags: interrupt polarity, mirroring bit 4 of
+ * GPIO_HV_MUX__CTRL (0x0030). Clear (default): INT active low.
+ */
+export const SF_INT_ACT_HIGH = 0x02;
+/**
+ * Nominal SCL steps the firmware carries a TIMINGR for (VL53_SET_I2C_SPEED
+ * clamps to the nearest one).
+ */
+export const I2C_KHZ_STEPS = [100, 200, 400, 500, 600, 700, 800, 900, 1000];
+export function packReadReg(addr, length) {
+    const out = new Uint8Array(4);
+    const dv = new DataView(out.buffer);
+    dv.setUint16(0, addr, true);
+    dv.setUint16(2, length, true);
+    return out;
+}
+export function packWriteReg(addr, data) {
+    const out = new Uint8Array(2 + data.length);
+    new DataView(out.buffer).setUint16(0, addr, true);
+    out.set(data, 2);
+    return out;
+}
+export function packXshut(action) {
+    return Uint8Array.of(action & 0xff);
+}
+export function packStartStream(addr, length, flags = 0) {
+    const out = new Uint8Array(5);
+    const dv = new DataView(out.buffer);
+    dv.setUint16(0, addr, true);
+    dv.setUint16(2, length, true);
+    dv.setUint8(4, flags);
+    return out;
+}
+export function packSetI2cSpeed(khz) {
+    const out = new Uint8Array(2);
+    new DataView(out.buffer).setUint16(0, khz, true);
+    return out;
+}
+export function unpackRegData(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        cmd: dv.getUint8(0),
+        timestampUs: dv.getBigUint64(1, true),
+        data: payload.slice(9),
+    };
+}
+/** last_i2c_error values in RPT_VL53_INFO. */
+export const I2C_ERROR_NAMES = {
+    0: "none",
+    1: "NACK",
+    2: "TIMEOUT",
+    3: "BUS_ERROR",
+};
+export function unpackInfo(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        intEdges: dv.getUint32(0, true),
+        slotsSkipped: dv.getUint32(4, true),
+        i2cErrors: dv.getUint32(8, true),
+        lastI2cError: dv.getUint8(12),
+        modelId: dv.getUint16(13, true),
+        fwStatus: dv.getUint8(15),
+        initialized: dv.getUint8(16),
+        xshutLevel: dv.getUint8(17),
+        intLevel: dv.getUint8(18),
+        i2cKhz: dv.getUint16(19, true),
+    };
+}
+export function unpackStream(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    const length = dv.getUint16(10, true);
+    return {
+        timestampUs: dv.getBigUint64(0, true),
+        addr: dv.getUint16(8, true),
+        length,
+        data: payload.slice(12, 12 + length),
+    };
+}
+//# sourceMappingURL=vl53l4.js.map

package/dist/protocol/vl53l4.js.map

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