@depz/sensor-sdk 0.2.1 → 0.3.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (166) hide show
  1. package/README.md +13 -5
  2. package/dist/dataset.d.ts.map +1 -1
  3. package/dist/dataset.js +66 -2
  4. package/dist/dataset.js.map +1 -1
  5. package/dist/device/device.d.ts +6 -0
  6. package/dist/device/device.d.ts.map +1 -1
  7. package/dist/device/device.js +29 -6
  8. package/dist/device/device.js.map +1 -1
  9. package/dist/discovery.d.ts.map +1 -1
  10. package/dist/discovery.js +25 -2
  11. package/dist/discovery.js.map +1 -1
  12. package/dist/index.d.ts +21 -1
  13. package/dist/index.d.ts.map +1 -1
  14. package/dist/index.js +16 -1
  15. package/dist/index.js.map +1 -1
  16. package/dist/protocol/bno055.d.ts +101 -0
  17. package/dist/protocol/bno055.d.ts.map +1 -0
  18. package/dist/protocol/bno055.js +105 -0
  19. package/dist/protocol/bno055.js.map +1 -0
  20. package/dist/protocol/identity.d.ts +1 -1
  21. package/dist/protocol/identity.d.ts.map +1 -1
  22. package/dist/protocol/identity.js +6 -0
  23. package/dist/protocol/identity.js.map +1 -1
  24. package/dist/protocol/vl53l7.d.ts +77 -0
  25. package/dist/protocol/vl53l7.d.ts.map +1 -0
  26. package/dist/protocol/vl53l7.js +99 -0
  27. package/dist/protocol/vl53l7.js.map +1 -0
  28. package/dist/protocol/vl53lx.d.ts +72 -0
  29. package/dist/protocol/vl53lx.d.ts.map +1 -0
  30. package/dist/protocol/vl53lx.js +87 -0
  31. package/dist/protocol/vl53lx.js.map +1 -0
  32. package/dist/sensors/bno055/bno055.d.ts +207 -0
  33. package/dist/sensors/bno055/bno055.d.ts.map +1 -0
  34. package/dist/sensors/bno055/bno055.js +547 -0
  35. package/dist/sensors/bno055/bno055.js.map +1 -0
  36. package/dist/sensors/bno055/regs.d.ts +271 -0
  37. package/dist/sensors/bno055/regs.d.ts.map +1 -0
  38. package/dist/sensors/bno055/regs.js +366 -0
  39. package/dist/sensors/bno055/regs.js.map +1 -0
  40. package/dist/sensors/bno086/bno086.d.ts +15 -0
  41. package/dist/sensors/bno086/bno086.d.ts.map +1 -1
  42. package/dist/sensors/bno086/bno086.js +43 -1
  43. package/dist/sensors/bno086/bno086.js.map +1 -1
  44. package/dist/sensors/bno086/sh2.d.ts.map +1 -1
  45. package/dist/sensors/bno086/sh2.js +5 -2
  46. package/dist/sensors/bno086/sh2.js.map +1 -1
  47. package/dist/sensors/reg-bridge.d.ts +35 -0
  48. package/dist/sensors/reg-bridge.d.ts.map +1 -0
  49. package/dist/sensors/reg-bridge.js +44 -0
  50. package/dist/sensors/reg-bridge.js.map +1 -0
  51. package/dist/sensors/vl53l4/vl53l4.d.ts.map +1 -1
  52. package/dist/sensors/vl53l4/vl53l4.js +18 -30
  53. package/dist/sensors/vl53l4/vl53l4.js.map +1 -1
  54. package/dist/sensors/vl53l7/vl53l7.d.ts +97 -0
  55. package/dist/sensors/vl53l7/vl53l7.d.ts.map +1 -0
  56. package/dist/sensors/vl53l7/vl53l7.js +138 -0
  57. package/dist/sensors/vl53l7/vl53l7.js.map +1 -0
  58. package/dist/sensors/vl53l8/assets/index.d.ts +5 -1
  59. package/dist/sensors/vl53l8/assets/index.d.ts.map +1 -1
  60. package/dist/sensors/vl53l8/assets/index.js +7 -1
  61. package/dist/sensors/vl53l8/assets/index.js.map +1 -1
  62. package/dist/sensors/vl53l8/assets/l7ch.d.ts +12 -0
  63. package/dist/sensors/vl53l8/assets/l7ch.d.ts.map +1 -0
  64. package/dist/sensors/vl53l8/assets/l7ch.js +18 -0
  65. package/dist/sensors/vl53l8/assets/l7ch.js.map +1 -0
  66. package/dist/sensors/vl53l8/assets/l7cx.d.ts +14 -0
  67. package/dist/sensors/vl53l8/assets/l7cx.d.ts.map +1 -0
  68. package/dist/sensors/vl53l8/assets/l7cx.js +20 -0
  69. package/dist/sensors/vl53l8/assets/l7cx.js.map +1 -0
  70. package/dist/sensors/vl53l8/cnh.d.ts +4 -3
  71. package/dist/sensors/vl53l8/cnh.d.ts.map +1 -1
  72. package/dist/sensors/vl53l8/cnh.js +4 -3
  73. package/dist/sensors/vl53l8/cnh.js.map +1 -1
  74. package/dist/sensors/vl53l8/uld.d.ts +50 -9
  75. package/dist/sensors/vl53l8/uld.d.ts.map +1 -1
  76. package/dist/sensors/vl53l8/uld.js +241 -35
  77. package/dist/sensors/vl53l8/uld.js.map +1 -1
  78. package/dist/sensors/vl53l8/vl53l8.d.ts +8 -3
  79. package/dist/sensors/vl53l8/vl53l8.d.ts.map +1 -1
  80. package/dist/sensors/vl53l8/vl53l8.js +41 -39
  81. package/dist/sensors/vl53l8/vl53l8.js.map +1 -1
  82. package/dist/sensors/vl53lx/decode.d.ts +70 -0
  83. package/dist/sensors/vl53lx/decode.d.ts.map +1 -0
  84. package/dist/sensors/vl53lx/decode.js +108 -0
  85. package/dist/sensors/vl53lx/decode.js.map +1 -0
  86. package/dist/sensors/vl53lx/uld/arith.d.ts +23 -0
  87. package/dist/sensors/vl53lx/uld/arith.d.ts.map +1 -0
  88. package/dist/sensors/vl53lx/uld/arith.js +42 -0
  89. package/dist/sensors/vl53lx/uld/arith.js.map +1 -0
  90. package/dist/sensors/vl53lx/uld/bare/core.d.ts +345 -0
  91. package/dist/sensors/vl53lx/uld/bare/core.d.ts.map +1 -0
  92. package/dist/sensors/vl53lx/uld/bare/core.js +1085 -0
  93. package/dist/sensors/vl53lx/uld/bare/core.js.map +1 -0
  94. package/dist/sensors/vl53lx/uld/bare/driver.d.ts +91 -0
  95. package/dist/sensors/vl53lx/uld/bare/driver.d.ts.map +1 -0
  96. package/dist/sensors/vl53lx/uld/bare/driver.js +206 -0
  97. package/dist/sensors/vl53lx/uld/bare/driver.js.map +1 -0
  98. package/dist/sensors/vl53lx/uld/bare/hist.d.ts +180 -0
  99. package/dist/sensors/vl53lx/uld/bare/hist.d.ts.map +1 -0
  100. package/dist/sensors/vl53lx/uld/bare/hist.js +949 -0
  101. package/dist/sensors/vl53lx/uld/bare/hist.js.map +1 -0
  102. package/dist/sensors/vl53lx/uld/bare/image.d.ts +53 -0
  103. package/dist/sensors/vl53lx/uld/bare/image.d.ts.map +1 -0
  104. package/dist/sensors/vl53lx/uld/bare/image.js +108 -0
  105. package/dist/sensors/vl53lx/uld/bare/image.js.map +1 -0
  106. package/dist/sensors/vl53lx/uld/bare/imath.d.ts +39 -0
  107. package/dist/sensors/vl53lx/uld/bare/imath.d.ts.map +1 -0
  108. package/dist/sensors/vl53lx/uld/bare/imath.js +99 -0
  109. package/dist/sensors/vl53lx/uld/bare/imath.js.map +1 -0
  110. package/dist/sensors/vl53lx/uld/bare/index.d.ts +22 -0
  111. package/dist/sensors/vl53lx/uld/bare/index.d.ts.map +1 -0
  112. package/dist/sensors/vl53lx/uld/bare/index.js +22 -0
  113. package/dist/sensors/vl53lx/uld/bare/index.js.map +1 -0
  114. package/dist/sensors/vl53lx/uld/bare/nvm.d.ts +85 -0
  115. package/dist/sensors/vl53lx/uld/bare/nvm.d.ts.map +1 -0
  116. package/dist/sensors/vl53lx/uld/bare/nvm.js +148 -0
  117. package/dist/sensors/vl53lx/uld/bare/nvm.js.map +1 -0
  118. package/dist/sensors/vl53lx/uld/bare/regs.d.ts +54 -0
  119. package/dist/sensors/vl53lx/uld/bare/regs.d.ts.map +1 -0
  120. package/dist/sensors/vl53lx/uld/bare/regs.js +496 -0
  121. package/dist/sensors/vl53lx/uld/bare/regs.js.map +1 -0
  122. package/dist/sensors/vl53lx/uld/bare/tuning.d.ts +15 -0
  123. package/dist/sensors/vl53lx/uld/bare/tuning.d.ts.map +1 -0
  124. package/dist/sensors/vl53lx/uld/bare/tuning.js +303 -0
  125. package/dist/sensors/vl53lx/uld/bare/tuning.js.map +1 -0
  126. package/dist/sensors/vl53lx/uld/base.d.ts +129 -0
  127. package/dist/sensors/vl53lx/uld/base.d.ts.map +1 -0
  128. package/dist/sensors/vl53lx/uld/base.js +166 -0
  129. package/dist/sensors/vl53lx/uld/base.js.map +1 -0
  130. package/dist/sensors/vl53lx/uld/l0x.d.ts +306 -0
  131. package/dist/sensors/vl53lx/uld/l0x.d.ts.map +1 -0
  132. package/dist/sensors/vl53lx/uld/l0x.js +1492 -0
  133. package/dist/sensors/vl53lx/uld/l0x.js.map +1 -0
  134. package/dist/sensors/vl53lx/uld/l1.d.ts +69 -0
  135. package/dist/sensors/vl53lx/uld/l1.d.ts.map +1 -0
  136. package/dist/sensors/vl53lx/uld/l1.js +262 -0
  137. package/dist/sensors/vl53lx/uld/l1.js.map +1 -0
  138. package/dist/sensors/vl53lx/uld/l3.d.ts +25 -0
  139. package/dist/sensors/vl53lx/uld/l3.d.ts.map +1 -0
  140. package/dist/sensors/vl53lx/uld/l3.js +51 -0
  141. package/dist/sensors/vl53lx/uld/l3.js.map +1 -0
  142. package/dist/sensors/vl53lx/uld/l4.d.ts +22 -0
  143. package/dist/sensors/vl53lx/uld/l4.d.ts.map +1 -0
  144. package/dist/sensors/vl53lx/uld/l4.js +99 -0
  145. package/dist/sensors/vl53lx/uld/l4.js.map +1 -0
  146. package/dist/sensors/vl53lx/uld/link.d.ts +42 -0
  147. package/dist/sensors/vl53lx/uld/link.d.ts.map +1 -0
  148. package/dist/sensors/vl53lx/uld/link.js +28 -0
  149. package/dist/sensors/vl53lx/uld/link.js.map +1 -0
  150. package/dist/sensors/vl53lx/uld/registry.d.ts +68 -0
  151. package/dist/sensors/vl53lx/uld/registry.d.ts.map +1 -0
  152. package/dist/sensors/vl53lx/uld/registry.js +139 -0
  153. package/dist/sensors/vl53lx/uld/registry.js.map +1 -0
  154. package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts +172 -0
  155. package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts.map +1 -0
  156. package/dist/sensors/vl53lx/uld/vl53l1-die.js +431 -0
  157. package/dist/sensors/vl53lx/uld/vl53l1-die.js.map +1 -0
  158. package/dist/sensors/vl53lx/vl53lx.d.ts +323 -0
  159. package/dist/sensors/vl53lx/vl53lx.d.ts.map +1 -0
  160. package/dist/sensors/vl53lx/vl53lx.js +688 -0
  161. package/dist/sensors/vl53lx/vl53lx.js.map +1 -0
  162. package/dist/transport/webserial.d.ts +4 -0
  163. package/dist/transport/webserial.d.ts.map +1 -1
  164. package/dist/transport/webserial.js +58 -12
  165. package/dist/transport/webserial.js.map +1 -1
  166. package/package.json +9 -2
package/dist/sensors/vl53l8/uld.js.map CHANGED
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package/dist/sensors/vl53l8/vl53l8.d.ts CHANGED
@@ -66,11 +66,16 @@ export interface Vl53l8InitOptions {
66
66
  export declare class Vl53l8cx extends DepzDevice {
67
67
  /** Sensor-firmware blob variant this class loads. */
68
68
  protected readonly variantId: Vl53l8Variant;
69
- private uldDriver;
69
+ /** Register-bridge transfer limits (the I2C L5/L7 board reads less per call). */
70
+ protected readonly readChunk: number;
71
+ protected readonly writeChunk: number;
72
+ /** Lowest ranging frequency that actually streams on this sensor. */
73
+ protected readonly minRangingHz: number;
74
+ protected uldDriver: VL53L8CX | null;
70
75
  private reassembler;
71
76
  private frameCbs;
72
77
  private frameQueues;
73
- private rangingFlag;
78
+ protected rangingFlag: boolean;
74
79
  protected cnhConfig: CnhConfig | null;
75
80
  /** The CNH config armed by `configureCnh()` (CH), or null. Recorders read
76
81
  * this to persist the decode parameters next to raw CNH blocks. */
@@ -85,7 +90,7 @@ export declare class Vl53l8cx extends DepzDevice {
85
90
  constructor(transport: SerialTransport, opts?: Vl53l8Options);
86
91
  /** The underlying ULD driver (escape hatch for advanced DCI access). */
87
92
  get uld(): VL53L8CX;
88
- /** 'cx' | 'ch' (valid after init()). */
93
+ /** 'cx' | 'ch' | 'l7cx' | 'l7ch' (valid after init()). */
89
94
  get variant(): Vl53l8Variant;
90
95
  isAlive(): Promise<boolean>;
91
96
  /**
package/dist/sensors/vl53l8/vl53l8.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"vl53l8.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l8/vl53l8.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAErF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAa7D,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,mBAAmB,CAAC;AACnE,OAAO,EAAkB,KAAK,SAAS,EAAE,MAAM,UAAU,CAAC;AAC1D,OAAO,EAGL,QAAQ,EAGR,KAAK,kBAAkB,EACvB,KAAK,YAAY,EACjB,KAAK,YAAY,EAGlB,MAAM,UAAU,CAAC;AAElB,yDAAyD;AACzD,eAAO,MAAM,wBAAwB,IAAI,CAAC;AAE1C;;;GAGG;AACH,MAAM,WAAW,WAAW;IAC1B,WAAW,EAAE,MAAM,CAAC;IACpB,cAAc;IACd,UAAU,EAAE,MAAM,CAAC;IACnB,UAAU,EAAE,UAAU,CAAC;IACvB,oCAAoC;IACpC,YAAY,EAAE,UAAU,CAAC;IACzB,gBAAgB,EAAE,UAAU,CAAC;IAC7B,iBAAiB;IACjB,aAAa,EAAE,YAAY,CAAC;IAC5B,iBAAiB;IACjB,cAAc,EAAE,YAAY,CAAC;IAC7B,cAAc,EAAE,UAAU,CAAC;IAC3B,YAAY,EAAE,YAAY,CAAC;IAC3B,SAAS;IACT,WAAW,EAAE,UAAU,CAAC;IACxB,eAAe,EAAE,MAAM,CAAC;IACxB,kDAAkD;IAClD,MAAM,EAAE,UAAU,GAAG,IAAI,CAAC;IAC1B,2EAA2E;IAC3E,MAAM,EAAE,YAAY,GAAG,IAAI,CAAC;CAC7B;AAED,4EAA4E;AAC5E,wBAAgB,QAAQ,CAAC,GAAG,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,UAAU,EAAE,MAAM,GAAG,MAAM,EAAE,EAAE,CAS/E;AAED,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED,MAAM,WAAW,iBAAiB;IAChC,8BAA8B;IAC9B,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,IAAI,CAAC;IAClC,uDAAuD;IACvD,aAAa,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACvD;AAED;;;;;;;;;GASG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,qDAAqD;IACrD,SAAS,CAAC,QAAQ,CAAC,SAAS,EAAE,aAAa,CAAQ;IAEnD,OAAO,CAAC,SAAS,CAAyB;IAC1C,OAAO,CAAC,WAAW,CAA0B;IAC7C,OAAO,CAAC,QAAQ,CAA2C;IAC3D,OAAO,CAAC,WAAW,CAAkC;IACrD,OAAO,CAAC,WAAW,CAAS;IAC5B,SAAS,CAAC,SAAS,EAAE,SAAS,GAAG,IAAI,CAAQ;IAE7C;wEACoE;IACpE,IAAI,eAAe,IAAI,SAAS,GAAG,IAAI,CAEtC;IAED,OAAO,CAAC,eAAe,CAAwD;IAK/E,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,UAAU,CAAkB;IACpC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CA8CvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAO5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAGlB;IAED,wCAAwC;IACxC,IAAI,OAAO,IAAI,aAAa,CAE3B;IAEK,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IAUjC;;;;;;;OAOG;IACG,IAAI,CAAC,OAAO,CAAC,EAAE,aAAa,EAAE,IAAI,CAAC,EAAE,iBAAiB,GAAG,OAAO,CAAC,IAAI,CAAC;IAyBtE,aAAa,IAAI,OAAO,CAAC,MAAM,CAAC;IAKhC,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IASjD,qBAAqB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIlC,qBAAqB,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAWtD,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKjD,oBAAoB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIjC,oBAAoB,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKrD,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIhC,mBAAmB,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKrD,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOlD,0DAA0D;IAC1D,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B;;;OAGG;IACG,YAAY,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/C,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKvD;;;;;OAKG;IACG,cAAc,CAAC,kBAAkB,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKtG,oEAAoE;IAC9D,eAAe,IAAI,OAAO,CAAC,UAAU,CAAC;IAK5C,kEAAkE;IAC5D,eAAe,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAKtD,4BAA4B,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC,4BAA4B,CAAC,OAAO,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnE,sBAAsB,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;IAIvD;;;;OAIG;IACG,sBAAsB,CAAC,UAAU,EAAE,OAAO,CAAC,kBAAkB,CAAC,EAAE,GAAG,OAAO,CAAC,IAAI,CAAC;IAKhF,8BAA8B,CAAC,QAAQ,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAKtE;;;;OAIG;IACG,wBAAwB,CAAC,aAAa,SAAM,EAAE,aAAa,SAAO,GAAG,OAAO,CAAC,YAAY,CAAC;IAUhG,sEAAsE;IAChE,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAa7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAOlC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED,mEAAmE;IACnE,OAAO,CAAC,EAAE,EAAE,CAAC,KAAK,EAAE,WAAW,KAAK,IAAI,GAAG,MAAM,IAAI;IAOrD;;;;;OAKG;IACH,MAAM,CAAC,OAAO,SAAI,GAAG,WAAW,CAAC,WAAW,CAAC;IAU7C,4CAA4C;IACtC,QAAQ,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,WAAW,CAAC;IA4BtD,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;IAoB1D,OAAO,CAAC,OAAO;CAiBhB;AAED;;;;;GAKG;AACH,qBAAa,QAAS,SAAQ,QAAQ;IACpC,mBAA4B,SAAS,EAAE,aAAa,CAAQ;IAE5D;;;OAGG;IACG,YAAY,CAAC,MAAM,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC;CAKrD;AAED;;;GAGG;AACH,eAAO,MAAM,MAAM,iBAAW,CAAC;AAC/B,MAAM,MAAM,MAAM,GAAG,QAAQ,CAAC"}
1
+ {"version":3,"file":"vl53l8.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l8/vl53l8.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAGrF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAa7D,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,mBAAmB,CAAC;AACnE,OAAO,EAAkB,KAAK,SAAS,EAAE,MAAM,UAAU,CAAC;AAC1D,OAAO,EAGL,QAAQ,EAGR,KAAK,kBAAkB,EACvB,KAAK,YAAY,EACjB,KAAK,YAAY,EAGlB,MAAM,UAAU,CAAC;AAElB,yDAAyD;AACzD,eAAO,MAAM,wBAAwB,IAAI,CAAC;AAE1C;;;GAGG;AACH,MAAM,WAAW,WAAW;IAC1B,WAAW,EAAE,MAAM,CAAC;IACpB,cAAc;IACd,UAAU,EAAE,MAAM,CAAC;IACnB,UAAU,EAAE,UAAU,CAAC;IACvB,oCAAoC;IACpC,YAAY,EAAE,UAAU,CAAC;IACzB,gBAAgB,EAAE,UAAU,CAAC;IAC7B,iBAAiB;IACjB,aAAa,EAAE,YAAY,CAAC;IAC5B,iBAAiB;IACjB,cAAc,EAAE,YAAY,CAAC;IAC7B,cAAc,EAAE,UAAU,CAAC;IAC3B,YAAY,EAAE,YAAY,CAAC;IAC3B,SAAS;IACT,WAAW,EAAE,UAAU,CAAC;IACxB,eAAe,EAAE,MAAM,CAAC;IACxB,kDAAkD;IAClD,MAAM,EAAE,UAAU,GAAG,IAAI,CAAC;IAC1B,2EAA2E;IAC3E,MAAM,EAAE,YAAY,GAAG,IAAI,CAAC;CAC7B;AAED,4EAA4E;AAC5E,wBAAgB,QAAQ,CAAC,GAAG,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,UAAU,EAAE,MAAM,GAAG,MAAM,EAAE,EAAE,CAS/E;AAED,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED,MAAM,WAAW,iBAAiB;IAChC,8BAA8B;IAC9B,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,IAAI,CAAC;IAClC,uDAAuD;IACvD,aAAa,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACvD;AAED;;;;;;;;;GASG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,qDAAqD;IACrD,SAAS,CAAC,QAAQ,CAAC,SAAS,EAAE,aAAa,CAAQ;IACnD,iFAAiF;IACjF,SAAS,CAAC,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAc;IAClD,SAAS,CAAC,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAc;IACnD,qEAAqE;IACrE,SAAS,CAAC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAA4B;IAEnE,SAAS,CAAC,SAAS,EAAE,QAAQ,GAAG,IAAI,CAAQ;IAC5C,OAAO,CAAC,WAAW,CAA0B;IAC7C,OAAO,CAAC,QAAQ,CAA2C;IAC3D,OAAO,CAAC,WAAW,CAAkC;IACrD,SAAS,CAAC,WAAW,UAAS;IAC9B,SAAS,CAAC,SAAS,EAAE,SAAS,GAAG,IAAI,CAAQ;IAE7C;wEACoE;IACpE,IAAI,eAAe,IAAI,SAAS,GAAG,IAAI,CAEtC;IAED,OAAO,CAAC,eAAe,CAAwD;IAK/E,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,UAAU,CAAkB;IACpC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAmCvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAO5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAGlB;IAED,0DAA0D;IAC1D,IAAI,OAAO,IAAI,aAAa,CAE3B;IAEK,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IAUjC;;;;;;;OAOG;IACG,IAAI,CAAC,OAAO,CAAC,EAAE,aAAa,EAAE,IAAI,CAAC,EAAE,iBAAiB,GAAG,OAAO,CAAC,IAAI,CAAC;IAyBtE,aAAa,IAAI,OAAO,CAAC,MAAM,CAAC;IAKhC,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IASjD,qBAAqB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIlC,qBAAqB,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAWtD,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKjD,oBAAoB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIjC,oBAAoB,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKrD,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIhC,mBAAmB,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKrD,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOlD,0DAA0D;IAC1D,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B;;;OAGG;IACG,YAAY,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/C,cAAc,IAAI,OAAO,CAAC,MAAM,CAAC;IAI3B,cAAc,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKvD;;;;;OAKG;IACG,cAAc,CAClB,kBAAkB,EAAE,MAAM,EAC1B,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,GACjB,OAAO,CAAC,IAAI,CAAC;IAKhB,oEAAoE;IAC9D,eAAe,IAAI,OAAO,CAAC,UAAU,CAAC;IAK5C,kEAAkE;IAC5D,eAAe,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAKtD,4BAA4B,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC,4BAA4B,CAAC,OAAO,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnE,sBAAsB,IAAI,OAAO,CAAC,kBAAkB,EAAE,CAAC;IAIvD;;;;OAIG;IACG,sBAAsB,CAAC,UAAU,EAAE,OAAO,CAAC,kBAAkB,CAAC,EAAE,GAAG,OAAO,CAAC,IAAI,CAAC;IAKhF,8BAA8B,CAAC,QAAQ,EAAE,OAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAKtE;;;;OAIG;IACG,wBAAwB,CAAC,aAAa,SAAM,EAAE,aAAa,SAAO,GAAG,OAAO,CAAC,YAAY,CAAC;IAUhG,sEAAsE;IAChE,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAa7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAalC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED,mEAAmE;IACnE,OAAO,CAAC,EAAE,EAAE,CAAC,KAAK,EAAE,WAAW,KAAK,IAAI,GAAG,MAAM,IAAI;IAOrD;;;;;OAKG;IACH,MAAM,CAAC,OAAO,SAAI,GAAG,WAAW,CAAC,WAAW,CAAC;IAU7C,4CAA4C;IACtC,QAAQ,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,WAAW,CAAC;IA4BtD,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;IAoB1D,OAAO,CAAC,OAAO;CAiBhB;AAED;;;;;GAKG;AACH,qBAAa,QAAS,SAAQ,QAAQ;IACpC,mBAA4B,SAAS,EAAE,aAAa,CAAQ;IAE5D;;;OAGG;IACG,YAAY,CAAC,MAAM,EAAE,SAAS,GAAG,OAAO,CAAC,IAAI,CAAC;CAKrD;AAED;;;GAGG;AACH,eAAO,MAAM,MAAM,iBAAW,CAAC;AAC/B,MAAM,MAAM,MAAM,GAAG,QAAQ,CAAC"}
package/dist/sensors/vl53l8/vl53l8.js CHANGED
@@ -9,6 +9,7 @@
9
9
  */
10
10
  import { DepzDevice, StreamQueue } from "../../device/device.js";
11
11
  import { DepzError, DepzTimeoutError } from "../../errors.js";
12
+ import { chunkedRead, chunkedWrite } from "../reg-bridge.js";
12
13
  import { CHUNK_SIZE, FrameReassembler, Vl53l8Cmd, Vl53l8Rpt, packReadReg, packStartStream, packWriteReg, unpackFrameChunk, unpackRegData, } from "../../protocol/vl53l8.js";
13
14
  import { loadAssets } from "./assets/index.js";
14
15
  import { MI_CFG_DEV_IDX } from "./cnh.js";
@@ -40,6 +41,11 @@ export function zoneGrid(arr, resolution) {
40
41
  export class Vl53l8cx extends DepzDevice {
41
42
  /** Sensor-firmware blob variant this class loads. */
42
43
  variantId = "cx";
44
+ /** Register-bridge transfer limits (the I2C L5/L7 board reads less per call). */
45
+ readChunk = CHUNK_SIZE;
46
+ writeChunk = CHUNK_SIZE;
47
+ /** Lowest ranging frequency that actually streams on this sensor. */
48
+ minRangingHz = MIN_RANGING_FREQUENCY_HZ;
43
49
  uldDriver = null;
44
50
  reassembler = new FrameReassembler();
45
51
  frameCbs = [];
@@ -62,45 +68,34 @@ export class Vl53l8cx extends DepzDevice {
62
68
  sleepImpl;
63
69
  /** ULD `platform` object mapped onto the firmware register bridge. */
64
70
  platform = {
65
- rdMulti: async (addr, size) => {
66
- const out = new Uint8Array(size);
67
- let off = 0;
68
- while (size > 0) {
69
- const n = Math.min(size, CHUNK_SIZE);
70
- const rep = await this.request(Vl53l8Cmd.ReadReg, packReadReg(addr, n), {
71
+ rdMulti: (addr, size) => chunkedRead(addr, size, {
72
+ chunkSize: this.readChunk,
73
+ readChunk: async (a, n) => {
74
+ const rep = await this.request(Vl53l8Cmd.ReadReg, packReadReg(a, n), {
71
75
  matcher: DepzDevice.expectReport(Vl53l8Rpt.RegData, unpackRegData),
72
76
  timeoutMs: 2000,
73
77
  });
74
- if (rep.data.length !== n) {
75
- throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
76
- `expected ${n}, got ${rep.data.length}`);
77
- }
78
- out.set(rep.data, off);
79
- off += n;
80
- addr += n;
81
- size -= n;
82
- }
83
- return out;
84
- },
78
+ return { data: rep.data };
79
+ },
80
+ }),
85
81
  wrMulti: async (addr, data) => {
86
- let done = 0;
87
- while (done < data.length) {
88
- const chunk = data.subarray(done, done + CHUNK_SIZE);
89
- await this.request(Vl53l8Cmd.WriteReg, packWriteReg(addr, chunk), {
82
+ await chunkedWrite(addr, data, {
83
+ chunkSize: this.writeChunk,
84
+ writeChunk: (a, chunk) => this.request(Vl53l8Cmd.WriteReg, packWriteReg(a, chunk), {
90
85
  okCompletes: true,
91
86
  timeoutMs: 2000,
92
- });
93
- addr += chunk.length;
94
- done += chunk.length;
95
- if (this.writeProgressCb !== null && data.length > CHUNK_SIZE) {
96
- // Report cumulatively across the multi-bank firmware download so the
97
- // bar only advances; fall back to per-write when no campaign is set.
98
- const total = this.fwWriteTotal > 0 ? this.fwWriteTotal : data.length;
99
- const base = this.fwWriteTotal > 0 ? this.fwWriteBase : 0;
100
- this.writeProgressCb(base + done, total);
101
- }
102
- }
103
- if (this.fwWriteTotal > 0 && data.length > CHUNK_SIZE) {
87
+ }),
88
+ onProgress: (done, total) => {
89
+ if (this.writeProgressCb !== null && total > this.writeChunk) {
90
+ // Report cumulatively across the multi-bank firmware download so the
91
+ // bar only advances; fall back to per-write when no campaign is set.
92
+ const campaignTotal = this.fwWriteTotal > 0 ? this.fwWriteTotal : total;
93
+ const base = this.fwWriteTotal > 0 ? this.fwWriteBase : 0;
94
+ this.writeProgressCb(base + done, campaignTotal);
95
+ }
96
+ },
97
+ });
98
+ if (this.fwWriteTotal > 0 && data.length > this.writeChunk) {
104
99
  this.fwWriteBase += data.length;
105
100
  }
106
101
  },
@@ -117,7 +112,7 @@ export class Vl53l8cx extends DepzDevice {
117
112
  throw new DepzError("call init() first");
118
113
  return this.uldDriver;
119
114
  }
120
- /** 'cx' | 'ch' (valid after init()). */
115
+ /** 'cx' | 'ch' | 'l7cx' | 'l7ch' (valid after init()). */
121
116
  get variant() {
122
117
  return this.uld.variant;
123
118
  }
@@ -178,8 +173,8 @@ export class Vl53l8cx extends DepzDevice {
178
173
  return this.uld.getRangingFrequencyHz();
179
174
  }
180
175
  async setRangingFrequencyHz(hz) {
181
- if (hz < MIN_RANGING_FREQUENCY_HZ) {
182
- throw new DepzError(`ranging frequency must be >= ${MIN_RANGING_FREQUENCY_HZ} Hz: below that ` +
176
+ if (hz < this.minRangingHz) {
177
+ throw new DepzError(`ranging frequency must be >= ${this.minRangingHz} Hz: below that ` +
183
178
  "the sensor never enters its ranging loop and streams nothing (contract 04)");
184
179
  }
185
180
  this.requireNotRanging();
@@ -305,9 +300,16 @@ export class Vl53l8cx extends DepzDevice {
305
300
  async stopRanging() {
306
301
  if (!this.rangingFlag)
307
302
  return;
308
- await this.request(Vl53l8Cmd.StopStream, undefined, { okCompletes: true });
309
- this.rangingFlag = false;
310
- await this.uld.stopRanging();
303
+ // Clear host state and stop the sensor even if the MCU STOP_STREAM ack fails
304
+ // (link hiccup): otherwise the device is wedged "ranging" and no
305
+ // reconfiguration is possible (mirrors Vl53l4cd.stopRanging).
306
+ try {
307
+ await this.request(Vl53l8Cmd.StopStream, undefined, { okCompletes: true });
308
+ }
309
+ finally {
310
+ this.rangingFlag = false;
311
+ await this.uld.stopRanging();
312
+ }
311
313
  }
312
314
  get ranging() {
313
315
  return this.rangingFlag;
package/dist/sensors/vl53l8/vl53l8.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/sensors/vl53lx/decode.d.ts ADDED
@@ -0,0 +1,70 @@
1
+ /**
2
+ * Stateless decoders of the blocks the 1D-family bridge streams (contract 12
3
+ * §4) — the "base" every SDK implements, pinned by `vectors/vl53lx.json`.
4
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.decode`.
5
+ *
6
+ * - `decodeDieBlock` — the 17-byte VL53L1-die result block at 0x0089 (L1CX,
7
+ * L1CB, L3CX, L4CD, L4CX light drivers), fully decoded; the two ULDs that
8
+ * read it differ only in `DIE_VARIANTS`.
9
+ * - `decodeL0xRaw` — the raw fields of the VL53L0X 12-byte block at 0x14 (the
10
+ * PAL status and sigma need the device data cached at init).
11
+ * - `decodeHistogramRaw` — the status bytes and 24 photon bins of the
12
+ * 83-byte histogram block at 0x0088 (bins → targets is the full driver).
13
+ */
14
+ export declare const DIE_BLOCK_ADDR = 137;
15
+ export declare const DIE_BLOCK_LEN = 17;
16
+ export declare const L0X_BLOCK_ADDR = 20;
17
+ export declare const L0X_BLOCK_LEN = 12;
18
+ export declare const HISTOGRAM_BLOCK_ADDR = 136;
19
+ export declare const HISTOGRAM_BLOCK_LEN: number;
20
+ export declare const HISTOGRAM_BINS = 24;
21
+ /**
22
+ * [signal-rate byte offset, per-SPAD scale K] of the two ULDs that read the
23
+ * die block: "l4" — VL53L4CD ULD (also L3CX ULP, L4CX-as-L4CD); "l1" —
24
+ * VL53L1X ULD (crosstalk-corrected peak signal at 0x0098, K = 25).
25
+ */
26
+ export declare const DIE_VARIANTS: Readonly<Record<string, readonly [number, number]>>;
27
+ export interface DieResult {
28
+ /** ULD status via STATUS_RTN (0 = valid). */
29
+ rangeStatus: number;
30
+ distanceMm: number;
31
+ sigmaMm: number;
32
+ signalRateKcps: number;
33
+ ambientRateKcps: number;
34
+ signalPerSpadKcps: number;
35
+ ambientPerSpadKcps: number;
36
+ numberOfSpad: number;
37
+ streamCount: number;
38
+ }
39
+ /** The 17-byte die block (0x0089..0x0099) as the named ULD reads it. */
40
+ export declare function decodeDieBlock(raw: Uint8Array, variant?: string): DieResult;
41
+ export interface L0xRaw {
42
+ /** mm (quarter-mm when RangeFractionalEnable, off by default). */
43
+ distanceRaw: number;
44
+ /** Raw byte 0; the PAL status needs the init state. */
45
+ deviceRangeStatus: number;
46
+ /** FixPoint16.16 Mcps (9.7 on the wire << 9). */
47
+ signalRateMcps1616: number;
48
+ ambientRateMcps1616: number;
49
+ /** 8.8. */
50
+ effectiveSpadCount88: number;
51
+ }
52
+ /** Raw fields of the VL53L0X block at 0x14 (before the PAL status/sigma step). */
53
+ export declare function decodeL0xRaw(raw: Uint8Array): L0xRaw;
54
+ export interface HistogramRaw {
55
+ interruptStatus: number;
56
+ rangeStatus: number;
57
+ reportStatus: number;
58
+ streamCount: number;
59
+ dssActualEffectiveSpads: number;
60
+ referencePhase: number;
61
+ vcselStart: number;
62
+ /** 24 photon counts. */
63
+ bins: number[];
64
+ }
65
+ /**
66
+ * The 83-byte histogram block at 0x0088: status bytes and the 24 bins (bin
67
+ * 23's low byte is carried in a separate MSB/LSB pair and patched in first).
68
+ */
69
+ export declare function decodeHistogramRaw(raw: Uint8Array): HistogramRaw;
70
+ //# sourceMappingURL=decode.d.ts.map
package/dist/sensors/vl53lx/decode.d.ts.map ADDED
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