@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/decode.js

@@ -0,0 +1,108 @@
+/**
+ * Stateless decoders of the blocks the 1D-family bridge streams (contract 12
+ * §4) — the "base" every SDK implements, pinned by `vectors/vl53lx.json`.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.decode`.
+ *
+ * - `decodeDieBlock` — the 17-byte VL53L1-die result block at 0x0089 (L1CX,
+ *   L1CB, L3CX, L4CD, L4CX light drivers), fully decoded; the two ULDs that
+ *   read it differ only in `DIE_VARIANTS`.
+ * - `decodeL0xRaw` — the raw fields of the VL53L0X 12-byte block at 0x14 (the
+ *   PAL status and sigma need the device data cached at init).
+ * - `decodeHistogramRaw` — the status bytes and 24 photon bins of the
+ *   83-byte histogram block at 0x0088 (bins → targets is the full driver).
+ */
+import { beUint, floorDiv } from "./uld/arith.js";
+import { RESULT_BLOCK_LEN as DIE_LEN, STATUS_RTN } from "./uld/vl53l1-die.js";
+export const DIE_BLOCK_ADDR = 0x0089;
+export const DIE_BLOCK_LEN = DIE_LEN;
+export const L0X_BLOCK_ADDR = 0x14;
+export const L0X_BLOCK_LEN = 12;
+// Histogram block layout (Bare Driver register map, vl53lx_register_map.h).
+const RESULT__HISTOGRAM_BIN_0_2 = 0x008e;
+const RESULT__HISTOGRAM_BIN_23_0 = 0x00d5;
+const PHASECAL_RESULT__REFERENCE_PHASE = 0x00d6;
+const PHASECAL_RESULT__VCSEL_START = 0x00d8;
+const RESULT__HISTOGRAM_BIN_23_0_MSB = 0x00d9;
+const RESULT__HISTOGRAM_BIN_23_0_LSB = 0x00da;
+export const HISTOGRAM_BLOCK_ADDR = 0x0088;
+export const HISTOGRAM_BLOCK_LEN = RESULT__HISTOGRAM_BIN_23_0_LSB - HISTOGRAM_BLOCK_ADDR + 1;
+export const HISTOGRAM_BINS = 24;
+/**
+ * [signal-rate byte offset, per-SPAD scale K] of the two ULDs that read the
+ * die block: "l4" — VL53L4CD ULD (also L3CX ULP, L4CX-as-L4CD); "l1" —
+ * VL53L1X ULD (crosstalk-corrected peak signal at 0x0098, K = 25).
+ */
+export const DIE_VARIANTS = {
+    l4: [5, 256],
+    l1: [15, 25],
+};
+/** The 17-byte die block (0x0089..0x0099) as the named ULD reads it. */
+export function decodeDieBlock(raw, variant = "l4") {
+    if (raw.length < DIE_BLOCK_LEN) {
+        throw new RangeError(`die result block needs ${DIE_BLOCK_LEN} bytes, got ${raw.length}`);
+    }
+    const v = DIE_VARIANTS[variant];
+    if (v === undefined)
+        throw new RangeError(`unknown die variant ${variant}`);
+    const [signalAt, k] = v;
+    let status = raw[0] & 0x1f;
+    if (status < STATUS_RTN.length)
+        status = STATUS_RTN[status];
+    const rawSpads = beUint(raw, 3, 5); // 8.8
+    const signal = beUint(raw, signalAt, signalAt + 2) * 8;
+    const ambient = beUint(raw, 7, 9) * 8;
+    return {
+        rangeStatus: status,
+        distanceMm: beUint(raw, 13, 15),
+        sigmaMm: floorDiv(beUint(raw, 9, 11), 4),
+        signalRateKcps: signal,
+        ambientRateKcps: ambient,
+        signalPerSpadKcps: rawSpads ? floorDiv(signal * k, rawSpads) : 0,
+        ambientPerSpadKcps: rawSpads ? floorDiv(ambient * k, rawSpads) : 0,
+        numberOfSpad: floorDiv(rawSpads, 256),
+        streamCount: raw[2],
+    };
+}
+/** Raw fields of the VL53L0X block at 0x14 (before the PAL status/sigma step). */
+export function decodeL0xRaw(raw) {
+    if (raw.length < L0X_BLOCK_LEN) {
+        throw new RangeError(`VL53L0X result block needs ${L0X_BLOCK_LEN} bytes, got ${raw.length}`);
+    }
+    return {
+        distanceRaw: (raw[10] << 8) + raw[11],
+        deviceRangeStatus: raw[0],
+        signalRateMcps1616: ((raw[6] << 8) + raw[7]) * 512,
+        ambientRateMcps1616: ((raw[8] << 8) + raw[9]) * 512,
+        effectiveSpadCount88: (raw[2] << 8) + raw[3],
+    };
+}
+/**
+ * The 83-byte histogram block at 0x0088: status bytes and the 24 bins (bin
+ * 23's low byte is carried in a separate MSB/LSB pair and patched in first).
+ */
+export function decodeHistogramRaw(raw) {
+    if (raw.length < HISTOGRAM_BLOCK_LEN) {
+        throw new RangeError(`histogram block needs ${HISTOGRAM_BLOCK_LEN} bytes, got ${raw.length}`);
+    }
+    const off = HISTOGRAM_BLOCK_ADDR;
+    const buf = Uint8Array.from(raw);
+    buf[RESULT__HISTOGRAM_BIN_23_0 - off] =
+        ((buf[RESULT__HISTOGRAM_BIN_23_0_MSB - off] << 2) + buf[RESULT__HISTOGRAM_BIN_23_0_LSB - off]) &
+            0xff;
+    const base = RESULT__HISTOGRAM_BIN_0_2 - off;
+    const bins = [];
+    for (let i = 0; i < HISTOGRAM_BINS; i++)
+        bins.push(beUint(buf, base + 3 * i, base + 3 * i + 3));
+    const ref = PHASECAL_RESULT__REFERENCE_PHASE - off;
+    return {
+        interruptStatus: buf[0],
+        rangeStatus: buf[1],
+        reportStatus: buf[2],
+        streamCount: buf[3],
+        dssActualEffectiveSpads: beUint(buf, 4, 6),
+        referencePhase: beUint(buf, ref, ref + 2),
+        vcselStart: buf[PHASECAL_RESULT__VCSEL_START - off],
+        bins,
+    };
+}
+//# sourceMappingURL=decode.js.map

package/dist/sensors/vl53lx/decode.js.map

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package/dist/sensors/vl53lx/uld/arith.d.ts

@@ -0,0 +1,23 @@
+/**
+ * Integer helpers for the ULD ports: Python-int semantics on JS numbers.
+ *
+ * The Python ports compute with unbounded ints and wrap on purpose where the
+ * C driver does (`& 0xFFFFFFFF`). JS bitwise operators work on 32-bit signed
+ * values, so any shift or mask that may see a value outside int32 goes
+ * through these helpers instead. Every value they take stays below 2^53
+ * (exact in a double); the sigma estimate of the VL53L0X, which can exceed
+ * that, runs on BigInt in `l0x.ts`.
+ */
+/** C uint32 wrap-around (`value & 0xFFFFFFFF` in Python, negatives included). */
+export declare function u32(value: number): number;
+/** Python `a // b` (floor division). */
+export declare function floorDiv(a: number, b: number): number;
+/** Python `a >> n` for any safe integer (floor semantics). */
+export declare function shr(a: number, n: number): number;
+/** Python `a << n` for any safe integer. */
+export declare function shl(a: number, n: number): number;
+/** Python `round(x)`: half to even. */
+export declare function pyRound(x: number): number;
+/** Big-endian unsigned integer of `b[start:end]`. */
+export declare function beUint(b: Uint8Array, start: number, end: number): number;
+//# sourceMappingURL=arith.d.ts.map

package/dist/sensors/vl53lx/uld/arith.d.ts.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/arith.js

@@ -0,0 +1,42 @@
+/**
+ * Integer helpers for the ULD ports: Python-int semantics on JS numbers.
+ *
+ * The Python ports compute with unbounded ints and wrap on purpose where the
+ * C driver does (`& 0xFFFFFFFF`). JS bitwise operators work on 32-bit signed
+ * values, so any shift or mask that may see a value outside int32 goes
+ * through these helpers instead. Every value they take stays below 2^53
+ * (exact in a double); the sigma estimate of the VL53L0X, which can exceed
+ * that, runs on BigInt in `l0x.ts`.
+ */
+const TWO32 = 4294967296;
+/** C uint32 wrap-around (`value & 0xFFFFFFFF` in Python, negatives included). */
+export function u32(value) {
+    const r = value % TWO32;
+    return r < 0 ? r + TWO32 : r;
+}
+/** Python `a // b` (floor division). */
+export function floorDiv(a, b) {
+    return Math.floor(a / b);
+}
+/** Python `a >> n` for any safe integer (floor semantics). */
+export function shr(a, n) {
+    return Math.floor(a / 2 ** n);
+}
+/** Python `a << n` for any safe integer. */
+export function shl(a, n) {
+    return a * 2 ** n;
+}
+/** Python `round(x)`: half to even. */
+export function pyRound(x) {
+    if (Math.abs(x % 1) === 0.5)
+        return 2 * Math.round(x / 2);
+    return Math.round(x);
+}
+/** Big-endian unsigned integer of `b[start:end]`. */
+export function beUint(b, start, end) {
+    let v = 0;
+    for (let i = start; i < end; i++)
+        v = v * 256 + b[i];
+    return v;
+}
+//# sourceMappingURL=arith.js.map

package/dist/sensors/vl53lx/uld/arith.js.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/bare/core.d.ts

@@ -0,0 +1,345 @@
+/**
+ * uld/bare/core — preset modes, timing maths and the ranging cycle.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.core` (a faithful
+ * port of ST's VL53LX BareDriver C).
+ *
+ * This turns a set of tuning numbers into a device image and back:
+ * `VL53LX_read_p2p_data()` (the factory data), the
+ * `VL53LX_preset_mode_histogram_*()` builders, `VL53LX_set_timeouts_us()`,
+ * `VL53LX_init_and_start_range()` and `VL53LX_get_histogram_bin_data()`.
+ *
+ * **The device is configured in one shot.** Every preset builder edits the
+ * host-side image, and the span 0x0001..0x0087 goes out as one transfer when
+ * ranging starts.
+ *
+ * **Naming.** Methods are camelCase; the C structs (`HistogramBinData`,
+ * `HistPostProcessConfig`, register fields, NVM shapes) keep their C field
+ * names so they stay diffable against the Python and the C driver.
+ *
+ * **Integers.** Python `//`, `%`, `<<`, `>>` are mirrored through `imath.ts`
+ * (floor vs trunc, no 32-bit wrap); see there.
+ */
+import type { BridgePlatform } from "../base.js";
+import { DeviceImage } from "./image.js";
+import { NvmReader, type AdditionalOffsetCalData, type CalPeakRateMap, type OpticalCentre } from "./nvm.js";
+import type { BlockName, RegBlock } from "./regs.js";
+export declare const POWER_MANAGEMENT__GO1_POWER_FORCE = 131;
+export declare const FIRMWARE__ENABLE = 133;
+export declare const RESULT__OSC_CALIBRATE_VAL = 222;
+export declare const PATCH__CTRL = 1136;
+export declare const PATCH__JMP_ENABLES = 1138;
+export declare const PATCH__DATA_ENABLES = 1140;
+export declare const PATCH__OFFSET_0 = 1142;
+export declare const PATCH__ADDRESS_0 = 1174;
+export declare const HISTOGRAM_BIN_DATA_I2C_INDEX = 136;
+export declare const RESULT__HISTOGRAM_BIN_0_2 = 142;
+export declare const RESULT__HISTOGRAM_BIN_23_0 = 213;
+export declare const PHASECAL_RESULT__REFERENCE_PHASE = 214;
+export declare const PHASECAL_RESULT__VCSEL_START = 216;
+export declare const RESULT__HISTOGRAM_BIN_23_0_MSB = 217;
+export declare const RESULT__HISTOGRAM_BIN_23_0_LSB = 218;
+export declare const HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES: number;
+export declare const DEVICEMEASUREMENTMODE_BACKTOBACK = 32;
+export declare const DEVICEMEASUREMENTMODE_ABORT = 128;
+export declare const DEVICEMEASUREMENTMODE_STOP_MASK = 15;
+export declare const DEVICEMEASUREMENTMODE_MODE_MASK = 240;
+export declare const DEVICESCHEDULERMODE_STREAMING = 1;
+export declare const DEVICESCHEDULERMODE_HISTOGRAM = 2;
+export declare const DEVICEREADOUTMODE_SINGLE_SD: number;
+export declare const DEVICEREADOUTMODE_DUAL_SD: number;
+export declare const GROUPEDPARAMETERHOLD_ID_MASK = 2;
+export declare const INTERRUPT_CONFIG_NEW_SAMPLE_READY = 32;
+export declare const CLEAR_RANGE_INT = 1;
+export declare const RANGE_STATUS__RANGE_STATUS_MASK = 31;
+export declare const DEVICEINTERRUPTPOLARITY_ACTIVE_LOW = 16;
+export declare const DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS = 1;
+export declare const DEVICEDSSMODE__TARGET_RATE = 1;
+export declare const SEQUENCE_VHV_EN = 1;
+export declare const SEQUENCE_PHASECAL_EN = 2;
+export declare const SEQUENCE_DSS1_EN = 8;
+export declare const SEQUENCE_DSS2_EN = 16;
+export declare const SEQUENCE_MM1_EN = 32;
+export declare const SEQUENCE_MM2_EN = 64;
+export declare const SEQUENCE_RANGE_EN = 128;
+export declare const SPAD_ARRAY_WIDTH = 16;
+export declare const SPAD_ARRAY_HEIGHT = 16;
+export declare const RTN_SPAD_APERTURE_TRANSMISSION = 56;
+export declare const RTN_SPAD_UNITY_TRANSMISSION = 256;
+export declare const AMBIENT_WINDOW_VCSEL_PERIODS = 256;
+export declare const RANGING_WINDOW_VCSEL_PERIODS = 2048;
+export declare const MACRO_PERIOD_VCSEL_PERIODS: number;
+export declare const HISTOGRAM_BUFFER_SIZE = 24;
+/** The three preset modes, by the distance mode that picks them. */
+export declare const DISTANCE_MODES: readonly ["short", "medium", "long"];
+export type DistanceMode = (typeof DISTANCE_MODES)[number];
+export declare const TIMING_GUARD_US = 1700;
+export declare const TIMING_DIVISOR = 6;
+export declare const FDA_MAX_TIMING_BUDGET_US = 550000;
+export declare function encodeRowCol(row: number, col: number): number;
+/** → [row, col] */
+export declare function decodeRowCol(spadNumber: number): [number, number];
+/** → [width, height] */
+export declare function decodeZoneSize(encodedXySize: number): [number, number];
+export declare function encodeZoneSize(width: number, height: number): number;
+/** → [x_ll, y_ll, x_ur, y_ur], clipped to the SPAD array. */
+export declare function decodeZoneLimits(encodedXyCentre: number, encodedXySize: number): [number, number, number, number];
+export declare function isApertureLocation(row: number, col: number): boolean;
+/** → [mm inner, mm outer] effective SPADs, in 1/256 of a SPAD. */
+export declare function calcMmEffectiveSpads(encodedMmRoiCentre: number, encodedMmRoiSize: number, encodedZoneCentre: number, encodedZoneSize: number, goodSpads: Uint8Array, apertureAttenuation: number): [number, number];
+/**
+ * `VL53LX_hist_combine_mm1_mm2_offsets()` → `range_offset_mm`, in quarter
+ * millimetres. The two NVM offsets are weighted by the nominal MM1/MM2 peak
+ * rates scaled by the share of each region the ROI covers.
+ */
+export declare function combineMm1Mm2Offsets(mm1OffsetMm: number, mm2OffsetMm: number, encodedMmRoiCentre: number, encodedMmRoiSize: number, encodedZoneCentre: number, encodedZoneSize: number, calData: AdditionalOffsetCalData, goodSpads: Uint8Array, apertureAttenuation: number): number;
+/** The 32 `global_config__spad_enables_rtn_*` bytes as one bitmap. */
+export declare function rtnGoodSpads(nvmCopyData: RegBlock): Uint8Array;
+export declare function calcPllPeriodUs(fastOscFrequency: number): number;
+export declare function decodeVcselPeriod(vcselPeriodReg: number): number;
+export declare function calcMacroPeriodUs(fastOscFrequency: number, vcselPeriodReg: number): number;
+export declare function calcTimeoutMclks(timeoutUs: number, macroPeriodUs: number): number;
+export declare function encodeTimeout(timeoutMclks: number): number;
+export declare function decodeTimeout(encoded: number): number;
+export declare function calcEncodedTimeout(timeoutUs: number, macroPeriodUs: number): number;
+export declare function durationMaths(pllPeriodUs: number, vcselParmPclks: number, windowVclks: number, elapsedMclks: number): number;
+/** Fill the six timeout registers, for VCSEL period A and then B. */
+export declare function calcTimeoutRegisterValues(phasecalUs: number, mmUs: number, rangeUs: number, fastOscFrequency: number, genCfg: RegBlock, timCfg: RegBlock): void;
+export declare const HIST_CFG_FIELDS: readonly ["low_amb_even_bin_0_1", "low_amb_even_bin_2_3", "low_amb_even_bin_4_5", "low_amb_odd_bin_0_1", "low_amb_odd_bin_2_3", "low_amb_odd_bin_4_5", "mid_amb_even_bin_0_1", "mid_amb_even_bin_2_3", "mid_amb_even_bin_4_5", "mid_amb_odd_bin_0_1", "mid_amb_odd_bin_2", "mid_amb_odd_bin_3_4", "mid_amb_odd_bin_5", "user_bin_offset", "high_amb_even_bin_0_1", "high_amb_even_bin_2_3", "high_amb_even_bin_4_5", "high_amb_odd_bin_0_1", "high_amb_odd_bin_2_3", "high_amb_odd_bin_4_5", "amb_thresh_low", "amb_thresh_high", "spad_array_selection"];
+/**
+ * `VL53LX_histogram_config_t`. It has no registers of its own: the bin
+ * sequence is smuggled into static_config and timing_config fields that mean
+ * something else in lite mode, which `copyToStaticCfg()` does.
+ */
+export declare class HistConfig {
+    low_amb_even_bin_0_1: number;
+    low_amb_even_bin_2_3: number;
+    low_amb_even_bin_4_5: number;
+    low_amb_odd_bin_0_1: number;
+    low_amb_odd_bin_2_3: number;
+    low_amb_odd_bin_4_5: number;
+    mid_amb_even_bin_0_1: number;
+    mid_amb_even_bin_2_3: number;
+    mid_amb_even_bin_4_5: number;
+    mid_amb_odd_bin_0_1: number;
+    mid_amb_odd_bin_2: number;
+    mid_amb_odd_bin_3_4: number;
+    mid_amb_odd_bin_5: number;
+    user_bin_offset: number;
+    high_amb_even_bin_0_1: number;
+    high_amb_even_bin_2_3: number;
+    high_amb_even_bin_4_5: number;
+    high_amb_odd_bin_0_1: number;
+    high_amb_odd_bin_2_3: number;
+    high_amb_odd_bin_4_5: number;
+    amb_thresh_low: number;
+    amb_thresh_high: number;
+    spad_array_selection: number;
+    private get;
+    /**
+     * VL53LX_init_histogram_config_structure(): six even and six odd bin codes,
+     * packed two to a byte, then repeated across the three ambient levels.
+     */
+    setBinSequence(even: readonly number[], odd: readonly number[]): void;
+    /** VL53LX_copy_hist_cfg_to_static_cfg(). */
+    copyToStaticCfg(staticCfg: RegBlock, timing: RegBlock, dynamic: RegBlock): void;
+    /**
+     * VL53LX_hist_get_bin_sequence_config(): which of the three sequences the
+     * device used for this frame, even or odd according to the stream count.
+     */
+    binSequence(streamCount: number, ambientEventsSum: number): number[];
+}
+/**
+ * `VL53LX_hist_post_process_config_t`, as
+ * `VL53LX_init_hist_post_process_config_struct()` leaves it.
+ */
+export declare class HistPostProcessConfig {
+    hist_algo_select: number;
+    hist_target_order: number;
+    filter_woi0: number;
+    filter_woi1: number;
+    hist_amb_est_method: number;
+    ambient_thresh_sigma0: number;
+    ambient_thresh_sigma1: number;
+    ambient_thresh_events_scaler: number;
+    min_ambient_thresh_events: number;
+    noise_threshold: number;
+    signal_total_events_limit: number;
+    sigma_estimator__sigma_ref_mm: number;
+    sigma_thresh: number;
+    range_offset_mm: number;
+    gain_factor: number;
+    valid_phase_low: number;
+    valid_phase_high: number;
+    algo__consistency_check__phase_tolerance: number;
+    algo__consistency_check__event_sigma: number;
+    algo__consistency_check__event_min_spad_count: number;
+    algo__consistency_check__min_max_tolerance: number;
+    algo__crosstalk_compensation_enable: number;
+    algo__crosstalk_detect_min_valid_range_mm: number;
+    algo__crosstalk_detect_max_valid_range_mm: number;
+    algo__crosstalk_detect_max_valid_rate_kcps: number;
+    algo__crosstalk_detect_max_sigma_mm: number;
+    algo__crosstalk_detect_event_sigma: number;
+    algo__crosstalk_detect_min_max_tolerance: number;
+    algo__crosstalk_compensation_plane_offset_kcps: number;
+    algo__crosstalk_compensation_x_plane_gradient_kcps: number;
+    algo__crosstalk_compensation_y_plane_gradient_kcps: number;
+    constructor(xtalkCompensationEnable?: number);
+}
+/**
+ * `VL53LX_histogram_bin_data_t`: 24 bins plus everything the post-processing
+ * needs to read them — the VCSEL period they were taken at, the phase of zero
+ * distance, the bin sequence and the ambient estimate. C field names kept.
+ */
+export declare class HistogramBinData {
+    result__interrupt_status: number;
+    result__range_status: number;
+    result__report_status: number;
+    result__stream_count: number;
+    result__dss_actual_effective_spads: number;
+    phasecal_result__reference_phase: number;
+    phasecal_result__vcsel_start: number;
+    bin_data: number[];
+    zone_id: number;
+    first_bin: number;
+    number_of_bins: number;
+    bins_in_data: number;
+    cal_config__vcsel_start: number;
+    vcsel_width: number;
+    fast_osc_frequency: number;
+    vcsel_period: number;
+    bin_seq: number[];
+    bin_rep: number[];
+    min_bin_value: number;
+    max_bin_value: number;
+    number_of_ambient_bins: number;
+    number_of_ambient_samples: number;
+    ambient_events_sum: number;
+    ambient_per_bin: number;
+    total_periods_elapsed: number;
+    peak_duration_us: number;
+    woi_duration_us: number;
+    zero_distance_phase: number;
+    roi_config__user_roi_centre_spad: number;
+    roi_config__user_roi_requested_global_xy_size: number;
+    get range_status(): number;
+    /** `copy.deepcopy()` — every field is a number or a number array. */
+    clone(): HistogramBinData;
+}
+export declare const DEVICESTATE_SW_STANDBY = "sw_standby";
+export declare const DEVICESTATE_RANGING_WAIT_GPH_SYNC = "wait_gph_sync";
+export declare const DEVICESTATE_RANGING_OUTPUT_DATA = "output_data";
+export declare const DEVICESTATE_RANGING_DSS_AUTO = "dss_auto";
+export declare class LLState {
+    cfg_device_state: string;
+    cfg_stream_count: number;
+    cfg_gph_id: number;
+    cfg_timing_status: number;
+    rd_device_state: string;
+    rd_stream_count: number;
+    rd_gph_id: number;
+    rd_timing_status: number;
+    reset(): void;
+    updateRd(modeStart: number, groupedParameterHold: number): void;
+    updateCfg(modeStart: number): void;
+}
+export interface FmtDmaxCal {
+    ref__actual_effective_spads: number;
+    ref__peak_signal_count_rate_mcps: number;
+    ref__distance_mm: number;
+    ref_reflectance_pc: number;
+    coverglass_transmission: number;
+}
+export interface MmRoi {
+    x_centre: number;
+    y_centre: number;
+    width: number;
+    height: number;
+}
+/**
+ * The VL53LX BareDriver's ranging path, on top of `DeviceImage`. It owns what
+ * the C driver keeps in `VL53LX_LLDriverData_t` and nowhere else: the factory
+ * data that has no registers, the histogram config, the post-process config
+ * and the timeouts.
+ */
+export declare class BareDriver {
+    readonly p: BridgePlatform;
+    readonly img: DeviceImage;
+    readonly nvm: NvmReader;
+    readonly tuning: Record<string, number>;
+    histCfg: HistConfig;
+    hpp: HistPostProcessConfig;
+    rtnGoodSpads: Uint8Array;
+    opticalCentre: OpticalCentre | null;
+    calPeakRateMap: CalPeakRateMap | null;
+    addOffCalData: AdditionalOffsetCalData | null;
+    fmtDmaxCal: FmtDmaxCal | null;
+    mmRoi: MmRoi | null;
+    result__osc_calibrate_val: number;
+    presetMode: DistanceMode;
+    phasecalConfigTimeoutUs: number;
+    mmConfigTimeoutUs: number;
+    rangeConfigTimeoutUs: number;
+    interMeasurementPeriodMs: number;
+    measurementMode: number;
+    readonly state: LLState;
+    private ambientEventsSum;
+    constructor(p: BridgePlatform);
+    /** Pull the factory data: three register blocks and four NVM regions. */
+    readP2pData(): Promise<void>;
+    /**
+     * Everything the L3CX API does between boot and the first start: read the
+     * factory data, take the default preset mode and the default timing budget.
+     */
+    dataInit(): Promise<void>;
+    /** VL53LX_set_preset_mode() for the three histogram ranging modes. */
+    setPresetMode(mode?: string, dssTargetMcps?: number | null, interMeasurementPeriodMs?: number | null): void;
+    private tp;
+    /**
+     * `VL53LX_get_device_results()` recomputes `hpp.range_offset_mm` every frame
+     * under MM1_MM2_OFFSETS; its inputs are the factory data and the user ROI,
+     * so once per preset is the same answer for less work.
+     */
+    private updateRangeOffset;
+    /**
+     * VL53LX_SetDistanceMode(): the preset mode, with the timeouts put back
+     * afterwards (the preset alone would reset them to its own defaults).
+     */
+    setDistanceMode(mode: string): void;
+    /** VL53LX_preset_mode_standard_ranging(): the base of every histogram mode. */
+    private presetModeStandardRanging;
+    /** VL53LX_preset_mode_histogram_ranging(): standard ranging, then histogram. */
+    private presetModeHistogramRanging;
+    /** The shape all three histogram distance modes share. */
+    private presetTail;
+    setTimeoutsUs(phasecalUs: number, mmUs: number, rangeUs: number): void;
+    setInterMeasurementPeriodMs(periodMs: number): void;
+    /**
+     * VL53LX_SetMeasurementTimingBudgetMicroSeconds(): the range timeout is one
+     * sixth of the budget after a fixed guard comes off.
+     */
+    setMeasurementTimingBudgetUs(budgetUs: number): void;
+    /** VL53LX_load_patch(): a six-instruction phasecal patch. */
+    loadPatch(): Promise<void>;
+    unloadPatch(): Promise<void>;
+    private enablePowerforce;
+    private disablePowerforce;
+    /**
+     * Write the configuration and start. `blocks` is ST's config level: all of
+     * them to start, general_config onwards to clear the interrupt.
+     */
+    initAndStartRange(blocks?: readonly BlockName[]): Promise<void>;
+    /**
+     * VL53LX_clear_interrupt_and_enable_next_range(): in histogram mode the
+     * interrupt is cleared by rewriting general_config onwards.
+     */
+    clearInterruptAndStartNextRange(): Promise<void>;
+    stopRange(): Promise<void>;
+    /**
+     * One frame: the 83-byte block decoded into bins plus the metadata the
+     * post-processing needs. Pure (no bus access): the caller reads or receives
+     * the block. Stateful: carries the ambient sum to the next frame.
+     */
+    getHistogramBinData(raw: Uint8Array): HistogramBinData;
+}
+//# sourceMappingURL=core.d.ts.map

package/dist/sensors/vl53lx/uld/bare/core.d.ts.map

@@ -0,0 +1 @@
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