@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/uld/bare/core.js.map

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

@@ -0,0 +1,91 @@
+/**
+ * uld/bare/driver — the SensorDriver the device class talks to, on top of
+ * BareDriver. Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.driver`.
+ *
+ * `core.BareDriver` configures the die and hands back a 24-bin histogram
+ * frame; `hist.ts` turns that frame into targets. This is the adapter between
+ * them and the family contract, so ranging, streaming and every UI work on
+ * the histogram products without a special case.
+ *
+ * What this driver gives that the light ones do not: several targets per
+ * frame. The first frame of a stream reports status 6 (no wrap-around check
+ * done): the checks that would upgrade it need the frame before.
+ *
+ * `binData(raw)` and `toMeasurement(bins)` are synchronous so the device class
+ * can decode streamed frames inside its report handler; both are stateful
+ * (A/B frame alternation, frame history) — decode every frame exactly once.
+ */
+import { SensorDriver, type BridgePlatform, type Measurement } from "../base.js";
+import { BareDriver, type HistogramBinData } from "./core.js";
+export { HistogramBinData } from "./core.js";
+export declare const GPIO_HV_MUX__CTRL = 48;
+export declare const GPIO__TIO_HV_STATUS = 49;
+export declare const SYSTEM__INTERRUPT_CLEAR = 134;
+export declare const FIRMWARE__SYSTEM_STATUS = 229;
+export declare const PAD_I2C_HV__CONFIG = 45;
+/**
+ * Bits 2 and 5, the byte `VL53L4CD_I2C_FAST_MODE_PLUS` writes to this
+ * register in the C ULD. ST's histogram preset leaves the pad at 0x00; the pad
+ * is a property of the die, so it is set here and never cleared.
+ */
+export declare const FMP_PAD_CONFIG = 18;
+/** How far the 24 bins reach before the phase wraps, per preset mode. */
+export declare const REACH_BY_MODE_MM: Readonly<Record<string, number>>;
+export declare const DEFAULT_MODE = "medium";
+/** VL53L1CX / L1CB / L3CX / L4CX in histogram mode: multi-target ranging. */
+export declare class VL53LX extends SensorDriver {
+    static readonly ADDR_WIDTH = 2;
+    static readonly CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+    static readonly MAX_KHZ = 1000;
+    static readonly SUPPORTS: ReadonlySet<string>;
+    static readonly MODES: readonly string[];
+    static readonly BUDGET_MS: readonly [number, number];
+    static readonly HISTOGRAM = true;
+    readonly bare: BareDriver;
+    private mode;
+    private budgetMs;
+    private interMs;
+    private lastStreamCount;
+    private readonly history;
+    constructor(platform: BridgePlatform, product: string);
+    modelId(): Promise<number>;
+    waitBoot(timeoutS?: number): Promise<void>;
+    /**
+     * Reset the part, configure it for histogram ranging and leave the bus at
+     * this die's ceiling. The bus is raised only after the FM+ pad byte has
+     * reached the device.
+     */
+    sensorInit(): Promise<void>;
+    /**
+     * short / medium / long — the device preset mode, which sets how far the 24
+     * bins reach before the phase wraps (1.6 / 2.4 / 4.0 m). Host-side only.
+     */
+    setMode(name: string): Promise<void>;
+    getMode(): Promise<string>;
+    reachMm(): number | null;
+    driverInfo(): Promise<Record<string, unknown>>;
+    startRanging(): Promise<void>;
+    stopRanging(): Promise<void>;
+    streamBlock(): [number, number];
+    decode(raw: Uint8Array): Measurement;
+    readMeasurement(): Promise<Measurement>;
+    /**
+     * The raw frame. `raw` is the streamed block when the bridge read it
+     * (synchronous); without it the block is read here (async).
+     */
+    binData(raw: Uint8Array): HistogramBinData;
+    binData(): Promise<HistogramBinData>;
+    private binDataFrom;
+    toMeasurement(bins: HistogramBinData): Measurement;
+    checkForDataReady(): Promise<boolean>;
+    clearInterrupt(): Promise<void>;
+    /**
+     * The budget covers the whole measurement, of which the range timeout is
+     * one sixth after a fixed guard comes off. 0 = continuous. Host-side only:
+     * the image reaches the sensor at startRanging().
+     */
+    setRangeTiming(timingBudgetMs: number, interMeasurementMs: number): Promise<void>;
+    /** → [timing budget ms, inter-measurement ms]. */
+    getRangeTiming(): Promise<[number, number]>;
+}
+//# sourceMappingURL=driver.d.ts.map

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

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package/dist/sensors/vl53lx/uld/bare/driver.js

@@ -0,0 +1,206 @@
+/**
+ * uld/bare/driver — the SensorDriver the device class talks to, on top of
+ * BareDriver. Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.driver`.
+ *
+ * `core.BareDriver` configures the die and hands back a 24-bin histogram
+ * frame; `hist.ts` turns that frame into targets. This is the adapter between
+ * them and the family contract, so ranging, streaming and every UI work on
+ * the histogram products without a special case.
+ *
+ * What this driver gives that the light ones do not: several targets per
+ * frame. The first frame of a stream reports status 6 (no wrap-around check
+ * done): the checks that would upgrade it need the frame before.
+ *
+ * `binData(raw)` and `toMeasurement(bins)` are synchronous so the device class
+ * can decode streamed frames inside its report handler; both are stateful
+ * (A/B frame alternation, frame history) — decode every frame exactly once.
+ */
+import { SensorDriver } from "../base.js";
+import { I2C_KHZ_BOOT, Vl53Error } from "../link.js";
+import { BareDriver, CLEAR_RANGE_INT, DISTANCE_MODES, HISTOGRAM_BIN_DATA_I2C_INDEX, HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES, TIMING_DIVISOR, TIMING_GUARD_US, } from "./core.js";
+import { FrameHistory, processData, toMeasurement } from "./hist.js";
+import { floorDiv } from "./imath.js";
+export { HistogramBinData } from "./core.js";
+// The VL53L1 die's own registers, the few this adapter needs by name.
+export const GPIO_HV_MUX__CTRL = 0x0030;
+export const GPIO__TIO_HV_STATUS = 0x0031;
+export const SYSTEM__INTERRUPT_CLEAR = 0x0086;
+export const FIRMWARE__SYSTEM_STATUS = 0x00e5;
+export const PAD_I2C_HV__CONFIG = 0x002d;
+/**
+ * Bits 2 and 5, the byte `VL53L4CD_I2C_FAST_MODE_PLUS` writes to this
+ * register in the C ULD. ST's histogram preset leaves the pad at 0x00; the pad
+ * is a property of the die, so it is set here and never cleared.
+ */
+export const FMP_PAD_CONFIG = 0x12;
+/** How far the 24 bins reach before the phase wraps, per preset mode. */
+export const REACH_BY_MODE_MM = {
+    short: 1600,
+    medium: 2400,
+    long: 4000,
+};
+export const DEFAULT_MODE = "medium";
+/** VL53L1CX / L1CB / L3CX / L4CX in histogram mode: multi-target ranging. */
+export class VL53LX extends SensorDriver {
+    static ADDR_WIDTH = 2;
+    // One write clears the interrupt and lets the next frame run (measured
+    // over 40 frames on both dies: no misses, stream count unbroken).
+    static CLEAR_STEPS = [
+        [SYSTEM__INTERRUPT_CLEAR, CLEAR_RANGE_INT],
+    ];
+    static MAX_KHZ = 1000; // with Fast Mode Plus on the sensor pad
+    static SUPPORTS = new Set(["mode", "timing"]);
+    static MODES = DISTANCE_MODES;
+    // TIMING_GUARD_US comes off the budget before it is divided, and the range
+    // timeout is capped at FDA_MAX_TIMING_BUDGET_US: 2..551 ms, rounded inwards.
+    static BUDGET_MS = [2, 550];
+    static HISTOGRAM = true;
+    bare;
+    mode = DEFAULT_MODE;
+    budgetMs = 33;
+    interMs = 0;
+    // The A/B alternation rides on the ll-driver state; with the clear done by
+    // the bridge, the state is advanced when a frame arrives. Which frame that
+    // is comes from the device's own `result__stream_count`, not a call count.
+    lastStreamCount = null;
+    // The phase and event consistency checks read the frame before this one.
+    history = new FrameHistory();
+    constructor(platform, product) {
+        super(platform, product);
+        this.bare = new BareDriver(platform);
+    }
+    // ── identity ──
+    modelId() {
+        return this.p.rdWord(0x010f);
+    }
+    // ── lifecycle ──
+    async waitBoot(timeoutS = 1.0) {
+        const deadline = Date.now() + timeoutS * 1000;
+        for (;;) {
+            if ((await this.p.rdByte(FIRMWARE__SYSTEM_STATUS)) === 0x03)
+                return;
+            if (Date.now() > deadline) {
+                throw new Vl53Error("timeout waiting for FIRMWARE__SYSTEM_STATUS == 0x03");
+            }
+            await this.p.sleepMs(1);
+        }
+    }
+    /**
+     * Reset the part, configure it for histogram ranging and leave the bus at
+     * this die's ceiling. The bus is raised only after the FM+ pad byte has
+     * reached the device.
+     */
+    async sensorInit() {
+        await this.p.setAddrWidth(this.ADDR_WIDTH);
+        await this.p.setI2cSpeed(I2C_KHZ_BOOT);
+        await this.p.xshutReset();
+        await this.waitBoot();
+        await this.bare.dataInit();
+        await this.setMode(this.mode);
+        await this.p.wrByte(PAD_I2C_HV__CONFIG, FMP_PAD_CONFIG);
+        if (this.MAX_KHZ !== I2C_KHZ_BOOT)
+            await this.p.setI2cSpeed(this.MAX_KHZ);
+    }
+    /**
+     * short / medium / long — the device preset mode, which sets how far the 24
+     * bins reach before the phase wraps (1.6 / 2.4 / 4.0 m). Host-side only.
+     */
+    async setMode(name) {
+        if (!DISTANCE_MODES.includes(name)) {
+            throw new Vl53Error(`no such mode: ${name} (have ${this.MODES.join(", ")})`);
+        }
+        this.mode = name;
+        this.bare.setDistanceMode(name);
+        // The preset rewrites the whole static config, pad byte included; put FM+
+        // back or the first range-start write would switch the pad off at 1 MHz.
+        this.bare.img.static_config.v.pad_i2c_hv__config = FMP_PAD_CONFIG;
+        await this.setRangeTiming(this.budgetMs, this.interMs);
+    }
+    async getMode() {
+        return this.mode;
+    }
+    reachMm() {
+        return REACH_BY_MODE_MM[this.mode] ?? null;
+    }
+    // ── driver-specific readout ──
+    async driverInfo() {
+        return {
+            "range timeout us": this.bare.rangeConfigTimeoutUs,
+            "MM1/MM2 offset mm": this.bare.hpp.range_offset_mm / 4,
+        };
+    }
+    async startRanging() {
+        this.lastStreamCount = null;
+        this.history.reset();
+        await this.bare.loadPatch();
+        await this.bare.initAndStartRange();
+        // The interrupt line comes out of reset already asserted: one clear
+        // deasserts it (ST's ClearInterruptAndStartMeasurement).
+        await this.bare.clearInterruptAndStartNextRange();
+    }
+    async stopRanging() {
+        await this.bare.stopRange();
+        await this.bare.unloadPatch();
+    }
+    // ── data ──
+    streamBlock() {
+        return [HISTOGRAM_BIN_DATA_I2C_INDEX, HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES];
+    }
+    decode(raw) {
+        return this.toMeasurement(this.binData(raw));
+    }
+    async readMeasurement() {
+        return this.toMeasurement(await this.binData());
+    }
+    binData(raw) {
+        if (raw === undefined) {
+            const [addr, length] = this.streamBlock();
+            return this.p.rdMulti(addr, length).then((r) => this.binDataFrom(r));
+        }
+        return this.binDataFrom(raw);
+    }
+    binDataFrom(raw) {
+        const streamCount = raw[3]; // result__stream_count
+        if (streamCount !== this.lastStreamCount) {
+            if (this.lastStreamCount !== null) {
+                // What clear_interrupt_and_start_next_range() does to the state
+                // machine, without the register writes: one frame further on.
+                this.bare.state.updateRd(this.bare.img.system_control.v.system__mode_start, this.bare.img.dynamic_config.v.system__grouped_parameter_hold);
+            }
+            this.lastStreamCount = streamCount;
+        }
+        return this.bare.getHistogramBinData(raw);
+    }
+    toMeasurement(bins) {
+        const results = processData(bins, this.bare.hpp);
+        // Once per frame, and only here: the history is a state machine.
+        this.history.apply(results, bins, this.bare.state.rd_device_state, this.bare.hpp);
+        return toMeasurement(results, bins);
+    }
+    // ── interrupt ──
+    async checkForDataReady() {
+        const intPol = ((await this.p.rdByte(GPIO_HV_MUX__CTRL)) & 0x10) >> 4 === 1 ? 0 : 1;
+        return ((await this.p.rdByte(GPIO__TIO_HV_STATUS)) & 1) === intPol;
+    }
+    async clearInterrupt() {
+        await this.p.wrByte(SYSTEM__INTERRUPT_CLEAR, CLEAR_RANGE_INT);
+    }
+    // ── timing ──
+    /**
+     * The budget covers the whole measurement, of which the range timeout is
+     * one sixth after a fixed guard comes off. 0 = continuous. Host-side only:
+     * the image reaches the sensor at startRanging().
+     */
+    async setRangeTiming(timingBudgetMs, interMeasurementMs) {
+        this.budgetMs = timingBudgetMs;
+        this.interMs = interMeasurementMs;
+        this.bare.setMeasurementTimingBudgetUs(timingBudgetMs * 1000);
+        this.bare.setInterMeasurementPeriodMs(interMeasurementMs);
+    }
+    /** → [timing budget ms, inter-measurement ms]. */
+    async getRangeTiming() {
+        const budgetUs = this.bare.rangeConfigTimeoutUs * TIMING_DIVISOR + TIMING_GUARD_US;
+        return [floorDiv(budgetUs, 1000), this.bare.interMeasurementPeriodMs];
+    }
+}
+//# sourceMappingURL=driver.js.map

package/dist/sensors/vl53lx/uld/bare/driver.js.map

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

@@ -0,0 +1,180 @@
+/**
+ * uld/bare/hist — histogram post-processing: 24 bins → targets.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.hist` (a port of
+ * `VL53LX_hist_process_data()`; ST ships the C obfuscated, the C names are in
+ * the comments next to ours).
+ *
+ * In one paragraph: fold repeated bin codes together, estimate the ambient
+ * floor, drop the ambient-only bins, work out per-bin detection thresholds,
+ * and mark every bin above its threshold. Runs of marked bins are pulses.
+ * Each pulse is isolated, filtered with a three-tap window, and the zero
+ * crossing between the two halves is interpolated to a sub-bin phase. Phase
+ * converts to millimetres against `zero_distance_phase`; event sums convert
+ * to rates; the filter sums to sigma. `FrameHistory` compares consecutive
+ * frames (phase and event consistency), which is what turns "no wrap check
+ * done" into "valid" or "wrapped target".
+ *
+ * Not here (as in Python): crosstalk compensation, the ambient dmax estimate
+ * (a stub on purpose — our boards ship the FMT region blank) and the
+ * crosstalk-monitor consistency check.
+ *
+ * **Integers.** Python floors (`//`), C truncates (`cdiv`); both are kept
+ * exactly where the Python has them. Three places can leave 2^53 and run in
+ * BigInt: the sigma estimate (64-bit saturation ceilings), the phase
+ * interpolation (4096² scaling) and the per-SPAD / events-consistency maths.
+ */
+import { type Measurement } from "../base.js";
+import { type HistPostProcessConfig, type HistogramBinData } from "./core.js";
+export declare const MAX_BIN_SEQUENCE_LENGTH = 6;
+export declare const MAX_BIN_SEQUENCE_CODE = 15;
+export declare const MAX_PULSES = 8;
+export declare const MAX_RANGE_RESULTS = 4;
+export declare const MAX_ALLOWED_PHASE = 65535;
+export declare const SPAD_TOTAL_COUNT_MAX: number;
+export declare const SPAD_TOTAL_COUNT_RES_THRES: number;
+export declare const SPEED_OF_LIGHT_IN_AIR_DIV_8: number;
+export declare const SIGMA_INVALID = 65535;
+export declare const DEVICEERROR_NOUPDATE = 0;
+export declare const DEVICEERROR_RANGEPHASECHECK = 5;
+export declare const DEVICEERROR_SIGMATHRESHOLDCHECK = 6;
+export declare const DEVICEERROR_PHASECONSISTENCY = 7;
+export declare const DEVICEERROR_RANGECOMPLETE = 9;
+export declare const DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK = 19;
+export declare const DEVICEERROR_EVENTCONSISTENCY = 20;
+export declare const DEVICEERROR_RANGECOMPLETE_MERGED_PULSE = 22;
+export declare const DEVICEERROR_PREV_RANGE_NO_TARGETS = 23;
+export declare const HIST_TARGET_ORDER_STRONGEST_FIRST = 1;
+export declare const HIST_TARGET_ORDER_CLOSEST_FIRST = 2;
+export declare const RANGESTATUS_RANGE_VALID = 0;
+export declare const RANGESTATUS_SIGMA_FAIL = 1;
+export declare const RANGESTATUS_OUTOFBOUNDS_FAIL = 4;
+export declare const RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK = 6;
+export declare const RANGESTATUS_WRAP_TARGET_FAIL = 7;
+export declare const RANGESTATUS_RANGE_VALID_MERGED_PULSE = 11;
+export declare const RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL = 12;
+export declare const RANGESTATUS_NONE = 255;
+/** VL53LX_isqrt() — floor of the square root, on a uint32 argument. */
+export declare function isqrt(num: number): number;
+/** VL53LX_calc_pll_period_mm(). */
+export declare function calcPllPeriodMm(fastOscFrequency: number): number;
+/** VL53LX_rate_maths(): events over a duration → count rate in 9.7 Mcps. */
+export declare function rateMaths(events: number, timeUs: number): number;
+/** VL53LX_rate_per_spad_maths(). */
+export declare function ratePerSpadMaths(fracBits: number, peakCountRate: number, numSpads: number, maxOutputValue: number): number;
+/** VL53LX_events_per_spad_maths() → kcps per SPAD (BigInt: `total << 11`). */
+export declare function eventsPerSpadMaths(events: number, numSpads: number, duration: number): number;
+/** VL53LX_range_maths(): phase → millimetres. */
+export declare function rangeMaths(fastOscFrequency: number, phase: number, zeroDistancePhase: number, fractionalBits: number, gainFactor: number, rangeOffsetMm: number): number;
+/** `VL53LX_range_data_t`: one target. C field names kept. */
+export declare class RangeData {
+    range_id: number;
+    start_bin: number;
+    first_bin: number;
+    peak_bin: number;
+    last_bin: number;
+    end_bin: number;
+    width_bins: number;
+    window_bins: number;
+    vcsel_width: number;
+    fast_osc_frequency: number;
+    zero_distance_phase: number;
+    spads: number;
+    total_periods_elapsed: number;
+    peak_duration_us: number;
+    woi_duration_us: number;
+    ambient_events: number;
+    total_events: number;
+    signal_events: number;
+    peak_signal_count_rate_mcps: number;
+    avg_signal_count_rate_mcps: number;
+    ambient_count_rate_mcps: number;
+    total_rate_per_spad_mcps: number;
+    signal_events_per_spad_kcps: number;
+    sigma: number;
+    phase_start: number;
+    phase_mean: number;
+    phase_end: number;
+    min_range_mm: number;
+    median_range_mm: number;
+    max_range_mm: number;
+    range_status: number;
+    get sigma_mm(): number;
+    /** peak_signal_count_rate_mcps is 9.7 Mcps. */
+    get signal_kcps(): number;
+    get ambient_kcps(): number;
+}
+/** `VL53LX_range_results_t`, reduced to the single-zone case. */
+export declare class RangeResults {
+    stream_count: number;
+    targets: RangeData[];
+    ambient_dmax_mm: number[];
+    wrap_dmax_mm: number;
+}
+/** `VL53LX_hist_pulse_data_t`: one run of bins above the threshold. */
+export declare class PulseData {
+    start_bin: number;
+    first_bin: number;
+    peak_bin: number;
+    last_bin: number;
+    end_bin: number;
+    width_bins: number;
+    filter_woi: number;
+    ambient_events: number;
+    total_events: number;
+    signal_events: number;
+    phase_start: number;
+    phase_mean: number;
+    phase_end: number;
+    sigma: number;
+}
+/** VL53LX_f_031: fold the six bin-sequence codes together (repeats averaged). */
+export declare function averageRepeatedBins(src: HistogramBinData): HistogramBinData;
+/** VL53LX_hist_calc_zero_distance_phase */
+export declare function calcZeroDistancePhase(bins: HistogramBinData): void;
+/** VL53LX_hist_estimate_ambient_from_thresholded_bins() */
+export declare function estimateAmbientFromThresholdedBins(ambientThresholdSigma: number, bins: HistogramBinData): void;
+/** VL53LX_hist_estimate_ambient_from_ambient_bins() */
+export declare function estimateAmbientFromAmbientBins(bins: HistogramBinData): void;
+/** VL53LX_hist_remove_ambient_bins: drop the ambient-only bins off the front. */
+export declare function removeAmbientBins(bins: HistogramBinData): void;
+/**
+ * `VL53LX_hist_process_data()` + `VL53LX_f_025`, with crosstalk off.
+ * `binsInput` is what `BareDriver.getHistogramBinData()` returns; `hpp` is the
+ * driver's `HistPostProcessConfig`. Pure (does not modify `binsInput`).
+ */
+export declare function processData(binsInput: HistogramBinData, hpp: HistPostProcessConfig, mergeNb?: number): RangeResults;
+interface PrevTarget {
+    ambient_events: number;
+    total_events: number;
+    phase_mean: number;
+    range_status: number;
+}
+/**
+ * The frame before this one, reduced to what the consistency checks read
+ * (`VL53LX_zone_hist_info_t` / `VL53LX_zone_objects_t` for our single zone).
+ * The driver owns one and hands it every frame, exactly once.
+ */
+export declare class FrameHistory {
+    rd_device_state: string | null;
+    total_periods_elapsed: number;
+    spads: number;
+    targets: PrevTarget[];
+    /** Forget the stream so far; the next `apply()` only remembers. */
+    reset(): void;
+    /** Check `results` against the remembered frame, then remember it (C order). */
+    apply(results: RangeResults, bins: HistogramBinData, rdDeviceState: string, hpp: HistPostProcessConfig): void;
+    /** `VL53LX_hist_phase_consistency_check()`. */
+    private phaseConsistencyCheck;
+}
+/** ConvertStatusHisto() (vl53lx_api.c), the cases the histogram path produces. */
+export declare function convertStatus(deviceError: number): number;
+/** UM2931 range status names, as uld/l4 spells them. */
+export declare const STATUS_NAMES: Readonly<Record<number, string>>;
+/**
+ * RangeResults → the family-wide Measurement. Every return goes into
+ * `targets`; the first one is also the measurement itself. `extra` keeps the
+ * Python key names (display only).
+ */
+export declare function toMeasurement(results: RangeResults, bins: HistogramBinData): Measurement;
+export {};
+//# sourceMappingURL=hist.d.ts.map

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

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