@depz/sensor-sdk 0.2.1 → 0.3.0

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

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

@@ -0,0 +1,53 @@
+/**
+ * uld/bare/image — the device state the BareDriver keeps, and how it moves.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.image`.
+ *
+ * The C driver holds one struct per register block inside
+ * `VL53LX_LLDriverData_t` and never reads a configuration register on its own:
+ * it edits the struct, then pushes whole blocks. Ranging start is the extreme
+ * case — `VL53LX_init_and_start_range()` writes 0x0001..0x0087 in a single
+ * 135-byte transfer. Block moves keep the USB round trips where the C driver
+ * has them.
+ *
+ * The blocks are almost contiguous: static_nvm ends at 0x000C and customer_nvm
+ * starts at 0x000D. The C driver zeroes the whole buffer first and drops each
+ * block at its own offset, so the reserved byte goes out as 0x00;
+ * `pushRange()` does the same, for the same bytes on the wire.
+ */
+import type { BridgePlatform } from "../base.js";
+import { RegBlock, type BlockName } from "./regs.js";
+/** The blocks `init_and_start_range` pushes, in address order. */
+export declare const RANGE_START_BLOCKS: readonly BlockName[];
+/**
+ * The device's register image, block by block. Blocks are reached as
+ * properties under their C name minus the type suffix:
+ * `img.static_config.v.dss_config__target_total_rate_mcps`. Editing a field
+ * only touches the host copy; `push()` is what reaches the sensor.
+ */
+export declare class DeviceImage {
+    readonly p: BridgePlatform;
+    readonly blocks: Record<BlockName, RegBlock>;
+    constructor(p: BridgePlatform);
+    get static_nvm_managed(): RegBlock;
+    get customer_nvm_managed(): RegBlock;
+    get static_config(): RegBlock;
+    get general_config(): RegBlock;
+    get timing_config(): RegBlock;
+    get dynamic_config(): RegBlock;
+    get system_control(): RegBlock;
+    get system_results(): RegBlock;
+    get core_results(): RegBlock;
+    get debug_results(): RegBlock;
+    get nvm_copy_data(): RegBlock;
+    /** Read one block off the sensor into the image. */
+    pull(name: BlockName): Promise<RegBlock>;
+    /** Write one block from the image to the sensor. */
+    push(name: BlockName): Promise<void>;
+    /** [base, total size] covering the named blocks, reserved bytes included. */
+    static span(names: readonly BlockName[]): [number, number];
+    pullRange(names: readonly BlockName[]): Promise<void>;
+    pushRange(names: readonly BlockName[]): Promise<void>;
+    /** Every field of the named blocks (default: all), one per line. */
+    dump(names?: readonly BlockName[]): string;
+}
+//# sourceMappingURL=image.d.ts.map

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

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

@@ -0,0 +1,108 @@
+/**
+ * uld/bare/image — the device state the BareDriver keeps, and how it moves.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.image`.
+ *
+ * The C driver holds one struct per register block inside
+ * `VL53LX_LLDriverData_t` and never reads a configuration register on its own:
+ * it edits the struct, then pushes whole blocks. Ranging start is the extreme
+ * case — `VL53LX_init_and_start_range()` writes 0x0001..0x0087 in a single
+ * 135-byte transfer. Block moves keep the USB round trips where the C driver
+ * has them.
+ *
+ * The blocks are almost contiguous: static_nvm ends at 0x000C and customer_nvm
+ * starts at 0x000D. The C driver zeroes the whole buffer first and drops each
+ * block at its own offset, so the reserved byte goes out as 0x00;
+ * `pushRange()` does the same, for the same bytes on the wire.
+ */
+import { BLOCKS, BLOCK_NAMES, RegBlock } from "./regs.js";
+/** The blocks `init_and_start_range` pushes, in address order. */
+export const RANGE_START_BLOCKS = [
+    "static_nvm_managed",
+    "customer_nvm_managed",
+    "static_config",
+    "general_config",
+    "timing_config",
+    "dynamic_config",
+    "system_control",
+];
+/**
+ * The device's register image, block by block. Blocks are reached as
+ * properties under their C name minus the type suffix:
+ * `img.static_config.v.dss_config__target_total_rate_mcps`. Editing a field
+ * only touches the host copy; `push()` is what reaches the sensor.
+ */
+export class DeviceImage {
+    p;
+    blocks;
+    constructor(p) {
+        this.p = p;
+        const blocks = {};
+        for (const name of BLOCK_NAMES)
+            blocks[name] = new RegBlock(name);
+        this.blocks = blocks;
+    }
+    get static_nvm_managed() { return this.blocks.static_nvm_managed; }
+    get customer_nvm_managed() { return this.blocks.customer_nvm_managed; }
+    get static_config() { return this.blocks.static_config; }
+    get general_config() { return this.blocks.general_config; }
+    get timing_config() { return this.blocks.timing_config; }
+    get dynamic_config() { return this.blocks.dynamic_config; }
+    get system_control() { return this.blocks.system_control; }
+    get system_results() { return this.blocks.system_results; }
+    get core_results() { return this.blocks.core_results; }
+    get debug_results() { return this.blocks.debug_results; }
+    get nvm_copy_data() { return this.blocks.nvm_copy_data; }
+    // ── one block ──
+    /** Read one block off the sensor into the image. */
+    async pull(name) {
+        const blk = this.blocks[name];
+        return blk.decode(await this.p.rdMulti(blk.base, blk.size));
+    }
+    /** Write one block from the image to the sensor. */
+    async push(name) {
+        const blk = this.blocks[name];
+        if (!BLOCKS[name].writable)
+            throw new Error(`${name} is read-only`);
+        await this.p.wrMulti(blk.base, blk.encode());
+    }
+    // ── a run of blocks, as one transfer ──
+    /** [base, total size] covering the named blocks, reserved bytes included. */
+    static span(names) {
+        const base = Math.min(...names.map((n) => BLOCKS[n].base));
+        const end = Math.max(...names.map((n) => BLOCKS[n].base + BLOCKS[n].size));
+        return [base, end - base];
+    }
+    async pullRange(names) {
+        const [base, size] = DeviceImage.span(names);
+        const raw = await this.p.rdMulti(base, size);
+        for (const name of names) {
+            const blk = this.blocks[name];
+            const off = blk.base - base;
+            blk.decode(raw.subarray(off, off + blk.size));
+        }
+    }
+    async pushRange(names) {
+        const [base, size] = DeviceImage.span(names);
+        const buf = new Uint8Array(size);
+        for (const name of names) {
+            if (!BLOCKS[name].writable)
+                throw new Error(`${name} is read-only`);
+            const blk = this.blocks[name];
+            buf.set(blk.encode(), blk.base - base);
+        }
+        await this.p.wrMulti(base, buf);
+    }
+    // ── diagnostics ──
+    /** Every field of the named blocks (default: all), one per line. */
+    dump(names = BLOCK_NAMES) {
+        const lines = [];
+        for (const name of names) {
+            const blk = this.blocks[name];
+            lines.push(`--- ${name} @ 0x${blk.base.toString(16).toUpperCase().padStart(4, "0")} (${blk.size} B)`);
+            for (const [field, value] of blk.items())
+                lines.push(`  ${field.padEnd(52)} ${value}`);
+        }
+        return lines.join("\n");
+    }
+}
+//# sourceMappingURL=image.js.map

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

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

@@ -0,0 +1,39 @@
+/**
+ * uld/bare/imath — Python integer semantics on JS numbers, for the BareDriver
+ * port. The Python reference (itself a port of ST's C) relies on arbitrary
+ * precision ints, `//` flooring, `%` taking the sign of the divisor, and `<<`
+ * / `>>` that never wrap. JS `<<`/`>>` are 32-bit and `/` is float, so every
+ * such expression in core.ts / hist.ts goes through these helpers.
+ *
+ * Exactness: for integers |a| < 2^53 and b != 0, `Math.floor(a / b)` and
+ * `Math.trunc(a / b)` are exact (the float quotient cannot round across an
+ * integer unless |a| exceeds 2^53). Expressions that can leave that range —
+ * the sigma estimate, the event-consistency scaler, the per-SPAD rate — are
+ * done in BigInt where they are used.
+ *
+ * Division or modulo by zero throws, as Python raises ZeroDivisionError.
+ */
+export declare class ZeroDivisionError extends Error {
+}
+/** Python `a // b` (floor). */
+export declare function floorDiv(a: number, b: number): number;
+/** Python `a % b` (sign of the divisor). */
+export declare function pymod(a: number, b: number): number;
+/** C `/` on integers: truncates towards zero (hist.py `cdiv`). */
+export declare function cdiv(a: number, b: number): number;
+/** Python `a << n` without the 32-bit wrap. */
+export declare function shl(a: number, n: number): number;
+/** Python `a >> n` (floors, also for negatives) without the 32-bit wrap. */
+export declare function shr(a: number, n: number): number;
+/** `math.isqrt` on a non-negative safe integer. */
+export declare function isqrtNum(n: number): number;
+/** `math.isqrt` on a non-negative BigInt. */
+export declare function isqrtBig(n: bigint): bigint;
+/** Python `abs` / `min` / `max` on BigInt. */
+export declare function babs(a: bigint): bigint;
+export declare function bmin(a: bigint, b: bigint): bigint;
+/** C-style truncating division on BigInt — BigInt `/` already truncates. */
+export declare function bcdiv(a: bigint, b: bigint): bigint;
+/** Python `//` on BigInt (floor). */
+export declare function bfloorDiv(a: bigint, b: bigint): bigint;
+//# sourceMappingURL=imath.d.ts.map

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

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

@@ -0,0 +1,99 @@
+/**
+ * uld/bare/imath — Python integer semantics on JS numbers, for the BareDriver
+ * port. The Python reference (itself a port of ST's C) relies on arbitrary
+ * precision ints, `//` flooring, `%` taking the sign of the divisor, and `<<`
+ * / `>>` that never wrap. JS `<<`/`>>` are 32-bit and `/` is float, so every
+ * such expression in core.ts / hist.ts goes through these helpers.
+ *
+ * Exactness: for integers |a| < 2^53 and b != 0, `Math.floor(a / b)` and
+ * `Math.trunc(a / b)` are exact (the float quotient cannot round across an
+ * integer unless |a| exceeds 2^53). Expressions that can leave that range —
+ * the sigma estimate, the event-consistency scaler, the per-SPAD rate — are
+ * done in BigInt where they are used.
+ *
+ * Division or modulo by zero throws, as Python raises ZeroDivisionError.
+ */
+export class ZeroDivisionError extends Error {
+}
+function checkDivisor(b) {
+    if (b === 0)
+        throw new ZeroDivisionError("integer division or modulo by zero");
+}
+/** Python `a // b` (floor). */
+export function floorDiv(a, b) {
+    checkDivisor(b);
+    return Math.floor(a / b);
+}
+/** Python `a % b` (sign of the divisor). */
+export function pymod(a, b) {
+    checkDivisor(b);
+    const r = a % b;
+    return r !== 0 && r < 0 !== b < 0 ? r + b : r;
+}
+/** C `/` on integers: truncates towards zero (hist.py `cdiv`). */
+export function cdiv(a, b) {
+    checkDivisor(b);
+    return Math.trunc(a / b);
+}
+/** Python `a << n` without the 32-bit wrap. */
+export function shl(a, n) {
+    return a * 2 ** n;
+}
+/** Python `a >> n` (floors, also for negatives) without the 32-bit wrap. */
+export function shr(a, n) {
+    return Math.floor(a / 2 ** n);
+}
+/** `math.isqrt` on a non-negative safe integer. */
+export function isqrtNum(n) {
+    if (n < 0)
+        throw new RangeError("isqrt() argument must be nonnegative");
+    let r = Math.floor(Math.sqrt(n));
+    while (r * r > n)
+        r--;
+    while ((r + 1) * (r + 1) <= n)
+        r++;
+    return r;
+}
+/** `math.isqrt` on a non-negative BigInt. */
+export function isqrtBig(n) {
+    if (n < 0n)
+        throw new RangeError("isqrt() argument must be nonnegative");
+    if (n < 2n)
+        return n;
+    // Newton from a float seed, then settle.
+    let x = BigInt(Math.floor(Math.sqrt(Number(n))));
+    if (x === 0n)
+        x = 1n;
+    for (;;) {
+        const y = (x + n / x) >> 1n;
+        if (y >= x)
+            break;
+        x = y;
+    }
+    while (x * x > n)
+        x--;
+    while ((x + 1n) * (x + 1n) <= n)
+        x++;
+    return x;
+}
+/** Python `abs` / `min` / `max` on BigInt. */
+export function babs(a) {
+    return a < 0n ? -a : a;
+}
+export function bmin(a, b) {
+    return a < b ? a : b;
+}
+/** C-style truncating division on BigInt — BigInt `/` already truncates. */
+export function bcdiv(a, b) {
+    if (b === 0n)
+        throw new ZeroDivisionError("integer division or modulo by zero");
+    return a / b;
+}
+/** Python `//` on BigInt (floor). */
+export function bfloorDiv(a, b) {
+    if (b === 0n)
+        throw new ZeroDivisionError("integer division or modulo by zero");
+    const q = a / b;
+    return (a % b !== 0n) && ((a < 0n) !== (b < 0n)) ? q - 1n : q;
+}
+//# sourceMappingURL=imath.js.map

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

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

@@ -0,0 +1,22 @@
+/**
+ * uld/bare — ST's VL53LX Bare Driver on the host (histogram mode), for
+ * VL53L1CX / L1CB / L3CX / L4CX. Mirror of the Python
+ * `depz_sensor_sdk.vl53lx.uld.bare` package:
+ *
+ *   regs.ts     register blocks and their codec (generated table)
+ *   image.ts    DeviceImage — the blocks that make up the device state
+ *   nvm.ts      NvmReader — the factory calibration outside the registers
+ *   tuning.ts   ST's tuning parameters (generated table)
+ *   core.ts     BareDriver — presets, timing maths, ranging cycle, the frame
+ *   hist.ts     post-processing — 24 bins into targets, host only
+ *   driver.ts   VL53LX — the SensorDriver the device class talks to
+ *   imath.ts    Python integer semantics on JS numbers
+ */
+export { DeviceImage } from "./image.js";
+export { NvmReader } from "./nvm.js";
+export { BLOCKS, RegBlock } from "./regs.js";
+export { TUNING, DEFAULTS } from "./tuning.js";
+export { BareDriver, HistogramBinData } from "./core.js";
+export { processData, toMeasurement, FrameHistory } from "./hist.js";
+export { VL53LX } from "./driver.js";
+//# sourceMappingURL=index.d.ts.map

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

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

@@ -0,0 +1,22 @@
+/**
+ * uld/bare — ST's VL53LX Bare Driver on the host (histogram mode), for
+ * VL53L1CX / L1CB / L3CX / L4CX. Mirror of the Python
+ * `depz_sensor_sdk.vl53lx.uld.bare` package:
+ *
+ *   regs.ts     register blocks and their codec (generated table)
+ *   image.ts    DeviceImage — the blocks that make up the device state
+ *   nvm.ts      NvmReader — the factory calibration outside the registers
+ *   tuning.ts   ST's tuning parameters (generated table)
+ *   core.ts     BareDriver — presets, timing maths, ranging cycle, the frame
+ *   hist.ts     post-processing — 24 bins into targets, host only
+ *   driver.ts   VL53LX — the SensorDriver the device class talks to
+ *   imath.ts    Python integer semantics on JS numbers
+ */
+export { DeviceImage } from "./image.js";
+export { NvmReader } from "./nvm.js";
+export { BLOCKS, RegBlock } from "./regs.js";
+export { TUNING, DEFAULTS } from "./tuning.js";
+export { BareDriver, HistogramBinData } from "./core.js";
+export { processData, toMeasurement, FrameHistory } from "./hist.js";
+export { VL53LX } from "./driver.js";
+//# sourceMappingURL=index.js.map

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

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package/dist/sensors/vl53lx/uld/bare/nvm.d.ts

@@ -0,0 +1,85 @@
+/**
+ * uld/bare/nvm — the raw NVM, which the register blocks do not cover.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.bare.nvm`.
+ *
+ * Part of the factory calibration never appears in the register map: the
+ * optical centre, the 5x5 peak-rate map, the mode-mitigation offset
+ * calibration and the FMT range results. To get at them the driver stops the
+ * firmware, powers the NVM array and clocks words out of it one at a time —
+ * four writes and a read per 32-bit word. That cost is why this reads regions,
+ * not the whole array.
+ *
+ * Every region is wrapped in its own enable/disable pair (as
+ * `VL53LX_read_nvm_raw_data()` does): the sensor must not be left with its
+ * firmware stopped by an exception in the middle of a multi-region read.
+ *
+ * Reference: vl53lx_nvm.c, vl53lx_nvm_map.h.
+ */
+import type { BridgePlatform } from "../base.js";
+import type { DeviceImage } from "./image.js";
+export declare const POWER_MANAGEMENT__GO1_POWER_FORCE = 131;
+export declare const FIRMWARE__ENABLE = 133;
+export declare const RANGING_CORE__CLK_CTRL1 = 1667;
+export declare const RANGING_CORE__NVM_CTRL__MODE = 1920;
+export declare const RANGING_CORE__NVM_CTRL__PDN = 1921;
+export declare const RANGING_CORE__NVM_CTRL__READN = 1923;
+export declare const RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB = 1924;
+export declare const RANGING_CORE__NVM_CTRL__DATAOUT_MMM = 1936;
+export declare const RANGING_CORE__NVM_CTRL__ADDR = 1940;
+export declare const NVM_POWER_UP_DELAY_US = 50;
+export declare const NVM_READ_TRIGGER_DELAY_US = 5;
+export declare const ENABLE_POWERFORCE_SETTLING_TIME_US = 250;
+export declare const NVM_CTRL_PULSE_WIDTH = 4;
+export type NvmRegion = readonly [number, number];
+export declare const FMT_OPTICAL_CENTRE: NvmRegion;
+export declare const FMT_CAL_PEAK_RATE_MAP: NvmRegion;
+export declare const FMT_ADDITIONAL_OFFSET_CAL: NvmRegion;
+export declare const FMT_RANGE_RESULTS__140MM_DARK: NvmRegion;
+export declare const PEAK_RATE_MAP_WIDTH = 5;
+export declare const PEAK_RATE_MAP_HEIGHT = 5;
+export declare const PEAK_RATE_MAP_SAMPLES: number;
+export interface OpticalCentre {
+    x_centre: number;
+    y_centre: number;
+}
+export interface CalPeakRateMap {
+    cal_distance_mm: number;
+    cal_reflectance_pc: number;
+    max_samples: number;
+    width: number;
+    height: number;
+    peak_rate_mcps: number[];
+}
+export interface AdditionalOffsetCalData {
+    result__mm_inner_actual_effective_spads: number;
+    result__mm_outer_actual_effective_spads: number;
+    result__mm_inner_peak_signal_count_rtn_mcps: number;
+    result__mm_outer_peak_signal_count_rtn_mcps: number;
+}
+export interface FmtRangeData {
+    result__actual_effective_rtn_spads: number;
+    ref_spad_array__num_requested_ref_spads: number;
+    ref_spad_array__ref_location: number;
+    result__peak_signal_count_rate_rtn_mcps: number;
+    result__ambient_count_rate_rtn_mcps: number;
+    result__peak_signal_count_rate_ref_mcps: number;
+    result__ambient_count_rate_ref_mcps: number;
+    measured_distance_mm: number;
+    measured_distance_stdev_mm: number;
+}
+/** Raw NVM access. Holds no state between reads — the sensor does. */
+export declare class NvmReader {
+    readonly p: BridgePlatform;
+    readonly img: DeviceImage;
+    constructor(p: BridgePlatform, img: DeviceImage);
+    private enable;
+    private disable;
+    private readWords;
+    /** [byte index, byte size] → the bytes. Both must be word-aligned. */
+    readRegion(region: NvmRegion): Promise<Uint8Array>;
+    opticalCentre(): Promise<OpticalCentre>;
+    calPeakRateMap(): Promise<CalPeakRateMap>;
+    additionalOffsetCalData(): Promise<AdditionalOffsetCalData>;
+    fmtRangeResults(region?: NvmRegion): Promise<FmtRangeData>;
+}
+//# sourceMappingURL=nvm.d.ts.map

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

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