@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/protocol/bno055.d.ts

@@ -0,0 +1,101 @@
+/**
+ * BNO055 register-bridge wire codecs (contracts/13_SENSOR_BNO055.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.bno055`.
+ */
+export declare enum Bno055Cmd {
+    ReadReg = 50,
+    WriteReg = 51,
+    Reset = 52,
+    StartStream = 53,
+    StopStream = 54,
+    GetInfo = 55
+}
+export declare enum Bno055Rpt {
+    RegData = 145,
+    Info = 146,
+    Stream = 147
+}
+/** Max bytes per READ_REG / WRITE_REG / streamed block; `addr + len` ≤ 0x100. */
+export declare const BNO055_XFER_MAX = 128;
+/** BNO_START_STREAM trigger: read every period_ms (the only data trigger on SW 03.11). */
+export declare const BNO055_TRIGGER_TIMER = 0;
+/** BNO_START_STREAM trigger: read on the INT edge; period_ms is a missed-edge watchdog. */
+export declare const BNO055_TRIGGER_INT = 1;
+/** BNO_RESET answers after the sensor's ~0.5 s boot handshake. */
+export declare const BNO055_RESET_TIMEOUT_MS = 3000;
+export declare function packBno055ReadReg(addr: number, length: number): Uint8Array;
+export declare function packBno055WriteReg(addr: number, data: Uint8Array): Uint8Array;
+export declare function packBno055StartStream(trigger: number, addr: number, length: number, periodMs: number): Uint8Array;
+/** RPT_BNO_REG_DATA payload. */
+export interface Bno055RegData {
+    /** Echoed READ_REG opcode. */
+    cmd: number;
+    /** MCU uptime at I2C-read completion. */
+    timestampUs: bigint;
+    data: Uint8Array;
+}
+export declare function unpackBno055RegData(payload: Uint8Array): Bno055RegData;
+/** last_i2c_error values in RPT_BNO_INFO. */
+export declare const BNO055_I2C_ERROR_NAMES: Readonly<Record<number, string>>;
+/** Identity registers 0x00..0x03 of a healthy BNO055. */
+export declare const BNO055_EXPECTED_IDS: {
+    readonly chipId: 160;
+    readonly accId: 251;
+    readonly magId: 50;
+    readonly gyrId: 15;
+};
+/**
+ * RPT_BNO_INFO — sensor identity (registers 0x00..0x06) plus bridge
+ * diagnostics. Counters are free-running and wrap silently. A rising
+ * `sensorResets` means the bridge pulsed nRESET to recover the bus: the
+ * sensor is back in CONFIG mode and the host must restore its configuration.
+ */
+export interface Bno055Info {
+    /** 7-bit sensor address in use (0x28). */
+    i2cAddr: number;
+    chipId: number;
+    accId: number;
+    magId: number;
+    gyrId: number;
+    /** Sensor firmware, BCD: 0x0311 = 03.11. */
+    swRev: number;
+    blRev: number;
+    /** 1 = chip-ID handshake passed. */
+    initialized: number;
+    intLevel: number;
+    /** EXTI rising edges (counted only while an INT stream is armed). */
+    intEdges: number;
+    /** Streamed block read timing since the last START_STREAM. */
+    readMinUs: number;
+    readMaxUs: number;
+    readAvgUs: number;
+    /** Packets refused by a full USB TX ring. */
+    txDropped: number;
+    i2cErrors: number;
+    /** Stream slots dropped: bus still busy. */
+    slotsSkipped: number;
+    busRecoveries: number;
+    lastI2cError: number;
+    /** Rung-3 nRESET recoveries (sensor back in CONFIG). */
+    sensorResets: number;
+    loopMaxUs: number;
+}
+export declare const BNO055_INFO_SIZE = 38;
+export declare function unpackBno055Info(payload: Uint8Array): Bno055Info;
+/** True when the four identity registers carry the BNO055 values. */
+export declare function bno055IdsOk(info: Bno055Info): boolean;
+/** Sensor firmware revision as Bosch writes it: 0x0311 → "03.11". */
+export declare function bno055SwRevText(swRev: number): string;
+/**
+ * RPT_BNO_REG_STREAM — one streamed register block. `addr`/`length` echo the
+ * stream configuration so each report is self-describing.
+ */
+export interface Bno055StreamData {
+    /** MCU uptime at the trigger (timer expiry or INT edge). */
+    timestampUs: bigint;
+    addr: number;
+    length: number;
+    data: Uint8Array;
+}
+export declare function unpackBno055Stream(payload: Uint8Array): Bno055StreamData;
+//# sourceMappingURL=bno055.d.ts.map

package/dist/protocol/bno055.d.ts.map

@@ -0,0 +1 @@
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package/dist/protocol/bno055.js

@@ -0,0 +1,105 @@
+/**
+ * BNO055 register-bridge wire codecs (contracts/13_SENSOR_BNO055.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.bno055`.
+ */
+export var Bno055Cmd;
+(function (Bno055Cmd) {
+    Bno055Cmd[Bno055Cmd["ReadReg"] = 50] = "ReadReg";
+    Bno055Cmd[Bno055Cmd["WriteReg"] = 51] = "WriteReg";
+    Bno055Cmd[Bno055Cmd["Reset"] = 52] = "Reset";
+    Bno055Cmd[Bno055Cmd["StartStream"] = 53] = "StartStream";
+    Bno055Cmd[Bno055Cmd["StopStream"] = 54] = "StopStream";
+    Bno055Cmd[Bno055Cmd["GetInfo"] = 55] = "GetInfo";
+})(Bno055Cmd || (Bno055Cmd = {}));
+export var Bno055Rpt;
+(function (Bno055Rpt) {
+    Bno055Rpt[Bno055Rpt["RegData"] = 145] = "RegData";
+    Bno055Rpt[Bno055Rpt["Info"] = 146] = "Info";
+    Bno055Rpt[Bno055Rpt["Stream"] = 147] = "Stream";
+})(Bno055Rpt || (Bno055Rpt = {}));
+/** Max bytes per READ_REG / WRITE_REG / streamed block; `addr + len` ≤ 0x100. */
+export const BNO055_XFER_MAX = 128;
+/** BNO_START_STREAM trigger: read every period_ms (the only data trigger on SW 03.11). */
+export const BNO055_TRIGGER_TIMER = 0;
+/** BNO_START_STREAM trigger: read on the INT edge; period_ms is a missed-edge watchdog. */
+export const BNO055_TRIGGER_INT = 1;
+/** BNO_RESET answers after the sensor's ~0.5 s boot handshake. */
+export const BNO055_RESET_TIMEOUT_MS = 3000;
+export function packBno055ReadReg(addr, length) {
+    return Uint8Array.of(addr & 0xff, length & 0xff);
+}
+export function packBno055WriteReg(addr, data) {
+    const out = new Uint8Array(1 + data.length);
+    out[0] = addr & 0xff;
+    out.set(data, 1);
+    return out;
+}
+export function packBno055StartStream(trigger, addr, length, periodMs) {
+    const out = new Uint8Array(5);
+    const dv = new DataView(out.buffer);
+    dv.setUint8(0, trigger);
+    dv.setUint8(1, addr);
+    dv.setUint8(2, length);
+    dv.setUint16(3, periodMs, true);
+    return out;
+}
+export function unpackBno055RegData(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return { cmd: dv.getUint8(0), timestampUs: dv.getBigUint64(1, true), data: payload.slice(9) };
+}
+/** last_i2c_error values in RPT_BNO_INFO. */
+export const BNO055_I2C_ERROR_NAMES = {
+    0: "none",
+    1: "NACK",
+    2: "TIMEOUT",
+    3: "BUS_ERROR",
+};
+/** Identity registers 0x00..0x03 of a healthy BNO055. */
+export const BNO055_EXPECTED_IDS = { chipId: 0xa0, accId: 0xfb, magId: 0x32, gyrId: 0x0f };
+export const BNO055_INFO_SIZE = 38;
+export function unpackBno055Info(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        i2cAddr: dv.getUint8(0),
+        chipId: dv.getUint8(1),
+        accId: dv.getUint8(2),
+        magId: dv.getUint8(3),
+        gyrId: dv.getUint8(4),
+        swRev: dv.getUint16(5, true),
+        blRev: dv.getUint8(7),
+        initialized: dv.getUint8(8),
+        intLevel: dv.getUint8(9),
+        intEdges: dv.getUint32(10, true),
+        readMinUs: dv.getUint16(14, true),
+        readMaxUs: dv.getUint16(16, true),
+        readAvgUs: dv.getUint16(18, true),
+        txDropped: dv.getUint32(20, true),
+        i2cErrors: dv.getUint32(24, true),
+        slotsSkipped: dv.getUint32(28, true),
+        busRecoveries: dv.getUint16(32, true),
+        lastI2cError: dv.getUint8(34),
+        sensorResets: dv.getUint8(35),
+        loopMaxUs: dv.getUint16(36, true),
+    };
+}
+/** True when the four identity registers carry the BNO055 values. */
+export function bno055IdsOk(info) {
+    const e = BNO055_EXPECTED_IDS;
+    return (info.chipId === e.chipId && info.accId === e.accId && info.magId === e.magId && info.gyrId === e.gyrId);
+}
+/** Sensor firmware revision as Bosch writes it: 0x0311 → "03.11". */
+export function bno055SwRevText(swRev) {
+    const hex = (b) => b.toString(16).toUpperCase().padStart(2, "0");
+    return `${hex(swRev >> 8)}.${hex(swRev & 0xff)}`;
+}
+export function unpackBno055Stream(payload) {
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    const length = dv.getUint8(9);
+    return {
+        timestampUs: dv.getBigUint64(0, true),
+        addr: dv.getUint8(8),
+        length,
+        data: payload.slice(10, 10 + length),
+    };
+}
+//# sourceMappingURL=bno055.js.map

package/dist/protocol/bno055.js.map

@@ -0,0 +1 @@
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package/dist/protocol/identity.d.ts

@@ -1,5 +1,5 @@
 /** Firmware-name parsing (contracts/02_COMMON_COMMANDS.md §4). */
-export type SensorType = "sr04" | "vl53l4" | "vl53l8" | "bno086" | "unknown";
+export type SensorType = "sr04" | "vl53l4" | "vl53l8" | "vl53l7" | "vl53lx" | "bno086" | "bno055" | "unknown";
 export interface Identity {
     mode: "app" | "bootloader" | "unknown";
     sensorType: SensorType | null;

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

@@ -1 +1 @@
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+{"version":3,"file":"identity.d.ts","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAElE,MAAM,MAAM,UAAU,GAClB,MAAM,GACN,QAAQ,GACR,QAAQ,GACR,QAAQ,GACR,QAAQ,GACR,QAAQ,GACR,QAAQ,GACR,SAAS,CAAC;AAEd,MAAM,WAAW,QAAQ;IACvB,IAAI,EAAE,KAAK,GAAG,YAAY,GAAG,SAAS,CAAC;IACvC,UAAU,EAAE,UAAU,GAAG,IAAI,CAAC;IAC9B,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;CACjB;AAiBD;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG,QAAQ,CAexD"}

package/dist/protocol/identity.js

@@ -4,7 +4,13 @@ const PRODUCT_TOKENS = [
     ["SR04", "sr04"],
     ["VL53L4", "vl53l4"],
     ["VL53L8", "vl53l8"],
+    ["VL53L7", "vl53l7"], // VL53L5CX / VL53L7CX / VL53L7CH board (contract 11)
+    // The 1D-family bridge (contract 12): boards answer APP_VL53L0_4_v*, the
+    // protocol spec calls it APP_VL53LX_v*.
+    ["VL53L0_4", "vl53lx"],
+    ["VL53LX", "vl53lx"],
     ["BNO086", "bno086"],
+    ["BNO055", "bno055"], // register bridge, fusion on chip (contract 13)
 ];
 /**
  * Classify a GET_NAME_ACTIVE_SOFTWARE string. The string must already be

package/dist/protocol/identity.js.map

@@ -1 +1 @@
-{"version":3,"file":"identity.js","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAWlE,MAAM,UAAU,GAAG,oBAAoB,CAAC;AAExC,MAAM,cAAc,GAAgC;IAClD,CAAC,MAAM,EAAE,MAAM,CAAC;IAChB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;CACrB,CAAC;AAEF;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,IAAY;IAC5C,MAAM,CAAC,GAAG,UAAU,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChC,MAAM,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,UAAU,CAAC,UAAU,CAAC,EAAE,CAAC;QAChC,OAAO,EAAE,IAAI,EAAE,YAAY,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC/E,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QAC5B,KAAK,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,cAAc,EAAE,CAAC;YAC7C,IAAI,IAAI,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;gBACzB,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,MAAM,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;YAC1E,CAAC;QACH,CAAC;QACD,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,SAAS,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC7E,CAAC;IACD,OAAO,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;AAC5E,CAAC"}
+{"version":3,"file":"identity.js","sourceRoot":"","sources":["../../src/protocol/identity.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAmBlE,MAAM,UAAU,GAAG,oBAAoB,CAAC;AAExC,MAAM,cAAc,GAAgC;IAClD,CAAC,MAAM,EAAE,MAAM,CAAC;IAChB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC,EAAE,qDAAqD;IAC3E,yEAAyE;IACzE,wCAAwC;IACxC,CAAC,UAAU,EAAE,QAAQ,CAAC;IACtB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IACpB,CAAC,QAAQ,EAAE,QAAQ,CAAC,EAAE,gDAAgD;CACvE,CAAC;AAEF;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,IAAY;IAC5C,MAAM,CAAC,GAAG,UAAU,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChC,MAAM,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IAC/B,IAAI,IAAI,CAAC,UAAU,CAAC,UAAU,CAAC,EAAE,CAAC;QAChC,OAAO,EAAE,IAAI,EAAE,YAAY,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC/E,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QAC5B,KAAK,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,cAAc,EAAE,CAAC;YAC7C,IAAI,IAAI,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;gBACzB,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,MAAM,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;YAC1E,CAAC;QACH,CAAC;QACD,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,SAAS,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;IAC7E,CAAC;IACD,OAAO,EAAE,IAAI,EAAE,SAAS,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;AAC5E,CAAC"}

package/dist/protocol/vl53l7.d.ts

@@ -0,0 +1,77 @@
+/**
+ * VL53L5CX/L7CX/L7CH I2C register-bridge wire codecs
+ * (contracts/11_SENSOR_VL53L7.md). Mirrors the Python reference
+ * `depz_sensor_sdk.protocol.vl53l7`.
+ *
+ * Commands 0x32/0x33/0x35/0x36 and reports 0x91/0x93 are bit-for-bit the
+ * VL53L8 bridge (contract 04) and are reused from `./vl53l8.js`; this module
+ * holds only what the I2C board adds, plus its tighter transfer limits.
+ */
+export declare enum Vl53l7Cmd {
+    PinCtrl = 52,
+    GetInfo = 55,
+    SetI2cSpeed = 56
+}
+export declare enum Vl53l7Rpt {
+    Vl53Info = 146
+}
+/**
+ * VL53_PIN_CTRL actions. None is a true sensor reset (the board has no power
+ * GPIO): after LpnOff or SoftCycle the host must re-run init().
+ */
+export declare enum PinAction {
+    /** Stop streaming, drive LPn low: sensor I2C interface off. */
+    LpnOff = 0,
+    /** Drive LPn high: interface on (power-up default). */
+    LpnOn = 1,
+    /** Pulse I2C_RST. */
+    I2cRst = 2,
+    /** Stop streaming, LPn low 1 ms, high, I2C_RST pulse; clears I2C counters. */
+    SoftCycle = 3
+}
+/** RPT_VL53_INFO.lastI2cError. */
+export declare enum Vl53l7I2cError {
+    Ok = 0,
+    Nack = 1,
+    Timeout = 2,
+    BusError = 3
+}
+/** VL53LMZ_READ_MAX: READ_REG len 1..1536. */
+export declare const VL53L7_READ_MAX_LEN = 1536;
+/** VL53LMZ_XFER_MAX: WRITE_REG N 1..2048. */
+export declare const VL53L7_WRITE_MAX_LEN = 2048;
+/** Bytes of frame data per RPT_VL53_FRAME chunk. */
+export declare const VL53L7_STREAM_CHUNK_MAX = 1536;
+export declare const VL53L7_INFO_SIZE = 20;
+/** Nominal SCL steps the firmware carries a timing for; others snap to nearest. */
+export declare const VL53L7_I2C_SPEED_STEPS_KHZ: readonly number[];
+export declare function packPinCtrl(action: number): Uint8Array;
+export declare function packVl53l7SetI2cSpeed(khz: number): Uint8Array;
+/**
+ * RPT_VL53_INFO: bridge state only (the sensor is never probed). Counters run
+ * from power-up / DEVICE_RESET; SoftCycle clears the I2C ones. The report
+ * carries no echoed command byte.
+ */
+export interface Vl53l7Info {
+    intEdges: number;
+    framesDropped: number;
+    i2cErrors: number;
+    lastI2cError: number;
+    lpnLevel: number;
+    intLevel: number;
+    i2cKhz: number;
+    frameSize: number;
+    streaming: boolean;
+}
+export declare function unpackVl53l7Info(payload: Uint8Array): Vl53l7Info;
+/** A sensor class an APP_VL53L7 board opens as. */
+export type Vl53l7Model = "vl53l5cx" | "vl53l7cx" | "vl53l7ch";
+/**
+ * Pick the L5/L7 class (contract 11 §1). All three boards run APP_VL53L7 and
+ * the silicon only tells L5 from L7 after init() (module_type), never CX from
+ * CH — so the production USB PID model decides, then the device name the
+ * bootloader was stamped with (`… VL53L7CH USB v2.1 …`), then the CX base
+ * (safe: its blob runs on every L5/L7 part).
+ */
+export declare function resolveVl53l7Model(usbModel: string | null | undefined, deviceName: string | null | undefined): Vl53l7Model;
+//# sourceMappingURL=vl53l7.d.ts.map

package/dist/protocol/vl53l7.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"vl53l7.d.ts","sourceRoot":"","sources":["../../src/protocol/vl53l7.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,oBAAY,SAAS;IACnB,OAAO,KAAO;IACd,OAAO,KAAO;IACd,WAAW,KAAO;CACnB;AAED,oBAAY,SAAS;IACnB,QAAQ,MAAO;CAChB;AAED;;;GAGG;AACH,oBAAY,SAAS;IACnB,+DAA+D;IAC/D,MAAM,IAAI;IACV,uDAAuD;IACvD,KAAK,IAAI;IACT,qBAAqB;IACrB,MAAM,IAAI;IACV,8EAA8E;IAC9E,SAAS,IAAI;CACd;AAED,kCAAkC;AAClC,oBAAY,cAAc;IACxB,EAAE,IAAI;IACN,IAAI,IAAI;IACR,OAAO,IAAI;IACX,QAAQ,IAAI;CACb;AAED,8CAA8C;AAC9C,eAAO,MAAM,mBAAmB,OAAO,CAAC;AACxC,6CAA6C;AAC7C,eAAO,MAAM,oBAAoB,OAAO,CAAC;AACzC,oDAAoD;AACpD,eAAO,MAAM,uBAAuB,OAAO,CAAC;AAC5C,eAAO,MAAM,gBAAgB,KAAK,CAAC;AACnC,mFAAmF;AACnF,eAAO,MAAM,0BAA0B,EAAE,SAAS,MAAM,EAEvD,CAAC;AAEF,wBAAgB,WAAW,CAAC,MAAM,EAAE,MAAM,GAAG,UAAU,CAEtD;AAED,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,MAAM,GAAG,UAAU,CAI7D;AAED;;;;GAIG;AACH,MAAM,WAAW,UAAU;IACzB,QAAQ,EAAE,MAAM,CAAC;IACjB,aAAa,EAAE,MAAM,CAAC;IACtB,SAAS,EAAE,MAAM,CAAC;IAClB,YAAY,EAAE,MAAM,CAAC;IACrB,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE,MAAM,CAAC;IACjB,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,MAAM,CAAC;IAClB,SAAS,EAAE,OAAO,CAAC;CACpB;AAED,wBAAgB,gBAAgB,CAAC,OAAO,EAAE,UAAU,GAAG,UAAU,CAkBhE;AAED,mDAAmD;AACnD,MAAM,MAAM,WAAW,GAAG,UAAU,GAAG,UAAU,GAAG,UAAU,CAAC;AAI/D;;;;;;GAMG;AACH,wBAAgB,kBAAkB,CAChC,QAAQ,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,EACnC,UAAU,EAAE,MAAM,GAAG,IAAI,GAAG,SAAS,GACpC,WAAW,CAUb"}

package/dist/protocol/vl53l7.js

@@ -0,0 +1,99 @@
+/**
+ * VL53L5CX/L7CX/L7CH I2C register-bridge wire codecs
+ * (contracts/11_SENSOR_VL53L7.md). Mirrors the Python reference
+ * `depz_sensor_sdk.protocol.vl53l7`.
+ *
+ * Commands 0x32/0x33/0x35/0x36 and reports 0x91/0x93 are bit-for-bit the
+ * VL53L8 bridge (contract 04) and are reused from `./vl53l8.js`; this module
+ * holds only what the I2C board adds, plus its tighter transfer limits.
+ */
+export var Vl53l7Cmd;
+(function (Vl53l7Cmd) {
+    Vl53l7Cmd[Vl53l7Cmd["PinCtrl"] = 52] = "PinCtrl";
+    Vl53l7Cmd[Vl53l7Cmd["GetInfo"] = 55] = "GetInfo";
+    Vl53l7Cmd[Vl53l7Cmd["SetI2cSpeed"] = 56] = "SetI2cSpeed";
+})(Vl53l7Cmd || (Vl53l7Cmd = {}));
+export var Vl53l7Rpt;
+(function (Vl53l7Rpt) {
+    Vl53l7Rpt[Vl53l7Rpt["Vl53Info"] = 146] = "Vl53Info";
+})(Vl53l7Rpt || (Vl53l7Rpt = {}));
+/**
+ * VL53_PIN_CTRL actions. None is a true sensor reset (the board has no power
+ * GPIO): after LpnOff or SoftCycle the host must re-run init().
+ */
+export var PinAction;
+(function (PinAction) {
+    /** Stop streaming, drive LPn low: sensor I2C interface off. */
+    PinAction[PinAction["LpnOff"] = 0] = "LpnOff";
+    /** Drive LPn high: interface on (power-up default). */
+    PinAction[PinAction["LpnOn"] = 1] = "LpnOn";
+    /** Pulse I2C_RST. */
+    PinAction[PinAction["I2cRst"] = 2] = "I2cRst";
+    /** Stop streaming, LPn low 1 ms, high, I2C_RST pulse; clears I2C counters. */
+    PinAction[PinAction["SoftCycle"] = 3] = "SoftCycle";
+})(PinAction || (PinAction = {}));
+/** RPT_VL53_INFO.lastI2cError. */
+export var Vl53l7I2cError;
+(function (Vl53l7I2cError) {
+    Vl53l7I2cError[Vl53l7I2cError["Ok"] = 0] = "Ok";
+    Vl53l7I2cError[Vl53l7I2cError["Nack"] = 1] = "Nack";
+    Vl53l7I2cError[Vl53l7I2cError["Timeout"] = 2] = "Timeout";
+    Vl53l7I2cError[Vl53l7I2cError["BusError"] = 3] = "BusError";
+})(Vl53l7I2cError || (Vl53l7I2cError = {}));
+/** VL53LMZ_READ_MAX: READ_REG len 1..1536. */
+export const VL53L7_READ_MAX_LEN = 1536;
+/** VL53LMZ_XFER_MAX: WRITE_REG N 1..2048. */
+export const VL53L7_WRITE_MAX_LEN = 2048;
+/** Bytes of frame data per RPT_VL53_FRAME chunk. */
+export const VL53L7_STREAM_CHUNK_MAX = 1536;
+export const VL53L7_INFO_SIZE = 20;
+/** Nominal SCL steps the firmware carries a timing for; others snap to nearest. */
+export const VL53L7_I2C_SPEED_STEPS_KHZ = [
+    100, 200, 400, 500, 600, 700, 800, 900, 1000,
+];
+export function packPinCtrl(action) {
+    return Uint8Array.of(action & 0xff);
+}
+export function packVl53l7SetI2cSpeed(khz) {
+    const out = new Uint8Array(2);
+    new DataView(out.buffer).setUint16(0, khz, true);
+    return out;
+}
+export function unpackVl53l7Info(payload) {
+    if (payload.length < VL53L7_INFO_SIZE) {
+        throw new Error(`RPT_VL53_INFO: expected ${VL53L7_INFO_SIZE} bytes, got ${payload.length}`);
+    }
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        intEdges: dv.getUint32(0, true),
+        framesDropped: dv.getUint32(4, true),
+        i2cErrors: dv.getUint32(8, true),
+        lastI2cError: dv.getUint8(12),
+        lpnLevel: dv.getUint8(13),
+        intLevel: dv.getUint8(14),
+        i2cKhz: dv.getUint16(15, true),
+        frameSize: dv.getUint16(17, true),
+        streaming: dv.getUint8(19) !== 0,
+    };
+}
+const PART_RE = /VL53L([57])(CX|CH)/;
+/**
+ * Pick the L5/L7 class (contract 11 §1). All three boards run APP_VL53L7 and
+ * the silicon only tells L5 from L7 after init() (module_type), never CX from
+ * CH — so the production USB PID model decides, then the device name the
+ * bootloader was stamped with (`… VL53L7CH USB v2.1 …`), then the CX base
+ * (safe: its blob runs on every L5/L7 part).
+ */
+export function resolveVl53l7Model(usbModel, deviceName) {
+    if (usbModel === "vl53l5cx" || usbModel === "vl53l7cx" || usbModel === "vl53l7ch") {
+        return usbModel;
+    }
+    const m = PART_RE.exec(deviceName ?? "");
+    if (m) {
+        const part = `vl53l${m[1]}${m[2].toLowerCase()}`;
+        if (part === "vl53l5cx" || part === "vl53l7cx" || part === "vl53l7ch")
+            return part;
+    }
+    return "vl53l7cx";
+}
+//# sourceMappingURL=vl53l7.js.map

package/dist/protocol/vl53l7.js.map

@@ -0,0 +1 @@
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package/dist/protocol/vl53lx.d.ts

@@ -0,0 +1,72 @@
+/**
+ * VL53L 1D-family register-bridge wire codecs, protocol v2.01
+ * (contracts/12_SENSOR_VL53LX.md). Mirrors the Python reference
+ * `depz_sensor_sdk.protocol.vl53lx`.
+ *
+ * One firmware (`APP_VL53L0_4`) serves VL53L0X, VL53L1CX, VL53L1CB, VL53L3CX,
+ * VL53L4CD and VL53L4CX. It is the VL53L4CD bridge of contract 10 with the
+ * three sensor-specific facts moved to the host: the register-address width
+ * (VL53_SET_ADDR_WIDTH, new), the interrupt-release writes (carried by
+ * VL53_START_STREAM) and the boot handshake (no longer inside VL53_XSHUT).
+ * READ_REG, WRITE_REG, XSHUT, STOP_STREAM, SET_I2C_SPEED and the REG_DATA /
+ * STREAM reports are the contract-10 codecs of `protocol/vl53l4.ts`, identical
+ * on the wire — import them from there. v2.01 (firmware v0.24) adds
+ * VL53_CLEAR_I2C_ERRORS; a v2.00 bridge refuses it with ERR_INVALID_CMD.
+ *
+ * Every export here carries a `Vl53lx`/`VL53LX_` name so the root index can
+ * re-export this module with `export *` next to the other VL53 protocols.
+ */
+export declare enum Vl53lxCmd {
+    ReadReg = 50,
+    WriteReg = 51,
+    Xshut = 52,
+    StartStream = 53,
+    StopStream = 54,
+    GetInfo = 55,
+    SetI2cSpeed = 56,
+    SetAddrWidth = 57,
+    ClearI2cErrors = 58
+}
+export declare enum Vl53lxRpt {
+    RegData = 145,
+    Info = 146,
+    Stream = 147
+}
+/** Interrupt-release steps a stream may carry (VL53_CLEAR_STEPS_WIRE_MAX). */
+export declare const VL53LX_CLEAR_STEPS_MAX = 4;
+/** RPT_VL53_INFO payload size (v2.00). */
+export declare const VL53LX_INFO_SIZE = 23;
+/** One interrupt-release step: write `value` to register `addr`. */
+export type Vl53lxClearStep = readonly [addr: number, value: number];
+/**
+ * vl53_start_stream_t: block, flags, then `clear` — the (addr, value) writes
+ * the bridge plays after every block read (0..4 steps). 6+3n bytes.
+ */
+export declare function packVl53lxStartStream(addr: number, length: number, clear?: ReadonlyArray<Vl53lxClearStep>, flags?: number): Uint8Array;
+/** VL53_SET_ADDR_WIDTH payload: register-address width, 1 or 2 bytes. */
+export declare function packVl53lxSetAddrWidth(width: number): Uint8Array;
+/**
+ * RPT_VL53_INFO (v2.00, 23 bytes) — bridge state only; the bridge reads no
+ * sensor register. Counters are free-running (wrap silently): watch
+ * increments. `slotsSkipped` = a slot that never got the bus, `i2cErrors` =
+ * a bus that answered badly (since power-up, the last XSHUT reset or
+ * VL53_CLEAR_I2C_ERRORS — the SDK sends that at the end of every sensor init,
+ * so the NACKs of a resetting die are not counted), `framesDropped` = a good
+ * sample the USB TX ring had no room for (since the stream was armed).
+ */
+export interface Vl53lxInfo {
+    intEdges: number;
+    slotsSkipped: number;
+    i2cErrors: number;
+    /** 0 none, 1 NACK, 2 TIMEOUT, 3 BUS_ERROR. */
+    lastI2cError: number;
+    xshutLevel: number;
+    intLevel: number;
+    i2cKhz: number;
+    addrWidth: number;
+    nClear: number;
+    framesDropped: number;
+}
+/** `<IIIBBBHBBI`; rejects a payload shorter than 23 bytes. */
+export declare function unpackVl53lxInfo(payload: Uint8Array): Vl53lxInfo;
+//# sourceMappingURL=vl53lx.d.ts.map

package/dist/protocol/vl53lx.d.ts.map

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package/dist/protocol/vl53lx.js

@@ -0,0 +1,87 @@
+/**
+ * VL53L 1D-family register-bridge wire codecs, protocol v2.01
+ * (contracts/12_SENSOR_VL53LX.md). Mirrors the Python reference
+ * `depz_sensor_sdk.protocol.vl53lx`.
+ *
+ * One firmware (`APP_VL53L0_4`) serves VL53L0X, VL53L1CX, VL53L1CB, VL53L3CX,
+ * VL53L4CD and VL53L4CX. It is the VL53L4CD bridge of contract 10 with the
+ * three sensor-specific facts moved to the host: the register-address width
+ * (VL53_SET_ADDR_WIDTH, new), the interrupt-release writes (carried by
+ * VL53_START_STREAM) and the boot handshake (no longer inside VL53_XSHUT).
+ * READ_REG, WRITE_REG, XSHUT, STOP_STREAM, SET_I2C_SPEED and the REG_DATA /
+ * STREAM reports are the contract-10 codecs of `protocol/vl53l4.ts`, identical
+ * on the wire — import them from there. v2.01 (firmware v0.24) adds
+ * VL53_CLEAR_I2C_ERRORS; a v2.00 bridge refuses it with ERR_INVALID_CMD.
+ *
+ * Every export here carries a `Vl53lx`/`VL53LX_` name so the root index can
+ * re-export this module with `export *` next to the other VL53 protocols.
+ */
+export var Vl53lxCmd;
+(function (Vl53lxCmd) {
+    Vl53lxCmd[Vl53lxCmd["ReadReg"] = 50] = "ReadReg";
+    Vl53lxCmd[Vl53lxCmd["WriteReg"] = 51] = "WriteReg";
+    Vl53lxCmd[Vl53lxCmd["Xshut"] = 52] = "Xshut";
+    Vl53lxCmd[Vl53lxCmd["StartStream"] = 53] = "StartStream";
+    Vl53lxCmd[Vl53lxCmd["StopStream"] = 54] = "StopStream";
+    Vl53lxCmd[Vl53lxCmd["GetInfo"] = 55] = "GetInfo";
+    Vl53lxCmd[Vl53lxCmd["SetI2cSpeed"] = 56] = "SetI2cSpeed";
+    Vl53lxCmd[Vl53lxCmd["SetAddrWidth"] = 57] = "SetAddrWidth";
+    Vl53lxCmd[Vl53lxCmd["ClearI2cErrors"] = 58] = "ClearI2cErrors";
+})(Vl53lxCmd || (Vl53lxCmd = {}));
+export var Vl53lxRpt;
+(function (Vl53lxRpt) {
+    Vl53lxRpt[Vl53lxRpt["RegData"] = 145] = "RegData";
+    Vl53lxRpt[Vl53lxRpt["Info"] = 146] = "Info";
+    Vl53lxRpt[Vl53lxRpt["Stream"] = 147] = "Stream";
+})(Vl53lxRpt || (Vl53lxRpt = {}));
+/** Interrupt-release steps a stream may carry (VL53_CLEAR_STEPS_WIRE_MAX). */
+export const VL53LX_CLEAR_STEPS_MAX = 4;
+/** RPT_VL53_INFO payload size (v2.00). */
+export const VL53LX_INFO_SIZE = 23;
+/**
+ * vl53_start_stream_t: block, flags, then `clear` — the (addr, value) writes
+ * the bridge plays after every block read (0..4 steps). 6+3n bytes.
+ */
+export function packVl53lxStartStream(addr, length, clear = [], flags = 0) {
+    if (clear.length > VL53LX_CLEAR_STEPS_MAX) {
+        throw new RangeError(`at most ${VL53LX_CLEAR_STEPS_MAX} interrupt-release steps`);
+    }
+    const out = new Uint8Array(6 + 3 * clear.length);
+    const dv = new DataView(out.buffer);
+    dv.setUint16(0, addr, true);
+    dv.setUint16(2, length, true);
+    dv.setUint8(4, flags);
+    dv.setUint8(5, clear.length);
+    clear.forEach(([stepAddr, value], i) => {
+        dv.setUint16(6 + 3 * i, stepAddr, true);
+        dv.setUint8(8 + 3 * i, value);
+    });
+    return out;
+}
+/** VL53_SET_ADDR_WIDTH payload: register-address width, 1 or 2 bytes. */
+export function packVl53lxSetAddrWidth(width) {
+    if (width !== 1 && width !== 2) {
+        throw new RangeError("register address width is 1 or 2 bytes");
+    }
+    return Uint8Array.of(width);
+}
+/** `<IIIBBBHBBI`; rejects a payload shorter than 23 bytes. */
+export function unpackVl53lxInfo(payload) {
+    if (payload.length < VL53LX_INFO_SIZE) {
+        throw new RangeError(`RPT_VL53_INFO: expected ${VL53LX_INFO_SIZE} bytes, got ${payload.length}`);
+    }
+    const dv = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+    return {
+        intEdges: dv.getUint32(0, true),
+        slotsSkipped: dv.getUint32(4, true),
+        i2cErrors: dv.getUint32(8, true),
+        lastI2cError: dv.getUint8(12),
+        xshutLevel: dv.getUint8(13),
+        intLevel: dv.getUint8(14),
+        i2cKhz: dv.getUint16(15, true),
+        addrWidth: dv.getUint8(17),
+        nClear: dv.getUint8(18),
+        framesDropped: dv.getUint32(19, true),
+    };
+}
+//# sourceMappingURL=vl53lx.js.map

package/dist/protocol/vl53lx.js.map

@@ -0,0 +1 @@
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