@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/uld/l0x.d.ts

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+/**
+ * uld/l0x — VL53L0X API 1.0.4: the ranging path. Async port of the Python
+ * `depz_sensor_sdk.vl53lx.uld.l0x` (vl53l0x_api.c / vl53l0x_api_core.c /
+ * vl53l0x_api_calibration.c): DataInit, StaticInit (reference SPADs from NVM
+ * + tuning settings), the timing-budget arithmetic, Start/StopMeasurement,
+ * GetRangingMeasurementData with its PAL range status (sigma estimate
+ * included), PerformRefCalibration, PerformRefSpadManagement, the offset and
+ * crosstalk calibrations and the ranging profiles of the four ST examples.
+ *
+ * Register sequences, integer widths and the deliberate overflows are kept as
+ * in C — do not "simplify" them. Arithmetic that can leave int32 goes through
+ * `arith.ts`; the sigma estimate (intermediates past 2^53) runs on BigInt.
+ *
+ * There is no ROI on this die.
+ */
+import { SensorDriver, type BridgePlatform, type Measurement } from "./base.js";
+export declare const L0X_API_VERSION: readonly [1, 0, 4];
+export declare const SYSRANGE_START = 0;
+export declare const SYSRANGE_MODE_SINGLESHOT = 0;
+export declare const SYSRANGE_MODE_START_STOP = 1;
+export declare const SYSRANGE_MODE_BACKTOBACK = 2;
+export declare const SYSRANGE_MODE_TIMED = 4;
+export declare const SYSTEM_SEQUENCE_CONFIG = 1;
+export declare const SYSTEM_INTERMEASUREMENT_PERIOD = 4;
+export declare const SYSTEM_RANGE_CONFIG = 9;
+export declare const SYSTEM_INTERRUPT_CONFIG_GPIO = 10;
+export declare const SYSTEM_INTERRUPT_CLEAR = 11;
+export declare const SYSTEM_THRESH_HIGH = 12;
+export declare const SYSTEM_THRESH_LOW = 14;
+export declare const RESULT_INTERRUPT_STATUS = 19;
+export declare const RESULT_RANGE_STATUS = 20;
+export declare const CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 32;
+export declare const ALGO_PART_TO_PART_RANGE_OFFSET_MM = 40;
+export declare const ALGO_PHASECAL_CONFIG_TIMEOUT = 48;
+export declare const GLOBAL_CONFIG_VCSEL_WIDTH = 50;
+export declare const FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 68;
+export declare const MSRC_CONFIG_TIMEOUT_MACROP = 70;
+export declare const FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 71;
+export declare const FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 72;
+export declare const DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 78;
+export declare const DYNAMIC_SPAD_REF_EN_START_OFFSET = 79;
+export declare const PRE_RANGE_CONFIG_VCSEL_PERIOD = 80;
+export declare const PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 81;
+export declare const PRE_RANGE_CONFIG_VALID_PHASE_LOW = 86;
+export declare const PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 87;
+export declare const MSRC_CONFIG_CONTROL = 96;
+export declare const PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 100;
+export declare const FINAL_RANGE_CONFIG_VCSEL_PERIOD = 112;
+export declare const FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 113;
+export declare const POWER_MANAGEMENT_GO1_POWER_FORCE = 128;
+export declare const GPIO_HV_MUX_ACTIVE_HIGH = 132;
+export declare const SOFT_RESET_GO2_SOFT_RESET_N = 191;
+export declare const GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 176;
+export declare const GLOBAL_CONFIG_REF_EN_START_SELECT = 182;
+export declare const IDENTIFICATION_MODEL_ID = 192;
+export declare const OSC_CALIBRATE_VAL = 248;
+export declare const ALGO_PHASECAL_LIM = 48;
+export declare const RESULT_PEAK_SIGNAL_RATE_REF = 182;
+/** One byte at 0xC0, unlike the 16-bit family. */
+export declare const MODEL_ID_VL53L0X = 238;
+export declare const DEVICEMODE_SINGLE_RANGING = 0;
+export declare const DEVICEMODE_CONTINUOUS_RANGING = 1;
+export declare const DEVICEMODE_CONTINUOUS_TIMED = 3;
+export declare const GPIOFUNCTIONALITY_NEW_MEASURE_READY = 4;
+export declare const SEQUENCESTEP_TCC = 0;
+export declare const SEQUENCESTEP_DSS = 1;
+export declare const SEQUENCESTEP_MSRC = 2;
+export declare const SEQUENCESTEP_PRE_RANGE = 3;
+export declare const SEQUENCESTEP_FINAL_RANGE = 4;
+export declare const VCSEL_PERIOD_PRE_RANGE = 0;
+export declare const VCSEL_PERIOD_FINAL_RANGE = 1;
+export declare const CHECK_SIGMA_FINAL_RANGE = 0;
+export declare const CHECK_SIGNAL_RATE_FINAL_RANGE = 1;
+export declare const CHECK_SIGNAL_REF_CLIP = 2;
+export declare const CHECK_RANGE_IGNORE_THRESHOLD = 3;
+export declare const CHECK_SIGNAL_RATE_MSRC = 4;
+export declare const CHECK_SIGNAL_RATE_PRE_RANGE = 5;
+export declare const CHECK_NUMBER_OF_CHECKS = 6;
+export declare const DEFAULT_MAX_LOOP = 2000;
+/** 20 Mcps in 9.7 format, the ref-SPAD target. */
+export declare const TARGET_REF_RATE = 2560;
+export declare const SPEED_OF_LIGHT_IN_AIR = 2997;
+export declare const REF_SPAD_BUFFER_SIZE = 6;
+/**
+ * The ranging modes of the four ST examples: (signal Mcps, sigma mm, budget
+ * us, pre-range PCLK, final PCLK). 'default' is what StaticInit leaves.
+ */
+export declare const L0X_MODE_DEFAULT = "default";
+export declare const L0X_MODE_SETTINGS: ReadonlyMap<string, readonly [number, number, number, number, number]>;
+/**
+ * DefaultTuningSettings[] (vl53l0x_tuning.h, "update 02/11/2015_v36"): a run
+ * of {count, address, count bytes...} records ended by a zero count.
+ */
+export declare const DEFAULT_TUNING_SETTINGS: Uint8Array<ArrayBuffer>;
+/** Dmax lookup table set up by DataInit, FixPoint16.16. */
+export declare const DMAX_LUT_AMB_RATE_MCPS: readonly number[];
+export declare const DMAX_LUT_DMAX_MM: readonly number[];
+/** The block the MCU streams: RESULT_RANGE_STATUS .. 0x1F. */
+export declare const L0X_RESULT_BLOCK_ADDR = 20;
+export declare const L0X_RESULT_BLOCK_LEN = 12;
+/** Two writes release this sensor's interrupt. */
+export declare const L0X_CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+/** The only part of the family with 8-bit register addresses. */
+export declare const L0X_ADDR_WIDTH = 1;
+/** VL53L0X_GetRangeStatusString(). */
+export declare const L0X_RANGE_STATUS_NAMES: Readonly<Record<number, string>>;
+/** VL53L0X_isqrt() on BigInt — the bit-by-bit integer square root. */
+export declare function isqrt(numIn: bigint): bigint;
+export declare function decodeVcselPeriod(reg: number): number;
+export declare function encodeVcselPeriod(pclks: number): number;
+/** (LSByte * 2^MSByte) + 1 format. */
+export declare function encodeTimeout(timeoutMacroClks: number): number;
+export declare function decodeTimeout(encoded: number): number;
+/** 2304 vclks per macro period, PLL period fixed at 1655 ps. */
+export declare function calcMacroPeriodPs(vcselPeriodPclks: number): number;
+export declare function calcTimeoutMclks(timeoutPeriodUs: number, vcselPeriodPclks: number): number;
+export declare function calcTimeoutUs(timeoutPeriodMclks: number, vcselPeriodPclks: number): number;
+/** Which quadrant a SPAD index falls in decides whether it is an aperture SPAD. */
+export declare function isAperture(spadIndex: number): boolean;
+/** → index of the next enabled bit at or after `curr`, or -1. */
+export declare function getNextGoodSpad(goodSpadArray: ArrayLike<number>, size: number, curr: number): number;
+/** VL53L0X_RangingMeasurementData_t, the fields this port fills. */
+export interface RangingMeasurementData {
+    rangeStatus: number;
+    distanceMm: number;
+    rangeFractionalPart: number;
+    /** FixPoint16.16 Mcps. */
+    signalRateMcps: number;
+    ambientRateMcps: number;
+    /** 8.8 format. */
+    effectiveSpadRtnCount: number;
+    dmaxMm: number;
+    sigmaMm: number;
+    deviceRangeStatus: number;
+}
+export declare function l0xStatusText(status: number): string;
+/** PALDevData / DeviceSpecificParameters — the state the C driver keeps. */
+export interface L0xDeviceData {
+    ReadDataFromDeviceDone: number;
+    LinearityCorrectiveGain: number;
+    OscFrequencyMHz: number;
+    XTalkCompensationRateMegaCps: number;
+    XTalkCompensationEnable: number;
+    StopVariable: number;
+    SequenceConfig: number;
+    RangeFractionalEnable: number;
+    DeviceMode: number;
+    MeasurementTimingBudgetMicroSeconds: number;
+    Pin0GpioFunctionality: number;
+    ReferenceSpadCount: number;
+    ReferenceSpadType: number;
+    RefGoodSpadMap: number[];
+    RefSpadEnables: number[];
+    PreRangeVcselPulsePeriod: number;
+    FinalRangeVcselPulsePeriod: number;
+    PreRangeTimeoutMicroSecs: number;
+    FinalRangeTimeoutMicroSecs: number;
+    TargetRefRate: number;
+    LimitChecksEnable: number[];
+    LimitChecksValue: number[];
+    Part2PartOffsetAdjustmentNVMMicroMeter: number;
+    SignalRateMeasFixed400mm: number;
+    ModuleId: number;
+    Revision: number;
+    ProductId: string;
+    PartUIDUpper: number;
+    PartUIDLower: number;
+}
+/** Port of the VL53L0X API 1.0.4 ranging path. */
+export declare class VL53L0X extends SensorDriver {
+    static readonly ADDR_WIDTH: number;
+    static readonly CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+    /** No Fast Mode Plus on this die. */
+    static readonly MAX_KHZ: number;
+    static readonly SUPPORTS: ReadonlySet<string>;
+    static readonly MODES: readonly string[];
+    /** Below ~20 ms the enabled sequence steps no longer fit the budget. */
+    static readonly BUDGET_MS: readonly [number, number];
+    /** PALDevData — every field is written before it is read. */
+    readonly d: L0xDeviceData;
+    /** False when the NVM ref-SPAD record is out of range (static_init). */
+    refSpadsFromNvm: boolean;
+    /** Which of MODES is applied (the budget reads back rounded). */
+    private mode;
+    constructor(platform: BridgePlatform, part: string);
+    streamBlock(): [number, number];
+    decode(raw: Uint8Array): Measurement;
+    readMeasurement(): Promise<Measurement>;
+    modelId(): Promise<number>;
+    /** No firmware-status register: the model id answering says the die is up. */
+    waitBoot(timeoutS?: number): Promise<void>;
+    /** DataInit + StaticInit, and leave the sensor in continuous mode. */
+    sensorInit(): Promise<void>;
+    /** VL53L0X_ResetDevice(): pull the die through its soft reset. */
+    resetDevice(timeoutS?: number): Promise<void>;
+    /** VL53L0X_DataInit(). */
+    dataInit(): Promise<void>;
+    /** VL53L0X_StaticInit(): reference SPADs, tuning settings, GPIO. */
+    staticInit(): Promise<void>;
+    performSingleRefCalibration(vhvInitByte: number): Promise<void>;
+    /** VL53L0X_ref_calibration_io() in its read direction → [vhv, phase]. */
+    refCalibrationIoRead(vhvEnable: boolean, phaseEnable: boolean): Promise<[number, number]>;
+    /** VL53L0X_PerformRefCalibration(): VHV, then phase → [vhv, phase]. */
+    performRefCalibration(): Promise<[number, number]>;
+    deviceReadStrobe(): Promise<void>;
+    /**
+     * VL53L0X_get_info_from_device(): the fuse copy of the reference SPAD
+     * record (option 1), the product identification (option 2) and the part
+     * UID plus the factory offset (option 4).
+     */
+    getInfoFromDevice(option: number): Promise<void>;
+    /** VL53L0X_set_reference_spads(): apply the NVM record and verify it. */
+    setReferenceSpads(count: number, isApertureSpads: number): Promise<void>;
+    /** VL53L0X_load_tuning_settings(): {count, address, bytes...} records. */
+    loadTuningSettings(buffer: Uint8Array): Promise<void>;
+    /** VL53L0X_SetGpioConfig() for pin 0 in its ranging-interrupt role. */
+    setGpioConfig(functionality: number, polarityLow?: boolean): Promise<void>;
+    /** VL53L0X_ClearInterruptMask(): two writes, then confirm — up to three rounds. */
+    clearInterrupt(): Promise<void>;
+    getInterruptMaskStatus(): Promise<number>;
+    checkForDataReady(): Promise<boolean>;
+    /** → enabled flag per sequence step (indexed by SEQUENCESTEP_*). */
+    getSequenceStepEnables(): Promise<boolean[]>;
+    setSequenceStepEnable(step: number, enabled: number): Promise<void>;
+    getVcselPulsePeriod(periodType: number): Promise<number>;
+    getSequenceStepTimeout(step: number): Promise<number>;
+    setSequenceStepTimeout(step: number, timeoutUs: number): Promise<void>;
+    setMeasurementTimingBudget(budgetUs: number): Promise<void>;
+    getMeasurementTimingBudget(): Promise<number>;
+    setInterMeasurementPeriod(periodMs: number): Promise<void>;
+    getInterMeasurementPeriod(): Promise<number>;
+    /** Inter-measurement 0 = back-to-back continuous, else timed continuous. */
+    setRangeTiming(timingBudgetMs: number, interMeasurementMs: number): Promise<void>;
+    getRangeTiming(): Promise<[number, number]>;
+    setDeviceMode(mode: number): void;
+    /** The undocumented prologue of every VL53L0X_StartMeasurement(). */
+    armStopVariable(): Promise<void>;
+    /** VL53L0X_StartMeasurement() for the two continuous modes. */
+    startRanging(): Promise<void>;
+    /** VL53L0X_StopMeasurement(). */
+    stopRanging(): Promise<void>;
+    /** VL53L0X_PerformSingleRangingMeasurement(): one shot, start to finish. */
+    performSingleRangingMeasurement(): Promise<RangingMeasurementData>;
+    getResult(): Promise<RangingMeasurementData>;
+    /**
+     * VL53L0X_GetRangingMeasurementData() on the 12 bytes at 0x14. Pure
+     * arithmetic over the block and the cached device data.
+     */
+    parseResultBlock(raw: Uint8Array): RangingMeasurementData;
+    getTotalXtalkRate(data: RangingMeasurementData): bigint;
+    /** VL53L0X_calc_sigma_estimate(), FixPoint16.16 in and out (BigInt). */
+    calcSigmaEstimate(data: RangingMeasurementData): number;
+    /** VL53L0X_calc_dmax(): ambient-rate → max-range lookup, interpolated. */
+    calcDmax(ambRateMeas: number): number;
+    /** VL53L0X_get_pal_range_status(): device status plus the enabled limit checks. */
+    getPalRangeStatus(data: RangingMeasurementData): void;
+    /** VL53L0X_set_vcsel_pulse_period(). */
+    setVcselPulsePeriod(periodType: number, pclks: number): Promise<void>;
+    /** VL53L0X_perform_phase_calibration() with restore_config = 1. */
+    performPhaseCalibration(): Promise<void>;
+    /** Apply one of MODES: limits, budget and both VCSEL periods. */
+    setMode(name: string): Promise<void>;
+    getMode(): Promise<string>;
+    /** What the five registers a mode writes currently read back as. */
+    driverInfo(): Promise<Record<string, unknown>>;
+    /** 10.2-format register: stored in steps of 250 um. */
+    setOffsetUm(offsetUm: number): Promise<void>;
+    getOffsetUm(): Promise<number>;
+    setOffset(offsetMm: number): Promise<void>;
+    getOffset(): Promise<number>;
+    /** VL53L0X_perform_offset_calibration() → the offset in micrometres. */
+    performOffsetCalibration(calDistanceMm: number, nbSamples?: number): Promise<number>;
+    /** The family-wide contract: an offset in whole millimetres. */
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /** VL53L0X_SetXTalkCompensationEnable(). */
+    setXtalkEnable(enable: number): Promise<void>;
+    /** VL53L0X_SetXTalkCompensationRateMegaCps(), FixPoint16.16 in. */
+    setXtalkRateMcps(rateMcps: number): Promise<void>;
+    getXtalkRateMcps(): Promise<number>;
+    /** The family-wide contract speaks kcps; the ULD speaks Mcps 16.16. */
+    setXtalk(xtalkKcps: number): Promise<void>;
+    getXtalk(): Promise<number>;
+    /** VL53L0X_perform_xtalk_calibration() → the rate in Mcps 16.16. */
+    performXtalkCalibration(calDistanceMm: number, nbSamples?: number): Promise<number>;
+    /** The family-wide contract: a crosstalk rate in kcps. */
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+    getReferenceSpads(): [number, number];
+    private setRefSpadMap;
+    private getRefSpadMap;
+    /** enable_ref_spads(): append good SPADs, apply and read back → next index. */
+    private enableRefSpads;
+    /** perform_ref_signal_measurement() → peak reference signal rate, 9.7. */
+    private performRefSignalMeasurement;
+    /** VL53L0X_perform_ref_spad_management() → [count, isAperture]. */
+    performRefSpadManagement(): Promise<[number, number]>;
+    private storeRefSpads;
+    setLimitCheckEnable(check: number, enable: number): Promise<void>;
+    setLimitCheckValue(check: number, value: number): Promise<void>;
+    getLimitCheckValue(check: number): Promise<number>;
+}
+/**
+ * RangingMeasurementData → the family-wide Measurement. The rates are
+ * FixPoint16.16 Mcps in the ULD and kcps everywhere else (× 1000/65536).
+ */
+export declare function l0xAsMeasurement(r: RangingMeasurementData): Measurement;
+//# sourceMappingURL=l0x.d.ts.map

package/dist/sensors/vl53lx/uld/l0x.d.ts.map

@@ -0,0 +1 @@
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