@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/uld/l0x.js.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/l1.d.ts

@@ -0,0 +1,69 @@
+/**
+ * uld/l1 — VL53L1X ULD 3.5.5: VL53L1CX and VL53L1CB. Async port of the Python
+ * `depz_sensor_sdk.vl53lx.uld.l1` (VL53L1X_api.c + VL53L1X_calibration.c).
+ *
+ * The die body comes from `VL53L1Die`; what is this ULD's own is the ranging
+ * configuration: a tabulated timing budget, a distance mode (short / long), an
+ * init that resets the die first and fixes the interrupt polarity, a start
+ * code with no free-running mode, and its own two calibrations. Crosstalk is
+ * in kcps (the register's own unit), unlike ST's L1X wrapper.
+ */
+import { VL53L1Die } from "./vl53l1-die.js";
+export declare const L1_ULD_VERSION: readonly [3, 5, 5];
+/** VL51L1X_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export declare const L1_DEFAULT_CONFIGURATION: Uint8Array<ArrayBuffer>;
+/** Distance modes (VL53L1X_SetDistanceMode). */
+export declare const DISTANCE_SHORT = 1;
+export declare const DISTANCE_LONG = 2;
+/**
+ * VL53L1X_SetTimingBudgetInMs(): the budget is looked up, not computed.
+ * {distance mode: [[budget ms, [MACROP_A_HI, MACROP_B_HI]], ...]} in the C
+ * order. 15 ms exists in short mode only.
+ */
+export declare const L1_TIMING_BUDGETS: ReadonlyMap<number, ReadonlyMap<number, readonly [number, number]>>;
+/** Port of VL53L1X_api.c + VL53L1X_calibration.c (ULD 3.5.5). */
+export declare class VL53L1 extends VL53L1Die {
+    static readonly SUPPORTS: ReadonlySet<string>;
+    /** The configuration blob boots in long. */
+    static readonly MODES: readonly string[];
+    /** Only the tabulated values exist — see budgetChoices(). */
+    static readonly BUDGET_MS: readonly [number, number];
+    protected readonly CONFIGURATION: Uint8Array<ArrayBuffer>;
+    /** VL53L1X_StopRanging() writes 0x00 where the L4CD ULD writes 0x80. */
+    protected readonly STOP_MODE: number;
+    /** Crosstalk-corrected peak signal at 0x0098, per-SPAD scale 200.0/8. */
+    protected readonly SIGNAL_AT: number;
+    protected readonly PER_SPAD_K: number;
+    /** The mode the sensor was last put into (budgetChoices answers from it). */
+    private appliedMode;
+    /** A hung sensor never reaches boot state on its own: reset first. */
+    protected initBoot(): Promise<void>;
+    /** ST ships this blob with an active-high interrupt; the bridge wants low. */
+    protected initAfterConfig(): Promise<void>;
+    protected initExtra(): Promise<void>;
+    /** VL53L1X_StartRanging(): timed mode, and only timed mode. */
+    startRanging(): Promise<void>;
+    setMode(name: string): Promise<void>;
+    /** → 'short' or 'long'. VL53L1X_GetDistanceMode(). */
+    getMode(): Promise<string>;
+    private modeCode;
+    /**
+     * VL53L1X_SetTimingBudgetInMs() + SetInterMeasurementInMs(). Only the
+     * tabulated budgets exist; a zero period is written as the budget itself
+     * (this part has no free-running mode).
+     */
+    setRangeTiming(timingBudgetMs: number, interMeasurementMs: number): Promise<void>;
+    /** The tabulated budgets of the mode in use (moves with the mode). */
+    budgetChoices(): number[];
+    getRangeTiming(): Promise<[number, number]>;
+    /**
+     * VL53L1X_SetDistanceThreshold(): read-modify-write keeping the bits
+     * outside 0x6F, plus an "interrupt when no target" flag.
+     */
+    setDetectionThresholds(distanceLowMm: number, distanceHighMm: number, window: number, intOnNoTarget?: number): Promise<void>;
+    /** VL53L1X_CalibrateOffset(), the sample count made an argument. */
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    /** VL53L1X_CalibrateXtalk(). Returns kcps, not the C driver's cps. */
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+}
+//# sourceMappingURL=l1.d.ts.map

package/dist/sensors/vl53lx/uld/l1.d.ts.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/l1.js

@@ -0,0 +1,262 @@
+/**
+ * uld/l1 — VL53L1X ULD 3.5.5: VL53L1CX and VL53L1CB. Async port of the Python
+ * `depz_sensor_sdk.vl53lx.uld.l1` (VL53L1X_api.c + VL53L1X_calibration.c).
+ *
+ * The die body comes from `VL53L1Die`; what is this ULD's own is the ranging
+ * configuration: a tabulated timing budget, a distance mode (short / long), an
+ * init that resets the die first and fixes the interrupt polarity, a start
+ * code with no free-running mode, and its own two calibrations. Crosstalk is
+ * in kcps (the register's own unit), unlike ST's L1X wrapper.
+ */
+import { Vl53Error } from "./link.js";
+import { floorDiv, pyRound } from "./arith.js";
+import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, INTERMEASUREMENT_MS, OUTER_OFFSET_MM, PHASECAL_CONFIG__TIMEOUT_MACROP, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, RANGE_CONFIG__VALID_PHASE_HIGH, RANGE_CONFIG__VCSEL_PERIOD_A, RANGE_CONFIG__VCSEL_PERIOD_B, RANGE_OFFSET_MM, RESULT__OSC_CALIBRATE_VAL, SD_CONFIG__INITIAL_PHASE_SD0, SD_CONFIG__WOI_SD0, SYSTEM__INTERRUPT_CONFIG_GPIO, SYSTEM__MODE_START, THRESH_HIGH, THRESH_LOW, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
+export const L1_ULD_VERSION = [3, 5, 5];
+/** VL51L1X_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export const L1_DEFAULT_CONFIGURATION = Uint8Array.from([
+    0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x02, 0x08, // 0x2D..0x34
+    0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, // 0x35..0x3C
+    0x00, 0xff, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, // 0x3D..0x44
+    0x00, 0x20, 0x0b, 0x00, 0x00, 0x02, 0x0a, 0x21, // 0x45..0x4C
+    0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xc8, // 0x4D..0x54
+    0x00, 0x00, 0x38, 0xff, 0x01, 0x00, 0x08, 0x00, // 0x55..0x5C
+    0x00, 0x01, 0xcc, 0x0f, 0x01, 0xf1, 0x0d, 0x01, // 0x5D..0x64
+    0x68, 0x00, 0x80, 0x08, 0xb8, 0x00, 0x00, 0x00, // 0x65..0x6C
+    0x00, 0x0f, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x6D..0x74
+    0x00, 0x00, 0x01, 0x0f, 0x0d, 0x0e, 0x0e, 0x00, // 0x75..0x7C
+    0x00, 0x02, 0xc7, 0xff, 0x9b, 0x00, 0x00, 0x00, // 0x7D..0x84
+    0x01, 0x00, 0x00, // 0x85..0x87
+]);
+if (L1_DEFAULT_CONFIGURATION.length !== CONFIG_END - CONFIG_ADDR + 1) {
+    throw new Error("VL53L1X configuration blob must be 91 bytes");
+}
+/** Distance modes (VL53L1X_SetDistanceMode). */
+export const DISTANCE_SHORT = 1;
+export const DISTANCE_LONG = 2;
+const MODE_CODES = { short: DISTANCE_SHORT, long: DISTANCE_LONG };
+const MODE_NAMES = {
+    [DISTANCE_SHORT]: "short",
+    [DISTANCE_LONG]: "long",
+};
+/**
+ * VL53L1X_SetTimingBudgetInMs(): the budget is looked up, not computed.
+ * {distance mode: [[budget ms, [MACROP_A_HI, MACROP_B_HI]], ...]} in the C
+ * order. 15 ms exists in short mode only.
+ */
+export const L1_TIMING_BUDGETS = new Map([
+    [
+        DISTANCE_SHORT,
+        new Map([
+            [15, [0x001d, 0x0027]],
+            [20, [0x0051, 0x006e]],
+            [33, [0x00d6, 0x006e]],
+            [50, [0x01ae, 0x01e8]],
+            [100, [0x02e1, 0x0388]],
+            [200, [0x03e1, 0x0496]],
+            [500, [0x0591, 0x05c1]],
+        ]),
+    ],
+    [
+        DISTANCE_LONG,
+        new Map([
+            [20, [0x001e, 0x0022]],
+            [33, [0x0060, 0x006e]],
+            [50, [0x00ad, 0x00c6]],
+            [100, [0x01cc, 0x01ea]],
+            [200, [0x02d9, 0x02f8]],
+            [500, [0x048f, 0x04a4]],
+        ]),
+    ],
+]);
+/** VL53L1X_GetTimingBudgetInMs(): MACROP_A_HI → ms, both modes (no collision). */
+const BUDGET_BY_MACROP_A = new Map();
+for (const table of L1_TIMING_BUDGETS.values()) {
+    for (const [ms, [a]] of table)
+        BUDGET_BY_MACROP_A.set(a, ms);
+}
+function budgetTable(mode) {
+    return L1_TIMING_BUDGETS.get(mode);
+}
+/** Port of VL53L1X_api.c + VL53L1X_calibration.c (ULD 3.5.5). */
+export class VL53L1 extends VL53L1Die {
+    static SUPPORTS = new Set([
+        "mode",
+        "timing",
+        "offset",
+        "xtalk",
+        "thresholds",
+        "signal_thresh",
+        "sigma_thresh",
+        "temp_update",
+        "calib_offset",
+        "calib_xtalk",
+        "roi",
+    ]);
+    /** The configuration blob boots in long. */
+    static MODES = ["long", "short"];
+    /** Only the tabulated values exist — see budgetChoices(). */
+    static BUDGET_MS = [15, 500];
+    CONFIGURATION = L1_DEFAULT_CONFIGURATION;
+    /** VL53L1X_StopRanging() writes 0x00 where the L4CD ULD writes 0x80. */
+    STOP_MODE = 0x00;
+    /** Crosstalk-corrected peak signal at 0x0098, per-SPAD scale 200.0/8. */
+    SIGNAL_AT = 15;
+    PER_SPAD_K = 25;
+    /** The mode the sensor was last put into (budgetChoices answers from it). */
+    appliedMode = VL53L1.MODES[0];
+    // ── init (VL53L1X_SensorInit(), on the die's sequence) ──
+    /** A hung sensor never reaches boot state on its own: reset first. */
+    initBoot() {
+        return this.resetDevice();
+    }
+    /** ST ships this blob with an active-high interrupt; the bridge wants low. */
+    initAfterConfig() {
+        return this.setInterruptPolarity(0);
+    }
+    async initExtra() {
+        this.appliedMode = VL53L1.MODES[0];
+    }
+    // ── ranging ──
+    /** VL53L1X_StartRanging(): timed mode, and only timed mode. */
+    async startRanging() {
+        await this.p.wrByte(SYSTEM__MODE_START, 0x40);
+    }
+    // ── ranging mode (VL53L1X_SetDistanceMode) ──
+    async setMode(name) {
+        const mode = MODE_CODES[name];
+        if (mode === undefined) {
+            throw new Vl53Error(`no such mode: ${name} (have ${this.MODES.join(", ")})`);
+        }
+        let [budgetMs, interMs] = await this.getRangeTiming();
+        this.appliedMode = name;
+        if (mode === DISTANCE_SHORT) {
+            await this.p.wrByte(PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
+            await this.p.wrByte(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
+            await this.p.wrByte(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
+            await this.p.wrByte(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
+            await this.p.wrWord(SD_CONFIG__WOI_SD0, 0x0705);
+            await this.p.wrWord(SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
+        }
+        else {
+            await this.p.wrByte(PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0a);
+            await this.p.wrByte(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0f);
+            await this.p.wrByte(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0d);
+            await this.p.wrByte(RANGE_CONFIG__VALID_PHASE_HIGH, 0xb8);
+            await this.p.wrWord(SD_CONFIG__WOI_SD0, 0x0f0d);
+            await this.p.wrWord(SD_CONFIG__INITIAL_PHASE_SD0, 0x0e0e);
+        }
+        // 15 ms exists in short mode only: fall back to the nearest budget
+        // (first one in table order on a tie, as Python's min()).
+        const table = budgetTable(mode);
+        if (!table.has(budgetMs)) {
+            let best = null;
+            for (const ms of table.keys()) {
+                if (best === null || Math.abs(ms - budgetMs) < Math.abs(best - budgetMs))
+                    best = ms;
+            }
+            budgetMs = best;
+        }
+        await this.setRangeTiming(budgetMs, interMs);
+    }
+    /** → 'short' or 'long'. VL53L1X_GetDistanceMode(). */
+    async getMode() {
+        return MODE_NAMES[await this.modeCode()];
+    }
+    async modeCode() {
+        const temp = await this.p.rdByte(PHASECAL_CONFIG__TIMEOUT_MACROP);
+        if (temp === 0x14)
+            return DISTANCE_SHORT;
+        if (temp === 0x0a)
+            return DISTANCE_LONG;
+        throw new Vl53Error(`PHASECAL_CONFIG__TIMEOUT_MACROP reads 0x${temp.toString(16).toUpperCase().padStart(2, "0")}, ` +
+            "which is neither distance mode");
+    }
+    // ── timing ──
+    /**
+     * VL53L1X_SetTimingBudgetInMs() + SetInterMeasurementInMs(). Only the
+     * tabulated budgets exist; a zero period is written as the budget itself
+     * (this part has no free-running mode).
+     */
+    async setRangeTiming(timingBudgetMs, interMeasurementMs) {
+        const mode = await this.modeCode();
+        const table = budgetTable(mode);
+        const pair = table.get(timingBudgetMs);
+        if (pair === undefined) {
+            const choices = [...table.keys()].sort((a, b) => a - b).join(", ");
+            throw new Vl53Error(`timing budget ${timingBudgetMs} ms is not one the ${MODE_NAMES[mode]} mode has - ` +
+                `pick one of ${choices} ms`);
+        }
+        const [macropA, macropB] = pair;
+        await this.p.wrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, macropA);
+        await this.p.wrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, macropB);
+        if (interMeasurementMs === 0)
+            interMeasurementMs = timingBudgetMs;
+        const clockPll = (await this.p.rdWord(RESULT__OSC_CALIBRATE_VAL)) & 0x3ff;
+        await this.p.wrDword(INTERMEASUREMENT_MS, Math.trunc(clockPll * interMeasurementMs * 1.075));
+    }
+    /** The tabulated budgets of the mode in use (moves with the mode). */
+    budgetChoices() {
+        return [...budgetTable(MODE_CODES[this.appliedMode]).keys()].sort((a, b) => a - b);
+    }
+    async getRangeTiming() {
+        const macropA = await this.p.rdWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI);
+        const budgetMs = BUDGET_BY_MACROP_A.get(macropA) ?? 0;
+        const tmp = await this.p.rdDword(INTERMEASUREMENT_MS);
+        const clockPll = (await this.p.rdWord(RESULT__OSC_CALIBRATE_VAL)) & 0x3ff;
+        const interMs = clockPll ? Math.trunc(tmp / (clockPll * 1.065)) : 0;
+        return [budgetMs, interMs];
+    }
+    // ── thresholds ──
+    /**
+     * VL53L1X_SetDistanceThreshold(): read-modify-write keeping the bits
+     * outside 0x6F, plus an "interrupt when no target" flag.
+     */
+    async setDetectionThresholds(distanceLowMm, distanceHighMm, window, intOnNoTarget = 0) {
+        let temp = (await this.p.rdByte(SYSTEM__INTERRUPT_CONFIG_GPIO)) & ~0x6f & 0xff;
+        temp |= window;
+        if (intOnNoTarget)
+            temp |= 0x40;
+        await this.p.wrByte(SYSTEM__INTERRUPT_CONFIG_GPIO, temp);
+        await this.p.wrWord(THRESH_HIGH, distanceHighMm);
+        await this.p.wrWord(THRESH_LOW, distanceLowMm);
+    }
+    // ── calibration (VL53L1X_calibration.c) ──
+    /** VL53L1X_CalibrateOffset(), the sample count made an argument. */
+    async calibrateOffset(targetDistMm, nbSamples = 50) {
+        if (nbSamples < 5)
+            throw new Vl53Error("nb_samples must be at least 5");
+        await this.p.wrWord(RANGE_OFFSET_MM, 0);
+        await this.p.wrWord(INNER_OFFSET_MM, 0);
+        await this.p.wrWord(OUTER_OFFSET_MM, 0);
+        const distances = [];
+        await this.collect(nbSamples, (_i, r) => distances.push(r.distanceMm));
+        const offsetMm = targetDistMm - floorDiv(sum(distances), nbSamples);
+        await this.p.wrWord(RANGE_OFFSET_MM, (offsetMm * 4) & 0xffff);
+        return offsetMm;
+    }
+    /** VL53L1X_CalibrateXtalk(). Returns kcps, not the C driver's cps. */
+    async calibrateXtalk(targetDistMm, nbSamples = 50) {
+        if (nbSamples < 5)
+            throw new Vl53Error("nb_samples must be at least 5");
+        await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, 0); // disable compensation
+        const samples = [];
+        await this.collect(nbSamples, (_i, r) => samples.push(r));
+        const n = samples.length;
+        const avgDistance = sum(samples.map((s) => s.distanceMm)) / n;
+        const avgSpadNb = sum(samples.map((s) => s.numberOfSpad)) / n;
+        const avgSignal = sum(samples.map((s) => s.signalRateKcps)) / n;
+        if (avgSpadNb === 0)
+            throw new Vl53Error("xtalk calibration failed: no SPADs enabled");
+        let calXtalk = Math.trunc((512 * (avgSignal * (1 - avgDistance / targetDistMm))) / avgSpadNb);
+        calXtalk = Math.min(Math.max(calXtalk, 0), 0xffff);
+        await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, calXtalk);
+        return pyRound(calXtalk / 512.0);
+    }
+}
+function sum(xs) {
+    let s = 0;
+    for (const x of xs)
+        s += x;
+    return s;
+}
+//# sourceMappingURL=l1.js.map

package/dist/sensors/vl53lx/uld/l1.js.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/l3.d.ts

@@ -0,0 +1,25 @@
+/**
+ * uld/l3 — VL53L3CX ULP 1.0.0: plain single-target ranging. Async port of the
+ * Python `depz_sensor_sdk.vl53lx.uld.l3`. Under the ULP configuration the
+ * L3CX and the L4CD are the same machine (same result block, same VCSEL
+ * periods), so it sits on `VL53L1Die`; what is its own is the blob, two extra
+ * init writes and the stop code.
+ */
+import { VL53L1Die } from "./vl53l1-die.js";
+export declare const L3_ULP_VERSION: readonly [1, 0, 0];
+/** VL53L3CX_ULP_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export declare const L3_DEFAULT_CONFIGURATION: Uint8Array<ArrayBuffer>;
+/** Port of VL53L3CX_ULP_api.c (ULP 1.0.0). */
+export declare class VL53L3 extends VL53L1Die {
+    /** No offset, crosstalk or calibration: the ULP driver has none. */
+    static readonly SUPPORTS: ReadonlySet<string>;
+    protected readonly CONFIGURATION: Uint8Array<ArrayBuffer>;
+    /** The ULP writes 0x00 where the VL53L4CD ULD writes 0x80. */
+    protected readonly STOP_MODE: number;
+    /**
+     * The writes closing VL53L3CX_ULP_SensorInit(): the L4CD ULD's
+     * ALGO__RANGE_IGNORE_THRESHOLD_MCPS plus two of the ULP's own.
+     */
+    protected initExtra(): Promise<void>;
+}
+//# sourceMappingURL=l3.d.ts.map

package/dist/sensors/vl53lx/uld/l3.d.ts.map

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/l3.js

@@ -0,0 +1,51 @@
+/**
+ * uld/l3 — VL53L3CX ULP 1.0.0: plain single-target ranging. Async port of the
+ * Python `depz_sensor_sdk.vl53lx.uld.l3`. Under the ULP configuration the
+ * L3CX and the L4CD are the same machine (same result block, same VCSEL
+ * periods), so it sits on `VL53L1Die`; what is its own is the blob, two extra
+ * init writes and the stop code.
+ */
+import { CONFIG_ADDR, CONFIG_END, PHASECAL_CONFIG__TIMEOUT_MACROP, VL53L1Die, } from "./vl53l1-die.js";
+export const L3_ULP_VERSION = [1, 0, 0];
+/** VL53L3CX_ULP_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export const L3_DEFAULT_CONFIGURATION = Uint8Array.from([
+    0x00, 0x00, 0x00, 0x11, 0x02, 0x00, 0x02, 0x08, // 0x2D..0x34
+    0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, // 0x35..0x3C
+    0x00, 0xff, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, // 0x3D..0x44
+    0x00, 0x20, 0x0b, 0x00, 0x00, 0x02, 0x14, 0x21, // 0x45..0x4C
+    0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xc8, // 0x4D..0x54
+    0x00, 0x00, 0x38, 0xff, 0x01, 0x00, 0x08, 0x00, // 0x55..0x5C
+    0x00, 0x00, 0x01, 0x07, 0x00, 0x02, 0x05, 0x00, // 0x5D..0x64
+    0xb4, 0x00, 0xbb, 0x08, 0x38, 0x00, 0x00, 0x00, // 0x65..0x6C
+    0x00, 0x0f, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x6D..0x74
+    0x00, 0x00, 0x01, 0x07, 0x05, 0x06, 0x06, 0x00, // 0x75..0x7C
+    0x00, 0x02, 0xc7, 0xff, 0x9b, 0x00, 0x00, 0x00, // 0x7D..0x84
+    0x01, 0x00, 0x00, // 0x85..0x87
+]);
+if (L3_DEFAULT_CONFIGURATION.length !== CONFIG_END - CONFIG_ADDR + 1) {
+    throw new Error("VL53L3CX ULP configuration blob must be 91 bytes");
+}
+/** Port of VL53L3CX_ULP_api.c (ULP 1.0.0). */
+export class VL53L3 extends VL53L1Die {
+    /** No offset, crosstalk or calibration: the ULP driver has none. */
+    static SUPPORTS = new Set([
+        "timing",
+        "thresholds",
+        "signal_thresh",
+        "sigma_thresh",
+        "roi",
+    ]);
+    CONFIGURATION = L3_DEFAULT_CONFIGURATION;
+    /** The ULP writes 0x00 where the VL53L4CD ULD writes 0x80. */
+    STOP_MODE = 0x00;
+    /**
+     * The writes closing VL53L3CX_ULP_SensorInit(): the L4CD ULD's
+     * ALGO__RANGE_IGNORE_THRESHOLD_MCPS plus two of the ULP's own.
+     */
+    async initExtra() {
+        await this.p.wrWord(0x0024, 0x0500);
+        await this.p.wrByte(0x0081, 0x8a); // 0b10001010, ULP only
+        await this.p.wrByte(PHASECAL_CONFIG__TIMEOUT_MACROP, 0x03);
+    }
+}
+//# sourceMappingURL=l3.js.map

package/dist/sensors/vl53lx/uld/l3.js.map

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package/dist/sensors/vl53lx/uld/l4.d.ts

@@ -0,0 +1,22 @@
+/**
+ * uld/l4 — VL53L4CD ULD 2.2.3, for VL53L4CD and VL53L4CX alike. Async port of
+ * the Python `depz_sensor_sdk.vl53lx.uld.l4` (VL53L4CD_api.c +
+ * VL53L4CD_calibration.c). Its configuration blob, the write that closes its
+ * init and its two calibrations; the die body lives in `vl53l1-die.ts`.
+ */
+import { VL53L1Die } from "./vl53l1-die.js";
+export declare const L4_ULD_VERSION: readonly [2, 2, 3, 0];
+/** VL53L4CD_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export declare const L4_DEFAULT_CONFIGURATION: Uint8Array<ArrayBuffer>;
+/** Port of VL53L4CD_api.c + VL53L4CD_calibration.c (ULD 2.2.3). */
+export declare class VL53L4 extends VL53L1Die {
+    static readonly SUPPORTS: ReadonlySet<string>;
+    protected readonly CONFIGURATION: Uint8Array<ArrayBuffer>;
+    /** 1.2 m — the VL53L4CD's rating, because this is its blob. */
+    reachMm(): number | null;
+    /** ALGO__RANGE_IGNORE_THRESHOLD_MCPS, the write closing VL53L4CD_SensorInit(). */
+    protected initExtra(): Promise<void>;
+    calibrateOffset(targetDistMm: number, nbSamples?: number): Promise<number>;
+    calibrateXtalk(targetDistMm: number, nbSamples?: number): Promise<number>;
+}
+//# sourceMappingURL=l4.d.ts.map

package/dist/sensors/vl53lx/uld/l4.d.ts.map

@@ -0,0 +1 @@
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