@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/uld/l4.js

@@ -0,0 +1,99 @@
+/**
+ * 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 { Vl53Error } from "./link.js";
+import { floorDiv, pyRound } from "./arith.js";
+import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, OUTER_OFFSET_MM, RANGE_OFFSET_MM, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
+export const L4_ULD_VERSION = [2, 2, 3, 0];
+/** VL53L4CD_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
+export const L4_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, 0x01, 0xcc, 0x07, 0x01, 0xf1, 0x05, 0x00, // 0x5D..0x64
+    0xa0, 0x00, 0x80, 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 (L4_DEFAULT_CONFIGURATION.length !== CONFIG_END - CONFIG_ADDR + 1) {
+    throw new Error("VL53L4CD configuration blob must be 91 bytes");
+}
+/** Port of VL53L4CD_api.c + VL53L4CD_calibration.c (ULD 2.2.3). */
+export class VL53L4 extends VL53L1Die {
+    static SUPPORTS = new Set([
+        "timing",
+        "offset",
+        "xtalk",
+        "thresholds",
+        "signal_thresh",
+        "sigma_thresh",
+        "temp_update",
+        "calib_offset",
+        "calib_xtalk",
+    ]);
+    CONFIGURATION = L4_DEFAULT_CONFIGURATION;
+    /** 1.2 m — the VL53L4CD's rating, because this is its blob. */
+    reachMm() {
+        return 1200;
+    }
+    /** ALGO__RANGE_IGNORE_THRESHOLD_MCPS, the write closing VL53L4CD_SensorInit(). */
+    async initExtra() {
+        await this.p.wrWord(0x0024, 0x0500);
+    }
+    // ── calibration (VL53L4CD_calibration.c) ──
+    async calibrateOffset(targetDistMm, nbSamples = 20) {
+        if (!(nbSamples >= 5 && nbSamples <= 255) || !(targetDistMm >= 10 && targetDistMm <= 1000)) {
+            throw new Vl53Error("nb_samples must be 5..255, target 10..1000 mm");
+        }
+        await this.p.wrWord(RANGE_OFFSET_MM, 0);
+        await this.p.wrWord(INNER_OFFSET_MM, 0);
+        await this.p.wrWord(OUTER_OFFSET_MM, 0);
+        await this.collect(10, () => undefined); // device heat loop
+        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;
+    }
+    async calibrateXtalk(targetDistMm, nbSamples = 20) {
+        if (!(nbSamples >= 5 && nbSamples <= 255) || !(targetDistMm >= 10 && targetDistMm <= 5000)) {
+            throw new Vl53Error("nb_samples must be 5..255, target 10..5000 mm");
+        }
+        await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, 0); // disable compensation
+        await this.collect(10, () => undefined); // device heat loop
+        const samples = [];
+        await this.collect(nbSamples, (i, r) => {
+            // Discard invalid measurements and the first frame.
+            if (r.rangeStatus === 0 && i > 0)
+                samples.push(r);
+        });
+        if (samples.length === 0)
+            throw new Vl53Error("xtalk calibration failed: no valid samples");
+        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;
+        const tmpXtalk = (1.0 - avgDistance / targetDistMm) * (avgSignal / avgSpadNb);
+        if (tmpXtalk > 127) {
+            // 127 kcps is the max xtalk value (65536/512)
+            throw new Vl53Error(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
+        }
+        await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
+        return pyRound(tmpXtalk);
+    }
+}
+function sum(xs) {
+    let s = 0;
+    for (const x of xs)
+        s += x;
+    return s;
+}
+//# sourceMappingURL=l4.js.map

package/dist/sensors/vl53lx/uld/l4.js.map

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

@@ -0,0 +1,42 @@
+/**
+ * What the ULD ports expect from the firmware repo's `vl53_link` — mirror of
+ * the Python `depz_sensor_sdk.vl53lx._link` (contract 12).
+ *
+ * The ports import the two error types, the boot bus speed and the XSHUT
+ * action codes; the device surface itself is `BridgeDevice`, which the
+ * `Vl53lx` device class implements over the register bridge.
+ */
+import { DepzError } from "../../../errors.js";
+/** The only bus speed an unconfigured sensor is specified for. */
+export declare const I2C_KHZ_BOOT = 400;
+export declare const VL53_XSHUT_OFF = 0;
+export declare const VL53_XSHUT_ON = 1;
+export declare const VL53_XSHUT_RESET = 2;
+/**
+ * A ULD-level failure: the sensor did not do what the driver needed (timeout
+ * waiting for data-ready or boot, a calibration that failed...).
+ */
+export declare class Vl53Error extends DepzError {
+}
+/**
+ * The bridge refused a register command or did not answer it — the firmware
+ * repo's single error for both. The ports catch it where the sensor
+ * legitimately NACKs for a while (e.g. right after a soft reset).
+ */
+export declare class ProtocolError extends DepzError {
+}
+/**
+ * The `Vl53Device` surface the ports use. Register values are passed through
+ * untouched; the implementation splits transfers at the bridge's 253-byte
+ * limit and turns a non-OK status or a missing answer into `ProtocolError`.
+ */
+export interface BridgeDevice {
+    readReg(addr: number, length: number): Promise<Uint8Array>;
+    writeReg(addr: number, data: Uint8Array): Promise<void>;
+    setI2cSpeed(khz: number): Promise<void>;
+    setAddrWidth(width: number): Promise<void>;
+    /** Zero the bridge's I2C error counter (protocol v2.01, firmware v0.24+). */
+    clearI2cErrors(): Promise<void>;
+    xshut(action: number): Promise<void>;
+}
+//# sourceMappingURL=link.d.ts.map

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

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

@@ -0,0 +1,28 @@
+/**
+ * What the ULD ports expect from the firmware repo's `vl53_link` — mirror of
+ * the Python `depz_sensor_sdk.vl53lx._link` (contract 12).
+ *
+ * The ports import the two error types, the boot bus speed and the XSHUT
+ * action codes; the device surface itself is `BridgeDevice`, which the
+ * `Vl53lx` device class implements over the register bridge.
+ */
+import { DepzError } from "../../../errors.js";
+/** The only bus speed an unconfigured sensor is specified for. */
+export const I2C_KHZ_BOOT = 400;
+export const VL53_XSHUT_OFF = 0;
+export const VL53_XSHUT_ON = 1;
+export const VL53_XSHUT_RESET = 2;
+/**
+ * A ULD-level failure: the sensor did not do what the driver needed (timeout
+ * waiting for data-ready or boot, a calibration that failed...).
+ */
+export class Vl53Error extends DepzError {
+}
+/**
+ * The bridge refused a register command or did not answer it — the firmware
+ * repo's single error for both. The ports catch it where the sensor
+ * legitimately NACKs for a while (e.g. right after a soft reset).
+ */
+export class ProtocolError extends DepzError {
+}
+//# sourceMappingURL=link.js.map

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

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

@@ -0,0 +1,68 @@
+/**
+ * uld/registry — the product table: one row per part number, holding what is
+ * true of the part itself and which driver serves which way of driving it.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.registry`.
+ *
+ * Two independent axes:
+ *  - **product** — whose parameter set to load (normally what the board's
+ *    device name carries; naming a neighbour borrows its driver);
+ *  - **driver kind** — one of `DRIVER_KINDS`.
+ *
+ * `driverFor(product, kind)` resolves the pair; a pair that does not exist is
+ * a refusal, never a fallback. The model id is a cross-check (`modelIdOk`),
+ * never a selector: L1CX/L1CB and L4CD/L4CX share theirs.
+ */
+import type { BridgePlatform, SensorDriver } from "./base.js";
+/** A concrete driver class: constructible, with the static facts of SensorDriver. */
+export interface DriverClass {
+    new (platform: BridgePlatform, product: string): SensorDriver;
+    readonly name: string;
+    readonly ADDR_WIDTH: number;
+    readonly CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+    readonly MAX_KHZ: number;
+    readonly SUPPORTS: ReadonlySet<string>;
+    readonly MODES: readonly string[];
+    readonly BUDGET_MS: readonly [number, number];
+    readonly HISTOGRAM: boolean;
+}
+/**
+ * The three kinds of driver ST ships for this family, in UI order:
+ * `uld` (Ultra Lite — the die computes the distance), `ulp` (Ultra Low Power,
+ * VL53L3CX only), `histogram` (the Bare Driver — 24 raw bins, the host finds
+ * up to four targets).
+ */
+export declare const DRIVER_KINDS: readonly ["uld", "ulp", "histogram"];
+export type DriverKind = (typeof DRIVER_KINDS)[number];
+/** Every product of the 1D family, in UI order. */
+export declare const PRODUCTS: readonly ["VL53L0X", "VL53L1CX", "VL53L1CB", "VL53L3CX", "VL53L4CD", "VL53L4CX"];
+/** One row of the table: the facts that belong to the part number. */
+export interface Product {
+    modelId: number;
+    /** Datasheet rating of the module, mm. */
+    reachMm: number;
+    drivers: Partial<Record<string, DriverClass>>;
+    caveats: Partial<Record<string, string>>;
+}
+/** Which pairs exist — every one measured on hardware. */
+export declare const TABLE: Readonly<Record<string, Product>>;
+/**
+ * `ToF Sensor VL53L4CD USB v2.1` → 'VL53L4CD'. null if the name carries no
+ * product number the table knows.
+ */
+export declare function productFromBoardName(name: string | null | undefined): string | null;
+/** An error the Python port raises as NotImplementedError. */
+export declare class NotImplementedError extends Error {
+    constructor(message?: string);
+}
+/** → the table row. Throws for a product nobody serves. */
+export declare function product(name: string): Product;
+/** → the driver kinds this product has, in DRIVER_KINDS order. */
+export declare function driverKinds(name: string): string[];
+/** → [driver class, caveat or null] for one product/driver pair. */
+export declare function driverFor(name: string, kind: string): [DriverClass, string | null];
+/** The product's rated maximum ranging distance, mm (datasheet), or null. */
+export declare function reachMm(name: string | null | undefined): number | null;
+/** Cross-check the id the sensor answered: true only says "not something else". */
+export declare function modelIdOk(name: string | null | undefined, value: number): boolean;
+export declare function supportedProducts(): string[];
+//# sourceMappingURL=registry.d.ts.map

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

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

@@ -0,0 +1,139 @@
+/**
+ * uld/registry — the product table: one row per part number, holding what is
+ * true of the part itself and which driver serves which way of driving it.
+ * Mirror of the Python `depz_sensor_sdk.vl53lx.uld.registry`.
+ *
+ * Two independent axes:
+ *  - **product** — whose parameter set to load (normally what the board's
+ *    device name carries; naming a neighbour borrows its driver);
+ *  - **driver kind** — one of `DRIVER_KINDS`.
+ *
+ * `driverFor(product, kind)` resolves the pair; a pair that does not exist is
+ * a refusal, never a fallback. The model id is a cross-check (`modelIdOk`),
+ * never a selector: L1CX/L1CB and L4CD/L4CX share theirs.
+ */
+import { VL53L0X } from "./l0x.js";
+import { VL53L1 } from "./l1.js";
+import { VL53L3 } from "./l3.js";
+import { VL53L4 } from "./l4.js";
+import { VL53LX } from "./bare/driver.js";
+/**
+ * The three kinds of driver ST ships for this family, in UI order:
+ * `uld` (Ultra Lite — the die computes the distance), `ulp` (Ultra Low Power,
+ * VL53L3CX only), `histogram` (the Bare Driver — 24 raw bins, the host finds
+ * up to four targets).
+ */
+export const DRIVER_KINDS = ["uld", "ulp", "histogram"];
+/** Every product of the 1D family, in UI order. */
+export const PRODUCTS = [
+    "VL53L0X",
+    "VL53L1CX",
+    "VL53L1CB",
+    "VL53L3CX",
+    "VL53L4CD",
+    "VL53L4CX",
+];
+const HIST_CAVEAT = "the histogram driver has no calibrations and no detection thresholds - " +
+    "the light drivers are the ones with those";
+/** Which pairs exist — every one measured on hardware. */
+export const TABLE = {
+    VL53L0X: {
+        modelId: 0x00ee,
+        reachMm: 2000,
+        drivers: { uld: VL53L0X },
+        caveats: { uld: "no detection thresholds; there is no ROI on this die at all" },
+    },
+    VL53L1CX: {
+        modelId: 0xeacc,
+        reachMm: 4000,
+        drivers: { uld: VL53L1, histogram: VL53LX },
+        caveats: { histogram: HIST_CAVEAT },
+    },
+    // Same die and ULD as the CX; the CB is the cover-glass module.
+    VL53L1CB: {
+        modelId: 0xeacc,
+        reachMm: 8000,
+        drivers: { uld: VL53L1, histogram: VL53LX },
+        caveats: { histogram: HIST_CAVEAT },
+    },
+    VL53L3CX: {
+        modelId: 0xeaaa,
+        reachMm: 3000,
+        drivers: { ulp: VL53L3, histogram: VL53LX },
+        caveats: {
+            ulp: "single-target ranging only - the histogram driver gives several targets instead",
+            histogram: HIST_CAVEAT,
+        },
+    },
+    VL53L4CD: {
+        modelId: 0xebaa,
+        reachMm: 1200,
+        drivers: { uld: VL53L4, histogram: VL53LX },
+        caveats: { histogram: HIST_CAVEAT },
+    },
+    // The Bare Driver is what ST ships for this part; to run it light, name a
+    // sibling: product 'VL53L4CD' (1.2 m, calibrations) or 'VL53L1CX'.
+    VL53L4CX: {
+        modelId: 0xebaa,
+        reachMm: 6000,
+        drivers: { histogram: VL53LX },
+        caveats: { histogram: HIST_CAVEAT },
+    },
+};
+const NAME_RE = /VL53L(\d[A-Z0-9]*)/;
+/**
+ * `ToF Sensor VL53L4CD USB v2.1` → 'VL53L4CD'. null if the name carries no
+ * product number the table knows.
+ */
+export function productFromBoardName(name) {
+    if (!name)
+        return null;
+    const m = NAME_RE.exec(name.toUpperCase());
+    if (!m)
+        return null;
+    const product = "VL53L" + m[1];
+    return product in TABLE ? product : null;
+}
+/** An error the Python port raises as NotImplementedError. */
+export class NotImplementedError extends Error {
+    constructor(message) {
+        super(message);
+        this.name = "NotImplementedError";
+    }
+}
+/** → the table row. Throws for a product nobody serves. */
+export function product(name) {
+    const row = TABLE[name];
+    if (row === undefined) {
+        throw new NotImplementedError(`no such product: ${name} - served: ${supportedProducts().join(", ")}`);
+    }
+    return row;
+}
+/** → the driver kinds this product has, in DRIVER_KINDS order. */
+export function driverKinds(name) {
+    const have = product(name).drivers;
+    return DRIVER_KINDS.filter((k) => have[k] !== undefined);
+}
+/** → [driver class, caveat or null] for one product/driver pair. */
+export function driverFor(name, kind) {
+    const row = product(name);
+    const cls = row.drivers[kind];
+    if (cls === undefined) {
+        throw new NotImplementedError(`${name} has no '${kind}' driver - it has ${driverKinds(name).join(", ")}`);
+    }
+    return [cls, row.caveats[kind] ?? null];
+}
+/** The product's rated maximum ranging distance, mm (datasheet), or null. */
+export function reachMm(name) {
+    const row = name ? TABLE[name] : undefined;
+    return row ? row.reachMm : null;
+}
+/** Cross-check the id the sensor answered: true only says "not something else". */
+export function modelIdOk(name, value) {
+    const row = name ? TABLE[name] : undefined;
+    return row !== undefined && row.modelId === value;
+}
+export function supportedProducts() {
+    return PRODUCTS.filter((p) => p in TABLE);
+}
+//# sourceMappingURL=registry.js.map

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

@@ -0,0 +1 @@
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package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts

@@ -0,0 +1,172 @@
+/**
+ * uld/vl53l1-die — the VL53L1 die: register map, result block, and the
+ * VL53L4CD ULD body. Async port of the Python
+ * `depz_sensor_sdk.vl53lx.uld.vl53l1_die`.
+ *
+ * The 17-byte result block at 0x0089, the range-status table, the
+ * register-address width, the interrupt-release write and the bus ceiling are
+ * what every part built on this die has in common. `VL53L1Die` is the body of
+ * the VL53L4CD ULD, shared by `l4.ts` (VL53L4CD/CX) and `l3.ts` (VL53L3CX
+ * ULP); `l1.ts` (VL53L1X ULD) overrides the ranging configuration.
+ *
+ * Register sequences and integer widths are the C driver's — do not
+ * "simplify" them.
+ */
+import { SensorDriver, type Measurement } from "./base.js";
+export declare const SOFT_RESET = 0;
+export declare const I2C_SLAVE__DEVICE_ADDRESS = 1;
+export declare const OSC_FREQUENCY = 6;
+export declare const VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND = 8;
+export declare const XTALK_PLANE_OFFSET_KCPS = 22;
+export declare const XTALK_X_PLANE_GRADIENT_KCPS = 24;
+export declare const XTALK_Y_PLANE_GRADIENT_KCPS = 26;
+export declare const RANGE_OFFSET_MM = 30;
+export declare const INNER_OFFSET_MM = 32;
+export declare const OUTER_OFFSET_MM = 34;
+export declare const GPIO_HV_MUX__CTRL = 48;
+export declare const GPIO__TIO_HV_STATUS = 49;
+export declare const SYSTEM__INTERRUPT_CONFIG_GPIO = 70;
+export declare const PHASECAL_CONFIG__TIMEOUT_MACROP = 75;
+export declare const RANGE_CONFIG__TIMEOUT_MACROP_A_HI = 94;
+export declare const RANGE_CONFIG__VCSEL_PERIOD_A = 96;
+export declare const RANGE_CONFIG__TIMEOUT_MACROP_B_HI = 97;
+export declare const RANGE_CONFIG__VCSEL_PERIOD_B = 99;
+export declare const RANGE_CONFIG__SIGMA_THRESH = 100;
+export declare const MIN_COUNT_RATE_RTN_LIMIT_MCPS = 102;
+export declare const RANGE_CONFIG__VALID_PHASE_HIGH = 105;
+export declare const INTERMEASUREMENT_MS = 108;
+export declare const THRESH_HIGH = 114;
+export declare const THRESH_LOW = 116;
+export declare const SD_CONFIG__WOI_SD0 = 120;
+export declare const SD_CONFIG__INITIAL_PHASE_SD0 = 122;
+export declare const ROI_CONFIG__USER_ROI_CENTRE_SPAD = 127;
+export declare const ROI_CONFIG__USER_ROI_XY_SIZE = 128;
+export declare const SYSTEM__INTERRUPT_CLEAR = 134;
+export declare const SYSTEM__MODE_START = 135;
+export declare const RESULT__RANGE_STATUS = 137;
+export declare const RESULT__SPAD_NB = 140;
+export declare const RESULT__SIGNAL_RATE = 142;
+export declare const RESULT__AMBIENT_RATE = 144;
+export declare const RESULT__SIGMA = 146;
+export declare const RESULT__DISTANCE = 150;
+export declare const RESULT__OSC_CALIBRATE_VAL = 222;
+export declare const FIRMWARE__SYSTEM_STATUS = 229;
+export declare const IDENTIFICATION__MODEL_ID = 271;
+export declare const ROI_CONFIG__MODE_ROI_CENTRE_SPAD = 318;
+/** Detection-threshold window modes (SYSTEM__INTERRUPT_CONFIG_GPIO). */
+export declare const WINDOW_BELOW = 0;
+export declare const WINDOW_ABOVE = 1;
+export declare const WINDOW_OUT = 2;
+export declare const WINDOW_IN = 3;
+/** The configuration blob spans 0x2D..0x87 on every part of the die. */
+export declare const CONFIG_ADDR = 45;
+export declare const CONFIG_END = 135;
+/** Byte 0 of the blob: Fast Mode Plus on the sensor pad, set unconditionally. */
+export declare const CONFIG_FMP_BYTE = 18;
+/** The block the MCU streams: RESULT__RANGE_STATUS .. 0x0099. */
+export declare const RESULT_BLOCK_ADDR = 137;
+export declare const RESULT_BLOCK_LEN = 17;
+/** How this die releases its interrupt: a single write. */
+export declare const DIE_CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+/** GetResult() raw status → ULD status (status_rtn[24] in VL53L4CD_api.c). */
+export declare const STATUS_RTN: readonly number[];
+/** UM2931, "Range status description". */
+export declare const DIE_RANGE_STATUS_NAMES: Readonly<Record<number, string>>;
+export declare function dieStatusText(status: number): string;
+/** VL53L4CD_ResultsData_t (plus the sensor's own frame counter). */
+export interface DieResultsData {
+    rangeStatus: number;
+    distanceMm: number;
+    ambientRateKcps: number;
+    ambientPerSpadKcps: number;
+    signalRateKcps: number;
+    signalPerSpadKcps: number;
+    numberOfSpad: number;
+    sigmaMm: number;
+    streamCount: number;
+}
+/**
+ * Decode the 17-byte block as a ULD of this die reads it. `signalAt` is the
+ * offset of the signal rate (5 = 0x008E for the VL53L4CD ULD, 15 = 0x0098 for
+ * the VL53L1X ULD) and `perSpadK` the per-SPAD scale (256 / 25).
+ */
+export declare function parseDieBlock(raw: Uint8Array, signalAt: number, perSpadK: number): DieResultsData;
+/** ResultsData → the family-wide Measurement every caller speaks. */
+export declare function dieAsMeasurement(r: DieResultsData): Measurement;
+/**
+ * The body every driver of this die shares: identity, boot, the ranging
+ * loop, the interrupt, the threshold, offset, crosstalk and ROI registers.
+ * A concrete product supplies `CONFIGURATION`, `SUPPORTS` and its own hooks.
+ */
+export declare abstract class VL53L1Die extends SensorDriver {
+    static readonly ADDR_WIDTH: number;
+    static readonly CLEAR_STEPS: ReadonlyArray<readonly [number, number]>;
+    /** With Fast Mode Plus on the sensor pad. */
+    static readonly MAX_KHZ: number;
+    /** The 91-byte blob written at CONFIG_ADDR, product-specific. */
+    protected abstract readonly CONFIGURATION: Uint8Array;
+    /** What StopRanging writes: the L4CD ULD 0x80, the L3CX ULP / L1X ULD 0x00. */
+    protected readonly STOP_MODE: number;
+    /** Signal-rate offset in the block: 5 (0x008E, L4CD ULD) or 15 (0x0098, L1X ULD). */
+    protected readonly SIGNAL_AT: number;
+    /** Per-SPAD scale: 256 (L4CD ULD) or 25 (L1X ULD, 200.0/8). */
+    protected readonly PER_SPAD_K: number;
+    streamBlock(): [number, number];
+    parseResultBlock(raw: Uint8Array): DieResultsData;
+    decode(raw: Uint8Array): Measurement;
+    /** One block read instead of the C driver's six register reads. */
+    getResult(): Promise<DieResultsData>;
+    readMeasurement(): Promise<Measurement>;
+    modelId(): Promise<number>;
+    /** The bridge always addresses 0x29, so this makes the sensor unreachable. */
+    setI2cAddress(newAddress: number): Promise<void>;
+    bootState(): Promise<number>;
+    waitBoot(timeoutS?: number): Promise<void>;
+    /**
+     * Pull the die through its soft reset (VL53L1_software_reset()); a part that
+     * stopped ACKing is reset through XSHUT instead.
+     */
+    resetDevice(timeoutS?: number): Promise<void>;
+    /** Initialise the sensor and leave the bus at this die's ceiling. */
+    sensorInit(): Promise<void>;
+    /** How a part gets to a booted die (the VL53L1X ULD resets first). */
+    protected initBoot(): Promise<void>;
+    /** Writes right after the blob, before VHV (only the L1X ULD has one). */
+    protected initAfterConfig(): Promise<void>;
+    /** Writes at the end of init, before the timing is set. */
+    protected initExtra(): Promise<void>;
+    clearInterrupt(): Promise<void>;
+    startRanging(): Promise<void>;
+    stopRanging(): Promise<void>;
+    getInterruptPolarity(): Promise<number>;
+    setInterruptPolarity(polarity: number): Promise<void>;
+    checkForDataReady(): Promise<boolean>;
+    setRangeTiming(timingBudgetMs: number, interMeasurementMs: number): Promise<void>;
+    /** → [timingBudgetMs, interMeasurementMs]. */
+    getRangeTiming(): Promise<[number, number]>;
+    setDetectionThresholds(distanceLowMm: number, distanceHighMm: number, window: number): Promise<void>;
+    /** → [distanceLowMm, distanceHighMm, window]. */
+    getDetectionThresholds(): Promise<[number, number, number]>;
+    setSignalThreshold(signalKcps: number): Promise<void>;
+    getSignalThreshold(): Promise<number>;
+    setSigmaThreshold(sigmaMm: number): Promise<void>;
+    getSigmaThreshold(): Promise<number>;
+    setOffset(offsetMm: number): Promise<void>;
+    getOffset(): Promise<number>;
+    setXtalk(xtalkKcps: number): Promise<void>;
+    getXtalk(): Promise<number>;
+    /** An X by Y window of SPADs, 4..16 each way. */
+    setRoi(x: number, y: number): Promise<void>;
+    /** → [x, y]. */
+    getRoi(): Promise<[number, number]>;
+    setRoiCenter(centerSpad: number): Promise<void>;
+    getRoiCenter(): Promise<number>;
+    /** Recommended after a >8 °C ambient change. */
+    startTemperatureUpdate(): Promise<void>;
+    /**
+     * The ranging loop every calibration shares: data-ready, GetResult,
+     * ClearInterrupt, `nbSamples` times.
+     */
+    protected collect(nbSamples: number, onSample: (i: number, r: DieResultsData) => void, timeoutS?: number): Promise<void>;
+}
+//# sourceMappingURL=vl53l1-die.d.ts.map

package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts.map

@@ -0,0 +1 @@
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