@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/vl53lx/uld/vl53l1-die.js

@@ -0,0 +1,431 @@
+/**
+ * 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 { I2C_KHZ_BOOT, ProtocolError, Vl53Error } from "./link.js";
+import { measurement, SensorDriver } from "./base.js";
+import { beUint, floorDiv, pyRound, u32 } from "./arith.js";
+export const SOFT_RESET = 0x0000;
+export const I2C_SLAVE__DEVICE_ADDRESS = 0x0001;
+export const OSC_FREQUENCY = 0x0006;
+export const VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND = 0x0008;
+export const XTALK_PLANE_OFFSET_KCPS = 0x0016;
+export const XTALK_X_PLANE_GRADIENT_KCPS = 0x0018;
+export const XTALK_Y_PLANE_GRADIENT_KCPS = 0x001a;
+export const RANGE_OFFSET_MM = 0x001e;
+export const INNER_OFFSET_MM = 0x0020;
+export const OUTER_OFFSET_MM = 0x0022;
+export const GPIO_HV_MUX__CTRL = 0x0030;
+export const GPIO__TIO_HV_STATUS = 0x0031;
+export const SYSTEM__INTERRUPT_CONFIG_GPIO = 0x0046;
+export const PHASECAL_CONFIG__TIMEOUT_MACROP = 0x004b;
+export const RANGE_CONFIG__TIMEOUT_MACROP_A_HI = 0x005e;
+export const RANGE_CONFIG__VCSEL_PERIOD_A = 0x0060;
+export const RANGE_CONFIG__TIMEOUT_MACROP_B_HI = 0x0061;
+export const RANGE_CONFIG__VCSEL_PERIOD_B = 0x0063;
+export const RANGE_CONFIG__SIGMA_THRESH = 0x0064;
+export const MIN_COUNT_RATE_RTN_LIMIT_MCPS = 0x0066;
+export const RANGE_CONFIG__VALID_PHASE_HIGH = 0x0069;
+export const INTERMEASUREMENT_MS = 0x006c;
+export const THRESH_HIGH = 0x0072;
+export const THRESH_LOW = 0x0074;
+export const SD_CONFIG__WOI_SD0 = 0x0078;
+export const SD_CONFIG__INITIAL_PHASE_SD0 = 0x007a;
+export const ROI_CONFIG__USER_ROI_CENTRE_SPAD = 0x007f;
+export const ROI_CONFIG__USER_ROI_XY_SIZE = 0x0080;
+export const SYSTEM__INTERRUPT_CLEAR = 0x0086;
+export const SYSTEM__MODE_START = 0x0087;
+export const RESULT__RANGE_STATUS = 0x0089;
+export const RESULT__SPAD_NB = 0x008c;
+export const RESULT__SIGNAL_RATE = 0x008e;
+export const RESULT__AMBIENT_RATE = 0x0090;
+export const RESULT__SIGMA = 0x0092;
+export const RESULT__DISTANCE = 0x0096;
+export const RESULT__OSC_CALIBRATE_VAL = 0x00de;
+export const FIRMWARE__SYSTEM_STATUS = 0x00e5;
+export const IDENTIFICATION__MODEL_ID = 0x010f;
+export const ROI_CONFIG__MODE_ROI_CENTRE_SPAD = 0x013e;
+/** Detection-threshold window modes (SYSTEM__INTERRUPT_CONFIG_GPIO). */
+export const WINDOW_BELOW = 0;
+export const WINDOW_ABOVE = 1;
+export const WINDOW_OUT = 2;
+export const WINDOW_IN = 3;
+/** The configuration blob spans 0x2D..0x87 on every part of the die. */
+export const CONFIG_ADDR = 0x002d;
+export const CONFIG_END = 0x0087;
+/** Byte 0 of the blob: Fast Mode Plus on the sensor pad, set unconditionally. */
+export const CONFIG_FMP_BYTE = 0x12;
+/** The block the MCU streams: RESULT__RANGE_STATUS .. 0x0099. */
+export const RESULT_BLOCK_ADDR = RESULT__RANGE_STATUS;
+export const RESULT_BLOCK_LEN = 17;
+/** How this die releases its interrupt: a single write. */
+export const DIE_CLEAR_STEPS = [
+    [SYSTEM__INTERRUPT_CLEAR, 0x01],
+];
+/** GetResult() raw status → ULD status (status_rtn[24] in VL53L4CD_api.c). */
+export const STATUS_RTN = [
+    255, 255, 255, 5, 2, 4, 1, 7, 3, 0, 255, 255, 9, 13, 255, 255, 255, 255, 10, 6, 255, 255, 11,
+    12,
+];
+/** UM2931, "Range status description". */
+export const DIE_RANGE_STATUS_NAMES = {
+    0: "valid",
+    1: "sigma above threshold",
+    2: "signal below threshold",
+    3: "distance below detection threshold",
+    4: "phase out of valid limit",
+    5: "hardware fail",
+    6: "no wrap-around check done",
+    7: "wrapped target, phase mismatch",
+    8: "processing fail",
+    9: "crosstalk signal fail",
+    10: "interrupt error",
+    11: "merged target",
+    12: "signal too low",
+    255: "other error",
+};
+export function dieStatusText(status) {
+    return DIE_RANGE_STATUS_NAMES[status] ?? `unknown (${status})`;
+}
+/**
+ * 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 function parseDieBlock(raw, signalAt, perSpadK) {
+    if (raw.length < RESULT_BLOCK_LEN) {
+        throw new Vl53Error(`result block too short: ${raw.length} bytes`);
+    }
+    let status = raw[0] & 0x1f;
+    if (status < STATUS_RTN.length)
+        status = STATUS_RTN[status];
+    const rawSpads = beUint(raw, 3, 5); // 0x008C, 8.8
+    const signalKcps = beUint(raw, signalAt, signalAt + 2) * 8;
+    const ambientKcps = beUint(raw, 7, 9) * 8; // 0x0090
+    return {
+        rangeStatus: status,
+        streamCount: raw[2],
+        numberOfSpad: floorDiv(rawSpads, 256),
+        signalRateKcps: signalKcps,
+        ambientRateKcps: ambientKcps,
+        sigmaMm: floorDiv(beUint(raw, 9, 11), 4),
+        distanceMm: beUint(raw, 13, 15), // 0x0096
+        signalPerSpadKcps: rawSpads ? floorDiv(signalKcps * perSpadK, rawSpads) : 0,
+        ambientPerSpadKcps: rawSpads ? floorDiv(ambientKcps * perSpadK, rawSpads) : 0,
+    };
+}
+/** ResultsData → the family-wide Measurement every caller speaks. */
+export function dieAsMeasurement(r) {
+    return measurement({
+        distanceMm: r.distanceMm,
+        status: r.rangeStatus,
+        statusText: dieStatusText(r.rangeStatus),
+        signalKcps: r.signalRateKcps,
+        ambientKcps: r.ambientRateKcps,
+        sigmaMm: r.sigmaMm,
+        spads: r.numberOfSpad,
+        extra: {
+            signal_per_spad_kcps: r.signalPerSpadKcps,
+            ambient_per_spad_kcps: r.ambientPerSpadKcps,
+            stream_count: r.streamCount,
+        },
+    });
+}
+/** 2304 × (2^30 / osc) wrapped to u32, then >> 6 (both ULDs' macro period). */
+function macroPeriodUs(oscFrequency) {
+    return floorDiv(u32(2304 * floorDiv(0x40000000, oscFrequency)), 64);
+}
+/**
+ * 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 class VL53L1Die extends SensorDriver {
+    static ADDR_WIDTH = 2;
+    static CLEAR_STEPS = DIE_CLEAR_STEPS;
+    /** With Fast Mode Plus on the sensor pad. */
+    static MAX_KHZ = 1000;
+    /** What StopRanging writes: the L4CD ULD 0x80, the L3CX ULP / L1X ULD 0x00. */
+    STOP_MODE = 0x80;
+    /** Signal-rate offset in the block: 5 (0x008E, L4CD ULD) or 15 (0x0098, L1X ULD). */
+    SIGNAL_AT = 5;
+    /** Per-SPAD scale: 256 (L4CD ULD) or 25 (L1X ULD, 200.0/8). */
+    PER_SPAD_K = 256;
+    // ── result block ──
+    streamBlock() {
+        return [RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN];
+    }
+    parseResultBlock(raw) {
+        return parseDieBlock(raw, this.SIGNAL_AT, this.PER_SPAD_K);
+    }
+    decode(raw) {
+        return dieAsMeasurement(this.parseResultBlock(raw));
+    }
+    /** One block read instead of the C driver's six register reads. */
+    async getResult() {
+        return this.parseResultBlock(await this.p.rdMulti(RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN));
+    }
+    async readMeasurement() {
+        return dieAsMeasurement(await this.getResult());
+    }
+    // ── identity ──
+    modelId() {
+        return this.p.rdWord(IDENTIFICATION__MODEL_ID);
+    }
+    /** The bridge always addresses 0x29, so this makes the sensor unreachable. */
+    setI2cAddress(newAddress) {
+        return this.p.wrByte(I2C_SLAVE__DEVICE_ADDRESS, newAddress >> 1);
+    }
+    // ── init ──
+    bootState() {
+        return this.p.rdByte(FIRMWARE__SYSTEM_STATUS);
+    }
+    async waitBoot(timeoutS = 1.0) {
+        const deadline = Date.now() + timeoutS * 1000;
+        for (;;) {
+            if ((await this.bootState()) === 0x03)
+                return;
+            if (Date.now() > deadline) {
+                throw new Vl53Error("timeout waiting for FIRMWARE__SYSTEM_STATUS == 0x03");
+            }
+            await this.p.sleepMs(1);
+        }
+    }
+    /**
+     * Pull the die through its soft reset (VL53L1_software_reset()); a part that
+     * stopped ACKing is reset through XSHUT instead.
+     */
+    async resetDevice(timeoutS = 1.0) {
+        try {
+            await this.p.wrByte(SOFT_RESET, 0x00);
+            await this.p.sleepMs(1);
+            await this.p.wrByte(SOFT_RESET, 0x01);
+            await this.waitBoot(timeoutS);
+        }
+        catch (err) {
+            if (!(err instanceof Vl53Error || err instanceof ProtocolError))
+                throw err;
+            await this.p.xshutReset();
+            await this.waitBoot(timeoutS);
+        }
+    }
+    /** Initialise the sensor and leave the bus at this die's ceiling. */
+    async sensorInit() {
+        await this.p.setAddrWidth(this.ADDR_WIDTH);
+        await this.p.setI2cSpeed(I2C_KHZ_BOOT);
+        await this.initBoot();
+        const config = new Uint8Array(this.CONFIGURATION);
+        config[0] = CONFIG_FMP_BYTE;
+        await this.p.wrMulti(CONFIG_ADDR, config);
+        if (this.MAX_KHZ !== I2C_KHZ_BOOT)
+            await this.p.setI2cSpeed(this.MAX_KHZ);
+        await this.initAfterConfig();
+        await this.p.wrByte(SYSTEM__MODE_START, 0x40); // start VHV
+        await this.waitDataReady();
+        await this.clearInterrupt();
+        await this.stopRanging();
+        await this.p.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09);
+        await this.p.wrByte(0x000b, 0x00);
+        await this.initExtra();
+        await this.setRangeTiming(50, 0);
+    }
+    /** How a part gets to a booted die (the VL53L1X ULD resets first). */
+    initBoot() {
+        return this.waitBoot();
+    }
+    /** Writes right after the blob, before VHV (only the L1X ULD has one). */
+    async initAfterConfig() { }
+    /** Writes at the end of init, before the timing is set. */
+    async initExtra() { }
+    // ── ranging ──
+    clearInterrupt() {
+        return this.p.wrByte(SYSTEM__INTERRUPT_CLEAR, 0x01);
+    }
+    async startRanging() {
+        // 0 = continuous, anything else = autonomous low power.
+        const mode = (await this.p.rdDword(INTERMEASUREMENT_MS)) === 0 ? 0x21 : 0x40;
+        await this.p.wrByte(SYSTEM__MODE_START, mode);
+    }
+    stopRanging() {
+        return this.p.wrByte(SYSTEM__MODE_START, this.STOP_MODE);
+    }
+    async getInterruptPolarity() {
+        return (await this.p.rdByte(GPIO_HV_MUX__CTRL)) & 0x10 ? 0 : 1;
+    }
+    async setInterruptPolarity(polarity) {
+        const temp = (await this.p.rdByte(GPIO_HV_MUX__CTRL)) & 0xef;
+        await this.p.wrByte(GPIO_HV_MUX__CTRL, temp | ((polarity & 1 ? 0 : 1) << 4));
+    }
+    async checkForDataReady() {
+        // Polarity first, as both C drivers read it.
+        const intPol = await this.getInterruptPolarity();
+        return ((await this.p.rdByte(GPIO__TIO_HV_STATUS)) & 1) === intPol;
+    }
+    // ── timing ──
+    async setRangeTiming(timingBudgetMs, interMeasurementMs) {
+        const oscFrequency = await this.p.rdWord(OSC_FREQUENCY);
+        if (oscFrequency === 0)
+            throw new Vl53Error("osc_frequency reads 0");
+        if (!(timingBudgetMs >= 10 && timingBudgetMs <= 200)) {
+            throw new Vl53Error("timing_budget_ms must be 10..200");
+        }
+        let timingBudgetUs = timingBudgetMs * 1000;
+        const macroPeriod = macroPeriodUs(oscFrequency);
+        if (interMeasurementMs === 0) {
+            // continuous
+            await this.p.wrDword(INTERMEASUREMENT_MS, 0);
+            timingBudgetUs -= 2500;
+        }
+        else if (interMeasurementMs > timingBudgetMs) {
+            // autonomous low power
+            const clockPll = (await this.p.rdWord(RESULT__OSC_CALIBRATE_VAL)) & 0x3ff;
+            const factor = 1.055 * interMeasurementMs * clockPll;
+            await this.p.wrDword(INTERMEASUREMENT_MS, Math.trunc(factor));
+            timingBudgetUs = floorDiv(timingBudgetUs - 4300, 2);
+        }
+        else {
+            throw new Vl53Error("inter_measurement_ms must be 0 or > timing_budget_ms");
+        }
+        timingBudgetUs = u32(timingBudgetUs * 4096);
+        for (const [reg, mult] of [
+            [RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 16],
+            [RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 12],
+        ]) {
+            const tmp = floorDiv(u32(macroPeriod * mult), 64);
+            let lsByte = floorDiv(timingBudgetUs + floorDiv(tmp, 2), tmp) - 1;
+            let msByte = 0;
+            while (lsByte >= 0x100) {
+                lsByte = floorDiv(lsByte, 2);
+                msByte += 1;
+            }
+            await this.p.wrWord(reg, (msByte * 256 + (lsByte & 0xff)) & 0xffff);
+        }
+    }
+    /** → [timingBudgetMs, interMeasurementMs]. */
+    async getRangeTiming() {
+        const tmp = await this.p.rdDword(INTERMEASUREMENT_MS);
+        let clockPll = (await this.p.rdWord(RESULT__OSC_CALIBRATE_VAL)) & 0x3ff;
+        clockPll = Math.trunc(1.065 * clockPll) & 0xffff;
+        const interMeasurementMs = clockPll ? floorDiv(tmp, clockPll) & 0xffff : 0;
+        const oscFrequency = await this.p.rdWord(OSC_FREQUENCY);
+        if (oscFrequency === 0)
+            throw new Vl53Error("osc_frequency reads 0");
+        const macropHigh = await this.p.rdWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI);
+        let macroPeriod = macroPeriodUs(oscFrequency);
+        const lsByte = (macropHigh & 0x00ff) << 4;
+        let msByte = (macropHigh & 0xff00) >> 8;
+        msByte = u32(0x04 - (msByte - 1) - 1);
+        macroPeriod = u32(macroPeriod * 16);
+        const mp6 = floorDiv(macroPeriod, 64);
+        let budget = floorDiv(u32((lsByte + 1) * mp6 - floorDiv(mp6, 2)), 4096);
+        if (msByte < 12)
+            budget = floorDiv(budget, 2 ** msByte);
+        budget = tmp === 0 ? budget + 2500 : budget * 2 + 4300;
+        return [floorDiv(budget, 1000), interMeasurementMs];
+    }
+    // ── thresholds ──
+    async setDetectionThresholds(distanceLowMm, distanceHighMm, window) {
+        await this.p.wrByte(SYSTEM__INTERRUPT_CONFIG_GPIO, window);
+        await this.p.wrWord(THRESH_HIGH, distanceHighMm);
+        await this.p.wrWord(THRESH_LOW, distanceLowMm);
+    }
+    /** → [distanceLowMm, distanceHighMm, window]. */
+    async getDetectionThresholds() {
+        const high = await this.p.rdWord(THRESH_HIGH);
+        const low = await this.p.rdWord(THRESH_LOW);
+        return [low, high, (await this.p.rdByte(SYSTEM__INTERRUPT_CONFIG_GPIO)) & 0x07];
+    }
+    setSignalThreshold(signalKcps) {
+        return this.p.wrWord(MIN_COUNT_RATE_RTN_LIMIT_MCPS, signalKcps >> 3);
+    }
+    async getSignalThreshold() {
+        return ((await this.p.rdWord(MIN_COUNT_RATE_RTN_LIMIT_MCPS)) << 3) & 0xffff;
+    }
+    async setSigmaThreshold(sigmaMm) {
+        if (sigmaMm > 0xffff >> 2)
+            throw new Vl53Error("sigma_mm must be <= 16383");
+        await this.p.wrWord(RANGE_CONFIG__SIGMA_THRESH, sigmaMm << 2);
+    }
+    async getSigmaThreshold() {
+        return (await this.p.rdWord(RANGE_CONFIG__SIGMA_THRESH)) >> 2;
+    }
+    // ── offset ──
+    async setOffset(offsetMm) {
+        await this.p.wrWord(RANGE_OFFSET_MM, (offsetMm * 4) & 0xffff);
+        await this.p.wrWord(INNER_OFFSET_MM, 0);
+        await this.p.wrWord(OUTER_OFFSET_MM, 0);
+    }
+    async getOffset() {
+        const temp = (((await this.p.rdWord(RANGE_OFFSET_MM)) << 3) & 0xffff) >> 5;
+        return temp > 1024 ? temp - 2048 : temp;
+    }
+    // ── crosstalk (kcps on both ULDs) ──
+    async setXtalk(xtalkKcps) {
+        await this.p.wrWord(XTALK_X_PLANE_GRADIENT_KCPS, 0x0000);
+        await this.p.wrWord(XTALK_Y_PLANE_GRADIENT_KCPS, 0x0000);
+        await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, (xtalkKcps << 9) & 0xffff);
+    }
+    async getXtalk() {
+        return pyRound((await this.p.rdWord(XTALK_PLANE_OFFSET_KCPS)) / 512.0);
+    }
+    // ── ROI (VL53L1X_SetROI / VL53L3CX_ULP_SetROI, the same registers) ──
+    /** An X by Y window of SPADs, 4..16 each way. */
+    async setRoi(x, y) {
+        let opticalCenter = await this.p.rdByte(ROI_CONFIG__MODE_ROI_CENTRE_SPAD);
+        x = Math.min(x, 16);
+        y = Math.min(y, 16);
+        if (x > 10 || y > 10)
+            opticalCenter = 199;
+        await this.p.wrByte(ROI_CONFIG__USER_ROI_CENTRE_SPAD, opticalCenter);
+        await this.p.wrByte(ROI_CONFIG__USER_ROI_XY_SIZE, ((y - 1) << 4) | (x - 1));
+    }
+    /** → [x, y]. */
+    async getRoi() {
+        const temp = await this.p.rdByte(ROI_CONFIG__USER_ROI_XY_SIZE);
+        return [(temp & 0x0f) + 1, ((temp & 0xf0) >> 4) + 1];
+    }
+    setRoiCenter(centerSpad) {
+        return this.p.wrByte(ROI_CONFIG__USER_ROI_CENTRE_SPAD, centerSpad);
+    }
+    getRoiCenter() {
+        return this.p.rdByte(ROI_CONFIG__USER_ROI_CENTRE_SPAD);
+    }
+    // ── temperature ──
+    /** Recommended after a >8 °C ambient change. */
+    async startTemperatureUpdate() {
+        await this.p.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x81); // full VHV
+        await this.p.wrByte(0x000b, 0x92);
+        await this.startRanging();
+        await this.waitDataReady();
+        await this.clearInterrupt();
+        await this.stopRanging();
+        await this.p.wrByte(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09);
+        await this.p.wrByte(0x000b, 0x00);
+    }
+    // ── calibration ──
+    /**
+     * The ranging loop every calibration shares: data-ready, GetResult,
+     * ClearInterrupt, `nbSamples` times.
+     */
+    async collect(nbSamples, onSample, timeoutS = 5.0) {
+        await this.startRanging();
+        for (let i = 0; i < nbSamples; i++) {
+            await this.waitDataReady(timeoutS);
+            const result = await this.getResult();
+            await this.clearInterrupt();
+            onSample(i, result);
+        }
+        await this.stopRanging();
+    }
+}
+//# sourceMappingURL=vl53l1-die.js.map

package/dist/sensors/vl53lx/uld/vl53l1-die.js.map

@@ -0,0 +1 @@
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