@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/bno055/bno055.d.ts

@@ -0,0 +1,207 @@
+/**
+ * BNO055 9-axis IMU over the firmware register bridge
+ * (contracts/13_SENSOR_BNO055.md).
+ *
+ * The MCU is a thin I2C bridge: it reads and writes BNO055 registers on
+ * request and streams one configured register block on a timer. Everything
+ * else — operating mode, units, axis remap, calibration, decoding — is host
+ * logic expressed as register access. The BNO055 fuses on chip; there is no
+ * host-side fusion driver.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.bno055.Bno055`.
+ */
+import { DepzDevice, StreamQueue, type DeviceOptions } from "../../device/device.js";
+import type { PacketEvent } from "../../protocol/framing.js";
+import { type Bno055Info } from "../../protocol/bno055.js";
+import type { SerialTransport } from "../../transport/types.js";
+import { Bno055OprMode, Bno055PwrMode, Bno055TempSource, type Bno055AccelConfig, type Bno055AxisRemap, type Bno055CalibStatus, type Bno055CalibrationProfile, type Bno055GyroConfig, type Bno055MagConfig, type Bno055SystemStatus, type Bno055Units } from "./regs.js";
+type Vec3 = [number, number, number];
+/**
+ * One decoded register block (streamed or polled). Channels are null when
+ * the block did not cover them; values are scaled by `units` — the units in
+ * force when the stream started (contract 13 §4.2).
+ */
+export interface Bno055Sample {
+    /** MCU uptime: trigger time (stream) / read completion (poll). */
+    timestampUs: bigint;
+    addr: number;
+    raw: Uint8Array;
+    units: Bno055Units;
+    /** m/s² or mg */
+    accel: Vec3 | null;
+    /** µT */
+    mag: Vec3 | null;
+    /** dps or rps */
+    gyro: Vec3 | null;
+    /** heading, roll, pitch — degrees or radians */
+    euler: Vec3 | null;
+    /** w, x, y, z (unit quaternion) */
+    quaternion: [number, number, number, number] | null;
+    /** Acceleration minus gravity, always m/s². */
+    linearAccel: Vec3 | null;
+    /** Always m/s². */
+    gravity: Vec3 | null;
+    /** °C or °F */
+    temperature: number | null;
+    calibration: Bno055CalibStatus | null;
+}
+/** Decode one register window into a scaled sample. */
+export declare function decodeBno055Sample(timestampUs: bigint, addr: number, data: Uint8Array, units: Bno055Units): Bno055Sample;
+export interface Bno055Options extends DeviceOptions {
+    /** Sleep implementation (tests inject an instant one). */
+    sleepImpl?: (ms: number) => Promise<void>;
+}
+export interface Bno055ConfigureOptions {
+    mode?: Bno055OprMode;
+    units?: Bno055Units;
+    /** An axis remap, or a datasheet placement name "P0".."P7". */
+    axisRemap?: Bno055AxisRemap | string;
+    calibration?: Bno055CalibrationProfile;
+}
+/**
+ * BNO055 absolute-orientation IMU.
+ *
+ * Typical use: `configure()` (CONFIG → units → axis remap → optional
+ * calibration profile → NDOF), then `startStream(10)` and read `samples()` /
+ * `onSample`, or poll `readSample()`. Streaming is timer-driven: the
+ * data-ready interrupt does not exist on the sensor firmware these boards
+ * carry (03.11).
+ *
+ * Multi-step register sequences (page switches, CONFIG round trips) are
+ * serialised internally, so concurrent calls cannot interleave mid-sequence.
+ * Page 1 is refused while a stream runs.
+ */
+export declare class Bno055 extends DepzDevice {
+    private readonly sleepImpl;
+    private chain;
+    private unitsCache;
+    private streamingFlag;
+    private streamUnits;
+    private sampleCbs;
+    private sampleQueues;
+    private streamParseErrorCount;
+    private configured;
+    constructor(transport: SerialTransport, opts?: Bno055Options);
+    /** RPT_BNO_INFO: chip ids, sensor firmware revision and bridge counters. */
+    bridgeInfo(): Promise<Bno055Info>;
+    /** True when the bridge passed the chip-ID handshake and the ids match. */
+    isAlive(): Promise<boolean>;
+    /**
+     * Hardware reset via nRESET, then wait out the sensor's own boot tail
+     * (contract 13 §5). Stops any stream; the sensor comes back in CONFIG with
+     * power-on units — call configure() or restoreConfiguration().
+     */
+    resetSensor(): Promise<void>;
+    /** Read `length` bytes at `addr` on `page` (page 1 refused while streaming). */
+    readRegisters(addr: number, length: number, page?: number): Promise<Uint8Array>;
+    /** Write `data` at `addr` on `page`. Most config registers need CONFIG mode. */
+    writeRegisters(addr: number, data: Uint8Array, page?: number): Promise<void>;
+    readRegister(addr: number, page?: number): Promise<number>;
+    writeRegister(addr: number, value: number, page?: number): Promise<void>;
+    getOperationMode(): Promise<Bno055OprMode>;
+    /**
+     * Switch OPR_MODE and wait out the switching time; into a fusion mode also
+     * wait (≤ 1 s) for the fusion outputs, zero for ~70 ms after CONFIG. The
+     * sensor ignores a direct write from one operating mode to another
+     * (measured: NDOF → AMG stays NDOF), so such a switch goes through CONFIG.
+     */
+    setOperationMode(mode: Bno055OprMode): Promise<void>;
+    getPowerMode(): Promise<Bno055PwrMode>;
+    setPowerMode(mode: Bno055PwrMode): Promise<void>;
+    getUnits(): Promise<Bno055Units>;
+    setUnits(units: Bno055Units): Promise<void>;
+    getAxisRemap(): Promise<Bno055AxisRemap>;
+    /** An AxisRemap, or a datasheet placement "P0".."P7" (P1 = default). */
+    setAxisRemap(remap: Bno055AxisRemap | string): Promise<void>;
+    getTemperatureSource(): Promise<Bno055TempSource>;
+    setTemperatureSource(source: Bno055TempSource): Promise<void>;
+    /**
+     * The usual session setup: CONFIG → units → axis remap → calibration
+     * profile → mode (default NDOF). In a fusion mode it resolves once the
+     * fusion outputs are live. Remembered for restoreConfiguration().
+     */
+    configure(opts?: Bno055ConfigureOptions): Promise<void>;
+    /**
+     * Re-apply the last configure() — after resetSensor(), or when
+     * bridgeInfo().sensorResets rose (the bridge's bus recovery pulses nRESET).
+     */
+    restoreConfiguration(): Promise<void>;
+    /** ST_RESULT, SYS_CLK_STATUS, SYS_STATUS, SYS_ERR (INT_STA skipped). */
+    systemStatus(): Promise<Bno055SystemStatus>;
+    /**
+     * Built-in self-test (datasheet §3.9.2): CONFIG, SYS_TRIGGER SELF_TEST,
+     * ~400 ms, then read the verdict. The mode is restored. Not while streaming.
+     */
+    selfTest(): Promise<Bno055SystemStatus>;
+    calibrationStatus(): Promise<Bno055CalibStatus>;
+    /** Offsets and radii (0x55..0x6A) — CONFIG only; the driver switches there and back. */
+    readCalibrationProfile(): Promise<Bno055CalibrationProfile>;
+    /**
+     * Restore a stored profile: CONFIG, all 22 bytes, back to the previous
+     * mode. A starting point — fusion refines it as soon as it resumes.
+     */
+    writeCalibrationProfile(profile: Bno055CalibrationProfile): Promise<void>;
+    getSicMatrix(): Promise<number[]>;
+    setSicMatrix(matrix?: readonly number[]): Promise<void>;
+    getAccelConfig(): Promise<Bno055AccelConfig>;
+    setAccelConfig(c: Bno055AccelConfig): Promise<void>;
+    getGyroConfig(): Promise<Bno055GyroConfig>;
+    setGyroConfig(c: Bno055GyroConfig): Promise<void>;
+    getMagConfig(): Promise<Bno055MagConfig>;
+    setMagConfig(c: Bno055MagConfig): Promise<void>;
+    /** The chip's 16-byte unique id (page 1, 0x50..0x5F). */
+    uniqueId(): Promise<Uint8Array>;
+    getInterruptEnable(): Promise<number>;
+    setInterruptEnable(mask: number): Promise<void>;
+    getInterruptMask(): Promise<number>;
+    setInterruptMask(mask: number): Promise<void>;
+    /** One raw motion-interrupt setting (page 1, 0x11..0x1F). Not while streaming. */
+    setInterruptSetting(register: number, value: number): Promise<void>;
+    /** INT_STA — which interrupts fired. Clears on read. */
+    readInterruptStatus(): Promise<number>;
+    /** SYS_TRIGGER RST_INT: reset the interrupt status bits and the INT pin. */
+    clearInterrupt(): Promise<void>;
+    /** Poll one register block (default the full 46-byte block) and decode it. */
+    readSample(block?: readonly [number, number]): Promise<Bno055Sample>;
+    /** (w, x, y, z) — the cheapest orientation read. */
+    readQuaternion(): Promise<[number, number, number, number]>;
+    /**
+     * Arm the bridge: read `block` every `periodMs` and push it. Fusion runs at
+     * 100 Hz, so 10 ms is the useful floor. `trigger = BNO055_TRIGGER_INT`
+     * reads on the INT edge with `periodMs` as a watchdog. Replaces a stream.
+     */
+    startStream(periodMs?: number, block?: readonly [number, number], trigger?: number): Promise<void>;
+    stopStream(): Promise<void>;
+    get streaming(): boolean;
+    /** Subscribe to streamed samples (read-pump context; don't block). */
+    onSample(cb: (s: Bno055Sample) => void): () => void;
+    /** Async iterator over streamed samples — bounded, drop-oldest. */
+    samples(maxsize?: number): StreamQueue<Bno055Sample>;
+    /** Wait for the next streamed sample. */
+    getSample(timeoutMs?: number): Promise<Bno055Sample>;
+    /** Stream reports dropped because they did not decode (short block). */
+    get streamParseErrors(): number;
+    get streamDroppedCounts(): number[];
+    /** Run `fn` after every previously queued sequence (non-reentrant). */
+    private locked;
+    private rd;
+    private wr;
+    private onPage;
+    private switchMode;
+    /** Run `fn` in CONFIG mode and put the previous mode back. */
+    private inConfig;
+    private writePage1Config;
+    private readSystemStatus;
+    /** Poll SYS_STATUS until the sensor's own boot (init + POST) is over. */
+    /** A self-test run in CONFIG leaves SYS_STATUS at 4 until the mode leaves CONFIG; step into ACCONLY and back. */
+    private clearSelfTestStatus;
+    /** Poll SYS_STATUS until boot (init + POST) is over; a 4 that outlasts POST is a self-test leftover, cleared. */
+    private waitBooted;
+    /** A running fusion never outputs the all-zero quaternion. */
+    private waitFusionStarted;
+    private currentUnits;
+    private requireNotStreaming;
+    protected handleReport(pkt: PacketEvent): boolean;
+}
+export {};
+//# sourceMappingURL=bno055.d.ts.map

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

@@ -0,0 +1 @@
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