@depz/sensor-sdk 0.2.1 → 0.3.0

package/dist/sensors/bno055/regs.js.map

@@ -0,0 +1 @@
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package/dist/sensors/bno086/bno086.d.ts

@@ -63,11 +63,13 @@ export declare class Bno086 extends DepzDevice {
     private reportCbs;
     private reportQueues;
     private controlWaiters;
+    private controlFails;
     private cmdSeq;
     private resetResolvers;
     private advertisementChunks;
     private features;
     constructor(transport: SerialTransport, opts?: Bno086Options);
+    protected onTeardown(error: Error): void;
     protected handleReport(pkt: PacketEvent): boolean;
     private dispatchCargo;
     private emitReport;
@@ -128,6 +130,19 @@ export declare class Bno086 extends DepzDevice {
      * FeatureResponse (null when `verify: false`).
      */
     enable(sensor: number, hz?: number, opts?: EnableOptions): Promise<FeatureResponse | null>;
+    /**
+     * Read back a feature we just *enabled*, skipping "disabled" answers.
+     *
+     * The hub emits an unsolicited Get Feature Response for every
+     * state-changing Set Feature — including the `disable()` that typically
+     * precedes a re-enable — and Get Feature Response carries no correlation
+     * token (contract 05 §6: only `sensorId` identifies it). It may also answer
+     * before it applied the rate just set: the lab BNO085 reports interval 0 for
+     * one or two read-backs right after Set Feature. So a "disabled" answer is
+     * stale, early or a genuine refusal: re-read a bounded number of times — a
+     * refusal survives the retries and reaches the warning path.
+     */
+    private verifyFeature;
     /** Disable `sensor` (Set Feature with interval 0). */
     disable(sensor: number): Promise<void>;
     /** Get Feature Request/Response round trip for `sensor`. */

package/dist/sensors/bno086/bno086.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno086/bno086.js

@@ -20,6 +20,12 @@ import { ShtpChannel, ShtpLayer } from "./shtp.js";
 // error.
 export const RATE_LOW_FACTOR = 0.9;
 export const RATE_HIGH_FACTOR = 2.1;
+/**
+ * Re-reads allowed when `enable()`'s verify sees a "disabled" answer (stale
+ * from a preceding `disable()`, or early: the lab BNO085 answers interval 0 for
+ * one or two read-backs right after Set Feature). Mirrors the Python SDK.
+ */
+const VERIFY_STALE_RETRIES = 5;
 const EXECUTABLE_RESET_COMPLETE = 0x01;
 const CONTROL_TIMEOUT_MS = 1000;
 const FRS_TIMEOUT_MS = 2000;
@@ -56,6 +62,10 @@ export class Bno086 extends DepzDevice {
     reportCbs = [];
     reportQueues = [];
     controlWaiters = new Map();
+    // Parallel registry of the `fail` handle for each in-flight control exchange,
+    // so a link close can reject them all promptly (they are otherwise only
+    // rejected by their own 1-2 s timeout — see onTeardown).
+    controlFails = new Set();
     cmdSeq = 0;
     resetResolvers = [];
     advertisementChunks = [];
@@ -67,6 +77,17 @@ export class Bno086 extends DepzDevice {
         if (opts?.busyBackoffMs !== undefined)
             this.busyBackoffMs = opts.busyBackoffMs;
     }
+    onTeardown(error) {
+        // Reject every in-flight SH-2 control exchange now (each `fail` clears its
+        // own timer + registry entry via cleanup) instead of leaving it to hang the
+        // full control/FRS timeout, and drop reset resolvers so they don't
+        // accumulate across the connection's life.
+        for (const fail of [...this.controlFails])
+            fail(error);
+        this.controlFails.clear();
+        this.controlWaiters.clear();
+        this.resetResolvers.length = 0;
+    }
     // ── RX path ────────────────────────────────────────────────────────────────
     handleReport(pkt) {
         if (pkt.cmd !== Bno086Rpt.Data || pkt.payload.length < 9)
@@ -161,6 +182,7 @@ export class Bno086 extends DepzDevice {
             let settled = false;
             const cleanup = () => {
                 clearTimeout(timer);
+                this.controlFails.delete(fail);
                 const list = this.controlWaiters.get(rid);
                 if (list !== undefined) {
                     this.controlWaiters.set(rid, list.filter((w) => w !== waiter));
@@ -185,6 +207,7 @@ export class Bno086 extends DepzDevice {
             const list = this.controlWaiters.get(rid) ?? [];
             list.push(waiter);
             this.controlWaiters.set(rid, list);
+            this.controlFails.add(fail);
             send().catch((err) => fail(err instanceof Error ? err : new DepzError(String(err))));
         });
     }
@@ -324,7 +347,7 @@ export class Bno086 extends DepzDevice {
         await this.sendShtp(ShtpChannel.Control, buildSetFeature(sensor, intervalUs, opts.batchUs ?? 0, opts.sensitivity ?? 0, opts.flags ?? 0, opts.cfgWord ?? 0));
         if (opts.verify === false)
             return null;
-        const resp = await this.getFeature(sensor, opts.timeoutMs ?? CONTROL_TIMEOUT_MS);
+        const resp = await this.verifyFeature(sensor, opts.timeoutMs ?? CONTROL_TIMEOUT_MS);
         const requestedRate = 1_000_000 / intervalUs;
         const actualRate = resp.intervalUs !== 0 ? 1_000_000 / resp.intervalUs : 0;
         if (!(RATE_LOW_FACTOR * requestedRate <= actualRate && actualRate <= RATE_HIGH_FACTOR * requestedRate)) {
@@ -334,6 +357,25 @@ export class Bno086 extends DepzDevice {
         }
         return resp;
     }
+    /**
+     * Read back a feature we just *enabled*, skipping "disabled" answers.
+     *
+     * The hub emits an unsolicited Get Feature Response for every
+     * state-changing Set Feature — including the `disable()` that typically
+     * precedes a re-enable — and Get Feature Response carries no correlation
+     * token (contract 05 §6: only `sensorId` identifies it). It may also answer
+     * before it applied the rate just set: the lab BNO085 reports interval 0 for
+     * one or two read-backs right after Set Feature. So a "disabled" answer is
+     * stale, early or a genuine refusal: re-read a bounded number of times — a
+     * refusal survives the retries and reaches the warning path.
+     */
+    async verifyFeature(sensor, timeoutMs) {
+        let resp = await this.getFeature(sensor, timeoutMs);
+        for (let i = 0; i < VERIFY_STALE_RETRIES && resp.intervalUs === 0; i++) {
+            resp = await this.getFeature(sensor, timeoutMs);
+        }
+        return resp;
+    }
     /** Disable `sensor` (Set Feature with interval 0). */
     async disable(sensor) {
         await this.sendShtp(ShtpChannel.Control, buildSetFeature(sensor, 0));

package/dist/sensors/bno086/bno086.js.map

@@ -1 +1 @@
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package/dist/sensors/bno086/sh2.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno086/sh2.js

@@ -457,7 +457,10 @@ export function sensorMetadataFromWords(words) {
     const w = [...words];
     while (w.length < 10)
         w.push(0);
-    const revision = w[3] & 0xffff;
+    // Word 3 is `power_mA u16 (Q10) | revision u16 << 16`: on the lab BNO085
+    // every record reads revision 4 in the high half while the low half follows
+    // the sensor's supply (accelerometer 0.13 mA, the gyro-driven outputs 5.3 mA).
+    const revision = (w[3] >>> 16) & 0xffff;
     return {
         meVersion: w[0] & 0xff,
         mhVersion: (w[0] >>> 8) & 0xff,
@@ -465,7 +468,7 @@ export function sensorMetadataFromWords(words) {
         rangeRaw: w[1],
         resolutionRaw: w[2],
         revision,
-        powerMaQ10: (w[3] >>> 16) & 0xffff,
+        powerMaQ10: w[3] & 0xffff,
         minPeriodUs: w[4],
         fifoMax: w[5] & 0xffff,
         fifoReserved: (w[5] >>> 16) & 0xffff,

package/dist/sensors/bno086/sh2.js.map

@@ -1 +1 @@
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package/dist/sensors/reg-bridge.d.ts

@@ -0,0 +1,35 @@
+/**
+ * Chunked register-bridge transfers, shared by every VL53-family driver.
+ *
+ * The ST ULD platform reads/writes registers over the MCU's register bridge in
+ * bounded chunks (2048 B for VL53L8's fast firmware upload, 253 B for VL53L4CD).
+ * Every driver in the family needs the identical chunk loop; keeping one copy
+ * here means a fix (e.g. a timeout tweak) lands for all of them at once instead
+ * of drifting per driver. The per-driver bits — which opcode/report to use, the
+ * chunk size, an optional device-timestamp sink, write-progress reporting — are
+ * passed in as callbacks.
+ */
+export interface ChunkedReadOptions {
+    /** Max bytes per register read. */
+    chunkSize: number;
+    /** Read exactly `n` bytes at `addr` over the bridge (one request). */
+    readChunk: (addr: number, n: number) => Promise<{
+        data: Uint8Array;
+        timestampUs?: bigint;
+    }>;
+    /** Sink for each chunk's device timestamp (VL53L4CD poll-mode measurements). */
+    onTimestamp?: (timestampUs: bigint) => void;
+}
+/** Read `size` bytes from `addr`, chunked; throws `DepzError` on a short reply. */
+export declare function chunkedRead(addr: number, size: number, opts: ChunkedReadOptions): Promise<Uint8Array>;
+export interface ChunkedWriteOptions {
+    /** Max bytes per register write. */
+    chunkSize: number;
+    /** Write one chunk at `addr` over the bridge (one request). */
+    writeChunk: (addr: number, chunk: Uint8Array) => Promise<void>;
+    /** Called after each chunk with cumulative bytes written / total for this call. */
+    onProgress?: (done: number, total: number) => void;
+}
+/** Write `data` to `addr`, chunked. */
+export declare function chunkedWrite(addr: number, data: Uint8Array, opts: ChunkedWriteOptions): Promise<void>;
+//# sourceMappingURL=reg-bridge.d.ts.map

package/dist/sensors/reg-bridge.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"reg-bridge.d.ts","sourceRoot":"","sources":["../../src/sensors/reg-bridge.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAIH,MAAM,WAAW,kBAAkB;IACjC,mCAAmC;IACnC,SAAS,EAAE,MAAM,CAAC;IAClB,sEAAsE;IACtE,SAAS,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,OAAO,CAAC;QAAE,IAAI,EAAE,UAAU,CAAC;QAAC,WAAW,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC,CAAC;IAC5F,gFAAgF;IAChF,WAAW,CAAC,EAAE,CAAC,WAAW,EAAE,MAAM,KAAK,IAAI,CAAC;CAC7C;AAED,mFAAmF;AACnF,wBAAsB,WAAW,CAC/B,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,kBAAkB,GACvB,OAAO,CAAC,UAAU,CAAC,CAmBrB;AAED,MAAM,WAAW,mBAAmB;IAClC,oCAAoC;IACpC,SAAS,EAAE,MAAM,CAAC;IAClB,+DAA+D;IAC/D,UAAU,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,UAAU,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IAC/D,mFAAmF;IACnF,UAAU,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACpD;AAED,uCAAuC;AACvC,wBAAsB,YAAY,CAChC,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,UAAU,EAChB,IAAI,EAAE,mBAAmB,GACxB,OAAO,CAAC,IAAI,CAAC,CASf"}

package/dist/sensors/reg-bridge.js

@@ -0,0 +1,44 @@
+/**
+ * Chunked register-bridge transfers, shared by every VL53-family driver.
+ *
+ * The ST ULD platform reads/writes registers over the MCU's register bridge in
+ * bounded chunks (2048 B for VL53L8's fast firmware upload, 253 B for VL53L4CD).
+ * Every driver in the family needs the identical chunk loop; keeping one copy
+ * here means a fix (e.g. a timeout tweak) lands for all of them at once instead
+ * of drifting per driver. The per-driver bits — which opcode/report to use, the
+ * chunk size, an optional device-timestamp sink, write-progress reporting — are
+ * passed in as callbacks.
+ */
+import { DepzError } from "../errors.js";
+/** Read `size` bytes from `addr`, chunked; throws `DepzError` on a short reply. */
+export async function chunkedRead(addr, size, opts) {
+    const out = new Uint8Array(size);
+    let off = 0;
+    while (size > 0) {
+        const n = Math.min(size, opts.chunkSize);
+        const rep = await opts.readChunk(addr, n);
+        if (rep.data.length !== n) {
+            throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
+                `expected ${n}, got ${rep.data.length}`);
+        }
+        if (rep.timestampUs !== undefined)
+            opts.onTimestamp?.(rep.timestampUs);
+        out.set(rep.data, off);
+        off += n;
+        addr += n;
+        size -= n;
+    }
+    return out;
+}
+/** Write `data` to `addr`, chunked. */
+export async function chunkedWrite(addr, data, opts) {
+    let done = 0;
+    while (done < data.length) {
+        const chunk = data.subarray(done, done + opts.chunkSize);
+        await opts.writeChunk(addr, chunk);
+        addr += chunk.length;
+        done += chunk.length;
+        opts.onProgress?.(done, data.length);
+    }
+}
+//# sourceMappingURL=reg-bridge.js.map

package/dist/sensors/reg-bridge.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"reg-bridge.js","sourceRoot":"","sources":["../../src/sensors/reg-bridge.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAEH,OAAO,EAAE,SAAS,EAAE,MAAM,cAAc,CAAC;AAWzC,mFAAmF;AACnF,MAAM,CAAC,KAAK,UAAU,WAAW,CAC/B,IAAY,EACZ,IAAY,EACZ,IAAwB;IAExB,MAAM,GAAG,GAAG,IAAI,UAAU,CAAC,IAAI,CAAC,CAAC;IACjC,IAAI,GAAG,GAAG,CAAC,CAAC;IACZ,OAAO,IAAI,GAAG,CAAC,EAAE,CAAC;QAChB,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,CAAC;QACzC,MAAM,GAAG,GAAG,MAAM,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;QAC1C,IAAI,GAAG,CAAC,IAAI,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC1B,MAAM,IAAI,SAAS,CACjB,cAAc,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,WAAW,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,GAAG,CAAC,IAAI;gBAChE,YAAY,CAAC,SAAS,GAAG,CAAC,IAAI,CAAC,MAAM,EAAE,CAC1C,CAAC;QACJ,CAAC;QACD,IAAI,GAAG,CAAC,WAAW,KAAK,SAAS;YAAE,IAAI,CAAC,WAAW,EAAE,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC;QACvE,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;QACvB,GAAG,IAAI,CAAC,CAAC;QACT,IAAI,IAAI,CAAC,CAAC;QACV,IAAI,IAAI,CAAC,CAAC;IACZ,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAWD,uCAAuC;AACvC,MAAM,CAAC,KAAK,UAAU,YAAY,CAChC,IAAY,EACZ,IAAgB,EAChB,IAAyB;IAEzB,IAAI,IAAI,GAAG,CAAC,CAAC;IACb,OAAO,IAAI,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC;QAC1B,MAAM,KAAK,GAAG,IAAI,CAAC,QAAQ,CAAC,IAAI,EAAE,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;QACzD,MAAM,IAAI,CAAC,UAAU,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QACnC,IAAI,IAAI,KAAK,CAAC,MAAM,CAAC;QACrB,IAAI,IAAI,KAAK,CAAC,MAAM,CAAC;QACrB,IAAI,CAAC,UAAU,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC;IACvC,CAAC;AACH,CAAC"}

package/dist/sensors/vl53l4/vl53l4.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"vl53l4.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/vl53l4.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAErF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAC7D,OAAO,EAaL,KAAK,UAAU,EAEhB,MAAM,0BAA0B,CAAC;AAClC,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAIL,QAAQ,EAIR,KAAK,WAAW,EAGjB,MAAM,UAAU,CAAC;AAElB,2EAA2E;AAC3E,MAAM,WAAW,iBAAiB;IAChC,yDAAyD;IACzD,WAAW,EAAE,MAAM,CAAC;IACpB,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,eAAe,EAAE,MAAM,CAAC;IACxB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,YAAY,EAAE,MAAM,CAAC;IACrB,0CAA0C;IAC1C,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB;IACzB,KAAK,EAAE,OAAO,CAAC;IACf,mCAAmC;IACnC,UAAU,EAAE,MAAM,CAAC;CACpB;AAmBD,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED;;;;;;;;GAQG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAW;IACrC,OAAO,CAAC,UAAU,CAA6C;IAC/D,OAAO,CAAC,aAAa,CAAwC;IAC7D,OAAO,CAAC,WAAW,CAAS;IAC5B,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,qBAAqB,CAAK;IAClC,0EAA0E;IAC1E,OAAO,CAAC,kBAAkB,CAAM;IAChC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAwCvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAQ5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAElB;IAED;;;OAGG;IACH,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,wEAAwE;IAClE,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IASjC;;;;OAIG;IACG,IAAI,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ3D;;;;OAIG;IACG,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAO1C;;;OAGG;IACG,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAMlC;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,UAAU,CAAC;IAMjC;;;;OAIG;IACG,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOhD;;;OAGG;IACH,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAItC;;;;OAIG;IACG,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,SAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnF,gDAAgD;IAChD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAI9B,kEAAkE;IAC5D,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKlD,gEAAgE;IAChE,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B,iEAAiE;IAC3D,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpD;;;OAGG;IACH,sBAAsB,IAAI,OAAO,CAAC;QAChC,aAAa,EAAE,MAAM,CAAC;QACtB,cAAc,EAAE,MAAM,CAAC;QACvB,MAAM,EAAE,MAAM,CAAC;KAChB,CAAC;IAIF;;;OAGG;IACG,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAKhB,sBAAsB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC;;;OAGG;IACG,sBAAsB,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/D,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAItC;;;OAGG;IACG,mBAAmB,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKzD;;;OAGG;IACG,sBAAsB,IAAI,OAAO,CAAC,IAAI,CAAC;IAK7C;;;OAGG;IACG,eAAe,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAK5E;;;OAGG;IACG,cAAc,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAO3E;;;OAGG;IACG,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAW7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAalC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED;;;OAGG;IACG,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAc/D;;;OAGG;IACH,aAAa,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI;IAO7D;;;;OAIG;IACH,YAAY,CAAC,OAAO,SAAK,GAAG,WAAW,CAAC,iBAAiB,CAAC;IAU1D,2DAA2D;IACrD,cAAc,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IA0BlE;;;OAGG;IACH,IAAI,iBAAiB,IAAI,MAAM,CAE9B;IAED,kEAAkE;IAClE,IAAI,mBAAmB,IAAI,MAAM,EAAE,CAElC;IAID,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;CAmB3D"}
+{"version":3,"file":"vl53l4.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/vl53l4.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,EAAE,UAAU,EAAE,WAAW,EAAE,KAAK,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAGrF,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAC7D,OAAO,EAaL,KAAK,UAAU,EAEhB,MAAM,0BAA0B,CAAC;AAClC,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,0BAA0B,CAAC;AAChE,OAAO,EAIL,QAAQ,EAIR,KAAK,WAAW,EAGjB,MAAM,UAAU,CAAC;AAElB,2EAA2E;AAC3E,MAAM,WAAW,iBAAiB;IAChC,yDAAyD;IACzD,WAAW,EAAE,MAAM,CAAC;IACpB,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,OAAO,EAAE,MAAM,CAAC;IAChB,cAAc,EAAE,MAAM,CAAC;IACvB,eAAe,EAAE,MAAM,CAAC;IACxB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,YAAY,EAAE,MAAM,CAAC;IACrB,0CAA0C;IAC1C,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB;IACzB,KAAK,EAAE,OAAO,CAAC;IACf,mCAAmC;IACnC,UAAU,EAAE,MAAM,CAAC;CACpB;AAmBD,MAAM,WAAW,aAAc,SAAQ,aAAa;IAClD,8DAA8D;IAC9D,SAAS,CAAC,EAAE,CAAC,EAAE,EAAE,MAAM,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;CAC3C;AAED;;;;;;;;GAQG;AACH,qBAAa,QAAS,SAAQ,UAAU;IACtC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAW;IACrC,OAAO,CAAC,UAAU,CAA6C;IAC/D,OAAO,CAAC,aAAa,CAAwC;IAC7D,OAAO,CAAC,WAAW,CAAS;IAC5B,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,qBAAqB,CAAK;IAClC,0EAA0E;IAC1E,OAAO,CAAC,kBAAkB,CAAM;IAChC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgC;IAE1D,sEAAsE;IACtE,OAAO,CAAC,QAAQ,CAAC,QAAQ,CA4BvB;gBAEU,SAAS,EAAE,eAAe,EAAE,IAAI,CAAC,EAAE,aAAa;IAQ5D,wEAAwE;IACxE,IAAI,GAAG,IAAI,QAAQ,CAElB;IAED;;;OAGG;IACH,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,wEAAwE;IAClE,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IASjC;;;;OAIG;IACG,IAAI,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ3D;;;;OAIG;IACG,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAO1C;;;OAGG;IACG,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAMlC;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,UAAU,CAAC;IAMjC;;;;OAIG;IACG,cAAc,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAOhD;;;OAGG;IACH,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAItC;;;;OAIG;IACG,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,SAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IAKnF,gDAAgD;IAChD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAI9B,kEAAkE;IAC5D,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKlD,gEAAgE;IAChE,YAAY,IAAI,OAAO,CAAC,MAAM,CAAC;IAI/B,iEAAiE;IAC3D,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpD;;;OAGG;IACH,sBAAsB,IAAI,OAAO,CAAC;QAChC,aAAa,EAAE,MAAM,CAAC;QACtB,cAAc,EAAE,MAAM,CAAC;QACvB,MAAM,EAAE,MAAM,CAAC;KAChB,CAAC;IAIF;;;OAGG;IACG,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAKhB,sBAAsB,IAAI,OAAO,CAAC,MAAM,CAAC;IAIzC;;;OAGG;IACG,sBAAsB,CAAC,UAAU,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAK/D,mBAAmB,IAAI,OAAO,CAAC,MAAM,CAAC;IAItC;;;OAGG;IACG,mBAAmB,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAKzD;;;OAGG;IACG,sBAAsB,IAAI,OAAO,CAAC,IAAI,CAAC;IAK7C;;;OAGG;IACG,eAAe,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAK5E;;;OAGG;IACG,cAAc,CAAC,YAAY,EAAE,MAAM,EAAE,SAAS,SAAK,GAAG,OAAO,CAAC,MAAM,CAAC;IAO3E;;;OAGG;IACG,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAW7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAalC,IAAI,OAAO,IAAI,OAAO,CAErB;IAED;;;OAGG;IACG,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAc/D;;;OAGG;IACH,aAAa,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,iBAAiB,KAAK,IAAI,GAAG,MAAM,IAAI;IAO7D;;;;OAIG;IACH,YAAY,CAAC,OAAO,SAAK,GAAG,WAAW,CAAC,iBAAiB,CAAC;IAU1D,2DAA2D;IACrD,cAAc,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,iBAAiB,CAAC;IA0BlE;;;OAGG;IACH,IAAI,iBAAiB,IAAI,MAAM,CAE9B;IAED,kEAAkE;IAClE,IAAI,mBAAmB,IAAI,MAAM,EAAE,CAElC;IAID,SAAS,CAAC,iBAAiB,IAAI,IAAI;cAMhB,YAAY,CAAC,GAAG,EAAE,WAAW,GAAG,OAAO;CAmB3D"}

package/dist/sensors/vl53l4/vl53l4.js

@@ -10,6 +10,7 @@
  */
 import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { chunkedRead, chunkedWrite } from "../reg-bridge.js";
 import { Vl53l4Cmd, Vl53l4Rpt, XFER_MAX, XSHUT_RESET, packReadReg, packSetI2cSpeed, packStartStream, packWriteReg, packXshut, unpackInfo, unpackRegData, unpackStream, } from "../../protocol/vl53l4.js";
 import { I2C_KHZ_DEFAULT, RESULT_BLOCK_ADDR, RESULT_BLOCK_LEN, VL53L4CD, Vl53l4cdError, parseResultBlock, rangeStatusText, } from "./uld.js";
 function measurementFromResults(timestampUs, r) {
@@ -49,39 +50,26 @@ export class Vl53l4cd extends DepzDevice {
     sleepImpl;
     /** ULD `platform` object mapped onto the firmware register bridge. */
     platform = {
-        rdMulti: async (addr, size) => {
-            const out = new Uint8Array(size);
-            let off = 0;
-            while (size > 0) {
-                const n = Math.min(size, XFER_MAX);
-                const rep = await this.request(Vl53l4Cmd.ReadReg, packReadReg(addr, n), {
+        rdMulti: (addr, size) => chunkedRead(addr, size, {
+            chunkSize: XFER_MAX,
+            readChunk: async (a, n) => {
+                const rep = await this.request(Vl53l4Cmd.ReadReg, packReadReg(a, n), {
                     matcher: DepzDevice.expectReport(Vl53l4Rpt.RegData, unpackRegData),
                     timeoutMs: 2000,
                 });
-                if (rep.data.length !== n) {
-                    throw new DepzError(`READ_REG 0x${addr.toString(16).toUpperCase().padStart(4, "0")}: ` +
-                        `expected ${n}, got ${rep.data.length}`);
-                }
-                this.lastRegTimestampUs = rep.timestampUs;
-                out.set(rep.data, off);
-                off += n;
-                addr += n;
-                size -= n;
-            }
-            return out;
-        },
-        wrMulti: async (addr, data) => {
-            let done = 0;
-            while (done < data.length) {
-                const chunk = data.subarray(done, done + XFER_MAX);
-                await this.request(Vl53l4Cmd.WriteReg, packWriteReg(addr, chunk), {
-                    okCompletes: true,
-                    timeoutMs: 2000,
-                });
-                addr += chunk.length;
-                done += chunk.length;
-            }
-        },
+                return { data: rep.data, timestampUs: rep.timestampUs };
+            },
+            onTimestamp: (ts) => {
+                this.lastRegTimestampUs = ts;
+            },
+        }),
+        wrMulti: (addr, data) => chunkedWrite(addr, data, {
+            chunkSize: XFER_MAX,
+            writeChunk: (a, chunk) => this.request(Vl53l4Cmd.WriteReg, packWriteReg(a, chunk), {
+                okCompletes: true,
+                timeoutMs: 2000,
+            }),
+        }),
         setI2cSpeed: async (khz) => {
             await this.request(Vl53l4Cmd.SetI2cSpeed, packSetI2cSpeed(khz), { okCompletes: true });
         },