@depz/sensor-sdk 0.2.2 → 0.4.0

package/README.md

@@ -1,14 +1,21 @@
 # @depz/sensor-sdk
 
-TypeScript SDK for the **DEPZ USB sensor line** — five sensor classes across
-four USB CDC-ACM firmware families that speak one shared framed protocol, usable
-from **the browser (WebSerial)** and **Node (serialport)**:
+TypeScript SDK for the **DEPZ USB sensor line** — fourteen sensor classes
+across the USB CDC-ACM firmware families that speak one shared framed protocol,
+usable from **the browser (WebSerial)** and **Node (serialport)**:
 
 - **HC-SR04** — ultrasonic distance
 - **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
+- **VL53L0X / VL53L1CX / VL53L1CB / VL53L3CX / VL53L4CX** — the single-zone
+  Time-of-Flight family on one I2C register bridge (host runs ST's ULD, ULP or
+  histogram Bare Driver, up to four targets per frame)
 - **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
   `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
+- **VL53L5CX / VL53L7CX / VL53L7CH** — the same 8×8 ULD family on an I2C board;
+  `Vl53l7ch` adds streamed Compact-Network-Histogram output
 - **BNO086** — 9-axis IMU (host runs the SH-2 stack)
+- **BNO055** — 9-axis IMU with on-chip fusion (host configures it over a
+  register bridge)
 
 Pure ESM, zero runtime dependencies on the browser path (`serialport` is an
 optional peer used only by the `./node` entry). Mirrors the Python
@@ -30,7 +37,8 @@ import { openDevice } from "@depz/sensor-sdk/web";
 
 const port = await navigator.serial.requestPort(); // user gesture
 const dev = await openDevice(port);
-// dev is the correctly-typed sensor class (Sr04 | Vl53l4cd | Vl53l8cx/Ch | Bno086)
+// dev is the correctly-typed sensor class (Sr04 | Vl53l4cd | Vl53l8cx/ch |
+// Vl53l5cx | Vl53l7cx/ch | Vl53l0x … Vl53l4cx | Bno086 | Bno055)
 ```
 
 ## Quick start (Node)
@@ -67,7 +75,7 @@ guides and the generated API reference.
 
 ## License
 
-MIT. Bundled VL53L8 sensor-firmware blobs are © STMicroelectronics
+MIT. Bundled VL53L5/L7/L8 sensor-firmware blobs are © STMicroelectronics
 (BSD-3-Clause).
 
 Open source — source and issue tracker:

package/dist/dataset.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"dataset.d.ts","sourceRoot":"","sources":["../src/dataset.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAQrD,eAAO,MAAM,cAAc,mBAAmB,CAAC;AAE/C,MAAM,WAAW,iBAAiB;IAChC,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,SAAS,EAAE;QAAE,SAAS,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAC;IACjD,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;CACtB;AAED,MAAM,WAAW,aAAa;IAC5B,MAAM,EAAE,MAAM,CAAC;IACf,WAAW,EAAE,MAAM,CAAC;IACpB,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAAC;IAC3C,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;CACtB;AAED,MAAM,WAAW,aAAa;IAC5B,QAAQ,EAAE,MAAM,CAAC;IACjB,OAAO,EAAE,MAAM,CAAC;IAChB,IAAI,EAAE,MAAM,CAAC;IACb,KAAK,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CAChC;AAED,8EAA8E;AAC9E,qBAAa,aAAa;IACxB,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAgB;IACvC,OAAO,CAAC,KAAK,CAAW;IACxB,cAAc,SAAK;gBAEP,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,EAAE,IAAI,CAAC,EAAE,MAAM;IAUrE;;;;OAIG;IACH,aAAa,CAAC,QAAQ,EAAE,MAAM,EAAE,IAAI,EAAE,iBAAiB,GAAG,IAAI;IAI9D,KAAK,CAAC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,IAAI;IAK5F,IAAI,IAAI,MAAM;CAGf;AAED;;;;GAIG;AACH,qBAAa,eAAe;IAUd,OAAO,CAAC,IAAI;IATxB,OAAO,CAAC,OAAO,CAMP;IACR,OAAO,CAAC,MAAM,CAA8B;gBAExB,IAAI,GAAE;QAAE,IAAI,CAAC,EAAE,MAAM,CAAC;QAAC,YAAY,CAAC,EAAE,OAAO,CAAA;KAAO;IAElE,GAAG,CAAC,MAAM,EAAE,UAAU,EAAE,QAAQ,CAAC,EAAE,MAAM,EAAE,WAAW,SAAI,GAAG,OAAO,CAAC,MAAM,CAAC;IAmBlF,KAAK,IAAI,IAAI;IAWb,OAAO,CAAC,IAAI;IA2FZ,IAAI,IAAI,IAAI;IAOZ,IAAI,cAAc,IAAI,MAAM,CAE3B;IAED,IAAI,IAAI,MAAM;CAIf;AAED,uEAAuE;AACvE,qBAAa,aAAa;IACxB,QAAQ,CAAC,MAAM,EAAE,aAAa,CAAC;IAC/B,QAAQ,CAAC,OAAO,EAAE,aAAa,EAAE,CAAC;gBAEtB,OAAO,EAAE,MAAM;IAkB3B,IAAI,OAAO,IAAI,MAAM,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAE/C;IAED,IAAI,UAAU,IAAI,MAAM,CAGvB;CACF;AAED,MAAM,MAAM,WAAW,GAAG,MAAM,GAAG,SAAS,GAAG,QAAQ,GAAG,MAAM,CAAC;AAEjE;;;GAGG;AACH,qBAAa,aAAa;IAQZ,QAAQ,CAAC,MAAM,EAAE,aAAa;IAP1C,OAAO,CAAC,GAAG,CAAK;IAChB,OAAO,CAAC,KAAK,CAA8C;IAC3D,OAAO,CAAC,QAAQ,CAAuC;IACvD,OAAO,CAAC,SAAS,CAAyC;IAC1D,OAAO,CAAC,MAAM,CAAuB;IACrC,KAAK,SAAO;gBAES,MAAM,EAAE,aAAa;IAE1C,IAAI,KAAK,IAAI,WAAW,CAEvB;IAED,oDAAoD;IACpD,IAAI,UAAU,IAAI,MAAM,CAIvB;IAED,QAAQ,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,aAAa,KAAK,IAAI,GAAG,MAAM,IAAI;IAOpD,OAAO,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,WAAW,KAAK,IAAI,GAAG,MAAM,IAAI;IAOjD,OAAO,CAAC,QAAQ;IAKhB,IAAI,IAAI,IAAI;IAOZ,KAAK,IAAI,IAAI;IAMb,qEAAqE;IACrE,MAAM,CAAC,QAAQ,EAAE,MAAM,GAAG,IAAI;IAkB9B,OAAO,CAAC,YAAY;CAwBrB"}

package/dist/dataset.js

@@ -3,6 +3,12 @@
  * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
+import { Bno055 } from "./sensors/bno055/bno055.js";
+import { packBno055Units } from "./sensors/bno055/regs.js";
+import { Sr04 } from "./sensors/sr04.js";
+import { Vl53l4cd } from "./sensors/vl53l4/vl53l4.js";
+import { Vl53l8cx } from "./sensors/vl53l8/vl53l8.js";
+import { Vl53lx } from "./sensors/vl53lx/vl53lx.js";
 export const DATASET_SCHEMA = "depz.dataset/2";
 /** Accumulates a dataset in memory; `dump()` gives the JSONL file content. */
 export class DatasetWriter {
@@ -79,7 +85,10 @@ export class DatasetRecorder {
         const writer = this.writer;
         const dev = entry.device;
         const toHost = (tsUs) => Number(tsUs - entry.offsetUs);
-        if (typeof dev.onMeasurement === "function") {
+        // Dispatch on the class, not on method names: every ranging device has an
+        // onMeasurement(), and a duck-typed check wrote VL53L4CD / VL53L0X…L4CX
+        // measurements as "sr04" records.
+        if (dev instanceof Sr04) {
             return dev.onMeasurement((m) => {
                 writer.write(entry.id, toHost(m.timestampUs), "sr04", {
                     echo_us: m.echoTimeUs,
@@ -87,7 +96,62 @@ export class DatasetRecorder {
                 });
             });
         }
-        if (typeof dev.onFrame === "function") {
+        if (dev instanceof Vl53l4cd) {
+            return dev.onMeasurement((m) => {
+                writer.write(entry.id, toHost(m.timestampUs), "vl53l4", {
+                    range_status: m.rangeStatus,
+                    distance_mm: m.distanceMm,
+                    sigma_mm: m.sigmaMm,
+                    signal_rate_kcps: m.signalRateKcps,
+                    ambient_rate_kcps: m.ambientRateKcps,
+                    number_of_spad: m.numberOfSpad,
+                    stream_count: m.streamCount,
+                });
+            });
+        }
+        if (dev instanceof Vl53lx) {
+            return dev.onMeasurement((m) => {
+                const v = {
+                    product: dev.product,
+                    driver: dev.driverKind,
+                    status: m.status,
+                    distance_mm: m.distanceMm,
+                    sigma_mm: m.sigmaMm,
+                    signal_kcps: m.signalKcps,
+                    ambient_kcps: m.ambientKcps,
+                    spads: m.spads,
+                };
+                if (m.targets.length > 0) {
+                    v.targets = m.targets.map((t) => ({
+                        distance_mm: t.distanceMm,
+                        status: t.status,
+                        signal_kcps: t.signalKcps,
+                    }));
+                }
+                writer.write(entry.id, toHost(m.timestampUs), "vl53lx", v);
+            });
+        }
+        if (dev instanceof Bno055) {
+            return dev.onSample((s) => {
+                const v = { unit_sel: packBno055Units(s.units) };
+                const channels = {
+                    quaternion: s.quaternion, euler: s.euler, accel: s.accel, gyro: s.gyro,
+                    mag: s.mag, linear_accel: s.linearAccel, gravity: s.gravity,
+                };
+                for (const [key, val] of Object.entries(channels))
+                    if (val !== null)
+                        v[key] = [...val];
+                if (s.temperature !== null)
+                    v.temperature = s.temperature;
+                if (s.calibration !== null) {
+                    const c = s.calibration;
+                    v.calib = [c.system, c.gyro, c.accel, c.mag];
+                }
+                writer.write(entry.id, toHost(s.timestampUs), "bno055", v);
+            });
+        }
+        // VL53L8CX/CH and the VL53L5CX/L7CX/L7CH subclasses.
+        if (dev instanceof Vl53l8cx) {
             const layers = this.opts.vl53l8Layers ?? false;
             return dev.onFrame((f) => {
                 const n = f.resolution;

package/dist/dataset.js.map

@@ -1 +1 @@
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package/dist/discovery.d.ts.map

@@ -1 +1 @@
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package/dist/discovery.js

@@ -15,10 +15,14 @@ import { DepzDevice } from "./device/device.js";
 import { DepzError, NoDepzDeviceError } from "./errors.js";
 import { parseSoftwareName } from "./protocol/identity.js";
 import { isKnownDepzUsb, usbModelHint } from "./protocol/usb-ids.js";
+import { Bno055 } from "./sensors/bno055/bno055.js";
 import { Bno086 } from "./sensors/bno086/bno086.js";
 import { Sr04 } from "./sensors/sr04.js";
 import { Vl53l4cd } from "./sensors/vl53l4/vl53l4.js";
+import { resolveVl53l7Model } from "./protocol/vl53l7.js";
+import { Vl53l5cx, Vl53l7ch, Vl53l7cx } from "./sensors/vl53l7/vl53l7.js";
 import { Vl53l8ch, Vl53l8cx } from "./sensors/vl53l8/vl53l8.js";
+import { resolveVl53lxClass } from "./sensors/vl53lx/vl53lx.js";
 const DEFAULT_PROBE_TIMEOUT_MS = 200;
 // ── selection helpers ─────────────────────────────────────────────────────────
 function isKnownPort(p) {
@@ -145,7 +149,7 @@ export async function listDepzDevicesFrom(ports, factory, opts = {}) {
     return found;
 }
 // ── open ──────────────────────────────────────────────────────────────────────
-function constructSensor(transport, sensorType, timeoutMs, port) {
+function constructSensor(transport, sensorType, timeoutMs, port, deviceName = "") {
     switch (sensorType) {
         case "sr04":
             return new Sr04(transport, { timeoutMs });
@@ -157,10 +161,29 @@ function constructSensor(transport, sensorType, timeoutMs, port) {
             return usbModelHint(port?.usbVid, port?.usbPid) === "vl53l8ch"
                 ? new Vl53l8ch(transport, { timeoutMs })
                 : new Vl53l8cx(transport, { timeoutMs });
+        case "vl53l7":
+            // All three L5/L7 boards run APP_VL53L7; the PID model, then the stamped
+            // device name, pick the class (contract 11 §1).
+            switch (resolveVl53l7Model(usbModelHint(port?.usbVid, port?.usbPid), deviceName)) {
+                case "vl53l5cx":
+                    return new Vl53l5cx(transport, { timeoutMs });
+                case "vl53l7ch":
+                    return new Vl53l7ch(transport, { timeoutMs });
+                default:
+                    return new Vl53l7cx(transport, { timeoutMs });
+            }
+        case "vl53lx": {
+            // One APP_VL53L0_4 firmware serves six products: the PID model, then
+            // the stamped device name, then the generic class (contract 12 §1).
+            const Cls = resolveVl53lxClass(usbModelHint(port?.usbVid, port?.usbPid), deviceName);
+            return new Cls(transport, { timeoutMs });
+        }
         case "vl53l4":
             return new Vl53l4cd(transport, { timeoutMs });
         case "bno086":
             return new Bno086(transport, { timeoutMs });
+        case "bno055":
+            return new Bno055(transport, { timeoutMs });
         default:
             return new DepzDevice(transport, { timeoutMs });
     }
@@ -170,7 +193,7 @@ async function openProbed(port, info, factory, timeoutMs) {
         throw new DepzError("device is in bootloader mode; use the bootloader client (contract 06)");
     }
     const transport = factory(port);
-    const dev = constructSensor(transport, info.sensorType, timeoutMs, port);
+    const dev = constructSensor(transport, info.sensorType, timeoutMs, port, info.deviceName);
     await dev.open();
     return dev;
 }

package/dist/discovery.js.map

@@ -1 +1 @@
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package/dist/index.d.ts

@@ -11,6 +11,7 @@ export { I2C_ERROR_NAMES as VL53L4_I2C_ERROR_NAMES, I2C_KHZ_STEPS as VL53L4_I2C_
 export type { Vl53l4Info, Vl53l4RegData, Vl53l4StreamData } from "./protocol/vl53l4.js";
 export * from "./protocol/vl53l8.js";
 export * from "./protocol/bno086.js";
+export * from "./protocol/bno055.js";
 export * from "./protocol/fwdepz.js";
 export * from "./protocol/usb-ids.js";
 export * from "./errors.js";
@@ -26,7 +27,24 @@ export * from "./sensors/vl53l4/uld.js";
 export * from "./sensors/vl53l4/vl53l4.js";
 export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8ch, Vl53l8cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
 export type { Vl53l8Frame, Vl53l8InitOptions, Vl53l8Options, } from "./sensors/vl53l8/vl53l8.js";
-export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
+export * from "./protocol/vl53l7.js";
+export * from "./protocol/vl53lx.js";
+export { VL53L7_MIN_RANGING_FREQUENCY_HZ, Vl53l5cx, Vl53l7ch, Vl53l7cx, } from "./sensors/vl53l7/vl53l7.js";
+export type { Vl53l7Frame } from "./sensors/vl53l7/vl53l7.js";
+export { PLOTTABLE_STATUSES, VL53LX_CLASS_BY_PRODUCT, VL53LX_DRIVER_KINDS, VL53LX_PRODUCTS, Vl53l0x, Vl53l1cb, Vl53l1cx, Vl53l3cx, Vl53l4cx, Vl53lx, plotDistances, primaryTarget, resolveVl53lxClass, } from "./sensors/vl53lx/vl53lx.js";
+export type { HistogramDriverApi, Vl53lxConfigureOptions, Vl53lxMeasurement, Vl53lxOptions, Vl53lxProductInfo, } from "./sensors/vl53lx/vl53lx.js";
+export { BridgePlatform as Vl53lxBridgePlatform, SensorDriver as Vl53lxSensorDriver, } from "./sensors/vl53lx/uld/base.js";
+export type { Measurement as Vl53lxDriverMeasurement, Target as Vl53lxTarget, } from "./sensors/vl53lx/uld/base.js";
+export { ProtocolError as Vl53lxProtocolError, Vl53Error as Vl53lxError, } from "./sensors/vl53lx/uld/link.js";
+export type { BridgeDevice as Vl53lxBridgeDevice } from "./sensors/vl53lx/uld/link.js";
+export { DIE_BLOCK_ADDR as VL53LX_DIE_BLOCK_ADDR, DIE_BLOCK_LEN as VL53LX_DIE_BLOCK_LEN, DIE_VARIANTS as VL53LX_DIE_VARIANTS, HISTOGRAM_BINS as VL53LX_HISTOGRAM_BINS, HISTOGRAM_BLOCK_ADDR as VL53LX_HISTOGRAM_BLOCK_ADDR, HISTOGRAM_BLOCK_LEN as VL53LX_HISTOGRAM_BLOCK_LEN, L0X_BLOCK_ADDR as VL53LX_L0X_BLOCK_ADDR, L0X_BLOCK_LEN as VL53LX_L0X_BLOCK_LEN, decodeDieBlock as decodeVl53lxDieBlock, decodeHistogramRaw as decodeVl53lxHistogramRaw, decodeL0xRaw as decodeVl53lxL0xRaw, } from "./sensors/vl53lx/decode.js";
+export type { DieResult as Vl53lxDieResult, HistogramRaw as Vl53lxHistogramRaw, L0xRaw as Vl53lxL0xRaw, } from "./sensors/vl53lx/decode.js";
+export { VL53L0X } from "./sensors/vl53lx/uld/l0x.js";
+export { VL53L1 } from "./sensors/vl53lx/uld/l1.js";
+export { VL53L3 } from "./sensors/vl53lx/uld/l3.js";
+export { VL53L4 } from "./sensors/vl53lx/uld/l4.js";
+export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, } from "./sensors/vl53lx/uld/registry.js";
+export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, I2C_VARIANTS, MODULE_TYPE_MZ, MODULE_TYPE_MZEVO, MODULE_TYPE_MZPLUS, MODULE_TYPE_NAMES, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
 export type { DetectionThreshold, MotionResult, Vl53l8Platform, Vl53l8Results, } from "./sensors/vl53l8/uld.js";
 export { CNH_BIN_WIDTH_MM, CNH_MAX_DATA_BYTES, CnhConfig, CnhConfigError, MI_CFG_DEV_IDX, decode as decodeCnh, maxBins as cnhMaxBins, } from "./sensors/vl53l8/cnh.js";
 export type { CnhAggregate, CnhDecoded } from "./sensors/vl53l8/cnh.js";
@@ -36,6 +54,8 @@ export * from "./sensors/bno086/shtp.js";
 export * from "./sensors/bno086/reports.js";
 export * from "./sensors/bno086/sh2.js";
 export * from "./sensors/bno086/bno086.js";
+export * from "./sensors/bno055/regs.js";
+export * from "./sensors/bno055/bno055.js";
 export { RECORDING_SCHEMA, RecordingTransport, ReplayTransport } from "./transport/replay.js";
 export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, } from "./dataset.js";
 export type { DatasetDeviceMeta, DatasetHeader, DatasetRecord, PlayerState, } from "./dataset.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,cAAc,mBAAmB,CAAC;AAClC,cAAc,uBAAuB,CAAC;AACtC,cAAc,sBAAsB,CAAC;AACrC,cAAc,wBAAwB,CAAC;AACvC,cAAc,oBAAoB,CAAC;AACnC,OAAO,EACL,eAAe,IAAI,sBAAsB,EACzC,aAAa,IAAI,oBAAoB,EACrC,eAAe,IAAI,sBAAsB,EACzC,SAAS,EACT,SAAS,EACT,QAAQ,IAAI,eAAe,EAC3B,SAAS,IAAI,gBAAgB,EAC7B,QAAQ,IAAI,eAAe,EAC3B,WAAW,IAAI,kBAAkB,EACjC,WAAW,IAAI,iBAAiB,EAChC,eAAe,IAAI,qBAAqB,EACxC,eAAe,IAAI,qBAAqB,EACxC,YAAY,IAAI,kBAAkB,EAClC,SAAS,IAAI,eAAe,EAC5B,UAAU,IAAI,gBAAgB,EAC9B,aAAa,IAAI,mBAAmB,EACpC,YAAY,IAAI,kBAAkB,GACnC,MAAM,sBAAsB,CAAC;AAC9B,YAAY,EAAE,UAAU,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,sBAAsB,CAAC;AACxF,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AACtC,cAAc,aAAa,CAAC;AAC5B,OAAO,EACL,YAAY,EACZ,mBAAmB,EACnB,wBAAwB,EACxB,cAAc,EACd,oBAAoB,EACpB,kBAAkB,EAClB,SAAS,GACV,MAAM,gBAAgB,CAAC;AACxB,YAAY,EACV,UAAU,EACV,YAAY,EACZ,WAAW,EACX,iBAAiB,EACjB,UAAU,EACV,gBAAgB,GACjB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAC;AAC5C,YAAY,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAClD,OAAO,EACL,kBAAkB,EAClB,UAAU,EACV,QAAQ,EACR,WAAW,EACX,SAAS,EACT,WAAW,GACZ,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EACV,WAAW,EACX,aAAa,EACb,OAAO,EACP,cAAc,EACd,QAAQ,GACT,MAAM,oBAAoB,CAAC;AAC5B,OAAO,EAAE,IAAI,EAAE,MAAM,mBAAmB,CAAC;AACzC,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EACL,wBAAwB,EACxB,MAAM,EACN,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,WAAW,EACX,iBAAiB,EACjB,aAAa,GACd,MAAM,4BAA4B,CAAC;AACpC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,OAAO,EACL,+BAA+B,EAC/B,QAAQ,EACR,QAAQ,EACR,QAAQ,GACT,MAAM,4BAA4B,CAAC;AACpC,YAAY,EAAE,WAAW,EAAE,MAAM,4BAA4B,CAAC;AAC9D,OAAO,EACL,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,eAAe,EACf,OAAO,EACP,QAAQ,EACR,QAAQ,EACR,QAAQ,EACR,QAAQ,EACR,MAAM,EACN,aAAa,EACb,aAAa,EACb,kBAAkB,GACnB,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,kBAAkB,EAClB,sBAAsB,EACtB,iBAAiB,EACjB,aAAa,EACb,iBAAiB,GAClB,MAAM,4BAA4B,CAAC;AACpC,OAAO,EACL,cAAc,IAAI,oBAAoB,EACtC,YAAY,IAAI,kBAAkB,GACnC,MAAM,8BAA8B,CAAC;AACtC,YAAY,EACV,WAAW,IAAI,uBAAuB,EACtC,MAAM,IAAI,YAAY,GACvB,MAAM,8BAA8B,CAAC;AACtC,OAAO,EACL,aAAa,IAAI,mBAAmB,EACpC,SAAS,IAAI,WAAW,GACzB,MAAM,8BAA8B,CAAC;AACtC,YAAY,EAAE,YAAY,IAAI,kBAAkB,EAAE,MAAM,8BAA8B,CAAC;AACvF,OAAO,EACL,cAAc,IAAI,qBAAqB,EACvC,aAAa,IAAI,oBAAoB,EACrC,YAAY,IAAI,mBAAmB,EACnC,cAAc,IAAI,qBAAqB,EACvC,oBAAoB,IAAI,2BAA2B,EACnD,mBAAmB,IAAI,0BAA0B,EACjD,cAAc,IAAI,qBAAqB,EACvC,aAAa,IAAI,oBAAoB,EACrC,cAAc,IAAI,oBAAoB,EACtC,kBAAkB,IAAI,wBAAwB,EAC9C,YAAY,IAAI,kBAAkB,GACnC,MAAM,4BAA4B,CAAC;AACpC,YAAY,EACV,SAAS,IAAI,eAAe,EAC5B,YAAY,IAAI,kBAAkB,EAClC,MAAM,IAAI,YAAY,GACvB,MAAM,4BAA4B,CAAC;AACpC,OAAO,EAAE,OAAO,EAAE,MAAM,6BAA6B,CAAC;AACtD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EAAE,MAAM,EAAE,MAAM,4BAA4B,CAAC;AACpD,OAAO,EACL,SAAS,IAAI,eAAe,EAC5B,WAAW,IAAI,iBAAiB,EAChC,oBAAoB,IAAI,0BAA0B,GACnD,MAAM,kCAAkC,CAAC;AAC1C,OAAO,EACL,eAAe,EACf,WAAW,EACX,aAAa,EACb,YAAY,EACZ,cAAc,EACd,iBAAiB,EACjB,kBAAkB,EAClB,iBAAiB,EACjB,YAAY,EACZ,aAAa,EACb,qBAAqB,EACrB,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,uBAAuB,EACvB,cAAc,EACd,cAAc,EACd,oBAAoB,EACpB,sBAAsB,EACtB,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,YAAY,EACZ,oBAAoB,EACpB,QAAQ,EACR,aAAa,EACb,mBAAmB,EACnB,yBAAyB,EACzB,uBAAuB,EACvB,UAAU,EACV,gBAAgB,GACjB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EACV,kBAAkB,EAClB,YAAY,EACZ,cAAc,EACd,aAAa,GACd,MAAM,yBAAyB,CAAC;AACjC,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,SAAS,EACT,cAAc,EACd,cAAc,EACd,MAAM,IAAI,SAAS,EACnB,OAAO,IAAI,UAAU,GACtB,MAAM,yBAAyB,CAAC;AACjC,YAAY,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AACxE,OAAO,EAAE,UAAU,EAAE,MAAM,kCAAkC,CAAC;AAC9D,YAAY,EAAE,YAAY,EAAE,aAAa,EAAE,MAAM,kCAAkC,CAAC;AACpF,cAAc,0BAA0B,CAAC;AACzC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,yBAAyB,CAAC;AACxC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,4BAA4B,CAAC;AAC3C,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC9F,OAAO,EACL,cAAc,EACd,aAAa,EACb,aAAa,EACb,eAAe,EACf,aAAa,GACd,MAAM,cAAc,CAAC;AACtB,YAAY,EACV,iBAAiB,EACjB,aAAa,EACb,aAAa,EACb,WAAW,GACZ,MAAM,cAAc,CAAC;AACtB,YAAY,EAAE,eAAe,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AACjF,OAAO,EAAE,iBAAiB,EAAE,MAAM,yBAAyB,CAAC;AAC5D,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,eAAe,EACf,YAAY,GACb,MAAM,0BAA0B,CAAC;AAClC,YAAY,EAAE,iBAAiB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EACL,kBAAkB,EAClB,aAAa,EACb,kBAAkB,EAClB,kBAAkB,GACnB,MAAM,2BAA2B,CAAC;AACnC,YAAY,EACV,aAAa,EACb,aAAa,EACb,kBAAkB,EAClB,aAAa,EACb,yBAAyB,GAC1B,MAAM,2BAA2B,CAAC"}

package/dist/index.js

@@ -10,6 +10,7 @@ export * from "./protocol/sr04.js";
 export { I2C_ERROR_NAMES as VL53L4_I2C_ERROR_NAMES, I2C_KHZ_STEPS as VL53L4_I2C_KHZ_STEPS, SF_INT_ACT_HIGH as VL53L4_SF_INT_ACT_HIGH, Vl53l4Cmd, Vl53l4Rpt, XFER_MAX as VL53L4_XFER_MAX, XSHUT_OFF as VL53L4_XSHUT_OFF, XSHUT_ON as VL53L4_XSHUT_ON, XSHUT_RESET as VL53L4_XSHUT_RESET, packReadReg as packVl53l4ReadReg, packSetI2cSpeed as packVl53l4SetI2cSpeed, packStartStream as packVl53l4StartStream, packWriteReg as packVl53l4WriteReg, packXshut as packVl53l4Xshut, unpackInfo as unpackVl53l4Info, unpackRegData as unpackVl53l4RegData, unpackStream as unpackVl53l4Stream, } from "./protocol/vl53l4.js";
 export * from "./protocol/vl53l8.js";
 export * from "./protocol/bno086.js";
+export * from "./protocol/bno055.js";
 export * from "./protocol/fwdepz.js";
 export * from "./protocol/usb-ids.js";
 export * from "./errors.js";
@@ -20,13 +21,27 @@ export { Sr04 } from "./sensors/sr04.js";
 export * from "./sensors/vl53l4/uld.js";
 export * from "./sensors/vl53l4/vl53l4.js";
 export { MIN_RANGING_FREQUENCY_HZ, Vl53l8, Vl53l8ch, Vl53l8cx, zoneGrid, } from "./sensors/vl53l8/vl53l8.js";
-export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
+export * from "./protocol/vl53l7.js";
+export * from "./protocol/vl53lx.js";
+export { VL53L7_MIN_RANGING_FREQUENCY_HZ, Vl53l5cx, Vl53l7ch, Vl53l7cx, } from "./sensors/vl53l7/vl53l7.js";
+export { PLOTTABLE_STATUSES, VL53LX_CLASS_BY_PRODUCT, VL53LX_DRIVER_KINDS, VL53LX_PRODUCTS, Vl53l0x, Vl53l1cb, Vl53l1cx, Vl53l3cx, Vl53l4cx, Vl53lx, plotDistances, primaryTarget, resolveVl53lxClass, } from "./sensors/vl53lx/vl53lx.js";
+export { BridgePlatform as Vl53lxBridgePlatform, SensorDriver as Vl53lxSensorDriver, } from "./sensors/vl53lx/uld/base.js";
+export { ProtocolError as Vl53lxProtocolError, Vl53Error as Vl53lxError, } from "./sensors/vl53lx/uld/link.js";
+export { DIE_BLOCK_ADDR as VL53LX_DIE_BLOCK_ADDR, DIE_BLOCK_LEN as VL53LX_DIE_BLOCK_LEN, DIE_VARIANTS as VL53LX_DIE_VARIANTS, HISTOGRAM_BINS as VL53LX_HISTOGRAM_BINS, HISTOGRAM_BLOCK_ADDR as VL53LX_HISTOGRAM_BLOCK_ADDR, HISTOGRAM_BLOCK_LEN as VL53LX_HISTOGRAM_BLOCK_LEN, L0X_BLOCK_ADDR as VL53LX_L0X_BLOCK_ADDR, L0X_BLOCK_LEN as VL53LX_L0X_BLOCK_LEN, decodeDieBlock as decodeVl53lxDieBlock, decodeHistogramRaw as decodeVl53lxHistogramRaw, decodeL0xRaw as decodeVl53lxL0xRaw, } from "./sensors/vl53lx/decode.js";
+export { VL53L0X } from "./sensors/vl53lx/uld/l0x.js";
+export { VL53L1 } from "./sensors/vl53lx/uld/l1.js";
+export { VL53L3 } from "./sensors/vl53lx/uld/l3.js";
+export { VL53L4 } from "./sensors/vl53lx/uld/l4.js";
+export { driverFor as vl53lxDriverFor, driverKinds as vl53lxDriverKinds, productFromBoardName as vl53lxProductFromBoardName, } from "./sensors/vl53lx/uld/registry.js";
+export { CALIBRATE_XTALK, FW_CHECKSUM, GET_XTALK_CMD, I2C_VARIANTS, MODULE_TYPE_MZ, MODULE_TYPE_MZEVO, MODULE_TYPE_MZPLUS, MODULE_TYPE_NAMES, MotionConfig, NB_THRESHOLDS, POWER_MODE_DEEP_SLEEP, POWER_MODE_SLEEP, POWER_MODE_WAKEUP, RANGING_MODE_AUTONOMOUS, RANGING_MODE_CONTINUOUS, RESOLUTION_4X4, RESOLUTION_8X8, TARGET_ORDER_CLOSEST, TARGET_ORDER_STRONGEST, THRESH_IN_WINDOW, THRESH_OP_AND, THRESH_OP_NONE, THRESH_OP_OR, THRESH_OUT_OF_WINDOW, VL53L8CX, Vl53l8cxError, defaultMotionConfig, motionConfigSetResolution, packDetectionThresholds, swapBuffer, xtalkMarginToRaw, } from "./sensors/vl53l8/uld.js";
 export { CNH_BIN_WIDTH_MM, CNH_MAX_DATA_BYTES, CnhConfig, CnhConfigError, MI_CFG_DEV_IDX, decode as decodeCnh, maxBins as cnhMaxBins, } from "./sensors/vl53l8/cnh.js";
 export { loadAssets } from "./sensors/vl53l8/assets/index.js";
 export * from "./sensors/bno086/shtp.js";
 export * from "./sensors/bno086/reports.js";
 export * from "./sensors/bno086/sh2.js";
 export * from "./sensors/bno086/bno086.js";
+export * from "./sensors/bno055/regs.js";
+export * from "./sensors/bno055/bno055.js";
 export { RECORDING_SCHEMA, RecordingTransport, ReplayTransport } from "./transport/replay.js";
 export { DATASET_SCHEMA, DatasetPlayer, DatasetReader, DatasetRecorder, DatasetWriter, } from "./dataset.js";
 export { LoopbackTransport } from "./transport/loopback.js";

package/dist/index.js.map

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package/dist/protocol/bno055.d.ts

@@ -0,0 +1,101 @@
+/**
+ * BNO055 register-bridge wire codecs (contracts/13_SENSOR_BNO055.md).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.bno055`.
+ */
+export declare enum Bno055Cmd {
+    ReadReg = 50,
+    WriteReg = 51,
+    Reset = 52,
+    StartStream = 53,
+    StopStream = 54,
+    GetInfo = 55
+}
+export declare enum Bno055Rpt {
+    RegData = 145,
+    Info = 146,
+    Stream = 147
+}
+/** Max bytes per READ_REG / WRITE_REG / streamed block; `addr + len` ≤ 0x100. */
+export declare const BNO055_XFER_MAX = 128;
+/** BNO_START_STREAM trigger: read every period_ms (the only data trigger on SW 03.11). */
+export declare const BNO055_TRIGGER_TIMER = 0;
+/** BNO_START_STREAM trigger: read on the INT edge; period_ms is a missed-edge watchdog. */
+export declare const BNO055_TRIGGER_INT = 1;
+/** BNO_RESET answers after the sensor's ~0.5 s boot handshake. */
+export declare const BNO055_RESET_TIMEOUT_MS = 3000;
+export declare function packBno055ReadReg(addr: number, length: number): Uint8Array;
+export declare function packBno055WriteReg(addr: number, data: Uint8Array): Uint8Array;
+export declare function packBno055StartStream(trigger: number, addr: number, length: number, periodMs: number): Uint8Array;
+/** RPT_BNO_REG_DATA payload. */
+export interface Bno055RegData {
+    /** Echoed READ_REG opcode. */
+    cmd: number;
+    /** MCU uptime at I2C-read completion. */
+    timestampUs: bigint;
+    data: Uint8Array;
+}
+export declare function unpackBno055RegData(payload: Uint8Array): Bno055RegData;
+/** last_i2c_error values in RPT_BNO_INFO. */
+export declare const BNO055_I2C_ERROR_NAMES: Readonly<Record<number, string>>;
+/** Identity registers 0x00..0x03 of a healthy BNO055. */
+export declare const BNO055_EXPECTED_IDS: {
+    readonly chipId: 160;
+    readonly accId: 251;
+    readonly magId: 50;
+    readonly gyrId: 15;
+};
+/**
+ * RPT_BNO_INFO — sensor identity (registers 0x00..0x06) plus bridge
+ * diagnostics. Counters are free-running and wrap silently. A rising
+ * `sensorResets` means the bridge pulsed nRESET to recover the bus: the
+ * sensor is back in CONFIG mode and the host must restore its configuration.
+ */
+export interface Bno055Info {
+    /** 7-bit sensor address in use (0x28). */
+    i2cAddr: number;
+    chipId: number;
+    accId: number;
+    magId: number;
+    gyrId: number;
+    /** Sensor firmware, BCD: 0x0311 = 03.11. */
+    swRev: number;
+    blRev: number;
+    /** 1 = chip-ID handshake passed. */
+    initialized: number;
+    intLevel: number;
+    /** EXTI rising edges (counted only while an INT stream is armed). */
+    intEdges: number;
+    /** Streamed block read timing since the last START_STREAM. */
+    readMinUs: number;
+    readMaxUs: number;
+    readAvgUs: number;
+    /** Packets refused by a full USB TX ring. */
+    txDropped: number;
+    i2cErrors: number;
+    /** Stream slots dropped: bus still busy. */
+    slotsSkipped: number;
+    busRecoveries: number;
+    lastI2cError: number;
+    /** Rung-3 nRESET recoveries (sensor back in CONFIG). */
+    sensorResets: number;
+    loopMaxUs: number;
+}
+export declare const BNO055_INFO_SIZE = 38;
+export declare function unpackBno055Info(payload: Uint8Array): Bno055Info;
+/** True when the four identity registers carry the BNO055 values. */
+export declare function bno055IdsOk(info: Bno055Info): boolean;
+/** Sensor firmware revision as Bosch writes it: 0x0311 → "03.11". */
+export declare function bno055SwRevText(swRev: number): string;
+/**
+ * RPT_BNO_REG_STREAM — one streamed register block. `addr`/`length` echo the
+ * stream configuration so each report is self-describing.
+ */
+export interface Bno055StreamData {
+    /** MCU uptime at the trigger (timer expiry or INT edge). */
+    timestampUs: bigint;
+    addr: number;
+    length: number;
+    data: Uint8Array;
+}
+export declare function unpackBno055Stream(payload: Uint8Array): Bno055StreamData;
+//# sourceMappingURL=bno055.d.ts.map

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

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