@depz/sensor-sdk 0.2.2 → 0.4.0

package/dist/sensors/bno055/bno055.js

@@ -0,0 +1,547 @@
+/**
+ * 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 } from "../../device/device.js";
+import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { BNO055_RESET_TIMEOUT_MS, BNO055_TRIGGER_TIMER, BNO055_XFER_MAX, Bno055Cmd, Bno055Rpt, bno055IdsOk, packBno055ReadReg, packBno055StartStream, packBno055WriteReg, unpackBno055Info, unpackBno055RegData, unpackBno055Stream, } from "../../protocol/bno055.js";
+import { BNO055_BOOT_SETTLE_TIMEOUT_MS, BNO055_STUCK_SELF_TEST_POLLS, BNO055_CALIB_PROFILE_LEN, BNO055_DEFAULT_UNITS, BNO055_FULL_BLOCK, BNO055_FUSION_ACCEL_LSB, BNO055_FUSION_START_TIMEOUT_MS, BNO055_MAG_LSB, BNO055_MODE_SWITCH_FROM_CONFIG_MS, BNO055_MODE_SWITCH_TO_CONFIG_MS, BNO055_QUAT_BLOCK, BNO055_QUAT_LSB, BNO055_REG1_ACC_CONFIG, BNO055_REG1_GYR_CONFIG_0, BNO055_REG1_INT_EN, BNO055_REG1_INT_MSK, BNO055_REG1_INT_SETTINGS_FIRST, BNO055_REG1_INT_SETTINGS_LAST, BNO055_REG1_MAG_CONFIG, BNO055_REG1_UNIQUE_ID, BNO055_REG_AXIS_MAP_CONFIG, BNO055_REG_CALIB_PROFILE, BNO055_REG_CALIB_STAT, BNO055_REG_INT_STA, BNO055_REG_OPR_MODE, BNO055_REG_PAGE_ID, BNO055_REG_PWR_MODE, BNO055_REG_QUA_DATA, BNO055_REG_SIC_MATRIX, BNO055_REG_ST_RESULT, BNO055_REG_SYS_CLK_STATUS, BNO055_REG_SYS_STATUS, BNO055_REG_SYS_TRIGGER, BNO055_REG_TEMP_SOURCE, BNO055_REG_UNIT_SEL, BNO055_SELF_TEST_MS, BNO055_SIC_IDENTITY, BNO055_SYS_STATUS_BOOTING, BNO055_SYS_TRIGGER_CLK_SEL, BNO055_SYS_TRIGGER_RST_INT, BNO055_SYS_TRIGGER_SELF_TEST, BNO055_UNIQUE_ID_LEN, Bno055OprMode, bno055IsFusion, bno055Lsb, bno055Placement, decodeBno055Block, makeBno055SystemStatus, packBno055AccelConfig, packBno055AxisRemap, packBno055CalibrationProfile, packBno055GyroConfig, packBno055MagConfig, packBno055SicMatrix, packBno055Units, unpackBno055AccelConfig, unpackBno055AxisRemap, unpackBno055CalibStatus, unpackBno055CalibrationProfile, unpackBno055GyroConfig, unpackBno055MagConfig, unpackBno055SicMatrix, unpackBno055Units, } from "./regs.js";
+/** Decode one register window into a scaled sample. */
+export function decodeBno055Sample(timestampUs, addr, data, units) {
+    const r = decodeBno055Block(addr, data);
+    const lsb = bno055Lsb(units);
+    const scale = (v, k) => v === null ? null : v.map((x) => x / k);
+    return {
+        timestampUs,
+        addr,
+        raw: data.slice(),
+        units,
+        accel: scale(r.accel, lsb.accel),
+        mag: scale(r.mag, BNO055_MAG_LSB),
+        gyro: scale(r.gyro, lsb.gyro),
+        euler: scale(r.euler, lsb.euler),
+        quaternion: scale(r.quaternion, BNO055_QUAT_LSB),
+        linearAccel: scale(r.linearAccel, BNO055_FUSION_ACCEL_LSB),
+        gravity: scale(r.gravity, BNO055_FUSION_ACCEL_LSB),
+        temperature: r.temperature === null ? null : r.temperature / lsb.temp,
+        calibration: r.calibStat === null ? null : unpackBno055CalibStatus(r.calibStat),
+    };
+}
+/**
+ * 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 class Bno055 extends DepzDevice {
+    sleepImpl;
+    chain = Promise.resolve();
+    unitsCache = null;
+    streamingFlag = false;
+    streamUnits = BNO055_DEFAULT_UNITS;
+    sampleCbs = [];
+    sampleQueues = [];
+    streamParseErrorCount = 0;
+    configured = null;
+    constructor(transport, opts) {
+        super(transport, opts);
+        this.sleepImpl = opts?.sleepImpl ?? ((ms) => new Promise((r) => setTimeout(r, ms)));
+    }
+    // ── identity & bridge diagnostics ──────────────────────────────────────────
+    /** RPT_BNO_INFO: chip ids, sensor firmware revision and bridge counters. */
+    bridgeInfo() {
+        return this.request(Bno055Cmd.GetInfo, undefined, {
+            matcher: DepzDevice.expectReport(Bno055Rpt.Info, unpackBno055Info),
+        });
+    }
+    /** True when the bridge passed the chip-ID handshake and the ids match. */
+    async isAlive() {
+        try {
+            const info = await this.bridgeInfo();
+            return info.initialized === 1 && bno055IdsOk(info);
+        }
+        catch (err) {
+            if (err instanceof DepzError)
+                return false;
+            throw err;
+        }
+    }
+    /**
+     * 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() {
+        return this.locked(async () => {
+            await this.request(Bno055Cmd.Reset, undefined, {
+                okCompletes: true,
+                timeoutMs: BNO055_RESET_TIMEOUT_MS,
+            });
+            this.streamingFlag = false;
+            this.unitsCache = null;
+            await this.waitBooted();
+        });
+    }
+    // ── raw register access ────────────────────────────────────────────────────
+    /** Read `length` bytes at `addr` on `page` (page 1 refused while streaming). */
+    readRegisters(addr, length, page = 0) {
+        return this.locked(() => this.onPage(page, async () => (await this.rd(addr, length)).data));
+    }
+    /** Write `data` at `addr` on `page`. Most config registers need CONFIG mode. */
+    writeRegisters(addr, data, page = 0) {
+        return this.locked(() => this.onPage(page, () => this.wr(addr, data)));
+    }
+    async readRegister(addr, page = 0) {
+        return (await this.readRegisters(addr, 1, page))[0];
+    }
+    writeRegister(addr, value, page = 0) {
+        return this.writeRegisters(addr, Uint8Array.of(value & 0xff), page);
+    }
+    // ── operating mode, power, units, axes ────────────────────────────────────
+    async getOperationMode() {
+        return ((await this.readRegister(BNO055_REG_OPR_MODE)) & 0x0f);
+    }
+    /**
+     * 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) {
+        return this.locked(async () => {
+            if (mode !== Bno055OprMode.Config) {
+                const current = ((await this.rd(BNO055_REG_OPR_MODE, 1)).data[0] & 0x0f);
+                if (current === mode)
+                    return;
+                if (current !== Bno055OprMode.Config)
+                    await this.switchMode(Bno055OprMode.Config);
+            }
+            await this.switchMode(mode);
+        });
+    }
+    async getPowerMode() {
+        return ((await this.readRegister(BNO055_REG_PWR_MODE)) & 0x03);
+    }
+    setPowerMode(mode) {
+        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_PWR_MODE, Uint8Array.of(mode))));
+    }
+    async getUnits() {
+        const u = unpackBno055Units(await this.readRegister(BNO055_REG_UNIT_SEL));
+        this.unitsCache = u;
+        return u;
+    }
+    setUnits(units) {
+        return this.locked(() => this.inConfig(async () => {
+            await this.wr(BNO055_REG_UNIT_SEL, Uint8Array.of(packBno055Units(units)));
+            this.unitsCache = units;
+        }));
+    }
+    async getAxisRemap() {
+        const b = await this.readRegisters(BNO055_REG_AXIS_MAP_CONFIG, 2);
+        return unpackBno055AxisRemap(b[0], b[1]);
+    }
+    /** An AxisRemap, or a datasheet placement "P0".."P7" (P1 = default). */
+    setAxisRemap(remap) {
+        const r = typeof remap === "string" ? bno055Placement(remap) : remap;
+        const bytes = Uint8Array.from(packBno055AxisRemap(r));
+        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_AXIS_MAP_CONFIG, bytes)));
+    }
+    async getTemperatureSource() {
+        return ((await this.readRegister(BNO055_REG_TEMP_SOURCE)) & 0x03);
+    }
+    setTemperatureSource(source) {
+        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_TEMP_SOURCE, Uint8Array.of(source))));
+    }
+    /**
+     * 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 = {}) {
+        const mode = opts.mode ?? Bno055OprMode.Ndof;
+        const units = opts.units ?? BNO055_DEFAULT_UNITS;
+        const axis = typeof opts.axisRemap === "string" ? bno055Placement(opts.axisRemap) : opts.axisRemap;
+        return this.locked(async () => {
+            await this.waitBooted();
+            await this.switchMode(Bno055OprMode.Config);
+            await this.wr(BNO055_REG_UNIT_SEL, Uint8Array.of(packBno055Units(units)));
+            this.unitsCache = units;
+            if (axis !== undefined) {
+                await this.wr(BNO055_REG_AXIS_MAP_CONFIG, Uint8Array.from(packBno055AxisRemap(axis)));
+            }
+            if (opts.calibration !== undefined) {
+                await this.wr(BNO055_REG_CALIB_PROFILE, packBno055CalibrationProfile(opts.calibration));
+            }
+            await this.switchMode(mode);
+            if (bno055IsFusion(mode))
+                await this.waitFusionStarted(true);
+            this.configured = { mode, units, axisRemap: axis, calibration: opts.calibration };
+        });
+    }
+    /**
+     * Re-apply the last configure() — after resetSensor(), or when
+     * bridgeInfo().sensorResets rose (the bridge's bus recovery pulses nRESET).
+     */
+    restoreConfiguration() {
+        if (this.configured === null) {
+            return Promise.reject(new DepzError("configure() has not been called"));
+        }
+        return this.configure(this.configured);
+    }
+    // ── status, self-test, calibration ────────────────────────────────────────
+    /** ST_RESULT, SYS_CLK_STATUS, SYS_STATUS, SYS_ERR (INT_STA skipped). */
+    systemStatus() {
+        return this.locked(() => this.readSystemStatus());
+    }
+    /**
+     * 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() {
+        this.requireNotStreaming();
+        return this.locked(async () => {
+            const previous = ((await this.rd(BNO055_REG_OPR_MODE, 1)).data[0] & 0x0f);
+            if (previous !== Bno055OprMode.Config)
+                await this.switchMode(Bno055OprMode.Config);
+            try {
+                const clk = (await this.rd(BNO055_REG_SYS_TRIGGER, 1)).data[0] & BNO055_SYS_TRIGGER_CLK_SEL;
+                await this.wr(BNO055_REG_SYS_TRIGGER, Uint8Array.of(clk | BNO055_SYS_TRIGGER_SELF_TEST));
+                await this.sleepImpl(BNO055_SELF_TEST_MS);
+                const status = await this.readSystemStatus();
+                // Staying in CONFIG would leave SYS_STATUS at 4 for good.
+                if (previous === Bno055OprMode.Config)
+                    await this.clearSelfTestStatus();
+                return status;
+            }
+            finally {
+                if (previous !== Bno055OprMode.Config)
+                    await this.switchMode(previous);
+            }
+        });
+    }
+    async calibrationStatus() {
+        return unpackBno055CalibStatus(await this.readRegister(BNO055_REG_CALIB_STAT));
+    }
+    /** Offsets and radii (0x55..0x6A) — CONFIG only; the driver switches there and back. */
+    readCalibrationProfile() {
+        return this.locked(() => this.inConfig(async () => unpackBno055CalibrationProfile((await this.rd(BNO055_REG_CALIB_PROFILE, BNO055_CALIB_PROFILE_LEN)).data)));
+    }
+    /**
+     * 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) {
+        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_CALIB_PROFILE, packBno055CalibrationProfile(profile))));
+    }
+    async getSicMatrix() {
+        return unpackBno055SicMatrix(await this.readRegisters(BNO055_REG_SIC_MATRIX, 18));
+    }
+    setSicMatrix(matrix = BNO055_SIC_IDENTITY) {
+        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_SIC_MATRIX, packBno055SicMatrix(matrix))));
+    }
+    // ── page 1: raw sensor configuration (non-fusion modes) ────────────────────
+    async getAccelConfig() {
+        return unpackBno055AccelConfig(await this.readRegister(BNO055_REG1_ACC_CONFIG, 1));
+    }
+    setAccelConfig(c) {
+        return this.writePage1Config(BNO055_REG1_ACC_CONFIG, Uint8Array.of(packBno055AccelConfig(c)));
+    }
+    async getGyroConfig() {
+        return unpackBno055GyroConfig(await this.readRegisters(BNO055_REG1_GYR_CONFIG_0, 2, 1));
+    }
+    setGyroConfig(c) {
+        return this.writePage1Config(BNO055_REG1_GYR_CONFIG_0, packBno055GyroConfig(c));
+    }
+    async getMagConfig() {
+        return unpackBno055MagConfig(await this.readRegister(BNO055_REG1_MAG_CONFIG, 1));
+    }
+    setMagConfig(c) {
+        return this.writePage1Config(BNO055_REG1_MAG_CONFIG, Uint8Array.of(packBno055MagConfig(c)));
+    }
+    /** The chip's 16-byte unique id (page 1, 0x50..0x5F). */
+    uniqueId() {
+        return this.readRegisters(BNO055_REG1_UNIQUE_ID, BNO055_UNIQUE_ID_LEN, 1);
+    }
+    // ── interrupts (motion only on SW rev 03.11) ───────────────────────────────
+    getInterruptEnable() {
+        return this.readRegister(BNO055_REG1_INT_EN, 1);
+    }
+    setInterruptEnable(mask) {
+        return this.writeRegister(BNO055_REG1_INT_EN, mask, 1);
+    }
+    getInterruptMask() {
+        return this.readRegister(BNO055_REG1_INT_MSK, 1);
+    }
+    setInterruptMask(mask) {
+        return this.writeRegister(BNO055_REG1_INT_MSK, mask, 1);
+    }
+    /** One raw motion-interrupt setting (page 1, 0x11..0x1F). Not while streaming. */
+    setInterruptSetting(register, value) {
+        if (register < BNO055_REG1_INT_SETTINGS_FIRST || register > BNO055_REG1_INT_SETTINGS_LAST) {
+            return Promise.reject(new RangeError(`0x${register.toString(16)} is not a page-1 interrupt setting`));
+        }
+        return this.writePage1Config(register, Uint8Array.of(value & 0xff));
+    }
+    /** INT_STA — which interrupts fired. Clears on read. */
+    readInterruptStatus() {
+        return this.readRegister(BNO055_REG_INT_STA);
+    }
+    /** SYS_TRIGGER RST_INT: reset the interrupt status bits and the INT pin. */
+    clearInterrupt() {
+        return this.locked(async () => {
+            const clk = (await this.rd(BNO055_REG_SYS_TRIGGER, 1)).data[0] & BNO055_SYS_TRIGGER_CLK_SEL;
+            await this.wr(BNO055_REG_SYS_TRIGGER, Uint8Array.of(clk | BNO055_SYS_TRIGGER_RST_INT));
+        });
+    }
+    // ── data ───────────────────────────────────────────────────────────────────
+    /** Poll one register block (default the full 46-byte block) and decode it. */
+    readSample(block = BNO055_FULL_BLOCK) {
+        return this.locked(async () => {
+            const units = await this.currentUnits();
+            const r = await this.rd(block[0], block[1]);
+            return decodeBno055Sample(r.timestampUs, block[0], r.data, units);
+        });
+    }
+    /** (w, x, y, z) — the cheapest orientation read. */
+    async readQuaternion() {
+        return (await this.readSample(BNO055_QUAT_BLOCK)).quaternion;
+    }
+    /**
+     * Arm the bridge: read `block` every `periodMs` and push it. Fusion runs at
+     * 100 Hz, so 10 ms is the useful floor. `trigger = BNO055_TRIGGER_INT`
+     * reads on the INT edge with `periodMs` as a watchdog. Replaces a stream.
+     */
+    startStream(periodMs = 10, block = BNO055_FULL_BLOCK, trigger = BNO055_TRIGGER_TIMER) {
+        const [addr, length] = block;
+        if (length < 1 || length > BNO055_XFER_MAX || addr + length > 0x100) {
+            return Promise.reject(new RangeError(`block 0x${addr.toString(16)}+${length} outside 1..128 / page`));
+        }
+        return this.locked(async () => {
+            // Units first: the read pump may decode the first sample before the
+            // command's own reply is processed.
+            this.streamUnits = await this.currentUnits();
+            await this.request(Bno055Cmd.StartStream, packBno055StartStream(trigger, addr, length, periodMs), {
+                okCompletes: true,
+            });
+            this.streamingFlag = true;
+        });
+    }
+    async stopStream() {
+        if (!this.streamingFlag)
+            return;
+        try {
+            await this.request(Bno055Cmd.StopStream, undefined, { okCompletes: true });
+        }
+        finally {
+            this.streamingFlag = false;
+        }
+    }
+    get streaming() {
+        return this.streamingFlag;
+    }
+    /** Subscribe to streamed samples (read-pump context; don't block). */
+    onSample(cb) {
+        this.sampleCbs.push(cb);
+        return () => {
+            this.sampleCbs = this.sampleCbs.filter((c) => c !== cb);
+        };
+    }
+    /** Async iterator over streamed samples — bounded, drop-oldest. */
+    samples(maxsize = 256) {
+        const queue = new StreamQueue(maxsize, () => {
+            this.sampleQueues = this.sampleQueues.filter((q) => q !== queue);
+            deregister();
+        });
+        this.sampleQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        return queue;
+    }
+    /** Wait for the next streamed sample. */
+    async getSample(timeoutMs = 1000) {
+        const queue = new StreamQueue(1);
+        this.sampleQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        let timer;
+        try {
+            const result = await Promise.race([
+                queue.next(),
+                new Promise((_, reject) => {
+                    timer = setTimeout(() => reject(new DepzTimeoutError(Bno055Rpt.Stream, timeoutMs)), timeoutMs);
+                }),
+            ]);
+            if (result.done === true)
+                throw new DepzError("device closed");
+            return result.value;
+        }
+        finally {
+            if (timer !== undefined)
+                clearTimeout(timer);
+            this.sampleQueues = this.sampleQueues.filter((q) => q !== queue);
+            deregister();
+        }
+    }
+    /** Stream reports dropped because they did not decode (short block). */
+    get streamParseErrors() {
+        return this.streamParseErrorCount;
+    }
+    get streamDroppedCounts() {
+        return this.sampleQueues.map((q) => q.droppedCount);
+    }
+    // ── internal ───────────────────────────────────────────────────────────────
+    /** Run `fn` after every previously queued sequence (non-reentrant). */
+    locked(fn) {
+        const run = this.chain.then(fn, fn);
+        this.chain = run.catch(() => undefined);
+        return run;
+    }
+    async rd(addr, length) {
+        const out = new Uint8Array(length);
+        let off = 0;
+        let ts = 0n;
+        while (off < length) {
+            const n = Math.min(length - off, BNO055_XFER_MAX);
+            const rep = await this.request(Bno055Cmd.ReadReg, packBno055ReadReg(addr + off, n), {
+                matcher: DepzDevice.expectReport(Bno055Rpt.RegData, unpackBno055RegData),
+            });
+            if (rep.data.length !== n) {
+                throw new DepzError(`READ_REG 0x${(addr + off).toString(16)}: expected ${n}, got ${rep.data.length}`);
+            }
+            out.set(rep.data, off);
+            ts = rep.timestampUs;
+            off += n;
+        }
+        return { timestampUs: ts, data: out };
+    }
+    async wr(addr, data) {
+        for (let off = 0; off < data.length; off += BNO055_XFER_MAX) {
+            const chunk = data.subarray(off, off + BNO055_XFER_MAX);
+            await this.request(Bno055Cmd.WriteReg, packBno055WriteReg(addr + off, chunk), { okCompletes: true });
+        }
+    }
+    async onPage(page, fn) {
+        if (page === 0)
+            return fn();
+        if (page !== 1)
+            throw new RangeError(`BNO055 has register pages 0 and 1, not ${page}`);
+        this.requireNotStreaming();
+        await this.wr(BNO055_REG_PAGE_ID, Uint8Array.of(1));
+        try {
+            return await fn();
+        }
+        finally {
+            await this.wr(BNO055_REG_PAGE_ID, Uint8Array.of(0));
+        }
+    }
+    async switchMode(mode) {
+        await this.wr(BNO055_REG_OPR_MODE, Uint8Array.of(mode));
+        await this.sleepImpl(mode === Bno055OprMode.Config ? BNO055_MODE_SWITCH_TO_CONFIG_MS : BNO055_MODE_SWITCH_FROM_CONFIG_MS);
+        if (bno055IsFusion(mode))
+            await this.waitFusionStarted(false);
+    }
+    /** Run `fn` in CONFIG mode and put the previous mode back. */
+    async inConfig(fn) {
+        const previous = ((await this.rd(BNO055_REG_OPR_MODE, 1)).data[0] & 0x0f);
+        if (previous !== Bno055OprMode.Config)
+            await this.switchMode(Bno055OprMode.Config);
+        try {
+            return await fn();
+        }
+        finally {
+            if (previous !== Bno055OprMode.Config)
+                await this.switchMode(previous);
+        }
+    }
+    writePage1Config(addr, data) {
+        this.requireNotStreaming();
+        return this.locked(() => this.inConfig(() => this.onPage(1, () => this.wr(addr, data))));
+    }
+    async readSystemStatus() {
+        const st = (await this.rd(BNO055_REG_ST_RESULT, 1)).data[0];
+        const b = (await this.rd(BNO055_REG_SYS_CLK_STATUS, 3)).data;
+        return makeBno055SystemStatus(st, b[0], b[1], b[2]);
+    }
+    /** 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. */
+    async clearSelfTestStatus() {
+        await this.switchMode(Bno055OprMode.AccOnly);
+        await this.switchMode(Bno055OprMode.Config);
+    }
+    /** Poll SYS_STATUS until boot (init + POST) is over; a 4 that outlasts POST is a self-test leftover, cleared. */
+    async waitBooted() {
+        const deadline = Date.now() + BNO055_BOOT_SETTLE_TIMEOUT_MS;
+        let inSelfTest = 0;
+        let cleared = false;
+        for (;;) {
+            const status = (await this.rd(BNO055_REG_SYS_STATUS, 1)).data[0];
+            if (!BNO055_SYS_STATUS_BOOTING.includes(status))
+                return;
+            inSelfTest = status === 4 ? inSelfTest + 1 : 0;
+            if (inSelfTest >= BNO055_STUCK_SELF_TEST_POLLS && !cleared) {
+                await this.clearSelfTestStatus();
+                cleared = true;
+                inSelfTest = 0;
+                continue;
+            }
+            if (Date.now() > deadline)
+                throw new DepzError("BNO055 did not finish booting (SYS_STATUS stuck)");
+            await this.sleepImpl(5);
+        }
+    }
+    /** A running fusion never outputs the all-zero quaternion. */
+    async waitFusionStarted(strict) {
+        const deadline = Date.now() + BNO055_FUSION_START_TIMEOUT_MS;
+        while ((await this.rd(BNO055_REG_QUA_DATA, 8)).data.every((b) => b === 0)) {
+            if (Date.now() > deadline) {
+                if (strict)
+                    throw new DepzError("BNO055 fusion did not start (quaternion stays zero)");
+                return;
+            }
+            await this.sleepImpl(10);
+        }
+    }
+    async currentUnits() {
+        if (this.unitsCache === null) {
+            this.unitsCache = unpackBno055Units((await this.rd(BNO055_REG_UNIT_SEL, 1)).data[0]);
+        }
+        return this.unitsCache;
+    }
+    requireNotStreaming() {
+        if (this.streamingFlag)
+            throw new DepzError("stopStream() first — the stream reads page 0");
+    }
+    handleReport(pkt) {
+        if (pkt.cmd !== Bno055Rpt.Stream)
+            return false;
+        if (pkt.payload.length < 10) {
+            this.streamParseErrorCount += 1;
+            return true;
+        }
+        const s = unpackBno055Stream(pkt.payload);
+        if (s.data.length !== s.length) {
+            this.streamParseErrorCount += 1;
+            return true;
+        }
+        const sample = decodeBno055Sample(s.timestampUs, s.addr, s.data, this.streamUnits);
+        for (const cb of [...this.sampleCbs])
+            cb(sample);
+        for (const q of [...this.sampleQueues])
+            q.push(sample);
+        return true;
+    }
+}
+//# sourceMappingURL=bno055.js.map

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

@@ -0,0 +1 @@
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