@depz/sensor-sdk 0.2.2 → 0.4.0

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

@@ -0,0 +1,271 @@
+/**
+ * BNO055 register map and the pure codecs every SDK shares
+ * (contracts/13_SENSOR_BNO055.md §4, Bosch BST-BNO055-DS000 rev 1.8).
+ * Mirrors the Python reference `depz_sensor_sdk.bno055.regs`.
+ *
+ * Nothing here touches the wire: these functions turn register bytes into
+ * values and back, so they are what `vectors/bno055.json` pins.
+ */
+export declare const BNO055_REG_CHIP_ID = 0;
+export declare const BNO055_REG_PAGE_ID = 7;
+export declare const BNO055_REG_ACC_DATA = 8;
+export declare const BNO055_REG_MAG_DATA = 14;
+export declare const BNO055_REG_GYR_DATA = 20;
+/** heading, roll, pitch */
+export declare const BNO055_REG_EUL_DATA = 26;
+/** w, x, y, z */
+export declare const BNO055_REG_QUA_DATA = 32;
+export declare const BNO055_REG_LIA_DATA = 40;
+export declare const BNO055_REG_GRV_DATA = 46;
+export declare const BNO055_REG_TEMP = 52;
+export declare const BNO055_REG_CALIB_STAT = 53;
+export declare const BNO055_REG_ST_RESULT = 54;
+/** Clear-on-read — never part of a routine block read. */
+export declare const BNO055_REG_INT_STA = 55;
+export declare const BNO055_REG_SYS_CLK_STATUS = 56;
+export declare const BNO055_REG_SYS_STATUS = 57;
+export declare const BNO055_REG_SYS_ERR = 58;
+export declare const BNO055_REG_UNIT_SEL = 59;
+export declare const BNO055_REG_OPR_MODE = 61;
+export declare const BNO055_REG_PWR_MODE = 62;
+export declare const BNO055_REG_SYS_TRIGGER = 63;
+export declare const BNO055_REG_TEMP_SOURCE = 64;
+export declare const BNO055_REG_AXIS_MAP_CONFIG = 65;
+export declare const BNO055_REG_AXIS_MAP_SIGN = 66;
+/** 9 × i16, row-major. */
+export declare const BNO055_REG_SIC_MATRIX = 67;
+/** acc/mag/gyr offsets + acc/mag radius. */
+export declare const BNO055_REG_CALIB_PROFILE = 85;
+export declare const BNO055_CALIB_PROFILE_LEN = 22;
+export declare const BNO055_REG1_ACC_CONFIG = 8;
+export declare const BNO055_REG1_MAG_CONFIG = 9;
+export declare const BNO055_REG1_GYR_CONFIG_0 = 10;
+export declare const BNO055_REG1_GYR_CONFIG_1 = 11;
+export declare const BNO055_REG1_INT_MSK = 15;
+export declare const BNO055_REG1_INT_EN = 16;
+/** First / last page-1 motion-interrupt setting register (written raw). */
+export declare const BNO055_REG1_INT_SETTINGS_FIRST = 17;
+export declare const BNO055_REG1_INT_SETTINGS_LAST = 31;
+export declare const BNO055_REG1_UNIQUE_ID = 80;
+export declare const BNO055_UNIQUE_ID_LEN = 16;
+/** [addr, len] of the block carrying every output channel (0x08..0x35). */
+export declare const BNO055_FULL_BLOCK: readonly [number, number];
+/** [addr, len] of the quaternion alone — the cheapest orientation read. */
+export declare const BNO055_QUAT_BLOCK: readonly [number, number];
+export declare const BNO055_SYS_TRIGGER_SELF_TEST = 1;
+export declare const BNO055_SYS_TRIGGER_RST_SYS = 32;
+export declare const BNO055_SYS_TRIGGER_RST_INT = 64;
+export declare const BNO055_SYS_TRIGGER_CLK_SEL = 128;
+/**
+ * INT_EN / INT_MSK / INT_STA bits. The DRDY bits exist only on sensor
+ * firmware 03.14+; the boards in this line carry 03.11.
+ */
+export declare const BNO055_INT: {
+    readonly accBsxDrdy: 1;
+    readonly magDrdy: 2;
+    readonly gyrAm: 4;
+    readonly gyrHighRate: 8;
+    readonly gyrDrdy: 16;
+    readonly accHighG: 32;
+    readonly accAm: 64;
+    readonly accNm: 128;
+};
+/** ST_RESULT bits (1 = passed). */
+export declare const BNO055_ST: {
+    readonly acc: 1;
+    readonly mag: 2;
+    readonly gyr: 4;
+    readonly mcu: 8;
+};
+export declare const BNO055_EXPECTED_SELF_TEST = 15;
+/** OPR_MODE (0x3D) bits 3:0. */
+export declare enum Bno055OprMode {
+    Config = 0,
+    AccOnly = 1,
+    MagOnly = 2,
+    GyroOnly = 3,
+    AccMag = 4,
+    AccGyro = 5,
+    MagGyro = 6,
+    Amg = 7,
+    Imu = 8,
+    Compass = 9,
+    M4g = 10,
+    NdofFmcOff = 11,
+    Ndof = 12
+}
+export declare function bno055IsFusion(mode: Bno055OprMode): boolean;
+/** PWR_MODE (0x3E) bits 1:0. */
+export declare enum Bno055PwrMode {
+    Normal = 0,
+    LowPower = 1,
+    Suspend = 2
+}
+/** TEMP_SOURCE (0x40) bits 1:0. */
+export declare enum Bno055TempSource {
+    Accel = 0,
+    Gyro = 1
+}
+/** Datasheet Table 3-6 plus margin: CONFIG → any 7 ms, any → CONFIG 19 ms. */
+export declare const BNO055_MODE_SWITCH_FROM_CONFIG_MS = 10;
+export declare const BNO055_MODE_SWITCH_TO_CONFIG_MS = 25;
+/** BIST runs ~400 ms (datasheet §3.9.2). */
+export declare const BNO055_SELF_TEST_MS = 450;
+/**
+ * SYS_STATUS values while the sensor is still booting after BNO_RESET —
+ * the bridge answers at the chip-ID handshake, ~15 ms before the sensor's
+ * boot ends and it reverts OPR_MODE (contract 13 §5, ERRATA E13).
+ */
+export declare const BNO055_SYS_STATUS_BOOTING: readonly number[];
+export declare const BNO055_BOOT_SETTLE_TIMEOUT_MS = 1000;
+/**
+ * SYS_STATUS 4 polls in a row taken as the leftover of a self-test run in
+ * CONFIG mode, not POST: POST shows 4 for ~35 ms (a handful of polls), the
+ * leftover stays until the mode leaves CONFIG (measured on SW 03.11). Counted,
+ * not timed, so a replay makes the same decision.
+ */
+export declare const BNO055_STUCK_SELF_TEST_POLLS = 20;
+/** Fusion outputs read zero for ~70 ms after CONFIG → a fusion mode. */
+export declare const BNO055_FUSION_START_TIMEOUT_MS = 1000;
+export declare const BNO055_SYS_STATUS_NAMES: Readonly<Record<number, string>>;
+export declare const BNO055_SYS_ERR_NAMES: Readonly<Record<number, string>>;
+/**
+ * Output units. Default (all false) = m/s², dps, degrees, °C, Windows
+ * orientation (UNIT_SEL 0x00). The sensor's power-on value is 0x80.
+ */
+export interface Bno055Units {
+    /** ACC_DATA in mg, else m/s² (linear accel / gravity stay m/s²). */
+    accelMg: boolean;
+    gyroRps: boolean;
+    eulerRad: boolean;
+    tempF: boolean;
+    android: boolean;
+}
+export declare const BNO055_DEFAULT_UNITS: Readonly<Bno055Units>;
+export declare function packBno055Units(u: Bno055Units): number;
+export declare function unpackBno055Units(value: number): Bno055Units;
+/** LSB per unit (contract 13 §4.2). */
+export declare function bno055Lsb(u: Bno055Units): {
+    accel: number;
+    gyro: number;
+    euler: number;
+    temp: number;
+};
+export declare const BNO055_MAG_LSB = 16;
+export declare const BNO055_QUAT_LSB = 16384;
+/** LIA / GRV ignore the ACC_Unit bit: always m/s² at 100 LSB (measured). */
+export declare const BNO055_FUSION_ACCEL_LSB = 100;
+/** CALIB_STAT (0x35): 0 = not calibrated … 3 = fully calibrated. */
+export interface Bno055CalibStatus {
+    system: number;
+    gyro: number;
+    accel: number;
+    mag: number;
+}
+export declare function unpackBno055CalibStatus(v: number): Bno055CalibStatus;
+export declare function packBno055CalibStatus(s: Bno055CalibStatus): number;
+export declare function bno055FullyCalibrated(s: Bno055CalibStatus): boolean;
+type Vec3i = [number, number, number];
+/**
+ * Sensor offsets and radii, registers 0x55..0x6A (22 bytes, all i16 LE).
+ * Read after a full calibration (CONFIG mode), store, write back after
+ * every power-on reset. A written profile is a starting point: fusion
+ * refines it as soon as it resumes.
+ */
+export interface Bno055CalibrationProfile {
+    accelOffset: Vec3i;
+    magOffset: Vec3i;
+    gyroOffset: Vec3i;
+    accelRadius: number;
+    magRadius: number;
+}
+export declare function packBno055CalibrationProfile(p: Bno055CalibrationProfile): Uint8Array;
+export declare function unpackBno055CalibrationProfile(data: Uint8Array): Bno055CalibrationProfile;
+/** Soft-iron matrix, 9 × i16 row-major, 1.0 = 16384. */
+export declare const BNO055_SIC_IDENTITY: readonly number[];
+export declare function packBno055SicMatrix(m: readonly number[]): Uint8Array;
+export declare function unpackBno055SicMatrix(data: Uint8Array): number[];
+export declare const BNO055_AXIS_X = 0;
+export declare const BNO055_AXIS_Y = 1;
+export declare const BNO055_AXIS_Z = 2;
+/**
+ * Which physical axis feeds each output axis, and its sign: `x = AXIS_Y`
+ * means "output X is the chip's Y axis".
+ */
+export interface Bno055AxisRemap {
+    x: number;
+    y: number;
+    z: number;
+    xNegative: boolean;
+    yNegative: boolean;
+    zNegative: boolean;
+}
+export declare const BNO055_DEFAULT_AXIS_REMAP: Readonly<Bno055AxisRemap>;
+/**
+ * → [AXIS_MAP_CONFIG, AXIS_MAP_SIGN]. The sensor keeps the old mapping when
+ * one axis is used twice, so this refuses a non-permutation up front.
+ */
+export declare function packBno055AxisRemap(a: Bno055AxisRemap): [number, number];
+export declare function unpackBno055AxisRemap(config: number, sign: number): Bno055AxisRemap;
+/** Datasheet §3.4: placement → [AXIS_MAP_CONFIG, AXIS_MAP_SIGN]; P1 is the default. */
+export declare const BNO055_PLACEMENTS: Readonly<Record<string, readonly [number, number]>>;
+export declare function bno055Placement(name: string): Bno055AxisRemap;
+export declare const BNO055_ACC_RANGE_G: readonly number[];
+export declare const BNO055_ACC_BANDWIDTH_HZ: readonly number[];
+export declare const BNO055_GYR_RANGE_DPS: readonly number[];
+export declare const BNO055_GYR_BANDWIDTH_HZ: readonly number[];
+export declare const BNO055_MAG_RATE_HZ: readonly number[];
+/** Register codes: `range`/`bandwidth` index the tables above, `power` the datasheet mode list. */
+export interface Bno055AccelConfig {
+    range: number;
+    bandwidth: number;
+    power: number;
+}
+export declare function packBno055AccelConfig(c: Bno055AccelConfig): number;
+export declare function unpackBno055AccelConfig(v: number): Bno055AccelConfig;
+export interface Bno055GyroConfig {
+    range: number;
+    bandwidth: number;
+    power: number;
+}
+export declare function packBno055GyroConfig(c: Bno055GyroConfig): Uint8Array;
+export declare function unpackBno055GyroConfig(b: Uint8Array): Bno055GyroConfig;
+export interface Bno055MagConfig {
+    rate: number;
+    mode: number;
+    power: number;
+}
+export declare function packBno055MagConfig(c: Bno055MagConfig): number;
+export declare function unpackBno055MagConfig(v: number): Bno055MagConfig;
+/** ST_RESULT (0x36) + SYS_CLK_STATUS/SYS_STATUS/SYS_ERR (0x38..0x3A). */
+export interface Bno055SystemStatus {
+    selfTest: number;
+    clkStatus: number;
+    status: number;
+    error: number;
+    statusText: string;
+    errorText: string;
+    selfTestPassed: boolean;
+}
+export declare function makeBno055SystemStatus(selfTest: number, clkStatus: number, status: number, error: number): Bno055SystemStatus;
+/**
+ * Raw register values found in one block read. A channel is null when the
+ * window `addr..addr+len` does not cover it completely.
+ */
+export interface Bno055RawBlock {
+    accel: Vec3i | null;
+    mag: Vec3i | null;
+    gyro: Vec3i | null;
+    /** heading, roll, pitch */
+    euler: Vec3i | null;
+    /** w, x, y, z */
+    quaternion: [number, number, number, number] | null;
+    linearAccel: Vec3i | null;
+    gravity: Vec3i | null;
+    temperature: number | null;
+    calibStat: number | null;
+}
+/** Unpack whatever channels the register window starting at `addr` holds. */
+export declare function decodeBno055Block(addr: number, data: Uint8Array): Bno055RawBlock;
+export {};
+//# sourceMappingURL=regs.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/sensors/bno055/regs.js

@@ -0,0 +1,366 @@
+/**
+ * BNO055 register map and the pure codecs every SDK shares
+ * (contracts/13_SENSOR_BNO055.md §4, Bosch BST-BNO055-DS000 rev 1.8).
+ * Mirrors the Python reference `depz_sensor_sdk.bno055.regs`.
+ *
+ * Nothing here touches the wire: these functions turn register bytes into
+ * values and back, so they are what `vectors/bno055.json` pins.
+ */
+// ── page 0 ────────────────────────────────────────────────────────────────────
+export const BNO055_REG_CHIP_ID = 0x00;
+export const BNO055_REG_PAGE_ID = 0x07;
+export const BNO055_REG_ACC_DATA = 0x08;
+export const BNO055_REG_MAG_DATA = 0x0e;
+export const BNO055_REG_GYR_DATA = 0x14;
+/** heading, roll, pitch */
+export const BNO055_REG_EUL_DATA = 0x1a;
+/** w, x, y, z */
+export const BNO055_REG_QUA_DATA = 0x20;
+export const BNO055_REG_LIA_DATA = 0x28;
+export const BNO055_REG_GRV_DATA = 0x2e;
+export const BNO055_REG_TEMP = 0x34;
+export const BNO055_REG_CALIB_STAT = 0x35;
+export const BNO055_REG_ST_RESULT = 0x36;
+/** Clear-on-read — never part of a routine block read. */
+export const BNO055_REG_INT_STA = 0x37;
+export const BNO055_REG_SYS_CLK_STATUS = 0x38;
+export const BNO055_REG_SYS_STATUS = 0x39;
+export const BNO055_REG_SYS_ERR = 0x3a;
+export const BNO055_REG_UNIT_SEL = 0x3b;
+export const BNO055_REG_OPR_MODE = 0x3d;
+export const BNO055_REG_PWR_MODE = 0x3e;
+export const BNO055_REG_SYS_TRIGGER = 0x3f;
+export const BNO055_REG_TEMP_SOURCE = 0x40;
+export const BNO055_REG_AXIS_MAP_CONFIG = 0x41;
+export const BNO055_REG_AXIS_MAP_SIGN = 0x42;
+/** 9 × i16, row-major. */
+export const BNO055_REG_SIC_MATRIX = 0x43;
+/** acc/mag/gyr offsets + acc/mag radius. */
+export const BNO055_REG_CALIB_PROFILE = 0x55;
+export const BNO055_CALIB_PROFILE_LEN = 22;
+// ── page 1 ────────────────────────────────────────────────────────────────────
+export const BNO055_REG1_ACC_CONFIG = 0x08;
+export const BNO055_REG1_MAG_CONFIG = 0x09;
+export const BNO055_REG1_GYR_CONFIG_0 = 0x0a;
+export const BNO055_REG1_GYR_CONFIG_1 = 0x0b;
+export const BNO055_REG1_INT_MSK = 0x0f;
+export const BNO055_REG1_INT_EN = 0x10;
+/** First / last page-1 motion-interrupt setting register (written raw). */
+export const BNO055_REG1_INT_SETTINGS_FIRST = 0x11;
+export const BNO055_REG1_INT_SETTINGS_LAST = 0x1f;
+export const BNO055_REG1_UNIQUE_ID = 0x50;
+export const BNO055_UNIQUE_ID_LEN = 16;
+/** [addr, len] of the block carrying every output channel (0x08..0x35). */
+export const BNO055_FULL_BLOCK = [0x08, 46];
+/** [addr, len] of the quaternion alone — the cheapest orientation read. */
+export const BNO055_QUAT_BLOCK = [0x20, 8];
+// SYS_TRIGGER bits.
+export const BNO055_SYS_TRIGGER_SELF_TEST = 0x01;
+export const BNO055_SYS_TRIGGER_RST_SYS = 0x20;
+export const BNO055_SYS_TRIGGER_RST_INT = 0x40;
+export const BNO055_SYS_TRIGGER_CLK_SEL = 0x80;
+/**
+ * INT_EN / INT_MSK / INT_STA bits. The DRDY bits exist only on sensor
+ * firmware 03.14+; the boards in this line carry 03.11.
+ */
+export const BNO055_INT = {
+    accBsxDrdy: 0x01,
+    magDrdy: 0x02,
+    gyrAm: 0x04,
+    gyrHighRate: 0x08,
+    gyrDrdy: 0x10,
+    accHighG: 0x20,
+    accAm: 0x40,
+    accNm: 0x80,
+};
+/** ST_RESULT bits (1 = passed). */
+export const BNO055_ST = { acc: 0x01, mag: 0x02, gyr: 0x04, mcu: 0x08 };
+export const BNO055_EXPECTED_SELF_TEST = 0x0f;
+/** OPR_MODE (0x3D) bits 3:0. */
+export var Bno055OprMode;
+(function (Bno055OprMode) {
+    Bno055OprMode[Bno055OprMode["Config"] = 0] = "Config";
+    Bno055OprMode[Bno055OprMode["AccOnly"] = 1] = "AccOnly";
+    Bno055OprMode[Bno055OprMode["MagOnly"] = 2] = "MagOnly";
+    Bno055OprMode[Bno055OprMode["GyroOnly"] = 3] = "GyroOnly";
+    Bno055OprMode[Bno055OprMode["AccMag"] = 4] = "AccMag";
+    Bno055OprMode[Bno055OprMode["AccGyro"] = 5] = "AccGyro";
+    Bno055OprMode[Bno055OprMode["MagGyro"] = 6] = "MagGyro";
+    Bno055OprMode[Bno055OprMode["Amg"] = 7] = "Amg";
+    Bno055OprMode[Bno055OprMode["Imu"] = 8] = "Imu";
+    Bno055OprMode[Bno055OprMode["Compass"] = 9] = "Compass";
+    Bno055OprMode[Bno055OprMode["M4g"] = 10] = "M4g";
+    Bno055OprMode[Bno055OprMode["NdofFmcOff"] = 11] = "NdofFmcOff";
+    Bno055OprMode[Bno055OprMode["Ndof"] = 12] = "Ndof";
+})(Bno055OprMode || (Bno055OprMode = {}));
+export function bno055IsFusion(mode) {
+    return mode >= Bno055OprMode.Imu;
+}
+/** PWR_MODE (0x3E) bits 1:0. */
+export var Bno055PwrMode;
+(function (Bno055PwrMode) {
+    Bno055PwrMode[Bno055PwrMode["Normal"] = 0] = "Normal";
+    Bno055PwrMode[Bno055PwrMode["LowPower"] = 1] = "LowPower";
+    Bno055PwrMode[Bno055PwrMode["Suspend"] = 2] = "Suspend";
+})(Bno055PwrMode || (Bno055PwrMode = {}));
+/** TEMP_SOURCE (0x40) bits 1:0. */
+export var Bno055TempSource;
+(function (Bno055TempSource) {
+    Bno055TempSource[Bno055TempSource["Accel"] = 0] = "Accel";
+    Bno055TempSource[Bno055TempSource["Gyro"] = 1] = "Gyro";
+})(Bno055TempSource || (Bno055TempSource = {}));
+/** Datasheet Table 3-6 plus margin: CONFIG → any 7 ms, any → CONFIG 19 ms. */
+export const BNO055_MODE_SWITCH_FROM_CONFIG_MS = 10;
+export const BNO055_MODE_SWITCH_TO_CONFIG_MS = 25;
+/** BIST runs ~400 ms (datasheet §3.9.2). */
+export const BNO055_SELF_TEST_MS = 450;
+/**
+ * SYS_STATUS values while the sensor is still booting after BNO_RESET —
+ * the bridge answers at the chip-ID handshake, ~15 ms before the sensor's
+ * boot ends and it reverts OPR_MODE (contract 13 §5, ERRATA E13).
+ */
+export const BNO055_SYS_STATUS_BOOTING = [2, 3, 4];
+export const BNO055_BOOT_SETTLE_TIMEOUT_MS = 1000;
+/**
+ * SYS_STATUS 4 polls in a row taken as the leftover of a self-test run in
+ * CONFIG mode, not POST: POST shows 4 for ~35 ms (a handful of polls), the
+ * leftover stays until the mode leaves CONFIG (measured on SW 03.11). Counted,
+ * not timed, so a replay makes the same decision.
+ */
+export const BNO055_STUCK_SELF_TEST_POLLS = 20;
+/** Fusion outputs read zero for ~70 ms after CONFIG → a fusion mode. */
+export const BNO055_FUSION_START_TIMEOUT_MS = 1000;
+export const BNO055_SYS_STATUS_NAMES = {
+    0: "idle",
+    1: "system error",
+    2: "initializing peripherals",
+    3: "system initialization",
+    4: "executing self-test",
+    5: "fusion algorithm running",
+    6: "running without fusion",
+};
+export const BNO055_SYS_ERR_NAMES = {
+    0: "no error",
+    1: "peripheral initialization error",
+    2: "system initialization error",
+    3: "self-test failed",
+    4: "register map value out of range",
+    5: "register map address out of range",
+    6: "register map write error",
+    7: "low power mode not available for this operation mode",
+    8: "accelerometer power mode not available",
+    9: "fusion algorithm configuration error",
+    10: "sensor configuration error",
+};
+// ── units (UNIT_SEL 0x3B) ─────────────────────────────────────────────────────
+// UNIT_SEL bits as the silicon implements them (Table 3-11 / Bosch's driver;
+// the datasheet's §4.3.60 table is off by one — measured on SW 03.11).
+const UNIT_ACC_MG = 0x01;
+const UNIT_GYR_RPS = 0x02;
+const UNIT_EUL_RAD = 0x04;
+const UNIT_TEMP_F = 0x10;
+const UNIT_ORI_ANDROID = 0x80;
+export const BNO055_DEFAULT_UNITS = Object.freeze({
+    accelMg: false,
+    gyroRps: false,
+    eulerRad: false,
+    tempF: false,
+    android: false,
+});
+export function packBno055Units(u) {
+    return ((u.accelMg ? UNIT_ACC_MG : 0) |
+        (u.gyroRps ? UNIT_GYR_RPS : 0) |
+        (u.eulerRad ? UNIT_EUL_RAD : 0) |
+        (u.tempF ? UNIT_TEMP_F : 0) |
+        (u.android ? UNIT_ORI_ANDROID : 0));
+}
+export function unpackBno055Units(value) {
+    return {
+        accelMg: (value & UNIT_ACC_MG) !== 0,
+        gyroRps: (value & UNIT_GYR_RPS) !== 0,
+        eulerRad: (value & UNIT_EUL_RAD) !== 0,
+        tempF: (value & UNIT_TEMP_F) !== 0,
+        android: (value & UNIT_ORI_ANDROID) !== 0,
+    };
+}
+/** LSB per unit (contract 13 §4.2). */
+export function bno055Lsb(u) {
+    return {
+        accel: u.accelMg ? 1 : 100,
+        gyro: u.gyroRps ? 900 : 16,
+        euler: u.eulerRad ? 900 : 16,
+        temp: u.tempF ? 0.5 : 1,
+    };
+}
+export const BNO055_MAG_LSB = 16;
+export const BNO055_QUAT_LSB = 16384;
+/** LIA / GRV ignore the ACC_Unit bit: always m/s² at 100 LSB (measured). */
+export const BNO055_FUSION_ACCEL_LSB = 100;
+export function unpackBno055CalibStatus(v) {
+    return { system: (v >> 6) & 3, gyro: (v >> 4) & 3, accel: (v >> 2) & 3, mag: v & 3 };
+}
+export function packBno055CalibStatus(s) {
+    return ((s.system & 3) << 6) | ((s.gyro & 3) << 4) | ((s.accel & 3) << 2) | (s.mag & 3);
+}
+export function bno055FullyCalibrated(s) {
+    return s.system === 3 && s.gyro === 3 && s.accel === 3 && s.mag === 3;
+}
+export function packBno055CalibrationProfile(p) {
+    const out = new Uint8Array(BNO055_CALIB_PROFILE_LEN);
+    const dv = new DataView(out.buffer);
+    [...p.accelOffset, ...p.magOffset, ...p.gyroOffset, p.accelRadius, p.magRadius].forEach((v, i) => dv.setInt16(2 * i, v, true));
+    return out;
+}
+export function unpackBno055CalibrationProfile(data) {
+    if (data.length !== BNO055_CALIB_PROFILE_LEN) {
+        throw new RangeError(`calibration profile is 22 bytes, got ${data.length}`);
+    }
+    const dv = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    const v = Array.from({ length: 11 }, (_, i) => dv.getInt16(2 * i, true));
+    return {
+        accelOffset: [v[0], v[1], v[2]],
+        magOffset: [v[3], v[4], v[5]],
+        gyroOffset: [v[6], v[7], v[8]],
+        accelRadius: v[9],
+        magRadius: v[10],
+    };
+}
+/** Soft-iron matrix, 9 × i16 row-major, 1.0 = 16384. */
+export const BNO055_SIC_IDENTITY = [16384, 0, 0, 0, 16384, 0, 0, 0, 16384];
+export function packBno055SicMatrix(m) {
+    if (m.length !== 9)
+        throw new RangeError("SIC matrix has 9 elements");
+    const out = new Uint8Array(18);
+    const dv = new DataView(out.buffer);
+    m.forEach((v, i) => dv.setInt16(2 * i, v, true));
+    return out;
+}
+export function unpackBno055SicMatrix(data) {
+    const dv = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    return Array.from({ length: 9 }, (_, i) => dv.getInt16(2 * i, true));
+}
+// ── axis remap (AXIS_MAP_CONFIG 0x41 / AXIS_MAP_SIGN 0x42) ──────────────────
+export const BNO055_AXIS_X = 0;
+export const BNO055_AXIS_Y = 1;
+export const BNO055_AXIS_Z = 2;
+export const BNO055_DEFAULT_AXIS_REMAP = Object.freeze({
+    x: 0,
+    y: 1,
+    z: 2,
+    xNegative: false,
+    yNegative: false,
+    zNegative: false,
+});
+/**
+ * → [AXIS_MAP_CONFIG, AXIS_MAP_SIGN]. The sensor keeps the old mapping when
+ * one axis is used twice, so this refuses a non-permutation up front.
+ */
+export function packBno055AxisRemap(a) {
+    const sorted = [a.x, a.y, a.z].sort();
+    if (sorted[0] !== 0 || sorted[1] !== 1 || sorted[2] !== 2) {
+        throw new RangeError(`axis remap must be a permutation of X/Y/Z, got ${a.x}/${a.y}/${a.z}`);
+    }
+    const config = (a.z << 4) | (a.y << 2) | a.x;
+    const sign = (a.xNegative ? 4 : 0) | (a.yNegative ? 2 : 0) | (a.zNegative ? 1 : 0);
+    return [config, sign];
+}
+export function unpackBno055AxisRemap(config, sign) {
+    return {
+        x: config & 3,
+        y: (config >> 2) & 3,
+        z: (config >> 4) & 3,
+        xNegative: (sign & 4) !== 0,
+        yNegative: (sign & 2) !== 0,
+        zNegative: (sign & 1) !== 0,
+    };
+}
+/** Datasheet §3.4: placement → [AXIS_MAP_CONFIG, AXIS_MAP_SIGN]; P1 is the default. */
+export const BNO055_PLACEMENTS = {
+    P0: [0x21, 0x04],
+    P1: [0x24, 0x00],
+    P2: [0x24, 0x06],
+    P3: [0x21, 0x02],
+    P4: [0x24, 0x03],
+    P5: [0x21, 0x01],
+    P6: [0x21, 0x07],
+    P7: [0x24, 0x05],
+};
+export function bno055Placement(name) {
+    const p = BNO055_PLACEMENTS[name.toUpperCase()];
+    if (p === undefined)
+        throw new RangeError(`unknown placement ${name}; expected P0..P7`);
+    return unpackBno055AxisRemap(p[0], p[1]);
+}
+// ── page-1 sensor configuration (non-fusion modes only) ─────────────────────
+export const BNO055_ACC_RANGE_G = [2, 4, 8, 16];
+export const BNO055_ACC_BANDWIDTH_HZ = [7.81, 15.63, 31.25, 62.5, 125, 250, 500, 1000];
+export const BNO055_GYR_RANGE_DPS = [2000, 1000, 500, 250, 125];
+export const BNO055_GYR_BANDWIDTH_HZ = [523, 230, 116, 47, 23, 12, 64, 32];
+export const BNO055_MAG_RATE_HZ = [2, 6, 8, 10, 15, 20, 25, 30];
+export function packBno055AccelConfig(c) {
+    return ((c.power & 7) << 5) | ((c.bandwidth & 7) << 2) | (c.range & 3);
+}
+export function unpackBno055AccelConfig(v) {
+    return { range: v & 3, bandwidth: (v >> 2) & 7, power: (v >> 5) & 7 };
+}
+export function packBno055GyroConfig(c) {
+    return Uint8Array.of(((c.bandwidth & 7) << 3) | (c.range & 7), c.power & 7);
+}
+export function unpackBno055GyroConfig(b) {
+    return { range: b[0] & 7, bandwidth: (b[0] >> 3) & 7, power: b[1] & 7 };
+}
+export function packBno055MagConfig(c) {
+    return ((c.power & 3) << 5) | ((c.mode & 3) << 3) | (c.rate & 7);
+}
+export function unpackBno055MagConfig(v) {
+    return { rate: v & 7, mode: (v >> 3) & 3, power: (v >> 5) & 3 };
+}
+export function makeBno055SystemStatus(selfTest, clkStatus, status, error) {
+    return {
+        selfTest,
+        clkStatus,
+        status,
+        error,
+        statusText: BNO055_SYS_STATUS_NAMES[status] ?? `unknown (${status})`,
+        errorText: BNO055_SYS_ERR_NAMES[error] ?? `unknown (${error})`,
+        selfTestPassed: (selfTest & BNO055_EXPECTED_SELF_TEST) === BNO055_EXPECTED_SELF_TEST,
+    };
+}
+const CHANNELS = [
+    ["accel", BNO055_REG_ACC_DATA, 3],
+    ["mag", BNO055_REG_MAG_DATA, 3],
+    ["gyro", BNO055_REG_GYR_DATA, 3],
+    ["euler", BNO055_REG_EUL_DATA, 3],
+    ["quaternion", BNO055_REG_QUA_DATA, 4],
+    ["linearAccel", BNO055_REG_LIA_DATA, 3],
+    ["gravity", BNO055_REG_GRV_DATA, 3],
+];
+/** Unpack whatever channels the register window starting at `addr` holds. */
+export function decodeBno055Block(addr, data) {
+    const dv = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    const end = addr + data.length;
+    const out = {
+        accel: null,
+        mag: null,
+        gyro: null,
+        euler: null,
+        quaternion: null,
+        linearAccel: null,
+        gravity: null,
+        temperature: null,
+        calibStat: null,
+    };
+    for (const [name, reg, n] of CHANNELS) {
+        if (addr <= reg && reg + 2 * n <= end) {
+            const v = Array.from({ length: n }, (_, i) => dv.getInt16(reg - addr + 2 * i, true));
+            out[name] = v;
+        }
+    }
+    if (addr <= BNO055_REG_TEMP && BNO055_REG_TEMP < end)
+        out.temperature = dv.getInt8(BNO055_REG_TEMP - addr);
+    if (addr <= BNO055_REG_CALIB_STAT && BNO055_REG_CALIB_STAT < end) {
+        out.calibStat = dv.getUint8(BNO055_REG_CALIB_STAT - addr);
+    }
+    return out;
+}
+//# sourceMappingURL=regs.js.map