npm - @depz/sensor-sdk - Versions diffs - 0.2.2 → 0.4.0 - Mend

@depz/sensor-sdk 0.2.2 → 0.4.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (151) hide show

package/README.md +13 -5
package/dist/dataset.d.ts.map +1 -1
package/dist/dataset.js +66 -2
package/dist/dataset.js.map +1 -1
package/dist/discovery.d.ts.map +1 -1
package/dist/discovery.js +25 -2
package/dist/discovery.js.map +1 -1
package/dist/index.d.ts +21 -1
package/dist/index.d.ts.map +1 -1
package/dist/index.js +16 -1
package/dist/index.js.map +1 -1
package/dist/protocol/bno055.d.ts +101 -0
package/dist/protocol/bno055.d.ts.map +1 -0
package/dist/protocol/bno055.js +105 -0
package/dist/protocol/bno055.js.map +1 -0
package/dist/protocol/identity.d.ts +1 -1
package/dist/protocol/identity.d.ts.map +1 -1
package/dist/protocol/identity.js +6 -0
package/dist/protocol/identity.js.map +1 -1
package/dist/protocol/vl53l7.d.ts +77 -0
package/dist/protocol/vl53l7.d.ts.map +1 -0
package/dist/protocol/vl53l7.js +99 -0
package/dist/protocol/vl53l7.js.map +1 -0
package/dist/protocol/vl53lx.d.ts +72 -0
package/dist/protocol/vl53lx.d.ts.map +1 -0
package/dist/protocol/vl53lx.js +87 -0
package/dist/protocol/vl53lx.js.map +1 -0
package/dist/sensors/bno055/bno055.d.ts +207 -0
package/dist/sensors/bno055/bno055.d.ts.map +1 -0
package/dist/sensors/bno055/bno055.js +547 -0
package/dist/sensors/bno055/bno055.js.map +1 -0
package/dist/sensors/bno055/regs.d.ts +271 -0
package/dist/sensors/bno055/regs.d.ts.map +1 -0
package/dist/sensors/bno055/regs.js +366 -0
package/dist/sensors/bno055/regs.js.map +1 -0
package/dist/sensors/bno086/bno086.d.ts +13 -0
package/dist/sensors/bno086/bno086.d.ts.map +1 -1
package/dist/sensors/bno086/bno086.js +26 -1
package/dist/sensors/bno086/bno086.js.map +1 -1
package/dist/sensors/bno086/sh2.d.ts.map +1 -1
package/dist/sensors/bno086/sh2.js +5 -2
package/dist/sensors/bno086/sh2.js.map +1 -1
package/dist/sensors/vl53l7/vl53l7.d.ts +97 -0
package/dist/sensors/vl53l7/vl53l7.d.ts.map +1 -0
package/dist/sensors/vl53l7/vl53l7.js +138 -0
package/dist/sensors/vl53l7/vl53l7.js.map +1 -0
package/dist/sensors/vl53l8/assets/index.d.ts +5 -1
package/dist/sensors/vl53l8/assets/index.d.ts.map +1 -1
package/dist/sensors/vl53l8/assets/index.js +7 -1
package/dist/sensors/vl53l8/assets/index.js.map +1 -1
package/dist/sensors/vl53l8/assets/l7ch.d.ts +12 -0
package/dist/sensors/vl53l8/assets/l7ch.d.ts.map +1 -0
package/dist/sensors/vl53l8/assets/l7ch.js +18 -0
package/dist/sensors/vl53l8/assets/l7ch.js.map +1 -0
package/dist/sensors/vl53l8/assets/l7cx.d.ts +14 -0
package/dist/sensors/vl53l8/assets/l7cx.d.ts.map +1 -0
package/dist/sensors/vl53l8/assets/l7cx.js +20 -0
package/dist/sensors/vl53l8/assets/l7cx.js.map +1 -0
package/dist/sensors/vl53l8/cnh.d.ts +4 -3
package/dist/sensors/vl53l8/cnh.d.ts.map +1 -1
package/dist/sensors/vl53l8/cnh.js +4 -3
package/dist/sensors/vl53l8/cnh.js.map +1 -1
package/dist/sensors/vl53l8/uld.d.ts +50 -9
package/dist/sensors/vl53l8/uld.d.ts.map +1 -1
package/dist/sensors/vl53l8/uld.js +241 -35
package/dist/sensors/vl53l8/uld.js.map +1 -1
package/dist/sensors/vl53l8/vl53l8.d.ts +8 -3
package/dist/sensors/vl53l8/vl53l8.d.ts.map +1 -1
package/dist/sensors/vl53l8/vl53l8.js +12 -7
package/dist/sensors/vl53l8/vl53l8.js.map +1 -1
package/dist/sensors/vl53lx/decode.d.ts +70 -0
package/dist/sensors/vl53lx/decode.d.ts.map +1 -0
package/dist/sensors/vl53lx/decode.js +108 -0
package/dist/sensors/vl53lx/decode.js.map +1 -0
package/dist/sensors/vl53lx/uld/arith.d.ts +23 -0
package/dist/sensors/vl53lx/uld/arith.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/arith.js +42 -0
package/dist/sensors/vl53lx/uld/arith.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/core.d.ts +359 -0
package/dist/sensors/vl53lx/uld/bare/core.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/core.js +1112 -0
package/dist/sensors/vl53lx/uld/bare/core.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/driver.d.ts +100 -0
package/dist/sensors/vl53lx/uld/bare/driver.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/driver.js +226 -0
package/dist/sensors/vl53lx/uld/bare/driver.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/hist.d.ts +180 -0
package/dist/sensors/vl53lx/uld/bare/hist.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/hist.js +949 -0
package/dist/sensors/vl53lx/uld/bare/hist.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/image.d.ts +53 -0
package/dist/sensors/vl53lx/uld/bare/image.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/image.js +108 -0
package/dist/sensors/vl53lx/uld/bare/image.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/imath.d.ts +39 -0
package/dist/sensors/vl53lx/uld/bare/imath.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/imath.js +99 -0
package/dist/sensors/vl53lx/uld/bare/imath.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/index.d.ts +22 -0
package/dist/sensors/vl53lx/uld/bare/index.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/index.js +22 -0
package/dist/sensors/vl53lx/uld/bare/index.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/nvm.d.ts +85 -0
package/dist/sensors/vl53lx/uld/bare/nvm.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/nvm.js +148 -0
package/dist/sensors/vl53lx/uld/bare/nvm.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/regs.d.ts +54 -0
package/dist/sensors/vl53lx/uld/bare/regs.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/regs.js +496 -0
package/dist/sensors/vl53lx/uld/bare/regs.js.map +1 -0
package/dist/sensors/vl53lx/uld/bare/tuning.d.ts +15 -0
package/dist/sensors/vl53lx/uld/bare/tuning.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/bare/tuning.js +303 -0
package/dist/sensors/vl53lx/uld/bare/tuning.js.map +1 -0
package/dist/sensors/vl53lx/uld/base.d.ts +134 -0
package/dist/sensors/vl53lx/uld/base.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/base.js +171 -0
package/dist/sensors/vl53lx/uld/base.js.map +1 -0
package/dist/sensors/vl53lx/uld/l0x.d.ts +334 -0
package/dist/sensors/vl53lx/uld/l0x.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/l0x.js +1532 -0
package/dist/sensors/vl53lx/uld/l0x.js.map +1 -0
package/dist/sensors/vl53lx/uld/l1.d.ts +69 -0
package/dist/sensors/vl53lx/uld/l1.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/l1.js +262 -0
package/dist/sensors/vl53lx/uld/l1.js.map +1 -0
package/dist/sensors/vl53lx/uld/l3.d.ts +25 -0
package/dist/sensors/vl53lx/uld/l3.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/l3.js +51 -0
package/dist/sensors/vl53lx/uld/l3.js.map +1 -0
package/dist/sensors/vl53lx/uld/l4.d.ts +20 -0
package/dist/sensors/vl53lx/uld/l4.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/l4.js +95 -0
package/dist/sensors/vl53lx/uld/l4.js.map +1 -0
package/dist/sensors/vl53lx/uld/link.d.ts +42 -0
package/dist/sensors/vl53lx/uld/link.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/link.js +28 -0
package/dist/sensors/vl53lx/uld/link.js.map +1 -0
package/dist/sensors/vl53lx/uld/registry.d.ts +68 -0
package/dist/sensors/vl53lx/uld/registry.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/registry.js +139 -0
package/dist/sensors/vl53lx/uld/registry.js.map +1 -0
package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts +190 -0
package/dist/sensors/vl53lx/uld/vl53l1-die.d.ts.map +1 -0
package/dist/sensors/vl53lx/uld/vl53l1-die.js +457 -0
package/dist/sensors/vl53lx/uld/vl53l1-die.js.map +1 -0
package/dist/sensors/vl53lx/vl53lx.d.ts +332 -0
package/dist/sensors/vl53lx/vl53lx.d.ts.map +1 -0
package/dist/sensors/vl53lx/vl53lx.js +694 -0
package/dist/sensors/vl53lx/vl53lx.js.map +1 -0
package/package.json +9 -2

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

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package/dist/sensors/bno086/bno086.d.ts CHANGED Viewed

@@ -130,6 +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 CHANGED Viewed

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

@@ -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;
@@ -341,7 +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)) {
@@ -351,6 +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 CHANGED Viewed

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

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

@@ -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 CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/sensors/vl53l7/vl53l7.d.ts ADDED Viewed

@@ -0,0 +1,97 @@
+/**
+ * VL53L5CX / VL53L7CX / VL53L7CH ToF sensors over the I2C register bridge.
+ *
+ * One firmware (`APP_VL53L7`) serves all three boards (contracts/11): the MCU
+ * is a thin I2C bridge whose wire protocol is the VL53L8 one (contract 04)
+ * plus three commands. The sensor-side logic is the same ST ULD family as
+ * VL53L8, so these classes reuse `Vl53l8cx` and override only what differs:
+ * the blob set (`l7cx` / `l7ch`) and the L5/L7 boot branch (in `uld.ts`), the
+ * register-bridge transfer limits, the 1 Hz minimum, and the board commands.
+ *
+ * The advanced ULD plugins (power modes, xtalk calibration, detection
+ * thresholds, motion indicator) share the VL53L8 DCI sequences — verified
+ * against ST ULD 2.0.1 (L5CX/L7CX) and VL53LMZ 2.0.16 (L7CH). L5CX/L7CX have
+ * no deep sleep and no threshold auto-stop.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l7`.
+ */
+import { PinAction, type Vl53l7Info } from "../../protocol/vl53l7.js";
+import type { Vl53l8Variant } from "../vl53l8/assets/index.js";
+import { type CnhConfig } from "../vl53l8/cnh.js";
+import { Vl53l8cx, type Vl53l8Frame, type Vl53l8InitOptions } from "../vl53l8/vl53l8.js";
+/** L5/L7 range and stream at 1 Hz (contract 11; the L8 needs ≥ 2 Hz). */
+export declare const VL53L7_MIN_RANGING_FREQUENCY_HZ = 1;
+/** Frames are the VL53L8 frame type. */
+export type Vl53l7Frame = Vl53l8Frame;
+/**
+ * VL53L7CX ToF device (8×8 zones, 90° field of view). `init()` downloads the
+ * ~84 KB L5/L7 sensor firmware (~1.4 s at the board's default 1 MHz I2C),
+ * then configure and `startRanging()` exactly as on `Vl53l8cx`.
+ *
+ * Base class of the I2C family: `Vl53l5cx` (same blob, MZ module) and
+ * `Vl53l7ch` (CH blob, adds CNH) inherit it.
+ */
+export declare class Vl53l7cx extends Vl53l8cx {
+    protected readonly variantId: Vl53l8Variant;
+    protected readonly readChunk: number;
+    protected readonly writeChunk: number;
+    protected readonly minRangingHz: number;
+    /** module_type this class expects after init() (L5 and L7 share a blob). */
+    protected readonly expectedModuleType: number;
+    /**
+     * Initialize the sensor: firmware blob download + default config. Refuses
+     * non-L5/L7 silicon. The sensor's `moduleType` then tells L5 (MZ) from L7
+     * (MZEVO); a mismatch with this class is reported as a warning — ranging
+     * still works, since the blob is shared.
+     */
+    init(variant?: Vl53l8Variant, opts?: Vl53l8InitOptions): Promise<void>;
+    /**
+     * Sensor module type read at init(): MODULE_TYPE_MZ (0) = VL53L5CX,
+     * MODULE_TYPE_MZEVO (1) = VL53L7CX/CH. null before init().
+     */
+    get moduleType(): number | null;
+    /**
+     * Bridge counters and pin levels (never touches the sensor). Read it before
+     * and after a run, not during one: each call takes the bus from the stream
+     * and can itself cost a frame.
+     */
+    getBridgeInfo(): Promise<Vl53l7Info>;
+    /**
+     * Set the sensor-bus SCL frequency; the board snaps to the nearest of 100,
+     * 200, 400, 500 … 1000 kHz. Resolves to the value now in effect. Rejects
+     * with a busy error mid-transfer — stop ranging first.
+     */
+    setI2cSpeedKhz(khz: number): Promise<number>;
+    /**
+     * Drive the sensor's LPn / I2C_RST pins (`PinAction`). LpnOff and SoftCycle
+     * drop the sensor's state: run `init()` again afterwards.
+     */
+    pinCtrl(action: PinAction): Promise<void>;
+    /**
+     * True when the last calibrateXtalk() found nothing to calibrate (ST
+     * XTALK_FAILED: "coverglass too good") — the sensor keeps its default xtalk.
+     */
+    get xtalkCalibrationFailed(): boolean;
+}
+/**
+ * VL53L5CX ToF device (8×8 zones, 63° field of view). Same board, blob and
+ * API as `Vl53l7cx`; the sensor reports module type MZ.
+ */
+export declare class Vl53l5cx extends Vl53l7cx {
+    protected readonly expectedModuleType: number;
+}
+/**
+ * VL53L7CH ToF device: the VL53L7CX superset. `init()` downloads the CH
+ * firmware blob (VL53LMZ ULD 2.0.16, the same blob as VL53L8CH) and adds
+ * Compact-Network-Histogram output (`configureCnh`). CNH frames up to ~7.6 KB
+ * stream in chunks (≤ 8192 B total).
+ */
+export declare class Vl53l7ch extends Vl53l7cx {
+    protected readonly variantId: Vl53l8Variant;
+    /**
+     * Arm the CNH histogram block for the next startRanging(). CH only — this
+     * method does not exist on Vl53l7cx / Vl53l5cx.
+     */
+    configureCnh(config: CnhConfig): Promise<void>;
+}
+//# sourceMappingURL=vl53l7.d.ts.map

package/dist/sensors/vl53l7/vl53l7.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/sensors/vl53l7/vl53l7.js ADDED Viewed

@@ -0,0 +1,138 @@
+/**
+ * VL53L5CX / VL53L7CX / VL53L7CH ToF sensors over the I2C register bridge.
+ *
+ * One firmware (`APP_VL53L7`) serves all three boards (contracts/11): the MCU
+ * is a thin I2C bridge whose wire protocol is the VL53L8 one (contract 04)
+ * plus three commands. The sensor-side logic is the same ST ULD family as
+ * VL53L8, so these classes reuse `Vl53l8cx` and override only what differs:
+ * the blob set (`l7cx` / `l7ch`) and the L5/L7 boot branch (in `uld.ts`), the
+ * register-bridge transfer limits, the 1 Hz minimum, and the board commands.
+ *
+ * The advanced ULD plugins (power modes, xtalk calibration, detection
+ * thresholds, motion indicator) share the VL53L8 DCI sequences — verified
+ * against ST ULD 2.0.1 (L5CX/L7CX) and VL53LMZ 2.0.16 (L7CH). L5CX/L7CX have
+ * no deep sleep and no threshold auto-stop.
+ *
+ * Mirrors the Python reference `depz_sensor_sdk.vl53l7`.
+ */
+import { DepzDevice } from "../../device/device.js";
+import { DepzError } from "../../errors.js";
+import { PinAction, VL53L7_READ_MAX_LEN, VL53L7_WRITE_MAX_LEN, Vl53l7Cmd, Vl53l7Rpt, packPinCtrl, packVl53l7SetI2cSpeed, unpackVl53l7Info, } from "../../protocol/vl53l7.js";
+import { MI_CFG_DEV_IDX } from "../vl53l8/cnh.js";
+import { MODULE_TYPE_MZ, MODULE_TYPE_MZEVO, MODULE_TYPE_NAMES } from "../vl53l8/uld.js";
+import { Vl53l8cx } from "../vl53l8/vl53l8.js";
+/** L5/L7 range and stream at 1 Hz (contract 11; the L8 needs ≥ 2 Hz). */
+export const VL53L7_MIN_RANGING_FREQUENCY_HZ = 1;
+/**
+ * VL53L7CX ToF device (8×8 zones, 90° field of view). `init()` downloads the
+ * ~84 KB L5/L7 sensor firmware (~1.4 s at the board's default 1 MHz I2C),
+ * then configure and `startRanging()` exactly as on `Vl53l8cx`.
+ *
+ * Base class of the I2C family: `Vl53l5cx` (same blob, MZ module) and
+ * `Vl53l7ch` (CH blob, adds CNH) inherit it.
+ */
+export class Vl53l7cx extends Vl53l8cx {
+    variantId = "l7cx";
+    readChunk = VL53L7_READ_MAX_LEN;
+    writeChunk = VL53L7_WRITE_MAX_LEN;
+    minRangingHz = VL53L7_MIN_RANGING_FREQUENCY_HZ;
+    /** module_type this class expects after init() (L5 and L7 share a blob). */
+    expectedModuleType = MODULE_TYPE_MZEVO;
+    /**
+     * Initialize the sensor: firmware blob download + default config. Refuses
+     * non-L5/L7 silicon. The sensor's `moduleType` then tells L5 (MZ) from L7
+     * (MZEVO); a mismatch with this class is reported as a warning — ranging
+     * still works, since the blob is shared.
+     */
+    async init(variant, opts) {
+        await super.init(variant, opts);
+        const got = this.moduleType;
+        if (got !== null && got !== this.expectedModuleType) {
+            console.warn(`[depz-sensor-sdk] ${this.constructor.name} expects module type ` +
+                `${MODULE_TYPE_NAMES[this.expectedModuleType]}, the sensor reports ` +
+                `${MODULE_TYPE_NAMES[got] ?? got} — check the board's device name`);
+        }
+    }
+    /**
+     * Sensor module type read at init(): MODULE_TYPE_MZ (0) = VL53L5CX,
+     * MODULE_TYPE_MZEVO (1) = VL53L7CX/CH. null before init().
+     */
+    get moduleType() {
+        return this.uldDriver !== null ? this.uldDriver.moduleType : null;
+    }
+    // ── board commands (contract 11 §2) ────────────────────────────────────────
+    /**
+     * Bridge counters and pin levels (never touches the sensor). Read it before
+     * and after a run, not during one: each call takes the bus from the stream
+     * and can itself cost a frame.
+     */
+    getBridgeInfo() {
+        return this.request(Vl53l7Cmd.GetInfo, undefined, {
+            matcher: DepzDevice.expectReport(Vl53l7Rpt.Vl53Info, unpackVl53l7Info),
+        });
+    }
+    /**
+     * Set the sensor-bus SCL frequency; the board snaps to the nearest of 100,
+     * 200, 400, 500 … 1000 kHz. Resolves to the value now in effect. Rejects
+     * with a busy error mid-transfer — stop ranging first.
+     */
+    async setI2cSpeedKhz(khz) {
+        if (!Number.isInteger(khz) || khz < 1 || khz > 0xffff) {
+            throw new DepzError("khz must be an integer 1..65535");
+        }
+        await this.request(Vl53l7Cmd.SetI2cSpeed, packVl53l7SetI2cSpeed(khz), { okCompletes: true });
+        return (await this.getBridgeInfo()).i2cKhz;
+    }
+    /**
+     * Drive the sensor's LPn / I2C_RST pins (`PinAction`). LpnOff and SoftCycle
+     * drop the sensor's state: run `init()` again afterwards.
+     */
+    async pinCtrl(action) {
+        if (!(action in PinAction))
+            throw new DepzError(`unknown pin action ${String(action)}`);
+        await this.request(Vl53l7Cmd.PinCtrl, packPinCtrl(action), { okCompletes: true });
+        if (action === PinAction.LpnOff || action === PinAction.SoftCycle) {
+            this.rangingFlag = false;
+            this.uldDriver = null;
+        }
+    }
+    // ── ULD plugins (contract 11 §4) ───────────────────────────────────────────
+    // Power modes, detection thresholds, motion indicator and xtalk calibration
+    // are inherited from Vl53l8cx: their DCI sequences are the same on L5/L7
+    // (verified against ST ULD 2.0.1 and VL53LMZ 2.0.16). The ULD switches in
+    // the L5/L7 xtalk table and calibration output list, and enforces the
+    // L5CX/L7CX limits: no DEEP_SLEEP, no threshold auto-stop.
+    /**
+     * True when the last calibrateXtalk() found nothing to calibrate (ST
+     * XTALK_FAILED: "coverglass too good") — the sensor keeps its default xtalk.
+     */
+    get xtalkCalibrationFailed() {
+        return this.uldDriver !== null && this.uldDriver.xtalkCalibrationFailed;
+    }
+}
+/**
+ * VL53L5CX ToF device (8×8 zones, 63° field of view). Same board, blob and
+ * API as `Vl53l7cx`; the sensor reports module type MZ.
+ */
+export class Vl53l5cx extends Vl53l7cx {
+    expectedModuleType = MODULE_TYPE_MZ;
+}
+/**
+ * VL53L7CH ToF device: the VL53L7CX superset. `init()` downloads the CH
+ * firmware blob (VL53LMZ ULD 2.0.16, the same blob as VL53L8CH) and adds
+ * Compact-Network-Histogram output (`configureCnh`). CNH frames up to ~7.6 KB
+ * stream in chunks (≤ 8192 B total).
+ */
+export class Vl53l7ch extends Vl53l7cx {
+    variantId = "l7ch";
+    /**
+     * Arm the CNH histogram block for the next startRanging(). CH only — this
+     * method does not exist on Vl53l7cx / Vl53l5cx.
+     */
+    async configureCnh(config) {
+        this.requireNotRanging();
+        await this.uld.dciWriteData(MI_CFG_DEV_IDX, config.pack());
+        this.cnhConfig = config;
+    }
+}
+//# sourceMappingURL=vl53l7.js.map

package/dist/sensors/vl53l7/vl53l7.js.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/sensors/vl53l8/assets/index.d.ts CHANGED Viewed

@@ -3,7 +3,11 @@
  * blobs). `loadAssets()` uses dynamic `import()` so the ~115 KB base64
  * modules stay out of bundles that never init the ToF sensor.
  */
-export type Vl53l8Variant = "cx" | "ch";
+/**
+ * Blob set: 'cx' / 'ch' = VL53L8CX / VL53L8CH; 'l7cx' = VL53L5CX/VL53L7CX
+ * (ULD 2.0.1); 'l7ch' = VL53L7CH (VL53LMZ 2.0.16, L7 configuration).
+ */
+export type Vl53l8Variant = "cx" | "ch" | "l7cx" | "l7ch";
 export interface Vl53l8Assets {
     /** firmware.bin — 86016 bytes (0x15000). */
     firmware: Uint8Array;