@depz/sensor-sdk 0.3.0 → 0.4.1

package/dist/dataset.d.ts

@@ -3,7 +3,7 @@
  * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
-import type { DepzDevice } from "./device/device.js";
+import { type DepzDevice } from "./device/device.js";
 export declare const DATASET_SCHEMA = "depz.dataset/2";
 export interface DatasetDeviceMeta {
     serial?: string;

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,EAAa,KAAK,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAShE,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;IA4GZ,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

@@ -3,7 +3,9 @@
  * playback (contracts/09_DATASET_FORMAT.md). Mirrors the Python
  * `depz_sensor_sdk.dataset` module; browser-safe (no Node APIs).
  */
+import { hostNowUs } from "./device/device.js";
 import { Bno055 } from "./sensors/bno055/bno055.js";
+import { Bno086 } from "./sensors/bno086/bno086.js";
 import { packBno055Units } from "./sensors/bno055/regs.js";
 import { Sr04 } from "./sensors/sr04.js";
 import { Vl53l4cd } from "./sensors/vl53l4/vl53l4.js";
@@ -150,6 +152,24 @@ export class DatasetRecorder {
                 writer.write(entry.id, toHost(s.timestampUs), "bno055", v);
             });
         }
+        if (dev instanceof Bno086) {
+            // Contract 09 `bno086`: every enabled sensor's report, snake_case, full
+            // quaternion / vector components. `t` is host arrival time (reports of
+            // different sensors in one cargo carry out-of-order device times; records
+            // must stay monotonic per device); the device time rides along as
+            // `timestamp_us`.
+            return dev.onReport((r) => {
+                const f = r;
+                const v = { type: r.type, sensor_id: r.sensorId };
+                const keys = { i: "i", j: "j", k: "k", real: "real", x: "x", y: "y", z: "z", accuracy_rad: "accuracyRad" };
+                for (const [out, key] of Object.entries(keys)) {
+                    if (typeof f[key] === "number")
+                        v[out] = f[key];
+                }
+                v.timestamp_us = Number(r.timestampUs);
+                writer.write(entry.id, Number(hostNowUs()), "bno086", v);
+            });
+        }
         // VL53L8CX/CH and the VL53L5CX/L7CX/L7CH subclasses.
         if (dev instanceof Vl53l8cx) {
             const layers = this.opts.vl53l8Layers ?? false;

package/dist/dataset.js.map

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package/dist/sensors/vl53lx/uld/bare/core.d.ts

@@ -75,6 +75,8 @@ export type DistanceMode = (typeof DISTANCE_MODES)[number];
 export declare const TIMING_GUARD_US = 1700;
 export declare const TIMING_DIVISOR = 6;
 export declare const FDA_MAX_TIMING_BUDGET_US = 550000;
+export declare const L4_FDA_MAX_TIMING_BUDGET_US = 200000;
+export declare const L4_DISTANCE_MODES: readonly ["medium", "long"];
 export declare function encodeRowCol(row: number, col: number): number;
 /** → [row, col] */
 export declare function decodeRowCol(spadNumber: number): [number, number];
@@ -301,9 +303,21 @@ export declare class BareDriver {
      * so once per preset is the same answer for less work.
      */
     private updateRangeOffset;
+    /**
+     * `IsL4()` of the L4CX BareDriver: the die, read from NVM, not the product
+     * name — an L4CD or L4CX board ranging under a borrowed name is still an L4.
+     * 0xEC is the L4ED.
+     */
+    isL4(): boolean;
+    distanceModes(): readonly string[];
+    fdaMaxTimingBudgetUs(): number;
     /**
      * VL53LX_SetDistanceMode(): the preset mode, with the timeouts put back
      * afterwards (the preset alone would reset them to its own defaults).
+     *
+     * Short is refused on an L4 die, as the L4CX BareDriver does: there the A
+     * frame of the short pair ranges on the wrong side of the wrap, one frame
+     * in two, measured on the L4CX board.
      */
     setDistanceMode(mode: string): void;
     /** VL53LX_preset_mode_standard_ranging(): the base of every histogram mode. */

package/dist/sensors/vl53lx/uld/bare/core.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/bare/core.js

@@ -78,6 +78,10 @@ export const DISTANCE_MODES = ["short", "medium", "long"];
 export const TIMING_GUARD_US = 1700;
 export const TIMING_DIVISOR = 6;
 export const FDA_MAX_TIMING_BUDGET_US = 550000;
+// The L4CX BareDriver (STSW-IMG029) narrows both for an L4 die: a lower budget
+// ceiling, and no short mode at all (see `BareDriver.isL4()`).
+export const L4_FDA_MAX_TIMING_BUDGET_US = 200000;
+export const L4_DISTANCE_MODES = ["medium", "long"];
 function tp(key) {
     const v = TUNING[key];
     if (v === undefined)
@@ -718,11 +722,34 @@ export class BareDriver {
         const dynamic = this.img.dynamic_config.v;
         this.hpp.range_offset_mm = combineMm1Mm2Offsets(customer.mm_config__inner_offset_mm, customer.mm_config__outer_offset_mm, nvm.roi_config__mode_roi_centre_spad, nvm.roi_config__mode_roi_xy_size, dynamic.roi_config__user_roi_centre_spad, dynamic.roi_config__user_roi_requested_global_xy_size, this.addOffCalData, this.rtnGoodSpads, this.img.general_config.v.dss_config__aperture_attenuation);
     }
+    /**
+     * `IsL4()` of the L4CX BareDriver: the die, read from NVM, not the product
+     * name — an L4CD or L4CX board ranging under a borrowed name is still an L4.
+     * 0xEC is the L4ED.
+     */
+    isL4() {
+        const nvm = this.img.nvm_copy_data.v;
+        return (nvm.identification__module_type === 0xaa &&
+            (nvm.identification__model_id === 0xeb || nvm.identification__model_id === 0xec));
+    }
+    distanceModes() {
+        return this.isL4() ? L4_DISTANCE_MODES : DISTANCE_MODES;
+    }
+    fdaMaxTimingBudgetUs() {
+        return this.isL4() ? L4_FDA_MAX_TIMING_BUDGET_US : FDA_MAX_TIMING_BUDGET_US;
+    }
     /**
      * VL53LX_SetDistanceMode(): the preset mode, with the timeouts put back
      * afterwards (the preset alone would reset them to its own defaults).
+     *
+     * Short is refused on an L4 die, as the L4CX BareDriver does: there the A
+     * frame of the short pair ranges on the wrong side of the wrap, one frame
+     * in two, measured on the L4CX board.
      */
     setDistanceMode(mode) {
+        if (!this.distanceModes().includes(mode)) {
+            throw new RangeError(`distance mode ${mode} not available on this die`);
+        }
         const phasecalUs = this.phasecalConfigTimeoutUs;
         const mmUs = this.mmConfigTimeoutUs;
         const rangeUs = this.rangeConfigTimeoutUs;
@@ -938,7 +965,7 @@ export class BareDriver {
             throw new RangeError(`timing budget ${budgetUs} us out of range`);
         }
         const rangeUs = floorDiv(budgetUs - TIMING_GUARD_US, TIMING_DIVISOR);
-        if (rangeUs * TIMING_DIVISOR > FDA_MAX_TIMING_BUDGET_US) {
+        if (rangeUs * TIMING_DIVISOR > this.fdaMaxTimingBudgetUs()) {
             throw new RangeError(`timing budget ${budgetUs} us out of range`);
         }
         this.setTimeoutsUs(this.phasecalConfigTimeoutUs, this.mmConfigTimeoutUs, rangeUs);

package/dist/sensors/vl53lx/uld/bare/core.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/bare/driver.d.ts

@@ -29,8 +29,6 @@ export declare const PAD_I2C_HV__CONFIG = 45;
  * is a property of the die, so it is set here and never cleared.
  */
 export declare const FMP_PAD_CONFIG = 18;
-/** How far the 24 bins reach before the phase wraps, per preset mode. */
-export declare const REACH_BY_MODE_MM: Readonly<Record<string, number>>;
 export declare const DEFAULT_MODE = "medium";
 /** VL53L1CX / L1CB / L3CX / L4CX in histogram mode: multi-target ranging. */
 export declare class VL53LX extends SensorDriver {
@@ -43,11 +41,15 @@ export declare class VL53LX extends SensorDriver {
     static readonly HISTOGRAM = true;
     readonly bare: BareDriver;
     private mode;
+    private dieModes;
+    private dieBudgetMs;
     private budgetMs;
     private interMs;
     private lastStreamCount;
     private readonly history;
     constructor(platform: BridgePlatform, product: string);
+    get MODES(): readonly string[];
+    get BUDGET_MS(): readonly [number, number];
     modelId(): Promise<number>;
     waitBoot(timeoutS?: number): Promise<void>;
     /**
@@ -57,12 +59,19 @@ export declare class VL53LX extends SensorDriver {
      */
     sensorInit(): Promise<void>;
     /**
-     * short / medium / long — the device preset mode, which sets how far the 24
-     * bins reach before the phase wraps (1.6 / 2.4 / 4.0 m). Host-side only.
+     * short / medium / long — the device preset mode: the VCSEL period, which
+     * sets where the phase wraps (1.6 / 2.4 / 4.0 m), and the valid phase
+     * window inside it (`reachMm()`). Host-side only.
      */
     setMode(name: string): Promise<void>;
     getMode(): Promise<string>;
-    reachMm(): number | null;
+    /**
+     * The valid phase window of the preset mode, which the post-processing
+     * applies: 992 / 1785 / 3373 mm for short / medium / long at the usual
+     * oscillator. Past it the target is status 4, although the bins only wrap
+     * further out. Host-side: no sensor traffic.
+     */
+    reachMm(): Promise<number | null>;
     driverInfo(): Promise<Record<string, unknown>>;
     startRanging(): Promise<void>;
     stopRanging(): Promise<void>;

package/dist/sensors/vl53lx/uld/bare/driver.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/bare/driver.js

@@ -17,6 +17,7 @@
  */
 import { SensorDriver } from "../base.js";
 import { I2C_KHZ_BOOT, Vl53Error } from "../link.js";
+import { phaseWindowMm } from "../vl53l1-die.js";
 import { BareDriver, CLEAR_RANGE_INT, DISTANCE_MODES, HISTOGRAM_BIN_DATA_I2C_INDEX, HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES, TIMING_DIVISOR, TIMING_GUARD_US, } from "./core.js";
 import { FrameHistory, processData, toMeasurement } from "./hist.js";
 import { floorDiv } from "./imath.js";
@@ -33,12 +34,6 @@ export const PAD_I2C_HV__CONFIG = 0x002d;
  * is a property of the die, so it is set here and never cleared.
  */
 export const FMP_PAD_CONFIG = 0x12;
-/** How far the 24 bins reach before the phase wraps, per preset mode. */
-export const REACH_BY_MODE_MM = {
-    short: 1600,
-    medium: 2400,
-    long: 4000,
-};
 export const DEFAULT_MODE = "medium";
 /** VL53L1CX / L1CB / L3CX / L4CX in histogram mode: multi-target ranging. */
 export class VL53LX extends SensorDriver {
@@ -53,10 +48,14 @@ export class VL53LX extends SensorDriver {
     static MODES = DISTANCE_MODES;
     // TIMING_GUARD_US comes off the budget before it is divided, and the range
     // timeout is capped at FDA_MAX_TIMING_BUDGET_US: 2..551 ms, rounded inwards.
+    // Both MODES and BUDGET_MS are narrowed per die in sensorInit().
     static BUDGET_MS = [2, 550];
     static HISTOGRAM = true;
     bare;
     mode = DEFAULT_MODE;
+    // The die's own MODES / BUDGET_MS once NVM is read (null = the class's).
+    dieModes = null;
+    dieBudgetMs = null;
     budgetMs = 33;
     interMs = 0;
     // The A/B alternation rides on the ll-driver state; with the clear done by
@@ -69,6 +68,12 @@ export class VL53LX extends SensorDriver {
         super(platform, product);
         this.bare = new BareDriver(platform);
     }
+    get MODES() {
+        return this.dieModes ?? VL53LX.MODES;
+    }
+    get BUDGET_MS() {
+        return this.dieBudgetMs ?? VL53LX.BUDGET_MS;
+    }
     // ── identity ──
     modelId() {
         return this.p.rdWord(0x010f);
@@ -96,17 +101,22 @@ export class VL53LX extends SensorDriver {
         await this.p.xshutReset();
         await this.waitBoot();
         await this.bare.dataInit();
+        // The die is known once NVM is read: an L4 has no short mode and a
+        // 200 ms budget ceiling, as in ST's L4CX BareDriver.
+        this.dieModes = this.bare.distanceModes();
+        this.dieBudgetMs = [2, floorDiv(this.bare.fdaMaxTimingBudgetUs(), 1000)];
         await this.setMode(this.mode);
         await this.p.wrByte(PAD_I2C_HV__CONFIG, FMP_PAD_CONFIG);
         if (this.MAX_KHZ !== I2C_KHZ_BOOT)
             await this.p.setI2cSpeed(this.MAX_KHZ);
     }
     /**
-     * short / medium / long — the device preset mode, which sets how far the 24
-     * bins reach before the phase wraps (1.6 / 2.4 / 4.0 m). Host-side only.
+     * short / medium / long — the device preset mode: the VCSEL period, which
+     * sets where the phase wraps (1.6 / 2.4 / 4.0 m), and the valid phase
+     * window inside it (`reachMm()`). Host-side only.
      */
     async setMode(name) {
-        if (!DISTANCE_MODES.includes(name)) {
+        if (!this.MODES.includes(name)) {
             throw new Vl53Error(`no such mode: ${name} (have ${this.MODES.join(", ")})`);
         }
         this.mode = name;
@@ -119,8 +129,14 @@ export class VL53LX extends SensorDriver {
     async getMode() {
         return this.mode;
     }
-    reachMm() {
-        return REACH_BY_MODE_MM[this.mode] ?? null;
+    /**
+     * The valid phase window of the preset mode, which the post-processing
+     * applies: 992 / 1785 / 3373 mm for short / medium / long at the usual
+     * oscillator. Past it the target is status 4, although the bins only wrap
+     * further out. Host-side: no sensor traffic.
+     */
+    async reachMm() {
+        return phaseWindowMm(this.bare.img.static_nvm_managed.v.osc_measured__fast_osc__frequency, this.bare.hpp.valid_phase_high);
     }
     // ── driver-specific readout ──
     async driverInfo() {
@@ -192,6 +208,10 @@ export class VL53LX extends SensorDriver {
      * the image reaches the sensor at startRanging().
      */
     async setRangeTiming(timingBudgetMs, interMeasurementMs) {
+        const [low, high] = this.BUDGET_MS;
+        if (!(timingBudgetMs >= low && timingBudgetMs <= high)) {
+            throw new Vl53Error(`timing_budget_ms must be ${low}..${high}`);
+        }
         this.budgetMs = timingBudgetMs;
         this.interMs = interMeasurementMs;
         this.bare.setMeasurementTimingBudgetUs(timingBudgetMs * 1000);