@depz/sensor-sdk 0.3.0 → 0.4.1

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

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

@@ -121,8 +121,13 @@ export declare abstract class SensorDriver {
     budgetChoices(): number[];
     setMode(_name: string): Promise<void>;
     getMode(): Promise<string>;
-    /** How far this driver's configuration can measure (mm), or null. */
-    reachMm(): number | null;
+    /**
+     * How far the configuration in use can measure (mm), read off the sensor —
+     * not the product's rating (registry): past it the phase is out of the
+     * valid window and the frames come back with status 4. null where not
+     * characterised.
+     */
+    reachMm(): Promise<number | null>;
     /** Numbers beyond the contract, for display only. */
     driverInfo(): Promise<Record<string, unknown>>;
 }

package/dist/sensors/vl53lx/uld/base.d.ts.map

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

@@ -154,8 +154,13 @@ export class SensorDriver {
     async getMode() {
         throw new Vl53Error(`${this.product}: no ranging modes`);
     }
-    /** How far this driver's configuration can measure (mm), or null. */
-    reachMm() {
+    /**
+     * How far the configuration in use can measure (mm), read off the sensor —
+     * not the product's rating (registry): past it the phase is out of the
+     * valid window and the frames come back with status 4. null where not
+     * characterised.
+     */
+    async reachMm() {
         return null;
     }
     /** Numbers beyond the contract, for display only. */

package/dist/sensors/vl53lx/uld/base.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/l0x.d.ts

@@ -87,6 +87,12 @@ export declare const REF_SPAD_BUFFER_SIZE = 6;
  */
 export declare const L0X_MODE_DEFAULT = "default";
 export declare const L0X_MODE_SETTINGS: ReadonlyMap<string, readonly [number, number, number, number, number]>;
+/**
+ * ST's range for each final-range VCSEL period the profiles above use: the
+ * period sets how far the phase stays unambiguous. Checked at a wall ~1.8 m:
+ * final 10 fails it with status 4 in all three short profiles, final 14 ranges.
+ */
+export declare const REACH_BY_FINAL_PCLKS_MM: ReadonlyMap<number, number>;
 /**
  * DefaultTuningSettings[] (vl53l0x_tuning.h, "update 02/11/2015_v36"): a run
  * of {count, address, count bytes...} records ended by a zero count.
@@ -145,6 +151,8 @@ export interface L0xDeviceData {
     SequenceConfig: number;
     RangeFractionalEnable: number;
     DeviceMode: number;
+    /** Not in the C driver: the continuous mode last chosen (null: none yet). */
+    ContinuousMode: number | null;
     MeasurementTimingBudgetMicroSeconds: number;
     Pin0GpioFunctionality: number;
     ReferenceSpadCount: number;
@@ -235,7 +243,11 @@ export declare class VL53L0X extends SensorDriver {
     setDeviceMode(mode: number): void;
     /** The undocumented prologue of every VL53L0X_StartMeasurement(). */
     armStopVariable(): Promise<void>;
-    /** VL53L0X_StartMeasurement() for the two continuous modes. */
+    /**
+     * VL53L0X_StartMeasurement() for the two continuous modes. A single shot (a
+     * calibration, a poll) leaves the device mode on single ranging; the
+     * continuous mode chosen before it is resumed.
+     */
     startRanging(): Promise<void>;
     /** VL53L0X_StopMeasurement(). */
     stopRanging(): Promise<void>;
@@ -261,6 +273,12 @@ export declare class VL53L0X extends SensorDriver {
     /** Apply one of MODES: limits, budget and both VCSEL periods. */
     setMode(name: string): Promise<void>;
     getMode(): Promise<string>;
+    /**
+     * Looked up by the final-range VCSEL period read from the sensor, so it
+     * follows the configuration, not the profile name. null for a period no
+     * profile here sets.
+     */
+    reachMm(): Promise<number | null>;
     /** What the five registers a mode writes currently read back as. */
     driverInfo(): Promise<Record<string, unknown>>;
     /** 10.2-format register: stored in steps of 250 um. */
@@ -291,8 +309,18 @@ export declare class VL53L0X extends SensorDriver {
     private enableRefSpads;
     /** perform_ref_signal_measurement() → peak reference signal rate, 9.7. */
     private performRefSignalMeasurement;
-    /** VL53L0X_perform_ref_spad_management() → [count, isAperture]. */
+    /**
+     * Re-measure the reference SPADs on a live session → [count, isAperture].
+     * Not in the C driver: the stop variable goes back first. stopRanging()
+     * (VL53L0X_StopMeasurement) zeroes register 0x91, and the VHV/phase single
+     * shots this runs do not arm it the way every StartMeasurement does. Left at
+     * 0, the reference rate reads far too high, the aperture SPADs get picked
+     * and every frame after is Signal Fail (TB9BGETA6M, 30.09.2026). init()
+     * calls the bare routine: after the reset 0x91 already holds it.
+     */
     performRefSpadManagement(): Promise<[number, number]>;
+    /** VL53L0X_perform_ref_spad_management() → [count, isAperture]. */
+    private refSpadManagement;
     private storeRefSpads;
     setLimitCheckEnable(check: number, enable: number): Promise<void>;
     setLimitCheckValue(check: number, value: number): Promise<void>;

package/dist/sensors/vl53lx/uld/l0x.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/l0x.js

@@ -102,6 +102,15 @@ export const L0X_MODE_SETTINGS = new Map([
     ["high-speed", [0.25, 32, 30000, 14, 10]],
     ["high-accuracy", [0.25, 18, 200000, 14, 10]],
 ]);
+/**
+ * ST's range for each final-range VCSEL period the profiles above use: the
+ * period sets how far the phase stays unambiguous. Checked at a wall ~1.8 m:
+ * final 10 fails it with status 4 in all three short profiles, final 14 ranges.
+ */
+export const REACH_BY_FINAL_PCLKS_MM = new Map([
+    [10, 1200],
+    [14, 2000],
+]);
 /**
  * DefaultTuningSettings[] (vl53l0x_tuning.h, "update 02/11/2015_v36"): a run
  * of {count, address, count bytes...} records ended by a zero count.
@@ -285,6 +294,7 @@ export class VL53L0X extends SensorDriver {
         SequenceConfig: 0,
         RangeFractionalEnable: 0,
         DeviceMode: DEVICEMODE_SINGLE_RANGING,
+        ContinuousMode: null,
         MeasurementTimingBudgetMicroSeconds: 0,
         Pin0GpioFunctionality: GPIOFUNCTIONALITY_NEW_MEASURE_READY,
         ReferenceSpadCount: 0,
@@ -355,7 +365,7 @@ export class VL53L0X extends SensorDriver {
         await this.dataInit();
         await this.staticInit();
         if (!this.refSpadsFromNvm)
-            await this.performRefSpadManagement();
+            await this.refSpadManagement();
         await this.performRefCalibration();
         this.setDeviceMode(DEVICEMODE_CONTINUOUS_RANGING);
         this.mode = L0X_MODE_DEFAULT;
@@ -857,6 +867,8 @@ export class VL53L0X extends SensorDriver {
             throw new Vl53Error(`device mode ${mode} is not supported`);
         }
         this.d.DeviceMode = mode;
+        if (mode !== DEVICEMODE_SINGLE_RANGING)
+            this.d.ContinuousMode = mode;
     }
     /** The undocumented prologue of every VL53L0X_StartMeasurement(). */
     async armStopVariable() {
@@ -869,8 +881,15 @@ export class VL53L0X extends SensorDriver {
         await p.wrByte(0xff, 0x00);
         await p.wrByte(0x80, 0x00);
     }
-    /** VL53L0X_StartMeasurement() for the two continuous modes. */
+    /**
+     * VL53L0X_StartMeasurement() for the two continuous modes. A single shot (a
+     * calibration, a poll) leaves the device mode on single ranging; the
+     * continuous mode chosen before it is resumed.
+     */
     async startRanging() {
+        if (this.d.DeviceMode === DEVICEMODE_SINGLE_RANGING && this.d.ContinuousMode !== null) {
+            this.setDeviceMode(this.d.ContinuousMode);
+        }
         await this.armStopVariable();
         const mode = this.d.DeviceMode;
         if (mode === DEVICEMODE_CONTINUOUS_RANGING) {
@@ -1167,6 +1186,14 @@ export class VL53L0X extends SensorDriver {
     async getMode() {
         return this.mode;
     }
+    /**
+     * Looked up by the final-range VCSEL period read from the sensor, so it
+     * follows the configuration, not the profile name. null for a period no
+     * profile here sets.
+     */
+    async reachMm() {
+        return REACH_BY_FINAL_PCLKS_MM.get(await this.getVcselPulsePeriod(VCSEL_PERIOD_FINAL_RANGE)) ?? null;
+    }
     /** What the five registers a mode writes currently read back as. */
     async driverInfo() {
         return {
@@ -1343,8 +1370,21 @@ export class VL53L0X extends SensorDriver {
         this.d.SequenceConfig = sequenceConfig;
         return peak;
     }
-    /** VL53L0X_perform_ref_spad_management() → [count, isAperture]. */
+    /**
+     * Re-measure the reference SPADs on a live session → [count, isAperture].
+     * Not in the C driver: the stop variable goes back first. stopRanging()
+     * (VL53L0X_StopMeasurement) zeroes register 0x91, and the VHV/phase single
+     * shots this runs do not arm it the way every StartMeasurement does. Left at
+     * 0, the reference rate reads far too high, the aperture SPADs get picked
+     * and every frame after is Signal Fail (TB9BGETA6M, 30.09.2026). init()
+     * calls the bare routine: after the reset 0x91 already holds it.
+     */
     async performRefSpadManagement() {
+        await this.armStopVariable();
+        return this.refSpadManagement();
+    }
+    /** VL53L0X_perform_ref_spad_management() → [count, isAperture]. */
+    async refSpadManagement() {
         const startSelect = 0xb4;
         const minimumSpadCount = 3;
         const maxSpadCount = 44;