@depz/sensor-sdk 0.4.1 → 0.5.0

package/dist/sensors/bno086/bno086.js

@@ -13,8 +13,8 @@ import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { BusyError, DepzError, DepzTimeoutError } from "../../errors.js";
 import { BUSY_BACKOFF_MS, Bno086Cmd, Bno086Rpt, unpackBno086Data, } from "../../protocol/bno086.js";
 import { SensorId, parseGyroRvCargo, parseInputCargo } from "./reports.js";
-import { ControlReport, ErrorSource, FrsReadSession, FrsWriteSession, ME_CAL_GET, METADATA_RECORDS, Sh2Command, Sh2Error, TareAxis, TareBasis, buildCommandRequest, buildGetFeatureRequest, buildProductIdRequest, buildSetFeature, countsClearParams, countsGetParams, errorRecordFromResponse, errorsParams, meCalibrationParams, periodicDcdParams, persistTareParams, sensorMetadataFromWords, setReorientationParams, tareNowParams, unpackCommandResponse, unpackFeatureResponse, unpackFrsReadResponse, unpackFrsWriteResponse, unpackProductId, } from "./sh2.js";
-import { ShtpChannel, ShtpLayer } from "./shtp.js";
+import { ControlReport, ErrorSource, FrsReadSession, FrsWriteSession, ME_CAL_GET, METADATA_RECORDS, Sh2Command, Sh2Error, TareAxis, TareBasis, buildCommandRequest, buildGetFeatureRequest, buildProductIdRequest, buildSetFeature, splitControlCargo, countsClearParams, countsGetParams, errorRecordFromResponse, errorsParams, meCalibrationParams, periodicDcdParams, persistTareParams, sensorMetadataFromWords, setReorientationParams, tareNowParams, unpackCommandResponse, unpackFeatureResponse, unpackFrsReadResponse, unpackFrsWriteResponse, unpackProductId, } from "./sh2.js";
+import { ExecutableCommand, ShtpChannel, ShtpLayer } from "./shtp.js";
 // Rate verification bounds (contract 05 §7): the hub grants a grid rate; a
 // result outside [0.9, 2.1]× the requested rate is worth a warning, never an
 // error.
@@ -110,15 +110,16 @@ export class Bno086 extends DepzDevice {
                 }
                 return;
             case ShtpChannel.Control: {
-                if (cargo.payload.length === 0)
-                    return;
-                const rid = cargo.payload[0];
-                if (rid === ControlReport.GetFeatureResponse && cargo.payload.length >= 17) {
-                    const resp = unpackFeatureResponse(cargo.payload);
-                    this.features.set(resp.sensorId, resp);
-                }
-                for (const waiter of [...(this.controlWaiters.get(rid) ?? [])]) {
-                    waiter(cargo.payload.slice());
+                // One cargo may hold several responses back to back.
+                for (const report of splitControlCargo(cargo.payload)) {
+                    const rid = report[0];
+                    if (rid === ControlReport.GetFeatureResponse && report.length >= 17) {
+                        const resp = unpackFeatureResponse(report);
+                        this.features.set(resp.sensorId, resp);
+                    }
+                    for (const waiter of [...(this.controlWaiters.get(rid) ?? [])]) {
+                        waiter(report.slice());
+                    }
                 }
                 return;
             }
@@ -302,10 +303,40 @@ export class Bno086 extends DepzDevice {
             clearTimeout(timer);
         }
     }
-    /** Pulse WAKE (PS0): wakes the sensor from sleep, no state loss. */
+    /**
+     * Pulse WAKE (PS0): wakes the sensor from sleep, no state loss.
+     *
+     * This is the board's hardware pin pulse (board command 0x33), not an SH-2
+     * command; the SH-2 "On" command that ends {@link sleep} is {@link powerOn}.
+     */
     async wake() {
         await this.request(Bno086Cmd.SensorWakeUp, undefined, { okCompletes: true });
     }
+    /**
+     * Put the hub to sleep: SH-2 "Sleep" (0x03 on SHTP channel 1).
+     *
+     * Every report stops, except those enabled with
+     * `flags: FeatureFlag.Wakeup | FeatureFlag.AlwaysOn`, which keep their rate;
+     * the configuration (enabled sensors, rates) is kept. The hub sends no
+     * response. {@link powerOn} ends it.
+     *
+     * On a DEPZ BNO086 (SH-2 3.12.6, 2026-10-16): all reports stopped within one
+     * sample; a Wakeup|AlwaysOn report kept streaming at full rate on channel 4.
+     */
+    async sleep() {
+        await this.sendShtp(ShtpChannel.Executable, Uint8Array.of(ExecutableCommand.Sleep));
+    }
+    /**
+     * End {@link sleep}: SH-2 "On" (0x02 on SHTP channel 1).
+     *
+     * Every report that was enabled comes back at its rate — no need to
+     * re-enable. The hub sends no response. Not to be confused with
+     * {@link wake}, which pulses the WAKE pin (board command 0x33) instead of
+     * sending an SH-2 command.
+     */
+    async powerOn() {
+        await this.sendShtp(ShtpChannel.Executable, Uint8Array.of(ExecutableCommand.On));
+    }
     /** Raw SHTP channel-0 advertisement bytes seen since open/reset. */
     get advertisement() {
         const total = this.advertisementChunks.reduce((n, c) => n + c.length, 0);
@@ -318,9 +349,31 @@ export class Bno086 extends DepzDevice {
         return out;
     }
     // ── SH-2: identification & features ──────────────────────────────────────
-    /** Product ID Request/Response round trip (first responding subsystem). */
-    productId(timeoutMs = CONTROL_TIMEOUT_MS) {
-        return this.controlRequest(buildProductIdRequest(), ControlReport.ProductIdResponse, unpackProductId, undefined, timeoutMs);
+    /** The SH-2 application's Product ID — the first of `productIds()`. */
+    async productId(timeoutMs = CONTROL_TIMEOUT_MS) {
+        return (await this.productIds(timeoutMs))[0];
+    }
+    /**
+     * Product ID Request → every component's response, in the sensor's order
+     * (the SH-2 application first). Collects until no response came for
+     * `settleMs`, so the late ones can't answer the next request (they arrive in
+     * a second cargo; taking only the first once returned the bootloader's
+     * version on a back-to-back call).
+     */
+    productIds(timeoutMs = CONTROL_TIMEOUT_MS, settleMs = 150) {
+        const out = [];
+        let settle;
+        return this.controlExchange(ControlReport.ProductIdResponse, timeoutMs + settleMs, (raw, finish, fail) => {
+            try {
+                out.push(unpackProductId(raw));
+            }
+            catch (err) {
+                fail(err instanceof Error ? err : new DepzError(String(err)));
+                return;
+            }
+            clearTimeout(settle);
+            settle = setTimeout(() => finish(out), settleMs);
+        }, () => this.sendShtp(ShtpChannel.Control, buildProductIdRequest())).finally(() => clearTimeout(settle));
     }
     /**
      * Enable `sensor` at the requested rate via Set Feature (0xFD).

package/dist/sensors/bno086/bno086.js.map

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

@@ -26,6 +26,18 @@ export declare enum ControlReport {
     SetFeatureCommand = 253,
     GetFeatureRequest = 254
 }
+/**
+ * Fixed lengths of the sensor→host control reports (contract 05 §6). One
+ * control cargo may carry several back to back — the Product ID Response comes
+ * once per software component (a BNO085 sends four, split over two cargos).
+ */
+export declare const CONTROL_RESPONSE_LENGTHS: ReadonlyMap<number, number>;
+/**
+ * Split a control-channel cargo into its reports. An unknown report ID (or a
+ * short tail) ends the walk: the rest is returned as one piece, since its
+ * length is unknowable.
+ */
+export declare function splitControlCargo(payload: Uint8Array): Uint8Array[];
 /** `command` field of Command Request/Response (0xF2/0xF1). */
 export declare enum Sh2Command {
     Errors = 1,
@@ -96,6 +108,20 @@ export declare enum TareAxis {
     Z = 4,
     All = 7
 }
+/**
+ * Set Feature `flags` bits (SH-2 §6.5.4) for `Bno086.enable({ flags })`.
+ *
+ * `Wakeup | AlwaysOn` keeps a sensor reporting through `Bno086.sleep()`: on a
+ * DEPZ BNO086 (SH-2 3.12.6, 2026-10-16) such a report kept its full rate
+ * during sleep, delivered on SHTP channel 4 (wake input), while every other
+ * report stopped.
+ */
+export declare enum FeatureFlag {
+    /** Bit 2: wake-up enabled — reports on channel 4. */
+    Wakeup = 4,
+    /** Bit 3: always-on — keeps running while the hub sleeps. */
+    AlwaysOn = 8
+}
 /**
  * Set Feature Command (0xFD), 17 bytes.
  *
@@ -120,7 +146,9 @@ export declare function unpackFeatureResponse(payload: Uint8Array): FeatureRespo
 export declare function buildProductIdRequest(): Uint8Array;
 /**
  * Product ID Response (0xF8), 16 bytes. The sensor sends one response per
- * subsystem (typically 2); resetCause per SH-2 §6.4.5.2.
+ * software component (a BNO085 sends four: the SH-2 application first, then
+ * the bootloader and two support components); resetCause per SH-2 §6.4.5.2,
+ * set on the first only.
  */
 export interface ProductId {
     resetCause: number;

package/dist/sensors/bno086/sh2.d.ts.map

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

@@ -27,6 +27,37 @@ export var ControlReport;
     ControlReport[ControlReport["SetFeatureCommand"] = 253] = "SetFeatureCommand";
     ControlReport[ControlReport["GetFeatureRequest"] = 254] = "GetFeatureRequest";
 })(ControlReport || (ControlReport = {}));
+/**
+ * Fixed lengths of the sensor→host control reports (contract 05 §6). One
+ * control cargo may carry several back to back — the Product ID Response comes
+ * once per software component (a BNO085 sends four, split over two cargos).
+ */
+export const CONTROL_RESPONSE_LENGTHS = new Map([
+    [ControlReport.CommandResponse, 16],
+    [ControlReport.FrsReadResponse, 16],
+    [ControlReport.FrsWriteResponse, 4],
+    [ControlReport.ProductIdResponse, 16],
+    [ControlReport.GetFeatureResponse, 17],
+]);
+/**
+ * Split a control-channel cargo into its reports. An unknown report ID (or a
+ * short tail) ends the walk: the rest is returned as one piece, since its
+ * length is unknowable.
+ */
+export function splitControlCargo(payload) {
+    const out = [];
+    let pos = 0;
+    while (pos < payload.length) {
+        const n = CONTROL_RESPONSE_LENGTHS.get(payload[pos]);
+        if (n === undefined || pos + n > payload.length) {
+            out.push(payload.slice(pos));
+            break;
+        }
+        out.push(payload.slice(pos, pos + n));
+        pos += n;
+    }
+    return out;
+}
 /** `command` field of Command Request/Response (0xF2/0xF1). */
 export var Sh2Command;
 (function (Sh2Command) {
@@ -103,6 +134,21 @@ function view(p) {
     return new DataView(p.buffer, p.byteOffset, p.byteLength);
 }
 // ── feature control (0xFD / 0xFE / 0xFC) ─────────────────────────────────────
+/**
+ * Set Feature `flags` bits (SH-2 §6.5.4) for `Bno086.enable({ flags })`.
+ *
+ * `Wakeup | AlwaysOn` keeps a sensor reporting through `Bno086.sleep()`: on a
+ * DEPZ BNO086 (SH-2 3.12.6, 2026-10-16) such a report kept its full rate
+ * during sleep, delivered on SHTP channel 4 (wake input), while every other
+ * report stopped.
+ */
+export var FeatureFlag;
+(function (FeatureFlag) {
+    /** Bit 2: wake-up enabled — reports on channel 4. */
+    FeatureFlag[FeatureFlag["Wakeup"] = 4] = "Wakeup";
+    /** Bit 3: always-on — keeps running while the hub sleeps. */
+    FeatureFlag[FeatureFlag["AlwaysOn"] = 8] = "AlwaysOn";
+})(FeatureFlag || (FeatureFlag = {}));
 /**
  * Set Feature Command (0xFD), 17 bytes.
  *

package/dist/sensors/bno086/sh2.js.map

@@ -1 +1 @@
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package/dist/sensors/bno086/shtp.d.ts

@@ -31,6 +31,18 @@ export declare enum ShtpChannel {
     /** Gyro-integrated rotation vector, dense format. */
     GyroRv = 5
 }
+/**
+ * One-byte host writes on the executable channel (SHTP channel 1). The hub
+ * answers none of them. `Reset` restarts the hub (answered later by the 0x01
+ * reset-complete on the same channel); `Sleep` stops every report except those
+ * enabled with `FeatureFlag.Wakeup | FeatureFlag.AlwaysOn`, keeping the
+ * configuration; `On` ends `Sleep` and every report resumes at its rate.
+ */
+export declare enum ExecutableCommand {
+    Reset = 1,
+    On = 2,
+    Sleep = 3
+}
 export declare const SHTP_HEADER_SIZE = 4;
 export declare const LENGTH_MASK = 32767;
 export declare const CONTINUATION_BIT = 32768;

package/dist/sensors/bno086/shtp.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno086/shtp.js

@@ -32,6 +32,19 @@ export var ShtpChannel;
     /** Gyro-integrated rotation vector, dense format. */
     ShtpChannel[ShtpChannel["GyroRv"] = 5] = "GyroRv";
 })(ShtpChannel || (ShtpChannel = {}));
+/**
+ * One-byte host writes on the executable channel (SHTP channel 1). The hub
+ * answers none of them. `Reset` restarts the hub (answered later by the 0x01
+ * reset-complete on the same channel); `Sleep` stops every report except those
+ * enabled with `FeatureFlag.Wakeup | FeatureFlag.AlwaysOn`, keeping the
+ * configuration; `On` ends `Sleep` and every report resumes at its rate.
+ */
+export var ExecutableCommand;
+(function (ExecutableCommand) {
+    ExecutableCommand[ExecutableCommand["Reset"] = 1] = "Reset";
+    ExecutableCommand[ExecutableCommand["On"] = 2] = "On";
+    ExecutableCommand[ExecutableCommand["Sleep"] = 3] = "Sleep";
+})(ExecutableCommand || (ExecutableCommand = {}));
 export const SHTP_HEADER_SIZE = 4;
 export const LENGTH_MASK = 0x7fff;
 export const CONTINUATION_BIT = 0x8000;

package/dist/sensors/bno086/shtp.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53l4/uld.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"uld.d.ts","sourceRoot":"","sources":["../../../src/sensors/vl53l4/uld.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AAEH,eAAO,MAAM,WAAW,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAgB,CAAC;AAGnF,eAAO,MAAM,UAAU,IAAS,CAAC;AACjC,eAAO,MAAM,yBAAyB,IAAS,CAAC;AAChD,+BAA+B;AAC/B,eAAO,MAAM,aAAa,IAAS,CAAC;AACpC,eAAO,MAAM,qCAAqC,IAAS,CAAC;AAC5D,eAAO,MAAM,uBAAuB,KAAS,CAAC;AAC9C,eAAO,MAAM,2BAA2B,KAAS,CAAC;AAClD,eAAO,MAAM,2BAA2B,KAAS,CAAC;AAClD,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,eAAe,KAAS,CAAC;AACtC,eAAO,MAAM,iBAAiB,KAAS,CAAC;AACxC,eAAO,MAAM,mBAAmB,KAAS,CAAC;AAC1C,eAAO,MAAM,iBAAiB,KAAS,CAAC;AACxC,eAAO,MAAM,cAAc,KAAS,CAAC;AACrC,eAAO,MAAM,cAAc,KAAS,CAAC;AACrC,eAAO,MAAM,0BAA0B,MAAS,CAAC;AACjD,eAAO,MAAM,6BAA6B,MAAS,CAAC;AACpD,eAAO,MAAM,mBAAmB,MAAS,CAAC;AAC1C,eAAO,MAAM,WAAW,MAAS,CAAC;AAClC,eAAO,MAAM,UAAU,MAAS,CAAC;AACjC,eAAO,MAAM,uBAAuB,MAAS,CAAC;AAC9C,eAAO,MAAM,YAAY,MAAS,CAAC;AACnC,eAAO,MAAM,oBAAoB,MAAS,CAAC;AAC3C,eAAO,MAAM,eAAe,MAAS,CAAC;AACtC,eAAO,MAAM,mBAAmB,MAAS,CAAC;AAC1C,eAAO,MAAM,oBAAoB,MAAS,CAAC;AAC3C,eAAO,MAAM,aAAa,MAAS,CAAC;AACpC,eAAO,MAAM,gBAAgB,MAAS,CAAC;AACvC,eAAO,MAAM,yBAAyB,MAAS,CAAC;AAChD,eAAO,MAAM,uBAAuB,MAAS,CAAC;AAC9C,eAAO,MAAM,wBAAwB,MAAS,CAAC;AAE/C,eAAO,MAAM,iBAAiB,QAAS,CAAC;AAGxC,eAAO,MAAM,YAAY,IAAI,CAAC;AAC9B,eAAO,MAAM,YAAY,IAAI,CAAC;AAC9B,eAAO,MAAM,UAAU,IAAI,CAAC;AAC5B,eAAO,MAAM,SAAS,IAAI,CAAC;AAE3B,eAAO,MAAM,WAAW,KAAS,CAAC;AAClC,eAAO,MAAM,UAAU,MAAS,CAAC;AAEjC;;;;;;;GAOG;AAEH,eAAO,MAAM,qBAAqB,EAAE,UAalC,CAAC;AAEH,eAAO,MAAM,eAAe,KAAO,CAAC;AAIpC,eAAO,MAAM,iBAAiB,MAAuB,CAAC;AACtD,eAAO,MAAM,gBAAgB,KAAK,CAAC;AAKnC,eAAO,MAAM,YAAY,MAAM,CAAC;AAChC,eAAO,MAAM,eAAe,OAAO,CAAC;AAEpC,8EAA8E;AAE9E,eAAO,MAAM,UAAU,EAAE,SAAS,MAAM,EAIvC,CAAC;AAEF,0CAA0C;AAC1C,eAAO,MAAM,kBAAkB,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAe/D,CAAC;AAEF,qBAAa,aAAc,SAAQ,KAAK;gBAC1B,OAAO,CAAC,EAAE,MAAM;CAI7B;AAED,mDAAmD;AACnD,MAAM,WAAW,cAAc;IAC7B,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC,CAAC;IACzD,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACvD,WAAW,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;IACxC,OAAO,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC;CACpC;AAED,kEAAkE;AAClE,MAAM,WAAW,aAAa;IAC5B,sCAAsC;IACtC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE,MAAM,CAAC;IACnB,eAAe,EAAE,MAAM,CAAC;IACxB,kBAAkB,EAAE,MAAM,CAAC;IAC3B,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;IAChB;;;;OAIG;IACH,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,sDAAsD;AACtD,wBAAgB,eAAe,CAAC,WAAW,EAAE,MAAM,GAAG,MAAM,CAE3D;AAWD;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,GAAG,EAAE,UAAU,GAAG,aAAa,CAyB/D;AAED;;;GAGG;AACH,wBAAgB,WAAW,IAAI,UAAU,CAIxC;AAED,qCAAqC;AACrC,MAAM,WAAW,oBAAoB;IACnC,YAAY,EAAE,MAAM,CAAC;IACrB,YAAY,EAAE,MAAM,CAAC;IACrB,qCAAqC;IACrC,mBAAmB,EAAE,MAAM,CAAC;CAC7B;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAClC,cAAc,EAAE,MAAM,EACtB,kBAAkB,EAAE,MAAM,EAC1B,YAAY,EAAE,MAAM,EACpB,QAAQ,SAAI,GACX,oBAAoB,CAqCtB;AAED,oCAAoC;AACpC,MAAM,WAAW,WAAW;IAC1B,cAAc,EAAE,MAAM,CAAC;IACvB,kBAAkB,EAAE,MAAM,CAAC;CAC5B;AAED;;;;;;GAMG;AACH,wBAAgB,iBAAiB,CAC/B,mBAAmB,EAAE,MAAM,EAC3B,QAAQ,EAAE,MAAM,EAChB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,WAAW,CAkBb;AAID,6EAA6E;AAC7E,wBAAgB,SAAS,CAAC,QAAQ,EAAE,MAAM,GAAG,MAAM,CAElD;AAED,4DAA4D;AAC5D,wBAAgB,YAAY,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAGpD;AAED,iDAAiD;AACjD,wBAAgB,QAAQ,CAAC,SAAS,EAAE,MAAM,GAAG,MAAM,CAElD;AAED,qDAAqD;AACrD,wBAAgB,WAAW,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAEnD;AAED,wBAAgB,kBAAkB,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,CAE7D;AAED,wBAAgB,qBAAqB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAE7D;AAED,wBAAgB,iBAAiB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAKzD;AAED,wBAAgB,oBAAoB,CAAC,OAAO,EAAE,MAAM,GAAG,MAAM,CAE5D;AAaD,mEAAmE;AACnE,qBAAa,QAAQ;IACP,QAAQ,CAAC,CAAC,EAAE,cAAc;gBAAjB,CAAC,EAAE,cAAc;IAIhC,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAIrC,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAKrC,OAAO,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAKtC,MAAM,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAIlD,MAAM,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAIlD,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IASzD,WAAW,IAAI,OAAO,CAAC,MAAM,CAAC;IAIxB,OAAO,IAAI,OAAO,CAAC,OAAO,CAAC;IAM3B,QAAQ,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAQ/C;;;;;;;OAOG;IACG,UAAU,CAAC,MAAM,GAAE,MAAwB,GAAG,OAAO,CAAC,IAAI,CAAC;IAwB3D,cAAc,IAAI,OAAO,CAAC,IAAI,CAAC;IAI/B,YAAY,IAAI,OAAO,CAAC,IAAI,CAAC;IAM7B,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAI5B,iBAAiB,IAAI,OAAO,CAAC,OAAO,CAAC;IAKrC,aAAa,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,IAAI,CAAC;IAQpD;;;OAGG;IACG,SAAS,IAAI,OAAO,CAAC,aAAa,CAAC;IAMnC,cAAc,CAAC,cAAc,EAAE,MAAM,EAAE,kBAAkB,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAajF,cAAc,IAAI,OAAO,CAAC,WAAW,CAAC;IAWtC,SAAS,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAM1C,SAAS,IAAI,OAAO,CAAC,MAAM,CAAC;IAM5B,QAAQ,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAM1C,QAAQ,IAAI,OAAO,CAAC,MAAM,CAAC;IAM3B,sBAAsB,CAC1B,aAAa,EAAE,MAAM,EACrB,cAAc,EAAE,MAAM,EACtB,MAAM,EAAE,MAAM,GACb,OAAO,CAAC,IAAI,CAAC;IAMV,sBAAsB,IA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package/dist/sensors/vl53l4/uld.js

@@ -253,7 +253,7 @@ export function xtalkRaw(xtalkKcps) {
 }
 /** getXtalk: XTALK_PLANE_OFFSET_KCPS word → kcps. */
 export function decodeXtalk(rawWord) {
-    return roundHalfEven(rawWord / 512.0);
+    return roundHalfAway(rawWord / 512.0);
 }
 export function signalThresholdRaw(signalKcps) {
     return signalKcps >> 3;
@@ -271,12 +271,16 @@ export function decodeSigmaThreshold(rawWord) {
     return rawWord >> 2;
 }
 /**
- * Python's banker's rounding (`round()`): exact .5 goes to the nearest even
- * integer. Keeps the codecs bit-identical to the reference.
+ * C's `round()`: an exact .5 goes away from zero, as ST's ULD rounds xtalk
+ * (`Math.round()` sends -2.5 to -2, Python's `round()` sends 0.5 to 0).
  */
-function roundHalfEven(x) {
-    const r = Math.round(x);
-    return Math.abs(x % 1) === 0.5 && r % 2 !== 0 ? r - 1 : r;
+function roundHalfAway(x) {
+    const t = Math.trunc(x);
+    if (x - t >= 0.5)
+        return t + 1;
+    if (x - t <= -0.5)
+        return t - 1;
+    return t;
 }
 /** Port of VL53L4CD_api.c + VL53L4CD_calibration.c (ULD 2.2.3). */
 export class VL53L4CD {
@@ -498,7 +502,7 @@ export class VL53L4CD {
             throw new Vl53l4cdError(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
         }
         await this.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
-        return roundHalfEven(tmpXtalk);
+        return roundHalfAway(tmpXtalk);
     }
 }
 //# sourceMappingURL=uld.js.map