@depz/sensor-sdk 0.4.1 → 0.5.0

package/dist/sensors/vl53l4/uld.js.map

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

@@ -18,6 +18,11 @@ export declare function shr(a: number, n: number): number;
 export declare function shl(a: number, n: number): number;
 /** Python `round(x)`: half to even. */
 export declare function pyRound(x: number): number;
+/**
+ * C's `round()`: an exact .5 goes away from zero. ST's ULD rounds xtalk this
+ * way; Python's `round()` and JS's `Math.round()` don't (0.5 → 0, -2.5 → -2).
+ */
+export declare function roundHalfAway(x: number): number;
 /** Big-endian unsigned integer of `b[start:end]`. */
 export declare function beUint(b: Uint8Array, start: number, end: number): number;
 //# sourceMappingURL=arith.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"arith.d.ts","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAIH,iFAAiF;AACjF,wBAAgB,GAAG,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,wCAAwC;AACxC,wBAAgB,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAErD;AAED,8DAA8D;AAC9D,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,4CAA4C;AAC5C,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,uCAAuC;AACvC,wBAAgB,OAAO,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,qDAAqD;AACrD,wBAAgB,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAIxE"}
+{"version":3,"file":"arith.d.ts","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAIH,iFAAiF;AACjF,wBAAgB,GAAG,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED,wCAAwC;AACxC,wBAAgB,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAErD;AAED,8DAA8D;AAC9D,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,4CAA4C;AAC5C,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAEhD;AAED,uCAAuC;AACvC,wBAAgB,OAAO,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAGzC;AAED;;;GAGG;AACH,wBAAgB,aAAa,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAK/C;AAED,qDAAqD;AACrD,wBAAgB,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAIxE"}

package/dist/sensors/vl53lx/uld/arith.js

@@ -32,6 +32,18 @@ export function pyRound(x) {
         return 2 * Math.round(x / 2);
     return Math.round(x);
 }
+/**
+ * C's `round()`: an exact .5 goes away from zero. ST's ULD rounds xtalk this
+ * way; Python's `round()` and JS's `Math.round()` don't (0.5 → 0, -2.5 → -2).
+ */
+export 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;
+}
 /** Big-endian unsigned integer of `b[start:end]`. */
 export function beUint(b, start, end) {
     let v = 0;

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

@@ -1 +1 @@
-{"version":3,"file":"arith.js","sourceRoot":"","sources":["../../../../src/sensors/vl53lx/uld/arith.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,MAAM,KAAK,GAAG,UAAU,CAAC;AAEzB,iFAAiF;AACjF,MAAM,UAAU,GAAG,CAAC,KAAa;IAC/B,MAAM,CAAC,GAAG,KAAK,GAAG,KAAK,CAAC;IACxB,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAC/B,CAAC;AAED,wCAAwC;AACxC,MAAM,UAAU,QAAQ,CAAC,CAAS,EAAE,CAAS;IAC3C,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;AAC3B,CAAC;AAED,8DAA8D;AAC9D,MAAM,UAAU,GAAG,CAAC,CAAS,EAAE,CAAS;IACtC,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;AAChC,CAAC;AAED,4CAA4C;AAC5C,MAAM,UAAU,GAAG,CAAC,CAAS,EAAE,CAAS;IACtC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;AACpB,CAAC;AAED,uCAAuC;AACvC,MAAM,UAAU,OAAO,CAAC,CAAS;IAC/B,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,KAAK,GAAG;QAAE,OAAO,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAC1D,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;AACvB,CAAC;AAED,qDAAqD;AACrD,MAAM,UAAU,MAAM,CAAC,CAAa,EAAE,KAAa,EAAE,GAAW;IAC9D,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,KAAK,IAAI,CAAC,GAAG,KAAK,EAAE,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE;QAAE,CAAC,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC,CAAE,CAAC;IACtD,OAAO,CAAC,CAAC;AACX,CAAC"}
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package/dist/sensors/vl53lx/uld/l1.js

@@ -9,7 +9,7 @@
  * in kcps (the register's own unit), unlike ST's L1X wrapper.
  */
 import { Vl53Error } from "./link.js";
-import { floorDiv, pyRound } from "./arith.js";
+import { floorDiv, roundHalfAway } from "./arith.js";
 import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, INTERMEASUREMENT_MS, OUTER_OFFSET_MM, PHASECAL_CONFIG__TIMEOUT_MACROP, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, RANGE_CONFIG__VALID_PHASE_HIGH, RANGE_CONFIG__VCSEL_PERIOD_A, RANGE_CONFIG__VCSEL_PERIOD_B, RANGE_OFFSET_MM, RESULT__OSC_CALIBRATE_VAL, SD_CONFIG__INITIAL_PHASE_SD0, SD_CONFIG__WOI_SD0, SYSTEM__INTERRUPT_CONFIG_GPIO, SYSTEM__MODE_START, THRESH_HIGH, THRESH_LOW, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
 export const L1_ULD_VERSION = [3, 5, 5];
 /** VL51L1X_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
@@ -250,7 +250,7 @@ export class VL53L1 extends VL53L1Die {
         let calXtalk = Math.trunc((512 * (avgSignal * (1 - avgDistance / targetDistMm))) / avgSpadNb);
         calXtalk = Math.min(Math.max(calXtalk, 0), 0xffff);
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, calXtalk);
-        return pyRound(calXtalk / 512.0);
+        return roundHalfAway(calXtalk / 512.0);
     }
 }
 function sum(xs) {

package/dist/sensors/vl53lx/uld/l1.js.map

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package/dist/sensors/vl53lx/uld/l4.js

@@ -5,7 +5,7 @@
  * init and its two calibrations; the die body lives in `vl53l1-die.ts`.
  */
 import { Vl53Error } from "./link.js";
-import { floorDiv, pyRound } from "./arith.js";
+import { floorDiv, roundHalfAway } from "./arith.js";
 import { CONFIG_ADDR, CONFIG_END, INNER_OFFSET_MM, OUTER_OFFSET_MM, RANGE_OFFSET_MM, VL53L1Die, XTALK_PLANE_OFFSET_KCPS, } from "./vl53l1-die.js";
 export const L4_ULD_VERSION = [2, 2, 3, 0];
 /** VL53L4CD_DEFAULT_CONFIGURATION[] — 91 bytes, registers 0x2D..0x87. */
@@ -83,7 +83,7 @@ export class VL53L4 extends VL53L1Die {
             throw new Vl53Error(`xtalk calibration failed: ${tmpXtalk.toFixed(1)} kcps > 127`);
         }
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, Math.trunc(tmpXtalk * 512.0) & 0xffff);
-        return pyRound(tmpXtalk);
+        return roundHalfAway(tmpXtalk);
     }
 }
 function sum(xs) {

package/dist/sensors/vl53lx/uld/l4.js.map

@@ -1 +1 @@
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package/dist/sensors/vl53lx/uld/vl53l1-die.js

@@ -14,7 +14,7 @@
  */
 import { I2C_KHZ_BOOT, ProtocolError, Vl53Error } from "./link.js";
 import { measurement, SensorDriver } from "./base.js";
-import { beUint, floorDiv, pyRound, u32 } from "./arith.js";
+import { beUint, floorDiv, roundHalfAway, u32 } from "./arith.js";
 export const SOFT_RESET = 0x0000;
 export const I2C_SLAVE__DEVICE_ADDRESS = 0x0001;
 export const OSC_FREQUENCY = 0x0006;
@@ -402,7 +402,7 @@ export class VL53L1Die extends SensorDriver {
         await this.p.wrWord(XTALK_PLANE_OFFSET_KCPS, (xtalkKcps << 9) & 0xffff);
     }
     async getXtalk() {
-        return pyRound((await this.p.rdWord(XTALK_PLANE_OFFSET_KCPS)) / 512.0);
+        return roundHalfAway((await this.p.rdWord(XTALK_PLANE_OFFSET_KCPS)) / 512.0);
     }
     // ── ROI (VL53L1X_SetROI / VL53L3CX_ULP_SetROI, the same registers) ──
     /** An X by Y window of SPADs, 4..16 each way. */

package/dist/sensors/vl53lx/uld/vl53l1-die.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.4.1",
+  "version": "0.5.0",
   "description": "TypeScript SDK for the DEPZ USB sensor line (SR04, VL53L0X/L1CX/L1CB/L3CX/L4CD/L4CX, VL53L5CX/L7CX/L7CH/L8CX/L8CH, BNO086, BNO055) — WebSerial + Node",
   "type": "module",
   "license": "MIT",