@depz/sensor-sdk 0.4.2 → 0.5.0

package/README.md

@@ -5,17 +5,17 @@ across the USB CDC-ACM firmware families that speak one shared framed protocol,
 usable from **the browser (WebSerial)** and **Node (serialport)**:
 
 - **HC-SR04** — ultrasonic distance
-- **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
 - **VL53L0X / VL53L1CX / VL53L1CB / VL53L3CX / VL53L4CX** — the single-zone
   Time-of-Flight family on one I2C register bridge (host runs ST's ULD, ULP or
   histogram Bare Driver, up to four targets per frame)
-- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
-  `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
+- **VL53L4CD** — single-zone Time-of-Flight (host runs ST ULD 2.2.3)
 - **VL53L5CX / VL53L7CX / VL53L7CH** — the same 8×8 ULD family on an I2C board;
   `Vl53l7ch` adds streamed Compact-Network-Histogram output
-- **BNO086** — 9-axis IMU (host runs the SH-2 stack)
+- **VL53L8CX / VL53L8CH** — 8×8 multizone Time-of-Flight (host runs the ST ULD);
+  `Vl53l8ch` is the `Vl53l8cx` superset, adding Compact-Network-Histogram output
 - **BNO055** — 9-axis IMU with on-chip fusion (host configures it over a
   register bridge)
+- **BNO085 / BNO086** — 9-axis IMU (host runs the SH-2 stack)
 
 Pure ESM, zero runtime dependencies on the browser path (`serialport` is an
 optional peer used only by the `./node` entry). Mirrors the Python

package/dist/sensors/bno055/bno055.d.ts

@@ -80,6 +80,8 @@ export declare class Bno055 extends DepzDevice {
     private sampleCbs;
     private sampleQueues;
     private streamParseErrorCount;
+    /** The operating mode to put back when a suspended chip wakes up. */
+    private modeBeforeSuspend;
     private configured;
     constructor(transport: SerialTransport, opts?: Bno055Options);
     /** RPT_BNO_INFO: chip ids, sensor firmware revision and bridge counters. */
@@ -107,6 +109,12 @@ export declare class Bno055 extends DepzDevice {
      */
     setOperationMode(mode: Bno055OprMode): Promise<void>;
     getPowerMode(): Promise<Bno055PwrMode>;
+    /**
+     * Written in CONFIG mode; the operating mode is restored after. A suspended
+     * chip ignores OPR_MODE writes and stays in CONFIG (measured 19.10.2026), so
+     * the operating mode is kept here and put back on wake-up — NDOF if the chip
+     * was already asleep when we connected (contract 13 §4.6).
+     */
     setPowerMode(mode: Bno055PwrMode): Promise<void>;
     getUnits(): Promise<Bno055Units>;
     setUnits(units: Bno055Units): Promise<void>;

package/dist/sensors/bno055/bno055.d.ts.map

@@ -1 +1 @@
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package/dist/sensors/bno055/bno055.js

@@ -13,7 +13,7 @@
 import { DepzDevice, StreamQueue } from "../../device/device.js";
 import { DepzError, DepzTimeoutError } from "../../errors.js";
 import { BNO055_RESET_TIMEOUT_MS, BNO055_TRIGGER_TIMER, BNO055_XFER_MAX, Bno055Cmd, Bno055Rpt, bno055IdsOk, packBno055ReadReg, packBno055StartStream, packBno055WriteReg, unpackBno055Info, unpackBno055RegData, unpackBno055Stream, } from "../../protocol/bno055.js";
-import { BNO055_BOOT_SETTLE_TIMEOUT_MS, BNO055_STUCK_SELF_TEST_POLLS, BNO055_CALIB_PROFILE_LEN, BNO055_DEFAULT_UNITS, BNO055_FULL_BLOCK, BNO055_FUSION_ACCEL_LSB, BNO055_FUSION_START_TIMEOUT_MS, BNO055_MAG_LSB, BNO055_MODE_SWITCH_FROM_CONFIG_MS, BNO055_MODE_SWITCH_TO_CONFIG_MS, BNO055_QUAT_BLOCK, BNO055_QUAT_LSB, BNO055_REG1_ACC_CONFIG, BNO055_REG1_GYR_CONFIG_0, BNO055_REG1_INT_EN, BNO055_REG1_INT_MSK, BNO055_REG1_INT_SETTINGS_FIRST, BNO055_REG1_INT_SETTINGS_LAST, BNO055_REG1_MAG_CONFIG, BNO055_REG1_UNIQUE_ID, BNO055_REG_AXIS_MAP_CONFIG, BNO055_REG_CALIB_PROFILE, BNO055_REG_CALIB_STAT, BNO055_REG_INT_STA, BNO055_REG_OPR_MODE, BNO055_REG_PAGE_ID, BNO055_REG_PWR_MODE, BNO055_REG_QUA_DATA, BNO055_REG_SIC_MATRIX, BNO055_REG_ST_RESULT, BNO055_REG_SYS_CLK_STATUS, BNO055_REG_SYS_STATUS, BNO055_REG_SYS_TRIGGER, BNO055_REG_TEMP_SOURCE, BNO055_REG_UNIT_SEL, BNO055_SELF_TEST_MS, BNO055_SIC_IDENTITY, BNO055_SYS_STATUS_BOOTING, BNO055_SYS_TRIGGER_CLK_SEL, BNO055_SYS_TRIGGER_RST_INT, BNO055_SYS_TRIGGER_SELF_TEST, BNO055_UNIQUE_ID_LEN, Bno055OprMode, bno055IsFusion, bno055Lsb, bno055Placement, decodeBno055Block, makeBno055SystemStatus, packBno055AccelConfig, packBno055AxisRemap, packBno055CalibrationProfile, packBno055GyroConfig, packBno055MagConfig, packBno055SicMatrix, packBno055Units, unpackBno055AccelConfig, unpackBno055AxisRemap, unpackBno055CalibStatus, unpackBno055CalibrationProfile, unpackBno055GyroConfig, unpackBno055MagConfig, unpackBno055SicMatrix, unpackBno055Units, } from "./regs.js";
+import { BNO055_BOOT_SETTLE_TIMEOUT_MS, BNO055_STUCK_SELF_TEST_POLLS, BNO055_CALIB_PROFILE_LEN, BNO055_DEFAULT_UNITS, BNO055_FULL_BLOCK, BNO055_FUSION_ACCEL_LSB, BNO055_FUSION_START_TIMEOUT_MS, BNO055_MAG_LSB, BNO055_MODE_SWITCH_FROM_CONFIG_MS, BNO055_MODE_SWITCH_TO_CONFIG_MS, BNO055_QUAT_BLOCK, BNO055_QUAT_LSB, BNO055_REG1_ACC_CONFIG, BNO055_REG1_GYR_CONFIG_0, BNO055_REG1_INT_EN, BNO055_REG1_INT_MSK, BNO055_REG1_INT_SETTINGS_FIRST, BNO055_REG1_INT_SETTINGS_LAST, BNO055_REG1_MAG_CONFIG, BNO055_REG1_UNIQUE_ID, BNO055_REG_AXIS_MAP_CONFIG, BNO055_REG_CALIB_PROFILE, BNO055_REG_CALIB_STAT, BNO055_REG_INT_STA, BNO055_REG_OPR_MODE, BNO055_REG_PAGE_ID, BNO055_REG_PWR_MODE, BNO055_REG_QUA_DATA, BNO055_REG_SIC_MATRIX, BNO055_REG_ST_RESULT, BNO055_REG_SYS_CLK_STATUS, BNO055_REG_SYS_STATUS, BNO055_REG_SYS_TRIGGER, BNO055_REG_TEMP_SOURCE, BNO055_REG_UNIT_SEL, BNO055_SELF_TEST_MS, BNO055_SIC_IDENTITY, BNO055_SYS_STATUS_BOOTING, BNO055_SYS_TRIGGER_CLK_SEL, BNO055_SYS_TRIGGER_RST_INT, BNO055_SYS_TRIGGER_SELF_TEST, BNO055_UNIQUE_ID_LEN, Bno055OprMode, Bno055PwrMode, bno055IsFusion, bno055Lsb, bno055Placement, decodeBno055Block, makeBno055SystemStatus, packBno055AccelConfig, packBno055AxisRemap, packBno055CalibrationProfile, packBno055GyroConfig, packBno055MagConfig, packBno055SicMatrix, packBno055Units, unpackBno055AccelConfig, unpackBno055AxisRemap, unpackBno055CalibStatus, unpackBno055CalibrationProfile, unpackBno055GyroConfig, unpackBno055MagConfig, unpackBno055SicMatrix, unpackBno055Units, } from "./regs.js";
 /** Decode one register window into a scaled sample. */
 export function decodeBno055Sample(timestampUs, addr, data, units) {
     const r = decodeBno055Block(addr, data);
@@ -57,6 +57,8 @@ export class Bno055 extends DepzDevice {
     sampleCbs = [];
     sampleQueues = [];
     streamParseErrorCount = 0;
+    /** The operating mode to put back when a suspended chip wakes up. */
+    modeBeforeSuspend = null;
     configured = null;
     constructor(transport, opts) {
         super(transport, opts);
@@ -137,8 +139,37 @@ export class Bno055 extends DepzDevice {
     async getPowerMode() {
         return ((await this.readRegister(BNO055_REG_PWR_MODE)) & 0x03);
     }
+    /**
+     * Written in CONFIG mode; the operating mode is restored after. A suspended
+     * chip ignores OPR_MODE writes and stays in CONFIG (measured 19.10.2026), so
+     * the operating mode is kept here and put back on wake-up — NDOF if the chip
+     * was already asleep when we connected (contract 13 §4.6).
+     */
     setPowerMode(mode) {
-        return this.locked(() => this.inConfig(() => this.wr(BNO055_REG_PWR_MODE, Uint8Array.of(mode))));
+        return this.locked(async () => {
+            const opr = ((await this.rd(BNO055_REG_OPR_MODE, 1)).data[0] & 0x0f);
+            const pwr = (await this.rd(BNO055_REG_PWR_MODE, 1)).data[0] & 0x03;
+            let resume;
+            if (opr !== Bno055OprMode.Config) {
+                resume = opr;
+                await this.switchMode(Bno055OprMode.Config);
+            }
+            else if (pwr === Bno055PwrMode.Suspend) {
+                resume = this.modeBeforeSuspend ?? Bno055OprMode.Ndof;
+            }
+            else {
+                resume = null; // CONFIG on purpose: stay there
+            }
+            await this.wr(BNO055_REG_PWR_MODE, Uint8Array.of(mode));
+            if (mode === Bno055PwrMode.Suspend) {
+                this.modeBeforeSuspend = resume;
+            }
+            else {
+                this.modeBeforeSuspend = null;
+                if (resume !== null)
+                    await this.switchMode(resume);
+            }
+        });
     }
     async getUnits() {
         const u = unpackBno055Units(await this.readRegister(BNO055_REG_UNIT_SEL));

package/dist/sensors/bno055/bno055.js.map

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

@@ -114,8 +114,34 @@ export declare class Bno086 extends DepzDevice {
      * *not* an error — the sensor is fully usable without it.
      */
     hardwareReset(timeoutMs?: number): Promise<void>;
-    /** 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}.
+     */
     wake(): Promise<void>;
+    /**
+     * 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.
+     */
+    sleep(): Promise<void>;
+    /**
+     * 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.
+     */
+    powerOn(): Promise<void>;
     /** Raw SHTP channel-0 advertisement bytes seen since open/reset. */
     get advertisement(): Uint8Array;
     /** The SH-2 application's Product ID — the first of `productIds()`. */

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

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

@@ -14,7 +14,7 @@ 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, splitControlCargo, 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 { 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.
@@ -303,10 +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);

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

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

@@ -108,6 +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.
  *

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

@@ -1 +1 @@
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+{"version":3,"file":"sh2.d.ts","sourceRoot":"","sources":["../../../src/sensors/bno086/sh2.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,gEAAgE;AAChE,qBAAa,QAAS,SAAQ,SAAS;CAAG;AAE1C,8CAA8C;AAC9C,oBAAY,aAAa;IACvB,eAAe,MAAO;IACtB,cAAc,MAAO;IACrB,eAAe,MAAO;IACtB,cAAc,MAAO;IACrB,gBAAgB,MAAO;IACvB,YAAY,MAAO;IACnB,eAAe,MAAO;IACtB,iBAAiB,MAAO;IACxB,gBAAgB,MAAO;IACvB,kBAAkB,MAAO;IACzB,iBAAiB,MAAO;IACxB,iBAAiB,MAAO;CACzB;AAED;;;;GAIG;AACH,eAAO,MAAM,wBAAwB,EAAE,WAAW,CAAC,MAAM,EAAE,MAAM,CAM/D,CAAC;AAEH;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,OAAO,EAAE,UAAU,GAAG,UAAU,EAAE,CAanE;AAED,+DAA+D;AAC/D,oBAAY,UAAU;IACpB,MAAM,IAAO;IACb,OAAO,IAAO;IACd,IAAI,IAAO;IACX,UAAU,IAAO;IACjB,OAAO,IAAO;IACd,WAAW,IAAO;IAClB,iBAAiB,IAAO;IACxB,iBAAiB,KAAO;IACxB,gBAAgB,KAAO;CACxB;AAED,wDAAwD;AACxD,oBAAY,cAAc;IACxB,QAAQ,IAAI;IACZ,UAAU,IAAI;IACd,QAAQ,IAAI;CACb;AAED,uDAAuD;AACvD,oBAAY,WAAW;IACrB,YAAY,IAAI;IAChB,SAAS,IAAI;IACb,SAAS,IAAI;IACb,IAAI,IAAI;IACR,wCAAwC;IACxC,YAAY,MAAM;CACnB;AAED,8CAA8C;AAC9C,eAAO,MAAM,UAAU,IAAI,CAAC;AAC5B,eAAO,MAAM,YAAY,IAAI,CAAC;AAE9B,6DAA6D;AAC7D,wBAAgB,eAAe,CAAC,QAAQ,EAAE,MAAM,GAAG,UAAU,CAE5D;AAED,+DAA+D;AAC/D,wBAAgB,iBAAiB,CAAC,QAAQ,EAAE,MAAM,GAAG,UAAU,CAE9D;AAED,6EAA6E;AAC7E,wBAAgB,YAAY,CAAC,QAAQ,SAAI,GAAG,UAAU,CAErD;AAED,8DAA8D;AAC9D,MAAM,WAAW,WAAW;IAC1B,QAAQ,EAAE,MAAM,CAAC;IACjB,GAAG,EAAE,MAAM,CAAC;IACZ,mBAAmB;IACnB,MAAM,EAAE,MAAM,CAAC;IACf,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,MAAM,CAAC;CACd;AAED,wBAAgB,uBAAuB,CAAC,IAAI,EAAE,eAAe,GAAG,WAAW,CAG1E;AAED,uEAAuE;AACvE,MAAM,WAAW,MAAM;IACrB,QAAQ,EAAE,MAAM,CAAC;IACjB,OAAO,EAAE,MAAM,CAAC;IAChB,QAAQ,EAAE,MAAM,CAAC;IACjB,EAAE,EAAE,MAAM,CAAC;IACX,SAAS,EAAE,MAAM,CAAC;CACnB;AAED,gEAAgE;AAChE,oBAAY,SAAS;IACnB,cAAc,IAAI;IAClB,kBAAkB,IAAI;IACtB,yBAAyB,IAAI;IAC7B,gBAAgB,IAAI;IACpB,gBAAgB,IAAI;IACpB,oBAAoB,IAAI;CACzB;AAED,oBAAY,QAAQ;IAClB,CAAC,IAAI;IACL,CAAC,IAAI;IACL,CAAC,IAAI;IACL,GAAG,IAAI;CACR;AAgBD;;;;;;;GAOG;AACH,oBAAY,WAAW;IACrB,qDAAqD;IACrD,MAAM,IAAO;IACb,6DAA6D;IAC7D,QAAQ,IAAO;CAChB;AAED;;;;;;GAMG;AACH,wBAAgB,eAAe,CAC7B,QAAQ,EAAE,MAAM,EAChB,UAAU,EAAE,MAAM,EAClB,OAAO,SAAI,EACX,WAAW,SAAI,EACf,KAAK,SAAI,EACT,OAAO,SAAI,GACV,UAAU,CAWZ;AAED,2CAA2C;AAC3C,wBAAgB,sBAAsB,CAAC,QAAQ,EAAE,MAAM,GAAG,UAAU,CAEnE;AAED,mEAAmE;AACnE,MAAM,WAAW,eAAe;IAC9B,QAAQ,EAAE,MAAM,CAAC;IACjB,KAAK,EAAE,MAAM,CAAC;IACd,WAAW,EAAE,MAAM,CAAC;IACpB,iDAAiD;IACjD,UAAU,EAAE,MAAM,CAAC;IACnB,OAAO,EAAE,MAAM,CAAC;IAChB,OAAO,EAAE,MAAM,CAAC;CACjB;AAED,wBAAgB,qBAAqB,CAAC,OAAO,EAAE,UAAU,GAAG,eAAe,CAc1E;AAID,wBAAgB,qBAAqB,IAAI,UAAU,CAElD;AAED;;;;;GAKG;AACH,MAAM,WAAW,SAAS;IACxB,UAAU,EAAE,MAAM,CAAC;IACnB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,MAAM,CAAC;IACvB,YAAY,EAAE,MAAM,CAAC;IACrB,aAAa,EAAE,MAAM,CAAC;IACtB,cAAc,EAAE,MAAM,CAAC;IACvB,2BAA2B;IAC3B,OAAO,EAAE,MAAM,CAAC;CACjB;AAED,wBAAgB,eAAe,CAAC,OAAO,EAAE,UAAU,GAAG,SAAS,CAkB9D;AAID,kEAAkE;AAClE,wBAAgB,mBAAmB,CACjC,GAAG,EAAE,MAAM,EACX,OAAO,EAAE,MAAM,EACf,MAAM,GAAE,UAA8B,GACrC,UAAU,CAUZ;AAED;;;;;;GAMG;AACH,MAAM,WAAW,eAAe;IAC9B,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,UAAU,EAAE,MAAM,CAAC;IACnB,WAAW,EAAE,MAAM,CAAC;IACpB,eAAe;IACf,CAAC,EAAE,MAAM,EAAE,CAAC;IACZ,UAAU;IACV,MAAM,EAAE,MAAM,CAAC;CAChB;AAED,wBAAgB,qBAAqB,CAAC,OAAO,EAAE,UAAU,GAAG,eAAe,CAa1E;AAED,0EAA0E;AAC1E,wBAAgB,aAAa,CAC3B,IAAI,GAAE,MAAqB,EAC3B,KAAK,GAAE,MAAiC,GACvC,UAAU,CAEZ;AAED,yDAAyD;AACzD,wBAAgB,iBAAiB,IAAI,UAAU,CAE9C;AAED;;;;;;GAMG;AACH,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,UAAU,CAY7F;AAED,wEAAwE;AACxE,wBAAgB,mBAAmB,CACjC,KAAK,EAAE,OAAO,EACd,IAAI,EAAE,OAAO,EACb,GAAG,EAAE,OAAO,EACZ,MAAM,UAAQ,EACd,UAAU,SAAI,GACb,UAAU,CAEZ;AAED,wDAAwD;AACxD,eAAO,MAAM,UAAU,IAAO,CAAC;AAE/B;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,OAAO,GAAG,UAAU,CAE7D;AAID,0EAA0E;AAC1E,oBAAY,WAAW;IACrB,oBAAoB,QAAS;IAC7B,kBAAkB,QAAS;IAC3B,kBAAkB,OAAS;IAC3B,WAAW,QAAS;IACpB,0CAA0C;IAC1C,iBAAiB,QAAS;IAC1B,gBAAgB,QAAS;IACzB,oBAAoB,QAAS;IAC7B,uBAAuB,QAAS;IAChC,mBAAmB,QAAS;IAC5B,oBAAoB,QAAS;IAE7B,qBAAqB,QAAS;IAC9B,iBAAiB,QAAS;IAC1B,uBAAuB,QAAS;IAChC,2CAA2C;IAC3C,qBAAqB,QAAS;CAC/B;AAED,yEAAyE;AACzE,eAAO,MAAM,gBAAgB,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAwBnD,CAAC;AAEF,oEAAoE;AACpE,oBAAY,SAAS;IACnB,OAAO,IAAI;IACX,mBAAmB,IAAI;IACvB,IAAI,IAAI;IACR,aAAa,IAAI;IACjB,gBAAgB,IAAI;IACpB,WAAW,IAAI;IACf,cAAc,IAAI;IAClB,qBAAqB,IAAI;IACzB,WAAW,IAAI;CAChB;AAED,oBAAY,cAAc;IACxB,aAAa,IAAI;IACjB,mBAAmB,IAAI;IACvB,IAAI,IAAI;IACR,cAAc,IAAI;IAClB,cAAc,IAAI;IAClB,WAAW,IAAI;IACf,cAAc,IAAI;IAClB,aAAa,IAAI;IACjB,WAAW,IAAI;IACf,aAAa,IAAI;CAClB;AAED,yEAAyE;AACzE,wBAAgB,mBAAmB,CAAC,OAAO,EAAE,MAAM,EAAE,WAAW,SAAI,EAAE,UAAU,SAAI,GAAG,UAAU,CAShG;AAED,2EAA2E;AAC3E,MAAM,WAAW,eAAe;IAC9B,iBAAiB;IACjB,MAAM,EAAE,MAAM,CAAC;IACf,wCAAwC;IACxC,UAAU,EAAE,MAAM,CAAC;IACnB,WAAW,EAAE,MAAM,CAAC;IACpB,KAAK,EAAE,MAAM,CAAC;IACd,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,MAAM,CAAC;CACjB;AAED,wBAAgB,qBAAqB,CAAC,OAAO,EAAE,UAAU,GAAG,eAAe,CAe1E;AAED,4EAA4E;AAC5E,wBAAgB,oBAAoB,CAAC,OAAO,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,GAAG,UAAU,CAQrF;AAED,gEAAgE;AAChE,wBAAgB,iBAAiB,CAAC,WAAW,EAAE,MAAM,EAAE,KAAK,EAAE,MAA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package/dist/sensors/bno086/sh2.js

@@ -134,6 +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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.4.2",
+  "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",