@depz/sensor-sdk 0.4.2 → 0.6.0

package/dist/protocol/tmf8829.js

@@ -0,0 +1,195 @@
+/**
+ * TMF8829 SPI register-bridge wire codecs (contracts/14_SENSOR_TMF8829.md §2).
+ * Mirrors the Python reference `depz_sensor_sdk.protocol.tmf8829`.
+ *
+ * Same command numbering as the VL53 bridges (0x32/0x33/0x35/0x36/0x37) but
+ * TMF8829 payloads: an 8-bit register address and self-sized frames.
+ */
+export var Tmf8829Cmd;
+(function (Tmf8829Cmd) {
+    Tmf8829Cmd[Tmf8829Cmd["ReadReg"] = 50] = "ReadReg";
+    Tmf8829Cmd[Tmf8829Cmd["WriteReg"] = 51] = "WriteReg";
+    Tmf8829Cmd[Tmf8829Cmd["StartStream"] = 53] = "StartStream";
+    Tmf8829Cmd[Tmf8829Cmd["StopStream"] = 54] = "StopStream";
+    Tmf8829Cmd[Tmf8829Cmd["GetInfo"] = 55] = "GetInfo";
+})(Tmf8829Cmd || (Tmf8829Cmd = {}));
+export var Tmf8829Rpt;
+(function (Tmf8829Rpt) {
+    Tmf8829Rpt[Tmf8829Rpt["RegData"] = 145] = "RegData";
+    Tmf8829Rpt[Tmf8829Rpt["Info"] = 146] = "Info";
+    Tmf8829Rpt[Tmf8829Rpt["Frame"] = 147] = "Frame";
+    Tmf8829Rpt[Tmf8829Rpt["Event"] = 148] = "Event";
+})(Tmf8829Rpt || (Tmf8829Rpt = {}));
+/** RPT_TMF_EVENT.code */
+export var Tmf8829EventCode;
+(function (Tmf8829EventCode) {
+    /** MOTION/PROXIMITY interrupt, no frame; its bits already cleared. */
+    Tmf8829EventCode[Tmf8829EventCode["Int"] = 0] = "Int";
+    /** Frame header refused, frame not read (expected once on STOP mid histogram dump). */
+    Tmf8829EventCode[Tmf8829EventCode["BadHeader"] = 1] = "BadHeader";
+})(Tmf8829EventCode || (Tmf8829EventCode = {}));
+export const TMF8829_READ_MAX = 1024;
+export const TMF8829_WRITE_MAX = 1023;
+export const TMF8829_CHUNK_MAX = 1024;
+export const TMF8829_INT_RESULTS = 0x01;
+export const TMF8829_INT_MOTION = 0x02;
+export const TMF8829_INT_PROXIMITY = 0x04;
+export const TMF8829_INT_HISTOGRAMS = 0x08;
+export const TMF8829_INT_MASK_ALL = 0x0f;
+/** TMF_START_STREAM flags: emit the ref-SPAD frame before each results frame. */
+export const TMF8829_SF_REF_FRAME = 0x01;
+export function packTmf8829ReadReg(addr, length) {
+    if (!Number.isInteger(addr) || addr < 0 || addr > 0xff)
+        throw new RangeError("addr must be 0..255");
+    if (!Number.isInteger(length) || length < 1 || length > TMF8829_READ_MAX) {
+        throw new RangeError(`length must be 1..${TMF8829_READ_MAX}`);
+    }
+    return Uint8Array.of(addr, length & 0xff, length >> 8);
+}
+export function packTmf8829WriteReg(addr, data) {
+    if (!Number.isInteger(addr) || addr < 0 || addr > 0xff)
+        throw new RangeError("addr must be 0..255");
+    if (data.length < 1 || data.length > TMF8829_WRITE_MAX) {
+        throw new RangeError(`data must be 1..${TMF8829_WRITE_MAX} bytes`);
+    }
+    const out = new Uint8Array(1 + data.length);
+    out[0] = addr;
+    out.set(data, 1);
+    return out;
+}
+export function packTmf8829StartStream(intMask, flags = 0) {
+    if (!Number.isInteger(intMask) || intMask < 1 || intMask > TMF8829_INT_MASK_ALL) {
+        throw new RangeError("intMask must be a non-zero subset of 0x0F");
+    }
+    if (flags & ~TMF8829_SF_REF_FRAME)
+        throw new RangeError("flags: only SF_REF_FRAME (0x01) is defined");
+    return Uint8Array.of(intMask, flags);
+}
+function view(b) {
+    return new DataView(b.buffer, b.byteOffset, b.byteLength);
+}
+export function unpackTmf8829RegData(p) {
+    if (p.length < 9)
+        throw new RangeError(`RPT_TMF_REG_DATA: need ≥9 bytes, got ${p.length}`);
+    if (p[0] !== Tmf8829Cmd.ReadReg) {
+        throw new RangeError(`RPT_TMF_REG_DATA: echoed cmd 0x${p[0].toString(16)}, expected 0x32`);
+    }
+    return { timestampUs: view(p).getBigUint64(1, true), data: p.slice(9) };
+}
+export function unpackTmf8829Info(p) {
+    if (p.length < 25)
+        throw new RangeError(`RPT_TMF_INFO: expected 25 bytes, got ${p.length}`);
+    const v = view(p);
+    return {
+        intEdges: v.getUint32(0, true),
+        frames: v.getUint32(4, true),
+        framesAborted: v.getUint32(8, true),
+        frameErrors: v.getUint32(12, true),
+        spiTimeouts: v.getUint32(16, true),
+        intLevel: p[20],
+        streaming: p[21] !== 0,
+        intMask: p[22],
+        lastIntStatus: p[23],
+        lastFifoStatus: p[24],
+    };
+}
+export function unpackTmf8829FrameChunk(p) {
+    if (p.length < 21)
+        throw new RangeError(`RPT_TMF_FRAME: need ≥21 bytes, got ${p.length}`);
+    const v = view(p);
+    return {
+        timestampUs: v.getBigUint64(0, true),
+        fullSize: v.getUint16(8, true),
+        offset: v.getUint16(10, true),
+        frameSeq: p[12],
+        edgeUs: v.getBigUint64(13, true),
+        data: p.slice(21),
+    };
+}
+export function unpackTmf8829Event(p) {
+    if (p.length < 12)
+        throw new RangeError(`RPT_TMF_EVENT: expected 12 bytes, got ${p.length}`);
+    return {
+        timestampUs: view(p).getBigUint64(0, true),
+        intStatus: p[8],
+        code: p[9],
+        frameId: p[10],
+        fifoStatus: p[11],
+    };
+}
+/**
+ * Rebuilds frames from RPT_TMF_FRAME chunks (contract 14 §2): reset on offset
+ * 0; append only a chunk of the same frame_seq at the expected offset;
+ * complete at full_size. Never stitches chunks of different frame_seq.
+ * `seqGaps` counts frames the bridge dropped (frame_seq jumps).
+ */
+export class Tmf8829FrameReassembler {
+    completed = 0;
+    discarded = 0;
+    seqGaps = 0;
+    buf = null;
+    filled = 0;
+    head = null;
+    nextSeq = null;
+    /** Forget everything — call at every stream start (frame_seq restarts at 0). */
+    reset() {
+        this.completed = 0;
+        this.discarded = 0;
+        this.seqGaps = 0;
+        this.buf = null;
+        this.filled = 0;
+        this.head = null;
+        this.nextSeq = null;
+    }
+    drop() {
+        this.head = null;
+        this.buf = null;
+        this.filled = 0;
+    }
+    feed(chunk) {
+        if (chunk.offset === 0) {
+            if (this.head !== null)
+                this.discarded += 1; // the previous frame never completed
+            if (this.nextSeq !== null && chunk.frameSeq !== this.nextSeq) {
+                this.seqGaps += (chunk.frameSeq - this.nextSeq) & 0xff;
+            }
+            this.nextSeq = (chunk.frameSeq + 1) & 0xff;
+            this.head = chunk;
+            this.buf = new Uint8Array(Math.max(chunk.fullSize, chunk.data.length));
+            this.buf.set(chunk.data, 0);
+            this.filled = chunk.data.length;
+        }
+        else if (this.head !== null &&
+            chunk.frameSeq === this.head.frameSeq &&
+            chunk.fullSize === this.head.fullSize &&
+            chunk.offset === this.filled &&
+            this.filled + chunk.data.length <= this.buf.length) {
+            this.buf.set(chunk.data, this.filled);
+            this.filled += chunk.data.length;
+        }
+        else {
+            if (this.head !== null)
+                this.discarded += 1;
+            this.drop();
+            return null;
+        }
+        const head = this.head;
+        if (this.filled === head.fullSize) {
+            const frame = {
+                timestampUs: head.timestampUs,
+                edgeUs: head.edgeUs,
+                frameSeq: head.frameSeq,
+                data: this.buf.subarray(0, this.filled),
+            };
+            this.drop();
+            this.completed += 1;
+            return frame;
+        }
+        if (this.filled > head.fullSize) {
+            this.discarded += 1;
+            this.drop();
+        }
+        return null;
+    }
+}
+//# sourceMappingURL=tmf8829.js.map

package/dist/protocol/tmf8829.js.map

@@ -0,0 +1 @@
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package/dist/protocol/usb-ids.d.ts.map

@@ -1 +1 @@
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package/dist/protocol/usb-ids.js

@@ -44,6 +44,7 @@ export const DEPZ_USB_MODELS = {
     0xed49: { name: "vl53l7cx", sensorType: null }, // 60745
     0xed4a: { name: "vl53l7ch", sensorType: null }, // 60746
     0xed4b: { name: "vl53l8cx", sensorType: "vl53l8" }, // 60747 — VL53L8CX production PID, verified on hw: 1bcf:ed4b
+    0xed4c: { name: "tmf8829", sensorType: "tmf8829" }, // 60748 — TMF8829 dToF (catalog p_TM88)
     0xee08: { name: "bno086", sensorType: "bno086" }, // 60936 — verified on hw: 1bcf:ee08
     0xee09: { name: "bno085", sensorType: null }, // 60937
     0xee0a: { name: "bno055", sensorType: null }, // 60938

package/dist/protocol/usb-ids.js.map

@@ -1 +1 @@
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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);