npm - @depz/sensor-sdk - Versions diffs - 0.4.2 → 0.6.0 - Mend

@depz/sensor-sdk 0.4.2 → 0.6.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (71) hide show

package/README.md +10 -7
package/dist/dataset.d.ts.map +1 -1
package/dist/dataset.js +15 -7
package/dist/dataset.js.map +1 -1
package/dist/discovery.d.ts.map +1 -1
package/dist/discovery.js +3 -0
package/dist/discovery.js.map +1 -1
package/dist/index.d.ts +7 -0
package/dist/index.d.ts.map +1 -1
package/dist/index.js +7 -0
package/dist/index.js.map +1 -1
package/dist/protocol/common.d.ts +6 -4
package/dist/protocol/common.d.ts.map +1 -1
package/dist/protocol/common.js +6 -4
package/dist/protocol/common.js.map +1 -1
package/dist/protocol/identity.d.ts +1 -1
package/dist/protocol/identity.d.ts.map +1 -1
package/dist/protocol/identity.js +1 -0
package/dist/protocol/identity.js.map +1 -1
package/dist/protocol/tmf8829.d.ts +113 -0
package/dist/protocol/tmf8829.d.ts.map +1 -0
package/dist/protocol/tmf8829.js +195 -0
package/dist/protocol/tmf8829.js.map +1 -0
package/dist/protocol/usb-ids.d.ts.map +1 -1
package/dist/protocol/usb-ids.js +1 -0
package/dist/protocol/usb-ids.js.map +1 -1
package/dist/sensors/bno055/bno055.d.ts +8 -0
package/dist/sensors/bno055/bno055.d.ts.map +1 -1
package/dist/sensors/bno055/bno055.js +33 -2
package/dist/sensors/bno055/bno055.js.map +1 -1
package/dist/sensors/bno086/bno086.d.ts +27 -1
package/dist/sensors/bno086/bno086.d.ts.map +1 -1
package/dist/sensors/bno086/bno086.js +32 -2
package/dist/sensors/bno086/bno086.js.map +1 -1
package/dist/sensors/bno086/sh2.d.ts +14 -0
package/dist/sensors/bno086/sh2.d.ts.map +1 -1
package/dist/sensors/bno086/sh2.js +15 -0
package/dist/sensors/bno086/sh2.js.map +1 -1
package/dist/sensors/bno086/shtp.d.ts +12 -0
package/dist/sensors/bno086/shtp.d.ts.map +1 -1
package/dist/sensors/bno086/shtp.js +13 -0
package/dist/sensors/bno086/shtp.js.map +1 -1
package/dist/sensors/tmf8829/builder.d.ts +61 -0
package/dist/sensors/tmf8829/builder.d.ts.map +1 -0
package/dist/sensors/tmf8829/builder.js +175 -0
package/dist/sensors/tmf8829/builder.js.map +1 -0
package/dist/sensors/tmf8829/clock.d.ts +76 -0
package/dist/sensors/tmf8829/clock.d.ts.map +1 -0
package/dist/sensors/tmf8829/clock.js +166 -0
package/dist/sensors/tmf8829/clock.js.map +1 -0
package/dist/sensors/tmf8829/config.d.ts +22 -0
package/dist/sensors/tmf8829/config.d.ts.map +1 -0
package/dist/sensors/tmf8829/config.js +82 -0
package/dist/sensors/tmf8829/config.js.map +1 -0
package/dist/sensors/tmf8829/firmware-asset.d.ts +3 -0
package/dist/sensors/tmf8829/firmware-asset.d.ts.map +1 -0
package/dist/sensors/tmf8829/firmware-asset.js +7 -0
package/dist/sensors/tmf8829/firmware-asset.js.map +1 -0
package/dist/sensors/tmf8829/firmware-license.d.ts +3 -0
package/dist/sensors/tmf8829/firmware-license.d.ts.map +1 -0
package/dist/sensors/tmf8829/firmware-license.js +5 -0
package/dist/sensors/tmf8829/firmware-license.js.map +1 -0
package/dist/sensors/tmf8829/frames.d.ts +79 -0
package/dist/sensors/tmf8829/frames.d.ts.map +1 -0
package/dist/sensors/tmf8829/frames.js +190 -0
package/dist/sensors/tmf8829/frames.js.map +1 -0
package/dist/sensors/tmf8829/tmf8829.d.ts +144 -0
package/dist/sensors/tmf8829/tmf8829.d.ts.map +1 -0
package/dist/sensors/tmf8829/tmf8829.js +473 -0
package/dist/sensors/tmf8829/tmf8829.js.map +1 -0
package/package.json +1 -1

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

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package/dist/sensors/bno086/sh2.d.ts CHANGED Viewed

@@ -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 CHANGED Viewed

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

@@ -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 CHANGED Viewed

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

@@ -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 CHANGED Viewed

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

@@ -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 CHANGED Viewed

	@@ -1 +1 @@
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1	+ 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package/dist/sensors/tmf8829/builder.d.ts ADDED Viewed

@@ -0,0 +1,61 @@
+/**
+ * Frames in stream order → measurements (contracts/14_SENSOR_TMF8829.md §6).
+ * Mirrors the Python reference `depz_sensor_sdk.tmf8829.builder`.
+ */
+import { Tmf8829CaptureTimer, Tmf8829SensorClock, type Tmf8829FrameTime } from "./clock.js";
+import { type Tmf8829FrameInfo, type Tmf8829HistogramFrame, type Tmf8829PixelResults } from "./frames.js";
+/**
+ * One measurement: its results frame (8x8, 16x16) or both half-frames (32x32,
+ * 48x32) merged, with the histogram / ref-SPAD frames before it.
+ */
+export interface Tmf8829Measurement {
+    /** Capture time, MCU µs (floor mean of the half-frame captures). */
+    timestampUs: number;
+    /** TMF8829_FT_* of all its results frames. */
+    flags: number;
+    fpMode: number;
+    fNumber: number;
+    rows: number;
+    cols: number;
+    /** Raw sensor integers. */
+    results: Tmf8829PixelResults;
+    /** Clock-corrected mm, flat [peak][row][col] (null without peaks). */
+    distanceMm: Float64Array | null;
+    /** Clock ratio the distances were corrected with (Q16). */
+    ratioQ16: number;
+    frames: Tmf8829FrameInfo[];
+    times: Tmf8829FrameTime[];
+    histograms: Tmf8829HistogramFrame[];
+    /** 65 B each, zero pre-header. */
+    refFrames: Uint8Array[];
+    /** What went wrong since the previous measurement, human-readable. */
+    problems: string[];
+    /** Sensor die temperature (header byte 0 of the last frame), °C. */
+    temperatureC: number;
+}
+/** Raw distances → mm, clock-corrected (×ratio; ÷4 for 0.25 mm units). */
+export declare function tmf8829DistanceMm(results: Tmf8829PixelResults, ratio: number, inMm: boolean): Float64Array | null;
+/**
+ * Histogram frames between two results frames belong to the second; a
+ * ref-SPAD frame comes right before its results frame. Call `reset()` at
+ * every stream start: the clock model and T1 are per stream.
+ */
+export declare class Tmf8829MeasurementBuilder {
+    readonly clock: Tmf8829SensorClock;
+    readonly timer: Tmf8829CaptureTimer;
+    parseErrors: number;
+    private pending;
+    private hist;
+    private refs;
+    private half;
+    private problems;
+    reset(): void;
+    /**
+     * One frame with the MCU time of its header read and its INT edge (0 =
+     * none) → the measurement it completes, or null. `raw` is copied.
+     */
+    add(rawIn: Uint8Array, timestampUs: number, edgeUs?: number): Tmf8829Measurement | null;
+}
+/** Contract 09 `tmf8829` record value of a measurement (distances rounded to 0.1 mm). */
+export declare function tmf8829RecordValue(m: Tmf8829Measurement): Record<string, unknown>;
+//# sourceMappingURL=builder.d.ts.map

package/dist/sensors/tmf8829/builder.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/sensors/tmf8829/builder.js ADDED Viewed

@@ -0,0 +1,175 @@
+/**
+ * Frames in stream order → measurements (contracts/14_SENSOR_TMF8829.md §6).
+ * Mirrors the Python reference `depz_sensor_sdk.tmf8829.builder`.
+ */
+import { Tmf8829CaptureTimer, Tmf8829SensorClock } from "./clock.js";
+import { TMF8829_FID_HISTOGRAMS, TMF8829_FID_REF_SPAD, TMF8829_FID_RESULTS, TMF8829_FP_GRID, TMF8829_LAYOUT_SUBFRAME, mergeTmf8829Halves, parseTmf8829Frame, parseTmf8829Results, tmf8829FrameProblems, } from "./frames.js";
+/** Raw distances → mm, clock-corrected (×ratio; ÷4 for 0.25 mm units). */
+export function tmf8829DistanceMm(results, ratio, inMm) {
+    if (results.distance === null)
+        return null;
+    const out = new Float64Array(results.distance.length);
+    for (let i = 0; i < out.length; i++) {
+        const d = results.distance[i] * ratio;
+        out[i] = inMm ? d : d / 4;
+    }
+    return out;
+}
+/**
+ * Histogram frames between two results frames belong to the second; a
+ * ref-SPAD frame comes right before its results frame. Call `reset()` at
+ * every stream start: the clock model and T1 are per stream.
+ */
+export class Tmf8829MeasurementBuilder {
+    clock = new Tmf8829SensorClock();
+    timer = new Tmf8829CaptureTimer(this.clock);
+    parseErrors = 0;
+    pending = [];
+    hist = [];
+    refs = [];
+    half = null;
+    problems = [];
+    reset() {
+        this.clock.reset();
+        this.timer.reset();
+        this.pending = [];
+        this.hist = [];
+        this.refs = [];
+        this.half = null;
+        this.problems = [];
+        this.parseErrors = 0;
+    }
+    /**
+     * One frame with the MCU time of its header read and its INT edge (0 =
+     * none) → the measurement it completes, or null. `raw` is copied.
+     */
+    add(rawIn, timestampUs, edgeUs = 0) {
+        const raw = rawIn.slice();
+        let f;
+        try {
+            f = parseTmf8829Frame(raw);
+        }
+        catch (e) {
+            this.parseErrors += 1;
+            this.problems.push(e instanceof Error ? e.message : String(e));
+            return null;
+        }
+        if (f.kind === TMF8829_FID_REF_SPAD) {
+            this.pending.push([f, raw]); // zero pre-header: no clock pair
+            return null;
+        }
+        if (f.kind !== TMF8829_FID_RESULTS && f.kind !== TMF8829_FID_HISTOGRAMS) {
+            this.parseErrors += 1;
+            this.problems.push(`frame id 0x${f.id.toString(16).toUpperCase().padStart(2, "0")}: unknown kind`);
+            return null;
+        }
+        const flags = this.clock.add(timestampUs, f.systick);
+        const bad = tmf8829FrameProblems(f);
+        if (bad.length) {
+            this.problems.push(`frame id=0x${f.id.toString(16).toUpperCase().padStart(2, "0")} fN=${f.fNumber} ${f.size} B: ${bad.join(", ")}`);
+        }
+        if (f.kind === TMF8829_FID_HISTOGRAMS) {
+            this.timer.histograms();
+            this.pending.push([f, raw]);
+            return null;
+        }
+        const t = this.timer.results(f.fpMode, f.systick, f.t0Integration, f.t1Integration, timestampUs, edgeUs, flags);
+        for (const [pf, praw] of this.pending) {
+            if (pf.kind === TMF8829_FID_HISTOGRAMS)
+                this.hist.push({ info: pf, raw: praw });
+            else
+                this.refs.push(praw);
+        }
+        this.pending = [];
+        let res;
+        try {
+            res = parseTmf8829Results(raw, f);
+        }
+        catch (e) {
+            this.parseErrors += 1;
+            this.problems.push(`fN=${f.fNumber}: ${e instanceof Error ? e.message : String(e)}`);
+            this.half = null;
+            return null;
+        }
+        let frames;
+        let times;
+        if ((TMF8829_FP_GRID[f.fpMode]?.[0] ?? 0) === 32) {
+            if (this.half === null) {
+                if (f.isSecondHalf) {
+                    this.problems.push(`second half fN=${f.fNumber} without a first one - dropped`);
+                    this.hist = [];
+                    this.refs = [];
+                    return null;
+                }
+                this.half = [f, res, t];
+                return null;
+            }
+            if (!f.isSecondHalf) {
+                this.problems.push(`two first halves in a row (fN ${this.half[0].fNumber}, ${f.fNumber})`);
+                this.half = [f, res, t];
+                return null;
+            }
+            const [f0, res0, t0] = this.half;
+            this.half = null;
+            const fmt = (x) => (x.fpMode << 8) | (x.layout & ~TMF8829_LAYOUT_SUBFRAME);
+            if (fmt(f0) !== fmt(f)) {
+                // Impossible within one stream (configure() needs a stop); never crash the read pump.
+                this.problems.push(`half-frames of different formats (fN ${f0.fNumber}, ${f.fNumber}) - dropped`);
+                this.hist = [];
+                this.refs = [];
+                return null;
+            }
+            frames = [f0, f];
+            times = [t0, t];
+            res = mergeTmf8829Halves(res0, res);
+        }
+        else {
+            frames = [f];
+            times = [t];
+        }
+        const m = {
+            timestampUs: Math.floor(times.reduce((s, x) => s + x.timestampUs, 0) / times.length),
+            flags: times.reduce((s, x) => s | x.flags, 0),
+            fpMode: f.fpMode,
+            fNumber: f.fNumber,
+            rows: res.rows,
+            cols: res.cols,
+            results: res,
+            distanceMm: tmf8829DistanceMm(res, this.clock.ratio, f.distanceInMm),
+            ratioQ16: this.clock.ratioQ16,
+            frames,
+            times,
+            histograms: this.hist,
+            refFrames: this.refs,
+            problems: this.problems,
+            temperatureC: f.temperature[0],
+        };
+        this.hist = [];
+        this.refs = [];
+        this.problems = [];
+        return m;
+    }
+}
+/** Contract 09 `tmf8829` record value of a measurement (distances rounded to 0.1 mm). */
+export function tmf8829RecordValue(m) {
+    const r = m.results;
+    const v = {
+        fp_mode: m.fpMode,
+        rows: m.rows,
+        cols: m.cols,
+        peaks: r.peaks,
+        f_number: m.fNumber,
+        flags: m.flags,
+        temperature_c: m.temperatureC,
+        distance_mm: m.distanceMm ? Array.from(m.distanceMm, (x) => Math.round(x * 10) / 10) : [],
+        snr: r.snr ? Array.from(r.snr) : [],
+    };
+    if (r.signal)
+        v.signal = Array.from(r.signal);
+    if (r.noise)
+        v.noise = Array.from(r.noise);
+    if (r.xtalk)
+        v.xtalk = Array.from(r.xtalk);
+    return v;
+}
+//# sourceMappingURL=builder.js.map

package/dist/sensors/tmf8829/builder.js.map ADDED Viewed

@@ -0,0 +1 @@

+ 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