@depz/sensor-sdk 0.4.2 → 0.6.0

package/dist/sensors/tmf8829/tmf8829.js

@@ -0,0 +1,473 @@
+/**
+ * TMF8829 multizone dToF sensor over the SPI register bridge
+ * (contracts/14_SENSOR_TMF8829.md).
+ *
+ * The board is a thin bridge: this class runs the sensor — soft reset,
+ * sensor firmware download through the sensor bootloader, presets and the
+ * config page, start/stop — and turns the bridge's chunked frame stream into
+ * measurements (half-frame merge, histograms, ref-SPAD frames, clock model,
+ * capture time). Mirrors the Python reference `depz_sensor_sdk.tmf8829.Tmf8829`.
+ */
+import { DepzDevice, StreamQueue } from "../../device/device.js";
+import { DepzError, DepzTimeoutError } from "../../errors.js";
+import { TMF8829_INT_HISTOGRAMS, TMF8829_INT_RESULTS, TMF8829_READ_MAX, TMF8829_SF_REF_FRAME, TMF8829_WRITE_MAX, Tmf8829Cmd, Tmf8829EventCode, Tmf8829FrameReassembler, Tmf8829Rpt, packTmf8829ReadReg, packTmf8829StartStream, packTmf8829WriteReg, unpackTmf8829Event, unpackTmf8829FrameChunk, unpackTmf8829Info, unpackTmf8829RegData, } from "../../protocol/tmf8829.js";
+import { decodeBase64 } from "../vl53l8/assets/decode.js";
+import { Tmf8829MeasurementBuilder } from "./builder.js";
+import { TMF8829_CFG_SIZE, TMF8829_DEFAULT_PERIOD_MS, TMF8829_PRESETS, TMF8829_PRESET_KILO_ITERATIONS, TMF8829_REG_CFG, tmf8829CfgGet, tmf8829CfgSet, tmf8829ConfigFields, } from "./config.js";
+import { TMF8829_FP_GRID } from "./frames.js";
+const REG_APP_ID = 0x00;
+const REG_CMD_STAT = 0x08;
+const REG_SERIAL = 0x1c;
+const REG_CID_RID = 0x20;
+const REG_INT_STATUS = 0xe1;
+const REG_INT_ENAB = 0xe2;
+const REG_ID = 0xe3;
+const REG_REVID = 0xe4;
+const REG_RESET = 0xf7;
+const REG_ENABLE = 0xf8;
+const REG_FIFOSTATUS = 0xfa;
+const REG_FIFO = 0xff;
+const DEVICE_ID = 0x9e;
+const APP_ID_APP = 0x01;
+const APP_ID_BL = 0x80;
+const ENABLE_CPU_READY = 0x80;
+const ENABLE_PUSEL_MASK = 0x30;
+const ENABLE_PUSEL_BOOTMON = 0x10;
+const ENABLE_PUSEL_RAM = 0x20;
+const ENABLE_PON = 0x04;
+const RESET_SOFT = 0x40;
+const FIFO_ERROR_FLAGS = 0x30;
+const BL_START_RAM_APP = 0x16;
+const BL_I2C_OFF = 0x22;
+const BL_W_FIFO_BOTH = 0x45;
+const BL_STATUS_NAMES = { 0: "READY", 1: "ERR_PARAM", 2: "ERR_ADDR", 4: "ERR_FIFO" };
+const CMD_MEASURE = 0x10;
+const CMD_WRITE_PAGE = 0x15;
+const CMD_LOAD_CONFIG_PAGE = 0x16;
+const CMD_STOP = 0xff;
+const STAT_OK = 0x00;
+const STAT_ACCEPTED = 0x01;
+const STAT_NAMES = {
+    0x00: "OK",
+    0x01: "ACCEPTED",
+    0x02: "ERR_CONFIG",
+    0x03: "ERR_APPLICATION",
+    0x04: "ERR_CONFIG_RESULT_SIZE",
+    0x05: "ERR_CONFIG_VCSEL",
+    0x06: "ERR_WAKEUP_TIMED",
+    0x07: "ERR_RESET_UNEXPECTED",
+    0x08: "ERR_UNKNOWN_CMD",
+    0x09: "ERR_UNKNOWN_CID",
+    0x0a: "ERR_STOP_0",
+    0x0b: "ERR_STOP_1",
+    0x0c: "ERR_STOP_2",
+    0x0d: "ERR_STOP_3",
+    0x0e: "ERR_OSC_TUNE",
+};
+/** ams tmf8829_application.hex load address (application 2.200.0). */
+export const TMF8829_FIRMWARE_LOAD_ADDR = 0x00010000;
+/** READ/WRITE_REG may wait behind a 25 KB histogram frame. */
+const REGISTER_TIMEOUT_MS = 1000;
+/** The sensor firmware image `init()` downloads (14 444 B, MIT). Lazily decoded. */
+export async function tmf8829FirmwareImage() {
+    const mod = await import("./firmware-asset.js");
+    return decodeBase64(mod.tmf8829FirmwareB64);
+}
+const hex2 = (v) => `0x${v.toString(16).toUpperCase().padStart(2, "0")}`;
+/** The sensor refused or did not answer (bootloader / application status). */
+export class Tmf8829Error extends DepzError {
+}
+/**
+ * TMF8829 ToF device (8×8 … 48×32 zones, up to 4 peaks per zone, histograms).
+ * `init()` downloads the 14.4 KB sensor firmware (~0.15 s), `configure(preset,
+ * …)` writes the config page, `start()` streams measurements to
+ * `onMeasurement` / `measurements()`, `stop()` ends it. The sensor's EN pin is
+ * wired high: there is no sleep, recovery from any state is `init()`.
+ */
+export class Tmf8829 extends DepzDevice {
+    appVersion = null;
+    sensorSerial = null;
+    sleepImpl;
+    chain = Promise.resolve();
+    reassembler = new Tmf8829FrameReassembler();
+    builder = new Tmf8829MeasurementBuilder();
+    measCbs = [];
+    measQueues = [];
+    interruptCbs = [];
+    streamingFlag = false;
+    stopping = false;
+    cfg = null;
+    constructor(transport, opts) {
+        super(transport, opts);
+        this.sleepImpl = opts?.sleepImpl ?? ((ms) => new Promise((r) => setTimeout(r, ms)));
+    }
+    // ── register access ────────────────────────────────────────────────────────
+    /**
+     * Read `length` bytes from `addr` in ≤1024-byte requests; reads that reach the
+     * FIFO port 0xFF stay there (the sensor does not auto-increment it).
+     */
+    readRegisters(addr, length) {
+        return this.locked(() => this.rd(addr, length));
+    }
+    /** Write `data` from `addr` in ≤1023-byte requests (writes to 0xFF stay at 0xFF). */
+    writeRegisters(addr, data) {
+        return this.locked(() => this.wr(addr, data));
+    }
+    /** Raw host-interface registers, for diagnostics. */
+    sensorState() {
+        return this.locked(async () => {
+            const regs = {
+                ID: REG_ID,
+                REVID: REG_REVID,
+                ENABLE: REG_ENABLE,
+                RESET: REG_RESET,
+                APP_ID: REG_APP_ID,
+                CMD_STAT: REG_CMD_STAT,
+                INT_STATUS: REG_INT_STATUS,
+                INT_ENAB: REG_INT_ENAB,
+                FIFOSTATUS: REG_FIFOSTATUS,
+            };
+            const out = {};
+            for (const [k, a] of Object.entries(regs))
+                out[k] = await this.rd8(a);
+            return out;
+        });
+    }
+    /** Bridge counters (never touches the sensor, safe mid-stream). */
+    getBridgeInfo() {
+        return this.request(Tmf8829Cmd.GetInfo, undefined, {
+            matcher: DepzDevice.expectReport(Tmf8829Rpt.Info, unpackTmf8829Info),
+        });
+    }
+    // ── init ───────────────────────────────────────────────────────────────────
+    /**
+     * Bring the sensor from any state to its running RAM application: soft
+     * reset, bootloader, firmware download, start. Resolves [application
+     * version, sensor serial]. Stops a running stream first. `progress(done,
+     * total)` tracks the image download.
+     */
+    async init(progress) {
+        if (this.streamingFlag)
+            await this.stop();
+        const image = await tmf8829FirmwareImage();
+        return this.locked(async () => {
+            await this.wr8(REG_ENABLE, ENABLE_PON | ENABLE_PUSEL_BOOTMON);
+            await this.sleepImpl(3);
+            await this.wr8(REG_RESET, RESET_SOFT);
+            await this.sleepImpl(3);
+            const dev = await this.rd8(REG_ID);
+            if (dev !== DEVICE_ID) {
+                throw new Tmf8829Error(`sensor ID ${hex2(dev)}, expected ${hex2(DEVICE_ID)} (no TMF8829 on the bus?)`);
+            }
+            await this.poll(REG_APP_ID, (v) => v === APP_ID_BL, 100, "sensor bootloader");
+            await this.blCmd(BL_I2C_OFF);
+            // ENABLE reads 0 over SPI until the sensor's I2C is off.
+            await this.poll(REG_ENABLE, (v) => (v & ENABLE_CPU_READY) !== 0, 100, "cpu_ready");
+            const padded = new Uint8Array(image.length + ((4 - (image.length % 4)) % 4)).fill(0xff);
+            padded.set(image);
+            const params = new Uint8Array(6);
+            const dv = new DataView(params.buffer);
+            dv.setUint32(0, TMF8829_FIRMWARE_LOAD_ADDR, true);
+            dv.setUint16(4, padded.length / 4, true);
+            await this.blCmd(BL_W_FIFO_BOTH, params);
+            await this.wr(REG_FIFO, padded, progress);
+            await this.blCmd(BL_START_RAM_APP);
+            await this.poll(REG_APP_ID, (v) => v === APP_ID_APP, 100, "START_RAM_APP");
+            const en = await this.rd8(REG_ENABLE); // wake-ups must boot the RAM application
+            await this.wr8(REG_ENABLE, (en & ~ENABLE_PUSEL_MASK) | ENABLE_PUSEL_RAM);
+            const ver = await this.rd(REG_APP_ID, 4);
+            this.appVersion = `${ver[1]}.${ver[2]}.${ver[3]}`;
+            const ser = await this.rd(REG_SERIAL, 4);
+            this.sensorSerial = new DataView(ser.buffer, ser.byteOffset, 4).getUint32(0, true);
+            this.cfg = null;
+            return [this.appVersion, this.sensorSerial];
+        });
+    }
+    // ── config page ────────────────────────────────────────────────────────────
+    /** LOAD_CONFIG_PAGE → the 190-byte page 0x22..0xDF now in the sensor. */
+    configPage() {
+        return this.locked(() => this.loadConfig());
+    }
+    /**
+     * Load `preset` and write the config page. Every field a preset does not
+     * reset is written (contract 14 §4), so the result never depends on an
+     * earlier config. Rejects with `Tmf8829Error` when the sensor refuses the
+     * page (e.g. ERR_CONFIG_RESULT_SIZE) or a written field does not read back.
+     */
+    configure(preset = "8x8", opts = {}) {
+        if (!(preset in TMF8829_PRESETS)) {
+            return Promise.reject(new RangeError(`unknown preset ${preset}; one of ${Object.keys(TMF8829_PRESETS).join(", ")}`));
+        }
+        if (this.streamingFlag)
+            return Promise.reject(new DepzError("configure() while streaming: stop() first"));
+        const peaks = opts.nrPeaks ?? 1;
+        // The 3-bit field takes 0..7, the sensor reports at most 4 peaks.
+        if (!Number.isInteger(peaks) || peaks < 1 || peaks > 4) {
+            return Promise.reject(new RangeError(`nrPeaks ${peaks}, must be 1..4`));
+        }
+        const want = {
+            period_ms: opts.periodMs ?? TMF8829_DEFAULT_PERIOD_MS,
+            kilo_iterations: opts.kiloIterations ?? TMF8829_PRESET_KILO_ITERATIONS[preset],
+            nr_peaks: opts.nrPeaks ?? 1,
+            signal_strength: opts.signalStrength ? 1 : 0,
+            noise_strength: opts.noiseStrength ? 1 : 0,
+            xtalk: opts.xtalk ? 1 : 0,
+            dump_histograms: opts.histograms ? 1 : 0,
+            ref_spad_frame: opts.refFrame ? 1 : 0,
+            ...opts.fields,
+        };
+        return this.locked(async () => {
+            await this.appCmd(TMF8829_PRESETS[preset]);
+            const page = await this.loadConfig();
+            for (const [k, v] of Object.entries(want))
+                tmf8829CfgSet(page, k, v);
+            await this.wr(TMF8829_REG_CFG, page);
+            await this.appCmd(CMD_WRITE_PAGE);
+            const back = await this.loadConfig();
+            const stuck = Object.entries(want)
+                .filter(([k, v]) => tmf8829CfgGet(back, k) !== v)
+                .map(([k, v]) => `${k} wrote ${v}, reads ${tmf8829CfgGet(back, k)}`);
+            if (stuck.length)
+                throw new Tmf8829Error(`config fields did not stick: ${stuck.join(", ")}`);
+            const fields = tmf8829ConfigFields(back);
+            this.cfg = {
+                preset,
+                page: back,
+                histograms: !!opts.histograms,
+                refFrame: !!opts.refFrame,
+                fields,
+                grid: TMF8829_FP_GRID[fields.fp_mode] ?? [0, 0],
+            };
+            return this.cfg;
+        });
+    }
+    /** The last `configure()` result (null after `init()`). */
+    get config() {
+        return this.cfg;
+    }
+    // ── streaming ──────────────────────────────────────────────────────────────
+    get streaming() {
+        return this.streamingFlag;
+    }
+    /** MEASURE with the bridge stream armed; configures the 8x8 preset first if needed. */
+    async start() {
+        if (this.streamingFlag)
+            return;
+        const cfg = this.cfg ?? (await this.configure());
+        const intMask = TMF8829_INT_RESULTS | (cfg.histograms ? TMF8829_INT_HISTOGRAMS : 0);
+        await this.locked(async () => {
+            await this.wr8(REG_FIFOSTATUS, FIFO_ERROR_FLAGS); // sticky under/overrun
+            await this.wr8(REG_INT_STATUS, 0xff);
+            await this.wr8(REG_INT_ENAB, intMask);
+            this.reassembler.reset();
+            this.builder.reset();
+            await this.request(Tmf8829Cmd.StartStream, packTmf8829StartStream(intMask, cfg.refFrame ? TMF8829_SF_REF_FRAME : 0), { okCompletes: true });
+            this.streamingFlag = true;
+            try {
+                await this.appCmd(CMD_MEASURE, [STAT_OK, STAT_ACCEPTED]);
+            }
+            catch (e) {
+                this.streamingFlag = false;
+                await this.request(Tmf8829Cmd.StopStream, undefined, { okCompletes: true }).catch(() => { });
+                throw e;
+            }
+        });
+    }
+    /**
+     * Sensor STOP, then the bridge stream (frames already queued drain). The
+     * bad-header event a STOP raises mid histogram dump is expected and
+     * swallowed.
+     */
+    stop() {
+        return this.locked(async () => {
+            this.stopping = true;
+            try {
+                await this.appCmd(CMD_STOP);
+                await this.wr8(REG_INT_ENAB, 0);
+                await this.wr8(REG_INT_STATUS, 0xff);
+                if (this.streamingFlag)
+                    await this.request(Tmf8829Cmd.StopStream, undefined, { okCompletes: true });
+            }
+            finally {
+                this.streamingFlag = false;
+                this.stopping = false;
+            }
+        });
+    }
+    async close() {
+        if (this.streamingFlag)
+            await this.stop().catch(() => { });
+        await super.close();
+    }
+    /** Subscribe to measurements (read-pump context; don't block). */
+    onMeasurement(cb) {
+        this.measCbs.push(cb);
+        return () => {
+            this.measCbs = this.measCbs.filter((c) => c !== cb);
+        };
+    }
+    /** Async iterator over measurements — bounded, drop-oldest. */
+    measurements(maxsize = 16) {
+        const queue = new StreamQueue(maxsize, () => {
+            this.measQueues = this.measQueues.filter((q) => q !== queue);
+            deregister();
+        });
+        this.measQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        return queue;
+    }
+    /** Wait for the next measurement. */
+    async getMeasurement(timeoutMs = 2000) {
+        const queue = new StreamQueue(1);
+        this.measQueues.push(queue);
+        const deregister = this.registerStream(queue);
+        let timer;
+        try {
+            const result = await Promise.race([
+                queue.next(),
+                new Promise((_, reject) => {
+                    timer = setTimeout(() => reject(new DepzTimeoutError(Tmf8829Rpt.Frame, timeoutMs)), timeoutMs);
+                }),
+            ]);
+            if (result.done === true)
+                throw new DepzError("device closed");
+            return result.value;
+        }
+        finally {
+            if (timer !== undefined)
+                clearTimeout(timer);
+            this.measQueues = this.measQueues.filter((q) => q !== queue);
+            deregister();
+        }
+    }
+    /**
+     * RPT_TMF_EVENT that is not an expected stop artefact: a MOTION/PROXIMITY
+     * interrupt (code 0) or a refused frame header (code 1 — the sensor is lost,
+     * run `init()` again).
+     */
+    onInterrupt(cb) {
+        this.interruptCbs.push(cb);
+        return () => {
+            this.interruptCbs = this.interruptCbs.filter((c) => c !== cb);
+        };
+    }
+    /** Frames the bridge dropped (frame_seq gaps) in this stream. */
+    get framesDropped() {
+        return this.reassembler.seqGaps;
+    }
+    /** Frames lost to reassembly (incomplete, out-of-order chunks) in this stream. */
+    get framesDiscarded() {
+        return this.reassembler.discarded;
+    }
+    get frameParseErrors() {
+        return this.builder.parseErrors;
+    }
+    /** Current clock ratio (Q16), for diagnostics. */
+    get clockRatioQ16() {
+        return this.builder.clock.ratioQ16;
+    }
+    // ── internal ───────────────────────────────────────────────────────────────
+    /** Run `fn` after every previously queued sequence (non-reentrant). */
+    locked(fn) {
+        const run = this.chain.then(fn, fn);
+        this.chain = run.catch(() => undefined);
+        return run;
+    }
+    async rd(addrIn, length) {
+        const out = new Uint8Array(length);
+        let addr = addrIn;
+        let off = 0;
+        while (off < length) {
+            const n = Math.min(length - off, TMF8829_READ_MAX);
+            const rep = await this.request(Tmf8829Cmd.ReadReg, packTmf8829ReadReg(addr, n), {
+                matcher: DepzDevice.expectReport(Tmf8829Rpt.RegData, unpackTmf8829RegData),
+                timeoutMs: REGISTER_TIMEOUT_MS,
+            });
+            if (rep.data.length !== n)
+                throw new DepzError(`READ_REG ${hex2(addr)}: expected ${n}, got ${rep.data.length}`);
+            out.set(rep.data, off);
+            off += n;
+            addr = Math.min(addr + n, REG_FIFO);
+        }
+        return out;
+    }
+    async rd8(addr) {
+        return (await this.rd(addr, 1))[0];
+    }
+    async wr(addrIn, data, progress) {
+        let addr = addrIn;
+        for (let off = 0; off < data.length; off += TMF8829_WRITE_MAX) {
+            const chunk = data.subarray(off, off + TMF8829_WRITE_MAX);
+            await this.request(Tmf8829Cmd.WriteReg, packTmf8829WriteReg(addr, chunk), {
+                okCompletes: true,
+                timeoutMs: REGISTER_TIMEOUT_MS,
+            });
+            if (addr !== REG_FIFO)
+                addr += chunk.length;
+            progress?.(Math.min(off + chunk.length, data.length), data.length);
+        }
+    }
+    wr8(addr, value) {
+        return this.wr(addr, Uint8Array.of(value & 0xff));
+    }
+    async poll(addr, done, timeoutMs, what) {
+        const deadline = Date.now() + timeoutMs;
+        for (;;) {
+            const v = await this.rd8(addr);
+            if (done(v))
+                return v;
+            if (Date.now() > deadline)
+                throw new Tmf8829Error(`${what}: timeout, reg ${hex2(addr)} = ${hex2(v)}`);
+        }
+    }
+    async blCmd(cmd, params) {
+        const payload = params?.length ? Uint8Array.of(cmd, params.length, ...params) : Uint8Array.of(cmd);
+        await this.wr(REG_CMD_STAT, payload);
+        const st = await this.poll(REG_CMD_STAT, (v) => v !== cmd, 100, `bootloader cmd ${hex2(cmd)}`);
+        if (st !== 0)
+            throw new Tmf8829Error(`bootloader cmd ${hex2(cmd)} -> ${BL_STATUS_NAMES[st] ?? hex2(st)}`);
+    }
+    async appCmd(cmd, accept = [STAT_OK], timeoutMs = 1000) {
+        await this.wr8(REG_CMD_STAT, cmd);
+        const st = await this.poll(REG_CMD_STAT, (v) => v < 0x10, timeoutMs, `sensor cmd ${hex2(cmd)}`);
+        if (!accept.includes(st))
+            throw new Tmf8829Error(`sensor cmd ${hex2(cmd)} -> ${STAT_NAMES[st] ?? hex2(st)}`);
+        return st;
+    }
+    async loadConfig() {
+        await this.appCmd(CMD_LOAD_CONFIG_PAGE);
+        const cid = await this.rd8(REG_CID_RID);
+        if (cid !== CMD_LOAD_CONFIG_PAGE)
+            throw new Tmf8829Error(`CID_RID ${hex2(cid)} after LOAD_CONFIG_PAGE`);
+        return this.rd(TMF8829_REG_CFG, TMF8829_CFG_SIZE);
+    }
+    handleReport(pkt) {
+        if (pkt.cmd === Tmf8829Rpt.Frame) {
+            if (pkt.payload.length < 21)
+                return true;
+            const raw = this.reassembler.feed(unpackTmf8829FrameChunk(pkt.payload));
+            if (raw === null)
+                return true;
+            const m = this.builder.add(raw.data, Number(raw.timestampUs), Number(raw.edgeUs));
+            if (m !== null) {
+                for (const cb of [...this.measCbs])
+                    cb(m);
+                for (const q of [...this.measQueues])
+                    q.push(m);
+            }
+            return true;
+        }
+        if (pkt.cmd === Tmf8829Rpt.Event) {
+            if (pkt.payload.length < 12)
+                return true;
+            const ev = unpackTmf8829Event(pkt.payload);
+            if (ev.code === Tmf8829EventCode.BadHeader && this.stopping)
+                return true; // expected on STOP (contract 14 §2)
+            for (const cb of [...this.interruptCbs])
+                cb(ev);
+            return true;
+        }
+        return false;
+    }
+}
+//# sourceMappingURL=tmf8829.js.map

package/dist/sensors/tmf8829/tmf8829.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@depz/sensor-sdk",
-  "version": "0.4.2",
+  "version": "0.6.0",
   "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",