@depz/sensor-sdk 0.5.0 → 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/tmf8829/builder.d.ts

@@ -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

@@ -0,0 +1 @@
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package/dist/sensors/tmf8829/builder.js

@@ -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

@@ -0,0 +1 @@
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package/dist/sensors/tmf8829/clock.d.ts

@@ -0,0 +1,76 @@
+/**
+ * Sensor clock model and frame capture time (contracts/14_SENSOR_TMF8829.md §5).
+ * Mirrors the Python reference `depz_sensor_sdk.tmf8829.clock`; the vectors in
+ * `contracts/vectors/tmf8829_frame_time.json` pin it bit for bit.
+ *
+ * Plain numbers, not bigint: every intermediate stays below 2^53 (µs values
+ * ~2^31, `span << 16` ~2^37, tick × ratio ~2^51), so `Math.floor(a / b)` is
+ * exact. `>>` in JS is 32-bit, so the Q16 shifts are divisions by 65536.
+ */
+export declare const TMF8829_NOMINAL_Q16: number;
+/** Clock ratio not measured yet (nominal 8 µs/tick used). */
+export declare const TMF8829_FT_NOMINAL = 1;
+/** Clock model restarted at this frame (SYSTICK jump). */
+export declare const TMF8829_FT_CLOCK_RESET = 2;
+/** INT edge > 2 ms later after t1 than usual in this stream. */
+export declare const TMF8829_FT_EDGE_LATE = 4;
+/** Sub-integrations not back to back (histogram FIFO wait). */
+export declare const TMF8829_FT_STALLED = 8;
+/** Histograms + 32x32/48x32: T1 may be too long, centre late. */
+export declare const TMF8829_FT_T1_UNSURE = 16;
+export declare const TMF8829_FT_NAMES: ReadonlyArray<[number, string]>;
+export declare function tmf8829FlagNames(flags: number): string[];
+/**
+ * Sensor SYSTICK (125 kHz) → MCU µs, fed one clock pair per frame. The ratio
+ * is taken over a sliding 1..2 s window, first after 200 ms; it is also the
+ * distance correction.
+ */
+export declare class Tmf8829SensorClock {
+    ratioQ16: number;
+    nominal: boolean;
+    private valid;
+    private last;
+    private anchor;
+    private mid;
+    reset(): void;
+    /** MCU/sensor clock ratio (≈ 1.015): distances are scaled by it. */
+    get ratio(): number;
+    private static stepOk;
+    /** Add a pair → TMF8829_FT_CLOCK_RESET if it does not fit the model, else 0. */
+    add(us: number, tick: number): number;
+    /** SYSTICK `tick` → MCU µs through the pair (pairUs, pairTick). */
+    toUs(pairUs: number, pairTick: number, tick: number): number;
+}
+/** Capture time of one results frame, MCU µs. */
+export interface Tmf8829FrameTime {
+    /** Centre of the capture window. */
+    timestampUs: number;
+    /** TMF8829_FT_* */
+    flags: number;
+    /** Sub-integration length used. */
+    t1LenUs: number;
+    t0Us: number;
+    t1Us: number;
+    /** INT edge credited to the frame, 0 = none. */
+    edgeUs: number;
+    /** MCU time of the header read (the clock pair). */
+    pairUs: number;
+    /** Clock ratio after this frame. */
+    ratioQ16: number;
+}
+/**
+ * When a results frame was captured: the centre of [t0, t1 + T1], T1 the
+ * stream's shortest (t1 − t0)/(N − 1).
+ */
+export declare class Tmf8829CaptureTimer {
+    readonly clock: Tmf8829SensorClock;
+    private lagMin;
+    private histSeen;
+    private subMin;
+    constructor(clock: Tmf8829SensorClock);
+    reset(): void;
+    /** A histogram frame was seen in the stream. */
+    histograms(): void;
+    results(fpMode: number, systick: number, t0Tick: number, t1Tick: number, pairUs: number, edgeUs: number, flagsIn: number): Tmf8829FrameTime;
+}
+//# sourceMappingURL=clock.d.ts.map

package/dist/sensors/tmf8829/clock.d.ts.map

@@ -0,0 +1 @@
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