mirror of https://github.com/ArduPilot/ardupilot
1303 lines
112 KiB
C++
1303 lines
112 KiB
C++
#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_VL53L1X_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#include <AP_HAL/I2CDevice.h>
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class AP_RangeFinder_VL53L1X : public AP_RangeFinder_Backend
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{
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public:
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enum class DistanceMode { Short, Medium, Long, Unknown };
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// static detection function
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static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev, DistanceMode mode);
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// update state
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void update(void) override;
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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enum DeviceError : uint8_t
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{
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NOUPDATE = 0,
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VCSELCONTINUITYTESTFAILURE = 1,
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VCSELWATCHDOGTESTFAILURE = 2,
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NOVHVVALUEFOUND = 3,
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MSRCNOTARGET = 4,
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RANGEPHASECHECK = 5,
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SIGMATHRESHOLDCHECK = 6,
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PHASECONSISTENCY = 7,
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MINCLIP = 8,
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RANGECOMPLETE = 9,
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ALGOUNDERFLOW = 10,
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ALGOOVERFLOW = 11,
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RANGEIGNORETHRESHOLD = 12,
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USERROICLIP = 13,
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REFSPADCHARNOTENOUGHDPADS = 14,
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REFSPADCHARMORETHANTARGET = 15,
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REFSPADCHARLESSTHANTARGET = 16,
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MULTCLIPFAIL = 17,
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GPHSTREAMCOUNT0READY = 18,
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RANGECOMPLETE_NO_WRAP_CHECK = 19,
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EVENTCONSISTENCY = 20,
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MINSIGNALEVENTCHECK = 21,
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RANGECOMPLETE_MERGED_PULSE = 22,
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};
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// register addresses from API vl53l1x_register_map.h
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enum regAddr : uint16_t
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{
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SOFT_RESET = 0x0000,
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I2C_SLAVE__DEVICE_ADDRESS = 0x0001,
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ANA_CONFIG__VHV_REF_SEL_VDDPIX = 0x0002,
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ANA_CONFIG__VHV_REF_SEL_VQUENCH = 0x0003,
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ANA_CONFIG__REG_AVDD1V2_SEL = 0x0004,
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ANA_CONFIG__FAST_OSC__TRIM = 0x0005,
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OSC_MEASURED__FAST_OSC__FREQUENCY = 0x0006,
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OSC_MEASURED__FAST_OSC__FREQUENCY_HI = 0x0006,
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OSC_MEASURED__FAST_OSC__FREQUENCY_LO = 0x0007,
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VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND = 0x0008,
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VHV_CONFIG__COUNT_THRESH = 0x0009,
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VHV_CONFIG__OFFSET = 0x000A,
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VHV_CONFIG__INIT = 0x000B,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_0 = 0x000D,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_1 = 0x000E,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_2 = 0x000F,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_3 = 0x0010,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_4 = 0x0011,
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GLOBAL_CONFIG__SPAD_ENABLES_REF_5 = 0x0012,
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GLOBAL_CONFIG__REF_EN_START_SELECT = 0x0013,
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REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS = 0x0014,
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REF_SPAD_MAN__REF_LOCATION = 0x0015,
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ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS = 0x0016,
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ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_HI = 0x0016,
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ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_LO = 0x0017,
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ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS = 0x0018,
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ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_HI = 0x0018,
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ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_LO = 0x0019,
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ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS = 0x001A,
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ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_HI = 0x001A,
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ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_LO = 0x001B,
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REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS = 0x001C,
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REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_HI = 0x001C,
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REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_LO = 0x001D,
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ALGO__PART_TO_PART_RANGE_OFFSET_MM = 0x001E,
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ALGO__PART_TO_PART_RANGE_OFFSET_MM_HI = 0x001E,
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ALGO__PART_TO_PART_RANGE_OFFSET_MM_LO = 0x001F,
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MM_CONFIG__INNER_OFFSET_MM = 0x0020,
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MM_CONFIG__INNER_OFFSET_MM_HI = 0x0020,
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MM_CONFIG__INNER_OFFSET_MM_LO = 0x0021,
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MM_CONFIG__OUTER_OFFSET_MM = 0x0022,
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MM_CONFIG__OUTER_OFFSET_MM_HI = 0x0022,
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MM_CONFIG__OUTER_OFFSET_MM_LO = 0x0023,
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DSS_CONFIG__TARGET_TOTAL_RATE_MCPS = 0x0024,
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DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_HI = 0x0024,
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DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_LO = 0x0025,
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DEBUG__CTRL = 0x0026,
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TEST_MODE__CTRL = 0x0027,
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CLK_GATING__CTRL = 0x0028,
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NVM_BIST__CTRL = 0x0029,
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NVM_BIST__NUM_NVM_WORDS = 0x002A,
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NVM_BIST__START_ADDRESS = 0x002B,
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HOST_IF__STATUS = 0x002C,
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PAD_I2C_HV__CONFIG = 0x002D,
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PAD_I2C_HV__EXTSUP_CONFIG = 0x002E,
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GPIO_HV_PAD__CTRL = 0x002F,
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GPIO_HV_MUX__CTRL = 0x0030,
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GPIO__TIO_HV_STATUS = 0x0031,
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GPIO__FIO_HV_STATUS = 0x0032,
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ANA_CONFIG__SPAD_SEL_PSWIDTH = 0x0033,
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ANA_CONFIG__VCSEL_PULSE_WIDTH_OFFSET = 0x0034,
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ANA_CONFIG__FAST_OSC__CONFIG_CTRL = 0x0035,
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SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS = 0x0036,
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SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS = 0x0037,
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SIGMA_ESTIMATOR__SIGMA_REF_MM = 0x0038,
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ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM = 0x0039,
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SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_0 = 0x003A,
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SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_1 = 0x003B,
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ALGO__RANGE_IGNORE_THRESHOLD_MCPS = 0x003C,
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ALGO__RANGE_IGNORE_THRESHOLD_MCPS_HI = 0x003C,
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ALGO__RANGE_IGNORE_THRESHOLD_MCPS_LO = 0x003D,
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ALGO__RANGE_IGNORE_VALID_HEIGHT_MM = 0x003E,
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ALGO__RANGE_MIN_CLIP = 0x003F,
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ALGO__CONSISTENCY_CHECK__TOLERANCE = 0x0040,
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SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_2 = 0x0041,
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SD_CONFIG__RESET_STAGES_MSB = 0x0042,
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SD_CONFIG__RESET_STAGES_LSB = 0x0043,
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GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE = 0x0044,
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GLOBAL_CONFIG__STREAM_DIVIDER = 0x0045,
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SYSTEM__INTERRUPT_CONFIG_GPIO = 0x0046,
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CAL_CONFIG__VCSEL_START = 0x0047,
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CAL_CONFIG__REPEAT_RATE = 0x0048,
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CAL_CONFIG__REPEAT_RATE_HI = 0x0048,
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CAL_CONFIG__REPEAT_RATE_LO = 0x0049,
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GLOBAL_CONFIG__VCSEL_WIDTH = 0x004A,
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PHASECAL_CONFIG__TIMEOUT_MACROP = 0x004B,
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PHASECAL_CONFIG__TARGET = 0x004C,
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PHASECAL_CONFIG__OVERRIDE = 0x004D,
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DSS_CONFIG__ROI_MODE_CONTROL = 0x004F,
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SYSTEM__THRESH_RATE_HIGH = 0x0050,
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SYSTEM__THRESH_RATE_HIGH_HI = 0x0050,
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SYSTEM__THRESH_RATE_HIGH_LO = 0x0051,
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SYSTEM__THRESH_RATE_LOW = 0x0052,
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SYSTEM__THRESH_RATE_LOW_HI = 0x0052,
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SYSTEM__THRESH_RATE_LOW_LO = 0x0053,
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DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT = 0x0054,
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DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI = 0x0054,
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DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO = 0x0055,
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DSS_CONFIG__MANUAL_BLOCK_SELECT = 0x0056,
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DSS_CONFIG__APERTURE_ATTENUATION = 0x0057,
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DSS_CONFIG__MAX_SPADS_LIMIT = 0x0058,
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DSS_CONFIG__MIN_SPADS_LIMIT = 0x0059,
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MM_CONFIG__TIMEOUT_MACROP_A = 0x005A, // added by Pololu for 16-bit accesses
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MM_CONFIG__TIMEOUT_MACROP_A_HI = 0x005A,
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MM_CONFIG__TIMEOUT_MACROP_A_LO = 0x005B,
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MM_CONFIG__TIMEOUT_MACROP_B = 0x005C, // added by Pololu for 16-bit accesses
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MM_CONFIG__TIMEOUT_MACROP_B_HI = 0x005C,
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MM_CONFIG__TIMEOUT_MACROP_B_LO = 0x005D,
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RANGE_CONFIG__TIMEOUT_MACROP_A = 0x005E, // added by Pololu for 16-bit accesses
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RANGE_CONFIG__TIMEOUT_MACROP_A_HI = 0x005E,
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RANGE_CONFIG__TIMEOUT_MACROP_A_LO = 0x005F,
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RANGE_CONFIG__VCSEL_PERIOD_A = 0x0060,
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RANGE_CONFIG__TIMEOUT_MACROP_B = 0x0061, // added by Pololu for 16-bit accesses
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RANGE_CONFIG__TIMEOUT_MACROP_B_HI = 0x0061,
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RANGE_CONFIG__TIMEOUT_MACROP_B_LO = 0x0062,
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RANGE_CONFIG__VCSEL_PERIOD_B = 0x0063,
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RANGE_CONFIG__SIGMA_THRESH = 0x0064,
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RANGE_CONFIG__SIGMA_THRESH_HI = 0x0064,
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RANGE_CONFIG__SIGMA_THRESH_LO = 0x0065,
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RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS = 0x0066,
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RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI = 0x0066,
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RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO = 0x0067,
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RANGE_CONFIG__VALID_PHASE_LOW = 0x0068,
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RANGE_CONFIG__VALID_PHASE_HIGH = 0x0069,
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SYSTEM__INTERMEASUREMENT_PERIOD = 0x006C,
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SYSTEM__INTERMEASUREMENT_PERIOD_3 = 0x006C,
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SYSTEM__INTERMEASUREMENT_PERIOD_2 = 0x006D,
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SYSTEM__INTERMEASUREMENT_PERIOD_1 = 0x006E,
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SYSTEM__INTERMEASUREMENT_PERIOD_0 = 0x006F,
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SYSTEM__FRACTIONAL_ENABLE = 0x0070,
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SYSTEM__GROUPED_PARAMETER_HOLD_0 = 0x0071,
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SYSTEM__THRESH_HIGH = 0x0072,
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SYSTEM__THRESH_HIGH_HI = 0x0072,
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SYSTEM__THRESH_HIGH_LO = 0x0073,
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SYSTEM__THRESH_LOW = 0x0074,
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SYSTEM__THRESH_LOW_HI = 0x0074,
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SYSTEM__THRESH_LOW_LO = 0x0075,
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SYSTEM__ENABLE_XTALK_PER_QUADRANT = 0x0076,
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SYSTEM__SEED_CONFIG = 0x0077,
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SD_CONFIG__WOI_SD0 = 0x0078,
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SD_CONFIG__WOI_SD1 = 0x0079,
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SD_CONFIG__INITIAL_PHASE_SD0 = 0x007A,
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SD_CONFIG__INITIAL_PHASE_SD1 = 0x007B,
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SYSTEM__GROUPED_PARAMETER_HOLD_1 = 0x007C,
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SD_CONFIG__FIRST_ORDER_SELECT = 0x007D,
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SD_CONFIG__QUANTIFIER = 0x007E,
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ROI_CONFIG__USER_ROI_CENTRE_SPAD = 0x007F,
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ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE = 0x0080,
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SYSTEM__SEQUENCE_CONFIG = 0x0081,
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SYSTEM__GROUPED_PARAMETER_HOLD = 0x0082,
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POWER_MANAGEMENT__GO1_POWER_FORCE = 0x0083,
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SYSTEM__STREAM_COUNT_CTRL = 0x0084,
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FIRMWARE__ENABLE = 0x0085,
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SYSTEM__INTERRUPT_CLEAR = 0x0086,
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SYSTEM__MODE_START = 0x0087,
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RESULT__INTERRUPT_STATUS = 0x0088,
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RESULT__RANGE_STATUS = 0x0089,
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RESULT__REPORT_STATUS = 0x008A,
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RESULT__STREAM_COUNT = 0x008B,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x008C,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x008C,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x008D,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x008E,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x008E,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x008F,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 = 0x0090,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI = 0x0090,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO = 0x0091,
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RESULT__SIGMA_SD0 = 0x0092,
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RESULT__SIGMA_SD0_HI = 0x0092,
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RESULT__SIGMA_SD0_LO = 0x0093,
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RESULT__PHASE_SD0 = 0x0094,
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RESULT__PHASE_SD0_HI = 0x0094,
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RESULT__PHASE_SD0_LO = 0x0095,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 = 0x0096,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI = 0x0096,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO = 0x0097,
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RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 = 0x0098,
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RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI = 0x0098,
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RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO = 0x0099,
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RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x009A,
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RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x009A,
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RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x009B,
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RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x009C,
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RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x009C,
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RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x009D,
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RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x009E,
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RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x009E,
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RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x009F,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 = 0x00A0,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI = 0x00A0,
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RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO = 0x00A1,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 = 0x00A2,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI = 0x00A2,
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RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO = 0x00A3,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 = 0x00A4,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI = 0x00A4,
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RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO = 0x00A5,
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RESULT__SIGMA_SD1 = 0x00A6,
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RESULT__SIGMA_SD1_HI = 0x00A6,
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RESULT__SIGMA_SD1_LO = 0x00A7,
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RESULT__PHASE_SD1 = 0x00A8,
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RESULT__PHASE_SD1_HI = 0x00A8,
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RESULT__PHASE_SD1_LO = 0x00A9,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 = 0x00AA,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI = 0x00AA,
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RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO = 0x00AB,
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RESULT__SPARE_0_SD1 = 0x00AC,
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RESULT__SPARE_0_SD1_HI = 0x00AC,
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RESULT__SPARE_0_SD1_LO = 0x00AD,
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RESULT__SPARE_1_SD1 = 0x00AE,
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RESULT__SPARE_1_SD1_HI = 0x00AE,
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RESULT__SPARE_1_SD1_LO = 0x00AF,
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RESULT__SPARE_2_SD1 = 0x00B0,
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RESULT__SPARE_2_SD1_HI = 0x00B0,
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RESULT__SPARE_2_SD1_LO = 0x00B1,
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RESULT__SPARE_3_SD1 = 0x00B2,
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RESULT__THRESH_INFO = 0x00B3,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 = 0x00B4,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 = 0x00B4,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 = 0x00B5,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 = 0x00B6,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 = 0x00B7,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 = 0x00B8,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 = 0x00B8,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 = 0x00B9,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 = 0x00BA,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 = 0x00BB,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 = 0x00BC,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 = 0x00BC,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 = 0x00BD,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 = 0x00BE,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 = 0x00BF,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 = 0x00C0,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 = 0x00C0,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 = 0x00C1,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 = 0x00C2,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 = 0x00C3,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 = 0x00C4,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 = 0x00C4,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 = 0x00C5,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 = 0x00C6,
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RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 = 0x00C7,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 = 0x00C8,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 = 0x00C8,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 = 0x00C9,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 = 0x00CA,
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RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 = 0x00CB,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 = 0x00CC,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 = 0x00CC,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 = 0x00CD,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 = 0x00CE,
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RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 = 0x00CF,
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 = 0x00D0,
|
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RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 = 0x00D0,
|
|
RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 = 0x00D1,
|
|
RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 = 0x00D2,
|
|
RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 = 0x00D3,
|
|
RESULT_CORE__SPARE_0 = 0x00D4,
|
|
PHASECAL_RESULT__REFERENCE_PHASE = 0x00D6,
|
|
PHASECAL_RESULT__REFERENCE_PHASE_HI = 0x00D6,
|
|
PHASECAL_RESULT__REFERENCE_PHASE_LO = 0x00D7,
|
|
PHASECAL_RESULT__VCSEL_START = 0x00D8,
|
|
REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS = 0x00D9,
|
|
REF_SPAD_CHAR_RESULT__REF_LOCATION = 0x00DA,
|
|
VHV_RESULT__COLDBOOT_STATUS = 0x00DB,
|
|
VHV_RESULT__SEARCH_RESULT = 0x00DC,
|
|
VHV_RESULT__LATEST_SETTING = 0x00DD,
|
|
RESULT__OSC_CALIBRATE_VAL = 0x00DE,
|
|
RESULT__OSC_CALIBRATE_VAL_HI = 0x00DE,
|
|
RESULT__OSC_CALIBRATE_VAL_LO = 0x00DF,
|
|
ANA_CONFIG__POWERDOWN_GO1 = 0x00E0,
|
|
ANA_CONFIG__REF_BG_CTRL = 0x00E1,
|
|
ANA_CONFIG__REGDVDD1V2_CTRL = 0x00E2,
|
|
ANA_CONFIG__OSC_SLOW_CTRL = 0x00E3,
|
|
TEST_MODE__STATUS = 0x00E4,
|
|
FIRMWARE__SYSTEM_STATUS = 0x00E5,
|
|
FIRMWARE__MODE_STATUS = 0x00E6,
|
|
FIRMWARE__SECONDARY_MODE_STATUS = 0x00E7,
|
|
FIRMWARE__CAL_REPEAT_RATE_COUNTER = 0x00E8,
|
|
FIRMWARE__CAL_REPEAT_RATE_COUNTER_HI = 0x00E8,
|
|
FIRMWARE__CAL_REPEAT_RATE_COUNTER_LO = 0x00E9,
|
|
FIRMWARE__HISTOGRAM_BIN = 0x00EA,
|
|
GPH__SYSTEM__THRESH_HIGH = 0x00EC,
|
|
GPH__SYSTEM__THRESH_HIGH_HI = 0x00EC,
|
|
GPH__SYSTEM__THRESH_HIGH_LO = 0x00ED,
|
|
GPH__SYSTEM__THRESH_LOW = 0x00EE,
|
|
GPH__SYSTEM__THRESH_LOW_HI = 0x00EE,
|
|
GPH__SYSTEM__THRESH_LOW_LO = 0x00EF,
|
|
GPH__SYSTEM__ENABLE_XTALK_PER_QUADRANT = 0x00F0,
|
|
GPH__SPARE_0 = 0x00F1,
|
|
GPH__SD_CONFIG__WOI_SD0 = 0x00F2,
|
|
GPH__SD_CONFIG__WOI_SD1 = 0x00F3,
|
|
GPH__SD_CONFIG__INITIAL_PHASE_SD0 = 0x00F4,
|
|
GPH__SD_CONFIG__INITIAL_PHASE_SD1 = 0x00F5,
|
|
GPH__SD_CONFIG__FIRST_ORDER_SELECT = 0x00F6,
|
|
GPH__SD_CONFIG__QUANTIFIER = 0x00F7,
|
|
GPH__ROI_CONFIG__USER_ROI_CENTRE_SPAD = 0x00F8,
|
|
GPH__ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE = 0x00F9,
|
|
GPH__SYSTEM__SEQUENCE_CONFIG = 0x00FA,
|
|
GPH__GPH_ID = 0x00FB,
|
|
SYSTEM__INTERRUPT_SET = 0x00FC,
|
|
INTERRUPT_MANAGER__ENABLES = 0x00FD,
|
|
INTERRUPT_MANAGER__CLEAR = 0x00FE,
|
|
INTERRUPT_MANAGER__STATUS = 0x00FF,
|
|
MCU_TO_HOST_BANK__WR_ACCESS_EN = 0x0100,
|
|
POWER_MANAGEMENT__GO1_RESET_STATUS = 0x0101,
|
|
PAD_STARTUP_MODE__VALUE_RO = 0x0102,
|
|
PAD_STARTUP_MODE__VALUE_CTRL = 0x0103,
|
|
PLL_PERIOD_US = 0x0104,
|
|
PLL_PERIOD_US_3 = 0x0104,
|
|
PLL_PERIOD_US_2 = 0x0105,
|
|
PLL_PERIOD_US_1 = 0x0106,
|
|
PLL_PERIOD_US_0 = 0x0107,
|
|
INTERRUPT_SCHEDULER__DATA_OUT = 0x0108,
|
|
INTERRUPT_SCHEDULER__DATA_OUT_3 = 0x0108,
|
|
INTERRUPT_SCHEDULER__DATA_OUT_2 = 0x0109,
|
|
INTERRUPT_SCHEDULER__DATA_OUT_1 = 0x010A,
|
|
INTERRUPT_SCHEDULER__DATA_OUT_0 = 0x010B,
|
|
NVM_BIST__COMPLETE = 0x010C,
|
|
NVM_BIST__STATUS = 0x010D,
|
|
IDENTIFICATION__MODEL_ID = 0x010F,
|
|
IDENTIFICATION__MODULE_TYPE = 0x0110,
|
|
IDENTIFICATION__REVISION_ID = 0x0111,
|
|
IDENTIFICATION__MODULE_ID = 0x0112,
|
|
IDENTIFICATION__MODULE_ID_HI = 0x0112,
|
|
IDENTIFICATION__MODULE_ID_LO = 0x0113,
|
|
ANA_CONFIG__FAST_OSC__TRIM_MAX = 0x0114,
|
|
ANA_CONFIG__FAST_OSC__FREQ_SET = 0x0115,
|
|
ANA_CONFIG__VCSEL_TRIM = 0x0116,
|
|
ANA_CONFIG__VCSEL_SELION = 0x0117,
|
|
ANA_CONFIG__VCSEL_SELION_MAX = 0x0118,
|
|
PROTECTED_LASER_SAFETY__LOCK_BIT = 0x0119,
|
|
LASER_SAFETY__KEY = 0x011A,
|
|
LASER_SAFETY__KEY_RO = 0x011B,
|
|
LASER_SAFETY__CLIP = 0x011C,
|
|
LASER_SAFETY__MULT = 0x011D,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_0 = 0x011E,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_1 = 0x011F,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_2 = 0x0120,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_3 = 0x0121,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_4 = 0x0122,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_5 = 0x0123,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_6 = 0x0124,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_7 = 0x0125,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_8 = 0x0126,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_9 = 0x0127,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_10 = 0x0128,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_11 = 0x0129,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_12 = 0x012A,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_13 = 0x012B,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_14 = 0x012C,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_15 = 0x012D,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_16 = 0x012E,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_17 = 0x012F,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_18 = 0x0130,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_19 = 0x0131,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_20 = 0x0132,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_21 = 0x0133,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_22 = 0x0134,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_23 = 0x0135,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_24 = 0x0136,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_25 = 0x0137,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_26 = 0x0138,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_27 = 0x0139,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_28 = 0x013A,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_29 = 0x013B,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_30 = 0x013C,
|
|
GLOBAL_CONFIG__SPAD_ENABLES_RTN_31 = 0x013D,
|
|
ROI_CONFIG__MODE_ROI_CENTRE_SPAD = 0x013E,
|
|
ROI_CONFIG__MODE_ROI_XY_SIZE = 0x013F,
|
|
GO2_HOST_BANK_ACCESS__OVERRIDE = 0x0300,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLICAND = 0x0400,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLICAND_3 = 0x0400,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLICAND_2 = 0x0401,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLICAND_1 = 0x0402,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLICAND_0 = 0x0403,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLIER = 0x0404,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLIER_3 = 0x0404,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLIER_2 = 0x0405,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLIER_1 = 0x0406,
|
|
MCU_UTIL_MULTIPLIER__MULTIPLIER_0 = 0x0407,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_HI = 0x0408,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_HI_3 = 0x0408,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_HI_2 = 0x0409,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_HI_1 = 0x040A,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_HI_0 = 0x040B,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_LO = 0x040C,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_LO_3 = 0x040C,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_LO_2 = 0x040D,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_LO_1 = 0x040E,
|
|
MCU_UTIL_MULTIPLIER__PRODUCT_LO_0 = 0x040F,
|
|
MCU_UTIL_MULTIPLIER__START = 0x0410,
|
|
MCU_UTIL_MULTIPLIER__STATUS = 0x0411,
|
|
MCU_UTIL_DIVIDER__START = 0x0412,
|
|
MCU_UTIL_DIVIDER__STATUS = 0x0413,
|
|
MCU_UTIL_DIVIDER__DIVIDEND = 0x0414,
|
|
MCU_UTIL_DIVIDER__DIVIDEND_3 = 0x0414,
|
|
MCU_UTIL_DIVIDER__DIVIDEND_2 = 0x0415,
|
|
MCU_UTIL_DIVIDER__DIVIDEND_1 = 0x0416,
|
|
MCU_UTIL_DIVIDER__DIVIDEND_0 = 0x0417,
|
|
MCU_UTIL_DIVIDER__DIVISOR = 0x0418,
|
|
MCU_UTIL_DIVIDER__DIVISOR_3 = 0x0418,
|
|
MCU_UTIL_DIVIDER__DIVISOR_2 = 0x0419,
|
|
MCU_UTIL_DIVIDER__DIVISOR_1 = 0x041A,
|
|
MCU_UTIL_DIVIDER__DIVISOR_0 = 0x041B,
|
|
MCU_UTIL_DIVIDER__QUOTIENT = 0x041C,
|
|
MCU_UTIL_DIVIDER__QUOTIENT_3 = 0x041C,
|
|
MCU_UTIL_DIVIDER__QUOTIENT_2 = 0x041D,
|
|
MCU_UTIL_DIVIDER__QUOTIENT_1 = 0x041E,
|
|
MCU_UTIL_DIVIDER__QUOTIENT_0 = 0x041F,
|
|
TIMER0__VALUE_IN = 0x0420,
|
|
TIMER0__VALUE_IN_3 = 0x0420,
|
|
TIMER0__VALUE_IN_2 = 0x0421,
|
|
TIMER0__VALUE_IN_1 = 0x0422,
|
|
TIMER0__VALUE_IN_0 = 0x0423,
|
|
TIMER1__VALUE_IN = 0x0424,
|
|
TIMER1__VALUE_IN_3 = 0x0424,
|
|
TIMER1__VALUE_IN_2 = 0x0425,
|
|
TIMER1__VALUE_IN_1 = 0x0426,
|
|
TIMER1__VALUE_IN_0 = 0x0427,
|
|
TIMER0__CTRL = 0x0428,
|
|
TIMER1__CTRL = 0x0429,
|
|
MCU_GENERAL_PURPOSE__GP_0 = 0x042C,
|
|
MCU_GENERAL_PURPOSE__GP_1 = 0x042D,
|
|
MCU_GENERAL_PURPOSE__GP_2 = 0x042E,
|
|
MCU_GENERAL_PURPOSE__GP_3 = 0x042F,
|
|
MCU_RANGE_CALC__CONFIG = 0x0430,
|
|
MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE = 0x0432,
|
|
MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_HI = 0x0432,
|
|
MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_LO = 0x0433,
|
|
MCU_RANGE_CALC__SPARE_4 = 0x0434,
|
|
MCU_RANGE_CALC__SPARE_4_3 = 0x0434,
|
|
MCU_RANGE_CALC__SPARE_4_2 = 0x0435,
|
|
MCU_RANGE_CALC__SPARE_4_1 = 0x0436,
|
|
MCU_RANGE_CALC__SPARE_4_0 = 0x0437,
|
|
MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC = 0x0438,
|
|
MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_HI = 0x0438,
|
|
MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_LO = 0x0439,
|
|
MCU_RANGE_CALC__ALGO_VCSEL_PERIOD = 0x043C,
|
|
MCU_RANGE_CALC__SPARE_5 = 0x043D,
|
|
MCU_RANGE_CALC__ALGO_TOTAL_PERIODS = 0x043E,
|
|
MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_HI = 0x043E,
|
|
MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_LO = 0x043F,
|
|
MCU_RANGE_CALC__ALGO_ACCUM_PHASE = 0x0440,
|
|
MCU_RANGE_CALC__ALGO_ACCUM_PHASE_3 = 0x0440,
|
|
MCU_RANGE_CALC__ALGO_ACCUM_PHASE_2 = 0x0441,
|
|
MCU_RANGE_CALC__ALGO_ACCUM_PHASE_1 = 0x0442,
|
|
MCU_RANGE_CALC__ALGO_ACCUM_PHASE_0 = 0x0443,
|
|
MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS = 0x0444,
|
|
MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_3 = 0x0444,
|
|
MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_2 = 0x0445,
|
|
MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_1 = 0x0446,
|
|
MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_0 = 0x0447,
|
|
MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS = 0x0448,
|
|
MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_3 = 0x0448,
|
|
MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_2 = 0x0449,
|
|
MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_1 = 0x044A,
|
|
MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_0 = 0x044B,
|
|
MCU_RANGE_CALC__SPARE_6 = 0x044C,
|
|
MCU_RANGE_CALC__SPARE_6_HI = 0x044C,
|
|
MCU_RANGE_CALC__SPARE_6_LO = 0x044D,
|
|
MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD = 0x044E,
|
|
MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_HI = 0x044E,
|
|
MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_LO = 0x044F,
|
|
MCU_RANGE_CALC__NUM_SPADS = 0x0450,
|
|
MCU_RANGE_CALC__NUM_SPADS_HI = 0x0450,
|
|
MCU_RANGE_CALC__NUM_SPADS_LO = 0x0451,
|
|
MCU_RANGE_CALC__PHASE_OUTPUT = 0x0452,
|
|
MCU_RANGE_CALC__PHASE_OUTPUT_HI = 0x0452,
|
|
MCU_RANGE_CALC__PHASE_OUTPUT_LO = 0x0453,
|
|
MCU_RANGE_CALC__RATE_PER_SPAD_MCPS = 0x0454,
|
|
MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_3 = 0x0454,
|
|
MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_2 = 0x0455,
|
|
MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_1 = 0x0456,
|
|
MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_0 = 0x0457,
|
|
MCU_RANGE_CALC__SPARE_7 = 0x0458,
|
|
MCU_RANGE_CALC__SPARE_8 = 0x0459,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS = 0x045A,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_HI = 0x045A,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_LO = 0x045B,
|
|
MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS = 0x045C,
|
|
MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_HI = 0x045C,
|
|
MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_LO = 0x045D,
|
|
MCU_RANGE_CALC__AMBIENT_RATE_MCPS = 0x045E,
|
|
MCU_RANGE_CALC__AMBIENT_RATE_MCPS_HI = 0x045E,
|
|
MCU_RANGE_CALC__AMBIENT_RATE_MCPS_LO = 0x045F,
|
|
MCU_RANGE_CALC__XTALK = 0x0460,
|
|
MCU_RANGE_CALC__XTALK_HI = 0x0460,
|
|
MCU_RANGE_CALC__XTALK_LO = 0x0461,
|
|
MCU_RANGE_CALC__CALC_STATUS = 0x0462,
|
|
MCU_RANGE_CALC__DEBUG = 0x0463,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS = 0x0464,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_HI = 0x0464,
|
|
MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_LO = 0x0465,
|
|
MCU_RANGE_CALC__SPARE_0 = 0x0468,
|
|
MCU_RANGE_CALC__SPARE_1 = 0x0469,
|
|
MCU_RANGE_CALC__SPARE_2 = 0x046A,
|
|
MCU_RANGE_CALC__SPARE_3 = 0x046B,
|
|
PATCH__CTRL = 0x0470,
|
|
PATCH__JMP_ENABLES = 0x0472,
|
|
PATCH__JMP_ENABLES_HI = 0x0472,
|
|
PATCH__JMP_ENABLES_LO = 0x0473,
|
|
PATCH__DATA_ENABLES = 0x0474,
|
|
PATCH__DATA_ENABLES_HI = 0x0474,
|
|
PATCH__DATA_ENABLES_LO = 0x0475,
|
|
PATCH__OFFSET_0 = 0x0476,
|
|
PATCH__OFFSET_0_HI = 0x0476,
|
|
PATCH__OFFSET_0_LO = 0x0477,
|
|
PATCH__OFFSET_1 = 0x0478,
|
|
PATCH__OFFSET_1_HI = 0x0478,
|
|
PATCH__OFFSET_1_LO = 0x0479,
|
|
PATCH__OFFSET_2 = 0x047A,
|
|
PATCH__OFFSET_2_HI = 0x047A,
|
|
PATCH__OFFSET_2_LO = 0x047B,
|
|
PATCH__OFFSET_3 = 0x047C,
|
|
PATCH__OFFSET_3_HI = 0x047C,
|
|
PATCH__OFFSET_3_LO = 0x047D,
|
|
PATCH__OFFSET_4 = 0x047E,
|
|
PATCH__OFFSET_4_HI = 0x047E,
|
|
PATCH__OFFSET_4_LO = 0x047F,
|
|
PATCH__OFFSET_5 = 0x0480,
|
|
PATCH__OFFSET_5_HI = 0x0480,
|
|
PATCH__OFFSET_5_LO = 0x0481,
|
|
PATCH__OFFSET_6 = 0x0482,
|
|
PATCH__OFFSET_6_HI = 0x0482,
|
|
PATCH__OFFSET_6_LO = 0x0483,
|
|
PATCH__OFFSET_7 = 0x0484,
|
|
PATCH__OFFSET_7_HI = 0x0484,
|
|
PATCH__OFFSET_7_LO = 0x0485,
|
|
PATCH__OFFSET_8 = 0x0486,
|
|
PATCH__OFFSET_8_HI = 0x0486,
|
|
PATCH__OFFSET_8_LO = 0x0487,
|
|
PATCH__OFFSET_9 = 0x0488,
|
|
PATCH__OFFSET_9_HI = 0x0488,
|
|
PATCH__OFFSET_9_LO = 0x0489,
|
|
PATCH__OFFSET_10 = 0x048A,
|
|
PATCH__OFFSET_10_HI = 0x048A,
|
|
PATCH__OFFSET_10_LO = 0x048B,
|
|
PATCH__OFFSET_11 = 0x048C,
|
|
PATCH__OFFSET_11_HI = 0x048C,
|
|
PATCH__OFFSET_11_LO = 0x048D,
|
|
PATCH__OFFSET_12 = 0x048E,
|
|
PATCH__OFFSET_12_HI = 0x048E,
|
|
PATCH__OFFSET_12_LO = 0x048F,
|
|
PATCH__OFFSET_13 = 0x0490,
|
|
PATCH__OFFSET_13_HI = 0x0490,
|
|
PATCH__OFFSET_13_LO = 0x0491,
|
|
PATCH__OFFSET_14 = 0x0492,
|
|
PATCH__OFFSET_14_HI = 0x0492,
|
|
PATCH__OFFSET_14_LO = 0x0493,
|
|
PATCH__OFFSET_15 = 0x0494,
|
|
PATCH__OFFSET_15_HI = 0x0494,
|
|
PATCH__OFFSET_15_LO = 0x0495,
|
|
PATCH__ADDRESS_0 = 0x0496,
|
|
PATCH__ADDRESS_0_HI = 0x0496,
|
|
PATCH__ADDRESS_0_LO = 0x0497,
|
|
PATCH__ADDRESS_1 = 0x0498,
|
|
PATCH__ADDRESS_1_HI = 0x0498,
|
|
PATCH__ADDRESS_1_LO = 0x0499,
|
|
PATCH__ADDRESS_2 = 0x049A,
|
|
PATCH__ADDRESS_2_HI = 0x049A,
|
|
PATCH__ADDRESS_2_LO = 0x049B,
|
|
PATCH__ADDRESS_3 = 0x049C,
|
|
PATCH__ADDRESS_3_HI = 0x049C,
|
|
PATCH__ADDRESS_3_LO = 0x049D,
|
|
PATCH__ADDRESS_4 = 0x049E,
|
|
PATCH__ADDRESS_4_HI = 0x049E,
|
|
PATCH__ADDRESS_4_LO = 0x049F,
|
|
PATCH__ADDRESS_5 = 0x04A0,
|
|
PATCH__ADDRESS_5_HI = 0x04A0,
|
|
PATCH__ADDRESS_5_LO = 0x04A1,
|
|
PATCH__ADDRESS_6 = 0x04A2,
|
|
PATCH__ADDRESS_6_HI = 0x04A2,
|
|
PATCH__ADDRESS_6_LO = 0x04A3,
|
|
PATCH__ADDRESS_7 = 0x04A4,
|
|
PATCH__ADDRESS_7_HI = 0x04A4,
|
|
PATCH__ADDRESS_7_LO = 0x04A5,
|
|
PATCH__ADDRESS_8 = 0x04A6,
|
|
PATCH__ADDRESS_8_HI = 0x04A6,
|
|
PATCH__ADDRESS_8_LO = 0x04A7,
|
|
PATCH__ADDRESS_9 = 0x04A8,
|
|
PATCH__ADDRESS_9_HI = 0x04A8,
|
|
PATCH__ADDRESS_9_LO = 0x04A9,
|
|
PATCH__ADDRESS_10 = 0x04AA,
|
|
PATCH__ADDRESS_10_HI = 0x04AA,
|
|
PATCH__ADDRESS_10_LO = 0x04AB,
|
|
PATCH__ADDRESS_11 = 0x04AC,
|
|
PATCH__ADDRESS_11_HI = 0x04AC,
|
|
PATCH__ADDRESS_11_LO = 0x04AD,
|
|
PATCH__ADDRESS_12 = 0x04AE,
|
|
PATCH__ADDRESS_12_HI = 0x04AE,
|
|
PATCH__ADDRESS_12_LO = 0x04AF,
|
|
PATCH__ADDRESS_13 = 0x04B0,
|
|
PATCH__ADDRESS_13_HI = 0x04B0,
|
|
PATCH__ADDRESS_13_LO = 0x04B1,
|
|
PATCH__ADDRESS_14 = 0x04B2,
|
|
PATCH__ADDRESS_14_HI = 0x04B2,
|
|
PATCH__ADDRESS_14_LO = 0x04B3,
|
|
PATCH__ADDRESS_15 = 0x04B4,
|
|
PATCH__ADDRESS_15_HI = 0x04B4,
|
|
PATCH__ADDRESS_15_LO = 0x04B5,
|
|
SPI_ASYNC_MUX__CTRL = 0x04C0,
|
|
CLK__CONFIG = 0x04C4,
|
|
GPIO_LV_MUX__CTRL = 0x04CC,
|
|
GPIO_LV_PAD__CTRL = 0x04CD,
|
|
PAD_I2C_LV__CONFIG = 0x04D0,
|
|
PAD_STARTUP_MODE__VALUE_RO_GO1 = 0x04D4,
|
|
HOST_IF__STATUS_GO1 = 0x04D5,
|
|
MCU_CLK_GATING__CTRL = 0x04D8,
|
|
TEST__BIST_ROM_CTRL = 0x04E0,
|
|
TEST__BIST_ROM_RESULT = 0x04E1,
|
|
TEST__BIST_ROM_MCU_SIG = 0x04E2,
|
|
TEST__BIST_ROM_MCU_SIG_HI = 0x04E2,
|
|
TEST__BIST_ROM_MCU_SIG_LO = 0x04E3,
|
|
TEST__BIST_RAM_CTRL = 0x04E4,
|
|
TEST__BIST_RAM_RESULT = 0x04E5,
|
|
TEST__TMC = 0x04E8,
|
|
TEST__PLL_BIST_MIN_THRESHOLD = 0x04F0,
|
|
TEST__PLL_BIST_MIN_THRESHOLD_HI = 0x04F0,
|
|
TEST__PLL_BIST_MIN_THRESHOLD_LO = 0x04F1,
|
|
TEST__PLL_BIST_MAX_THRESHOLD = 0x04F2,
|
|
TEST__PLL_BIST_MAX_THRESHOLD_HI = 0x04F2,
|
|
TEST__PLL_BIST_MAX_THRESHOLD_LO = 0x04F3,
|
|
TEST__PLL_BIST_COUNT_OUT = 0x04F4,
|
|
TEST__PLL_BIST_COUNT_OUT_HI = 0x04F4,
|
|
TEST__PLL_BIST_COUNT_OUT_LO = 0x04F5,
|
|
TEST__PLL_BIST_GONOGO = 0x04F6,
|
|
TEST__PLL_BIST_CTRL = 0x04F7,
|
|
RANGING_CORE__DEVICE_ID = 0x0680,
|
|
RANGING_CORE__REVISION_ID = 0x0681,
|
|
RANGING_CORE__CLK_CTRL1 = 0x0683,
|
|
RANGING_CORE__CLK_CTRL2 = 0x0684,
|
|
RANGING_CORE__WOI_1 = 0x0685,
|
|
RANGING_CORE__WOI_REF_1 = 0x0686,
|
|
RANGING_CORE__START_RANGING = 0x0687,
|
|
RANGING_CORE__LOW_LIMIT_1 = 0x0690,
|
|
RANGING_CORE__HIGH_LIMIT_1 = 0x0691,
|
|
RANGING_CORE__LOW_LIMIT_REF_1 = 0x0692,
|
|
RANGING_CORE__HIGH_LIMIT_REF_1 = 0x0693,
|
|
RANGING_CORE__QUANTIFIER_1_MSB = 0x0694,
|
|
RANGING_CORE__QUANTIFIER_1_LSB = 0x0695,
|
|
RANGING_CORE__QUANTIFIER_REF_1_MSB = 0x0696,
|
|
RANGING_CORE__QUANTIFIER_REF_1_LSB = 0x0697,
|
|
RANGING_CORE__AMBIENT_OFFSET_1_MSB = 0x0698,
|
|
RANGING_CORE__AMBIENT_OFFSET_1_LSB = 0x0699,
|
|
RANGING_CORE__AMBIENT_OFFSET_REF_1_MSB = 0x069A,
|
|
RANGING_CORE__AMBIENT_OFFSET_REF_1_LSB = 0x069B,
|
|
RANGING_CORE__FILTER_STRENGTH_1 = 0x069C,
|
|
RANGING_CORE__FILTER_STRENGTH_REF_1 = 0x069D,
|
|
RANGING_CORE__SIGNAL_EVENT_LIMIT_1_MSB = 0x069E,
|
|
RANGING_CORE__SIGNAL_EVENT_LIMIT_1_LSB = 0x069F,
|
|
RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_MSB = 0x06A0,
|
|
RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_LSB = 0x06A1,
|
|
RANGING_CORE__TIMEOUT_OVERALL_PERIODS_MSB = 0x06A4,
|
|
RANGING_CORE__TIMEOUT_OVERALL_PERIODS_LSB = 0x06A5,
|
|
RANGING_CORE__INVERT_HW = 0x06A6,
|
|
RANGING_CORE__FORCE_HW = 0x06A7,
|
|
RANGING_CORE__STATIC_HW_VALUE = 0x06A8,
|
|
RANGING_CORE__FORCE_CONTINUOUS_AMBIENT = 0x06A9,
|
|
RANGING_CORE__TEST_PHASE_SELECT_TO_FILTER = 0x06AA,
|
|
RANGING_CORE__TEST_PHASE_SELECT_TO_TIMING_GEN = 0x06AB,
|
|
RANGING_CORE__INITIAL_PHASE_VALUE_1 = 0x06AC,
|
|
RANGING_CORE__INITIAL_PHASE_VALUE_REF_1 = 0x06AD,
|
|
RANGING_CORE__FORCE_UP_IN = 0x06AE,
|
|
RANGING_CORE__FORCE_DN_IN = 0x06AF,
|
|
RANGING_CORE__STATIC_UP_VALUE_1 = 0x06B0,
|
|
RANGING_CORE__STATIC_UP_VALUE_REF_1 = 0x06B1,
|
|
RANGING_CORE__STATIC_DN_VALUE_1 = 0x06B2,
|
|
RANGING_CORE__STATIC_DN_VALUE_REF_1 = 0x06B3,
|
|
RANGING_CORE__MONITOR_UP_DN = 0x06B4,
|
|
RANGING_CORE__INVERT_UP_DN = 0x06B5,
|
|
RANGING_CORE__CPUMP_1 = 0x06B6,
|
|
RANGING_CORE__CPUMP_2 = 0x06B7,
|
|
RANGING_CORE__CPUMP_3 = 0x06B8,
|
|
RANGING_CORE__OSC_1 = 0x06B9,
|
|
RANGING_CORE__PLL_1 = 0x06BB,
|
|
RANGING_CORE__PLL_2 = 0x06BC,
|
|
RANGING_CORE__REFERENCE_1 = 0x06BD,
|
|
RANGING_CORE__REFERENCE_3 = 0x06BF,
|
|
RANGING_CORE__REFERENCE_4 = 0x06C0,
|
|
RANGING_CORE__REFERENCE_5 = 0x06C1,
|
|
RANGING_CORE__REGAVDD1V2 = 0x06C3,
|
|
RANGING_CORE__CALIB_1 = 0x06C4,
|
|
RANGING_CORE__CALIB_2 = 0x06C5,
|
|
RANGING_CORE__CALIB_3 = 0x06C6,
|
|
RANGING_CORE__TST_MUX_SEL1 = 0x06C9,
|
|
RANGING_CORE__TST_MUX_SEL2 = 0x06CA,
|
|
RANGING_CORE__TST_MUX = 0x06CB,
|
|
RANGING_CORE__GPIO_OUT_TESTMUX = 0x06CC,
|
|
RANGING_CORE__CUSTOM_FE = 0x06CD,
|
|
RANGING_CORE__CUSTOM_FE_2 = 0x06CE,
|
|
RANGING_CORE__SPAD_READOUT = 0x06CF,
|
|
RANGING_CORE__SPAD_READOUT_1 = 0x06D0,
|
|
RANGING_CORE__SPAD_READOUT_2 = 0x06D1,
|
|
RANGING_CORE__SPAD_PS = 0x06D2,
|
|
RANGING_CORE__LASER_SAFETY_2 = 0x06D4,
|
|
RANGING_CORE__NVM_CTRL__MODE = 0x0780,
|
|
RANGING_CORE__NVM_CTRL__PDN = 0x0781,
|
|
RANGING_CORE__NVM_CTRL__PROGN = 0x0782,
|
|
RANGING_CORE__NVM_CTRL__READN = 0x0783,
|
|
RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB = 0x0784,
|
|
RANGING_CORE__NVM_CTRL__PULSE_WIDTH_LSB = 0x0785,
|
|
RANGING_CORE__NVM_CTRL__HV_RISE_MSB = 0x0786,
|
|
RANGING_CORE__NVM_CTRL__HV_RISE_LSB = 0x0787,
|
|
RANGING_CORE__NVM_CTRL__HV_FALL_MSB = 0x0788,
|
|
RANGING_CORE__NVM_CTRL__HV_FALL_LSB = 0x0789,
|
|
RANGING_CORE__NVM_CTRL__TST = 0x078A,
|
|
RANGING_CORE__NVM_CTRL__TESTREAD = 0x078B,
|
|
RANGING_CORE__NVM_CTRL__DATAIN_MMM = 0x078C,
|
|
RANGING_CORE__NVM_CTRL__DATAIN_LMM = 0x078D,
|
|
RANGING_CORE__NVM_CTRL__DATAIN_LLM = 0x078E,
|
|
RANGING_CORE__NVM_CTRL__DATAIN_LLL = 0x078F,
|
|
RANGING_CORE__NVM_CTRL__DATAOUT_MMM = 0x0790,
|
|
RANGING_CORE__NVM_CTRL__DATAOUT_LMM = 0x0791,
|
|
RANGING_CORE__NVM_CTRL__DATAOUT_LLM = 0x0792,
|
|
RANGING_CORE__NVM_CTRL__DATAOUT_LLL = 0x0793,
|
|
RANGING_CORE__NVM_CTRL__ADDR = 0x0794,
|
|
RANGING_CORE__NVM_CTRL__DATAOUT_ECC = 0x0795,
|
|
RANGING_CORE__RET_SPAD_EN_0 = 0x0796,
|
|
RANGING_CORE__RET_SPAD_EN_1 = 0x0797,
|
|
RANGING_CORE__RET_SPAD_EN_2 = 0x0798,
|
|
RANGING_CORE__RET_SPAD_EN_3 = 0x0799,
|
|
RANGING_CORE__RET_SPAD_EN_4 = 0x079A,
|
|
RANGING_CORE__RET_SPAD_EN_5 = 0x079B,
|
|
RANGING_CORE__RET_SPAD_EN_6 = 0x079C,
|
|
RANGING_CORE__RET_SPAD_EN_7 = 0x079D,
|
|
RANGING_CORE__RET_SPAD_EN_8 = 0x079E,
|
|
RANGING_CORE__RET_SPAD_EN_9 = 0x079F,
|
|
RANGING_CORE__RET_SPAD_EN_10 = 0x07A0,
|
|
RANGING_CORE__RET_SPAD_EN_11 = 0x07A1,
|
|
RANGING_CORE__RET_SPAD_EN_12 = 0x07A2,
|
|
RANGING_CORE__RET_SPAD_EN_13 = 0x07A3,
|
|
RANGING_CORE__RET_SPAD_EN_14 = 0x07A4,
|
|
RANGING_CORE__RET_SPAD_EN_15 = 0x07A5,
|
|
RANGING_CORE__RET_SPAD_EN_16 = 0x07A6,
|
|
RANGING_CORE__RET_SPAD_EN_17 = 0x07A7,
|
|
RANGING_CORE__SPAD_SHIFT_EN = 0x07BA,
|
|
RANGING_CORE__SPAD_DISABLE_CTRL = 0x07BB,
|
|
RANGING_CORE__SPAD_EN_SHIFT_OUT_DEBUG = 0x07BC,
|
|
RANGING_CORE__SPI_MODE = 0x07BD,
|
|
RANGING_CORE__GPIO_DIR = 0x07BE,
|
|
RANGING_CORE__VCSEL_PERIOD = 0x0880,
|
|
RANGING_CORE__VCSEL_START = 0x0881,
|
|
RANGING_CORE__VCSEL_STOP = 0x0882,
|
|
RANGING_CORE__VCSEL_1 = 0x0885,
|
|
RANGING_CORE__VCSEL_STATUS = 0x088D,
|
|
RANGING_CORE__STATUS = 0x0980,
|
|
RANGING_CORE__LASER_CONTINUITY_STATE = 0x0981,
|
|
RANGING_CORE__RANGE_1_MMM = 0x0982,
|
|
RANGING_CORE__RANGE_1_LMM = 0x0983,
|
|
RANGING_CORE__RANGE_1_LLM = 0x0984,
|
|
RANGING_CORE__RANGE_1_LLL = 0x0985,
|
|
RANGING_CORE__RANGE_REF_1_MMM = 0x0986,
|
|
RANGING_CORE__RANGE_REF_1_LMM = 0x0987,
|
|
RANGING_CORE__RANGE_REF_1_LLM = 0x0988,
|
|
RANGING_CORE__RANGE_REF_1_LLL = 0x0989,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_MMM = 0x098A,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LMM = 0x098B,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLM = 0x098C,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLL = 0x098D,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_1_MMM = 0x098E,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_1_LMM = 0x098F,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLM = 0x0990,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLL = 0x0991,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_MMM = 0x0992,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LMM = 0x0993,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLM = 0x0994,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLL = 0x0995,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_MM = 0x0996,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LM = 0x0997,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LL = 0x0998,
|
|
RANGING_CORE__AMBIENT_MISMATCH_MM = 0x0999,
|
|
RANGING_CORE__AMBIENT_MISMATCH_LM = 0x099A,
|
|
RANGING_CORE__AMBIENT_MISMATCH_LL = 0x099B,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_MMM = 0x099C,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LMM = 0x099D,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLM = 0x099E,
|
|
RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLL = 0x099F,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_MMM = 0x09A0,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LMM = 0x09A1,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLM = 0x09A2,
|
|
RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLL = 0x09A3,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_MMM = 0x09A4,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LMM = 0x09A5,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLM = 0x09A6,
|
|
RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLL = 0x09A7,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_MM = 0x09A8,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LM = 0x09A9,
|
|
RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LL = 0x09AA,
|
|
RANGING_CORE__AMBIENT_MISMATCH_REF_MM = 0x09AB,
|
|
RANGING_CORE__AMBIENT_MISMATCH_REF_LM = 0x09AC,
|
|
RANGING_CORE__AMBIENT_MISMATCH_REF_LL = 0x09AD,
|
|
RANGING_CORE__GPIO_CONFIG__A0 = 0x0A00,
|
|
RANGING_CORE__RESET_CONTROL__A0 = 0x0A01,
|
|
RANGING_CORE__INTR_MANAGER__A0 = 0x0A02,
|
|
RANGING_CORE__POWER_FSM_TIME_OSC__A0 = 0x0A06,
|
|
RANGING_CORE__VCSEL_ATEST__A0 = 0x0A07,
|
|
RANGING_CORE__VCSEL_PERIOD_CLIPPED__A0 = 0x0A08,
|
|
RANGING_CORE__VCSEL_STOP_CLIPPED__A0 = 0x0A09,
|
|
RANGING_CORE__CALIB_2__A0 = 0x0A0A,
|
|
RANGING_CORE__STOP_CONDITION__A0 = 0x0A0B,
|
|
RANGING_CORE__STATUS_RESET__A0 = 0x0A0C,
|
|
RANGING_CORE__READOUT_CFG__A0 = 0x0A0D,
|
|
RANGING_CORE__WINDOW_SETTING__A0 = 0x0A0E,
|
|
RANGING_CORE__VCSEL_DELAY__A0 = 0x0A1A,
|
|
RANGING_CORE__REFERENCE_2__A0 = 0x0A1B,
|
|
RANGING_CORE__REGAVDD1V2__A0 = 0x0A1D,
|
|
RANGING_CORE__TST_MUX__A0 = 0x0A1F,
|
|
RANGING_CORE__CUSTOM_FE_2__A0 = 0x0A20,
|
|
RANGING_CORE__SPAD_READOUT__A0 = 0x0A21,
|
|
RANGING_CORE__CPUMP_1__A0 = 0x0A22,
|
|
RANGING_CORE__SPARE_REGISTER__A0 = 0x0A23,
|
|
RANGING_CORE__VCSEL_CONT_STAGE5_BYPASS__A0 = 0x0A24,
|
|
RANGING_CORE__RET_SPAD_EN_18 = 0x0A25,
|
|
RANGING_CORE__RET_SPAD_EN_19 = 0x0A26,
|
|
RANGING_CORE__RET_SPAD_EN_20 = 0x0A27,
|
|
RANGING_CORE__RET_SPAD_EN_21 = 0x0A28,
|
|
RANGING_CORE__RET_SPAD_EN_22 = 0x0A29,
|
|
RANGING_CORE__RET_SPAD_EN_23 = 0x0A2A,
|
|
RANGING_CORE__RET_SPAD_EN_24 = 0x0A2B,
|
|
RANGING_CORE__RET_SPAD_EN_25 = 0x0A2C,
|
|
RANGING_CORE__RET_SPAD_EN_26 = 0x0A2D,
|
|
RANGING_CORE__RET_SPAD_EN_27 = 0x0A2E,
|
|
RANGING_CORE__RET_SPAD_EN_28 = 0x0A2F,
|
|
RANGING_CORE__RET_SPAD_EN_29 = 0x0A30,
|
|
RANGING_CORE__RET_SPAD_EN_30 = 0x0A31,
|
|
RANGING_CORE__RET_SPAD_EN_31 = 0x0A32,
|
|
RANGING_CORE__REF_SPAD_EN_0__EWOK = 0x0A33,
|
|
RANGING_CORE__REF_SPAD_EN_1__EWOK = 0x0A34,
|
|
RANGING_CORE__REF_SPAD_EN_2__EWOK = 0x0A35,
|
|
RANGING_CORE__REF_SPAD_EN_3__EWOK = 0x0A36,
|
|
RANGING_CORE__REF_SPAD_EN_4__EWOK = 0x0A37,
|
|
RANGING_CORE__REF_SPAD_EN_5__EWOK = 0x0A38,
|
|
RANGING_CORE__REF_EN_START_SELECT = 0x0A39,
|
|
RANGING_CORE__REGDVDD1V2_ATEST__EWOK = 0x0A41,
|
|
SOFT_RESET_GO1 = 0x0B00,
|
|
PRIVATE__PATCH_BASE_ADDR_RSLV = 0x0E00,
|
|
PREV_SHADOW_RESULT__INTERRUPT_STATUS = 0x0ED0,
|
|
PREV_SHADOW_RESULT__RANGE_STATUS = 0x0ED1,
|
|
PREV_SHADOW_RESULT__REPORT_STATUS = 0x0ED2,
|
|
PREV_SHADOW_RESULT__STREAM_COUNT = 0x0ED3,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0ED4,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0ED4,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0ED5,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x0ED6,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x0ED6,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x0ED7,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 = 0x0ED8,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI = 0x0ED8,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO = 0x0ED9,
|
|
PREV_SHADOW_RESULT__SIGMA_SD0 = 0x0EDA,
|
|
PREV_SHADOW_RESULT__SIGMA_SD0_HI = 0x0EDA,
|
|
PREV_SHADOW_RESULT__SIGMA_SD0_LO = 0x0EDB,
|
|
PREV_SHADOW_RESULT__PHASE_SD0 = 0x0EDC,
|
|
PREV_SHADOW_RESULT__PHASE_SD0_HI = 0x0EDC,
|
|
PREV_SHADOW_RESULT__PHASE_SD0_LO = 0x0EDD,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 = 0x0EDE,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI = 0x0EDE,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO = 0x0EDF,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 = 0x0EE0,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI = 0x0EE0,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO = 0x0EE1,
|
|
PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0EE2,
|
|
PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0EE2,
|
|
PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0EE3,
|
|
PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0EE4,
|
|
PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0EE4,
|
|
PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0EE5,
|
|
PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x0EE6,
|
|
PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x0EE6,
|
|
PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x0EE7,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 = 0x0EE8,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI = 0x0EE8,
|
|
PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO = 0x0EE9,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 = 0x0EEA,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI = 0x0EEA,
|
|
PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO = 0x0EEB,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 = 0x0EEC,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI = 0x0EEC,
|
|
PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO = 0x0EED,
|
|
PREV_SHADOW_RESULT__SIGMA_SD1 = 0x0EEE,
|
|
PREV_SHADOW_RESULT__SIGMA_SD1_HI = 0x0EEE,
|
|
PREV_SHADOW_RESULT__SIGMA_SD1_LO = 0x0EEF,
|
|
PREV_SHADOW_RESULT__PHASE_SD1 = 0x0EF0,
|
|
PREV_SHADOW_RESULT__PHASE_SD1_HI = 0x0EF0,
|
|
PREV_SHADOW_RESULT__PHASE_SD1_LO = 0x0EF1,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 = 0x0EF2,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI = 0x0EF2,
|
|
PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO = 0x0EF3,
|
|
PREV_SHADOW_RESULT__SPARE_0_SD1 = 0x0EF4,
|
|
PREV_SHADOW_RESULT__SPARE_0_SD1_HI = 0x0EF4,
|
|
PREV_SHADOW_RESULT__SPARE_0_SD1_LO = 0x0EF5,
|
|
PREV_SHADOW_RESULT__SPARE_1_SD1 = 0x0EF6,
|
|
PREV_SHADOW_RESULT__SPARE_1_SD1_HI = 0x0EF6,
|
|
PREV_SHADOW_RESULT__SPARE_1_SD1_LO = 0x0EF7,
|
|
PREV_SHADOW_RESULT__SPARE_2_SD1 = 0x0EF8,
|
|
PREV_SHADOW_RESULT__SPARE_2_SD1_HI = 0x0EF8,
|
|
PREV_SHADOW_RESULT__SPARE_2_SD1_LO = 0x0EF9,
|
|
PREV_SHADOW_RESULT__SPARE_3_SD1 = 0x0EFA,
|
|
PREV_SHADOW_RESULT__SPARE_3_SD1_HI = 0x0EFA,
|
|
PREV_SHADOW_RESULT__SPARE_3_SD1_LO = 0x0EFB,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 = 0x0EFC,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 = 0x0EFC,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 = 0x0EFD,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 = 0x0EFE,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 = 0x0EFF,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 = 0x0F00,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 = 0x0F00,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 = 0x0F01,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 = 0x0F02,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 = 0x0F03,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 = 0x0F04,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 = 0x0F04,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 = 0x0F05,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 = 0x0F06,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 = 0x0F07,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 = 0x0F08,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 = 0x0F08,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 = 0x0F09,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 = 0x0F0A,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 = 0x0F0B,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 = 0x0F0C,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 = 0x0F0C,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 = 0x0F0D,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 = 0x0F0E,
|
|
PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 = 0x0F0F,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 = 0x0F10,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 = 0x0F10,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 = 0x0F11,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 = 0x0F12,
|
|
PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 = 0x0F13,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 = 0x0F14,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 = 0x0F14,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 = 0x0F15,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 = 0x0F16,
|
|
PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 = 0x0F17,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 = 0x0F18,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 = 0x0F18,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 = 0x0F19,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 = 0x0F1A,
|
|
PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 = 0x0F1B,
|
|
PREV_SHADOW_RESULT_CORE__SPARE_0 = 0x0F1C,
|
|
RESULT__DEBUG_STATUS = 0x0F20,
|
|
RESULT__DEBUG_STAGE = 0x0F21,
|
|
GPH__SYSTEM__THRESH_RATE_HIGH = 0x0F24,
|
|
GPH__SYSTEM__THRESH_RATE_HIGH_HI = 0x0F24,
|
|
GPH__SYSTEM__THRESH_RATE_HIGH_LO = 0x0F25,
|
|
GPH__SYSTEM__THRESH_RATE_LOW = 0x0F26,
|
|
GPH__SYSTEM__THRESH_RATE_LOW_HI = 0x0F26,
|
|
GPH__SYSTEM__THRESH_RATE_LOW_LO = 0x0F27,
|
|
GPH__SYSTEM__INTERRUPT_CONFIG_GPIO = 0x0F28,
|
|
GPH__DSS_CONFIG__ROI_MODE_CONTROL = 0x0F2F,
|
|
GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT = 0x0F30,
|
|
GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI = 0x0F30,
|
|
GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO = 0x0F31,
|
|
GPH__DSS_CONFIG__MANUAL_BLOCK_SELECT = 0x0F32,
|
|
GPH__DSS_CONFIG__MAX_SPADS_LIMIT = 0x0F33,
|
|
GPH__DSS_CONFIG__MIN_SPADS_LIMIT = 0x0F34,
|
|
GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI = 0x0F36,
|
|
GPH__MM_CONFIG__TIMEOUT_MACROP_A_LO = 0x0F37,
|
|
GPH__MM_CONFIG__TIMEOUT_MACROP_B_HI = 0x0F38,
|
|
GPH__MM_CONFIG__TIMEOUT_MACROP_B_LO = 0x0F39,
|
|
GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_HI = 0x0F3A,
|
|
GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_LO = 0x0F3B,
|
|
GPH__RANGE_CONFIG__VCSEL_PERIOD_A = 0x0F3C,
|
|
GPH__RANGE_CONFIG__VCSEL_PERIOD_B = 0x0F3D,
|
|
GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_HI = 0x0F3E,
|
|
GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_LO = 0x0F3F,
|
|
GPH__RANGE_CONFIG__SIGMA_THRESH = 0x0F40,
|
|
GPH__RANGE_CONFIG__SIGMA_THRESH_HI = 0x0F40,
|
|
GPH__RANGE_CONFIG__SIGMA_THRESH_LO = 0x0F41,
|
|
GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS = 0x0F42,
|
|
GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI = 0x0F42,
|
|
GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO = 0x0F43,
|
|
GPH__RANGE_CONFIG__VALID_PHASE_LOW = 0x0F44,
|
|
GPH__RANGE_CONFIG__VALID_PHASE_HIGH = 0x0F45,
|
|
FIRMWARE__INTERNAL_STREAM_COUNT_DIV = 0x0F46,
|
|
FIRMWARE__INTERNAL_STREAM_COUNTER_VAL = 0x0F47,
|
|
DSS_CALC__ROI_CTRL = 0x0F54,
|
|
DSS_CALC__SPARE_1 = 0x0F55,
|
|
DSS_CALC__SPARE_2 = 0x0F56,
|
|
DSS_CALC__SPARE_3 = 0x0F57,
|
|
DSS_CALC__SPARE_4 = 0x0F58,
|
|
DSS_CALC__SPARE_5 = 0x0F59,
|
|
DSS_CALC__SPARE_6 = 0x0F5A,
|
|
DSS_CALC__SPARE_7 = 0x0F5B,
|
|
DSS_CALC__USER_ROI_SPAD_EN_0 = 0x0F5C,
|
|
DSS_CALC__USER_ROI_SPAD_EN_1 = 0x0F5D,
|
|
DSS_CALC__USER_ROI_SPAD_EN_2 = 0x0F5E,
|
|
DSS_CALC__USER_ROI_SPAD_EN_3 = 0x0F5F,
|
|
DSS_CALC__USER_ROI_SPAD_EN_4 = 0x0F60,
|
|
DSS_CALC__USER_ROI_SPAD_EN_5 = 0x0F61,
|
|
DSS_CALC__USER_ROI_SPAD_EN_6 = 0x0F62,
|
|
DSS_CALC__USER_ROI_SPAD_EN_7 = 0x0F63,
|
|
DSS_CALC__USER_ROI_SPAD_EN_8 = 0x0F64,
|
|
DSS_CALC__USER_ROI_SPAD_EN_9 = 0x0F65,
|
|
DSS_CALC__USER_ROI_SPAD_EN_10 = 0x0F66,
|
|
DSS_CALC__USER_ROI_SPAD_EN_11 = 0x0F67,
|
|
DSS_CALC__USER_ROI_SPAD_EN_12 = 0x0F68,
|
|
DSS_CALC__USER_ROI_SPAD_EN_13 = 0x0F69,
|
|
DSS_CALC__USER_ROI_SPAD_EN_14 = 0x0F6A,
|
|
DSS_CALC__USER_ROI_SPAD_EN_15 = 0x0F6B,
|
|
DSS_CALC__USER_ROI_SPAD_EN_16 = 0x0F6C,
|
|
DSS_CALC__USER_ROI_SPAD_EN_17 = 0x0F6D,
|
|
DSS_CALC__USER_ROI_SPAD_EN_18 = 0x0F6E,
|
|
DSS_CALC__USER_ROI_SPAD_EN_19 = 0x0F6F,
|
|
DSS_CALC__USER_ROI_SPAD_EN_20 = 0x0F70,
|
|
DSS_CALC__USER_ROI_SPAD_EN_21 = 0x0F71,
|
|
DSS_CALC__USER_ROI_SPAD_EN_22 = 0x0F72,
|
|
DSS_CALC__USER_ROI_SPAD_EN_23 = 0x0F73,
|
|
DSS_CALC__USER_ROI_SPAD_EN_24 = 0x0F74,
|
|
DSS_CALC__USER_ROI_SPAD_EN_25 = 0x0F75,
|
|
DSS_CALC__USER_ROI_SPAD_EN_26 = 0x0F76,
|
|
DSS_CALC__USER_ROI_SPAD_EN_27 = 0x0F77,
|
|
DSS_CALC__USER_ROI_SPAD_EN_28 = 0x0F78,
|
|
DSS_CALC__USER_ROI_SPAD_EN_29 = 0x0F79,
|
|
DSS_CALC__USER_ROI_SPAD_EN_30 = 0x0F7A,
|
|
DSS_CALC__USER_ROI_SPAD_EN_31 = 0x0F7B,
|
|
DSS_CALC__USER_ROI_0 = 0x0F7C,
|
|
DSS_CALC__USER_ROI_1 = 0x0F7D,
|
|
DSS_CALC__MODE_ROI_0 = 0x0F7E,
|
|
DSS_CALC__MODE_ROI_1 = 0x0F7F,
|
|
SIGMA_ESTIMATOR_CALC__SPARE_0 = 0x0F80,
|
|
VHV_RESULT__PEAK_SIGNAL_RATE_MCPS = 0x0F82,
|
|
VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_HI = 0x0F82,
|
|
VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_LO = 0x0F83,
|
|
VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF = 0x0F84,
|
|
VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_3 = 0x0F84,
|
|
VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_2 = 0x0F85,
|
|
VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_1 = 0x0F86,
|
|
VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_0 = 0x0F87,
|
|
PHASECAL_RESULT__PHASE_OUTPUT_REF = 0x0F88,
|
|
PHASECAL_RESULT__PHASE_OUTPUT_REF_HI = 0x0F88,
|
|
PHASECAL_RESULT__PHASE_OUTPUT_REF_LO = 0x0F89,
|
|
DSS_RESULT__TOTAL_RATE_PER_SPAD = 0x0F8A,
|
|
DSS_RESULT__TOTAL_RATE_PER_SPAD_HI = 0x0F8A,
|
|
DSS_RESULT__TOTAL_RATE_PER_SPAD_LO = 0x0F8B,
|
|
DSS_RESULT__ENABLED_BLOCKS = 0x0F8C,
|
|
DSS_RESULT__NUM_REQUESTED_SPADS = 0x0F8E,
|
|
DSS_RESULT__NUM_REQUESTED_SPADS_HI = 0x0F8E,
|
|
DSS_RESULT__NUM_REQUESTED_SPADS_LO = 0x0F8F,
|
|
MM_RESULT__INNER_INTERSECTION_RATE = 0x0F92,
|
|
MM_RESULT__INNER_INTERSECTION_RATE_HI = 0x0F92,
|
|
MM_RESULT__INNER_INTERSECTION_RATE_LO = 0x0F93,
|
|
MM_RESULT__OUTER_COMPLEMENT_RATE = 0x0F94,
|
|
MM_RESULT__OUTER_COMPLEMENT_RATE_HI = 0x0F94,
|
|
MM_RESULT__OUTER_COMPLEMENT_RATE_LO = 0x0F95,
|
|
MM_RESULT__TOTAL_OFFSET = 0x0F96,
|
|
MM_RESULT__TOTAL_OFFSET_HI = 0x0F96,
|
|
MM_RESULT__TOTAL_OFFSET_LO = 0x0F97,
|
|
XTALK_CALC__XTALK_FOR_ENABLED_SPADS = 0x0F98,
|
|
XTALK_CALC__XTALK_FOR_ENABLED_SPADS_3 = 0x0F98,
|
|
XTALK_CALC__XTALK_FOR_ENABLED_SPADS_2 = 0x0F99,
|
|
XTALK_CALC__XTALK_FOR_ENABLED_SPADS_1 = 0x0F9A,
|
|
XTALK_CALC__XTALK_FOR_ENABLED_SPADS_0 = 0x0F9B,
|
|
XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS = 0x0F9C,
|
|
XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_3 = 0x0F9C,
|
|
XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_2 = 0x0F9D,
|
|
XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_1 = 0x0F9E,
|
|
XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_0 = 0x0F9F,
|
|
XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS = 0x0FA0,
|
|
XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_3 = 0x0FA0,
|
|
XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_2 = 0x0FA1,
|
|
XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_1 = 0x0FA2,
|
|
XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_0 = 0x0FA3,
|
|
XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS = 0x0FA4,
|
|
XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_3 = 0x0FA4,
|
|
XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_2 = 0x0FA5,
|
|
XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_1 = 0x0FA6,
|
|
XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_0 = 0x0FA7,
|
|
RANGE_RESULT__ACCUM_PHASE = 0x0FA8,
|
|
RANGE_RESULT__ACCUM_PHASE_3 = 0x0FA8,
|
|
RANGE_RESULT__ACCUM_PHASE_2 = 0x0FA9,
|
|
RANGE_RESULT__ACCUM_PHASE_1 = 0x0FAA,
|
|
RANGE_RESULT__ACCUM_PHASE_0 = 0x0FAB,
|
|
RANGE_RESULT__OFFSET_CORRECTED_RANGE = 0x0FAC,
|
|
RANGE_RESULT__OFFSET_CORRECTED_RANGE_HI = 0x0FAC,
|
|
RANGE_RESULT__OFFSET_CORRECTED_RANGE_LO = 0x0FAD,
|
|
SHADOW_PHASECAL_RESULT__VCSEL_START = 0x0FAE,
|
|
SHADOW_RESULT__INTERRUPT_STATUS = 0x0FB0,
|
|
SHADOW_RESULT__RANGE_STATUS = 0x0FB1,
|
|
SHADOW_RESULT__REPORT_STATUS = 0x0FB2,
|
|
SHADOW_RESULT__STREAM_COUNT = 0x0FB3,
|
|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0FB4,
|
|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0FB4,
|
|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0FB5,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x0FB6,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x0FB6,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x0FB7,
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SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 = 0x0FB8,
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SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI = 0x0FB8,
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SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO = 0x0FB9,
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SHADOW_RESULT__SIGMA_SD0 = 0x0FBA,
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SHADOW_RESULT__SIGMA_SD0_HI = 0x0FBA,
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SHADOW_RESULT__SIGMA_SD0_LO = 0x0FBB,
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SHADOW_RESULT__PHASE_SD0 = 0x0FBC,
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SHADOW_RESULT__PHASE_SD0_HI = 0x0FBC,
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SHADOW_RESULT__PHASE_SD0_LO = 0x0FBD,
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SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 = 0x0FBE,
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SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI = 0x0FBE,
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SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO = 0x0FBF,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 = 0x0FC0,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI = 0x0FC0,
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SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO = 0x0FC1,
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SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0FC2,
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SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0FC2,
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SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0FC3,
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SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x0FC4,
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SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI = 0x0FC4,
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SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO = 0x0FC5,
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SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 = 0x0FC6,
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SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI = 0x0FC6,
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|
SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO = 0x0FC7,
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|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 = 0x0FC8,
|
|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI = 0x0FC8,
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|
SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO = 0x0FC9,
|
|
SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 = 0x0FCA,
|
|
SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI = 0x0FCA,
|
|
SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO = 0x0FCB,
|
|
SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 = 0x0FCC,
|
|
SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI = 0x0FCC,
|
|
SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO = 0x0FCD,
|
|
SHADOW_RESULT__SIGMA_SD1 = 0x0FCE,
|
|
SHADOW_RESULT__SIGMA_SD1_HI = 0x0FCE,
|
|
SHADOW_RESULT__SIGMA_SD1_LO = 0x0FCF,
|
|
SHADOW_RESULT__PHASE_SD1 = 0x0FD0,
|
|
SHADOW_RESULT__PHASE_SD1_HI = 0x0FD0,
|
|
SHADOW_RESULT__PHASE_SD1_LO = 0x0FD1,
|
|
SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 = 0x0FD2,
|
|
SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI = 0x0FD2,
|
|
SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO = 0x0FD3,
|
|
SHADOW_RESULT__SPARE_0_SD1 = 0x0FD4,
|
|
SHADOW_RESULT__SPARE_0_SD1_HI = 0x0FD4,
|
|
SHADOW_RESULT__SPARE_0_SD1_LO = 0x0FD5,
|
|
SHADOW_RESULT__SPARE_1_SD1 = 0x0FD6,
|
|
SHADOW_RESULT__SPARE_1_SD1_HI = 0x0FD6,
|
|
SHADOW_RESULT__SPARE_1_SD1_LO = 0x0FD7,
|
|
SHADOW_RESULT__SPARE_2_SD1 = 0x0FD8,
|
|
SHADOW_RESULT__SPARE_2_SD1_HI = 0x0FD8,
|
|
SHADOW_RESULT__SPARE_2_SD1_LO = 0x0FD9,
|
|
SHADOW_RESULT__SPARE_3_SD1 = 0x0FDA,
|
|
SHADOW_RESULT__THRESH_INFO = 0x0FDB,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 = 0x0FDC,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 = 0x0FDC,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 = 0x0FDD,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 = 0x0FDE,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 = 0x0FDF,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 = 0x0FE0,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 = 0x0FE0,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 = 0x0FE1,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 = 0x0FE2,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 = 0x0FE3,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 = 0x0FE4,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 = 0x0FE4,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 = 0x0FE5,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 = 0x0FE6,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 = 0x0FE7,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 = 0x0FE8,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 = 0x0FE8,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 = 0x0FE9,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 = 0x0FEA,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 = 0x0FEB,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 = 0x0FEC,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 = 0x0FEC,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 = 0x0FED,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 = 0x0FEE,
|
|
SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 = 0x0FEF,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 = 0x0FF0,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 = 0x0FF0,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 = 0x0FF1,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 = 0x0FF2,
|
|
SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 = 0x0FF3,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 = 0x0FF4,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 = 0x0FF4,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 = 0x0FF5,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 = 0x0FF6,
|
|
SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 = 0x0FF7,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 = 0x0FF8,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 = 0x0FF8,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 = 0x0FF9,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 = 0x0FFA,
|
|
SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 = 0x0FFB,
|
|
SHADOW_RESULT_CORE__SPARE_0 = 0x0FFC,
|
|
SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_HI = 0x0FFE,
|
|
SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_LO = 0x0FFF,
|
|
};
|
|
|
|
// constructor
|
|
AP_RangeFinder_VL53L1X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
bool init(DistanceMode mode);
|
|
void timer();
|
|
|
|
// check sensor ID
|
|
bool check_id(void);
|
|
|
|
// get a reading
|
|
bool get_reading(uint16_t &reading_cm);
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
|
|
|
|
// value used in measurement timing budget calculations
|
|
// assumes PresetMode is LOWPOWER_AUTONOMOUS
|
|
//
|
|
// vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US + LOWPOWERAUTO_VHV_LOOP_BOUND
|
|
// (tuning parm default) * LOWPOWER_AUTO_VHV_LOOP_DURATION_US
|
|
// = 245 + 3 * 245 = 980
|
|
// TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING +
|
|
// LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + vhv
|
|
// = 1448 + 2100 + 980 = 4528
|
|
static const uint32_t TimingGuard = 4528;
|
|
|
|
// value in DSS_CONFIG__TARGET_TOTAL_RATE_MCPS register,
|
|
// used in DSS calculations
|
|
static const uint16_t TargetRate = 0x0A00;
|
|
|
|
uint16_t fast_osc_frequency;
|
|
uint16_t osc_calibrate_val;
|
|
uint32_t sum_mm;
|
|
uint32_t counter;
|
|
bool calibrated;
|
|
|
|
bool read_register(uint16_t reg, uint8_t &value) WARN_IF_UNUSED;
|
|
bool read_register16(uint16_t reg, uint16_t &value) WARN_IF_UNUSED;
|
|
bool write_register(uint16_t reg, uint8_t value) WARN_IF_UNUSED;
|
|
bool write_register16(uint16_t reg, uint16_t value) WARN_IF_UNUSED;
|
|
bool write_register32(uint16_t reg, uint32_t value) WARN_IF_UNUSED;
|
|
bool dataReady(void);
|
|
bool reset(void) WARN_IF_UNUSED;
|
|
bool setDistanceMode(DistanceMode distance_mode) WARN_IF_UNUSED;
|
|
bool setMeasurementTimingBudget(uint32_t budget_us) WARN_IF_UNUSED;
|
|
bool getMeasurementTimingBudget(uint32_t &budget) WARN_IF_UNUSED;
|
|
bool startContinuous(uint32_t period_ms) WARN_IF_UNUSED;
|
|
uint32_t decodeTimeout(uint16_t reg_val);
|
|
uint16_t encodeTimeout(uint32_t timeout_mclks);
|
|
uint32_t timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us);
|
|
uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us);
|
|
uint32_t calcMacroPeriod(uint8_t vcsel_period) const;
|
|
bool setupManualCalibration(void);
|
|
};
|
|
|
|
#endif // AP_RANGEFINDER_VL53L1X_ENABLED
|