watchrobot/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h

#pragma once

#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>

class AP_RangeFinder_VL53L1X : public AP_RangeFinder_Backend
{

public:
    // static detection function
    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev);

    // update state
    void update(void) override;

protected:

    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
        return MAV_DISTANCE_SENSOR_LASER;
    }

private:
    enum DeviceError : uint8_t
    {
        NOUPDATE                    = 0,
        VCSELCONTINUITYTESTFAILURE  = 1,
        VCSELWATCHDOGTESTFAILURE    = 2,
        NOVHVVALUEFOUND             = 3,
        MSRCNOTARGET                = 4,
        RANGEPHASECHECK             = 5,
        SIGMATHRESHOLDCHECK         = 6,
        PHASECONSISTENCY            = 7,
        MINCLIP                     = 8,
        RANGECOMPLETE               = 9,
        ALGOUNDERFLOW               = 10,
        ALGOOVERFLOW                = 11,
        RANGEIGNORETHRESHOLD        = 12,
        USERROICLIP                 = 13,
        REFSPADCHARNOTENOUGHDPADS   = 14,
        REFSPADCHARMORETHANTARGET   = 15,
        REFSPADCHARLESSTHANTARGET   = 16,
        MULTCLIPFAIL                = 17,
        GPHSTREAMCOUNT0READY        = 18,
        RANGECOMPLETE_NO_WRAP_CHECK = 19,
        EVENTCONSISTENCY            = 20,
        MINSIGNALEVENTCHECK         = 21,
        RANGECOMPLETE_MERGED_PULSE  = 22,
    };

    // register addresses from API vl53l1x_register_map.h
    enum regAddr : uint16_t
    {
        SOFT_RESET                                                                 = 0x0000,
        I2C_SLAVE__DEVICE_ADDRESS                                                  = 0x0001,
        ANA_CONFIG__VHV_REF_SEL_VDDPIX                                             = 0x0002,
        ANA_CONFIG__VHV_REF_SEL_VQUENCH                                            = 0x0003,
        ANA_CONFIG__REG_AVDD1V2_SEL                                                = 0x0004,
        ANA_CONFIG__FAST_OSC__TRIM                                                 = 0x0005,
        OSC_MEASURED__FAST_OSC__FREQUENCY                                          = 0x0006,
        OSC_MEASURED__FAST_OSC__FREQUENCY_HI                                       = 0x0006,
        OSC_MEASURED__FAST_OSC__FREQUENCY_LO                                       = 0x0007,
        VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND                                      = 0x0008,
        VHV_CONFIG__COUNT_THRESH                                                   = 0x0009,
        VHV_CONFIG__OFFSET                                                         = 0x000A,
        VHV_CONFIG__INIT                                                           = 0x000B,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_0                                          = 0x000D,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_1                                          = 0x000E,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_2                                          = 0x000F,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_3                                          = 0x0010,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_4                                          = 0x0011,
        GLOBAL_CONFIG__SPAD_ENABLES_REF_5                                          = 0x0012,
        GLOBAL_CONFIG__REF_EN_START_SELECT                                         = 0x0013,
        REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS                                      = 0x0014,
        REF_SPAD_MAN__REF_LOCATION                                                 = 0x0015,
        ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS                             = 0x0016,
        ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_HI                          = 0x0016,
        ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_LO                          = 0x0017,
        ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS                         = 0x0018,
        ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_HI                      = 0x0018,
        ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_LO                      = 0x0019,
        ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS                         = 0x001A,
        ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_HI                      = 0x001A,
        ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_LO                      = 0x001B,
        REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS                                      = 0x001C,
        REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_HI                                   = 0x001C,
        REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_LO                                   = 0x001D,
        ALGO__PART_TO_PART_RANGE_OFFSET_MM                                         = 0x001E,
        ALGO__PART_TO_PART_RANGE_OFFSET_MM_HI                                      = 0x001E,
        ALGO__PART_TO_PART_RANGE_OFFSET_MM_LO                                      = 0x001F,
        MM_CONFIG__INNER_OFFSET_MM                                                 = 0x0020,
        MM_CONFIG__INNER_OFFSET_MM_HI                                              = 0x0020,
        MM_CONFIG__INNER_OFFSET_MM_LO                                              = 0x0021,
        MM_CONFIG__OUTER_OFFSET_MM                                                 = 0x0022,
        MM_CONFIG__OUTER_OFFSET_MM_HI                                              = 0x0022,
        MM_CONFIG__OUTER_OFFSET_MM_LO                                              = 0x0023,
        DSS_CONFIG__TARGET_TOTAL_RATE_MCPS                                         = 0x0024,
        DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_HI                                      = 0x0024,
        DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_LO                                      = 0x0025,
        DEBUG__CTRL                                                                = 0x0026,
        TEST_MODE__CTRL                                                            = 0x0027,
        CLK_GATING__CTRL                                                           = 0x0028,
        NVM_BIST__CTRL                                                             = 0x0029,
        NVM_BIST__NUM_NVM_WORDS                                                    = 0x002A,
        NVM_BIST__START_ADDRESS                                                    = 0x002B,
        HOST_IF__STATUS                                                            = 0x002C,
        PAD_I2C_HV__CONFIG                                                         = 0x002D,
        PAD_I2C_HV__EXTSUP_CONFIG                                                  = 0x002E,
        GPIO_HV_PAD__CTRL                                                          = 0x002F,
        GPIO_HV_MUX__CTRL                                                          = 0x0030,
        GPIO__TIO_HV_STATUS                                                        = 0x0031,
        GPIO__FIO_HV_STATUS                                                        = 0x0032,
        ANA_CONFIG__SPAD_SEL_PSWIDTH                                               = 0x0033,
        ANA_CONFIG__VCSEL_PULSE_WIDTH_OFFSET                                       = 0x0034,
        ANA_CONFIG__FAST_OSC__CONFIG_CTRL                                          = 0x0035,
        SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS                                  = 0x0036,
        SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS                                = 0x0037,
        SIGMA_ESTIMATOR__SIGMA_REF_MM                                              = 0x0038,
        ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM                               = 0x0039,
        SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_0                                   = 0x003A,
        SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_1                                   = 0x003B,
        ALGO__RANGE_IGNORE_THRESHOLD_MCPS                                          = 0x003C,
        ALGO__RANGE_IGNORE_THRESHOLD_MCPS_HI                                       = 0x003C,
        ALGO__RANGE_IGNORE_THRESHOLD_MCPS_LO                                       = 0x003D,
        ALGO__RANGE_IGNORE_VALID_HEIGHT_MM                                         = 0x003E,
        ALGO__RANGE_MIN_CLIP                                                       = 0x003F,
        ALGO__CONSISTENCY_CHECK__TOLERANCE                                         = 0x0040,
        SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_2                                   = 0x0041,
        SD_CONFIG__RESET_STAGES_MSB                                                = 0x0042,
        SD_CONFIG__RESET_STAGES_LSB                                                = 0x0043,
        GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE                                      = 0x0044,
        GLOBAL_CONFIG__STREAM_DIVIDER                                              = 0x0045,
        SYSTEM__INTERRUPT_CONFIG_GPIO                                              = 0x0046,
        CAL_CONFIG__VCSEL_START                                                    = 0x0047,
        CAL_CONFIG__REPEAT_RATE                                                    = 0x0048,
        CAL_CONFIG__REPEAT_RATE_HI                                                 = 0x0048,
        CAL_CONFIG__REPEAT_RATE_LO                                                 = 0x0049,
        GLOBAL_CONFIG__VCSEL_WIDTH                                                 = 0x004A,
        PHASECAL_CONFIG__TIMEOUT_MACROP                                            = 0x004B,
        PHASECAL_CONFIG__TARGET                                                    = 0x004C,
        PHASECAL_CONFIG__OVERRIDE                                                  = 0x004D,
        DSS_CONFIG__ROI_MODE_CONTROL                                               = 0x004F,
        SYSTEM__THRESH_RATE_HIGH                                                   = 0x0050,
        SYSTEM__THRESH_RATE_HIGH_HI                                                = 0x0050,
        SYSTEM__THRESH_RATE_HIGH_LO                                                = 0x0051,
        SYSTEM__THRESH_RATE_LOW                                                    = 0x0052,
        SYSTEM__THRESH_RATE_LOW_HI                                                 = 0x0052,
        SYSTEM__THRESH_RATE_LOW_LO                                                 = 0x0053,
        DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT                                  = 0x0054,
        DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI                               = 0x0054,
        DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO                               = 0x0055,
        DSS_CONFIG__MANUAL_BLOCK_SELECT                                            = 0x0056,
        DSS_CONFIG__APERTURE_ATTENUATION                                           = 0x0057,
        DSS_CONFIG__MAX_SPADS_LIMIT                                                = 0x0058,
        DSS_CONFIG__MIN_SPADS_LIMIT                                                = 0x0059,
        MM_CONFIG__TIMEOUT_MACROP_A                                                = 0x005A, // added by Pololu for 16-bit accesses
        MM_CONFIG__TIMEOUT_MACROP_A_HI                                             = 0x005A,
        MM_CONFIG__TIMEOUT_MACROP_A_LO                                             = 0x005B,
        MM_CONFIG__TIMEOUT_MACROP_B                                                = 0x005C, // added by Pololu for 16-bit accesses
        MM_CONFIG__TIMEOUT_MACROP_B_HI                                             = 0x005C,
        MM_CONFIG__TIMEOUT_MACROP_B_LO                                             = 0x005D,
        RANGE_CONFIG__TIMEOUT_MACROP_A                                             = 0x005E, // added by Pololu for 16-bit accesses
        RANGE_CONFIG__TIMEOUT_MACROP_A_HI                                          = 0x005E,
        RANGE_CONFIG__TIMEOUT_MACROP_A_LO                                          = 0x005F,
        RANGE_CONFIG__VCSEL_PERIOD_A                                               = 0x0060,
        RANGE_CONFIG__TIMEOUT_MACROP_B                                             = 0x0061, // added by Pololu for 16-bit accesses
        RANGE_CONFIG__TIMEOUT_MACROP_B_HI                                          = 0x0061,
        RANGE_CONFIG__TIMEOUT_MACROP_B_LO                                          = 0x0062,
        RANGE_CONFIG__VCSEL_PERIOD_B                                               = 0x0063,
        RANGE_CONFIG__SIGMA_THRESH                                                 = 0x0064,
        RANGE_CONFIG__SIGMA_THRESH_HI                                              = 0x0064,
        RANGE_CONFIG__SIGMA_THRESH_LO                                              = 0x0065,
        RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS                                = 0x0066,
        RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI                             = 0x0066,
        RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO                             = 0x0067,
        RANGE_CONFIG__VALID_PHASE_LOW                                              = 0x0068,
        RANGE_CONFIG__VALID_PHASE_HIGH                                             = 0x0069,
        SYSTEM__INTERMEASUREMENT_PERIOD                                            = 0x006C,
        SYSTEM__INTERMEASUREMENT_PERIOD_3                                          = 0x006C,
        SYSTEM__INTERMEASUREMENT_PERIOD_2                                          = 0x006D,
        SYSTEM__INTERMEASUREMENT_PERIOD_1                                          = 0x006E,
        SYSTEM__INTERMEASUREMENT_PERIOD_0                                          = 0x006F,
        SYSTEM__FRACTIONAL_ENABLE                                                  = 0x0070,
        SYSTEM__GROUPED_PARAMETER_HOLD_0                                           = 0x0071,
        SYSTEM__THRESH_HIGH                                                        = 0x0072,
        SYSTEM__THRESH_HIGH_HI                                                     = 0x0072,
        SYSTEM__THRESH_HIGH_LO                                                     = 0x0073,
        SYSTEM__THRESH_LOW                                                         = 0x0074,
        SYSTEM__THRESH_LOW_HI                                                      = 0x0074,
        SYSTEM__THRESH_LOW_LO                                                      = 0x0075,
        SYSTEM__ENABLE_XTALK_PER_QUADRANT                                          = 0x0076,
        SYSTEM__SEED_CONFIG                                                        = 0x0077,
        SD_CONFIG__WOI_SD0                                                         = 0x0078,
        SD_CONFIG__WOI_SD1                                                         = 0x0079,
        SD_CONFIG__INITIAL_PHASE_SD0                                               = 0x007A,
        SD_CONFIG__INITIAL_PHASE_SD1                                               = 0x007B,
        SYSTEM__GROUPED_PARAMETER_HOLD_1                                           = 0x007C,
        SD_CONFIG__FIRST_ORDER_SELECT                                              = 0x007D,
        SD_CONFIG__QUANTIFIER                                                      = 0x007E,
        ROI_CONFIG__USER_ROI_CENTRE_SPAD                                           = 0x007F,
        ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE                              = 0x0080,
        SYSTEM__SEQUENCE_CONFIG                                                    = 0x0081,
        SYSTEM__GROUPED_PARAMETER_HOLD                                             = 0x0082,
        POWER_MANAGEMENT__GO1_POWER_FORCE                                          = 0x0083,
        SYSTEM__STREAM_COUNT_CTRL                                                  = 0x0084,
        FIRMWARE__ENABLE                                                           = 0x0085,
        SYSTEM__INTERRUPT_CLEAR                                                    = 0x0086,
        SYSTEM__MODE_START                                                         = 0x0087,
        RESULT__INTERRUPT_STATUS                                                   = 0x0088,
        RESULT__RANGE_STATUS                                                       = 0x0089,
        RESULT__REPORT_STATUS                                                      = 0x008A,
        RESULT__STREAM_COUNT                                                       = 0x008B,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0                                     = 0x008C,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI                                  = 0x008C,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO                                  = 0x008D,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0                                    = 0x008E,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI                                 = 0x008E,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO                                 = 0x008F,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD0                                        = 0x0090,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI                                     = 0x0090,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO                                     = 0x0091,
        RESULT__SIGMA_SD0                                                          = 0x0092,
        RESULT__SIGMA_SD0_HI                                                       = 0x0092,
        RESULT__SIGMA_SD0_LO                                                       = 0x0093,
        RESULT__PHASE_SD0                                                          = 0x0094,
        RESULT__PHASE_SD0_HI                                                       = 0x0094,
        RESULT__PHASE_SD0_LO                                                       = 0x0095,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0                             = 0x0096,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI                          = 0x0096,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO                          = 0x0097,
        RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0                = 0x0098,
        RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI             = 0x0098,
        RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO             = 0x0099,
        RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0                                = 0x009A,
        RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI                             = 0x009A,
        RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO                             = 0x009B,
        RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0                                = 0x009C,
        RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI                             = 0x009C,
        RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO                             = 0x009D,
        RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0                                     = 0x009E,
        RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI                                  = 0x009E,
        RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO                                  = 0x009F,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1                                     = 0x00A0,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI                                  = 0x00A0,
        RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO                                  = 0x00A1,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1                                    = 0x00A2,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI                                 = 0x00A2,
        RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO                                 = 0x00A3,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD1                                        = 0x00A4,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI                                     = 0x00A4,
        RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO                                     = 0x00A5,
        RESULT__SIGMA_SD1                                                          = 0x00A6,
        RESULT__SIGMA_SD1_HI                                                       = 0x00A6,
        RESULT__SIGMA_SD1_LO                                                       = 0x00A7,
        RESULT__PHASE_SD1                                                          = 0x00A8,
        RESULT__PHASE_SD1_HI                                                       = 0x00A8,
        RESULT__PHASE_SD1_LO                                                       = 0x00A9,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1                             = 0x00AA,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI                          = 0x00AA,
        RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO                          = 0x00AB,
        RESULT__SPARE_0_SD1                                                        = 0x00AC,
        RESULT__SPARE_0_SD1_HI                                                     = 0x00AC,
        RESULT__SPARE_0_SD1_LO                                                     = 0x00AD,
        RESULT__SPARE_1_SD1                                                        = 0x00AE,
        RESULT__SPARE_1_SD1_HI                                                     = 0x00AE,
        RESULT__SPARE_1_SD1_LO                                                     = 0x00AF,
        RESULT__SPARE_2_SD1                                                        = 0x00B0,
        RESULT__SPARE_2_SD1_HI                                                     = 0x00B0,
        RESULT__SPARE_2_SD1_LO                                                     = 0x00B1,
        RESULT__SPARE_3_SD1                                                        = 0x00B2,
        RESULT__THRESH_INFO                                                        = 0x00B3,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0                                     = 0x00B4,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3                                   = 0x00B4,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2                                   = 0x00B5,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1                                   = 0x00B6,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0                                   = 0x00B7,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD0                                      = 0x00B8,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3                                    = 0x00B8,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2                                    = 0x00B9,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1                                    = 0x00BA,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0                                    = 0x00BB,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0                                       = 0x00BC,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3                                     = 0x00BC,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2                                     = 0x00BD,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1                                     = 0x00BE,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0                                     = 0x00BF,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0                                     = 0x00C0,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3                                   = 0x00C0,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2                                   = 0x00C1,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1                                   = 0x00C2,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0                                   = 0x00C3,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1                                     = 0x00C4,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3                                   = 0x00C4,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2                                   = 0x00C5,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1                                   = 0x00C6,
        RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0                                   = 0x00C7,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD1                                      = 0x00C8,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3                                    = 0x00C8,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2                                    = 0x00C9,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1                                    = 0x00CA,
        RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0                                    = 0x00CB,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1                                       = 0x00CC,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3                                     = 0x00CC,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2                                     = 0x00CD,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1                                     = 0x00CE,
        RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0                                     = 0x00CF,
        RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1                                     = 0x00D0,
        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,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0                             = 0x0FB6,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI                          = 0x0FB6,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO                          = 0x0FB7,
        SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0                                 = 0x0FB8,
        SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI                              = 0x0FB8,
        SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO                              = 0x0FB9,
        SHADOW_RESULT__SIGMA_SD0                                                   = 0x0FBA,
        SHADOW_RESULT__SIGMA_SD0_HI                                                = 0x0FBA,
        SHADOW_RESULT__SIGMA_SD0_LO                                                = 0x0FBB,
        SHADOW_RESULT__PHASE_SD0                                                   = 0x0FBC,
        SHADOW_RESULT__PHASE_SD0_HI                                                = 0x0FBC,
        SHADOW_RESULT__PHASE_SD0_LO                                                = 0x0FBD,
        SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0                      = 0x0FBE,
        SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI                   = 0x0FBE,
        SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO                   = 0x0FBF,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0         = 0x0FC0,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI      = 0x0FC0,
        SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO      = 0x0FC1,
        SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0                         = 0x0FC2,
        SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI                      = 0x0FC2,
        SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO                      = 0x0FC3,
        SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0                         = 0x0FC4,
        SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI                      = 0x0FC4,
        SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO                      = 0x0FC5,
        SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0                              = 0x0FC6,
        SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI                           = 0x0FC6,
        SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO                           = 0x0FC7,
        SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1                              = 0x0FC8,
        SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI                           = 0x0FC8,
        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();
    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;

    enum DistanceMode { Short, Medium, Long, Unknown };
    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 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);
    bool setupManualCalibration(void);
};