Data Sheet

Q Query Settings 0x51
This command will provide the current tinyLiDAR module settings:
• Current Operation Mode: {single step or continuous}
• WatchDog Timer: {on/off}
• LED Indicator: {on/off/measurement}
• Current Preset Configuration:
{HighSpeed/LongRange/HighAccuracy/tinyLiDAR
/Custom}
• Signal Rate Limit (in MCPS)
• Sigma Estimate Limit (in mm)
• Timing Budget (in ms)
• Pre Range VCSEL Period
• Final Range VCSEL Period
• tinyLiDAR
Firmware Version
• ST PAL API Version
• Offset Cal: {custom or default}
• Cal Offset (in mm)
• Crosstalk (in MCPS)
Host -> Sensor
Send Command
0x51 {Q}
Sensor -> Host
Read Response
[0] 0x43 for continuous or 0x53 for single step mode
[1] 0x53 for High Speed, 0x52 for Long Range, 0x41 for High Accuracy,
0x43 for Custom or 0x54 for tinyLiDAR, else is Unknown preset
configuration.
[2][3] for Signal Rate Limit. Scale down by 65536 to get proper value in
MCPS. Note that we are limited to a readout max value of 0.99MCPS due
to the 16bit read but the serial log terminal output is not limited.
[4] for Sigma Estimate Limit. In mm.
[5][6] for Timing Budget in ms.
[7] for 0x0e or 0x12 for 14/10 or 18/14 VCSEL period settings.
[8][9][10] for the tinyLiDAR
firmware version number.
[11][12][13] for the ST PAL API version number.
tinyLiDAR Reference Manual rev1.26 22