SEN0585 XT-S1 LIDAR - C Library

Hello, 

I am trying to drive a SEN0585 with an STM32 mcu. In product page, there is a link for documentations https://github.com/DFRobotdl/DFROBOTDL/blob/main/SEN0585/SEN0585%20Product%20manual-EN.pdf but in the register map list, some of the registers are missing and there is no further information on how to do messaging to connect the device or do measurements. I know about the GUI they provided but i need to drive the SEN0585 with STM32. Can anyone please help me about any register map or c library please?

Thank you.