  We present an analog silicon photomultiplier (SiPM) based on a standard 55 nm
Bipolar-CMOS-DMOS (BCD) technology. The SiPM is composed of 16$\times$16
single-photon avalanche diodes (SPADs) and measures 0.29$\times$0.32 mm$^2$.
Each SPAD cell is passively quenched by a monolithically integrated 3.3 V thick
oxide transistor. The measured gain is 3.4$\times$ 10$^5$ at 5 V excess bias
voltage. The single-photon timing resolution (SPTR) is 185 ps and the
multiple-photon timing resolution (MPTR) is 120 ps at 3.3 V excess bias
voltage. We integrate the SiPM into a co-axial light detection and ranging
(LiDAR) system with a time-correlated single-photon counting (TCSPC) module in
FPGA. The depth measurement up to 25 m achieves an accuracy of 2 cm and
precision of 2 mm under the room ambient light condition. With co-axial
scanning, the intensity and depth images of complex scenes with resolutions of
128$\times$256 and 256$\times$512 are demonstrated. The presented SiPM enables
the development of cost-effective LiDAR system-on-chip (SoC) in the advanced
technology.
