5 Communication
5.1
UART protocol information
The UART communication for the TeraRanger Evo 64px uses a simple protocol via UART
depending on the backboard used with the sensor.
The communication parameters for UART are:
Baud Rate
: 3000000
Data Bits
: 8
Stop Bit(s)
: 1
Parity
: None
HW Flow Control
: None
5.2
USB protocol information
The USB communication for the TeraRanger Evo 64px uses a simple protocol via USB
depending on the backboard used with the sensor.The communication parameters for the
USB VCP are:
Baud Rate
: 115200
Data Bits
: 8
Stop Bit(s)
: 1
Parity
: None
HW Flow Control
: None
5.3
Commands
The user can send commands to configure the sensor to work in a specific mode. The frame
of the command is built concatenating 8 bit address of the TeraRanger Evo 64px, 4 bit
Command (CMD) code, 4 bit for data count (indicating how many bytes of data will follow), N
bytes of the data itself and a CRC-8 (8 bit) checksum of the entire frame in the last byte. The
layout is depicted in Figure 12.
Figure 12. Frame structure for Evo 64px commands
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