TeraBee TeraRanger Evo 64px User Manual Download Page 22 | Manualshive

Page: 22 / 22

background image

print

depth_array

else

:

self.stop_sensor()

if

__name__ ==

'__main__'

:

evo_64px = Evo_64px()
evo_64px.run()

Copyright

©

Terabee 2018

Terabee, 90 Rue Henri Fabre
01630, St Genis-Pouilly, France (next to CERN)

22/22

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Summary of Contents for TeraRanger Evo 64px

Page 1: ...User Manual for TeraRanger Evo 64px with USB and UART backboard Technical support support teraranger com Sales and commercial support teraranger terabee com...

Page 2: ...face 11 4 2 Backboard LEDs 12 4 3 Electrical characteristics 12 5 Communication 13 5 1 UART protocol information 13 5 2 USB protocol information 13 5 3 Commands 13 5 4 UART USB output format 14 6 Comp...

Page 3: ...ns without the need for external illumination 2 Mechanical integration The mechanical design of the main sensor module black allows easy assembly to its backboard yellow using a simple clip in techniq...

Page 4: ...er environments with flickering chopped ambient light in the field of view can affect the sensor s readings 2 1 Mechanical design Figure 2 TeraRanger Evo 64px external dimensions 2 2 Sensor handling d...

Page 5: ...e Virtual COM Port driver from http www st com en development tools stsw stm32102 html and follow the ReadMe file instructions given by the installer After successful installation unplug the interface...

Page 6: ...interface home screen On the right side of the depth map you will find a color vs distance millimeters scale By default the scale will automatically adjust the color code depending on the highest rang...

Page 7: ...n Fast mode and Close Range mode Figure 6 Use Fast mode and achieve sampling rates as high as 130 frames per second or select Close Range mode for improved minimum range starting from 10 centimeters F...

Page 8: ...re 8 both options can be selected at the bottom of the main GUI screen Figure 8 View data in a 3D plot Plain vs Mesh view Select File View Pixel Data and stream a matrix of 8x8 distance values in mill...

Page 9: ...f frames to be exported Please note that one frame equals 64 distance values and 64 ambient values Once this is specified click Save and your text file will be exported See Figure 10 for visual instru...

Page 10: ...tly disabling your device Install the latest version of the TeraRanger Evo GUI on your computer available on the Download section of Evo 64px product page of Terabee website Download the latest firmwa...

Page 11: ...ions in the Hirose DF13 series datasheet available here https www hirose com product en products DF13 to ensure a reliable connection The table below provides an overview of the pin out of the DF13 co...

Page 12: ...use only 4 3 Electrical characteristics DC electrical characteristics Parameter Minimum Standard Maximum Power supply Voltage input 4 75 V 5V 5 25 V Current consumption 80 mA 250 mA Interface logic l...

Page 13: ...munication 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 specif...

Page 14: ...CP Output 0x00 52 02 00 D8 Activate VCP Output Activate USB VCP Output 0x00 52 02 01 DF NB Each command MUST be transmitted in a continuous stream ie not byte by byte The TeraRanger Evo 64px will repl...

Page 15: ...data eg packet headers In the case of Data the most significant bit of every byte is set to 1 And in the case of metadata the most significant bit is 0 ie 0b1xxxxxxx this byte is a data byte 0b0xxxxxx...

Page 16: ...ue Hibyte first and lobyte second The MSB of each byte should be cleared to zero N A Padding if applicable X bytes with the value 0x80 to make the frame a multiple of a 32 bit integer N A CRC 32 32 bi...

Page 17: ...m 0x0064 0x1388 Object too close below minimum distance 0x0000 Object too far above maximum distance 0x3FFF ERROR unable to give back value eg too absorbent or too reflective surface 0x0001 End State...

Page 18: ...if crc ord ack 3 Check that CRC s are matching A 1 2 How to calculate CRC32 checksum for Evo 64px After defining this function self crc32 crcmod predefined mkPredefinedCrcFun crc 32 mpeg To validate t...

Page 19: ...oduct page usr bin python coding utf 8 import numpy as np import serial import crcmod predefined import threading class Evo_64px object def __init__ self self portname dev ttyACM0 self baudrate 115200...

Page 20: ...8 depth_array np array depth_array got_frame True else print Invalid frame length format len frame depth_array astype np uint16 return depth_array def crc_check self frame index len frame 9 Start of C...

Page 21: ...8 ack 3 if crc8 ord ack 3 Check if ACK or NACK if ord ack 2 0 return True else print Command not acknowledged return False else print Error in ACK checksum return False def start_sensor self if self s...

Page 22: ...print depth_array else self stop_sensor if __name__ __main__ evo_64px Evo_64px evo_64px run Copyright Terabee 2018 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France next to CERN 22 22...

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