TeraBee TeraRanger One Installation And Operation Manual Download Page 7

 

Copyright © Terabee 2016 

 

 

2

Connecting the TeraRanger One Using a Computer With a

 

 

 

 

   

 

   

Serial Console 

 
Your TeraRanger One can interact with any serial console using the following configuration:

 

 

 

 

 

 

 

 

 

 

 

 

 

115200 bit/s, 8 data bits, no parity bit and one stop bit.

 

2.1

Windows 

 
In Windows you can use terminal emulation software like  HTerm. If you do not already have 
terminal software you can download HTerm from this link:

 

http://www.der­hammer.info/terminal

  

Make sure you download it before plugging the TeraRanger One into your USB port via the 
TeraRanger 

USB adapter

Extract the downloaded zip file to the folder of your choice, open it and double click on the 
“HTerm.exe” file.  

Now connect the TeraRanger One to your computer via the USB adapter. In order to select 
the USB port on which the TeraRanger One is plugged, refresh the port list by clicking on the 
“R” button as shown on the following image: 

  

Once you have selected the port, click on the “Connect” button. 

The data will now appear in the “Received data” box in “Binary” mode: 

 

To convert the data to a human readable output, simply type “T” in the “Type” box to display 
the data in “Text” mode, as shown in the picture below.  In this example, you can see that 
the measurement is around 1900mm. You can return to “Binary” mode by typing “B” in the 

 

 

 

  90 Rue Henri Fabre

Website: 

   01630 St. Genis‐Pouilly

Technical support: 

   France (next to CERN)

Commercial: 

 

 

 

www.teraranger.com 
[email protected] 
[email protected] 
 

Summary of Contents for TeraRanger One

Page 1: ... resolution 0 5cm Accuracy 4cm in precision mode Field of view 3º Supply voltage 10V DC recommended 10 to 20V DC accepted Supply current 50mA average 110mA peak 12V Interfaces 1 UART 5V level up to 115200 8 N 1 2 TWI I2C compatible 5V level up to 400kHz configurable address Connector 15 pin DF13 open ended 1 27mm pitch flat ribbon cable provided Designs Box Spider Frame Weight 8g Spider Frame or 1...

Page 2: ... About the Connector 1 5 UART Data Interface 1 6 TWI I2C Data Interface 1 7 USB Interface 1 8 Details on Supply Voltage 2 Connecting the TeraRanger One Using a Computer With a Serial Console 2 1 Windows 2 2 MacOS 2 3 Linux 3 Running the TeraRanger One in ROS 5 Protocol description 5 1 UART interface 5 2 I2C interface 6 How to connect to Pixhawk autopilot 7 How to calculate the CRC8 checksum 8 Unde...

Page 3: ...esting and for making firmware updates to the sensor and it is also an essential item in case you need post sales technical support The USB adapter can be purchased at http www teraranger com product teraranger usb adapter If you have purchased a USB adapter in addition to your TeraRanger One you will also receive the following items the USB adapter board a connector cable that connects your USB a...

Page 4: ...t using a 15 pin connector of the Hirose DF13 series The part number of the corresponding female connector is DF13 15S 1 25C The cable assembly delivered with the TeraRanger One comes with six wires installed Ground GND pin 1 and 15 positive supply voltage Vcc pin 14 UART receive RXD pin 12 UART transmit TXD pin 13 and reset pin 7 Please use the following image valid for all yellow outer part desi...

Page 5: ...oltage level is 5V Please use a serial to USB interface e g such as the TeraRanger USB adapter to connect the TeraRanger One to your PC DO NOT connect the TeraRanger One to a real RS 232 port of a PC the voltage levels are different and might destroy the sensor s electronics The UART is configured to send and receive at 115200 bit s 8 data bits no parity bit and one stop bit 115200 8N1 1 6 TWI I2C...

Page 6: ...After successful installation unplug the interface for a moment and plug it back in The virtual COM port should now be available on your PC Note Do not plug unplug the TeraRanger One from the USB adapter while the device is powered disconnect the USB plug from the PC first 1 8 Details on Supply Voltage TeraRanger One works with clean spike and interruption free voltages ranging from 10V to 20V and...

Page 7: ... it and double click on the HTerm exe file Now connect the TeraRanger One to your computer via the USB adapter In order to select the USB port on which the TeraRanger One is plugged refresh the port list by clicking on the R button as shown on the following image Once you have selected the port click on the Connect button The data will now appear in the Received data box in Binary mode To convert ...

Page 8: ...d this application go to Applications Utilities Terminal You can now click on the item to enter the terminal and set the appropriate reading settings by copy and pasting this first command to the page ls dev tty This command will tell the terminal to show the USB device s name that will be used to acquire distance data from your TeraRangerOne Example dev cu usbserial XXXXXXXXX The X s will have yo...

Page 9: ...ensor from its fast mode to its precision mode press Shift F for Fast mode Shift P for Precision mode Shift O for Optimal mode To stop the data measurement press Ctrl A then K 2 3 Linux Linux is very similar to MacOS and also works with a terminal Open a terminal shortcut ctrl alt t type ls dev tty 90 Rue Henri Fabre Website 01630 St Genis Pouilly Technical support France next to CERN Commercial w...

Page 10: ...em http www ros org node which provides a topic to access the TeraRanger One data stream Please note that the sensor has to be configured to work in Binary mode before you can start using it with ROS You can download the ROS node from https github com Terabee terarangerone ros To use the ROS node you need to 1 Create a ROS Workspace 2 Copy the node terarangerone package into the workspace src dire...

Page 11: ...rmat In all UART modes the sensor is free running that means you do not need to send anything to start a measurement Once a measurement in the mode you selected is finished the sensor will send the data in the format you selected and immediately start a new measurement Two operating modes can be selected for either type A and type B sensors by sending the corresponding uppercase character to the T...

Page 12: ...reading accuracy and maximum range which is limited to 4 5m in this mode The delay between two readings is 1ms You can also set the output format by sending the corresponding uppercase character to the TeraRanger One via the serial port T Text output Data output in human readable form 5 7 bytes message xxxxx r n Distance reading in millimeters maximum 5 bytes per sensor xxxxx Carriage return chara...

Page 13: ...its TWI bus also known as I2C Please refer to chapter 1 4 for the the electrical connections to be made for using TWI The signal levels are 5V the maximum bus speed is 400kHz and the pull up resistors 10kOhms are already integrated in the TeraRanger One If you want to connect to an I2C bus with 3 3V voltage levels you need to use a voltage level translator An I2C adapter for reliable voltage level...

Page 14: ...the the number of bytes imposed by the command e g three bytes for a distance reading Command in hexadecimal Command name Command explanation 0x01 WHO_AM_I Write this value to TROne via I2C and the next distance reading will contain 0xA1 in the first byte ignore others You can use this function to uniquely identify a TeraRanger One on the I2C bus 0xA2 CHANGE_BASE_ADDR Command to change base addres...

Page 15: ...2 0 x 1 5 0 x 3 8 0 x 3 f 0 x 3 6 0 x 3 1 0 x 2 4 0 x 2 3 0 x 2 a 0 x 2 d 0 x 7 0 0 x 7 7 0 x 7 e 0 x 7 9 0 x 6 c 0 x 6 b 0 x 6 2 0 x 6 5 0 x 4 8 0 x 4 f 0 x 4 6 0 x 4 1 0 x 5 4 0 x 5 3 0 x 5 a 0 x 5 d 0 x e 0 0 x e 7 0 x e e 0 x e 9 0 x f c 0 x f b 0 x f 2 0 x f 5 0 x d 8 0 x d f 0 x d 6 0 x d 1 0 x c 4 0 x c 3 0 x c a 0 x c d 0 x 9 0 0 x 9 7 0 x 9 e 0 x 9 9 0 x 8 c 0 x 8 b 0 x 8 2 0 x 8 5 0 x a ...

Page 16: ... the target based on the time it takes for the reflected signal to be detected The system is optical and measured within a specific field of view which is 3 degrees This field of view corresponds to a detection window of 4 5cm x 4 5cm at a distance of 1m and this window size scales linearly with distance If multiple targets are placed in the field of view of the sensor a distance averaging effect ...

Page 17: ...Copyright Terabee 2016 90 Rue Henri Fabre Website 01630 St Genis Pouilly Technical support France next to CERN Commercial www teraranger com support teraranger com teraranger terabee com 17 ...

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