TeraBee TeraRanger One Bedienungsanleitung
Installation and Operation Manual
Version 1.0.0, June 2016
Firmware 5.0.1
Technical Specifications:
Principle:
Infrared Time‐of‐Flight (ToF)
Range:
Up to 14m indoors (At least 5 to 6m in sunlight)
Update rate:
1000Hz in fast mode (Up to 600Hz in precision mode)
Range 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 10g (Box)
Sensor types:
Type A (Box, Spider) and Type B (Box, Frame)
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Safety Notes
The TeraRanger One is eyesafe in all conditions, including system failure. However,
please keep a minimum of 20cm distance from your eyes when handling the sensor
underpoweranddonotlookintotheLEDswithanykindofopticalinstruments.
Table of Contents
1 AbouttheTeraRangerOne
1.1 InsidethePackage
1.2 USBadapter
1.3 DimensionsandMounting
1.4 AbouttheConnector
1.5 UARTDataInterface
1.6 TWI(I2C)DataInterface
1.7 USBInterface
1.8 DetailsonSupplyVoltage
2 ConnectingtheTeraRangerOneUsingaComputerWithaSerialConsole
2.1 Windows
2.2 MacOS
2.3 Linux
3 RunningtheTeraRangerOneinROS
5 Protocoldescription
5.1 UARTinterface
5.2 I2Cinterface
6 HowtoconnecttoPixhawkautopilot
7 HowtocalculatetheCRC8checksum
8 Understandingthefieldofview
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1 About the TeraRanger One
1.1 Inside the Package
YouwillreceivethefollowingitemswhenpurchasingaTeraRangerOne:
● afullyassembledandcalibratedsensor
● aconnectorcablewithopenendsthatcanbesolderedtoyourdevice
1.2 USB adapter
An optional USB adapter is available for simple plug & play connection to a PC or Mac. The
USB adapter provides power to the sensor and data transfer to and from the sensor. It is
ideal for evaluation and testing and for making firmware updates to the sensor, and it is also
anessentialitemincaseyouneedpostsalestechnicalsupport.
TheUSBadaptercanbepurchasedat:
http://www.teraranger.com/product/terarangerusbadapter/
If you have purchased a USB adapter in addition to
your TeraRanger One, you will also receive the
followingitems:
● theUSBadapterboard
● aconnectorcablethatconnectsyourUSB
adapterboardtoyourTeraRangerOne
● aMiniUSBcablethatconnectstheUSB
adapterboardtoyourcomputer
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1.3 Dimensions and Mounting
The TeraRanger One provides three mounting holes, which are designed for M2.5 screws.
The individual distances between the holes are shown in the following figure which is valid
for all designs of the yellow outer plastic part. Moreover, the
following aspects should be taken into consideration when
mountingtheTeraRangerOne:
● Do not remove the plastic cover as this will misalign the
opticsanddegradethesensor’sperformance
● MounttheTeraRangerOneinawellventilatedlocation
● Take the usual precautions for sensitive electronics
such as maintaining a suitable distance to strong electric
and magnetic fields, strong radio emitters, strong heat
sources,etc.
1.4 About the Connector
The TeraRanger One connects to your equipment using a 15 pin connector of the Hirose
DF13 series. (The part number of the corresponding female connector is DF1315S1.25C.)
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
forallyellowouterpartdesigns)andtabletoidentifythepins:
Pin Function
15 GND
14 Vcc(10V,accepts1020V)
13 Serialout(TXD),5Vlevel
12 Serialin(RXD),5Vlevel
11 TWI**SDA
10 TWI**SCL
9 UserI/O1
8 UserI/O2
7 Arduinocompatibleresetin(toDTR)
6 Resetin(pulltoGNDtoreset)
5 MOSI(forSPIorflashing)
4 MISO(forSPIorflashing)
3 SCLK(forSPIorflashing)
2 +5Vout(useonlytoprovidevoltagelevelstoprogrammingdevices,max.10mA!)
1 GND
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Note:
● Once connected, DF13 connectors are very reliable and are perfect for robotics and
drone environments where vibrations are common. However, these connectors are
not made for infinite plugging and unplugging. If you need to plug and unplug the
sensorsfrequently,consideraddingamoresuitableconnectorinline.
● Please do not apply shear forces to the connector when pushing it in the socket.
Ideally, press the socket down to the PCB with your thumb and push the connector in
with your other hand. Do not use tools like pliers etc.! You can find good instruction
videosonDF13pluggingandunpluggingonYouTube.
● Additional cables can be purchased from the TeraRanger website or your preferred
TeraRangerreseller.
● Please follow basic rules on ESD** safety when connecting and touching the
TeraRangerOne!
● DonotapplyforcetotheTeraRangerOnePCBwhilehandlingandinstallingit.
● Do not plug or unplug the sensor under power. Hot plugging and unplugging may
damagethesensor.
*UARTisthedefaultinterface
**Seeforexamplehttp://en.wikipedia.org/wiki/Electrostatic_discharge
1.5 UART Data Interface
The default interface is UART on pins 12 and 13. It needs an input voltage level of 5V (logic
high) to run reliably, the output voltage 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 RS232 port of a PC, the voltage levels are different
andmightdestroythesensor’selectronics.
The UART is configured to send and receive at 115200 bit/s, 8 data bits, no parity bit and
onestopbit(1152008N1).
1.6 TWI (I2C) Data Interface
Another way to connect to your TeraRanger One is the TWI (or better known as NXP’s I2C)
interface. Using this interface, you can connect multiple TeraRanger Ones to a TWI master
on the same bus. Please refer to the protocol description (chapter 5) to see how the bus
address of each TeraRanger One can be changed individually to avoid collisions on the
bus. Please keep in mind that the TeraRanger One has a relatively narrow field of view.
Hence, multiple TeraRanger Ones looking into opposite or perpendicular directions can be
triggeredatthesametime,allowingasignificantlyincreasedreadoutspeed!
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 pullup resistors (10kOhms)
are already integrated in the TeraRanger One. If you want to connect to an I2C bus with
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3.3V voltage levels, you need to use a voltage level translator. An I2C adapter for reliable
voltageleveltranslation is available from our website at:
http://www.teraranger.com/product/terarangeri2cadapter/.
In addition you have the option to purchase the TeraRanger Hub. This accessory board
allows you to connect up to eight TeraRanger One sensors and read the data from the
sensors via a single serial or USB link. See more at:
http://www.teraranger.com/products/terarangerhub/
1.7 USB Interface
If you have purchased the TeraRanger One USB adapter, you can directly connect the
TeraRanger One to your PC without the need of any additional power supply. In most
modern operating systems, a driver for this interface is already present and the interface will
appear as an FTDI virtual COM port to which you can connect using the settings that were
previouslymentionedintheUARTDataInterfacesection.
In case your computer asks you to provide a driver, please download the driver for your
operating system from http://www.ftdichip.com/Drivers/VCP.htm and follow the installer. After
successful installation, unplug the interface for a moment and plug it back in. The virtual
COMportshouldnowbeavailableonyourPC.
Note: Do not plug/unplug the TeraRanger One from the USB adapter while the device is
powered,disconnecttheUSBplugfromthePCfirst!
1.8 Details on Supply Voltage
TeraRanger One works with clean, spike and interruption free voltages ranging from 10V to
20V and has an internal voltage regulator for optimal performance. However, to minimise
unnecessary heating, we advise the use of a preregulator down to 12V, and ideally 10V. For
optimal efficiency, this should be a switching regulator (either buck or boost, depending on
thesupplyvoltageavailableonyoursystem)withalargeoutputcapacitorandgoodfiltering.
TeraRanger One is equipped with a safety shutdown to prevent damage from excessive
currents or board temperatures arising from eventual internal failures due to incorrect
mounting, misuse or externally provoked shortcircuits. In case of shutdown triggering, the
sensor resets automatically after reaching normal working conditions and a power cycle of
theexternalpowersupply.
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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:
115200bit/s,8databits,noparitybitandonestopbit.
2.1 Windows
InWindowsyoucanuseterminalemulationsoftwarelikeHTerm.Ifyoudonotalreadyhave
terminalsoftwareyoucandownloadHTermfromthislink:
http://www.derhammer.info/terminal
MakesureyoudownloaditbeforepluggingtheTeraRangerOneintoyourUSBportviathe
TeraRangerUSBadapter!
Extractthedownloadedzipfiletothefolderofyourchoice,openitanddoubleclickonthe
“HTerm.exe”file.
NowconnecttheTeraRangerOnetoyourcomputerviatheUSBadapter.Inordertoselect
theUSBportonwhichtheTeraRangerOneisplugged,refreshtheportlistbyclickingonthe
“R”buttonasshownonthefollowingimage:
Onceyouhaveselectedtheport,clickonthe“Connect”button.
Thedatawillnowappearinthe“Receiveddata”boxin“Binary”mode:
Toconvertthedatatoahumanreadableoutput,simplytype“T”inthe“Type”boxtodisplay
thedatain“Text”mode,asshowninthepicturebelow.Inthisexample,youcanseethat
themeasurementisaround1900mm.Youcanreturnto“Binary”modebytyping“B”inthe
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“Type”box.
If you want to change the sensor’s measurement mode, type “F” in the type box to select the
“Fast” mode; type “P” for the “Precision” mode or type “O” for the “Optimal” mode (refer to
section 5.1 for the description of the modes). In order to stop measurements simply press
thedisconnectbuttoninHTermandthenunplugtheUSBcable.
2.2 MacOS
WithMacOS,whenyouconnecttheTeraRangerOnetoyourcomputerthroughtheUSB
adaptor,youwillbeabletouseitthroughyourcomputer’s“Terminal”Application.
Tofindthisapplicationgoto:
Applications>Utilities>Terminal
Youcannowclickontheitemtoentertheterminalandsettheappropriatereadingsettings
bycopyandpastingthisfirstcommandtothepage:
ls/dev/tty.*
ThiscommandwilltelltheterminaltoshowtheUSBdevice’snamethatwillbeusedto
acquiredistancedatafromyourTeraRangerOne.
Example:
/dev/cu.usbserialXXXXXXXXX(TheX’swillhaveyourUSBport’sname)
Onceyouhavefoundthis,enterthefollowingcodetothenextline:
screen/dev/cu.usbserialXXXXXXXX115200(ReplacetheX’swithyourUSBport’s
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name)
Thedistancedatawillnowappearontheterminalin“Binary”modeandwilllooklikethis:
PressthecommandsShift+Ttoswitchfrombinarymodeto“Text”mode.Thiswilldisplaythe
distancevaluesinmillimeters,asfollows:
Tochangethesensorfromitsfastmodetoitsprecisionmode,press:
Shift+Ffor“Fast”mode
Shift+Pfor“Precision”mode
Shift+Ofor“Optimal”mode
Tostopthedatameasurement,press:
Ctrl+AthenK
2.3 Linux
LinuxisverysimilartoMacOSandalsoworkswithaterminal.
Openaterminal(shortcut:ctrl+alt+t):
type:ls/dev/tty*
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Usuallythenameis/dev/ttyUSB0butitcanalsobettyUSB1,ttyUSB2,etc…
Inordertoviewthedatastreamfromtheteraranger,type*thefollowing:
screen/dev/ttyXXX115200(replacettyXXXwiththecorrectserialdevicelike
ttyUSB0)
Toseedifferentoperatingmodes,refertotheMacOSsection.Thecommandsarethe
same.
*Beawarethatscreen
mightnotbeinstalledinyourLinuxoperatingsystem,soyoumightneedtoinstallit.Pleasefollowthe
installationprocedurerecommendedforyourLinuxdistribution.
3 Running the TeraRanger One in ROS
We provide a ROS (Robot Operating System, 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
theROSnodefrom:https://github.com/Terabee/terarangeroneros
TousetheROSnodeyouneedto:
1. CreateaROSWorkspace
2. Copythenodeterarangeronepackageintotheworkspacesrcdirectory
3. Compileusing:catkin_make
4. Setupenvironment:sourcedevel/setup.sh
5. Run**using:rosrunterarangeroneterarangerone_node_portname:=/dev/ttyUSB0
Ifyouwanttochangetheoperatingmode,run**:
● rosrunrqt_reconfigurerqt_reconfigure
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