TeraBee TeraRanger Evo 64px User Manual

Usb and uart backboard

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TeraRanger Evo 64px with:  
USB and UART backboard 
 
 
Sales and commercial support: ​
User Manual for  
Technical support: ​
s upport@teraranger.com
 
 
 
 
 
t eraranger@terabee.com
 

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Summary of Contents for TeraBee TeraRanger Evo 64px

  • Page 1 User Manual for   TeraRanger Evo 64px with:   USB and UART backboard                  Technical support: ​ s upport@teraranger.com Sales and commercial support: ​ t eraranger@terabee.com...
  • Page 2: Table Of Contents

    A.1.1 How to calculate CRC8 checksum for Evo 64px A.1.2 How to calculate CRC32 checksum for Evo 64px A.2 Sample code Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 2/22...
  • Page 3: Introduction

    Evo 64px multi-pixel sensor with (a) UART backboard, and/or (b) USB backboard using these standard communication interfaces.   1.1 About TeraRanger Evo 64px  TeraRanger Evo64px is the multi-pixel Time-of-Flight sensor of the TeraRanger Evo product family. It provides a matrix of 8x8 distance readings over a 15 degrees FOV, with a maximum range up to 5m.
  • Page 4: Mechanical Design

    ​ 2 .1​   Mechanical design  Figure 2. TeraRanger Evo 64px external dimensions ​ 2 .2​   Sensor handling during system assembly  During assembly and integration, please observe all common ESD precautions. All optical surfaces (sensor front) should be kept clean and free from contact with chemicals.
  • Page 5: Usb Backboard Use

    A free Graphical User Interface (GUI) is available, providing an easy way to visualize the data from your TeraRanger Evo 64px sensor. This is useful for demonstration, testing purposes and checking some of the basic parameters of the sensor. It also provides a way to easily export raw distance data and upgrade the firmware running on the device.
  • Page 6 Figure 3. Windows protection screen during installation After successful installation, make sure your TeraRanger Evo 64px is connected to a USB port on your computer. In the GUI select ​ F ile > Connect (Ctrl+O)​ . You will immediately see 64 distance readings displayed in a 8x8 pixel color map, labeled Depth Map (Figure 4).
  • Page 7 “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. For more information on the TeraRanger Evo 64px’s operating modes please refer to the TeraRanger Evo 64px specification sheet.
  • Page 8 The “Pixel Data” option also streams 64 values of ambient level in real-time, which is proportional to the target irradiance centered around 940nm. See Figure 9 for visual instructions. Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 8/22...
  • Page 9 64 values on near-infrared ambient; both rows are part of frame number 1. Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 9/22...
  • Page 10 It is possible to upgrade the firmware running on your device if a new firmware version is made available on the Terabee website. ​ T he current firmware version on your TeraRanger Evo can be found by selecting ​ H elp > About ​ in the graphical user interface​ .
  • Page 11: Uart Backboard Use

      ​ 4 .1​   UART interface  The TeraRanger Evo 64px can be controlled through UART interface. It uses a single 9 pin Hirose DF13 connector for interfacing to the host system. The mating connector is a Hirose DF13-9S-1.25C with crimping contacts DF13-2630SCF (tin) or DF13-2630SCFA (gold).
  • Page 12: Backboard Leds

    * Values recorded while reading a target at 2m distance. NB: this value depends on ambient conditions, distance and target reflectivity Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 12/22...
  • Page 13: Communication

    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.
  • Page 14: Uart / Usb Output Format

    NB: ​ E ach command MUST be transmitted in a continuous stream ie. not byte by byte. The TeraRanger Evo 64px will reply to the above commands with a four byte response. The third byte of the response will contain either an ACK (0x00) or a NACK (0xFF) to indicate if the sensor has acknowledged or not acknowledged the command.
  • Page 15 Please reference ​ A ppendix section​ for instructions on the following topics: ● CRC validation ● reading data from Evo 64px sensor (includes sample code in python). Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 15/22...
  • Page 16 Depending on the selected printout mode, Ambient data might or might not be output by the sensor (refer to section 5.3, Commands) Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 16/22...
  • Page 17: Compliance

    *End State Pixel [x][y]   ​ 6 ​   Compliance   Eye safety Yes; compliant with IEC Currently pending 62471:2006 Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 17/22...
  • Page 18: Appendix

    ) << ​ 0 x0F​ crc_value |= (ord(frame[index + ​ 6 ​ ] ) & ​ ) << ​ 0 x0F​ Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 18/22...
  • Page 19: Sample Code

    CRC checksum. The python file of this sample code is available for download under “​ D ownload​ ” section of the TeraRanger Evo 64px product page. #!/usr/bin/python # -*- coding: utf-8 -*- numpy ​...
  • Page 20 0 x0F​ crc_value = crc_value & ​ 0 xFFFFFFFF crc32 = self.crc32(frame[:index]) if​ crc32 == crc_value: ​ return​ T rue else​ Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 20/22...
  • Page 21 ( self): self.port.flushInput() self.start_sensor() depth_array = [] depth_array ​ ​ ​ while​ i s​ n ot​ N one​ depth_array = self.get_depth_array() Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 21/22...
  • Page 22 __name__ == ​ if​ ' __main__'​ evo_64px = Evo_64px() evo_64px.run() Copyright ​ © ​ T erabee 2018 Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) 22/22...

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