TeraBee TeraRanger Hub Evo User Manual
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Summary of Contents for TeraBee TeraRanger Hub Evo
- Page 1 User Manual for TeraRanger Hub Evo Hardware revision 1.0 Firmware revision 1.1.1 Technical support: s upport@teraranger.com S a l e s a n d c o m m e r c i a l s u p p o r t : ...
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Page 2: Table Of Contents
2.4 Additional interface for custom requirements 3 USB interface 3.1 Graphical User Interface 3.1.1 Basic Operation 3 .1.1 Firmware Upgrade 3.2 Connecting the TeraRanger Hub Evo to a Host Computer 3 .2.1 Prerequisites 3.2.2 Terminal Emulation Software 3.3 LEDs 4 UART interface 4.1 Pinout information... -
Page 3: Introduction
2 .1 Mechanical Design Figure 1. TeraRanger Hub Evo external dimensions TeraRanger Hub Evo external dimensions are illustrated in Figure 1. The board provides two mounting holes, both designed for M3 screws. The straight distance between mounting holes is 45.5mm. Figure 2 illustrates external dimensions of the UART board. -
Page 4: Compatibility With Teraranger Evo Sensors
TeraRanger Evo sensors use a two-part construction where the black colored optical sensor module simply clips to the yellow colored backboard for power management and communication. . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: ... - Page 5 Please note that the H ub backboard i s required for connecting Evo sensors to the Hub Evo board (see Figure 3). External dimensions of the Hub backboard are illustrated in Figure 4: Figure 4. Hub backboard external dimensions . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com ...
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Page 6: Handling During System Assembly
2.2 Handling during system assembly Please follow these simple steps showing how to connect 8 TeraRanger Evo sensors to the TeraRanger Hub Evo. Step 1. Connecting the cable to the sensor Start by plugging the flat flex cables (FFC) to the sensor’s FFC connector. - Page 7 Step 2. Connecting the sensor to the Hub Evo Follow the instructions above to connect the cables’ other end to the FFC connector on TeraRanger Hub Evo board. Figure 8. Open, Insert, Close (hub) Step 3. Connecting all Evo sensors to the Hub Evo Continue connecting the rest of the Evo sensors to the central Hub board (Figure 9).
- Page 8 Once fully assembled, the TeraRanger Hub Evo is ready for testing on your computer. Use the micro USB cable (provided in the package) to connect the TeraRanger Hub Evo with a host computer. Instructions on how to connect the system to a host computer or use a Graphical User Interface are available in section 3.1 and 3.2.
- Page 9 UART board and the other cable end to the host of your choice. Figure 12. Connecting the UART cable NB. Wiring instructions for Pixhawk autopilots are available here: https://www.terabee.com/evo-connection-to-pixhawk-autopilots-teraranger-tower-evo/ The following aspects should also be taken into consideration when handling the TeraRanger Hub Evo: . Terabee Website: www.teraranger.com ...
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Page 10: Electrical Characteristics
TeraRanger Hub Evo while it is powered ● Do not mount the TeraRanger Hub Evo onto hot surfaces or near other sources of heat ● Take all usual precautions for sensitive electronics such as maintaining a suitable distance from strong electric and magnetic fields, strong radio emitters, etc. -
Page 11: Usb Interface
3.1.1 Basic Operation Make sure TeraRanger Hub Evo is connected to a USB port on your computer and to a suitable power supply. Select File > Connect. You should immediately see distance readings of TeraRanger Evo sensors displayed on the main chart. -
Page 12: Firmware Upgrade
3 .1.1 Firmware Upgrade The current firmware version on your TeraRanger Hub Evo can be found by selecting H elp > About in the GUI. It is possible to upgrade the firmware running on your device if a new firmware version is made available by Terabee. -
Page 13: Connecting The Teraranger Hub Evo To A Host Computer
3.2 Connecting the TeraRanger Hub Evo to a Host Computer The TeraRanger Hub Evo can be easily connected to a Host Computer via the micro USB cable provided in the package. The TeraRanger Hub Evo can interact as a virtual COM port, and data can be streamed directly to terminal emulation software (Terabee advises to use HTerm for Windows and CoolTerm for MacOS). - Page 14 Figure 14 shows an example of the command which allows data to be shown in TEXT mode. All commands are detailed in section 5. In MacOS, Terabee advises the use of Coolterm for terminal emulation software. . ...
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Page 15: Leds
3.3 LEDs In total, four LEDs are mounted on TeraRanger Hub Evo to give visual feedback on the sensor performance. Table below lists the functionality of each LED: LED color Description Hub Visual continuously whenever (orange) connected to a power supply... -
Page 16: Uart Interface
Designator Description Not Connected Rx(in) UART receive input. 3.3V logic Tx(out) UART transmit output. 3.3V logic Not Connected Not Connected Interface ground . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com 16/31... -
Page 17: Uart Protocol Information
Figure 17. Pinout layout for UART 4 .2 UART protocol information The UART communication for the TeraRanger Hub Evo uses a simple Modbus-like protocol. The communication parameters are: Baud Rate : 921600 baud Data Bits : 8 Stop Bit(s) : 1 Parity... -
Page 18: Interface For Visual Signalization
LED signalization is not based on the closest sensor to an obstacle. However, this will only affect the LED signalization and not the distance sensing capability. . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: ... - Page 19 Control data output to drive four WS2812B LEDs Power supply and interface ground Figure 18. W S2812B serial communication, p inout layout . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com ...
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Page 20: Communication And Modes
Update rate modes IMU modes Figure 19 illustrates the logic of available parameters on Hub Evo. Please note all commands to be sent via terminal emulation software are in hexadecimal format. Figure 19. TeraRanger Hub Evo modes . Terabee Website: ... -
Page 21: Enable / Disable Hub Evo Communication
Mode name Hex Command Modify printout TEXT 00 11 01 45 mode BINARY (default) 00 11 02 4C . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com 21/31... -
Page 22: Output Format
Carriage return character: \r ( 13 decimal / 0x0D hex) New line character: \n (10 decimal / 0x0A hex) **if a sensor is not connected or the TeraRanger Hub Evo is unable to obtain the distance measurement from the TeraRanger Evo sensor, the associated distance value is replaced by the hexadecimal value “-1”. -
Page 23: Operating Modes
Hex Command Modify operating Simultaneous mode 00 31 01 EB modes Sequential mode (default) 00 31 02 E2 Tower mode 00 31 03 E5 . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com ... -
Page 24: Output-Rate Rate Modes
The Hub Evo is shipped with default pre-programed thresholds, but you can set your own by using the command below: Action Type Hex Command Set visual signalization 00 53 01 UU LL CRC8 threshold . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com ... -
Page 25: Internal Measurement Unit (Imu) Options
Magnetic fields and vibration can disrupt IMU calibration. In order to force a self-calibration of the IMU, move the TeraRanger Hub Evo in ways that use the full range of each axis. Here is a non-exhaustive list of motions that help with calibration: For magnetometer and gyroscope: (1) draw a figure of eight into the air, (2) make a full turn in the two directions of each axis (6 rotations in total). -
Page 26: Quaternion Mode
Quaternions and linear acceleration mode displays the same coefficient as the quaternion mode, however it also gives the linear acceleration of the IMU in milli-g. Please refer to figure 20. . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: ... - Page 27 Note: To convert those values to m.s-2 the conversion factor is 0 .00980665 It is important to know that there might be a constant offset (this can be visualized when the TeraRanger Hub Evo is not moving) on the acceleration values, that can be corrected by calibrating the IMU (see section 5.6).
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Page 28: Commands
Orientation data in quaternion format (2 bytes per coordinate), each two bytes represent a signed 16 bit value. You need to divide those four values by 2^14. Checksum (1 byte) of previous 11 bytes: CRC8 . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: ... - Page 29 Linear acceleration (2 bytes per axis), each two bytes represent a signed 16 bit value. Those value are expressed in mg. Checksum (1 byte) of previous 17 bytes: CRC8 . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com ...
- Page 30 2^14. Linear acceleration. Those value are expressed in mg. Carriage return character: \r ( 13 decimal / 0x0D hex) New line character: \n (10 decimal / 0x0A hex) . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: ...
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Page 31: Command Validation
30 03 00 DE Modify update rate 30 05 00 A0 Modify IMU mode 30 04 00 B5 Modify LED threshold 30 05 00 A0 . Terabee Website: www.teraranger.com 90 Rue Henri Fabre Technical support: support@teraranger.com 01630, Saint-Genis-Pouilly Commercial: teraranger@terabee.com ...
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