TeraBee TeraRanger Evo Manuale utente

 
 
 
 
 
 
User Manual for

TeraRanger Hub Evo
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

 
Hardware revision 1.0
Firmware revision 1.1.1
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
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
Technical support: [email protected] 
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: [email protected] 

 
 
 
Table of contents:

1 Introduction 3 
2 Mechanical Integration 3 
2.1 Mechanical Design 3 
2.1 Compatibility with TeraRanger Evo sensors 4 
2.2 Handling during system assembly 6 
2.3 Electrical characteristics 10 
2.4 Additional interface for custom requirements 10 
3 USB interface 11 
3.1 Graphical User Interface 11 
3.1.1 Basic Operation 11 
3.1.1 Firmware Upgrade 12 
3.2 Connecting the TeraRanger Hub Evo to a Host Computer 13 
3.2.1 Prerequisites 13 
3.2.2 Terminal Emulation Software 13 
3.3 LEDs 15 
4 UART interface 16 
4.1 Pinout information 16 
4.2 UART protocol information 17 
4.3 Interface for visual signalization 18 
5 Communication and Modes 20 
5.1 Enable / Disable Hub Evo communication 21 
5.2 Printout modes 21 
5.2.1 Commands 21 
5.2.2 Output format 22 
5.3 Operating modes 23 
5.3.1 Commands 23 
5.4 Output-rate rate modes 23 
5.4.1 Commands 24 
5.5 Visual signalization 24 
5.6 Internal Measurement Unit (IMU) options 25 
5.6.1 Euler mode 25 
5.6.2 Quaternion mode 26 
5.6.3 Quaternions and linear acceleration 26 
5.6.4 Commands 27 
5.6.5 Output format 27 
5.7 Command validation 30 
.
 
  Terabee Website:
  90 Rue Henri Fabre Technical support:
  01630, Saint-Genis-Pouilly Commercial:
 
 
www.teraranger.com
[email protected]
[email protected]

 
2/31 

1Introduction

The purpose of this document is to give guidelines for use and integration of the TeraRanger

Hub Evo board using a USB or UART communication interface. For streaming distance data

via UART, please see instructions on how to use the UART board in section 2.2. Instructions

on how to use Hub’s onboard Internal Measurement Unit (IMU) are available in section 5.6.

2Mechanical Integration

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.

.

Terabee Website:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]

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3/31

Figure 2. UART board external dimensions

2.1 Compatibility with TeraRanger Evo sensors

TeraRanger Evo is compatible with the following TeraRanger Evo sensors:

● Evo 60m

● Evo 3m

● Evo 600Hz

Up to 8 TeraRanger Evo distance sensors (of one type) can be connected to the Hub Evo

board for multi-axis, multi-sensor ranging operations. 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:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]



4/31

Figure 3. TeraRanger Evo Hub backboard

Please note that the Hub backboard is 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:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]



5/31

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.

Figure 5. Open, Insert, Close (sensor)

Note that each of the FFC connectors need to be manually opened and then closed when

connecting the Flex Cables as shown in Figure 5. For easier opening you can gently pull the

small locking ‘tabs’ on the sides of the connector before pulling the locking mechanism

down. You may find this easier with tweezers. The locking mechanism has to be pulled out

only a millimeter or less, not entirely! Note that, too much force can damage the sensors’

connector. Also, double check that the Flex Cable is plugged in straight so as to avoid a

potential short-circuit (Figure 6).

Figure 6. Left image - correct Right image - incorrect

When connecting the Flex Cable, make sure that the side with conductive tracks is facing

the sensor’s backboard (yellow part) as shown in Figure 7. Connecting the wrong side of the

.

Terabee Website:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



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6/31

cable can damage electronics on the hub and the sensor. Once the cable is positioned

inside the connector, close the connector by smoothly pushing the locking mechanism in.

Figure 7. Left image - correct Right image - incorrect

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).

.

Terabee Website:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]

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7/31

Figure 9. TeraRanger Hub Evo with 8 sensors connected

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.

Step 4. Connecting UART board to Hub Evo (optional)

To stream distance data from Hub Evo via UART, please follow these instructions.

Connect the UART board to Hub Evo’s FCI Bergstak 30 pin connector. Please make sure

you connect the UART board only after all sensors are connected to Hub Evo, as the UART

board allows very limited access to FFC connectors 1, 4, 5, 8 on Hub Evo (circled in red).

See Figure 10 for visual instructions.

Figure 10. Connecting the UART board to Hub Evo

.

Terabee Website:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]

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8/31

Two spacers are provided in the package to ensure a more robust connection (Figure 11).

Place these between the Hub Evo and UART board covering the mounting holes. Please

note that you will need M3 screws (not provided) to enable mounting.

Figure 11. Mounting Hub Evo

Last but not least, connect the UART to open-ended cable to the DF13 6 pin connector

located on 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:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]

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9/31

● TeraRanger Evo sensors and the UART boards should not be connected or

disconnected from the 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.

● During assembly and integration, please observe all common ESD precautions

2.3 Electrical characteristics 



DC electrical characteristics

TeraRanger Hub Evo is powered by an external power source, and can not be directly

make the TeraRanger Hub Evo work properly.

Parameter

Minimum

Typical

Maximum

Power supply

Voltage input (V)

Current consumption (mA @ 12V)

1100*

*Maximum current consumption with eight TeraRanger Evo connected and looking at long-range

targets or infinity in simultaneous mode. Drops significantly in sequential mode and varies with target

reflectivity and distance.

2.4 Additional interface for custom

requirements

An extension connector (FCI Bergstak 30 pin

connector) is available on the TeraRanger Hub Evo,

located in the center of the board. This connector

allows you to increase the number of communication

interfaces, power supplies and GPIOs, and provides the

possibility to modify functionality and performance of

Hub Evo. Please note that this additional interface is

used by the UAR board, hence custom communication

interfaces can be added only when the UART board is

not used.

Please contact Terabee at [email protected] for more information on additional

communication interface development.

.

Terabee Website:

90 Rue Henri Fabre Technical support:

01630, Saint-Genis-Pouilly Commercial:



www.teraranger.com

[email protected]



10/31

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