TeraBee TeraRanger Evo User manual

User Manual for
TeraRanger Hub Evo
Technical support: terabee.com/support/
Sales and commercial support: [email protected]

Table of contents
1. Introduction 3
2. Mechanical integration 3
2.1. Mechanical design 3
2.2. Compatibility with TeraRanger Evo sensors 4
2.3. Handling during system assembly 6
2.4. Electrical characteristics 10
2.5. Additional interface for custom requirements 10
3. USB interface 11
3.1. Graphical User Interface 11
3.1.1. Basic operation 11
3.1.2. 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 17
5. Communication and modes 19
5.1. Enable / Disable Hub Evo communication 20
5.2. Printout modes 20
5.2.1. Commands 20
5.2.2. Output format 21
5.3. Operating modes 22
5.3.1. Commands 22
5.4. Output-rate rate modes 22
5.4.1. Commands 23
5.5. Visual signalization 23
5.6. Internal Measurement Unit (IMU) options 24
5.6.1. Euler mode 24
5.6.2. Quaternion mode 25
5.6.3. Quaternions and linear acceleration 25
5.6.4. Commands 26
5.6.5. Output format 26
5.7. Command validation 28
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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 45.5 mm. Figure 2 illustrates external dimensions of the UART board.
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Figure 2. UART board external dimensions
2.2. Compatibility with TeraRanger Evo sensors
TeraRanger Evo Hub is compatible with the following TeraRanger Evo sensors:
●Evo 3m, 15m, 40m, 60m
●Evo Mini
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.
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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
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2.3. 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 Flat 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 Flat 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 Flat 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 cable can damage electronics on the hub and the sensor. Once the cable is
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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).
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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 sections 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
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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:
●TeraRanger Evo sensors and the UART boards should not be connected or
disconnected from the TeraRanger Hub Evo while it is powered
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●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
2.4. Electrical characteristics
DC electrical characteristics
TeraRanger Hub Evo is powered by an external power source, and can not be directly
powered by USB. The following table describes the amount of current and voltage
needed to make the TeraRanger Hub Evo work properly.
Parameter
Minimum
Typical
Maximum
Power supply
Voltage input (V)
Current consumption (mA @ 12V)
12
11
-
-
24
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.
2.5. 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.
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