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.
additional communication interface development.
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3. USB interface
3.1. Graphical User Interface
A free graphical user interface is available for Windows, providing an easy way to
visualize the data from all the TeraRanger Evo sensors connected to the TeraRanger
Hub Evo. This is useful for demonstration, testing purposes and checking some of the
basic parameters of the sensors. It also provides a way to easily upgrade the firmware
running on the device, should it be required.
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.
Figure 15. Graphical User Interface
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#
Display
Description
1
Measurement
Provides up to 8 distance values in millimeters. Sensors are
numbered as on the Hub Evo board. Example: TR Evo 3 will
stream distance data connected to connector Nr 3 on Hub
Evo.
In case “-1” value is received, no sensor is connected or not
able to measure.
In case “+Inf” is received, the measurement is out of range.
In case “-Inf” is received, the measurement is below minimum
range.
2
Zoom
Modify scale of the main chart (#2) by just dragging the cursor
to the left or right. The zoom range is [2.00m ; 60.0m]
3
Main chart
Provides real-time preview of distance measurements
streamed from connected Evo sensors. The distance reading
is visually represented on the chart by a small segment.
4
Measurement
mode
Switch between Sequential and Simultaneous mode. Please
use the Tower mode only when operating the TeraRanger
Tower Evo.
5
Update rate
Select between six options of sensor measurement update
rates from a drop-down menu. Choose between Fixed (F)
50Hz, F 100Hz, F 250Hz, F 500Hz, F 600Hz or ASAP (As Soon As
Possible).
6
IMU
Enable or disable the option for Inertial Measurement Unit
readings. Three IMU modes are available for preview:
Euler mode, Quaternion mode, Quaternion and Linear
Acceleration mode.
7
LED
thresholds
Adjust between three levels of visual signalization provided to
discriminate three different ranges. LED signalization feature
available only through the use of UART board (optional
accessory).
3.1.2. Firmware Upgrade
The current firmware version on your TeraRanger Hub Evo can be found by selecting
Help > 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.
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Please note the Upgrade Firmware feature is only supported on Windows 7, 8 and 10.
Please follow carefully the steps outlined below to avoid permanently disabling your
device.
●Select File > Upgrade Firmware
●You will be presented with a dialog window asking you to confirm your choice
Beyond this point, if you press ‘Yes’ it will not be possible to revert to the
firmware currently running on your TeraRanger Hub Evo! Press ‘No’ to cancel
and keep the current firmware or ‘Yes’ to continue
●Read the instructions in the dialog window that opens
●Press ‘Select FW’ and select the new firmware file with Windows File Explorer
●Press ‘Upgrade’ and wait until the operation finishes
●Close the Upgrade dialog window
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 using HTerm for Windows and CoolTerm for MacOS).
3.2.1. Prerequisites
For usage on Windows (7, 8) operating system, please download the Virtual COM Port
driver from http://www.st.com/en/development-tools/stsw-stm32102.html and follow
the ”ReadMe file” instructions given by the installer . After successful installation,
unplug the interface for a few seconds, and plug it back in. The virtual COM port should
now be available on your PC. Users of Windows 10 do not need to download this driver
as the built in Windows driver is recommended.
3.2.2. Terminal Emulation Software
In Windows you can also use any terminal emulation software of your choosing,
however we suggest you use HTerm (http://www.der-hammer.info/terminal/). Extract
the downloaded zip file to the folder of your choice, open it and double click on the
“HTerm.exe” document.
Connect the TeraRanger Hub Evo to your computer and select the corresponding USB
port (click “R” button to refresh the port list). Select values for the following fields:
●Baud rate: 115200;
●Data Bits: 8;
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●Parity: None;
●Stop Bits: 1.
For easier readings, select the “LF” option for “Newline at” tab. See Figure 13 for visual
instructions.
Figure 13. H-Term parameters
Once you have selected the USB port and required values, click on the “Connect” button.
Figure 14. Communication with H-Term
To communicate with the Hub Evo via the terminal emulation software, you need to
send a command in hexadecimal via the “Type” box. For this, select the “HEX” Type as
illustrated in the figure above. 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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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
PWR
(orange)
LED continuously on whenever
connected to a power supply
LED 0
(blue)
One blink for each TeraRanger Evo Hub
sensor detected by the Hub Evo.
Example: if 6 sensors are connected,
the blue LED will blink 6 times before
sending distance data.
LED 1
(green)
Continuous blinking indicates that
distance values are being sent
LED 2
(red)
Continuous blinking indicates an error
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4. UART interface
4.1. Pinout information
The Hub Evo can be controlled through UART interface. This is possible thanks to a
“UART board” a clip-on accessory included in the Hub Evo package. See Figure 16 for
visual instructions.
Figure 16. UART board connection to Hub Evo
The UART board uses a single 6 pin Hirose DF13 connector for interfacing to the host
system. The mating connector is a Hirose DF13-6S-1.25C with crimping contacts
DF13-2630SCF (tin) or DF13-2630SCFA (gold). Please consider the mechanical stability of
the mated connectors and avoid any kind of excess force on the connector (during
installation and once integrated) and follow the recommendations in the Hirose DF13
series datasheet (available here: https://www.hirose.com/product/en/products/DF13) to
ensure a reliable connection.
The table below provides an overview of the pinout for the DF13 connector:
Pin out and description (According to DF13 datasheet)
Pin
Designator
Description
1
NC
Not Connected
2
Rx(in)
UART receive input. 3.3V logic
3
Tx(out)
UART transmit output. 3.3V logic
4
NC
Not Connected
5
NC
Not Connected
6
GND
Interface ground
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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: None
HW Flow Control: None
4.3. Interface for visual signalization
UART board provides an interface to control an intelligent LED light source compatible
with WS2812B serial communication protocol. It allows you to drive up to four RGB LEDs
through a single wire provided that the LEDs sink current is kept within the power
budget indicated in the manual (see Section 2.4.).
Three levels of signalization are provided to discriminate three different ranges (set with
a default value during manufacturing) as shown in the table below:
Detection
Distance
Color
No obstacle in range
Out of range
None
Obstacle detected in the range
> 4 m
Green
Obstacle detected in the range
2 m to 4 m
Orange
Close obstacle
0.5 to 2 m
Red
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New values can be programmed through the UART interface, offering the possibility of
customizing the LED triggering thresholds within the valid range of the Hub Evo. These
values can span from 0.5 m to 8 m in 0.1 m increments. The upper value of the
threshold range cannot be higher than the lower value of the adjacent threshold range.
Overlaps between threshold ranges are checked by the Hub Evo and, if found, the Hub
Evo responds with a ‘Nack’ (Not acknowledged) signal. Once the thresholds system is
operating, if all sensors are detecting “out of range”, then all LEDs will be off. Whenever
a threshold is reached by one of the sensors, the LEDs will switch to the appropriate
color and stay continuously ‘on’ until a different threshold is activated.
Important Note: The LED signalization feature only provides an indicative proximity
status based on the closest Evo sensor to an obstacle or hazard and is provided as a
useful aid rather than a guaranteed fail-safe solution. You use this feature at your
own risk.
Below 1 meter, some target surfaces (transparent or with low light reflectivity) can
potentially introduce false readings which could mean that the 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.
Pinout and description:
Pin
Designator
Description
1
5 V
+5 V supply output
2
RFU
Do not connect, reserved for future use
3
DOUT
Control data output to drive four WS2812B LEDs
4
GND
Power supply and interface ground
Figure 18. WS2812B serial communication, pinout layout
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5. Communication and modes
The current Hub Evo firmware provides four parameters for optimization of Hub Evo
performance. The following parameters can be configured:
1. Printout modes
2. Operating modes
3. Update rate modes
4. 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
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For each command sent to Hub Evo, a response is generated to inform the user
whether the command has been validated. Command responses consist of four bytes
and is a hexadecimal value. Please note that it is crucial to receive an answer to a
command, before communicating the next one. For more information on response
values, please reference section 5.7.
5.1. Enable / Disable Hub Evo communication
In order to enable communication with Hub Evo and send commands to modify system
performance, please make sure streaming is enabled.
5.1.1. Commands
Action Type
Mode name
Hex Command
Enable/disable
communication
Activate streaming
00 52 02 01 DF
Deactivate streaming
00 52 02 00 D8
5.2. Printout modes
The current Hub Evo firmware supports two display modes via terminal emulation
software: (1) Text and (2) Binary.
5.2.1. Commands
Action Type
Mode name
Hex Command
Modify printout
mode
TEXT
00 11 01 45
BINARY (default)
00 11 02 4C
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