User Manual

The TeraRanger Evo is ‘free running’. This means that it will restart a new measurement as

soon as the last one is finished. The displayed data via I2C protocol is always updated at the

end of a measurement. Nevertheless, it can always be read at any time.

Reading the distance is done by first writing a Trigger Reading command to the sensor -

send 0x62 (this is the 7 bit address 0x31 followed by the write bit ‘0’) and then reading from

the sensor by sending 0x63 (the base address with the Read bit ‘1’) followed by three byte

read operations. The first two bytes you receive are a 16 bit word containing the latest

measurement in mm**, the third byte is the CRC8 checksum.

**The TeraRanger Evo will output 01CRC (first distance byte set to zero and the second to

one) as an error message if the sensor is unable to measure a distance. If the target is

too close (below the minimum distance), the TeraRanger Evo will output 00CRC (both

distance bytes set to zero). If the target is too far away (above the maximum distance), the

TeraRanger Evo will output XXCRC with XX = FFFFhex (both distance bytes set to 0xFF)

Writing commands to the TeraRanger Evo:

1. Send the address byte consisting of a 7 bit base address and the last bit indicating

write (‘0’), e.g. 0x62 for base address 0x31. All commands listed in the table below

are ‘write operations’. The answer will be in the next read operation for which you

have to send the 7 bit address with the read bit set

2. Send the desired command listed in the table below (see table below in the next

paragraph)

3. In case the command creates an answer, read it back immediately

Reading data from the TeraRanger Evo:

1. Send the address byte consisting of 7 bit base address and the last bit indicating

read (‘1’), e.g. 0x63 for base address 0x31

2. Read back the the number of bytes imposed by the command, e.g. three bytes for a

distance reading



4.3.1



I2C commands

Command

Name

Description

0x00

TRIGGER READING

Write this command to the TeraRanger

Evo and after a wait of approximately

500us read the 3 byte distance response

0x01

WHO_AM_I

Write this value to TeraRanger Evo via

I2C and the device responds with 0xA1

Terabee, 90 Rue Henri Fabre, 01630, St Genis-Pouilly, France

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