User Manual
**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
4.3.1I2C commands
Copyright © Terabee 2021
Terabee, 90 Rue Henri Fabre
01630, St Genis-Pouilly, France (next to CERN)
12/17
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
0xA2
CHANGE_BASE_ADDR
[1]
Write this value followed by the new
address to set
[2]
, eg. send 0x42 if you
want the Evo’s base address to change
to 0x42, ignore Read/Write bits.