User Manual
The default mode of TeraRanger Evo is Binary mode. For changing the output format to
Text mode, please use the following command in hexadecimal: 00 11 01 45. Accordingly,
to switch back to Binary mode use the hexadecimal command: 00 11 02 4C.
4.4.3UART output format
Two output formats are available:
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0x00
PRINTOUT MODE
0x11
BINARY
0x02
0x4C
Text
output
Data output in human readable form (5 to 7 bytes message):
xxxxx\n
- Distance reading in millimeters* (maximum 5 bytes per sensor):
xxxxx
- New line character: \n (10 decimal / 0x0A hex)
*please be aware that there is no zero-padding for leading zeros!
- If the TeraRanger Evo is unable to measure a distance, it will
output -1\n as an error message
- If the target is too close (below the minimum distance), the
TeraRanger Evo will output -Inf\n
- If the target is too far away (above the maximum distance), the
TeraRanger Evo will output +Inf\n
Binary
output
Data output (4 bytes message):
TXXCRC8
- Header (1 byte): T (84 decimal / 0x54 hex)
- Distance reading in millimeters** (2 bytes): XX
- Checksum (1 byte) of previous 3 bytes: CRC8
**The TeraRanger Evo will output T01CRC (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 T00CRC (both distance bytes set to
zero)