Data Sheet

Evo 3m

4.75 V

70 mA

5.25 V

250 mA

Interface logic

levels

(referenced to

+3V3)

LOW

HIGH

2.3

* Value recorded while reading a target at 2m distance. NB: this value depends on ambient

conditions, distance and target reflectivity

4.3I2C protocol information

The communication parameters are:

Frequency: 400kHz

Primary Address Length: 7-bit

Primary Slave Address: 0x31

Built-in pull-up resistors: 10 kOhms on SDA and SCL (avoid additional pull-up

resistors on the same bus to prevent transmission problems)

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

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