Data Sheet

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

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.

Wait at least 1 second for the

TeraRanger Evo to rejoin the I2C bus

with the new address.

1] This command assigns a base address that will be memorised by the TerRanger Evo ie. power cycling the Evo will not

restore the default I2C address.

[2] Valid addresses accepted by the TeraRanger Evo are in the range 0x02 to 0x7F. Assignment of addresses within a local

system is up to the system architect. For example, the I2C standard defines reserved addresses but if it is known that the

reserved address is never going to be used for its intended purpose, a reserved address can be used as the Evo I2C Base

Address.

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