Product Specifications


Copyright©Terabee2016

Initsdefaultstate,theTeraRangerOnecanbeconnectedtothePixhawkautopilotusingthe
TeraRangerI2Cadapter.Currently,Ardupilotfirmwarefrom3.3.3supportstheTeraRanger
Oneasaprecisionaltimeter.YoucanfinddetailsonhowtoconnecttheTeraRangerOneto
yourPixhawkonhttp://ardupilot.org/copter/docs/commonterarangeronerangefinder.html.
Important:WhenthePixhawkboots,theTeraRangerOneneedstoalreadybepoweredon,
oratleastbepoweredonatthesametimeasthePixhawk.IfyoupowertheTeraRanger
OneafterthePixhawkhasbooted,itwillnotberecognised!

7 How to calculate the CRC8 checksum

AlldatatelegramsinUARTbinaryandI2CoutputareendingwithaCRC8checksumofthe
previousbytesincludingtheheaderbyte‘T’.Pleasefindbelowanexamplefunctionyoucan
usetocalculatethischecksumfromthereceivedbyteswhichyoucanthencomparetothe
receivedchecksumtofigureoutiftransmissionerrorsoccurred.

uint8_tcrc8(uint8_t*p,uint8_tlen){ 
//pisabufferoftypeuint8_tandoflengthlen
uint16_ti;
uint16_tcrc=0x0;
while(len){
i=(crc^*p++)&0xFF;
crc=(crc_table[i]^(crc<<8))&0xFF;
}
returncrc&0xFF;
}

staticconstuint8_tcrc_table[]={ 
//ThistableisusedbytheCRC8calculationfunction
0x00,0x07,0x0e,0x09,0x1c,0x1b,0x12,0x15,0x38,0x3f,0x36,0x31,
0x24,0x23,0x2a,0x2d,0x70,0x77,0x7e,0x79,0x6c,0x6b,0x62,0x65,
0x48,0x4f,0x46,0x41,0x54,0x53,0x5a,0x5d,0xe0,0xe7,0xee,0xe9,
0xfc,0xfb,0xf2,0xf5,0xd8,0xdf,0xd6,0xd1,0xc4,0xc3,0xca,0xcd,
0x90,0x97,0x9e,0x99,0x8c,0x8b,0x82,0x85,0xa8,0xaf,0xa6,0xa1,
0xb4,0xb3,0xba,0xbd,0xc7,0xc0,0xc9,0xce,0xdb,0xdc,0xd5,0xd2,
0xff,0xf8,0xf1,0xf6,0xe3,0xe4,0xed,0xea,0xb7,0xb0,0xb9,0xbe,
0xab,0xac,0xa5,0xa2,0x8f,0x88,0x81,0x86,0x93,0x94,0x9d,0x9a,
0x27,0x20,0x29,0x2e,0x3b,0x3c,0x35,0x32,0x1f,0x18,0x11,0x16,
0x03,0x04,0x0d,0x0a,0x57,0x50,0x59,0x5e,0x4b,0x4c,0x45,0x42,
0x6f,0x68,0x61,0x66,0x73,0x74,0x7d,0x7a,0x89,0x8e,0x87,0x80,
0x95,0x92,0x9b,0x9c,0xb1,0xb6,0xbf,0xb8,0xad,0xaa,0xa3,0xa4,
0xf9,0xfe,0xf7,0xf0,0xe5,0xe2,0xeb,0xec,0xc1,0xc6,0xcf,0xc8,
0xdd,0xda,0xd3,0xd4,0x69,0x6e,0x67,0x60,0x75,0x72,0x7b,0x7c,
0x51,0x56,0x5f,0x58,0x4d,0x4a,0x43,0x44,0x19,0x1e,0x17,0x10,
0x05,0x02,0x0b,0x0c,0x21,0x26,0x2f,0x28,0x3d,0x3a,0x33,0x34,

 90 Rue Henri Fabre Website:
01630 St. Genis‐Pouilly Technical support:
France (next to CERN) Commercial:


www.teraranger.com
[e-mail]
[e-mail]
15