Product Specifications

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Copyright©Terabee2016
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Note: measurements beyond 4.5m in fast mode and text output might be           
unreliable; the use of “Precise” or “Optimal” modes, depending on the          
environment,isadvisedforthesemeasurementranges
B
Binary
output
Dataoutput(4bytesmessage):
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TXXCRC8
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 Header:T(84decimal/0x54hex)
 Distancereadinginmillimeters**(2bytes):XX
 Checksum(1byte)ofprevious3bytes:CRC8
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**The TeraRanger One will output T00CRC (both distance bytes set to          
zero)asanerrormessageinthefollowingsituations:
 Itisunabletomeasureadistance
 Thetargetdistanceisbelow20cmorbeyond14m
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Validoutputsarefrom200decimalto14,000decimal.
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Please note that the default modes when shipped are “Precise” with “Binary” output for             
sensor type A and “Optimal” with “Binary” output for sensor type B. The modes you select               
arekeptinvolatilememorybythesensorandhavetobesetaftereachpowercycle.
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5.2 I2C interface
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An alternative way to read out the TeraRanger One is via its TWI bus (also known as I2C).                 
Please refer to chapter 1.4 for the the electrical connections to be made for using TWI. The                
signal levels are 5V, the maximum bus speed is 400kHz and the pullup resistors (10kOhms)              
are already integrated in the TeraRanger One. If you want to connect to an I2C bus with                
3.3V voltage levels, you need to use a voltage level translator. An I2C adapter for reliable               
voltageleveltranslation is available from our website at:      
http://www.teraranger.com/product/terarangeri2cadapter/.
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I2Ccommandsandoutputformat
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TheTeraRangerOnecomesbydefaultwithI2Cbaseaddress(7bit)0x30andistherefore
readytobedirectlyconnectedtothePixhawkautopilotviatheTeraRangerI2Cadapter
withoutanyusermodificationsbeingnecessary.
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LikeinUARTmode,theTeraRangerOneisfreerunning,thatmeansitwillrestartanew
measurementassoonasthelastoneisfinished.ThedatayoureadviaI2Cisalways
updatedattheendofameasurement,butyoucanreadatanytime.
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 90 Rue Henri Fabre Website:
01630 St. Genis‐Pouilly Technical support:
France (next to CERN) Commercial:
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www.teraranger.com
[e-mail]
[e-mail]
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