Driver for the Terabee TeraRanger Hub. This library is compatible with Arduino and CMake build systems.
Range from up to 8 sensors can be sampled over UART.
Use the Arduino Library Manager to install this library or clone to your Arduino/libraries folder. This library is added as:
#include "terabee.h"An example Arduino executable is located in: examples/arduino/terabee_example/terabee_example.ino. Teensy 3.x, 4.x, and LC devices are used for testing under Arduino and this library should be compatible with other Arduino devices.
CMake is used to build this library, which is exported as a library target called teragee. The header is added as:
#include "terabee.h"The library can be also be compiled stand-alone using the CMake idiom of creating a build directory and then, from within that directory issuing:
cmake .. -DMCU=MK66FX1M0
make
This will build the library and an example executable called terabee_example. The example executable source file is located at examples/cmake/terabee_example.cc. Notice that the cmake command includes a define specifying the microcontroller the code is being compiled for. This is required to correctly configure the code, CPU frequency, and compile/linker options. The available MCUs are:
- MK20DX128
- MK20DX256
- MK64FX512
- MK66FX1M0
- MKL26Z64
- IMXRT1062_T40
- IMXRT1062_T41
- IMXRT1062_MMOD
These are known to work with the same packages used in Teensy products. Also switching packages is known to work well, as long as it's only a package change.
Each target also has a _hex, for creating the hex file to upload to the microcontroller, and an _upload for using the Teensy CLI Uploader to flash the Teensy. Instructions for setting up your build environment can be found in our build-tools repo.
This library is within the namespace bfs.
Below is a quick example of setting up and polling the sensor data on Serial1 using Arduino notation.
#include "terabee.h"
bfs::Terabee range(&Serial1);
bfs::Terabee::RangeData data;
void setup() {
Serial.begin(115200);
while (!Serial) {}
if (!range.Begin()) {
Serial.println("Error initializing and configuring sensor");
while (1) {}
}
}
void loop() {
if (range.Read(&data)) {
for (int8_t i = 0; i < data.MAX_CH; i++) {
Serial.print("Sensor: ");
Serial.print(i);
Serial.print("\tNew Data: ");
Serial.print(data.sensor[i].updated);
Serial.print("\tRange (m): ");
Serial.println(data.sensor[i].range_m);
}
}
}This struct defines the range data returned from the Terabee object. The struct is defined as:
struct SensorData {
bool updated;
float range_m;
};
struct RangeData {
static constexpr int8_t MAX_CH = 8;
SensorData sensor[MAX_CH];
};RangeData is a struct consisting of an array of SensorData objects. Each SensorData object gives feedback about whether that sensor was updated and the measured range, in meters.
Terabee() Default constructor, requires calling the Config method to setup the serial port before Begin
Terabee(HardwareSerial *bus) Constructor, which takes a pointer to the serial port that the Terabee is connected to.
void Config(HardwareSerial *bus) Required to setup the serial port when using the default constructor.
void op_mode(const OpMode mode) Sets the operating mode. Available options are:
| Enum | Description |
|---|---|
| OP_MODE_TOWER (default) | Tower operating mode |
| OP_MODE_SEQ | Sequential operating mode |
| OP_MODE_SIMULTANEOUS | Simultaneous operating mode |
Please reference the manual for a detailed description of the operating mode.
OpMode op_mode() Returns the operating mode.
void output_rate(const OutputRate rate) Sets the output rate. Available options are:
| Enum | Description |
|---|---|
| OUTPUT_RATE_ASAP (default) | Outputs data as soon as a measurement from each sensor is available |
| OUTPUT_RATE_50HZ | OOutputs data at a rate of 50 Hz, regardless of whether each sensor is available |
| OUTPUT_RATE_100HZ | Outputs data at a rate of 100 Hz, regardless of whether each sensor is available |
| OUTPUT_RATE_250HZ | Outputs data at a rate of 250 Hz, regardless of whether each sensor is available |
| OUTPUT_RATE_500HZ | Outputs data at a rate of 500 Hz, regardless of whether each sensor is available |
| OUTPUT_RATE_600HZ | Outputs data at a rate of 600 Hz, regardless of whether each sensor is available |
Please reference the manual for a detailed description of output rates.
OutputRate output_rate() Returns the output rate.
bool Begin() The Begin method should be called after the serial port, operating mode, and output rate are set. Establishes communication with the sensor and returns true on successfully configuring it.
bool Read(RangeData * const data) Returns true when new data is received. Should be passed a pointer to a RangeData object, which will be populated with the received sensor data.