SENSOR MAESTROS SFM2 Manuel utilisateur

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SFM2User Manual V1.0.0

SFM2Sensor Fusion Module User Manual

The SFM2 is the smallest form-factor and lowest

power wireless 9 DOF Sensor Fusion Module with

optional Pressure, Temperature and Humidty sensors.

The SFM2 offers both a Bluetooth Low Energy and a

USB/COM port interface. The SFM2 provides an

extremely flexible BLE and USB interfaces and allows

complete customization of sensor output streams and

sensor configurations. The SFM2 can easily be worn

using the Velcro strap ran through slot in the bottom

of the enclosure.

Shown with Black Enclosure. For other color options please inquire

Product Highlights1.0

40.9 x 33.3mm (1.61” x 1.31”) Form Factor

Wearable: Enclosure has slot for Velcro strap.

USB and BLE Interfaces: Connect 6+ SFM2’s running 208Hz Fusion ODR and Quaternion data with

newer iOS and Android Devices.

Field Updatable using ‘Over the Air’ update

9 DOF: 3-Axis Gyro, Accel, Mag

Optional Pressure, Temp, and Humidity

Up to 833Hz Sensor Fusion Operation. Multiple Streams can be enabled at same time.

Tared & Un-Tared Quaternion Output

Fusion Compass Heading and Tilt Output

Fusion Linear Acceleration Output

Fusion Euler Angle Output

Sensor Fusion Output via BLE or USB Interface

833, 417, 208, 104, 52, 26Hz ODR Rate Selections

Raw Sensor Output availability for all sensors.

USB(1Mbps) and BLE Interfaces(DLE and 2Mb PHY capability)

iOS and Android App for sensor and data output configuration.

USB/COM command set for sensor and data output configuration.

Python API Library to quickly and easily get application up and running

TARE function to zero orientation for quaternion output.

GLOBAL REFERENCE enable/disable command

TIMESTAMP sensor data with 25us resolution and user definable OFFSET for multiple sensor and

multiple SFM2 synchronization.

Rechargable Battery ( typical 250mAh)

~156hour battery life with Quaternion output @ 26Hz using BLE interface

~100hour battery life with Quaternion output @ 104Hz using BLE interface

~58hour battery life with Quaternion output @417Hz using BLE interface

Individual Control of BLE Output/Notification for every Sensor Output

Every Sensor Output has its own characteristic/Notification

Sensors and Sensor Fusion can be completely customized including Sensor Filters.

Custom OEM/Logo Enclosure available

Example Application Software

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SFM2User Manual V1.0.0

Table of Contents2.0

PRODUCT HIGHLIGHTS.............................................................................................................................................................................. 11.0

TABLE OF CONTENTS ................................................................................................................................................................................. 22.0

CUSTOM DEVELOPMENT AND OEM SOLUTIONS .............................................................................................................................. 53.0

FUTURE OPTIONS ........................................................................................................................................................................................ 54.0

SFM2 HARDWARE DESCRIPTION........................................................................................................................................................... 65.0

ACCEL/GYRO/SENSOR FUSION SPECIFICATIONS ............................................................................................................................. 76.0

MAGNETOMETER SPECIFICATIONS....................................................................................................................................................... 87.0

PRESSURE SENSOR SPECIFICATIONS.................................................................................................................................................... 98.0

RELATIVE HUMIDITY SENSOR SPECIFICATIONS .............................................................................................................................. 99.0

TEMPERATURE SENSOR SPECIFICATIONS.......................................................................................................................................... 910.0

LED OPERATION DESCRIPTION ............................................................................................................................................................1011.0

BLE OPERATION .........................................................................................................................................................................................1012.0

SFM2 FIRMWARE UPDATE .....................................................................................................................................................................1013.0

SENSOR FUSION ..........................................................................................................................................................................................1214.0

14.1 COORDINATE SYSTEM .................................................................................................................................................................... 13

14.2 TARE QUATERNION ....................................................................................................................................................................... 13

14.3 HEADTARE................................................................................................................................................................................... 13

14.4 GLOBAL REFERENCE ...................................................................................................................................................................... 14

USB COMMANDS .........................................................................................................................................................................................1415.0

15.1 COMMAND FORMAT: .................................................................................................................................................................... 14

15.2 SPECIAL CHARACTERS:.................................................................................................................................................................... 15

15.3 METAVARIABLES:.......................................................................................................................................................................... 15

15.4 DATA TYPES: ................................................................................................................................................................................ 15

15.5 SYSTEM COMMANDS: .................................................................................................................................................................... 15

15.5.1 Config? ............................................................................................................................................................................ 17

15.5.2 SRESET=<self_test-bool> ................................................................................................................................................. 15

15.5.3 GLOBREF=<enable-boolean>........................................................................................................................................... 16

15.6 SENSOR CONFIGURATION COMMANDS:............................................................................................................................................. 16

15.6.1 ASR=<sample_rate-int16>............................................................................................................................................... 16

15.6.2 AFR=<full_scale_range-int16> ........................................................................................................................................ 16

15.6.3 ADE=<enable-boolean> ................................................................................................................................................... 16

15.6.4 GSR=<sample_rate-int16>............................................................................................................................................... 16

15.6.5 GFR=<full_scale_range-int16> ........................................................................................................................................ 16

15.6.6 GDE=<enable-boolean>................................................................................................................................................... 16

15.6.7 MSR=<sample_rate-int16>.............................................................................................................................................. 16

15.6.8 MFR=<full_scale_range-int16> ....................................................................................................................................... 16

15.6.9 MDE=<enable-boolean>.................................................................................................................................................. 16

15.7 SENSOR FUSION COMMANDS:......................................................................................................................................................... 16

15.7.1 SFOR=<fusion_rate-int16> .............................................................................................................................................. 16

15.7.2 SFQDE=<enable-boolean> ............................................................................................................................................... 16

15.7.3 SFQTDE=<enable-boolean> ............................................................................................................................................. 16

15.7.4 SFCHTDE=<enable-boolean> ........................................................................................................................................... 16

15.7.5 SFLADE=<enable-boolean>.............................................................................................................................................. 16

15.7.6 SFEADE=<enable-boolean> ............................................................................................................................................. 16

15.7.7 SFTARE! ........................................................................................................................................................................... 16

15.7.8 SFTARE=<w>,<x>,<y>,<z> ................................................................................................................................................ 16

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SFM2User Manual V1.0.0

15.8 TIMESTAMP COMMANDS: .............................................................................................................................................................. 16

15.8.1 TIME! ............................................................................................................................................................................... 16

15.8.2 TIME=<uint32> ................................................................................................................................................................ 16

15.8.3 TOFFSET! ......................................................................................................................................................................... 17

15.8.4 TOFFSET=<int32>............................................................................................................................................................. 17

15.9 SYSTEM QUERIES: ......................................................................................................................................................................... 17

15.10 SENSOR QUERIES:..................................................................................................................................................................... 17

15.10.1 ASR?................................................................................................................................................................................. 17

15.10.2 AFR?................................................................................................................................................................................. 17

15.10.3 ADE? ................................................................................................................................................................................ 17

15.10.4 GSR? ................................................................................................................................................................................ 17

15.10.5 GFR? ................................................................................................................................................................................ 17

15.10.6 GDE? ................................................................................................................................................................................ 17

15.10.7 MSR? ............................................................................................................................................................................... 17

15.10.8 MFR? ............................................................................................................................................................................... 17

15.10.9 MDE? ............................................................................................................................................................................... 17

15.10.10 SSAT?........................................................................................................................................................................... 17

15.11 SENSOR FUSION QUERIES........................................................................................................................................................... 17

15.11.1SFOR? .............................................................................................................................................................................. 17

15.11.2 SFQDE? ............................................................................................................................................................................ 17

15.11.3 SQTDE? ............................................................................................................................................................................ 17

15.11.4 SFCHTDE? ........................................................................................................................................................................ 17

15.11.5 SFEADE?........................................................................................................................................................................... 17

15.11.6 SFLADE?........................................................................................................................................................................... 17

15.11.7 SFTARE?........................................................................................................................................................................... 17

15.12 RESPONSES:............................................................................................................................................................................. 18

15.12.1 SRESET=<self_test-bool> ................................................................................................................................................. 18

15.12.2 ASR=<sample_rate-int>................................................................................................................................................... 18

15.12.3 AFR=<full_scale_range-int> ............................................................................................................................................ 18

15.12.4 ADE=<enable-boolean> ................................................................................................................................................... 18

15.12.5 GSR=<sample_rate-int>................................................................................................................................................... 18

15.12.6 GFR=<full_scale_range-int> ............................................................................................................................................ 18

15.12.7 GDE=<enable-boolean>................................................................................................................................................... 18

15.12.8 MSR=<sample_rate-int>.................................................................................................................................................. 18

15.12.9 MFR=<full_scale_range-int> ........................................................................................................................................... 18

15.12.10 MDE=<enable-boolean> ............................................................................................................................................. 18

15.12.11 SSAT=<accel>,<gyro>,<mag> ...................................................................................................................................... 18

15.12.12 SFOR=<fusion_rate-int> .............................................................................................................................................. 18

15.12.13 SFQDE=<enable-boolean>........................................................................................................................................... 18

15.12.14 SFQTDE=<enable-boolean>......................................................................................................................................... 18

15.12.15 SFCHTDE=<enable-boolean>....................................................................................................................................... 18

15.12.16 SFEADE=<enable-boolean> ......................................................................................................................................... 18

15.12.17 SFLADE=<enable-boolean> ......................................................................................................................................... 18

15.12.18 SFTARE=<w>,<x>,<y>,<z>............................................................................................................................................ 18

15.13 DATA STREAM FORMAT:............................................................................................................................................................ 18

15.13.1 AD:<x-int>,<y-int>,<z-int> ............................................................................................................................................... 18

15.13.2 GD:<x-int>,<y-int>,<z-int> ............................................................................................................................................... 18

15.13.3 MD:<x-int>,<y-int>,<z-int> .............................................................................................................................................. 18

15.13.4 SFQ:<w>,<x>,<y>,<z>....................................................................................................................................................... 18

15.13.5 SFQT:<w>,<x>,<y>,<z>..................................................................................................................................................... 18

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SFM2User Manual V1.0.0

15.13.6 SFCHT:<hdg>,<tilt> .......................................................................................................................................................... 18

15.13.7SFEA:<roll>,<pitch>,<yaw> .............................................................................................................................................. 18

15.13.8 SFLA:<x>,<y>,<z> ............................................................................................................................................................. 18

SFM2 BLE SERVICES AND CHARACTERISTICS .................................................................................................................................1916.0

16.1 SFM2 BLE CHARACTERISTIC MAP ................................................................................................................................................... 19

16.2 STREAMING CHARACTERISTICS ......................................................................................................................................................... 20

16.2.1 SFQ stream ...................................................................................................................................................................... 20

16.2.2 SFQT stream .................................................................................................................................................................... 20

16.2.3 SFLA stream ..................................................................................................................................................................... 21

16.2.4 SFEA stream..................................................................................................................................................................... 21

16.2.5 SFCHT stream .................................................................................................................................................................. 21

16.2.6 AD stream........................................................................................................................................................................ 21

16.2.7 GD stream........................................................................................................................................................................ 22

16.2.8 MD stream....................................................................................................................................................................... 22

16.2.9 SFM stream ..................................................................................................................................................................... 22

16.2.10 RH/T stream .................................................................................................................................................................... 22

16.2.11 Pressure stream............................................................................................................................................................... 23

16.3 SETTINGS CHARACTERISTICS ............................................................................................................................................................ 23

16.3.1 Sensor Fusion Settings ..................................................................................................................................................... 23

16.3.2 Reference Settings........................................................................................................................................................... 23

16.3.3 Accelerometer Settings.................................................................................................................................................... 24

16.3.4 Gyroscope Settings .......................................................................................................................................................... 25

16.3.5 Magnetometer Settings .................................................................................................................................................. 26

16.3.6 SF Kalman Settings .......................................................................................................................................................... 27

16.3.7 Calibration Settings ......................................................................................................................................................... 27

16.3.8 Env. sensors settings (on –EH Version) ............................................................................................................................ 28

STORAGE CHARACTERISTICS ................................................................................................................................................................2917.0

17.1.1 Settings storage............................................................................................................................................................... 29

17.1.2 Calibration storage.......................................................................................................................................................... 29

17.2 TIME CHARACTERISTICS .................................................................................................................................................................. 29

17.2.1 Time................................................................................................................................................................................. 29

17.2.2 Time offset....................................................................................................................................................................... 29

17.3 OTHER CHARACTERISTICS................................................................................................................................................................ 29

17.3.1 Tare ................................................................................................................................................................................. 29

17.3.2 Name ............................................................................................................................................................................... 30

17.3.3 Stats................................................................................................................................................................................. 30

17.3.4 Calibration ....................................................................................................................................................................... 30

17.3.5 Self-test ........................................................................................................................................................................... 31

EXAMPLE SOFTWARE...............................................................................................................................................................................3118.0

18.1.1 Python API Library ........................................................................................................................................................... 31

18.2 MOBILE APP ................................................................................................................................................................................ 32

18.2.1 Scanner............................................................................................................................................................................ 33

18.2.2 Home Tab ........................................................................................................................................................................ 34

18.2.3 Config Tab ....................................................................................................................................................................... 36

18.2.4 STAT Tab.......................................................................................................................................................................... 41

18.2.5 Time Tab.......................................................................................................................................................................... 43

18.2.6 Log Tab............................................................................................................................................................................ 43

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SFM2User Manual V1.0.0

Custom Development and OEM Solutions3.0

Sensor Maestros can provide customized solutions using the SFM2 as a foundation. Below are

some examples of the common customizable options for the SFM2.

Customized Hardware

Additional Sensors

•Temperature/Humidity

•Gas: CO2, CO, VOC’s

•PIR

Customized Battery options

Custom Motion Algorithms

Pattern Recognition

Machine Learning

Vibration Analysis

Fitness/Sports Analysis

Custom Software Applications

iOS

Android

PC Applications

Custom Cloud Applications

Custom Enclosure Options

Future Options4.0

SENSR-POD

BLE to Cellular Bridge

Bluetooth Long-Range:

2400m+ between SFM2 and SENSR-POD

3000m+ with external antenna(~5-6dbi) between SFM2 and SENSR-POD

On-board Data-Logging

Pattern Recognition

Vibration Analysis

Cloud Enablement

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SFM2User Manual V1.0.0

SFM2 Hardware Description5.0

The SFM2 is comprised of a 64MHz Cortex M4F BLE SOC, Motion Sensors, and optional Pressure, Relative Humidity and Temperate

Sensors. A block diagram is shown below with further details below.

Figure 1: SFM2 Block Diagram

64MHz Cortex M4F MCU

9DOF Sensors

LSM6DSO – 6 Axis Accelerometer/Gyroscope

LIS2DML – 3 Axis Magnetometer

Optional Environmental Sensors

LPS22HH – Pressure Sensor

ENS210 – Relative Humidity and Temperature Sensor

BLE interface to provide easy means for application developers to make use of the SFM2 for developing custom applications.

Example Software provided for BLE Client side for how to interface to the SFM2

Example Python 3D Cube application used to interface to the SFM2 from a USB/CDC Connection.

•Python API Library

Native C++ Library(coming soon)

USB2.0 Support:

SFM2 can be controlled/configured from a COM Terminal program using Serial Commands described in 3.0 Serial

Commands.

Sensor Fusion Data can be sent via USB2.0

USB provides Battery charging

Highly efficient BLE/Characteristic architecture

Every Sensor has its own Sample Rate, Full-Scale Range, Data Enable

Every Sensor has a Notification Enable

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SFM2User Manual V1.0.0

ACCEL/GYRO/SENSOR FUSION Specifications6.0

Symbol Parameter

Test conditions

Min.

Typ.(1)

Max.

Unit

FS_ODR Sensor Fusion Output Data Rate

12.5 833 Hz

LA_FS

Linear acceleration measurement range

±2

±4

±8

±16

G_FS

Angular rate measurement range

±125

dps

±250

±500

±1000

±2000

LA_So

Linear acceleration sensitivity(2)

FS = ±2 g

0.061

mg/LSB

FS = ±4

0.122

FS = ±8

0.244

FS = ±16 g

0.488

G_So

Angular rate sensitivity(2)

FS = ±125 dps

4.375

mdps/LSB

FS = ±250 dps

8.75

FS = ±500 dps

17.50

FS = ±1000 dps

FS = ±2000 dps

LA_SoDr

Linear acceleration sensitivity change vs. temperature(4)

from -40° to +85°

±0.01

%/°C

G_SoDr

Angular rate sensitivity change vs. temperature(4)

from -40° to +85°

±0.007

%/°C

LA_TyOff

Linear acceleration zero-g level offset accuracy(5)

±20

G_TyOff

Angular rate zero-rate level

(5)

±1

dps

LA_OffDr

Linear acceleration zero-g level change vs. temperature(4)

±0.1

mg/ °C

G_OffDr

Angular rate typical zero-rate level change vs. temperature(4)

±0.010

dps/°C

Rate noise density in high-performance mode(6)

3.8

mdps/√Hz

RnRMS

Gyroscope RMS noise in normal/low-power mode(7)

mdps

Acceleration noise density in high-performance mode(8)

FS = ±2

µg/√Hz

FS = ±4

FS = ±8 g

FS = ±16 g

110

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SFM2User Manual V1.0.0

Symbol

Parameter

Test conditions

Min.

Typ.(1)

Max.

Unit

RMS

Acceleration RMS noise in normal/low-power mode(9) (10)

FS = ±2

1.8

mg(RMS)

FS = ±4

2.0

FS = ±8

2.4

FS = ±16 g

3.0

LA_ODR

Linear acceleration output data rate

12.5

104

208

416

833

1666

G_ODR

Angular rate output data rate

12.5

104

208

416

833

1666

1. Typical specifications are not guaranteed.

2. Sensitivity values after factory calibration test and trimming.

3. Subject to change.

4. Measurements are performed in a uniform temperature setup and they are based on

characterization data in a limited number of samples. Not measured during final test for production.

5. Values after factory calibration test and trimming.

6. Gyroscope rate noise density in high-performance mode is independent of the ODR and FS setting.

7. Gyroscope RMS noise in normal/low-power mode is independent of the ODR and FS setting.

8. Accelerometer noise density in high-performance mode is independent of the ODR.

9. Accelerometer RMS noise in normal/low-power/ultra-low-power mode is independent of the ODR.

10. Noise RMS related to BW = ODR/2.

Magnetometer Specifications7.0

Symbol Parameter Test conditions Min. Typ. Max. Unit

Magnetic dynamic range

±49.152

gauss

So Sensitivity

-7% 1.5 +7%

mgauss/

LSB

TcyOff Magnetic Sensor Offset With offset cancellation -60 1.5 +60 mgauss

RMS RMS Noise High Performance Mode 3 mgauss

(RMS)

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SFM2User Manual V1.0.0

Pressure Sensor Specifications8.0

Symbol Parameter Test conditions Min. Typ. Max. Unit

Pressure Operating Range

260

1260

hPa

Pbits Pressure bits of data

-7% 24 +7%

mgauss/

LSB

Psens Pressure Sensitivity 4096 LSB/hPa

PAccRel Relative Accuracy over pressure

P = 800-1100 hPa

T = 25°C ±0.025 hPa

PAccTAbsolute accuracy over temperature Pop, T = -20 to 80°C ±0.5 hPa

ODRPres Pressure output data rate

100

200

Relative Humidity Sensor Specifications9.0

Symbol Parameter Test conditions Min. Typ. Max. Unit

Pressure Operating Range

260

1260

hPa

Pbits Pressure bits of data

-7% 24 +7%

mgauss/

LSB

Psens Pressure Sensitivity 4096 LSB/hPa

PAccRel Relative Accuracy over pressure

P = 800-1100 hPa

T = 25°C

±0.025 hPa

PAccT Absolute accuracy over temperature Pop, T = -20 to 80°C ±0.5 hPa

ODRPres Pressure output data rate

100

200

Temperature Sensor Specifications10.0

Symbol Parameter Test conditions Min. Typ. Max. Unit

Pressure Operating Range

260

1260

hPa

Pbits Pressure bits of data

-7% 24 +7%

mgauss/

LSB

Psens Pressure Sensitivity 4096 LSB/hPa

PAccRel Relative Accuracy over pressure P = 800-1100 hPa

T = 25°C ±0.025 hPa

PAccT Absolute accuracy over temperature Pop, T = -20 to 80°C ±0.5 hPa

ODRPres Pressure output data rate

100

200

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SFM2User Manual V1.0.0

LED Operation Description11.0

COLOR

FUNCTION

NOTES

YELLOW

Connected

Will blink twice every ~2.5 seconds to indicate SFM2

is connected to a BLE Client

YELLOW

Advertising

Will blink once every ~1 second to indicate SFM2 is in

advertising mode

RED

Sensor/Sensors Enabled

Connected: Blink twice every ~2.5 seconds

Unconnected: Blink once every ~1 second

This LED is sequenced with the YELLOW LED if a

Sensor is Active/ON.

BLUE

Active Battery Charging

Solid BLUE Led indicates battery is charging via USB.

Table 1: LED Operation

BLE Operation12.0

The SFM2 provides BLE Peripheral(slave) operation and allows any BLE Client(master) to connect to the SFM2. The SFM2 does not

require Bonding. Description of operation is provided below.

1) BLE ADVERTISING: Upon powering the device the SFM2 Performs BLE Advertising and advertises the Device name “SFM2”.

a. YELLOW BLE LED Blinks at ~1 second interval

b. Advertising Interval = 500ms

c. Currently the device does not allow user adjustment of the Advertising Interval.

NOTE: The Device Advertises as a Connectable BLE Peripheral and does not require any Bonding/Secure Pairing.

2) BLE CONNECTED: Once a BLE Client has connected to the SFM2 the device will transition to what is shown below and allows

the BLE Client to read all the Services, Characteristics, and Descriptors to allow an application to be developed.

a. YELLOW BLE LED Blinks at ~2.5 second interval

b. All BLE Services, Characteristics, Descriptors are available to be read from the Client.

c. The SFM2 Max/Min Connection interval is set to 7.5ms for Maximum throughput via a BLE Connection. Not all BLE

Clients in particular Mobile Devices will allow for a 7.5ms Connection interval. Sensor Sample Rates and Sensor

Fusion Output Rates should be configured according to the maximum throughput allowed by the Client BLE device.

3) BLE DISCONNECTED: Upon a BLE Client(master) disconnecting from the SFM2 the device will return to the BLE

ADVERTISING mode.

SFM2 Firmware Update13.0

The SFM2 embedded firmware is not available in source code as open source. Licensing can be made available upon requests.

Developers/users of the SFM2 can make use of the USB Commands and/or the BLE Characteristics to configure and retrieve data from

the SFM2. Sensor Maestros can provide design services for customization of the embedded firmware for specific use cases on a case

by case basis. The SFM2 firmware can be updated via a BLE Connection. Further details/instructions are provided in the “SFM2

Fimware Updates” section of this User Manual.

BLE Update: The SFM2 can be updated via a BLE connection using the nRF Connect mobile app. This is a free app that Nordic

Semiconductor provides and is available for both Android and iOS platforms. To perform an update you will need to have a OTA(Over

the Air) Zip file which contains the firmware update. All firmware updates are provided and available on the Google Drive that Sensor

Maestros will provide access to upon a purchase of the SFM2. The steps for performing this update are very simple and outlined

below.

1) Download the ‘nRF Connect’ App for your preferred mobile OS.

a. Android: Google Play Store: https://play.google.com/store/apps/details?id=no.nordicsemi.android.mcp

b. iOS: Go to the App Store and search for nRF Connect

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