SENSOR MAESTROS SFM2 Manuel utilisateur

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User Manual V1.0.3

Sensor 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 Highlights

➢40.9 x 28 x 14.3mm (1.61” x 1.10 x 0.563”) Form Factor

➢Wearable: Enclosure has slot for Velcro strap.

➢USB and BLE Interfaces: Connect up to 5 SFM2’s running 208Hz Fusion ODR and Quaternion data with newer

iOS and Android Devices. High ODR Rates possible depending on mobile device performance.

➢Field Updatable using ‘Over the Air’ update

➢9 DOF: 3-Axis Gyro, Accel, Mag

❖with Pressure, Temp, and Humidity Sensors

➢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. Accel/Gyro Max ODR = 1667Hz

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

➢iOS and Android apps 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 with improved accuracy using RTC synchronization

➢Timestamp-timestamp delta accuracy ± 1µs for data logs

➢Multi-Mode Time Synchronization to time synchronized multiple SFM2’s used simultaneously with Average

Standard Deviation between timestamps of multiple SFM2’s typical <10ms

➢Rechargable Battery (130mAh)

❖~73hour battery life with Quaternion output @ 26Hz using BLE interface

❖~47hour battery life with Quaternion output @ 104Hz using BLE interface

❖~30hour battery life with Quaternion output @417Hz using BLE interface

➢Individual Control of each sensor output to be included in Data Stream

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

➢Custom OEM/Logo Enclosure available

➢Example Application Software

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 User Manual V1.0.3 
 Table of Contents 
 
 PRODUCT HIGHLIGHTS............................................................................................................................................................1 
 TABLE OF CONTENTS ...............................................................................................................................................................2 
 CUSTOM DEVELOPMENT AND OEM SOLUTIONS .................................................................................................................5 
 FUTURE OPTIONS......................................................................................................................................................................5 
 SFM2 HARDWARE DESCRIPTION...........................................................................................................................................6 
 ACCEL/GYRO/SENSOR FUSION SPECIFICATIONS................................................................................................................7 
 MAGNETOMETER SPECIFICATIONS.......................................................................................................................................8 
 PRESSURE SENSOR SPECIFICATIONS.....................................................................................................................................9 
 RELATIVE HUMIDITY SENSOR SPECIFICATIONS.................................................................................................................9 
 TEMPERATURE SENSOR SPECIFICATIONS ...........................................................................................................................9 
 LED OPERATION DESCRIPTION........................................................................................................................................... 10 
 BLE OPERATION..................................................................................................................................................................... 10 
 SFM2 FIRMWARE UPDATE ................................................................................................................................................... 10 
 SENSOR FUSION...................................................................................................................................................................... 11 
14.1 COORDINATE SYSTEMS .................................................................................................................................................................11 
14.2 TARE QUATERNION......................................................................................................................................................................12 
14.3 HEADTARE .................................................................................................................................................................................12 
14.4 GLOBAL REFERENCE .....................................................................................................................................................................12 
 MANUAL CALIBRATION......................................................................................................................................................... 13 
15.1.1 Calibration Steps ............................................................................................................................................................14 
15.1.2 Calibration Notes ...........................................................................................................................................................15 
 TIMESTAMPS........................................................................................................................................................................... 15 
16.1 SENSR-LOGR TIMESTAMPS .........................................................................................................................................................16 
16.2 USB/COM PORT TIMESTAMPS .....................................................................................................................................................17 
 SYNCHRONIZE MULTIPLE SFM2’S....................................................................................................................................... 18 
 BINARY FRAME MODE........................................................................................................................................................... 18 
18.1 BINARY FRAME FORMAT...............................................................................................................................................................18 
18.2 START BYTE ................................................................................................................................................................................18 
18.3 DATA DESCRIPTION ......................................................................................................................................................................18 
18.4 TIMESTAMP................................................................................................................................................................................19 
18.5 DATA ........................................................................................................................................................................................19 
18.6 END BYTE...................................................................................................................................................................................19 
 EXAMPLES................................................................................................................................................................................ 20 
19.1 SFQT+SFLA@104HZ................................................................................................................................................................20 
19.2 AD@208HZ +GD@104HZ........................................................................................................................................................20 
 MOBILE APP ............................................................................................................................................................................ 21 
20.1 SCANNER ...................................................................................................................................................................................22 
20.2 CHANGE NAME...........................................................................................................................................................................22 
20.3 HOME .......................................................................................................................................................................................22 
20.3.1 Home: 3D View ..............................................................................................................................................................23 
20.3.2 Home: Throughput.........................................................................................................................................................24 
20.3.3 Home: Self-Test..............................................................................................................................................................24 

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 User Manual V1.0.3 
4 CONFIG .....................................................................................................................................................................................25 
4.1 Config: Data Rates .........................................................................................................................................................25 
4.2 Config: Data Streams ..................................................................................................................................................... 26 
4.3 Config: Reference........................................................................................................................................................... 26 
4.4 Config: Temperature/Humidity......................................................................................................................................26 
4.5 Config: Altitude/Pressure............................................................................................................................................... 27 
4.6 Config: Calibration ......................................................................................................................................................... 27 
4.7 Config: Accelerometer....................................................................................................................................................28 
4.8 Config: Gyroscope.......................................................................................................................................................... 28 
4.9 Config: Magnetometer .................................................................................................................................................. 29 
4.10 Config: Kalman Filter Parameters ..................................................................................................................................29 
4.11 Config: Name Change .................................................................................................................................................... 30 
4.12 Config: Default Settings ................................................................................................................................................. 30 
5 STATS........................................................................................................................................................................................30 
5.1 Data Streams ................................................................................................................................................................. 31 
5.2 BLE Stats ........................................................................................................................................................................32 
5.3 Serial Port Stats.............................................................................................................................................................. 32 
5.4 Calibration .....................................................................................................................................................................32 
5.5 Statistics......................................................................................................................................................................... 33 
5.6 Connection Params........................................................................................................................................................33 
6 TIME.........................................................................................................................................................................................34 
7 LOG..........................................................................................................................................................................................34 
7.1 Start Logging..................................................................................................................................................................34 
7.2 View/Explore/Garph Log Files........................................................................................................................................35 
7.3 Share Log File(store remotely) .......................................................................................................................................36 
8 MULTI MODE(MULTIPLE SFM2’S) .................................................................................................................................................37 
8.1 Multi Mode: Config ........................................................................................................................................................37 
8.2 Multi Mode: Stats .......................................................................................................................................................... 38 
8.3 Multi Mode: Time Synchronization ................................................................................................................................ 39 
 SFM2 BLE SERVICES AND CHARACTERISTICS................................................................................................................... 41 
1 SFM2 BLE CHARACTERISTIC MAP..................................................................................................................................................41 
2 DATA STREAM CHARACTERISTICS....................................................................................................................................................42 
2.1 Data Stream 0x0101 ...................................................................................................................................................... 42 
2.2 Data Stream Settings 0x0102 ........................................................................................................................................42 
3 SENSOR FUSION SETTINGS 0X0122.................................................................................................................................................44 
3.1 Data Rate .......................................................................................................................................................................44 
3.2 Fusion ODR Output Divider ............................................................................................................................................44 
4 REFERENCE SETTINGS 0X0128.......................................................................................................................................................44 
5 ACCELEROMETER SETTINGS 0X0201...............................................................................................................................................45 
5.1 Accelerometer Full Scale ................................................................................................................................................ 45 
5.2 Accelerometer Filter Configuration................................................................................................................................45 
5.3 Accelerometer Power Mode ..........................................................................................................................................46 
5.4 Self-Test Configuration .................................................................................................................................................. 46 
6 GYROSCOPE SETTINGS 0X0202......................................................................................................................................................46 
6.1 Gyroscope Full Scale....................................................................................................................................................... 46 
6.2 Gryoscope LPF1 Configuration .......................................................................................................................................46 
6.3 Gryoscope HPF Configuration ........................................................................................................................................ 47 
7 MAGNETOMETER SETTINGS 0X0203 ..............................................................................................................................................47 

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 User Manual V1.0.3 
8 SF KALMAN SETTINGS 0X0204......................................................................................................................................................47 
9 CALIBRATION SETTINGS 0X0207....................................................................................................................................................47 
9.1 Magnetometer Calibration Auto Storage Mode ............................................................................................................47 
9.2 Magnetometer Calibration Type....................................................................................................................................48 
10 ENVIRONMENTAL SENSOR SETTINGS 0X0310...............................................................................................................................48 
10.1 Pressure Data Rate ........................................................................................................................................................48 
10.2 Temp/Humidity Sample Mode .......................................................................................................................................48 
10.3 Altitude Tare 0x0311......................................................................................................................................................49 
11 STORAGE CHARACTERISTICS ......................................................................................................................................................49 
11.1 Settings Storage 0x0134 ................................................................................................................................................49 
11.2 Calibration Storage 0x0135 ...........................................................................................................................................49 
12 TIME CHARACTERISTICS............................................................................................................................................................49 
12.1 Time 0x0131................................................................................................................................................................... 49 
12.2 Time Offset 0x0132........................................................................................................................................................49 
12.3 Time Trim 0x0142 ..........................................................................................................................................................50 
12.4 Time Notify Interval 0x0143...........................................................................................................................................50 
13 OTHER CHARACTERISTICS..........................................................................................................................................................50 
13.1 Tare 0x0129 ................................................................................................................................................................... 50 
13.2 Name 0x0133.................................................................................................................................................................50 
13.3 Stats 0x0137 .................................................................................................................................................................. 50 
13.4 Connection Parameters 0x0138.....................................................................................................................................51 
13.5 Calibration 0x0206......................................................................................................................................................... 51 
13.6 Self-Test 0x0208.............................................................................................................................................................51 
13.7 SF Kalman Settings 0x0204 ............................................................................................................................................ 52 
13.8 Calibration Settings 0x0207 ...........................................................................................................................................52 
 USB COMMANDS..................................................................................................................................................................... 53 
1 TERMINAL WINDOW SETTINGS ......................................................................................................................................................53 
2 COMMAND FORMAT:...................................................................................................................................................................53 
3 SPECIAL CHARACTERS: ..................................................................................................................................................................54 
4 METAVARIABLES: ........................................................................................................................................................................54 
5 DATA TYPES:...............................................................................................................................................................................54 
6 SYSTEM COMMANDS: ..................................................................................................................................................................54 
7 MOTION SENSOR CONFIGURATION COMMANDS: ..............................................................................................................................55 
7.1 Accelerometer Commands.............................................................................................................................................55 
7.2 Gyroscope Commands ...................................................................................................................................................55 
7.3 Magnetometer Commands............................................................................................................................................ 55 
8 ENVIRONMENTAL SENSOR CONFIGURATION COMMANDS:...................................................................................................................55 
9 SENSOR FUSION COMMANDS: .......................................................................................................................................................56 
10 TIMESTAMP COMMANDS:.........................................................................................................................................................56 
11 SYSTEM QUERIES: ...................................................................................................................................................................56 
12 SENSOR QUERIES: ...................................................................................................................................................................57 
13 SENSOR FUSION QUERIES .........................................................................................................................................................57 
14 RESPONSES:...........................................................................................................................................................................57 
15 DATA STREAM FORMAT: ..........................................................................................................................................................58 
 PYTHON API LIBRARY........................................................................................................................................................... 59 
1 PYTHON DOCS (HTML DOCUMENTATION).........................................................................................................................................59 
2 PYTHON SAMPLES........................................................................................................................................................................60 

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User Manual V1.0.3

23.3 PYTHON SFM2API’S....................................................................................................................................................................61

23.3.1 sfm2: implementation.................................................................................................................................................... 61

23.3.2 sfm2: interface............................................................................................................................................................... 62

23.3.3 sfm2: Utils ...................................................................................................................................................................... 63

REVISIONS ............................................................................................................................................................................... 63

Custom Development and OEM Solutions

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 Options

➢Compressed Audio Recording Streaming

➢AI / Machine Learning Application Development

➢User Application Flash Memory area to all for User applications to be programmed

directly onto the SFM2

➢SENSR-POD

❖BLE to Cellular Bridge

➢Vibration Analysis

➢Cloud Enablement

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User Manual V1.0.3

SFM2 Hardware Description

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 USB

Commands and for higher level Python API’s see Python API Library.

❖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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User Manual V1.0.3

ACCEL/GYRO/SENSOR FUSION Specifications

Symbol

Parameter

Test conditions

Min.

Typ.(1)

Max.

Unit

FS_ODR

Sensor Fusion Output Data Rate

12.5

833

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 g

0.122

FS = ±8 g

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 g

µg/√Hz

FS = ±4 g

FS = ±8 g

FS = ±16 g

110

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User Manual V1.0.3

Symbol

Parameter

Test conditions

Min.

Typ.(1)

Max.

Unit

RMS

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

FS = ±2 g

1.8

mg(RMS)

FS = ±4 g

2.0

FS = ±8 g

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 Specifications

Symbol

Parameter

Test conditions

Min.

Typ.

Max.

Unit

Magnetic dynamic range

±49.152

gauss

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

mgauss

(RMS)

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User Manual V1.0.3

Pressure Sensor Specifications

Symbol

Parameter

Test conditions

Min.

Typ.

Max.

Unit

Pressure Operating Range

260

1260

hPa

Pbits

Pressure bits of data

-7%

+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

Relative Humidity Sensor Specifications

Symbol

Parameter

Test conditions

Min.

Typ.

Max.

Unit

Pressure Operating Range

260

1260

hPa

Pbits

Pressure bits of data

-7%

+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 Specifications

Symbol

Parameter

Test conditions

Min.

Typ.

Max.

Unit

Pressure Operating Range

260

1260

hPa

Pbits

Pressure bits of data

-7%

+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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User Manual V1.0.3

LED Operation Description

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 Operation

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 for Maximum throughput via a BLE Connection. Not all BLE Clients in

particular Mobile Devices will allow for the minimum 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 Update

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.

The SENSR-LOGR mobile app will automatically detect if there is a new firmware version available for the SFM2. The SENSR LOGR

App can be found in the Apple App Store and on Google Play by searching for Sensor Maestros.

Android: https://play.google.com/store/apps/details?id=sensormaestros.SensorMaestros

iOS: Go to the ‘App Store’ on your mobile device and search for SENSR-LOGR or Sensor Maestros

If the SENSR-LOGR app detects that there is a newer version of firmware it will automatically prompt you to update to the latest

version of firmware. It is HIGHLY RECOMMENDED to update to the newest version of firmware.

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