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SFM
Sensor Fusion Module User Manual
2
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.
using the Velcro strap ran through slot in the bottom
of the enclosure.
1.0
Product Highlights
40.9 x 33.3mm (1.61" x 1.31") Form Factor
Wearable: Enclosure has slot for Velcro strap.
USB and BLE Interfaces:
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
The SFM2 can easily be worn
Connect 6+ SFM2's running 208Hz Fusion ODR and Quaternion data with
User Manual
SFM
2
Shown with Black Enclosure. For other color options please inquire
V1.0.0
1 |
P a g e
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Summary of Contents for SENSOR MAESTROS SFM2
- Page 1 Product Highlights 40.9 x 33.3mm (1.61” x 1.31”) Form Factor Wearable: Enclosure has slot for Velcro strap. Connect 6+ SFM2’s running 208Hz Fusion ODR and Quaternion data with USB and BLE Interfaces: newer iOS and Android Devices.
- Page 2 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 10.0...
- Page 3 www.sensormaestros.com 15.8 : ................................16 IMESTAMP OMMANDS 15.8.1 TIME! ....................................16 15.8.2 TIME=<uint32> ................................16 15.8.3 TOFFSET! ..................................17 15.8.4 TOFFSET=<int32>................................17 15.9 : ..................................17 YSTEM UERIES 15.10 : ..................................17 ENSOR UERIES 15.10.1 ASR?....................................17 15.10.2 AFR?....................................17 15.10.3 ADE? ....................................
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Page 4: Table Of Contents
15.13.6 SFCHT:<hdg>,<tilt> ................................18 15.13.7 SFEA:<roll>,<pitch>,<yaw> .............................. 18 15.13.8 SFLA:<x>,<y>,<z> ................................18 16.0 SFM2 BLE SERVICES AND CHARACTERISTICS ..........................19 16.1 SFM2 BLE C ..............................19 HARACTERISTIC 16.2 ................................. 20 TREAMING CHARACTERISTICS 16.2.1 SFQ stream ..................................20 16.2.2 SFQT stream ..................................20 16.2.3... - Page 5 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 •...
- Page 6 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 ...
- Page 7 www.sensormaestros.com ACCEL/GYRO/SENSOR FUSION Specifications Parameter Test conditions Min. Typ. Max. Unit Symbol FS_ODR Sensor Fusion Output Data Rate 12.5 ±2 ±4 LA_FS Linear acceleration measurement range ±8 ±16 ±125 ±250 ±500 G_FS Angular rate measurement range ±1000 ±2000 FS = ±2 g 0.061 FS = ±4 g 0.122...
- Page 8 www.sensormaestros.com Symbol Parameter Test conditions Min. Typ. Max. Unit FS = ±2 g FS = ±4 g (9) (10) Acceleration RMS noise in normal/low-power mode mg(RMS) FS = ±8 g FS = ±16 g 12.5 LA_ODR Linear acceleration output data rate 1666 12.5 G_ODR...
- Page 9 www.sensormaestros.com Pressure Sensor Specifications Symbol Parameter Test conditions Min. Typ. Max. Unit Pressure Operating Range 1260 mgauss/ Pressure bits of data bits Pressure Sensitivity 4096 LSB/hPa sens P = 800-1100 hPa Relative Accuracy over pressure ±0.025 AccRel T = 25°C Pop, T = -20 to 80°C Absolute accuracy over temperature ±0.5...
- Page 10 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.
- Page 11 NOTE: Settings are accessed from the Side Nav bar 3) After installing nRF Connect open the app and go to the ‘Scanner’ tab and look for the SFM2 as shown below. If you do not see any devices show up click the ‘Scan’...
- Page 12 OTA Zip file somewhere on your device or be able to access it from your iCloud folders. 7) You will now see a screen that shows a graph as the SFM2 begins to receive the firmware update. This process can take a bit of time.
- Page 13 The SFM2 variable SFTARE! provides the ability to change the LCS orientation. Executing SFTARE! creates a new LCS that is the same as ENU in the moment of executing the command. After taring the SFM2 the LCS orientation is exactly the same as ENU so all angles are zero.
- Page 14 The case is completely different when you want to track the trajectory of a ball. Tracking Trajectory Example: In this case you would put the SFM2 into the ball and affix it in some manner and throw it. Now you want to draw the flight trajectory.
- Page 15 Performs automated Self-Test on Accel, Gyro and Mag sensors. CALIBSTORE! Performs SFM2 calibration and stores sensor offsets into Non-Volatile memory. To run the calibration enable each sensor with a >0Hz ODR rate and enable SFOR > 0Hz. Success => CALIBSTORE=VALID...
- Page 16 www.sensormaestros.com CALIBCLEAR! Clears previously stored calibration data. Success => CALIBSTORE=EMPTY GLOBREF=<enable-boolean> Enable/Disable Global Reference Frame BINMODE=<enable-boolean> 1 = COM Sensor output in Binary 0 = COM Sensor in ASCII format(Default) 15.6 Sensor Configuration Commands: ASR=<sample_rate-int16> Set accelerometer sample rate in Hz (0 for sampling disabled) AFR=<full_scale_range-int16>...
- Page 17 Set the Timestamp value to an integer value where 1 LSB = 25us. Can proceed value with “-“ sign to indicate negative value. 15.9 System Queries: Config? Shows current configuration of the SFM2 and provides a list of available USB commands. NAME? Provides name of SFM2...
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Page 18: Sfcht:
www.sensormaestros.com 15.12 Responses: SRESET=<self_test-bool> Sensor reset response ASR=<sample_rate-int> Accelerometer sample rate in Hz (0 for sampling disabled) AFR=<full_scale_range-int> Accelerometer full-scale range in g ADE=<enable-boolean> Accelerometer data output enable GSR=<sample_rate-int> Gyro sample rate in Hz (0 for sampling disabled) GFR=<full_scale_range-int> Gyro full-scale range in dps GDE=<enable-boolean>..., -
Page 19: Sfm2 Ble Services And Characteristics
Note: the standard Bluetooth Device Information Service must be implemented to provide the identification strings and hardware/firmware/software versions. https://developer.bluetooth.org/gatt/services/Pages/ServiceViewer.aspx?u=org.bluetooth.service.device_information.xml 16.1 SFM2 BLE Characteristic Map The SFM2 has a total of 28 characteristics, 24 of them support notifications. Name Read Notify... -
Page 20: Streaming Characteristics
0x0310 16.2 Streaming characteristics Streaming characteristics are used to send data from SFM2. The transmission is enabled by enabling BLE notifications of the Data characteristic (writing its CCCD). These characteristics support notifications, but can’t be directly read. To maximize throughput each notification packet can contain multiple samples. -
Page 21: Sfla Stream
www.sensormaestros.com 16.2.3 SFLA stream Linear acceleration data output from Sensor Fusion. Size Name Description 4 bytes Timestamp, Uint32 4 bytes The acceleration in X-Axis in g, Float32 16 bytes 4 bytes The acceleration in Y-Axis in g, Float32 4 bytes The acceleration in Z-Axis in g, Float32 16.2.4 SFEA stream Euler angles data output from Sensor Fusion. -
Page 22: Gd Stream
www.sensormaestros.com 16.2.7 GD stream Raw gyroscope data. Size Name Description 4 bytes Timestamp, Uint32 4 bytes The angular rate in Pitch axis (around X) in °/s, Float32 16 bytes 4 bytes The angular rate in Roll axis (around Y) in °/s, Float32 4 bytes The angular rate in Yaw axis (around Z) in °/s, Float32 16.2.8 MD stream... -
Page 23: Pressure Stream
www.sensormaestros.com 16.2.11 Pressure stream Output data from pressure sensor (LPS22HH). Size Name Description 4 bytes Pressure in hPa, Float32 16 bytes 4 bytes Temperature in °C, Float32 4 bytes Altitude in m, Float32 16.3 Settings Characteristics Settings characteristics are used to configure the device. They support reading, writing and emit notifications. 16.3.1 Sensor Fusion Settings Size Name... -
Page 24: Accelerometer Settings
www.sensormaestros.com 16.3.3 Accelerometer Settings Name Description Size 1 byte rate Data rate 1 byte full scale Full scale 1 byte lpf2 LPF2 second stage selected, 1-enabled, 0-disabled 7 bytes 1 bytes filter Filter configuration 1 byte fast_settling Filter fast settling. 1-enabled, 0-disabled 1 byte power_mode Power mode... -
Page 25: Gyroscope Settings
www.sensormaestros.com 0x16 HP_ODR_DIV_400 0x04 LP_ODR_DIV_100 0x17 HP_ODR_DIV_800 0x05 LP_ODR_DIV_200 0x31 HP_REF_MD_ODR_DIV_10 0x06 LP_ODR_DIV_400 0x32 HP_REF_MD_ODR_DIV_20 0x07 LP_ODR_DIV_800 0x33 HP_REF_MD_ODR_DIV_45 Accelerometer power mode Value Rate 0x00 High performance 0x01 Normal 0x02 Ultra Low Power Self-test configuration Self-test disturbance configuration. Used for both accelerometer and gyro. Value Rate 0x00... -
Page 26: Magnetometer Settings
www.sensormaestros.com Gyroscope full scale: Used to configure full scale of accelerometer Value Rate 0x00 125 °/s 0x01 250 °/s 0x02 500 °/s 0x03 1000 °/s 0x04 2000 °/s Gyroscope LPF1 configuration Value Rate Value Rate 0x00 Ultra Light 0x05 Very strong 0x01 Very Light 0x06... -
Page 27: Sf Kalman Settings
www.sensormaestros.com 0x02 26 Hz 0x03 52 Hz 0x04 104 Hz 16.3.6 SF Kalman Settings Name Description Size 4 bytes Gyro sensor noise variance units (deg/s)^2 4 bytes Accelerometer sensor noise variance units g^2 defining minimum deviation from 1g sphere. 4 bytes Magnetometer sensor noise variance units uT^2 defining minimum 20 bytes deviation from geomagnetic sphere. -
Page 28: Env. Sensors Settings (On -Eh Version)
www.sensormaestros.com 16.3.8 Env. sensors settings (on –ENV Version) Name Description Size 4 bytes zero_pressure Pressure at 0 m. Used to tare altitude, in hPa. Float32. 4 bytes alarm_up High altitude alarm threshold, in m. Set to NAN to disable. Float32. 4 bytes alarm_down Low altitude alarm threshold, in m. -
Page 29: Storage Characteristics
www.sensormaestros.com Storage characteristics 17.0 Storage characteristic control storing data in non-volatile memory. 17.1.1 Settings storage Settings storage is a write-only characteristic. It can be written with single byte commands. Each command triggers an action, depending on the value written. Value Action 0x01 Store settings in non-volatile memory... -
Page 30: Name
www.sensormaestros.com 17.3.2 Name Name characteristic can be used to read or configure the device’s name. The name gets updated immediately after write. The name is ASCII encoded, without the null terminator. The characteristic is of variable length, with a maximum length of 16. -
Page 31: Self-Test
18.1.1 Python API Library The Python API Library can be used with Python 3.7 or higher. It provides an easy means for users to connect to the SFM2 via a COM/USB port and quickly get an application up and running. The Python Library provides high level API functions that utilize the AT Commands. -
Page 32: Mobile App
18.2 Mobile App The SFM2 has both an Android and an iOS App that can be used to Configure, Test, and Data-log the SFM2. Features of the SFM2 Mobile App are listed below. Allow multiple SFM2’s to be connected simultaneously ... -
Page 33: Scanner
SFM2 App will show all SFM2’s that are active(ON) and in the range of the mobile device. To connect click on SFM2 shown in list that is desired to be connected to. NOTE: If multiple SFM2’s are in use they should be renamed so that they can be distinguished between each other. 33 |... -
Page 34: Home Tab
18.2.2 Home Tab Status tab allows for quick SFM2 configuration and status Battery Percentage Firmware Version Quick Configuration between 4 Default Modes 3D Cube Display with Tare and manual drag for orientation Throughput testing( BLE and COM Port) ... - Page 35 3D SFM2 View 35 | P a g e User Manual V1.0.0...
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Page 36: Config Tab
www.sensormaestros.com 18.2.3 Config Tab Config tab provides for the following configurations. CONFIG – Data Rates for individual Motion Sensors and Sensor Fusion Output CONFIG – STREAMS 36 | P a g e User Manual V1.0.0... - Page 37 CONFIG – Reference / Calibration Settings CONFIG – Temperature/Humidity, Pressure Sensor Settings(SFM2-EH Version) 37 | P a g e User Manual V1.0.0...
- Page 38 www.sensormaestros.com CONFIG – ACCEL Settings CONFIG- Gyro Settings 38 | P a g e User Manual V1.0.0...
- Page 39 www.sensormaestros.com CONFIG – Mag Settings CONFIG – Kalman Filter Settings 39 | P a g e User Manual V1.0.0...
- Page 40 CONFIG – SFM2 Renaming CONFIG – Store Current Settings, Restore Factory Settings 40 | P a g e User Manual V1.0.0...
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Page 41: Stat Tab
www.sensormaestros.com 18.2.4 STAT Tab The STAT tab shows real sensor information including scrolling graphs and also other information such as Calibration and BLE/COM port data statistics. STAT-Relative Humidity & Temperature Real Time Graph STAT – Pressure & Altitude Real Time Graph 41 | P a g e User Manual... - Page 42 www.sensormaestros.com STAT – Data Stream(s) and BLE, COM Port Stats STAT – Calibration and CPU Stats 42 | P a g e User Manual V1.0.0...
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Page 43: Time Tab
www.sensormaestros.com 18.2.5 Time Tab The Time Tab shows the current Timestamp and allows for user to manually set a time offset, TOFFSET, Reset the timestamp to 0 and Reset the TOFFSET value to 0. 18.2.6 Log Tab The log tab is where the user can start logging any of the sensor data streams to a CSV file and push to a remote drive or store locally on the mobile device. - Page 44 www.sensormaestros.com LOG – Stored Log Files 44 | P a g e User Manual V1.0.0...
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