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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.
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:
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
Connect up to 5 SFM2's running 208Hz Fusion ODR and Quaternion data with newer
User Manual
Shown with Black Enclosure. For other color options please inquire
V1.0.3
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Related Manuals for SENSOR MAESTROS SFM2
Summary of Contents for SENSOR MAESTROS SFM2
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Page 1: Product Highlights
➢ 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 ➢... -
Page 2: 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 ........................... - Page 3 ULTI MULTIPLE 20.8.1 Multi Mode: Config ................................ 37 20.8.2 Multi Mode: Stats ................................38 20.8.3 Multi Mode: Time Synchronization ..........................39 SFM2 BLE SERVICES AND CHARACTERISTICS ........................41 21.1 SFM2 BLE C ..............................41 HARACTERISTIC 21.2 ..............................42 TREAM HARACTERISTICS 21.2.1...
- Page 4 www.sensormaestros.com 21.8 SF K 0204 ..............................47 ALMAN ETTINGS 21.9 0207 ..............................47 ALIBRATION ETTINGS 21.9.1 Magnetometer Calibration Auto Storage Mode ......................47 21.9.2 Magnetometer Calibration Type............................ 48 21.10 0310..........................48 NVIRONMENTAL ENSOR ETTINGS 21.10.1 Pressure Data Rate ................................ 48 21.10.2 Temp/Humidity Sample Mode ............................
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Page 5: Custom Development And Oem Solutions
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 •... -
Page 6: Sfm2 Hardware Description
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: Accel/Gyro/Sensor Fusion Specifications
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: Magnetometer Specifications
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: Pressure Sensor Specifications
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 Absolute accuracy over temperature Pop, T = -20 to 80°C ±0.5... -
Page 10: Led Operation Description
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. -
Page 11: Sensor Fusion
The LCS is a rigidly fixed coordinate system affixed to the SFM2 device and by default is as shown below: Using the ‘TARE’ function this coordinate system can be re-oriented to any position the SFM2 has been moved to and will be effectively Zero’d at the position it is in prior to using the ‘TARE’... -
Page 12: Tare Quaternion
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 13: Manual Calibration
SFM2 will continuously look for a better calibration than what is currently being used. If a better calibration set of parameters is found as may be the case if the SFM2 has been mounted to a particular object those new parameters will be used in place of the prior calibration values. -
Page 14: Calibration Steps
6) You will typically see the Calibration values update again to 10 element values after angling the SFM2 while still rotating it around the X axis. Now angle the SFM2 in the opposite direction you had it in STEP 4: to see if the ‘Mag calibration error’... -
Page 15: Calibration Notes
Timestamps Timestamps are crucial to being able to accurately analyze data. The SFM2 and the SENSR-LOGR app provide methods to allow for highly accurate, consistent timestamps to be provided in data streams that would be logged whether using the BLE or USB interface. -
Page 16: Sensr-Logr Timestamps
LSM6DSx timestamp which is output in an Integer value. Example of a LOG file using the SENSR-LOGR app with SFQT @833Hz which is one of the fastest sampling rates available on the SFM2 for Sensor Fusion outputs. Raw Accelerometer and Gyroscope data can be output as high as 1667Hz. -
Page 17: Usb/Com Port Timestamps
www.sensormaestros.com 1226.900 1992.2783554 0.41513 0.05741 -0.03185 0.90739 1226.800 1992.2795822 0.41694 0.06068 -0.03216 0.90634 1226.900 1992.2808091 0.41911 0.06434 -0.03223 0.90508 1226.800 1992.2820359 0.42085 0.06716 -0.03211 0.90407 1226.800 1992.2832627 0.42198 0.06913 -0.03226 0.90339 1992.2844896 0.42384 0.07217 -0.03278 0.90226 1226.900 1226.800 1992.2857164 0.42410 0.07223 -0.03248 0.90215 1226.800... -
Page 18: Synchronize Multiple Sfm2'S
BLE or the USB interfaces to monitor multiple locations of a person or object. The only way this is useful though is if the data that is logged by each SFM2 is synchronized in time. The SENSR-LOGR app provides an easy means to allow a user to do this using the ‘Synchronization’... -
Page 19: Timestamp
www.sensormaestros.com 18.4 Timestamp Contains a single UInt32 value denoting time in 25us resolution. All samples contained in the frame share the same timestamp. NOTE: When TSDE=1 the highly accurate RTC time is included in the ‘Data’ frame. This timestamp is the LSM6DSx time tick. 18.5 Data Contains measurement sample data. -
Page 20: Examples
www.sensormaestros.com 18.7 Examples 18.7.1 SFQT+SFLA @104Hz Each data frame contains two samples, one for SFQT, one for SFLA. They always share a common timestamp. Start byte Data Timestamp Data End byte description Field SFQT SFLA 0xFA 0x30* 4 bytes 16 bytes 12 bytes 0xFB Value... -
Page 21: Mobile App
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 22: Scanner
19.1 Scanner SFM2 App will show all SFM2’s that are active(ON) and in the range of the mobile device. Tap on any of the SFM2’s in the list to connect to it. 19.2 Change Name Give a SFM2 a unique name by connecting to it going to the ‘Config’ tab and scroll to the bottom section to rename the device. After changing the name of the SFM2 the name will immediately take effect and is stored in non-volatile memory and will display as that name until the name would be changed again. -
Page 23: Home: 3D View
19.3.1 Home: 3D View The 3D view allows a user to see the SFM2 rotate in 3D space and provide the ability to ‘Tare’ the SFM2 if it has been mounted to an object to zero the Quaternion vectors. Other... -
Page 24: Home: Throughput
Raw Accelerometer Data Streams have all been enabled. NOTE: The Accelerometer has been configured for 208Hz ODR while the Fusion Library is running at 104Hz. 19.3.3 Home: Self-Test The Self-Test on the Home view allows the user to quickly perform a sensor functionality test to ensure the SFM2 is functioning properly. 24 | P a g e User Manual V1.0.3... -
Page 25: Config
SFLA(linear acceleration) Environmental Sensors: Pressure, Altitude, Temperature, Humidity ➢ Change the Reference Frame ➢ Configure Temperature/Humidity Sensor ➢ Configure Pressure/Altitude Sensor ➢ Configure SFM2 Calibration Settings ➢ Configure Accelerometer ➢ Configure Gyroscope ➢ Configure Magnetometer ➢ Configure Kalman Filter Parameters ➢... -
Page 26: Config: Data Streams
19.4.2 Config: Data Streams Enable individual data streams desired to be in SFM2 ouptut. Not all data stream enables are shown in image below… 19.4.3 Config: Reference Enabled Disable Global Reference Frame. Refer to Section 14 for further details on Sensor Fusion Reference Frames. -
Page 27: Config: Altitude/Pressure
Zero Altitude to measure change of altitude at current altitude 19.4.6 Config: Calibration The Calibration section allows the user to enable calibration for the SFM2. The recommended settings for Calibration are shown below. ➢ Updating Enabled: Allows for dynamic calibration updates ➢... -
Page 28: Config: Accelerometer
www.sensormaestros.com 19.4.7 Config: Accelerometer Provides for configuration of all Accelerometer parameters. For typical usage recommended settings are shown below. For setting options please refer to Section 16.5 Accelerometer Settings 0x0201 19.4.8 Config: Gyroscope Provides for configuration of all Gyroscope parameters. For typical usage recommended settings are shown below. For setting options please refer to Section 16.6 Gyroscope Settings 0x0202 28 |... -
Page 29: Config: Magnetometer
19.4.10 Config: Kalman Filter Parameters The SFM2 allows for Kalman Filter parameter tunings which can be useful for specific application to fine tune for specific movement or conditions. It is NOT recommended to change the parameters that have been configured for the SFM2 from the factory calibration unless these variables are clearly understood. -
Page 30: Config: Name Change
ON with the stored configuration. Allows user to restore Factory Defaults. 19.5 Stats The Stats view is SFM2 data streams are shown and scrolling graphs for Environmental Sensors is shown along with system information. ➢ Enabled Data Streams displayed, Scrolling graphs for Environmental Sensors if data streams are enabled. -
Page 31: Data Streams
www.sensormaestros.com 19.5.1 Data Streams Data Streams section will display all active data streams for motion sensors, sensor fusion, and environmental sensors similar to as shown below. Motion Sensor/Sensor Fusion Streams Temperature/Humidity Streams Pressure/Altitude Streams Altitude has crossed Alarm High Threshold set for 1907m 31 | P a g e User Manual... -
Page 32: Ble Stats
19.5.4 Calibration Calibration Stats indicate current calibration values and error currently being used. If these are blank then the SFM2 has not been properly calibrated OR possibly the Calibration values have been cleared via the CONFIG->Calibration ‘Clear Storage’ button and the device has been power cycled where it does not have calibration values to use. -
Page 33: Statistics
19.5.5 Statistics The Statistics section provides high level system statistics indicating how long the SFM2 has been connected to the SENSR-LOGR app. The Max IMU queue usage provides an indication as to how much BLE bandwidth is available on the SFM2 side. -
Page 34: Time
19.6 Time When ONLY 1 SFM2 is being used at a time the ‘Time’ view and ‘Synchronization’ feature should NOT be used. This is ONLY for use when multiple SFM2’s are in use simultaneously connected to the SENSR-LOGR app. For this case refer to Section 18.8.3 Multi Mode: Time... -
Page 35: View/Explore/Garph Log Files
www.sensormaestros.com 19.7.2 View/Explore/Garph Log Files To view your log files click ‘Explore’ All stored log files in the SENSR-LOGR app will show as seen below The ‘Show Last’ button brings up the most recent Log file. To graph or see the data streams inside a Log file click on the desired Log file The log file shown below has the AD(accelerometer), TD(Temperature), HD(Humidity), and SFQT(Tared Quaternion) data streams contained in it. -
Page 36: Share Log File(Store Remotely)
www.sensormaestros.com Temperature Plot Accelerometer Plot 19.7.3 Share Log File(store remotely) Stored log files can be sent to a remote location using the ‘Share’ button which provides the ability to send the log files via text, email, Airdrop, or send to a cloud folder. 36 | P a g e User Manual... -
Page 37: Multi Mode(Multiple Sfm2'S)
SFM2’s would be worn on both wrists and both ankles and possibly one on the chest. While it is possibly to connect up to 6 SFM2’s to the SENSR-LOGR app it is not typically recommended as mobile devices tend to start to limit the bandwidth they will allocated once multiple BLE devices have been connected. -
Page 38: Multi Mode: Stats
Return to List View and you will see all 3 SFM2’s have been configured the same 19.8.2 Multi Mode: Stats If you have multiple SFM2’s configured and connected to the SENSR-LOGR app you can view the Data Streams on the ‘Stats’ tab as shown below. -
Page 39: Multi Mode: Time Synchronization
This time synchronization algorithm is constantly being monitored between all SFM2’s in use in Multi Mode and constantly updates as needed each SFM2’s ‘time stamp clock’ to keep the SFM2’s in Synch. This process is not trivial by any means as one can imagine there are not only clocks on each SFM2 that may differ but also understanding that there are differences between each SFM2 and data sent/received. - Page 40 19.8.3.1 Time Synchronization Log File File Below is an example of 3 SFM2’s connected to the SENSR-LOGR app with Fusion Output set to 417Hz with the Output Prescaler set to 2 which provides a 208Hz ODR and the SFQT Datastream enabled for each of the SFM2’s.
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Page 41: 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 20.1 SFM2 BLE Characteristic Map The SFM2 has a total of 19 characteristics, 16 of them support notifications. Name Read Notify... -
Page 42: Data Stream Characteristics
20.2 Data Stream Characteristics The Data Stream characteristic is used to send sensor data from the SFM2. The transmission is started by enabling BLE notifications of the Data Stream characteristic (writing its CCCD). The type of sensor data to be sent can be chosen by enabling the various sensor data types via the Data Stream Settings characteristic as shown further below. - Page 43 Setting TSDE to 1 enables the RTC clock to be output in the Binary Frame along with the sensor data that is packed into the binary frame. By default the SENSR-LOGR app will set TSDE=1 upon connecting to a SFM2. This is extremely useful as the default timestamp that is provided by the LSM6DSx IMU which provides 25us resolution can drift significantly over time.
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Page 44: Sensor Fusion Settings X 0122
www.sensormaestros.com 20.3 Sensor Fusion settings 0x0122 Sensor Fusion Settings provide control over the Fusion Output Data Rate(ODR) and also over the Output Divider setting which allows the Fusion ODR to run at a higher rate than the actual Data Rate that is sent to the BLE and USB interfaces. EXAMPLE –... -
Page 45: Accelerometer Settings
www.sensormaestros.com 20.5 Accelerometer Settings 0x0201 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 1 bytes filter Filter Configuration 7 bytes 1 byte fast_settling Filter fast settling. 1-enabled, 0-disabled 1 byte power_mode Power Mode... -
Page 46: Accelerometer Power Mode
www.sensormaestros.com 20.5.3 Accelerometer Power Mode Rate Value 0x00 High performance 0x01 Normal 0x02 Ultra low power 20.5.4 Self-Test Configuration Self-test disturbance configuration. Used for both accelerometer and gyro. Value Rate 0x00 0x01 Positive 0x02 Negative 20.6 Gyroscope Settings 0x0202 Size Name Description 1 byte... -
Page 47: Gryoscope Hpf Configuration
Self-test disturbance enabled. 1-enabled, 0-disabled 20.8 SF Kalman Settings 0x0204 Kalman filter settings. NOT RECOMMENDED TO CHANGE UNLESS YOU UNDERSTAND THESE VALUES AND THEIR IMPACT. CONSULT SENSOR MAESTROS IF SPECIFIC TUNING IS DESIRED. Size Name Description 4 bytes Gyro sensor noise variance units (deg/s)^2... -
Page 48: Magnetometer Calibration Type
4 element 0x02 7 element 0x03 10 element 20.10 Environmental Sensor Settings 0x0310 These settings provide configuration for the Pressure(LPS22H) and Temperature/Humidity(ENS210) sensors on the SFM2. Size Name Description 4 bytes zero_pressure Pressure at 0 m. Used to tare altitude, in hPa. Float32. -
Page 49: Altitude Tare 0X0311
These characteristics are described in a general sense below. 20.12.1 Time 0x0131 The time characteristic allows the user to read or set the RTC Clock running on the SFM2. The time is given in RTC ticks. The RTC tick frequency is 32,768Hz. -
Page 50: Time Trim 0X0142
www.sensormaestros.com 20.12.3 Time Trim 0x0142 Time trim characteristic can be used to (effectively) trim the frequency of the RTC clock. The actual tick frequency can’t be changed. Instead, the trim works by either adding or subtracting one additional tick at a given interval. If the trim value is positive then a tick is added at the interval, if it’s negative then a tick is subtracted. -
Page 51: Connection Parameters 0X0138
www.sensormaestros.com 20.13.4 Connection Parameters 0x0138 The connection parameters characteristic holds the current BLE connection parameters. It is updated each time any of the parameters changes. Size Name Description 2 bytes MTU, in bytes. UInt16. 2 bytes connection_interval Connection Interval in 1.25 ms units. 0 if not set. UInt16. 2 bytes slave_latency Slave Latency in number of connection events. -
Page 52: Sf Kalman Settings 0X0204
www.sensormaestros.com 20.13.6.1 Self-Test Phase Provides Self-Test status whether it has been run prior and any disturbances. Value Phase 0x00 Never run 0x01 Base measurement 0x02 Positive disturbance measurement 0x03 Negative disturbance measurement 0x04 Completed 20.13.7 SF Kalman Settings 0x0204 Size Name Description 4 bytes... -
Page 53: Usb Commands
USB Commands NOTE: This section describes ASCII commands that can be used with the SFM2 over a USB/COM Port interface. If it is desired to use the USB interface it is HIGHLY RECOMMENDED to utilize the SFM2 Python Library. The SFM2 Python Library can be downloaded from the SFM2 website at the link below and is further described in Section 21.1.1 Python API... -
Page 54: Special Characters
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 CALIBCLEAR! Clears previously stored calibration data. -
Page 55: Motion Sensor Configuration Commands
www.sensormaestros.com Enable/Disable Global Reference Frame BINMODE=<enable-boolean> 1 = COM Sensor output in Binary 0 = COM Sensor in ASCII format(Default) 21.7 Motion Sensor Configuration Commands: 21.7.1 Accelerometer Commands ASR=<sample_rate-int16> Set accelerometer sample rate in Hz (0 for sampling disabled) AFR=<full_scale_range-int16> Set accelerometer full-scale range in g AFASTSET=<enable-boolean>... -
Page 56: Sensor Fusion Commands
TRIM=<int32> The Time Trim can be used to fine tune the SFM2 RTC. When TTRIM is set to a positive value X then one tick is added to the RTC every X ticks. If TTRIM is set to a negative value Y then one tick is subtracted from the RTC every -Y ticks. E.g. Suppose that the SFM2 RTC ticks slightly too fast and every second it gets ahead of the reference clock by 1ms. -
Page 57: Sensor Queries
NAME? Provides name of SFM2 TIME? Provides current ‘time’ of TIMESFM2 CALIBSTORE? Returns =VALID (Calibration has been performed and stored into NV Memory) =EMPTY (Calibration has not been performed) 21.12 Sensor Queries: ASR? Get accelerometer sample rate AFR? Get accelerometer full-scale range... -
Page 58: Data Stream Format
www.sensormaestros.com 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> Gyro data output enable MSR=<sample_rate-int> Magnetometer sample rate in Hz (0 for sampling disabled) MFR=<full_scale_range-int> Magnetometer full-scale range in uT MDE=<enable-boolean>... -
Page 59: 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 60: Python Samples
www.sensormaestros.com The 2 main categories can be expanded by clicking on them… 22.2 Python Samples The ‘samples’ folder contains numerous high level examples to help show a user how to utilize the Python API library. The example list is shown below… 60 | P a g e User Manual... -
Page 61: Ython Sfm 2 Api
22.3 Python sfm2 API’s The /sfm2 folder contains 3 folders each containing various API’s for either interfacing to or configuring the SFM2 in some form or fashion. Each folder is briefly described below… 22.3.1 sfm2: implementation Implementation folder contains API’s for interfacing to the SFM2 and configuring SFM2 as described further below. -
Page 62: Sfm2: Interface
/sample_parsing folder contains functions for parsing data and handling binary frame mode. 22.3.1.5 Serial Port /serial_port contains serial port handling functions 22.3.2 sfm2: interface /interface folder contains high level functions for the SFM2. sfm2.py is the main interface function for a connected SFM2. 62 | P a g e User Manual... -
Page 63: Sfm2: Utils
22.3.3 sfm2: Utils /utils folder contains various SFM2 utility functions such as writing sensor data to a *.csv file, analyzing USB throughput, synchronizing multiple SFM2’s, etc. Revisions 1.0.0: Initial Relase 1.0.1: Updated AD,GD,MD Data values from INT’s to Floats 1.0.2: 2022-02-18 Updated SFM2 Pictures...
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