# Aceinna IMU

Configuration

  platform = `aceinna_imu`

Open-source, embedded development platform for Aceinna IMU hardware. Run custom algorithms and navigation code on Aceinna IMU/INS hardware.

For more detailed information please visit vendor site.

Contents

- Examples

- Debugging

- Stable and upstream versions

- Packages

- Boards

## Examples

Examples are listed from Aceinna IMU development platform repository:

- OpenIMU300RI

- OpenIMU330BI

- OpenRTK330LI

- OpenIMU300ZI

## Debugging

PIO Unified Debugger - “1-click” solution for debugging with a zero configuration.

- Tools & Debug Probes

  - On-Board Debug Tools

  - External Debug Tools

### Tools & Debug Probes

Supported debugging tools are listed in “Debug” column. For more detailed information, please scroll table by horizontal. You can switch between debugging Tools & Debug Probes using debug_tool option in “platformio.ini” (Project Configuration File).

Warning

You will need to install debug tool drivers depending on your system. Please click on compatible debug tool below for the further instructions.

#### On-Board Debug Tools

Boards listed below have on-board debug probe and ARE READY for debugging! You do not need to use/buy external debug probe.

Name | MCU | Frequency | Flash | RAM
--- | --- | --- | --- | ---
Aceinna Low Cost RTK | STM32F469NIH6 | 180MHz | 1MB | 384KB

#### External Debug Tools

Boards listed below are compatible with PIO Unified Debugger but DEPEND ON external debug probe. They ARE NOT READY for debugging. Please click on board name for the further details.

Name | MCU | Frequency | Flash | RAM
--- | --- | --- | --- | ---
Aceinna OpenIMU 300 | STM32F405RG | 120MHz | 1MB | 128KB
Aceinna OpenIMU 300ZA | STM32F405RG | 120MHz | 1MB | 128KB
Aceinna OpenIMU 330 | STM32L431CB | 80MHz | 128KB | 64KB
Aceinna OpenIMU 330ZA | STM32F469IG | 180MHz | 1MB | 384KB
Aceinna OpenRTK330L | STM32F469IG | 180MHz | 1MB | 384KB

## Stable and upstream versions

You can switch between stable releases of Aceinna IMU development platform and the latest upstream version using platform option in “platformio.ini” (Project Configuration File) as described below.

### Stable

    ; Latest stable version
    [env:latest_stable]
    platform = aceinna_imu
    board = ...

    ; Custom stable version
    [env:custom_stable]
    platform = aceinna_imu@x.y.z
    board = ...

### Upstream

    [env:upstream_develop]
    platform = https://github.com/aceinna/platform-aceinna_imu.git
    board = ...

## Packages

Name | Description
--- | ---
tool-jlink | SEGGER J-Link Software and Documentation Pack
tool-openocd | OpenOCD
toolchain-gccarmnoneeabi | gcc-arm-embedded

Warning

Linux Users:

> - Install “udev” rules 99-platformio-udev.rules

> - Raspberry Pi users, please read this article Enable serial port on Raspberry Pi.

Windows Users:

> Please check that you have a correctly installed USB driver from board manufacturer

## Boards

Note

- You can list pre-configured boards by platformio boards command or PlatformIO Boards Explorer

- For more detailed `board` information please scroll the tables below by horizontally.

### Aceinna

Name | Debug | MCU | Frequency | Flash | RAM
--- | --- | --- | --- | --- | ---
Aceinna Low Cost RTK | On-board | STM32F469NIH6 | 180MHz | 1MB | 384KB
Aceinna OpenIMU 300 | External | STM32F405RG | 120MHz | 1MB | 128KB
Aceinna OpenIMU 300ZA | External | STM32F405RG | 120MHz | 1MB | 128KB
Aceinna OpenIMU 330 | External | STM32L431CB | 80MHz | 128KB | 64KB
Aceinna OpenIMU 330ZA | External | STM32F469IG | 180MHz | 1MB | 384KB
Aceinna OpenRTK330L | External | STM32F469IG | 180MHz | 1MB | 384KB