# Aceinna Low Cost RTK

Contents

- Aceinna Low Cost RTK

  - Hardware

  - Configuration

  - Uploading

  - Debugging

## Hardware

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

Microcontroller | STM32F469NIH6
Frequency | 180MHz
Flash | 1MB
RAM | 384KB
Vendor | Aceinna

## Configuration

Please use `LowCostRTK` ID for board option in “platformio.ini” (Project Configuration File):

    [env:LowCostRTK]
    platform = aceinna_imu
    board = LowCostRTK

You can override default Aceinna Low Cost RTK settings per build environment using `board_***` option, where `***` is a JSON object path from board manifest LowCostRTK.json. For example, `board_build.mcu`, `board_build.f_cpu`, etc.

    [env:LowCostRTK]
    platform = aceinna_imu
    board = LowCostRTK

    ; change microcontroller
    board_build.mcu = stm32f469nih6

    ; change MCU frequency
    board_build.f_cpu = 180000000L

## Uploading

Aceinna Low Cost RTK supports the next uploading protocols:

- `blackmagic`

- `jlink`

- `stlink`

Default protocol is `stlink`

You can change upload protocol using upload_protocol option:

    [env:LowCostRTK]
    platform = aceinna_imu
    board = LowCostRTK

    upload_protocol = stlink

## Debugging

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

Warning

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

You can switch between debugging Tools & Debug Probes using debug_tool option in “platformio.ini” (Project Configuration File).

Aceinna Low Cost RTK has on-board debug probe and IS READY for debugging. You don’t need to use/buy external debug probe.

Compatible Tools | On-board | Default
--- | --- | ---
Black Magic Probe |  |
J-LINK |  |
ST-LINK | Yes | Yes