Aceinna OpenIMU 330ZA


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

Microcontroller STM32F469IG
Frequency 180MHz
Flash 1MB
Vendor Aceinna


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

platform = aceinna_imu
board = OpenRTK

You can override default Aceinna OpenIMU 330ZA settings per build environment using board_*** option, where *** is a JSON object path from board manifest OpenRTK.json. For example, board_build.mcu, board_build.f_cpu, etc.

platform = aceinna_imu
board = OpenRTK

; change microcontroller
board_build.mcu = stm32f469IG

; change MCU frequency
board_build.f_cpu = 180000000L


Aceinna OpenIMU 330ZA supports the next uploading protocols:

  • blackmagic
  • jlink
  • stlink

Default protocol is stlink

You can change upload protocol using upload_protocol option:

platform = aceinna_imu
board = OpenRTK

upload_protocol = stlink


Debugging - “1-click” solution for debugging with a zero configuration.


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 OpenIMU 330ZA does not have on-board debug probe and IS NOT READY for debugging. You will need to use/buy one of external probe listed below.

Compatible Tools On-board Default
Black Magic Probe