Aceinna OpenRTK330L


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 OpenRTK330L ID for board option in “platformio.ini” (Project Configuration File):

platform = aceinna_imu
board = OpenRTK330L

You can override default Aceinna OpenRTK330L settings per build environment using board_*** option, where *** is a JSON object path from board manifest OpenRTK330L.json. For example, board_build.mcu, board_build.f_cpu, etc.

platform = aceinna_imu
board = OpenRTK330L

; change microcontroller
board_build.mcu = stm32f469IG

; change MCU frequency
board_build.f_cpu = 180000000L


Aceinna OpenRTK330L 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 = OpenRTK330L

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 OpenRTK330L 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