Firmware Version 0.1

Configuration & Operation

Firmware Version:

The NIMU can be controlled via a CAN bus interface. When connected through the NLink Adapter, it also supports USB communication, enabling configuration and control using the NMotion CLI Tool and the NMotion Transport Library.

API functions for interacting with the NIMU are available in the NIMU API Documentation.

CAN Bus Configuration

The NIMU device utilizes a daisy chainable CAN bus for control. If multiple devices are present on the CAN bus, ensure that a unique CAN Node ID is assigned to the device. The allowable values of CAN Node ID is in the range of 0 to 127. The default CAN Node ID is 0 and must be modified to avoid communication conflicts.

The API functions involved in this configuration are as follows:

• IMU.setNodeId(id: int)
• IMU.getNodeId()

Data Configuration

The NIMU’s output data streams can be selectively enabled or disabled using dedicated API functions. This allows users to optimize bandwidth and processing based on application needs. These functions allow fine-grained control over which sensor fusion outputs are transmitted over CAN and made available via the SDK.

All data streams can be managed individually, including:

• Linear Acceleration
• Acceleration
• Rotation Vector
• Euler Angles
• Gravity Vector
• Gyroscope (Calibrated / Uncalibrated)
• Magnetometer
• Raw Sensor Data from Accelerometer, Gyroscope and Magnetometer

Configuration changes take effect immediately and persist until the device is reset or disabled via corresponding API function.

info

Raw data streams are accessible only after they have been explicitly enabled.

The API functions involved in this configuration are as follows:

• IMU.enableRotationVector(time_interval: int)
• IMU.disableRotationVector()
• IMU.enableRawAccelerometer(time_interval: int)
• IMU.disableRawAccelerometer()
• IMU.enableRawGyro(time_interval: int)
• IMU.disableRawGyro()
• IMU.enableRawMagnetometer(time_interval: int)
• IMU.disableRawMagnetometer()
• IMU.enableLinearAccelerometer(time_interval: int)
• IMU.disableLinearAccelerometer()
• IMU.enableAccelerometer(time_interval: int)
• IMU.disableAccelerometer()
• IMU.enableGyro(time_interval: int)
• IMU.disableGyro()
• IMU.enableMagnetometer(time_interval: int)
• IMU.disableMagnetometer()
• IMU.enableUncalibratedGyro(time_interval: int)
• IMU.disableUncalibratedGyro()
• IMU.enableGravity(time_interval: int)
• IMU.disableGravity()

Operation

Getting Datapoints

The NIMU provides real-time access to a range of motion and orientation parameters. These values are updated continuously and transmitted over the CAN bus, making them accessible to control systems, real-time algorithms, or logging frameworks. Sensor data from the NIMU can be accessed by first enabling the desired data stream using the corresponding enable function (e.g., enableEulerAngles(), enableAccelerometer()..etc), after which the relevant API function (such as getEulerAngles(), getLinearAcceleration(), etc.) can be used to retrieve the data. For raw sensor outputs like getRawGyroscope(), the corresponding base stream (e.g., enableGyroscope()) must be enabled first to ensure proper data flow.

The API functions involved in this configuration are as follows:

• IMU.getRotationVectorData()
• IMU.getRawAccelerometerData()
• IMU.getRawGyroData()
• IMU.getRawMagnetometerData()
• IMU.getLinearAccelerometerData()
• IMU.getAccelerometerData()
• IMU.getGyroData()
• IMU.getMagnetometerData()
• IMU.getUncalibratedGyroData()
• IMU.getUncalibratedGyroBiasData()
• IMU.getEulerAngles()
• IMU.getGravityData()