EdgeFirst IMU

Inertial Measurement Unit (IMU) service for EdgeFirst Maivin platform using BNO08x sensors.

Overview

EdgeFirst IMU provides IMU sensor data from BNO08x sensors, publishing fused orientation and raw sensor data over Zenoh for robotics and edge AI applications.

Features

• BNO08x IMU sensor support via SPI
• Sensor fusion with quaternion and rotation vector outputs
• Real-time processing with Tracy profiling support
• Zenoh integration for distributed communication
• Configurable update rates for rotation, accelerometer, and gyroscope

Installation

From crates.io

cargo install edgefirst-imu

From GitHub Releases

Download pre-built binaries from the releases page:

# For x86_64
wget https://github.com/EdgeFirstAI/imu/releases/latest/download/edgefirst-imu-linux-x86_64
chmod +x edgefirst-imu-linux-x86_64

# For ARM64 (Maivin)
wget https://github.com/EdgeFirstAI/imu/releases/latest/download/edgefirst-imu-linux-aarch64
chmod +x edgefirst-imu-linux-aarch64

From Source

git clone https://github.com/EdgeFirstAI/imu.git
cd imu
cargo build --release

Requirements

• Linux with SPI and GPIO support
• BNO08x IMU sensor hardware
• Rust 1.90 or later (for building from source)

Usage

edgefirst-imu --device /dev/spidev1.0 --interrupt IMU_INT --reset IMU_RST

Options

Testing

cargo test

Documentation

For detailed documentation, visit EdgeFirst Documentation.

Contributing

See CONTRIBUTING.md for guidelines on contributing to this project.

License

Copyright 2025 Au-Zone Technologies Inc.

Licensed under the Apache License, Version 2.0. See LICENSE for details.

Security

For security vulnerabilities, see SECURITY.md.