#imu #byte #protocols #data #hiwonder

bin+lib hiwonder

Interface for interacting with Hiwonder IMUs

8 releases

new 0.3.2 Apr 18, 2025
0.3.1 Apr 17, 2025
0.2.3 Jan 31, 2025
0.1.0 Jan 1, 2025

#1035 in Hardware support

Download history 159/week @ 2025-01-01 5/week @ 2025-01-08 309/week @ 2025-01-15 118/week @ 2025-01-22 159/week @ 2025-01-29 106/week @ 2025-02-05 62/week @ 2025-02-12 9/week @ 2025-02-19 5/week @ 2025-03-05 157/week @ 2025-04-09

157 downloads per month
Used in 2 crates (via imu)

MIT license

20KB
448 lines

Link to IMU:

HiWonder IMU Protocol

  • Data Length: 11 bytes
  • Header/start/SOF Byte: 0x55
  • Command Byte: 0x51 accel data, 0x52 Gyroscope data, 0x53 angle data, 0x59 quaternion data
  • Data: 8 bytes
  • CheckSum Byte: 1 byte (only lowest 8 bits of summation of all bytes in packet is used (CheckSum & 0xff))

Setup

  • Install this driver for the CH341 USB controller
  • This should create a /dev/ttyUSB0 - you should check which one by doing ls /dev/tty*. You might need to the change the permissions
  • Connect the IMU to the computer via USB
  • Default Baud Rate: 9600
  • Default USB port: /dev/ttyUSB0

Dependencies

~2MB
~43K SLoC