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everything-imu

HOPX / Triki

Status: hardware-validated (live tester).

Hardware

Section titled “Hardware”

A Nordic nRF52810 BLE SoC packs samples from an STMicroelectronics LSM6DS 6-axis IMU (2000 dps, 16 g) into UART notifications. 6-axis only - no magnetometer, battery, or rumble in the stream.

Transport

Section titled “Transport”
  • BLE only, over the Nordic UART Service (6e400001-…): TX notify 6e400003, RX write 6e400002.
  • A vendor START command begins the stream; STOP ends it.
  • Discovery is by advertised name prefix Triki. The MAC OUI varies per unit, so it can’t be used as a filter.

Sample format

Section titled “Sample format”

14-byte records: [0x22][seq][6× int16 LE], gyro X/Y/Z first (offsets 2/4/6), then accel X/Y/Z (8/10/12). Gyro 70 mdps/LSB, accel 1/2048 g/LSB. Native rate 52 Hz.