NiusIMU

One Arduino-style motion API for real marketplace modules, clone populations, and modern sensor-fusion silicon on ArduinoNRF.

Built for the modules people actually buy

Unified surface	Marketplace-aware	Modern feature paths	ArduinoNRF-native
begin(), update(), engineering units, and calibration	Exact photographed silks, clone identities, and populated-core probing	Fusion, FIFO, auxiliary buses, FSM/MLC, ASC, OIS/EIS, high-g, and host interrupts	I2C and SPI paths compiled for the ArduinoNRF nRF52840 core

Basic sketches stay minimal. Interrupt routing, calibration, fusion, AI, auxiliary sensors, and protocol-specific behavior live in Advanced or focused feature examples.

Quick start

#include <MPU9250.h>

MPU9250 imu;

void setup() {
  Serial.begin(115200);
  if (!imu.begin()) while (true) {}
}

void loop() {
  if (!imu.update()) return;

  Vec3 acceleration = imu.accelG();
  Vec3 rotation = imu.gyroDps();
  Vec3 magneticField = imu.magUT();
}

Supported devices

Family	Sensors and modules
InvenSense / TDK	MPU-6050, MPU-6500, MPU-6886, MPU-9250, MPU-9255, ICM-20602, ICM-20689, ICM-20948, ICM-42688-P, ICM-45686
Bosch	BMI088, BMI160, BMI270, BMI323, BMX055, BNO055
CEVA	BNO085, BNO086
ST	LSM303DLHC, LSM303D, LSM6DS3, LSM6DS3TR-C, LSM6DSOX, LSM6DSV, LSM6DSV320X, LSM9DS1, L3G4200D, L3GD20/H
Other motion and magnetic	ADXL345, MMA8452Q, ITG-3200/3205, QMI8658/C, HMC5883L, QMC5883L, QMC6309
Pressure	BMP180/BMP085, BMP280, MS5611
Named marketplace boards	GY-45/50/63/68/80/801/85/86/87/88/91/271/273/291/511/521/9250, GY-LSM6DS3, GY-BNO055/085, GY-601N1, CJMCU-055, CJMCU-633/603F, MUMO

The library also covers the photographed full-pin and eight-pad ICM-45686 variants, ICM-20948 ten-pad board, LSM6DSV320X and LSM6DS3TR-C boards, SparkFun-layout BNO086 clones, and LSM303DLHC + L3GD20 marketplace clones.

See IMU Support and Usage for exact pin maps, core-versus- carrier selection, clone identification, calibration workflows, limitations, and the feature-example index.

LSM6DSV320X without a ceiling

The friendly C++ API covers normal sampling, the independent 320 g channel, high-g events, SFLP fusion, the sensor hub, MEMS Studio UCF loading, FSM/MLC, and ASC. stContext() also exposes the complete bundled ST register driver for FIFO, EIS/OIS, embedded events, self-test, and sensor-side MIPI I3C 1.1/IBI configuration.

LSM6DSV320X imu;
imu.begin();
lsm6dsv320x_fifo_watermark_set(imu.stContext(), 16);

Install and build

Install NiusIMU from Arduino Library Manager, or compile this checkout directly beside ArduinoNRF:

arduino-cli compile \
  --fqbn arduinonrf:nrf52:promicro_nrf52840 \
  --library <path-to>/ArduinoNRF-IMU \
  <path-to>/ArduinoNRF-IMU/examples/GY91/GY91_Basic

MCU / platform support

NiusIMU began on the ArduinoNRF nRF52840 core, but the sensor and bus layers are portable C++. The core paths (e.g. MPU-6050 over I2C, calibration, bus recovery) now build across every major Arduino architecture:

Architecture	Example board	Status
Nordic nRF52 (ArduinoNRF)	ProMicro nRF52840	✅ native
Espressif ESP32 / ESP32-S3	ESP32-S3 DevKit	✅
Espressif ESP8266	Generic ESP8266	✅
RP2040 / RP2350	Raspberry Pi Pico	✅
Microchip SAMD21 (Cortex-M0+)	Arduino Zero	✅
Renesas RA4M1	Arduino UNO R4 WiFi	✅
AVR (ATmega328P)	Arduino Nano / Uno	✅ (see note)
megaAVR	Arduino Nano Every	✅

Notes:

• Bus recovery uses each core's default SDA/SCL pin macros (the earlier TwoWire::pinSDA()/pinSCL() accessors exist on only a few cores). On a core that exposes neither, recoverBus() falls back to a plain re-init.
• AVR (C++11): the ST LSM6DSV320X advanced driver is compiled out on AVR (its generated register layer needs C++14+ and more flash/RAM than an ATmega328P provides). Every other listed sensor builds; a full 6-axis IMU such as the MPU-6050 fits an Uno/Nano with room to spare.

Documentation

• IMU support, pinouts, and usage
• Architecture
• Adding a sensor

NiusIMU is licensed under Apache-2.0. The bundled ST LSM6DSV320X register driver retains its BSD-3-Clause license.