# HiPNUC CH040 IMU/VRU Module

> HiPNUC CH040 is a 25 × 20 × 2.7 mm surface-mount 6-DoF IMU/VRU with an on-board adaptive EKF. It has a ±2000 °/s gyro (1.6 °/h bias instability) and ±12 g accelerometer (18 µg), factory temperature compensation from −40 to 85 °C, and attitude output up to 1 kHz over UART or 200 Hz over CAN. Pitch/roll is accurate to 0.1–0.2°. 3.2–5.5 V, 305 mW, < 2.5 g.

- Manufacturer: HiPNUC
- Part number: CH040
- Category: IMUs & motion sensors
- Canonical page: https://www.xirkit.io/products/hipnuc-ch040-imu-vru-module-f6d4
- Pinout: https://www.xirkit.io/products/hipnuc-ch040-imu-vru-module-f6d4/pinout
- Structured JSON: https://www.xirkit.io/products/hipnuc-ch040-imu-vru-module-f6d4/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Sensor type | imu vru 6dof |
| Axes | 6 DoF |
| Accelerometer range | 12 ±g |
| Gyroscope range | 2,000 ±°/s |
| Max output data rate | 1,000 Hz |
| On-chip sensor fusion | Yes |
| Interface | UART, CAN |
| Weight | 2.5 g |
| Supply voltage | 3.2–5.5 V |
| Dimensions | 25 × 20 × 2.7 mm |
| Operating temperature | -40 to 85 °C |

## Pinout (18 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| VDD | — | power in | — | power_in | — | — | — | — | — | — | — |
| GND | — | ground | — | ground | — | — | — | — | — | — | — |
| EN | — | input | — | en | — | — | — | — | — | — | — |
| IO1 | — | gpio | — | io1 | — | — | — | — | — | — | — |
| IO2 | — | gpio | — | io2 | — | — | — | — | — | — | — |
| RXD2 | — | uart rx | — | rxd2 | — | — | — | — | — | — | — |
| TXD2 | — | uart tx | — | txd2 | — | — | — | — | — | — | — |
| GND | — | ground | — | ground | — | — | — | — | — | — | — |
| IO5 | — | gpio | — | io5 | — | — | — | — | — | — | — |
| IO6 | — | gpio | — | io6 | — | — | — | — | — | — | — |
| TXD1 | — | uart tx | — | txd1 | — | — | — | — | — | — | — |
| RXD1 | — | uart rx | — | rxd1 | — | — | — | — | — | — | — |
| IO9 | — | gpio | — | io9 | — | — | — | — | — | — | — |
| CAN_RX | — | can | — | can_rx | — | — | — | — | — | — | — |
| CAN_TX | — | can | — | can_tx | — | — | — | — | — | — | — |
| TXD3 | — | uart tx | — | txd3 | — | — | — | — | — | — | — |
| RXD3 | — | uart rx | — | rxd3 | — | — | — | — | — | — | — |
| NRST | — | input | — | nrst | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| aifitlab.com | 100 USD | preorder | 2026-10-18 | https://aifitlab.com/products/hipnuc-ch040-sensor?variant=45056020807816 |

## FAQ

**What voltage powers the HiPNUC CH040 IMU/VRU Module?**

Supply range 3.2–5.5 V.

**How much does the HiPNUC CH040 IMU/VRU Module cost?**

From $100 at aifitlab.com. Prices are observed unit prices before tax and shipping.

**What are the HiPNUC CH040 IMU/VRU Module dimensions?**

25 × 20 × 2.7 mm. A STEP model is available for enclosure fit checks.

**Where does this HiPNUC CH040 IMU/VRU Module data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [HiPNUC CH040 IMU/VRU Module datasheet](https://cdn.shopify.com/s/files/1/0673/6848/5000/files/HIPNUC-CH0X0-DataSheet.pdf)
- [aifitlab.com listing](https://aifitlab.com/products/hipnuc-ch040-sensor?variant=45056020807816)

## Part graph

### Alternatives (by use case)

- [Yahboom CMP10A 10-Axis IMU (metal case)](https://www.xirkit.io/products/yahboom-cmp10a-10-axis-imu-metal-case-0154) — Both serve sensor fusion and on-device ml — check the trade-offs; $100 vs $89.99