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The Inertial Sense CLTool is a command line utility that can be used to read and display data, update firmware, and log data from Inertial Sense products. Additionally, CLTool serves as example source code that demonstrates integration of the Inertial Sense SDK into your own source code. The CLTool can be compiled in Linux, Mac, Windows and embedded platforms.

Help Menu

Run "cltool -h" to display the help menu.

    Command line utility for communicating, logging, and updating firmware with Inertial Sense product line.

    cltool -c /dev/ttyS2 -did DID_INS_1 DID_GPS1_POS DID_PIMU      # stream DID messages
    cltool -c /dev/ttyS2 -did 4 13 3                # stream same as line above
    cltool -c /dev/ttyS2 -did 3=5                   # stream DID_PIMU at startupNavDtMs x 5
    cltool -c /dev/ttyS2 -presetPPD                 # stream post processing data (PPD) with INS2
    cltool -c /dev/ttyS2 -presetPPD -lon -lts=1     # stream PPD + INS2 data, logging, dir timestamp
    cltool -c /dev/ttyS2 -edit DID_FLASH_CFG        # edit DID_FLASH_CONFIG message
    cltool -c /dev/ttyS2 -baud=115200 -did 5 13=10  # stream at 115200 bps, GPS streamed at 10x startupGPSDtMs
    cltool -c /dev/ttyS2 -rover=RTCM3: # Connect to RTK NTRIP base
    cltool -rp logs/20170117_222549                 # replay log files from a folder
    cltool -c /dev/ttyS2 -uf fw/IS_uINS-3.hex -ub fw/bootloader-SAMx70.bin -uv
                                                    # update application firmware and bootloader
    cltool -c * -baud=921600                        # 921600 bps baudrate on all serial ports

OPTIONS (General)
    -h --help       Display this help menu
    -c COM_PORT     Select the serial port. Set COM_PORT to "*" for all ports and "*4" to use
                    only the first four ports.
    -baud=BAUDRATE  Set serial port baudrate.  Options: 115200, 230400, 460800, 921600 (default)
    -magRecal[n]    Recalibrate magnetometers: 0=multi-axis, 1=single-axis
    -q              Quiet mode, no display
    -reset          Issue software reset
    -s              Scroll displayed messages to show history
    -stats          Display statistics of data received
    -survey=[s],[d] Survey-in and store base position to refLla: s=[2=3D, 3=float, 4=fix], d=durationSec
    -uf FILEPATH    Update application firmware using .hex file FILEPATH.  Add -baud=115200 for systems w/ baud rate limits.
    -ub FILEPATH    Update bootloader using .bin file FILEPATH if version is old.
    -uv             Run verification after application firmware update.

OPTIONS (Message Streaming)
    -did [DID#<=PERIODMULT> DID#<=PERIODMULT> ...]  Stream 1 or more datasets and display w/ compact view.
    -edit [DID#<=PERIODMULT>]                       Stream and edit 1 dataset.
          Each DID# can be the DID number or name and appended with <=PERIODMULT> to decrease message frequency.
          Message period = source period x PERIODMULT. PERIODMULT is 1 if not specified.
          Common DIDs: DID_INS_1, DID_INS_2, DID_INS_4, DID_PIMU, DID_IMU, DID_GPS1_POS,
          DID_GPS2_RTK_CMP_REL, DID_BAROMETER, DID_MAGNETOMETER, DID_FLASH_CONFIG (see data_sets.h for complete list)
    -dids           Print list of all DID datasets
    -persistent     Save current streams as persistent messages enabled on startup
    -presetPPD      Stream preset post processing datasets (PPD)
    -presetINS2     Stream preset INS2 datasets

OPTIONS (Logging to file, disabled by default)
    -lon            Enable logging
    -lt=TYPE        Log type: dat (default), sdat, kml or csv
    -lp PATH        Log data to path (default: ./IS_logs)
    -lms=PERCENT    Log max space in percent of free space (default: 0.5)
    -lmf=BYTES      Log max file size in bytes (default: 5242880)
    -lts=0          Log sub folder, 0 or blank for none, 1 for timestamp, else use as is
    -r              Replay data log from default path
    -rp PATH        Replay data log from PATH
    -rs=SPEED       Replay data log at x SPEED. SPEED=0 runs as fast as possible.

OPTIONS (Read or write flash configuration from command line)
    -flashCfg       List all IMX "keys" and "values"
    -evbFlashCfg    List all EVB "keys" and "values"
                    Set key / value pairs in flash config. Surround with "quotes" when using pipe operator.
    cltool -c /dev/ttyS2 -flashCfg  # Read from device and print all keys and values
    cltool -c /dev/ttyS2 -flashCfg=insRotation[0]=1.5708|insOffset[1]=1.2
                                  # Set multiple flashCfg values
OPTIONS (RTK Rover / Base)
    -rover=[type]:[IP or URL]:[port]:[mountpoint]:[username]:[password]
        As a rover (client), receive RTK corrections.  Examples:
            -rover=TCP:RTCM3:   (NTRIP)
            -rover=SERIAL:RTCM3:/dev/ttyS2:57600       (port, baud rate)
    -base=[IP]:[port]   As a Base (sever), send RTK corrections.  Examples:
            -base=TCP::7777                            (IP is optional)

Compile & Run (Linux/Mac)

  1. You must have cmake installed on your machine. To do this, download the cmake application at Then, using the command line, you will need to install cmake with either of the following commands depending on your platform:
    sudo "/Applications/" --install
    sudo apt-get install cmake
  2. Create build directory

    cd cltool
    mkdir build

  3. Run cmake from within build directory

    cd build
    cmake ..

  4. Compile using make


  5. If necessary, add current user to the "dialout" group in order to read and write to the USB serial communication ports:

    sudo usermod -a -G dialout $USER
    sudo usermod -a -G plugdev $USER
    (reboot computer)

  6. Run executable

    cd build

Compile & Run (Windows CMake CL)

  1. Install CMake for Windows

  2. Create build directory ```cd cltool mkdir build

  3. Run cmake from within build directory

    cd build
    cmake ..

  4. Compile

    cmake --build .

  5. Run executable
    cd Release (or Debug depending on CMake configuration you selected)

Compile & Run (Windows CMake Visual Studio)

Windows Visual Studio supports CMake projects. Follow the instructions provided by Microsoft:

Update the Firmware

In order to update the firmware of your unit on the CLTool, follow these steps:

  1. Navigate to the directory with the CLTool executable
  2. Set the unit's COM port as an option, e.g. -c COM15
  3. Specify the FILEPATH to the .hex file, e.g. -uf foo/bar/IS_uINS-3.hex
  4. Optionally specify the bootloader BLFILEPATH to the .bin file, e.g. -ub foo/bar/bootloader-SAMx70.bin
  5. Run the executable

*Note: The firmware can only be updated at the following baud rates: 300000, 921600, 460800, 230400, 115200


  1. Make sure you have followed the steps shown above to compile your CLTool.
  2. Change your current directory to /cpp/SDK/cltool/build
  3. Type ./cltool into the command line while appending your desired options (All possible options can be accessed from the CLTool’s help menu which is accessed by entering ./cltool -h into the command line)
  4. The options you will minimally need to log are these: * -lt=# (Defines the log type. Either e.g. -lt=dat or -lt=csv) * -lp /directory1/directory2/directory3 (Specifies the path into which your files will be placed.) * If you don’t include this option, your data will be saved to /build/IS_logs if that directory has already been created. * -lon (Must be placed after all other options specified)
  5. This is an example of what you could use as your logging options:
    cltool -lon -lts=1 -lp /media/usbdrive/data

Command Line Options

Navigate to the directory /cpp/SDK/cltool/build and run the CLTool with the help option, "-h"

./cltool -h

to display the command line options

Command Line Options in MS Visual Studio

When using MS Visual Studio IDE, command line arguments can be supplied by right clicking the project in the solution explorer and then selecting Configuration Properties -> Debugging -> Command Arguments (see image below).

CMD_options in VS