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python-openimu is an open source project. You can fork it and modify as you expect. It is suitable for custom development.

ModuleNotFoundError: No module named 'can'

About this issue, the temporary solution is to install a dependency named 'python-can'. And we will fix it in next version.

And could you supply the detailed wrong msg from the executable?

Is it fixed by yourself? If you still have problem while upgrading firmware, could you share the FW to us, so that we can simulate the issue at our side?

a8a41db1-accc-4c56-ab2e-82d9ab314c2f-OpenIMU300RI to be released_cek_20210220-MAGALING_3.1.8_add swap+unitbhr.dbc
4 msg are normal data msg which are auto-transmitted, other msg are used for set/get commands msg, such as: set orientation msg, set output rate of CAN, or GPS related msg for INS app and other algorithm app.
pls use Hex format to show data, will be better to understanding.
pls load the DBC i attached, then the msg should be decoded automatically by Kvaser_canking.

@k2ironman Below is some references for you,

1. pip install openimu
2. sample code

import time
import threading
from aceinna.tools import Detector


def handle_receive_continous_data(packet_type, data):
    # the position data will be in packet_type equals 'pos'
    print(packet_type, data)

def on_find_device(device):
    # prepare to use
    device.setup(None)
    # listen the output data
    device.on('continous',  handle_receive_continous_data)

def prepare():
    detector = Detector(
        device_type='OpenRTK',
        com_port='{DEVICE COM}',
        baudrate=460800)
    detector.find(on_find_device)

if __name__ == '__main__': 
    threading.Thread(target=prepare).start()

    while True:
        time.sleep(10)

For more advance usage, please take a look of the source code.

INS401 EVK Manual_V1.0.pdf
INS401-Firmware Upgrade instructions_V1.4.pdf
INS401_28.04.20_270301--recompile.bin
INS401_28.04.20_000101bootapp-recopile.bin
INS401_v28.04_IMU_27.03.01.bin
INS401_v28.04.22_RTK_OFFINSAID_INS_sta9100_eval_5_10_18_1_RC_RTCM3-5HzCPVT-10HzPVT_scn5_25db_E2EOFF_SISOFF_BOOT.bin
5020-4013-01_28.05 FRMW, RTK_INS_STA9100 V5.10.18, INS401.bin
boot program of GNSS chip_v1.0.json[ins402_mosaic_20230327.dbc]
ins402_can_20230327.dbc
INS402 Quick Application Guide(test draft)_v2.0.pdf
INS402_InterfaceDescription_v1_20230329_final.pdf
2023_04_14_10_03_40_canfd_d.zip
ins402_mosaic_20230413.dbc
INS401-Firmware Upgrade instructions_V1.5.pdf
INS402_InterfaceDescription_v2.0_20230511_final.pdf
ins402_mosaic_20230728_31.00.06.dbcINS401_v28.06.bin
ins402_um982_20240129_31.00.12-7.dbc
ins402_um982_20240411_31.00.13-7.dbc
npcap-1.50.exe
INS502_UserManual-D05-20240815.pdf

for OpenIMU330BI, it is a chip product, pin-out pls refer to Pinout chapter:
https://openimu.readthedocs.io/en/latest/330BI/pinout.html#openimu330bi-pinout-and-function-descriptions
In 330BI evk, what we used is a small OpenIMU330BI-evb(similar with 300ZI) not 330BI-chip, sorry for not clear text in EVK chapter, the small evb is used to do quickly evaluation of performance and function in customer side(because 330bi chip is difficult to evaluate it without welding to PCB).
so, 330BI is one chip product.
330bi-evb is another module which have 20 pins, 330BI-evk include: big PCB developing board, 330bi-evb, ST-LINK debugger and micro-usb, and so on.

BOOT0: support build in bootloader. https://openimu.readthedocs.io/en/latest/330BI/evb_330BI_FW_update.html#using-built-in-mcu-bootloader
IO2 and IO3 is used to show internal IMU data preparing status.
hope helpful for you, could you tell us why you need the info and what is your target now? then we can supply support correspondingly.
"It shows the 330RI pinout instead of 330BI.", i think you want to say OpenIMU300ZI instead of 330BI in below link:
https://openimu.readthedocs.io/en/latest/330BI/EVB-OpenIMU330BI.html#openimu330bi-eval-kit
yes, here need to be upgraded(borrow 300ZI wrong pic).

To be filled....

J6 PB5 DR O Data ready signal
pls refer to SPI chapter: https://openimu.readthedocs.io/en/latest/software/SPImessaging.html#openimu-spi-messaging-framework
OpenIMU supports a SPI interface for data communications as a one of the choices. To enforce SPI interface mode ‘Data Ready’ signal needs to be forced HIGH of left unconnected on system startup. OpenIMU SPI interface signals described here.

OpenIMU operates as a slave device.