acenav V2.6.1:
acenav_windows10.zip
scapy for Windows:
npcap-1.55.exe.zip
[ins401 user manual-D4]
INS401_User Manual-D04.pdf
How to configure INS401 in VF35_from28.02_V1.2.pdf
How to configure INS401 in VF35_before28.02_V1.2.pdf

The purpose of this topic is to list common operations officially provided by ACEINNA, as officially guidance for all the developers, and it will be updated periodically. Each specific operation is guided in kinds of items below, and your question can be raised in the corresponding entry:

codes: https://github.com/erkuo521/OPENIMU300RI_Firmware_Verification/tree/master/CAN_Interface
硬件：树莓派，CAN扩展板（https://www.waveshare.net/wiki/RS485_CAN_HAT）
希望能帮到你。

could you send serial commands to 330BI in your system? take a pic of your HW will be better at same time.

could you supply current FW version which is used in your current units?
I think the units was already mounted on your PCB, so we will prepare the UART commands for you, which can be used in your system to set output data rate 200hz via serial communication.
will send out soon.

imu383 support 1pps and 1khz pulse synchronization, but not support ZDA and other NMEA TEXT msg.
只支持1pps和1khz同步，不支持ZDA等NMEA TEXT 消息。

confirm your pin connection of MISO, whether some connection problems it is.
such as: disconnect, or short connect to GND or other pins.
could you show some pics of your HW connections?

if possible, could you share with me your SPI drive codes?
pls try the sequence in below when start SPI mode communication(confirm 1&2 pins in P1 area are not connected):

• start the SPI read program in your Master MCU.
• Power on 330BI

other actions:

1. update FW to FW2.1 in https://developers.aceinna.com/code/apps
2. try other register, such as:
   0x37
   
   or try burst read 0x3E
   

generally, no need based on my experience.

yes, you are right.
by falling edge of DRDY, you can get the latest sensor data(3E burst read).
as below pic, this is time sequence from my side.