Add NeuroPawn Knight IMU Board Support and Gain Configuration (#795)

neuropawn-admin · Kevin-Xue01 · aa217 · web-flow · commit b159fe362d08 · 2026-02-23T08:29:48.000+01:00
* Imu (#5) Co-authored-by: Kevin <kevinx1698@gmail.com> Co-authored-by: Kevin-Xue01 <59587075+Kevin-Xue01@users.noreply.github.com> Co-authored-by: aa217 <125326241+aa217@users.noreply.github.com> Co-authored-by: abdallah <abdallah.alwan2001@gmail.com> * Patch/pr 795 refactor (#7) * rename + boardId for all languages * removed gain from BrainFlowInputParams, format --------- Co-authored-by: Kevin <kevinx1698@gmail.com> Co-authored-by: Kevin-Xue01 <59587075+Kevin-Xue01@users.noreply.github.com> Co-authored-by: aa217 <125326241+aa217@users.noreply.github.com> Co-authored-by: abdallah <abdallah.alwan2001@gmail.com>
diff --git a/csharp_package/brainflow/brainflow/board_controller_library.cs b/csharp_package/brainflow/brainflow/board_controller_library.cs
@@ -121,7 +121,8 @@ public enum BoardIds
         SYNCHRONI_UNO_1_CHANNELS_BOARD = 62,
         OB3000_24_CHANNELS_BOARD = 63,
         BIOLISTENER_BOARD = 64,
-        IRONBCI_32_BOARD = 65
+        IRONBCI_32_BOARD = 65,
+        NEUROPAWN_KNIGHT_BOARD_IMU = 66
     };
 
 
diff --git a/docs/SupportedBoards.rst b/docs/SupportedBoards.rst
@@ -1434,6 +1434,8 @@ Initialization Example:
 
     params = BrainFlowInputParams()
     params.serial_port = "COM3"
+    params.other_info = '{"gain": 6}' # optional: set gain to allowed values: 1, 2, 3, 4, 6, 8, 12 (default)
+    
     board = BoardShim(BoardIds.NEUROPAWN_KNIGHT_BOARD, params)
 
 **On Unix-like systems you may need to configure permissions for serial port or run with sudo.**
@@ -1447,6 +1449,41 @@ Supported platforms:
 - MacOS
 - Devices like Raspberry Pi
 
+Knight IMU Board
+~~~~~~~~~~~~~~~~~
+
+.. image:: https://live.staticflickr.com/65535/54061606098_e223ab04a6_w.jpg
+    :width: 400px
+    :height: 274px
+
+`NeuroPawn website <https://www.neuropawn.tech/>`_
+
+To create such board you need to specify the following board ID and fields of BrainFlowInputParams object:
+
+- :code:`BoardIds.NEUROPAWN_KNIGHT_BOARD_IMU`
+- :code:`serial_port`, e.g. COM3, /dev/tty.*
+
+Initialization Example:
+
+.. code-block:: python
+
+    params = BrainFlowInputParams()
+    params.serial_port = "COM3"
+    params.other_info = '{"gain": 6}' # optional: set gain to allowed values: 1, 2, 3, 4, 6, 8, 12 (default)
+    
+    board = BoardShim(BoardIds.NEUROPAWN_KNIGHT_BOARD_IMU, params)
+
+**On Unix-like systems you may need to configure permissions for serial port or run with sudo.**
+
+**On MacOS there are two serial ports for each device: /dev/tty..... and /dev/cu..... You HAVE to specify /dev/cu.....**
+
+Supported platforms:
+
+- Windows
+- Linux
+- MacOS
+- Devices like Raspberry Pi
+
 
 BioListener
 --------
diff --git a/java_package/brainflow/src/main/java/brainflow/BoardIds.java b/java_package/brainflow/src/main/java/brainflow/BoardIds.java
@@ -71,7 +71,8 @@ public enum BoardIds
     SYNCHRONI_UNO_1_CHANNELS_BOARD(62),
     OB3000_24_CHANNELS_BOARD(63),
     BIOLISTENER_BOARD(64),
-    IRONBCI_32_BOARD(65);
+    IRONBCI_32_BOARD(65),
+    NEUROPAWN_KNIGHT_BOARD_IMU(66);
 
     private final int board_id;
     private static final Map<Integer, BoardIds> bi_map = new HashMap<Integer, BoardIds> ();
diff --git a/julia_package/brainflow/src/board_shim.jl b/julia_package/brainflow/src/board_shim.jl
@@ -67,6 +67,7 @@ export BrainFlowInputParams
     OB3000_24_CHANNELS_BOARD = 63
     BIOLISTENER_BOARD = 64
     IRONBCI_32_BOARD = 65
+    NEUROPAWN_KNIGHT_BOARD_IMU = 66
 
 end
 
diff --git a/matlab_package/brainflow/BoardIds.m b/matlab_package/brainflow/BoardIds.m
@@ -65,5 +65,6 @@
         OB3000_24_CHANNELS_BOARD(63)
         BIOLISTENER_BOARD(64)
         IRONBCI_32_BOARD(65)
+        NEUROPAWN_KNIGHT_BOARD_IMU(66)
     end
 end
diff --git a/python_package/brainflow/board_shim.py b/python_package/brainflow/board_shim.py
@@ -80,6 +80,7 @@ class BoardIds(enum.IntEnum):
     OB3000_24_CHANNELS_BOARD = 63  #:
     BIOLISTENER_BOARD = 64  #:
     IRONBCI_32_BOARD = 65  #:
+    NEUROPAWN_KNIGHT_BOARD_IMU = 66  #:
 
 
 class IpProtocolTypes(enum.IntEnum):
diff --git a/rust_package/brainflow/src/ffi/constants.rs b/rust_package/brainflow/src/ffi/constants.rs
@@ -32,7 +32,7 @@ impl BoardIds {
     pub const FIRST: BoardIds = BoardIds::PlaybackFileBoard;
 }
 impl BoardIds {
-    pub const LAST: BoardIds = BoardIds::Ironbci32Board;
+    pub const LAST: BoardIds = BoardIds::NeuropawnKnightBoardImu;
 }
 #[repr(i32)]
 #[derive(FromPrimitive, ToPrimitive, Debug, Copy, Clone, Hash, PartialEq, Eq)]
@@ -101,6 +101,7 @@ pub enum BoardIds {
     Ob300024ChannelsBoard = 63,
     BiolistenerBoard = 64,
     Ironbci32Board = 65,
+    NeuropawnKnightBoardImu = 66,
 }
 #[repr(i32)]
 #[derive(FromPrimitive, ToPrimitive, Debug, Copy, Clone, Hash, PartialEq, Eq)]
diff --git a/src/board_controller/board_controller.cpp b/src/board_controller/board_controller.cpp
@@ -45,6 +45,7 @@
 #include "gforce_pro.h"
 #include "json.hpp"
 #include "knight.h"
+#include "knight_imu.h"
 #include "muse.h"
 #include "muse_bled.h"
 #include "notion_osc.h"
@@ -299,6 +300,10 @@ int prepare_session (int board_id, const char *json_brainflow_input_params)
         case BoardIds::BIOLISTENER_BOARD:
             board = std::shared_ptr<Board> (new BioListener<8> (board_id, params));
             break;
+        case BoardIds::NEUROPAWN_KNIGHT_BOARD_IMU:
+            board = std::shared_ptr<Board> (
+                new KnightIMU ((int)BoardIds::NEUROPAWN_KNIGHT_BOARD_IMU, params));
+            break;
         default:
             return (int)BrainFlowExitCodes::UNSUPPORTED_BOARD_ERROR;
     }
diff --git a/src/board_controller/brainflow_boards.cpp b/src/board_controller/brainflow_boards.cpp
@@ -84,6 +84,7 @@ BrainFlowBoards::BrainFlowBoards()
             {"63", json::object()},
             {"64", json::object()},
             {"65", json::object()},
+            {"66", json::object()}
         }
     }};
 
@@ -1147,6 +1148,17 @@ BrainFlowBoards::BrainFlowBoards()
         {"emg_channels", {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}},
         {"ecg_channels", {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}}
     };
+    brainflow_boards_json["boards"]["66"]["default"] =
+    {
+        {"name", "KnightIMU"},
+        {"sampling_rate", 125},
+        {"timestamp_channel", 20},
+        {"marker_channel", 21},
+        {"package_num_channel", 0},
+        {"num_rows", 22},
+        {"eeg_channels", {1, 2, 3, 4, 5, 6, 7, 8}},
+        {"other_channels", {9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19}}
+    };
 }
 
 BrainFlowBoards boards_struct;
diff --git a/src/board_controller/build.cmake b/src/board_controller/build.cmake
@@ -84,6 +84,8 @@ SET (BOARD_CONTROLLER_SRC
     ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/pieeg/pieeg_board.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/synchroni/synchroni_board.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight_base.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight_imu.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/biolistener/biolistener.cpp
 )
 
diff --git a/src/board_controller/neuropawn/inc/knight.h b/src/board_controller/neuropawn/inc/knight.h
@@ -1,40 +1,13 @@
 #pragma once
 
-#include <thread>
+#include "knight_base.h"
 
-#include "board.h"
-#include "board_controller.h"
-#include "serial.h"
-
-class Knight : public Board
+class Knight : public KnightBase
 {
 
 protected:
-    volatile bool keep_alive;
-    bool initialized;
-    bool is_streaming;
-    std::thread streaming_thread;
-    Serial *serial;
-
-    int min_package_size;
-
-    virtual int send_to_board (const char *msg);
-    virtual int send_to_board (const char *msg, std::string &response);
-    virtual std::string read_serial_response ();
-    int open_port ();
-    int set_port_settings ();
     void read_thread ();
 
 public:
     Knight (int board_id, struct BrainFlowInputParams params);
-    ~Knight ();
-
-    int prepare_session ();
-    int start_stream (int buffer_size, const char *streamer_params);
-    int stop_stream ();
-    int release_session ();
-    int config_board (std::string config, std::string &response);
-
-    static constexpr int start_byte = 0xA0;
-    static constexpr int end_byte = 0xC0;
 };
diff --git a/src/board_controller/neuropawn/inc/knight_base.h b/src/board_controller/neuropawn/inc/knight_base.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <set>
+#include <thread>
+
+#include "board.h"
+#include "board_controller.h"
+#include "serial.h"
+
+class KnightBase : public Board
+{
+
+protected:
+    volatile bool keep_alive;
+    bool initialized;
+    bool is_streaming;
+    std::thread streaming_thread;
+    Serial *serial;
+
+    int min_package_size;
+
+    virtual int send_to_board (const char *msg);
+    virtual int send_to_board (const char *msg, std::string &response);
+    virtual std::string read_serial_response ();
+    virtual int open_port ();
+    virtual int set_port_settings ();
+    virtual void read_thread () = 0;
+
+private:
+public:
+    KnightBase (int board_id, struct BrainFlowInputParams params);
+    virtual ~KnightBase ();
+
+    virtual int prepare_session ();
+    virtual int start_stream (int buffer_size, const char *streamer_params);
+    virtual int stop_stream ();
+    virtual int release_session ();
+    virtual int config_board (std::string config, std::string &response);
+
+    static constexpr int start_byte = 0xA0;
+    static constexpr int end_byte = 0xC0;
+};
diff --git a/src/board_controller/neuropawn/inc/knight_imu.h b/src/board_controller/neuropawn/inc/knight_imu.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include "knight_base.h"
+
+class KnightIMU : public KnightBase
+{
+
+protected:
+    void read_thread ();
+
+public:
+    KnightIMU (int board_id, struct BrainFlowInputParams params);
+};
diff --git a/src/board_controller/neuropawn/knight.cpp b/src/board_controller/neuropawn/knight.cpp
diff --git a/src/board_controller/neuropawn/knight_base.cpp b/src/board_controller/neuropawn/knight_base.cpp
diff --git a/src/board_controller/neuropawn/knight_imu.cpp b/src/board_controller/neuropawn/knight_imu.cpp
diff --git a/src/utils/inc/brainflow_constants.h b/src/utils/inc/brainflow_constants.h

Original file line number	Diff line number	Diff line change
`@@ -32,7 +32,7 @@ impl BoardIds {`
`32`	`32`	`pub const FIRST: BoardIds = BoardIds::PlaybackFileBoard;`
`33`	`33`	`}`
`34`	`34`	`impl BoardIds {`
`35`		`- pub const LAST: BoardIds = BoardIds::Ironbci32Board;`
	`35`	`+ pub const LAST: BoardIds = BoardIds::NeuropawnKnightBoardImu;`
`36`	`36`	`}`
`37`	`37`	`#[repr(i32)]`
`38`	`38`	`#[derive(FromPrimitive, ToPrimitive, Debug, Copy, Clone, Hash, PartialEq, Eq)]`
`@@ -101,6 +101,7 @@ pub enum BoardIds {`
`101`	`101`	`Ob300024ChannelsBoard = 63,`
`102`	`102`	`BiolistenerBoard = 64,`
`103`	`103`	`Ironbci32Board = 65,`
	`104`	`+ NeuropawnKnightBoardImu = 66,`
`104`	`105`	`}`
`105`	`106`	`#[repr(i32)]`
`106`	`107`	`#[derive(FromPrimitive, ToPrimitive, Debug, Copy, Clone, Hash, PartialEq, Eq)]`
Original file line number	Diff line number	Diff line change
`@@ -84,6 +84,8 @@ SET (BOARD_CONTROLLER_SRC`
`84`	`84`	`${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/pieeg/pieeg_board.cpp`
`85`	`85`	`${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/synchroni/synchroni_board.cpp`
`86`	`86`	`${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight.cpp`
	`87`	`+ ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight_base.cpp`
	`88`	`+ ${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/neuropawn/knight_imu.cpp`
`87`	`89`	`${CMAKE_CURRENT_SOURCE_DIR}/src/board_controller/biolistener/biolistener.cpp`
`88`	`90`	`)`
`89`	`91`