readMagneticField

Read one magnetic field data sample from BMI160 sensor

Since R2023a

Syntax

[magReadings,timestamp] = readMagneticField(sensor)

Description

[magReadings,timestamp] = readMagneticField(sensor) returns one sample of the magnetic field data from the BMI160 IMU sensor. The magnetic field sample is returned as a 3-by-1 vector in μT (microtesla) along the X, Y, and Z axes. The function also returns the timestamp at which MATLAB^® receives the magnetic field data from the BMI160 sensor. The timestamp output is optional.

Note

To generate C/C++ code for this function, you must have an Embedded Coder^® license.

Examples

Read Magnetic Field Data from BMI160 Sensor

Read the magnetic field data from the BMI160 IMU sensor on the X, Y, and Z axes.

Create a connection from MATLAB to the Raspberry Pi^® hardware board.

mypi = raspi;

mypi = 

  Raspi with Properties:

           DeviceAddress: 'raspberrypi-hysdu8X38o'
                    Port: 18734
               BoardName: 'Raspberry Pi 3 Model B+'
           AvailableLEDs: {'led0'}
    AvailableDigitalPins: [4,5,6,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27]
    AvailableSPIChannels: {‘CE0’,’CE1’}
       AvailableI2CBuses: {'i2c-1'}
             I2CBusSpeed: 100000
        AvailabelWebCams: mmal service 16.1 (platform:bcm2835-v4l2)

Create an bmi160 sensor object on the I2C bus 'i2c-1' on addresses '0x69' and '0x0C'.

sensor = bmi160(mypi,'Bus','i2c-1','I2CAddress',{'0x69','0x0C'});

sensor = 

  bmi160 with properties:

                         I2CAddress: 105 ("0x69")
                                   : 12 ("0xC")
                                Bus: i2c-1 

Return one sample of magnetic field data read from the BMI160 I2C sensor on the X, Y, and Z axes.

[magReadings,timestamp] = readMagneticField(sensor);

magReadings =

  data

    9.6000    3.0000   16.2000

timestamp = 

  datetime

   10-Dec-2020 18:25:35.846

Since the timestamp output is optional, you can obtain only the magnetic field data from the BMI160 sensor.

[magReadings] = readMagneticField(sensor);

magReadings =

  data

    9.6000    3.0000   16.2000

Input Arguments

sensor — BMI160 sensor object

bmi160 object

BMI160 sensor object connection to the Raspberry Pi hardware board, specified as a bmi160 object.

Example: sensor = bmi160(mypi) creates a connection to the BMI160 sensor on the Raspberry Pi object mypi.

Output Arguments

magReadings — Magnetic field values read from BMI160 sensor

3-by-1 vector magnetic field data

Read the magnetic field data from the BMI160 sensor on the X, Y, and Z axes.

timestamp — Timestamp of magnetic field values read from BMI160 sensor

datetime

Read the date and time at which MATLAB receives the magnetic field sample value from the BMI160 sensor, specified as a datetime.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

• Timestamp value is always returned in seconds.

• When you create an bmi160 sensor object and do not specify the I2C address in the name-value pair, the default I2C address is considered by the BMI160 sensor. For the BMI160 sensor, the default I2C address is {'0x69','0x0C'}.

• To generate C/C++ code for this function, you must have an Embedded Coder license. For more information on selecting the right product stack according to your development goals, see Product Stack for Raspberry Pi Blockset.

Version History

Introduced in R2023a