readAngularVelocity

Read one angular velocity data sample from MPU-9250 sensor

Syntax

[gyroReadings,timestamp] = readAngularVelocity(sensor)

Description

[gyroReadings,timestamp] = readAngularVelocity(sensor) returns one sample of the angular velocity data from the MPU-9250 IMU sensor. The angular velocity sample is returned as a 3-by-1 vector in rad/s along the X, Y, and Z axes. The function also returns the timestamp at which MATLAB^® receives the angular velocity data from the MPU-9250 sensor. The timestamp output is optional.

Note

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

Examples

Read Angular Velocity Data from MPU-9250 Sensor

Read the angular velocity data from the MPU-9250 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 mpu9250 sensor object on the I2C bus 'i2c-1' on addresses '0x69' and '0x0C'.

sensor = mpu9250(mypi,'Bus','i2c-1','I2CAddress',{'0x69','0x0C'});

sensor = 

  mpu9250 with properties:

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

Return one sample of angular velocity data read from the MPU-9250 sensor on the X, Y, and Z axes.

[gyroReadings,timestamp] = readAngularVelocity(sensor);

gyroReadings =

  data

    0.0222   -0.0068   -0.0107


timestamp = 

  datetime

   19-Dec-2020 18:15:01.801

Since the timestamp output is optional, you can obtain only the angular velocity data from the MPU-9250 sensor.

[gyroReadings] = readAngularVelocity(sensor);

gyroReadings =

  data

    0.0222   -0.0068   -0.0107

Input Arguments

sensor — MPU-9250 sensor object

mpu9250 object

MPU-9250 sensor object connection to the Raspberry Pi hardware board, specified as a mpu9250 object.

Example: sensor = mpu9250(mypi) creates a connection to the MPU-9250 sensor on the Raspberry Pi object mypi.

Output Arguments

gyroReadings — Angular velocity values read from MPU-9250 sensor

3-by-1 vector angular velocity data

Read the angular velocity data from the MPU-9250 sensor on the X, Y, and Z axes.

timestamp — Timestamp of angular velocity values read from MPU-9250 sensor

datetime

Read the date and time at which MATLAB receives the angular velocity sample value from the MPU-9250 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 mpu9250 sensor object and do not specify the I2C address in the name-value pair, the default I2C address is considered by the MPU-9250 sensor. For the MPU-9250 sensor, the default I2C address is {'0x68','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 R2021a