multiple mpu6050 with S function

I have my mpu6050 (GY-521) connected to Arduino uno and run S function perfectly but now i want to use two sensors at the same time.

After wiring both mpu6050s i can change the library in S function to read 0x68 or 0x69 and respected sensor will send data to simulink but i can't get both of them at the same time

I tried copying the S function for the other sensor and change the library (one of them is 0x68 and the other is 0x69) and run it, but i get some errors.

Then I tried to change outputs in S function to read both sensor data simultaneously but i again get error messages.

Has somebody done it?

How can i solve it?

my S function is like this:

libraries:

#ifndef MATLAB_MEX_FILE
#define ARDUINO 100
#include <Arduino.h>
#include <Wire.h>
#include <Wire.cpp>
#include <twi.h>
#include <twi.c>
#define MPU 0x68

#endif

Outputs:

#ifndef MATLAB_MEX_FILE
Wire.beginTransmission(MPU);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 14, true);

int raw = Wire.read() << 8;
raw = raw | Wire.read();
ax[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
ay[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
az[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
temp[0] = (float)raw / 340.0f + 36.53f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gx[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gy[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gz[0] = (float)raw / 131.0f;
#endif

Update:

#ifndef MATLAB_MEX_FILE
if (xD[0] != 1) {
    Wire.begin();

    /* Do not sleep */
    Wire.beginTransmission(MPU);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Gyroscope full scale range: 250 degs/s */
    Wire.beginTransmission(MPU);
    Wire.write(0x1B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Accelerometer full scale range: 4g */

    Wire.beginTransmission(MPU);
    Wire.write(0x1C);
Wire.endTransmission();

Wire.requestFrom(MPU, 1);
byte x = Wire.read(); //the value of Register-28 is in x

x = x | 0b00011000;     //appending values of Bit4 and Bit3

Wire.beginTransmission(MPU);
Wire.write(0x1C);   //pointing Register-28
Wire.write(x);        //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
    
    xD[0] = 1;
}
#endif

this is my folder with all files inside that for one sensor works fine:

https://drive.google.com/drive/folders/1a4niG-Akx1JYVF3pJEZyUXf0y-K3ysuf?usp=sharing

i just want to use it for both sensors

btw my wiring is fine (i think) beacuse i tested it with arduino IDE and it is ok. also i can read data with simulink when im just using one of them :

these two pictures below did not work for me. i tried to change the code in libraries, output and update, but i couldnt get it working:

Answer 1

[Adib Ahmadi]

i figured it out:

libraries:

#ifndef MATLAB_MEX_FILE
#define ARDUINO 100
#include <Arduino.h>
#include <Wire.h>
#include <Wire.cpp>
#include <twi.h>
#include <twi.c>
#define MPU01 0x68
#define MPU02 0x69
#define MPU

#endif

Outputs:

#ifndef MATLAB_MEX_FILE
Wire.beginTransmission(MPU01);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU01, 14, true);

int raw = Wire.read() << 8;
raw = raw | Wire.read();
ax68[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
ay68[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
az68[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gx68[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gy68[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gz68[0] = (float)raw / 131.0f;


Wire.beginTransmission(MPU02);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU02, 14, true);

raw = Wire.read() << 8;
raw = raw | Wire.read();
ax69[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
ay69[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
az69[0] = (float)raw / 2048.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gx69[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gy69[0] = (float)raw / 131.0f;

raw = Wire.read() << 8;
raw = raw | Wire.read();
gz69[0] = (float)raw / 131.0f;
#endif

Update:

#ifndef MATLAB_MEX_FILE
if (xD[0] != 1) {
    Wire.begin();

    /* Do not sleep */
    Wire.beginTransmission(MPU01);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Gyroscope full scale range: 250 degs/s */
    Wire.beginTransmission(MPU01);
    Wire.write(0x1B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Accelerometer full scale range: 4g */

    Wire.beginTransmission(MPU01);
    Wire.write(0x1C);
Wire.endTransmission();

Wire.requestFrom(MPU01, 1);
byte x = Wire.read(); //the value of Register-28 is in x

x = x | 0b00011000;     //appending values of Bit4 and Bit3

Wire.beginTransmission(MPU01);
Wire.write(0x1C);   //pointing Register-28
Wire.write(x);        //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
    









    /* Do not sleep */
    Wire.beginTransmission(MPU02);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Gyroscope full scale range: 250 degs/s */
    Wire.beginTransmission(MPU02);
    Wire.write(0x1B);
    Wire.write(0);
    Wire.endTransmission(true);

    /* Accelerometer full scale range: 4g */

    Wire.beginTransmission(MPU02);
    Wire.write(0x1C);
Wire.endTransmission();

Wire.requestFrom(MPU02, 1);
byte y = Wire.read(); //the value of Register-28 is in x

y = y | 0b00011000;     //appending values of Bit4 and Bit3

Wire.beginTransmission(MPU02);
Wire.write(0x1C);   //pointing Register-28
Wire.write(y);        //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
    xD[0] = 1;
}
#endif

I just removed temp in Outputs cuz whatever i did it gave me errors. i didnt need temp anyway.

I hope this helps others

[AKASH WAITAGE]

its not working for me ...scope doesnt showing any result....plzz help

Answer 2

[ayman dhafer]

I have used the function with matlab 2018a but it didnot work can you sent the you havr developed with matlab 2018a. thank you

[Brandon vico]

Did u work on it already? I used matlab 2018a as well.

[ayman dhafer]

I have used another approach with simulink I have edit a simulink model to read from two accelerometer.

Answer 3

[fatima zohra soussi]

i have in result just 0 can you help me (i use matlab 2020a)

[Adib Ahmadi]

I just installed Matlab 2020b and it has a mpu6050 block in Arduino support package.

I don't know if your version support it or not but i recommend you use it, it's really easy to use.

If not I'll send you.slx files

[fatima zohra soussi]

Yes i do it thanks you please you have any information how command motor dc with MPU6050 in simulink?

[BAPTISTE SALAUN]

Where can we find .slx files with a mpu6050 block exemple ?

Answer 4

[AKASH WAITAGE]

i want use 7 mpu6050 sensors for my project in simulink model ..i unable to find any source for help...can u help me with this..

Answer 5

[Gayatri Menon]

Hi,

You can connect to MPU6050 on Arduino using MPU6050 block .

To connect 2 MPU6050s on the same Arduino I2C bus by changing the I2C Address of one of the sensor.

This can be done by connecting AD0 pin on one of the sensor to high, making the I2C Address of the sensor 0x69 and connect the AD0 of the other sensor to Low, making the I2C Address of the sensor 0x68.

Now in the model you can add 2 MPU6050 blocks. Specify I2C Address of one block as 0x69 and other as 0x68.

Hope this helps

Thanks

Gayatri