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bmi160

Connect to BMI160 sensor on Arduino hardware I2C bus

Since R2023a

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Add-On Required: This feature requires the MATLAB Support Package for Arduino Hardware add-on.

Description

The bmi160 object reads acceleration, angular velocity, and temperature using the BMI160 sensor. If BMM150 sensor is connected as a secondary sensor to BMI160 sensor, the bmi160 object also outputs magnetic field along x-, y- and z- axes as measured by the BMM150 sensor.

The bmi160 object represents a connection to the device on the Arduino® hardware I2C bus. Attach an BMI160 sensor to the I2C pins on the Arduino hardware. You can read the data from your sensor in MATLAB®using the object functions.

Before you use the bmi160 object, create an Arduino object using arduino and set its properties. When you create the Arduino object, make sure that you include the I2C library. For more information, see Connect to Arduino Hardware.

Creation

Syntax

imu = bmi160(a)
imu = bmi160(a,Name,Value)

Description

imu = bmi160(a) creates a sensor object with default property values. The object represents the connection to the sensor on the Arduino hardware, a.

imu = bmi160(a,Name,Value) creates a sensor object with properties using one or more Name,Value pair arguments.

Input Arguments

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Arduino hardware connection created using arduino, specified as an object.

Example: imu = bmi160(a) creates a connection to the BMI160 sensor on the Arduino object, a.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: imu = bmi160(a,'I2CAddress',0x69);

You can specify any of the properties on this page as name-value pairs.

Properties

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Note

  • All the properties except SamplesRead and SamplesAvailable can be set by specifying as name-value pair arguments while creating an bmi160 object.

  • The properties I2CAddress and Bus are immutable (the property value is set during construction; you cannot change the value of an immutable property after the object is created).

  • The TimeFormat property is tunable, which means you can change the value anytime. The SampleRate, SamplesPerRead, ReadMode, and OutputFormat properties are non-tunable, which means you cannot change their values once the object is locked. Objects are locked when you call the read function, and the release function unlocks them. If a property is tunable, you can change its value at any time.

Specify the I2C address of the sensors when multiple I2C devices with the expected address for BMI160 are connected to the same hardware board. BMI160 can have multiple I2C addresses depending on the logic level on pin AD0 of the sensor.

Pin NamePin StateI2C Address
SDOLow0x68
High0x69

You can specify the I2C address in:

  • Numeric array of hexadecimal, decimal, or binary format of I2C Addresses

  • String array of hexadecimal value of I2C Addresses

  • Cell array of character vector of hexadecimal value of I2C Addresses

0x68 is the I2C address of the BMI160 connected to Arduino board.

Example: imu = bmi160(a,I2CAddress=[0x69, 0x0C])

'0x69' is the I2C address of the accelerometer and gyroscope of BMI160. '0x0C' is the I2C address of the magnetometer of BMI160.

If not specified, the object will be created with one of the available I2C device address in the table. Availability of I2C device with the expected address will be determined by using scanI2CBus.

I2C bus number, specified as 0 or 1. The default value is 0.

Example: imu = bmi160(a, Bus=1) creates the bmi160 sensor object if BMI160 sensor is connected to bus 1 of Arduino Due board.

Data Types: double

The rate in Samples/s at which data is read from the sensor during execution of read function.

Note

Real-time data rate acquisition from BMI160 sensor can be achieved by using the SampleRate property and read function.

Tunable: No

Data Types: double

Number of samples read from the sensor in a single execution of the read function.

Tunable: No

Data Types: double

Specify whether to return the latest or the oldest data samples during execution of read function. The number of samples depends on the SamplesPerRead value. The data read from the sensor is stored in the MATLAB buffer.

  • latest —

    Provides the latest data samples available in the buffer. All previous data samples in the buffer are discarded. For example, if SamplesPerRead = 3, the latest three data samples read by the sensor are returned.

    The following figure illustrates how latest data samples are returned assuming S1 is the first sensor data stored in the buffer, S2 is the second data and so on and Sn is the last data stored in the buffer and SamplesPerRead property is set to 3 during sensor object creation.

  • oldest —

    Provides the oldest data samples available in the buffer. In this case, no data samples are discarded. For example, if SamplesPerRead = 3, the first three data samples read are returned for the first read, the next three data samples are returned for the second read, and so on.

    The following figure illustrates how oldest data samples are returned assuming S1 is the first sensor data stored in the buffer, S2 is the second data and so on and Sn is the last data stored in the buffer and SamplesPerRead property is set to 3 during sensor object creation.

Tunable: No

Data Types: character vector | string

This property is read-only.

Samples read from the first read. This property gets updated with the execution of read function. When you release the object, SamplesRead is set to 0.

Data Types: double

This property is read-only.

Samples available in the host buffer. This property gets updated with the execution of read function. The data read from the sensor is stored in the MATLAB buffer. SamplesAvailable property shows the number of SamplesAvailable in this host buffer. When you release the object, SamplesAvailable is set to 0. When the ReadMode of sensor is set as latest, SamplesAvailable will always be 0.

Data Types: double

Set the output format of the data returned by executing the read function.

When the OutputFormat is set to timetable, the data returned has the following fields:

  • Time — Time stamps in datetime or duration format

  • Acceleration — N-by-3 array in units of m/s2

  • AngularVelocity — N-by-3 array in units of rad/s

  • MagneticField — N-by-3 array in units of µT (microtesla)

  • Temperature — N-by-1 array in units of celsius

When the OutputFormat is set to matrix, the data is returned as matrices of acceleration, angular velocity, magnetic field, temperature, and time stamps. The units for the sensor readings are the same as the timetable format. The size of each matrix is N-by-3.

N is the number of samples per read specified by SamplesPerRead. The three columns of each field represent the measurements in x, y, and z axes.

If secondary sensor is not connected, then nan will be displayed for magnetic fields.

Tunable: No

Data Types: character vector | string

Set the format of the time displayed when the sensor data is read using read function.

  • datetime — Displays the date and time at which the data is read.

  • duration — Displays the time elapsed in seconds after the sensor object is locked. The sensor object gets locked at the first call of the read function either after the object creation or after the execution of the release function.

Tunable: Yes

Data Types: character vector | string

Usage

Create BMI160 Sensor Connection

Create an arduino object and include the I2C library.

a = arduino();

Or, you can explicitly specify it in the Libraries Name-Value pair while creating the Arduino object.

clear a;
a = arduino('COM4', 'Uno', Libraries='I2C');

Create the sensor object.

imu = bmi160(a)
imu = 

  bmi160 with properties: 

                 I2CAddress: 104  ("0x68")
                           : 12   ("0xC")
                     SCLPin: "A5" 
                     SDAPin: "A4" 

                 SampleRate: 100  (Samples/s)
             SamplesPerRead: 10  
                   ReadMode: 'latest'            
                SamplesRead: 0      
           SamplesAvailable: 0 
Show all properties, functions

Create BMI160 Sensor Connection with Additional Name-Value Pair Arguments

Create a sensor object with additional properties specified as name-value pair arguments.

clear imu;
imu = bmi160(a,SampleRate=50,SamplesPerRead=5,ReadMode='latest')

imu = 

  bmi160 with properties: 

                 I2CAddress: 104  ("0x68")
                           : 12   ("0xC")
                     SCLPin: "A5" 
                     SDAPin: "A4" 

                 SampleRate: 50  (Samples/s)
             SamplesPerRead: 5  
                   ReadMode: 'latest'            
                SamplesRead: 0      
           SamplesAvailable: 0 
Show all properties, functions

Object Functions

readAccelerationRead one sample of acceleration from sensor
readAngularVelocityRead one sample of angular velocity from sensor
readMagneticFieldRead one sample of magnetic field from sensor
readTemperatureRead one sample of temperature from sensor
readRead real-time sensor data at a specified rate
releaseRelease the sensor object
flushFlush the host buffer
infoRead information related to sensor

More About

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Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023a

See Also

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