mpu6050

Connect MPU-6050 sensor on Raspberry Pi hardware I2C bus

Description

The mpu6050 object reads linear acceleration and angular velocity along the X, Y, and Z axes using the InvenSense I2C-based MPU-6050 inertial measurement unit (IMU) sensor interfaced with the Raspberry Pi^® hardware. Before you use the mpu6050 object, ensure that the I2C interface is enabled on your Raspberry Pi kernel. You can then create a connection to the Raspberry Pi board using the raspi object and set its properties. For more information, see raspi.

Note

To generate C/C++ code for this object and its associated functions, you must have an Embedded Coder^® license.

Creation

Syntax

sensor = mpu6050(mypi)

sensor = mpu6050(mypi,Name,Value)

Description

sensor = mpu6050(mypi) creates a MPU-6050 sensor object with default property values. The object represents a connection to the sensor on the Raspberry Pi hardware mypi.

sensor = mpu6050(mypi,Name,Value) creates a MPU-6050 sensor object with properties using one or more Name,Value arguments.

Input Arguments

mypi — Raspberry Pi hardware connection

raspi object

Raspberry Pi hardware board connection specified as a raspi object.

Example: sensor = mpu6050(mypi) creates a connection to the MPU-6050 sensor on the Raspberry Pi object mypi.

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.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Bus — I2C bus address of Raspberry Pi board

'i2c-0' | 'i2c-1'

I2C bus address of the Raspberry Pi hardware board.

Example: sensor = mpu6050(mypi, 'Bus', 'i2c-1') creates the sensor object on the 'i2c-1' bus of the Raspberry Pi board.

Data Types: char

I2CAddress — Specify I2C address of sensor

'0x68' | '0x69'

Specify the I2C address of the sensors when multiple I2C devices with the expected address for MPU-6050 are connected to the same hardware board. MPU-6050 can have two I2C addresses depending on the logic level on pin AD0 of the sensor.

Pin Name	Pin State	I2C Address
AD0	Low	0x68
	High	0x69

You can specify the I2C address in:

• Hexadecimal, decimal, or binary format

• String of hexadecimal value of I2C Address

• Character vector of hexadecimal value of I2C Address

Example: imu = mpu6050(mypi,'I2CAddress','0x68')

0x68 is the I2C address of the accelerometer and gyroscope of MPU-6050 connected to Raspberry Pi board.

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.

Object Functions

readAcceleration	Read one acceleration data sample from MPU-6050 sensor
readAngularVelocity	Read one angular velocity data sample from MPU-6050 sensor

Examples

Create MPU-6050 Sensor Connection

Ensure that the I2C interface on the Raspberry Pi kernel is enabled and then create an mpu6050 sensor object.

You can enable the I2C interface using:

• Raspberry Pi Kernel I2C Interfacing options on Linux terminal. For more information, see Enable I2C Interface on Raspberry Pi Hardware Kernel or

• Raspberry Pi Resource Monitor App. For more information, see Enable External Peripherals on Raspberry Pi Hardware Kernel Using Raspberry Pi Resource Monitor App.

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

mypi = raspi('raspberrypi-hysdu8X38o','rocky','bullwinkle')

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)

GPIO header pins I2C_SDA (GPIO 2) and I2C_SCL (GPIO 3) are used for I2C functionality. Display pin mapping of the Raspberry Pi hardware board.

showPins(mypi);

Get the address of the MPU-6050 sensor connected to the I2C bus 'i2c-1'.

sensor = scanI2CBus(mypi,'i2c-1');

ans =

  1×1 cell array

    {'0x69'}

Create an mpu6050 sensor object on the I2C bus 'i2c-1' on address '0x69'.

sensor = mpu6050(mypi,'Bus','i2c-1','I2CAddress','0x69');

sensor = 

  mpu6050 with properties:

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

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 mpu6050 sensor object and do not specify the I2C address in the name-value pair, the default I2C address is considered by the MPU-6050 sensor. For the MPU-6050 sensor, the default I2C address is '0x68'.

• To generate C/C++ code for this object and its associated functions, 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