mpu6050

Connect to MPU-6050 sensor on Arduino hardware I2C bus

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

Description

The mpu6050 object reads acceleration and angular velocity using the InvenSense MPU-6050 sensor. The MPU-6050 is a 6 degree of freedom (DOF) inertial measurement unit (IMU) used to read acceleration and angular velocity in all three dimensions.

The mpu6050 object represents a connection to the device on the Arduino^® hardware I2C bus. Attach an MPU-6050 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 mpu6050 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 = mpu6050(a)

imu = mpu6050(a,Name,Value)

Description

imu = mpu6050(a) creates a sensor object with default property values. The object represents the connection to the sensor on the Arduino hardware, a.

imu = mpu6050(a,Name,Value) creates a sensor object with properties using one or more Name,Value pair arguments.

Example: imu = mpu6050(a,'SampleRate',150,'SamplesPerRead',5,'ReadMode','latest');.

Input Arguments

a — Arduino hardware connection

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

Example: imu = mpu6050(a) creates a connection to the MPU-6050 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.

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

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(a,'I2CAddress','0x68')

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

Bus — I2C Bus Number

0 (default) | 1

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

Example: imu = mpu6050(a, 'Bus', 1) creates the sensor object on Bus 1 of Arduino Due board

Data Types: double

Properties

Note

The properties can also be used as name-value pair arguments while creating an mpu6050 object.

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

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

Bus — I2C Bus Number

0 (default) | 1

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

Data Types: double

Note

Except for TimeFormat, all the other 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.

SampleRate — Rate at which sample is read

100 (default) | positive integer in the range [10, 200]

The rate in samples/s at which data is read from the sensor.

Tunable: No

Data Types: double

SamplesPerRead — Number of samples read in a single execution of the read function

10 (default) | [1 500]

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

Tunable: No

Data Types: double

ReadMode — Specify which data samples to be returned

'latest' (default) | 'oldest'

Specify whether to return the latest or the oldest data samples. 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

SamplesRead — Samples read

double

This property is read-only.

Samples read from the first read. When you release the object, SamplesRead is set to 0.

Data Types: double

SamplesAvailable — Samples in the host buffer

double

This property is read-only.

Samples available in the host buffer. 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

OutputFormat — Set output format

'timetable' (default) | 'matrix'

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

When the OutputFormat is set to matrix, the data is returned as matrices of acceleration, angular velocity, 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.

Tunable: No

Data Types: character vector | string

TimeFormat — Set time format

'datetime' (default) | 'duration'

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

• 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 MPU-6050 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 = mpu6050(a)

imu = 

  mpu6050 with properties: 

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

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

Create MPU-6050 Sensor Connection with Additional Name-Value Pair Arguments

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

clear imu;
imu = mpu6050(a,'SampleRate',50,'SamplesPerRead',5,'ReadMode','oldest')

imu = 

  mpu6050 with properties: 

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

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

Object Functions

readAcceleration	Read one sample of acceleration from sensor
readAngularVelocity	Read one sample of angular velocity from sensor
read	Read real-time sensor data at a specified rate
release	Release the sensor object
flush	Flush the host buffer
info	Read information related to sensor

More About

Code Generation Using MATLAB Function Block

• Use mpu6050 in a MATLAB Function block with the Simulink^® Support Package for Arduino Hardware to generate code that can be deployed on Arduino Hardware.

• The property ReadMode cannot be changed and is always set to latest.

• The property SamplesPerRead cannot be changed and is always set to 1. So, no framing is provided.

• The property OutputFormat is always set to matrix.

• The property TimeFormat is always set to duration.

• The property SamplesAvailable is not accessible from sensor object.

• The default value of I2C address will be taken as 0x68. Specify I2C address if the sensor has a different I2C address. The possible values of I2C Addresses are mentioned in the table under I2Caddress section in this page.

Version History

Introduced in R2019a