readAcceleration

Read one acceleration data sample from LSM6DSL sensor

Since R2021a

Syntax

[accelReadings,timestamp] = readAcceleration(sensor)

Description

[accelReadings,timestamp] = readAcceleration(sensor) returns one sample of the acceleration data from the LSM6DSL IMU sensor. The acceleration sample is returned as a 3-by-1 vector in m/s² along the X, Y, and Z axes. The function also returns the timestamp at which MATLAB^® receives the acceleration data from the LSM6DSL sensor. The timestamp output is optional.

Examples

Read Acceleration Data from LSM6DSL Sensor

Read the acceleration data from the LSM6DSL 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 lsm6dsl sensor object on the I2C bus 'i2c-1' on address '0x6B'.

sensor = lsm6dsl(r,'Bus','i2c-1','I2CAddress','0x6B');

sensor = 

  lsm6dsl with properties:

                         I2CAddress: 107 ("0x6B")
                                Bus: i2c-1 

Return one sample of acceleration data read from the LSM6DSL sensor on the X, Y, and Z axes.

[accelReadings,timestamp] = readAcceleration(sensor);

accelReadings =

  data

    -3.0632   -3.6129   -8.4065


timestamp = 

  datetime

   15-Jan-2021 11:35:54.728

Since the timestamp output is optional, you can obtain only the acceleration data from the LSM6DSL sensor.

[accelReadings] = readAcceleration(sensor);

accelReadings =

  data

    -3.0632   -3.6129   -8.4065

Input Arguments

sensor — LSM6DSL sensor object

lsm6dsl object

LSM6DSL sensor object connection to the Raspberry Pi hardware board, specified as a lsm6dsl object.

Example: sensor = lsm6dsl(mypi) creates a connection to the LSM6DSL sensor on the Raspberry Pi object mypi.

Output Arguments

accelReadings — Acceleration values read from LSM6DSL sensor

3-by-1 vector acceleration data

Read the acceleration data from the LSM6DSL sensor on the X, Y, and Z axes.

timestamp — Timestamp of acceleration values read from LSM6DSL sensor

datetime

Read the date and time at which MATLAB receives the acceleration sample value from the LSM6DSL 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 lsm6dsl sensor object and do not specify the I2C address in the name-value pair, the default I2C address is considered by the LSM6DSL sensor. For the LSM6DSL sensor, the default I2C address is '0x6A'.

Version History

Introduced in R2021a