MPU6050 Arduino Uno Simulink

I have a code to get the MPU6050 working using Matlab, but now I would like to run it on Simulink, but I keep hitting dead ends. Here is my Matlab code if anyone out there can help me:

%%setup 
a=arduino;
mpu=i2cdev(a,'0x68');
writeRegister(mpu, hex2dec('B6'), hex2dec('00'), 'int16'); %reset
data=zeros(10000,14,'int8'); %prelocating
j=1;
%%loop
while(true)
  x=1;
  for i=59:72 % 14 Data Registers for Accel,Temp,Gyro
      data(j,x)= readRegister(mpu, i, 'int8');
      x=x+1;
  end
  y=swapbytes(typecast(data(j,:), 'int16'));
  acc_x(j)=double(y(1));
  acc_y(j)=double(y(2));
  acc_z(j)=double(y(3));
  j=j+1;
end

How can I write this in SIMULINK? The loop is the easy part, I can just put it into a Matlab function block (except for readRegister)... I just can't figure out the setup part in Simulink at all. I have tryed using the I2C Read block, but to no avail. Please help. And before you ask, I do have both the Arduino packages installed (for Matlab, and Simulink).

Again Please HELP!!!

[fatima zohra soussi]

@Alexandros are you do it that if yes can you help me 🙏🙏🙏🙏🙏

[Jose Hernandez]

@fatima zohra soussi Install and use Matlab 2020b, then install Arduino support package,then go to Simulink and go to Arduino blocks, go to sensors blocks and check which sensors are available ;)

[Donny WARINT]

Hi,

I had got the same problem.

I solved by used Stateflow block as describe at path below.

https://fr.mathworks.com/matlabcentral/fileexchange/56355-mpu-6050-accelerometre-gyroscope?s_tid=srchtitle_site_search_1_MPU%206050%20accelerometre%20gyroscope

Best Regards.

Answer 1

[Gayatri Menon]

Hi

You could use MPU6050 block in simulink to read data from MPU6050 sensor connected to Arduino. To use MATLAB function block to read data from sensors, please refer to the link here.

Hope this helps

Thanks

Gayatri

[Ana Luz Gómez Plata]

Sorry, do you know how to do it, I need help:(

Answer 2

[Nathan Hardenberg]

1. You need the "Simulink Support Package for Arduino Hardware" (Can be installed as Add-On)
2. Use the "MPU6050 IMU Sensor"-Block from the Simulink library (or other sensorblock)
3. Build a model like the one below. Here it just shows the values.
4. Set the Model- and Hardware-Settings: Solver > Type > Fixed-step and Hardware Implementation > Hardware board > {choose_the_board_you_are_using}
5. Wire your Ardunio (or other hardwareboard) correctly: Sensor connected to the I2C-Bus and VCC and GND to the Sensor
6. Connect your Arduino to your PC with a USB-Cable
7. Now Klick Monitor & Tune in Simulink

The code will be generated and deployed on the hardware. Since this is in monitoring mode you can see the Simulink-model showing the sensor values. This allows easy debugging.

You can download an example model from here (this is also where the picture above is from).

!WARNING!

The "MPU6050 IMU Sensor"-Block seems to have an issue at the moment (see here). It reports the error status 32, even though the sensor works. Hopefully this will be fixed in a future update. Another IMU sensor that works is the MPU9250. But the given method is the same with this and other sensors as well.

[Gurram]

First of all thankyou for the explaination and it got worked out for me.

But i want the roll, pitch and yaw values invidually in 3 seperate display's

Similarly, also the x,y,z values invidually in 3 seperate display's

Is it possible by chaning any of the display properties , kindly help me with this.

[Nathan Hardenberg]

Hi @Gurram, I'm glad I could help.

The question you asked, tells me that you do not really know what the IMU does. But that's no problem. Still, I would recommend that you google a bit and/or watch a video on how they work. In short, they just measure the acceleration and angular acceleration. This does not give you an angle!

To get an angle there are multiple ways. The easiest would be to only use the accelerometer and measure the direction of the acceleration due to gravity. From this you can calculate the current angles. One possible implementation of this is shown here: https://engineering.stackexchange.com/a/3350/42151

If your object has a high acceleration and generally moves fast (a drone for example) just using the accelerometer is not sufficient. In this case you must also take the gyro measurements and integrate them along each axis. This gives you (with the right calculation) relative movement (the math is not trivial though). In this case you have to use a method called "sensor fusion" (general name), where you fuse both sensor data.

Hope this small overview helps

[Gurram]

hello @Nathan Hardenberg,

I would say thank you so much for the detailed explaination.

As you said I'm really not very much aware about the IMU sensor.

but let me put it in simple manner, what i actually want.

As you can see in the figure i have obtained 3 values of acceleraton in one display and 3 values of angular acceleration in other display. But i actually want them to be individually presented rather than grouping into three three.

ONE(each) VALUE IN ONE(each) DISPLAY.

[Nathan Hardenberg]

Use the "Demux"-Block for that

[Thale]

Heyy!

@Nathan Hardenberg

How do you connect the MPU6050 to the arduino uno though? I get Status=32 when I monitor and tune the program. Have I connected it wrong to the ardouino maybe?

Thank you :)

[Nathan Hardenberg]

@Thale Eliassen Fink I think you did not read my answer fully! Check out the "!WARNING!" I wrote. This problem has no fix to my knowlege. It seems to work for @Gurram though. @Gurram are you using the MPU6050 Hardware Sensor? If so, this may be an issue with some hardware-boards/chips.

You could try to read out the data using the "I2C Read"-Block. But you have to check the datasheet for the right registers and convert the bytes to a double accordingly

Answer 3

[Gurram]

@Nathan Hardenberg @Thale Eliassen Fink

I have used the hardware sensor and got the output .

The output picture is available in thr above comment.

and these are the connections , i have done.

[Thale]

@Gurram @Nathan Hardenberg

Hi! Thank you for the answers. Yes, I now connected the way Gurram showed, and tried making my own function block for reading from the IMU (To solve the Status=32 issue Nathan was talking about), by changing the IMU-type in the existing matlab function block https://de.mathworks.com/matlabcentral/answers/1461574-sensor_init_error-mpu6050-imu-sensor-for-arduino-mega-2560-in-simulink.

When having made the function block though, I got a new error, similar to this post; https://se.mathworks.com/matlabcentral/answers/837698-mpu6050-pitch-and-roll-simulink-example-not-working-mpu6050-arduino-simulink-interface The solution was to download the add-on in matlab "MATLAB Support for MinGW-w64 C/C++ Compiler". After this it worked, and I was able to read the angles from the IMU.