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multiple mpu6050 with S function

조회 수: 46 (최근 30일)
Adib Ahmadi
Adib Ahmadi 2019년 8월 8일
답변: Gayatri Menon 2022년 1월 7일
I have my mpu6050 (GY-521) connected to Arduino uno and run S function perfectly but now i want to use two sensors at the same time.
After wiring both mpu6050s i can change the library in S function to read 0x68 or 0x69 and respected sensor will send data to simulink but i can't get both of them at the same time
I tried copying the S function for the other sensor and change the library (one of them is 0x68 and the other is 0x69) and run it, but i get some errors.
Then I tried to change outputs in S function to read both sensor data simultaneously but i again get error messages.
Has somebody done it?
How can i solve it?
my S function is like this:
libraries:
#ifndef MATLAB_MEX_FILE
#define ARDUINO 100
#include <Arduino.h>
#include <Wire.h>
#include <Wire.cpp>
#include <twi.h>
#include <twi.c>
#define MPU 0x68
#endif
Outputs:
#ifndef MATLAB_MEX_FILE
Wire.beginTransmission(MPU);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 14, true);
int raw = Wire.read() << 8;
raw = raw | Wire.read();
ax[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
ay[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
az[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
temp[0] = (float)raw / 340.0f + 36.53f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gx[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gy[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gz[0] = (float)raw / 131.0f;
#endif
Update:
#ifndef MATLAB_MEX_FILE
if (xD[0] != 1) {
Wire.begin();
/* Do not sleep */
Wire.beginTransmission(MPU);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
/* Gyroscope full scale range: 250 degs/s */
Wire.beginTransmission(MPU);
Wire.write(0x1B);
Wire.write(0);
Wire.endTransmission(true);
/* Accelerometer full scale range: 4g */
Wire.beginTransmission(MPU);
Wire.write(0x1C);
Wire.endTransmission();
Wire.requestFrom(MPU, 1);
byte x = Wire.read(); //the value of Register-28 is in x
x = x | 0b00011000; //appending values of Bit4 and Bit3
Wire.beginTransmission(MPU);
Wire.write(0x1C); //pointing Register-28
Wire.write(x); //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
xD[0] = 1;
}
#endif
sf.jpg
this is my folder with all files inside that for one sensor works fine:
i just want to use it for both sensors
btw my wiring is fine (i think) beacuse i tested it with arduino IDE and it is ok. also i can read data with simulink when im just using one of them :
hqdefault.jpg
these two pictures below did not work for me. i tried to change the code in libraries, output and update, but i couldnt get it working:
2sf.jpg
1sfdouble.jpg

채택된 답변

Adib Ahmadi
Adib Ahmadi 2019년 8월 10일
편집: Adib Ahmadi 2019년 8월 10일
i figured it out:
libraries:
#ifndef MATLAB_MEX_FILE
#define ARDUINO 100
#include <Arduino.h>
#include <Wire.h>
#include <Wire.cpp>
#include <twi.h>
#include <twi.c>
#define MPU01 0x68
#define MPU02 0x69
#define MPU
#endif
Outputs:
#ifndef MATLAB_MEX_FILE
Wire.beginTransmission(MPU01);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU01, 14, true);
int raw = Wire.read() << 8;
raw = raw | Wire.read();
ax68[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
ay68[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
az68[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gx68[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gy68[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gz68[0] = (float)raw / 131.0f;
Wire.beginTransmission(MPU02);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU02, 14, true);
raw = Wire.read() << 8;
raw = raw | Wire.read();
ax69[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
ay69[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
az69[0] = (float)raw / 2048.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gx69[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gy69[0] = (float)raw / 131.0f;
raw = Wire.read() << 8;
raw = raw | Wire.read();
gz69[0] = (float)raw / 131.0f;
#endif
Update:
#ifndef MATLAB_MEX_FILE
if (xD[0] != 1) {
Wire.begin();
/* Do not sleep */
Wire.beginTransmission(MPU01);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
/* Gyroscope full scale range: 250 degs/s */
Wire.beginTransmission(MPU01);
Wire.write(0x1B);
Wire.write(0);
Wire.endTransmission(true);
/* Accelerometer full scale range: 4g */
Wire.beginTransmission(MPU01);
Wire.write(0x1C);
Wire.endTransmission();
Wire.requestFrom(MPU01, 1);
byte x = Wire.read(); //the value of Register-28 is in x
x = x | 0b00011000; //appending values of Bit4 and Bit3
Wire.beginTransmission(MPU01);
Wire.write(0x1C); //pointing Register-28
Wire.write(x); //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
/* Do not sleep */
Wire.beginTransmission(MPU02);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
/* Gyroscope full scale range: 250 degs/s */
Wire.beginTransmission(MPU02);
Wire.write(0x1B);
Wire.write(0);
Wire.endTransmission(true);
/* Accelerometer full scale range: 4g */
Wire.beginTransmission(MPU02);
Wire.write(0x1C);
Wire.endTransmission();
Wire.requestFrom(MPU02, 1);
byte y = Wire.read(); //the value of Register-28 is in x
y = y | 0b00011000; //appending values of Bit4 and Bit3
Wire.beginTransmission(MPU02);
Wire.write(0x1C); //pointing Register-28
Wire.write(y); //value for Register-28; Full-scale range is now +/- 16g
Wire.endTransmission();
xD[0] = 1;
}
#endif
I just removed temp in Outputs cuz whatever i did it gave me errors. i didnt need temp anyway.
I hope this helps others
  댓글 수: 1
AKASH WAITAGE
AKASH WAITAGE 2020년 12월 13일
its not working for me ...scope doesnt showing any result....plzz help

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추가 답변 (4개)

ayman dhafer
ayman dhafer 2019년 12월 31일
I have used the function with matlab 2018a but it didnot work can you sent the you havr developed with matlab 2018a. thank you
  댓글 수: 2
Brandon vico
Brandon vico 2020년 6월 13일
Did u work on it already? I used matlab 2018a as well.
ayman dhafer
ayman dhafer 2020년 6월 13일
I have used another approach with simulink I have edit a simulink model to read from two accelerometer.

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fatima zohra soussi
fatima zohra soussi 2020년 9월 30일
i have in result just 0 can you help me (i use matlab 2020a)
  댓글 수: 3
fatima zohra soussi
fatima zohra soussi 2020년 10월 6일
Yes i do it thanks you please you have any information how command motor dc with MPU6050 in simulink?
BAPTISTE SALAUN
BAPTISTE SALAUN 2021년 3월 18일
Where can we find .slx files with a mpu6050 block exemple ?

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AKASH WAITAGE
AKASH WAITAGE 2020년 12월 13일
i want use 7 mpu6050 sensors for my project in simulink model ..i unable to find any source for help...can u help me with this..

Gayatri Menon
Gayatri Menon 2022년 1월 7일
Hi,
You can connect to MPU6050 on Arduino using MPU6050 block .
To connect 2 MPU6050s on the same Arduino I2C bus by changing the I2C Address of one of the sensor.
This can be done by connecting AD0 pin on one of the sensor to high, making the I2C Address of the sensor 0x69 and connect the AD0 of the other sensor to Low, making the I2C Address of the sensor 0x68.
Now in the model you can add 2 MPU6050 blocks. Specify I2C Address of one block as 0x69 and other as 0x68.
Hope this helps
Thanks
Gayatri

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