Building on the work of Joshua Hurst MPU6050 S-function. His original s-function had been edited to provide 9DOF with the HMC5883L.
There are two modes - Pass through where the Magnetometer Data is read directly from the HMC5883L via the AUX I2C. Then, when the MPU6050 is configured as master the Magnetometer Data is read from the Slave Registers on the MPU6050.
The I2C library used is WirnigPiI2C which comes with the target-installer distribution of RPi.
Glen (2021). Raspberry Pi MPU6050-HMC5883L SFunction with I2C Communication using WiringPiI2C (https://www.mathworks.com/matlabcentral/fileexchange/43715-raspberry-pi-mpu6050-hmc5883l-sfunction-with-i2c-communication-using-wiringpii2c), MATLAB Central File Exchange. Retrieved .
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