How can I get the MPU9250 data in simulink with a raspberry pi?

Hi. I want to make a feedback controller with a raspberry pi. So I need to get the acceleration and angular velocity data from mpu9250. I can get the data in the matlab. But I can't get the data in the simulink because there is no mpu9250 block for the raspberry pi. There is only arduino mpu 9250 block. I tried to use the I2C read block, but I can't take valid data. And I tried to use matlab function block, this time I can get the data with matlab commands. But I can't use the matlab function block with other GPIO blocks. Because, when I use the matlab function block, I need to define raspberry pi with "raspi" command, and I think it is not possible to use "raspi" command with other GPIO block. How can I get the data from mpu9250 with my raspberry pi in simulink?

Answer 1

[Anurag Ojha]

Hi Siur Gi,

You can use the “I2C block” in Simulink to communicate with the MPU9250 sensor over the I2C interface. Here are the steps to do this:

1. In the Simulink Library Browser, go to “Simulink Support Package for Raspberry Pi Hardware > Raspberry Pi I/O”.
2. Drag and drop the “I2C Write” block and the “I2C Read” block to your Simulink model.
3. Double-click the “I2C Write” block and configure it to write to the register on the MPU9250 sensor that contains the data you want to read. For example, you may need to write to the register 0x3B to read the accelerometer data.
4. Double-click the “I2C Read” block and configure it to read the data from the MPU9250 sensor. You may need to specify the number of bytes to read, and the register address you want to start reading from.
5. Use the MATLAB Function block in your Simulink model to convert the raw data from the MPU9250 sensor into useful acceleration and angular velocity data. You can use the same commands you would use in MATLAB to do this.

Once you have the data in useful form, you can use it in your feedback controller in Simulink just like any other signal.

You can refer to following documentation pages for more information:

• Raspberry Pi Support from MATLAB
• Connect to MPU-9250 sensor on Raspberry Pi hardware

Hope this helps!

[Seur Gi]

Thanks! I'll try!!