adis16505

Connect to ADIS16505 sensor on Arduino hardware SPI bus

Since R2024a

Description

The adis16505 object reads acceleration, angular velocity, and temperature using the ADIS16505 sensor connected to the SPI bus of the hardware. The ADIS16505 sensor is an inertial measurement unit (IMU) used to read acceleration and angular velocity in all three dimensions. The ADIS16505 sensor also has an embedded temperature sensor. Attach an ADIS16505 sensor to the SPI pins on the hardware. You can read the data from your sensor in MATLAB^® using the object functions.

Creation

Syntax

imu = adis16505(obj,'SPIChipSelectPin',chipSelectPin)

imu = adis16505(a,'SPIChipSelectPin',chipSelectPin,Name,Value)

Description

imu = adis16505(obj,'SPIChipSelectPin',chipSelectPin) creates a sensor object with default property values.

Example: imu = adis16505(a,'SPIChipSelectPin','D10');.

imu = adis16505(a,'SPIChipSelectPin',chipSelectPin,Name,Value) creates a sensor object with properties using one or more Name,Value pair arguments.

Example: imu = adis16505(a,'SPIChipSelectPin',D10,'SampleRate',50);.

Input Arguments

a — Connection to the hardware

object

Arduino hardware connection created using arduino, specified as an object.

Example: imu = adis16505(a,'SPIChipSelectPin',chipSelectPin) creates a connection to the ADIS16505 sensor on the hardware represented as an object, a.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Specifying SPIChipSelectPin is mandatory for Name-Value pair.

Example: sensorObj = adis16505(a,'SPIChipSelectPin','D10','Name', Value, ...)

10 is the SPIChipSelectPin number of the accelerometer and gyroscope of ADIS16505 connected to Arduino board.

Properties

Note

• All the properties except SamplesRead and SamplesAvailable can be set by specifying as name-value pair arguments while creating an adis16505 object.

• The property SPIChipSelectPin is immutable (the property value is set during construction; you cannot change the value of an immutable property after the object is created).

• The TimeFormat property is tunable, which means you can change the value anytime.

• The SampleRate, SamplesPerRead, ReadMode, and OutputFormat properties are non-tunable, which means you cannot change their values once the object is locked. Objects are locked when you call the read function, and the release function unlocks them. If a property is tunable, you can change its value at any time.

SPIChipSelectPin — Specify SPI Chip Select pin of sensor

Enter the pin number on the Arduino^® board to which the sensor chip select pin is connected. Press tab to view or identify the list of available pins.

NumTapsBartlettFilter — Specify number of taps

1 (default)

Specify the number of taps for Bartlett window filter. The default value is 1.

SampleRate — Rate at which sample is read

100 (default) | positive integer in the range [12.5, 150]

The rate in samples/s at which data is read from the sensor.

Data Types: double

SamplesPerRead — Number of samples read in a single execution of the read function

10 (default) | [1 500]

Number of samples read from the sensor in a single execution of the read function.

Data Types: double

ReadMode — Specify which data samples to be returned

'latest' (default) | 'oldest'

Specify whether to return the latest or the oldest data samples. The number of samples depends on the SamplesPerRead value. The data read from the sensor is stored in the MATLAB buffer.

• latest —

  Provides the latest data samples available in the buffer. All previous data samples in the buffer are discarded. For example, if SamplesPerRead = 3, the latest three data samples read by the sensor are returned.

  The following figure illustrates how latest data samples are returned assuming S1 is the first sensor data stored in the buffer, S2 is the second data and so on and Sn is the last data stored in the buffer and SamplesPerRead property is set to 3 during sensor object creation.

  

• oldest —

  Provides the oldest data samples available in the buffer. In this case, no data samples are discarded. For example, if SamplesPerRead = 3, the first three data samples read are returned for the first read, the next three data samples are returned for the second read, and so on.

  The following figure illustrates how oldest data samples are returned assuming S1 is the first sensor data stored in the buffer, S2 is the second data and so on and Sn is the last data stored in the buffer and SamplesPerRead property is set to 3 during sensor object creation.

  

Data Types: character vector | string

SamplesRead — Samples read

double

This property is read-only.

Samplesread property outputs the values of samples read so far by executing read function. Samplesread is set to 0, when the object is created or when you release the object.

Data Types: double

SamplesAvailable — Samples in the host buffer

double

This property is read-only.

Samples available in the host buffer. The data read from the sensor is stored in the MATLAB buffer.SamplesAvailable property shows the number of SamplesAvailable in this host buffer. When you release the object, SamplesAvailable is set to 0. When the ReadMode of sensor is set as latest, SamplesAvailable will always be 0.

Data Types: double

OutputFormat — Set output format

'timetable' (default) | 'matrix'

Set the output format of the data returned by executing the read function.

When the OutputFormat is set to timetable, the data returned has the following fields:

• Time — Time stamps in datetime or duration format

• Acceleration — N-by-3 array in units of m/s²

• AngularVelocity — N-by-3 array in units of rad/s

• Temperature — N-by-1 array in units of degree Celsius

When the OutputFormat is set to matrix, the data is returned as matrices of acceleration, angular velocity, and time stamps. The units for the sensor readings are the same as the timetable format.

N is the number of samples per read specified by SamplesPerRead. The three columns of each field represent the measurements in x, y, and z axes.

Data Types: character vector | string

TimeFormat — Set time format

'datetime' (default) | 'duration'

Set the format of the time displayed when the sensor data is read.

• datetime — Displays the date and time at which the data is read.

• duration — Displays the time elapsed in seconds after the sensor object is locked. The sensor object gets locked at the first call of the read function either after the object creation or after the execution of the release function.

Data Types: character vector | string

Object Functions

readAcceleration	Read one sample of acceleration from sensor
readAngularVelocity	Read one sample of angular velocity from sensor
readTemperature	Read one sample of temperature from sensor
read	Read real-time sensor data at a specified rate
release	Release the sensor object
flush	Flush the host buffer
info	Read information related to sensor

Examples

Create Connection to ADIS16505 Sensor

Create an arduino object with the SPI library.

a = arduino('COM3','Uno','Libraries','SPI');

Create the sensor object.

imu = adis16505(a,'SPIChipSelectPin','D10');

imu =

adis16505 with properties:

    NumTapsBartlettFilter: 1

                Interface: "SPI"
         SPIChipSelectPin: "D10"
                   SCLPin: "D13"
                   SDIPin: "D12"
                   SDOPin: "D11"

               SampleRate: 110 (samples/s)
           SamplesPerRead: 10
                 ReadMode: "latest"
              SamplesRead: 0
         SamplesAvailable: 0

Show all properties, functions

Create ADIS16505 Sensor Connection with Additional Name-Value Pair Arguments

Create a sensor object with additional properties specified as name-value pair arguments.

imu = adis16505(a,'SPIChipSelectPin','D10','SampleRate',110,'SamplesPerRead',3,'ReadMode','latest')

imu =

  adis16505 with properties:

    NumTapsBartlettFilter: 1

                Interface: "SPI"
         SPIChipSelectPin: "D10"
                   SCLPin: "D13"
                   SDIPin: "D12"
                   SDOPin: "D11"

               SampleRate: 110 (samples/s)
           SamplesPerRead: 3
                 ReadMode: "latest"
              SamplesRead: 0
         SamplesAvailable: 0

Show all properties all functions

More About

Code Generation Using MATLAB Function Block

• Use adis16505 in a MATLAB Function block with the Simulink^® Support Package for Arduino Hardware to generate code that can be deployed on Arduino Hardware.

• The property ReadMode cannot be changed and is always set to latest.

• The property SamplesPerRead cannot be changed and is always set to 1. So, no framing is provided.

• The property OutputFormat is always set to matrix.

• The property TimeFormat is always set to duration.

• The property SamplesAvailable is not accessible from sensor object.

Version History

Introduced in R2024a