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:
- In the Simulink Library Browser, go to “Simulink Support Package for Raspberry Pi Hardware > Raspberry Pi I/O”.
- Drag and drop the “I2C Write” block and the “I2C Read” block to your Simulink model.
- 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.
- 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.
- 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:
Hope this helps!
