ADIS16505 IMU Sensor
Measure acceleration, angular rate, and temperature along axes of ADIS16505 sensor
Since R2024a
Add-On Required: This feature requires the Simulink Support Package for Arduino Hardware add-on.
Libraries:
Simulink Support Package for Arduino Hardware /
Sensors
Description
The ADIS16505 IMU Sensor block outputs the values of acceleration, angular rate, and temperature along x-, y- and z- axes as measured by the ADIS16505 IMU Sensor connected to Arduino board.
Note
The output from the ADIS16505 sensor may have a finite non-negligible offset value
except for the Temperature
output. You may consider correcting this offset value for
such cases.
If you simulate a model that contains the ADIS16505 IMU Sensor block without connecting it to the hardware, the block outputs zeros. For more information, see Block Produces Zeros or Does Nothing in Simulation.
Ports
Output
Acceleration — Linear acceleration along axes of sensor
row vector
The Acceleration port outputs acceleration in
m/s2 along the x-, y-, and z- axes of the sensor
as a n
-by-3 vector, where
n
is the value specified as Samples per frame.
Dependencies
This output port appears only if you select the Acceleration (m/s2) parameter.
Data Types: double
| single
| int32
Angular Rate — Angle of rotation per second along axes of sensor
row vector
The Angular Rate port outputs angular velocity in
radians per second (rad/s) along the x-, y-, and z- axes of the sensor as a
n
-by-3 vector, where n
is the value specified as Samples per frame.
Dependencies
This output port appears only if you select the Angular Velocity (rad/s) parameter.
Data Types: double
| single
| int32
Temperature — Temperature along axes of sensor
scalar
Temperature (in ℃) measured by ADIS16505 IMU sensor connected to Arduino board.
Dependencies
This output port appears only if you select the Temperature (℃) parameter.
Data Types: double
| single
| int32
Status — Status of acceleration, angular velocity and temperature measurements
0
| 1
Status of acceleration, angular velocity and temperature measurements,
specified as a scalar. 0
indicates that the data read is
new, 1
indicates that the data read is not new.
Note
To observe the status changes, set the block sample time to less than
0.5
milliseconds. This is because the ADIS16505 sensor
operates at a clock frequency of 2000
Hz.
Dependencies
The Status port is available only when you select the Status parameter.
Data Types: uint8
Timestamp — Timestamp at which data is read
matrix | (n
)-by-1
Timestamp (in seconds) at which data is read from the sensor, returned as
n
-by-1 matrix, where n
is the value specified as Samples per frame.
Dependencies
This output port appears only if you select the Timestamp (s) parameter.
Data Types: double
Parameters
SPI chip select pin — Chip select pin to which SPI peripheral device is connected
10
(default) | target hardware pin
Enter the pin number on the Arduino® board to which the sensor chip select pin is connected. See Pin Mapping for Arduino Timer Independent Blocks to know the SS pin restriction with different Arduino boards.
Interrupt type — Generate interrupt when data is ready
Active high
(default) | Active low
Select the logic level for INT1 pin as Active high
or Active low
.
Desired output data rate (1 Hz - 2000 Hz) — Rate at which accelerometer data is sampled
1
(default)
Enter the desired output data rate between 1
Hz to
2000
Hz, at which accelerometer data has to be
sampled.
Accelerometer data output rate in Hz is determined by the following calculation.
Achieved output data rate = 2000/(1+DEC_RATE)
, where
DEC_RATE
is 0,1,2,...1999
.
Depending on the desired output data rate specified on the block mask,
Achieved output data rate (Hz)
will be set on the sensor.
No of taps for Bartlett window filter — Number of taps
1
(default) | 2
| 4
| 8
| 16
| 32
| 64
Select the number of taps for Bartlett window filter.
Click Frequency response based on number of taps to view the frequency response of Bartlett filter. A sample screen is shown below.
Data type — Type of output data
double
(default) | single
| int32
Specify the datatype for acceleration, angular rate, and temperature outputs.
Samples per frame — Number of samples that the block outputs
1
(default) | positive integer
Specify the number of samples that the block outputs.
The value that you specify here is also used to compute the output sample time:
Output sample time = Samples per frame
*
Sample time
.
Sample time — Interval to read values from sensor
–1
(default) | any nonnegative value
Specify how often the block read values from the sensor, in seconds. When
you specify this parameter as -1
, Simulink® determines the best sample time for the block based on the
block context within the model. The output sample time is the product of
Samples per frame
and Sample
time
that you specify.
Select outputs
Acceleration (m/s^2) — Acceleration including force of gravity along axes of sensor
on
(default) | off
When you select the Acceleration (m/s^2) parameter, the Acceleration port becomes available. For more information on the Acceleration port, see Acceleration.
Angular velociy (rad/s) — Angle of rotation per second along axes of sensor
on
(default) | off
When you select the Angular velocity (rad/s) parameter, the Angular Rate port becomes available. For more information on the Angular Rate port, see Angular Rate.
Temperature (deg C) — Temperature along axes of sensor
on
(default) | off
When you select the Temperature (deg C) parameter, the Temperature port becomes available. For more information on the Temperature (deg C) port, see Temperature.
Status — Status of read operation
on
(default) | off
Select this parameter to display the status of read operation.
When you select the Status parameter, the Status port becomes available. For more information on the Status port, see Status.
Timestamp (s) — Set output port for obtaining timestamp
on
(default) | off
Select this parameter to set Timestamp as one of the output ports. For more information on the Timestamp port, see Timestamp.
Version History
Introduced in R2024a
See Also
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