ICM20948 IMU Sensor
Measure linear acceleration, angular velocity, magnetic field, and temperature from ICM20948 IMU sensor
Since R2022a
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 ICM20948 IMU Sensor block outputs the values of linear acceleration, angular velocity, and magnetic field strength along x-, y- and z- axes as measured by the ICM20948 IMU sensor connected to Arduino board. The block also outputs the temperature as read by the ICM20948 IMU sensor.
Examples
Estimate Orientation Using AHRS Filter and IMU Data in Simulink
Stream IMU data from sensors connected to Arduino® board and estimate orientation using AHRS filter and IMU sensor.
Ports
Output
Acceleration — Linear acceleration measured by ICM20948 IMU 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: single (default)
| double
Angular Rate — Angular velocity along each axis as measured by gyroscope
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: single (default)
| double
Magnetic Field — Magnetic field strength measured by ICM20948 IMU sensor
row vector
The Magnetic Field port outputs Magnetic field strength in µT
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 Magnetic Field (µT) parameter.
Data Types: single (default)
| double
Temperature — Temperature measured by ICM20948 IMU sensor
scalar
Temperature (in ℃) measured by ICM20948 IMU sensor connected to Arduino board.
Dependencies
This output port appears only if you select the Temperature (℃) parameter.
Data Types: single
| double
Status — Status of acceleration value, angular rate, magnetometer measurement, and temperature
row vector
Status of acceleration value, angular rate, magnetometer measurement, and
temperature along the three axes, specified as a [1X2] vector of uint8 values. First
element represents status of acceleration, angular rate, and temperature measurements
and second element represents status of magnetometer measurements. Status indicates if
the data read is the new value or not. 0
indicates that the data
read is new and 1
indicates that the data read is not new.
Dependencies
This output port appears only if you select the Status parameter.
Note
Status parameter will not be available if you select Generate data ready interrupt 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 parameter.
The data type of Timestamp output depends on the value that you selected for the Output data type parameter.
Parameters
I2C module — I2C communication module
0
(default) | scalar
Specify the I2C module on the Arduino® hardware to communicate with sensor peripherals. For more information on the Arduino pin mapping and modules that hardware boards support, see Pin Mapping for Arduino Timer Independent Blocks.
I2C address — I2C address of ICM20948 IMU sensor
0x69
(default) | 0x68
The I2C address of the ICM20948 IMU sensor from which the block reads the values. The ICM20948 sensor can have two I2C addresses depending on the logic level on pin AD0 of the sensor.
Pin Name | Pin State | I2C Address |
---|---|---|
AD0 | Low | 0x68 |
High | 0x69 |
Generate data ready interrupt — Generate interrupt when data is ready
off
(default) | on
If this option is selected, an interrupt is generated on pin INT1 of the sensor when data is ready. Using this option, you can trigger other subsystems to perform any action. For more information, see Estimate Orientation Using AHRS Filter and IMU Data in Simulink
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
.
Dependencies
This parameter appears only if you select the Generate data ready interrupt parameter.
Acceleration (m/s2) — Set output port for reading acceleration
on
(default) | off
Select this parameter to set Acceleration as one of the output ports.
Angular rate (rad/s) — Set output port for reading angular rate
on
(default) | off
Select this parameter to set Angular Rate as one of the output ports.
Magnetic Field (µT) — Set output port for reading magnetic field
on
(default) | off
Select this parameter to set Magnetic Field as one of the output ports.
Temperature (℃) — Set output port for reading temperature
on
(default) | off
Select this parameter to set Temperature as one of the output ports.
Status — Set output port for obtaining acceleration, angular rate, magnetometer measurement, and temperature status
off
(default) | on
Select this parameter to set Status as one of the output ports. This parameter will not be available if Generate data ready interrupt parameter is selected.
Timestamp — Set output port for obtaining timestamp
off
(default) | on
Select this parameter to set Timestamp as one of the output ports.
Output data type — Type of output data
double
(default) | single
Specify the datatype for acceleration, angular rate, magnetic field, 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 — Time interval to read data
-1
(default) | positive integer
Specify how often this block reads the data from the ICM20948 IMU sensor. When you
set this parameter to -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.
Full scale range — Range of acceleration that can be measured by accelerometer
±2g
(default) | ±4g
| ±8g
| ±16g
Select the range of acceleration that the accelerometer can measure.
Output data rate — Rate at which accelerometer data is sampled
1125Hz
(default)
Enter the output data rate between 0.3
Hz to
1125
Hz, at which accelerometer data is sampled.
Accelerometer data output rate in Hz is determined by the following calculation.
1125/(1+ACCEL_SMPLRT_DIV)Hz
, where
ACCEL_SMPLRT_DIV
is 0,1,2,...4095
.
Depending on the output data rate specified on the block mask,
ACCEL_SMPLRT_DIV
will be set on the sensor.
Bandwidth — Bandwidth of accelerometer
23.9 Hz
(default) | 5.7 Hz
| 11.5 Hz
| 50.4 Hz
| 111.4 Hz
| 246 Hz
| 473 Hz
Specify the 3 dB bandwidth of accelerometer low pass filter.
Full scale range — Maximum angular velocity that can be measured by gyroscope
±250 dps
(default) | ±500 dps
| ±1000 dps
| ±2000 dps
Specify the maximum angular velocity that the gyroscope can measure per second.
Output data rate — Rate at which gyroscope data is sampled
1125Hz
(default)
Enter the output data rate between 4.4
Hz to
1125
Hz, at which gyroscope data is sampled.
Gyroscope data output rate in Hz is determined by the following calculation.
1125/(1+GYRO_SMPLRT_DIV)Hz
, where
GYRO_SMPLRT_DIV
is 0,1,2,...255
.
Depending on the output data rate specified on the block mask,
GYRO_SMPLRT_DIV
will be set on the sensor.
Bandwidth — Bandwidth of gyroscope
23.9 Hz
(default) | 5.7 Hz
| 11.6 Hz
| 51.2 Hz
| 119.5 Hz
| 151.8 Hz
| 196.6 Hz
| 361.4 Hz
Specify the 3 dB bandwidth of gyroscope low pass filter.
Output data rate — Rate at which magnetometer data is sampled
100 Hz
(default) | 10 Hz
| 20 Hz
| 50 Hz
Select the output data rate at which magnetometer data is sampled.
Bandwidth — Noise bandwidth of temperature
34.1 Hz
(default) | 8.8 Hz
| 17.3 Hz
| 65.9 Hz
| 123.5 Hz
| 217.9 Hz
| 7932.0 Hz
Specify the noise bandwidth (NBW) of temperature low pass filter in Hz.
Version History
Introduced in R2022a
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