MATLAB: Converting 16-bit, little-endian, 2’s complement integer to regular integer

ahrsimuMATLABserial

I'm trying to get various data sets (accelerometer, gyroscope etc.) from a AHRS (a CHR-UM6) and I'm having trouble getting the values out in the correct form. The data received (for each value) is a two row column vector such as:

247

255

These numbers are 16-bit, little-endian, 2's complement and I need to get the actual value. I hope someone can help!

Thanks, Ben

Best Answer

swapbytes(typecast(TheByteVector, 'int16'))

TheByteVector should be uint8.

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double( swapbytes(typecast(uint8(sensorData), 'int16')) ) / SFacc

MATLAB: Need help with storing live data from sensors into array

If you want to store the values in each row, call out that you want the values to take over all columns of "Gyro". See below:

i = 0;
max_data_len = 10;
% Initialize 'Gyro' with desired dimensions
%     - Don't have to but it helps performance
Gyro = zeros( max_data_len , 4 );
while i < max_data_len
    
    i = i+1;
    
    Gyro_X = randi(30,1);
    Gyro_Y = randi(30,1);
    Gyro_Z = randi(30,1);
    
    % If creating a results array
    Gyro(i,:) = [i Gyro_X Gyro_Y Gyro_Z];
    
end

Another issue is you redefine "Gyro" as an empty cell array every iteration of the loop when you call the following code:

  Gyro = {};

This clears the data you originally had stored in the variable. This is also the reason you are getting the "Conversion to cell from uint16 is not possible" error; it is trying to convert your 16 bit integer array into a cell array

Best Answer

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