embedded - 如何从 LSM6DSOXTR 读取陀螺仪值？

Question

嗨，我正在将 LSM6DS 与 nrf52 连接以读取加速器和陀螺仪。我得到的 accl 值正确但不是陀螺仪，因为当传感器稳定时陀螺仪值是 0 或 255，而当我移动它时它显示值。

这是陀螺仪的初始化代码

///初始化lsm

uint8_t LSM_init() {
  uint8_t data = 0;
  data = 0x01;
  LSM_REGISTER_RW(0x12, &data, 0);
  nrf_delay_ms(1);

  m_tx_buf[0] = 0x8F; //who am i
  m_tx_buf[1] = 0x40;

  memset(m_rx_buf, 0, 3);
  nrf_gpio_pin_clear(LSM_CS);
  nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
  nrf_delay_ms(5);
  nrf_gpio_pin_set(LSM_CS);
  nrf_delay_ms(5);

  if (m_rx_buf[1] == 0x6C) {
    m_tx_buf[0] = 0x12; //auto increment 1 and enable BDU
    m_tx_buf[1] = 0x64;
    memset(m_rx_buf, 0, 3);
    nrf_gpio_pin_clear(LSM_CS);
    nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
    nrf_delay_ms(5);
    nrf_gpio_pin_set(LSM_CS);
    nrf_delay_ms(5);
    m_tx_buf[0] = 0x0A; // fifo cntrlby pass
    m_tx_buf[1] = 0x00;
    memset(m_rx_buf, 0, 3);
    nrf_gpio_pin_clear(LSM_CS);
    nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
    nrf_delay_ms(5);
    nrf_gpio_pin_set(LSM_CS);
    nrf_delay_ms(5);

    m_tx_buf[0] = 0x10; // Xl odr 416 htz
    m_tx_buf[1] = 0x62; //4A          //62
    memset(m_rx_buf, 0, 3);
    nrf_gpio_pin_clear(LSM_CS);
    nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
    nrf_delay_ms(5);
    nrf_gpio_pin_set(LSM_CS);
    nrf_delay_ms(5);
    data = 0x00;
    LSM_REGISTER_RW(0x5C, &data, 0); //wakeup duration

    data = 0x01;
    LSM_REGISTER_RW(0x5D, &data, 0); //threshhold

//    m_tx_buf[0] = 0x11; // gyroscope
//    m_tx_buf[1] = 0x00;
//    memset(m_rx_buf, 0, 3);
//    nrf_gpio_pin_clear(LSM_CS);
//    nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
//    nrf_delay_ms(5);
//    nrf_gpio_pin_set(LSM_CS);
//    nrf_delay_ms(5);
    m_tx_buf[0] = 0x11; // gyroscope
    m_tx_buf[1] = 0x6E;
    memset(m_rx_buf, 0, 3);
    nrf_gpio_pin_clear(LSM_CS);
    nrf_drv_spi_transfer(&spi, m_tx_buf, 2, m_rx_buf, 2);
    nrf_delay_ms(5);
    nrf_gpio_pin_set(LSM_CS);
    nrf_delay_ms(5);
    data = 0xF0;
    LSM_REGISTER_RW(0x14, &data, 0); //enable lsm.
//    data = 0x20;
//    LSM_REGISTER_RW(0x66, &data, 0); //enable lsm.

    //interrupt route
    data = 0x80;
    LSM_REGISTER_RW(0x01, &data, 0); //embedded func set -

    data = 0x01;
    LSM_REGISTER_RW(0x0D, &data, 0); //LSM6DSOX_MLC_INT1

    data = 0x80;
    LSM_REGISTER_RW(0x0A, &data, 0); //LSM6DSOX_EMB_FUNC_INT1

    data = 0x01;
    LSM_REGISTER_RW(0x0B, &data, 0); //LSM6DSOX_FSM_INT1_A

    data = 0x00;
    LSM_REGISTER_RW(0x0C, &data, 0); //LSM6DSOX_FSM_INT1_B

    data = 0x01;
    LSM_REGISTER_RW(0x01, &data, 0); //user func

    //pull down disable int1
    data = 0x01;
    LSM_REGISTER_RW(0x62, &data, 0); //I3C_BUS_AVB

    data = 0x41;                     //01 41
    LSM_REGISTER_RW(0x56, &data, 0); //TAP_CFG0

    data = 0x12;
    LSM_REGISTER_RW(0x5E, &data, 0); //md1fg = int1_ff set :LSM6DSOX_MD1_CFG or md1_cfg.int1_emb_func = PROPERTY_ENABLE

    data = 0x41;
    LSM_REGISTER_RW(0x56, &data, 0); //tap config0

    data = 0x20;
    LSM_REGISTER_RW(0x0D, &data, 0); //LSM6DSOX_INT1_CTRL write

    data = 0x80;
    LSM_REGISTER_RW(0x58, &data, 0); //TAP_CFG2 write 0x80
    
    ///////////////////////////////////////////////////////
    return 0;
  } else {
    return 1;
  }
}
///reading code in main func

这读取了 accl 和 gyro 的值，这是我卡住的地方，因为 accl 显示正确的值和陀螺仪，但只有当我移动它时。是否有任何缓冲区或我想念的东西

  while(true)
  {
  data=0x0;
  LSM_REGISTER_RW(0x1E, &data, 1);

   status = m_rx_buf[1];

   for(int i=0; i<12;i++)
   {
   

   LSM_REGISTER_RW(0x22+i, &buffRead[i], 1);
   
    
   
   
   
   
   }


 }

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