如何从 LSM6DSOXTR 读取陀螺仪值？

编程问答 2022-04-25

问题描述

嗨，我正在将 LSM6DS 与 nrf52 接口以读取加速器和陀螺仪。我得到的 accl 值是正确的，但不是陀螺仪的值，因为当传感器稳定时，陀螺仪的值为 0 或 255，而它在我移动时显示值。

这里是陀螺仪的初始化代码

////init lsm

$queue

这会读取 accl 和陀螺仪的值，这是我卡住的地方，因为 accl 显示正确的值，陀螺仪也显示正确，但仅在我移动它时。 是否有任何缓冲区或我想念的东西

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,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,3);
    nrf_gpio_pin_clear(LSM_CS);
    nrf_drv_spi_transfer(&spi,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,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,2);
    nrf_delay_ms(5);
    nrf_gpio_pin_set(LSM_CS);
    nrf_delay_ms(5);
    data = 0x00;
    LSM_REGISTER_RW(0x5C,0); //wakeup duration

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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