read data from aceleration and gyro

[pinq-]

I'm trying to read data from acceleration sensor LSM6DS3TR-C with i2c, but I can't get connection.
I can read acceleration from same sensor with micropython.

#include "Wire.h"
  
// LSM6DS3TR I2C address (check your datasheet, usually 0x6A or 0x6B) 
#define LSM6DS3TR_ADDR 0x6B  
// Register addresses (from datasheet) 
#define LSM6DS3TR_WHO_AM_I  0x0F 
#define LSM6DS3TR_CTRL1_XL  0x10 
#define LSM6DS3TR_CTRL2_G   0x11 
#define LSM6DS3TR_OUTX_L_G  0x22 
#define LSM6DS3TR_OUTX_L_XL 0x28  
void setup() {   
  Serial.begin(115200);   
  Wire.begin();    
  // Check if sensor is present   
  uint8_t whoAmI = readRegister(LSM6DS3TR_WHO_AM_I);   
  if (whoAmI != 0x69) { 
    // Expected WHO_AM_I value for LSM6DS3TR     
    Serial.println("LSM6DS3TR not found!");     
    while (1);   
  }   
  // Configure accelerometer: 104Hz ODR, 2g range   
  writeRegister(LSM6DS3TR_CTRL1_XL, 0x40);   
  // Configure gyroscope: 104Hz ODR, 2000dps range   
  writeRegister(LSM6DS3TR_CTRL2_G, 0x4C); 
}  
void loop() {   
  // Read accelerometer data   
  int16_t ax, ay, az;   
  ax = read16(LSM6DS3TR_OUTX_L_XL);   
  ay = read16(LSM6DS3TR_OUTX_L_XL + 2);   
  az = read16(LSM6DS3TR_OUTX_L_XL + 4);    
  // Read gyroscope data   int16_t g
  int16_t gx, gy, gz; 
  gx = read16(LSM6DS3TR_OUTX_L_G); 
  gy = read16(LSM6DS3TR_OUTX_L_G + 2);
  gz = read16(LSM6DS3TR_OUTX_L_G + 4); 
  // Print values Serial.print("Accel: "); 
  Serial.print(ax); 
  Serial.print(", "); 
  Serial.print(ay); 
  Serial.print(", "); 
  Serial.println(az); 
  Serial.print("Gyro: "); 
  Serial.print(gx); 
  Serial.print(", "); 
  Serial.print(gy); 
  Serial.print(", "); 
  Serial.println(gz); 
  delay(100); 
} 
uint8_t readRegister(uint8_t reg) { 
  Wire.beginTransmission(LSM6DS3TR_ADDR); 
  Wire.write(reg); 
  Wire.endTransmission(false); 
  Wire.requestFrom(LSM6DS3TR_ADDR, 1); 
  return Wire.read(); 
} 
void writeRegister(uint8_t reg, uint8_t value) { 
  Wire.beginTransmission(LSM6DS3TR_ADDR); 
  Wire.write(reg); Wire.write(value); 
  Wire.endTransmission(); 
} 
int16_t read16(uint8_t reg) { 
  uint8_t low = readRegister(reg); 
  uint8_t high = readRegister(reg + 1); 
  return (high << 8) | low; 
}

I also tried Seeed_Arduino_LSM6DS3 with same result. Any good ides how to make it work?

Edit.
I tried to scan any i2c devices, but there is none of them.

[lolren]

What pins have you used?

[lyusupov]

@pinq- LSM IMU of Sense is connected to Wire1 read this ticket for details #16

[pinq-]

Sorry for not telling you the platform: seeed nrf45l15 Sense so it is build in.

[lolren]

Speaking of the Sense, has anyone found a use for the microphone?

[pinq-]

@pinq- LSM IMU of Sense is connected to Wire1 read this ticket for details #16

Yes, I can see device with i2c scan, but WHO_AM_I gives me "255"

[lolren]

I will add some sense specific examples later.

[lyusupov]

@pinq-

I2C subsystem developed by @lolren for the Core works fine to me with

• SSD1306 OLED display
• Bosch BMP280 air pressure sensor

The I2C OLED display shown on the picture below is driven by the Core.

[pinq-]

@pinq-

but WHO_AM_I gives me "255"

make sure that you've updated this to use Wire1 as well.

They are

[msfujino]

Here are three of my sketches that use the XIAO IMU. Please use them as a reference.
You can easily access the IMU by using a library. The Adafruit library works right out of the box, but the Seeed library requires a few modifications.

nRF54_XIAO_IMU_AdaLib.zip
nRF54_XIAO_AttMonitor_AdaLib.zip
nRF54_XIAO_AttMonitor_SdLib.zip

You might also find this link helpful.
https://forum.seeedstudio.com/t/the-xiao-nrf54l15-works-with-arduino/295195

[lolren]

@pinq- is it working now?

[lyusupov]

@lolren

Since it does NOT look like a true I2C / Sensor bug in the Core, I believe, that your are safe to relocate this report from Issues to Discussions area.

[lolren]

Thank you @lyusupov . Moved this to discussion

[pinq-]

Sorry, I was on a trip.
The original code doesn't work, but the Adafruit library works. So might be that my code is bad.
But yes, thanks @msfujino and @lolren