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For a long time I can not read the correct data from the LSM6DS33 control register (accelerometer + gyroscope).

As I read in the datasheet, the control register address WHO_I_AM is 0x0f. In order to read the data, the MSB must be set to 1, so I finally send 0x8f. However, the received data has nothing to do with the expected value 0x69, I usually receive something like 0xff, 0x8f.

I check the data in debug mode, I also look directly in the DR registry. I checked all combinations of CLKPolarity, CLKPhase and nothing helped, I am convinced that everything is well connected.

I'm using TrueSTUDIO and the MXCube plugin, stm32f722ze on nucleo board

/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2018 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f7xx_hal.h"

/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/

SPI_HandleTypeDef hspi1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_SPI1_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  *
  * @retval None
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SPI1_Init();
  /* USER CODE BEGIN 2 */
  uint8_t sent,received;
  sent = 0x8f;
  received =0x00;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      HAL_GPIO_WritePin(SSPIN_GPIO_Port,SSPIN_Pin,GPIO_PIN_RESET);
      HAL_SPI_Transmit(&hspi1,&sent,1,10);
      HAL_SPI_Receive(&hspi1,&received,1,10);


      HAL_GPIO_WritePin(SSPIN_GPIO_Port,SSPIN_Pin,GPIO_PIN_SET);
      HAL_Delay(500);

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Configure the main internal regulator output voltage 
    */
  __HAL_RCC_PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 216;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Activate the Over-Drive mode 
    */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* SPI1 init function */
static void MX_SPI1_Init(void)
{

  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SSPIN_GPIO_Port, SSPIN_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : SSPIN_Pin */
  GPIO_InitStruct.Pin = SSPIN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(SSPIN_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  file: The file name as string.
  * @param  line: The line in file as a number.
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t* file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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  • \$\begingroup\$ Welcome. What have you tried to isolate the problem? Does SPI communication work with some other chip or in loopback mode? Have you got access to oscilloscope/logic analyser? \$\endgroup\$ – domen Nov 7 '18 at 8:32
  • \$\begingroup\$ Unfortunately, currently I do not have another chip for the test. So I did loopback mode, connected the lines MISO and MOSI, modified the program and it works. I tried to run LSM6DS33 with raspberrypi and it works partially, I get data type 0x69, 0x69,0x69, 0xff, 0xff, 0x69. I do not currently have a logic analyzer or oscilloscope. \$\endgroup\$ – R. Griffin Nov 7 '18 at 12:10
  • \$\begingroup\$ I use Pololu board (Pololu item #: 2736) with LSM6DS33. \$\endgroup\$ – R. Griffin Nov 7 '18 at 12:16
  • \$\begingroup\$ Strange. Can you confirm SS pin is correct and properly wired (just create a "blinky" on that pin, and measure with voltmeter at LSM6DS33)? Is LSM6DS33 in SPI mode? You can also try lowering the clock although it looks it should be fine. \$\endgroup\$ – domen Nov 7 '18 at 13:21
  • 1
    \$\begingroup\$ Thank you for the good advice, it seemed strange to write a separate answer and then accept :) Anyway, I did as you recommended. Unfortunately, I can not upvote because I have too few reputation points. \$\endgroup\$ – R. Griffin Nov 12 '18 at 16:49
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STM parts usually expect bursted reads with first word as address and second byte dummy. Try making your TX/RX data into arrays and doing HAL_SPI_TransmitReceive() instead:

uint8_t txBuf[2] = {0x8f, 0x00};
uint8_t rxBuf[2] = {0x00, 0x00};
HAL_SPI_TransmitReceive(&hspi1, &txbuf, &rxBuf, 2, 10);

Your response should be in the second byte ([1]) of the response array.

Check section 6.2.1 of LSM6DS33 datasheet

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  • \$\begingroup\$ It works, but my solution should work too, because SSPIN is still in a low state. \$\endgroup\$ – R. Griffin Nov 9 '18 at 17:10
  • \$\begingroup\$ Theoretically, yes. Practically the chip might have some internal frame-wait timeout. I.e. if next clock does not arrive within 2-4 full clock periods, consider previous burst done, or something like that. To get details on that you should contact manufacturer. I looked in the datasheet and did not find any info on validity duration of a single frame. \$\endgroup\$ – stiebrs Nov 10 '18 at 14:03
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It helped setting the CPOL to 'low'. I do not know why it did not work the first time, but this time I connected the sensor on the other side (to male pins)

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