UM6-LT SPI Troubles

Hello everybody!
I’m trying to connect old UM6-LT to my Arduino UNO with SPI bus. I do get some data, but it is complete gibberish for me. Please, have a look, and tell me what you think about it.

#include <SPI.h>

void setup() {
  Serial.begin(9600);

  
  
  SPI.begin();
  
  delay(100);
}

void loop() {

delay(100);
unsigned char data[6];
readRegister(0, (unsigned char *)&data);
for (int i = 0; i < 6; i ++ ){
  Serial.print(data[i]);
  Serial.print(' ');
}
Serial.println();
}


void readRegister(byte thisRegister, unsigned char * data) {

  unsigned char tosend[6] = {0,thisRegister,0,0,0,0};
  SPI.beginTransaction(SPISettings(340000, MSBFIRST, SPI_MODE0));
  digitalWrite(SS, LOW);
  delayMicroseconds(100);
  
  
  SPI.transfer(tosend, 6);
  for (int i = 0; i< 6; i++)
    data[i] = tosend[i];
  
  digitalWrite(SS, HIGH);
  SPI.endTransaction();  
  
}



void writeRegister(byte thisRegister, byte thisValue) {

}

[quote]0 0 0 0 0 0
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
63 100 221 94 0 0
0 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 0 0
0 0 0 0 8 15
63 100 221 94 0 0
0 0 0 0 8 15
126 0 0 0 8 64
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 8 64
0 0 0 0 0 0
0 0 0 0 8 64
0 0 0 0 8 15
126 0 0 0 8 15
126 0 0 0 0 0
0 0 0 0 8 15
126 0 0 0 8 15
63 100 221 94 0 0
0 0 0 0 0 0
0 0 0 0 8 64
0 0 0 0 8 15
63 100 221 94 0 0
[/quote]

clock is connected to pin 13, mosi is 11, miso is 12, ss is 10.
If I change SPI_MODE to 1, output becomes stabilized like that

[quote]0 128 64 128 85 0
0 128 64 128 85 0
0 128 64 128 85 0
0 128 64 128 85 0
0 128 64 128 85 0
0 128 64 128 85 0
0 128 64 128 85 0 [/quote]

Hello.

I am sorry you are having trouble getting good data with the UM6-LT. I did not notice anything obviously wrong with the code you posted. I recommend contacting the manufacturer, CH Robotics, by posting on their forum. This is the best way to get help with their products.

-Jon

Thanks for a quick response. Did as you suggested and waiting for a reply from CH.