When I had the SPI CLK set to 18MHz, the gyro y, z data (so the last 4 bytes of the buff_rx_) seem to be corrupted, likely due to a race condition of being interrupted before we had a chance to read all the data...or something.
I changed the SPI CLK to 36MHz and it works fine, but that seems to indicate a lack of robustness in the EXTI ISR code in the MPU6500 object.
When I had the SPI CLK set to 18MHz, the gyro y, z data (so the last 4 bytes of the
buff_rx_) seem to be corrupted, likely due to a race condition of being interrupted before we had a chance to read all the data...or something.I changed the SPI CLK to 36MHz and it works fine, but that seems to indicate a lack of robustness in the EXTI ISR code in the MPU6500 object.