BMI08X reading and synchronization

[rgorvin]

Please help me with few clarifications regarding the BMI085/BMI088 data reading and synchronization of accelerometer with gyroscope sensor:

1. Let's say ODR is set to 400Hz and a driver reads data from registers at lower rate 100Hz. Are samples overwritten in registers or contents of registers is blocked until it is read (does the driver get the first or last sample from the last reading period)?

If synchronization is set up as described in https://github.com/BoschSensortec/BMI08x-Sensor-API/blob/master/DataSync.md

2. The gyroscope samples are not altered in any way and we get interpolated accelerometer samples in registers 0x1E-0x21 and 0x27-0x28?

3. Is the FIFO mode anyhow related to reading these registers and are the samples in FIFO buffer synchronized or raw?

4. Could the FIFO mode be used for reading synchronized samples (to get all samples at a lower read rate) since there is an option for recording INT1/INT2 signal in FIFO buffer?

Thanks

[o_o · Accepted solution]

Hi rgorvin,

I'll keep my answers brief.

1. Overwritten
2. Yes. But since the accelerometer has a shorter group delay, the BMI08x does not have to wait for new accelerometer data to calculate the synchronized sample.
3. Not related. Raw.
4. No.

[rgorvin]

Thanks for clarification, these answers are very helpful to me.