BMI270 - FIFO data receiving and converting

[Yegor]

I am using a BMI270 chip and trying to read the data from the FIFO. I also use an exemple  to read data from FIFO. But I have a problem. The data I get from the FIFO is not valid at rest. When I read data directly from registers DATA_0 - DATA_19 (accelerometer and gyroscope data) using the example, the data converted to m/s^2 and dps are valid at rest - that is, one axis of the accelerometer ~9.8g others ~0g in horizontal position and for the gyroscope - all axes ~0dps. The same functions are used to convert FIFO data as for data from DATA_0 to DATA_19 registers:
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
I also noticed that my revision of the chip (5P 04C) uses 2 dummy bytes between the register address and the data received from the requested register. And the library above uses 1 dummy byte.
Can I use the above examples to work with my revision's chip? Maybe for my revision of the chip I need another way to convert data received from FIFO?

[BSTRobin]

Hello Yegor,

If you use the sensor API, the code has implemented the conversion.
https://github.com/BoschSensortec/BMI270-Sensor-API/blob/master/bmi2.c

static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variables to store LSB value */
uint16_t data_lsb;

/* Variables to store MSB value */
uint16_t data_msb;

/* Accelerometer raw x data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->x = (int16_t)((data_msb << 😎 | data_lsb);

/* Accelerometer raw y data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->y = (int16_t)((data_msb << 😎 | data_lsb);

/* Accelerometer raw z data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->z = (int16_t)((data_msb << 😎 | data_lsb);

/* Get the re-mapped accelerometer data */
get_remapped_data(acc, dev);
}