BMI270 data parsing problem

[victorheca01]

Hi, All

    From the datasheet page 112, the data register is:

 when I set Aux off, and the data_sensor is:

after parsing, 

obviously, the parsing function use Gyr data as Acc and use Acc data as Gyr. 

So is the code error or datasheet error? 

Thanks in advance.

Victor

[BSTRobin]

Hi victorheca01,

If you configure to headerless mode and only enable accel, gyro, data length of each frame is 12 bytes, not 20 bytes.

You can refer to the BMI 270 sensor API and example program published on Github(https://github.com/boschsensortec/BMI270-Sensor-API), which has already implemented FIFO parsing functionality.