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Hello, my BMI270 board is lying on the desk and I have following gyro values: Event: time 1159.868394, -------------- SYN_REPORT ------------ Event: time 1159.878398, type 3 (EV_ABS), code 40 (ABS_MISC), value 113079 Event: time 1159.878398, type 3 (EV_ABS), code 0 (ABS_X), value 0 Event: time 1159.878398, type 3 (EV_ABS), code 1 (ABS_Y), value 2 Event: time 1159.878398, type 3 (EV_ABS), code 2 (ABS_Z), value -2 Event: time 1159.878398, -------------- SYN_REPORT ------------ Event: time 1159.888399, type 3 (EV_ABS), code 40 (ABS_MISC), value 113080 Event: time 1159.888399, type 3 (EV_ABS), code 2 (ABS_Z), value -3 Event: time 1159.888399, -------------- SYN_REPORT ------------ Event: time 1159.898404, type 3 (EV_ABS), code 40 (ABS_MISC), value 113081 Event: time 1159.898404, type 3 (EV_ABS), code 0 (ABS_X), value 1 Event: time 1159.898404, type 3 (EV_ABS), code 1 (ABS_Y), value 1 Event: time 1159.898404, type 3 (EV_ABS), code 2 (ABS_Z), value -2 Event: time 1159.898404, -------------- SYN_REPORT ------------ Event: time 1159.908369, type 3 (EV_ABS), code 40 (ABS_MISC), value 113082 Event: time 1159.908369, type 3 (EV_ABS), code 0 (ABS_X), value 0 Event: time 1159.908369, type 3 (EV_ABS), code 1 (ABS_Y), value 2 Event: time 1159.908369, type 3 (EV_ABS), code 2 (ABS_Z), value -3 If I turn off downsampling (BMI2_FIFO_DOWNS_ADDR is set to 0x80) I'm getting following gyro values: Event: time 54.097798, -------------- SYN_REPORT ------------ Event: time 54.097806, type 3 (EV_ABS), code 40 (ABS_MISC), value 5904 Event: time 54.097806, type 3 (EV_ABS), code 0 (ABS_X), value -197 Event: time 54.097806, type 3 (EV_ABS), code 1 (ABS_Y), value 183 Event: time 54.097806, type 3 (EV_ABS), code 2 (ABS_Z), value 139 Event: time 54.097806, -------------- SYN_REPORT ------------ Event: time 54.097813, type 3 (EV_ABS), code 40 (ABS_MISC), value 5905 Event: time 54.097813, type 3 (EV_ABS), code 0 (ABS_X), value 99 Event: time 54.097813, type 3 (EV_ABS), code 1 (ABS_Y), value -59 Event: time 54.097813, type 3 (EV_ABS), code 2 (ABS_Z), value 185 Event: time 54.097813, -------------- SYN_REPORT ------------ Event: time 54.097820, type 3 (EV_ABS), code 40 (ABS_MISC), value 5906 Event: time 54.097820, type 3 (EV_ABS), code 0 (ABS_X), value 245 Event: time 54.097820, type 3 (EV_ABS), code 1 (ABS_Y), value -93 Event: time 54.097820, type 3 (EV_ABS), code 2 (ABS_Z), value -112 Why are they about 100 times higher ? I would exept average values if filtering is on. Register (0x43) GYR_RANGE is 0 in both cases. When BMI2_FIFO_DOWNS_ADDR is set to 0x80 and ODR is set to 100 for gyro and accel, ODR for accel is fine, but gyro ODR reg is ignored and ODR is 6.4kHz. Why is this register ignored ? Thanks ... View more

In Bosch Sensortec | BMI270 Data sheet: page 110 - Register (0x42) GYR_CONF  says that odr_6k4 is reserved. page 2 says: Output data rates (ODR): 25 Hz ... 6.4 kHz (gyroscope) and 0.78 Hz ... 1.6 kHz (accelerometer) How can I set odr_6k4 for gyro ? If gyro ODR is 3k2 I'm getting about 60 interrupts per sec (with my watermark settings). If I chane ODR to 6k4 I'm getting about 24 interrupts per sec. ... View more