Hi sebmadgwick, could you insert a call to bmi2_get_int_status or bmi2_get_status in your interrupt service routine ? BMI270 has 3 data ready sources (auxiliary, gyro and accel), but a unified data ready interrupt. If you have more than 1 sensor enabled (especially at different rates), you can read the status to determine the source of the interrupt. Synchronicity is guaranteed by design, the sampling of accelerometer, gyroscope and internal temperature sensor is aligned with the updates to the SENSORTIME register. For example, when sampling at 100 Hertz, bits 23..8 will of the SENSORTIME register will become a sample counter, and bit 7..0 indicate the age of the sample. o_o
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