Hi bront,
As you enable accel and gyro, set the FIFO in header-less mode, FIFO data length should be 6 bytes every frame, total FIFO length should be an integer multiple of 6 bytes. FIFO length 37 didn't match it. With BMI270 github code, I run FIFO watermark interrupt code and get correct result for your reference. https://github.com/BoschSensortec/BMI270-Sensor-API
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