Hello, I have been acquiring data from the BHI160 for a while, and I am patching up some issues I've had with the timestamps. I am using the BHI160 timestamps to synchronize between my local processor's timestamps and those recorded by the BHI160, so I look at the current time on my processor, and read the current_timestamp data on the BHI160, and do some math to synchronize the two. The exact procedure is a bit more complicated to avoid delays from interrupts. I am seeing two potential issues. The big issue is that I can see the timestamps freeze and not update. I get an interrupt, check the timestamp data, clear the fifo, then I get the next interrupt about 500 ms later, I get the same timestamp, both IRQ and current time, I read again and get the same timestamp a 3rd time. Is this a known issue? Any way to work around it? A second issue I see is that I need to do this because it appears the 32000 Hz clock is off by maybe 100 Hz, which means I need to resynchronize the timers. Is there any spec on the BHI160 clock, or way to adjust the timing?
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