@Vincent wrote: Can you print out the frame header which you parse error to cause the function exited? Your implementation looks fine and our API is considering all possible FIFO frame header situation in our API code.  It will only finish parsing if they met 0x8080 as padding bytes under FIFO header mode.  The length for aux data is hardcoded, it's not using the setting as far as I can see. When I had the aux read size set to 6 I would expect a full frame to have 6 aux + 6 accel + 6 gyro = 18 bytes, but the library assumes 20 bytes, so as soon as it seems a frame with aux data in it it breaks. ... View more

Even with that value fixed it doesn't work. Interestingly it made no difference to operation (6 bytes was correctly being read by the BMI270 with both settings), I guess the library masked off the top bit making the values 2 and 6 the same anyway.   ... View more

Actually I think my issue is not in the sampling rate, but in the parsing of the FIFO frame. The FIFO seems to contain the correct number of bytes, but when I extract the accelerometer etc data it retrieves only a few readings because it encounters and invalid frame type and discards the rest of the buffer. Am I doing something wrong here? void Bmi270Application :: ReadFifo () { bmi2_fifo_frame frame = {} ; frame. data = fifo_data_ ; frame. header_enable = true; { uint16_t length ; bmi2_get_fifo_length(&length , device_ ) ; DS_ALWAYS ( "{} bytes in fifo" , length) ; frame. length = std ::min(( uint16_t ) std ::size( fifo_data_ ) , length) ; } if ( auto res = bmi2_read_fifo_data(&frame , device_ ) ; res != BMI2_OK ) { display_error( "Failed to read fifo" , res) ; return; } { std :: array < bmi2_sens_axes_data , 400 > acceleration_data ; uint16_t accel_reading_count = acceleration_data.size() ; auto res = bmi2_extract_accel(acceleration_data.data() , &accel_reading_count , &frame , device_ ) ; if (res < 0 ) { display_error( "Failed to extract accel data" , res) ; return; } DS_ALWAYS ( "Got {} accelerometer samples" , accel_reading_count) ; DS_ALWAYS ( "Accel x:{} y:{} z:{}" , acceleration_data [ 0 ] . x , acceleration_data [ 0 ] . y , acceleration_data [ 0 ] . z ) ; } { std :: array < bmi2_sens_axes_data , 400 > gyro_data ; uint16_t reading_count = gyro_data.size() ; auto res = bmi2_extract_gyro(gyro_data.data() , &reading_count , &frame , device_ ) ; if (res < 0 ) { display_error( "Failed to extract Gyro data" , res) ; return; } DS_ALWAYS ( "Got {} gyro samples" , reading_count) ; DS_ALWAYS ( "Gyro x:{} y:{} z:{}" , gyro_data [ 0 ] . x , gyro_data [ 0 ] . y , gyro_data [ 0 ] . z ) ; } if ( use_aux_ ) { std :: array < bmi2_aux_fifo_data , 400 > data ; uint16_t reading_count = data.size() ; auto res = bmi2_extract_aux(data.data() , &reading_count , &frame , device_ ) ; if (res < 0 ) { display_error( "Failed to extract Gyro data" , res) ; return; } DS_ALWAYS ( "Got {} aux samples" , reading_count) ; aux_sensor_data_frame f ; memcpy(f. raw , data [ 0 ] . data , std ::min( sizeof (f. raw ) , sizeof (data [ 0 ] . data ))) ; DS_ALWAYS ( "Mag x:{} y:{} z:{}" , f. mag . x , f. mag . y , f. mag . z ) ; } }   ... View more