I am using an ISM330DLCTR IMU currently and have a FIFO running in continuous mode with an ODR of 6.66kHz. I was trying to get the accelerometer and gyroscope to both run at ODRs of 6.66kHz, but when I try this, most of the data is garbage. It seems like when all three ODRs are set to 6.66kHz the first two or three samples are good values, but then everything else is nonsensical. If I lower the accelerometer and gyroscope ODRs, the data looks better and better. If both are set to 833Hz, everything looks good. Are there some sort of ODR limitations when using the FIFO in continuous mode? I couldn't find anything in the datasheet that mentioned ODR limitations, so it's possible that I'm setting something else up wrong.
This is my register configuration if it helps (everything else is set to default):
IMU watermark threshold is set to 48 in the FIFO CTRL1 register
IMU full threshold on interrupt pin 1 is set in the INT1 CTRL register
6.66kHz ODR and 2g full scale are set in the CTRL1 XL register
6.66KHz ODR and 250 DPS full scale are set in the CTRL2 G register
No decimation for either accel or gyro is set in the FIFO CTRL3 register
6.66kHz ODR and continuous mode are set in the FIFO CTRL5 register
Thank you for the help!
Charles Fleck
