2015-01-16 04:28 AM
Hello.
What i am trying to do - is to synchronize all inertial sensors (accel, gyro, mag). Each of these sensors has its own FIFO buffer.I did not encounter any problems with magnetometer and accelerometer, in contrast to l3gd20 gyroscope. The main problem is number of samples in FIFO buffer, it is never 0 (even if i read FIFO Sample number register every 2 ms, while the sample rate of the sensor is 95Hz).My steps:Gyroscope configuration (95 Hz sample rate, FIFO mode - stream).When i am reading gyroscope data i read number of samples in the following way:int sample_number;i2cread(L3GD20_ADDR, 0x2F, &sample_number);if (sample_number & 0x20) return 0;else return (int)e_n & 0x1f + 1;Does anyone have any suggestions regarding my issue? What is the reason that the FIFO is never empty? Thanks.