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Getting the timestamp of the Sensor Data Sample Precisely

Question asked by p.raul on Mar 16, 2016
LSM6DS3 has a dedicated register for the timestamp like ->
But apart from this sensor how can the time stamp of a every data sample be captured of any sensor.
By reading the system timer when the drdy interrupt comes for each sample while using in interrupt mode  or by reading the system timer when reading the data sample synchronously.Any reference will be highly thankful !