LSM6DSL在FIFO连续模式下的行为不如预期

嗨，大家好，

我在FIFO连续模式下使用L6MSDL芯片作为我的应用程序（连接到STM32L4），我在理解我们可以在FIFO_STATUS3寄存器中读取的FIFO模式时遇到了一些麻烦。

我通过以下方式配置了LSM6DSL：
- 加速度计ODR =陀螺仪ODR = FIFO ODR = 413 Hz
- 没有抽奖
- 只有加速度计和陀螺仪数据集存储在fifo中
- 启用BDU块更新
- FIFO处于连续模式

我定期读取存储在FIFO中的内容。要知道存储了多少数据，我会读取FIFO_STATUS1和FIFO_STATUS2寄存器。我确保每次读取多个6个数据集（3个陀螺仪数据和3个加速度计数据）
我阅读得足够快，所以在fifo中没有数据被覆盖。我通过检查超限状态来验证。

我的问题是我从FIFO_STATUS3读取的模式并不总是等于0，即使我每次读取6个数据集的多个。

这导致我的数据集未正确对齐（X_GYROSCOPE，Y_GYROSCOPE，Z_GYROSCOPE，X_ACCELEROMETER，Y_ACCELEROMETER，Z_ACCELEROMETER）。

如果模式值不同于0，我尝试读取FIFO_STATUS3并重置FIFO，但我的数据有时未正确对齐。

在我的案例中，有什么理由改变模式吗？
有没有办法确保数据在从fifo读取之前始终正确对齐？

我希望我的信息很清楚。
谢谢。



以下为原文

Hi Everyone,

I am Using the L6MSDL chip for my application (connected to a STM32L4) in FIFO Continuous Mode and I am having some troubles understanding the FIFO pattern that we can read in FIFO_STATUS3 register.

I configured the LSM6DSL The following way :
-         Accelerometer ODR = Gyroscope ODR = FIFO ODR = 413 Hz
-         No decimation
-         Only accelerometer and gyroscope data sets are stored in fifo
-         BDU Block Update is enabled
-         FIFO Is in continuous mode

I read periodically what is stored in FIFO. To know how much data is stored, I read the FIFO_STATUS1 and FIFO_STATUS2 registers. I make sure to read a multiple of 6 data sets each time (3 gyroscope data and 3 accelerometer data)
I read fast enough so no data is overwritten in fifo. I verify that by checking the overrun status.

My problem is that the pattern that I read from FIFO_STATUS3 is not always equal to 0, even though I read a multiple of 6 data sets each time.

This result in my data sets not being aligned correctly as it should be(X_GYROSCOPE, Y_GYROSCOPE, Z_GYROSCOPE, X_ACCELEROMETER, Y_ACCELEROMETER, Z_ACCELEROMETER).

I tried reading the FIFO_STATUS3 and resetting the FIFO if the pattern value is different then 0, but my data are sometimes not aligned correctly.

Is there any reason why the pattern changes in my case?
Is there any way to ensure that data are always correctly aligned before reading from fifo?

I hope my message is clear.
Thank you.