LSM6DS3 Timestamp read in FIFO issue
I have a LSM6DS3 sensor connected to a MCU by SPI. My goal is to fill the FIFO buffer with the following sets of data: Gx, Gy, Gz, XLx, XLy, XLz, Ts, Pd. I am using a watermark to generate an interrupt once a specific FIFO level is reached. Furthermore, I am using ST's LSM6DS3 drivers and I followed the application note AN4650 to enable the step counter and timestamp data in FIFO.
I was able to verify that the accelerometer, the gyroscope, the timestamps and the pedometer are working properly.
The issue I am facing is that when I am trying to empty the FIFO and store the data in a buffer, I get incoherent timestamp and pedometer values. Both values read in the FIFO Output register for the timestamp and the pedometer are not coherent with the values stored in their respective registers. Is there a setting that I am missing?