LSM6DSL: Why isn't the gyroscope data appearing in the FIFO?

[SWood.5]

I am trying to use the FIFO to store accelerometer and gyroscope data on the LSM6DSL. While the acceleration data appears correctly in the FIFO, the gyroscope x and y axis data is only being stored as zeros. The gyroscope z axis data is being stored correctly in the FIFO, however. Additionally, when I read the gyroscope x and y axis registers directly, they appear correct. The FIFO_CRTL3 register is set to include both the acceleration and angular rate data in the FIFO without decimation. Any ideas what is happening? I have looked through the datasheet and application note extensively. Thank you!

[Miroslav BATEK]

Can you share your sensor configuration?

[SWood.5]

The following is our sensor configuration. We also have low pass filters enabled and timestamps stored in the FIFO, so I included those register configurations too, in case they have any affect.

//Power managment

CTRL7_G = 0b0

CTRL6_C = 0b10000011

//FIFO Config

CTRL3_C = 0b01000100

MASTER_CONFIG = 0b0

WAKE_UP_DUR = 0b00010000

CTRL10_C = 0b00110100

MD1_CFG = 0b1

FIFO_CTRL5 = 0b00110100

FIFO_CTRL = 0b00111001

FIFO_CTRL2 = 0b10000000

FIFO_CTRL3 = 0b00001001

FIFO_CTRL4 = 0b00001000

INT1_CTRL = 0b11

//Gyro and Accel Config

CTRL4_c = 0b00001010

CTRL2_G = 0b01111100

CTRL8_G = 0b0

CTRL1_XL = 0b01111110

//Timestamp start

TIMESTAMP2_REG = 0xAA

Thank you very much!

[Miroslav BATEK]

Can you please set the FIFO ODR to maximum 6.66kHz in the FIFO_CTRL5 register.

if you need lower data rate in FIFO please set the decimation.

[SWood.5]

I set the FIFO ODR to maximum, and set the appropriate decimation rate, but I am still getting zeros for the gyro x and y.

[Miroslav BATEK]

It is strange, can you check the content of the FIFO_PATTERN_[9:0] bits in the FIFO_STATUS3 and FIFO_STATUS4 registers, to see if there are accelerometer and gyro data.

[SWood.5]

I checked the FIFO pattern, and the accelerometer and gyro data are included. However, when I check the gyro x and gyro y registers directly now, I also get zeros. So there may be something wrong with the gyro configuration? My apologies for not catching that earlier.