I am writing a custom linux driver module to be able to read accelerometer and gyroscope data from the LSM6DS3 FIFO in blocks.I have set the fifo watermark to 512 words, ODR for accel, gyro and FIFO both set to 416Hz. Scale 8G and 250dps. As there is no interrupt line connected to our CPU, the driver polls the FIFO_STATUS2 register every 100ms to check if the FTH bit is set. When it is, it reads the FIFO_STATUS 1/2 to get the number of words in the FIFO, then reads the initial pattern# from FIFO_STATUS3/4. It then reads the entire FIFO in one read to improve efficiency over reading pattern# then 2 bytes FIFO in a loop. I make sure I only read the FIFO in a size that is a multiple of 12bytes (6 for gyro and 6 for accel) so full samples are read.Often after a few seconds, there is missing data in the block from the FIFO. An example follows:
