we use one LSM6DSL sensor to read 3 axis acc FIFO data each second, but after some times, the FIFO out data become misaligned.

the sensor setting is below:

• XL_ODR_26HZ
• Gyro disabled.
• FIFO ODR = 26Hz
• FIFO threshold (water mark) = 128
• No decimation
• BDU Block Update enabled
• FIFO Is in continuous modewe have a timer to trigger to read FIFO data by Zephyr I2C(frequency: 100000bits/s) each second, before data reading, we check the numbers of FIFO by checking FIFO_STATUS1 and FIFO_STATUS2 register, then we read a multiple of 3 axis sets each time, for example if the FIFO data number has 78, we will read all FIFO data one time, if the number is 76 or 77, we only read 75 data one time. it can make sure reading data is complete 3-axis data. firstly, the reading data is the right like as (X_ACC, Y_ACC, Z_ACC). but after some time (the time is not fixed) the data will become (Y_ACC, Z_ACC, X_ACC). we don't know how to fix this issue. please help us.

Please check if FIFO was full, the reading process should avoid the situation where the FIFO is full. If the FIFO is full, it is recommended to empty the FIFO completely. Alternatively, set the FIFO_CTRL4.STOP_ON_FTH bit to control the FIFO size in multiples of 6 to avoid data misalignment.

谢谢回复。

目前我们采用的是每秒钟周期读一次FIFO的方式，从当前的采样频率26Hz，I2C的读取速度为100kbps，计算下来，不会达到FIFO FUILL，在我们的测试中也没有出现过FIFO FULL。

host平台是nrf52840，这一套流程跑在nordic nRF5 SDK上采用以上方式都能正常运行。

现在运行在nordic NCS2.6.1的SDK上，不确定是否与OS不同有关系，在静止不动，大约几小时或十几个小时后出现错位，pattern读出来也不对。

目前找不到出现问题的root cause，请支持。谢谢~