I have an ICM20602, with the invensense device drivers in EMD SmartMotion 1.0.5, which I am using in Atmel studio with a SAM G55 and Freertos.
What I am seeing is intermittent random zero gyro rate values. The message comes in over SPI as a valid packet flagged with good data in inv_icm20602_poll_fifo_data(...), but the data values are zero. I have tried some different power settings, different full scale, and different update rates with no change. Generally the data is ok (ie. matches numerically differentiated pitch and roll values - from accelerometer), but sometimes (every 1/2 second or more) the gyro rates are zero.
Can anyone provide pointers for me to look at why this may be happening or similar experiences?
Thank you
James.