Set the AK09916 to 100Hz continuous measurement mode. Accel and Gyro enabled on the ICM20948.
I2C_SLV0_ADDR = 0X80 | AK09916_I2C_ADDR
I2C_SLV0_REG = AK09916_REG_ST1
I2C_SLV0_CTRL = SLV0_EN | 9
Attempt to read 9 bytes from ak09916 at i2c_mst_odr (which i assume is equal to gyro rate according to the datasheet).
I poll the ICM20948 data registers at 50Hz.
Why is the ak09916 drdy bit sometimes '0' across multiple polls of the device ?