I need make others activities at same time that I take out data, read encoders specify. This example is OK, but when I use a big data file, only I can take out data but I can't read encoders. Using the same example in the loop when I reload buffer always read all data file and I need read only the next 500 data (or 1000,for example), I need have control about the data tranfers to buffer. I want always read the encoders and reload the buffer only with the next 500 data (no all data, like in the example) when halfready is set using DMA transfer.