while (_repClock.read_ms() < 100);  //check to ensure device isn't read more than once every 100 ms

<<code title=DMU.cpp>> while (_repClock.read_ms() < 100); //check to ensure device isn't read more than once every 100 ms <</code>> As far as I understand, I can lower the minimum time between reads. But even "with while (_repClock.read_ms() < 1)" it's still about 0.09 second between the next portion of acceleration data. According to the [[http://www.siliconsensing.com/media/30703/DocNo-DMU02-00-0100-110-Rev-3PDF.pdf|datasheet]], it should be about 1ms. <<quote>> Note 2: A quiet time (tq) between messages is required, and 3x( t1 + Tm + Th)+ tq = Ttot. Optimum performance is achieved with a repetition rate of 1ms. Select an appropriate Tclk to meet the requirements of Tm, and then adjust tq to give a Ttot of 1ms. <</quote>> Is something wrong in my program or I just misunderstood something about this device timing system? Can I make the time between getting next acceleration value about 0.01 second ?

pc.baud(19200);

It's not a problem with the device. Obviously, I should just change baud rate. <<code title=main.cpp>> pc.baud(19200); <</code>> Not a real problem, just my carelessness.