Diff: imu_driver.hpp

Revision:

3:8552e26cd162

Parent:

2:f3a7def7a7e1

Child:

4:a2becd590d99

--- a/imu_driver.hpp	Sun Nov 17 06:12:21 2019 +0000
+++ b/imu_driver.hpp	Sun Nov 17 06:39:11 2019 +0000
@@ -50,6 +50,12 @@
  *           - CPHA: 2 Edge (1)
  *           - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
  *           - Endian: MSB first (Mbed only support MSB AFAIK)
+ *         
+ *         According to [openIMU300ZI SPI framework](https://openimu.readthedocs.io/en/latest/software/SPImessaging.html):
+ *              
+ *           - Data transferred in 16-bit word-length and MSB-first
+ *           - fCLK ≤ 2.0 MHz
+ *           - CPOL = 1 (clock polarity) and CPHA = 1 (clock phase)
  *
  *  @tparam spi     SPI comm instance, ImuDriver currently support only SPI framework
  *  @tparam rst     Reset pin name, this is used to reset the openIMU300ZI module