Diff: ADIS16488.h

Revision:

9:b45feb91ba38

Parent:

6:2a8486283198

--- a/ADIS16488.h	Wed Apr 17 13:50:21 2013 +0000
+++ b/ADIS16488.h	Fri Apr 19 16:21:27 2013 +0000
@@ -15,6 +15,8 @@
 unsigned short LOW_REGISTER[]  = {0x4000, 0x4400, 0x4800, 0x4C00, 0x5000, 0x5400};   
 // X_DELTANG_HIGH, Y_DELTANG_HIGH, X_DETANG_HIGH, X_DELTVEL_HIGH, Y_DELTVEL_HIGH, Z_DELTVEL_HIGH
 unsigned short HIGH_REGISTER[] = {0x4200, 0x4600, 0x4A00, 0x4E00, 0x5200, 0x5600}; 
+
+unsigned long IMUtimeFrom1PPS = 0;
     
 union WD { long dataWord; unsigned short pt[2];} wd;
 
@@ -30,6 +32,8 @@
 
 void IMUDataReadyISR(void)
 {   
+    //IMUtimeFrom1PPS = timeFromPPS.read_us();
+    IMUClockCounter++;
     IMUDataReady = true;
     return;
 } 
@@ -57,7 +61,8 @@
     //change the DECRATE to 98.4 Hz (this is also in page 3)
     //the 8 sets the high bit to 1 indicating a write to a register
     // The C abd D designate the registers for the DECRATE of Page 3
-    // The 17 sets the rate to:  2460/(23+1) = 102.5Hz
+    // The 0x17 sets the rate to:  2460/(23+1) = 102.5Hz
+    // The 0x18 sets the rate to:  2460/(24+1) =  98.4Hz
     spi.write((int)0x8C17);    //write high byte  (only page number can be written in a single byte)
     spi.write((int)0x8D00);    //write the low byte of DECRATE