Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
48
CREG_COM_RATES1 – 0x01 (1)
SUMMARY
The CREG_COM_RATES1 register sets desired telemetry transmission rates in Hz for raw
accelerometer, gyro, and magnetometer data. If the specified rate is 0, then no data is
transmitted.
REGISTER CONTENTS
B3
B2
B1
B0
RAW_ACCEL_RATE
RAW_GYRO_RATE
RAW_MAG_RATE
Reserved
DESCRIPTION
Bits
Name
Description
31:24
RAW_ACCEL_RATE
Specifies the desired raw accelerometer data broadcast rate
in Hz. The data is stored as an unsigned 8-bit integer,
yielding a maximum rate of 255 Hz.
23:16
RAW_GYRO_RATE
Specifies the desired raw gyro data broadcast rate in Hz.
The data is stored as an unsigned 8-bit integer, yielding a
maximum rate of 255 Hz.
15:8
RAW_MAG_RATE
Specifies the desired raw magnetometer data broadcast
rate in Hz. The data is stored as an unsigned 8-bit integer,
yielding a maximum rate of 255 Hz.
7:0
Reserved
These bits are reserved.
Raw accelerometer data is stored in registers 89 to 91. When the raw accel rate is greater than 0,
the accelerometer data is transmitted in a batch packet of length 3 with start address 89.
Raw rate gyro data is stored in registers 86 to 88. When the raw gyro rate is greater than 0, the
rate gyro data is transmitted in a batch packet of length 3 with start address 86.
Raw magnetometer data is stored in registers 92 to 94. When the raw magnetometer rate is
greater than 0, the magnetometer data is transmitted in a batch packet of length 3 with start
address 92.
If the “all raw data rate” in CREG_COM_RATES2 is greater than 0, then all gyro,
accelerometer, magnetometer, and pressure data will be transmitted together. The rates in
CREG_COM_RATES1 are then not used.