se as a IMU spi period timer. </p>
<dl class="section return"><dt>Returns</dt><dd>void</dd></dl>
<p>TIM4 is used to drive SPI buffered data acquisition from the IMU. One timer interrupt is generated per SPI word clocked out from the DUT. TIM4 runs at a full 72MHz. With a 16-bit resolution and a time base of 72MHz, TIM4 will roll over every 910us The worst case spi period allowed is 255us stall + (17 bits / 140KHz) -&gt; 376us </p>

</div>
</div>
<a id="ad679c296af1e7b89bd58be986d71d985"></a>
<h2 class="memt