1. Yes, I think so. I thought it might be better to set up the sample rate before starting the transmission.
NEVADAMARK: that is correct, but I don't think that you need a 500ms delay for every SPI write.
2. The "write" is the mbed API pattern, which basically writes to the SPI slave and return the response. You may refer to the link for more details: http://mbed.org/handbook/SPI
NEVADAMARK: Appreciate that
3. I do not try other code at moment. One interesting thing I noticed is if I plugged out/in the power supply of the IMU, the values would change and shortly, it went back to the values I mentioned before.
NEVADAMARK: the units need 500ms to self-initialize. I suspect you might be seeing that response.
Best regards,
NevadaMark