The documentation has lots of errors.
One that will drive you crazy is the kd and ki are mixed up in the registers. kd is ki and ki is kd. The order makes sense but the labels are wrong. Since we go PID. They have it listed PDI. I have tested and confirmed. I have this corrected in my driver. But this needs to be taken into account if someone else is playing with these. BTW. The app they have sucks you are better off grabbing the aurdunino library to get some code to get started with and translate depending on what you are doing the comms with.
