We're developing a robot that needs to read YEI sensor data. We have basic communication working over SPI but when we increase the polling rate, we start getting back bad data. This is independent of SPI clock speed and so I don't believe it's a wire length issue. However, in the interest of exploring this, we're trying to turn on the Checksum header for SPI communications but nothing seems to work so far. The documentation is unclear as to if SPI even supports checksums. Has anyone else had such issues with SPI communications?