_read_register now uses loop in uart mode to increase stability and speed

Author: evaherrada

adafruit_bno055.py

@@ -402,28 +402,20 @@ def _write_register(self, register, data):  # pylint: disable=arguments-differ
             raise RuntimeError("UART write error: {}".format(resp[1]))
 
     def _read_register(self, register, length=1):  # pylint: disable=arguments-differ
-        self._uart.write(bytes([0xAA, 0x01, register, length]))
-        now = time.monotonic()
-        while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.25:
-            pass
-        resp = self._uart.read(self._uart.in_waiting)
-
-        if resp[0] != 0xBB:  # Recursion
+        i = 0
+        while i < 3:
             self._uart.write(bytes([0xAA, 0x01, register, length]))
             now = time.monotonic()
-            while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.25:
+            while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.1:
                 pass
             resp = self._uart.read(self._uart.in_waiting)
-            if len(resp) < 2:
-                raise OSError("UART access error.")
-            if resp[0] != 0xBB:
-                raise RuntimeError("UART read error: {}".format(resp[1]))
-            if length > 1:
-                return resp[2:]
-            return int(resp[2])
-
+            if len(resp) >= 2 and resp[0] == 0xBB:
+                i = 3
+            i += 1
         if len(resp) < 2:
             raise OSError("UART access error.")
+        if resp[0] != 0xBB:
+            raise RuntimeError("UART read error: {}".format(resp[1]))
         if length > 1:
             return resp[2:]
         return int(resp[2])

docs/conf.py

@@ -10,11 +10,7 @@
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [
-    "sphinx.ext.autodoc",
-    "sphinx.ext.intersphinx",
-    "sphinx.ext.viewcode",
-]
+extensions = ["sphinx.ext.autodoc", "sphinx.ext.intersphinx", "sphinx.ext.viewcode"]
 
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
@@ -144,7 +140,7 @@
         "Adafruit BNO055 Library Documentation",
         "Radomir Dopieralski",
         "manual",
-    ),
+    )
 ]
 
 # -- Options for manual page output ---------------------------------------
@@ -175,5 +171,5 @@
         "AdafruitBNO055Library",
         "One line description of project.",
         "Miscellaneous",
-    ),
+    )
 ]

examples/bno055_simpletest.py

@@ -12,17 +12,13 @@
 # sensor = adafruit_bno055.BNO055_UART(uart)
 
 while True:
-    # Try/except only necessary when usuing UART mode
-    try:
-        print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
-        print("Magnetometer (microteslas): {}".format(sensor.magnetic))
-        print("Gyroscope (rad/sec): {}".format(sensor.gyro))
-        print("Euler angle: {}".format(sensor.euler))
-        print("Quaternion: {}".format(sensor.quaternion))
-        print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
-        print("Gravity (m/s^2): {}".format(sensor.gravity))
-        print()
-    except RuntimeError as e:
-        print(e)
+    print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
+    print("Magnetometer (microteslas): {}".format(sensor.magnetic))
+    print("Gyroscope (rad/sec): {}".format(sensor.gyro))
+    print("Euler angle: {}".format(sensor.euler))
+    print("Quaternion: {}".format(sensor.quaternion))
+    print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
+    print("Gravity (m/s^2): {}".format(sensor.gravity))
+    print()
 
     time.sleep(1)