Allow UART to go even faster with some janky recursion

Author: evaherrada

adafruit_bno055.py

@@ -392,7 +392,9 @@ def _write_register(self, register, data):  # pylint: disable=arguments-differ
         if not isinstance(data, bytes):
             data = bytes([data])
         self._uart.write(bytes([0xAA, 0x00, register, len(data)]) + data)
-        time.sleep(0.01)
+        now = time.time()
+        while self._uart.in_waiting < 2 and time.time() - now < 0.25:
+            pass
         resp = self._uart.read(self._uart.in_waiting)
         if len(resp) < 2:
             raise OSError("UART access error.")
@@ -401,12 +403,27 @@ def _write_register(self, register, data):  # pylint: disable=arguments-differ
 
     def _read_register(self, register, length=1):  # pylint: disable=arguments-differ
         self._uart.write(bytes([0xAA, 0x01, register, length]))
-        time.sleep(0.01)
+        now = time.time()
+        while self._uart.in_waiting < length + 2 and time.time() - now < 0.25:
+            pass
         resp = self._uart.read(self._uart.in_waiting)
+
+        if resp[0] != 0xBB: # Recursion
+            self._uart.write(bytes([0xAA, 0x01, register, length]))
+            now = time.time()
+            while self._uart.in_waiting < length + 2 and time.time() - now < 0.25:
+                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:
             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])

examples/bno055_simpletest.py

@@ -22,7 +22,7 @@
         print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
         print("Gravity (m/s^2): {}".format(sensor.gravity))
         print()
-    except RuntimeError:
-        continue
+    except RuntimeError as e:
+        print(e)
 
     time.sleep(1)