Allow uart to go ~100Hz versus 10Hz

Author: evaherrada

adafruit_bno055.py

@@ -392,7 +392,7 @@ 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(0.1)
+        time.sleep(0.01)
         resp = self._uart.read(self._uart.in_waiting)
         if len(resp) < 2:
             raise OSError("UART access error.")
@@ -401,7 +401,7 @@ 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(0.1)
+        time.sleep(0.01)
         resp = self._uart.read(self._uart.in_waiting)
         if len(resp) < 2:
             raise OSError("UART access error.")

examples/bno055_simpletest.py

@@ -12,14 +12,17 @@
 # sensor = adafruit_bno055.BNO055_UART(uart)
 
 while True:
-    print("Temperature: {} degrees C".format(sensor.temperature))
-    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()
+    # 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:
+        continue
 
     time.sleep(1)