From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 1 Feb 2019 07:27:06 +0000 (-0200)
Subject: Add delay between transmitted bytes to avoid overrun in BNO055.
X-Git-Tag: f1~3
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=d524892a3ddcd1f08c5e5e375e9dd637d036ba59;p=bno055.git

Add delay between transmitted bytes to avoid overrun in BNO055.
---

diff --git a/lib/bno055_tty.c b/lib/bno055_tty.c
index 8e08f71..f122b61 100644
--- a/lib/bno055_tty.c
+++ b/lib/bno055_tty.c
@@ -108,7 +108,10 @@ s8 BNO055_tty_write(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
 	for (i=0;i < cnt;i++) array[i+4]=*(reg_data+i);
 	
 	for(n=0;n < cnt+4;n+=c)
-		if((c=write(dev_addr,array+n,cnt+4-n))==-1) return BNO055_ERROR;
+	{
+		if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
+		usleep(100);
+	}
 
 	for(n=0;n < 2; n+=c)
 		if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;
@@ -132,7 +135,10 @@ s8 BNO055_tty_read(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
 	array[3]=cnt;
 	
 	for(n=0;n < 4;n+=c)
-		if((c=write(dev_addr,array+n,4-n))==-1) return BNO055_ERROR;
+	{
+		if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
+		usleep(100);
+	}
 
 	for(n=0;n < 2; n+=c)
 		if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;