needs more time to boot

Author: ladyada

adafruit_bno080/__init__.py

@@ -638,21 +638,22 @@ def hard_reset(self):
         """Hardware reset the sensor to an initial unconfigured state"""
         if not self._reset:
             return
+        #print("Hard resetting...")
         self._reset.direction = digitalio.Direction.OUTPUT
         self._reset.value = True
         time.sleep(0.01)
         self._reset.value = False
         time.sleep(0.01)
         self._reset.value = True
-        time.sleep(0.1)
+        time.sleep(0.5)
 
     def soft_reset(self):
         """Reset the sensor to an initial unconfigured state"""
-        print("Resetting...", end="")
+        print("Soft resetting...", end="")
         data = bytearray(1)
         data[0] = 1
         seq = self._send_packet(BNO_CHANNEL_EXE, data)
-        time.sleep(0.1)
+        time.sleep(0.5)
 
         for i in range(3):
             while True:  # retry reading packets until ready!

adafruit_bno080/i2c.py

@@ -51,14 +51,8 @@ def _send_packet(self, channel, data):
 
     def _read_header(self):
         """Reads the first 4 bytes available as a header"""
-        while True:
-            with self.bus_device_obj as i2c:
-                try:
-                    i2c.readinto(self._data_buffer, end=4)  # this is expecting a header
-                    break
-                except RuntimeError:
-                    time.sleep(0.1)
-                    pass
+        with self.bus_device_obj as i2c:
+            i2c.readinto(self._data_buffer, end=4)  # this is expecting a header
         packet_header = Packet.header_from_buffer(self._data_buffer)
         self._dbg(packet_header)
         return packet_header