Connection Errors

[dragazo]

When I use the I2C interface, I can connect to my BNO085 (back-compatible with BNO080), but some sensor update messages appear to be silently ignored. I tracked this down in a fork as being an apparently incorrect invalid packet check. Fortunately it's also seemingly unnecessary and can be safely removed to fix this particular issue; see fix here: dragazo@df1ac69.

However, when I use the SPI interface, I cannot connect to my device at all, and get no messages coming from the device. I've even tried modifying a local copy of this crate in a few suspicious places, but nothing seemed to solve the problem. And unfortunately I really need SPI for my application, cause I2C simply doesn't have the throughput I need.

Possibly related to #5 since this fails at initialization. In fact, @TheButlah, did you every find a fix for that in your fork? It doesn't look like any commits have been pushed after forking so far.

[TheButlah]

I have not been able to really test any fixes, as the esp32c3 that I'm using does not support configuring clock stretching (see esp-rs/esp-hal#352). I think that the mcu would need to support clock stretching to have a driver work correctly.