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.

I'm using an esp32c3 (which has support for a small amount of non-configurable clock stretching currently). When sending commands to the bno, it is normal/commong for the bno to take some time to be ready to respond. The bno will signal via the interrupt pin when the host mcu should read for data. However, this driver immediately attempts to read from the bno without checking the interrupt pin, resulting in a failed read (typically via a nack, but sometimes via an i2c timeout, presumably due to the lengthy clock stretching the bno employs).

If the driver provided an optional interrupt pin, this pin could be checked to determine if a read is possible. If the pin is unspecified, the driver could instead fall back to reattempting the read, several times until a specified timeout.

I will need to implement support for this feature in my firmware but I would ideally like to avoid a hard fork of this driver. I wanted to know:

• Is there interest in accepting a PR for this functionality?
• Do you have a preferred strategy for me to do that, so that I know before implementing it and are more likely to get it merged.