Properly handle bus-overruns

[aul12]

If next measurement is triggered directly by the receive interrupt the BNO055 gets confused

[aul12]

Related workaround: c7adb2d

[aul12]

Idea: increase timer frequency by 4 (=4.096ms). Query one item every timer tick (5 sampling states, thus still ~20ms total), split up other parts (remote decoding, fcp decoding, mode handling, controller, fcp encoding) between time steps. Requires testing with hardware