Hello @MartinP ,
I believe here is what is happening in your case:
Your sensor (Lidar) is sending data continuously without any breaks (360 degree lidar?). Maybe the Lidar processes each measurement and sends it out right away, so perhaps there are small breaks between the data measurements
The hardware UART buffer size in VOXL2 is set to 2048 (based on the data chunk size you get)
You are using the High Speed uart port (HS in the ttyHS1), which uses DMA to transfer data to cpu (one cpu interrupt per buffer)
Typically, the DMA-based UART hardware decides when to send the data to CPU when one of several conditions is met: there is a long enough break in the data stream that can be considered end of "packet" or the current data buffer is full (2048 in this case)
Since it looks like the data from Lidar is coming without long breaks, I see several possible solutions:
If possible, configure the Lidar to have a break between each scan (but you would need to know the minimum break size for UART hardware to trigger a rx interrupt to CPU)
reduce the rx buffer size for UART (probably somewhere in the Device Tree)
However, it would be helpful to understand what the data transmission from Lidar looks like. Also, please note that increasing the baud rate of the communication will probably not help. Significantly increasing the baud rate may result in potentially rx interrupt triggering on each measurement, which would not be very good for the CPU.
