Thank you very much for sharing this with us. I'm trying to read in sonar data via UART continuously over the serial port. I am having speed issues, however, after a certain amount of time.
Would you happen to know if this is a buffer issue? There doesn't seem to be any active cleaning as count increases. I tried a quick fix to reset count back to 1 after 200 iterations which does update correctly but the speed issue still persists.