I’m working since a few weeks on an alternative BrickPi firmware in the hope to have a better support for ev3 sensors.
A first version of this firmware and the associated driver is available: https://github.com/guervillep/BrickPi
It’s for advanced user who know how to flash a new firmware on the BrickPi.
This firmware is based on UART Sensor and Device Communication Protocol Description:
and on the ev3dev linux kernel driver
This driver can autodetect the sensor type. It takes 2 ms to update one single sensors and 0.5 ms to update one single motor. So, if you have 4 motors and 4 sensors connected, an update loop take 10 ms.
This firmware has been tested with the gyro, color, ultrasonic and touch sensor. It should be ok with the infrared sensor, but I don’t have one.