tof: reopen the sensor when it answers polls but never produces a frame - #272
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hadelan wants to merge 1 commit into
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tof: reopen the sensor when it answers polls but never produces a frame#272hadelan wants to merge 1 commit into
hadelan wants to merge 1 commit into
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A wedged ranging engine still ACKs the bus, so data_ready succeeds and answers false forever: the daemon streamed silence for the rest of the boot and nothing ever re-opened the sensor. Put a clock on the answer — no frame for a few frame periods (2 s at the shipped 15 Hz, scaled so --hz 1 gets the same margin in frames) breaks the poll loop into the existing backoff-and-reopen path. Armed at open, so a sensor that never produces a first frame is reopened on the same bound.
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A wedged ranging engine still ACKs the I²C bus, so
data_readysucceeds and answersfalseforever:tofdstreams silence for the rest of the boot and nothing ever re-opens the sensor. The only "sensor is gone" signal today is a failed transaction, and this failure never produces one.Put a clock on the answer: no frame for a few frame periods (2 s at the shipped 15 Hz, scaled so
--hz 1gets the same margin in frames) breaks the poll loop into the existing backoff-and-reopen path. Armed at open, so a sensor that never produces a first frame is reopened on the same bound.Regression test pins the watchdog scaling.
cargo test -p tof,clippy -D warnings,fmt --checkall green.