boards/kakute-f7-mini-v3: don't hard-fail on telemetry based errors

Signed-off-by: Onur Özkan <work@onurozkan.dev>

boards/kakute-f7-mini-v3/src/main.rs

@@ -177,16 +177,10 @@ mod app {
     async fn imu_worker(context: imu_worker::Context) {
         let events = IMU_EVENTS.swap(0, Ordering::AcqRel);
         if events & IMU_EVENT_TRANSFER_FAULT != 0 {
-            if !matches!(
-                context
-                    .local
-                    .imu
-                    .on_transfer_complete(SpiCompletion::TransferFault),
-                ImuEvent::Fault(_)
-            ) {
-                panic!("SPI fault without an active MPU transaction");
-            }
-            panic!("SPI DMA transfer fault");
+            let _ = context
+                .local
+                .imu
+                .on_transfer_complete(SpiCompletion::TransferFault);
         }
         if events & IMU_EVENT_TRANSFER_COMPLETE != 0 {
             match context
@@ -198,24 +192,19 @@ mod app {
                     SAMPLES.publish(sample);
                     schedule_telemetry(TELEMETRY_EVENT_SAMPLE);
                 }
-                ImuEvent::Fault(_) => panic!("MPU transfer failed"),
-                ImuEvent::Initialized | ImuEvent::Idle => {}
+                ImuEvent::Fault(_) | ImuEvent::Initialized | ImuEvent::Idle => {}
             }
         }
-        if events & IMU_EVENT_TIMER != 0
-            && matches!(context.local.imu.on_periodic_tick(), ImuEvent::Fault(_))
-        {
-            panic!("MPU initialization failed");
+        if events & IMU_EVENT_TIMER != 0 {
+            let _ = context.local.imu.on_periodic_tick();
         }
-        if events & IMU_EVENT_DRDY != 0
-            && matches!(context.local.imu.on_data_ready(), ImuEvent::Fault(_))
-        {
-            panic!("MPU sample submission failed");
+        if events & IMU_EVENT_DRDY != 0 {
+            let _ = context.local.imu.on_data_ready();
         }
         IMU_QUEUED.store(false, Ordering::Release);
         if IMU_EVENTS.load(Ordering::Acquire) != 0 && !IMU_QUEUED.swap(true, Ordering::AcqRel) {
             if imu_worker::spawn().is_err() {
-                panic!("IMU worker reschedule failed");
+                IMU_QUEUED.store(false, Ordering::Release);
             }
         }
     }
@@ -229,24 +218,20 @@ mod app {
                 2 => TxCompletion::TransferFault,
                 _ => TxCompletion::NotPending,
             };
-            if context.local.telemetry.on_dma_complete(completion).is_err() {
-                panic!("telemetry DMA failed");
-            }
+            context.local.telemetry.on_dma_complete(completion);
         }
         if events & TELEMETRY_EVENT_SAMPLE != 0 {
             if let Some(sample) = SAMPLES.take_newer(context.local.observed_sample) {
-                if context.local.telemetry.publish_sample(&sample).is_err() {
-                    panic!("RAW_IMU publication failed");
-                }
+                // Telemetry never blocks flight work. A later sample or
+                // heartbeat gives the bounded queue another chance to send.
+                let _ = context.local.telemetry.publish_sample(&sample);
             }
         }
         if events & TELEMETRY_EVENT_HEARTBEAT != 0 {
             *context.local.heartbeat_divider = context.local.heartbeat_divider.wrapping_add(1);
             if *context.local.heartbeat_divider == 10 {
                 *context.local.heartbeat_divider = 0;
-                if context.local.telemetry.publish_heartbeat().is_err() {
-                    panic!("heartbeat publication failed");
-                }
+                let _ = context.local.telemetry.publish_heartbeat();
                 context.local.led.toggle();
             }
         }
@@ -255,7 +240,7 @@ mod app {
             && !TELEMETRY_QUEUED.swap(true, Ordering::AcqRel)
         {
             if telemetry_worker::spawn().is_err() {
-                panic!("telemetry worker reschedule failed");
+                TELEMETRY_QUEUED.store(false, Ordering::Release);
             }
         }
     }
@@ -263,14 +248,14 @@ mod app {
     fn schedule_imu(event: u8) {
         IMU_EVENTS.fetch_or(event, Ordering::Release);
         if !IMU_QUEUED.swap(true, Ordering::AcqRel) && imu_worker::spawn().is_err() {
-            panic!("IMU worker schedule failed");
+            IMU_QUEUED.store(false, Ordering::Release);
         }
     }
 
     fn schedule_telemetry(event: u8) {
         TELEMETRY_EVENTS.fetch_or(event, Ordering::Release);
         if !TELEMETRY_QUEUED.swap(true, Ordering::AcqRel) && telemetry_worker::spawn().is_err() {
-            panic!("telemetry worker schedule failed");
+            TELEMETRY_QUEUED.store(false, Ordering::Release);
         }
     }