Sensor: Async I2C timeout

[ETSells]

Version/Project: Flight Computer Rev. 2, affects unit A0002R2-006.

Describe the bug
Rev. 2 fails to enter the ascent state. Per @NArmistead, the I2C sensors timeout during sensor dump, but we don't have any more information than that.

To Reproduce
Steps to reproduce the behavior:

1. Arm the FC
2. Shake it a bunch. Literally, that's it. Observe the red error LED.

Expected behavior
We should advance to the ascent state (purple LED) after arming and triggering launch detect.

Screenshots/Pictures/Video
(Courtesy @NArmistead)

Additional context
@NArmistead claims the affects version could be as early as v2.6.0.

Points of Contact
FC Rev. 2 Project Lead: @NArmistead
I2C SME & Driver maintainer: @ETSells

[ETSells]

Opened immediately due to P0 status. Assigned to myself and @NArmistead to triage.

[ETSells]

The specific error we're encountering is on the I2C handle, and it's the device failing to ACK the signal. The timeout is a downstream effect of the ACKF error.

#define HAL_I2C_ERROR_NONE      (0x00000000U)    /*!< No error              */
#define HAL_I2C_ERROR_BERR      (0x00000001U)    /*!< BERR error            */
#define HAL_I2C_ERROR_ARLO      (0x00000002U)    /*!< ARLO error            */
#define HAL_I2C_ERROR_AF        (0x00000004U)    /*!< ACKF error            */
#define HAL_I2C_ERROR_OVR       (0x00000008U)    /*!< OVR error             */
#define HAL_I2C_ERROR_DMA       (0x00000010U)    /*!< DMA transfer error    */
#define HAL_I2C_ERROR_TIMEOUT   (0x00000020U)    /*!< Timeout error         */
#define HAL_I2C_ERROR_SIZE      (0x00000040U)    /*!< Size Management error */
#define HAL_I2C_ERROR_DMA_PARAM (0x00000080U)    /*!< DMA Parameter Error   */

[NArmistead]

Yeah thats what I saw

[ETSells]

Update: 006 is borked, but 004 can't reproduce the issue. I'm opening a PR to merge some things I did for troubleshooting that are theoretically better than what existed before and also includes a bugfix for a state transition that we never caught with the emulator. Reassigning the issue to David to handle eventually since it's probably hardware. Severity downgraded to P1 since it doesn't exist on every unit.