Adaptation to a pulse width modulation frequency variation for a sensor operating in a synchronous mode
In some implementations, a sensor may determine a delay latency value associated with an amount of time from completion of a set of sensor tasks to an actual time of reception of a trigger to selectively transmit or sample sensor data. The sensor may calculate a deviation of the delay latency value from a target delay latency. The sensor may transmit a data frame including an indication associated with the deviation of the delay latency value from the target delay latency.
1. A sensor, comprising:
one or more components configured to:
determine a time interval between a time of reception of a first trigger to selectively transmit or sample first sensor data and a time of reception of a second trigger to selectively transmit or sample second sensor data;
determine, based on the time interval, a predicted time of reception of a third trigger to selectively transmit or sample third sensor data;
initiate a set of sensor tasks based on the predicted time of reception of the third trigger, the set of sensor tasks being initiated to cause the third sensor data to be ready for transmission at the predicted time of reception of the third trigger;
receive the third trigger;
determine a delay latency value associated with an amount of time from completion of the set of sensor tasks to an actual time of reception of the third trigger;
calculate a deviation of the delay latency value from a target delay latency; and
transmit a data frame including an indication associated with the deviation of the delay latency value from the target delay latency.
2. The sensor of claim 1 , wherein the one or more components are further configured to:
determine whether the deviation of the delay latency value from the target delay latency satisfies a sample adjustment threshold, and
adjust a sampling time point associated with a next initiation of the set of sensor tasks based on a determination that the deviation satisfies the sample adjustment threshold.
3. The sensor of claim 2 , wherein the sampling time point is adjusted in association with adapting to an increase of a pulse width modulation (PWM) frequency associated with operation of the sensor.
4. The sensor of claim 2 , wherein the sampling time point is adjusted in association with adapting to a decrease of a pulse width modulation (PWM) frequency associated with operation of the sensor.
5. The sensor of claim 1 , wherein the one or more components are further configured to:
determine whether the delay latency value satisfies a delay latency high threshold, and
wherein the one or more components, when transmitting the data frame, are configured to:
transmit the third sensor data, and
transmit the indication to indicate that the third sensor data is expired based on the delay latency value satisfying the delay latency high threshold.
6. The sensor of claim 1 , wherein the one or more components are further configured to:
determine whether the delay latency value satisfies a delay latency low threshold, and
wherein the one or more components, when transmitting the data frame, are configured to:
transmit the indication to indicate that the third sensor data is not ready based on the delay latency value satisfying the delay latency low threshold.
7. The sensor of claim 1 , wherein the indication associated with the deviation of the delay latency value from the target delay latency includes latency compensation information to be used for compensating for the deviation.