프로젝트 정리: 미사용 파일 삭제

- keil CMSIS 팩 사용
- GCC/IAR 파일 미사용

components/ble/ble_services/ble_dfu/ble_dfu_unbonded.c

@@ -216,9 +216,9 @@ uint32_t ble_dfu_buttonless_char_add(ble_dfu_buttonless_t * p_dfu)
     add_char_params.is_var_len          = true;
     add_char_params.max_len             = BLE_GATT_ATT_MTU_DEFAULT;
 
-    add_char_params.cccd_write_access = SEC_MITM;
-    add_char_params.write_access      = SEC_MITM;
-    add_char_params.read_access       = SEC_MITM;
+    add_char_params.cccd_write_access = SEC_OPEN;
+    add_char_params.write_access      = SEC_OPEN;
+    add_char_params.read_access       = SEC_OPEN;
 
     return characteristic_add(p_dfu->service_handle, &add_char_params, &p_dfu->control_point_char);
 }

components/ble/ble_services/ble_nus/ble_nus.c

@@ -283,8 +283,8 @@ uint32_t ble_nus_init(ble_nus_t * p_nus, ble_nus_init_t const * p_nus_init)
     add_char_params.char_props.write         = 1;
     add_char_params.char_props.write_wo_resp = 1;
 
-    add_char_params.read_access  = SEC_MITM;
-    add_char_params.write_access = SEC_MITM;
+    add_char_params.read_access  = SEC_OPEN;
+    add_char_params.write_access = SEC_OPEN;
 
     err_code = characteristic_add(p_nus->service_handle, &add_char_params, &p_nus->rx_handles);
     if (err_code != NRF_SUCCESS)
@@ -302,9 +302,9 @@ uint32_t ble_nus_init(ble_nus_t * p_nus, ble_nus_init_t const * p_nus_init)
     add_char_params.is_var_len        = true;
     add_char_params.char_props.notify = 1;
 
-    add_char_params.read_access       = SEC_MITM;
-    add_char_params.write_access      = SEC_MITM;
-    add_char_params.cccd_write_access = SEC_MITM;
+    add_char_params.read_access       = SEC_OPEN;
+    add_char_params.write_access      = SEC_OPEN;
+    add_char_params.cccd_write_access = SEC_OPEN;
 
     return characteristic_add(p_nus->service_handle, &add_char_params, &p_nus->tx_handles);
     /**@snippet [Adding proprietary characteristic to the SoftDevice] */

pc_firm/.gitignore

@@ -0,0 +1,33 @@
+# Compiled binaries
+*.o
+*.hex
+*.bin
+*.elf
+*.map
+*.lst
+
+# Build directories
+_build/
+build/
+output/
+
+# IDE/Editor
+.vscode/
+*.swp
+*.swo
+*~
+
+# Segger/J-Link
+*.jlink
+
+# nRF specific
+*.zip
+sdk_config.h.bak
+
+# Windows
+Thumbs.db
+desktop.ini
+
+# Temporary files
+*.tmp
+*.bak

pc_firm/ble_security/ble_quick_security.c

@@ -1,218 +1,175 @@
-/**
- * @file ble_quick_security.c
- * @brief Ultra-simple BLE Security Configuration Implementation
- * 
- * Compatible with existing debug_print.h system.
- */
-
-#include "ble_quick_security.h"
-#include "peer_manager_handler.h"
-#include "nrf_ble_lesc.h"
-#include "app_error.h"
-#include <string.h>
-
-// Use existing debug system
-#include "debug_print.h"
-
-// Module state
-static struct {
-    bool dev_mode;
-    bool bonds_delete_pending;
-} m_state = {0};
-
-static const char * sec_error_name(pm_sec_error_code_t error)
-{
-    switch (error) {
-        case PM_CONN_SEC_ERROR_PIN_OR_KEY_MISSING:
-            return "PIN_OR_KEY_MISSING";
-        case PM_CONN_SEC_ERROR_MIC_FAILURE:
-            return "MIC_FAILURE";
-        case PM_CONN_SEC_ERROR_DISCONNECT:
-            return "DISCONNECT";
-        case PM_CONN_SEC_ERROR_SMP_TIMEOUT:
-            return "SMP_TIMEOUT";
-        default:
-            return "UNKNOWN";
-    }
-}
-
-/**
- * @brief Initialize BLE security
- */
-void ble_security_quick_init(bool development_mode)
-{
-    ret_code_t err_code;
-    ble_gap_sec_params_t sec_params;
-    
-    // Save mode
-    m_state.dev_mode = development_mode;
-    m_state.bonds_delete_pending = false;
-    
-    // Initialize Peer Manager FIRST
-    err_code = pm_init();
-    APP_ERROR_CHECK(err_code);
-
-    // Initialize LESC module (ECDH P-256 key pair generation)
-    err_code = nrf_ble_lesc_init();
-    APP_ERROR_CHECK(err_code);
-    
-    // Configure security parameters
-    memset(&sec_params, 0, sizeof(ble_gap_sec_params_t));
-    
-    if (development_mode) {
-        // ===== DEVELOPMENT MODE: No security =====
-        sec_params.bond         = 0;  // No bonding
-        sec_params.mitm         = 0;  // No MITM
-        sec_params.lesc         = 0;  // No LESC
-        sec_params.keypress     = 0;
-        sec_params.io_caps      = BLE_GAP_IO_CAPS_NONE;  // No passkey
-        sec_params.oob          = 0;
-        sec_params.min_key_size = 7;
-        sec_params.max_key_size = 16;
-        
-        DBG_PRINTF("DEV MODE: Security DISABLED - Fast connection\r\n");
-        
-        // Delete all bonds (async)
-        err_code = pm_peers_delete();
-        if (err_code == NRF_SUCCESS) {
-            m_state.bonds_delete_pending = true;
-            DBG_PRINTF("DEV MODE: Deleting all bonds...\r\n");
-        }
-    } else {
-        // ===== PRODUCTION MODE: Full security =====
-        sec_params.bond         = 1;  // Enable bonding
-        sec_params.mitm         = 1;  // Enable MITM
-        sec_params.lesc         = 1;  // LE Secure Connections (ECDH P-256)
-        sec_params.keypress     = 0;
-        sec_params.io_caps      = BLE_GAP_IO_CAPS_DISPLAY_ONLY;  // Show passkey
-        sec_params.oob          = 0;
-        sec_params.min_key_size = 7;
-        sec_params.max_key_size = 16;
-        sec_params.kdist_own.enc  = 1;
-        sec_params.kdist_own.id   = 1;
-        sec_params.kdist_peer.enc = 1;
-        sec_params.kdist_peer.id  = 1;
-        
-        DBG_PRINTF("PROD MODE: Security ENABLED - Full protection\r\n");
-    }
-    
-    // Apply security parameters
-    err_code = pm_sec_params_set(&sec_params);
-    APP_ERROR_CHECK(err_code);
-}
-
-/**
- * @brief Get current mode
- */
-bool ble_security_is_dev_mode(void)
-{
-    return m_state.dev_mode;
-}
-
-/**
- * @brief PM event handler
- */
-void ble_security_quick_pm_handler(pm_evt_t const *p_evt)
-{
-    ret_code_t err_code;
-    
-    // DEV mode: do not forward security failure events to SDK handler (prevent disconnect)
-    if (m_state.dev_mode && p_evt->evt_id == PM_EVT_CONN_SEC_FAILED) {
-        DBG_PRINTF("Security failed: error=%d (%s)\r\n",
-                  p_evt->params.conn_sec_failed.error,
-                  sec_error_name(p_evt->params.conn_sec_failed.error));
-        DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
-        return;
-    }
-
-    // Call standard handlers (required)
-    pm_handler_on_pm_evt(p_evt);
-    pm_handler_flash_clean(p_evt);
-
-    // Handle events
-    switch (p_evt->evt_id) {
-        case PM_EVT_CONN_SEC_SUCCEEDED:
-            if (m_state.dev_mode) {
-                DBG_PRINTF("DEV: Connected (no security)\r\n");
-            } else {
-                pm_conn_sec_status_t status;
-                if (pm_conn_sec_status_get(p_evt->conn_handle, &status) == NRF_SUCCESS) {
-                    DBG_PRINTF("PROD: Link secured - LESC=%d MITM=%d bonded=%d\r\n",
-                               status.lesc, status.mitm_protected, status.bonded);
-                } else {
-                    DBG_PRINTF("PROD: Link secured (bonded)\r\n");
-                }
-            }
-            break;
-
-        case PM_EVT_CONN_SEC_FAILED:
-            DBG_PRINTF("Security failed: error=%d (%s)\r\n",
-                      p_evt->params.conn_sec_failed.error,
-                      sec_error_name(p_evt->params.conn_sec_failed.error));
-
-            if (m_state.dev_mode) {
-                // DEV mode: ignore security failure, keep connection
-                DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
-                break;
-            }
-
-            if (p_evt->params.conn_sec_failed.error == PM_CONN_SEC_ERROR_DISCONNECT) {
-                // The peer/link already disconnected before security finished.
-                // There is no live connection to repair; BLE_GAP_EVT_DISCONNECTED
-                // will restart advertising.
-                DBG_PRINTF("Security ended by disconnect; waiting for reconnect\r\n");
-                break;
-            }
-
-            if (p_evt->params.conn_sec_failed.error == PM_CONN_SEC_ERROR_SMP_TIMEOUT) {
-                // The SDK cannot start another SMP procedure on this link.
-                pm_handler_disconnect_on_sec_failure(p_evt);
-                break;
-            }
-
-            if (p_evt->params.conn_sec_failed.error == PM_CONN_SEC_ERROR_PIN_OR_KEY_MISSING) {
-                // Key missing: attempt re-pairing, fall back to disconnect on failure
-                err_code = pm_conn_secure(p_evt->conn_handle, true);
-                if (err_code != NRF_ERROR_INVALID_STATE &&
-                    err_code != NRF_ERROR_BUSY &&
-                    err_code != BLE_ERROR_INVALID_CONN_HANDLE) {
-                    APP_ERROR_CHECK(err_code);
-                }
-                if (err_code != NRF_SUCCESS) {
-                    // Re-pairing not possible -> disconnect
-                    pm_handler_disconnect_on_sec_failure(p_evt);
-                }
-            } else {
-                // Other security failure -> delete bond then attempt re-pairing
-                pm_peer_id_t peer_id;
-                if (pm_peer_id_get(p_evt->conn_handle, &peer_id) == NRF_SUCCESS
-                    && peer_id != PM_PEER_ID_INVALID) {
-                    pm_peer_delete(peer_id);
-                }
-                err_code = pm_conn_secure(p_evt->conn_handle, true);
-                if (err_code != NRF_SUCCESS) {
-                    pm_handler_disconnect_on_sec_failure(p_evt);
-                }
-            }
-            break;
-            
-        case PM_EVT_CONN_SEC_CONFIG_REQ:
-            {
-                pm_conn_sec_config_t config = {
-                    .allow_repairing = true
-                };
-                pm_conn_sec_config_reply(p_evt->conn_handle, &config);
-            }
-            break;
-            
-        case PM_EVT_PEERS_DELETE_SUCCEEDED:
-            if (m_state.bonds_delete_pending) {
-                m_state.bonds_delete_pending = false;
-                DBG_PRINTF("DEV MODE: Bonds cleared!\r\n");
-            }
-            break;
-            
-        default:
-            break;
-    }
-}
+/**
+ * @file ble_quick_security.c
+ * @brief Ultra-simple BLE Security Configuration Implementation
+ * 
+ * Compatible with existing debug_print.h system.
+ */
+
+#include "ble_quick_security.h"
+#include "peer_manager_handler.h"
+#include "app_error.h"
+#include <string.h>
+
+// Use existing debug system
+#include "debug_print.h"
+
+// Module state
+static struct {
+    bool dev_mode;
+    bool bonds_delete_pending;
+} m_state = {0};
+
+/**
+ * @brief Initialize BLE security
+ */
+void ble_security_quick_init(bool development_mode)
+{
+    ret_code_t err_code;
+    ble_gap_sec_params_t sec_params;
+    
+    // Save mode
+    m_state.dev_mode = development_mode;
+    m_state.bonds_delete_pending = false;
+    
+    // Initialize Peer Manager FIRST
+    err_code = pm_init();
+    APP_ERROR_CHECK(err_code);
+    
+    // Configure security parameters
+    memset(&sec_params, 0, sizeof(ble_gap_sec_params_t));
+    
+    if (development_mode) {
+        // ===== DEVELOPMENT MODE: No security =====
+        sec_params.bond         = 0;  // No bonding
+        sec_params.mitm         = 0;  // No MITM
+        sec_params.lesc         = 0;  // No LESC
+        sec_params.keypress     = 0;
+        sec_params.io_caps      = BLE_GAP_IO_CAPS_NONE;  // No passkey
+        sec_params.oob          = 0;
+        sec_params.min_key_size = 7;
+        sec_params.max_key_size = 16;
+        
+        DBG_PRINTF("DEV MODE: Security DISABLED - Fast connection\r\n");
+        
+        // Delete all bonds (async)
+        err_code = pm_peers_delete();
+        if (err_code == NRF_SUCCESS) {
+            m_state.bonds_delete_pending = true;
+            DBG_PRINTF("DEV MODE: Deleting all bonds...\r\n");
+        }
+    } else {
+        // ===== PRODUCTION MODE: Full security =====
+        sec_params.bond         = 1;  // Enable bonding
+        sec_params.mitm         = 1;  // Enable MITM
+        sec_params.lesc         = 0;  // Standard pairing
+        sec_params.keypress     = 0;
+        sec_params.io_caps      = BLE_GAP_IO_CAPS_DISPLAY_ONLY;  // Show passkey
+        sec_params.oob          = 0;
+        sec_params.min_key_size = 7;
+        sec_params.max_key_size = 16;
+        sec_params.kdist_own.enc  = 1;
+        sec_params.kdist_own.id   = 1;
+        sec_params.kdist_peer.enc = 1;
+        sec_params.kdist_peer.id  = 1;
+        
+        DBG_PRINTF("PROD MODE: Security ENABLED - Full protection\r\n");
+    }
+    
+    // Apply security parameters
+    err_code = pm_sec_params_set(&sec_params);
+    APP_ERROR_CHECK(err_code);
+}
+
+/**
+ * @brief Get current mode
+ */
+bool ble_security_is_dev_mode(void)
+{
+    return m_state.dev_mode;
+}
+
+/**
+ * @brief PM event handler
+ */
+void ble_security_quick_pm_handler(pm_evt_t const *p_evt)
+{
+    ret_code_t err_code;
+    
+    // DEV 모드: 보안 실패 이벤트는 SDK 핸들러에 전달하지 않음 (disconnect 방지)
+    if (m_state.dev_mode && p_evt->evt_id == PM_EVT_CONN_SEC_FAILED) {
+        DBG_PRINTF("Security failed: error=%d\r\n",
+                  p_evt->params.conn_sec_failed.error);
+        DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
+        return;
+    }
+
+    // Call standard handlers (required)
+    pm_handler_on_pm_evt(p_evt);
+    pm_handler_flash_clean(p_evt);
+
+    // Handle events
+    switch (p_evt->evt_id) {
+        case PM_EVT_CONN_SEC_SUCCEEDED:
+            if (m_state.dev_mode) {
+                DBG_PRINTF("DEV: Connected (no security)\r\n");
+            } else {
+                DBG_PRINTF("PROD: Link secured (bonded)\r\n");
+            }
+            break;
+
+        case PM_EVT_CONN_SEC_FAILED:
+            DBG_PRINTF("Security failed: error=%d\r\n",
+                      p_evt->params.conn_sec_failed.error);
+
+            if (m_state.dev_mode) {
+                // DEV 모드: 보안 실패 무시 — 연결 유지
+                DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
+                break;
+            }
+
+            if (p_evt->params.conn_sec_failed.error == PM_CONN_SEC_ERROR_PIN_OR_KEY_MISSING) {
+                // Key missing: 재페어링 시도, 실패 시 disconnect로 폴백
+                err_code = pm_conn_secure(p_evt->conn_handle, true);
+                if (err_code != NRF_ERROR_INVALID_STATE &&
+                    err_code != NRF_ERROR_BUSY &&
+                    err_code != BLE_ERROR_INVALID_CONN_HANDLE) {
+                    APP_ERROR_CHECK(err_code);
+                }
+                if (err_code != NRF_SUCCESS) {
+                    // 재페어링 불가 → disconnect
+                    pm_handler_disconnect_on_sec_failure(p_evt);
+                }
+            } else {
+                // 기타 보안 실패 → bond 삭제 후 재페어링 시도
+                pm_peer_id_t peer_id;
+                if (pm_peer_id_get(p_evt->conn_handle, &peer_id) == NRF_SUCCESS
+                    && peer_id != PM_PEER_ID_INVALID) {
+                    pm_peer_delete(peer_id);
+                }
+                err_code = pm_conn_secure(p_evt->conn_handle, true);
+                if (err_code != NRF_SUCCESS) {
+                    pm_handler_disconnect_on_sec_failure(p_evt);
+                }
+            }
+            break;
+            
+        case PM_EVT_CONN_SEC_CONFIG_REQ:
+            {
+                pm_conn_sec_config_t config = {
+                    .allow_repairing = true
+                };
+                pm_conn_sec_config_reply(p_evt->conn_handle, &config);
+            }
+            break;
+            
+        case PM_EVT_PEERS_DELETE_SUCCEEDED:
+            if (m_state.bonds_delete_pending) {
+                m_state.bonds_delete_pending = false;
+                DBG_PRINTF("DEV MODE: Bonds cleared!\r\n");
+            }
+            break;
+            
+        default:
+            break;
+    }
+}

pc_firm/ble_security/ble_quick_security.h

@@ -1,56 +1,56 @@
- /**
- * @file ble_quick_security.h
- * @brief Ultra-simple BLE Security Configuration
- * 
- * ONE function call to control entire security behavior.
- * Works with existing debug_print.h system.
- */
-
-#ifndef BLE_QUICK_SECURITY_H
-#define BLE_QUICK_SECURITY_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "peer_manager.h"
-
-/**
- * @brief Initialize BLE security with ONE simple parameter
- * 
- * @param[in] development_mode  true (1) = Fast development (no security)
- *                              false (0) = Production (full security)
- * 
- * Development mode (1):
- *   - No pairing/bonding required
- *   - Auto-deletes all bonds on startup
- *   - Instant connection
- *   - Fast iteration
- * 
- * Production mode (0):
- *   - Full security with passkey
- *   - Bonding preserved
- *   - MITM protection
- *   - Secure deployment
- * 
- * Usage in main.c:
- *   #define BLE_DEV_MODE 1  // or 0
- *   ble_security_quick_init(BLE_DEV_MODE);
- */
-void ble_security_quick_init(bool development_mode);
-
-/**
- * @brief Get current mode
- * @return true if in development mode, false if production
- */
-bool ble_security_is_dev_mode(void);
-
-/**
- * @brief Peer Manager event handler
- * 
- * Call this from your pm_evt_handler() function.
- * It handles all security events automatically.
- * 
- * @param[in] p_evt  Peer Manager event
- */
-void ble_security_quick_pm_handler(pm_evt_t const *p_evt);
-
-#endif // BLE_QUICK_SECURITY_H
+ /**
+ * @file ble_quick_security.h
+ * @brief Ultra-simple BLE Security Configuration
+ * 
+ * ONE function call to control entire security behavior.
+ * Works with existing debug_print.h system.
+ */
+
+#ifndef BLE_QUICK_SECURITY_H
+#define BLE_QUICK_SECURITY_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "peer_manager.h"
+
+/**
+ * @brief Initialize BLE security with ONE simple parameter
+ * 
+ * @param[in] development_mode  true (1) = Fast development (no security)
+ *                              false (0) = Production (full security)
+ * 
+ * Development mode (1):
+ *   - No pairing/bonding required
+ *   - Auto-deletes all bonds on startup
+ *   - Instant connection
+ *   - Fast iteration
+ * 
+ * Production mode (0):
+ *   - Full security with passkey
+ *   - Bonding preserved
+ *   - MITM protection
+ *   - Secure deployment
+ * 
+ * Usage in main.c:
+ *   #define BLE_DEV_MODE 1  // or 0
+ *   ble_security_quick_init(BLE_DEV_MODE);
+ */
+void ble_security_quick_init(bool development_mode);
+
+/**
+ * @brief Get current mode
+ * @return true if in development mode, false if production
+ */
+bool ble_security_is_dev_mode(void);
+
+/**
+ * @brief Peer Manager event handler
+ * 
+ * Call this from your pm_evt_handler() function.
+ * It handles all security events automatically.
+ * 
+ * @param[in] p_evt  Peer Manager event
+ */
+void ble_security_quick_pm_handler(pm_evt_t const *p_evt);
+
+#endif // BLE_QUICK_SECURITY_H

pc_firm/dr_util/dr_util.c

@@ -1,87 +1,79 @@
-/*==============================================================================
- * dr_util.c - BLE response formatting helpers
- *
- * Convenience wrappers used by command handlers to assemble and transmit
- * short BLE responses. Each helper prepends a 4-char TAG and writes the
- * supplied uint16 values in Big-Endian order.
- *============================================================================*/
-
-#include "dr_util.h"
-#include "parser.h"
-
-extern void single_format_data(uint8_t *buffer, const char *tag, uint16_t value);
-extern void format_data(uint8_t *buffer, const char *tag, uint16_t *data, uint8_t length);
-extern uint8_t ble_bin_buffer[];
-extern void dr_binary_tx_safe(uint8_t const *ble_bin_buff, uint16_t length);
-
-void dr_ble_return_1(const char *tag, uint16_t value)
-{
-    single_format_data(ble_bin_buffer, tag, value);
-    dr_binary_tx_safe(ble_bin_buffer, 3);  /* Use safe TX with retry */
-}
-
-void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2)
-{
-    ble_bin_buffer[0] = tag[0];
-    ble_bin_buffer[1] = tag[1];
-    ble_bin_buffer[2] = tag[2];
-    ble_bin_buffer[3] = tag[3];
-
-    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
-    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
-    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
-    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
-
-    dr_binary_tx_safe(ble_bin_buffer, 4);  /* Use safe TX with retry */
-}
-
-void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3)
-{
-    ble_bin_buffer[0] = tag[0];
-    ble_bin_buffer[1] = tag[1];
-    ble_bin_buffer[2] = tag[2];
-    ble_bin_buffer[3] = tag[3];
-
-    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
-    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
-    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
-    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
-    ble_bin_buffer[8] = (uint8_t)(v3 >> 8);
-    ble_bin_buffer[9] = (uint8_t)(v3 & 0xFF);
-
-    dr_binary_tx_safe(ble_bin_buffer, 5);  /* Use safe TX with retry */
-}
-
-void dr_ble_debug(uint16_t point_id, uint16_t value)
-{
-    /* Use dedicated buffer to avoid conflicts with ble_bin_buffer */
-    static uint8_t dbg_buffer[8] = {0};
-
-    dbg_buffer[0] = 'd';
-    dbg_buffer[1] = 'b';
-    dbg_buffer[2] = 'g';
-    dbg_buffer[3] = ':';
-
-    dbg_buffer[4] = (uint8_t)(point_id >> 8);
-    dbg_buffer[5] = (uint8_t)(point_id & 0xFF);
-    dbg_buffer[6] = (uint8_t)(value >> 8);
-    dbg_buffer[7] = (uint8_t)(value & 0xFF);
-
-    dr_binary_tx_safe(dbg_buffer, 4);
-}
-
-void dr_ble_return_piezo_1(const char *tag, uint16_t value)
-{
-    /* Use dedicated buffer for piezo responses to avoid conflicts with ble_bin_buffer */
-    static uint8_t piezo_buffer[8] = {0};
-
-    piezo_buffer[0] = tag[0];
-    piezo_buffer[1] = tag[1];
-    piezo_buffer[2] = tag[2];
-    piezo_buffer[3] = tag[3];
-
-    piezo_buffer[4] = (uint8_t)(value >> 8);
-    piezo_buffer[5] = (uint8_t)(value & 0xFF);
-
-    dr_binary_tx_safe(piezo_buffer, 3);  /* 6 bytes = 3 words */
-}
+#include "dr_util.h"
+#include "parser.h"
+
+extern void single_format_data(uint8_t *buffer, const char *tag, uint16_t value);
+extern void format_data(uint8_t *buffer, const char *tag, uint16_t *data, uint8_t length);
+extern uint8_t ble_bin_buffer[];
+extern void dr_binary_tx_safe(uint8_t const *ble_bin_buff, uint16_t length);
+
+void dr_ble_return_1(const char *tag, uint16_t value)
+{
+    single_format_data(ble_bin_buffer, tag, value);
+    dr_binary_tx_safe(ble_bin_buffer, 3);  /* Use safe TX with retry */
+}
+
+void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2)
+{
+    ble_bin_buffer[0] = tag[0];
+    ble_bin_buffer[1] = tag[1];
+    ble_bin_buffer[2] = tag[2];
+    ble_bin_buffer[3] = tag[3];
+
+    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
+    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
+    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
+    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
+
+    dr_binary_tx_safe(ble_bin_buffer, 4);  /* Use safe TX with retry */
+}
+
+void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3)
+{
+    ble_bin_buffer[0] = tag[0];
+    ble_bin_buffer[1] = tag[1];
+    ble_bin_buffer[2] = tag[2];
+    ble_bin_buffer[3] = tag[3];
+
+    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
+    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
+    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
+    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
+    ble_bin_buffer[8] = (uint8_t)(v3 >> 8);
+    ble_bin_buffer[9] = (uint8_t)(v3 & 0xFF);
+
+    dr_binary_tx_safe(ble_bin_buffer, 5);  /* Use safe TX with retry */
+}
+
+void dr_ble_debug(uint16_t point_id, uint16_t value)
+{
+    /* Use dedicated buffer to avoid conflicts with ble_bin_buffer */
+    static uint8_t dbg_buffer[8];
+
+    dbg_buffer[0] = 'd';
+    dbg_buffer[1] = 'b';
+    dbg_buffer[2] = 'g';
+    dbg_buffer[3] = ':';
+
+    dbg_buffer[4] = (uint8_t)(point_id >> 8);
+    dbg_buffer[5] = (uint8_t)(point_id & 0xFF);
+    dbg_buffer[6] = (uint8_t)(value >> 8);
+    dbg_buffer[7] = (uint8_t)(value & 0xFF);
+
+    dr_binary_tx_safe(dbg_buffer, 4);
+}
+
+void dr_ble_return_piezo_1(const char *tag, uint16_t value)
+{
+    /* Use dedicated buffer for piezo responses to avoid conflicts with ble_bin_buffer */
+    static uint8_t piezo_buffer[8];
+
+    piezo_buffer[0] = tag[0];
+    piezo_buffer[1] = tag[1];
+    piezo_buffer[2] = tag[2];
+    piezo_buffer[3] = tag[3];
+
+    piezo_buffer[4] = (uint8_t)(value >> 8);
+    piezo_buffer[5] = (uint8_t)(value & 0xFF);
+
+    dr_binary_tx_safe(piezo_buffer, 3);  /* 6 bytes = 3 words */
+}

pc_firm/dr_util/dr_util.h

@@ -1,20 +1,18 @@
-/*==============================================================================
- * dr_util.h - BLE response helper API
- *============================================================================*/
-#ifndef DR_UTIL_H
-#define DR_UTIL_H
-
-#include <stdint.h>
-
-void dr_ble_return_1(const char *tag, uint16_t value);
-void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2);
-void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
-void dr_ble_return_3_be(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
-
-/* Piezo dedicated BLE return - uses a separate buffer to avoid conflicts. */
-void dr_ble_return_piezo_1(const char *tag, uint16_t value);
-
-/* BLE debug output - sends "dbg:" + point_id + value. */
-void dr_ble_debug(uint16_t point_id, uint16_t value);
-
-#endif /* DR_UTIL_H */
+#ifndef DR_UTIL_H
+#define DR_UTIL_H
+
+#include <stdint.h>
+
+void dr_ble_return_1(const char *tag, uint16_t value);
+void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2);
+void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
+void dr_ble_return_3_be(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
+
+/* Piezo dedicated BLE return - uses separate buffer to avoid conflicts */
+void dr_ble_return_piezo_1(const char *tag, uint16_t value);
+
+/* BLE debug output - sends "dbg:" + point_id + value */
+void dr_ble_debug(uint16_t point_id, uint16_t value);
+
+#endif /* DR_UTIL_H */
+

pc_firm/parser.h

@@ -0,0 +1,24 @@
+/* parser.h */
+#ifndef PARSER_H
+#define PARSER_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/* Platform-dependent function pointer set */
+typedef struct {
+    void (*log)(const char *fmt, ...);
+    void (*tx_bin)(const uint8_t *buf, uint16_t len);
+    bool crc_check;  
+} dr_platform_if_t;
+
+
+/* Global interface & log flag */
+extern dr_platform_if_t g_plat;
+extern bool g_log_enable;
+
+/* Main parser entry point */
+int dr_cmd_parser(const uint8_t *buf, uint8_t len);
+
+#endif /* PARSER_H */
+

project/ble_peripheral/ble_app_bladder_patch/VesiScan.code-workspace

@@ -0,0 +1,11 @@
+{
+	"folders": [
+		{
+			"path": "../../.."
+		},
+		{
+			"path": "../../../../pc_firm"
+		}
+	],
+	"settings": {}
+}

project/ble_peripheral/ble_app_bladder_patch/battery_saadc.c

@@ -0,0 +1,297 @@
+/*******************************************************************************
+ * @file	battery_saadc.c
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [모듈 개요] 배터리 전압 ADC 측정 모듈
+ *
+ * nRF52840의 SAADC(Successive Approximation ADC)를 사용하여 배터리 전압을 측정:
+ *   - AIN2 채널, 10bit 해상도
+ *   - 5초 주기 타이머(battery_loop)로 반복 측정
+ *   - 저전압(3500mV 이하) 10회 연속 감지 시 자동 전원 OFF
+ *   - info4 모드(전체 센서 수집)에서는 info_batt에 저장 후 온도 측정으로 전환
+ *
+ * 배터리 전압 변환 공식:
+ *   전압(mV) = ADC값 x (600mV / 1023) x 6 x 1.42 (분압 저항 보정 계수)
+ *
+ * info4 모드 순서: 배터리 -> 온도(go_temp) -> IMU(motion_raw_data_enabled)
+ ******************************************************************************/
+
+#include "sdk_common.h"
+
+#include <stdint.h>
+#include <string.h>
+#include "nrf.h"
+#include "boards.h"
+#include "app_error.h"
+#include "nrf_drv_saadc.h"
+#include "nrf_drv_timer.h"
+#include "ble_nus.h"
+#include "nrf_log.h"
+#include "main.h"
+#include "app_timer.h"
+//#include "fstorage.h"
+#include "battery_saadc.h"
+#include "main_timer.h"
+#include "main.h"
+#include "debug_print.h"
+
+/* SAADC 내부 기준전압 600mV (부동소수점) */
+#define BATTERY_REF_VOLTAGE_IN_MILLIVOLTS   600.0f                                  /**< Reference voltage (in milli volts) used by ADC while doing conversion. */
+
+/* 1/3 프리스케일링 보상 계수 (입력 전압을 1/3로 분압하므로 x3, 추가 x2 = 총 x6) (부동소수점) */
+#define BATTERY_PRE_SCALING_COMPENSATION    6.0f                                    /**< The ADC is configured to use VDD with 1/3 prescaling as input. And hence the result of conversion is to be multiplied by 3 to get the actual value of the battery voltage.*/
+
+/* 12비트 ADC 최대 디지털 값 (부동소수점) */
+#define BATTERY_ADC_RES_12BITS              4095.0f                                 /**< Maximum digital value for 12-bit ADC conversion. */
+
+/**@brief Macro to convert the result of ADC conversion in millivolts.
+ *
+ * @param[in]  ADC_VALUE   ADC result.
+ *
+ * @retval     Result converted to millivolts.
+ */
+#define BATTERY_RESULT_IN_MILLI_VOLTS(ADC_VALUE)\
+        ((((ADC_VALUE) * BATTERY_REF_VOLTAGE_IN_MILLIVOLTS) / BATTERY_ADC_RES_12BITS) * BATTERY_PRE_SCALING_COMPENSATION)
+
+/* 배터리 측정용 싱글 버퍼 (1회 측정 후 uninit하므로 더블 버퍼 불필요) */
+static nrf_saadc_value_t adc_buf;
+//static nrf_saadc_value_t adc_bufs[2];  // 이전: 더블 버퍼 (연속 측정용)
+
+
+/* 배터리 모니터링 반복 타이머 정의 */
+APP_TIMER_DEF(m_battery_loop_timer_id);
+
+/* 배터리 측정 주기: 5초 (밀리초 단위) */
+#define BATTERY_LOOP_INTERVAL              60000
+
+/* 저전압 체크 플래그 — battery_loop에서 true로 설정, 핸들러에서 소비 */
+bool low_battery_check = false;
+
+/* SAADC 콜백 완료 플래그 — all_sensors()에서 배터리 측정 완료 대기용 */
+volatile bool battery_saadc_done = false;
+
+/* info4: 전체 센서 데이터 수집 모드 플래그 */
+extern bool info4;   // main.c
+
+
+extern char	ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
+
+/* true가 되면 main_timer에서 전원 OFF 시퀀스 실행 */
+extern bool go_device_power_off;
+
+/* 다른 작업(IMU 등) 처리 중이면 true — 배터리 측정 스킵용 */
+extern volatile bool processing;
+
+/* 현재 명령 소스: CMD_UART 또는 CMD_BLE */
+extern which_cmd_t cmd_type_t;
+
+extern uint8_t ble_bin_buffer[BLE_NUS_MAX_DATA_LEN]	;
+
+/* info4 모드에서 배터리 전압을 임시 저장 (mV 단위) */
+ volatile uint16_t info_batt;  //48_c
+
+/* info4 순차 측정 제어 플래그: go_batt→ go_temp → motion */
+extern bool go_temp;   //
+extern bool go_batt;   //cmd_parse
+
+extern bool motion_raw_data_enabled ;
+extern bool ble_got_new_data;
+extern bool motion_data_once ;
+/**@brief Function for handling the ADC interrupt.
+ *
+ * @details  This function will fetch the conversion result from the ADC, convert the value into
+ *           percentage and send it to peer.
+ */
+
+
+/**
+ * @brief 배터리 전압 ADC 완료 콜백
+ *
+ * SAADC 변환 완료 시 호출된다.
+ * ADC 값을 실제 배터리 전압(mV)으로 변환하고, 동작 모드에 따라:
+ *   - 저전압 체크 모드: 3500mV 이하 10회 연속이면 자동 전원 OFF
+ *   - info4 모드: info_batt에 저장 후 온도 측정(go_temp)으로 전환
+ *   - 일반 모드: BLE 또는 UART로 즉시 전송
+ *
+ * 전압 변환: ADC값 x (600/1023) x 6 = 기본 전압, x 1.42 = 분압 보정 후 실제 전압
+ */
+void battery_event_handler( nrf_drv_saadc_evt_t const * p_event )
+{
+	/* 저전압 연속 감지 카운터 (static으로 호출 간 유지) */
+	static uint8_t low_battery_cnt = 0;
+
+	if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
+	{
+		nrf_saadc_value_t register_val = 0;
+		float			  batt_lvl_in_milli_volt_0 = 0;  /* 보정 전 전압 (부동소수점) */
+		float			  batt_lvl_in_milli_volt_1 = 0;  /* 분압 보정 후 최종 전압 (부동소수점) */
+
+		/* ADC 변환 결과 읽기 */
+		register_val = p_event->data.done.p_buffer[0];
+		
+		//err_code = nrf_drv_saadc_buffer_convert(p_event->data.done.p_buffer, 1);  // 이전: 다음 변환을 위해 버퍼 재등록
+		//APP_ERROR_CHECK(err_code);
+
+		/* SAADC 해제 — 다른 ADC 측정(온도, 압력)과 하드웨어 공유 */
+		/* 1회 측정 후 해제이므로 buffer_convert(다음 버퍼 등록) 불필요 */
+		nrf_drv_saadc_channel_uninit(0);
+		nrf_drv_saadc_uninit();
+
+		/* 콜백 완료 알림 (all_sensors 대기 해제용) */
+		if (info4) DBG_PRINTF("2");
+		battery_saadc_done = true;
+
+		/* ADC값 → mV 변환 (매크로: ADC x 600/1023 x 6) */
+		batt_lvl_in_milli_volt_0 = BATTERY_RESULT_IN_MILLI_VOLTS(register_val);
+		
+		/* 분압 저항 보정 계수 1.42 적용 → 실제 배터리 전압 */
+		batt_lvl_in_milli_volt_1 = (batt_lvl_in_milli_volt_0) *1.42f;
+
+		/* === 저전압 체크 모드 (battery_loop 타이머에서 설정) === */
+		if(low_battery_check == true)
+		{
+			low_battery_check = false;
+
+			/* 배터리 전압이 LOW_BATTERY_VOLTAGE(3500mV) 이하인지 확인 */
+			if(batt_lvl_in_milli_volt_1 <= LOW_BATTERY_VOLTAGE)
+			{
+				/* 10회 연속 저전압 감지 시 전원 OFF 시퀀스 시작 */
+				if(low_battery_cnt >= 10)
+				{
+					low_battery_cnt = 0;
+					/*go to power off and fds save */
+					DBG_PRINTF("Save FDS parameters and then Power OFF\r\n");
+					go_device_power_off = true;
+					main_timer_start();
+				}
+				else
+				{
+					/* 아직 10회 미만 — 카운터 증가 후 경고 출력 */
+					low_battery_cnt++;
+					DBG_PRINTF("WARNING!!! low_battery cnt = %d, Batt = %d(mV)\r\n", low_battery_cnt, (int)batt_lvl_in_milli_volt_1);
+				}
+			}
+		}
+
+		/* === info4 모드: 전체 센서 수집(mbb) 중 배터리 값 저장 === */
+		else if (info4 == true)
+		{
+			info_batt = batt_lvl_in_milli_volt_1;
+		}
+
+		 /* === 일반 모드: 단독 배터리 측정 요청(msn)에 대한 응답 전송 === */
+		else
+		{
+			if (cmd_type_t == CMD_UART)
+			{
+				DBG_PRINTF("Tn%d\r\n\r\n", (int)batt_lvl_in_milli_volt_1);
+			}
+			else if (cmd_type_t == CMD_BLE)
+			{
+				/* "rsn:" 헤더와 함께 배터리 전압을 바이너리로 BLE 전송 */
+				single_format_data(ble_bin_buffer, "rsn:",  batt_lvl_in_milli_volt_1);
+				dr_binary_tx_safe(ble_bin_buffer,3);
+				//data_tx_handler(ble_tx_buffer);
+			}
+		}
+	}
+}
+
+
+/**
+ * @brief SAADC를 배터리 전압 측정용으로 설정
+ *
+ * AIN2 채널을 싱글엔드(SE) 모드, 1/3 프리스케일링으로 초기화한다.
+ * 더블 버퍼(adc_bufs[0], [1])를 등록하여 연속 측정이 가능하도록 한다.
+ * 콜백: battery_event_handler
+ */
+static void battery_configure(void)
+{
+	/* SAADC 드라이버 초기화 (4x 오버샘플링으로 노이즈 저감) */
+	nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
+	saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;	// 10 -> 12bit
+	saadc_config.oversample = NRF_SAADC_OVERSAMPLE_4X;
+	ret_code_t err_code = nrf_drv_saadc_init(&saadc_config, battery_event_handler);
+	if (err_code != NRF_SUCCESS) {
+		return;  /* SAADC 사용 중 → 이번 측정 스킵, 다음 주기에 재시도 */
+	}
+
+	/* AIN2 채널 설정: 싱글엔드 입력, 1/6 gain, burst + TACQ 20μs */
+	nrf_saadc_channel_config_t config = NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN2);
+	config.burst = NRF_SAADC_BURST_ENABLED;
+	config.acq_time = NRF_SAADC_ACQTIME_10US;
+	err_code = nrf_drv_saadc_channel_init(0, &config);
+	APP_ERROR_CHECK(err_code);
+
+	/* 싱글 버퍼 등록 (1회 측정 후 uninit) */
+	err_code = nrf_drv_saadc_buffer_convert(&adc_buf, 1);
+	APP_ERROR_CHECK(err_code);
+	//err_code = nrf_drv_saadc_buffer_convert(&adc_bufs[0], 1);  // 이전: 더블 버퍼
+	//APP_ERROR_CHECK(err_code);
+	//err_code = nrf_drv_saadc_buffer_convert(&adc_bufs[1], 1);
+	//APP_ERROR_CHECK(err_code);
+}
+
+/**
+ * @brief 배터리 전압 1회 측정 시작
+ *
+ * SAADC를 배터리용으로 설정 후 샘플링을 트리거한다.
+ * 결과는 battery_event_handler 콜백에서 비동기로 처리된다.
+ */
+void battery_level_meas(void)
+{
+    ret_code_t err_code;
+
+    battery_configure();               /* SAADC 배터리용 초기화 */
+    err_code = nrf_drv_saadc_sample(); /* ADC 샘플링 트리거 (비동기) */
+    APP_ERROR_CHECK(err_code);
+}
+
+
+/**
+ * @brief 배터리 모니터링 타이머 콜백 (5초 주기) - 주기 확인 필요(너무 짧음)
+ *
+ * 저전압 체크 플래그를 설정하고 배터리 측정을 시작한다.
+ * 다른 작업(IMU 등) 처리 중이면 측정을 건너뛴다.
+ */
+void battery_loop(void * p_context)	/* For 1sec */
+{
+	UNUSED_PARAMETER(p_context);
+
+	/* 다른 센서 처리 중 또는 MBB 센서 수집 중이면 배터리 측정 스킵 (SAADC 충돌 방지) */
+	if (processing == true || info4 == true)
+	{
+		processing = false ; // add 20241218
+		//low_battery_check = true;
+		return;
+	}
+	else
+	{
+		low_battery_check = true;    /* 저전압 감지 모드로 측정 */
+		battery_level_meas();        /* 배터리 ADC 1회 측정 시작 */
+	}
+}
+
+/** @brief 배터리 모니터링 타이머 시작 (5초 반복) */
+void battery_timer_start(void)
+{
+	APP_ERROR_CHECK(app_timer_start(m_battery_loop_timer_id, APP_TIMER_TICKS(BATTERY_LOOP_INTERVAL), NULL));
+}
+
+/** @brief 배터리 모니터링 타이머 정지 */
+void battery_timer_stop(void)
+{
+	APP_ERROR_CHECK(app_timer_stop(m_battery_loop_timer_id));
+}
+
+/** @brief 배터리 모니터링 타이머 초기화 (반복 모드, 콜백: battery_loop) */
+void battery_timer_init(void)
+{
+    APP_ERROR_CHECK(app_timer_create(&m_battery_loop_timer_id, APP_TIMER_MODE_REPEATED, battery_loop));
+}
+

project/ble_peripheral/ble_app_bladder_patch/battery_saadc.h

@@ -0,0 +1,41 @@
+/*******************************************************************************
+ * @file	battery_saadc.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [헤더 개요] 배터리 전압 SAADC 측정 인터페이스
+ *
+ * nRF52840 SAADC를 이용한 배터리 전압 측정 API를 선언한다.
+ *
+ * 주요 API:
+ *   - battery_level_meas()            : 배터리 전압 1회 측정 (AIN2)
+ *   - battery_timer_init/start/stop() : 5초 주기 배터리 모니터링 타이머 제어
+ *
+ * LOW_BATTERY_VOLTAGE(3500mV) 이하가 10회 연속 감지되면 자동 전원 OFF
+ ******************************************************************************/
+
+#ifndef _BATTERY_SAADC_H_
+#define _BATTERY_SAADC_H_
+
+/* 저전압 판정 임계값 (mV) — 이 값 이하가 10회 연속이면 자동 전원 OFF */
+#define LOW_BATTERY_VOLTAGE			3500	/* Low Battery 임계값 */
+
+
+/** @brief 배터리 SAADC 콜백 완료 플래그 (all_sensors 대기용) */
+extern volatile bool battery_saadc_done;
+
+/** @brief 배터리 전압 1회 측정 시작 (비동기, 결과는 콜백에서 처리) */
+void battery_level_meas(void);
+/** @brief 배터리 모니터링 5초 반복 타이머 시작 */
+void battery_timer_start(void);
+/** @brief 배터리 모니터링 타이머 정지 */
+void battery_timer_stop(void);
+/** @brief 배터리 모니터링 타이머 초기화 (앱 시작 시 1회 호출) */
+void battery_timer_init(void);
+
+#endif //_BATTERY_SAADC_H_
+

project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h

@@ -1,93 +0,0 @@
-/*==============================================================================
- * cmd_common.h - Shared header for command handlers
- *
- * Bundles every include / extern declaration / macro used in common across
- * the cmd_*.c modules. A handler module only needs this header plus its own
- * area-specific driver headers.
- *============================================================================*/
-#ifndef CMD_COMMON_H
-#define CMD_COMMON_H
-
-#include "parser.h"
-#include <string.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-
-#include "nrf_gpio.h"
-#include "nrf_delay.h"
-#include "debug_print.h"
-#include "dr_util.h"
-#include "main.h"
-#include "app_timer.h"
-#include "fstorage.h"   /* config_data_t */
-
-/*------------------------------------------------------------------------------
- * BLE transmission / formatting (defined in main.c)
- *----------------------------------------------------------------------------*/
-extern uint8_t ble_bin_buffer[];
-extern void single_format_data(uint8_t *buffer, const char *tag, uint16_t value);
-extern void ascii_format_data(uint8_t *buffer, const char *tag, const char *ascii, size_t length);
-extern void format_data(uint8_t *buffer, const char *tag, const uint16_t *data_array, size_t length);
-extern void dr_binary_tx_safe(const uint8_t *buffer, uint16_t length);  /* length: word count */
-extern void dr_sd_delay_ms(uint32_t ms);
-extern volatile bool data_tx_in_progress;
-
-/*------------------------------------------------------------------------------
- * Device state / flags
- *----------------------------------------------------------------------------*/
-extern bool device_status;
-extern bool con_single;
-extern bool lock_check;
-extern uint8_t resetCount;
-
-/*------------------------------------------------------------------------------
- * Measurement functions (defined elsewhere)
- *----------------------------------------------------------------------------*/
-extern void battery_level_meas(void);
-extern void pressure_all_level_meas(void);
-extern void tmp235_voltage_level_meas(void);
-extern int  imu_read_direct(void);
-extern void battery_timer_stop(void);
-extern void main_timer_start(void);
-extern void hw_i2c_init_once(void);
-
-/*------------------------------------------------------------------------------
- * info4 mode sensor cache (used to assemble the rbb: response in mbb?)
- *----------------------------------------------------------------------------*/
-extern bool info4;
-extern bool ble_got_new_data;
-extern bool go_batt;
-extern bool motion_data_once;
-extern bool motion_raw_data_enabled;
-extern volatile uint16_t info_batt;
-extern volatile uint16_t info_temp;
-extern volatile uint16_t info_imu[6];
-extern volatile bool tmp235_saadc_done;
-extern volatile bool battery_saadc_done;
-
-/*------------------------------------------------------------------------------
- * Device identifiers / passkey (FDS-backed)
- *----------------------------------------------------------------------------*/
-extern char SERIAL_NO[12];
-extern char HW_NO[12];
-extern char m_static_passkey[6];
-extern uint32_t m_life_cycle;
-
-/*------------------------------------------------------------------------------
- * Power / reset / bonding control
- *----------------------------------------------------------------------------*/
-extern bool go_device_power_off;
-extern bool go_NVIC_SystemReset;
-extern bool bond_data_delete;
-extern uint8_t m_reset_status;
-extern void config_save(void);
-extern config_data_t m_config;
-
-/*------------------------------------------------------------------------------
- * AGC gain switch (P0.20)
- *----------------------------------------------------------------------------*/
-#define GAIN_SW_PIN  NRF_GPIO_PIN_MAP(0, 20)
-#define AGC_GAIN_SW(x) do { if(x) nrf_gpio_pin_set(GAIN_SW_PIN); else nrf_gpio_pin_clear(GAIN_SW_PIN); } while(0)
-
-#endif /* CMD_COMMON_H */

project/ble_peripheral/ble_app_bladder_patch/command/cmd_table.c

@@ -1,62 +0,0 @@
-/*==============================================================================
- * cmd_table.c - Command table definition
- *
- * This file is the only linkage point between parser.c and the cmd_*.c handler modules.
- * It pulls in every cmd_*.h to gather handler prototypes,
- * builds the CmdEntry array, and injects the table into the parser via dr_parser_init() inside cmd_table_init().
- *
- * Adding a new command:
- *  1) Implement the handler in the appropriate cmd_*.c
- *  2) Add the prototype to the matching cmd_*.h
- *  3) Append { "tag?", true, Cmd_xxx } to m_cmd_table[] below
- *============================================================================*/
-
-#include "parser.h"
-#include "cmd_table.h"
-#include "cmd_device.h"
-#include "cmd_info.h"
-#include "cmd_sensor.h"
-#include "cmd_piezo.h"
-
-static const CmdEntry m_cmd_table[] = {
-    /* A. Device state control */
-    { "msq?", true, Cmd_msq },
-    { "mss?", true, Cmd_mss },
-#if FEATURE_SECURE_CONNECTION
-    { "msr?", true, Cmd_msr },
-#endif
-    { "cmd?", true, Cmd_cmd },
-
-    /* B. Device information */
-    { "mfv?", true, Cmd_mfv },
-    { "mid?", true, Cmd_mid },
-    { "mwh?", true, Cmd_mwh },
-    { "mws?", true, Cmd_mws },
-    { "mrh?", true, Cmd_mrh },
-    { "mrs?", true, Cmd_mrs },
-    { "mpz?", true, Cmd_mpz },
-    { "mqz?", true, Cmd_mqz },
-
-    /* C. Sensor measurement */
-    { "msn?", true, Cmd_msn },
-    { "mst?", true, Cmd_mst },
-    { "msp?", true, Cmd_msp },
-
-    /* D. Piezo ultrasound */
-    { "mpa?", true, Cmd_mpa },
-    { "mpb?", true, Cmd_mpb },
-    { "mpc?", true, Cmd_mpc },
-    { "mec?", true, Cmd_mec },
-    { "maa?", true, Cmd_maa },
-    { "mbb?", true, Cmd_mbb },
-    { "mcf?", true, Cmd_mcf },
-    { "mcs?", true, Cmd_mcs },
-
-    /* E. LED control (handler in cmd_device.c) */
-    { "mls?", true, Cmd_mls },
-};
-
-void cmd_table_init(void)
-{
-    dr_parser_init(m_cmd_table, sizeof(m_cmd_table) / sizeof(m_cmd_table[0]));
-}

project/ble_peripheral/ble_app_bladder_patch/command/cmd_table.h

@@ -1,12 +0,0 @@
-/*==============================================================================
- * cmd_table.h - Command table registration entry point
- *
- * main.c calls cmd_table_init() at boot to inject the command table into
- * the parser.
- *============================================================================*/
-#ifndef CMD_TABLE_H
-#define CMD_TABLE_H
-
-void cmd_table_init(void);
-
-#endif /* CMD_TABLE_H */

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_device.c

@@ -1,177 +0,0 @@
-/*==============================================================================
- * cmd_device.c - Device state control handlers
- *
- * A. msq? -> rsq:  device power OFF
- * B. mss? -> rss:  device soft reset
- * C. msr? -> rsr:  BLE bond delete + reset      (FEATURE_SECURE_CONNECTION)
- * D. cmd? -> rmd:  direct GPIO pin control      (debug / test only)
- * E. mls? -> rls:  set LED state
- *============================================================================*/
-
-#include "cmd_common.h"
-#include "cmd_device.h"
-#include "fstorage.h"
-#include "led_control.h"
-
-/*==============================================================================
- * msq? -> rsq:  Device power OFF
- *
- * Request:  [TAG 4B "msq?"] [val 2B BE] [CRC 2B]
- * Response: [TAG 4B "rsq:"] [val 2B BE] [CRC 2B]
- *
- * Sends BLE response first; the actual power-off is performed from the main loop.
- * Powering off immediately would prevent the response from reaching the host, so a flag + timer pattern is used instead.
- *============================================================================*/
-int Cmd_msq(const ParsedCmd *cmd)
-{
-    uint16_t val = 0;
-    dr_get_u16(cmd, 0, &val);
-    if (g_plat.log)
-    {
-        g_plat.log("[Cmd_msq] Power off val=%u\r\n", val);
-    }
-    single_format_data(ble_bin_buffer, "rsq:", val);
-    dr_binary_tx_safe(ble_bin_buffer, 2);
-    go_device_power_off = true;
-    main_timer_start();
-    return 1;
-}
-
-/*==============================================================================
- * mss? -> rss:  Device soft reset
- *
- * Request:  [TAG 4B "mss?"] [val 2B BE] [CRC 2B]
- * Response: [TAG 4B "rss:"] [val 2B BE] [CRC 2B]
- *
- * Resets without erasing bond information. Reset status code is persisted to FDS so the boot path can identify the cause.
- *============================================================================*/
-int Cmd_mss(const ParsedCmd *cmd)
-{
-    uint16_t val = 0;
-    dr_get_u16(cmd, 0, &val);
-    single_format_data(ble_bin_buffer, "rss:", val);
-    dr_binary_tx_safe(ble_bin_buffer, 2);
-
-    m_reset_status = 2;
-    m_config.reset_status = m_reset_status;
-    config_save();
-    nrf_delay_ms(5);
-    go_NVIC_SystemReset = true;
-    main_timer_start();
-    return 1;
-}
-
-/*==============================================================================
- * msr? -> rsr:  Delete BLE bonding info + system reset
- *
- * Request:  [TAG 4B "msr?"] [val 2B BE] [CRC 2B]
- * Response: [TAG 4B "rsr:"] [val 2B BE] [CRC 2B]
- *
- * 1. Send BLE response
- * 2. Persist bond-delete flag and reset status to FDS
- * 3. Wait 5 ms for FDS write completion
- * 4. Set NVIC system reset flag
- *============================================================================*/
-#if FEATURE_SECURE_CONNECTION
-int Cmd_msr(const ParsedCmd *cmd)
-{
-    uint16_t val = 0;
-    dr_get_u16(cmd, 0, &val);
-    single_format_data(ble_bin_buffer, "rsr:", val);
-    dr_binary_tx_safe(ble_bin_buffer, 2);
-
-    bond_data_delete = true;
-    m_config.bond_data_delete = (uint8_t)bond_data_delete;
-    m_reset_status = 2;
-    m_config.reset_status = m_reset_status;
-    config_save();
-    nrf_delay_ms(5);
-    go_NVIC_SystemReset = true;
-    main_timer_start();
-    return 1;
-}
-#endif
-
-/*==============================================================================
- * cmd? -> rmd:  Direct GPIO pin control (debug / test)
- *
- * Request:  [TAG 4B "cmd?"] [port 2B BE] [pin 2B BE] [state 2B BE] [CRC 2B]
- * Response: [TAG 4B "rmd:"] [port 2B BE] [pin 2B BE] [state 2B BE] [CRC 2B]
- * Error:    rmd: + 0  (insufficient data)
- *
- * port : GPIO port (0 or 1)
- * pin  : pin number (0..31)
- * state: 1=HIGH, 0=LOW
- *
- * Misuse can damage hardware - intended for debug only.
- *============================================================================*/
-int Cmd_cmd(const ParsedCmd *cmd)
-{
-    uint16_t v1, v2, v3;
-    uint32_t pin_number;
-
-    if (cmd->data_len < 6)
-    {
-        dr_ble_return_1("rmd:", 0);
-        return 1;
-    }
-
-    if (!dr_get_u16(cmd, 0, &v1))
-    {
-        v1 = 0;
-    }
-    if (!dr_get_u16(cmd, 1, &v2))
-    {
-        v2 = 0;
-    }
-    if (!dr_get_u16(cmd, 2, &v3))
-    {
-        v3 = 0;
-    }
-
-    pin_number = NRF_GPIO_PIN_MAP(v1, v2);
-    nrf_gpio_cfg_output(pin_number);
-
-    if (v3 == 1)
-    {
-        nrf_gpio_pin_set(pin_number);
-    }
-    else
-    {
-        nrf_gpio_pin_clear(pin_number);
-    }
-
-    dr_ble_return_3("rmd:", v1, v2, v3);
-    return 1;
-}
-
-/*==============================================================================
- * mls? -> rls:  Set LED state (app -> device)
- *
- * Request:  [TAG 4B "mls?"] [state 2B BE] [CRC 2B]
- *   state: led_state_t enum value: 0=OFF, 4=DETACH_WARNING, 5=ALIGN_SEARCHING, 6=ALIGN_COMPLETE
- * Response: [TAG 4B "rls:"] [state 2B] [CRC 2B]
- * Error:    rls: + 0xFFFF (insufficient data)
- *           rls: + 0xFFFE (state out of range)
- *============================================================================*/
-int Cmd_mls(const ParsedCmd *cmd)
-{
-    if (cmd->data_len < 2)
-    {
-        dr_ble_return_1("rls:", 0xFFFF);
-        return 1;
-    }
-
-    uint16_t state;
-    dr_get_u16(cmd, 0, &state);
-
-    if (state > LED_STATE_ERROR)
-    {
-        dr_ble_return_1("rls:", 0xFFFE);
-        return 1;
-    }
-
-    led_set_state((led_state_t)state);
-    dr_ble_return_1("rls:", state);
-    return 1;
-}

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_device.h

@@ -1,17 +0,0 @@
-/*==============================================================================
- * cmd_device.h - Device state control handlers (power / reset / GPIO / LED)
- *============================================================================*/
-#ifndef CMD_DEVICE_H
-#define CMD_DEVICE_H
-
-#include "parser.h"
-
-int Cmd_msq(const ParsedCmd *cmd);   /* msq? -> rsq:  device power OFF */
-int Cmd_mss(const ParsedCmd *cmd);   /* mss? -> rss:  device soft reset */
-#if FEATURE_SECURE_CONNECTION
-int Cmd_msr(const ParsedCmd *cmd);   /* msr? -> rsr:  bond delete + reset */
-#endif
-int Cmd_cmd(const ParsedCmd *cmd);   /* cmd? -> rmd:  direct GPIO control */
-int Cmd_mls(const ParsedCmd *cmd);   /* mls? -> rls:  set LED state */
-
-#endif /* CMD_DEVICE_H */

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_info.c

@@ -1,173 +0,0 @@
-/*==============================================================================
- * cmd_info.c - Device information read/write handlers
- *
- * Commands that read or write FDS-persisted data: firmware version, hardware version, serial number, BLE passkey.
- * Typically written once at the factory and read back later for identification.
- *============================================================================*/
-
-#include "cmd_common.h"
-#include "cmd_info.h"
-#include "fstorage.h"
-
-/*==============================================================================
- * mfv? -> rfv:  Read firmware version
- *
- * Request:  [TAG 4B "mfv?"] [CRC 2B]
- * Response: [TAG 4B "rfv:"] [FW_VER 12B ASCII] [CRC 2B]
- *============================================================================*/
-int Cmd_mfv(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    ascii_format_data(ble_bin_buffer, "rfv:", FIRMWARE_VERSION, 12);
-    dr_binary_tx_safe(ble_bin_buffer, 8);  /* 16 bytes = 8 words */
-    return 1;
-}
-
-/*==============================================================================
- * mid? -> rid:  Read HW number + serial number + FW version together
- *
- * Request:  [TAG 4B "mid?"] [CRC 2B]
- * Response: [TAG 4B "rid:"] [HW 12B] [SN 12B] [FW 12B] [CRC 2B]
- *============================================================================*/
-int Cmd_mid(const ParsedCmd *cmd)
-{
-    uint8_t *buf = ble_bin_buffer;
-    (void)cmd;
-
-    memcpy(HW_NO,     m_config.hw_no,     12);
-    memcpy(SERIAL_NO, m_config.serial_no, 12);
-
-    buf[0] = 'r'; buf[1] = 'i'; buf[2] = 'd'; buf[3] = ':';
-    memcpy(&buf[4],  HW_NO,            12);
-    memcpy(&buf[16], SERIAL_NO,        12);
-    memcpy(&buf[28], FIRMWARE_VERSION, 12);
-
-    dr_binary_tx_safe(buf, 20);  /* 40 bytes = 20 words */
-    return 1;
-}
-
-/*==============================================================================
- * mwh? -> rwh:  Write HW number to FDS
- *
- * Request:  [TAG 4B "mwh?"] [HW 12B ASCII] [CRC 2B]
- * Response: [TAG 4B "rwh:"] [HW 12B ASCII] [CRC 2B]
- * Error:    rwh: + 0xFFFF (insufficient data)
- *============================================================================*/
-int Cmd_mwh(const ParsedCmd *cmd)
-{
-    char buf[13];
-
-    if (cmd->data_len < 12)
-    {
-        dr_ble_return_1("rwh:", 0xFFFF);
-        return 1;
-    }
-
-    dr_get_ascii(cmd, 0, buf, 12);
-    memcpy(HW_NO, buf, 12);
-    memcpy(m_config.hw_no, buf, 12);
-    config_save();
-
-    ascii_format_data(ble_bin_buffer, "rwh:", buf, 12);
-    dr_binary_tx_safe(ble_bin_buffer, 8);
-    return 1;
-}
-
-/*==============================================================================
- * mws? -> rws:  Write serial number to FDS
- *
- * Request:  [TAG 4B "mws?"] [SN 12B ASCII] [CRC 2B]
- * Response: [TAG 4B "rws:"] [SN 12B ASCII] [CRC 2B]
- * Error:    rws: + 0xFFFF (insufficient data)
- *============================================================================*/
-int Cmd_mws(const ParsedCmd *cmd)
-{
-    char buf[13];
-
-    if (cmd->data_len < 12)
-    {
-        dr_ble_return_1("rws:", 0xFFFF);
-        return 1;
-    }
-
-    dr_get_ascii(cmd, 0, buf, 12);
-    memcpy(SERIAL_NO, buf, 12);
-    memcpy(m_config.serial_no, buf, 12);
-    config_save();
-
-    ascii_format_data(ble_bin_buffer, "rws:", buf, 12);
-    dr_binary_tx_safe(ble_bin_buffer, 8);
-    return 1;
-}
-
-/*==============================================================================
- * mrh? -> rrh:  Read HW number from FDS
- *
- * Request:  [TAG 4B "mrh?"] [CRC 2B]
- * Response: [TAG 4B "rrh:"] [HW 12B ASCII] [CRC 2B]
- *============================================================================*/
-int Cmd_mrh(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    memcpy(HW_NO, m_config.hw_no, 12);
-    ascii_format_data(ble_bin_buffer, "rrh:", HW_NO, 12);
-    dr_binary_tx_safe(ble_bin_buffer, 8);
-    return 1;
-}
-
-/*==============================================================================
- * mrs? -> rrs:  Read serial number from FDS
- *
- * Request:  [TAG 4B "mrs?"] [CRC 2B]
- * Response: [TAG 4B "rrs:"] [SN 12B ASCII] [CRC 2B]
- *============================================================================*/
-int Cmd_mrs(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    memcpy(SERIAL_NO, m_config.serial_no, 12);
-    ascii_format_data(ble_bin_buffer, "rrs:", SERIAL_NO, 12);
-    dr_binary_tx_safe(ble_bin_buffer, 8);
-    return 1;
-}
-
-/*==============================================================================
- * mpz? -> rpz:  Write BLE passkey to FDS
- *
- * Request:  [TAG 4B "mpz?"] [passkey 6B ASCII] [CRC 2B]
- * Response: [TAG 4B "rpz:"] [passkey 6B ASCII] [CRC 2B]
- *============================================================================*/
-int Cmd_mpz(const ParsedCmd *cmd)
-{
-    if (m_config.factory_provisioned != 0)
-    {
-        dr_ble_return_1("rpz:", 0xFFFF);
-        return 1;
-    }
-
-    char passkey[7] = {0};
-    dr_get_ascii(cmd, 0, passkey, 6);
-
-    memcpy(m_static_passkey, passkey, 6);
-    memcpy(m_config.static_passkey, m_static_passkey, 6);
-    m_config.factory_provisioned = 1;
-    config_save();
-
-    ascii_format_data(ble_bin_buffer, "rpz:", passkey, 6);
-    dr_binary_tx_safe(ble_bin_buffer, 5);
-    return 1;
-}
-
-/*==============================================================================
- * mqz? -> rqz:  Read BLE passkey from FDS
- *
- * Request:  [TAG 4B "mqz?"] [CRC 2B]
- * Response: [TAG 4B "rqz:"] [passkey 6B ASCII] [CRC 2B]
- *============================================================================*/
-int Cmd_mqz(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    memcpy(m_static_passkey, m_config.static_passkey, 6);
-    ascii_format_data(ble_bin_buffer, "rqz:", m_static_passkey, 6);
-    dr_binary_tx_safe(ble_bin_buffer, 5);
-    return 1;
-}

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_info.h

@@ -1,18 +0,0 @@
-/*==============================================================================
- * cmd_info.h - Device information read/write handlers
- *============================================================================*/
-#ifndef CMD_INFO_H
-#define CMD_INFO_H
-
-#include "parser.h"
-
-int Cmd_mfv(const ParsedCmd *cmd);   /* mfv? -> rfv:  read firmware version */
-int Cmd_mid(const ParsedCmd *cmd);   /* mid? -> rid:  read HW + SN + FW together */
-int Cmd_mwh(const ParsedCmd *cmd);   /* mwh? -> rwh:  write HW number */
-int Cmd_mws(const ParsedCmd *cmd);   /* mws? -> rws:  write serial number */
-int Cmd_mrh(const ParsedCmd *cmd);   /* mrh? -> rrh:  read HW number */
-int Cmd_mrs(const ParsedCmd *cmd);   /* mrs? -> rrs:  read serial number */
-int Cmd_mpz(const ParsedCmd *cmd);   /* mpz? -> rpz:  write BLE passkey */
-int Cmd_mqz(const ParsedCmd *cmd);   /* mqz? -> rqz:  read BLE passkey */
-
-#endif /* CMD_INFO_H */

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_piezo.c

@@ -1,343 +0,0 @@
-/*==============================================================================
- * cmd_piezo.c - Piezo ultrasound measurement handlers
- *
- * mpa? -> rpa:           TX/RX power ON
- * mpb? -> rpb:           TX/RX power OFF
- * mpc? -> rpc:           burst generation (test)
- * mec? -> reb:+raa:      single-channel burst + echo capture
- * maa? -> reb:+raa:      6-channel asynchronous capture
- * mbb? -> rbb:+reb:+raa: bulk sensor measurement + 6-channel capture
- * mcf? -> rcf:           read piezo parameters
- * mcs? -> rcs:           write piezo parameters
- *============================================================================*/
-
-#include "cmd_common.h"
-#include "cmd_piezo.h"
-#include "cmd_sensor.h"           /* all_sensors() */
-#include "dr_piezo.h"
-#include "dr_adc121s051.h"
-
-/*==============================================================================
- * mpa? -> rpa:  Enable piezo TX/RX circuit
- *
- * Request:  [TAG 4B "mpa?"] [CRC 2B]
- * Response: [TAG 4B "rpa:"] [1 2B] [CRC 2B]
- *============================================================================*/
-int Cmd_mpa(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    dr_piezo_power_on();
-
-    if (g_plat.tx_bin)
-    {
-        single_format_data(ble_bin_buffer, "rpa:", 1);
-        dr_binary_tx_safe(ble_bin_buffer, 3);
-    }
-    return 1;
-}
-
-/*==============================================================================
- * mpb? -> rpb:  Disable piezo TX/RX circuit
- *
- * Request:  [TAG 4B "mpb?"] [CRC 2B]
- * Response: [TAG 4B "rpb:"] [1 2B] [CRC 2B]
- *
- * Power saving once measurement is complete.
- *============================================================================*/
-int Cmd_mpb(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    dr_piezo_power_off();
-
-    if (g_plat.tx_bin)
-    {
-        single_format_data(ble_bin_buffer, "rpb:", 1);
-        dr_binary_tx_safe(ble_bin_buffer, 3);
-    }
-    return 1;
-}
-
-/*==============================================================================
- * mpc? -> rpc:  Piezo burst generation (test / debug)
- *
- * Request:  [TAG 4B "mpc?"] [cycles 2B] [freq_option 2B] [piezo_ch 2B] [CRC 2B]
- *   cycles      : 3..7 (default 5)
- *   freq_option : 0=1.8MHz, 1=2.1MHz(default), 2=2.0MHz, 3=1.7MHz, 4=2.2MHz
- *   piezo_ch    : 0..7
- * Response: [TAG 4B "rpc:"] [cycles 2B] [CRC 2B]
- * Error:    rpc: + 2  (cycles out of range)
- *
- * Generates the burst only - no echo capture.
- *============================================================================*/
-int Cmd_mpc(const ParsedCmd *cmd)
-{
-    uint16_t cycles = 5;
-    uint16_t freq_option = 1;
-    uint16_t piezo_ch = 0;
-
-    (void)dr_get_u16(cmd, 0, &cycles);
-    (void)dr_get_u16(cmd, 1, &freq_option);
-    (void)dr_get_u16(cmd, 2, &piezo_ch);
-
-    if (piezo_ch >= MAA_NUM_CHANNELS)
-    {
-        piezo_ch = 0;
-    }
-
-    if (cycles < 3 || cycles > 7)
-    {
-        dr_ble_return_1("rpc:", 2);
-        return 1;
-    }
-
-    dr_piezo_select_channel((uint8_t)piezo_ch);
-
-    switch (freq_option)
-    {
-        case 0:
-            dr_piezo_burst_sw_18mhz((uint8_t)cycles);
-            break;
-        case 2:  
-            dr_piezo_burst_sw_20mhz((uint8_t)cycles);
-            break;
-        case 3:  
-            dr_piezo_burst_sw_17mhz((uint8_t)cycles);
-            break;
-        case 4:  
-            dr_piezo_burst_sw_22mhz((uint8_t)cycles);
-            break;
-        default: 
-            dr_piezo_burst_sw((uint8_t)cycles);
-            break;
-    }
-
-    dr_ble_return_1("rpc:", (uint8_t)cycles);
-    return 1;
-}
-
-/*==============================================================================
- * mec? -> reb:+raa:  Piezo burst + echo capture (16-bit raw)
- *
- * Request:  [TAG 4B "mec?"] [freq 2B] [delay_us 2B] [num_samples 2B]
- *           [cycles 2B] [averaging 2B] [piezo_ch 2B] [CRC 2B]
- * Response: reb: [num_samples 2B] [raw_data up to 238B]   (red: follow-up if needed)
- *           raa: [status 2B]
- * Error:    rer: + (0xEE00|err) + num_samples
- *
- * Sends raw 16-bit ADC values directly. Suited for short-range (~25cm).
- *============================================================================*/
-int Cmd_mec(const ParsedCmd *cmd)
-{
-    uint16_t freq_option = 0;
-    uint16_t delay_us = 20;
-    uint16_t num_samples = 140;
-    uint16_t cycles = 5;
-    uint16_t averaging = 1;
-    uint16_t piezo_ch = 0;
-
-    if (!dr_piezo_is_power_on())
-    {
-        dr_piezo_power_on();
-    }
-
-    (void)dr_get_u16(cmd, 0, &freq_option);
-    (void)dr_get_u16(cmd, 1, &delay_us);
-    (void)dr_get_u16(cmd, 2, &num_samples);
-    (void)dr_get_u16(cmd, 3, &cycles);
-    (void)dr_get_u16(cmd, 4, &averaging);
-    (void)dr_get_u16(cmd, 5, &piezo_ch);
-
-    if (averaging == 0)
-    {
-        averaging = 1;
-    }
-    if (averaging > 1000)
-    {
-        averaging = 1000;
-    }
-    if (piezo_ch >= MAA_NUM_CHANNELS)
-    {
-        piezo_ch = 0;
-    }
-
-    dr_adc_err_t err = dr_adc_burst_capture_transmit(
-        (uint8_t)freq_option, delay_us, num_samples, (uint8_t)cycles,
-        (uint16_t)averaging, (uint8_t)piezo_ch, ble_bin_buffer, 0);
-
-    if (err != DR_ADC_OK)
-    {
-        dr_ble_return_2("rer:", 0xEE00 | (uint16_t)err, num_samples);
-    }
-
-    dr_piezo_power_off();
-    return 1;
-}
-
-/*==============================================================================
- * maa? -> reb:+raa:  6-channel asynchronous full capture
- *
- * Request:  [TAG 4B "maa?"] [CRC 2B]
- * Response: per channel  reb: [num_samples 2B] [raw_data...]
- *           final         raa: [status 2B]
- * Error:    raa: + 0xFFFE        (previous capture in progress)
- *           raa: + (0xFF00|err)  (start failed)
- *
- * Asynchronous state machine - the BLE_NUS_EVT_TX_RDY callback drives the
- * follow-up packet transmissions. Parameters are loaded from m_config (FDS).
- *============================================================================*/
-int Cmd_maa(const ParsedCmd *cmd)
-{
-    dr_adc_err_t err;
-    (void)cmd;
-
-    if (maa_async_is_busy())
-    {
-        dr_ble_return_1("raa:", 0xFFFE);
-        return 1;
-    }
-
-    if (!dr_piezo_is_power_on())
-    {
-        dr_piezo_power_on();
-    }
-
-    err = maa_async_start(
-        m_config.piezo_freq_option,
-        m_config.piezo_delay_us,
-        m_config.piezo_num_samples,
-        m_config.piezo_cycles,
-        m_config.piezo_averaging,
-        ble_bin_buffer
-    );
-
-    if (err != DR_ADC_OK)
-    {
-        if (g_plat.log)
-        {
-            g_plat.log("[Cmd_maa] start failed err=%d\r\n", err);
-        }
-        single_format_data(ble_bin_buffer, "raa:", (uint16_t)(0xFF00 | err));
-        dr_binary_tx_safe(ble_bin_buffer, 3);
-        dr_piezo_power_off();
-        return 1;
-    }
-
-    return 1;
-}
-
-/*==============================================================================
- * mbb? -> rbb:+reb:+raa:  Bulk sensor measurement + 6-channel full capture
- *
- * Request:  [TAG 4B "mbb?"] [CRC 2B]
- * Response: rbb: [batt 2B] [IMU 12B] [temp 2B]
- *           reb: [num_samples 2B] [raw_data...]   (per channel)
- *           raa: [status 2B]
- * Error:    raa: + 0xFFFE       (previous capture in progress)
- *           raa: + (0xFF00|err) (start failed)
- *
- * 1) all_sensors() measures battery / IMU / temperature and emits rbb:
- * 2) Starts 6-channel capture in pre-capture-all mode
- *============================================================================*/
-int Cmd_mbb(const ParsedCmd *cmd)
-{
-    dr_adc_err_t err;
-    (void)cmd;
-
-    all_sensors();
-
-    if (maa_async_is_busy())
-    {
-        dr_ble_return_1("raa:", 0xFFFE);
-        return 1;
-    }
-
-    maa_async_set_pre_capture_all(true);
-
-    err = maa_async_start(
-        m_config.piezo_freq_option,
-        m_config.piezo_delay_us,
-        m_config.piezo_num_samples,
-        m_config.piezo_cycles,
-        m_config.piezo_averaging,
-        ble_bin_buffer
-    );
-
-    if (err != DR_ADC_OK)
-    {
-        if (g_plat.log)
-        {
-            g_plat.log("[Cmd_mbb] start failed err=%d\r\n", err);
-        }
-        single_format_data(ble_bin_buffer, "raa:", (uint16_t)(0xFF00 | err));
-        dr_binary_tx_safe(ble_bin_buffer, 3);
-        dr_piezo_power_off();
-        return 1;
-    }
-
-    return 1;
-}
-
-/*==============================================================================
- * mcf? -> rcf:  Read piezo parameters from FDS
- *
- * Request:  [TAG 4B "mcf?"] [CRC 2B]
- * Response: [TAG 4B "rcf:"] [freq 2B] [cycles 2B] [avg 2B] [delay_us 2B] [num_samples 2B] [CRC 2B]
- *============================================================================*/
-int Cmd_mcf(const ParsedCmd *cmd)
-{
-    (void)cmd;
-
-    uint8_t *buf = ble_bin_buffer;
-    buf[0] = 'r'; buf[1] = 'c'; buf[2] = 'f'; buf[3] = ':';
-    buf[4] = 0;  buf[5] = m_config.piezo_freq_option;
-    buf[6] = 0;  buf[7] = m_config.piezo_cycles;
-    buf[8]  = (uint8_t)(m_config.piezo_averaging   >> 8); buf[9]  = (uint8_t)(m_config.piezo_averaging   & 0xFF);
-    buf[10] = (uint8_t)(m_config.piezo_delay_us    >> 8); buf[11] = (uint8_t)(m_config.piezo_delay_us    & 0xFF);
-    buf[12] = (uint8_t)(m_config.piezo_num_samples >> 8); buf[13] = (uint8_t)(m_config.piezo_num_samples & 0xFF);
-    dr_binary_tx_safe(buf, 7);  /* 14 bytes = 7 words */
-    return 1;
-}
-
-/*==============================================================================
- * mcs? -> rcs:  Write piezo parameters to FDS
- *
- * Request:  [TAG 4B "mcs?"] [freq 2B] [cycles 2B] [avg 2B] [delay_us 2B] [num_samples 2B] [CRC 2B]
- * Response: [TAG 4B "rcs:"] [stored 5 values] [CRC 2B]
- * Error:    rcs: + 0xFFFF  (insufficient data)
- *============================================================================*/
-int Cmd_mcs(const ParsedCmd *cmd)
-{
-    if (cmd->data_len < 10)
-    {
-        if (g_plat.log)
-        {
-            g_plat.log("[Cmd_mcs] missing params (data_len=%u)\r\n", cmd->data_len);
-        }
-        dr_ble_return_1("rcs:", 0xFFFF);
-        return 1;
-    }
-
-    uint16_t freq, cycles, averaging, delay_us, num_samples;
-    dr_get_u16(cmd, 0, &freq);
-    dr_get_u16(cmd, 1, &cycles);
-    dr_get_u16(cmd, 2, &averaging);
-    dr_get_u16(cmd, 3, &delay_us);
-    dr_get_u16(cmd, 4, &num_samples);
-
-    m_config.piezo_freq_option = (uint8_t)freq;
-    m_config.piezo_cycles      = (uint8_t)cycles;
-    m_config.piezo_averaging   = averaging;
-    m_config.piezo_delay_us    = delay_us;
-    m_config.piezo_num_samples = num_samples;
-    config_save();
-
-    uint8_t *buf = ble_bin_buffer;
-    buf[0] = 'r'; buf[1] = 'c'; buf[2] = 's'; buf[3] = ':';
-    buf[4] = 0;  buf[5] = m_config.piezo_freq_option;
-    buf[6] = 0;  buf[7] = m_config.piezo_cycles;
-    buf[8]  = (uint8_t)(m_config.piezo_averaging   >> 8); buf[9]  = (uint8_t)(m_config.piezo_averaging   & 0xFF);
-    buf[10] = (uint8_t)(m_config.piezo_delay_us    >> 8); buf[11] = (uint8_t)(m_config.piezo_delay_us    & 0xFF);
-    buf[12] = (uint8_t)(m_config.piezo_num_samples >> 8); buf[13] = (uint8_t)(m_config.piezo_num_samples & 0xFF);
-    dr_binary_tx_safe(buf, 7);
-    return 1;
-}

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_piezo.h

@@ -1,18 +0,0 @@
-/*==============================================================================
- * cmd_piezo.h - Piezo ultrasound measurement handlers
- *============================================================================*/
-#ifndef CMD_PIEZO_H
-#define CMD_PIEZO_H
-
-#include "parser.h"
-
-int Cmd_mpa(const ParsedCmd *cmd);   /* mpa? -> rpa:  TX/RX power ON */
-int Cmd_mpb(const ParsedCmd *cmd);   /* mpb? -> rpb:  TX/RX power OFF */
-int Cmd_mpc(const ParsedCmd *cmd);   /* mpc? -> rpc:  burst generation */
-int Cmd_mec(const ParsedCmd *cmd);   /* mec? -> reb:+raa:  single-channel capture */
-int Cmd_maa(const ParsedCmd *cmd);   /* maa? -> reb:+raa:  6-channel async capture */
-int Cmd_mbb(const ParsedCmd *cmd);   /* mbb? -> rbb:+reb:+raa:  sensors + capture */
-int Cmd_mcf(const ParsedCmd *cmd);   /* mcf? -> rcf:  read piezo parameters */
-int Cmd_mcs(const ParsedCmd *cmd);   /* mcs? -> rcs:  write piezo parameters */
-
-#endif /* CMD_PIEZO_H */

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c

@@ -1,138 +0,0 @@
-/*==============================================================================
- * cmd_sensor.c - Sensor measurement handlers
- *
- * msn? -> rsn:  battery ADC measurement
- * mso? -> rso:  TMP235 temperature reading
- * msp? -> rsp:  IMU 6-axis single read
- * all_sensors()  bulk-measurement helper used by the mbb? handler
- *============================================================================*/
-
-#include "cmd_common.h"
-#include "cmd_sensor.h"
-#include "dr_piezo.h"
-
-/*==============================================================================
- * msn? -> rsn:  Battery level ADC measurement
- *
- * Request:  [TAG 4B "msn?"] [CRC 2B]
- * Response: rsn: + battery voltage in mV (sent from battery_saadc.c callback)
- *============================================================================*/
-int Cmd_msn(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    battery_level_meas();
-    return 1;
-}
-
-/*==============================================================================
- * mst? -> rso:  Temperature with piezo power cycle
- *
- * Request:  [TAG 4B "mst?"] [CRC 2B]
- * Response: [TAG 4B "rso:"] [temp_x100 2B BE] [CRC 2B]
- *
- * TMP235 shares the piezo TX/RX power rail. This command handles the full
- * sequence: power ON -> measure -> power OFF, so the caller doesn't need
- * to send mpa?/mpb? separately.
- * Response is sent from the TMP235 SAADC callback (tmp235_voltage_handler).
- *============================================================================*/
-int Cmd_mst(const ParsedCmd *cmd)
-{
-    uint32_t timeout_cnt;
-    (void)cmd;
-
-    if (!dr_piezo_is_power_on())
-    {
-        dr_piezo_power_on();
-    }
-
-    tmp235_saadc_done = false;
-    tmp235_voltage_level_meas();
-    for (timeout_cnt = 0; !tmp235_saadc_done && timeout_cnt < 100; timeout_cnt++)
-    {
-        dr_sd_delay_ms(1);
-    }
-
-    dr_piezo_power_off();
-
-    return 1;
-}
-
-/*==============================================================================
- * msp? -> rsp:  IMU 6-axis single read
- *
- * Request:  [TAG 4B "msp?"] [CRC 2B]
- * Response: rsp: + accel(xyz) + gyro(xyz)  (transmitted inside imu_read_direct)
- *
- * Reads IMU registers directly over I2C and transmits over BLE. Synchronous.
- *============================================================================*/
-int Cmd_msp(const ParsedCmd *cmd)
-{
-    (void)cmd;
-    hw_i2c_init_once();
-    imu_read_direct();
-    return 1;
-}
-
-/*==============================================================================
- * all_sensors() - Bulk-measurement helper for the mbb? handler
- *
- * Stores sensor values into globals via info4 mode, then transmits them as a
- * single rbb: packet. SAADC measurements run asynchronously (callback), so
- * dr_sd_delay_ms() is used to wait for completion.
- *
- * Order: battery -> IMU -> (Piezo TX/RX ON) -> temperature
- * Response: rbb: [batt 2B] [IMU 6x2B] [temp 2B] = 20 bytes = 10 words
- *============================================================================*/
-void all_sensors(void)
-{
-    uint8_t *buf;
-    uint32_t timeout_cnt;
-
-    info4 = true;
-
-    /* 1. Battery voltage -> info_batt */
-    battery_saadc_done = false;
-    battery_level_meas();
-    for (timeout_cnt = 0; !battery_saadc_done && timeout_cnt < 100; timeout_cnt++)
-    {
-        dr_sd_delay_ms(1);
-    }
-
-    /* 2. IMU 6-axis single read -> info_imu[6] */
-    hw_i2c_init_once();
-    imu_read_direct();
-
-    /* 3. Temperature -> info_temp  (TMP235 needs Piezo TX/RX power) */
-    if (!dr_piezo_is_power_on())
-    {
-        dr_piezo_power_on();
-    }
-
-    tmp235_saadc_done = false;
-    tmp235_voltage_level_meas();
-    for (timeout_cnt = 0; !tmp235_saadc_done && timeout_cnt < 100; timeout_cnt++)
-    {
-        dr_sd_delay_ms(1);
-    }
-
-    info4 = false;
-
-    /* Assemble and transmit the rbb: packet (dedicated buffer to avoid
-       collision with ble_bin_buffer used by the async ADC state machine) */
-    static uint8_t rbb_buf[20];
-    buf = rbb_buf;
-    buf[0] = 'r'; buf[1] = 'b'; buf[2] = 'b'; buf[3] = ':';
-    buf[4] = (uint8_t)(info_batt >> 8);
-    buf[5] = (uint8_t)(info_batt & 0xFF);
-
-    for (int i = 0; i < 6; i++)
-    {
-        buf[6 + i * 2]     = (uint8_t)(info_imu[i] >> 8);
-        buf[6 + i * 2 + 1] = (uint8_t)(info_imu[i] & 0xFF);
-    }
-
-    buf[18] = (uint8_t)(info_temp >> 8);
-    buf[19] = (uint8_t)(info_temp & 0xFF);
-
-    dr_binary_tx_safe(buf, 10);  /* 20 bytes = 10 words */
-}

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.h

@@ -1,16 +0,0 @@
-/*==============================================================================
- * cmd_sensor.h - Sensor measurement handlers (battery / temperature / IMU)
- *============================================================================*/
-#ifndef CMD_SENSOR_H
-#define CMD_SENSOR_H
-
-#include "parser.h"
-
-int Cmd_msn(const ParsedCmd *cmd);   /* msn? -> rsn:  battery ADC measurement */
-int Cmd_mst(const ParsedCmd *cmd);   /* mst? -> rso:  TMP235 with piezo power cycle */
-int Cmd_msp(const ParsedCmd *cmd);   /* msp? -> rsp:  IMU 6-axis single read */
-/* Helper for the mbb? handler: sequentially measures battery / IMU / temperature, then emits a single rbb: response.
- * Called from Cmd_mbb() in cmd_piezo.c. */
-void all_sensors(void);
-
-#endif /* CMD_SENSOR_H */

project/ble_peripheral/ble_app_bladder_patch/command/parser.c

@@ -1,336 +0,0 @@
-/*==============================================================================
- * parser.c - BLE command parser / dispatcher
- *
- * Common module that parses binary command packets received over BLE and
- * dispatches them to the appropriate handler from the command table.
- *
- * Key point: this file does not know which Cmd_* functions exist.
- * cmd_table.c injects the table pointer at boot via dr_parser_init().
- *
- * Packet layout: [TAG 4B] [data N] [CRC16 2B (optional)]
- *   - TAG  : 4-char ASCII identifier (e.g. "mid?")
- *   - data : Big-Endian uint16 or ASCII
- *   - CRC16: present when g_plat.crc_check is true; trailing 2 bytes (LE)
- *
- * Flow:
- *   1) dr_cmd_parser()   - external entry point
- *   2) dr_parse_cmd()    - length / CRC verification + TAG/data split
- *   3) dr_cmd_dispatch() - walks the command table -> calls handler
- *
- * Error responses (all formatted as [err_tag 4B] [echo cmd_tag 4B] = 8 bytes):
- *   - rxs:  Too short    (< 4B, or < 7B with CRC enabled)
- *   - rxc:  CRC fail
- *   - rxd:  Disabled command
- *   - rxn:  NULL handler
- *   - rxx:  Unknown command
- *============================================================================*/
-
-#include "parser.h"
-#include <string.h>
-
-
-/*------------------------------------------------------------------------------
- * Globals (declared extern in header)
- *----------------------------------------------------------------------------*/
-dr_platform_if_t g_plat = { 0, 0, 0 };
-bool g_log_enable = false;
-
-
-/*------------------------------------------------------------------------------
- * Internal state - command table pointer injected via dr_parser_init()
- *----------------------------------------------------------------------------*/
-static const CmdEntry *m_cmd_table = NULL;
-static uint16_t        m_cmd_count = 0;
-
-
-/*==============================================================================
- * Internal utilities (static)
- *============================================================================*/
-
-/* Copy first 4 bytes of buffer into a null-terminated TAG string. */
-static void dr_copy_tag(const uint8_t *buf, char *tag_out)
-{
-    tag_out[0] = (char)buf[0];
-    tag_out[1] = (char)buf[1];
-    tag_out[2] = (char)buf[2];
-    tag_out[3] = (char)buf[3];
-    tag_out[4] = '\0';
-}
-
-/* Compare two 4-char TAGs (byte-by-byte, faster than memcmp here). */
-static bool dr_tag_eq(const char *tag, const char *key4)
-{
-    return (tag[0] == key4[0] &&
-            tag[1] == key4[1] &&
-            tag[2] == key4[2] &&
-            tag[3] == key4[3]);
-}
-
-
-/*==============================================================================
- * Public utilities - used by handlers
- *============================================================================*/
-
-bool dr_get_u16(const ParsedCmd *cmd, uint8_t word_index, uint16_t *out)
-{
-    uint8_t pos = (uint8_t)(word_index * 2);
-    if (cmd->data_len < (uint8_t)(pos + 2))
-    {
-        return false;
-    }
-    *out = (uint16_t)((uint16_t)cmd->data[pos] << 8) | (uint16_t)cmd->data[pos + 1];
-    return true;
-}
-
-void dr_get_ascii(const ParsedCmd *cmd, uint8_t offset, char *out, uint8_t max_len)
-{
-    uint8_t i;
-    uint8_t remain;
-
-    if (offset >= cmd->data_len)
-    {
-        out[0] = '\0';
-        return;
-    }
-
-    remain = (uint8_t)(cmd->data_len - offset);
-    if (remain > max_len)
-    {
-        remain = max_len;
-    }
-
-    for (i = 0; i < remain; i++)
-    {
-        out[i] = (char)cmd->data[offset + i];
-    }
-    out[remain] = '\0';
-}
-
-
-/*==============================================================================
- * CRC16 (Nordic SDK CRC-CCITT variant)
- *============================================================================*/
-
-uint16_t dr_crc16_compute(const uint8_t *p_data, uint32_t size, const uint16_t *p_crc)
-{
-    uint32_t i;
-    uint16_t crc = (p_crc == NULL) ? 0xFFFF : *p_crc;
-
-    for (i = 0; i < size; i++)
-    {
-        crc = (uint8_t)(crc >> 8) | (crc << 8);
-        crc ^= p_data[i];
-        crc ^= (uint8_t)(crc & 0xFF) >> 4;
-        crc ^= (crc << 8) << 4;
-        crc ^= ((crc & 0xFF) << 4) << 1;
-    }
-    return crc;
-}
-
-static bool dr_crc16_check(const uint8_t *p_data, uint32_t data_len, uint16_t expected_crc)
-{
-    return (dr_crc16_compute(p_data, data_len, NULL) == expected_crc);
-}
-
-/* Extract trailing 2 bytes (Little-Endian) as expected CRC and verify. */
-static bool dr_crc16_check_packet(const uint8_t *packet, uint32_t packet_len)
-{
-    uint16_t expected_crc;
-    uint32_t data_len;
-
-    if (packet_len < 2)
-    {
-        return false;
-    }
-
-    data_len = packet_len - 2;
-    expected_crc = (uint16_t)packet[packet_len - 2]
-                 | ((uint16_t)packet[packet_len - 1] << 8);
-
-    return dr_crc16_check(packet, data_len, expected_crc);
-}
-
-
-/*==============================================================================
- * Error response helper
- *
- * Packet: [err_tag 4B] [echo cmd_tag 4B] = 8 bytes = 4 words
- * CRC16 is appended automatically by the tx_bin layer.
- *============================================================================*/
-static void dr_send_error(const char *err_tag, const char *cmd_tag)
-{
-    if (g_plat.tx_bin)
-    {
-        uint8_t err_buf[8];
-        memcpy(&err_buf[0], err_tag, 4);
-        memcpy(&err_buf[4], cmd_tag, 4);
-        g_plat.tx_bin(err_buf, 4);
-    }
-}
-
-
-/*==============================================================================
- * Packet parser - raw buffer -> ParsedCmd
- *
- * Error responses (rxs: / rxc:) are emitted directly from this function.
- *============================================================================*/
-static bool dr_parse_cmd(const uint8_t *buffer, uint8_t length, ParsedCmd *out)
-{
-    uint8_t data_len;
-
-    /* Less than 4 bytes -> TAG cannot be identified */
-    if (length < 4)
-    {
-        dr_send_error("rxs:", "????");
-        if (g_plat.log && g_log_enable)
-        {
-            g_plat.log("[parser] too short (%u bytes) -> rxs:\r\n", length);
-        }
-        return false;
-    }
-
-    /* Extract TAG first (used in error echoes below) */
-    dr_copy_tag(buffer, out->tag);
-
-    /* CRC verification */
-    if (g_plat.crc_check)
-    {
-        if (length < 7)
-        {
-            dr_send_error("rxs:", out->tag);
-            if (g_plat.log && g_log_enable)
-            {
-                g_plat.log("[parser] CRC enabled but too short (%u) -> rxs:\r\n", length);
-            }
-            return false;
-        }
-
-        if (!dr_crc16_check_packet(buffer, length))
-        {
-            dr_send_error("rxc:", out->tag);
-            if (g_plat.log && g_log_enable)
-            {
-                g_plat.log("[parser] CRC mismatch '%s' -> rxc:\r\n", out->tag);
-            }
-            return false;
-        }
-
-        data_len = (uint8_t)(length - 4 - 2);  /* strip TAG and CRC */
-    }
-    else
-    {
-        data_len = (uint8_t)(length - 4);
-    }
-
-    if (data_len > DR_MAX_DATA)
-    {
-        data_len = DR_MAX_DATA;
-    }
-
-    if (data_len > 0)
-    {
-        memcpy(out->data, buffer + 4, data_len);
-    }
-    out->data_len = data_len;
-
-    return true;
-}
-
-
-/*==============================================================================
- * Command dispatcher
- *
- * Lower-cases the parsed TAG and walks the command table to find a matching
- * handler. Emits the matching error response on miss / disabled / NULL handler.
- *============================================================================*/
-static int dr_cmd_dispatch(const ParsedCmd *cmd)
-{
-    uint16_t i;
-    char tag_lower[5];
-
-    if (m_cmd_table == NULL)
-    {
-        dr_send_error("rxn:", cmd->tag);
-        if (g_plat.log)
-        {
-            g_plat.log("[parser] table not initialized -> rxn:\n");
-        }
-        return 0;
-    }
-
-    /* Case-insensitive matching */
-    for (i = 0; i < 4 && cmd->tag[i]; i++)
-    {
-        tag_lower[i] = (cmd->tag[i] >= 'A' && cmd->tag[i] <= 'Z') ? (cmd->tag[i] + 32) : cmd->tag[i];
-    }
-    tag_lower[i] = '\0';
-
-    for (i = 0; i < m_cmd_count; i++)
-    {
-        if (dr_tag_eq(tag_lower, m_cmd_table[i].tag))
-        {
-
-            if (!m_cmd_table[i].enabled)
-            {
-                dr_send_error("rxd:", cmd->tag);
-                if (g_plat.log && g_log_enable)
-                {
-                    g_plat.log("Command '%s' disabled -> rxd:\n", cmd->tag);
-                }
-                return 0;
-            }
-
-            if (m_cmd_table[i].handler == NULL)
-            {
-                dr_send_error("rxn:", cmd->tag);
-                if (g_plat.log)
-                {
-                    g_plat.log("[parser] NULL handler for '%s' -> rxn:\n", cmd->tag);
-                }
-                return 0;
-            }
-
-            return m_cmd_table[i].handler(cmd);
-        }
-    }
-
-    /* TAG not found in table */
-    dr_send_error("rxx:", cmd->tag);
-    if (g_plat.log && g_log_enable)
-    {
-        g_plat.log("Unknown TAG '%s' -> rxx:\n", cmd->tag);
-    }
-    return 0;
-}
-
-
-/*==============================================================================
- * Public API
- *============================================================================*/
-
-/* Called by cmd_table.c at boot to inject the command table. */
-void dr_parser_init(const CmdEntry *table, uint16_t count)
-{
-    m_cmd_table = table;
-    m_cmd_count = count;
-}
-
-/* Entry point - called from BLE NUS / UART receive callbacks.
- *
- * Returns:
- *    1 = command processed successfully
- *    0 = unknown TAG / disabled command (error response already sent)
- *   -1 = parse failure (rxs: / rxc: error response already sent)
- */
-int dr_cmd_parser(const uint8_t *buf, uint8_t len)
-{
-    ParsedCmd cmd;
-
-    if (!dr_parse_cmd(buf, len, &cmd))
-    {
-        if (g_plat.log) g_plat.log("[PARSER] PARSE FAIL\r\n");
-        return -1;
-    }
-
-    return dr_cmd_dispatch(&cmd);
-}

project/ble_peripheral/ble_app_bladder_patch/command/parser.h

@@ -1,75 +0,0 @@
-/*==============================================================================
- * parser.h - BLE command parser public API
- *
- * Parser infrastructure (parsing/CRC/dispatch) and command handlers are
- * decoupled:
- *   - Parser:   parser.c                          (defines the functions here)
- *   - Handlers: handlers/cmd_device.c / cmd_info.c / ...
- *   - Table:    cmd_table.c                       (injected via cmd_table_init)
- *
- * Boot sequence: main.c calls cmd_table_init() -> dr_parser_init() to inject
- * the command table pointer into the parser.
- *============================================================================*/
-#ifndef PARSER_H
-#define PARSER_H
-
-#include <stdint.h>
-#include <stdbool.h>
-
-/* Maximum payload length (excludes TAG) */
-#define DR_MAX_DATA 128
-
-/*------------------------------------------------------------------------------
- * Platform interface
- *----------------------------------------------------------------------------*/
-typedef struct {
-    void (*log)(const char *fmt, ...);
-    void (*tx_bin)(const uint8_t *buf, uint16_t len);  /* len: word (uint16) count */
-    bool crc_check;
-} dr_platform_if_t;
-
-extern dr_platform_if_t g_plat;
-extern bool             g_log_enable;
-
-/*------------------------------------------------------------------------------
- * Parsed command - input passed to handlers
- *----------------------------------------------------------------------------*/
-typedef struct {
-    char    tag[5];               /* Command TAG (e.g. "mid?") + '\0' */
-    uint8_t data[DR_MAX_DATA];    /* Payload bytes following the TAG */
-    uint8_t data_len;             /* Valid length of data[] */
-} ParsedCmd;
-
-/*------------------------------------------------------------------------------
- * Command table entry - defined in cmd_table.c
- *----------------------------------------------------------------------------*/
-typedef struct {
-    char tag[5];                              /* TAG: 4 chars + '\0' */
-    bool enabled;                             /* false -> rxd: response */
-    int  (*handler)(const ParsedCmd *cmd);    /* 1=success, 0=failure */
-} CmdEntry;
-
-/*------------------------------------------------------------------------------
- * Parser API
- *----------------------------------------------------------------------------*/
-
-/* Inject command table (called once at boot). */
-void dr_parser_init(const CmdEntry *table, uint16_t count);
-
-/* Entry point: invoked from BLE NUS / UART receive callbacks. */
-int  dr_cmd_parser(const uint8_t *buf, uint8_t len);
-
-/*------------------------------------------------------------------------------
- * Public utilities for handlers
- *----------------------------------------------------------------------------*/
-
-/* Extract Big-Endian uint16. Returns false if not enough data. */
-bool dr_get_u16(const ParsedCmd *cmd, uint8_t word_index, uint16_t *out);
-
-/* Extract null-terminated ASCII string. out must hold at least max_len+1. */
-void dr_get_ascii(const ParsedCmd *cmd, uint8_t offset, char *out, uint8_t max_len);
-
-/* CRC16 (Nordic SDK CRC-CCITT variant). p_crc=NULL -> initial 0xFFFF. */
-uint16_t dr_crc16_compute(const uint8_t *p_data, uint32_t size, const uint16_t *p_crc);
-
-#endif /* PARSER_H */

project/ble_peripheral/ble_app_bladder_patch/debug_print.h

@@ -0,0 +1,33 @@
+// file: debug_print.h
+/*******************************************************************************
+ * [한국어 설명] 디버그 출력 매크로 (조건부 컴파일)
+ *
+ * SEGGER RTT(Real Time Transfer)를 이용한 디버그 출력 매크로.
+ * J-Link 디버거를 통해 실시간으로 로그를 PC에 전송한다.
+ * UART를 사용하지 않으므로 시스템 타이밍에 미치는 영향이 적다.
+ *
+ * === 조건부 컴파일 ===
+ * ENABLE_PRINTF = 1: DBG_PRINTF가 SEGGER_RTT_printf(채널0)로 치환됨
+ *                    -> 실제 로그 출력 (디버깅 시 사용)
+ * ENABLE_PRINTF = 0: DBG_PRINTF가 빈 매크로로 치환됨
+ *                    -> 코드에서 완전히 제거 (릴리스 빌드 시 사용)
+ *
+ * === 사용법 ===
+ * DBG_PRINTF("값: %d\r\n", value);  // printf와 동일한 포맷 문자열
+ * 출력은 SEGGER RTT Viewer 또는 J-Link RTT Client에서 확인.
+ ******************************************************************************/
+#ifndef DEBUG_PRINT_H
+#define DEBUG_PRINT_H
+
+#define ENABLE_PRINTF 1  /* 1=디버그 출력 활성화, 0=전역 비활성화 */
+
+#if ENABLE_PRINTF
+    #include "SEGGER_RTT.h"
+    /* SEGGER RTT 채널 0으로 포맷 문자열 출력 */
+    #define DBG_PRINTF(...) SEGGER_RTT_printf(0, __VA_ARGS__)
+#else
+    /* 빈 매크로: 컴파일러가 호출 코드를 완전히 제거 */
+    #define DBG_PRINTF(...) // Do nothing
+#endif
+
+#endif // DEBUG_PRINT_H

project/ble_peripheral/ble_app_bladder_patch/fstorage.c

@@ -0,0 +1,496 @@
+/*******************************************************************************
+ TEST medi50  Dec 23
+ ******************************************************************************/
+
+/**
+ * @file  fstorage.c
+ * @brief FDS(Flash Data Storage) 기반 설정 저장 모듈
+ *
+ * 외부 EEPROM을 대체하여 nRF52840 내장 플래시에 장치 설정을 저장/로드한다.
+ *
+ * [레코드 관리]
+ *   - CONFIG_FILE = 0x8010, CONFIG_REC_KEY = 0x7010 으로 단일 레코드를 관리한다.
+ *
+ * [config_data_t 구조체 필드]
+ *   - magic(4B)            : 포맷 확인용 매직 넘버 (0x20231226 -> 0x20260318(기본값 재생성을 위해 매직넘버 변경))
+ *   - hw_no(12B)           : 하드웨어 버전 (기본값: "")
+ *   - serial_no(12B)       : 시리얼 번호 (기본값: "VB026030000")
+ *   - passkey(6B)          : BLE 페어링용 정적 패스키(기본값: "123456")
+ *   - bond_data_delete(1B) : 본딩 데이터 삭제 플래그(기본값: 1)
+ *   - reset_status(1B)     : 리셋 상태 값(기본값: 99)
+ *   - life_cycle(4B)       : 장치 사용 횟수(기본값: 0)
+ *   - piezo_freq_option    : Piezo 송신 펄스 주파수(기본값: 1=2.1MHz)
+ *   - piezo_cycles         : Piezo 송신 펄스 사이클 수 (기본값: 7)
+ *   - piezo_averaging      : Piezo 채널당 반복 측정 횟수 (기본값: 5)
+ *   - piezo_delay_us       : Piezo 송신 펄스 출력 후 ADC 시작 시까지 대기시간(us) (기본값: 10)
+ *   - piezo_num_samples    : Piezo 측정 ADC 샘플 개수 (기본값: 100)
+ *
+ * [매직 넘버 검증]
+ *   - 플래시에서 로드한 데이터의 magic 값이 0x20231226과 일치하는지 확인하여
+ *     유효한 설정인지 판별한다. 불일치 시 기본값으로 초기화한다.
+ *
+ * [FDS 이벤트 후처리]
+ *   - FDS 쓰기/업데이트 완료 이벤트 수신 후, 대기 중인 후처리를 수행한다:
+ *     전원 OFF (go_device_power_off), 슬립 진입 (go_sleep_mode_enter),
+ *     시스템 리셋 (go_NVIC_SystemReset)
+ */
+
+#include "sdk_config.h"
+
+#include <string.h>
+
+#include "app_error.h"
+#include "boards.h"
+#include "nrf_fstorage.h"
+#include "nrf_soc.h"
+#include "nrf_strerror.h"
+#include "sdk_config.h"
+#include "nrf_fstorage_sd.h"
+#include "nrf_delay.h"
+#include "ble_gap.h"
+#include "fds.h"
+
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+
+#include "fstorage.h"
+#include "nrf_pwr_mgmt.h"
+#include "main.h"
+#include "debug_print.h"
+
+
+/* FDS 레코드 식별자: 파일 ID와 레코드 키로 단일 설정 레코드를 관리 */
+
+#define CONFIG_FILE     (0x8010)
+#define CONFIG_REC_KEY  (0x7010)
+
+/* 매직 넘버: 플래시에 저장된 데이터가 유효한 설정인지 판별하는 데 사용 */
+#define CONFIG_MAGIC_NUMBER_VALUE          (0x20260319)
+
+/* 전역 설정 데이터 구조체 인스턴스 */
+config_data_t m_config;
+
+/* FDS 쓰기 완료 후 수행할 후처리 플래그 (main.c에서 선언) */
+extern bool go_device_power_off;   /* 전원 OFF 요청 */
+extern bool go_sleep_mode_enter;   /* 슬립 모드 진입 요청 */
+extern bool go_NVIC_SystemReset;   /* 시스템 리셋 요청 */
+
+/* FDS 초기화 완료 여부 플래그 (fds_evt_handler에서 true로 설정) */
+static bool volatile m_fds_initialized;
+
+/* FDS 쓰기 진행 중 플래그: true이면 쓰기 완료 대기 중 */
+bool fds_flag_write = false;
+
+/* FDS에 기록할 레코드 템플릿 (m_config 데이터를 가리킴) */
+static fds_record_t const m_dummy_record =
+{
+    .file_id           = CONFIG_FILE,
+    .key               = CONFIG_REC_KEY,
+    .data.p_data       = (void const *)&m_config,
+    /* The length of a record is always expressed in 4-byte units (words). */
+    .data.length_words = (sizeof(m_config) + 3) / sizeof(uint32_t),
+};
+
+
+/* 기본 설정값 상수 */
+int8_t	reset_status_dflt = 99;                     /* 리셋 상태 기본값 */
+uint8_t static_passkey_dflt[6] = DEFAULT_PASSKEY;   /* BLE 패스키 기본값 */
+
+/**
+ * @brief 기본 설정값 초기화
+ *
+ * m_config 구조체의 각 필드를 공장 초기값으로 설정한다.
+ * 플래시에 유효한 설정이 없거나 매직 넘버가 불일치할 때 호출된다.VB0HW0000
+ */
+void fds_default_value_set(void)
+{
+	/* HW Number - default from HARDWARE_VERSION */
+	memset(m_config.hw_no, 0, 12);
+	memcpy(m_config.hw_no, HARDWARE_VERSION, strlen(HARDWARE_VERSION));
+
+	/* Serial Number - default from SERIAL_NUMBER */
+	memset(m_config.serial_no, 0, 12);
+	memcpy(m_config.serial_no, SERIAL_NUMBER, strlen(SERIAL_NUMBER));
+
+	/* Static Passkey */
+	memcpy(m_config.static_passkey, static_passkey_dflt, 6);
+
+	/* Bond data delete */
+	m_config.bond_data_delete = 1;
+
+	/* Reset status */
+	m_config.reset_status = reset_status_dflt;
+
+	/* Device usage count */
+	m_config.life_cycle  = 0;
+
+	/* 피에조 측정 파라미터 기본값 */
+	m_config.piezo_freq_option = 1;      /* 2.1MHz */
+	m_config.piezo_delay_us    = 10;     /* 버스트 후 10us */
+	m_config.piezo_num_samples = 100;    /* 100샘플 */
+	m_config.piezo_cycles      = 7;      /* 7사이클 */
+	m_config.piezo_averaging   = 3;      /* 3회 평균화 */
+}
+
+
+/* 마지막 FDS 이벤트 ID 저장 (디버깅용) */
+static volatile uint8_t fds_last_evt = 0xFF;
+
+/**
+ * @brief FDS 이벤트 콜백 핸들러
+ *
+ * FDS 내부에서 비동기 작업이 완료될 때 호출된다.
+ * - FDS_EVT_INIT   : FDS 초기화 완료 → m_fds_initialized 플래그 설정
+ * - FDS_EVT_WRITE  : 새 레코드 쓰기 완료 → fds_flag_write 해제
+ * - FDS_EVT_UPDATE : 레코드 업데이트 완료 → fds_flag_write 해제 후
+ *                    대기 중인 전원 OFF / 슬립 진입 / 시스템 리셋 수행
+ * - FDS_EVT_DEL_RECORD / FDS_EVT_DEL_FILE / FDS_EVT_GC : 현재 미사용
+ */
+static void fds_evt_handler( fds_evt_t const *p_evt )
+{
+    fds_last_evt = p_evt->id;
+
+    switch( p_evt->id )
+    {
+        case FDS_EVT_INIT:
+            if( p_evt->result == NRF_SUCCESS )
+            {
+                m_fds_initialized = true;
+            }
+            break;
+
+        case FDS_EVT_WRITE:
+            {
+                fds_flag_write = false;
+            }
+            break;
+
+		case FDS_EVT_UPDATE:
+			{
+				fds_flag_write = false;
+
+                if(go_device_power_off == true) {
+                    /* After flash writing completed, System Power Off */
+                    device_power_off();
+                }
+                if(go_sleep_mode_enter == true) {
+                    /* After flash writing completed, System go to Sleep Mode */
+                    sleep_mode_enter();
+                }
+                if(go_NVIC_SystemReset == true) {
+                    /* After flash writing completed, System Reset */
+                    DBG_PRINTF("Off FDS_EVENT\r\n");
+                    NVIC_SystemReset();
+                }
+			}
+			break;
+
+		case FDS_EVT_DEL_RECORD:
+			break;
+
+		case FDS_EVT_DEL_FILE:
+			break;
+
+		case FDS_EVT_GC:
+			break;
+
+		default:
+            break;
+    }
+}
+
+
+/**
+ * @brief FDS 초기화 완료 대기
+ *
+ * m_fds_initialized 플래그가 true가 될 때까지 대기한다.
+ * 최대 3초(3000ms) 타임아웃이 설정되어 있으며,
+ * 타임아웃 시 에러 로그를 출력하고 반환한다.
+ */
+static void wait_for_fds_ready( void )
+{
+    uint32_t timeout = 0;
+    while( !m_fds_initialized )
+    {
+        nrf_pwr_mgmt_run();
+        nrf_delay_ms(1);
+        timeout++;
+        if (timeout > 3000)  /* 3 second timeout */
+        {
+            DBG_PRINTF("[FDS] TIMEOUT!\r\n");
+            break;
+        }
+    }
+}
+
+
+/**
+ * @brief FDS에서 설정 로드
+ *
+ * 플래시에서 CONFIG_FILE/CONFIG_REC_KEY 레코드를 검색하여 m_config에 로드한다.
+ *
+ * 동작 흐름:
+ * 1. fds_record_find()로 레코드 검색 (실패 시 최대 10회 재시도, 100ms 간격)
+ * 2. 레코드 발견 시:
+ *    - fds_record_open()으로 열기 (CRC 에러 시 삭제 후 기본값으로 재생성)
+ *    - 데이터를 m_config로 복사
+ *    - 매직 넘버 불일치 시 기존 레코드 삭제 → 기본값 설정 → 재기록
+ * 3. 레코드 미발견 시:
+ *    - 기본값으로 새 레코드 생성 후 다시 로드
+ */
+void config_load( void )
+{
+    ret_code_t rc;
+    fds_record_desc_t desc = { 0 };
+    fds_find_token_t  tok  = { 0 };
+    uint8_t cfg_retry = 0;
+    uint32_t fds_wait_cnt = 0;  // FDS write 대기 카운터
+
+ cfg_load_start:
+    memset((char *)&desc, 0, sizeof(desc));
+    memset((char *)&tok, 0, sizeof(tok));
+    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
+    DBG_PRINTF("[FDS] find rc=%u\r\n", rc);
+
+    /* FDS may not be fully ready yet - retry before writing defaults */
+    if (rc != NRF_SUCCESS && cfg_retry < 10)
+    {
+        cfg_retry++;
+        DBG_PRINTF("[FDS] retry %u/10\r\n", cfg_retry);
+        nrf_delay_ms(100);
+        goto cfg_load_start;
+    }
+
+    if( rc == NRF_SUCCESS )
+    {
+        /* A config file is in flash. Let's update it. */
+        fds_flash_record_t config = { 0 };
+
+        /* Open the record and read its contents. */
+        rc = fds_record_open(&desc, &config);
+        if (rc != NRF_SUCCESS)
+        {
+            /* CRC error or corrupt record - delete and use defaults */
+            DBG_PRINTF("[FDS] open ERR=%u, deleting\r\n", rc);
+            (void)fds_record_delete(&desc);
+            fds_gc();
+            fds_default_value_set();
+            goto cfg_load_write_new;
+        }
+
+        /* Copy the configuration from flash into m_config. */
+        memcpy(&m_config, config.p_data, sizeof(config_data_t));
+
+        /* Close the record when done reading. */
+        rc = fds_record_close(&desc);
+        APP_ERROR_CHECK(rc);
+
+        DBG_PRINTF("[FDS] magic=0x%08X (expect 0x%08X)\r\n", m_config.magic_number, CONFIG_MAGIC_NUMBER_VALUE);
+
+        if( m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE )
+        { // first init
+            DBG_PRINTF("[FDS] FORMAT! overwriting with defaults\r\n");
+            rc = fds_record_delete(&desc);
+            APP_ERROR_CHECK(rc);
+            m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+
+			// default....
+			fds_default_value_set();
+
+			/* Write the updated record to flash. */
+            rc = fds_record_update(&desc, &m_dummy_record);
+            if( (rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH) )
+            {
+                rc = fds_gc();
+                APP_ERROR_CHECK(rc);
+            }
+            else
+            {
+                APP_ERROR_CHECK(rc);
+            }
+            goto cfg_load_start;
+        }
+        DBG_PRINTF("[FDS] Loaded OK\r\n");
+    }
+    else
+    {
+        cfg_load_write_new:
+        DBG_PRINTF("[FDS] New - writing defaults\r\n");
+        /* System config not found (or corrupt); write a new one. */
+        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+
+		// default....
+		fds_default_value_set();
+
+        fds_flag_write = true;
+        rc = fds_record_write(&desc, &m_dummy_record);
+        
+        if (rc != NRF_SUCCESS)
+        {
+            DBG_PRINTF("[FDS] Write ERR=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+
+        fds_wait_cnt = 0;   // 
+
+        while(fds_flag_write && fds_wait_cnt < 3000)  // FDS write 최대 3초 타임아웃
+        {
+            nrf_pwr_mgmt_run();
+            nrf_delay_ms(1);
+            fds_wait_cnt++;
+        }
+
+        if(fds_flag_write)  // FDS write 타임아웃 시 플래그 강제 해제
+        {
+            DBG_PRINTF("[FDS] write TIMEOUT! forcing flag clear\r\n");
+            fds_flag_write = false;
+        }
+        
+        if( (rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH) )
+        {
+            rc = fds_gc();
+            APP_ERROR_CHECK(rc);
+        }
+        else
+        {
+            APP_ERROR_CHECK(rc);
+        }
+
+        NRF_LOG_FLUSH();
+        goto cfg_load_start;
+    }
+}
+
+
+/**
+ * @brief 현재 설정을 FDS에 저장
+ *
+ * m_config의 내용을 플래시에 기록한다.
+ *
+ * 동작 흐름:
+ * 1. 이전 FDS 쓰기 작업이 진행 중이면 최대 3초 대기
+ * 2. 매직 넘버가 올바르지 않으면 보정
+ * 3. 기존 레코드가 있으면 fds_record_update()로 갱신
+ *    - 플래시 공간 부족 시 GC(가비지 컬렉션) 수행 후 재시도
+ * 4. 기존 레코드가 없으면 fds_record_write()로 새로 생성
+ *
+ * 참고: 쓰기 완료는 fds_evt_handler()에서 비동기로 처리되며,
+ *       완료 후 전원 OFF/슬립/리셋 등의 후처리가 수행될 수 있다.
+ */
+void config_save( void )
+{
+    ret_code_t rc;
+    fds_record_desc_t desc = { 0 };
+    fds_find_token_t  tok  = { 0 };
+
+    DBG_PRINTF("[CFG_SAVE] start\r\n");
+
+    /* Wait for any previous FDS operation to complete */
+    if (fds_flag_write)
+    {
+        uint32_t wait_cnt = 0;
+
+        DBG_PRINTF("[CFG_SAVE] waiting for prev FDS op...\r\n");
+        while (fds_flag_write && wait_cnt < 3000)
+        {
+            nrf_pwr_mgmt_run();
+            nrf_delay_ms(1);
+            wait_cnt++;
+        }
+        if (fds_flag_write)
+        {
+            DBG_PRINTF("[CFG_SAVE] TIMEOUT! forcing flag clear\r\n");
+            fds_flag_write = false;
+        }
+    }
+
+    if( m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE )
+    {
+        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+    }
+
+    memset((char *)&desc, 0, sizeof(desc));
+    memset((char *)&tok, 0, sizeof(tok));
+    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
+    DBG_PRINTF("[CFG_SAVE] find rc=%u\r\n", rc);
+
+    if( rc == NRF_SUCCESS )
+    {
+        fds_flag_write = true;
+        rc = fds_record_update(&desc, &m_dummy_record);
+        DBG_PRINTF("[CFG_SAVE] update rc=%u\r\n", rc);
+
+        if( rc == FDS_ERR_NO_SPACE_IN_FLASH )
+        {
+            fds_flag_write = false;
+            rc = fds_gc();
+            DBG_PRINTF("[CFG_SAVE] gc rc=%u, retry\r\n", rc);
+            fds_flag_write = true;
+            rc = fds_record_update(&desc, &m_dummy_record);
+            DBG_PRINTF("[CFG_SAVE] retry rc=%u\r\n", rc);
+        }
+
+        if( rc != NRF_SUCCESS )
+        {
+            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+    }
+    else
+    {
+        DBG_PRINTF("[CFG_SAVE] not found, writing new\r\n");
+        fds_flag_write = true;
+        rc = fds_record_write(&desc, &m_dummy_record);
+        DBG_PRINTF("[CFG_SAVE] write rc=%u\r\n", rc);
+        
+        if( rc != NRF_SUCCESS )
+        {
+            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+    }
+
+    DBG_PRINTF("[CFG_SAVE] done\r\n");
+}
+
+
+/**
+ * @brief config_load()의 래퍼 함수
+ *
+ * 외부 모듈에서 설정 로드를 요청할 때 사용한다.
+ */
+void fs_set_value(void)
+{
+	config_load();
+}
+
+/**
+ * @brief FDS 초기화
+ *
+ * 부팅 시 호출되어 FDS 모듈을 초기화한다.
+ * 1. fds_register()로 이벤트 핸들러 등록
+ * 2. fds_init()로 FDS 초기화 시작
+ * 3. wait_for_fds_ready()로 초기화 완료 대기 (최대 3초)
+ * 4. fds_stat()로 플래시 상태 확인
+ */
+void fs_storage_init(void)
+{
+    ret_code_t rc;
+
+    /* Register first to receive an event when initialization is complete. */
+    rc = fds_register(fds_evt_handler);
+    APP_ERROR_CHECK(rc);
+
+    rc = fds_init();
+    APP_ERROR_CHECK(rc);
+
+    /* Wait for fds to initialize. */
+    wait_for_fds_ready();
+
+    fds_stat_t stat = { 0 };
+    rc = fds_stat(&stat);
+    APP_ERROR_CHECK(rc);
+
+    DBG_PRINTF("[FDS] OK\r\n");
+}

project/ble_peripheral/ble_app_bladder_patch/fstorage.h

@@ -0,0 +1,87 @@
+/*******************************************************************************
+ * @file	fstorage.h
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief	FDS(Flash Data Storage) 기반 설정 저장 모듈 인터페이스
+ *******************************************************************************
+ *
+ * [헤더 개요]
+ * nRF52840 내장 플래시에 디바이스 설정을 저장/로드하는 FDS 모듈의 공용 API.
+ * 외부 EEPROM을 대체하며, SoftDevice와 공존하여 플래시를 안전하게 관리한다.
+ *
+ * [config_data_t 구조체] (45바이트, 패킹됨)
+ *   magic_number(4B): 포맷 확인용 (0x20231226)
+ *   hw_no(12B): 하드웨어 번호
+ *   serial_no(12B): 시리얼 번호 (BLE 디바이스 이름으로도 사용)
+ *   static_passkey(6B): BLE 페어링 패스키 (숫자 6자리)
+ *   bond_data_delete(1B): 본딩 삭제 플래그
+ *   reset_status(1B): 리셋 상태 코드
+ *   pd_adc_cnt(1B): ADC 샘플링 횟수
+ *   pd_delay_us(2B): PD 안정화 딜레이 (마이크로초)
+ *   life_cycle(4B): 디바이스 사용 횟수
+ *
+ * [주요 API]
+ *   fs_storage_init(): FDS 초기화 (부트 시 1회)
+ *   config_load():     FDS에서 설정 로드 (없으면 기본값 생성)
+ *   config_save():     현재 설정을 FDS에 저장
+ *
+ ******************************************************************************/
+
+#ifndef IHP_FSTORAGE_H_
+#define IHP_FSTORAGE_H_
+
+#include "sdk_config.h"
+
+#include "nordic_common.h"
+#include <stdint.h>
+
+/* -------------------------------------------------------------------------
+* 기본 버전 정보 (FDS 기본값 및 빈 필드 복구 시 사용) 
+* 
+* 하드웨어 식별 코드
+*   - VBTHW0100 = 개발(시험)용 Ver 1.00
+*   - VB0HW0100 = 양산용 Ver 1.00
+*
+* Firmware 식별 코드
+*   - VBTFW0100 = 개발(시험)용 Ver 1.00
+*   - VB0FW0100 = 양산용 Ver 1.00
+*
+* 시리얼 넘버 식별 코드
+*   - VBT26030001 = 개발(시험)용 26년 3월 생산 1번
+*   - VB026030001 = 양산용 26년 3월 생산 1번
+------------------------------------------------------------------------- */
+#define HARDWARE_VERSION                "VBTHW0100"
+#define SERIAL_NUMBER                   "VBT26030001"
+#define DEFAULT_PASSKEY                 "123456"
+
+#pragma pack(1)
+typedef struct
+{
+	uint32_t 	magic_number;       /* 4B  - 포맷 확인용 매직 넘버 */
+	char        hw_no[12];          /* 12B - HW Version */
+	char        serial_no[12];      /* 12B - Serial Number */
+	uint8_t     static_passkey[6];  /* 6B  - BLE Passkey */
+	uint8_t     bond_data_delete;   /* 1B  - Bond delete flag */
+	int8_t      reset_status;       /* 1B  - Reset status */
+	uint32_t    life_cycle;         /* 4B  - Device usage count */
+
+	/* Piezo 측정 파라미터 - 8B */
+	uint8_t     piezo_freq_option;  /* 1B  - Frequency : 송신 펄스 주파수 (0=1.8M, 1=2.1M, 2=2.0M, 3=1.7M) */
+	uint8_t     piezo_cycles;       /* 1B  - Burst Cycle : 송신 펄스 사이클 수 (3~7) */
+	uint16_t    piezo_averaging;    /* 2B  - 평균화 수 : 채널당 반복 측정 횟수 (1~10) */
+	uint16_t    piezo_delay_us;     /* 2B  - 대기 시간(Delay) : 송신 펄스 출력 후 ADC 시작 시까지 대기시간 (us) (0~30) */
+	uint16_t    piezo_num_samples;  /* 2B  - 측정 ADC 샘플 개수 (80~140) */
+} config_data_t;  /* Total: 48 bytes - FDS에 저장하는 디바이스 설정 */
+
+extern config_data_t m_config;
+
+void fds_default_value_set(void);
+void config_load( void );
+void config_save( void );
+
+void fs_set_value(void);
+void fs_storage_init(void);
+
+#endif /* IHP_FSTORAGE_H_ */
+

project/ble_peripheral/ble_app_bladder_patch/hal/fds/fstorage.c

@@ -1,456 +0,0 @@
-/*==============================================================================
- * fstorage.c - FDS (Flash Data Storage) configuration module
- *
- * Stores and loads device configuration to/from nRF52840 internal flash,
- * replacing external EEPROM. Coexists safely with the SoftDevice.
- *
- * Record management:
- *   CONFIG_FILE = 0x8010, CONFIG_REC_KEY = 0x7010 (single record)
- *
- * Magic number validation:
- *   Data loaded from flash is checked against CONFIG_MAGIC_NUMBER_VALUE.
- *   Mismatch -> reinitialise with factory defaults.
- *
- * FDS event post-processing:
- *   After a write/update completes, pending actions are executed:
- *   power-off (go_device_power_off), sleep (go_sleep_mode_enter),
- *   system reset (go_NVIC_SystemReset).
- *============================================================================*/
-
-#include "sdk_config.h"
-
-#include <string.h>
-
-#include "app_error.h"
-#include "boards.h"
-#include "nrf_fstorage.h"
-#include "nrf_soc.h"
-#include "nrf_strerror.h"
-#include "sdk_config.h"
-#include "nrf_fstorage_sd.h"
-#include "nrf_delay.h"
-#include "ble_gap.h"
-#include "fds.h"
-
-#include "nrf_log.h"
-#include "nrf_log_ctrl.h"
-#include "nrf_log_default_backends.h"
-
-#include "fstorage.h"
-#include "nrf_pwr_mgmt.h"
-#include "main.h"
-#include "debug_print.h"
-
-
-/* FDS record identifiers */
-#define CONFIG_FILE     (0x8010)
-#define CONFIG_REC_KEY  (0x7010)
-
-/* Magic number used to validate stored data */
-#define CONFIG_MAGIC_NUMBER_VALUE          (0x20260319)
-
-/* Global configuration instance */
-config_data_t m_config;
-
-/* Post-processing flags (declared in main.c) */
-extern bool go_device_power_off;
-extern bool go_sleep_mode_enter;
-extern bool go_NVIC_SystemReset;
-
-/* FDS initialisation complete flag (set in fds_evt_handler) */
-static bool volatile m_fds_initialized;
-
-/* FDS write-in-progress flag */
-bool fds_flag_write = false;
-
-/* FDS record template pointing to m_config */
-static fds_record_t const m_dummy_record =
-{
-    .file_id           = CONFIG_FILE,
-    .key               = CONFIG_REC_KEY,
-    .data.p_data       = (void const *)&m_config,
-    /* The length of a record is always expressed in 4-byte units (words). */
-    .data.length_words = (sizeof(m_config) + 3) / sizeof(uint32_t),
-};
-
-
-/* Default values */
-int8_t  reset_status_dflt = 99;
-uint8_t static_passkey_dflt[6] = DEFAULT_PASSKEY;
-
-/*==============================================================================
- * fds_default_value_set - Initialise m_config with factory defaults
- *
- * Called when flash contains no valid configuration or the magic number
- * does not match.
- *============================================================================*/
-void fds_default_value_set(void)
-{
-    /* HW number */
-    memset(m_config.hw_no, 0, 12);
-    memcpy(m_config.hw_no, HARDWARE_VERSION, strlen(HARDWARE_VERSION));
-
-    /* Serial number */
-    memset(m_config.serial_no, 0, 12);
-    memcpy(m_config.serial_no, SERIAL_NUMBER, strlen(SERIAL_NUMBER));
-
-    /* Static passkey */
-    memcpy(m_config.static_passkey, static_passkey_dflt, 6);
-
-    /* Bond delete — default: no pending delete */
-    m_config.bond_data_delete = 0;
-
-    /* Reset status */
-    m_config.reset_status = reset_status_dflt;
-
-    /* Device usage count */
-    m_config.life_cycle  = 0;
-
-    /* Piezo measurement parameter defaults */
-    m_config.piezo_freq_option = 1;      /* 2.1 MHz */
-    m_config.piezo_delay_us    = 10;     /* 10 us after burst */
-    m_config.piezo_num_samples = 100;    /* 100 samples */
-    m_config.piezo_cycles      = 7;      /* 7 cycles */
-    m_config.piezo_averaging   = 3;      /* 3x averaging */
-
-    /* Factory provisioning — default: not provisioned */
-    m_config.factory_provisioned = 0;
-}
-
-
-/* Last FDS event ID (for debugging) */
-static volatile uint8_t fds_last_evt = 0xFF;
-
-/*==============================================================================
- * fds_evt_handler - FDS event callback
- *
- * FDS_EVT_INIT   : initialisation complete -> set m_fds_initialized
- * FDS_EVT_WRITE  : new record written       -> clear fds_flag_write
- * FDS_EVT_UPDATE : record updated            -> clear flag, then execute any
- *                  pending power-off / sleep / system reset
- *============================================================================*/
-static void fds_evt_handler( fds_evt_t const *p_evt )
-{
-    fds_last_evt = p_evt->id;
-
-    switch (p_evt->id)
-    {
-        case FDS_EVT_INIT:
-            if (p_evt->result == NRF_SUCCESS)
-            {
-                m_fds_initialized = true;
-            }
-            break;
-
-        case FDS_EVT_WRITE:
-            fds_flag_write = false;
-            break;
-
-        case FDS_EVT_UPDATE:
-            fds_flag_write = false;
-
-            if (go_device_power_off == true)
-            {
-                device_power_off();
-            }
-            if (go_sleep_mode_enter == true)
-            {
-                sleep_mode_enter();
-            }
-            if (go_NVIC_SystemReset == true)
-            {
-                DBG_PRINTF("Off FDS_EVENT\r\n");
-                NVIC_SystemReset();
-            }
-            break;
-
-        case FDS_EVT_DEL_RECORD:
-            break;
-
-        case FDS_EVT_DEL_FILE:
-            break;
-
-        case FDS_EVT_GC:
-            break;
-
-        default:
-            break;
-    }
-}
-
-
-/*==============================================================================
- * wait_for_fds_ready - Block until FDS initialisation completes
- *
- * Times out after 3 seconds with an error log.
- *============================================================================*/
-static void wait_for_fds_ready( void )
-{
-    uint32_t timeout = 0;
-    while(!m_fds_initialized)
-    {
-        nrf_pwr_mgmt_run();
-        nrf_delay_ms(1);
-        timeout++;
-        if (timeout > 3000)
-        {
-            DBG_PRINTF("[FDS] TIMEOUT!\r\n");
-            break;
-        }
-    }
-}
-
-
-/*==============================================================================
- * config_load - Load configuration from FDS
- *
- * Flow:
- * 1. Search for CONFIG_FILE / CONFIG_REC_KEY (retry up to 10x, 100 ms apart)
- * 2. If found:
- *    - Open the record (on CRC error: delete and regenerate defaults)
- *    - Copy into m_config
- *    - Validate magic number; on mismatch: delete -> defaults -> rewrite
- * 3. If not found:
- *    - Write factory defaults as a new record, then reload
- *============================================================================*/
-void config_load( void )
-{
-    ret_code_t rc;
-    fds_record_desc_t desc = { 0 };
-    fds_find_token_t  tok  = { 0 };
-    uint8_t cfg_retry = 0;
-    uint32_t fds_wait_cnt = 0;
-
- cfg_load_start:
-    memset((char *)&desc, 0, sizeof(desc));
-    memset((char *)&tok, 0, sizeof(tok));
-    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
-    DBG_PRINTF("[FDS] find rc=%u\r\n", rc);
-
-    /* FDS may not be fully ready yet - retry before writing defaults */
-    if (rc != NRF_SUCCESS && cfg_retry < 10)
-    {
-        cfg_retry++;
-        DBG_PRINTF("[FDS] retry %u/10\r\n", cfg_retry);
-        nrf_delay_ms(100);
-        goto cfg_load_start;
-    }
-
-    if (rc == NRF_SUCCESS)
-    {
-        fds_flash_record_t config = { 0 };
-
-        rc = fds_record_open(&desc, &config);
-        if (rc != NRF_SUCCESS)
-        {
-            /* CRC error or corrupt record - delete and use defaults */
-            DBG_PRINTF("[FDS] open ERR=%u, deleting\r\n", rc);
-            (void)fds_record_delete(&desc);
-            fds_gc();
-            fds_default_value_set();
-            goto cfg_load_write_new;
-        }
-
-        memcpy(&m_config, config.p_data, sizeof(config_data_t));
-
-        rc = fds_record_close(&desc);
-        APP_ERROR_CHECK(rc);
-
-        DBG_PRINTF("[FDS] magic=0x%08X (expect 0x%08X)\r\n", m_config.magic_number, CONFIG_MAGIC_NUMBER_VALUE);
-
-        if (m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE)
-        {
-            DBG_PRINTF("[FDS] FORMAT! overwriting with defaults\r\n");
-            rc = fds_record_delete(&desc);
-            APP_ERROR_CHECK(rc);
-            m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
-
-            fds_default_value_set();
-
-            rc = fds_record_update(&desc, &m_dummy_record);
-            if ((rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH))
-            {
-                rc = fds_gc();
-                APP_ERROR_CHECK(rc);
-            }
-            else
-            {
-                APP_ERROR_CHECK(rc);
-            }
-            goto cfg_load_start;
-        }
-        DBG_PRINTF("[FDS] Loaded OK\r\n");
-    }
-    else
-    {
-        cfg_load_write_new:
-        DBG_PRINTF("[FDS] New - writing defaults\r\n");
-        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
-
-        fds_default_value_set();
-
-        fds_flag_write = true;
-        rc = fds_record_write(&desc, &m_dummy_record);
-
-        if (rc != NRF_SUCCESS)
-        {
-            DBG_PRINTF("[FDS] Write ERR=%u\r\n", rc);
-            fds_flag_write = false;
-        }
-
-        fds_wait_cnt = 0;
-
-        while (fds_flag_write && fds_wait_cnt < 3000)  /* 3 second timeout */
-        {
-            nrf_pwr_mgmt_run();
-            nrf_delay_ms(1);
-            fds_wait_cnt++;
-        }
-
-        if (fds_flag_write)
-        {
-            DBG_PRINTF("[FDS] write TIMEOUT! forcing flag clear\r\n");
-            fds_flag_write = false;
-        }
-
-        if ((rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH))
-        {
-            rc = fds_gc();
-            APP_ERROR_CHECK(rc);
-        }
-        else
-        {
-            APP_ERROR_CHECK(rc);
-        }
-
-        NRF_LOG_FLUSH();
-        goto cfg_load_start;
-    }
-}
-
-
-/*==============================================================================
- * config_save - Persist current configuration to FDS
- *
- * Flow:
- * 1. If a previous FDS write is in progress, wait up to 3 seconds
- * 2. Fix magic number if needed
- * 3. If existing record found: fds_record_update()
- *    - On no-space: GC then retry
- * 4. If not found: fds_record_write() (new record)
- *
- * Write completion is asynchronous (fds_evt_handler). Post-processing
- * (power-off / sleep / reset) may follow.
- *============================================================================*/
-void config_save( void )
-{
-    ret_code_t rc;
-    fds_record_desc_t desc = { 0 };
-    fds_find_token_t  tok  = { 0 };
-
-    DBG_PRINTF("[CFG_SAVE] start\r\n");
-
-    /* Wait for any previous FDS operation to complete */
-    if (fds_flag_write)
-    {
-        uint32_t wait_cnt = 0;
-
-        DBG_PRINTF("[CFG_SAVE] waiting for prev FDS op...\r\n");
-        while (fds_flag_write && wait_cnt < 3000)
-        {
-            nrf_pwr_mgmt_run();
-            nrf_delay_ms(1);
-            wait_cnt++;
-        }
-        if (fds_flag_write)
-        {
-            DBG_PRINTF("[CFG_SAVE] TIMEOUT! forcing flag clear\r\n");
-            fds_flag_write = false;
-        }
-    }
-
-    if (m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE)
-    {
-        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
-    }
-
-    memset((char *)&desc, 0, sizeof(desc));
-    memset((char *)&tok, 0, sizeof(tok));
-    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
-    DBG_PRINTF("[CFG_SAVE] find rc=%u\r\n", rc);
-
-    if (rc == NRF_SUCCESS)
-    {
-        fds_flag_write = true;
-        rc = fds_record_update(&desc, &m_dummy_record);
-        DBG_PRINTF("[CFG_SAVE] update rc=%u\r\n", rc);
-
-        if (rc == FDS_ERR_NO_SPACE_IN_FLASH)
-        {
-            fds_flag_write = false;
-            rc = fds_gc();
-            DBG_PRINTF("[CFG_SAVE] gc rc=%u, retry\r\n", rc);
-            fds_flag_write = true;
-            rc = fds_record_update(&desc, &m_dummy_record);
-            DBG_PRINTF("[CFG_SAVE] retry rc=%u\r\n", rc);
-        }
-
-        if (rc != NRF_SUCCESS)
-        {
-            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
-            fds_flag_write = false;
-        }
-    }
-    else
-    {
-        DBG_PRINTF("[CFG_SAVE] not found, writing new\r\n");
-        fds_flag_write = true;
-        rc = fds_record_write(&desc, &m_dummy_record);
-        DBG_PRINTF("[CFG_SAVE] write rc=%u\r\n", rc);
-
-        if ( rc != NRF_SUCCESS )
-        {
-            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
-            fds_flag_write = false;
-        }
-    }
-
-    DBG_PRINTF("[CFG_SAVE] done\r\n");
-}
-
-
-/*==============================================================================
- * fs_set_value - Wrapper for config_load()
- *============================================================================*/
-void fs_set_value(void)
-{
-    config_load();
-}
-
-/*==============================================================================
- * fs_storage_init - Initialise FDS
- *
- * Called once at boot:
- * 1. Register event handler
- * 2. Start FDS initialisation
- * 3. Wait for completion (up to 3 seconds)
- * 4. Verify flash stats
- *============================================================================*/
-void fs_storage_init(void)
-{
-    ret_code_t rc;
-
-    rc = fds_register(fds_evt_handler);
-    APP_ERROR_CHECK(rc);
-
-    rc = fds_init();
-    APP_ERROR_CHECK(rc);
-
-    wait_for_fds_ready();
-
-    fds_stat_t stat = { 0 };
-    rc = fds_stat(&stat);
-    APP_ERROR_CHECK(rc);
-
-    DBG_PRINTF("[FDS] OK\r\n");
-}

project/ble_peripheral/ble_app_bladder_patch/hal/fds/fstorage.h

@@ -1,83 +0,0 @@
-/*==============================================================================
- * fstorage.h - FDS (Flash Data Storage) configuration module interface
- *
- * Stores and loads device configuration to/from the nRF52840 internal flash
- * via the Nordic FDS library. Replaces external EEPROM and coexists safely
- * with the SoftDevice.
- *
- * config_data_t (49 bytes, packed):
- *   magic_number  (4B) : format validation (0x20231226)
- *   hw_no         (12B): hardware version string
- *   serial_no     (12B): serial number (also used as BLE device name)
- *   static_passkey(6B) : BLE pairing passkey (6-digit numeric)
- *   bond_data_delete(1B): bond-delete flag
- *   reset_status  (1B) : reset cause code
- *   life_cycle    (4B) : device usage count
- *   piezo_*       (8B) : piezo measurement parameters
- *   factory_provisioned(1B): passkey provisioning lock flag
- *
- * API:
- *   fs_storage_init() : initialise FDS (once at boot)
- *   config_load()     : load config from FDS (creates defaults if absent)
- *   config_save()     : persist current config to FDS
- *============================================================================*/
-
-#ifndef IHP_FSTORAGE_H_
-#define IHP_FSTORAGE_H_
-
-#include "sdk_config.h"
-
-#include "nordic_common.h"
-#include <stdint.h>
-
-/*------------------------------------------------------------------------------
- * Default version identifiers (used for FDS defaults / empty field recovery)
- *
- * Hardware ID:
- *   VBTHW0100  = development / test  Ver 1.00
- *   VB0HW0100  = production          Ver 1.00
- *
- * Firmware ID:
- *   VBTFW0100  = development / test  Ver 1.00
- *   VB0FW0100  = production          Ver 1.00
- *
- * Serial number:
- *   VBT26030001 = dev/test, manufactured Mar 2026, unit #1
- *   VB026030001 = production,          Mar 2026, unit #1
- *----------------------------------------------------------------------------*/
-#define HARDWARE_VERSION                "VBTHW0100"
-#define SERIAL_NUMBER                   "VBT26030001"
-#define DEFAULT_PASSKEY                 "123456"
-
-#pragma pack(1)
-typedef struct
-{
-    uint32_t    magic_number;       /* 4B  - format validation magic */
-    char        hw_no[12];          /* 12B - HW version */
-    char        serial_no[12];      /* 12B - serial number */
-    uint8_t     static_passkey[6];  /* 6B  - BLE passkey */
-    uint8_t     bond_data_delete;   /* 1B  - bond delete flag */
-    int8_t      reset_status;       /* 1B  - reset status */
-    uint32_t    life_cycle;         /* 4B  - device usage count */
-
-    /* Piezo measurement parameters - 8B */
-    uint8_t     piezo_freq_option;  /* 1B  - TX pulse frequency (0=1.8M, 1=2.1M, 2=2.0M, 3=1.7M) */
-    uint8_t     piezo_cycles;       /* 1B  - burst pulse cycle count (3..7) */
-    uint16_t    piezo_averaging;    /* 2B  - averages per channel (1..10) */
-    uint16_t    piezo_delay_us;     /* 2B  - delay from TX pulse to ADC start (us) (0..30) */
-    uint16_t    piezo_num_samples;  /* 2B  - ADC sample count (80..140) */
-
-    /* Factory provisioning lock */
-    uint8_t     factory_provisioned; /* 1B  - 0=passkey not set, 1=passkey set (locked) */
-} config_data_t;  /* Total: 49 bytes */
-
-extern config_data_t m_config;
-
-void fds_default_value_set(void);
-void config_load( void );
-void config_save( void );
-
-void fs_set_value(void);
-void fs_storage_init(void);
-
-#endif /* IHP_FSTORAGE_H_ */

project/ble_peripheral/ble_app_bladder_patch/hal/i2c/i2c_manager.c

@@ -1,125 +0,0 @@
-/*==============================================================================
- * i2c_manager.c - HW / SW I2C mutex switching logic
- *
- * Manages mutually-exclusive HW (TWI peripheral) and SW (bit-bang) I2C modes.
- *
- * HW I2C : nRF52840 TWI hardware, 400 kHz Fast Mode (ICM42670P IMU)
- * SW I2C : GPIO bit-bang (legacy, currently unused)
- *
- * Pins:
- *   SCL = P1.14 (ICM42670_I2C_SCL_PIN)
- *   SDA = P1.15 (ICM42670_I2C_SDA_PIN)
- *
- * The two bool flags HW_I2C_FRQ and SW_I2C_FRQ track the current mode.
- * Switching releases the old mode's resources before initialising the new one.
- *============================================================================*/
-
-#include "i2c_manager.h"
-#include "debug_print.h"
-#include "nrf_delay.h"
-
-#include "nrf_drv_twi.h"
-#include "nrfx_twi.h"
-#include "boards.h"
-#include "system_interface.h"
-
-/* Current I2C mode flags */
-bool HW_I2C_FRQ = true;
-bool SW_I2C_FRQ = false;
-
-/* TWI instance (nRF52840 supports TWI0 and TWI1) */
-#define TWI_INSTANCE 0
-const nrfx_twi_t m_twi = NRFX_TWI_INSTANCE(TWI_INSTANCE);
-
-/* Disable and uninitialise the TWI peripheral, releasing GPIO pins. */
-static void twi_uninitialize(void)
-{
-    nrfx_twi_disable(&m_twi);
-    nrfx_twi_uninit(&m_twi);
-}
-
-/* Initialise the TWI peripheral (SCL/SDA pins, 400 kHz, blocking mode). */
-static void twi_initialize(void)
-{
-    ret_code_t err_code;
-
-    const nrfx_twi_config_t twi_config =
-    {
-       .scl                = ICM42670_I2C_SCL_PIN,
-       .sda                = ICM42670_I2C_SDA_PIN,
-       .frequency          = NRF_TWI_FREQ_400K,
-       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
-    };
-
-    err_code = nrfx_twi_init(&m_twi, &twi_config, NULL, NULL);
-    APP_ERROR_CHECK(err_code);
-
-    nrfx_twi_enable(&m_twi);
-}
-
-/*==============================================================================
- * hw_i2c_init_once - Switch to or initialise HW TWI mode
- *
- * If SW mode is active, its flag is cleared first.
- * If HW mode is already active, returns immediately (no re-init).
- *============================================================================*/
-void hw_i2c_init_once(void)
-{
-    if (SW_I2C_FRQ)
-    {
-        SW_I2C_FRQ = false;
-        nrf_delay_ms(2);   /* mode-switch settling */
-    }
-
-    if (HW_I2C_FRQ)
-    {
-        return;
-    }
-
-    twi_initialize();
-    nrf_delay_ms(2);
-
-    HW_I2C_FRQ = true;
-    SW_I2C_FRQ = false;
-}
-
-/*==============================================================================
- * sw_i2c_init_once - Switch to SW bit-bang mode (legacy, unused)
- *
- * If HW mode is active, TWI is released first.
- * If SW mode is already active, returns immediately.
- *============================================================================*/
-void sw_i2c_init_once(void)
-{
-    if (HW_I2C_FRQ)
-    {
-        nrfx_twi_disable(&m_twi);
-        nrfx_twi_uninit(&m_twi);
-        nrf_delay_ms(2);
-        HW_I2C_FRQ = false;
-    }
-
-    if (SW_I2C_FRQ)
-    {
-        return;
-    }
-
-    twi_uninitialize();
-    nrf_delay_ms(1);
-
-    SW_I2C_FRQ = true;
-    HW_I2C_FRQ = false;
-}
-
-/*==============================================================================
- * i2c_reset_state - Clear all mode flags
- *
- * Forces re-initialisation on the next init call. Used for system reset
- * or error recovery.
- *============================================================================*/
-void i2c_reset_state(void)
-{
-    HW_I2C_FRQ = false;
-    SW_I2C_FRQ = false;
-    DBG_PRINTF("Flags reset\r\n");
-}

project/ble_peripheral/ble_app_bladder_patch/hal/i2c/i2c_manager.h

@@ -1,31 +0,0 @@
-/*==============================================================================
- * i2c_manager.h - HW / SW I2C mutex control
- *
- * Manages the mutually-exclusive HW TWI and SW bit-bang I2C modes.
- * Only one mode may be active at a time.
- *
- * Flags:
- *   HW_I2C_FRQ : true when HW TWI mode is active
- *   SW_I2C_FRQ : true when SW bit-bang mode is active
- *============================================================================*/
-#ifndef __I2C_MANAGER_H__
-#define __I2C_MANAGER_H__
-
-#include <stdbool.h>
-#include "app_error.h"
-
-extern bool HW_I2C_FRQ;
-extern bool SW_I2C_FRQ;
-
-/* Initialise HW I2C (TWI) mode. If SW mode is active it is released first.
- * No-op if HW mode is already active. Call before ICM42670P IMU access. */
-void hw_i2c_init_once(void);
-
-/* Initialise SW I2C (bit-bang) mode (legacy, currently unused).
- * If HW mode is active it is released first. */
-void sw_i2c_init_once(void);
-
-/* Reset both mode flags to false, forcing re-initialisation on next call. */
-void i2c_reset_state(void);
-
-#endif

project/ble_peripheral/ble_app_bladder_patch/hex/__download_bootloader.bat

@@ -0,0 +1,22 @@
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+nrfjprog --family NRF52 --recover
+nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex 
+nrfjprog --family NRF52 --reset
+nrfjprog --family NRF52 --rbp ALL
+
+
+pause

project/ble_peripheral/ble_app_bladder_patch/hex/__download_bootloader_noRPB.bat

@@ -0,0 +1,21 @@
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+nrfjprog --family NRF52 --recover
+nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex 
+
+
+
+pause

project/ble_peripheral/ble_app_bladder_patch/hex/__download_bootloader_noRPBYY.bat

@@ -0,0 +1,22 @@
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+
+nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex 
+nrfjprog --family NRF52 --reset
+nrfjprog --family NRF52 --rbp ALL
+
+
+pause

project/ble_peripheral/ble_app_bladder_patch/hex/__download_bootloader_rev3.bat

@@ -1,30 +1,30 @@
-
-set CURDIR=%cd%
-
-
-
-copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
-copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
-
-nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
-
-mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
-mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
-mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
-
-
-nrfjprog --memrd 0x10001208
-
-
-nrfjprog --family NRF52 --recover
-
-nrfjprog --memrd 0x10001208
-
-nrfjprog --family NRF52 --eraseall
-nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex --verify
-nrfjprog --family NRF52 --reset
-nrfjprog --family NRF52 --rbp ALL
-nrfjprog --memwr 0x10001208 --val 0x00
-nrfjprog --memrd 0x10001208
-
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+
+nrfjprog --memrd 0x10001208
+
+
+nrfjprog --family NRF52 --recover
+
+nrfjprog --memrd 0x10001208
+
+nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex --verify
+nrfjprog --family NRF52 --reset
+nrfjprog --family NRF52 --rbp ALL
+nrfjprog --memwr 0x10001208 --val 0x00
+nrfjprog --memrd 0x10001208
+
 pause

project/ble_peripheral/ble_app_bladder_patch/hex/__download_nopro.bat

@@ -0,0 +1,20 @@
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+nrfjprog --family NRF52 --program medithings_bladder_patch_0001.hex
+nrfjprog --family NRF52 --reset
+
+
+
+pause

project/ble_peripheral/ble_app_bladder_patch/hex/cp.bat

@@ -1,137 +1,137 @@
-@echo off
-setlocal enabledelayedexpansion
-
-echo ==========================================
-echo     MEDiThings Bladder Patch Programming
-echo     (mergehex + nrfutil 8.x)
-echo ==========================================
-
-REM -----------------------------------------------------
-REM Create hex output folder
-REM -----------------------------------------------------
-if not exist hex mkdir hex
-
-REM -----------------------------------------------------
-REM 1. Copy HEX files
-REM -----------------------------------------------------
-echo [1/7] Copying HEX files...
-copy "..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex" hex\app.hex
-copy "..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex" hex\boot.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: failed copying files.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 2. Generate Bootloader DFU Settings
-REM -----------------------------------------------------
-echo [2/7] Generating Bootloader DFU settings...
-nrfutil settings generate ^
-    --family NRF52840 ^
-    --application hex\app.hex ^
-    --application-version 1 ^
-    --bootloader-version 1 ^
-    --bl-settings-version 2 ^
-    hex\settings.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: nrfutil settings failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 3. Merge HEX (SoftDevice + Application)
-REM -----------------------------------------------------
-echo [3/7] Merging SoftDevice + Application...
-mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex part1 failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 4. Merge HEX (Bootloader + Settings)
-REM -----------------------------------------------------
-echo [4/7] Merging Bootloader + Settings...
-mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex part2 failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 5. Final HEX merge (Combine everything)
-REM -----------------------------------------------------
-echo [5/7] Creating final combined HEX...
-mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex final merge failed.
-    pause
-    exit /b 1
-)
-
-echo Final merged HEX: hex\firmware_all.hex
-
-REM -----------------------------------------------------
-REM 6. Detect device SERIAL NUMBER
-REM -----------------------------------------------------
-echo [6/7] Detecting device serial number...
-
-for /f %%A in ('
-    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
-') do set SERIALNUMBER=%%A
-
-if "%SERIALNUMBER%"=="" (
-    echo ERROR: No serial number found.
-    pause
-    exit /b 1
-)
-
-echo Using Serial Number: %SERIALNUMBER%
-echo Flashing: recover → erase → program → reset
-
-REM recover
-nrfutil device recover --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 goto flash_fail
-
-REM erase
-nrfutil device erase --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 goto flash_fail
-
-REM program
-nrfutil device program --firmware hex\firmware_all.hex --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 goto flash_fail
-
-REM reset
-nrfutil device reset --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 goto flash_fail
-
-goto flash_success
-
-:flash_fail
-echo ERROR: Flashing failed.
-pause
-exit /b 1
-
-:flash_success
-
-REM -----------------------------------------------------
-REM 7. Set Readback Protection (RBP)
-REM -----------------------------------------------------
-echo [7/7] Setting Readback Protection (ALL)...
-nrfutil device protection-set ALL --serial-number %SERIALNUMBER%
-
-echo ==========================================
-echo   Programming Complete!
-echo   %date% %time%
-echo ==========================================
-pause
-endlocal
+@echo off
+setlocal enabledelayedexpansion
+
+echo ==========================================
+echo     MEDiThings Bladder Patch Programming
+echo     (mergehex + nrfutil 8.x)
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Create hex output folder
+REM -----------------------------------------------------
+if not exist hex mkdir hex
+
+REM -----------------------------------------------------
+REM 1. Copy HEX files
+REM -----------------------------------------------------
+echo [1/7] Copying HEX files...
+copy "..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex" hex\app.hex
+copy "..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex" hex\boot.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: failed copying files.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 2. Generate Bootloader DFU Settings
+REM -----------------------------------------------------
+echo [2/7] Generating Bootloader DFU settings...
+nrfutil settings generate ^
+    --family NRF52840 ^
+    --application hex\app.hex ^
+    --application-version 1 ^
+    --bootloader-version 1 ^
+    --bl-settings-version 2 ^
+    hex\settings.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: nrfutil settings failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 3. Merge HEX (SoftDevice + Application)
+REM -----------------------------------------------------
+echo [3/7] Merging SoftDevice + Application...
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part1 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 4. Merge HEX (Bootloader + Settings)
+REM -----------------------------------------------------
+echo [4/7] Merging Bootloader + Settings...
+mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part2 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 5. Final HEX merge (Combine everything)
+REM -----------------------------------------------------
+echo [5/7] Creating final combined HEX...
+mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex final merge failed.
+    pause
+    exit /b 1
+)
+
+echo Final merged HEX: hex\firmware_all.hex
+
+REM -----------------------------------------------------
+REM 6. Detect device SERIAL NUMBER
+REM -----------------------------------------------------
+echo [6/7] Detecting device serial number...
+
+for /f %%A in ('
+    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
+') do set SERIALNUMBER=%%A
+
+if "%SERIALNUMBER%"=="" (
+    echo ERROR: No serial number found.
+    pause
+    exit /b 1
+)
+
+echo Using Serial Number: %SERIALNUMBER%
+echo Flashing: recover → erase → program → reset
+
+REM recover
+nrfutil device recover --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM erase
+nrfutil device erase --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM program
+nrfutil device program --firmware hex\firmware_all.hex --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM reset
+nrfutil device reset --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+goto flash_success
+
+:flash_fail
+echo ERROR: Flashing failed.
+pause
+exit /b 1
+
+:flash_success
+
+REM -----------------------------------------------------
+REM 7. Set Readback Protection (RBP)
+REM -----------------------------------------------------
+echo [7/7] Setting Readback Protection (ALL)...
+nrfutil device protection-set ALL --serial-number %SERIALNUMBER%
+
+echo ==========================================
+echo   Programming Complete!
+echo   %date% %time%
+echo ==========================================
+pause
+endlocal

project/ble_peripheral/ble_app_bladder_patch/hex/cpd.bat

@@ -1,183 +1,183 @@
-@echo off
-setlocal enabledelayedexpansion
-
-echo ==========================================
-echo     MEDiThings Bladder Patch Programming
-echo     (DEBUG MODE - No Readback Protection)
-echo ==========================================
-
-REM -----------------------------------------------------
-REM Set script directory as base path
-REM -----------------------------------------------------
-cd /d "%~dp0"
-echo Working directory: %CD%
-
-REM -----------------------------------------------------
-REM Create hex output folder
-REM -----------------------------------------------------
-if not exist hex mkdir hex
-
-REM -----------------------------------------------------
-REM 1. Copy HEX files (with verification)
-REM -----------------------------------------------------
-echo [1/6] Copying HEX files...
-
-set "APP_SRC=..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex"
-set "BOOT_SRC=..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex"
-
-REM Check source files exist
-if not exist "%APP_SRC%" (
-    echo ERROR: Application HEX not found: %APP_SRC%
-    pause
-    exit /b 1
-)
-
-if not exist "%BOOT_SRC%" (
-    echo ERROR: Bootloader HEX not found: %BOOT_SRC%
-    pause
-    exit /b 1
-)
-
-REM Copy with /Y to overwrite without prompt
-copy /Y "%APP_SRC%" hex\app.hex
-if %errorlevel% neq 0 (
-    echo ERROR: Failed to copy app.hex
-    pause
-    exit /b 1
-)
-echo   - app.hex copied OK
-
-copy /Y "%BOOT_SRC%" hex\boot.hex
-if %errorlevel% neq 0 (
-    echo ERROR: Failed to copy boot.hex
-    pause
-    exit /b 1
-)
-echo   - boot.hex copied OK
-
-REM -----------------------------------------------------
-REM 2. Generate Bootloader DFU Settings
-REM -----------------------------------------------------
-echo [2/6] Generating Bootloader DFU settings...
-nrfutil settings generate ^
-    --family NRF52840 ^
-    --application hex\app.hex ^
-    --application-version 1 ^
-    --bootloader-version 1 ^
-    --bl-settings-version 2 ^
-    hex\settings.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: nrfutil settings failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 3. Merge HEX (SoftDevice + Application)
-REM -----------------------------------------------------
-echo [3/6] Merging SoftDevice + Application...
-mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex part1 failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 4. Merge HEX (Bootloader + Settings)
-REM -----------------------------------------------------
-echo [4/6] Merging Bootloader + Settings...
-mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex part2 failed.
-    pause
-    exit /b 1
-)
-
-REM -----------------------------------------------------
-REM 5. Final HEX merge (Combine everything)
-REM -----------------------------------------------------
-echo [5/6] Creating final combined HEX...
-mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
-
-if %errorlevel% neq 0 (
-    echo ERROR: mergehex final merge failed.
-    pause
-    exit /b 1
-)
-
-echo Final merged HEX: hex\firmware_all.hex
-
-REM -----------------------------------------------------
-REM 6. Detect device SERIAL NUMBER and Flash
-REM -----------------------------------------------------
-echo [6/6] Detecting device serial number...
-
-for /f %%A in ('
-    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
-') do set SERIALNUMBER=%%A
-
-if "%SERIALNUMBER%"=="" (
-    echo ERROR: No serial number found.
-    pause
-    exit /b 1
-)
-
-echo Using Serial Number: %SERIALNUMBER%
-echo Flashing: program → reset (NO erase, FDS preserved)
-
-REM recover - SKIP to preserve internal flash data
-REM erase   - SKIP to preserve FDS/fstorage data
-
-REM program (hex 데이터가 있는 영역만 erase, FDS 보존)
-nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 (
-    echo.
-    echo [WARNING] Program failed - device may have Readback Protection enabled.
-    echo           Recover will ERASE ALL flash including FDS data.
-    echo.
-    set /p RECOVER_YN="Recover and retry? (Y/N): "
-    if /i "!RECOVER_YN!"=="Y" (
-        echo Recovering device...
-        nrfutil device recover --serial-number %SERIALNUMBER%
-        if %errorlevel% neq 0 goto flash_fail
-        echo Re-programming...
-        nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
-        if %errorlevel% neq 0 goto flash_fail
-    ) else (
-        goto flash_fail
-    )
-)
-
-REM reset
-nrfutil device reset --serial-number %SERIALNUMBER%
-if %errorlevel% neq 0 goto flash_fail
-
-goto flash_success
-
-:flash_fail
-echo ERROR: Flashing failed.
-pause
-exit /b 1
-
-:flash_success
-
-REM -----------------------------------------------------
-REM NOTE: Readback Protection SKIPPED for debugging
-REM -----------------------------------------------------
-echo ==========================================
-echo   Programming Complete! (DEBUG MODE)
-echo   No Readback Protection Applied
-echo   Internal Flash (FDS) Preserved
-echo   %date% %time%
-echo ==========================================
-
-REM -----------------------------------------------------
-REM Open J-Link RTT Viewer for RTT debugging
-REM -----------------------------------------------------
-echo Starting J-Link RTT Viewer...
-
-endlocal
+@echo off
+setlocal enabledelayedexpansion
+
+echo ==========================================
+echo     MEDiThings Bladder Patch Programming
+echo     (DEBUG MODE - No Readback Protection)
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Set script directory as base path
+REM -----------------------------------------------------
+cd /d "%~dp0"
+echo Working directory: %CD%
+
+REM -----------------------------------------------------
+REM Create hex output folder
+REM -----------------------------------------------------
+if not exist hex mkdir hex
+
+REM -----------------------------------------------------
+REM 1. Copy HEX files (with verification)
+REM -----------------------------------------------------
+echo [1/6] Copying HEX files...
+
+set "APP_SRC=..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex"
+set "BOOT_SRC=..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex"
+
+REM Check source files exist
+if not exist "%APP_SRC%" (
+    echo ERROR: Application HEX not found: %APP_SRC%
+    pause
+    exit /b 1
+)
+
+if not exist "%BOOT_SRC%" (
+    echo ERROR: Bootloader HEX not found: %BOOT_SRC%
+    pause
+    exit /b 1
+)
+
+REM Copy with /Y to overwrite without prompt
+copy /Y "%APP_SRC%" hex\app.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy app.hex
+    pause
+    exit /b 1
+)
+echo   - app.hex copied OK
+
+copy /Y "%BOOT_SRC%" hex\boot.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy boot.hex
+    pause
+    exit /b 1
+)
+echo   - boot.hex copied OK
+
+REM -----------------------------------------------------
+REM 2. Generate Bootloader DFU Settings
+REM -----------------------------------------------------
+echo [2/6] Generating Bootloader DFU settings...
+nrfutil settings generate ^
+    --family NRF52840 ^
+    --application hex\app.hex ^
+    --application-version 1 ^
+    --bootloader-version 1 ^
+    --bl-settings-version 2 ^
+    hex\settings.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: nrfutil settings failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 3. Merge HEX (SoftDevice + Application)
+REM -----------------------------------------------------
+echo [3/6] Merging SoftDevice + Application...
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part1 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 4. Merge HEX (Bootloader + Settings)
+REM -----------------------------------------------------
+echo [4/6] Merging Bootloader + Settings...
+mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part2 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 5. Final HEX merge (Combine everything)
+REM -----------------------------------------------------
+echo [5/6] Creating final combined HEX...
+mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex final merge failed.
+    pause
+    exit /b 1
+)
+
+echo Final merged HEX: hex\firmware_all.hex
+
+REM -----------------------------------------------------
+REM 6. Detect device SERIAL NUMBER and Flash
+REM -----------------------------------------------------
+echo [6/6] Detecting device serial number...
+
+for /f %%A in ('
+    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
+') do set SERIALNUMBER=%%A
+
+if "%SERIALNUMBER%"=="" (
+    echo ERROR: No serial number found.
+    pause
+    exit /b 1
+)
+
+echo Using Serial Number: %SERIALNUMBER%
+echo Flashing: program → reset (NO erase, FDS preserved)
+
+REM recover - SKIP to preserve internal flash data
+REM erase   - SKIP to preserve FDS/fstorage data
+
+REM program (hex 데이터가 있는 영역만 erase, FDS 보존)
+nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 (
+    echo.
+    echo [WARNING] Program failed - device may have Readback Protection enabled.
+    echo           Recover will ERASE ALL flash including FDS data.
+    echo.
+    set /p RECOVER_YN="Recover and retry? (Y/N): "
+    if /i "!RECOVER_YN!"=="Y" (
+        echo Recovering device...
+        nrfutil device recover --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+        echo Re-programming...
+        nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+    ) else (
+        goto flash_fail
+    )
+)
+
+REM reset
+nrfutil device reset --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+goto flash_success
+
+:flash_fail
+echo ERROR: Flashing failed.
+pause
+exit /b 1
+
+:flash_success
+
+REM -----------------------------------------------------
+REM NOTE: Readback Protection SKIPPED for debugging
+REM -----------------------------------------------------
+echo ==========================================
+echo   Programming Complete! (DEBUG MODE)
+echo   No Readback Protection Applied
+echo   Internal Flash (FDS) Preserved
+echo   %date% %time%
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Open J-Link RTT Viewer for RTT debugging
+REM -----------------------------------------------------
+echo Starting J-Link RTT Viewer...
+
+endlocal

project/ble_peripheral/ble_app_bladder_patch/hex/etc/__erase_all.bat

@@ -1,3 +1,3 @@
-nrfjprog --family NRF52 --recover
-nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --recover
+nrfjprog --family NRF52 --eraseall
 pause

project/ble_peripheral/ble_app_bladder_patch/hex/etc/__fw_protect.bat

@@ -1,3 +1,3 @@
-nrfjprog --family NRF52 --rbp ALL
-nrfjprog --family NRF52 --pinreset
+nrfjprog --family NRF52 --rbp ALL
+nrfjprog --family NRF52 --pinreset
 pause

project/ble_peripheral/ble_app_bladder_patch/hex/etc/__fw_unprotect.bat

@@ -1,2 +1,2 @@
-nrfjprog --family NRF52 --recover
+nrfjprog --family NRF52 --recover
 pause

project/ble_peripheral/ble_app_bladder_patch/hex/etc/__reset.bat

@@ -1,2 +1,2 @@
-nrfjprog --family NRF52 --pinreset
+nrfjprog --family NRF52 --pinreset
 pause

project/ble_peripheral/ble_app_bladder_patch/hex/generate_dfu_zip.bat

@@ -1,8 +1,8 @@
-chcp 437
-set CURDIR=%cd%
-
-
-copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
-
-nrfutil pkg generate --application medithings_bladder_patch_0001.hex --application-version 1 --hw-version 52 --sd-req 0x0100 --sd-id 0x0100 --key-file private.key medithings_bladder_patch_dfu.zip
-pause
+chcp 437
+set CURDIR=%cd%
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+
+nrfutil pkg generate --application medithings_bladder_patch_0001.hex --application-version 1 --hw-version 52 --sd-req 0x0100 --sd-id 0x0100 --key-file private.key medithings_bladder_patch_dfu.zip
+pause

project/ble_peripheral/ble_app_bladder_patch/hex/sett.bat

@@ -0,0 +1,3 @@
+set path=d:\nrfutil\bin;%path%
+d:
+cd D:\mt_project\vesiscan\project\ble_peripheral\ble_app_bladder_patch\hex

project/ble_peripheral/ble_app_bladder_patch/i2c_manager.c

@@ -0,0 +1,170 @@
+/*******************************************************************************
+ * @file    i2c_manager.c
+ * @brief   Reliable HW↔SW I2C Switching Logic (with Mode Set Logging)
+ *******************************************************************************
+ *
+ * [모듈 개요]
+ * I2C 버스의 HW(하드웨어 TWI) / SW(소프트웨어 비트뱅) 모드 전환을 관리하는 모듈.
+ *
+ * - HW I2C: nRF52840 내장 TWI 하드웨어 주변장치를 사용 (ICM42670P IMU 센서 통신용, 400kHz)
+ * - SW I2C: GPIO 비트뱅 방식의 소프트웨어 I2C (현재 사용하지 않는 레거시 코드)
+ *
+ * [핀 설정]
+ *   SCL = P1.14 (ICM42670_I2C_SCL_PIN)
+ *   SDA = P1.15 (ICM42670_I2C_SDA_PIN)
+ *
+ * [주요 함수]
+ *   hw_i2c_init_once() : SW→HW 전환 또는 HW 초기화 (이미 HW 모드면 중복 초기화 방지)
+ *   sw_i2c_init_once() : HW→SW 전환 (TWI 해제 후 SW 모드 진입, 레거시)
+ *   i2c_reset_state()  : 모든 I2C 모드 플래그를 초기화 (HW/SW 모두 false)
+ *
+ * [동작 원리]
+ *   HW_I2C_FRQ, SW_I2C_FRQ 두 개의 bool 플래그로 현재 모드를 추적하며,
+ *   한 번에 하나의 모드만 활성화되도록 상호 배제(mutex) 방식으로 관리한다.
+ *   모드 전환 시 기존 모드의 리소스를 먼저 해제한 후 새 모드를 초기화한다.
+ *
+ ******************************************************************************/
+
+#include "i2c_manager.h"
+#include "debug_print.h"
+#include "nrf_delay.h"
+
+#include "nrf_drv_twi.h"
+#include "nrfx_twi.h"
+#include "boards.h"
+#include "system_interface.h"
+
+/* 현재 I2C 모드 상태 플래그 (true = 해당 모드 활성화) */
+bool HW_I2C_FRQ = true;   /* HW TWI 모드 활성 여부 (기본값: true, 초기 상태는 HW) */
+bool SW_I2C_FRQ = false;   /* SW 비트뱅 모드 활성 여부 */
+
+/* TWI 인스턴스 번호 (nRF52840은 TWI0, TWI1 두 개 지원) */
+#define TWI_INSTANCE 0
+
+/* TWI (I2C) 하드웨어 인스턴스 : IMU 드라이버에서 사용 - jhChun 26.03.16 */
+const nrfx_twi_t m_twi = NRFX_TWI_INSTANCE(TWI_INSTANCE);
+
+/* TWI (I2C) 해제 - jhChun 26.03.16 */
+/* TWI 하드웨어를 비활성화하고 초기화 해제하여 GPIO 핀을 반환한다 */
+static void twi_uninitialize(void){
+    nrfx_twi_disable(&m_twi);   /* TWI 주변장치 비활성화 */
+    nrfx_twi_uninit(&m_twi);    /* TWI 초기화 해제 (핀 리소스 반환) */
+}
+
+/* TWI (I2C) 하드웨어 초기화 (SCL/SDA핀, 400kHz) - jhChun 26.03.16 */
+/* SCL, SDA 핀을 설정하고 400kHz Fast Mode로 TWI를 초기화 및 활성화한다 */
+static void twi_initialize(void){
+    ret_code_t err_code;
+
+    /* TWI 설정 구조체: 핀 번호, 클럭 속도, 인터럽트 우선순위 지정 */
+    const nrfx_twi_config_t twi_config = {
+       .scl                = ICM42670_I2C_SCL_PIN,       /* SCL 핀 (P1.14) */
+       .sda                = ICM42670_I2C_SDA_PIN,       /* SDA 핀 (P1.15) */
+       .frequency          = NRF_TWI_FREQ_400K,          /* 400kHz Fast Mode */
+       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,      /* 높은 인터럽트 우선순위 */
+    };
+
+    /* TWI 초기화 (이벤트 핸들러 NULL = 블로킹 모드) */
+    err_code = nrfx_twi_init(&m_twi, &twi_config, NULL, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    nrfx_twi_enable(&m_twi);   /* TWI 주변장치 활성화 → I2C 통신 가능 */
+}
+
+/* -------------------------------------------------------------------------- */
+/* HW (TWI) 초기화                                                            */
+/* -------------------------------------------------------------------------- */
+/*
+ * HW I2C 모드로 전환하거나 초기화하는 함수.
+ * - SW 모드가 활성화되어 있으면 SW 플래그를 해제하고 HW로 전환
+ * - 이미 HW 모드이면 중복 초기화를 방지하여 바로 리턴
+ * - 최초 HW 초기화 시 twi_initialize()를 호출하여 TWI 하드웨어 설정
+ */
+void hw_i2c_init_once(void)
+{
+    // SW 모드일 경우 강제 해제 후 HW 전환
+    if (SW_I2C_FRQ)
+    {
+        //DBG_PRINTF("[I2C]SW→HW\r\n");
+
+        // SW 리소스 해제 (필요 시 추가)
+        SW_I2C_FRQ = false;
+        nrf_delay_ms(2);   /* 모드 전환 안정화 대기 (2ms) */
+    }
+
+    /* 이미 HW 모드가 활성화되어 있으면 중복 초기화 방지를 위해 즉시 리턴 */
+    // 이미 HW면 스킵
+    if (HW_I2C_FRQ)
+    {
+       // DBG_PRINTF("[I2C] HW I2C set\r\n");
+        return;
+    }
+
+    /* HW TWI 하드웨어 초기화 수행 (SCL/SDA 핀 설정, 400kHz, 활성화) */
+    // 실제 HW 초기화
+    twi_initialize();
+    nrf_delay_ms(2);   /* 초기화 후 안정화 대기 (2ms) */
+
+    /* 모드 플래그 갱신: HW 활성, SW 비활성 */
+    HW_I2C_FRQ = true;
+    SW_I2C_FRQ = false;
+
+ //   DBG_PRINTF("[I2C] HW I2C Mode set!\r\n");
+}
+
+/* -------------------------------------------------------------------------- */
+/* SW (Port Bang-Bang) 초기화                                                 */
+/* -------------------------------------------------------------------------- */
+/*
+ * SW I2C(비트뱅) 모드로 전환하는 함수. (현재 레거시, 사용하지 않음)
+ * - HW 모드가 활성화되어 있으면 TWI를 해제하고 SW로 전환
+ * - 이미 SW 모드이면 중복 초기화를 방지하여 바로 리턴
+ * - power_control.c의 power_loop()에서 Step 0에서 호출됨
+ */
+void sw_i2c_init_once(void)
+{
+    // HW 모드일 경우 강제 해제 후 SW 전환
+    if (HW_I2C_FRQ)
+    {
+        //DBG_PRINTF("[I2C]HW→SW\r\n");
+
+        nrfx_twi_disable(&m_twi);   /* TWI 비활성화 */
+        nrfx_twi_uninit(&m_twi);    /* TWI 초기화 해제 */
+        nrf_delay_ms(2);             /* 모드 전환 안정화 대기 (2ms) */
+
+        HW_I2C_FRQ = false;
+    }
+
+    // 이미 SW 모드면 재실행 금지
+    if (SW_I2C_FRQ)
+    {
+       // DBG_PRINTF("[I2C] SWI2C already initialized\r\n");
+        return;
+    }
+
+    /* TWI 라인 완전 해제 후 SW 비트뱅 모드 진입 */
+    // 실제 SW 초기화
+    twi_uninitialize(); // TWI 라인 해제
+    nrf_delay_ms(1);    /* 해제 후 안정화 대기 (1ms) */
+
+    /* 모드 플래그 갱신: SW 활성, HW 비활성 */
+    SW_I2C_FRQ = true;
+    HW_I2C_FRQ = false;
+
+   // DBG_PRINTF("[I2C] SW I2C Mode set!\r\n");
+}
+
+/* -------------------------------------------------------------------------- */
+/* 전체 리셋                                                                 */
+/* -------------------------------------------------------------------------- */
+/*
+ * 모든 I2C 모드 플래그를 초기화하는 함수.
+ * HW/SW 모두 비활성 상태로 만들어, 다음 init 호출 시 강제로 재초기화되도록 한다.
+ * 주로 시스템 리셋이나 에러 복구 시 사용.
+ */
+void i2c_reset_state(void)
+{
+    HW_I2C_FRQ = false;   /* HW 모드 플래그 초기화 */
+    SW_I2C_FRQ = false;   /* SW 모드 플래그 초기화 */
+    DBG_PRINTF("Flags reset\r\n");
+}

project/ble_peripheral/ble_app_bladder_patch/i2c_manager.h

@@ -0,0 +1,50 @@
+/*******************************************************************************
+ * @file    i2c_manager.h
+ * @brief   Common header for HW/SW I2C mutex control
+ *******************************************************************************
+ *
+ * [헤더 개요]
+ * I2C 버스 HW/SW 모드 전환 관리자의 공용 인터페이스 헤더.
+ *
+ * - HW_I2C_FRQ: HW TWI 모드 활성 여부 (true = HW I2C 사용 중)
+ * - SW_I2C_FRQ: SW 비트뱅 모드 활성 여부 (true = SW I2C 사용 중)
+ *
+ * 두 플래그는 상호 배제적으로 동작하며, 동시에 true가 되지 않도록 관리된다.
+ *
+ ******************************************************************************/
+#ifndef __I2C_MANAGER_H__
+#define __I2C_MANAGER_H__
+
+#include <stdbool.h>
+#include "app_error.h"
+
+/* I2C 모드 상태 플래그 (외부 참조용) */
+extern bool HW_I2C_FRQ;   /* HW TWI 모드 활성 여부 */
+extern bool SW_I2C_FRQ;   /* SW 비트뱅 모드 활성 여부 */
+
+/**
+ * @brief HW I2C(TWI) 모드 초기화 (중복 초기화 방지)
+ *
+ * SW 모드가 활성화되어 있으면 해제 후 HW로 전환한다.
+ * 이미 HW 모드이면 아무 동작 없이 리턴한다.
+ * ICM42670P IMU 센서 통신 전에 호출하여 HW I2C를 준비한다.
+ */
+void hw_i2c_init_once(void);
+
+/**
+ * @brief SW I2C(비트뱅) 모드 초기화 (레거시, 현재 미사용)
+ *
+ * HW 모드가 활성화되어 있으면 TWI를 해제한 후 SW로 전환한다.
+ * 이미 SW 모드이면 아무 동작 없이 리턴한다.
+ */
+void sw_i2c_init_once(void);
+
+/**
+ * @brief I2C 모드 플래그 전체 초기화
+ *
+ * HW_I2C_FRQ, SW_I2C_FRQ를 모두 false로 리셋한다.
+ * 다음 init 호출 시 강제로 재초기화가 수행된다.
+ */
+void i2c_reset_state(void);
+
+#endif

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/DataConverter.c

@@ -1,103 +1,103 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#include "DataConverter.h"
-
-uint8_t * inv_dc_int32_to_little8(int32_t x, uint8_t * little8)
-{
-	little8[3] = (uint8_t)((x >> 24) & 0xff);
-	little8[2] = (uint8_t)((x >> 16) & 0xff);
-	little8[1] = (uint8_t)((x >> 8) & 0xff);
-	little8[0] = (uint8_t)(x & 0xff);
-
-	return little8;
-}
-
-uint8_t * inv_dc_int16_to_little8(int16_t x, uint8_t * little8)
-{
-	little8[0] = (uint8_t)(x & 0xff);
-	little8[1] = (uint8_t)((x >> 8) & 0xff);
-
-	return little8;
-}
-
-uint8_t * inv_dc_int32_to_big8(int32_t x, uint8_t * big8)
-{
-	big8[0] = (uint8_t)((x >> 24) & 0xff);
-	big8[1] = (uint8_t)((x >> 16) & 0xff);
-	big8[2] = (uint8_t)((x >> 8) & 0xff);
-	big8[3] = (uint8_t)(x & 0xff);
-
-	return big8;
-}
-
-int32_t inv_dc_little8_to_int32(const uint8_t * little8)
-{
-	int32_t x = 0;
-
-	x |= ((int32_t)little8[3] << 24);
-	x |= ((int32_t)little8[2] << 16);
-	x |= ((int32_t)little8[1] << 8);
-	x |= ((int32_t)little8[0]);
-
-	return x;
-}
-
-int16_t inv_dc_big16_to_int16(uint8_t * data)
-{
-	int16_t result;
-
-	result  = (*data << 8);
-	data++;
-	result |= *data;
-
-	return result;
-}
-
-int16_t inv_dc_le_to_int16(const uint8_t * little8)
-{
-	uint16_t x = 0;
-
-	x |= ((uint16_t)little8[0]);
-	x |= ((uint16_t)little8[1] << 8);
-
-	return (int16_t)x;
-}
-
-void inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out)
-{
-	uint8_t i;
-
-	for(i = 0; i < len; ++i) {
-		out[i] = (float)in[i] / (1 << qx);
-	}
-}
-
-void inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out)
-{
-	uint8_t i;
-
-	for(i = 0; i < len; ++i) {
-		out[i] = (int32_t)((in[i] * (1 << qx)) + ((in[i] >= 0) - 0.5f));
-	}
-}
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "DataConverter.h"
+
+uint8_t * inv_dc_int32_to_little8(int32_t x, uint8_t * little8)
+{
+	little8[3] = (uint8_t)((x >> 24) & 0xff);
+	little8[2] = (uint8_t)((x >> 16) & 0xff);
+	little8[1] = (uint8_t)((x >> 8) & 0xff);
+	little8[0] = (uint8_t)(x & 0xff);
+
+	return little8;
+}
+
+uint8_t * inv_dc_int16_to_little8(int16_t x, uint8_t * little8)
+{
+	little8[0] = (uint8_t)(x & 0xff);
+	little8[1] = (uint8_t)((x >> 8) & 0xff);
+
+	return little8;
+}
+
+uint8_t * inv_dc_int32_to_big8(int32_t x, uint8_t * big8)
+{
+	big8[0] = (uint8_t)((x >> 24) & 0xff);
+	big8[1] = (uint8_t)((x >> 16) & 0xff);
+	big8[2] = (uint8_t)((x >> 8) & 0xff);
+	big8[3] = (uint8_t)(x & 0xff);
+
+	return big8;
+}
+
+int32_t inv_dc_little8_to_int32(const uint8_t * little8)
+{
+	int32_t x = 0;
+
+	x |= ((int32_t)little8[3] << 24);
+	x |= ((int32_t)little8[2] << 16);
+	x |= ((int32_t)little8[1] << 8);
+	x |= ((int32_t)little8[0]);
+
+	return x;
+}
+
+int16_t inv_dc_big16_to_int16(uint8_t * data)
+{
+	int16_t result;
+
+	result  = (*data << 8);
+	data++;
+	result |= *data;
+
+	return result;
+}
+
+int16_t inv_dc_le_to_int16(const uint8_t * little8)
+{
+	uint16_t x = 0;
+
+	x |= ((uint16_t)little8[0]);
+	x |= ((uint16_t)little8[1] << 8);
+
+	return (int16_t)x;
+}
+
+void inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out)
+{
+	uint8_t i;
+
+	for(i = 0; i < len; ++i) {
+		out[i] = (float)in[i] / (1 << qx);
+	}
+}
+
+void inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out)
+{
+	uint8_t i;
+
+	for(i = 0; i < len; ++i) {
+		out[i] = (int32_t)((in[i] * (1 << qx)) + ((in[i] >= 0) - 0.5f));
+	}
+}

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/DataConverter.h

@@ -1,87 +1,87 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup DataConverter Data Converter
- *	@brief    Helper functions to convert integer
- *  @ingroup  EmbUtils
- *	@{
- */
-
-#ifndef _INV_DATA_CONVERTER_H_
-#define _INV_DATA_CONVERTER_H_
-
-#include "InvExport.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-/** @brief Converts a 32-bit long to a little endian byte stream
- */
-uint8_t INV_EXPORT * inv_dc_int32_to_little8(int32_t x, uint8_t * little8);
-
-/** @brief Converts a 16-bit integer to a little endian byte stream
- */
-uint8_t INV_EXPORT * inv_dc_int16_to_little8(int16_t x, uint8_t * little8);
-
-/** @brief Converts a 32-bit long to a big endian byte stream
-  */
-uint8_t  INV_EXPORT * inv_dc_int32_to_big8(int32_t x, uint8_t *big8);
-
-/** @brief Converts a little endian byte stream into a 32-bit integer
- */
-int32_t INV_EXPORT inv_dc_little8_to_int32(const uint8_t * little8);
-
-/** @brief Converts a little endian byte stream into a 16-bit integer
- */
-int16_t INV_EXPORT inv_dc_le_to_int16(const uint8_t * little8);
-
-/** @brief Converts big endian on 16 bits into an unsigned short
- */
-int16_t INV_EXPORT inv_dc_big16_to_int16(uint8_t * data);
-
-/** @brief Converts an array of 32-bit signed fixed-point integers to an array of floats
- *  @param[in]   in    Pointer to the first element of the array of 32-bit signed fixed-point integers
- *  @param[in]   len   Length of the array
- *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
- *  @param[out]  out   Pointer to the memory area where the output will be stored
- */
-void INV_EXPORT inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out);
-
-/** @brief Converts an array of floats to an array of 32-bit signed fixed-point integers
- *  @param[in]   in    Pointer to the first element of the array of floats
- *  @param[in]   len   Length of the array
- *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
- *  @param[out]  out   Pointer to the memory area where the output will be stored
- */
-void INV_EXPORT inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_DATA_CONVERTER_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DataConverter Data Converter
+ *	@brief    Helper functions to convert integer
+ *  @ingroup  EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_DATA_CONVERTER_H_
+#define _INV_DATA_CONVERTER_H_
+
+#include "InvExport.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+/** @brief Converts a 32-bit long to a little endian byte stream
+ */
+uint8_t INV_EXPORT * inv_dc_int32_to_little8(int32_t x, uint8_t * little8);
+
+/** @brief Converts a 16-bit integer to a little endian byte stream
+ */
+uint8_t INV_EXPORT * inv_dc_int16_to_little8(int16_t x, uint8_t * little8);
+
+/** @brief Converts a 32-bit long to a big endian byte stream
+  */
+uint8_t  INV_EXPORT * inv_dc_int32_to_big8(int32_t x, uint8_t *big8);
+
+/** @brief Converts a little endian byte stream into a 32-bit integer
+ */
+int32_t INV_EXPORT inv_dc_little8_to_int32(const uint8_t * little8);
+
+/** @brief Converts a little endian byte stream into a 16-bit integer
+ */
+int16_t INV_EXPORT inv_dc_le_to_int16(const uint8_t * little8);
+
+/** @brief Converts big endian on 16 bits into an unsigned short
+ */
+int16_t INV_EXPORT inv_dc_big16_to_int16(uint8_t * data);
+
+/** @brief Converts an array of 32-bit signed fixed-point integers to an array of floats
+ *  @param[in]   in    Pointer to the first element of the array of 32-bit signed fixed-point integers
+ *  @param[in]   len   Length of the array
+ *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
+ *  @param[out]  out   Pointer to the memory area where the output will be stored
+ */
+void INV_EXPORT inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out);
+
+/** @brief Converts an array of floats to an array of 32-bit signed fixed-point integers
+ *  @param[in]   in    Pointer to the first element of the array of floats
+ *  @param[in]   len   Length of the array
+ *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
+ *  @param[out]  out   Pointer to the memory area where the output will be stored
+ */
+void INV_EXPORT inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_DATA_CONVERTER_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/ErrorHelper.c

@@ -1,47 +1,47 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#include "ErrorHelper.h"
-
-const char * inv_error_str(int error)
-{
-	switch(error) {
-	case INV_ERROR_SUCCESS:      return "Success";
-	case INV_ERROR:              return "Unspecified error";
-	case INV_ERROR_NIMPL:        return "Not implemented";
-	case INV_ERROR_TRANSPORT:    return "Transport error";
-	case INV_ERROR_TIMEOUT:      return "Timeout, action did not complete in time";
-	case INV_ERROR_SIZE:         return "Wrong size error";
-	case INV_ERROR_OS:           return "Operating system failure";
-	case INV_ERROR_IO:           return "Input/Output error";
-	case INV_ERROR_MEM: 		 return "Bad allocation";
-	case INV_ERROR_HW:           return "Hardware error";
-	case INV_ERROR_BAD_ARG:      return "Invalid arguments";
-	case INV_ERROR_UNEXPECTED:   return "Unexpected error";
-	case INV_ERROR_FILE:         return "Invalid file format";
-	case INV_ERROR_PATH:         return "Invalid file path";
-	case INV_ERROR_IMAGE_TYPE:   return "Unknown image type";
-	case INV_ERROR_WATCHDOG:     return "Watchdog error";
-	default:                     return "Unknown error";
-	}
-}
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "ErrorHelper.h"
+
+const char * inv_error_str(int error)
+{
+	switch(error) {
+	case INV_ERROR_SUCCESS:      return "Success";
+	case INV_ERROR:              return "Unspecified error";
+	case INV_ERROR_NIMPL:        return "Not implemented";
+	case INV_ERROR_TRANSPORT:    return "Transport error";
+	case INV_ERROR_TIMEOUT:      return "Timeout, action did not complete in time";
+	case INV_ERROR_SIZE:         return "Wrong size error";
+	case INV_ERROR_OS:           return "Operating system failure";
+	case INV_ERROR_IO:           return "Input/Output error";
+	case INV_ERROR_MEM: 		 return "Bad allocation";
+	case INV_ERROR_HW:           return "Hardware error";
+	case INV_ERROR_BAD_ARG:      return "Invalid arguments";
+	case INV_ERROR_UNEXPECTED:   return "Unexpected error";
+	case INV_ERROR_FILE:         return "Invalid file format";
+	case INV_ERROR_PATH:         return "Invalid file path";
+	case INV_ERROR_IMAGE_TYPE:   return "Unknown image type";
+	case INV_ERROR_WATCHDOG:     return "Watchdog error";
+	default:                     return "Unknown error";
+	}
+}

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/ErrorHelper.h

@@ -1,51 +1,51 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup ErrorHelper Error Helper
- *	@brief    Helper functions related to error code
- *  @ingroup  EmbUtils
- *	@{
- */
-
-#ifndef _INV_ERROR_HELPER_H_
-#define _INV_ERROR_HELPER_H_
-
-#include "InvExport.h"
-#include "InvError.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/** @brief Returns string describing error number
- *  @sa enum inv_error
- */
-const char INV_EXPORT * inv_error_str(int error);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_ERROR_HELPER_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup ErrorHelper Error Helper
+ *	@brief    Helper functions related to error code
+ *  @ingroup  EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_ERROR_HELPER_H_
+#define _INV_ERROR_HELPER_H_
+
+#include "InvExport.h"
+#include "InvError.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Returns string describing error number
+ *  @sa enum inv_error
+ */
+const char INV_EXPORT * inv_error_str(int error);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_ERROR_HELPER_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/InvBasicMath.c

@@ -1,82 +1,82 @@
-/*
-    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
-
-    This software, related documentation and any modifications thereto (collectively "Software") is subject
-    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
-    other intellectual property rights laws.
-
-    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
-    and any use, reproduction, disclosure or distribution of the Software without an express license
-    agreement from InvenSense is strictly prohibited.
-*/
-
-#include "InvBasicMath.h"
-
-#include <limits.h>
-
-unsigned int InvBasicMath_log2u(unsigned int val)
-{
-	unsigned int ret = UINT_MAX;
-
-	while (val != 0) {
-		val >>= 1;
-		ret++;
-	}
-
-	return ret;
-}
-
-int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9])
-{
-	// Check if matrix is orthogonal
-	// Matrix is orthogonal if transpose(Matrix) x Matrix = Identity
-
-	float transpose[9];
-	float mult[9];
-	int i, j;
-
-	// Compute Transpose(matrix)
-	for (i = 0; i < 3; i++) {
-		for(j = 0; j < 3; j++) {
-			transpose[i*3+j] = matrix[i+j*3];
-		}
-	}
-
-	// Multiply transpose x matrix
-	mult[0] = transpose[0]*matrix[0] + transpose[1]*matrix[3] + transpose[2]*matrix[6];
-	mult[1] = transpose[0]*matrix[1] + transpose[1]*matrix[4] + transpose[2]*matrix[7];
-	mult[2] = transpose[0]*matrix[2] + transpose[1]*matrix[5] + transpose[2]*matrix[8];
-
-	mult[3] = transpose[3]*matrix[0] + transpose[4]*matrix[3] + transpose[5]*matrix[6];
-	mult[4] = transpose[3]*matrix[1] + transpose[4]*matrix[4] + transpose[5]*matrix[7];
-	mult[5] = transpose[3]*matrix[2] + transpose[4]*matrix[5] + transpose[5]*matrix[8];
-
-	mult[6] = transpose[6]*matrix[0] + transpose[7]*matrix[3] + transpose[8]*matrix[6];
-	mult[7] = transpose[6]*matrix[1] + transpose[7]*matrix[4] + transpose[8]*matrix[7];
-	mult[8] = transpose[6]*matrix[2] + transpose[7]*matrix[5] + transpose[8]*matrix[8];
-
-	// Check that mult is identity
-	for (i = 0; i < 3; i++) {
-		for(j = 0; j < 3; j++) {
-			if (i == j) {
-				if (mult[i+j*3] != 1)
-					return 0;
-			}
-			else {
-				if (mult[i+j*3] != 0)
-					return 0;
-			}
-		}
-	}
-
-	return 1;
-}
-
-float InvBasicMath_computeMatrixDeterminant(const float matrix[9])
-{
-	return matrix[0] * (matrix[4]*matrix[8] - matrix[7]*matrix[5])
-	      -matrix[1] * (matrix[3]*matrix[8] - matrix[6]*matrix[5])
-	      +matrix[2] * (matrix[3]*matrix[7] - matrix[4]*matrix[6]);
-}
-
-
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+#include "InvBasicMath.h"
+
+#include <limits.h>
+
+unsigned int InvBasicMath_log2u(unsigned int val)
+{
+	unsigned int ret = UINT_MAX;
+
+	while (val != 0) {
+		val >>= 1;
+		ret++;
+	}
+
+	return ret;
+}
+
+int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9])
+{
+	// Check if matrix is orthogonal
+	// Matrix is orthogonal if transpose(Matrix) x Matrix = Identity
+
+	float transpose[9];
+	float mult[9];
+	int i, j;
+
+	// Compute Transpose(matrix)
+	for (i = 0; i < 3; i++) {
+		for(j = 0; j < 3; j++) {
+			transpose[i*3+j] = matrix[i+j*3];
+		}
+	}
+
+	// Multiply transpose x matrix
+	mult[0] = transpose[0]*matrix[0] + transpose[1]*matrix[3] + transpose[2]*matrix[6];
+	mult[1] = transpose[0]*matrix[1] + transpose[1]*matrix[4] + transpose[2]*matrix[7];
+	mult[2] = transpose[0]*matrix[2] + transpose[1]*matrix[5] + transpose[2]*matrix[8];
+
+	mult[3] = transpose[3]*matrix[0] + transpose[4]*matrix[3] + transpose[5]*matrix[6];
+	mult[4] = transpose[3]*matrix[1] + transpose[4]*matrix[4] + transpose[5]*matrix[7];
+	mult[5] = transpose[3]*matrix[2] + transpose[4]*matrix[5] + transpose[5]*matrix[8];
+
+	mult[6] = transpose[6]*matrix[0] + transpose[7]*matrix[3] + transpose[8]*matrix[6];
+	mult[7] = transpose[6]*matrix[1] + transpose[7]*matrix[4] + transpose[8]*matrix[7];
+	mult[8] = transpose[6]*matrix[2] + transpose[7]*matrix[5] + transpose[8]*matrix[8];
+
+	// Check that mult is identity
+	for (i = 0; i < 3; i++) {
+		for(j = 0; j < 3; j++) {
+			if (i == j) {
+				if (mult[i+j*3] != 1)
+					return 0;
+			}
+			else {
+				if (mult[i+j*3] != 0)
+					return 0;
+			}
+		}
+	}
+
+	return 1;
+}
+
+float InvBasicMath_computeMatrixDeterminant(const float matrix[9])
+{
+	return matrix[0] * (matrix[4]*matrix[8] - matrix[7]*matrix[5])
+	      -matrix[1] * (matrix[3]*matrix[8] - matrix[6]*matrix[5])
+	      +matrix[2] * (matrix[3]*matrix[7] - matrix[4]*matrix[6]);
+}
+
+

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/InvBasicMath.h

@@ -1,94 +1,94 @@
-/*
-    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
-
-    This software, related documentation and any modifications thereto (collectively "Software") is subject
-    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
-    other intellectual property rights laws.
-
-    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
-    and any use, reproduction, disclosure or distribution of the Software without an express license
-    agreement from InvenSense is strictly prohibited.
-*/
-
-/** @defgroup InvBasicMath InvBasicMath
-	@brief This file contains basic (overloadable) math functions and macros
-    @ingroup EmbUtils
-    @{
-*/
-
-#ifndef _INV_BASIC_MATH_H_
-#define _INV_BASIC_MATH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/** @brief  Return absolute value of argument
-*/
-#ifndef INV_ABS
-#	define INV_ABS(a)		((a) < 0 ? -(a) : (a))
-#endif
-
-/** @brief  Return minimum of two arguments
-*/
-#ifndef INV_MIN
-#	define INV_MIN(a, b)	((a) < (b) ? (a) : (b))
-#endif
-
-/** @brief  Return maximum of two arguments
-*/
-#ifndef INV_MAX
-#	define INV_MAX(a, b)	((a) > (b) ? (a) : (b))
-#endif
-
-/** @brief  Define value for pi
-*/
-#ifndef INV_PI
-#   define INV_PI 3.14159265358979
-#endif
-#ifndef M_PI
-#	define M_PI INV_PI
-#endif
-  
-/** @brief  Return saturated integer
-*/
-#ifndef INV_SATURATE
-static inline long InvBasicMath_saturatel(long in, long min, long max)
-{
-	if (in > max)
-		return max;
-	else if (in < min)
-		return min;
-	else
-		return in;
-}
-#	define INV_SATURATE(a, min, max) 	InvBasicMath_saturatel(a, min, max)
-#endif
-
-/** @brief  Compute log2 from integer
-*/
-#ifndef INV_LOG2
-unsigned int InvBasicMath_log2u(unsigned int val);
-#	define INV_LOG2(a)		InvBasicMath_log2u(a)
-#endif
-
-/** @brief Check if matrix is orthonormal
-*   @param [in] matrix 3x3 Matrix to be checked
-*   @return 1 if it is an orthonormal matrix, 0 otherwise
-*/
-int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9]);
-
-/** @brief Compute the determinant of the matrix
-*   @param [in] matrix 3x3 Matrix to be checked
-*   @return the determinant value
-*/
-float InvBasicMath_computeMatrixDeterminant(const float matrix[9]);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_BASIC_MATH_H_ */
-
-/** @} */
-
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+/** @defgroup InvBasicMath InvBasicMath
+	@brief This file contains basic (overloadable) math functions and macros
+    @ingroup EmbUtils
+    @{
+*/
+
+#ifndef _INV_BASIC_MATH_H_
+#define _INV_BASIC_MATH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief  Return absolute value of argument
+*/
+#ifndef INV_ABS
+#	define INV_ABS(a)		((a) < 0 ? -(a) : (a))
+#endif
+
+/** @brief  Return minimum of two arguments
+*/
+#ifndef INV_MIN
+#	define INV_MIN(a, b)	((a) < (b) ? (a) : (b))
+#endif
+
+/** @brief  Return maximum of two arguments
+*/
+#ifndef INV_MAX
+#	define INV_MAX(a, b)	((a) > (b) ? (a) : (b))
+#endif
+
+/** @brief  Define value for pi
+*/
+#ifndef INV_PI
+#   define INV_PI 3.14159265358979
+#endif
+#ifndef M_PI
+#	define M_PI INV_PI
+#endif
+  
+/** @brief  Return saturated integer
+*/
+#ifndef INV_SATURATE
+static inline long InvBasicMath_saturatel(long in, long min, long max)
+{
+	if (in > max)
+		return max;
+	else if (in < min)
+		return min;
+	else
+		return in;
+}
+#	define INV_SATURATE(a, min, max) 	InvBasicMath_saturatel(a, min, max)
+#endif
+
+/** @brief  Compute log2 from integer
+*/
+#ifndef INV_LOG2
+unsigned int InvBasicMath_log2u(unsigned int val);
+#	define INV_LOG2(a)		InvBasicMath_log2u(a)
+#endif
+
+/** @brief Check if matrix is orthonormal
+*   @param [in] matrix 3x3 Matrix to be checked
+*   @return 1 if it is an orthonormal matrix, 0 otherwise
+*/
+int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9]);
+
+/** @brief Compute the determinant of the matrix
+*   @param [in] matrix 3x3 Matrix to be checked
+*   @return the determinant value
+*/
+float InvBasicMath_computeMatrixDeterminant(const float matrix[9]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_BASIC_MATH_H_ */
+
+/** @} */
+

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/EmbUtils/RingBuffer.h

@@ -1,389 +1,389 @@
-/*
-    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
-
-    This software, related documentation and any modifications thereto (collectively "Software") is subject
-    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
-    other intellectual property rights laws.
-
-    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
-    and any use, reproduction, disclosure or distribution of the Software without an express license
-    agreement from InvenSense is strictly prohibited.
-*/
-
-/** \defgroup RingBuffer RingBuffer
-	\brief Macros to manage static circular buffer of any data type
-	\ingroup EmbUtils
-	\{
-*/
-
-#ifndef _RING_BUFFER_H_
-#define _RING_BUFFER_H_
-
-#include <stdint.h>
-#include <string.h>
-
-
-/** \brief  Macro to declare a ring buffer
-	\param[in] type		type of item contained in the ring buffer
-	\param[in] size 	number of items that can contain the ring buffer
-						To improve speed, size should be a power of 2
-*/
-#define RINGBUFFER_DECLARE(type, size) \
-	struct {	\
-		uint16_t 	read, write;	\
-		type	 	buffer[size]; 	\
-	}
-
-/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] type		type of item contained in the ring buffer
-	\param[in] size 	number of items that can contain the ring buffer
-						To improve speed, size should be a power of 2
-*/
-#define RINGBUFFER_VOLATILE_DECLARE(type, size) \
-	struct {	\
-		volatile uint16_t 	read, write;	\
-		volatile type	 	buffer[size]; 	\
-	}
-
-/** \brief  Macro to declare a ring buffer
-	\param[in] name 	name of the circular buffer
-	\param[in] size 	number of items that can contain the ring buffer
-						To improve speed, size should be a power of 2
-	\param[in] type		type of item contained in the ring buffer
-*/
-#define RINGBUFFER(name, size, type) RINGBUFFER_DECLARE(type, size) name
-
-/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] name 	name of the circular buffer
-	\param[in] size 	number of items that can contain the ring buffer
-						To improve speed, size should be a power of 2
-	\param[in] type		type of item contained in the ring buffer
-*/
-#define RINGBUFFER_VOLATILE(name, size, type) RINGBUFFER_VOLATILE_DECLARE(type, size) name
-
-/** \brief  Macro to get maximum size of a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\return  	maximum number of items that can contain the ringbuffer
-*/
-#define RINGBUFFER_MAXSIZE(rb)		(sizeof((rb)->buffer)/sizeof((rb)->buffer[0]))
-
-/** \brief  Macro to get maximum size of a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] rb 		pointer to the ring buffer
-	\return  	maximum number of items that can contain the ringbuffer
-*/
-#define RINGBUFFER_VOLATILE_MAXSIZE(rb)		RINGBUFFER_MAXSIZE(rb)
-
-/** \brief   Macro to get current size of a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\return  	current number of items hold in the ringbuffer
-*/
-#define RINGBUFFER_SIZE(rb) 		((uint16_t)((rb)->write - (rb)->read))
-
-static inline uint16_t get_ringbuffer_volatile_size(void * rb)
-{
-	struct { uint16_t read, write; } rb_var;
-	memcpy(&rb_var, rb, sizeof(rb_var));
-	return (rb_var.write - rb_var.read);
-}
-
-/** \brief   Macro to get current size of a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] rb 		pointer to the ring buffer
-	\return  	current number of items hold in the ringbuffer
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_SIZE(rb)	get_ringbuffer_volatile_size(rb)
-
-/** \brief   Macro to check if a ring buffer is full
-	\param[in] rb 		pointer to the ring buffer
-	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
-*/
-#define RINGBUFFER_FULL(rb) 		(RINGBUFFER_SIZE(rb) == RINGBUFFER_MAXSIZE(rb))
-
-/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is full
-	\param[in] rb 		pointer to the ring buffer
-	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_FULL(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == RINGBUFFER_VOLATILE_MAXSIZE(rb))
-
-/** \brief   Macro to check if a ring buffer is empty
-	\param[in] rb 		pointer to the ring buffer
-	\return  	1 if there is no item in the ring buffer, 0 otherwise
-*/
-#define RINGBUFFER_EMPTY(rb) 		(RINGBUFFER_SIZE(rb) == 0)
-
-/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is empty
-	\param[in] rb 		pointer to the ring buffer
-	\return  	1 if there is no item in the ring buffer, 0 otherwise
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_EMPTY(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == 0)
-
-/** \brief   Macro to get number of available slot in a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\return  	number of empty slot in the ring buffer
-*/
-#define RINGBUFFER_AVAILABLE(rb) 	(RINGBUFFER_MAXSIZE(rb) - RINGBUFFER_SIZE(rb))
-
-/** \brief   Macro to get number of available slot in a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] rb 		pointer to the ring buffer
-	\return  	number of empty slot in the ring buffer
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_AVAILABLE(rb) 	(RINGBUFFER_VOLATILE_MAXSIZE(rb) - RINGBUFFER_VOLATILE_SIZE(rb))
-
-/** \brief   Macro to clear a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-*/
-#define RINGBUFFER_CLEAR(rb)	\
-	do {	\
-		(rb)->read = 0, (rb)->write = 0;	\
-	} while(0)
-		
-/** \brief   Macro to clear a volatile ring buffer, i.e. modified within an interrupt context
-	\param[in] rb 		pointer to the ring buffer
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_CLEAR(rb)	RINGBUFFER_CLEAR(rb)
-
-/** \brief   Push item by reference
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	to available item slot
-	\warning There is no error checking done.
-*/
-#define RINGBUFFER_PUSHREF(rb, refData) \
-	do { \
-		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
-		++(rb)->write;	\
-	} while(0)
-
-/** \brief   Push item by reference
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	to available item slot
-	\warning There is no error checking done.
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_PUSHREF(rb, refData) \
-	do { \
-		uint16_t wr_ptr = (rb)->write; \
-		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-		++(rb)->write;	\
-	} while(0)
-
-/** \brief  Return reference to next available slot
-			No push is performed
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	to available item slot
-	\warning There is no error checking done.
-*/
-#define RINGBUFFER_GETREFNEXT(rb, refData) \
-	do { \
-		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief  Return reference to next available slot
-			No push is performed
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	to available item slot
-	\warning There is no error checking done.
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_GETREFNEXT(rb, refData) \
-	do { \
-		uint16_t wr_ptr = (rb)->write; \
-		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief  Increment write counter
-			Actually performed a push (assuming data were already copied)
-	\param[in] rb 			pointer to the ring buffer
-	\warning There is no error checking done.
-*/
-#define RINGBUFFER_INCREMENT(rb, refData) \
-	do { \
-		++(rb)->write;	\
-	} while(0)
-		
-/** \brief  Increment write counter
-			Actually performed a push (assuming data were already copied)
-	\param[in] rb 			pointer to the ring buffer
-	\warning There is no error checking done.
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_INCREMENT(rb, refData) \
-	do { \
-		++(rb)->write;	\
-	} while(0)
-
-/** \brief   Return reference to youngest item
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	reference to youngest item
-	\warning There is no error checking done.
-*/
-#define RINGBUFFER_BACK(rb, refData) \
-	do { \
-		refData = &(rb)->buffer[((rb)->write-1) % RINGBUFFER_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Return reference to youngest item
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	reference to youngest item
-	\warning There is no error checking done.
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_BACK(rb, refData) \
-	do { \
-		uint16_t wr_ptr = (rb)->write; \
-		refData = &(rb)->buffer[(wr_ptr-1) % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Macro to push an item to a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\param[in] ptrData 	pointer to the item to push.
-	\warning There is no error checking done.
-	You must check for fullness before pushing data
-*/
-#define RINGBUFFER_PUSH(rb, ptrData)	\
-	do {	\
-		(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
-		++(rb)->write;	\
-	} while(0)
-
-/** \brief   Macro to push an item to a volatile ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\param[in] ptrData 	pointer to the item to push.
-	\warning There is no error checking done.
-	You must check for fullness before pushing data
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_PUSH(rb, ptrData)	\
-	do {	\
-		uint16_t wr_ptr = (rb)->write; \
-		(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
-		++(rb)->write;	\
-	} while(0)
-
-/** \brief   Macro to unpush an item to a ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\param[in] ptrData 	pointer to placeholder to hold unpushed item
-	\warning There is no error checking done.
-	You must check for emptiness before pushing data
-*/
-#define RINGBUFFER_UNPUSH(rb, ptrData)	\
-	do {	\
-		--(rb)->write;	\
-		*ptrData = (rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Macro to unpush an item to a volatile ring buffer
-	\param[in] rb 		pointer to the ring buffer
-	\param[in] ptrData 	pointer to placeholder to hold unpushed item
-	\warning There is no error checking done.
-	You must check for emptiness before pushing data
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_UNPUSH(rb, ptrData)	\
-	do {	\
-		--(rb)->write;	\
-		uint16_t wr_ptr = (rb)->write; \
-		*ptrData = (rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Return reference to oldest item
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	reference to oldest item
-	\warning There is no error checking done.
-*/
-#define RINGBUFFER_FRONT(rb, refData) \
-	do { \
-		refData = &(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Return reference to oldest item
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] refData 	reference to oldest item
-	\warning There is no error checking done.
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_FRONT(rb, refData) \
-	do { \
-		uint16_t rd_ptr = (rb)->read; \
-		refData = &(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-	} while(0)
-
-/** \brief   Macro to pop an item from a ring buffer
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] ptrData 	pointer to placeholder to hold popped item
-	\warning There is no error checking done.
-	You must check for emptiness before popping data
-*/
-#define RINGBUFFER_POP(rb, ptrData) \
-	do { \
-		*ptrData = (rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
-		++(rb)->read;	\
-	} while(0)
-
-/** \brief   Macro to pop an item from a volatile ring buffer
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] ptrData 	pointer to placeholder to hold popped item
-	\warning There is no error checking done.
-	You must check for emptiness before popping data
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_POP(rb, ptrData) \
-	do { \
-		uint16_t rd_ptr = (rb)->read; \
-		*ptrData = (rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
-		++(rb)->read;	\
-	} while(0)
-
-/** \brief   Macro to pop an item from a ring buffer (data is not copied)
-	\param[in] rb 			pointer to the ring buffer
-	\warning There is no error checking done.
-	You must check for emptiness before popping data
-*/
-#define RINGBUFFER_POPNLOSE(rb) \
-	do { \
-		++(rb)->read;	\
-	} while(0)
-
-/** \brief   Macro to pop an item from a volatile ring buffer (data is not copied)
-	\param[in] rb 			pointer to the ring buffer
-	\warning There is no error checking done.
-	You must check for emptiness before popping data
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_POPNLOSE(rb) \
-	do { \
-		++(rb)->read;	\
-	} while(0)
-
-/** \brief   Macro to unpop an item to a ring buffer
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] ptrData 	pointer to to the item to unpop.
-	\warning There is no error checking done.
-	You must check for fullness before unpopping data
-*/
-#define RINGBUFFER_UNPOP(rb, ptrData) \
-	do { \
-		--(rb)->read;	\
-		(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
-	} while(0)
-
-/** \brief   Macro to unpop an item to a volatile ring buffer
-	\param[in] rb 			pointer to the ring buffer
-	\param[out] ptrData 	pointer to to the item to unpop.
-	\warning There is no error checking done.
-	You must check for fullness before unpopping data
-	\warning it is advised to put this in a critical section
-*/
-#define RINGBUFFER_VOLATILE_UNPOP(rb, ptrData) \
-	do { \
-		--(rb)->read;	\
-		uint16_t rd_ptr = (rb)->read; \
-		(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
-	} while(0)
-
-#endif
-
-/** \} */
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+/** \defgroup RingBuffer RingBuffer
+	\brief Macros to manage static circular buffer of any data type
+	\ingroup EmbUtils
+	\{
+*/
+
+#ifndef _RING_BUFFER_H_
+#define _RING_BUFFER_H_
+
+#include <stdint.h>
+#include <string.h>
+
+
+/** \brief  Macro to declare a ring buffer
+	\param[in] type		type of item contained in the ring buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+*/
+#define RINGBUFFER_DECLARE(type, size) \
+	struct {	\
+		uint16_t 	read, write;	\
+		type	 	buffer[size]; 	\
+	}
+
+/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] type		type of item contained in the ring buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+*/
+#define RINGBUFFER_VOLATILE_DECLARE(type, size) \
+	struct {	\
+		volatile uint16_t 	read, write;	\
+		volatile type	 	buffer[size]; 	\
+	}
+
+/** \brief  Macro to declare a ring buffer
+	\param[in] name 	name of the circular buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+	\param[in] type		type of item contained in the ring buffer
+*/
+#define RINGBUFFER(name, size, type) RINGBUFFER_DECLARE(type, size) name
+
+/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] name 	name of the circular buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+	\param[in] type		type of item contained in the ring buffer
+*/
+#define RINGBUFFER_VOLATILE(name, size, type) RINGBUFFER_VOLATILE_DECLARE(type, size) name
+
+/** \brief  Macro to get maximum size of a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	maximum number of items that can contain the ringbuffer
+*/
+#define RINGBUFFER_MAXSIZE(rb)		(sizeof((rb)->buffer)/sizeof((rb)->buffer[0]))
+
+/** \brief  Macro to get maximum size of a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	maximum number of items that can contain the ringbuffer
+*/
+#define RINGBUFFER_VOLATILE_MAXSIZE(rb)		RINGBUFFER_MAXSIZE(rb)
+
+/** \brief   Macro to get current size of a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	current number of items hold in the ringbuffer
+*/
+#define RINGBUFFER_SIZE(rb) 		((uint16_t)((rb)->write - (rb)->read))
+
+static inline uint16_t get_ringbuffer_volatile_size(void * rb)
+{
+	struct { uint16_t read, write; } rb_var;
+	memcpy(&rb_var, rb, sizeof(rb_var));
+	return (rb_var.write - rb_var.read);
+}
+
+/** \brief   Macro to get current size of a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	current number of items hold in the ringbuffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_SIZE(rb)	get_ringbuffer_volatile_size(rb)
+
+/** \brief   Macro to check if a ring buffer is full
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
+*/
+#define RINGBUFFER_FULL(rb) 		(RINGBUFFER_SIZE(rb) == RINGBUFFER_MAXSIZE(rb))
+
+/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is full
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_FULL(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == RINGBUFFER_VOLATILE_MAXSIZE(rb))
+
+/** \brief   Macro to check if a ring buffer is empty
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no item in the ring buffer, 0 otherwise
+*/
+#define RINGBUFFER_EMPTY(rb) 		(RINGBUFFER_SIZE(rb) == 0)
+
+/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is empty
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no item in the ring buffer, 0 otherwise
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_EMPTY(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == 0)
+
+/** \brief   Macro to get number of available slot in a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	number of empty slot in the ring buffer
+*/
+#define RINGBUFFER_AVAILABLE(rb) 	(RINGBUFFER_MAXSIZE(rb) - RINGBUFFER_SIZE(rb))
+
+/** \brief   Macro to get number of available slot in a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	number of empty slot in the ring buffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_AVAILABLE(rb) 	(RINGBUFFER_VOLATILE_MAXSIZE(rb) - RINGBUFFER_VOLATILE_SIZE(rb))
+
+/** \brief   Macro to clear a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+*/
+#define RINGBUFFER_CLEAR(rb)	\
+	do {	\
+		(rb)->read = 0, (rb)->write = 0;	\
+	} while(0)
+		
+/** \brief   Macro to clear a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_CLEAR(rb)	RINGBUFFER_CLEAR(rb)
+
+/** \brief   Push item by reference
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_PUSHREF(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Push item by reference
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_PUSHREF(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief  Return reference to next available slot
+			No push is performed
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_GETREFNEXT(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief  Return reference to next available slot
+			No push is performed
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_GETREFNEXT(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief  Increment write counter
+			Actually performed a push (assuming data were already copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_INCREMENT(rb, refData) \
+	do { \
+		++(rb)->write;	\
+	} while(0)
+		
+/** \brief  Increment write counter
+			Actually performed a push (assuming data were already copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_INCREMENT(rb, refData) \
+	do { \
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Return reference to youngest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to youngest item
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_BACK(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[((rb)->write-1) % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to youngest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to youngest item
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_BACK(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[(wr_ptr-1) % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to push an item to a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to the item to push.
+	\warning There is no error checking done.
+	You must check for fullness before pushing data
+*/
+#define RINGBUFFER_PUSH(rb, ptrData)	\
+	do {	\
+		(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Macro to push an item to a volatile ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to the item to push.
+	\warning There is no error checking done.
+	You must check for fullness before pushing data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_PUSH(rb, ptrData)	\
+	do {	\
+		uint16_t wr_ptr = (rb)->write; \
+		(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Macro to unpush an item to a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to placeholder to hold unpushed item
+	\warning There is no error checking done.
+	You must check for emptiness before pushing data
+*/
+#define RINGBUFFER_UNPUSH(rb, ptrData)	\
+	do {	\
+		--(rb)->write;	\
+		*ptrData = (rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to unpush an item to a volatile ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to placeholder to hold unpushed item
+	\warning There is no error checking done.
+	You must check for emptiness before pushing data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_UNPUSH(rb, ptrData)	\
+	do {	\
+		--(rb)->write;	\
+		uint16_t wr_ptr = (rb)->write; \
+		*ptrData = (rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to oldest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to oldest item
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_FRONT(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to oldest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to oldest item
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_FRONT(rb, refData) \
+	do { \
+		uint16_t rd_ptr = (rb)->read; \
+		refData = &(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to placeholder to hold popped item
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+*/
+#define RINGBUFFER_POP(rb, ptrData) \
+	do { \
+		*ptrData = (rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a volatile ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to placeholder to hold popped item
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_POP(rb, ptrData) \
+	do { \
+		uint16_t rd_ptr = (rb)->read; \
+		*ptrData = (rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a ring buffer (data is not copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+*/
+#define RINGBUFFER_POPNLOSE(rb) \
+	do { \
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a volatile ring buffer (data is not copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_POPNLOSE(rb) \
+	do { \
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to unpop an item to a ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to to the item to unpop.
+	\warning There is no error checking done.
+	You must check for fullness before unpopping data
+*/
+#define RINGBUFFER_UNPOP(rb, ptrData) \
+	do { \
+		--(rb)->read;	\
+		(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
+	} while(0)
+
+/** \brief   Macro to unpop an item to a volatile ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to to the item to unpop.
+	\warning There is no error checking done.
+	You must check for fullness before unpopping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_UNPOP(rb, ptrData) \
+	do { \
+		--(rb)->read;	\
+		uint16_t rd_ptr = (rb)->read; \
+		(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
+	} while(0)
+
+#endif
+
+/** \} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/InvBool.h

@@ -1,47 +1,47 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @brief    Custom definition for boolean type to avoid compiler discrepancies
- *	@{
- */
-
-#ifndef _INV_BOOL_H_
-#define _INV_BOOL_H_
-
-typedef int inv_bool_t;
-
-#ifndef __cplusplus
-
-#ifndef true
-	#define true    1
-#endif
-
-#ifndef false
-	#define false   0
-#endif
-
-#endif /* __cplusplus */
-
-#endif /* _INV_BOOL_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @brief    Custom definition for boolean type to avoid compiler discrepancies
+ *	@{
+ */
+
+#ifndef _INV_BOOL_H_
+#define _INV_BOOL_H_
+
+typedef int inv_bool_t;
+
+#ifndef __cplusplus
+
+#ifndef true
+	#define true    1
+#endif
+
+#ifndef false
+	#define false   0
+#endif
+
+#endif /* __cplusplus */
+
+#endif /* _INV_BOOL_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/InvError.h

@@ -1,64 +1,64 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup InvError Error code
- *	@brief    Common error code
- *
- *	@ingroup EmbUtils
- *	@{
- */
-
-#ifndef _INV_ERROR_H_
-#define _INV_ERROR_H_
-
-/** @brief Common error code definition
- */
-enum inv_error
-{
-	INV_ERROR_SUCCESS      = 0,   /**< no error */
-	INV_ERROR              = -1,  /**< unspecified error */
-	INV_ERROR_NIMPL        = -2,  /**< function not implemented for given
-	                                   arguments */
-	INV_ERROR_TRANSPORT    = -3,  /**< error occurred at transport level */
-	INV_ERROR_TIMEOUT      = -4,  /**< action did not complete in the expected
-	                                   time window */
-	INV_ERROR_SIZE         = -5,  /**< size/length of given arguments is not
-	                                   suitable to complete requested action */
-	INV_ERROR_OS           = -6,  /**< error related to OS */
-	INV_ERROR_IO           = -7,  /**< error related to IO operation */
-	INV_ERROR_MEM          = -9,  /**< not enough memory to complete requested
-	                                   action */
-	INV_ERROR_HW           = -10, /**< error at HW level */
-	INV_ERROR_BAD_ARG      = -11, /**< provided arguments are not good to
-	                                   perform requested action */
-	INV_ERROR_UNEXPECTED   = -12, /**< something unexpected happened */
-	INV_ERROR_FILE         = -13, /**< cannot access file or unexpected format */
-	INV_ERROR_PATH         = -14, /**< invalid file path */
-	INV_ERROR_IMAGE_TYPE   = -15, /**< error when image type is not managed */
-	INV_ERROR_WATCHDOG     = -16, /**< error when device doesn't respond 
-									   to ping */
-};
-
-#endif /* _INV_ERROR_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup InvError Error code
+ *	@brief    Common error code
+ *
+ *	@ingroup EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_ERROR_H_
+#define _INV_ERROR_H_
+
+/** @brief Common error code definition
+ */
+enum inv_error
+{
+	INV_ERROR_SUCCESS      = 0,   /**< no error */
+	INV_ERROR              = -1,  /**< unspecified error */
+	INV_ERROR_NIMPL        = -2,  /**< function not implemented for given
+	                                   arguments */
+	INV_ERROR_TRANSPORT    = -3,  /**< error occurred at transport level */
+	INV_ERROR_TIMEOUT      = -4,  /**< action did not complete in the expected
+	                                   time window */
+	INV_ERROR_SIZE         = -5,  /**< size/length of given arguments is not
+	                                   suitable to complete requested action */
+	INV_ERROR_OS           = -6,  /**< error related to OS */
+	INV_ERROR_IO           = -7,  /**< error related to IO operation */
+	INV_ERROR_MEM          = -9,  /**< not enough memory to complete requested
+	                                   action */
+	INV_ERROR_HW           = -10, /**< error at HW level */
+	INV_ERROR_BAD_ARG      = -11, /**< provided arguments are not good to
+	                                   perform requested action */
+	INV_ERROR_UNEXPECTED   = -12, /**< something unexpected happened */
+	INV_ERROR_FILE         = -13, /**< cannot access file or unexpected format */
+	INV_ERROR_PATH         = -14, /**< invalid file path */
+	INV_ERROR_IMAGE_TYPE   = -15, /**< error when image type is not managed */
+	INV_ERROR_WATCHDOG     = -16, /**< error when device doesn't respond 
+									   to ping */
+};
+
+#endif /* _INV_ERROR_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/InvExport.h

@@ -1,39 +1,39 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#ifndef _INV_IDD_EXPORT_H_
-#define _INV_IDD_EXPORT_H_
-
-#if defined(_WIN32)
-	#if !defined(INV_EXPORT) && defined(INV_DO_DLL_EXPORT)
-		#define INV_EXPORT __declspec(dllexport)
-	#elif !defined(INV_EXPORT) && defined(INV_DO_DLL_IMPORT)
-		#define INV_EXPORT __declspec(dllimport)
-	#endif
-#endif
-
-#if !defined(INV_EXPORT)
-	#define INV_EXPORT
-#endif
-
-#endif /* _INV_IDD_EXPORT_H_ */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#ifndef _INV_IDD_EXPORT_H_
+#define _INV_IDD_EXPORT_H_
+
+#if defined(_WIN32)
+	#if !defined(INV_EXPORT) && defined(INV_DO_DLL_EXPORT)
+		#define INV_EXPORT __declspec(dllexport)
+	#elif !defined(INV_EXPORT) && defined(INV_DO_DLL_IMPORT)
+		#define INV_EXPORT __declspec(dllimport)
+	#endif
+#endif
+
+#if !defined(INV_EXPORT)
+	#define INV_EXPORT
+#endif
+
+#endif /* _INV_IDD_EXPORT_H_ */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_apex.c

@@ -1,370 +1,370 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2017 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#include "inv_imu_defs.h"
-#include "inv_imu_extfunc.h"
-#include "inv_imu_driver.h"
-#include "inv_imu_apex.h"
-
-int inv_imu_apex_enable_ff(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-	
-	status |= inv_imu_start_dmp(s);
-	
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_EN;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_disable_ff(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_DIS;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_enable_smd(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-	
-	status |= inv_imu_start_dmp(s);
-	
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_EN;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-    	
-	return status;
-}
-
-int inv_imu_apex_disable_smd(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_DIS;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-
-	return status;
-}
-
-int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs)
-{
-	int status = 0;
-	(void)s;
-	
-	/* Default parameters at POR */
-	apex_inputs->pedo_amp_th          = APEX_CONFIG3_PEDO_AMP_TH_62_MG;
-	apex_inputs->pedo_step_cnt_th     = 0x5;
-	apex_inputs->pedo_step_det_th     = 0x2;
-	apex_inputs->pedo_sb_timer_th     = APEX_CONFIG4_PEDO_SB_TIMER_TH_150_SAMPLES;
-	apex_inputs->pedo_hi_enrgy_th     = APEX_CONFIG4_PEDO_HI_ENRGY_TH_104_MG;
-	apex_inputs->tilt_wait_time       = APEX_CONFIG5_TILT_WAIT_TIME_4_S;
-	apex_inputs->power_save_time      = APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_8_S;
-	apex_inputs->power_save           = APEX_CONFIG0_DMP_POWER_SAVE_EN;
-	apex_inputs->sensitivity_mode     = APEX_CONFIG9_SENSITIVITY_MODE_NORMAL;
-	apex_inputs->low_energy_amp_th    = APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_80_MG;
-	apex_inputs->smd_sensitivity      = APEX_CONFIG9_SMD_SENSITIVITY_0;
-	apex_inputs->ff_debounce_duration = APEX_CONFIG9_FF_DEBOUNCE_DURATION_2000_MS;
-	apex_inputs->ff_max_duration_cm   = APEX_CONFIG12_FF_MAX_DURATION_204_CM;
-	apex_inputs->ff_min_duration_cm   = APEX_CONFIG12_FF_MIN_DURATION_10_CM;
-	apex_inputs->lowg_peak_th         = APEX_CONFIG10_LOWG_PEAK_TH_563_MG;
-	apex_inputs->lowg_peak_hyst       = APEX_CONFIG5_LOWG_PEAK_TH_HYST_156_MG;
-	apex_inputs->lowg_samples_th      = APEX_CONFIG10_LOWG_TIME_TH_1_SAMPLE;
-	apex_inputs->highg_peak_th        = APEX_CONFIG11_HIGHG_PEAK_TH_2500_MG;
-	apex_inputs->highg_peak_hyst      = APEX_CONFIG5_HIGHG_PEAK_TH_HYST_156_MG;
-	apex_inputs->highg_samples_th     = APEX_CONFIG11_HIGHG_TIME_TH_1_SAMPLE;
-
-	return status;
-}
-
-int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs)
-{
-	int status = 0;
-	uint8_t data;
-	uint8_t apexConfig[7];
-	APEX_CONFIG1_PED_ENABLE_t pedo_state;
-	APEX_CONFIG1_TILT_ENABLE_t tilt_state;
-	APEX_CONFIG1_FF_ENABLE_t ff_state;
-	APEX_CONFIG1_SMD_ENABLE_t smd_state;
-	
-	/* DMP cannot be configured if it is running, hence make sure all APEX algorithms are off */
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &data);
-	pedo_state  = (APEX_CONFIG1_PED_ENABLE_t)(data & APEX_CONFIG1_PED_ENABLE_MASK);
-	tilt_state  = (APEX_CONFIG1_TILT_ENABLE_t)(data & APEX_CONFIG1_TILT_ENABLE_MASK);
-	ff_state  = (APEX_CONFIG1_FF_ENABLE_t)(data & APEX_CONFIG1_FF_ENABLE_MASK);
-	smd_state  = (APEX_CONFIG1_SMD_ENABLE_t)(data & APEX_CONFIG1_SMD_ENABLE_MASK);
-	if (pedo_state == APEX_CONFIG1_PED_ENABLE_EN)
-		return INV_ERROR;
-	if (tilt_state == APEX_CONFIG1_TILT_ENABLE_EN)
-		return INV_ERROR;
-	if (ff_state == APEX_CONFIG1_FF_ENABLE_EN)
-		return INV_ERROR;
-	if (smd_state == APEX_CONFIG1_SMD_ENABLE_EN)
-		return INV_ERROR;
-	
-	
-	status |= inv_imu_switch_on_mclk(s);
-
-	/* Power Save mode and low energy amplitude threshold (for Pedometer in Slow Walk mode) */
-	/* APEX_CONFIG2_MREG1 */
-	apexConfig[0] =   (uint8_t)apex_inputs->power_save_time 
-	                | (uint8_t)apex_inputs->low_energy_amp_th;
-
-	/* Pedometer parameters */
-	/* APEX_CONFIG3_MREG1 */
-	apexConfig[1] =   (uint8_t)apex_inputs->pedo_amp_th 
-	                | (apex_inputs->pedo_step_cnt_th & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK);
-
-	/* APEX_CONFIG4_MREG1 */
-	apexConfig[2] =   ((apex_inputs->pedo_step_det_th << APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS) 
-	                & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK)
-	                | (uint8_t)apex_inputs->pedo_sb_timer_th 
-	                | (uint8_t)apex_inputs->pedo_hi_enrgy_th;
-
-	/* Tilt, Lowg and highg parameters */
-	/* APEX_CONFIG5_MREG1 */
-	apexConfig[3] =   (uint8_t)apex_inputs->tilt_wait_time 
-	                | (uint8_t)apex_inputs->lowg_peak_hyst 
-	                | (uint8_t)apex_inputs->highg_peak_hyst;
-
-	status |= inv_imu_write_reg(s, APEX_CONFIG2_MREG1, 4, &apexConfig[0]);
-
-
-	/* APEX_CONFIG0 */
-	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
-	apexConfig[0] &= ~APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK;
-	apexConfig[0] |= apex_inputs->power_save;
-	status |= inv_imu_write_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
-	
-	/* free fall parameter, SMD parameter and parameters for Pedometer in Slow Walk mode */
-	/* APEX_CONFIG9_MREG1 */
-	apexConfig[0] =   (uint8_t)apex_inputs->ff_debounce_duration 
-	                | (uint8_t)apex_inputs->smd_sensitivity 
-	                | (uint8_t)apex_inputs->sensitivity_mode;
-	
-	/* Lowg and highg parameters and free fall parameters */
-	/* APEX_CONFIG10_MREG1 */
-	apexConfig[1] =   (uint8_t)apex_inputs->lowg_peak_th 
-	                | (uint8_t)apex_inputs->lowg_samples_th;
-
-	/* APEX_CONFIG11_MREG1 */
-	apexConfig[2] =   (uint8_t)apex_inputs->highg_peak_th 
-	                | (uint8_t)apex_inputs->highg_samples_th;
-
-	status |= inv_imu_write_reg(s, APEX_CONFIG9_MREG1, 3, &apexConfig[0]);
-	
-	
-	/* APEX_CONFIG12_MREG1 */
-	apexConfig[0] =   (uint8_t)apex_inputs->ff_max_duration_cm 
-	                | (uint8_t)apex_inputs->ff_min_duration_cm;
-	
-	status |= inv_imu_write_reg(s, APEX_CONFIG12_MREG1, 1, &apexConfig[0]);
-
-	status |= inv_imu_switch_off_mclk(s);
-
-	return status;
-}
-
-int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params)
-{
-	int status = 0;
-	uint8_t data[7];
-	uint8_t value;
-	
-	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &value);
-	apex_params->power_save = (APEX_CONFIG0_DMP_POWER_SAVE_t)(value & APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK);
-	
-	/* Access continuous config registers (CONFIG2-CONFIG11) */
-	status |= inv_imu_read_reg(s, APEX_CONFIG2_MREG1, sizeof(data), &data[0]);
-	
-	/* Get params from apex_config2 : dmp_power_save_time and low_energy_amp_th */
-	apex_params->power_save_time = (APEX_CONFIG2_DMP_POWER_SAVE_TIME_t)
-	                               (data[0] & APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_MASK);
-	apex_params->low_energy_amp_th = (APEX_CONFIG2_LOW_ENERGY_AMP_TH_t)
-	                                 (data[0] & APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_MASK);
-	
-	/* Get params from apex_config3 : pedo_amp_th and pedo_step_cnt_th */
-	apex_params->pedo_amp_th = (APEX_CONFIG3_PEDO_AMP_TH_t)
-	                           (data[1] & APEX_CONFIG3_PED_AMP_TH_SEL_MASK);
-	apex_params->pedo_step_cnt_th =    (data[1] & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK) 
-	                                >> APEX_CONFIG3_PED_STEP_CNT_TH_SEL_POS;
-	
-	/* Get params from apex_config4 : pedo_step_det_th, pedo_sb_timer_th and pedo_hi_enrgy_th */
-	apex_params->pedo_step_det_th =    (data[2] & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK) 
-	                                >> APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS;
-	apex_params->pedo_sb_timer_th = (APEX_CONFIG4_PEDO_SB_TIMER_TH_t)
-	                                (data[2] & APEX_CONFIG4_PED_SB_TIMER_TH_SEL_MASK);
-	apex_params->pedo_hi_enrgy_th = (APEX_CONFIG4_PEDO_HI_ENRGY_TH_t)
-	                                (data[2] & APEX_CONFIG4_PED_HI_EN_TH_SEL_MASK);
-	
-	/* Get params from apex_config5 : tilt_wait_time, lowg_peak_hyst and highg_peak_hyst */
-	apex_params->tilt_wait_time = (APEX_CONFIG5_TILT_WAIT_TIME_t)
-	                              (data[3] & APEX_CONFIG5_TILT_WAIT_TIME_SEL_MASK);
-	apex_params->lowg_peak_hyst = (APEX_CONFIG5_LOWG_PEAK_TH_HYST_t)
-	                              (data[3] & APEX_CONFIG5_LOWG_PEAK_TH_HYST_SEL_MASK);
-	apex_params->highg_peak_hyst = (APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t)
-	                               (data[3] & APEX_CONFIG5_HIGHG_PEAK_TH_HYST_SEL_MASK);
-	
-	/* Get params from apex_config9 : ff_debounce_duration, smd_sensitivity and sensitivity_mode */
-	apex_params->ff_debounce_duration = (APEX_CONFIG9_FF_DEBOUNCE_DURATION_t)
-	                                    (data[4] & APEX_CONFIG9_FF_DEBOUNCE_DURATION_SEL_MASK);
-	apex_params->smd_sensitivity = (APEX_CONFIG9_SMD_SENSITIVITY_t)
-	                               (data[4] & APEX_CONFIG9_SMD_SENSITIVITY_SEL_MASK);
-	apex_params->sensitivity_mode = (APEX_CONFIG9_SENSITIVITY_MODE_t)
-	                                (data[4] & APEX_CONFIG9_SENSITIVITY_MODE_MASK);
-	
-	/* Get params from apex_config10 : lowg_peak_th and lowg_samples_th */
-	apex_params->lowg_peak_th = (APEX_CONFIG10_LOWG_PEAK_TH_t)
-	                            (data[5] & APEX_CONFIG10_LOWG_PEAK_TH_SEL_MASK);
-	apex_params->lowg_samples_th = (APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t)
-	                               (data[5] & APEX_CONFIG10_LOWG_TIME_TH_SEL_MASK);
-	
-	/* Get params from apex_config11 : highg_peak_th and highg_samples_th */
-	apex_params->highg_peak_th = (APEX_CONFIG11_HIGHG_PEAK_TH_t)
-	                             (data[6] & APEX_CONFIG11_HIGHG_PEAK_TH_SEL_MASK);
-	apex_params->highg_samples_th = (APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t)
-	                                (data[6] & APEX_CONFIG11_HIGHG_TIME_TH_SEL_MASK);
-	
-	/* Access apex reg 12 */
-	status |= inv_imu_read_reg(s, APEX_CONFIG12_MREG1, 1, &data[0]);
-	
-	/* Get params from apex_config12 : ff_max_duration_cm and ff_min_duration_cm */
-	apex_params->ff_max_duration_cm = (APEX_CONFIG12_FF_MAX_DURATION_t)
-	                                  (data[0] & APEX_CONFIG12_FF_MAX_DURATION_SEL_MASK);
-	apex_params->ff_min_duration_cm = (APEX_CONFIG12_FF_MIN_DURATION_t)
-	                                  (data[0] & APEX_CONFIG12_FF_MIN_DURATION_SEL_MASK);
-
-	return status;
-}
-
-int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency)
-{
-	uint8_t value;
-	int status = 0;
-
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-
-	value &= ~APEX_CONFIG1_DMP_ODR_MASK;
-	value |= frequency;
-
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	return status;
-}
-
-int inv_imu_apex_enable_pedometer(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-	
-	status |= inv_imu_start_dmp(s);
-    
-	/* Enable Pedometer */
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_EN;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_disable_pedometer(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-    
-	/* Disable Pedometer */
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_DIS;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_enable_tilt(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-	
-	status |= inv_imu_start_dmp(s);
-    
-	/* Enable Tilt */
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_EN;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_disable_tilt(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-    
-	/* Disable Tilt */
-	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
-	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
-	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_DIS;
-	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
-	
-	return status;
-}
-
-int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity)
-{
-	uint8_t data[4];
-	int status = inv_imu_read_reg(s, APEX_DATA0, 4, data);
-	
-	apex_activity->step_cnt = data[1] << 8 | data[0];
-	apex_activity->step_cadence = data[2];
-	apex_activity->activity_class = data[3] & APEX_DATA3_ACTIVITY_CLASS_MASK;
-	
-	return status;
-}
-
-int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration)
-{
-	uint8_t data[2];
-	int status = inv_imu_read_reg(s, APEX_DATA4, 2, &data[0]);
-	
-	*freefall_duration = (data[1] << 8) | data[0];
-	
-	return status;
-}
-
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_defs.h"
+#include "inv_imu_extfunc.h"
+#include "inv_imu_driver.h"
+#include "inv_imu_apex.h"
+
+int inv_imu_apex_enable_ff(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_ff(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_enable_smd(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+    	
+	return status;
+}
+
+int inv_imu_apex_disable_smd(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+
+	return status;
+}
+
+int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs)
+{
+	int status = 0;
+	(void)s;
+	
+	/* Default parameters at POR */
+	apex_inputs->pedo_amp_th          = APEX_CONFIG3_PEDO_AMP_TH_62_MG;
+	apex_inputs->pedo_step_cnt_th     = 0x5;
+	apex_inputs->pedo_step_det_th     = 0x2;
+	apex_inputs->pedo_sb_timer_th     = APEX_CONFIG4_PEDO_SB_TIMER_TH_150_SAMPLES;
+	apex_inputs->pedo_hi_enrgy_th     = APEX_CONFIG4_PEDO_HI_ENRGY_TH_104_MG;
+	apex_inputs->tilt_wait_time       = APEX_CONFIG5_TILT_WAIT_TIME_4_S;
+	apex_inputs->power_save_time      = APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_8_S;
+	apex_inputs->power_save           = APEX_CONFIG0_DMP_POWER_SAVE_EN;
+	apex_inputs->sensitivity_mode     = APEX_CONFIG9_SENSITIVITY_MODE_NORMAL;
+	apex_inputs->low_energy_amp_th    = APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_80_MG;
+	apex_inputs->smd_sensitivity      = APEX_CONFIG9_SMD_SENSITIVITY_0;
+	apex_inputs->ff_debounce_duration = APEX_CONFIG9_FF_DEBOUNCE_DURATION_2000_MS;
+	apex_inputs->ff_max_duration_cm   = APEX_CONFIG12_FF_MAX_DURATION_204_CM;
+	apex_inputs->ff_min_duration_cm   = APEX_CONFIG12_FF_MIN_DURATION_10_CM;
+	apex_inputs->lowg_peak_th         = APEX_CONFIG10_LOWG_PEAK_TH_563_MG;
+	apex_inputs->lowg_peak_hyst       = APEX_CONFIG5_LOWG_PEAK_TH_HYST_156_MG;
+	apex_inputs->lowg_samples_th      = APEX_CONFIG10_LOWG_TIME_TH_1_SAMPLE;
+	apex_inputs->highg_peak_th        = APEX_CONFIG11_HIGHG_PEAK_TH_2500_MG;
+	apex_inputs->highg_peak_hyst      = APEX_CONFIG5_HIGHG_PEAK_TH_HYST_156_MG;
+	apex_inputs->highg_samples_th     = APEX_CONFIG11_HIGHG_TIME_TH_1_SAMPLE;
+
+	return status;
+}
+
+int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs)
+{
+	int status = 0;
+	uint8_t data;
+	uint8_t apexConfig[7];
+	APEX_CONFIG1_PED_ENABLE_t pedo_state;
+	APEX_CONFIG1_TILT_ENABLE_t tilt_state;
+	APEX_CONFIG1_FF_ENABLE_t ff_state;
+	APEX_CONFIG1_SMD_ENABLE_t smd_state;
+	
+	/* DMP cannot be configured if it is running, hence make sure all APEX algorithms are off */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &data);
+	pedo_state  = (APEX_CONFIG1_PED_ENABLE_t)(data & APEX_CONFIG1_PED_ENABLE_MASK);
+	tilt_state  = (APEX_CONFIG1_TILT_ENABLE_t)(data & APEX_CONFIG1_TILT_ENABLE_MASK);
+	ff_state  = (APEX_CONFIG1_FF_ENABLE_t)(data & APEX_CONFIG1_FF_ENABLE_MASK);
+	smd_state  = (APEX_CONFIG1_SMD_ENABLE_t)(data & APEX_CONFIG1_SMD_ENABLE_MASK);
+	if (pedo_state == APEX_CONFIG1_PED_ENABLE_EN)
+		return INV_ERROR;
+	if (tilt_state == APEX_CONFIG1_TILT_ENABLE_EN)
+		return INV_ERROR;
+	if (ff_state == APEX_CONFIG1_FF_ENABLE_EN)
+		return INV_ERROR;
+	if (smd_state == APEX_CONFIG1_SMD_ENABLE_EN)
+		return INV_ERROR;
+	
+	
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Power Save mode and low energy amplitude threshold (for Pedometer in Slow Walk mode) */
+	/* APEX_CONFIG2_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->power_save_time 
+	                | (uint8_t)apex_inputs->low_energy_amp_th;
+
+	/* Pedometer parameters */
+	/* APEX_CONFIG3_MREG1 */
+	apexConfig[1] =   (uint8_t)apex_inputs->pedo_amp_th 
+	                | (apex_inputs->pedo_step_cnt_th & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK);
+
+	/* APEX_CONFIG4_MREG1 */
+	apexConfig[2] =   ((apex_inputs->pedo_step_det_th << APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS) 
+	                & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK)
+	                | (uint8_t)apex_inputs->pedo_sb_timer_th 
+	                | (uint8_t)apex_inputs->pedo_hi_enrgy_th;
+
+	/* Tilt, Lowg and highg parameters */
+	/* APEX_CONFIG5_MREG1 */
+	apexConfig[3] =   (uint8_t)apex_inputs->tilt_wait_time 
+	                | (uint8_t)apex_inputs->lowg_peak_hyst 
+	                | (uint8_t)apex_inputs->highg_peak_hyst;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG2_MREG1, 4, &apexConfig[0]);
+
+
+	/* APEX_CONFIG0 */
+	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
+	apexConfig[0] &= ~APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK;
+	apexConfig[0] |= apex_inputs->power_save;
+	status |= inv_imu_write_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
+	
+	/* free fall parameter, SMD parameter and parameters for Pedometer in Slow Walk mode */
+	/* APEX_CONFIG9_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->ff_debounce_duration 
+	                | (uint8_t)apex_inputs->smd_sensitivity 
+	                | (uint8_t)apex_inputs->sensitivity_mode;
+	
+	/* Lowg and highg parameters and free fall parameters */
+	/* APEX_CONFIG10_MREG1 */
+	apexConfig[1] =   (uint8_t)apex_inputs->lowg_peak_th 
+	                | (uint8_t)apex_inputs->lowg_samples_th;
+
+	/* APEX_CONFIG11_MREG1 */
+	apexConfig[2] =   (uint8_t)apex_inputs->highg_peak_th 
+	                | (uint8_t)apex_inputs->highg_samples_th;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG9_MREG1, 3, &apexConfig[0]);
+	
+	
+	/* APEX_CONFIG12_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->ff_max_duration_cm 
+	                | (uint8_t)apex_inputs->ff_min_duration_cm;
+	
+	status |= inv_imu_write_reg(s, APEX_CONFIG12_MREG1, 1, &apexConfig[0]);
+
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params)
+{
+	int status = 0;
+	uint8_t data[7];
+	uint8_t value;
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &value);
+	apex_params->power_save = (APEX_CONFIG0_DMP_POWER_SAVE_t)(value & APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK);
+	
+	/* Access continuous config registers (CONFIG2-CONFIG11) */
+	status |= inv_imu_read_reg(s, APEX_CONFIG2_MREG1, sizeof(data), &data[0]);
+	
+	/* Get params from apex_config2 : dmp_power_save_time and low_energy_amp_th */
+	apex_params->power_save_time = (APEX_CONFIG2_DMP_POWER_SAVE_TIME_t)
+	                               (data[0] & APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_MASK);
+	apex_params->low_energy_amp_th = (APEX_CONFIG2_LOW_ENERGY_AMP_TH_t)
+	                                 (data[0] & APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_MASK);
+	
+	/* Get params from apex_config3 : pedo_amp_th and pedo_step_cnt_th */
+	apex_params->pedo_amp_th = (APEX_CONFIG3_PEDO_AMP_TH_t)
+	                           (data[1] & APEX_CONFIG3_PED_AMP_TH_SEL_MASK);
+	apex_params->pedo_step_cnt_th =    (data[1] & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK) 
+	                                >> APEX_CONFIG3_PED_STEP_CNT_TH_SEL_POS;
+	
+	/* Get params from apex_config4 : pedo_step_det_th, pedo_sb_timer_th and pedo_hi_enrgy_th */
+	apex_params->pedo_step_det_th =    (data[2] & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK) 
+	                                >> APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS;
+	apex_params->pedo_sb_timer_th = (APEX_CONFIG4_PEDO_SB_TIMER_TH_t)
+	                                (data[2] & APEX_CONFIG4_PED_SB_TIMER_TH_SEL_MASK);
+	apex_params->pedo_hi_enrgy_th = (APEX_CONFIG4_PEDO_HI_ENRGY_TH_t)
+	                                (data[2] & APEX_CONFIG4_PED_HI_EN_TH_SEL_MASK);
+	
+	/* Get params from apex_config5 : tilt_wait_time, lowg_peak_hyst and highg_peak_hyst */
+	apex_params->tilt_wait_time = (APEX_CONFIG5_TILT_WAIT_TIME_t)
+	                              (data[3] & APEX_CONFIG5_TILT_WAIT_TIME_SEL_MASK);
+	apex_params->lowg_peak_hyst = (APEX_CONFIG5_LOWG_PEAK_TH_HYST_t)
+	                              (data[3] & APEX_CONFIG5_LOWG_PEAK_TH_HYST_SEL_MASK);
+	apex_params->highg_peak_hyst = (APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t)
+	                               (data[3] & APEX_CONFIG5_HIGHG_PEAK_TH_HYST_SEL_MASK);
+	
+	/* Get params from apex_config9 : ff_debounce_duration, smd_sensitivity and sensitivity_mode */
+	apex_params->ff_debounce_duration = (APEX_CONFIG9_FF_DEBOUNCE_DURATION_t)
+	                                    (data[4] & APEX_CONFIG9_FF_DEBOUNCE_DURATION_SEL_MASK);
+	apex_params->smd_sensitivity = (APEX_CONFIG9_SMD_SENSITIVITY_t)
+	                               (data[4] & APEX_CONFIG9_SMD_SENSITIVITY_SEL_MASK);
+	apex_params->sensitivity_mode = (APEX_CONFIG9_SENSITIVITY_MODE_t)
+	                                (data[4] & APEX_CONFIG9_SENSITIVITY_MODE_MASK);
+	
+	/* Get params from apex_config10 : lowg_peak_th and lowg_samples_th */
+	apex_params->lowg_peak_th = (APEX_CONFIG10_LOWG_PEAK_TH_t)
+	                            (data[5] & APEX_CONFIG10_LOWG_PEAK_TH_SEL_MASK);
+	apex_params->lowg_samples_th = (APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t)
+	                               (data[5] & APEX_CONFIG10_LOWG_TIME_TH_SEL_MASK);
+	
+	/* Get params from apex_config11 : highg_peak_th and highg_samples_th */
+	apex_params->highg_peak_th = (APEX_CONFIG11_HIGHG_PEAK_TH_t)
+	                             (data[6] & APEX_CONFIG11_HIGHG_PEAK_TH_SEL_MASK);
+	apex_params->highg_samples_th = (APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t)
+	                                (data[6] & APEX_CONFIG11_HIGHG_TIME_TH_SEL_MASK);
+	
+	/* Access apex reg 12 */
+	status |= inv_imu_read_reg(s, APEX_CONFIG12_MREG1, 1, &data[0]);
+	
+	/* Get params from apex_config12 : ff_max_duration_cm and ff_min_duration_cm */
+	apex_params->ff_max_duration_cm = (APEX_CONFIG12_FF_MAX_DURATION_t)
+	                                  (data[0] & APEX_CONFIG12_FF_MAX_DURATION_SEL_MASK);
+	apex_params->ff_min_duration_cm = (APEX_CONFIG12_FF_MIN_DURATION_t)
+	                                  (data[0] & APEX_CONFIG12_FF_MIN_DURATION_SEL_MASK);
+
+	return status;
+}
+
+int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency)
+{
+	uint8_t value;
+	int status = 0;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+
+	value &= ~APEX_CONFIG1_DMP_ODR_MASK;
+	value |= frequency;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	return status;
+}
+
+int inv_imu_apex_enable_pedometer(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+    
+	/* Enable Pedometer */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_pedometer(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+    
+	/* Disable Pedometer */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_enable_tilt(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+    
+	/* Enable Tilt */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_tilt(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+    
+	/* Disable Tilt */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity)
+{
+	uint8_t data[4];
+	int status = inv_imu_read_reg(s, APEX_DATA0, 4, data);
+	
+	apex_activity->step_cnt = data[1] << 8 | data[0];
+	apex_activity->step_cadence = data[2];
+	apex_activity->activity_class = data[3] & APEX_DATA3_ACTIVITY_CLASS_MASK;
+	
+	return status;
+}
+
+int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration)
+{
+	uint8_t data[2];
+	int status = inv_imu_read_reg(s, APEX_DATA4, 2, &data[0]);
+	
+	*freefall_duration = (data[1] << 8) | data[0];
+	
+	return status;
+}
+

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_apex.h

@@ -1,185 +1,185 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2017 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup DriverApex IMU driver high level functions related to APEX and the DMP
- *  @brief High-level function to setup an IMU device
- *  @ingroup  Driver
- *  @{
- */
-
-/** @file inv_imu_apex.h
- * High-level function to setup an IMU device
- */
-
-#ifndef _INV_IMU_APEX_H_
-#define _INV_IMU_APEX_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "inv_imu_defs.h"
-
-#include "InvError.h"
-
-#include <stdint.h>
-#include <string.h>
-
-/* Forward declarations */
-struct inv_imu_device;
-
-/** @brief IMU APEX inputs parameters definition
- */
-typedef struct {
-	APEX_CONFIG3_PEDO_AMP_TH_t pedo_amp_th;
-	uint8_t pedo_step_cnt_th;
-	uint8_t pedo_step_det_th;
-	APEX_CONFIG4_PEDO_SB_TIMER_TH_t pedo_sb_timer_th;
-	APEX_CONFIG4_PEDO_HI_ENRGY_TH_t pedo_hi_enrgy_th;
-	APEX_CONFIG5_TILT_WAIT_TIME_t tilt_wait_time;
-	APEX_CONFIG2_DMP_POWER_SAVE_TIME_t power_save_time;
-	APEX_CONFIG0_DMP_POWER_SAVE_t power_save;
-	APEX_CONFIG9_SENSITIVITY_MODE_t sensitivity_mode;
-	APEX_CONFIG2_LOW_ENERGY_AMP_TH_t low_energy_amp_th;
-	APEX_CONFIG9_SMD_SENSITIVITY_t smd_sensitivity;
-	APEX_CONFIG9_FF_DEBOUNCE_DURATION_t ff_debounce_duration;
-	APEX_CONFIG12_FF_MAX_DURATION_t ff_max_duration_cm;
-	APEX_CONFIG12_FF_MIN_DURATION_t ff_min_duration_cm;
-	APEX_CONFIG10_LOWG_PEAK_TH_t lowg_peak_th;
-	APEX_CONFIG5_LOWG_PEAK_TH_HYST_t lowg_peak_hyst;
-	APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t lowg_samples_th;
-	APEX_CONFIG11_HIGHG_PEAK_TH_t highg_peak_th;
-	APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t highg_peak_hyst;
-	APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t highg_samples_th;
-} inv_imu_apex_parameters_t;
-
-/** @brief APEX pedometer outputs
- */
-typedef struct inv_imu_apex_step_activity {
-	uint16_t step_cnt;      /**< Number of steps taken */
-	uint8_t step_cadence;   /**< Walk/run cadence in number of samples. 
-	                             Format is u6.2. E.g, At 50Hz and 2Hz walk frequency, if the cadency is 25 samples. 
-	                             The register will output 100. */
-	uint8_t activity_class; /**< Detected activity unknown (0), walk (1) or run (2) */
-} inv_imu_apex_step_activity_t;
-
-/** @brief  Enable Free Fall.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_enable_ff(struct inv_imu_device *s);
-
-/** @brief  Disable Free Fall.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_disable_ff(struct inv_imu_device *s);
-
-/** @brief  Enable Significant Motion Detection.
- *  note : SMD requests to have the accelerometer enabled to work.
- *  To have good performance, it's recommended to set accelerometer ODR (Output Data Rate) to 20ms
- *  and the accelerometer in Low Power Mode.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_enable_smd(struct inv_imu_device *s);
-
-/** @brief  Disable Significant Motion Detection.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_disable_smd(struct inv_imu_device *s);
-
-/** @brief Fill the APEX parameters structure with all the default parameters for APEX algorithms (pedometer, tilt)
- *  @param[out] apex_inputs Default input parameters. See @sa inv_imu_apex_parameters_t 
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs);
-
-/** @brief Configures DMP parameters for APEX algorithms (pedometer, tilt, lowg, highg). 
- *         This programmable parameters will be decoded and propagate to the SRAM to be executed at DMP start.
- *  @param[in] apex_inputs The requested input parameters. See @sa inv_imu_apex_parameters_t
- *  @warning APEX inputs can't change on the fly, this API should be called before enabling any APEX features.
- *  @warning APEX configuration can't be done too frequently, but only once every 10ms. 
- *           Otherwise it can create unknown behavior.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs);
-
-/** @brief Returns current DMP parameters for APEX algorithms (pedometer, tilt).
- *  @param[out] apex_params The current parameter, fetched from registers. See @sa inv_imu_apex_parameters_t
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params);
-
-/** @brief Configure DMP Output Data Rate for APEX algorithms (pedometer, tilt)
- *  @param[in] frequency The requested frequency.
- *  @sa APEX_CONFIG1_DMP_ODR_t
- *  @warning DMP_ODR can change on the fly, and the DMP code will accommodate necessary modifications
- *  @warning The user needs to take care to set Accel frequency >= DMP frequency. This is a hard constraint 
- since HW will not handle incorrect setting.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency);
-
-/** @brief  Enable APEX algorithm Pedometer.
- *  note : Pedometer request to have the accelerometer enabled to works 
- *         with accelerometer frequency less than dmp frequency. 
- *  @return 0 on success, negative value on error.
- *  @warning Pedometer must be turned OFF to reconfigure it
- */
-int inv_imu_apex_enable_pedometer(struct inv_imu_device *s);
-
-/** @brief  Disable APEX algorithm Pedometer.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_disable_pedometer(struct inv_imu_device *s);
-
-/** @brief  Enable APEX algorithm Tilt.
- *  note : Tilt request to have the accelerometer enabled to works 
- *         with accelerometer frequency less than dmp frequency. 
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_enable_tilt(struct inv_imu_device *s);
-
-/** @brief  Disable APEX algorithm Tilt.
- *  @return 0 on success, negative value on error.
- */
-int inv_imu_apex_disable_tilt(struct inv_imu_device *s);
-
-/** @brief  Retrieve APEX pedometer outputs and format them
- *  @param[out] apex_activity Apex step and activity data value.
- *  @return 0 in case of success, negative value on error. See enum inv_error
- */
-int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity);
-
-/** @brief  Retrieve APEX free fall outputs and format them
- *  @param[out] Free fall duration in number of sample.
- *  @return 0 in case of success, negative value on error. See enum inv_error
- */
-int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_IMU_APEX_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverApex IMU driver high level functions related to APEX and the DMP
+ *  @brief High-level function to setup an IMU device
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file inv_imu_apex.h
+ * High-level function to setup an IMU device
+ */
+
+#ifndef _INV_IMU_APEX_H_
+#define _INV_IMU_APEX_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "inv_imu_defs.h"
+
+#include "InvError.h"
+
+#include <stdint.h>
+#include <string.h>
+
+/* Forward declarations */
+struct inv_imu_device;
+
+/** @brief IMU APEX inputs parameters definition
+ */
+typedef struct {
+	APEX_CONFIG3_PEDO_AMP_TH_t pedo_amp_th;
+	uint8_t pedo_step_cnt_th;
+	uint8_t pedo_step_det_th;
+	APEX_CONFIG4_PEDO_SB_TIMER_TH_t pedo_sb_timer_th;
+	APEX_CONFIG4_PEDO_HI_ENRGY_TH_t pedo_hi_enrgy_th;
+	APEX_CONFIG5_TILT_WAIT_TIME_t tilt_wait_time;
+	APEX_CONFIG2_DMP_POWER_SAVE_TIME_t power_save_time;
+	APEX_CONFIG0_DMP_POWER_SAVE_t power_save;
+	APEX_CONFIG9_SENSITIVITY_MODE_t sensitivity_mode;
+	APEX_CONFIG2_LOW_ENERGY_AMP_TH_t low_energy_amp_th;
+	APEX_CONFIG9_SMD_SENSITIVITY_t smd_sensitivity;
+	APEX_CONFIG9_FF_DEBOUNCE_DURATION_t ff_debounce_duration;
+	APEX_CONFIG12_FF_MAX_DURATION_t ff_max_duration_cm;
+	APEX_CONFIG12_FF_MIN_DURATION_t ff_min_duration_cm;
+	APEX_CONFIG10_LOWG_PEAK_TH_t lowg_peak_th;
+	APEX_CONFIG5_LOWG_PEAK_TH_HYST_t lowg_peak_hyst;
+	APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t lowg_samples_th;
+	APEX_CONFIG11_HIGHG_PEAK_TH_t highg_peak_th;
+	APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t highg_peak_hyst;
+	APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t highg_samples_th;
+} inv_imu_apex_parameters_t;
+
+/** @brief APEX pedometer outputs
+ */
+typedef struct inv_imu_apex_step_activity {
+	uint16_t step_cnt;      /**< Number of steps taken */
+	uint8_t step_cadence;   /**< Walk/run cadence in number of samples. 
+	                             Format is u6.2. E.g, At 50Hz and 2Hz walk frequency, if the cadency is 25 samples. 
+	                             The register will output 100. */
+	uint8_t activity_class; /**< Detected activity unknown (0), walk (1) or run (2) */
+} inv_imu_apex_step_activity_t;
+
+/** @brief  Enable Free Fall.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_ff(struct inv_imu_device *s);
+
+/** @brief  Disable Free Fall.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_ff(struct inv_imu_device *s);
+
+/** @brief  Enable Significant Motion Detection.
+ *  note : SMD requests to have the accelerometer enabled to work.
+ *  To have good performance, it's recommended to set accelerometer ODR (Output Data Rate) to 20ms
+ *  and the accelerometer in Low Power Mode.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_smd(struct inv_imu_device *s);
+
+/** @brief  Disable Significant Motion Detection.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_smd(struct inv_imu_device *s);
+
+/** @brief Fill the APEX parameters structure with all the default parameters for APEX algorithms (pedometer, tilt)
+ *  @param[out] apex_inputs Default input parameters. See @sa inv_imu_apex_parameters_t 
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs);
+
+/** @brief Configures DMP parameters for APEX algorithms (pedometer, tilt, lowg, highg). 
+ *         This programmable parameters will be decoded and propagate to the SRAM to be executed at DMP start.
+ *  @param[in] apex_inputs The requested input parameters. See @sa inv_imu_apex_parameters_t
+ *  @warning APEX inputs can't change on the fly, this API should be called before enabling any APEX features.
+ *  @warning APEX configuration can't be done too frequently, but only once every 10ms. 
+ *           Otherwise it can create unknown behavior.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs);
+
+/** @brief Returns current DMP parameters for APEX algorithms (pedometer, tilt).
+ *  @param[out] apex_params The current parameter, fetched from registers. See @sa inv_imu_apex_parameters_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params);
+
+/** @brief Configure DMP Output Data Rate for APEX algorithms (pedometer, tilt)
+ *  @param[in] frequency The requested frequency.
+ *  @sa APEX_CONFIG1_DMP_ODR_t
+ *  @warning DMP_ODR can change on the fly, and the DMP code will accommodate necessary modifications
+ *  @warning The user needs to take care to set Accel frequency >= DMP frequency. This is a hard constraint 
+ since HW will not handle incorrect setting.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency);
+
+/** @brief  Enable APEX algorithm Pedometer.
+ *  note : Pedometer request to have the accelerometer enabled to works 
+ *         with accelerometer frequency less than dmp frequency. 
+ *  @return 0 on success, negative value on error.
+ *  @warning Pedometer must be turned OFF to reconfigure it
+ */
+int inv_imu_apex_enable_pedometer(struct inv_imu_device *s);
+
+/** @brief  Disable APEX algorithm Pedometer.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_pedometer(struct inv_imu_device *s);
+
+/** @brief  Enable APEX algorithm Tilt.
+ *  note : Tilt request to have the accelerometer enabled to works 
+ *         with accelerometer frequency less than dmp frequency. 
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_tilt(struct inv_imu_device *s);
+
+/** @brief  Disable APEX algorithm Tilt.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_tilt(struct inv_imu_device *s);
+
+/** @brief  Retrieve APEX pedometer outputs and format them
+ *  @param[out] apex_activity Apex step and activity data value.
+ *  @return 0 in case of success, negative value on error. See enum inv_error
+ */
+int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity);
+
+/** @brief  Retrieve APEX free fall outputs and format them
+ *  @param[out] Free fall duration in number of sample.
+ *  @return 0 in case of success, negative value on error. See enum inv_error
+ */
+int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_APEX_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_extfunc.h

@@ -1,64 +1,64 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2017 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup DriverExt IMU driver extern functions
- *  @brief    Extern functions for IMU devices
- *  @ingroup  Driver
- *  @{
- */
-
-/** @file  inv_imu_extfunc.h
- * Extern functions for IMU devices
- */
-
-#ifndef _INV_IMU_EXTFUNC_H_
-#define _INV_IMU_EXTFUNC_H_
-
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/** @brief Hook for low-level high res system sleep() function to be implemented by upper layer
- *  ~100us resolution is sufficient
- *  @param[in] us number of us the calling thread should sleep
- */
-extern void inv_imu_sleep_us(uint32_t us);
-
-/** @brief Hook for low-level high res system get_time() function to be implemented by upper layer
- *  Value shall be on 64bit with a 1 us resolution
- *  @return The current time in us
- */
-extern uint64_t inv_imu_get_time_us(void);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_IMU_EXTFUNC_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverExt IMU driver extern functions
+ *  @brief    Extern functions for IMU devices
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file  inv_imu_extfunc.h
+ * Extern functions for IMU devices
+ */
+
+#ifndef _INV_IMU_EXTFUNC_H_
+#define _INV_IMU_EXTFUNC_H_
+
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/** @brief Hook for low-level high res system sleep() function to be implemented by upper layer
+ *  ~100us resolution is sufficient
+ *  @param[in] us number of us the calling thread should sleep
+ */
+extern void inv_imu_sleep_us(uint32_t us);
+
+/** @brief Hook for low-level high res system get_time() function to be implemented by upper layer
+ *  Value shall be on 64bit with a 1 us resolution
+ *  @return The current time in us
+ */
+extern uint64_t inv_imu_get_time_us(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_EXTFUNC_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_selftest.c

@@ -1,179 +1,179 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#include "inv_imu_selftest.h"
-#include "inv_imu_extfunc.h"
-#include "inv_imu_transport.h"
-
-static int configure_selftest_parameters(struct inv_imu_device *s, 
-                                         const inv_imu_selftest_parameters_t st_params);
-
-int inv_imu_run_selftest(struct inv_imu_device *s, 
-                         const inv_imu_selftest_parameters_t st_params,
-                         inv_imu_selftest_output_t *st_output)
-{
-	int status = 0;
-	uint8_t value;
-	uint8_t data[2] = {0};
-	uint8_t st_done = 0;
-	int polling_timeout_ms = 1000;
-
-	/* Disables Gyro/Accel sensors */	
-	status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &value);
-	value &= ~(PWR_MGMT0_ACCEL_MODE_MASK | PWR_MGMT0_GYRO_MODE_MASK);
-	status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &value);
-
-	/* Enable RC oscillator */
-	status |= inv_imu_switch_on_mclk(s);
-
-	/* Clear DMP SRAM (1 ms wait included in `inv_imu_reset_dmp()`) */
-	status |= inv_imu_reset_dmp(s, APEX_CONFIG0_DMP_MEM_RESET_APEX_ST_EN);
-	/* Update `dmp_is_on` since APEX features will have to restart from scratch */
-	s->dmp_is_on = 0;
-
-	/* Load self-test data */
-	status |= inv_imu_load_selftest_data(s);
-
-	/* Set self-test parameters */
-	status |= configure_selftest_parameters(s, st_params);
-
-	/* 
-	 * Enable accel and/or gyro self-test.
-	 * If both accel and gyro self-test are enabled, 
-	 * they should be set simultaneously in the same write access 
-	 */
-	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
-	value &= ~SELFTEST_EN;
-	value |= (uint8_t)st_params.st_control; 
-	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
-
-	/* Poll int_status_st_done bit */
-	do {
-		inv_imu_sleep_us(1000);
-		status |= inv_imu_read_reg(s, INT_STATUS, 1, &st_done);
-		st_done &= INT_STATUS_ST_INT_MASK;
-		
-		if (0 == --polling_timeout_ms)
-			return (status | -1); /* Return error if timeout is reached */
-			
-	} while (   !st_done /* Exit if ST_DONE */
-	         && !status  /* Or if error is detected */);
-
-	/* Read self-test results */
-	status |= inv_imu_read_reg(s, ST_STATUS1_MREG1, 2, &data[0]);
-	st_output->accel_status = (data[0] & ST_STATUS1_ACCEL_ST_PASS_MASK) >> ST_STATUS1_ACCEL_ST_PASS_POS;
-	st_output->ax_status = (data[0] & ST_STATUS1_AX_ST_PASS_MASK) >> ST_STATUS1_AX_ST_PASS_POS;
-	st_output->ay_status = (data[0] & ST_STATUS1_AY_ST_PASS_MASK) >> ST_STATUS1_AY_ST_PASS_POS;
-	st_output->az_status = (data[0] & ST_STATUS1_AZ_ST_PASS_MASK) >> ST_STATUS1_AZ_ST_PASS_POS;
-	st_output->gyro_status = (data[1] & ST_STATUS2_GYRO_ST_PASS_MASK) >> ST_STATUS2_GYRO_ST_PASS_POS;
-	st_output->gyro_status |= ((data[1] & ST_STATUS2_ST_INCOMPLETE_MASK) >> ST_STATUS2_ST_INCOMPLETE_POS) << 1;
-	st_output->gx_status = (data[1] & ST_STATUS2_GX_ST_PASS_MASK) >> ST_STATUS2_GX_ST_PASS_POS;
-	st_output->gy_status = (data[1] & ST_STATUS2_GY_ST_PASS_MASK) >> ST_STATUS2_GY_ST_PASS_POS;
-	st_output->gz_status = (data[1] & ST_STATUS2_GZ_ST_PASS_MASK) >> ST_STATUS2_GZ_ST_PASS_POS;
-	
-	/* Disable self-test */
-	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
-	value &= ~SELFTEST_EN;
-	value |= (uint8_t)SELFTEST_DIS;
-	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
-
-	/* Reset FIFO because ST data may have been pushed to it */
-	status |= inv_imu_reset_fifo(s);
-
-	/* Restore idle bit */
-	status |= inv_imu_switch_off_mclk(s);
-
-	return status;
-}
-
-int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s,
-                                            inv_imu_selftest_parameters_t *st_params)
-{
-	(void)s;
-	st_params->st_num_samples = ST_CONFIG_16_SAMPLES;
-	st_params->st_control     = (SELFTEST_ACCEL_GYRO_ST_EN_t)SELFTEST_EN;
-	return 0;
-}
-
-int inv_imu_load_selftest_data(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t value;
-
-	/* Enable RC oscillator */
-	status |= inv_imu_switch_on_mclk(s);
-
-	/* Set up OTP controller to reload factory-trimmed self-test response into SRAM */
-	status |= inv_imu_read_reg(s, OTP_CONFIG_MREG1, 1, &value);
-	value &= ~OTP_CONFIG_OTP_COPY_MODE_MASK;
-	value |= (uint8_t)OTP_CONFIG_OTP_COPY_ST_DATA;
-	status |= inv_imu_write_reg(s, OTP_CONFIG_MREG1, 1, &value);
-
-	/* Take the OTP macro out of power-down mode */
-	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
-	value &= ~OTP_CTRL7_OTP_PWR_DOWN_MASK;
-	value |= (uint8_t)OTP_CTRL7_PWR_DOWN_DIS;
-	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
-	
-	/* Wait for voltage generator to power on */
-	inv_imu_sleep_us(100);
-
-	/* Host should disable INT function first before kicking off OTP copy operation */
-
-	/* Trigger OTP to reload data (this time in self-test mode) */
-	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
-	value &= ~OTP_CTRL7_OTP_RELOAD_MASK;
-	value |= (uint8_t)OTP_CTRL7_OTP_RELOAD_EN;
-	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
-
-	/* Wait for OTP reload */
-	inv_imu_sleep_us(20);
-
-	/* Disable RC oscillator */
-	status |= inv_imu_switch_off_mclk(s);
-
-	return status;
-}
-
-static int configure_selftest_parameters(struct inv_imu_device *s, 
-                                         const inv_imu_selftest_parameters_t st_params)
-{
-	int status = 0;
-	uint8_t value;
-
-	/* Self-test configuration cannot be updated if it already running */
-	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
-	if ((value & SELFTEST_EN) != SELFTEST_DIS)
-		return INV_ERROR_UNEXPECTED;
-
-	status |= inv_imu_read_reg(s, ST_CONFIG_MREG1, 1, &value);
-	value &= ~((uint8_t)ST_CONFIG_ST_NUMBER_SAMPLE_MASK 
-	         | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_MASK 
-	         | (uint8_t)ST_CONFIG_GYRO_ST_LIM_MASK);
-	value |=  (uint8_t)st_params.st_num_samples 
-	        | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_50 
-	        | (uint8_t)ST_CONFIG_GYRO_ST_LIM_50;
-	status |= inv_imu_write_reg(s, ST_CONFIG_MREG1, 1, &value);
-	
-	return status;
-}
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_selftest.h"
+#include "inv_imu_extfunc.h"
+#include "inv_imu_transport.h"
+
+static int configure_selftest_parameters(struct inv_imu_device *s, 
+                                         const inv_imu_selftest_parameters_t st_params);
+
+int inv_imu_run_selftest(struct inv_imu_device *s, 
+                         const inv_imu_selftest_parameters_t st_params,
+                         inv_imu_selftest_output_t *st_output)
+{
+	int status = 0;
+	uint8_t value;
+	uint8_t data[2] = {0};
+	uint8_t st_done = 0;
+	int polling_timeout_ms = 1000;
+
+	/* Disables Gyro/Accel sensors */	
+	status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &value);
+	value &= ~(PWR_MGMT0_ACCEL_MODE_MASK | PWR_MGMT0_GYRO_MODE_MASK);
+	status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &value);
+
+	/* Enable RC oscillator */
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Clear DMP SRAM (1 ms wait included in `inv_imu_reset_dmp()`) */
+	status |= inv_imu_reset_dmp(s, APEX_CONFIG0_DMP_MEM_RESET_APEX_ST_EN);
+	/* Update `dmp_is_on` since APEX features will have to restart from scratch */
+	s->dmp_is_on = 0;
+
+	/* Load self-test data */
+	status |= inv_imu_load_selftest_data(s);
+
+	/* Set self-test parameters */
+	status |= configure_selftest_parameters(s, st_params);
+
+	/* 
+	 * Enable accel and/or gyro self-test.
+	 * If both accel and gyro self-test are enabled, 
+	 * they should be set simultaneously in the same write access 
+	 */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	value &= ~SELFTEST_EN;
+	value |= (uint8_t)st_params.st_control; 
+	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
+
+	/* Poll int_status_st_done bit */
+	do {
+		inv_imu_sleep_us(1000);
+		status |= inv_imu_read_reg(s, INT_STATUS, 1, &st_done);
+		st_done &= INT_STATUS_ST_INT_MASK;
+		
+		if (0 == --polling_timeout_ms)
+			return (status | -1); /* Return error if timeout is reached */
+			
+	} while (   !st_done /* Exit if ST_DONE */
+	         && !status  /* Or if error is detected */);
+
+	/* Read self-test results */
+	status |= inv_imu_read_reg(s, ST_STATUS1_MREG1, 2, &data[0]);
+	st_output->accel_status = (data[0] & ST_STATUS1_ACCEL_ST_PASS_MASK) >> ST_STATUS1_ACCEL_ST_PASS_POS;
+	st_output->ax_status = (data[0] & ST_STATUS1_AX_ST_PASS_MASK) >> ST_STATUS1_AX_ST_PASS_POS;
+	st_output->ay_status = (data[0] & ST_STATUS1_AY_ST_PASS_MASK) >> ST_STATUS1_AY_ST_PASS_POS;
+	st_output->az_status = (data[0] & ST_STATUS1_AZ_ST_PASS_MASK) >> ST_STATUS1_AZ_ST_PASS_POS;
+	st_output->gyro_status = (data[1] & ST_STATUS2_GYRO_ST_PASS_MASK) >> ST_STATUS2_GYRO_ST_PASS_POS;
+	st_output->gyro_status |= ((data[1] & ST_STATUS2_ST_INCOMPLETE_MASK) >> ST_STATUS2_ST_INCOMPLETE_POS) << 1;
+	st_output->gx_status = (data[1] & ST_STATUS2_GX_ST_PASS_MASK) >> ST_STATUS2_GX_ST_PASS_POS;
+	st_output->gy_status = (data[1] & ST_STATUS2_GY_ST_PASS_MASK) >> ST_STATUS2_GY_ST_PASS_POS;
+	st_output->gz_status = (data[1] & ST_STATUS2_GZ_ST_PASS_MASK) >> ST_STATUS2_GZ_ST_PASS_POS;
+	
+	/* Disable self-test */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	value &= ~SELFTEST_EN;
+	value |= (uint8_t)SELFTEST_DIS;
+	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
+
+	/* Reset FIFO because ST data may have been pushed to it */
+	status |= inv_imu_reset_fifo(s);
+
+	/* Restore idle bit */
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s,
+                                            inv_imu_selftest_parameters_t *st_params)
+{
+	(void)s;
+	st_params->st_num_samples = ST_CONFIG_16_SAMPLES;
+	st_params->st_control     = (SELFTEST_ACCEL_GYRO_ST_EN_t)SELFTEST_EN;
+	return 0;
+}
+
+int inv_imu_load_selftest_data(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	/* Enable RC oscillator */
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Set up OTP controller to reload factory-trimmed self-test response into SRAM */
+	status |= inv_imu_read_reg(s, OTP_CONFIG_MREG1, 1, &value);
+	value &= ~OTP_CONFIG_OTP_COPY_MODE_MASK;
+	value |= (uint8_t)OTP_CONFIG_OTP_COPY_ST_DATA;
+	status |= inv_imu_write_reg(s, OTP_CONFIG_MREG1, 1, &value);
+
+	/* Take the OTP macro out of power-down mode */
+	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	value &= ~OTP_CTRL7_OTP_PWR_DOWN_MASK;
+	value |= (uint8_t)OTP_CTRL7_PWR_DOWN_DIS;
+	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	
+	/* Wait for voltage generator to power on */
+	inv_imu_sleep_us(100);
+
+	/* Host should disable INT function first before kicking off OTP copy operation */
+
+	/* Trigger OTP to reload data (this time in self-test mode) */
+	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	value &= ~OTP_CTRL7_OTP_RELOAD_MASK;
+	value |= (uint8_t)OTP_CTRL7_OTP_RELOAD_EN;
+	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
+
+	/* Wait for OTP reload */
+	inv_imu_sleep_us(20);
+
+	/* Disable RC oscillator */
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+static int configure_selftest_parameters(struct inv_imu_device *s, 
+                                         const inv_imu_selftest_parameters_t st_params)
+{
+	int status = 0;
+	uint8_t value;
+
+	/* Self-test configuration cannot be updated if it already running */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	if ((value & SELFTEST_EN) != SELFTEST_DIS)
+		return INV_ERROR_UNEXPECTED;
+
+	status |= inv_imu_read_reg(s, ST_CONFIG_MREG1, 1, &value);
+	value &= ~((uint8_t)ST_CONFIG_ST_NUMBER_SAMPLE_MASK 
+	         | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_MASK 
+	         | (uint8_t)ST_CONFIG_GYRO_ST_LIM_MASK);
+	value |=  (uint8_t)st_params.st_num_samples 
+	        | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_50 
+	        | (uint8_t)ST_CONFIG_GYRO_ST_LIM_50;
+	status |= inv_imu_write_reg(s, ST_CONFIG_MREG1, 1, &value);
+	
+	return status;
+}

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_selftest.h

@@ -1,101 +1,101 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup DriverST SelfTest IMU selftest
- *  @brief Low-level function to run selftest on a IMU device
- *  @ingroup  Driver
- *  @{
- */
-
-/** @file inv_imu_selftest.h
- * Low-level function to run selftest on a IMU device
- */
-
-#ifndef _INV_IMU_SELFTEST_H_
-#define _INV_IMU_SELFTEST_H_
-
-#include <stdint.h>
-
-#include "InvExport.h"
-#include "inv_imu_defs.h"
-#include "inv_imu_driver.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* forward declaration */
-struct inv_imu_device;
-
-
-/** @brief Self-test input parameters
- */
-typedef struct {
-	ST_CONFIG_NUM_SAMPLES_t st_num_samples; /**< Number of samples used to perform self-test */
-	SELFTEST_ACCEL_GYRO_ST_EN_t st_control; /**< Define which sensor is under self-test */
-} inv_imu_selftest_parameters_t;
-
-/** @brief Self-test routine outputs
- */
-typedef struct {
-	int8_t accel_status;    /**< global accelerometer self-test passed */
-	int8_t gyro_status;     /**< global gyroscope self-test status: st_pass (bit0), st_incomplete (bit1) */
-	int8_t ax_status;       /**< AX self-test status */
-	int8_t ay_status;       /**< AY self-test status */
-	int8_t az_status;       /**< AZ self-test status */
-	int8_t gx_status;       /**< GX self-test status */
-	int8_t gy_status;       /**< GY self-test status */
-	int8_t gz_status;       /**< GZ self-test status */
-} inv_imu_selftest_output_t;
-
-
-/**
-*  @brief      Perform hardware self-test for Accel and Gyro
-*  @param[in]  Self-test parameters (see inv_imu_selftest_parameters_t)
-*  @param[out] Self-test results (see inv_imu_selftest_output_t)
-*  @return     0 on completion, negative number if intermediate errors occurred
-*/
-int inv_imu_run_selftest(struct inv_imu_device *s, 
-                         const inv_imu_selftest_parameters_t st_params,
-                         inv_imu_selftest_output_t *st_output);
-
-/** @brief Fill the self-test configuration structure with default configuration
- *  @param[in] selftest_params self-test parameters to be initialized
- *  @return 0 on success, negative return code otherwise
- */
-int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s, 
-                                            inv_imu_selftest_parameters_t *selftest_params);
-
-/** @brief Load self-test data
- *  @return 0 on success, negative return code otherwise
- */
-int inv_imu_load_selftest_data(struct inv_imu_device *s);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_IMU_SELFTEST_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverST SelfTest IMU selftest
+ *  @brief Low-level function to run selftest on a IMU device
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file inv_imu_selftest.h
+ * Low-level function to run selftest on a IMU device
+ */
+
+#ifndef _INV_IMU_SELFTEST_H_
+#define _INV_IMU_SELFTEST_H_
+
+#include <stdint.h>
+
+#include "InvExport.h"
+#include "inv_imu_defs.h"
+#include "inv_imu_driver.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* forward declaration */
+struct inv_imu_device;
+
+
+/** @brief Self-test input parameters
+ */
+typedef struct {
+	ST_CONFIG_NUM_SAMPLES_t st_num_samples; /**< Number of samples used to perform self-test */
+	SELFTEST_ACCEL_GYRO_ST_EN_t st_control; /**< Define which sensor is under self-test */
+} inv_imu_selftest_parameters_t;
+
+/** @brief Self-test routine outputs
+ */
+typedef struct {
+	int8_t accel_status;    /**< global accelerometer self-test passed */
+	int8_t gyro_status;     /**< global gyroscope self-test status: st_pass (bit0), st_incomplete (bit1) */
+	int8_t ax_status;       /**< AX self-test status */
+	int8_t ay_status;       /**< AY self-test status */
+	int8_t az_status;       /**< AZ self-test status */
+	int8_t gx_status;       /**< GX self-test status */
+	int8_t gy_status;       /**< GY self-test status */
+	int8_t gz_status;       /**< GZ self-test status */
+} inv_imu_selftest_output_t;
+
+
+/**
+*  @brief      Perform hardware self-test for Accel and Gyro
+*  @param[in]  Self-test parameters (see inv_imu_selftest_parameters_t)
+*  @param[out] Self-test results (see inv_imu_selftest_output_t)
+*  @return     0 on completion, negative number if intermediate errors occurred
+*/
+int inv_imu_run_selftest(struct inv_imu_device *s, 
+                         const inv_imu_selftest_parameters_t st_params,
+                         inv_imu_selftest_output_t *st_output);
+
+/** @brief Fill the self-test configuration structure with default configuration
+ *  @param[in] selftest_params self-test parameters to be initialized
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s, 
+                                            inv_imu_selftest_parameters_t *selftest_params);
+
+/** @brief Load self-test data
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_load_selftest_data(struct inv_imu_device *s);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_SELFTEST_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_transport.c

@@ -1,257 +1,257 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#include "inv_imu_extfunc.h"
-#include "inv_imu_transport.h"
-#include "inv_imu_regmap.h"
-
-#include "InvError.h"
-
-
-/* Function definition */
-static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg);
-static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf);
-static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf);
-static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf);
-static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf);
-
-
-int inv_imu_init_transport(struct inv_imu_device *s)
-{
-	int status = 0;
-	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
-
-	status |= read_sreg(s, (uint8_t)PWR_MGMT0,     1, &(t->register_cache.pwr_mgmt0_reg));
-	status |= read_sreg(s, (uint8_t)GYRO_CONFIG0,  1, &(t->register_cache.gyro_config0_reg));
-	status |= read_sreg(s, (uint8_t)ACCEL_CONFIG0, 1, &(t->register_cache.accel_config0_reg));
-	
-	status |= read_mclk_reg(s, (TMST_CONFIG1_MREG1 & 0xFFFF), 1, &(t->register_cache.tmst_config1_reg));
-
-	t->need_mclk_cnt = 0;
-
-	return status;
-}
-
-int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf)
-{
-	uint32_t i;
-	int rc = 0;
-	
-	for (i = 0; i < len; i++) {
-		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
-
-		if (cache_addr) {
-			buf[i] = *cache_addr;
-		} else {
-			if (!(reg & 0x10000)) {
-				rc |= read_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
-			} else {
-				rc |= read_sreg(s, (uint8_t)reg + i, len - i, &buf[i]);
-				break;
-			}
-		}
-	}
-
-	return rc;
-}
-
-int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf)
-{
-	uint32_t i;
-	int rc = 0;
-	
-	for (i = 0; i < len; i++) {
-		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
-
-		if (cache_addr)
-			*cache_addr = buf[i];
-
-		if (!(reg & 0x10000))
-			rc |= write_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
-	}
-
-	if (reg & 0x10000)
-		rc |= write_sreg(s, (uint8_t)reg, len, buf);
-
-	return rc;
-}
-
-int inv_imu_switch_on_mclk(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t data;
-	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
-
-	/* set IDLE bit only if it is not set yet */
-	if (t->need_mclk_cnt == 0) {
-
-		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
-		data |= PWR_MGMT0_IDLE_MASK; 
-		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
-		
-		if (status)
-			return status;
-
-		/* Check if MCLK is ready */
-		do {
-			status = inv_imu_read_reg(s, MCLK_RDY, 1, &data); 
-		} while ((status != 0) || !(data & MCLK_RDY_MCLK_RDY_MASK));
-	} else {
-
-		/* Make sure it is already on */
-		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
-		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
-			status |= INV_ERROR;
-	}
-
-	/* Increment the counter to keep track of number of MCLK requesters */
-	t->need_mclk_cnt++;
-	
-	return status;
-}
-
-int inv_imu_switch_off_mclk(struct inv_imu_device *s)
-{
-	int status = 0;
-	uint8_t data;
-	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
-
-	/* Reset the IDLE but only if there is one requester left */
-	if (t->need_mclk_cnt == 1) {
-		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
-		data &= ~PWR_MGMT0_IDLE_MASK;
-		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
-	} else {
-		/* Make sure it is still on */
-		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
-		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
-			status |= INV_ERROR;
-	}
-
-	/* Decrement the counter */
-	t->need_mclk_cnt--;
-	
-	return status;
-}
-
-
-/* Static function */
-
-static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg)
-{
-	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
-
-	switch(reg) {
-	case PWR_MGMT0:          return &(t->register_cache.pwr_mgmt0_reg);
-	case GYRO_CONFIG0:       return &(t->register_cache.gyro_config0_reg);
-	case ACCEL_CONFIG0:      return &(t->register_cache.accel_config0_reg);
-	case TMST_CONFIG1_MREG1: return &(t->register_cache.tmst_config1_reg);
-	default:                 return (uint8_t *)0; // Not found
-	}
-}
-
-static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf)
-{
-	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
-	
-	if (len > serif->max_read)
-		return INV_ERROR_SIZE;
-
-	if (serif->read_reg(serif, reg, buf, len) != 0)
-		return INV_ERROR_TRANSPORT;
-
-	return 0;
-}
-
-static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf)
-{
-	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
-
-	if (len > serif->max_write)
-		return INV_ERROR_SIZE;
-
-	if (serif->write_reg(serif, reg, buf, len) != 0)
-			return INV_ERROR_TRANSPORT;
-
-	return 0;
-}
-
-static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf)
-{
-	uint8_t data;
-	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
-	int status = 0;
-
-	// Have IMU not in IDLE mode to access MCLK domain
-	status |= inv_imu_switch_on_mclk(s);
-
-	// optimize by changing BLK_SEL only if not NULL
-	if (blk_sel)
-		status |= write_sreg(s, (uint8_t)BLK_SEL_R & 0xff, 1, &blk_sel);
-
-	data = (regaddr & 0x00FF);
-	status |= write_sreg(s, (uint8_t)MADDR_R, 1, &data);
-	inv_imu_sleep_us(10);
-	status |= read_sreg(s, (uint8_t)M_R, rd_cnt, buf);
-	inv_imu_sleep_us(10);
-	
-	if (blk_sel) {
-		data = 0;
-		status |= write_sreg(s, (uint8_t)BLK_SEL_R, 1, &data);
-	}
-
-	// switch OFF MCLK if needed
-	status |= inv_imu_switch_off_mclk(s);
-
-	return status;
-}
-
-static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf)
-{
-	uint8_t data;
-	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
-	int status = 0;
-
-	// Have IMU not in IDLE mode to access MCLK domain
-	status |= inv_imu_switch_on_mclk(s);
-
-	// optimize by changing BLK_SEL only if not NULL
-	if (blk_sel)
-		status |= write_sreg(s, (uint8_t)BLK_SEL_W, 1, &blk_sel);
-	
-	data = (regaddr & 0x00FF);
-	status |= write_sreg(s, (uint8_t)MADDR_W, 1, &data);
-	for (uint8_t i = 0; i < wr_cnt; i++) {
-		status |= write_sreg(s, (uint8_t)M_W, 1, &buf[i]);
-		inv_imu_sleep_us(10);
-	}
-	
-	if (blk_sel) {
-		data = 0;
-		status = write_sreg(s, (uint8_t)BLK_SEL_W, 1, &data);
-	}
-
-	status |= inv_imu_switch_off_mclk(s);
-
-	return status;
-}
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_extfunc.h"
+#include "inv_imu_transport.h"
+#include "inv_imu_regmap.h"
+
+#include "InvError.h"
+
+
+/* Function definition */
+static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg);
+static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf);
+static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf);
+static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf);
+static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf);
+
+
+int inv_imu_init_transport(struct inv_imu_device *s)
+{
+	int status = 0;
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	status |= read_sreg(s, (uint8_t)PWR_MGMT0,     1, &(t->register_cache.pwr_mgmt0_reg));
+	status |= read_sreg(s, (uint8_t)GYRO_CONFIG0,  1, &(t->register_cache.gyro_config0_reg));
+	status |= read_sreg(s, (uint8_t)ACCEL_CONFIG0, 1, &(t->register_cache.accel_config0_reg));
+	
+	status |= read_mclk_reg(s, (TMST_CONFIG1_MREG1 & 0xFFFF), 1, &(t->register_cache.tmst_config1_reg));
+
+	t->need_mclk_cnt = 0;
+
+	return status;
+}
+
+int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf)
+{
+	uint32_t i;
+	int rc = 0;
+	
+	for (i = 0; i < len; i++) {
+		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
+
+		if (cache_addr) {
+			buf[i] = *cache_addr;
+		} else {
+			if (!(reg & 0x10000)) {
+				rc |= read_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
+			} else {
+				rc |= read_sreg(s, (uint8_t)reg + i, len - i, &buf[i]);
+				break;
+			}
+		}
+	}
+
+	return rc;
+}
+
+int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf)
+{
+	uint32_t i;
+	int rc = 0;
+	
+	for (i = 0; i < len; i++) {
+		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
+
+		if (cache_addr)
+			*cache_addr = buf[i];
+
+		if (!(reg & 0x10000))
+			rc |= write_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
+	}
+
+	if (reg & 0x10000)
+		rc |= write_sreg(s, (uint8_t)reg, len, buf);
+
+	return rc;
+}
+
+int inv_imu_switch_on_mclk(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t data;
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	/* set IDLE bit only if it is not set yet */
+	if (t->need_mclk_cnt == 0) {
+
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		data |= PWR_MGMT0_IDLE_MASK; 
+		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
+		
+		if (status)
+			return status;
+
+		/* Check if MCLK is ready */
+		do {
+			status = inv_imu_read_reg(s, MCLK_RDY, 1, &data); 
+		} while ((status != 0) || !(data & MCLK_RDY_MCLK_RDY_MASK));
+	} else {
+
+		/* Make sure it is already on */
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
+			status |= INV_ERROR;
+	}
+
+	/* Increment the counter to keep track of number of MCLK requesters */
+	t->need_mclk_cnt++;
+	
+	return status;
+}
+
+int inv_imu_switch_off_mclk(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t data;
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	/* Reset the IDLE but only if there is one requester left */
+	if (t->need_mclk_cnt == 1) {
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		data &= ~PWR_MGMT0_IDLE_MASK;
+		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
+	} else {
+		/* Make sure it is still on */
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
+			status |= INV_ERROR;
+	}
+
+	/* Decrement the counter */
+	t->need_mclk_cnt--;
+	
+	return status;
+}
+
+
+/* Static function */
+
+static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg)
+{
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	switch(reg) {
+	case PWR_MGMT0:          return &(t->register_cache.pwr_mgmt0_reg);
+	case GYRO_CONFIG0:       return &(t->register_cache.gyro_config0_reg);
+	case ACCEL_CONFIG0:      return &(t->register_cache.accel_config0_reg);
+	case TMST_CONFIG1_MREG1: return &(t->register_cache.tmst_config1_reg);
+	default:                 return (uint8_t *)0; // Not found
+	}
+}
+
+static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf)
+{
+	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
+	
+	if (len > serif->max_read)
+		return INV_ERROR_SIZE;
+
+	if (serif->read_reg(serif, reg, buf, len) != 0)
+		return INV_ERROR_TRANSPORT;
+
+	return 0;
+}
+
+static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf)
+{
+	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
+
+	if (len > serif->max_write)
+		return INV_ERROR_SIZE;
+
+	if (serif->write_reg(serif, reg, buf, len) != 0)
+			return INV_ERROR_TRANSPORT;
+
+	return 0;
+}
+
+static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf)
+{
+	uint8_t data;
+	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
+	int status = 0;
+
+	// Have IMU not in IDLE mode to access MCLK domain
+	status |= inv_imu_switch_on_mclk(s);
+
+	// optimize by changing BLK_SEL only if not NULL
+	if (blk_sel)
+		status |= write_sreg(s, (uint8_t)BLK_SEL_R & 0xff, 1, &blk_sel);
+
+	data = (regaddr & 0x00FF);
+	status |= write_sreg(s, (uint8_t)MADDR_R, 1, &data);
+	inv_imu_sleep_us(10);
+	status |= read_sreg(s, (uint8_t)M_R, rd_cnt, buf);
+	inv_imu_sleep_us(10);
+	
+	if (blk_sel) {
+		data = 0;
+		status |= write_sreg(s, (uint8_t)BLK_SEL_R, 1, &data);
+	}
+
+	// switch OFF MCLK if needed
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf)
+{
+	uint8_t data;
+	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
+	int status = 0;
+
+	// Have IMU not in IDLE mode to access MCLK domain
+	status |= inv_imu_switch_on_mclk(s);
+
+	// optimize by changing BLK_SEL only if not NULL
+	if (blk_sel)
+		status |= write_sreg(s, (uint8_t)BLK_SEL_W, 1, &blk_sel);
+	
+	data = (regaddr & 0x00FF);
+	status |= write_sreg(s, (uint8_t)MADDR_W, 1, &data);
+	for (uint8_t i = 0; i < wr_cnt; i++) {
+		status |= write_sreg(s, (uint8_t)M_W, 1, &buf[i]);
+		inv_imu_sleep_us(10);
+	}
+	
+	if (blk_sel) {
+		data = 0;
+		status = write_sreg(s, (uint8_t)BLK_SEL_W, 1, &data);
+	}
+
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_transport.h

@@ -1,122 +1,122 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively "Software") is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-/** @defgroup  Transport IMU transport
- *  @brief    Low-level IMU SCLK register access
- *  @ingroup  Driver
- *  @{
- */
-
-/** @file  inv_imu_transport.h
- * Low-level IMU SCLK register access
- */
-
-#ifndef _INV_IMU_TRANSPORT_H_
-#define _INV_IMU_TRANSPORT_H_
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-/* forward declaration */
-struct inv_imu_device;
-
-
-/** @brief enumeration  of serial interfaces available on IMU */
-typedef enum
-{
-	UI_I2C,
-	UI_SPI4,
-	UI_SPI3
-} SERIAL_IF_TYPE_t;
- 
-/** @brief basesensor serial interface
- */
-struct inv_imu_serif {
-	void *context;
-	int (*read_reg)(struct inv_imu_serif *serif, uint8_t reg, uint8_t *buf, uint32_t len);
-	int (*write_reg)(struct inv_imu_serif *serif, uint8_t reg, const uint8_t *buf, uint32_t len);
-	int (*configure)(struct inv_imu_serif *serif);
-	uint32_t max_read;
-	uint32_t max_write;
-	SERIAL_IF_TYPE_t serif_type;
-};
-
-/** @brief transport interface
- */
-struct inv_imu_transport {
-	struct inv_imu_serif serif; /**< Warning : this field MUST be the first one of struct inv_imu_transport */
-
-	/** @brief Contains mirrored values of some IP registers */
-	struct register_cache {
-		uint8_t pwr_mgmt0_reg;     /**< PWR_MGMT0, Bank: 0 */
-		uint8_t gyro_config0_reg;  /**< GYRO_CONFIG0, Bank: 0 */
-		uint8_t accel_config0_reg; /**< ACCEL_CONFIG0, Bank: 0 */
-		uint8_t tmst_config1_reg;  /**< TMST_CONFIG1, Bank: MREG_TOP1 */
-	} register_cache; /**< Store mostly used register values on SRAM */
-
-	uint8_t need_mclk_cnt; /**< internal counter to keep track of everyone that needs MCLK */
-
-};
-
-/** @brief Init cache variable.
- * @return            0 in case of success, -1 for any error
- */
-int inv_imu_init_transport(struct inv_imu_device *s);
-
-/** @brief Reads data from a register on IMU.
- * @param[in] reg    register address to be read
- * @param[in] len    number of byte to be read
- * @param[out] buf   output data from the register
- * @return            0 in case of success, -1 for any error
- */
-int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf);
-
-/** @brief Writes data to a register on IMU.
- * @param[in] reg    register address to be written
- * @param[in] len    number of byte to be written
- * @param[in] buf    input data to write
- * @return            0 in case of success, -1 for any error
- */
-int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf);
-
-/** @brief Enable MCLK so that MREG are clocked and system beyond SOI can be safely accessed
- * @return            0 in case of success, -1 for any error
- */
-int inv_imu_switch_on_mclk(struct inv_imu_device *s);
-
-/** @brief Disable MCLK so that MREG are not clocked anymore, hence reducing power consumption
- * @return            0 in case of success, -1 for any error
- */
-int inv_imu_switch_off_mclk(struct inv_imu_device *s);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_IMU_TRANSPORT_H_ */
-
-/** @} */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup  Transport IMU transport
+ *  @brief    Low-level IMU SCLK register access
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file  inv_imu_transport.h
+ * Low-level IMU SCLK register access
+ */
+
+#ifndef _INV_IMU_TRANSPORT_H_
+#define _INV_IMU_TRANSPORT_H_
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+/* forward declaration */
+struct inv_imu_device;
+
+
+/** @brief enumeration  of serial interfaces available on IMU */
+typedef enum
+{
+	UI_I2C,
+	UI_SPI4,
+	UI_SPI3
+} SERIAL_IF_TYPE_t;
+ 
+/** @brief basesensor serial interface
+ */
+struct inv_imu_serif {
+	void *context;
+	int (*read_reg)(struct inv_imu_serif *serif, uint8_t reg, uint8_t *buf, uint32_t len);
+	int (*write_reg)(struct inv_imu_serif *serif, uint8_t reg, const uint8_t *buf, uint32_t len);
+	int (*configure)(struct inv_imu_serif *serif);
+	uint32_t max_read;
+	uint32_t max_write;
+	SERIAL_IF_TYPE_t serif_type;
+};
+
+/** @brief transport interface
+ */
+struct inv_imu_transport {
+	struct inv_imu_serif serif; /**< Warning : this field MUST be the first one of struct inv_imu_transport */
+
+	/** @brief Contains mirrored values of some IP registers */
+	struct register_cache {
+		uint8_t pwr_mgmt0_reg;     /**< PWR_MGMT0, Bank: 0 */
+		uint8_t gyro_config0_reg;  /**< GYRO_CONFIG0, Bank: 0 */
+		uint8_t accel_config0_reg; /**< ACCEL_CONFIG0, Bank: 0 */
+		uint8_t tmst_config1_reg;  /**< TMST_CONFIG1, Bank: MREG_TOP1 */
+	} register_cache; /**< Store mostly used register values on SRAM */
+
+	uint8_t need_mclk_cnt; /**< internal counter to keep track of everyone that needs MCLK */
+
+};
+
+/** @brief Init cache variable.
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_init_transport(struct inv_imu_device *s);
+
+/** @brief Reads data from a register on IMU.
+ * @param[in] reg    register address to be read
+ * @param[in] len    number of byte to be read
+ * @param[out] buf   output data from the register
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf);
+
+/** @brief Writes data to a register on IMU.
+ * @param[in] reg    register address to be written
+ * @param[in] len    number of byte to be written
+ * @param[in] buf    input data to write
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf);
+
+/** @brief Enable MCLK so that MREG are clocked and system beyond SOI can be safely accessed
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_switch_on_mclk(struct inv_imu_device *s);
+
+/** @brief Disable MCLK so that MREG are not clocked anymore, hence reducing power consumption
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_switch_off_mclk(struct inv_imu_device *s);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_TRANSPORT_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/imu/inv_imu_version.h

@@ -1,37 +1,37 @@
-/*
- * ________________________________________________________________________________________________________
- * Copyright (c) 2019 InvenSense Inc. All rights reserved.
- *
- * This software, related documentation and any modifications thereto (collectively “Software”) is subject
- * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
- * and other intellectual property rights laws.
- *
- * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
- * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
- * from InvenSense is strictly prohibited.
- *
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
- * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
- * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
- * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
- * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
- * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
- * OF THE SOFTWARE.
- * ________________________________________________________________________________________________________
- */
-
-#ifndef _INV_IMU_VERSION_H_
-#define _INV_IMU_VERSION_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define INV_IMU_VERSION_STRING "2.0.4"
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _INV_IMU_VERSION_H_ */
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2019 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#ifndef _INV_IMU_VERSION_H_
+#define _INV_IMU_VERSION_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define INV_IMU_VERSION_STRING "2.0.4"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_VERSION_H_ */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/lib_agm/invn/common/invn_types.h

@@ -1,153 +1,153 @@
-//----------------------------------------------------------------------------- 
-/*
-    Copyright © 2014-2015 InvenSense Inc. Portions Copyright © 2014-2015 Movea. All rights reserved.
-
-    This software, related documentation and any modifications thereto (collectively “Software”) is subject
-    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
-    and other intellectual property rights laws.
-
-    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
-    and any use, reproduction, disclosure or distribution of the Software without an express license agreement
-    from InvenSense is strictly prohibited.
-*/
-//-----------------------------------------------------------------------------
-
-#ifndef INVN_COMMON_INVN_TYPES_H_
-#define INVN_COMMON_INVN_TYPES_H_
-
-/**
- *  @defgroup invn_types Types
- *  @brief  Motion Library - Type definitions.
- *  \details Definition of codes and error codes used within the MPL and
- *          returned to the user.
- *          Every function tries to return a meaningful error code basing
- *          on the occuring error condition. The error code is numeric.
- *
- *          The available error codes and their associated values are:
- *          - (0)               INV_SUCCESS
- *          - (32)              INV_ERROR
- *          - (22 / EINVAL)     INV_ERROR_INVALID_PARAMETER
- *          - (1  / EPERM)      INV_ERROR_FEATURE_NOT_ENABLED
- *          - (36)              INV_ERROR_FEATURE_NOT_IMPLEMENTED
- *          - (64)              INV_ERROR_FIFO_READ_COUNT
- * \todo Clean up the details documentation in order to use only the \\def one.
- * \todo Add documentation to all the definitions
- * \ingroup Common
- * @file invn_types.h
- */
-
-//=======================================//
-//========= Integer Definition  =========//
-//=======================================// 
-#ifdef _MSC_VER
-#  include "inttypes.h"
-#else
-#  include <stdint.h>
-#endif
-
-//=======================================//
-//======= Fixed Point Conversion  =======//
-//=======================================// 
-
-//! \def INVN_FLT_TO_FXP
-//! Convert the \a value from float to QN value. \ingroup invn_macro 
-#define INVN_FLT_TO_FXP(value, shift)	( (int32_t)  ((float)(value)*(1ULL << (shift)) + ( (value>=0)-0.5f )) ) 
-//! \def INVN_DBL_TO_FXP
-//! Convert the \a value from double to QN value. \ingroup invn_macro 
-#define INVN_DBL_TO_FXP(value, shift)	( (int32_t)  ((double)(value)*(1ULL << (shift)) + ( (value>=0)-0.5 )) ) 
-//! \def INVN_FLT_TO_UFXP
-//! Convert the \a value from float to unsigned QN value. \ingroup invn_macro 
-#define INVN_FLT_TO_UFXP(value, shift)	( (uint32_t) ((float)(value)*(1ULL << (shift)) + 0.5f) ) 
-//! \def INVN_DBL_TO_UFXP
-//! Convert the \a value from double to unsigned QN value. \ingroup invn_macro 
-#define INVN_DBL_TO_UFXP(value, shift)	( (uint32_t) ((double)(value)*(1ULL << (shift)) + 0.5) ) 
-//! \def INVN_FXP_TO_FLT
-//! Convert the \a value from QN value to float. \ingroup invn_macro 
-#define INVN_FXP_TO_FLT(value, shift)	( (float)  (int32_t)(value) / (float)(1ULL << (shift)) ) 
-//! \def INVN_FXP_TO_DBL
-//! Convert the \a value from QN value to double. \ingroup invn_macro 
-#define INVN_FXP_TO_DBL(value, shift)	( (double)  (int32_t)(value) / (double)(1ULL << (shift)) ) 
-//! \def INVN_UFXP_TO_FLT
-//! Convert the \a value from unsigned QN value to float. \ingroup invn_macro
-#define INVN_UFXP_TO_FLT(value, shift)	( (float) (uint32_t)(value) / (float)(1ULL << (shift)) ) 
-//! \def INVN_UFXP_TO_DBL
-//! Convert the \a value from unsigned QN value to double. \ingroup invn_macro 
-#define INVN_UFXP_TO_DBL(value, shift)	( (double) (uint32_t)(value) / (double)(1ULL << (shift)) ) 
-//! \def INVN_CONVERT_FLT_TO_FXP
-//!	Macro to convert float values from an address into QN values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_FLT_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_FXP((fltptr)[i], shift); }
-//! \def INVN_CONVERT_FLT_TO_UFXP
-//!	Macro to convert float values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_FLT_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_UFXP((fltptr)[i], shift); }
-//! \def INVN_CONVERT_DBL_TO_FXP
-//!	Macro to convert double values from an address into QN  values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_DBL_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_FXP((fltptr)[i], shift); }
-//! \def INVN_CONVERT_DBL_TO_UFXP
-//!	Macro to convert double values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_DBL_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_UFXP((fltptr)[i], shift); }
-//! \def INVN_CONVERT_FXP_TO_FLT
-//!	Macro to convert QN values from an address into float values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_FXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_FLT((fixptr)[i], shift); }
-//! \def INVN_CONVERT_UFXP_TO_FLT
-//!	Macro to convert unsigned QN values from an address into float values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_UFXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_FLT((fixptr)[i], shift); }
-//! \def INVN_CONVERT_FXP_TO_DBL
-//!	Macro to convert QN values from an address into double values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_FXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_DBL((fixptr)[i], shift); }
-//! \def INVN_CONVERT_UFXP_TO_DBL 
-//! \brief Macro to convert unsigned QN values from an address into double values, and copy them to another address. \ingroup invn_macro
-#define INVN_CONVERT_UFXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_DBL((fixptr)[i], shift); }
-
-
-//=====================================//
-//========= Error Definition  =========//
-//=====================================// 
-
-#ifndef REMOVE_INV_ERROR_T
-	typedef int32_t inv_error_t;	/*!< Type used for error definitions. \ingroup invn_types */
-#endif
-
-//typedef int32_t mpu_error_t;
-typedef int64_t mpu_time_t;			/*!< Type used for mpu time. \ingroup invn_types */
-
-// Typically I2C addresses are 8-bit, but some specifications allow for a 10-bit address
-// This definition allows the length to be optimally defined for the platform
-typedef uint8_t inv_i2c_addr_t;		/*!< Type used for I2C addresses. \ingroup invn_types */
-
-#ifdef __IAR_SYSTEMS_ICC__
-	// These are defined in standard C errno.h
-	#define EINVAL                                  (22)
-	#define EPERM                                   (1)
-	#define ENOMEM                                  (12)
-#else
-	#include "errno.h"
-#endif
-
-#define INVN_SUCCESS							(0) 					/*!< Constant definition for success. \ingroup invn_types */
-#define INVN_ERROR_BASE							(0x20)					/*!< Constant definition for basic error. Value is \b 32 \ingroup invn_types */
-#define INVN_ERROR								(INVN_ERROR_BASE)		/*!< Constant definition for error. Value is \b 32 \ingroup invn_types */
-#define INVN_ERROR_FEATURE_NOT_ENABLED          (EPERM)					/*!< Constant definition for feature not enabled error. \ingroup invn_types */
-#define INVN_ERROR_FEATURE_NOT_IMPLEMENTED      (INVN_ERROR_BASE + 4)	/*!< Constant definition for feature not implemented error. \ingroup invn_types */
-#define INVN_ERROR_INVALID_PARAMETER            (EINVAL)				/*!< Constant definition for invalid parameter error. \ingroup invn_types */
-#define INVN_ERROR_FILE_OPEN                    (INVN_ERROR_BASE + 14)	/*!< Constant definition for opening file error. \ingroup invn_types */
-#define INVN_ERROR_FILE_READ                    (INVN_ERROR_BASE + 15)	/*!< Constant definition for reading file error. \ingroup invn_types */
-#define INVN_ERROR_FILE_WRITE                   (INVN_ERROR_BASE + 16)	/*!< Constant definition for writing file error. \ingroup invn_types */
-#define INVN_ERROR_INVALID_CONFIGURATION        (INVN_ERROR_BASE + 17)	/*!< Constant definition for invalid configuration error. \ingroup invn_types */
-/* Serial Communication */
-#define INVN_ERROR_SERIAL_OPEN_ERROR            (INVN_ERROR_BASE + 21)	/*!< Constant definition for serial open error. \ingroup invn_types */
-#define INVN_ERROR_SERIAL_READ                  (INVN_ERROR_BASE + 22)	/*!< Constant definition for serial read error. \ingroup invn_types */
-#define INVN_ERROR_SERIAL_WRITE                 (INVN_ERROR_BASE + 23)	/*!< Constant definition for serial write error. \ingroup invn_types */
-/* Fifo */
-#define INVN_ERROR_FIFO_OVERFLOW                (INVN_ERROR_BASE + 30)	/*!< Constant definition for fifo overflow error. \ingroup invn_types */
-#define INVN_ERROR_FIFO_FOOTER                  (INVN_ERROR_BASE + 31)	/*!< Constant definition for fifo footer error. \ingroup invn_types */
-#define INVN_ERROR_FIFO_READ_COUNT              (INVN_ERROR_BASE + 32)	/*!< Constant definition for fifo read count error. \ingroup invn_types */
-#define INVN_ERROR_FIFO_READ_DATA               (INVN_ERROR_BASE + 33)	/*!< Constant definition for fifo read data error. \ingroup invn_types */
-/* OS interface errors */
-#define INVN_ERROR_OS_BAD_HANDLE                (INVN_ERROR_BASE + 61)	/*!< Constant definition for OS bad handle error. \ingroup invn_types */
-#define INVN_ERROR_OS_CREATE_FAILED             (INVN_ERROR_BASE + 62)	/*!< Constant definition for OS create failed error. \ingroup invn_types */
-#define INVN_ERROR_OS_LOCK_FAILED               (INVN_ERROR_BASE + 63)	/*!< Constant definition for OS lock failed error. \ingroup invn_types */
-/* Warning */
-#define INVN_WARNING_SEMAPHORE_TIMEOUT          (INVN_ERROR_BASE + 86)	/*!< Constant definition for semaphore timeout warning. \ingroup invn_types */
-
-
-#endif // INVN_COMMON_INVN_TYPES_H_
+//----------------------------------------------------------------------------- 
+/*
+    Copyright © 2014-2015 InvenSense Inc. Portions Copyright © 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively “Software”) is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+    and other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+    from InvenSense is strictly prohibited.
+*/
+//-----------------------------------------------------------------------------
+
+#ifndef INVN_COMMON_INVN_TYPES_H_
+#define INVN_COMMON_INVN_TYPES_H_
+
+/**
+ *  @defgroup invn_types Types
+ *  @brief  Motion Library - Type definitions.
+ *  \details Definition of codes and error codes used within the MPL and
+ *          returned to the user.
+ *          Every function tries to return a meaningful error code basing
+ *          on the occuring error condition. The error code is numeric.
+ *
+ *          The available error codes and their associated values are:
+ *          - (0)               INV_SUCCESS
+ *          - (32)              INV_ERROR
+ *          - (22 / EINVAL)     INV_ERROR_INVALID_PARAMETER
+ *          - (1  / EPERM)      INV_ERROR_FEATURE_NOT_ENABLED
+ *          - (36)              INV_ERROR_FEATURE_NOT_IMPLEMENTED
+ *          - (64)              INV_ERROR_FIFO_READ_COUNT
+ * \todo Clean up the details documentation in order to use only the \\def one.
+ * \todo Add documentation to all the definitions
+ * \ingroup Common
+ * @file invn_types.h
+ */
+
+//=======================================//
+//========= Integer Definition  =========//
+//=======================================// 
+#ifdef _MSC_VER
+#  include "inttypes.h"
+#else
+#  include <stdint.h>
+#endif
+
+//=======================================//
+//======= Fixed Point Conversion  =======//
+//=======================================// 
+
+//! \def INVN_FLT_TO_FXP
+//! Convert the \a value from float to QN value. \ingroup invn_macro 
+#define INVN_FLT_TO_FXP(value, shift)	( (int32_t)  ((float)(value)*(1ULL << (shift)) + ( (value>=0)-0.5f )) ) 
+//! \def INVN_DBL_TO_FXP
+//! Convert the \a value from double to QN value. \ingroup invn_macro 
+#define INVN_DBL_TO_FXP(value, shift)	( (int32_t)  ((double)(value)*(1ULL << (shift)) + ( (value>=0)-0.5 )) ) 
+//! \def INVN_FLT_TO_UFXP
+//! Convert the \a value from float to unsigned QN value. \ingroup invn_macro 
+#define INVN_FLT_TO_UFXP(value, shift)	( (uint32_t) ((float)(value)*(1ULL << (shift)) + 0.5f) ) 
+//! \def INVN_DBL_TO_UFXP
+//! Convert the \a value from double to unsigned QN value. \ingroup invn_macro 
+#define INVN_DBL_TO_UFXP(value, shift)	( (uint32_t) ((double)(value)*(1ULL << (shift)) + 0.5) ) 
+//! \def INVN_FXP_TO_FLT
+//! Convert the \a value from QN value to float. \ingroup invn_macro 
+#define INVN_FXP_TO_FLT(value, shift)	( (float)  (int32_t)(value) / (float)(1ULL << (shift)) ) 
+//! \def INVN_FXP_TO_DBL
+//! Convert the \a value from QN value to double. \ingroup invn_macro 
+#define INVN_FXP_TO_DBL(value, shift)	( (double)  (int32_t)(value) / (double)(1ULL << (shift)) ) 
+//! \def INVN_UFXP_TO_FLT
+//! Convert the \a value from unsigned QN value to float. \ingroup invn_macro
+#define INVN_UFXP_TO_FLT(value, shift)	( (float) (uint32_t)(value) / (float)(1ULL << (shift)) ) 
+//! \def INVN_UFXP_TO_DBL
+//! Convert the \a value from unsigned QN value to double. \ingroup invn_macro 
+#define INVN_UFXP_TO_DBL(value, shift)	( (double) (uint32_t)(value) / (double)(1ULL << (shift)) ) 
+//! \def INVN_CONVERT_FLT_TO_FXP
+//!	Macro to convert float values from an address into QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FLT_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_FXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_FLT_TO_UFXP
+//!	Macro to convert float values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FLT_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_UFXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_DBL_TO_FXP
+//!	Macro to convert double values from an address into QN  values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_DBL_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_FXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_DBL_TO_UFXP
+//!	Macro to convert double values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_DBL_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_UFXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_FXP_TO_FLT
+//!	Macro to convert QN values from an address into float values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_FLT((fixptr)[i], shift); }
+//! \def INVN_CONVERT_UFXP_TO_FLT
+//!	Macro to convert unsigned QN values from an address into float values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_UFXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_FLT((fixptr)[i], shift); }
+//! \def INVN_CONVERT_FXP_TO_DBL
+//!	Macro to convert QN values from an address into double values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_DBL((fixptr)[i], shift); }
+//! \def INVN_CONVERT_UFXP_TO_DBL 
+//! \brief Macro to convert unsigned QN values from an address into double values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_UFXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_DBL((fixptr)[i], shift); }
+
+
+//=====================================//
+//========= Error Definition  =========//
+//=====================================// 
+
+#ifndef REMOVE_INV_ERROR_T
+	typedef int32_t inv_error_t;	/*!< Type used for error definitions. \ingroup invn_types */
+#endif
+
+//typedef int32_t mpu_error_t;
+typedef int64_t mpu_time_t;			/*!< Type used for mpu time. \ingroup invn_types */
+
+// Typically I2C addresses are 8-bit, but some specifications allow for a 10-bit address
+// This definition allows the length to be optimally defined for the platform
+typedef uint8_t inv_i2c_addr_t;		/*!< Type used for I2C addresses. \ingroup invn_types */
+
+#ifdef __IAR_SYSTEMS_ICC__
+	// These are defined in standard C errno.h
+	#define EINVAL                                  (22)
+	#define EPERM                                   (1)
+	#define ENOMEM                                  (12)
+#else
+	#include "errno.h"
+#endif
+
+#define INVN_SUCCESS							(0) 					/*!< Constant definition for success. \ingroup invn_types */
+#define INVN_ERROR_BASE							(0x20)					/*!< Constant definition for basic error. Value is \b 32 \ingroup invn_types */
+#define INVN_ERROR								(INVN_ERROR_BASE)		/*!< Constant definition for error. Value is \b 32 \ingroup invn_types */
+#define INVN_ERROR_FEATURE_NOT_ENABLED          (EPERM)					/*!< Constant definition for feature not enabled error. \ingroup invn_types */
+#define INVN_ERROR_FEATURE_NOT_IMPLEMENTED      (INVN_ERROR_BASE + 4)	/*!< Constant definition for feature not implemented error. \ingroup invn_types */
+#define INVN_ERROR_INVALID_PARAMETER            (EINVAL)				/*!< Constant definition for invalid parameter error. \ingroup invn_types */
+#define INVN_ERROR_FILE_OPEN                    (INVN_ERROR_BASE + 14)	/*!< Constant definition for opening file error. \ingroup invn_types */
+#define INVN_ERROR_FILE_READ                    (INVN_ERROR_BASE + 15)	/*!< Constant definition for reading file error. \ingroup invn_types */
+#define INVN_ERROR_FILE_WRITE                   (INVN_ERROR_BASE + 16)	/*!< Constant definition for writing file error. \ingroup invn_types */
+#define INVN_ERROR_INVALID_CONFIGURATION        (INVN_ERROR_BASE + 17)	/*!< Constant definition for invalid configuration error. \ingroup invn_types */
+/* Serial Communication */
+#define INVN_ERROR_SERIAL_OPEN_ERROR            (INVN_ERROR_BASE + 21)	/*!< Constant definition for serial open error. \ingroup invn_types */
+#define INVN_ERROR_SERIAL_READ                  (INVN_ERROR_BASE + 22)	/*!< Constant definition for serial read error. \ingroup invn_types */
+#define INVN_ERROR_SERIAL_WRITE                 (INVN_ERROR_BASE + 23)	/*!< Constant definition for serial write error. \ingroup invn_types */
+/* Fifo */
+#define INVN_ERROR_FIFO_OVERFLOW                (INVN_ERROR_BASE + 30)	/*!< Constant definition for fifo overflow error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_FOOTER                  (INVN_ERROR_BASE + 31)	/*!< Constant definition for fifo footer error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_READ_COUNT              (INVN_ERROR_BASE + 32)	/*!< Constant definition for fifo read count error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_READ_DATA               (INVN_ERROR_BASE + 33)	/*!< Constant definition for fifo read data error. \ingroup invn_types */
+/* OS interface errors */
+#define INVN_ERROR_OS_BAD_HANDLE                (INVN_ERROR_BASE + 61)	/*!< Constant definition for OS bad handle error. \ingroup invn_types */
+#define INVN_ERROR_OS_CREATE_FAILED             (INVN_ERROR_BASE + 62)	/*!< Constant definition for OS create failed error. \ingroup invn_types */
+#define INVN_ERROR_OS_LOCK_FAILED               (INVN_ERROR_BASE + 63)	/*!< Constant definition for OS lock failed error. \ingroup invn_types */
+/* Warning */
+#define INVN_WARNING_SEMAPHORE_TIMEOUT          (INVN_ERROR_BASE + 86)	/*!< Constant definition for semaphore timeout warning. \ingroup invn_types */
+
+
+#endif // INVN_COMMON_INVN_TYPES_H_

project/ble_peripheral/ble_app_bladder_patch/icm42670p/Invn/lib_agm/invn_algo_agm.h

@@ -1,156 +1,156 @@
-/*
-$License:
-	Copyright (C) 2018 InvenSense Corporation, All Rights Reserved.
-$
-*/
- 
-
-#ifndef _INVN_ALGO_AGM_H_
-#define _INVN_ALGO_AGM_H_
-
-#include "invn_types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/** \defgroup AGM AGM
- *  \brief Algorithm that provides device orientation. Algorithm inputs are raw Accelerometer, Gyroscope and Magnetometer data. 
- *         Algorithm outputs: calibrated sensor and 9-axis sensor fusion. 
- *  \warning supported sampling frequency [50 Hz-1000 Hz]
- *  \warning supported gyroscope FSR [250 dps, 500 dps, 1000 dps, 2000 dps, 4000 dps]
- *  \warning supported accelerometer FSR [1 g, 2 g, 4 g, 8 g, 16 g]
- */
-
-#define INVN_ALGO_AGM_INPUT_MASK_ACC        1  ///< Raw Accel update mask
-#define INVN_ALGO_AGM_INPUT_MASK_GYR        2  ///< Raw Gyro update mask
-#define INVN_ALGO_AGM_INPUT_MASK_MAG        4  ///< Raw Mag update mask
-
-#define INVN_ALGO_AGM_OUTPUT_MASK_ACCEL_CAL 1  ///< Accel cal output update mask
-#define INVN_ALGO_AGM_OUTPUT_MASK_GYRO_CAL  2  ///< Gyro cal output update mask
-#define INVN_ALGO_AGM_OUTPUT_MASK_MAG_CAL   4  ///< Mag cal output update mask
-#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AG   8  ///< Game Rotation Vector (Accel and Gyro Fusion) output update mask 
-#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AGM  16 ///< Rotation Vector (Accel, Gyro and Magnetometer Fusion) output update mask 
-#define INVN_ALGO_AGM_OUTPUT_MASK_GRAVITY   32 ///< Gravity vector output update mask
-#define INVN_ALGO_AGM_OUTPUT_MASK_LINEARACC 64 ///< Linear acceleration vector output update mask
-
-
-/* Forward declarations */
-struct inv_icm426xx;
-
-/*! \struct InvnAlgoAGMInput
- * AGM input structure (raw data) \ingroup AGM
- */
-typedef struct 
-{
-	int32_t mask;            /*!<  mask to specify updated inputs. */
-	int64_t sRimu_time_us;   /*!<  timestamp \f$ [\mu s]\f$ of raw accel and gyro */
-	int32_t sRacc_data[3];   /*!<  raw accelerometer in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR g = 1<<19 LSB) */
-	int32_t sRgyr_data[3];   /*!<  raw gyroscope in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR dps = 1<<19 LSB) */
-	int16_t sRtemp_data;     /*!<  raw temperature */
-	int64_t sRmag_time_us;   /*!<  timestamp of raw mag */
-	int32_t sRmag_data[3];   /*!<  raw mag */
-} InvnAlgoAGMInput; 
-
-	
-/*! \struct InvnAlgoAGMOutput
- * AGM output structure (calibrated sensors and fusion output)  \ingroup AGM
- */
-typedef struct 
-{
-	int32_t mask;                /*!< mask to specify updated outputs */
-	int32_t acc_uncal_q16[3];    /*!< uncalibrated accelerometer (1 g = 1<<16) */
-	int32_t acc_cal_q16[3];      /*!< calibrated accelerometer (1 g = 1<<16) */
-	int32_t acc_bias_q16[3];     /*!< accelerometer bias (1 g = 1<<16)*/
-	int8_t  acc_accuracy_flag;   /*!< accelerometer accuracy from 0(non calibrated) to 3(well calibrated) */
-
-	int32_t gyr_uncal_q16[3];    /*!< uncalibrated gyroscope (1 dps = 1<<16) */
-	int32_t gyr_cal_q16[3];      /*!< calibrated gyroscope (1 dps = 1<<16) */
-	int32_t gyr_bias_q16[3];     /*!< gyro bias (1 dps = 1<<16)*/
-	int8_t  gyr_accuracy_flag;   /*!< gyro accuracy, from 0(non calibrated) to 3(well calibrated) */
-
-	int32_t mag_uncal_q16[3];    /*!< uncalibrated magnetometer (1uT = 1<<16) */
-	int32_t mag_cal_q16[3];      /*!< calibrated magnetometer (1uT = 1<<16) */
-	int32_t mag_bias_q16[3];     /*!< magnetometer bias (1uT = 1<<16) */
-	int8_t  mag_accuracy_flag;   /*!< magnetometer accuracy, from 0(non calibrated) to 3(well calibrated) */
-
-	int32_t grv_quat_q30[4];     /*!< 6-axis (accel and gyro fusion) quaternion */	
-	int32_t rv_quat_q30[4];      /*!< 9-axis (accel, gyro and magnetometer fusion) quaternion */
-	int32_t rv_accuracy_q27;     /*!< 9-axis (accel, gyro and magnetometer fusion) 3\sigma accuracy in rad */
-	int32_t gravity_q16[3];      /*!< gravity estimation in sensor frame */
-	int32_t linear_acc_q16[3];   /*!< linear acceleration estimation in sensor frame */
-	
-	int32_t temp_degC_q16;       /*!< temperature (1 \f$ [^{\circ}C]\f$ = 1<<16)*/
-} InvnAlgoAGMOutput; 
-
-
-/*! \struct InvnAlgoAGMConfig
- * AGM configuration structure (sensor related settings) \ingroup AGM
- */
-typedef struct 
-{
-	int32_t * acc_bias_q16;     /*!<  Previously stored accel bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
-	int32_t * gyr_bias_q16;     /*!<  Previously stored gyro bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
-	int32_t * mag_bias_q16;     /*!<  mag_bias_q16 Previously stored mag bias pointer If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
-	int8_t  acc_accuracy;       /*!<  Previously stored accelerometer bias accuracy (0 to 3) */
-	int8_t  gyr_accuracy;       /*!<  Previously stored gyroscope bias accuracy (0 to 3)  */
-	int8_t  mag_accuracy;       /*!<  Previously stored magnetometer bias accuracy (0 to 3)  */
-
-	int32_t acc_fsr;            /*!<  accelerometer full scale range [g] */
-	int32_t gyr_fsr;            /*!<  gyroscope full scale range [dps] */
-
-	uint32_t acc_odr_us;        /*!<  accelerometer output data rate in \f$ [\mu s]\f$ */
-	uint32_t gyr_odr_us;        /*!<  gyroscope output data rate \f$ [\mu s]\f$ */
-
-	int32_t   mag_sc_q16;       /*!<  magnetometer sensitivity (uT/LSB, e.g. mag_uT = (mag_sc_q16 * raw_mag_LSB)/65536) */
-	uint32_t  mag_odr_us;       /*!<  magnetometer output data rate \f$ [\mu s]\f$ */
-
-	int32_t temp_sensitivity;   /*!<  temperature sensitivity in q30 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_sensitivity = k) */
-	int32_t temp_offset;        /*!<  temperature offset in q16 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_offset = z) */
-} InvnAlgoAGMConfig; 
-
-
-/*!
- * \brief Return library version x.y.z-suffix as a char array
- * \retval library version a char array "x.y.z-suffix"
- * \ingroup AGM
- */
-const char * invn_algo_agm_version(void);
-
-/*!
- * \brief Initializes algorithms with default parameters and reset states.
- * (\icm_device[in] Invensense ICM426XX device pointer. Only when gyro assisted is enabled.)
- * \config[in] algo init parameters structure.
- * \return initialization success indicator.
- * \retval 0 Success
- * \retval 1 Fail
- * \ingroup AGM
- */
-#ifdef WITH_GYRO_ASSIST
-uint8_t invn_algo_agm_init_a(struct inv_icm426xx * icm_device, const InvnAlgoAGMConfig * config);
-#else
-uint8_t invn_algo_agm_init(const InvnAlgoAGMConfig * config);
-#endif
-
-/*!
- * \brief Sets algo config structure.
- * \config[in] config structure of the algo.
-  * \ingroup AGM
- */
-void invn_algo_agm_set_config(const InvnAlgoAGMConfig * config);
-
-
-/*!
- * \brief Performs algorithm computation.
- * \in inputs algorithm input. Input mask (inputs->mask) should be set with respect to new sensor data in InvnAlgoAGMInput.
- * \out outputs algorithm output. Output mask (outputs->mask) reports updated outputs in InvnAlgoAGMOutput.
- * \ingroup AGM
- */
-void invn_algo_agm_process(const InvnAlgoAGMInput *inputs, InvnAlgoAGMOutput *outputs);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif
+/*
+$License:
+	Copyright (C) 2018 InvenSense Corporation, All Rights Reserved.
+$
+*/
+ 
+
+#ifndef _INVN_ALGO_AGM_H_
+#define _INVN_ALGO_AGM_H_
+
+#include "invn_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \defgroup AGM AGM
+ *  \brief Algorithm that provides device orientation. Algorithm inputs are raw Accelerometer, Gyroscope and Magnetometer data. 
+ *         Algorithm outputs: calibrated sensor and 9-axis sensor fusion. 
+ *  \warning supported sampling frequency [50 Hz-1000 Hz]
+ *  \warning supported gyroscope FSR [250 dps, 500 dps, 1000 dps, 2000 dps, 4000 dps]
+ *  \warning supported accelerometer FSR [1 g, 2 g, 4 g, 8 g, 16 g]
+ */
+
+#define INVN_ALGO_AGM_INPUT_MASK_ACC        1  ///< Raw Accel update mask
+#define INVN_ALGO_AGM_INPUT_MASK_GYR        2  ///< Raw Gyro update mask
+#define INVN_ALGO_AGM_INPUT_MASK_MAG        4  ///< Raw Mag update mask
+
+#define INVN_ALGO_AGM_OUTPUT_MASK_ACCEL_CAL 1  ///< Accel cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_GYRO_CAL  2  ///< Gyro cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_MAG_CAL   4  ///< Mag cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AG   8  ///< Game Rotation Vector (Accel and Gyro Fusion) output update mask 
+#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AGM  16 ///< Rotation Vector (Accel, Gyro and Magnetometer Fusion) output update mask 
+#define INVN_ALGO_AGM_OUTPUT_MASK_GRAVITY   32 ///< Gravity vector output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_LINEARACC 64 ///< Linear acceleration vector output update mask
+
+
+/* Forward declarations */
+struct inv_icm426xx;
+
+/*! \struct InvnAlgoAGMInput
+ * AGM input structure (raw data) \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t mask;            /*!<  mask to specify updated inputs. */
+	int64_t sRimu_time_us;   /*!<  timestamp \f$ [\mu s]\f$ of raw accel and gyro */
+	int32_t sRacc_data[3];   /*!<  raw accelerometer in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR g = 1<<19 LSB) */
+	int32_t sRgyr_data[3];   /*!<  raw gyroscope in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR dps = 1<<19 LSB) */
+	int16_t sRtemp_data;     /*!<  raw temperature */
+	int64_t sRmag_time_us;   /*!<  timestamp of raw mag */
+	int32_t sRmag_data[3];   /*!<  raw mag */
+} InvnAlgoAGMInput; 
+
+	
+/*! \struct InvnAlgoAGMOutput
+ * AGM output structure (calibrated sensors and fusion output)  \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t mask;                /*!< mask to specify updated outputs */
+	int32_t acc_uncal_q16[3];    /*!< uncalibrated accelerometer (1 g = 1<<16) */
+	int32_t acc_cal_q16[3];      /*!< calibrated accelerometer (1 g = 1<<16) */
+	int32_t acc_bias_q16[3];     /*!< accelerometer bias (1 g = 1<<16)*/
+	int8_t  acc_accuracy_flag;   /*!< accelerometer accuracy from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t gyr_uncal_q16[3];    /*!< uncalibrated gyroscope (1 dps = 1<<16) */
+	int32_t gyr_cal_q16[3];      /*!< calibrated gyroscope (1 dps = 1<<16) */
+	int32_t gyr_bias_q16[3];     /*!< gyro bias (1 dps = 1<<16)*/
+	int8_t  gyr_accuracy_flag;   /*!< gyro accuracy, from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t mag_uncal_q16[3];    /*!< uncalibrated magnetometer (1uT = 1<<16) */
+	int32_t mag_cal_q16[3];      /*!< calibrated magnetometer (1uT = 1<<16) */
+	int32_t mag_bias_q16[3];     /*!< magnetometer bias (1uT = 1<<16) */
+	int8_t  mag_accuracy_flag;   /*!< magnetometer accuracy, from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t grv_quat_q30[4];     /*!< 6-axis (accel and gyro fusion) quaternion */	
+	int32_t rv_quat_q30[4];      /*!< 9-axis (accel, gyro and magnetometer fusion) quaternion */
+	int32_t rv_accuracy_q27;     /*!< 9-axis (accel, gyro and magnetometer fusion) 3\sigma accuracy in rad */
+	int32_t gravity_q16[3];      /*!< gravity estimation in sensor frame */
+	int32_t linear_acc_q16[3];   /*!< linear acceleration estimation in sensor frame */
+	
+	int32_t temp_degC_q16;       /*!< temperature (1 \f$ [^{\circ}C]\f$ = 1<<16)*/
+} InvnAlgoAGMOutput; 
+
+
+/*! \struct InvnAlgoAGMConfig
+ * AGM configuration structure (sensor related settings) \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t * acc_bias_q16;     /*!<  Previously stored accel bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int32_t * gyr_bias_q16;     /*!<  Previously stored gyro bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int32_t * mag_bias_q16;     /*!<  mag_bias_q16 Previously stored mag bias pointer If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int8_t  acc_accuracy;       /*!<  Previously stored accelerometer bias accuracy (0 to 3) */
+	int8_t  gyr_accuracy;       /*!<  Previously stored gyroscope bias accuracy (0 to 3)  */
+	int8_t  mag_accuracy;       /*!<  Previously stored magnetometer bias accuracy (0 to 3)  */
+
+	int32_t acc_fsr;            /*!<  accelerometer full scale range [g] */
+	int32_t gyr_fsr;            /*!<  gyroscope full scale range [dps] */
+
+	uint32_t acc_odr_us;        /*!<  accelerometer output data rate in \f$ [\mu s]\f$ */
+	uint32_t gyr_odr_us;        /*!<  gyroscope output data rate \f$ [\mu s]\f$ */
+
+	int32_t   mag_sc_q16;       /*!<  magnetometer sensitivity (uT/LSB, e.g. mag_uT = (mag_sc_q16 * raw_mag_LSB)/65536) */
+	uint32_t  mag_odr_us;       /*!<  magnetometer output data rate \f$ [\mu s]\f$ */
+
+	int32_t temp_sensitivity;   /*!<  temperature sensitivity in q30 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_sensitivity = k) */
+	int32_t temp_offset;        /*!<  temperature offset in q16 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_offset = z) */
+} InvnAlgoAGMConfig; 
+
+
+/*!
+ * \brief Return library version x.y.z-suffix as a char array
+ * \retval library version a char array "x.y.z-suffix"
+ * \ingroup AGM
+ */
+const char * invn_algo_agm_version(void);
+
+/*!
+ * \brief Initializes algorithms with default parameters and reset states.
+ * (\icm_device[in] Invensense ICM426XX device pointer. Only when gyro assisted is enabled.)
+ * \config[in] algo init parameters structure.
+ * \return initialization success indicator.
+ * \retval 0 Success
+ * \retval 1 Fail
+ * \ingroup AGM
+ */
+#ifdef WITH_GYRO_ASSIST
+uint8_t invn_algo_agm_init_a(struct inv_icm426xx * icm_device, const InvnAlgoAGMConfig * config);
+#else
+uint8_t invn_algo_agm_init(const InvnAlgoAGMConfig * config);
+#endif
+
+/*!
+ * \brief Sets algo config structure.
+ * \config[in] config structure of the algo.
+  * \ingroup AGM
+ */
+void invn_algo_agm_set_config(const InvnAlgoAGMConfig * config);
+
+
+/*!
+ * \brief Performs algorithm computation.
+ * \in inputs algorithm input. Input mask (inputs->mask) should be set with respect to new sensor data in InvnAlgoAGMInput.
+ * \out outputs algorithm output. Output mask (outputs->mask) reports updated outputs in InvnAlgoAGMOutput.
+ * \ingroup AGM
+ */
+void invn_algo_agm_process(const InvnAlgoAGMInput *inputs, InvnAlgoAGMOutput *outputs);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif

project/ble_peripheral/ble_app_bladder_patch/icm42670p/app_raw/app_raw.h

@@ -0,0 +1,101 @@
+/*******************************************************************************
+ * @file	app_raw.h
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [헤더 개요] ICM42670P IMU 드라이버 상위 레이어 선언
+ *
+ * IMU 센서의 초기화, 설정, 데이터 읽기를 위한 함수 프로토타입과
+ * 동작 모드 설정 매크로를 정의한다.
+ *
+ * 주요 설정 매크로:
+ *   SERIF_TYPE         - 통신 인터페이스 (UI_I2C)
+ *   USE_LOW_NOISE_MODE - 1:저잡음(800Hz), 0:저전력(100Hz)
+ *   USE_HIGH_RES_MODE  - 1:20비트 고해상도, 0:16비트 표준
+ *   USE_FIFO           - 1:FIFO 사용, 0:레지스터 직접 읽기
+ ******************************************************************************/
+
+#ifndef _APP_RAW_H_
+#define _APP_RAW_H_
+#include "sdk_config.h"
+
+#include <stdint.h>
+#include "inv_imu_transport.h"
+#include "inv_imu_defs.h"
+#include "inv_imu_driver.h"
+
+
+/*** 설정 매크로 ***/
+
+/*
+ * MCU와 IMU 간 통신 인터페이스 선택
+ * UI_I2C: I2C 통신 사용 (기본)
+ */
+#define SERIF_TYPE           UI_I2C
+
+/*
+ * 전원 모드 설정
+ * 1: 저잡음 모드 — 800Hz ODR, 높은 정밀도, 높은 전력 소모
+ * 0: 저전력 모드 — 100Hz ODR, 낮은 전력 소모
+ * 주의: 12.5Hz 미만 ODR에서는 저잡음 모드 사용 불가
+ */
+#define USE_LOW_NOISE_MODE   1
+
+/*
+ * FIFO 해상도 모드 선택
+ * 0: 저해상도 — 16비트 데이터 (기본)
+ * 1: 고해상도 — 20비트 데이터 (FSR이 16g/2000dps로 강제 고정됨)
+ */
+#define USE_HIGH_RES_MODE    0
+
+/*
+ * 데이터 읽기 방식 선택
+ * 0: 레지스터 직접 읽기 (현재 사용 중)
+ * 1: FIFO에서 읽기
+ */
+#define USE_FIFO             0
+
+
+/**
+ * \brief IMU 디바이스를 리셋하고 초기화한다. WHOAMI 확인 포함.
+ *        다른 IMU 접근 함수 호출 전에 반드시 성공적으로 실행되어야 한다.
+ *
+ * \return 0=성공, 음수=에러
+ */
+int setup_imu_device(struct inv_imu_serif *icm_serif);
+
+/**
+ * \brief 자이로 및 가속도계 출력을 위한 디바이스 설정을 수행한다.
+ *        FSR, ODR, 전원 모드, FIFO 설정 등을 적용한다.
+ * \return 0=성공, 음수=에러
+ */
+int configure_imu_device(void);
+
+/**
+ * \brief FIFO 또는 레지스터에서 IMU 데이터를 추출한다.
+ *        내부적으로 imu_callback()이 호출되어 데이터를 처리한다.
+ * \return 0=성공, 음수=에러
+ */
+int get_imu_data(void);
+
+/**
+ * \brief 센서 데이터 수신 콜백. 마운팅 매트릭스 적용 후
+ *        info4/BLE/UART 모드에 따라 데이터를 출력한다.
+ * \param[in] event 하나의 센서 데이터 패킷을 담은 구조체
+ */
+void imu_callback(inv_imu_sensor_event_t *event);
+
+/**
+ * \brief 드라이버 API를 우회한 직접 I2C 레지스터 읽기.
+ *        DRDY 인터럽트 없이 즉시 센서 데이터를 읽어 BLE로 전송한다.
+ *        읽기 후 IMU를 슬립 모드로 전환하여 전력을 절감한다.
+ * \return 0=성공, 음수=에러
+ */
+int imu_read_direct(void);
+
+
+#endif /* !_APP_RAW_H_ */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/app_raw/app_raw_main.c

@@ -0,0 +1,290 @@
+/*******************************************************************************
+ * @file	app_raw_main.c
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * 2026.03.26 jhChun
+ * 현재 이 파일은 실제 런타임에 실행되지 않고 있음
+ * 인터럽트 방식 대신 app_raw.c imu_read_direct()에서 직접 레지스터 읽는 방식 사용 중
+ * 추후 필요 여부에 따라 정리 예정
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [모듈 개요] ICM42670P 메인 초기화 및 폴링 루프
+ *
+ * ICM42670P IMU 센서의 전체 초기화 시퀀스와 메인 루프를 담당한다.
+ *
+ * 초기화 흐름 (icm42670_init):
+ *   1) setup_mcu()             - I2C 시리얼 인터페이스 구조체 설정 및 TWI 초기화
+ *   2) setup_imu_device()      - IMU 드라이버 초기화 + WHOAMI 확인
+ *   3) configure_imu_device()  - 센서 파라미터 설정 (FSR, ODR, 전원 모드)
+ *   4) inv_gpio_sensor_irq_init() - INT1(P1.13) GPIO 인터럽트 설정
+ *
+ * 메인 루프 (icm42670_main):
+ *   - INT1 인터럽트 발생 시 irq_from_device 플래그가 세팅됨
+ *   - 메인 루프에서 플래그를 확인하고, 세팅되어 있으면 센서 데이터를 읽음
+ *   - 인터럽트는 하강 에지(HITOLO)에서 발생 (INT1 핀 풀업 설정)
+ *
+ * 보조 함수:
+ *   - inv_imu_sleep_us()     - nrf_delay_us 래퍼 (IMU 드라이버가 사용)
+ *   - inv_imu_get_time_us()  - RTC1 카운터로 타임스탬프 제공
+ ******************************************************************************/
+#include "sdk_config.h"
+#include "app_raw.h"
+#include "app_raw_main.h"
+#include "RingBuffer.h"
+#include "inv_imu_driver.h"
+
+#include "system_interface.h"
+
+/* std */
+#include <stdio.h>
+#include "nrf.h"
+#include "app_error.h"
+#include "boards.h"
+#include "nrfx_gpiote.h"
+#include "nrf_delay.h"
+
+#include "app_util_platform.h"
+#include "main.h"  /* 2026-03-17: cmd_parse.h 삭제 → main.h */
+#include "i2c_manager.h"
+/* --------------------------------------------------------------------------------------
+ *  Global variables
+ * -------------------------------------------------------------------------------------- */
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * IMU 인터럽트 플래그
+ * INT1 핀의 하강 에지 인터럽트 발생 시 1로 세팅된다.
+ * 메인 루프에서 이 플래그를 확인 후 데이터를 읽고 0으로 클리어한다.
+ * volatile: ISR에서 변경되므로 컴파일러 최적화 방지
+ */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu(struct inv_imu_serif *icm_serif);
+
+/*!
+* @brief	Sensor general interrupt handler, calls specific handlers.
+*
+* This function is called when an external interrupt is triggered by the sensor,
+* checks interrupt registers of InvenSense Sensor to determine the source and type of interrupt
+* and calls the specific interrupt handler accordingly.
+*
+* @param[in]	NULL
+*
+* @param[out]	NULL
+*
+* @return		NULL
+*
+*/
+/*
+ * inv_gpio_sensor_interrupt_handler()
+ * INT1 핀 인터럽트 핸들러 (ISR).
+ * 센서가 새 데이터를 준비했을 때 호출되며, 플래그만 세팅하고 즉시 반환한다.
+ * 실제 데이터 처리는 메인 루프(icm42670_main)에서 수행한다.
+ */
+static void inv_gpio_sensor_interrupt_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
+{
+	irq_from_device = 1;
+}
+
+
+/*
+ * inv_gpio_sensor_irq_init()
+ * INT1(P1.13) GPIO 인터럽트를 초기화한다.
+ *
+ * 설정:
+ *   - 트리거: 하강 에지 (HITOLO) — 센서가 INT를 Low로 끌어내릴 때
+ *   - 풀업 저항: 내부 풀업 활성화
+ *   - 핸들러: inv_gpio_sensor_interrupt_handler
+ *   - GPIOTE 모듈이 미초기화 상태이면 먼저 초기화
+ */
+void inv_gpio_sensor_irq_init(void)
+{
+    ret_code_t err_code;
+
+	/* GPIOTE 모듈 초기화 (이미 초기화되어 있으면 건너뜀) */
+	if (!nrfx_gpiote_is_init())
+	{
+	  err_code = nrfx_gpiote_init();
+	  APP_ERROR_CHECK(err_code);
+	}
+
+    /* 하강 에지 인터럽트 설정: High→Low 전환 시 트리거, 내부 풀업 사용 */
+    nrfx_gpiote_in_config_t in_config = NRFX_GPIOTE_CONFIG_IN_SENSE_HITOLO(true);
+    in_config.pull = NRF_GPIO_PIN_PULLUP;
+
+    /* INT1 핀에 인터럽트 핸들러 등록 */
+    err_code = nrfx_gpiote_in_init(ICM42670_INT1_PIN, &in_config, inv_gpio_sensor_interrupt_handler);
+    APP_ERROR_CHECK(err_code);
+
+    /* 인터럽트 이벤트 활성화 */
+    nrfx_gpiote_in_event_enable(ICM42670_INT1_PIN, true);
+}
+
+
+/*
+ * inv_gpio_sensor_irq_uninit()
+ * INT1 GPIO 인터럽트를 비활성화하고 해제한다.
+ * 센서 비활성화 시 또는 재초기화 전에 호출된다.
+ */
+void inv_gpio_sensor_irq_uninit(void)
+{
+	/* 인터럽트 이벤트 비활성화 */
+	nrfx_gpiote_in_event_disable(ICM42670_INT1_PIN);
+
+	/* INT1 핀 인터럽트 설정 해제 */
+	nrfx_gpiote_in_uninit(ICM42670_INT1_PIN);
+
+	/* GPIOTE 모듈 해제 (초기화된 경우에만) */
+	if (nrfx_gpiote_is_init())
+	{
+	  nrfx_gpiote_uninit();
+
+	}
+}
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * icm42670_init()
+ * ICM42670P 전체 초기화 시퀀스를 수행한다.
+ *
+ * 초기화 순서:
+ *   1) setup_mcu()             - I2C 인터페이스 구조체 설정 및 TWI 하드웨어 초기화
+ *   2) setup_imu_device()      - IMU 드라이버 초기화, WHOAMI(0x67) 확인
+ *   3) configure_imu_device()  - FSR, ODR, 전원 모드 설정
+ *   4) inv_gpio_sensor_irq_init() - INT1 인터럽트 활성화 (데이터 준비 알림)
+ *
+ * 반환값: 0=성공, -1=초기화 실패
+ */
+int icm42670_init(void)
+{
+	int rc = 0;
+	struct inv_imu_serif icm_serif;
+
+	rc |= setup_mcu(&icm_serif);
+	rc |= setup_imu_device(&icm_serif);
+	rc |= configure_imu_device();
+
+	if(rc != 0){
+		printf("!!!error during initialization\r\n");
+		return -1;
+	}
+
+	/* 초기화 성공 후 INT1 인터럽트 활성화 — 이후 데이터 준비 시 ISR이 호출됨 */
+	inv_gpio_sensor_irq_init();
+
+	return rc;
+}
+
+
+/*
+ * icm42670_main()
+ * ICM42670P 메인 폴링 루프.
+ * 메인 애플리케이션 루프에서 주기적으로 호출되어야 한다.
+ *
+ * 동작:
+ *   1) I2C 하드웨어가 초기화되었는지 확인 (hw_i2c_init_once)
+ *   2) irq_from_device 플래그 확인 (ISR에서 세팅됨)
+ *   3) 플래그가 세팅되어 있으면 센서 데이터 읽기 (get_imu_data)
+ *   4) 데이터 읽기 완료 후 플래그 클리어
+ *
+ * 참고: 인터럽트 기반 폴링 방식으로, ISR에서는 플래그만 세팅하고 실제 I2C 통신은 메인 컨텍스트에서 수행한다.
+ */
+void icm42670_main(void)
+{
+	int rc = 0;
+   hw_i2c_init_once();
+	/* 인터럽트 발생 여부 확인 후 데이터 읽기 */
+
+	if (irq_from_device) {
+		rc = get_imu_data();
+
+		if(rc < 0) {
+			printf("error while getting data\r\n");
+		}
+
+		/* 플래그 클리어 — 다음 인터럽트까지 대기 */
+		irq_from_device = 0;
+	}
+
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * setup_mcu()
+ * MCU 측 시리얼 인터페이스를 설정한다.
+ *
+ * inv_imu_serif 구조체에 다음을 등록:
+ *   - read_reg / write_reg : I2C 읽기/쓰기 콜백 함수 (system_interface.c에서 구현)
+ *   - max_read / max_write : 최대 전송 크기 (32KB)
+ *   - serif_type           : 통신 타입 (UI_I2C)
+ *
+ * 설정 후 inv_io_hal_init()을 호출하여 실제 TWI 하드웨어를 초기화한다.
+ */
+static int setup_mcu(struct inv_imu_serif *icm_serif)
+{
+	int rc = 0;
+
+	/* IMU 드라이버용 시리얼 인터페이스 구조체 설정 */
+	icm_serif->context   = 0;        /* 컨텍스트 미사용 */
+	icm_serif->read_reg  = inv_io_hal_read_reg;   /* 레지스터 읽기 콜백 */
+	icm_serif->write_reg = inv_io_hal_write_reg;   /* 레지스터 쓰기 콜백 */
+	icm_serif->max_read  = 1024*32;  /* 1회 읽기 최대 바이트 수 */
+	icm_serif->max_write = 1024*32;  /* 1회 쓰기 최대 바이트 수 */
+	icm_serif->serif_type = SERIF_TYPE;  /* UI_I2C (app_raw.h에서 정의) */
+
+	/* TWI 하드웨어 초기화 */
+	rc |= inv_io_hal_init(icm_serif);
+
+	return rc;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Extern functions definition
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * inv_imu_sleep_us()
+ * IMU 드라이버가 사용하는 마이크로초 단위 슬립 함수.
+ * nrf_delay_us()를 래핑하여 플랫폼 독립적 인터페이스를 제공한다.
+ * 예: 자이로 스타트업 대기(GYR_STARTUP_TIME_US) 시 사용
+ */
+void inv_imu_sleep_us(uint32_t us)
+{
+	nrf_delay_us(us);
+}
+
+
+/*
+ * inv_imu_get_time_us()
+ * IMU 드라이버가 사용하는 타임스탬프 함수.
+ * nRF52840의 RTC1 카운터 값을 반환한다.
+ *
+ * 주의: RTC1은 32.768kHz로 동작하므로, 반환값의 단위는 엄밀히
+ * 마이크로초가 아닌 RTC 틱(약 30.5us/tick)이다.
+ * 드라이버 내부에서 상대적 시간 비교 용도로 사용된다.
+ */
+uint64_t inv_imu_get_time_us(void)
+{
+	return NRF_RTC1->COUNTER;
+}

project/ble_peripheral/ble_app_bladder_patch/icm42670p/app_raw/app_raw_main.h

@@ -0,0 +1,31 @@
+/*******************************************************************************
+ * @file	app_raw_main.h
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [헤더 개요] ICM42670P 메인 초기화/폴링 루프 선언
+ *
+ * ICM42670P IMU 센서의 전체 초기화 및 메인 루프 함수를 선언한다.
+ *   - icm42670_init()   : 전체 초기화 (MCU설정 → IMU초기화 → 센서설정 → 인터럽트 활성화)
+ *   - icm42670_main()   : 메인 폴링 루프 (INT1 인터럽트 확인 → 데이터 읽기)
+ *   - icm42670_uninit()  : 해제 (프로토타입만 선언, 구현은 별도)
+ ******************************************************************************/
+
+#ifndef _APP_RAW_MAIN_H_
+#define _APP_RAW_MAIN_H_
+#include "sdk_config.h"
+
+/* ICM42670P 전체 초기화 — MCU I2C 설정 → IMU 드라이버 초기화 → 센서 설정 → 인터럽트 활성화 */
+int icm42670_init(void);
+
+/* ICM42670P 메인 폴링 루프 — INT1 인터럽트 플래그 확인 후 센서 데이터 읽기 */
+void icm42670_main(void);
+
+/* ICM42670P 해제 (프로토타입 선언) */
+int icm42670_uninit(void);
+
+#endif /* !_APP_RAW_MAIN_H_ */

project/ble_peripheral/ble_app_bladder_patch/icm42670p/system_interface.c

@@ -1,334 +1,334 @@
-/*******************************************************************************
- * @file	system_interface.c
- * @author	CandyPops Co.
- * @version	V1.0.0
- * @date	2022-09-05
- * @brief
- ******************************************************************************/
-
-/*******************************************************************************
- * [Module overview] ICM42670P IMU sensor I2C communication interface
- *
- * Low-level interface module for communicating with the ICM42670P IMU sensor
- * via the nRF52840 TWI (I2C) hardware.
- *
- * - I2C slave address: 0x68 (ICM42670P default)
- * - I2C pin config: SCL=P1.14, SDA=P1.15 (defined in system_interface.h)
- * - TWI instance: NRFX_TWI_INSTANCE(0)
- * - Bus speed: 100kHz (NRF_TWI_FREQ_100K)
- *
- * Main function flow:
- *   inv_io_hal_init()      -> Initialize I2C or SPI (only I2C implemented)
- *   inv_io_hal_read_reg()  -> Register read (TX address -> RX data)
- *   inv_io_hal_write_reg() -> Register write (TX address+data at once)
- *
- * Error handling: All I2C read/write operations retry once on failure
- *
- * Note: SPI4 code path exists but is not implemented;
- *       only I2C (UI_I2C) is used in production.
- ******************************************************************************/
-
-/* board driver */
-#include <stdio.h>
-#include <string.h>
-#include <stdarg.h>
-
-#include <stdbool.h>
-#include "nrf.h"
-#include "app_error.h"
-#include "boards.h"
-#include "nrfx_gpiote.h"
-#include "nrfx_twi.h"
-
-#include "system_interface.h"
-#include "nrf_delay.h"
-
-/* ICM42670P I2C slave address and max serial write byte count */
-#define ICM_I2C_ADDR     0x68
-#define INV_MAX_SERIAL_WRITE 16
-
-/* TWI (I2C) instance — uses ICM42670_I2C_INSTANCE(0) from system_interface.h */
-const nrfx_twi_t m_twi_icm42670 = NRFX_TWI_INSTANCE(ICM42670_I2C_INSTANCE);
-
-/*
- * inv_i2c_master_uninitialize()
- * Disables the I2C bus and releases the TWI instance.
- * Called before entering sleep mode or before re-initialization.
- */
-void inv_i2c_master_uninitialize(void){
-    nrfx_twi_disable(&m_twi_icm42670);
-    nrfx_twi_uninit(&m_twi_icm42670);
-}
-
-/*
- * inv_i2c_master_initialize()
- * Initializes and enables the nRF52840 TWI hardware.
- * - SCL: P1.14, SDA: P1.15
- * - Speed: 100kHz
- * - Interrupt priority: highest (APP_IRQ_PRIORITY_HIGH)
- * - No event handler (blocking mode)
- */
-void inv_i2c_master_initialize(void){
-    ret_code_t err_code;
-
-    const nrfx_twi_config_t twi_icm42670_config = {
-       .scl                = ICM42670_I2C_SCL_PIN,
-       .sda                = ICM42670_I2C_SDA_PIN,
-       .frequency          = NRF_TWI_FREQ_100K,
-       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
-    };
-
-    /* Initialize TWI driver (event handler=NULL -> blocking mode) */
-    err_code = nrfx_twi_init(&m_twi_icm42670, &twi_icm42670_config, NULL, NULL);
-    APP_ERROR_CHECK(err_code);
-
-    /* Enable TWI hardware — tx/rx available after this */
-    nrfx_twi_enable(&m_twi_icm42670);
-}
-
-
-/*
- * icm42670_twi_tx()
- * I2C transmit wrapper. Calls nrfx_twi_tx to send data.
- * If no_stop=true, STOP condition is omitted (used for Repeated START).
- */
-uint32_t icm42670_twi_tx(  uint8_t       device_id,
-                          uint8_t const *       p_data,
-                          uint8_t               length,
-                          bool                  no_stop)
-{
-	ret_code_t ret;
-	ret = nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
-	return ret;
-}
-
-
-/*
- * icm42670_twi_rx()
- * I2C receive wrapper. Calls nrfx_twi_rx to receive data.
- */
-uint32_t icm42670_twi_rx(  uint8_t       device_id,
-                          uint8_t *             p_data,
-                          uint8_t               length)
-{
-	ret_code_t ret;
-	ret = nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
-	return ret;
-}
-
-
-/*
- * inv_i2c_master_read_register()
- * Reads data from a specific ICM42670P register.
- *
- * Sequence:
- *   1) TX: Send 1-byte register address (no_stop=true -> prepare Repeated START)
- *   2) RX: Receive data of specified length
- *
- * Error handling: Retries once on TX or RX failure.
- */
-static unsigned long inv_i2c_master_read_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){
-	//ret_code_t ret;
-	uint32_t ret;
-	uint8_t addr8 = (uint8_t)RegisterAddr;
-
-	/* Step 1: Send register address to read (no STOP -> uses Repeated START) */
-	ret = icm42670_twi_tx(Address, &addr8, 1, true);
-	if(ret != NRF_SUCCESS) {
-		/* Retry once on failure */
-		ret = icm42670_twi_tx(Address, &addr8, 1, true);
-		if(ret != NRF_SUCCESS) {
-		  	printf("ERR! i2c read-1\r\n");
-		}
-	}
-
-	/* Step 2: Receive data from the register */
-	ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
-	if(ret != NRF_SUCCESS) {
-		/* Retry once on failure */
-		ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
-		if(ret != NRF_SUCCESS) {
-		  	printf("ERR! i2c read-2\r\n");
-		}
-	}
-
-	return ret;
-}
-
-/*
- * inv_i2c_master_write_register()
- * Writes data to a specific ICM42670P register.
- *
- * Sequence:
- *   1) Place register address in buffer[0], data in buffer[1..N]
- *   2) TX: Send address+data at once (no_stop=false -> includes STOP condition)
- *
- * Error handling: Retries once on failure.
- */
-static unsigned long inv_i2c_master_write_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, const unsigned char *RegisterValue){
-	uint32_t ret;
-	uint8_t buffer[1 + INV_MAX_SERIAL_WRITE]; /* register address (1) + data (max 16 bytes) */
-
-	/* Buffer layout: [register address][data bytes] */
-	buffer[0] = (uint8_t)RegisterAddr;
-	memcpy(buffer+1, RegisterValue, RegisterLen);
-
-	/* Send address+data at once */
-	ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
-	if(ret != NRF_SUCCESS) {
-		/* Retry once on failure */
-		ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
-		if(ret != NRF_SUCCESS) {
-		  	printf("ERR! i2c write\r\n");
-		}
-	}
-
-	return ret;
-}
-
-
-
-/*
- * inv_io_hal_init()
- * Initializes the serial interface (I2C or SPI) used by the IMU driver.
- * Branches based on serif->serif_type; only I2C is currently implemented.
- * Returns: 0=success, -1=unsupported interface type
- */
-
-int inv_io_hal_init(struct inv_imu_serif *serif)
-{
-
-	switch (serif->serif_type) {
-		case UI_SPI4:
-		{
-			/* SPI4 init — not implemented (only I2C is used) */
-			break;
-		}
-
-		case UI_I2C:
-			inv_i2c_master_initialize();
-			break;
-
-		default:
-			return -1;
-	}
-
-	return 0;
-}
-
-
-/*
- * inv_io_hal_read_reg()
- * IMU driver callback: reads data from the specified register.
- * Performs I2C or SPI read depending on the serial type.
- */
-int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen)
-{
-	switch (serif->serif_type) {
-		case UI_SPI4:
-			return 0;
-
-		case UI_I2C:
-			return inv_i2c_master_read_register(ICM_I2C_ADDR, reg, rlen, rbuffer);
-
-		default:
-			return -1;
-	}
-}
-
-/*
- * inv_io_hal_write_reg()
- * IMU driver callback: writes data to the specified register.
- * Performs I2C or SPI write depending on the serial type.
- */
-int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen)
-{
-	switch (serif->serif_type) {
-		case UI_SPI4:
-			return 0;
-
-		case UI_I2C:
-			return inv_i2c_master_write_register(ICM_I2C_ADDR, reg, wlen, wbuffer);
-
-		default:
-			return -1;
-	}
-}
-
-/*
- * cat_read()
- * Generic I2C read function (debug/legacy).
- * Reads 8 bytes, returns the first byte, and prints the data to console.
- * Note: Not used in production; kept for debug purposes.
- */
-uint8_t cat_read(uint8_t device_id, uint8_t address, uint8_t *data)
-	{
-
-				uint8_t read_data = 0;
-		char adata[8];
-		 ret_code_t err_code;
-    //address = 1|(address<<1);
-    address = (address & 0xFF);
-
-    /* Send register address (no STOP, prepare Repeated START) */
-    err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, &address, 1, true);
-    if (err_code != NRF_SUCCESS) {
-        // Handle error
-       // return;
-    }
-
-    /* Receive 8 bytes of data */
-    err_code = nrfx_twi_rx(&m_twi_icm42670, device_id, data, 8);
-    if (err_code != NRF_SUCCESS) {
-        // Handle error
-        return 0;
-    }
-		read_data = data[0];
-		memcpy(adata,data,8);
-		printf("Data %s  . \r\n", adata);
-		 return read_data;
-
-
-
-
-
-
-
- }
-
-/*
- * cat_write()
- * Generic I2C write function (debug/legacy).
- * Sends 1 byte address + 1 byte data.
- * Note: Copies 6 bytes into buffer, but only transmits 2 bytes.
- */
-void cat_write(uint8_t device_id, uint8_t address, uint8_t *data){
-
-		uint8_t buffer[7]={0x00,0x00,0x00,0x00,0x00,0x00,0x00};
-
-    address = (address & 0xFF);
-
-		    buffer[0] = (address);
-		//buffer[1] =(data & 0xFF);
-		memcpy(buffer+1,data,6);
-    ret_code_t err_code;
-		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, 0x00, 1, false);
-
-		/* Address (1 byte) + data (1 byte) = 2 bytes transmitted */
-		err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, buffer, 2, false);
-//    err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 2, false);
-//	nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
-//	nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
-		printf("Data %x  %x    %x   %x. \r\n", buffer[0], buffer[1], buffer[2], buffer[3]);
-
-		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 6, false);
-    if (err_code != NRF_SUCCESS) {
-
-        printf("TWI  Error.");
-
-
-
- 	}
-
-}
-
+/*******************************************************************************
+ * @file	system_interface.c
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [모듈 개요] ICM42670P IMU 센서 I2C 통신 인터페이스
+ *
+ * nRF52840의 TWI(I2C) 하드웨어를 사용하여 ICM42670P IMU 센서와 통신하는
+ * 저수준 인터페이스 모듈이다.
+ *
+ * - I2C 슬레이브 주소: 0x68 (ICM42670P 기본 주소)
+ * - I2C 핀 설정: SCL=P1.14, SDA=P1.15 (system_interface.h에서 정의)
+ * - TWI 인스턴스: NRFX_TWI_INSTANCE(0) 사용
+ * - 통신 속도: 100kHz (NRF_TWI_FREQ_100K)
+ *
+ * 주요 함수 흐름:
+ *   inv_io_hal_init()      → I2C 또는 SPI 초기화 (현재 I2C만 구현)
+ *   inv_io_hal_read_reg()  → 레지스터 읽기 (TX로 주소 전송 → RX로 데이터 수신)
+ *   inv_io_hal_write_reg() → 레지스터 쓰기 (주소+데이터를 한번에 TX)
+ *
+ * 에러 처리: 모든 I2C 읽기/쓰기에서 실패 시 1회 재시도 후 에러 출력
+ *
+ * 참고: SPI4 인터페이스 코드 경로도 존재하지만 현재 미구현 상태이며,
+ *       실제 운용에서는 I2C(UI_I2C)만 사용한다.
+ ******************************************************************************/
+
+/* board driver */
+#include <stdio.h>
+#include <string.h>
+#include <stdarg.h>
+
+#include <stdbool.h>
+#include "nrf.h"
+#include "app_error.h"
+#include "boards.h"
+#include "nrfx_gpiote.h"
+#include "nrfx_twi.h"
+
+#include "system_interface.h"
+#include "nrf_delay.h"
+
+/* ICM42670P I2C 슬레이브 주소 및 직렬 쓰기 최대 바이트 수 */
+#define ICM_I2C_ADDR     0x68
+#define INV_MAX_SERIAL_WRITE 16
+
+/* TWI(I2C) 인스턴스 생성 — system_interface.h의 ICM42670_I2C_INSTANCE(0)을 사용 */
+const nrfx_twi_t m_twi_icm42670 = NRFX_TWI_INSTANCE(ICM42670_I2C_INSTANCE);
+
+/*
+ * inv_i2c_master_uninitialize()
+ * I2C 버스를 비활성화하고 TWI 인스턴스를 해제한다.
+ * 슬립 모드 진입 전 또는 재초기화 전에 호출된다.
+ */
+void inv_i2c_master_uninitialize(void){
+    nrfx_twi_disable(&m_twi_icm42670);
+    nrfx_twi_uninit(&m_twi_icm42670);
+}
+
+/*
+ * inv_i2c_master_initialize()
+ * nRF52840 TWI 하드웨어를 초기화하고 활성화한다.
+ * - SCL: P1.14, SDA: P1.15
+ * - 속도: 100kHz
+ * - 인터럽트 우선순위: 최고 (APP_IRQ_PRIORITY_HIGH)
+ * - 이벤트 핸들러 없음 (블로킹 모드로 동작)
+ */
+void inv_i2c_master_initialize(void){
+    ret_code_t err_code;
+
+    const nrfx_twi_config_t twi_icm42670_config = {
+       .scl                = ICM42670_I2C_SCL_PIN,
+       .sda                = ICM42670_I2C_SDA_PIN,
+       .frequency          = NRF_TWI_FREQ_100K,
+       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
+    };
+
+    /* TWI 드라이버 초기화 (이벤트 핸들러=NULL → 블로킹 모드) */
+    err_code = nrfx_twi_init(&m_twi_icm42670, &twi_icm42670_config, NULL, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    /* TWI 하드웨어 활성화 — 이후 tx/rx 가능 */
+    nrfx_twi_enable(&m_twi_icm42670);
+}
+
+
+/*
+ * icm42670_twi_tx()
+ * I2C 전송 래퍼 함수. nrfx_twi_tx를 호출하여 데이터를 송신한다.
+ * no_stop=true이면 STOP 컨디션을 보내지 않음 (Repeated START를 위해 사용)
+ */
+uint32_t icm42670_twi_tx(  uint8_t       device_id,
+                          uint8_t const *       p_data,
+                          uint8_t               length,
+                          bool                  no_stop)
+{
+	ret_code_t ret;
+	ret = nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
+	return ret;
+}
+
+
+/*
+ * icm42670_twi_rx()
+ * I2C 수신 래퍼 함수. nrfx_twi_rx를 호출하여 데이터를 수신한다.
+ */
+uint32_t icm42670_twi_rx(  uint8_t       device_id,
+                          uint8_t *             p_data,
+                          uint8_t               length)
+{
+	ret_code_t ret;
+	ret = nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
+	return ret;
+}
+
+
+/*
+ * inv_i2c_master_read_register()
+ * ICM42670P의 특정 레지스터에서 데이터를 읽는다.
+ *
+ * 동작 순서:
+ *   1) TX: 레지스터 주소 1바이트 전송 (no_stop=true → Repeated START 준비)
+ *   2) RX: 지정된 길이만큼 데이터 수신
+ *
+ * 에러 처리: TX, RX 각각 실패 시 1회 재시도한다.
+ */
+static unsigned long inv_i2c_master_read_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){
+	//ret_code_t ret;
+	uint32_t ret;
+	uint8_t addr8 = (uint8_t)RegisterAddr;
+
+	/* 1단계: 읽을 레지스터 주소를 전송 (STOP 없이 → Repeated START 사용) */
+	ret = icm42670_twi_tx(Address, &addr8, 1, true);
+	if(ret != NRF_SUCCESS) {
+		/* 실패 시 1회 재시도 */
+		ret = icm42670_twi_tx(Address, &addr8, 1, true);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c read-1\r\n");
+		}
+	}
+
+	/* 2단계: 해당 레지스터에서 데이터 수신 */
+	ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
+	if(ret != NRF_SUCCESS) {
+		/* 실패 시 1회 재시도 */
+		ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c read-2\r\n");
+		}
+	}
+
+	return ret;
+}
+
+/*
+ * inv_i2c_master_write_register()
+ * ICM42670P의 특정 레지스터에 데이터를 쓴다.
+ *
+ * 동작 순서:
+ *   1) 버퍼[0]에 레지스터 주소, 버퍼[1~N]에 쓸 데이터를 배치
+ *   2) TX: 주소+데이터를 한번에 전송 (no_stop=false → STOP 컨디션 포함)
+ *
+ * 에러 처리: 실패 시 1회 재시도한다.
+ */
+static unsigned long inv_i2c_master_write_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, const unsigned char *RegisterValue){
+	uint32_t ret;
+	uint8_t buffer[1 + INV_MAX_SERIAL_WRITE]; /* 레지스터 주소(1) + 데이터(최대 16바이트) */
+
+	/* 버퍼 구성: [레지스터 주소][데이터 바이트들] */
+	buffer[0] = (uint8_t)RegisterAddr;
+	memcpy(buffer+1, RegisterValue, RegisterLen);
+
+	/* 주소+데이터를 한번에 전송 */
+	ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
+	if(ret != NRF_SUCCESS) {
+		/* 실패 시 1회 재시도 */
+		ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c write\r\n");
+		}
+	}
+
+	return ret;
+}
+
+
+
+/*
+ * inv_io_hal_init()
+ * IMU 드라이버가 사용하는 시리얼 인터페이스(I2C 또는 SPI)를 초기화한다.
+ * serif->serif_type에 따라 분기하며, 현재는 I2C만 구현되어 있다.
+ * 반환값: 0=성공, -1=지원하지 않는 인터페이스 타입
+ */
+
+int inv_io_hal_init(struct inv_imu_serif *serif)
+{
+
+	switch (serif->serif_type) {
+		case UI_SPI4:
+		{
+			/* SPI4 초기화 — 현재 미구현 (I2C만 사용) */
+			break;
+		}
+
+		case UI_I2C:
+			inv_i2c_master_initialize();
+			break;
+
+		default:
+			return -1;
+	}
+
+	return 0;
+}
+
+
+/*
+ * inv_io_hal_read_reg()
+ * IMU 드라이버 콜백: 지정된 레지스터에서 데이터를 읽는다.
+ * 시리얼 타입에 따라 I2C 또는 SPI 읽기를 수행한다.
+ */
+int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen)
+{
+	switch (serif->serif_type) {
+		case UI_SPI4:
+			return 0;
+
+		case UI_I2C:
+			return inv_i2c_master_read_register(ICM_I2C_ADDR, reg, rlen, rbuffer);
+
+		default:
+			return -1;
+	}
+}
+
+/*
+ * inv_io_hal_write_reg()
+ * IMU 드라이버 콜백: 지정된 레지스터에 데이터를 쓴다.
+ * 시리얼 타입에 따라 I2C 또는 SPI 쓰기를 수행한다.
+ */
+int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen)
+{
+	switch (serif->serif_type) {
+		case UI_SPI4:
+			return 0;
+
+		case UI_I2C:
+			return inv_i2c_master_write_register(ICM_I2C_ADDR, reg, wlen, wbuffer);
+
+		default:
+			return -1;
+	}
+}
+
+/*
+ * cat_read()
+ * 범용 I2C 읽기 함수 (디버그/레거시용).
+ * 8바이트를 읽어 첫 번째 바이트를 반환하고, 읽은 데이터를 콘솔에 출력한다.
+ * 참고: 현재 실제 운용에서는 사용되지 않으며, 디버그 목적으로 남아 있다.
+ */
+uint8_t cat_read(uint8_t device_id, uint8_t address, uint8_t *data)
+	{
+
+				uint8_t read_data = 0;
+		char adata[8];
+		 ret_code_t err_code;
+    //address = 1|(address<<1);
+    address = (address & 0xFF);
+
+    /* 레지스터 주소 전송 (STOP 없이, Repeated START 준비) */
+    err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, &address, 1, true);
+    if (err_code != NRF_SUCCESS) {
+        // Handle error
+       // return;
+    }
+
+    /* 8바이트 데이터 수신 */
+    err_code = nrfx_twi_rx(&m_twi_icm42670, device_id, data, 8);
+    if (err_code != NRF_SUCCESS) {
+        // Handle error
+        return 0;
+    }
+		read_data = data[0];
+		memcpy(adata,data,8);
+		printf("Data %s  . \r\n", adata);
+		 return read_data;
+
+
+
+
+
+
+
+ }
+
+/*
+ * cat_write()
+ * 범용 I2C 쓰기 함수 (디버그/레거시용).
+ * 주소 1바이트 + 데이터 1바이트를 전송한다.
+ * 참고: buffer에 6바이트를 복사하지만, 실제 전송은 2바이트만 수행한다.
+ */
+void cat_write(uint8_t device_id, uint8_t address, uint8_t *data){
+
+		uint8_t buffer[7]={0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+
+    address = (address & 0xFF);
+
+		    buffer[0] = (address);
+		//buffer[1] =(data & 0xFF);
+		memcpy(buffer+1,data,6);
+    ret_code_t err_code;
+		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, 0x00, 1, false);
+
+		/* 주소(1바이트) + 데이터(1바이트) = 2바이트 전송 */
+		err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, buffer, 2, false);
+//    err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 2, false);
+//	nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
+//	nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
+		printf("Data %x  %x    %x   %x. \r\n", buffer[0], buffer[1], buffer[2], buffer[3]);
+
+		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 6, false);
+    if (err_code != NRF_SUCCESS) {
+
+        printf("TWI  Error.");
+
+
+
+ 	}
+
+}
+

project/ble_peripheral/ble_app_bladder_patch/icm42670p/system_interface.h

@@ -1,73 +1,72 @@
-/*******************************************************************************
- * @file	system_interface.h
- * @author	CandyPops Co.
- * @version	V1.0.0
- * @date	2022-09-05
- * @brief
- ******************************************************************************/
-
-/*******************************************************************************
- * [Header overview] ICM42670P I2C communication interface declarations
- *
- * Pin definitions and function prototypes for communicating with the
- * ICM42670P IMU sensor via nRF52840 TWI hardware.
- *
- * Pin assignment:
- *   - I2C SCL : P1.14
- *   - I2C SDA : P1.15
- *   - INT1    : P1.13 (data-ready interrupt)
- *   - INT2    : P0.26 (auxiliary interrupt, currently unused)
- *
- * TWI instance: 0
- ******************************************************************************/
-
-#ifndef _SYSTEM_INTERFACE_H_
-#define _SYSTEM_INTERFACE_H_
-
-#include "inv_imu_transport.h"
-#include <stdbool.h>
-/* TODO: Move that somewhere else */
-#ifndef TO_MASK
-#define TO_MASK(a) (1U << (unsigned)(a))
-#endif
-
-
-#define ICM42670_I2C_INSTANCE 		0 /**< I2C (TWI) instance index */
-#define ICM42670_I2C_SDA_PIN    	NRF_GPIO_PIN_MAP(1,15) /**< SDA pin: P1.15 */
-#define ICM42670_I2C_SCL_PIN    	NRF_GPIO_PIN_MAP(1,14) /**< SCL pin: P1.14 */
-#define ICM42670_INT1_PIN     		NRF_GPIO_PIN_MAP(1,13) /**< INT1 pin: P1.13 (data-ready interrupt) */
-#define ICM42670_INT2_PIN     		NRF_GPIO_PIN_MAP(0,26) /**< INT2 pin: P0.26 (auxiliary, currently unused) */
-
-/* I2C transmit wrapper — if no_stop=true, STOP condition is omitted for Repeated START */
-uint32_t icm42670_twi_tx(  uint8_t       device_id,
-                          uint8_t const *       p_data,
-                          uint8_t               length,
-                          bool                  no_stop);
-
-/* I2C receive wrapper */
-uint32_t icm42670_twi_rx(  uint8_t       device_id,
-                          uint8_t *             p_data,
-                          uint8_t               length);
-
-/* Generic I2C read (debug/legacy) — reads 8 bytes and returns the first byte */
-uint8_t cat_read (uint8_t device_id, uint8_t address, uint8_t *data);
-
-/* Generic I2C write (debug/legacy) — sends address+data 2 bytes */
-void cat_write (uint8_t device_id, uint8_t address, uint8_t *data);
-
-/* Release I2C hardware (called before sleep or re-initialization) */
-void inv_i2c_master_uninitialize(void);
-
-/* Initialize I2C hardware (100kHz, blocking mode) */
-void inv_i2c_master_initialize(void);
-
-/* Initialize serial interface for IMU driver (I2C/SPI branch) */
-int inv_io_hal_init(struct inv_imu_serif *serif);
-
-/* IMU driver callback: register read */
-int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen);
-
-/* IMU driver callback: register write */
-int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen);
-
-#endif /* !_SYSTEM_INTERFACE_H_ */
+/*******************************************************************************
+ * @file	system_interface.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [헤더 개요] ICM42670P I2C 통신 인터페이스 선언
+ *
+ * nRF52840 TWI 하드웨어를 통해 ICM42670P IMU 센서와 통신하기 위한 핀 정의, 함수 프로토타입 선언
+ *
+ * 핀 배치:
+ *   - I2C SCL : P1.14
+ *   - I2C SDA : P1.15
+ *   - INT1    : P1.13 (데이터 준비 인터럽트)
+ *   - INT2    : P0.26 (보조 인터럽트, 현재 미사용)
+ *
+ * TWI 인스턴스: 0번 사용
+ ******************************************************************************/
+
+#ifndef _SYSTEM_INTERFACE_H_
+#define _SYSTEM_INTERFACE_H_
+
+#include "inv_imu_transport.h"
+#include <stdbool.h>
+/* TODO: Move that somewhere else */
+#ifndef TO_MASK
+#define TO_MASK(a) (1U << (unsigned)(a))
+#endif
+
+
+#define ICM42670_I2C_INSTANCE 		0 /**< I2C(TWI) 인스턴스 인덱스 */
+#define ICM42670_I2C_SDA_PIN    	NRF_GPIO_PIN_MAP(1,15) /**< SDA 핀: P1.15 */
+#define ICM42670_I2C_SCL_PIN    	NRF_GPIO_PIN_MAP(1,14) /**< SCL 핀: P1.14 */
+#define ICM42670_INT1_PIN     		NRF_GPIO_PIN_MAP(1,13) /**< INT1 핀: P1.13 (데이터 준비 인터럽트) */
+#define ICM42670_INT2_PIN     		NRF_GPIO_PIN_MAP(0,26) /**< INT2 핀: P0.26 (보조, 현재 미사용) */
+
+/* I2C 전송 래퍼 — no_stop=true이면 Repeated START를 위해 STOP 컨디션 생략 */
+uint32_t icm42670_twi_tx(  uint8_t       device_id,
+                          uint8_t const *       p_data,
+                          uint8_t               length,
+                          bool                  no_stop);
+
+/* I2C 수신 래퍼 */
+uint32_t icm42670_twi_rx(  uint8_t       device_id,
+                          uint8_t *             p_data,
+                          uint8_t               length);
+
+/* 범용 I2C 읽기 (디버그/레거시용) — 8바이트를 읽어 첫 바이트 반환 */
+uint8_t cat_read (uint8_t device_id, uint8_t address, uint8_t *data);
+
+/* 범용 I2C 쓰기 (디버그/레거시용) — 주소+데이터 2바이트 전송 */
+void cat_write (uint8_t device_id, uint8_t address, uint8_t *data);
+
+/* I2C 하드웨어 해제 (슬립 또는 재초기화 전 호출) */
+void inv_i2c_master_uninitialize(void);
+
+/* I2C 하드웨어 초기화 (100kHz, 블로킹 모드) */
+void inv_i2c_master_initialize(void);
+
+/* IMU 드라이버용 시리얼 인터페이스 초기화 (I2C/SPI 분기) */
+int inv_io_hal_init(struct inv_imu_serif *serif);
+
+/* IMU 드라이버 콜백: 레지스터 읽기 */
+int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen);
+
+/* IMU 드라이버 콜백: 레지스터 쓰기 */
+int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen);
+
+#endif /* !_SYSTEM_INTERFACE_H_ */

project/ble_peripheral/ble_app_bladder_patch/led_control.c

@@ -1,11 +1,11 @@
 /*******************************************************************************
  * @file    led_control.c
- * @brief   Direct LED control driver
+ * @brief   LED 직접 제어 드라이버 (BSP 미사용)
  * @date    2026-03-30
  *
- * Implements dual-color LED (green/orange) blink patterns with a single app_timer.
- * Simple on/off states use immediate GPIO control without a timer.
- * Complex patterns (e.g. error) are handled by a phase-based state machine.
+ * app_timer 1개로 2색 LED(녹색/주황)의 복합 blink 패턴 구현
+ * 단순 on/off 상태는 타이머 없이 즉시 GPIO 제어
+ * 복합 패턴(에러 등)은 phase 기반 state machine으로 처리
  ******************************************************************************/
 
 #include "led_control.h"
@@ -13,20 +13,20 @@
 #include "app_timer.h"
 
 /*==============================================================================
- * Internal constants
+ * 내부 상수
  *============================================================================*/
 #define MS_TO_TICKS(ms)     APP_TIMER_TICKS(ms)
 
 /*==============================================================================
- * Colors
+ * 색상
  *============================================================================*/
 #define COLOR_NONE      0
 #define COLOR_GREEN     1
 #define COLOR_ORANGE    2
 
 /*==============================================================================
- * Error pattern constants (No.7)
- * 3Hz blink x3 = 166ms on + 166ms off x 3 = ~1s, then off for 1s
+ * 에러 패턴 상수 (No.7)
+ * 3Hz 깜빡 3회 = 166ms on + 166ms off × 3 = ~1초, 이후 꺼짐 1초
  *============================================================================*/
 #define ERROR_BLINK_ON_MS       166
 #define ERROR_BLINK_OFF_MS      166
@@ -34,42 +34,42 @@
 #define ERROR_PAUSE_MS          1000
 
 /*==============================================================================
- * Pattern table (for simple blink)
+ * 패턴 테이블 (단순 blink 용)
  *============================================================================*/
 typedef struct
 {
-    uint32_t on_ms;         /* LED on duration (ms) */
-    uint32_t off_ms;        /* LED off duration (ms) */
-    uint8_t  color;         /* COLOR_GREEN or COLOR_ORANGE */
-    bool     repeat;        /* true: repeat forever, false: once then OFF */
+    uint32_t on_ms;         /* LED 켜짐 시간 (ms) */
+    uint32_t off_ms;        /* LED 꺼짐 시간 (ms) */
+    uint8_t  color;         /* COLOR_GREEN 또는 COLOR_ORANGE */
+    bool     repeat;        /* true: 무한 반복, false: 1회 후 OFF */
 } led_pattern_t;
 
 static const led_pattern_t m_patterns[LED_STATE_COUNT] =
 {
     [LED_STATE_OFF]              = { 0,    0,    COLOR_NONE,   false },
-    [LED_STATE_POWER_ON]         = { 2000, 0,    COLOR_GREEN,  false },  /* Green on 2s, stay on */
-    [LED_STATE_POWER_OFF]        = { 2000, 0,    COLOR_GREEN,  false },  /* Green on 2s, then OFF */
-    [LED_STATE_ADVERTISING]      = { 500, 500, COLOR_GREEN,  true  },  /* Green blink 1s interval */
-    [LED_STATE_DETACH_WARNING]   = { 1000, 3000, COLOR_GREEN,  true  },  /* Green 1s on / 3s off */
-    [LED_STATE_ALIGN_SEARCHING]  = { 1000, 1000, COLOR_ORANGE, true  },  /* Orange blink 1s interval */
-    [LED_STATE_ALIGN_COMPLETE]   = { 3000, 1000, COLOR_GREEN,  true  },  /* Green 3s on / 1s off */
-    [LED_STATE_ERROR]            = { 0,    0,    COLOR_ORANGE, true  }   /* Separate state machine */
+    [LED_STATE_POWER_ON]         = { 2000, 0,    COLOR_GREEN,  false },  /* 초록 점등 2초 → 유지 */
+    [LED_STATE_POWER_OFF]        = { 2000, 0,    COLOR_GREEN,  false },  /* 초록 점등 2초 → OFF */
+    [LED_STATE_ADVERTISING]      = { 500, 500, COLOR_GREEN,  true  },  /* 초록 점멸 1초 */
+    [LED_STATE_DETACH_WARNING]   = { 1000, 3000, COLOR_GREEN,  true  },  /* 초록 1초 on / 3초 off */
+    [LED_STATE_ALIGN_SEARCHING]  = { 1000, 1000, COLOR_ORANGE, true  },  /* 주황 점멸 1초 */
+    [LED_STATE_ALIGN_COMPLETE]   = { 3000, 1000, COLOR_GREEN,  true  },  /* 초록 3초 on / 1초 off */
+    [LED_STATE_ERROR]            = { 0,    0,    COLOR_ORANGE, true  }   /* 별도 state machine */
 };
 
 /*==============================================================================
- * Module variables
+ * 모듈 변수
  *============================================================================*/
 APP_TIMER_DEF(m_led_timer);
 
 static led_state_t  m_current_state = LED_STATE_OFF;
-static bool         m_phase_on;         /* true: LED on phase, false: off phase */
+static bool         m_phase_on;         /* true: LED 켜진 구간, false: 꺼진 구간 */
 
-/* Error pattern only */
-static uint8_t      m_error_blink_cnt;  /* Blink count so far */
+/* 에러 패턴 전용 */
+static uint8_t      m_error_blink_cnt;  /* 현재까지 깜빡인 횟수 */
 static uint8_t      m_error_phase;      /* 0: blink-on, 1: blink-off, 2: pause */
 
 /*==============================================================================
- * GPIO helpers
+ * GPIO 헬퍼
  *============================================================================*/
 
 static inline void led_green_on(void)
@@ -122,7 +122,7 @@ static void led_color_on(uint8_t color)
 }
 
 /*==============================================================================
- * Timer start helper
+ * 타이머 시작 헬퍼
  *============================================================================*/
 static void timer_start_ms(uint32_t ms)
 {
@@ -131,7 +131,7 @@ static void timer_start_ms(uint32_t ms)
 }
 
 /*==============================================================================
- * Error pattern state machine (No.7)
+ * 에러 패턴 state machine (No.7)
  * phase 0: LED ON  (166ms) → phase 1
  * phase 1: LED OFF (166ms) → cnt++ → cnt<3 ? phase 0 : phase 2
  * phase 2: PAUSE   (1000ms) → cnt=0, phase 0
@@ -148,30 +148,30 @@ static void error_pattern_tick(void)
 {
     switch (m_error_phase)
     {
-        case 0: /* ON phase done -> OFF */
+        case 0: /* ON 구간 끝 → OFF */
             led_all_off();
             m_error_phase = 1;
             timer_start_ms(ERROR_BLINK_OFF_MS);
             break;
 
-        case 1: /* OFF phase done */
+        case 1: /* OFF 구간 끝 */
             m_error_blink_cnt++;
             if (m_error_blink_cnt < ERROR_BLINK_COUNT)
             {
-                /* Back to ON */
+                /* 다시 ON */
                 m_error_phase = 0;
                 led_color_on(COLOR_ORANGE);
                 timer_start_ms(ERROR_BLINK_ON_MS);
             }
             else
             {
-                /* 3 blinks done -> pause */
+                /* 3회 완료 → pause */
                 m_error_phase = 2;
                 timer_start_ms(ERROR_PAUSE_MS);
             }
             break;
 
-        case 2: /* Pause done -> restart */
+        case 2: /* pause 끝 → 처음부터 */
             m_error_blink_cnt = 0;
             m_error_phase = 0;
             led_color_on(COLOR_ORANGE);
@@ -184,13 +184,13 @@ static void error_pattern_tick(void)
 }
 
 /*==============================================================================
- * Timer callback
+ * 타이머 콜백
  *============================================================================*/
 static void led_timer_handler(void * p_context)
 {
     (void)p_context;
 
-    /* Error state handled separately */
+    /* 에러 상태는 별도 처리 */
     if (m_current_state == LED_STATE_ERROR)
     {
         error_pattern_tick();
@@ -201,7 +201,7 @@ static void led_timer_handler(void * p_context)
 
     if (m_phase_on)
     {
-        /* ON -> OFF transition */
+        /* ON→OFF 전환 */
         led_all_off();
         m_phase_on = false;
 
@@ -211,40 +211,40 @@ static void led_timer_handler(void * p_context)
         }
         else if (!p->repeat)
         {
-            /* One-shot: if off_ms == 0, stay on (POWER_ON) or turn off (POWER_OFF) */
+            /* 1회성: off_ms == 0 이면 그냥 유지 (POWER_ON) 또는 끄기 (POWER_OFF) */
             if (m_current_state == LED_STATE_POWER_OFF)
             {
                 led_all_off();
                 m_current_state = LED_STATE_OFF;
             }
-            /* POWER_ON: stay lit, no timer */
+            /* POWER_ON: 점등 유지 상태 → 타이머 x */
         }
     }
     else
     {
-        /* OFF -> ON transition */
+        /* OFF → ON 전환 */
         if (p->repeat)
         {
             led_color_on(p->color);
             m_phase_on = true;
             timer_start_ms(p->on_ms);
         }
-        /* No current case where repeat == false && off_ms > 0 */
+        /* repeat == false && off_ms > 0 인 경우는 현재 없음 */
     }
 }
 
 /*==============================================================================
- * Public functions
+ * 공개 함수
  *============================================================================*/
 
 void led_init(void)
 {
-    /* Configure GPIO outputs */
+    /* GPIO 출력 설정 */
     nrf_gpio_cfg_output(LED_PIN_GREEN);
     nrf_gpio_cfg_output(LED_PIN_ORANGE);
     led_all_off();
 
-    /* Create timer (single-shot) */
+    /* 타이머 생성 (single-shot) */
     app_timer_create(&m_led_timer, APP_TIMER_MODE_SINGLE_SHOT, led_timer_handler);
 
     m_current_state = LED_STATE_OFF;
@@ -254,7 +254,7 @@ void led_set_state(led_state_t state)
 {
     if (state >= LED_STATE_COUNT) return;
 
-    /* Stop previous pattern */
+    /* 이전 패턴 중단 */
     app_timer_stop(m_led_timer);
     led_all_off();
 
@@ -266,15 +266,15 @@ void led_set_state(led_state_t state)
     switch (state)
     {
         case LED_STATE_OFF:
-            /* Already all off */
+            /* 이미 all off */
             break;
 
-        /* Error pattern: separate state machine */
+        /* 에러 패턴: 별도 state machine */
         case LED_STATE_ERROR:
             error_pattern_start();
             break;
 
-        /* All others: start from ON phase */
+        /* 그 외: on 구간부터 시작 */
         default:
             led_color_on(p->color);
             m_phase_on = true;

project/ble_peripheral/ble_app_bladder_patch/led_control.h

@@ -0,0 +1,52 @@
+/*******************************************************************************
+ * @file    led_control.h
+ * @brief   LED 직접 제어 드라이버 (BSP 미사용)
+ * @date    2026-03-30
+ *
+ * 녹색(P0.12) + 주황(P0.29) 2색 LED를 app_timer 기반으로 제어
+ * 각 상태별 on/off 시간, 색상, 반복 패턴을 테이블로 관리
+ ******************************************************************************/
+
+#ifndef LED_CONTROL_H__
+#define LED_CONTROL_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/*==============================================================================
+ * LED 핀 정의
+ *============================================================================*/
+#define LED_PIN_GREEN       NRF_GPIO_PIN_MAP(0, 12)   /* 녹색 LED */
+#define LED_PIN_ORANGE      NRF_GPIO_PIN_MAP(0, 29)   /* 주황 LED */
+#define LED_ACTIVE_LOW      1                         /* 1 = Active Low (GPIO LOW에서 LED 켜짐) */
+
+/*==============================================================================
+ * LED 상태 열거형
+ *============================================================================*/
+typedef enum
+{
+    LED_STATE_OFF = 0,              /* 모든 LED 소등 */
+    LED_STATE_POWER_ON,             /* 1: 전원 ON - 초록 소등 → 녹색 점등 2초 */
+    LED_STATE_POWER_OFF,            /* 2: 전원 OFF - 초록 점등 2초 → 소등 */
+    LED_STATE_ADVERTISING,          /* 3: 블루투스 스캐닝 - 초록 점멸 1초 간격(반복) */
+    LED_STATE_DETACH_WARNING,       /* 4: 정상 작동중(미부착 시) - 초록 점등 1초 / 소등 3초 (반복) */
+    LED_STATE_ALIGN_SEARCHING,      /* 5: 정렬모드(탐지중) - 주황 점멸 1초 간격 (반복) */
+    LED_STATE_ALIGN_COMPLETE,       /* 6: 정렬모드(탐지 완료) - 초록 점등 3초 / 소등 1초 */
+    LED_STATE_ERROR,                /* 7: 오류 발생 - 주황 3Hz 깜빡 3회 / 꺼짐 1초 (반복) */
+    LED_STATE_COUNT                 /* 배열 크기 */
+} led_state_t;
+
+/*==============================================================================
+ * 공개 함수
+ *============================================================================*/
+
+/** @brief LED GPIO 초기화 + 타이머 생성 - main()에서 1회 호출 */
+void led_init(void);
+
+/** @brief LED 상태 변경 - 이전 패턴을 즉시 중단하고 새 패턴 시작 */
+void led_set_state(led_state_t state);
+
+/** @brief 현재 LED 상태 조회 */
+led_state_t led_get_state(void);
+
+#endif /* LED_CONTROL_H__ */

project/ble_peripheral/ble_app_bladder_patch/main.h

@@ -3,49 +3,43 @@
  * @author	CandyPops Co.
  * @version	V1.0.0
  * @date	2022-09-05
- * @brief   VesiScan BASIC main header file
+ * @brief   VesiScan BASIC 메인 헤더 파일
  *
- * [System Overview]
- * VesiScan BASIC is an nRF52840-based BLE bladder monitoring patch device.
- * This header defines enums, function declarations, and global variables used system-wide.
+ * [시스템 개요]
+ * VesiScan BASIC은 nRF52840 기반 BLE 방광 모니터링 패치 디바이스이다.
+ * 본 헤더는 시스템 전역에서 사용하는 열거형, 함수 선언, 전역 변수를 정의한다.
  *
- * [Communication]
- * - BLE NUS (Nordic UART Service): binary protocol with smartphone app
- * - Physical UART (1Mbps): debug and factory testing
+ * [통신 방식]
+ * - BLE NUS (Nordic UART Service): 스마트폰 앱과 바이너리 프로토콜 통신
+ * - 물리 UART (1Mbps): 디버그 및 공장 테스트용
  *
- * [Data Transmission Flow]
- * 1. Receive command from app/UART -> received_command_process()
- * 2. Collect sensor data (battery, temperature, IMU, pressure)
- * 3. Build binary packets via format_data() family
- * 4. Transmit over BLE with CRC16 appended via dr_binary_tx_safe()
+ * [데이터 전송 흐름]
+ * 1. 앱/UART에서 명령 수신 → received_command_process()
+ * 2. 센서 데이터 수집 (배터리, 온도, IMU, 압력)
+ * 3. format_data() 계열 함수로 바이너리 패킷 생성
+ * 4. dr_binary_tx_safe()로 CRC16 추가 후 BLE 전송
  ******************************************************************************/
 
 #ifndef MAIN_H__
 #define MAIN_H__
 
 /* -------------------------------------------------------------------------
-* Firmware Identification Code
-*   - VBTFW0100 = Development (test) build Ver 1.00
-*   - VB0FW0100 = Production build Ver 1.00
+* Firmware 식별 코드
+*   - VBTFW0100 = 개발(시험)용 Ver 1.00
+*   - VB0FW0100 = 양산용 Ver 1.00
 *
 * Firmware Version Update History
-*   - VBTFW0101 : Merged reb+red packets (single packet per channel), 260330 jhChun
-*   - VBTFW0102 : Added LED state command (msl) and re-pairing support, 260331 jhChun
-*   - VBTFW0103 260416 jhChun
-*      : Stabilized ADC measurement by clearing buffers before sampling.
-*      : Improved low-battery detection and automatic power-off handling.
-*      : Updated BLE security, bonding, and advertising timeout behavior.
-*      : Cleaned up command parsing and removed unused project files.
-*   - VBTFW0111 260421 jhChun
+*   - VBTFW0101 : reb+red 패킷 병합 (채널당 단일 패킷), 260330 jhChun
+*   - VBTFW0102 : LED 상태 설정 명령(msl) 추가 및 재페어링 허용 등 260331 jhChun
 ------------------------------------------------------------------------- */
-#define FIRMWARE_VERSION                "VBTFW0111"
+#define FIRMWARE_VERSION                "VBTFW0102"
 
 /*==============================================================================
- * Data Length Constants
+ * 데이터 길이 상수
  *============================================================================*/
-#define SERIAL_NO_LENGTH                12      /* Serial number length (e.g. "VB026030000") */
-#define HW_NO_LENGTH                    12      /* Hardware number (version) length */
-#define PASSKEY_LENGTH                  6       /* BLE pairing passkey length (6 digits) */
+#define SERIAL_NO_LENGTH                12      /* 시리얼 번호 길이 (예: "VB026030000") */
+#define HW_NO_LENGTH                    12      /* 하드웨어 번호(버전) 길이 */
+#define PASSKEY_LENGTH                  6       /* BLE 페어링 패스키 길이 (숫자 6자리) */
 
 #include <stdio.h>
 #include <stdint.h>
@@ -55,127 +49,128 @@
 #include "boards.h"
 
 /*==============================================================================
- * Enum Definitions
+ * 열거형 정의
  *============================================================================*/
 
-/* Device ON/OFF control enum (EEPROM, power, etc.) */
+/* 디바이스 ON/OFF 제어용 열거형 (EEPROM, 전원 등) */
 typedef enum
 {
-    OFF	= 0,        /* Off */
-    ON	= 1         /* On */
+    OFF	= 0,        /* 꺼짐 */
+    ON	= 1         /* 켜짐 */
 }on_off_cont_t;
 
-/* Command source identifier (BLE or UART) */
+/* 명령 수신 경로 구분 (BLE 또는 UART) */
 typedef enum
 {
-    CMD_BLE		= 0,    /* Command received via BLE NUS */
-    CMD_UART	= 1     /* Command received via physical UART */
+    CMD_BLE		= 0,    /* BLE NUS를 통해 수신된 명령 */
+    CMD_UART	= 1     /* 물리 UART를 통해 수신된 명령 */
 }which_cmd_t;
 
-/* Chamber auto-test mode (when FEATURE_CHAMBER_AUTO_TEST enabled) */
+/* 챔버 자동 테스트 모드 (FEATURE_CHAMBER_AUTO_TEST 활성 시) */
 #if FEATURE_CHAMBER_AUTO_TEST
 typedef enum
 {
-	SIMPLE_AUTO_MODE 	= 0,    /* Simple auto mode */
-    HALF_AUTO_MODE		= 1,    /* Semi-auto mode */
-    FULL_AUTO_MODE		= 2,    /* Full auto mode */
-    NONE_AUTO_MODE		= 3     /* No auto mode */
+	SIMPLE_AUTO_MODE 	= 0,    /* 간단 자동 모드 */
+    HALF_AUTO_MODE		= 1,    /* 반자동 모드 */
+    FULL_AUTO_MODE		= 2,    /* 전체 자동 모드 */
+    NONE_AUTO_MODE		= 3     /* 자동 모드 없음 */
 }auto_meas_mode_t;
 #endif
 
-/* BLE connection state */
+/* BLE 연결 상태 */
 typedef enum
 {
-    BLE_DISCONNECTED_ST 	= 0,    /* BLE disconnected */
-    BLE_CONNECTED_ST		= 1     /* BLE connected */
+    BLE_DISCONNECTED_ST 	= 0,    /* BLE 미연결 */
+    BLE_CONNECTED_ST		= 1     /* BLE 연결됨 */
 }ble_status_t;
 
 /*==============================================================================
- * Function Declarations
+ * 함수 선언
  *============================================================================*/
 
 #if FEATURE_SECURE_CONNECTION
-/* Start BLE advertising (if erase_bonds=true, delete bond info first) */
+/* BLE 광고 시작 (erase_bonds=true이면 본딩 정보 삭제 후 시작) */
 static void advertising_start(bool erase_bonds);
 #endif
 
-/* Enter sleep mode: show LED, then power off after POWER_OFF_DELAY (3s) */
+/* 슬립 모드 진입: LED 표시 후 POWER_OFF_DELAY(3초) 후 전원 차단 */
 void sleep_mode_enter(void);
 
-/* Power-off timer callback: physically cut power after POWER_OFF_DELAY */
+/* 전원 OFF 타이머 콜백: POWER_OFF_DELAY 경과 후 실제 전원 차단 */
 static void t_power_off_timeout_handler(void * p_context);
 
-/* Device power off: show LED, then delayed power cut via timer */
+/* 디바이스 전원 OFF: LED 표시 후 타이머로 지연 전원 차단 */
 void device_power_off(void);
 
-/* Power control handler: physical power ON/OFF via POWER_HOLD pin */
+/* 전원 제어 핸들러: POWER_HOLD 핀으로 물리적 전원 ON/OFF */
 static void power_control_handler(on_off_cont_t device_power_st);
 
-/* Power button state machine (timer callback, 5ms interval):
- * - Short press (<1.5s): power OFF
- * - Medium press (1.5s~10s): start boot sequence
- * - Long press (>10s): factory reset (passkey reset + power OFF) */
+/* 전원 버튼 상태머신 (타이머 콜백, 5ms 간격):
+ * - 짧은 눌림(<1.5초): 전원 OFF
+ * - 중간 눌림(1.5초~10초): 부팅 시퀀스 시작
+ * - 긴 눌림(>10초): 공장 초기화 (패스키 리셋 + 전원 OFF) */
 static void main_s(void * p_context);
 
-/* Peer Manager timer callback: force BLE disconnect if reset_status==5 */
+/* Peer Manager 타이머 콜백: reset_status==5이면 BLE 연결 강제 해제 */
 static void PM_s(void * p_context);
 
 //static void main_re(void * p_context);
 
-/* Main routine handler (legacy, currently unused) */
+/* 메인 루틴 핸들러 (레거시, 현재 미사용) */
 static void main_routine_handler(void * p_context);
 
 /*------------------------------------------------------------------------------
- * Data Transmission Functions
+ * 데이터 전송 함수
  *----------------------------------------------------------------------------*/
 
-/* Send ASCII text over BLE (up to '\r', CRC16 appended automatically) */
+/* ASCII 텍스트 BLE 전송 ('\r'까지 전송, CRC16 자동 추가) */
 void data_tx_handler(char const *p_data_to_send);
 
-/* Safe binary data BLE transmission (CRC16 appended, with retry logic)
- * @param ble_bin_buff  Binary buffer to transmit
- * @param length        Data length in uint16_t words (actual bytes = length x 2) */
+/* 바이너리 데이터 BLE 안전 전송 (CRC16 자동 추가, 재시도 로직 포함)
+ * @param ble_bin_buff  전송할 바이너리 버퍼
+ * @param length        데이터 길이 (uint16_t 워드 단위, 실제 바이트 = length × 2) */
 void dr_binary_tx_safe(uint8_t const *ble_bin_buff, uint16_t length);
 
-/* SoftDevice-compatible delay (nrf_delay_ms wrapper) */
+/* SoftDevice 호환 딜레이 (nrf_delay_ms 래퍼) */
 void dr_sd_delay_ms(uint32_t ms);
 
 /*------------------------------------------------------------------------------
- * Binary Packet Format Functions
- * Packet structure: [4-byte tag][data][2-byte CRC16]
+ * 바이너리 패킷 포맷 함수
+ * 패킷 구조: [4바이트 태그][데이터][2바이트 CRC16]
  *----------------------------------------------------------------------------*/
 
-/* Format single uint16_t value: [tag 4B][value 2B] */
+/* 단일 uint16_t 값 포맷: [tag 4B][value 2B] */
 void single_format_data(uint8_t *buffer, const char *tag, const uint16_t value) ;
 
-/* Format uint16_t array: [tag 4B][data0 2B][data1 2B]... */
+/* uint16_t 배열 포맷: [tag 4B][data0 2B][data1 2B]... */
 void format_data(uint8_t *buffer, const char *tag, const uint16_t *data_array, size_t length);
 
-/* Format uint8_t byte array: [tag 4B][byte0][byte1]... */
+/* uint8_t 바이트 배열 포맷: [tag 4B][byte0][byte1]... */
 void format_data_byte(uint8_t *buffer, const char *tag, const uint8_t *data_array, size_t length);
 
-/* Format ASCII string: [tag 4B][char0][char1]... */
+/* ASCII 문자열 포맷: [tag 4B][char0][char1]... */
 void ascii_format_data(uint8_t *buffer, const char *tag, const char *data_ascii, size_t length);
 
 /*==============================================================================
- * Global Variables (extern)
+ * 전역 변수 (extern)
  *============================================================================*/
-extern volatile bool data_tx_in_progress;   /* BLE TX in progress flag */
-extern volatile bool ble_connection_st;     /* BLE connection state (0=disconnected, 1=connected) */
+extern volatile bool data_tx_in_progress;   /* BLE TX 전송 진행 중 플래그 */
+extern volatile bool ble_connection_st;     /* BLE 연결 상태 (0=미연결, 1=연결) */
+extern volatile bool processing;            /* 센서 데이터 처리 중 플래그 (중복 명령 방지) */
 
-/* 2026-03-17: Global variables moved from cmd_parse.c to main.c */
-extern char SERIAL_NO[SERIAL_NO_LENGTH];           /* Serial number */
-extern char HW_NO[HW_NO_LENGTH];                   /* Hardware number */
-extern char m_static_passkey[PASSKEY_LENGTH];       /* BLE static passkey */
-extern bool bond_data_delete;                       /* Bond data delete request flag */
-extern uint32_t m_life_cycle;                       /* Device life cycle counter */
-extern uint8_t resetCount;                          /* Communication timeout counter */
-extern bool info4;                                  /* Measurement with extra info flag */
-extern uint8_t m_reset_status;                      /* Reset status code */
+/* 2026-03-17: cmd_parse.c에서 main.c로 이동한 전역변수 */
+extern char SERIAL_NO[SERIAL_NO_LENGTH];           /* 시리얼 번호 */
+extern char HW_NO[HW_NO_LENGTH];                   /* 하드웨어 번호 */
+extern char m_static_passkey[PASSKEY_LENGTH];       /* BLE 정적 패스키 */
+extern bool bond_data_delete;                       /* 본딩 데이터 삭제 요청 플래그 */
+extern uint32_t m_life_cycle;                       /* 디바이스 수명 사이클 카운터 */
+extern uint8_t resetCount;                          /* 통신 타임아웃 카운터 */
+extern bool info4;                                  /* 추가 정보 포함 측정 플래그 */
+extern uint8_t m_reset_status;                      /* 리셋 상태 코드 */
 
-extern uint8_t ble_bin_buffer[];                    /* BLE binary response buffer */
+extern uint8_t ble_bin_buffer[];                    /* BLE 바이너리 응답 버퍼 */
 
-/* Send error response */
+/* 에러 응답 전송 */
 void param_error(const char *cmd);
 
 #endif //MAIN_H__

project/ble_peripheral/ble_app_bladder_patch/main_timer.c

@@ -0,0 +1,280 @@
+/*******************************************************************************
+ TEST medi50  Dec 23
+ *******************************************************************************
+ *
+ * [모듈 개요]
+ * 메인 이벤트 루프 타이머 모듈 (10ms 간격, 싱글샷 모드).
+ *
+ * 센서 데이터 수집 및 시스템 제어 이벤트를 플래그 기반으로 디스패치한다.
+ * app_timer 싱글샷 모드를 사용하므로, 이벤트 처리 완료 후
+ * 필요 시 main_timer_start()로 수동 재시작해야 한다.
+ *
+ * [이벤트 플래그 및 처리 순서]
+ *   motion_raw_data_enabled → IMU 데이터 읽기 (icm42670_main 호출)
+ *     - motion_data_once == true: 단발성 읽기 (HW I2C 초기화 후 1회)
+ *     - motion_data_once == false: 연속 읽기 (BLE 전송 대기 중이 아닐 때)
+ *   go_batt                → 배터리 전압 측정 (battery_level_meas)
+ *   go_temp                → 온도 측정 (tmp235_voltage_level_meas)
+ *   go_device_power_off    → 디바이스 전원 OFF (device_power_off)
+ *   go_sleep_mode_enter    → 슬립 모드 진입 (sleep_mode_enter)
+ *   go_NVIC_SystemReset    → NVIC 시스템 리셋
+ *
+ * [info4 모드 측정 순서]
+ *   IMU 연속 읽기 → go_batt(배터리) → go_temp(온도) → motion_data_once(IMU 단발)
+ *   온도 측정 완료 시 motion_data_once=true로 설정하여 다시 IMU로 돌아간다.
+ *
+ * [타이머 설정]
+ *   - 일반 모드: 10ms 간격 (MAIN_LOOP_INTERVAL)
+ *   - FEATURE_DETAIL_VALUE_FULL 모드: 80ms 간격 (디테일 프린트아웃용)
+ *
+ ******************************************************************************/
+
+#include "sdk_common.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "nrf.h"
+#include "nrf_drv_saadc.h"
+#include "nrf_drv_ppi.h"
+#include "nrf_drv_timer.h"
+#include "boards.h"
+#include "app_error.h"
+#include "nrf_delay.h"
+#include "app_util_platform.h"
+#include "nrf_pwr_mgmt.h"
+
+#include "nrf_log.h"
+#include "nrf_drv_gpiote.h"
+#include "battery_saadc.h"
+#include "app_timer.h"
+
+#include "main.h"
+#include "app_raw_main.h"
+#include "main_timer.h"
+#include "tmp235_q1.h"
+//#include "fstorage.h"
+#include "power_control.h"
+#include "main.h"  /* 2026-03-17: cmd_parse.h 삭제 → main.h */
+#include "debug_print.h"
+#include "i2c_manager.h" //add cj
+
+/* 메인 루프 싱글샷 타이머 인스턴스 */
+APP_TIMER_DEF(m_main_loop_timer_id);
+
+#if FEATURE_DETAIL_VALUE_FULL
+/* 디테일 프린트아웃 모드: 80ms 간격으로 메인 루프 실행 */
+#define MAIN_LOOP_INTERVAL              80		/* 디테일 프린트아웃이 있을경우 Full_Mode Main Prosessing 수행하는 타이머 */
+
+//extern bool pd_adc_full_a_start;
+//extern bool pd_adc_full_b_start;
+//extern bool pd_adc_full_c_start;
+//extern bool pd_adc_full_d_start;
+//extern bool pd_adc_full_end;
+
+extern which_cmd_t cmd_type_t;
+#else
+/* 일반 모드: 10ms 간격으로 메인 루프 실행 */
+#define MAIN_LOOP_INTERVAL              10
+#endif
+
+/* ========================================================================== */
+/* 이벤트 플래그 (외부 모듈에서 설정, main_loop에서 처리)                       */
+/* ========================================================================== */
+bool go_batt= false;                    /* 배터리 측정 요청 플래그 */
+bool go_temp= false;                    /* 온도 측정 요청 플래그 */
+bool go_device_power_off = false;       /* 디바이스 전원 OFF 요청 플래그 */
+bool go_sleep_mode_enter = false;       /* 슬립 모드 진입 요청 플래그 */
+bool go_NVIC_SystemReset = false;       /* 시스템 리셋 요청 플래그 */
+bool motion_raw_data_enabled = false;   /* IMU 모션 데이터 읽기 활성화 플래그 */
+bool ble_got_new_data = false;          /* BLE로 새 데이터 전송 완료 여부 */
+bool motion_data_once = false;          /* IMU 단발성 읽기 모드 (true: 1회만 읽기) */
+
+/**
+ * @brief 메인 이벤트 루프 (싱글샷 타이머 콜백)
+ *
+ * 플래그 기반 이벤트 디스패처로, 설정된 플래그에 따라 해당 처리를 수행한다.
+ * 싱글샷 타이머이므로 연속 실행이 필요한 경우 처리 내부에서 main_timer_start()를
+ * 다시 호출하여 타이머를 재시작해야 한다.
+ *
+ * [처리 우선순위] (코드 순서대로 검사)
+ *   1. IMU 모션 데이터 (motion_raw_data_enabled)
+ *   2. 배터리 측정 (go_batt)
+ *   3. 온도 측정 (go_temp)
+ *   4. 전원 OFF (go_device_power_off)
+ *   5. 슬립 모드 (go_sleep_mode_enter)
+ *   6. 시스템 리셋 (go_NVIC_SystemReset)
+ */
+void main_loop(void * p_context)	/* For x ms */
+{
+	UNUSED_PARAMETER(p_context);
+
+#if FEATURE_DETAIL_VALUE_FULL
+//	if(pd_adc_full_a_start == true) {		// A mode
+//		main_timer_stop();
+//		printf("main_loop_A\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_b_start == true) {	// B mode
+//		main_timer_stop();
+//		printf("main_loop_B\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_c_start == true) {	// C mode
+//		main_timer_stop();
+//		printf("main_loop_C\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_d_start == true) {	// D mode
+//		main_timer_stop();
+//		printf("main_loop_D\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_end == true) { 	// Completed
+//		pd_adc_full_end = false;
+//		main_timer_stop();
+//		printf("main_loop_END\r\n");
+
+//		if(cmd_type_t == CMD_BLE) {
+//			full_send_timer_start();
+//		}
+//	}
+#endif
+					
+	// For Motion Data Sampling
+
+	/* ---- IMU 모션 데이터 읽기 ---- */
+	/*
+	 * motion_raw_data_enabled가 true이면 IMU(ICM42670P) 데이터를 읽는다.
+	 *
+	 * motion_data_once == true:
+	 *   단발성 읽기 모드. HW I2C를 초기화한 후 icm42670_main()을 1회 호출.
+	 *   info4 모드에서 배터리/온도 측정 후 다시 IMU로 돌아올 때 사용.
+	 *
+	 * motion_data_once == false:
+	 *   연속 읽기 모드. BLE 전송 대기 중(ble_got_new_data==false)이면
+	 *   icm42670_main()을 호출하고 10ms 후 타이머를 재시작하여 반복 실행.
+	 */
+	if(motion_raw_data_enabled == true) {
+		main_timer_stop();   /* 타이머 정지 (재진입 방지) */
+		if(motion_data_once == true)
+		{
+			/* 단발성 모드: HW I2C 초기화 후 IMU 데이터 1회 읽기 */
+		hw_i2c_init_once();     /* HW TWI 모드로 전환 (400kHz) */
+		icm42670_main();        /* IMU 데이터 읽기 및 처리 */
+                        }
+		else{
+			/* 연속 모드: BLE 전송 대기 중이 아니면 반복 읽기 */
+		if(ble_got_new_data==false){
+		//for(uint16_t i=0 ; i<60 ;i++)
+		//{
+		DBG_PRINTF("IMU \r\n");
+
+		icm42670_main();           /* IMU 데이터 읽기 */
+	  motion_raw_data_enabled = true;   /* 플래그 유지 (연속 읽기) */
+		main_timer_start_ms(1000);       /* 1초 후 다음 IMU 읽기 */
+		}
+//		else if(ble_got_new_data==true){
+//			motion_data_once = true;
+//		}
+		}
+	}
+	
+	
+	/* ---- 배터리 전압 측정 ---- */
+	/*
+	 * go_batt 플래그가 true이면 배터리 레벨을 측정한다.
+	 * info4 모드에서 IMU 연속 읽기 이후 호출되는 단계.
+	 * 측정 완료 후 타이머가 정지된 상태로 유지된다.
+	 */
+	if(go_batt == true) {
+		DBG_PRINTF("IMU BATT\r\n");
+		main_timer_stop();       /* 타이머 정지 */
+		go_batt = false;         /* 플래그 소비 (1회 실행) */
+//		go_temp = true;
+			battery_level_meas();   /* SAADC를 이용한 배터리 전압 측정 */
+//			nrf_delay_ms(20);
+//			m48_adc_start_init();
+//		main_timer_start();
+	}
+
+
+	/* ---- 온도 측정 ---- */
+	/*
+	 * go_temp 플래그가 true이면 TMP235-Q1 센서로 온도를 측정한다.
+	 * info4 모드에서 배터리 측정 이후 호출되는 단계.
+	 * 측정 완료 후 motion_data_once=true로 설정하여
+	 * 다음 IMU 읽기는 단발성 모드(HW I2C 재초기화)로 전환된다.
+	 */
+	if(go_temp == true) {
+		DBG_PRINTF("IMU Temp\r\n");
+		main_timer_stop();           /* 타이머 정지 */
+//	go_batt = false;
+		go_temp = false;             /* 플래그 소비 (1회 실행) */
+		motion_data_once = true;     /* 다음 IMU 읽기를 단발성 모드로 전환 */
+		tmp235_voltage_level_meas(); /* TMP235-Q1 온도 센서 전압 측정 */
+//	 motion_raw_data_enabled = true;
+//		main_timer_start();
+
+	}
+	
+	/* ---- 시스템 제어 이벤트 처리 ---- */
+
+	/* 디바이스 전원 OFF 처리 */
+	if(go_device_power_off == true){
+		main_timer_stop();              /* 타이머 정지 */
+		DBG_PRINTF("Off main_timer\r\n");
+		device_power_off();             /* 디바이스 전원 OFF 실행 */
+	}
+
+	/* 슬립 모드 진입 처리 */
+	if(go_sleep_mode_enter == true){
+		main_timer_stop();              /* 타이머 정지 */
+		DBG_PRINTF("sleep main timer\r\n");
+		sleep_mode_enter();             /* 슬립 모드 진입 실행 */
+	}
+
+	/* NVIC 시스템 리셋 처리 */
+	if(go_NVIC_SystemReset == true) {
+		main_timer_stop();              /* 타이머 정지 */
+		NVIC_SystemReset();             /* ARM Cortex-M4 시스템 리셋 */
+	}
+}
+
+
+/**
+ * @brief 메인 루프 타이머 시작
+ *
+ * 싱글샷 모드로 MAIN_LOOP_INTERVAL(10ms 또는 80ms) 후 main_loop()를 호출
+ */
+void main_timer_start(void)
+{
+	APP_ERROR_CHECK(app_timer_start(m_main_loop_timer_id, APP_TIMER_TICKS(MAIN_LOOP_INTERVAL), NULL));
+}
+
+/**
+ * @brief 지정된 간격(ms)으로 메인 루프 타이머 시작
+ *
+ * IMU 연속 스트리밍 등 기본 간격과 다른 주기가 필요할 때 사용
+ */
+void main_timer_start_ms(uint32_t interval_ms)
+{
+	APP_ERROR_CHECK(app_timer_start(m_main_loop_timer_id, APP_TIMER_TICKS(interval_ms), NULL));
+}
+
+/**
+ * @brief 메인 루프 타이머 정지
+ */
+void main_timer_stop(void)
+{
+	APP_ERROR_CHECK(app_timer_stop(m_main_loop_timer_id));
+}
+
+/**
+ * @brief 메인 루프 타이머 초기화 (앱 시작 시 1회 호출)
+ *
+ * 싱글샷 모드 타이머를 생성하고, 콜백으로 main_loop()를 등록
+ * 싱글샷이므로 매 호출마다 main_timer_start()로 수동 재시작해야 함
+ */
+void main_timer_init(void)
+{
+    APP_ERROR_CHECK(app_timer_create(&m_main_loop_timer_id, APP_TIMER_MODE_SINGLE_SHOT, main_loop));
+}
+

project/ble_peripheral/ble_app_bladder_patch/main_timer.h

@@ -0,0 +1,37 @@
+/*******************************************************************************
+ * @file	timer_routine.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ *******************************************************************************
+ *
+ * [헤더 개요]
+ * 메인 이벤트 루프 타이머의 공용 인터페이스 헤더.
+ *
+ * 10ms(일반) 또는 80ms(디테일) 간격의 싱글샷 타이머를 사용하여
+ * main_loop() 콜백에서 센서 데이터 수집 및 시스템 제어를 수행한다.
+ *
+ * [주요 함수]
+ *   main_timer_start() : 타이머 시작 (싱글샷, 수동 재시작 필요)
+ *   main_timer_stop()  : 타이머 정지
+ *   main_timer_init()  : 타이머 초기화 (앱 시작 시 1회 호출)
+ *
+ ******************************************************************************/
+
+#ifndef TIMER_ROUTINE_H__
+#define TIMER_ROUTINE_H__
+
+/** @brief 메인 루프 타이머 시작 (싱글샷, MAIN_LOOP_INTERVAL 후 main_loop 호출) */
+void main_timer_start(void);
+
+/** @brief 지정된 간격(ms)으로 메인 루프 타이머 시작 */
+void main_timer_start_ms(uint32_t interval_ms);
+
+/** @brief 메인 루프 타이머 정지 */
+void main_timer_stop(void);
+
+/** @brief 메인 루프 타이머 초기화 (앱 시작 시 1회, 싱글샷 모드로 생성) */
+void main_timer_init(void);
+
+#endif //TIMER_ROUTINE_H__

project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c

@@ -1,292 +0,0 @@
-/*==============================================================================
- * battery_saadc.c - Battery voltage ADC measurement
- *
- * Measures battery voltage via nRF52840 SAADC on AIN2:
- *   - 12-bit resolution, 4x oversampling
- *   - Periodic safety check via battery_loop timer (60 s interval)
- *   - Sequential: battery -> temperature measurement
- *   - Auto power-off after 5 consecutive readings below 3500 mV or above 40 C
- *   - In info4 mode (bulk sensor collection): stores to info_batt
- *
- * Voltage conversion:
- *   mV = ADC_VALUE * (600 / 4095) * 6 * 1.42  (resistor divider correction)
- *============================================================================*/
-
-#include "sdk_common.h"
-
-#include <stdint.h>
-#include <string.h>
-#include "nrf.h"
-#include "boards.h"
-#include "app_error.h"
-#include "nrf_drv_saadc.h"
-#include "nrf_drv_timer.h"
-#include "ble_nus.h"
-#include "nrf_log.h"
-#include "main.h"
-#include "app_timer.h"
-#include "battery_saadc.h"
-#include "main_timer.h"
-#include "tmp235_q1.h"
-#include "dr_piezo.h"
-#include "debug_print.h"
-
-/* SAADC internal reference voltage (mV, float) */
-#define BATTERY_REF_VOLTAGE_IN_MILLIVOLTS   600.0f
-
-/* 1/3 prescaling compensation (input divided by 3, then x2 = total x6) */
-#define BATTERY_PRE_SCALING_COMPENSATION    6.0f
-
-/* 12-bit ADC maximum digital value */
-#define BATTERY_ADC_RES_12BITS              4095.0f
-
-/* Convert raw ADC value to millivolts */
-#define BATTERY_RESULT_IN_MILLI_VOLTS(ADC_VALUE)\
-        ((((ADC_VALUE) * BATTERY_REF_VOLTAGE_IN_MILLIVOLTS) / BATTERY_ADC_RES_12BITS) * BATTERY_PRE_SCALING_COMPENSATION)
-
-/* Single ADC buffer (uninit after each measurement, no double-buffer needed) */
-static nrf_saadc_value_t adc_buf;
-
-/* Battery monitoring repeat timer */
-APP_TIMER_DEF(m_battery_loop_timer_id);
-
-/* Battery monitoring interval (ms) */
-#define BATTERY_LOOP_INTERVAL              60000
-
-/* Safety check consecutive count threshold */
-#define SAFETY_CHECK_COUNT                 5
-
-/* Low-battery check flag — set by battery_loop, consumed by handler */
-bool low_battery_check = false;
-
-/* Safety check mode flag — set by battery handler, consumed by tmp235 handler */
-bool safety_check_mode = false;
-
-/* SAADC callback completion flag — used by all_sensors() to wait */
-volatile bool battery_saadc_done = false;
-
-/* Safety check: cached battery voltage for use in safety_check_complete() */
-static float safety_batt_mv = 0;
-
-/* Safety check: consecutive counters */
-static uint8_t low_battery_cnt = 0;
-static uint8_t over_temp_cnt = 0;
-
-/* info4: bulk sensor collection mode flag */
-extern bool info4;
-
-extern char	ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
-extern bool go_device_power_off;
-extern which_cmd_t cmd_type_t;
-extern uint8_t ble_bin_buffer[BLE_NUS_MAX_DATA_LEN];
-
-/* info4 mode: cached battery voltage (mV) */
-volatile uint16_t info_batt;
-
-/* info4 sequential measurement control flags */
-extern bool go_temp;
-extern bool go_batt;
-
-extern bool motion_raw_data_enabled;
-extern bool ble_got_new_data;
-extern bool motion_data_once;
-
-/*==============================================================================
- * safety_check_complete - Called by tmp235 handler after temperature measurement
- *
- * Checks both battery voltage and temperature against thresholds.
- * 5 consecutive readings exceeding either threshold triggers power OFF.
- *============================================================================*/
-void safety_check_complete(float temp_c)
-{
-    //DBG_PRINTF("[SAFETY] Batt=%d mV, Temp=%d.%d C\r\n",
-    //           (int)safety_batt_mv, (int)temp_c, ((int)(temp_c * 10)) % 10);
-
-    /* Battery check */
-    if (safety_batt_mv <= LOW_BATTERY_VOLTAGE)
-    {
-        low_battery_cnt++;
-        DBG_PRINTF("[SAFETY] Low batt cnt=%d\r\n", low_battery_cnt);
-    }
-    else
-    {
-        low_battery_cnt = 0;
-    }
-
-    /* Temperature check */
-    if (temp_c >= OVER_TEMPERATURE_THRESHOLD)
-    {
-        over_temp_cnt++;
-        DBG_PRINTF("[SAFETY] Over temp cnt=%d\r\n", over_temp_cnt);
-    }
-    else
-    {
-        over_temp_cnt = 0;
-    }
-    
-    /* Power OFF if either threshold exceeded 5 consecutive times */
-    if (low_battery_cnt >= SAFETY_CHECK_COUNT)
-    {
-        low_battery_cnt = 0;
-        DBG_PRINTF("[SAFETY] Low battery -> Power OFF\r\n");
-        go_device_power_off = true;
-        main_timer_start();
-    }
-    else if (over_temp_cnt >= SAFETY_CHECK_COUNT)
-    {
-        over_temp_cnt = 0;
-        DBG_PRINTF("[SAFETY] Over temperature -> Power OFF\r\n");
-        go_device_power_off = true;
-        main_timer_start();
-    }
-
-    dr_piezo_power_off();
-}
-
-/*==============================================================================
- * battery_event_handler - SAADC conversion complete callback
- *
- * Converts the raw ADC value to battery voltage (mV) and then:
- *   - Low-battery check mode: store voltage, chain temperature measurement
- *   - info4 mode: store to info_batt (no BLE send)
- *   - Normal mode: send rsn: response over BLE or UART
- *============================================================================*/
-void battery_event_handler(nrf_drv_saadc_evt_t const * p_event)
-{
-    if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
-    {
-        nrf_saadc_value_t register_val = 0;
-        float batt_lvl_in_milli_volt_0 = 0;
-        float batt_lvl_in_milli_volt_1 = 0;
-
-        register_val = p_event->data.done.p_buffer[0];
-
-        /* Release SAADC — shared with temperature / pressure ADC */
-        nrf_drv_saadc_channel_uninit(0);
-        nrf_drv_saadc_uninit();
-
-        battery_saadc_done = true;
-
-        /* ADC -> mV conversion */
-        batt_lvl_in_milli_volt_0 = BATTERY_RESULT_IN_MILLI_VOLTS(register_val);
-
-        /* Resistor divider correction factor 1.42 */
-        batt_lvl_in_milli_volt_1 = batt_lvl_in_milli_volt_0 * 1.42f;
-
-        /* --- Safety check mode: store voltage, chain temperature measurement --- */
-        if (low_battery_check == true)
-        {
-            low_battery_check = false;
-            safety_batt_mv = batt_lvl_in_milli_volt_1;
-            safety_check_mode = true;
-
-            /* TMP235 shares piezo TX/RX power rail */
-            if (!dr_piezo_is_power_on())
-            {
-                dr_piezo_power_on();
-            }
-            tmp235_voltage_level_meas();
-        }
-
-        /* --- info4 mode: store value for mbb? bulk response --- */
-        else if (info4 == true)
-        {
-            info_batt = batt_lvl_in_milli_volt_1;
-        }
-
-        /* --- Normal mode: send rsn: BLE response --- */
-        else
-        {
-            if (cmd_type_t == CMD_UART)
-            {
-                DBG_PRINTF("Tn%d\r\n\r\n", (int)batt_lvl_in_milli_volt_1);
-            }
-            else if (cmd_type_t == CMD_BLE)
-            {
-                single_format_data(ble_bin_buffer, "rsn:", batt_lvl_in_milli_volt_1);
-                dr_binary_tx_safe(ble_bin_buffer, 3);
-            }
-        }
-    }
-}
-
-
-/*==============================================================================
- * battery_configure - Set up SAADC for battery voltage measurement
- *
- * AIN2, single-ended, 1/6 gain, 12-bit, 4x oversampling, burst enabled.
- * Registers a single buffer (uninit after one conversion).
- *============================================================================*/
-static void battery_configure(void)
-{
-    nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
-    saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;
-    saadc_config.oversample = NRF_SAADC_OVERSAMPLE_4X;
-    ret_code_t err_code = nrf_drv_saadc_init(&saadc_config, battery_event_handler);
-    if (err_code != NRF_SUCCESS)
-    {
-        return;  /* SAADC busy — skip this cycle, retry next */
-    }
-
-    nrf_saadc_channel_config_t config = NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN2);
-    config.burst = NRF_SAADC_BURST_ENABLED;
-    config.acq_time = NRF_SAADC_ACQTIME_10US;
-    err_code = nrf_drv_saadc_channel_init(0, &config);
-    APP_ERROR_CHECK(err_code);
-
-    err_code = nrf_drv_saadc_buffer_convert(&adc_buf, 1);
-    APP_ERROR_CHECK(err_code);
-}
-
-/*==============================================================================
- * battery_level_meas - Start a single battery voltage measurement
- *
- * Configures SAADC and triggers sampling. Result arrives asynchronously
- * via battery_event_handler.
- *============================================================================*/
-void battery_level_meas(void)
-{
-    ret_code_t err_code;
-
-    battery_configure();
-    err_code = nrf_drv_saadc_sample();
-    APP_ERROR_CHECK(err_code);
-}
-
-
-/*==============================================================================
- * battery_loop - Periodic battery monitoring timer callback
- *
- * Sets the low-battery check flag and starts a measurement.
- * Skips if info4 mode is active (SAADC conflict).
- *============================================================================*/
-void battery_loop(void * p_context)
-{
-    UNUSED_PARAMETER(p_context);
-
-    if (info4 == true)
-    {
-        return;
-    }
-
-    low_battery_check = true;
-    battery_level_meas();
-}
-
-/* Start the periodic battery monitoring timer. */
-void battery_timer_start(void)
-{
-    APP_ERROR_CHECK(app_timer_start(m_battery_loop_timer_id, APP_TIMER_TICKS(BATTERY_LOOP_INTERVAL), NULL));
-}
-
-/* Stop the battery monitoring timer. */
-void battery_timer_stop(void)
-{
-    APP_ERROR_CHECK(app_timer_stop(m_battery_loop_timer_id));
-}
-
-/* Initialise the battery monitoring timer (repeated mode). */
-void battery_timer_init(void)
-{
-    APP_ERROR_CHECK(app_timer_create(&m_battery_loop_timer_id, APP_TIMER_MODE_REPEATED, battery_loop));
-}

project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.h

@@ -1,43 +0,0 @@
-/*==============================================================================
- * battery_saadc.h - Battery voltage SAADC measurement interface
- *
- * Uses the nRF52840 SAADC to measure battery voltage on AIN2.
- *
- * API:
- *   battery_level_meas()            : one-shot measurement (async, result via callback)
- *   battery_timer_init/start/stop() : 60-second periodic monitoring timer
- *
- * Periodic safety check (every 60 s):
- *   Battery -> Temperature sequential measurement via SAADC.
- *   Auto power-off after 5 consecutive readings below LOW_BATTERY_VOLTAGE (3500 mV)
- *   or above OVER_TEMPERATURE_THRESHOLD (40 C).
- *============================================================================*/
-
-#ifndef _BATTERY_SAADC_H_
-#define _BATTERY_SAADC_H_
-
-/* Low-battery threshold (mV) — 5 consecutive readings below this -> power OFF */
-#define LOW_BATTERY_VOLTAGE         3500
-
-/* Over-temperature threshold (deg C) — 5 consecutive readings above this -> power OFF */
-#define OVER_TEMPERATURE_THRESHOLD  40.0f
-
-/* SAADC callback completion flag (used by all_sensors() to wait) */
-extern volatile bool battery_saadc_done;
-
-/* Safety check mode flag — set by battery_loop, consumed by tmp235 handler */
-extern bool safety_check_mode;
-
-/* Called by tmp235 handler when safety check temperature measurement completes */
-void safety_check_complete(float temp_c);
-
-/* Start a single async battery measurement. Result handled in callback. */
-void battery_level_meas(void);
-/* Start the 60-second periodic battery monitoring timer. */
-void battery_timer_start(void);
-/* Stop the battery monitoring timer. */
-void battery_timer_stop(void);
-/* Initialise the battery monitoring timer (call once at app start). */
-void battery_timer_init(void);
-
-#endif //_BATTERY_SAADC_H_

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h

@@ -1,101 +0,0 @@
-/*******************************************************************************
- * @file	app_raw.h
- * @author	CandyPops Co.
- * @version V1.0.0
- * @date	2022-09-05
- * @brief
- ******************************************************************************/
-
-/*******************************************************************************
- * [Header overview] ICM42670P IMU driver application layer declarations
- *
- * Function prototypes and operating mode configuration macros for
- * IMU sensor initialization, configuration, and data reading.
- *
- * Key configuration macros:
- *   SERIF_TYPE         - Communication interface (UI_I2C)
- *   USE_LOW_NOISE_MODE - 1: low-noise (800Hz), 0: low-power (100Hz)
- *   USE_HIGH_RES_MODE  - 1: 20-bit high-res, 0: 16-bit standard
- *   USE_FIFO           - 1: use FIFO, 0: direct register read
- ******************************************************************************/
-
-#ifndef _APP_RAW_H_
-#define _APP_RAW_H_
-#include "sdk_config.h"
-
-#include <stdint.h>
-#include "inv_imu_transport.h"
-#include "inv_imu_defs.h"
-#include "inv_imu_driver.h"
-
-
-/*** Configuration macros ***/
-
-/*
- * MCU-IMU communication interface selection
- * UI_I2C: use I2C communication (default)
- */
-#define SERIF_TYPE           UI_I2C
-
-/*
- * Power mode selection
- * 1: Low-noise mode — 800Hz ODR, high precision, higher power consumption
- * 0: Low-power mode — 100Hz ODR, lower power consumption
- * Note: Low-noise mode cannot be used with ODR below 12.5Hz
- */
-#define USE_LOW_NOISE_MODE   1
-
-/*
- * FIFO resolution mode selection
- * 0: Low resolution — 16-bit data (default)
- * 1: High resolution — 20-bit data (FSR locked to 16g/2000dps)
- */
-#define USE_HIGH_RES_MODE    0
-
-/*
- * Data read method selection
- * 0: Direct register read (currently in use)
- * 1: Read from FIFO
- */
-#define USE_FIFO             0
-
-
-/**
- * \brief Resets and initializes the IMU device. Includes WHOAMI verification.
- *        Must complete successfully before calling any other IMU access functions.
- *
- * \return 0=success, negative=error
- */
-int setup_imu_device(struct inv_imu_serif *icm_serif);
-
-/**
- * \brief Configures the device for gyro and accel output.
- *        Applies FSR, ODR, power mode, and FIFO settings.
- * \return 0=success, negative=error
- */
-int configure_imu_device(void);
-
-/**
- * \brief Retrieves IMU data from FIFO or registers.
- *        Internally triggers imu_callback() for data processing.
- * \return 0=success, negative=error
- */
-int get_imu_data(void);
-
-/**
- * \brief Sensor data receive callback. Applies mounting matrix then
- *        outputs data according to info4/BLE/UART mode.
- * \param[in] event Structure containing one sensor data packet
- */
-void imu_callback(inv_imu_sensor_event_t *event);
-
-/**
- * \brief Direct I2C register read bypassing the driver API.
- *        Reads sensor data immediately without DRDY interrupt and sends via BLE.
- *        Switches IMU to sleep mode after reading to save power.
- * \return 0=success, negative=error
- */
-int imu_read_direct(void);
-
-
-#endif /* !_APP_RAW_H_ */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw_main.c

@@ -1,292 +0,0 @@
-/*******************************************************************************
- * @file	app_raw_main.c
- * @author	CandyPops Co.
- * @version V1.0.0
- * @date	2022-09-05
- * @brief
- ******************************************************************************/
-
-/*******************************************************************************
- * 2026.03.26 jhChun
- * This file is currently not executed at runtime.
- * Instead of interrupt-driven reads, imu_read_direct() in app_raw.c
- * reads registers directly. May be cleaned up later as needed.
- ******************************************************************************/
-
-/*******************************************************************************
- * [Module overview] ICM42670P main initialization and polling loop
- *
- * Handles the full initialization sequence and main loop for the ICM42670P
- * IMU sensor.
- *
- * Init flow (icm42670_init):
- *   1) setup_mcu()             - Configure I2C serial interface struct and TWI init
- *   2) setup_imu_device()      - IMU driver init + WHOAMI verification
- *   3) configure_imu_device()  - Sensor parameter config (FSR, ODR, power mode)
- *   4) inv_gpio_sensor_irq_init() - INT1 (P1.13) GPIO interrupt setup
- *
- * Main loop (icm42670_main):
- *   - irq_from_device flag is set when INT1 interrupt fires
- *   - Main loop checks the flag and reads sensor data when set
- *   - Interrupt triggers on falling edge (HITOLO) with INT1 pin pulled up
- *
- * Helper functions:
- *   - inv_imu_sleep_us()     - nrf_delay_us wrapper (used by IMU driver)
- *   - inv_imu_get_time_us()  - Provides timestamp via RTC1 counter
- ******************************************************************************/
-#include "sdk_config.h"
-#include "app_raw.h"
-#include "app_raw_main.h"
-#include "RingBuffer.h"
-#include "inv_imu_driver.h"
-
-#include "system_interface.h"
-
-/* std */
-#include <stdio.h>
-#include "nrf.h"
-#include "app_error.h"
-#include "boards.h"
-#include "nrfx_gpiote.h"
-#include "nrf_delay.h"
-
-#include "app_util_platform.h"
-#include "main.h"  /* 2026-03-17: removed cmd_parse.h, using main.h */
-#include "i2c_manager.h"
-/* --------------------------------------------------------------------------------------
- *  Global variables
- * -------------------------------------------------------------------------------------- */
-
-/* --------------------------------------------------------------------------------------
- *  Static variables
- * -------------------------------------------------------------------------------------- */
-
-/*
- * IMU interrupt flag
- * Set to 1 on falling-edge interrupt of INT1 pin.
- * Main loop checks this flag, reads data, and clears it to 0.
- * volatile: modified by ISR, prevents compiler optimization.
- */
-static volatile int irq_from_device;
-
-
-/* --------------------------------------------------------------------------------------
- *  Forward declaration
- * -------------------------------------------------------------------------------------- */
-static int setup_mcu(struct inv_imu_serif *icm_serif);
-
-/*!
-* @brief	Sensor general interrupt handler, calls specific handlers.
-*
-* This function is called when an external interrupt is triggered by the sensor,
-* checks interrupt registers of InvenSense Sensor to determine the source and type of interrupt
-* and calls the specific interrupt handler accordingly.
-*
-* @param[in]	NULL
-*
-* @param[out]	NULL
-*
-* @return		NULL
-*
-*/
-/*
- * inv_gpio_sensor_interrupt_handler()
- * INT1 pin interrupt handler (ISR).
- * Called when the sensor has new data ready; sets a flag and returns immediately.
- * Actual data processing is done in the main loop (icm42670_main).
- */
-static void inv_gpio_sensor_interrupt_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
-{
-	irq_from_device = 1;
-}
-
-
-/*
- * inv_gpio_sensor_irq_init()
- * Initializes INT1 (P1.13) GPIO interrupt.
- *
- * Configuration:
- *   - Trigger: falling edge (HITOLO) — when the sensor pulls INT low
- *   - Pull-up: internal pull-up enabled
- *   - Handler: inv_gpio_sensor_interrupt_handler
- *   - Initializes GPIOTE module first if not already initialized
- */
-void inv_gpio_sensor_irq_init(void)
-{
-    ret_code_t err_code;
-
-	/* Initialize GPIOTE module (skip if already initialized) */
-	if (!nrfx_gpiote_is_init())
-	{
-	  err_code = nrfx_gpiote_init();
-	  APP_ERROR_CHECK(err_code);
-	}
-
-    /* Falling-edge interrupt: trigger on High->Low transition, internal pull-up */
-    nrfx_gpiote_in_config_t in_config = NRFX_GPIOTE_CONFIG_IN_SENSE_HITOLO(true);
-    in_config.pull = NRF_GPIO_PIN_PULLUP;
-
-    /* Register interrupt handler for INT1 pin */
-    err_code = nrfx_gpiote_in_init(ICM42670_INT1_PIN, &in_config, inv_gpio_sensor_interrupt_handler);
-    APP_ERROR_CHECK(err_code);
-
-    /* Enable interrupt event */
-    nrfx_gpiote_in_event_enable(ICM42670_INT1_PIN, true);
-}
-
-
-/*
- * inv_gpio_sensor_irq_uninit()
- * Disables and releases the INT1 GPIO interrupt.
- * Called when deactivating the sensor or before re-initialization.
- */
-void inv_gpio_sensor_irq_uninit(void)
-{
-	/* Disable interrupt event */
-	nrfx_gpiote_in_event_disable(ICM42670_INT1_PIN);
-
-	/* Release INT1 pin interrupt configuration */
-	nrfx_gpiote_in_uninit(ICM42670_INT1_PIN);
-
-	/* Release GPIOTE module (only if initialized) */
-	if (nrfx_gpiote_is_init())
-	{
-	  nrfx_gpiote_uninit();
-
-	}
-}
-
-/* --------------------------------------------------------------------------------------
- *  Main
- * -------------------------------------------------------------------------------------- */
-
-/*
- * icm42670_init()
- * Performs the full ICM42670P initialization sequence.
- *
- * Init order:
- *   1) setup_mcu()             - Configure I2C interface struct and TWI hardware init
- *   2) setup_imu_device()      - IMU driver init, WHOAMI (0x67) verification
- *   3) configure_imu_device()  - FSR, ODR, power mode configuration
- *   4) inv_gpio_sensor_irq_init() - Enable INT1 interrupt (data-ready notification)
- *
- * Returns: 0=success, -1=initialization failure
- */
-int icm42670_init(void)
-{
-	int rc = 0;
-	struct inv_imu_serif icm_serif;
-
-	rc |= setup_mcu(&icm_serif);
-	rc |= setup_imu_device(&icm_serif);
-	rc |= configure_imu_device();
-
-	if(rc != 0){
-		printf("!!!error during initialization\r\n");
-		return -1;
-	}
-
-	/* Enable INT1 interrupt after successful init — ISR fires on data ready */
-	inv_gpio_sensor_irq_init();
-
-	return rc;
-}
-
-
-/*
- * icm42670_main()
- * ICM42670P main polling loop.
- * Must be called periodically from the main application loop.
- *
- * Operation:
- *   1) Check if I2C hardware is initialized (hw_i2c_init_once)
- *   2) Check irq_from_device flag (set by ISR)
- *   3) If flag is set, read sensor data (get_imu_data)
- *   4) Clear flag after data read completes
- *
- * Note: Interrupt-based polling — ISR only sets the flag; actual I2C
- * communication is done in the main context.
- */
-void icm42670_main(void)
-{
-	int rc = 0;
-   hw_i2c_init_once();
-	/* Check for interrupt and read data */
-
-	if (irq_from_device) {
-		rc = get_imu_data();
-
-		if(rc < 0) {
-			printf("error while getting data\r\n");
-		}
-
-		/* Clear flag — wait for next interrupt */
-		irq_from_device = 0;
-	}
-
-}
-
-
-/* --------------------------------------------------------------------------------------
- *  Functions definitions
- * -------------------------------------------------------------------------------------- */
-
-/*
- * setup_mcu()
- * Configures the MCU-side serial interface.
- *
- * Registers the following in the inv_imu_serif struct:
- *   - read_reg / write_reg : I2C read/write callbacks (implemented in system_interface.c)
- *   - max_read / max_write : Max transfer size (32KB)
- *   - serif_type           : Communication type (UI_I2C)
- *
- * After configuration, calls inv_io_hal_init() to initialize the TWI hardware.
- */
-static int setup_mcu(struct inv_imu_serif *icm_serif)
-{
-	int rc = 0;
-
-	/* Configure serial interface struct for IMU driver */
-	icm_serif->context   = 0;        /* Context unused */
-	icm_serif->read_reg  = inv_io_hal_read_reg;   /* Register read callback */
-	icm_serif->write_reg = inv_io_hal_write_reg;   /* Register write callback */
-	icm_serif->max_read  = 1024*32;  /* Max bytes per read */
-	icm_serif->max_write = 1024*32;  /* Max bytes per write */
-	icm_serif->serif_type = SERIF_TYPE;  /* UI_I2C (defined in app_raw.h) */
-
-	/* Initialize TWI hardware */
-	rc |= inv_io_hal_init(icm_serif);
-
-	return rc;
-}
-
-
-/* --------------------------------------------------------------------------------------
- *  Extern functions definition
- * -------------------------------------------------------------------------------------- */
-
-/*
- * inv_imu_sleep_us()
- * Microsecond sleep function used by the IMU driver.
- * Wraps nrf_delay_us() to provide a platform-independent interface.
- * Example: used for gyro startup delay (GYR_STARTUP_TIME_US).
- */
-void inv_imu_sleep_us(uint32_t us)
-{
-	nrf_delay_us(us);
-}
-
-
-/*
- * inv_imu_get_time_us()
- * Timestamp function used by the IMU driver.
- * Returns the nRF52840 RTC1 counter value.
- *
- * Note: RTC1 runs at 32.768kHz, so the returned value is technically
- * in RTC ticks (~30.5us/tick), not microseconds.
- * Used for relative time comparisons within the driver.
- */
-uint64_t inv_imu_get_time_us(void)
-{
-	return NRF_RTC1->COUNTER;
-}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw_main.h

@@ -1,32 +0,0 @@
-/*******************************************************************************
- * @file	app_raw_main.h
- * @author	CandyPops Co.
- * @version V1.0.0
- * @date	2022-09-05
- * @brief
- ******************************************************************************/
-
-/*******************************************************************************
- * [Header overview] ICM42670P main initialization/polling loop declarations
- *
- * Declares the full initialization and main loop functions for the
- * ICM42670P IMU sensor.
- *   - icm42670_init()   : Full init (MCU config -> IMU init -> sensor config -> enable IRQ)
- *   - icm42670_main()   : Main polling loop (check INT1 interrupt -> read data)
- *   - icm42670_uninit() : Release (prototype only, implementation elsewhere)
- ******************************************************************************/
-
-#ifndef _APP_RAW_MAIN_H_
-#define _APP_RAW_MAIN_H_
-#include "sdk_config.h"
-
-/* ICM42670P full init — MCU I2C config -> IMU driver init -> sensor config -> enable IRQ */
-int icm42670_init(void);
-
-/* ICM42670P main polling loop — check INT1 interrupt flag, then read sensor data */
-void icm42670_main(void);
-
-/* ICM42670P release (prototype declaration) */
-int icm42670_uninit(void);
-
-#endif /* !_APP_RAW_MAIN_H_ */

project/ble_peripheral/ble_app_bladder_patch/measurement/piezo/dr_piezo.h

@@ -1,125 +0,0 @@
-/*==============================================================================
- * dr_piezo.h - Piezo Transducer Driver (2 MHz Signal Generator)
- *
- * Hardware: nRF52840 + MD1822K6-G MOSFET Driver + TC7920K6-G MOSFET
- * Output:   +/-20V at 2 MHz, 3..7 cycles burst
- *
- * Timing Sequence:
- *   1. PE = HIGH (enable)
- *   2. P_OUT/N_OUT = 2 MHz pulses (3..7 cycles)
- *   3. DMP = HIGH (dump residual energy)
- *   4. DMP = LOW
- *   5. PE = LOW (disable)
- *
- * Pin assignment:
- *   Power:   DR_PIEZO_PWR_EN (P1.9)  — DC/DC +/-20V enable
- *   TX:      PE (P0.25), DMP (P1.0), P_OUT (P1.7), N_OUT (P1.6)
- *   MUX:     EN_MUXA (P0.21), EN_MUXB (P0.23), SEL0 (P1.10), SEL1 (P0.28)
- *
- * MUX channel mapping (8ch):
- *   CH0=A0(1,0,0,0) CH1=A2(1,0,1,0) CH2=A1(1,0,0,1) CH3=A3(1,0,1,1)
- *   CH4=B0(0,1,1,1) CH5=B1(0,1,0,1) CH6=B2(0,1,1,0) CH7=B3(0,1,0,0)
- *
- * Two burst modes:
- *   1) HW burst (dr_piezo_burst): Timer2 + PPI + GPIOTE, CPU-independent
- *   2) SW burst (dr_piezo_burst_sw_XXmhz): CPU NOP-based precise timing
- *      Per-frequency functions: 1.7 / 1.8 / 1.9 / 2.0 / 2.1 / 2.2 MHz
- *============================================================================*/
-
-#ifndef DR_PIEZO_H
-#define DR_PIEZO_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "nrf_gpio.h"
-
-/*==============================================================================
- * Power control pin (+/-20V DC/DC converter)
- *============================================================================*/
-#define DR_PIEZO_PWR_EN       NRF_GPIO_PIN_MAP(1, 9)
-
-/*==============================================================================
- * TX signal pins (MOSFET driver)
- *   PE:    Pulse Enable — activates the entire TX sequence
- *   DMP:   Dump — discharges residual piezo energy after burst
- *   P_OUT: Positive output — drives piezo positive terminal
- *   N_OUT: Negative output — drives piezo negative terminal (inverted P_OUT)
- *============================================================================*/
-#define DR_PIEZO_PIN_PE         NRF_GPIO_PIN_MAP(0, 25)   /**< Pulse Enable */
-#define DR_PIEZO_PIN_DMP        NRF_GPIO_PIN_MAP(1, 0)    /**< Dump control */
-#define DR_PIEZO_PIN_P_OUT      NRF_GPIO_PIN_MAP(1, 7)    /**< Positive output */
-#define DR_PIEZO_PIN_N_OUT      NRF_GPIO_PIN_MAP(1, 6)    /**< Negative output */
-
-/*==============================================================================
- * MUX control pins (echo signal path selection, 8 channels)
- *   MUXA handles CH0..CH3, MUXB handles CH4..CH7.
- *   Only one MUX is enabled at a time.
- *============================================================================*/
-#define DR_PIEZO_EN_MUXA        NRF_GPIO_PIN_MAP(0, 21)  /**< MUXA Enable */
-#define DR_PIEZO_EN_MUXB        NRF_GPIO_PIN_MAP(0, 23)  /**< MUXB Enable */
-#define DR_PIEZO_MUX_SEL0       NRF_GPIO_PIN_MAP(1, 10)  /**< MUX Select 0 */
-#define DR_PIEZO_MUX_SEL1       NRF_GPIO_PIN_MAP(0, 28)  /**< MUX Select 1 */
-
-/*==============================================================================
- * Configuration
- *============================================================================*/
-#define DR_PIEZO_FREQ_HZ        2100000     /**< Target frequency (set PIEZO_FREQ_MHZ in .c) */
-#define DR_PIEZO_DEFAULT_CYCLES 5           /**< Default burst cycles */
-#define DR_PIEZO_MIN_CYCLES     3
-#define DR_PIEZO_MAX_CYCLES     7
-#define DR_PIEZO_MUX_SETTLING_US 1300       /**< MUX settling delay (us) */
-
-/*==============================================================================
- * Power control
- *============================================================================*/
-
-void dr_piezo_power_on(void);
-void dr_piezo_power_off(void);
-
-/** @return true if power is ON */
-bool dr_piezo_is_power_on(void);
-
-/*==============================================================================
- * TX driver
- *============================================================================*/
-
-void dr_piezo_init(void);
-void dr_piezo_uninit(void);
-void dr_piezo_burst(uint8_t cycles);
-void dr_piezo_pulse(void);
-void dr_piezo_enable(void);
-void dr_piezo_disable(void);
-bool dr_piezo_is_busy(void);
-void dr_piezo_set_frequency(uint32_t freq_hz);
-void dr_piezo_test_pins(void);
-void dr_piezo_mux_init(void);
-
-/**
- * @brief Select piezo channel (0..7) via 8ch MUX
- * @note MUX settling time: ~1.3 ms delay after switching
- */
-void dr_piezo_select_channel(uint8_t channel);
-
-/*==============================================================================
- * System functions (power + TX combined)
- *============================================================================*/
-
-void dr_piezo_system_init(void);
-void dr_piezo_system_uninit(void);
-void dr_piezo_transmit(uint8_t cycles);
-
-/*==============================================================================
- * Software burst — CPU NOP-based precise timing, no Timer/PPI
- *
- * Interrupts are disabled during burst for timing accuracy.
- * Per-frequency functions (NOP count varies):
- *============================================================================*/
-
-void dr_piezo_burst_sw(uint8_t cycles);          /**< 2.1 MHz (default) */
-void dr_piezo_burst_sw_18mhz(uint8_t cycles);   /**< 1.8 MHz */
-void dr_piezo_burst_sw_20mhz(uint8_t cycles);   /**< 2.0 MHz */
-void dr_piezo_burst_sw_22mhz(uint8_t cycles);   /**< 2.2 MHz */
-void dr_piezo_burst_sw_17mhz(uint8_t cycles);   /**< 1.7 MHz */
-void dr_piezo_burst_sw_19mhz(uint8_t cycles);   /**< 1.9 MHz */
-
-#endif /* DR_PIEZO_H */

project/ble_peripheral/ble_app_bladder_patch/measurement/temperature/tmp235_q1.c

@@ -1,168 +0,0 @@
-/*==============================================================================
- * tmp235_q1.c - TMP235-Q1 analogue temperature sensor driver
- *
- * Reads the TMP235-Q1 analogue output via SAADC AIN3 and converts to deg C.
- *
- * Temperature conversion (piecewise linear, per datasheet):
- *   Vout <= 1500 mV  (0..100 C)  : Ta = (Vout - 500)    / 10.0
- *   Vout <= 1750 mV  (100..125 C): Ta = (Vout - 1500)    / 10.1 + 100
- *   Vout <= 2000 mV  (125..150 C): Ta = (Vout - 1752.5)  / 10.6 + 125
- *   Vout > 2000 mV               : out of sensor range
- *============================================================================*/
-
-#include "sdk_common.h"
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <string.h>
-#include "nrf.h"
-#include "boards.h"
-#include "app_error.h"
-#include "nrf_drv_saadc.h"
-#include "ble_nus.h"
-#include "tmp235_q1.h"
-#include "main.h"
-#include "main_timer.h"
-#include "battery_saadc.h"
-#include "debug_print.h"
-
-/* SAADC internal reference (mV) */
-#define TMP235_REF_VOLTAGE_IN_MILLIVOLTS        600.0f
-/* 1/3 prescaling compensation (x6) */
-#define TMP235_PRE_SCALING_COMPENSATION         6.0f
-/* 12-bit ADC full scale */
-#define TMP235_ADC_RES_12BITS                   4096.0f
-
-/* Convert raw ADC value to TMP235 output voltage (mV) */
-#define TMP235_VOUT_IN_MILLI_VOLTS(ADC_VALUE)\
-        ((((ADC_VALUE) * TMP235_REF_VOLTAGE_IN_MILLIVOLTS) / TMP235_ADC_RES_12BITS) * TMP235_PRE_SCALING_COMPENSATION)
-
-static nrf_saadc_value_t adc_buf;
-extern char     ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
-extern uint8_t  ble_bin_buffer[BLE_NUS_MAX_DATA_LEN];
-
-extern which_cmd_t cmd_type_t;
-extern bool info4;
-extern bool go_temp;
-
-/* info4 mode: cached temperature (deg C x 100, integer) */
-volatile uint16_t info_temp;
-extern bool motion_raw_data_enabled;
-
-/* SAADC completion flag — used by all_sensors() to wait */
-volatile bool tmp235_saadc_done = false;
-
-
-/*==============================================================================
- * tmp235_voltage_handler - SAADC conversion complete callback
- *
- * ADC value -> Vout (mV) -> temperature (deg C), then:
- *   - info4 mode: store to info_temp (C x 100 integer)
- *   - Normal mode: send rso: response over BLE or UART
- *============================================================================*/
-void tmp235_voltage_handler(nrf_drv_saadc_evt_t const * p_event)
-{
-    float led_temp;
-    float led_temp_16;
-
-    if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
-    {
-        nrf_saadc_value_t adc_result;
-        float tmp235_voltage_in_milli_volts = 0;
-
-        adc_result = p_event->data.done.p_buffer[0];
-
-        /* Release SAADC — shared with battery / pressure ADC */
-        nrf_drv_saadc_channel_uninit(0);
-        nrf_drv_saadc_uninit();
-
-        /* ADC -> TMP235 output voltage (mV) */
-        tmp235_voltage_in_milli_volts = TMP235_VOUT_IN_MILLI_VOLTS(adc_result);
-
-        /* Vout -> temperature (piecewise linear per datasheet) */
-        if(tmp235_voltage_in_milli_volts <= 1500)
-        {
-            /* 0..100 C: slope 10.0 mV/C, offset 500 mV */
-            led_temp = (tmp235_voltage_in_milli_volts - 500.0f) / 10.0f + 0.0f;
-        }
-        else if(tmp235_voltage_in_milli_volts <= 1750)
-        {
-            /* 100..125 C: slope 10.1 mV/C */
-            led_temp = (tmp235_voltage_in_milli_volts - 1500.0f) / 10.1f + 100.0f;
-        }
-        else if(tmp235_voltage_in_milli_volts <= 2000)
-        {
-            /* 125..150 C: slope 10.6 mV/C */
-            led_temp = (tmp235_voltage_in_milli_volts - 1752.5f) / 10.6f + 125.0f;
-        }
-        else
-        {
-            /* Out of sensor range (>150 C) */
-            DBG_PRINTF("ERR!!! Temperature is over 150c\r\n");
-        }
-
-        /* --- Safety check mode: pass temperature to battery module for judgment --- */
-        if (safety_check_mode == true)
-        {
-            safety_check_mode = false;
-            safety_check_complete(led_temp);
-        }
-
-        /* --- info4 mode: store value for mbb? bulk response --- */
-        else if (info4 == true)
-        {
-            info_temp = (uint16_t)(led_temp * 100);
-        }
-        else if (cmd_type_t == CMD_UART)
-        {
-            DBG_PRINTF("To%.2f\r\n\r\n", led_temp);
-        }
-        else if (cmd_type_t == CMD_BLE)
-        {
-            led_temp_16 = led_temp * 100;
-            single_format_data(ble_bin_buffer, "rso:", (uint16_t)led_temp_16);
-            dr_binary_tx_safe(ble_bin_buffer, 3);
-        }
-
-        tmp235_saadc_done = true;
-    }
-}
-
-
-/*==============================================================================
- * tmp235_init - Initialise SAADC for TMP235 and start measurement
- *
- * AIN3, single-ended, 12-bit, 4x oversampling, burst enabled.
- * Triggers sampling immediately; result arrives via tmp235_voltage_handler.
- *============================================================================*/
-void tmp235_init(void)
-{
-    nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
-    saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;
-    saadc_config.oversample = NRF_SAADC_OVERSAMPLE_4X;
-    ret_code_t err_code = nrf_drv_saadc_init(&saadc_config, tmp235_voltage_handler);
-    APP_ERROR_CHECK(err_code);
-
-    nrf_saadc_channel_config_t config = NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN3);
-    config.burst = NRF_SAADC_BURST_ENABLED;
-    err_code = nrf_drv_saadc_channel_init(0, &config);
-    APP_ERROR_CHECK(err_code);
-
-    err_code = nrf_drv_saadc_buffer_convert(&adc_buf, 1);
-    APP_ERROR_CHECK(err_code);
-
-    err_code = nrf_drv_saadc_sample();
-    APP_ERROR_CHECK(err_code);
-}
-
-
-/*==============================================================================
- * tmp235_voltage_level_meas - External entry point for one-shot reading
- *
- * Calls tmp235_init() which both initialises and triggers sampling.
- *============================================================================*/
-void tmp235_voltage_level_meas(void)
-{
-    tmp235_init();
-}

project/ble_peripheral/ble_app_bladder_patch/measurement/temperature/tmp235_q1.h

@@ -1,22 +0,0 @@
-/*==============================================================================
- * tmp235_q1.h - TMP235-Q1 analogue temperature sensor driver interface
- *
- * Reads the TMP235-Q1 analogue voltage output via SAADC (AIN3) and converts
- * it to temperature (deg C).
- *
- * Conversion: Ta(C) = (Vout_mV - 500) / 10.0   (valid 0..100 C)
- *
- * API:
- *   tmp235_init()               : initialise SAADC + start measurement (internal)
- *   tmp235_voltage_level_meas() : one-shot temperature reading (external wrapper)
- *============================================================================*/
-
-#ifndef _TMP235_Q1_H_
-#define _TMP235_Q1_H_
-
-/* Initialise SAADC for TMP235 and start measurement (AIN3). */
-void tmp235_init(void);
-/* External entry point for a single temperature reading. */
-void tmp235_voltage_level_meas(void);
-
-#endif /* !_TMP235_Q1_H_ */