mim? 커맨드 폴더 이동(cmd_piezo.c → cmd_sensor.c)

src/command/handlers/cmd_piezo.c

@@ -236,50 +236,6 @@ int cmd_mcs(const uint8_t *data, uint8_t data_len)
     return 1;
 }
 
-// =============================== Test Command ===============================
-/* TEST
-* mim? : IMU FIFO 15 samples
-*/
-int cmd_mim(const uint8_t *data, uint8_t data_len)
-{
-    ARG_UNUSED(data);
-    ARG_UNUSED(data_len);
-
-    if (processing)
-    {
-        return 1;
-    }
-
-    processing = true;
-
-    uint16_t rim_count = 0U;
-    int imu_ret = imu_fifo_start();
-    if (imu_ret != 0)
-    {
-        DBG_PRINTF("[MIM] fifo start fail ret=%d\r\n", imu_ret);
-        cmd_send_response_rim_error();
-        processing = false;
-        return 1;
-    }
-     
-    k_msleep(320);  // IMU FIFO is 50Hz, 15 samples need about 300ms
-
-    imu_ret = imu_fifo_read_latest(tx_rim_samples, IMU_FIFO_RIM_TARGET_SAMPLES, &rim_count);
-    if (imu_ret != 0)
-    {
-        DBG_PRINTF("[MIM] fifo read fail ret=%d\r\n", imu_ret);
-        cmd_send_response_rim_error();
-        imu_fifo_stop();
-        processing = false;
-        return 1;
-    }
-
-    cmd_send_response_rim(tx_rim_samples, rim_count); // IMU FIFO 15 samples rim: 전송
-    imu_fifo_stop();
-    processing = false;
-    return 1;
-}
-
 /*
  * TEST (이전 정렬모드)
  * maa?: piezo echo sweep

src/command/handlers/cmd_piezo.h

@@ -17,6 +17,5 @@ int cmd_mbb(const uint8_t *data, uint8_t data_len);
 int cmd_mtb(const uint8_t *data, uint8_t data_len);
 int cmd_mcf(const uint8_t *data, uint8_t data_len);
 int cmd_mcs(const uint8_t *data, uint8_t data_len);
-int cmd_mim(const uint8_t *data, uint8_t data_len);
 
 #endif /* CMD_PIEZO_H__ */

src/command/handlers/cmd_sensor.c

@@ -13,6 +13,8 @@
 #include "led_control.h"
 #include "cmd_sensor.h"
 
+static uint8_t tx_mim_samples[IMU_FIFO_RIM_TARGET_SAMPLES * IMU_FIFO_SAMPLE_BYTES];
+
 /*
  * msn: battery voltage read
  */
@@ -58,6 +60,49 @@ int cmd_msp(const uint8_t *data, uint8_t data_len)
     return 1;
 }
 
+/*
+ * mim?: IMU FIFO 15 samples
+ */
+int cmd_mim(const uint8_t *data, uint8_t data_len)
+{
+    ARG_UNUSED(data);
+    ARG_UNUSED(data_len);
+
+    if (processing)
+    {
+        return 1;
+    }
+
+    processing = true;
+
+    uint16_t rim_count = 0U;
+    int imu_ret = imu_fifo_start();
+    if (imu_ret != 0)
+    {
+        DBG_PRINTF("[MIM] fifo start fail ret=%d\r\n", imu_ret);
+        cmd_send_response_rim_error();
+        processing = false;
+        return 1;
+    }
+
+    k_msleep(320);  // IMU FIFO is 50Hz, 15 samples need about 300ms
+
+    imu_ret = imu_fifo_read_latest(tx_mim_samples, IMU_FIFO_RIM_TARGET_SAMPLES, &rim_count);
+    if (imu_ret != 0)
+    {
+        DBG_PRINTF("[MIM] fifo read fail ret=%d\r\n", imu_ret);
+        cmd_send_response_rim_error();
+        imu_fifo_stop();
+        processing = false;
+        return 1;
+    }
+
+    cmd_send_response_rim(tx_mim_samples, rim_count); // IMU FIFO 15 samples rim: 전송
+    imu_fifo_stop();
+    processing = false;
+    return 1;
+}
+
 /*
  * mst: IMU temperature direct read
  */

src/command/handlers/cmd_sensor.h

@@ -9,6 +9,7 @@
 
 int cmd_msn(const uint8_t *data, uint8_t data_len);
 int cmd_msp(const uint8_t *data, uint8_t data_len);
+int cmd_mim(const uint8_t *data, uint8_t data_len);
 int cmd_mst(const uint8_t *data, uint8_t data_len);
 int cmd_mls(const uint8_t *data, uint8_t data_len);