msp? 커맨드 삭제(IMU direct read)

- mim?으로 대체(IMU FIFO)

src/command/cmd_table.c

@@ -17,7 +17,6 @@ const cmd_entry_t cmd_table[] =
     { "mdf?", cmd_mdf },
     { "msn?", cmd_msn },
     { "mls?", cmd_mls },
-    { "msp?", cmd_msp },
     { "mst?", cmd_mst },
     { "mpa?", cmd_mpa },
     { "mpb?", cmd_mpb },

src/command/handlers/cmd_sensor.c

@@ -33,33 +33,6 @@ int cmd_msn(const uint8_t *data, uint8_t data_len)
     return 1;
 }
 
-/*
- * msp: IMU data direct read
- */
-int cmd_msp(const uint8_t *data, uint8_t data_len)
-{
-    ARG_UNUSED(data);
-    ARG_UNUSED(data_len);
-
-    if (processing)
-    {
-        return 1;
-    }
-
-    int16_t accel[3], gyro[3];
-
-    int ret = imu_read(accel, gyro);
-    if (ret != 0)
-    {
-        cmd_send_response_u16("rsp:", 0xFFFF);
-        DBG_PRINTF("[CMD] msp: FAIL (imu_read ret=%d) -> rsp: 0xFFFF\r\n", ret);
-        return 1;
-    }
-
-    cmd_send_response_imu(accel, gyro);
-    return 1;
-}
-
 /*
  * mim?: IMU FIFO 15 samples
  */

src/command/handlers/cmd_sensor.h

@@ -8,7 +8,6 @@
 #include <stdint.h>
 
 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);

src/drivers/imu/imu_i2c.c

@@ -426,8 +426,6 @@ int imu_read(int16_t accel[3], int16_t gyro[3])
     gyro[1]  = (int16_t)((raw[8]  << 8) | raw[9]);
     gyro[2]  = (int16_t)((raw[10] << 8) | raw[11]);
 
-    //DBG_PRINTF("[IMU] msp: A=(%6d,%6d,%6d) G=(%6d,%6d,%6d)\r\n", accel[0], accel[1], accel[2], gyro[0],  gyro[1],  gyro[2]);
-
     // 슬립 모드: 전력 절감
     imu_write_reg(REG_PWR_MGMT0, 0x00);