IMU FIFO 샘플 대기 함수 추가

- 샘플 부족 방지 안전장치
2026-07-15 15:45:08 +09:00
parent 4ed23a103c
commit 7cccee7cf2
3 changed files with 51 additions and 1 deletions
@@ -139,7 +139,13 @@ int cmd_mtb(const uint8_t *data, uint8_t data_len)
    {
        if (fifo_started)
        {
-            int imu_ret = imu_fifo_read_latest(tx_rim_samples, IMU_FIFO_RIM_TARGET_SAMPLES, &rim_count);
+            imu_ret = imu_fifo_wait_samples(IMU_FIFO_RIM_TARGET_SAMPLES, 500U);
+            if (imu_ret != 0)
+            {
+                DBG_PRINTF("[MTB] fifo wait ret=%d\r\n", imu_ret);
+            }
+
+            imu_ret = imu_fifo_read_latest(tx_rim_samples, IMU_FIFO_RIM_TARGET_SAMPLES, &rim_count);
            if (imu_ret != 0)
            {
                DBG_PRINTF("[MTB] fifo read fail ret=%d\r\n", imu_ret);