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정렬모드/주기 측정 실패 시 cleanup(Piezo power off, imu fifo stop)

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jhchun
2026-09-02 16:27:01 +09:00
parent c5df4f0d3c
commit d24feb2860
1 changed files with 4 additions and 4 deletions
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src/command/handlers/cmd_piezo.c
+4 -4
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@@ -83,8 +83,6 @@ int cmd_mbb(const uint8_t *data, uint8_t data_len)
status = piezo_measure_sweep(); status = piezo_measure_sweep();
piezo_power_off();
if (status == ECHO_STATUS_OK) if (status == ECHO_STATUS_OK)
{ {
for (uint8_t ch = 0; ch < PIEZO_NUM_CHANNELS; ch++) for (uint8_t ch = 0; ch < PIEZO_NUM_CHANNELS; ch++)
@@ -100,6 +98,7 @@ int cmd_mbb(const uint8_t *data, uint8_t data_len)
cmd_send_response_u16("raa:", (uint16_t)status); // 최종 상태 raa: 전송 cmd_send_response_u16("raa:", (uint16_t)status); // 최종 상태 raa: 전송
DBG_PRINTF("[CMD] mbb status=0x%04X\r\n", status); DBG_PRINTF("[CMD] mbb status=0x%04X\r\n", status);
piezo_power_off();
processing = false; processing = false;
return 1; return 1;
} }
@@ -144,8 +143,6 @@ int cmd_mtb(const uint8_t *data, uint8_t data_len)
DBG_PRINTF("[MTB] piezo sweep start\r\n"); DBG_PRINTF("[MTB] piezo sweep start\r\n");
status = piezo_measure_sweep(); status = piezo_measure_sweep();
piezo_power_off();
if (status == ECHO_STATUS_OK) if (status == ECHO_STATUS_OK)
{ {
for (uint8_t ch = 0; ch < PIEZO_NUM_CHANNELS; ch++) for (uint8_t ch = 0; ch < PIEZO_NUM_CHANNELS; ch++)
@@ -173,6 +170,8 @@ int cmd_mtb(const uint8_t *data, uint8_t data_len)
{ {
DBG_PRINTF("[MTB] fifo read fail ret=%d\r\n", imu_ret); DBG_PRINTF("[MTB] fifo read fail ret=%d\r\n", imu_ret);
cmd_send_response_rim_error(); cmd_send_response_rim_error();
imu_fifo_stop();
piezo_power_off();
processing = false; processing = false;
return 1; return 1;
} }
@@ -184,6 +183,7 @@ int cmd_mtb(const uint8_t *data, uint8_t data_len)
DBG_PRINTF("[CMD] mtb status=0x%04X rim=%u\r\n", status, rim_count); DBG_PRINTF("[CMD] mtb status=0x%04X rim=%u\r\n", status, rim_count);
piezo_power_off();
processing = false; processing = false;
return 1; return 1;
} }