IMU FIFO 동시 진입 방지 및 MCLK ready timeout 추가

- IMU FIFO capture가 이미 활성화되어 있는 상태에서 msp?/mim? 등이 들어오는 경우 요청 무시
- MCLK_RDY 대기에 timeout 추가해 IMU/I2C 상태가 꼬였을 때 메인 루프가 멈추지 않도록 함

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

@@ -101,6 +101,7 @@ 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;
+	uint64_t start;
 
 	/* set IDLE bit only if it is not set yet */
 	if (t->need_mclk_cnt == 0) {
@@ -112,9 +113,23 @@ int inv_imu_switch_on_mclk(struct inv_imu_device *s)
 		if (status)
 			return status;
 
+		start = inv_imu_get_time_us();
+		
 		/* Check if MCLK is ready */
 		do {
 			status = inv_imu_read_reg(s, MCLK_RDY, 1, &data); 
+
+			/* Bound the MCLK wait so a bad IMU/I2C state cannot hang the main loop. */
+			if ((inv_imu_get_time_us() - start) >= 50000U)
+			{
+				status = 0;
+				if (inv_imu_read_reg(s, PWR_MGMT0, 1, &data) == 0)
+				{
+					data &= ~PWR_MGMT0_IDLE_MASK;
+					(void)inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
+				}
+				return INV_ERROR_TIMEOUT;
+			}
 		} while ((status != 0) || !(data & MCLK_RDY_MCLK_RDY_MASK));
 	} else {