IMU FIFO 커맨드 mim? 추가

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.c

@@ -986,3 +986,48 @@ int imu_fifo_capture_stop_and_send_rim(void)
 	imu_fifo_send_rim_packets(packet_count);
 	return 0;
 }
+
+int imu_fifo_capture_wait_samples_and_send_rim(uint16_t target_samples, uint32_t timeout_ms)
+{
+	int rc = 0;
+	uint8_t count_raw[2] = {0};
+	uint16_t packet_count = 0;
+	uint32_t waited_ms = 0;
+	const uint32_t poll_ms = 10U;
+
+	if (target_samples == 0U)
+	{
+		return imu_fifo_capture_stop_and_send_rim();
+	}
+
+	if (!s_fifo_capture_active)
+	{
+		imu_fifo_send_rim_packets(0);
+		return -1;
+	}
+
+	while (waited_ms <= timeout_ms)
+	{
+		rc = inv_imu_read_reg(&icm_driver, FIFO_COUNTH, 2, count_raw);
+		if (rc != 0)
+		{
+			DBG_PRINTF("[IMU FIFO] count read fail %d\r\n", rc);
+			imu_fifo_send_rim_packets(0);
+			imu_fifo_power_off();
+			return rc;
+		}
+
+		packet_count = (uint16_t)count_raw[0] | ((uint16_t)count_raw[1] << 8);
+		if (packet_count > target_samples)
+		{
+			break;
+		}
+
+		dr_sd_delay_ms(poll_ms);
+		waited_ms += poll_ms;
+	}
+
+	rc = imu_fifo_capture_stop_and_send_rim();
+	imu_fifo_capture_disable();
+	return rc;
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h

@@ -122,6 +122,13 @@ int imu_fifo_capture_start(void);
  */
 int imu_fifo_capture_stop_and_send_rim(void);
 
+/**
+ * \brief Wait until at least target_samples FIFO records are available, then drain
+ *        FIFO and send rim: packets.
+ * \return 0=success, negative=error
+ */
+int imu_fifo_capture_wait_samples_and_send_rim(uint16_t target_samples, uint32_t timeout_ms);
+
 /**
  * \brief Stop IMU FIFO capture without sending rim: packets.
  */