IMU FIFO 커맨드 mim? 추가

project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h

@@ -50,6 +50,8 @@ extern int  imu_read_direct(void);
 extern int  imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c);
 extern int  imu_fifo_capture_start(void);
 extern int  imu_fifo_capture_stop_and_send_rim(void);
+extern int  imu_fifo_capture_wait_samples_and_send_rim(uint16_t target_samples, uint32_t timeout_ms);
+extern void imu_fifo_capture_disable(void);
 extern void battery_timer_stop(void);
 extern void main_timer_start(void);
 extern void hw_i2c_init_once(void);

project/ble_peripheral/ble_app_bladder_patch/command/cmd_table.c

@@ -41,6 +41,7 @@ static const CmdEntry m_cmd_table[] = {
     { "msn?", true, Cmd_msn },
     { "mst?", true, Cmd_mst },
     { "msp?", true, Cmd_msp },
+    { "mim?", true, Cmd_mim },
 
     /* D. Piezo ultrasound */
     { "mpa?", true, Cmd_mpa },

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c

@@ -4,6 +4,7 @@
  * msn? -> rsn:  battery ADC measurement
  * mst? -> rso:  IMU die temperature reading
  * msp? -> rsp:  IMU 6-axis single read
+ * mim? -> rim:  IMU FIFO 15-sample read
  * all_sensors()  bulk-measurement helper used by the mbb? handler
  *============================================================================*/
 
@@ -47,6 +48,7 @@ int Cmd_mst(const ParsedCmd *cmd)
 
 /*==============================================================================
  * msp? -> rsp:  IMU 6-axis single read
+ * mim? -> rim:  IMU FIFO 15-sample read
  *
  * Request:  [TAG 4B "msp?"] [CRC 2B]
  * Response: rsp: + accel(xyz) + gyro(xyz)  (transmitted inside imu_read_direct)
@@ -61,6 +63,33 @@ int Cmd_msp(const ParsedCmd *cmd)
     return 1;
 }
 
+/*==============================================================================
+ * mim? -> rim:  IMU FIFO-only capture
+ *
+ * Request:  [TAG 4B "mim?"] [CRC 2B]
+ * Response: rim: [total_sample_count u16 BE]
+ *           [samples: 12B each ax,ay,az,gx,gy,gz ...]
+ *
+ * Uses the same FIFO/rim path as mtb? but without piezo reb:/raa: packets.
+ * At 50 Hz, 15 samples are about 300 ms; timeout leaves margin for startup.
+ *============================================================================*/
+int Cmd_mim(const ParsedCmd *cmd)
+{
+    int rc;
+    (void)cmd;
+
+    rc = imu_fifo_capture_start();
+    if (rc != 0)
+    {
+        (void)imu_fifo_capture_stop_and_send_rim();
+        imu_fifo_capture_disable();
+        return 1;
+    }
+
+    (void)imu_fifo_capture_wait_samples_and_send_rim(15, 500);
+    return 1;
+}
+
 /*==============================================================================
  * all_sensors() - Bulk-measurement helper for the mbb? handler
  *

project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.h

@@ -9,6 +9,7 @@
 int Cmd_msn(const ParsedCmd *cmd);   /* msn? -> rsn:  battery ADC measurement */
 int Cmd_mst(const ParsedCmd *cmd);   /* mst? -> rso:  IMU die temperature */
 int Cmd_msp(const ParsedCmd *cmd);   /* msp? -> rsp:  IMU 6-axis single read */
+int Cmd_mim(const ParsedCmd *cmd);   /* mim? -> rim:  IMU FIFO 15 samples */
 /* Helper for the mbb? handler: sequentially measures battery / IMU / temperature, then emits a single rbb: response.
  * Called from Cmd_mbb() in cmd_piezo.c. */
 void all_sensors(void);

project/ble_peripheral/ble_app_bladder_patch/main.h

@@ -51,6 +51,7 @@
 *   - VBTFW0119 260615 jhChun
 *      : Replaced all TMP235 temperature paths with IMU register direct-read temperature and removed legacy TMP235 build references.
 *      : Unify both IMU direct-read and FIFO outputs as raw data in datasheet axis convention.
+*      : Added mim? command (rim:, IMU FIFO-only 15 samples at 50 Hz).
 *   - VBTFW0120 260615 jhChun : Add EMC mitigation logic for BLE link stability: extended supervision timeout and dynamic TX power control based on RSSI, RSSI silence, HVN latency, and TX queue congestion.
 ------------------------------------------------------------------------- */
 #define FIRMWARE_VERSION                "VBTFW0120"

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.
  */