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/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

@@ -4,11 +4,13 @@
  * 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
  *============================================================================*/
 
 #include "cmd_common.h"
 #include "cmd_sensor.h"
+#include "app_raw.h"
 
 /*==============================================================================
  * msn? -> rsn:  Battery level ADC measurement
@@ -47,6 +49,7 @@ 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)
@@ -56,11 +59,49 @@ int Cmd_mst(const ParsedCmd *cmd)
 int Cmd_msp(const ParsedCmd *cmd)
 {
     (void)cmd;
+
+    if (imu_fifo_capture_is_active())
+    {
+        return 1;   // already owned by mtb?/mim?, ignore duplicate request
+    }
+
     hw_i2c_init_once();
     imu_read_direct();
     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;
+
+    if (imu_fifo_capture_is_active())
+    {
+        return 1;   // already owned by mtb?/mim?, ignore duplicate request
+    }
+
+    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/download/generate_dfu_zip_with_bootloader.bat

@@ -0,0 +1,66 @@
+@echo off
+chcp 437
+setlocal EnableExtensions
+
+cd /d "%~dp0"
+
+set "APP_HEX=medithings_bladder_patch_0001.hex"
+set "BOOT_HEX=medithings_bladder_patch_bootloader.hex"
+set "OUT_APP_ZIP=medithings_bladder_patch_dfu.zip"
+set "OUT_BOOT_ZIP=medithings_bladder_patch_bootloader_dfu.zip"
+
+REM Bootloader DFU requires a version greater than the currently installed bootloader_version.
+REM cpd/cpd_eraseALL currently install bootloader-version 1, so use 2 for this update.
+set "APP_VERSION=1"
+set "BOOTLOADER_VERSION=2"
+set "HW_VERSION=52"
+set "SD_REQ=0x0100"
+set "SD_ID=0x0100"
+
+echo [1/4] Copying application HEX...
+copy /Y "..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex" "%APP_HEX%"
+if errorlevel 1 goto fail
+
+echo [2/4] Copying bootloader HEX...
+copy /Y "..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex" "%BOOT_HEX%"
+if errorlevel 1 goto fail
+
+echo [3/4] Generating application DFU package...
+nrfutil pkg generate ^
+    --application "%APP_HEX%" ^
+    --application-version %APP_VERSION% ^
+    --hw-version %HW_VERSION% ^
+    --sd-req %SD_REQ% ^
+    --sd-id %SD_ID% ^
+    --key-file private.key ^
+    "%OUT_APP_ZIP%"
+if errorlevel 1 goto fail
+
+echo [4/4] Generating bootloader DFU package...
+nrfutil pkg generate ^
+    --bootloader "%BOOT_HEX%" ^
+    --bootloader-version %BOOTLOADER_VERSION% ^
+    --hw-version %HW_VERSION% ^
+    --sd-req %SD_REQ% ^
+    --key-file private.key ^
+    "%OUT_BOOT_ZIP%"
+if errorlevel 1 goto fail
+
+echo.
+echo Done:
+echo   %OUT_APP_ZIP%
+echo   %OUT_BOOT_ZIP%
+echo Bootloader version: %BOOTLOADER_VERSION%
+echo.
+echo Update order for both app and bootloader changes:
+echo   1. Send %OUT_BOOT_ZIP%
+echo   2. Power on again if the device powers off
+echo   3. Send %OUT_APP_ZIP%
+pause
+exit /b 0
+
+:fail
+echo.
+echo ERROR: Failed to generate DFU package(s).
+pause
+exit /b 1

project/ble_peripheral/ble_app_bladder_patch/main.c

@@ -231,7 +231,7 @@ static char * roles_str[] = {"INVALID_ROLE", "CENTRAL", "PERIPHERAL"};
 
 /*==============================================================================
  * Global Variables
- * IEC 62304 §5.5.3: all global buffers zero-initialized for deterministic startup
+ * IEC 62304 5.5.3: all global buffers zero-initialized for deterministic startup
  *============================================================================*/
 volatile uint8_t Sj_type;                     /* Command type identifier */
 bool power_off_duble_prohibit = false;        /* Power-off double prevention flag */
@@ -1546,7 +1546,7 @@ static void ble_evt_handler(ble_evt_t const * p_ble_evt, void * p_context)
             DBG_PRINTF("[BLE] Connected\r\n");
 
 #if BLE_DEV_MODE
-            /* Dev: no passkey/SEC — allow NUS TX/RX as soon as GAP is up (prod uses PM_EVT_CONN_SEC_SUCCEEDED). */
+            /* Dev: no passkey/SEC - allow NUS TX/RX as soon as GAP is up (prod uses PM_EVT_CONN_SEC_SUCCEEDED). */
             ble_connection_st = BLE_CONNECTED_ST;
             battery_timer_start();
 #endif
@@ -2077,6 +2077,7 @@ static void main_s(void * p_context)
 
     bool button_released = nrf_gpio_pin_read(POWER_BUTTON);
 
+
     /* ---- Running phase: post-boot button polling ---- */
     if (booted)
     {
@@ -2121,7 +2122,7 @@ static void main_s(void * p_context)
             go_device_power_off = true;
             main_timer_start();
         }
-        else if (cnt_s > 250 || (m_reset_status == 2))  /* 250 x 5ms = 1.25s + α */
+        else if (cnt_s > 250 || (m_reset_status == 2))  /* 250 x 5ms = 1.25s + ¥á */
         {
             DBG_PRINTF("[BTN] Boot (cnt=%d)\r\n", cnt_s);
             device_reset = false;
@@ -2150,7 +2151,7 @@ static void main_s(void * p_context)
         cnt_s++;
         device_reset = false;
 
-        if (cnt_s == 250)   /* 250 x 5ms = 1.25s + α */
+        if (cnt_s == 250)   /* 250 x 5ms = 1.25s + ¥á */
         {
             led_set_state(LED_STATE_POWER_ON);
             DBG_PRINTF("[BTN] 2.0s\r\n");
@@ -2171,7 +2172,7 @@ int main(void)
 {
     bool erase_bonds_local = false;
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 1: Basic hardware init (BLE-independent)
      *
      *  - Power self-latch (P0.8 HIGH)
@@ -2180,7 +2181,7 @@ int main(void)
      *  - App timers (power polling, battery, main loop)
      *  - Default config (serial number, passkey)
      *  - Buttons/LEDs
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     power_hold_init();
 
     if ((NRF_POWER->GPREGRET2 & POST_DFU_APP_BOOT_GPREGRET2_MASK) != 0)
@@ -2203,7 +2204,7 @@ int main(void)
     log_init();
 
     DBG_PRINTF("\r\n========================================\r\n");
-    DBG_PRINTF(" Medithings v1.17\r\n");
+    DBG_PRINTF(" Medithings VesiScan-Basic\r\n");
     DBG_PRINTF("========================================\r\n");
 
     DBG_PRINTF("[1] HW Init\r\n");
@@ -2217,33 +2218,33 @@ int main(void)
 #endif
     DBG_PRINTF("  gpio/timer/config/btn OK\r\n");
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 2: BLE stack init
      *
      *  - Power management module (WFE/sleep when idle)
      *  - SoftDevice S140 (BLE 5.0 protocol stack)
      *  - DC-DC converter enable (required after SoftDevice)
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     DBG_PRINTF("[2] BLE Stack\r\n");
     power_management_init();
     ble_stack_init();
     APP_ERROR_CHECK(sd_power_dcdc_mode_set(NRF_POWER_DCDC_ENABLE));
     DBG_PRINTF("  pwr/stack/dcdc OK\r\n");
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 3: Internal flash config (must init after BLE stack)
      *
      *  - FDS (Flash Data Storage) init
      *  - Read stored config from flash (serial, passkey, piezo, etc.)
      *  - Overwrite defaults with flash values
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     DBG_PRINTF("[3] FDS\r\n");
     fs_storage_init();
     config_load();
     load_flash_config();
     DBG_PRINTF("  fds OK\r\n");
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 4: BLE protocol setup
      *
      *  - GAP: device name (serial number), connection params, passkey
@@ -2252,7 +2253,7 @@ int main(void)
      *  - Advertising: advertising data (name, UUID)
      *  - Connection parameter negotiation module
      *  - Security: Peer Manager (bonding/passkey)
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     DBG_PRINTF("[4] BLE Protocol\r\n");
     gap_params_init();
     gatt_init();
@@ -2287,14 +2288,14 @@ int main(void)
         DBG_PRINTF("  fds defaults saved\r\n");
     }
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 5: Application init
      *
      *  - Command parser: process BLE received commands (log, BLE TX, CRC)
      *  - Piezo driver: GPIO/Timer/PPI setup for ultrasound measurement
      *  - IMU (ICM42670P) is NOT initialized here
      *    -> imu_read_direct() self-configures/reads/sleeps on each msp? command
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     DBG_PRINTF("[5] App\r\n");
     g_plat.log       = log_printf;
     g_plat.tx_bin    = dr_binary_tx_safe;
@@ -2304,9 +2305,9 @@ int main(void)
     dr_piezo_init();
     DBG_PRINTF("  parser/piezo OK\r\n");
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Boot complete -> start power button state machine
-     *────────────────────────────────────────────────────────────*/
+     *--------------------------------------------------------------------------*/
     DBG_PRINTF("\r\n========================================\r\n");
     DBG_PRINTF(" READY [%s]\r\n", SERIAL_NO);
     DBG_PRINTF("========================================\r\n\r\n");

project/ble_peripheral/ble_app_bladder_patch/main.h

@@ -51,9 +51,12 @@
 *   - 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.
+*   - VBTFW0121 260703 jhChun : Add mim? cammand.
+*   - VBTFW0122 260708 jhChun : Prevent IMU FIFO reentry and add MCLK ready timeout.
 ------------------------------------------------------------------------- */
-#define FIRMWARE_VERSION                "VBTFW0129"
+#define FIRMWARE_VERSION                "VBTFW0122"
 
 /*==============================================================================
  * Data Length Constants

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 {
 

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.
  */

project/ble_peripheral/ble_app_bladder_patch/measurement/piezo/piezo_config.h

@@ -22,7 +22,7 @@
 #define PIEZO_CONFIG_DELAY_US_DEFAULT           10U
 
 #define PIEZO_CONFIG_NUM_SAMPLES_MIN            80U
-#define PIEZO_CONFIG_NUM_SAMPLES_MAX            117U
+#define PIEZO_CONFIG_NUM_SAMPLES_MAX            118U
 #define PIEZO_CONFIG_NUM_SAMPLES_DEFAULT        100U