mtb? 정렬모드 중 IMU 주기 온도 읽기 비활성화

- 정렬모드(mtb?)일 때 FIFO가 활성화 상태, FW 내부 60초 주기 온도 점검을 위해 온도 레지스터 접근 시 오류 발생 가능

project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c

@@ -183,6 +183,11 @@ void battery_event_handler(nrf_drv_saadc_evt_t const * p_event)
             low_battery_check = false;
             safety_batt_mv = batt_lvl_in_milli_volt_1;
 
+            if (imu_fifo_capture_is_active())
+            {
+                return;
+            }
+
             if (imu_read_temperature_x100(NULL, &imu_temp_c) != 0)
             {
                 DBG_PRINTF("[SAFETY] IMU temp read failed\r\n");

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

@@ -385,7 +385,7 @@ void imu_callback(inv_imu_sensor_event_t *event)
  * Flow:
  *   1) Check TWI initialization (first call only)
  *   2) Gyro config: +/-2000dps, 100Hz ODR (GYRO_CONFIG0 = 0x09)
- *   3) Accel config: +/-4g, 100Hz ODR (ACCEL_CONFIG0 = 0x29)
+ *   3) Accel config: +/-4g, 100Hz ODR (ACCEL_CONFIG0 = 0x49)
  *   4) Power ON: accel+gyro low-noise mode (PWR_MGMT0 = 0x0F)
  *   5) Wait 80ms (gyro startup: min 45ms + margin)
  *   6) Read 14 consecutive bytes from TEMP_DATA1 (0x09) (temp 2 + accel 6 + gyro 6)
@@ -407,6 +407,7 @@ extern const nrfx_twi_t m_twi_icm42670;
 #define IMU_TEMP_AVG_SAMPLES 4U
 
 static bool s_direct_twi_ready = false;
+static bool s_fifo_capture_active = false;
 
 static void imu_direct_twi_init_once(void)
 {
@@ -447,9 +448,9 @@ int imu_read_direct(void)
 		icm42670_twi_tx(IMU_I2C_ADDR, gyro_cfg, 2, false);
 	}
 
-	/* Accel config: ACCEL_CONFIG0(0x21) = 0x29 -> +/-4g FSR, 100Hz ODR */
+	/* Accel config: ACCEL_CONFIG0(0x21) = 0x49 -> +/-4g FSR, 100Hz ODR */
 	{
-		uint8_t accel_cfg[2] = { 0x21, 0x29 };
+		uint8_t accel_cfg[2] = { 0x21, 0x49 };
 		icm42670_twi_tx(IMU_I2C_ADDR, accel_cfg, 2, false);
 	}
 
@@ -569,6 +570,11 @@ int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c)
 		return -1;
 	}
 
+	if (s_fifo_capture_active)
+	{
+		return -4;
+	}
+
 	imu_direct_twi_init_once();
 
 	/* Power ON briefly so the temperature register is refreshed before reading. */
@@ -619,6 +625,11 @@ int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c)
 	return 0;
 }
 
+bool imu_fifo_capture_is_active(void)
+{
+	return s_fifo_capture_active;
+}
+
 /* --------------------------------------------------------------------------------------
  * mtb? FIFO capture support
  *
@@ -642,8 +653,6 @@ int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c)
 #define RIM_MAX_SAMPLE_BYTES        (BLE_NUS_MAX_DATA_LEN - 2 - RIM_PACKET_HEADER_BYTES)
 #define RIM_SAMPLES_PER_PACKET      (RIM_MAX_SAMPLE_BYTES / RIM_SAMPLE_SIZE_BYTES)
 
-static bool s_fifo_capture_active = false;
-
 static void imu_serif_make(struct inv_imu_serif *serif)
 {
 	serif->context    = 0;
@@ -693,8 +702,8 @@ int imu_fifo_capture_start(void)
 
 	rc |= inv_imu_set_accel_fsr(&icm_driver, ACCEL_CONFIG0_FS_SEL_4g);
 	rc |= inv_imu_set_gyro_fsr(&icm_driver, GYRO_CONFIG0_FS_SEL_500dps);
-	rc |= inv_imu_set_accel_frequency(&icm_driver, ACCEL_CONFIG0_ODR_50_HZ);
-	rc |= inv_imu_set_gyro_frequency(&icm_driver, GYRO_CONFIG0_ODR_50_HZ);
+	rc |= inv_imu_set_accel_frequency(&icm_driver, ACCEL_CONFIG0_ODR_50_HZ); // FIFO ODR Accel 50Hz Setting
+	rc |= inv_imu_set_gyro_frequency(&icm_driver, GYRO_CONFIG0_ODR_50_HZ);	 // FIFO ODR Gyro 50Hz Setting
 	rc |= inv_imu_set_accel_ln_bw(&icm_driver, IMU_FIFO_MTB_ACCEL_LN_BW);
 	rc |= inv_imu_set_gyro_ln_bw(&icm_driver, IMU_FIFO_MTB_GYRO_LN_BW);
 	rc |= inv_imu_disable_high_resolution_fifo(&icm_driver);
@@ -707,8 +716,10 @@ int imu_fifo_capture_start(void)
 		rc |= inv_imu_write_reg(&icm_driver, FIFO_CONFIG1, 1, &fifo_cfg1);
 	}
 	rc |= inv_imu_reset_fifo(&icm_driver);
-	rc |= inv_imu_enable_accel_low_noise_mode(&icm_driver);
-	rc |= inv_imu_enable_gyro_low_noise_mode(&icm_driver);
+	rc |= inv_imu_enable_accel_low_noise_mode(&icm_driver); // FIFO Accel Low Noise Mode
+	//rc |= inv_imu_enable_accel_low_power_mode(&icm_driver);	// FIFO Accel Low Power Mode TEST
+	rc |= inv_imu_enable_gyro_low_noise_mode(&icm_driver);	// FIFO Gyro Low Noise Mode
+	imu_fifo_log_power_mode();
 	dr_sd_delay_ms(IMU_FIFO_ENABLE_SETTLE_MS);
 	rc |= inv_imu_reset_fifo(&icm_driver);
 
@@ -961,9 +972,11 @@ int imu_fifo_capture_stop_and_send_rim(void)
 	{
 		DBG_PRINTF("[IMU FIFO] drain fail %d\r\n", rc);
 		imu_fifo_send_rim_packets(0);
+		imu_fifo_power_off();
 		return rc;
 	}
 
 	imu_fifo_send_rim_packets(packet_count);
+	imu_fifo_power_off();
 	return 0;
 }

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

@@ -105,6 +105,11 @@ int imu_read_direct(void);
  */
 int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c);
 
+/**
+ * \brief Return true while IMU FIFO capture is active.
+ */
+bool imu_fifo_capture_is_active(void);
+
 /**
  * \brief Start IMU internal FIFO capture for mtb? test flow.
  *        Configures accel/gyro 100 Hz and flushes FIFO before capture.