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

components/libraries/bootloader/nrf_bootloader.c

@@ -64,6 +64,7 @@ static volatile bool m_flash_write_done;
 
 #define SCHED_QUEUE_SIZE      32          /**< Maximum number of events in the scheduler queue. */
 #define SCHED_EVENT_DATA_SIZE NRF_DFU_SCHED_EVENT_DATA_SIZE /**< Maximum app_scheduler event size. */
+#define POST_DFU_APP_BOOT_GPREGRET2_MASK 0x02U
 
 #if !(defined(NRF_BL_DFU_ENTER_METHOD_BUTTON)    && \
       defined(NRF_BL_DFU_ENTER_METHOD_PINRESET)  && \
@@ -470,6 +471,7 @@ ret_code_t nrf_bootloader_init(nrf_dfu_observer_t observer)
             break;
 
         case ACTIVATION_SUCCESS:
+            nrf_power_gpregret2_set(nrf_power_gpregret2_get() | POST_DFU_APP_BOOT_GPREGRET2_MASK);
             bootloader_reset(true);
             NRF_LOG_ERROR("Unreachable");
             return NRF_ERROR_INTERNAL; // Should not reach this.

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 },
@@ -49,6 +50,7 @@ static const CmdEntry m_cmd_table[] = {
     { "mec?", true, Cmd_mec },
     { "maa?", true, Cmd_maa },
     { "mbb?", true, Cmd_mbb },
+    { "mab?", true, Cmd_mab }, // B-Mode Test
     { "mtb?", true, Cmd_mtb },
     { "mcf?", true, Cmd_mcf },
     { "mcs?", true, Cmd_mcs },

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

@@ -12,6 +12,7 @@
 #include "cmd_device.h"
 #include "fstorage.h"
 #include "led_control.h"
+#include "app_raw.h"
 
 /*==============================================================================
  * msq? -> rsq:  Device power OFF
@@ -172,6 +173,14 @@ int Cmd_mls(const ParsedCmd *cmd)
     }
 
     led_set_state((led_state_t)state);
+    if ((led_state_t)state == LED_STATE_OFF)
+    {
+        if (imu_fifo_capture_is_active())
+        {
+            imu_fifo_capture_disable();
+        }
+    }
+
     dr_ble_return_1("rls:", state);
     return 1;
 }

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

@@ -16,12 +16,19 @@
 #include "cmd_sensor.h"           /* all_sensors() */
 #include "dr_piezo.h"
 #include "dr_adc121s051.h"
+#include "led_control.h"
+#include "../../measurement/piezo/piezo_config.h"
 
 static void mtb_send_rim_after_piezo(void)
 {
     send_imu_rim_fifo();
 }
 
+static void mab_led_off_after_piezo(void)
+{
+    led_set_state(LED_STATE_OFF);
+}
+
 /*------------------------------------------------------------------------------
  * Internal clamp helpers for persisted piezo configuration
  *----------------------------------------------------------------------------*/
@@ -58,48 +65,48 @@ static uint8_t clamp_piezo_freq_option(uint16_t raw_freq)
 
 static uint8_t clamp_piezo_cycles(uint16_t cycles)
 {
-    if (cycles < 3)
+    if (cycles < PIEZO_CONFIG_CYCLES_MIN)
     {
-        return 3;
+        return (uint8_t)PIEZO_CONFIG_CYCLES_MIN;
     }
-    if (cycles > 7)
+    if (cycles > PIEZO_CONFIG_CYCLES_MAX)
     {
-        return 7;
+        return (uint8_t)PIEZO_CONFIG_CYCLES_MAX;
     }
     return (uint8_t)cycles;
 }
 
 static uint16_t clamp_piezo_averaging(uint16_t averaging)
 {
-    if (averaging < 1)
+    if (averaging < PIEZO_CONFIG_AVERAGING_MIN)
     {
-        return 1;
+        return PIEZO_CONFIG_AVERAGING_MIN;
     }
-    if (averaging > 10)
+    if (averaging > PIEZO_CONFIG_AVERAGING_MAX)
     {
-        return 10;
+        return PIEZO_CONFIG_AVERAGING_MAX;
     }
     return averaging;
 }
 
 static uint16_t clamp_piezo_delay_us(uint16_t delay_us)
 {
-    if (delay_us > 50)
+    if (delay_us > PIEZO_CONFIG_DELAY_US_MAX)
     {
-        return 50;
+        return PIEZO_CONFIG_DELAY_US_MAX;
     }
     return delay_us;
 }
 
 static uint16_t clamp_piezo_num_samples(uint16_t num_samples)
 {
-    if (num_samples < 80)
+    if (num_samples < PIEZO_CONFIG_NUM_SAMPLES_MIN)
     {
-        return 80;
+        return PIEZO_CONFIG_NUM_SAMPLES_MIN;
     }
-    if (num_samples > 119)
+    if (num_samples > PIEZO_CONFIG_NUM_SAMPLES_MAX)
     {
-        return 119;
+        return PIEZO_CONFIG_NUM_SAMPLES_MAX;
     }
     return num_samples;
 }
@@ -158,8 +165,8 @@ int Cmd_mpb(const ParsedCmd *cmd)
  *============================================================================*/
 int Cmd_mpc(const ParsedCmd *cmd)
 {
-    uint16_t cycles = 5;
-    uint16_t freq_option = 1;
+    uint16_t cycles = DR_PIEZO_DEFAULT_CYCLES;
+    uint16_t freq_option = PIEZO_CONFIG_FREQ_OPTION_DEFAULT;
     uint16_t piezo_ch = 0;
 
     (void)dr_get_u16(cmd, 0, &cycles);
@@ -171,7 +178,7 @@ int Cmd_mpc(const ParsedCmd *cmd)
         piezo_ch = 0;
     }
 
-    if (cycles < 3 || cycles > 7)
+    if (cycles < PIEZO_CONFIG_CYCLES_MIN || cycles > PIEZO_CONFIG_CYCLES_MAX)
     {
         dr_ble_return_1("rpc:", 2);
         return 1;
@@ -218,7 +225,7 @@ int Cmd_mec(const ParsedCmd *cmd)
     uint16_t freq_option = 0;
     uint16_t delay_us = 20;
     uint16_t num_samples = 140;
-    uint16_t cycles = 5;
+    uint16_t cycles = DR_PIEZO_DEFAULT_CYCLES;
     uint16_t averaging = 1;
     uint16_t piezo_ch = 0;
 
@@ -414,6 +421,57 @@ int Cmd_mtb(const ParsedCmd *cmd)
     return 1;
 }
 
+/*==============================================================================
+ * mab? -> reb:+raa:  6-channel asynchronous full capture + GR LED
+ *
+ * Request:  [TAG 4B "mab?"] [CRC 2B]
+ * Response: per channel  reb: [num_samples 2B] [raw_data...]
+ *           final         raa: [status 2B]
+ * Error:    raa: + 0xFFFE        (previous capture in progress)
+ *           raa: + (0xFF00|err)  (start failed)
+ *
+ * For B-Mode Test
+ *============================================================================*/
+int Cmd_mab(const ParsedCmd *cmd)
+{
+    dr_adc_err_t err;
+    (void)cmd;
+
+    if (maa_async_is_busy())
+    {
+        dr_ble_return_1("raa:", 0xFFFE);
+        return 1;
+    }
+
+    led_set_state(LED_STATE_ALIGN_COMPLETE);
+
+    err = maa_async_start(
+        m_config.piezo_freq_option,
+        m_config.piezo_delay_us,
+        m_config.piezo_num_samples,
+        m_config.piezo_cycles,
+        m_config.piezo_averaging,
+        ble_bin_buffer
+    );
+
+    if (err != DR_ADC_OK)
+    {
+        if (g_plat.log)
+        {
+            g_plat.log("[Cmd_mab] start failed err=%d\r\n", err);
+        }
+        single_format_data(ble_bin_buffer, "raa:", (uint16_t)(0xFF00 | err));
+        dr_binary_tx_safe(ble_bin_buffer, 3);
+        dr_piezo_power_off();
+        led_set_state(LED_STATE_OFF);
+        return 1;
+    }
+
+    maa_async_set_on_complete(mab_led_off_after_piezo);
+
+    return 1;
+}
+
 /*==============================================================================
  * mcf? -> rcf:  Read piezo parameters from FDS
  *

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

@@ -12,6 +12,7 @@ int Cmd_mpc(const ParsedCmd *cmd);   /* mpc? -> rpc:  burst generation */
 int Cmd_mec(const ParsedCmd *cmd);   /* mec? -> reb:+raa:  single-channel capture */
 int Cmd_maa(const ParsedCmd *cmd);   /* maa? -> reb:+raa:  6-channel async capture */
 int Cmd_mbb(const ParsedCmd *cmd);   /* mbb? -> rbb:+reb:+raa:  sensors + capture */
+int Cmd_mab(const ParsedCmd *cmd);   /* mab? -> reb:+raa:  6-channel async capture + green LED */
 int Cmd_mtb(const ParsedCmd *cmd);   /* mtb? -> reb:+raa:+rim:  piezo + IMU FIFO (no rbb:) */
 int Cmd_mcf(const ParsedCmd *cmd);   /* mcf? -> rcf:  read piezo parameters */
 int Cmd_mcs(const ParsedCmd *cmd);   /* mcs? -> rcs:  write piezo parameters */

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/hal/fds/fstorage.c

@@ -40,6 +40,7 @@
 #include "nrf_pwr_mgmt.h"
 #include "main.h"
 #include "debug_print.h"
+#include "../../measurement/piezo/piezo_config.h"
 
 
 /* FDS record identifiers */
@@ -107,11 +108,11 @@ void fds_default_value_set(void)
     m_config.life_cycle  = 0;
 
     /* Piezo measurement parameter defaults */
-    m_config.piezo_freq_option = 1;      /* 2.1 MHz */
-    m_config.piezo_delay_us    = 10;     /* 10 us after burst */
-    m_config.piezo_num_samples = 100;    /* 100 samples */
-    m_config.piezo_cycles      = 3;      /* 7 cycles */
-    m_config.piezo_averaging   = 3;      /* 3x averaging */
+    m_config.piezo_freq_option = PIEZO_CONFIG_FREQ_OPTION_DEFAULT;  /* 2.1 MHz */
+    m_config.piezo_delay_us    = PIEZO_CONFIG_DELAY_US_DEFAULT;     /* 10 us after burst */
+    m_config.piezo_num_samples = PIEZO_CONFIG_NUM_SAMPLES_DEFAULT;  /* 100 samples */
+    m_config.piezo_cycles      = PIEZO_CONFIG_CYCLES_DEFAULT;       /* 3 cycles */
+    m_config.piezo_averaging   = PIEZO_CONFIG_AVERAGING_DEFAULT;    /* 3x averaging */
 
     /* Factory provisioning — default: not provisioned */
     m_config.factory_provisioned = 0;

project/ble_peripheral/ble_app_bladder_patch/main.c

@@ -181,6 +181,7 @@
 #define POWER_OFF_DELAY                 3000        /* Power-off delay: 3s after LED indication */
 #define POWER_RESET_DELAY               2000        /* Reset delay: 2s */
 #define LED_NUM                         24          /* LED pin number */
+#define POST_DFU_APP_BOOT_GPREGRET2_MASK 0x02U       /* Bootloader marker after DFU activation */
 
 /*==============================================================================
  * BLE Instances (statically allocated via SoftDevice macros)
@@ -230,7 +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 */
@@ -1545,7 +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
@@ -2076,6 +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)
     {
@@ -2120,7 +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;
@@ -2149,7 +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");
@@ -2170,7 +2172,7 @@ int main(void)
 {
     bool erase_bonds_local = false;
 
-    /*──────────────────────────────────────────────────────────────
+    /*--------------------------------------------------------------------------
      *  Phase 1: Basic hardware init (BLE-independent)
      *
      *  - Power self-latch (P0.8 HIGH)
@@ -2179,9 +2181,20 @@ 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)
+    {
+        NRF_POWER->GPREGRET2 &= ~POST_DFU_APP_BOOT_GPREGRET2_MASK;
+        NRF_P0->OUTCLR = (1UL << 8);
+        NRF_P0->DIRSET = (1UL << 8);
+        while (true)
+        {
+            __WFE();
+        }
+    }
+
     if (power_off_duble_prohibit)
     {
         return 0;
@@ -2191,7 +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");
@@ -2205,33 +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
@@ -2240,7 +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();
@@ -2275,14 +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;
@@ -2292,9 +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                "VBTFW0120"
+#define FIRMWARE_VERSION                "VBTFW0122"
 
 /*==============================================================================
  * Data Length Constants

project/ble_peripheral/ble_app_bladder_patch/measurement/adc121s051/dr_adc121s051.h

@@ -30,6 +30,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "nrf_gpio.h"
+#include "../piezo/piezo_config.h"
 
 /*==============================================================================
  * PIN CONFIGURATION
@@ -73,8 +74,8 @@
  *============================================================================*/
 #define DR_ADC_SCLK_MHZ             8.6f    /**< SPI bit-bang SCLK frequency */
 #define DR_ADC_CLOCKS_PER_SAMPLE    16      /**< ADC121S051: 16 SCLK per sample */
-#define DR_ADC_ECHO_SAMPLES_MAX     119     /**< Maximum samples */
-#define DR_ADC_ECHO_SAMPLES_DEFAULT 100     /**< Default samples */
+#define DR_ADC_ECHO_SAMPLES_MAX     PIEZO_CONFIG_NUM_SAMPLES_MAX     /**< Maximum samples */
+#define DR_ADC_ECHO_SAMPLES_DEFAULT PIEZO_CONFIG_NUM_SAMPLES_DEFAULT /**< Default samples */
 #define DR_ADC_SAMPLE_INTERVAL_US   1.86f   /**< 16 / 8.6MHz = 1.86us per sample */
 #define DR_ADC_SOUND_SPEED_MM_US    1.54f   /**< Sound speed in tissue (mm/us) */
 

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/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

@@ -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;
@@ -675,6 +684,14 @@ static void imu_fifo_power_off(void)
 	s_fifo_capture_active = false;
 }
 
+void imu_fifo_capture_disable(void)
+{
+	if (s_fifo_capture_active)
+	{
+		imu_fifo_power_off();
+	}
+}
+
 int imu_fifo_capture_start(void)
 {
 	int rc;
@@ -693,8 +710,8 @@ 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 +724,9 @@ 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
 	dr_sd_delay_ms(IMU_FIFO_ENABLE_SETTLE_MS);
 	rc |= inv_imu_reset_fifo(&icm_driver);
 
@@ -961,9 +979,55 @@ 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);
 	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

@@ -21,6 +21,7 @@
 
 #ifndef _APP_RAW_H_
 #define _APP_RAW_H_
+#include <stdbool.h>
 #include "sdk_config.h"
 
 #include <stdint.h>
@@ -105,6 +106,11 @@ 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.
@@ -116,6 +122,18 @@ 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.
+ */
+void imu_fifo_capture_disable(void);
+
 /*
  * mtb? / rim: binary layout (every BLE fragment)
  *   [ 'r' 'i' 'm' ':' ] [ total_sample_count u16 BE ] [ 12 * total_sample_count bytes ... ]

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

@@ -32,6 +32,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "nrf_gpio.h"
+#include "piezo_config.h"
 
 /*==============================================================================
  * Power control pin (+/-20V DC/DC converter)
@@ -64,9 +65,9 @@
  * Configuration
  *============================================================================*/
 #define DR_PIEZO_FREQ_HZ        2100000     /**< Target frequency (set PIEZO_FREQ_MHZ in .c) */
-#define DR_PIEZO_DEFAULT_CYCLES 5           /**< Default burst cycles */
-#define DR_PIEZO_MIN_CYCLES     3
-#define DR_PIEZO_MAX_CYCLES     7
+#define DR_PIEZO_DEFAULT_CYCLES PIEZO_CONFIG_CYCLES_DEFAULT /**< Default burst cycles */
+#define DR_PIEZO_MIN_CYCLES     PIEZO_CONFIG_CYCLES_MIN
+#define DR_PIEZO_MAX_CYCLES     PIEZO_CONFIG_CYCLES_MAX
 #define DR_PIEZO_MUX_SETTLING_US 1300       /**< MUX settling delay (us) */
 
 /*==============================================================================

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

@@ -0,0 +1,29 @@
+/*==============================================================================
+ * piezo_config.h - Shared piezo measurement parameter limits/defaults
+ *============================================================================*/
+#ifndef PIEZO_CONFIG_H
+#define PIEZO_CONFIG_H
+
+/* Frequency option protocol:
+ *   0=1.8MHz, 1=2.1MHz, 2=2.0MHz, 3=1.7MHz, 4=2.2MHz, 9=1.9MHz
+ */
+#define PIEZO_CONFIG_FREQ_OPTION_DEFAULT        1U
+
+#define PIEZO_CONFIG_CYCLES_MIN                 3U
+#define PIEZO_CONFIG_CYCLES_MAX                 7U
+#define PIEZO_CONFIG_CYCLES_DEFAULT             7U
+
+#define PIEZO_CONFIG_AVERAGING_MIN              1U
+#define PIEZO_CONFIG_AVERAGING_MAX              10U
+#define PIEZO_CONFIG_AVERAGING_DEFAULT          10U
+
+#define PIEZO_CONFIG_DELAY_US_MIN               0U
+#define PIEZO_CONFIG_DELAY_US_MAX               50U
+#define PIEZO_CONFIG_DELAY_US_DEFAULT           10U
+
+#define PIEZO_CONFIG_NUM_SAMPLES_MIN            80U
+#define PIEZO_CONFIG_NUM_SAMPLES_MAX            118U
+#define PIEZO_CONFIG_NUM_SAMPLES_DEFAULT        100U
+
+
+#endif /* PIEZO_CONFIG_H */

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/Device/nRF52840_xxAA/system_nrf52.c

@@ -32,6 +32,8 @@ NOTICE: This file has been modified by Nordic Semiconductor ASA.
 #include "system_nrf52_approtect.h"
 
 #define __SYSTEM_CLOCK_64M      (64000000UL)
+#define POWER_HOLD_PIN          8UL
+#define POWER_HOLD_PIN_MASK     (1UL << POWER_HOLD_PIN)
 
 
 #if defined ( __CC_ARM )
@@ -89,6 +91,15 @@ void SystemCoreClockUpdate(void)
 
 void SystemInit(void)
 {
+    /* Keep the external power latch asserted immediately after reset. */
+    NRF_P0->OUTSET = POWER_HOLD_PIN_MASK;
+    NRF_P0->DIRSET = POWER_HOLD_PIN_MASK;
+    NRF_P0->PIN_CNF[POWER_HOLD_PIN] =
+        (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos) |
+        (GPIO_PIN_CNF_INPUT_Disconnect << GPIO_PIN_CNF_INPUT_Pos) |
+        (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos) |
+        (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) |
+        (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
     /* Enable SWO trace functionality. If ENABLE_SWO is not defined, SWO pin will be used as GPIO (see Product
        Specification to see which one). */
     #if defined (ENABLE_SWO) && defined(CLOCK_TRACECONFIG_TRACEMUX_Pos)

project/dfu/secure_bootloader/main.c

@@ -76,6 +76,8 @@ static void dfu_observer(nrf_dfu_evt_type_t evt_type)
             break;
         case NRF_DFU_EVT_DFU_STARTED:
             break;
+        case NRF_DFU_EVT_DFU_COMPLETED:
+            break;
         default:
             break;
     }

project/dfu/secure_bootloader/pca10056_s140_ble/arm5_no_packs/RTE/Device/nRF52840_xxAA/system_nrf52.c

@@ -32,6 +32,8 @@ NOTICE: This file has been modified by Nordic Semiconductor ASA.
 #include "system_nrf52_approtect.h"
 
 #define __SYSTEM_CLOCK_64M      (64000000UL)
+#define POWER_HOLD_PIN          8UL
+#define POWER_HOLD_PIN_MASK     (1UL << POWER_HOLD_PIN)
 
 
 #if defined ( __CC_ARM )
@@ -89,6 +91,15 @@ void SystemCoreClockUpdate(void)
 
 void SystemInit(void)
 {
+    /* Keep the external power latch asserted immediately after reset. */
+    NRF_P0->OUTSET = POWER_HOLD_PIN_MASK;
+    NRF_P0->DIRSET = POWER_HOLD_PIN_MASK;
+    NRF_P0->PIN_CNF[POWER_HOLD_PIN] =
+        (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos) |
+        (GPIO_PIN_CNF_INPUT_Disconnect << GPIO_PIN_CNF_INPUT_Pos) |
+        (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos) |
+        (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) |
+        (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
     /* Enable SWO trace functionality. If ENABLE_SWO is not defined, SWO pin will be used as GPIO (see Product
        Specification to see which one). */
     #if defined (ENABLE_SWO) && defined(CLOCK_TRACECONFIG_TRACEMUX_Pos)

project/dfu/secure_bootloader/pca10056_s140_ble/arm5_no_packs/secure_bootloader_ble_s140_pca10056.uvoptx

@@ -73,7 +73,7 @@
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>

project/dfu/secure_bootloader/pca10056_s140_ble/config/sdk_config.h

@@ -141,6 +141,7 @@
 // <i> to immediately transfer a new application if it wishes.
 
 #ifndef NRF_BL_DFU_CONTINUATION_TIMEOUT_MS
+/* Time to wait for an expected DFU update immediately after entering DFU mode from the application. (10 seconds) */
 #define NRF_BL_DFU_CONTINUATION_TIMEOUT_MS 10000
 #endif
 
@@ -150,7 +151,8 @@
 // <i> If 0, no inactivity timer will be used. Values 1-99 are invalid.
 
 #ifndef NRF_BL_DFU_INACTIVITY_TIMEOUT_MS
-#define NRF_BL_DFU_INACTIVITY_TIMEOUT_MS 120000
+/* Time to stay in DFU mode after the last DFU activity before returning to the application. (60 seconds) */
+#define NRF_BL_DFU_INACTIVITY_TIMEOUT_MS 60000
 #endif
 
 // </h>