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_piezo.c

@@ -17,6 +17,7 @@
 #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)
 {
@@ -64,48 +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;
 }
@@ -164,8 +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);
@@ -177,7 +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;
@@ -224,7 +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;
 

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.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/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/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 */